diff --git a/src/simulation/Humanoid_Wato/wato_hand/config/joint_names_hand_urdf.yaml b/src/pioneer_humanoid/assets/hand/config/joint_names_hand_urdf.yaml similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/config/joint_names_hand_urdf.yaml rename to src/pioneer_humanoid/assets/hand/config/joint_names_hand_urdf.yaml diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/abduction_1.STL b/src/pioneer_humanoid/assets/hand/meshes/abduction_1.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/abduction_1.STL rename to src/pioneer_humanoid/assets/hand/meshes/abduction_1.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/distal_1.STL b/src/pioneer_humanoid/assets/hand/meshes/distal_1.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/distal_1.STL rename to src/pioneer_humanoid/assets/hand/meshes/distal_1.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/distal_2.STL b/src/pioneer_humanoid/assets/hand/meshes/distal_2.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/distal_2.STL rename to src/pioneer_humanoid/assets/hand/meshes/distal_2.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/distal_3.STL b/src/pioneer_humanoid/assets/hand/meshes/distal_3.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/distal_3.STL rename to src/pioneer_humanoid/assets/hand/meshes/distal_3.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/distal_4.STL b/src/pioneer_humanoid/assets/hand/meshes/distal_4.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/distal_4.STL rename to src/pioneer_humanoid/assets/hand/meshes/distal_4.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/finger_1.STL b/src/pioneer_humanoid/assets/hand/meshes/finger_1.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/finger_1.STL rename to src/pioneer_humanoid/assets/hand/meshes/finger_1.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/finger_2.STL b/src/pioneer_humanoid/assets/hand/meshes/finger_2.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/finger_2.STL rename to src/pioneer_humanoid/assets/hand/meshes/finger_2.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/finger_3.STL b/src/pioneer_humanoid/assets/hand/meshes/finger_3.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/finger_3.STL rename to src/pioneer_humanoid/assets/hand/meshes/finger_3.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/finger_4.STL b/src/pioneer_humanoid/assets/hand/meshes/finger_4.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/finger_4.STL rename to src/pioneer_humanoid/assets/hand/meshes/finger_4.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/hand_origin.STL b/src/pioneer_humanoid/assets/hand/meshes/hand_origin.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/hand_origin.STL rename to src/pioneer_humanoid/assets/hand/meshes/hand_origin.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/inter_1.STL b/src/pioneer_humanoid/assets/hand/meshes/inter_1.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/inter_1.STL rename to src/pioneer_humanoid/assets/hand/meshes/inter_1.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/inter_2.STL b/src/pioneer_humanoid/assets/hand/meshes/inter_2.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/inter_2.STL rename to src/pioneer_humanoid/assets/hand/meshes/inter_2.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/inter_3.STL b/src/pioneer_humanoid/assets/hand/meshes/inter_3.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/inter_3.STL rename to src/pioneer_humanoid/assets/hand/meshes/inter_3.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/inter_4.STL b/src/pioneer_humanoid/assets/hand/meshes/inter_4.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/inter_4.STL rename to src/pioneer_humanoid/assets/hand/meshes/inter_4.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/proximal_2.STL b/src/pioneer_humanoid/assets/hand/meshes/proximal_2.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/proximal_2.STL rename to src/pioneer_humanoid/assets/hand/meshes/proximal_2.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/proximal_3.STL b/src/pioneer_humanoid/assets/hand/meshes/proximal_3.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/proximal_3.STL rename to src/pioneer_humanoid/assets/hand/meshes/proximal_3.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/proximal_4.STL b/src/pioneer_humanoid/assets/hand/meshes/proximal_4.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/proximal_4.STL rename to src/pioneer_humanoid/assets/hand/meshes/proximal_4.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/thumb.STL b/src/pioneer_humanoid/assets/hand/meshes/thumb.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/thumb.STL rename to src/pioneer_humanoid/assets/hand/meshes/thumb.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/thumb_abduction.STL b/src/pioneer_humanoid/assets/hand/meshes/thumb_abduction.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/thumb_abduction.STL rename to src/pioneer_humanoid/assets/hand/meshes/thumb_abduction.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/thumb_distal.STL b/src/pioneer_humanoid/assets/hand/meshes/thumb_distal.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/thumb_distal.STL rename to src/pioneer_humanoid/assets/hand/meshes/thumb_distal.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/meshes/thumb_inter.STL b/src/pioneer_humanoid/assets/hand/meshes/thumb_inter.STL similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/meshes/thumb_inter.STL rename to src/pioneer_humanoid/assets/hand/meshes/thumb_inter.STL diff --git a/src/simulation/Humanoid_Wato/wato_hand/urdf/hand_urdf.csv b/src/pioneer_humanoid/assets/hand/urdf/hand_urdf.csv similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/urdf/hand_urdf.csv rename to src/pioneer_humanoid/assets/hand/urdf/hand_urdf.csv diff --git a/src/simulation/Humanoid_Wato/wato_hand/urdf/hand_urdf.urdf b/src/pioneer_humanoid/assets/hand/urdf/hand_urdf.urdf similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/urdf/hand_urdf.urdf rename to src/pioneer_humanoid/assets/hand/urdf/hand_urdf.urdf diff --git a/src/simulation/Humanoid_Wato/wato_hand/urdf/hand_urdf/configuration/hand_urdf_base.usd b/src/pioneer_humanoid/assets/hand/urdf/hand_urdf/configuration/hand_urdf_base.usd similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/urdf/hand_urdf/configuration/hand_urdf_base.usd rename to src/pioneer_humanoid/assets/hand/urdf/hand_urdf/configuration/hand_urdf_base.usd diff --git a/src/simulation/Humanoid_Wato/wato_hand/urdf/hand_urdf/configuration/hand_urdf_physics.usd b/src/pioneer_humanoid/assets/hand/urdf/hand_urdf/configuration/hand_urdf_physics.usd similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/urdf/hand_urdf/configuration/hand_urdf_physics.usd rename to src/pioneer_humanoid/assets/hand/urdf/hand_urdf/configuration/hand_urdf_physics.usd diff --git a/src/simulation/Humanoid_Wato/wato_hand/urdf/hand_urdf/configuration/hand_urdf_sensor.usd b/src/pioneer_humanoid/assets/hand/urdf/hand_urdf/configuration/hand_urdf_sensor.usd similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/urdf/hand_urdf/configuration/hand_urdf_sensor.usd rename to src/pioneer_humanoid/assets/hand/urdf/hand_urdf/configuration/hand_urdf_sensor.usd diff --git a/src/simulation/Humanoid_Wato/wato_hand/urdf/hand_urdf/hand_urdf.usd b/src/pioneer_humanoid/assets/hand/urdf/hand_urdf/hand_urdf.usd similarity index 100% rename from src/simulation/Humanoid_Wato/wato_hand/urdf/hand_urdf/hand_urdf.usd rename to src/pioneer_humanoid/assets/hand/urdf/hand_urdf/hand_urdf.usd diff --git a/src/pioneer_humanoid/pioneer_humanoid/hand.py b/src/pioneer_humanoid/pioneer_humanoid/hand.py index b5cb335b..82912632 100644 --- a/src/pioneer_humanoid/pioneer_humanoid/hand.py +++ b/src/pioneer_humanoid/pioneer_humanoid/hand.py @@ -1,22 +1,11 @@ import math -import os -import sys import isaaclab.sim as sim_utils from isaaclab.assets.articulation import ArticulationCfg -# Robot meshes/USD still live under src/simulation/Humanoid_Wato/ (asset -# consolidation is a separate step). -_HUMANOID_WATO_ROOT = os.path.abspath( - os.path.join(os.path.dirname(__file__), "..", "..", "simulation", "Humanoid_Wato") -) -_HAND_ASSET_DIR = os.path.join(_HUMANOID_WATO_ROOT, "wato_hand") -if _HAND_ASSET_DIR not in sys.path: - sys.path.insert(0, _HAND_ASSET_DIR) - -from wato_hand_cfg import ( # noqa: E402 +from .hand_cfg import ( + HAND_CFG, JOINT_POS_LIMITS, - WATO_HAND_CFG, apply_joint_limits, ) @@ -74,8 +63,8 @@ def _quat_y_deg(deg: float) -> tuple[float, float, float, float]: for _mcp_a in ("MCP_A_1", "MCP_A_2", "MCP_A_3", "MCP_A_4"): _INHAND_INIT_JOINT_POS[_mcp_a] = min(_INHAND_SPREAD_RAD, _USD_MCP_A_MAX) -INHAND_HAND_CFG = WATO_HAND_CFG.replace( - spawn=WATO_HAND_CFG.spawn.replace( +INHAND_HAND_CFG = HAND_CFG.replace( + spawn=HAND_CFG.spawn.replace( rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=True, retain_accelerations=False, diff --git a/src/simulation/Humanoid_Wato/wato_hand/wato_hand_cfg.py b/src/pioneer_humanoid/pioneer_humanoid/hand_cfg.py similarity index 93% rename from src/simulation/Humanoid_Wato/wato_hand/wato_hand_cfg.py rename to src/pioneer_humanoid/pioneer_humanoid/hand_cfg.py index b46b9b9c..46ad4305 100644 --- a/src/simulation/Humanoid_Wato/wato_hand/wato_hand_cfg.py +++ b/src/pioneer_humanoid/pioneer_humanoid/hand_cfg.py @@ -1,4 +1,4 @@ -"""20-DOF Wato hand articulation config.""" +"""20-DOF pioneer hand articulation config.""" import math import os @@ -6,9 +6,9 @@ from isaaclab.actuators import ImplicitActuatorCfg from isaaclab.assets.articulation import ArticulationCfg -_THIS_DIR = os.path.abspath(os.path.dirname(__file__)) -_HAND_USD_PATH = os.path.join(_THIS_DIR, "urdf", "hand_urdf", "hand_urdf.usd") -_HAND_URDF_PATH = os.path.join(_THIS_DIR, "urdf", "hand_urdf.urdf") +_ASSET_DIR = os.path.join(os.path.dirname(__file__), "..", "assets", "hand") +_HAND_USD_PATH = os.path.join(_ASSET_DIR, "urdf", "hand_urdf", "hand_urdf.usd") +_HAND_URDF_PATH = os.path.join(_ASSET_DIR, "urdf", "hand_urdf.urdf") def _deg(degrees: float) -> float: @@ -105,7 +105,7 @@ def apply_joint_limits(robot) -> None: print(f"[INFO] Applied joint limits for {len(updated)} joints.") -WATO_HAND_CFG = ArticulationCfg( +HAND_CFG = ArticulationCfg( spawn=sim_utils.UsdFileCfg( usd_path=_HAND_USD_PATH, rigid_props=sim_utils.RigidBodyPropertiesCfg( diff --git a/src/simulation/Humanoid_Wato/wato_hand/CMakeLists.txt b/src/simulation/Humanoid_Wato/wato_hand/CMakeLists.txt deleted file mode 100644 index f9693907..00000000 --- a/src/simulation/Humanoid_Wato/wato_hand/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(hand_urdf) - -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/src/simulation/Humanoid_Wato/wato_hand/export.log b/src/simulation/Humanoid_Wato/wato_hand/export.log deleted file mode 100644 index 0a74ecf6..00000000 --- a/src/simulation/Humanoid_Wato/wato_hand/export.log +++ /dev/null @@ -1,3716 +0,0 @@ -2026-06-09 19:05:53,180 INFO SwAddin.cs: 294 - Assembly export called for file hand_assem_for_sim -2026-06-09 19:05:54,311 INFO SwAddin.cs: 313 - Saving assembly -2026-06-09 19:05:54,556 INFO SwAddin.cs: 316 - Opening property manager -2026-06-09 19:05:54,562 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hand_assem_for_sim -2026-06-09 19:05:54,564 INFO ExportHelperExtension.cs: 1136 - Found 166 in hand_assem_for_sim -2026-06-09 19:05:54,566 INFO ExportHelperExtension.cs: 1145 - Found 9 features of type [CoordSys] in hand_assem_for_sim -2026-06-09 19:05:54,566 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 19:05:54,566 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 19:05:54,568 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-3 -2026-06-09 19:05:54,568 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 19:05:54,568 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-3 -2026-06-09 19:05:54,568 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-1 -2026-06-09 19:05:54,568 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 19:05:54,570 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-1 -2026-06-09 19:05:54,570 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-1 -2026-06-09 19:05:54,570 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 19:05:54,570 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-1 -2026-06-09 19:05:54,570 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-1 -2026-06-09 19:05:54,570 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 19:05:54,570 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-1 -2026-06-09 19:05:54,572 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-1 -2026-06-09 19:05:54,572 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 19:05:54,572 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-1 -2026-06-09 19:05:54,572 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from master_sketch_hand-1 -2026-06-09 19:05:54,572 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 19:05:54,572 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in master_sketch_hand-1 -2026-06-09 19:05:54,572 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-1 -2026-06-09 19:05:54,572 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 19:05:54,574 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-1 -2026-06-09 19:05:54,574 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-2 -2026-06-09 19:05:54,574 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 19:05:54,574 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-2 -2026-06-09 19:05:54,574 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-2 -2026-06-09 19:05:54,574 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 19:05:54,574 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-2 -2026-06-09 19:05:54,574 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-2 -2026-06-09 19:05:54,576 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 19:05:54,576 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-2 -2026-06-09 19:05:54,576 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-2 -2026-06-09 19:05:54,576 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 19:05:54,576 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-2 -2026-06-09 19:05:54,576 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-2 -2026-06-09 19:05:54,576 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 19:05:54,576 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-2 -2026-06-09 19:05:54,576 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-3 -2026-06-09 19:05:54,576 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 19:05:54,576 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-3 -2026-06-09 19:05:54,576 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-3 -2026-06-09 19:05:54,576 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 19:05:54,580 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-3 -2026-06-09 19:05:54,580 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-1 -2026-06-09 19:05:54,580 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 19:05:54,580 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-1 -2026-06-09 19:05:54,580 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-4 -2026-06-09 19:05:54,580 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 19:05:54,580 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-4 -2026-06-09 19:05:54,582 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-4 -2026-06-09 19:05:54,582 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 19:05:54,582 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-4 -2026-06-09 19:05:54,582 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal_assem-1 -2026-06-09 19:05:54,582 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 19:05:54,582 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal_assem-1 -2026-06-09 19:05:54,582 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-3 -2026-06-09 19:05:54,584 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 19:05:54,584 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-3 -2026-06-09 19:05:54,584 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from upper_palm_casing_v3-1 -2026-06-09 19:05:54,584 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 19:05:54,584 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in upper_palm_casing_v3-1 -2026-06-09 19:05:54,584 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-4 -2026-06-09 19:05:54,584 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 19:05:54,586 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-4 -2026-06-09 19:05:54,586 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-3 -2026-06-09 19:05:54,586 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 19:05:54,586 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-3 -2026-06-09 19:05:54,586 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-4 -2026-06-09 19:05:54,586 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 19:05:54,586 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-4 -2026-06-09 19:05:54,588 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-4 -2026-06-09 19:05:54,588 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 19:05:54,588 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-4 -2026-06-09 19:05:54,588 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from lower_palm_cover-1 -2026-06-09 19:05:54,588 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 19:05:54,588 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in lower_palm_cover-1 -2026-06-09 19:05:54,588 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_inter_assem-1 -2026-06-09 19:05:54,588 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 19:05:54,590 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_inter_assem-1 -2026-06-09 19:05:54,590 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal-1 -2026-06-09 19:05:54,590 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 19:05:54,590 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal-1 -2026-06-09 19:05:54,590 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_proximal_joint-1 -2026-06-09 19:05:54,590 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 19:05:54,590 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_proximal_joint-1 -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-2 -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-2 -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_circumduction_joint-1 -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_circumduction_joint-1 -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hand_assem_for_sim -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1136 - Found 166 in hand_assem_for_sim -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1145 - Found 6 features of type [RefAxis] in hand_assem_for_sim -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-3 -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-3 -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-1 -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-1 -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-1 -2026-06-09 19:05:54,592 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 19:05:54,597 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-1 -2026-06-09 19:05:54,597 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-1 -2026-06-09 19:05:54,597 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 19:05:54,597 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-1 -2026-06-09 19:05:54,597 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-1 -2026-06-09 19:05:54,631 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 19:05:54,631 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-1 -2026-06-09 19:05:54,631 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from master_sketch_hand-1 -2026-06-09 19:05:54,631 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 19:05:54,631 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in master_sketch_hand-1 -2026-06-09 19:05:54,633 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-1 -2026-06-09 19:05:54,633 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 19:05:54,633 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-1 -2026-06-09 19:05:54,633 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-2 -2026-06-09 19:05:54,633 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 19:05:54,635 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-2 -2026-06-09 19:05:54,635 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-2 -2026-06-09 19:05:54,635 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 19:05:54,635 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-2 -2026-06-09 19:05:54,635 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-2 -2026-06-09 19:05:54,635 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 19:05:54,635 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-2 -2026-06-09 19:05:54,637 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-2 -2026-06-09 19:05:54,637 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 19:05:54,637 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-2 -2026-06-09 19:05:54,637 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-2 -2026-06-09 19:05:54,637 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 19:05:54,637 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-2 -2026-06-09 19:05:54,637 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-3 -2026-06-09 19:05:54,639 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 19:05:54,639 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-3 -2026-06-09 19:05:54,639 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-3 -2026-06-09 19:05:54,639 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 19:05:54,639 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-3 -2026-06-09 19:05:54,639 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-1 -2026-06-09 19:05:54,639 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 19:05:54,639 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-1 -2026-06-09 19:05:54,641 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-4 -2026-06-09 19:05:54,641 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 19:05:54,641 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-4 -2026-06-09 19:05:54,641 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-4 -2026-06-09 19:05:54,641 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 19:05:54,641 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-4 -2026-06-09 19:05:54,641 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal_assem-1 -2026-06-09 19:05:54,643 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 19:05:54,643 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_distal_assem-1 -2026-06-09 19:05:54,643 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-3 -2026-06-09 19:05:54,643 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 19:05:54,643 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-3 -2026-06-09 19:05:54,643 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from upper_palm_casing_v3-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in upper_palm_casing_v3-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-4 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-4 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-3 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-3 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-4 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-4 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-4 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-4 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from lower_palm_cover-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in lower_palm_cover-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_inter_assem-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_inter_assem-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_distal-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_proximal_joint-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_proximal_joint-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-2 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-2 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_circumduction_joint-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 19:05:54,645 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_circumduction_joint-1 -2026-06-09 19:05:54,916 INFO SwAddin.cs: 339 - Loading config tree -2026-06-09 19:05:54,921 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found -nametruehand_originxyztrue0.0126390083886839310.0549439388053319380.017766742308305411rpytrue000originfalsefalsevaluetrue0.066010643993259885massfalseixxtrue5.237825027569516E-05ixytrue5.56027503556309E-06ixztrue-2.0423270424111578E-06iyytrue4.6843514472457764E-05iyztrue-3.5375901931888546E-06izztrue9.3311109396945036E-05inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsehand_originlinktruenametruethumbxyztrue-0.0041079215545758128-0.023660585810971024-0.013742843239502683rpytrue000originfalsefalsevaluetrue0.0058703027415141591massfalseixxtrue2.1194598224564355E-06ixytrue-1.3009619554747831E-07ixztrue3.987490068663393E-08iyytrue1.4838853758908384E-06iyztrue-2.82528057166446E-07izztrue7.4592716901118572E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruecircumductiontypetruerevolutexyztrue0.00370991967320959130.0778978368943719220.019751413602317171rpytrue000originfalsefalselinktruehand_originparenttruelinktruethumbchildtruexyztrue000axisfalselowertrue-0.5uppertrue0.5efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis1 <thumb_circumduction_joint-1>thumb_circumductionlinktruenametruethumb_abductionxyztrue0.012610708826781225-0.0036476514783893854-0.0017814763797105691rpytrue000originfalsefalsevaluetrue0.02644286049995407massfalseixxtrue5.3623096744587916E-06ixytrue-3.2975039154526935E-07ixztrue2.9923679738371138E-07iyytrue3.6233155083077614E-06iyztrue-1.4694277973485221E-07izztrue3.0752792608796087E-06inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_thumbtypetruerevolutexyztrue-0.032144110700172625-0.022570882823739133-0.032309130382684688rpytrue000originfalsefalselinktruethumbparenttruelinktruethumb_abductionchildtruexyztrue0.97337114310832928-0.229234852856157660axisfalselowertrue0uppertrue2efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis1 <thumb_proximal_joint-1>thumb_abductionlinktruenametruethumb_interxyztrue-0.0026067040349163212-0.010879108879798857-0.018275470399712876rpytrue000originfalsefalsevaluetrue0.0088710303099021684massfalseixxtrue1.9468960871178789E-06ixytrue-6.4109957445590826E-08ixztrue-1.0434082971278786E-07iyytrue1.7404532436164456E-06iyztrue-2.4198417160809E-07izztrue7.3172598404725019E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruePIP_thumbtypetruerevolutexyztrue0.018978282330607665-0.0088428422134161355-0.027272474467553855rpytrue000originfalsefalselinktruethumb_abductionparenttruelinktruethumb_interchildtruexyztrue0.222602988561972110.94521109131615166-0.23879678041424238axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis2thumb_PIPlinktruenametruethumb_distalxyztrue-0.0029845504640686818-0.012134930276189351-0.011037933898898039rpytrue000originfalsefalsevaluetrue0.0050293418037722143massfalseixxtrue5.4287280361208744E-07ixytrue-1.9786756591364859E-08ixztrue1.5327011998632312E-08iyytrue4.4335619598679E-07iyztrue-1.4661365759797218E-08izztrue3.9885376175655139E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueDIP_thumbtypetruerevolutexyztrue-0.0015765533719664451-0.0066943204260697942-0.040530242455460892rpytrue000originfalsefalselinktruethumb_interparenttruelinktruethumb_distalchildtruexyztrue0.222602988561971640.94521109131615177-0.23879678041424243axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsethumb_dipaxthumb_DIPlinktruefalseaEIAAAUAAAD//v8ndABoAHUAbQBiAF8AZABpAHMAdABhAGwAXwBhAHMAcwBlAG0ALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAEAAAAA=falsefalsefalseaEIAAAUAAAD//v8mdABoAHUAbQBiAF8AaQBuAHQAZQByAF8AYQBzAHMAZQBtAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABBAAAAfalsefalsefalseaEIAAAUAAAD//v8pdABoAHUAbQBiAF8AcAByAG8AeABpAG0AYQBsAF8AagBvAGkAbgB0AC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABEAAAAaEIAAAUAAAD//v8hdABoAHUAbQBiAF8AZABpAHMAdABhAGwALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAEYAAAA=aEIAAAUAAAD//v8dRwBMADMAMAAuAHMAdABwAC0AMgBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABLAAAAfalsefalsefalseaEIAAAUAAAD//v8udABoAHUAbQBiAF8AYwBpAHIAYwB1AG0AZAB1AGMAdABpAG8AbgBfAGoAbwBpAG4AdAAtADEAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAAQwAAAA==falsefalsenametrueabduction_4xyztrue-8.1366725857012767E-110.0031312954479114988-0.0079303829088130037rpytrue000originfalsefalsevaluetrue0.0014823498446202964massfalseixxtrue7.9728229508199355E-08ixytrue3.065425421372277E-16ixztrue7.3295263091076883E-16iyytrue1.2854879853511415E-07iyztrue2.4667513426583232E-08izztrue1.2602535629067308E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1110.35colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_4typetruerevolutexyztrue0.0555819236120889130.0862672402607150830.035616156906621455rpytrue0.0205900879483647480.00520694577092573-0.24765842036058269originfalsefalselinktruehand_originparenttruelinktrueabduction_4childtruexyztrue00-1axisfalselowertrue-0.349uppertrue0.349efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax_abd <proximal_u_joint-4>Automatically Generatelinktruenametruefinger_4xyztrue-0.00875019167619912190.0181859374375261810.0030502634314526073rpytrue000originfalsefalsevaluetrue0.0075657082228821433massfalseixxtrue8.4473812267439847E-07ixytrue3.8211020576191691E-11ixztrue-3.1347587532742866E-11iyytrue4.9578026373926077E-07iyztrue4.7368620960339344E-08izztrue9.3258007253720037E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_4typetruerevolutexyztrue0.008499999999999820.0077500000000004718-0.013367863543458564rpytrue000originfalsefalselinktrueabduction_4parenttruelinktruefinger_4childtruexyztrue-100axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax <proximal_u_joint-4>MCP 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<proximal_assem-4>PIP 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<inter_assem-4>DIP 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<proximal_u_joint-2>MCP_A 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<proximal_u_joint-2>MCP 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<proximal_assem-2>PIP 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<inter_assem-2>DIP <inter_assem-2>linktruefalseaEIAAAUAAAD//v8hZABpAHMAdABhAGwAXwBhAHMAcwBlAG0ALQAyAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAKcAAAA=falsefalsefalseaEIAAAUAAAD//v8gaQBuAHQAZQByAF8AYQBzAHMAZQBtAC0AMgBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAACoAAAAfalsefalsefalseaEIAAAUAAAD//v8jcAByAG8AeABpAG0AYQBsAF8AYQBzAHMAZQBtAC0AMgBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAACpAAAAfalsefalsefalseaEIAAAUAAAD//v8lcAByAG8AeABpAG0AYQBsAF8AdQBfAGoAbwBpAG4AdAAtADIAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAAqgAAAA==falsefalsenametrueabduction_3xyztrue3.3793488840583308E-100.0031312931387722977-0.0079303871553244309rpytrue000originfalsefalsevaluetrue0.0014823485767080093massfalseixxtrue7.9728186577048922E-08ixytrue-1.4312278271561389E-15ixztrue-2.1473996592068984E-15iyytrue1.2854876476802755E-07iyztrue2.4667530887832309E-08izztrue1.2602534665739125E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1110.35colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_3typetruerevolutexyztrue0.0363971674161245040.108303503157999640.036084237344356063rpytrue0.0211199194595026170.0022382853648138783-0.10557002834643474originfalsefalselinktruehand_originparenttruelinktrueabduction_3childtruexyztrue00-1axisfalselowertrue-0.349uppertrue0.349efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax_abd <proximal_u_joint-3>Automatically Generatelinktruenametruefinger_3xyztrue-0.008750181807661860.0181859247827286620.0030502627114392111rpytrue000originfalsefalsevaluetrue0.0075657111881613347massfalseixxtrue8.4473876730533553E-07ixytrue3.7937104623243015E-11ixztrue-3.1066433593749447E-11iyytrue4.9578035127757234E-07iyztrue4.7369130454860988E-08izztrue9.325804906441921E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_3typetruerevolutexyztrue0.00849999999999971610.0077500000000004562-0.013367863543458675rpytrue000originfalsefalselinktrueabduction_3parenttruelinktruefinger_3childtruexyztrue-0.9999999999999998900axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax <proximal_u_joint-3>MCP <proximal_u_joint-3>linktruenametrueinter_3xyztrue-0.00850015977411766250.0155411822205714090.0030591423614464847rpytrue000originfalsefalsevaluetrue0.00429762762746428massfalseixxtrue3.7700466395501814E-07ixytrue-2.2100377326343183E-11ixztrue1.2836113958214781E-11iyytrue2.1459974855036976E-07iyztrue7.7689281572956728E-09izztrue4.0343593643979316E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruePIP_3typetruerevolutexyztrue-0.000249999999999479810.03625000000000050rpytrue000originfalsefalselinktruefinger_3parenttruelinktrueinter_3childtruexyztrue-0.9999999999999998900axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsepipax <proximal_assem-3>PIP <proximal_assem-3>linktruenametruedistal_3xyztrue-0.00200042014716380820.00968343874813275270.0015765630551569099rpytrue000originfalsefalsevaluetrue0.0051001305638709729massfalseixxtrue2.3829163392190576E-07ixytrue-1.1345708815550242E-11ixztrue-7.8298669204020328E-12iyytrue1.60134674513257E-07iyztrue1.545389565579283E-08izztrue2.9631413593149124E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueDIP_3typetruerevolutexyztrue-0.00650000000000021390.0331646231083600890rpytrue000originfalsefalselinktrueinter_3parenttruelinktruedistal_3childtruexyztrue0.9999999999999998900axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsedipax <inter_assem-3>DIP <inter_assem-3>linktruefalseaEIAAAUAAAD//v8hZABpAHMAdABhAGwAXwBhAHMAcwBlAG0ALQAzAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAL8AAAA=falsefalsefalseaEIAAAUAAAD//v8gaQBuAHQAZQByAF8AYQBzAHMAZQBtAC0AMwBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAADAAAAAfalsefalsefalseaEIAAAUAAAD//v8jcAByAG8AeABpAG0AYQBsAF8AYQBzAHMAZQBtAC0AMwBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAADBAAAAfalsefalsefalseaEIAAAUAAAD//v8lcAByAG8AeABpAG0AYQBsAF8AdQBfAGoAbwBpAG4AdAAtADMAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAAwgAAAA==falsefalsefalseaEIAAAUAAAD//v8lbABvAHcAZQByAF8AcABhAGwAbQBfAGMAbwB2AGUAcgAtADEAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAANQAAAA==aEIAAAUAAAD//v8pdQBwAHAAZQByAF8AcABhAGwAbQBfAGMAYQBzAGkAbgBnAF8AdgAzAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAAA3AAAAaEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAJEAAAA=aEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQAyAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAKsAAAA=aEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQAzAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAMMAAAA=aEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQA0AEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAANoAAAA=aEIAAAUAAAD//v8dRwBMADMAMAAuAHMAdABwAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABCAAAAfalsefalse -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node hand_origin -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node thumb -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node thumb_abduction -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node thumb_inter -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node thumb_distal -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node abduction_4 -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node finger_4 -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node inter_4 -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node distal_4 -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node abduction_1 -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node finger_1 -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node inter_1 -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node distal_1 -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node abduction_2 -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node finger_2 -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node inter_2 -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node distal_2 -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node abduction_3 -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node finger_3 -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node inter_3 -2026-06-09 19:05:54,975 INFO LinkNode.cs: 35 - Building node distal_3 -2026-06-09 19:05:54,975 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for hand_origin from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:54,975 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%lower_palm_cover-1@hand_assem_for_sim5 -2026-06-09 19:05:55,023 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\lower_palm_cover.SLDPRT -2026-06-09 19:05:55,023 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???)upper_palm_casing_v3-1@hand_assem_for_sim7 -2026-06-09 19:05:55,023 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\upper_palm_casing_v3.SLDPRT -2026-06-09 19:05:55,031 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-1@hand_assem_for_sim? -2026-06-09 19:05:55,031 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 19:05:55,031 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-2@hand_assem_for_sim? -2026-06-09 19:05:55,031 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 19:05:55,033 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-3@hand_assem_for_sim? -2026-06-09 19:05:55,033 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 19:05:55,033 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-4@hand_assem_for_sim? -2026-06-09 19:05:55,033 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 19:05:55,033 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???GL30.stp-1@hand_assem_for_simB -2026-06-09 19:05:55,035 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\AppData\Local\Temp\swx33344\IC~~\GL30.stp.SLDPRT -2026-06-09 19:05:55,035 INFO CommonSwOperations.cs: 230 - Loaded 7 components for link hand_origin -2026-06-09 19:05:55,035 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,035 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???.thumb_circumduction_joint-1@hand_assem_for_simC -2026-06-09 19:05:55,035 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_circumduction_joint.SLDPRT -2026-06-09 19:05:55,035 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb -2026-06-09 19:05:55,037 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_abduction from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,037 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???)thumb_proximal_joint-1@hand_assem_for_simD -2026-06-09 19:05:55,037 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_proximal_joint.SLDPRT -2026-06-09 19:05:55,037 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!thumb_distal-1@hand_assem_for_simF -2026-06-09 19:05:55,039 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_distal.SLDPRT -2026-06-09 19:05:55,039 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???GL30.stp-2@hand_assem_for_simK -2026-06-09 19:05:55,039 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\AppData\Local\Temp\swx33344\IC~~\GL30.stp.SLDPRT -2026-06-09 19:05:55,039 INFO CommonSwOperations.cs: 230 - Loaded 3 components for link thumb_abduction -2026-06-09 19:05:55,039 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_inter from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,041 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???&thumb_inter_assem-1@hand_assem_for_simA -2026-06-09 19:05:55,041 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_inter_assem.SLDASM -2026-06-09 19:05:55,041 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb_inter -2026-06-09 19:05:55,041 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_distal from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,041 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???'thumb_distal_assem-1@hand_assem_for_sim@ -2026-06-09 19:05:55,043 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_distal_assem.SLDASM -2026-06-09 19:05:55,043 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb_distal -2026-06-09 19:05:55,043 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for abduction_4 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,043 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-4@hand_assem_for_sim? -2026-06-09 19:05:55,045 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 19:05:55,045 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link abduction_4 -2026-06-09 19:05:55,045 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_4 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,045 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-4@hand_assem_for_sim? -2026-06-09 19:05:55,045 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 19:05:55,047 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_4 -2026-06-09 19:05:55,047 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_4 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,047 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-4@hand_assem_for_sim? -2026-06-09 19:05:55,047 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 19:05:55,047 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_4 -2026-06-09 19:05:55,047 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_4 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,047 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-4@hand_assem_for_sim? -2026-06-09 19:05:55,049 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 19:05:55,049 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_4 -2026-06-09 19:05:55,049 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for abduction_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,049 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-1@hand_assem_for_sim? -2026-06-09 19:05:55,049 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 19:05:55,049 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link abduction_1 -2026-06-09 19:05:55,049 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,051 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-1@hand_assem_for_sim? -2026-06-09 19:05:55,051 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 19:05:55,051 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_1 -2026-06-09 19:05:55,051 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,051 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-1@hand_assem_for_sim? -2026-06-09 19:05:55,051 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 19:05:55,051 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_1 -2026-06-09 19:05:55,051 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,053 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-1@hand_assem_for_sim? -2026-06-09 19:05:55,053 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 19:05:55,053 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_1 -2026-06-09 19:05:55,053 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for abduction_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,053 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-2@hand_assem_for_sim? -2026-06-09 19:05:55,053 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 19:05:55,053 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link abduction_2 -2026-06-09 19:05:55,055 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,055 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-2@hand_assem_for_sim? -2026-06-09 19:05:55,055 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 19:05:55,055 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_2 -2026-06-09 19:05:55,055 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,055 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-2@hand_assem_for_sim? -2026-06-09 19:05:55,055 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 19:05:55,055 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_2 -2026-06-09 19:05:55,057 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,057 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-2@hand_assem_for_sim? -2026-06-09 19:05:55,057 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 19:05:55,057 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_2 -2026-06-09 19:05:55,057 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for abduction_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,057 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-3@hand_assem_for_sim? -2026-06-09 19:05:55,057 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 19:05:55,059 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link abduction_3 -2026-06-09 19:05:55,059 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,059 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-3@hand_assem_for_sim? -2026-06-09 19:05:55,059 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 19:05:55,059 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_3 -2026-06-09 19:05:55,059 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,059 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-3@hand_assem_for_sim? -2026-06-09 19:05:55,059 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 19:05:55,059 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_3 -2026-06-09 19:05:55,059 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:05:55,059 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-3@hand_assem_for_sim? -2026-06-09 19:05:55,059 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 19:05:55,059 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_3 -2026-06-09 19:05:55,158 INFO SwAddin.cs: 344 - Showing property manager -2026-06-09 19:05:57,055 INFO ExportPropertyManager.cs: 422 - Configuration saved -2026-06-09 19:05:57,073 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found -nametruehand_originxyztrue0.0126390083886839310.0549439388053319380.017766742308305411rpytrue000originfalsefalsevaluetrue0.066010643993259885massfalseixxtrue5.237825027569516E-05ixytrue5.56027503556309E-06ixztrue-2.0423270424111578E-06iyytrue4.6843514472457764E-05iyztrue-3.5375901931888546E-06izztrue9.3311109396945036E-05inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsehand_originlinktruenametruethumbxyztrue-0.0041079215545758128-0.023660585810971024-0.013742843239502683rpytrue000originfalsefalsevaluetrue0.0058703027415141591massfalseixxtrue2.1194598224564355E-06ixytrue-1.3009619554747831E-07ixztrue3.987490068663393E-08iyytrue1.4838853758908384E-06iyztrue-2.82528057166446E-07izztrue7.4592716901118572E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruecircumductiontypetruerevolutexyztrue0.00370991967320959130.0778978368943719220.019751413602317171rpytrue000originfalsefalselinktruehand_originparenttruelinktruethumbchildtruexyztrue000axisfalselowertrue-0.5uppertrue0.5efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis1 <thumb_circumduction_joint-1>thumb_circumductionlinktruenametruethumb_abductionxyztrue0.012610708826781225-0.0036476514783893854-0.0017814763797105691rpytrue000originfalsefalsevaluetrue0.02644286049995407massfalseixxtrue5.3623096744587916E-06ixytrue-3.2975039154526935E-07ixztrue2.9923679738371138E-07iyytrue3.6233155083077614E-06iyztrue-1.4694277973485221E-07izztrue3.0752792608796087E-06inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_thumbtypetruerevolutexyztrue-0.032144110700172625-0.022570882823739133-0.032309130382684688rpytrue000originfalsefalselinktruethumbparenttruelinktruethumb_abductionchildtruexyztrue0.97337114310832928-0.229234852856157660axisfalselowertrue0uppertrue2efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis1 <thumb_proximal_joint-1>thumb_abductionlinktruenametruethumb_interxyztrue-0.0026067040349163212-0.010879108879798857-0.018275470399712876rpytrue000originfalsefalsevaluetrue0.0088710303099021684massfalseixxtrue1.9468960871178789E-06ixytrue-6.4109957445590826E-08ixztrue-1.0434082971278786E-07iyytrue1.7404532436164456E-06iyztrue-2.4198417160809E-07izztrue7.3172598404725019E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruePIP_thumbtypetruerevolutexyztrue0.018978282330607665-0.0088428422134161355-0.027272474467553855rpytrue000originfalsefalselinktruethumb_abductionparenttruelinktruethumb_interchildtruexyztrue0.222602988561972110.94521109131615166-0.23879678041424238axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis2thumb_PIPlinktruenametruethumb_distalxyztrue-0.0029845504640686818-0.012134930276189351-0.011037933898898039rpytrue000originfalsefalsevaluetrue0.0050293418037722143massfalseixxtrue5.4287280361208744E-07ixytrue-1.9786756591364859E-08ixztrue1.5327011998632312E-08iyytrue4.4335619598679E-07iyztrue-1.4661365759797218E-08izztrue3.9885376175655139E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueDIP_thumbtypetruerevolutexyztrue-0.0015765533719664451-0.0066943204260697942-0.040530242455460892rpytrue000originfalsefalselinktruethumb_interparenttruelinktruethumb_distalchildtruexyztrue0.222602988561971640.94521109131615177-0.23879678041424243axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsethumb_dipaxthumb_DIPlinktruefalseaEIAAAUAAAD//v8ndABoAHUAbQBiAF8AZABpAHMAdABhAGwAXwBhAHMAcwBlAG0ALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAEAAAAA=falsefalsefalseaEIAAAUAAAD//v8mdABoAHUAbQBiAF8AaQBuAHQAZQByAF8AYQBzAHMAZQBtAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABBAAAAfalsefalsefalseaEIAAAUAAAD//v8pdABoAHUAbQBiAF8AcAByAG8AeABpAG0AYQBsAF8AagBvAGkAbgB0AC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABEAAAAaEIAAAUAAAD//v8hdABoAHUAbQBiAF8AZABpAHMAdABhAGwALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAEYAAAA=aEIAAAUAAAD//v8dRwBMADMAMAAuAHMAdABwAC0AMgBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABLAAAAfalsefalsefalseaEIAAAUAAAD//v8udABoAHUAbQBiAF8AYwBpAHIAYwB1AG0AZAB1AGMAdABpAG8AbgBfAGoAbwBpAG4AdAAtADEAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAAQwAAAA==falsefalsenametrueabduction_4xyztrue-8.1366725857012767E-110.0031312954479114988-0.0079303829088130037rpytrue000originfalsefalsevaluetrue0.0014823498446202964massfalseixxtrue7.9728229508199355E-08ixytrue3.065425421372277E-16ixztrue7.3295263091076883E-16iyytrue1.2854879853511415E-07iyztrue2.4667513426583232E-08izztrue1.2602535629067308E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1110.35colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_4typetruerevolutexyztrue0.0555819236120889130.0862672402607150830.035616156906621455rpytrue0.0205900879483647480.00520694577092573-0.24765842036058269originfalsefalselinktruehand_originparenttruelinktrueabduction_4childtruexyztrue00-1axisfalselowertrue-0.349uppertrue0.349efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax_abd <proximal_u_joint-4>Automatically Generatelinktruenametruefinger_4xyztrue-0.00875019167619912190.0181859374375261810.0030502634314526073rpytrue000originfalsefalsevaluetrue0.0075657082228821433massfalseixxtrue8.4473812267439847E-07ixytrue3.8211020576191691E-11ixztrue-3.1347587532742866E-11iyytrue4.9578026373926077E-07iyztrue4.7368620960339344E-08izztrue9.3258007253720037E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_4typetruerevolutexyztrue0.008499999999999820.0077500000000004718-0.013367863543458564rpytrue000originfalsefalselinktrueabduction_4parenttruelinktruefinger_4childtruexyztrue-100axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax <proximal_u_joint-4>MCP <proximal_u_joint-4>linktruenametrueinter_4xyztrue-0.00850015880760880690.0155411840407675590.0030591353415407307rpytrue000originfalsefalsevaluetrue0.0042976290310876861massfalseixxtrue3.7700510772759161E-07ixytrue-2.1963616927566438E-11ixztrue1.2707490733175813E-11iyytrue2.1459984183312867E-07iyztrue7.7690420874017185E-09izztrue4.0343621313006926E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruePIP_4typetruerevolutexyztrue-0.000250000000000090430.0362499999999995460rpytrue000originfalsefalselinktruefinger_4parenttruelinktrueinter_4childtruexyztrue-100axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsepipax <proximal_assem-4>PIP 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<inter_assem-4>DIP 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<proximal_u_joint-2>MCP_A 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<proximal_u_joint-2>MCP 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<inter_assem-2>DIP 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<proximal_u_joint-3>Automatically 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<proximal_u_joint-3>MCP 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<proximal_assem-3>PIP 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<inter_assem-3>DIP <inter_assem-3>linktruefalseaEIAAAUAAAD//v8hZABpAHMAdABhAGwAXwBhAHMAcwBlAG0ALQAzAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAL8AAAA=falsefalsefalseaEIAAAUAAAD//v8gaQBuAHQAZQByAF8AYQBzAHMAZQBtAC0AMwBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAADAAAAAfalsefalsefalseaEIAAAUAAAD//v8jcAByAG8AeABpAG0AYQBsAF8AYQBzAHMAZQBtAC0AMwBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAADBAAAAfalsefalsefalseaEIAAAUAAAD//v8lcAByAG8AeABpAG0AYQBsAF8AdQBfAGoAbwBpAG4AdAAtADMAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAAwgAAAA==falsefalsefalseaEIAAAUAAAD//v8lbABvAHcAZQByAF8AcABhAGwAbQBfAGMAbwB2AGUAcgAtADEAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAANQAAAA==aEIAAAUAAAD//v8pdQBwAHAAZQByAF8AcABhAGwAbQBfAGMAYQBzAGkAbgBnAF8AdgAzAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAAA3AAAAaEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAJEAAAA=aEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQAyAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAKsAAAA=aEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQAzAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAMMAAAA=aEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQA0AEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAANoAAAA=aEIAAAUAAAD//v8dRwBMADMAMAAuAHMAdABwAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABCAAAAfalsefalse -2026-06-09 19:05:58,127 INFO ExportHelperExtension.cs: 347 - Creating joint thumb -2026-06-09 19:05:58,210 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child thumb failed -2026-06-09 19:05:58,252 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_abduction -2026-06-09 19:05:58,257 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb to child thumb_abduction failed -2026-06-09 19:05:58,353 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_inter -2026-06-09 19:05:58,392 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb_abduction to child thumb_inter failed -2026-06-09 19:05:58,604 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_distal -2026-06-09 19:05:58,649 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb_inter to child thumb_distal failed -2026-06-09 19:05:59,261 INFO ExportHelperExtension.cs: 347 - Creating joint abduction_4 -2026-06-09 19:05:59,264 INFO ExportHelperExtension.cs: 1397 - Fixing components for hand_origin -2026-06-09 19:05:59,266 INFO ExportHelperExtension.cs: 1402 - Fixing 53 -2026-06-09 19:05:59,266 INFO ExportHelperExtension.cs: 1402 - Fixing 55 -2026-06-09 19:05:59,266 INFO ExportHelperExtension.cs: 1409 - Component 55 is already fixed -2026-06-09 19:05:59,266 INFO ExportHelperExtension.cs: 1402 - Fixing 145 -2026-06-09 19:05:59,266 INFO ExportHelperExtension.cs: 1409 - Component 145 is already fixed -2026-06-09 19:05:59,266 INFO ExportHelperExtension.cs: 1402 - Fixing 171 -2026-06-09 19:05:59,266 INFO ExportHelperExtension.cs: 1409 - Component 171 is already fixed -2026-06-09 19:05:59,268 INFO ExportHelperExtension.cs: 1402 - Fixing 195 -2026-06-09 19:05:59,268 INFO ExportHelperExtension.cs: 1409 - Component 195 is already fixed -2026-06-09 19:05:59,268 INFO ExportHelperExtension.cs: 1402 - Fixing 218 -2026-06-09 19:05:59,268 INFO ExportHelperExtension.cs: 1409 - Component 218 is already fixed -2026-06-09 19:05:59,268 INFO ExportHelperExtension.cs: 1402 - Fixing 66 -2026-06-09 19:05:59,268 INFO ExportHelperExtension.cs: 1409 - Component 66 is already fixed -2026-06-09 19:05:59,636 INFO ExportHelperExtension.cs: 832 - R1: 0, 0 -2026-06-09 19:05:59,638 INFO ExportHelperExtension.cs: 841 - R2: 0, 0 -2026-06-09 19:05:59,638 INFO ExportHelperExtension.cs: 849 - L1: 0 -2026-06-09 19:05:59,638 INFO ExportHelperExtension.cs: 857 - L2: 0 -2026-06-09 19:05:59,638 INFO ExportHelperExtension.cs: 1352 - Unfixing component 53 -2026-06-09 19:05:59,952 ERROR ExportPropertyManager.cs: 399 - Exception caught handling button press 17 -System.Exception: Reference sketch does not exist - at SW2URDF.URDFExport.ExportHelper.AddSketchGeometry(Origin Origin) in C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelperExtension.cs:line 696 - at SW2URDF.URDFExport.ExportHelper.CreateRefOrigin(Origin Origin, String CoordinateSystemName) in C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelperExtension.cs:line 494 - at SW2URDF.URDFExport.ExportHelper.CreateRefOrigin(Joint Joint) in C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelperExtension.cs:line 486 - at SW2URDF.URDFExport.ExportHelper.CreateJoint(Link parent, Link child) in C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelperExtension.cs:line 454 - at SW2URDF.URDFExport.ExportHelper.CreateLinkFromComponents(Link parent, LinkNode node) in C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelperExtension.cs:line 348 - at SW2URDF.URDFExport.ExportHelper.CreateLink(LinkNode node, Int32 count) in C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelperExtension.cs:line 215 - at SW2URDF.URDFExport.ExportHelper.CreateLink(LinkNode node, Int32 count) in C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelperExtension.cs:line 227 - at SW2URDF.URDFExport.ExportHelper.CreateRobotFromTreeView(LinkNode baseNode) in C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelperExtension.cs:line 169 - at SW2URDF.URDFExport.ExportPropertyManager.ExportButtonPress() in C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportPropertyManager.cs:line 239 - at SW2URDF.URDFExport.ExportPropertyManager.OnButtonPress(Int32 Id) in C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportPropertyManager.cs:line 381 - at SW2URDF.URDFExport.ExportPropertyManager.SolidWorks.Interop.swpublished.IPropertyManagerPage2Handler9.OnButtonPress(Int32 Id) in C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportPropertyManager.cs:line 399 -2026-06-09 19:05:59,983 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:09:28,269 INFO SwAddin.cs: 294 - Assembly export called for file hand_assem_for_sim -2026-06-09 19:09:29,380 INFO SwAddin.cs: 313 - Saving assembly -2026-06-09 19:09:29,744 INFO SwAddin.cs: 316 - Opening property manager -2026-06-09 19:09:29,745 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hand_assem_for_sim -2026-06-09 19:09:29,746 INFO ExportHelperExtension.cs: 1136 - Found 166 in hand_assem_for_sim -2026-06-09 19:09:29,746 INFO ExportHelperExtension.cs: 1145 - Found 9 features of type [CoordSys] in hand_assem_for_sim -2026-06-09 19:09:29,746 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 19:09:29,749 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 19:09:29,749 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-3 -2026-06-09 19:09:29,749 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 19:09:29,750 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-3 -2026-06-09 19:09:29,750 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-1 -2026-06-09 19:09:29,750 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 19:09:29,750 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-1 -2026-06-09 19:09:29,750 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-1 -2026-06-09 19:09:29,750 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 19:09:29,750 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-1 -2026-06-09 19:09:29,750 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-1 -2026-06-09 19:09:29,750 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 19:09:29,753 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-1 -2026-06-09 19:09:29,753 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-1 -2026-06-09 19:09:29,753 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 19:09:29,753 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-1 -2026-06-09 19:09:29,753 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from master_sketch_hand-1 -2026-06-09 19:09:29,753 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 19:09:29,755 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in master_sketch_hand-1 -2026-06-09 19:09:29,755 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-1 -2026-06-09 19:09:29,756 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 19:09:29,756 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-1 -2026-06-09 19:09:29,756 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-2 -2026-06-09 19:09:29,756 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 19:09:29,756 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-2 -2026-06-09 19:09:29,756 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-2 -2026-06-09 19:09:29,756 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 19:09:29,756 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-2 -2026-06-09 19:09:29,760 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-2 -2026-06-09 19:09:29,760 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 19:09:29,760 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-2 -2026-06-09 19:09:29,760 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-2 -2026-06-09 19:09:29,760 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 19:09:29,760 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-2 -2026-06-09 19:09:29,760 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-2 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-2 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-3 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-3 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-3 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-3 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-1 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-1 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-4 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-4 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-4 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-4 -2026-06-09 19:09:29,762 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal_assem-1 -2026-06-09 19:09:29,768 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 19:09:29,768 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal_assem-1 -2026-06-09 19:09:29,768 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-3 -2026-06-09 19:09:29,768 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 19:09:29,768 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-3 -2026-06-09 19:09:29,768 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from upper_palm_casing_v3-1 -2026-06-09 19:09:29,768 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 19:09:29,768 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in upper_palm_casing_v3-1 -2026-06-09 19:09:29,768 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-4 -2026-06-09 19:09:29,777 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 19:09:29,777 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-4 -2026-06-09 19:09:29,777 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-3 -2026-06-09 19:09:29,777 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 19:09:29,777 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-3 -2026-06-09 19:09:29,777 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-4 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-4 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-4 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-4 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from lower_palm_cover-1 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in lower_palm_cover-1 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_inter_assem-1 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_inter_assem-1 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal-1 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal-1 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_proximal_joint-1 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_proximal_joint-1 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-2 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-2 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_circumduction_joint-1 -2026-06-09 19:09:29,780 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 19:09:29,789 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_circumduction_joint-1 -2026-06-09 19:09:29,789 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hand_assem_for_sim -2026-06-09 19:09:29,790 INFO ExportHelperExtension.cs: 1136 - Found 166 in hand_assem_for_sim -2026-06-09 19:09:29,791 INFO ExportHelperExtension.cs: 1145 - Found 6 features of type [RefAxis] in hand_assem_for_sim -2026-06-09 19:09:29,791 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 19:09:29,791 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 19:09:29,793 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-3 -2026-06-09 19:09:29,793 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 19:09:29,793 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-3 -2026-06-09 19:09:29,793 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-1 -2026-06-09 19:09:29,793 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 19:09:29,795 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-1 -2026-06-09 19:09:29,795 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-1 -2026-06-09 19:09:29,795 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 19:09:29,795 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-1 -2026-06-09 19:09:29,795 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-1 -2026-06-09 19:09:29,795 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 19:09:29,795 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-1 -2026-06-09 19:09:29,795 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-1 -2026-06-09 19:09:29,795 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 19:09:29,795 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-1 -2026-06-09 19:09:29,795 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from master_sketch_hand-1 -2026-06-09 19:09:29,795 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 19:09:29,800 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in master_sketch_hand-1 -2026-06-09 19:09:29,800 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-1 -2026-06-09 19:09:29,800 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 19:09:29,802 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-1 -2026-06-09 19:09:29,803 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-2 -2026-06-09 19:09:29,803 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 19:09:29,803 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-2 -2026-06-09 19:09:29,803 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-2 -2026-06-09 19:09:29,803 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 19:09:29,803 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-2 -2026-06-09 19:09:29,806 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-2 -2026-06-09 19:09:29,806 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 19:09:29,806 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-2 -2026-06-09 19:09:29,806 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-2 -2026-06-09 19:09:29,806 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 19:09:29,809 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-2 -2026-06-09 19:09:29,809 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-2 -2026-06-09 19:09:29,809 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 19:09:29,809 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-2 -2026-06-09 19:09:29,809 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-3 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-3 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-3 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-3 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-1 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-1 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-4 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-4 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-4 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-4 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal_assem-1 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 19:09:29,811 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_distal_assem-1 -2026-06-09 19:09:29,820 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-3 -2026-06-09 19:09:29,820 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 19:09:29,820 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-3 -2026-06-09 19:09:29,820 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from upper_palm_casing_v3-1 -2026-06-09 19:09:29,822 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 19:09:29,822 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in upper_palm_casing_v3-1 -2026-06-09 19:09:29,824 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-4 -2026-06-09 19:09:29,824 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 19:09:29,827 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-4 -2026-06-09 19:09:29,827 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-3 -2026-06-09 19:09:29,827 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 19:09:29,829 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-3 -2026-06-09 19:09:29,829 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-4 -2026-06-09 19:09:29,829 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 19:09:29,831 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-4 -2026-06-09 19:09:29,831 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-4 -2026-06-09 19:09:29,831 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 19:09:29,833 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-4 -2026-06-09 19:09:29,833 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from lower_palm_cover-1 -2026-06-09 19:09:29,833 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 19:09:29,835 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in lower_palm_cover-1 -2026-06-09 19:09:29,835 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_inter_assem-1 -2026-06-09 19:09:29,835 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 19:09:29,837 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_inter_assem-1 -2026-06-09 19:09:29,837 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal-1 -2026-06-09 19:09:29,837 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 19:09:29,837 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_distal-1 -2026-06-09 19:09:29,837 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_proximal_joint-1 -2026-06-09 19:09:29,837 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 19:09:29,841 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_proximal_joint-1 -2026-06-09 19:09:29,841 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-2 -2026-06-09 19:09:29,842 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 19:09:29,842 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-2 -2026-06-09 19:09:29,842 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_circumduction_joint-1 -2026-06-09 19:09:29,842 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 19:09:29,842 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_circumduction_joint-1 -2026-06-09 19:09:30,156 INFO SwAddin.cs: 339 - Loading config tree -2026-06-09 19:09:30,159 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found -nametruehand_originxyztrue0.0126390083886839310.0549439388053319380.017766742308305411rpytrue000originfalsefalsevaluetrue0.066010643993259885massfalseixxtrue5.237825027569516E-05ixytrue5.56027503556309E-06ixztrue-2.0423270424111578E-06iyytrue4.6843514472457764E-05iyztrue-3.5375901931888546E-06izztrue9.3311109396945036E-05inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsehand_originlinktruenametruethumbxyztrue-0.0041079215545758128-0.023660585810971024-0.013742843239502683rpytrue000originfalsefalsevaluetrue0.0058703027415141591massfalseixxtrue2.1194598224564355E-06ixytrue-1.3009619554747831E-07ixztrue3.987490068663393E-08iyytrue1.4838853758908384E-06iyztrue-2.82528057166446E-07izztrue7.4592716901118572E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruecircumductiontypetruerevolutexyztrue0.00370991967320959130.0778978368943719220.019751413602317171rpytrue000originfalsefalselinktruehand_originparenttruelinktruethumbchildtruexyztrue000axisfalselowertrue-0.5uppertrue0.5efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis1 <thumb_circumduction_joint-1>thumb_circumductionlinktruenametruethumb_abductionxyztrue0.012610708826781225-0.0036476514783893854-0.0017814763797105691rpytrue000originfalsefalsevaluetrue0.02644286049995407massfalseixxtrue5.3623096744587916E-06ixytrue-3.2975039154526935E-07ixztrue2.9923679738371138E-07iyytrue3.6233155083077614E-06iyztrue-1.4694277973485221E-07izztrue3.0752792608796087E-06inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_thumbtypetruerevolutexyztrue-0.032144110700172625-0.022570882823739133-0.032309130382684688rpytrue000originfalsefalselinktruethumbparenttruelinktruethumb_abductionchildtruexyztrue0.97337114310832928-0.229234852856157660axisfalselowertrue0uppertrue2efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis1 <thumb_proximal_joint-1>thumb_abductionlinktruenametruethumb_interxyztrue-0.0026067040349163212-0.010879108879798857-0.018275470399712876rpytrue000originfalsefalsevaluetrue0.0088710303099021684massfalseixxtrue1.9468960871178789E-06ixytrue-6.4109957445590826E-08ixztrue-1.0434082971278786E-07iyytrue1.7404532436164456E-06iyztrue-2.4198417160809E-07izztrue7.3172598404725019E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruePIP_thumbtypetruerevolutexyztrue0.018978282330607665-0.0088428422134161355-0.027272474467553855rpytrue000originfalsefalselinktruethumb_abductionparenttruelinktruethumb_interchildtruexyztrue0.222602988561972110.94521109131615166-0.23879678041424238axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis2thumb_PIPlinktruenametruethumb_distalxyztrue-0.0029845504640686818-0.012134930276189351-0.011037933898898039rpytrue000originfalsefalsevaluetrue0.0050293418037722143massfalseixxtrue5.4287280361208744E-07ixytrue-1.9786756591364859E-08ixztrue1.5327011998632312E-08iyytrue4.4335619598679E-07iyztrue-1.4661365759797218E-08izztrue3.9885376175655139E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueDIP_thumbtypetruerevolutexyztrue-0.0015765533719664451-0.0066943204260697942-0.040530242455460892rpytrue000originfalsefalselinktruethumb_interparenttruelinktruethumb_distalchildtruexyztrue0.222602988561971640.94521109131615177-0.23879678041424243axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsethumb_dipaxthumb_DIPlinktruefalseaEIAAAUAAAD//v8ndABoAHUAbQBiAF8AZABpAHMAdABhAGwAXwBhAHMAcwBlAG0ALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAEAAAAA=falsefalsefalseaEIAAAUAAAD//v8mdABoAHUAbQBiAF8AaQBuAHQAZQByAF8AYQBzAHMAZQBtAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABBAAAAfalsefalsefalseaEIAAAUAAAD//v8pdABoAHUAbQBiAF8AcAByAG8AeABpAG0AYQBsAF8AagBvAGkAbgB0AC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABEAAAAaEIAAAUAAAD//v8hdABoAHUAbQBiAF8AZABpAHMAdABhAGwALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAEYAAAA=aEIAAAUAAAD//v8dRwBMADMAMAAuAHMAdABwAC0AMgBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABLAAAAfalsefalsefalseaEIAAAUAAAD//v8udABoAHUAbQBiAF8AYwBpAHIAYwB1AG0AZAB1AGMAdABpAG8AbgBfAGoAbwBpAG4AdAAtADEAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAAQwAAAA==falsefalsenametrueabduction_4xyztrue-8.1366725857012767E-110.0031312954479114988-0.0079303829088130037rpytrue000originfalsefalsevaluetrue0.0014823498446202964massfalseixxtrue7.9728229508199355E-08ixytrue3.065425421372277E-16ixztrue7.3295263091076883E-16iyytrue1.2854879853511415E-07iyztrue2.4667513426583232E-08izztrue1.2602535629067308E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1110.35colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_4typetruerevolutexyztrue0.0555819236120889130.0862672402607150830.035616156906621455rpytrue0.0205900879483647480.00520694577092573-0.24765842036058269originfalsefalselinktruehand_originparenttruelinktrueabduction_4childtruexyztrue00-1axisfalselowertrue-0.349uppertrue0.349efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax_abd <proximal_u_joint-4>Automatically Generatelinktruenametruefinger_4xyztrue-0.00875019167619912190.0181859374375261810.0030502634314526073rpytrue000originfalsefalsevaluetrue0.0075657082228821433massfalseixxtrue8.4473812267439847E-07ixytrue3.8211020576191691E-11ixztrue-3.1347587532742866E-11iyytrue4.9578026373926077E-07iyztrue4.7368620960339344E-08izztrue9.3258007253720037E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_4typetruerevolutexyztrue0.008499999999999820.0077500000000004718-0.013367863543458564rpytrue000originfalsefalselinktrueabduction_4parenttruelinktruefinger_4childtruexyztrue-100axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax <proximal_u_joint-4>MCP <proximal_u_joint-4>linktruenametrueinter_4xyztrue-0.00850015880760880690.0155411840407675590.0030591353415407307rpytrue000originfalsefalsevaluetrue0.0042976290310876861massfalseixxtrue3.7700510772759161E-07ixytrue-2.1963616927566438E-11ixztrue1.2707490733175813E-11iyytrue2.1459984183312867E-07iyztrue7.7690420874017185E-09izztrue4.0343621313006926E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruePIP_4typetruerevolutexyztrue-0.000250000000000090430.0362499999999995460rpytrue000originfalsefalselinktruefinger_4parenttruelinktrueinter_4childtruexyztrue-100axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsepipax <proximal_assem-4>PIP <proximal_assem-4>linktruenametruedistal_4xyztrue-0.00200044738868769560.00968347321290162490.0015765933218622602rpytrue000originfalsefalsevaluetrue0.0051000743414811537massfalseixxtrue2.3829066396862103E-07ixytrue-1.1323846801438884E-11ixztrue-8.6418324061157533E-12iyytrue1.6013308600856093E-07iyztrue1.5454912929224945E-08izztrue2.9631029999337818E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueDIP_4typetruerevolutexyztrue-0.00650000000000005430.03316462310836170rpytrue000originfalsefalselinktrueinter_4parenttruelinktruedistal_4childtruexyztrue0.9999999999999998900axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsedipax <inter_assem-4>DIP 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<inter_assem-3>DIP 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-2026-06-09 19:09:30,179 INFO LinkNode.cs: 35 - Building node hand_origin -2026-06-09 19:09:30,179 INFO LinkNode.cs: 35 - Building node thumb -2026-06-09 19:09:30,180 INFO LinkNode.cs: 35 - Building node thumb_abduction -2026-06-09 19:09:30,180 INFO LinkNode.cs: 35 - Building node thumb_inter -2026-06-09 19:09:30,180 INFO LinkNode.cs: 35 - Building node thumb_distal -2026-06-09 19:09:30,181 INFO LinkNode.cs: 35 - Building node abduction_4 -2026-06-09 19:09:30,181 INFO LinkNode.cs: 35 - Building node finger_4 -2026-06-09 19:09:30,181 INFO LinkNode.cs: 35 - Building node inter_4 -2026-06-09 19:09:30,181 INFO LinkNode.cs: 35 - Building node distal_4 -2026-06-09 19:09:30,182 INFO LinkNode.cs: 35 - Building node abduction_1 -2026-06-09 19:09:30,182 INFO LinkNode.cs: 35 - Building node finger_1 -2026-06-09 19:09:30,182 INFO LinkNode.cs: 35 - Building node inter_1 -2026-06-09 19:09:30,182 INFO LinkNode.cs: 35 - Building node distal_1 -2026-06-09 19:09:30,183 INFO LinkNode.cs: 35 - Building node abduction_2 -2026-06-09 19:09:30,183 INFO LinkNode.cs: 35 - Building node finger_2 -2026-06-09 19:09:30,183 INFO LinkNode.cs: 35 - Building node inter_2 -2026-06-09 19:09:30,184 INFO LinkNode.cs: 35 - Building node distal_2 -2026-06-09 19:09:30,184 INFO LinkNode.cs: 35 - Building node abduction_3 -2026-06-09 19:09:30,184 INFO LinkNode.cs: 35 - Building node finger_3 -2026-06-09 19:09:30,184 INFO LinkNode.cs: 35 - Building node inter_3 -2026-06-09 19:09:30,185 INFO LinkNode.cs: 35 - Building node distal_3 -2026-06-09 19:09:30,185 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for hand_origin from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,185 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%lower_palm_cover-1@hand_assem_for_sim5 -2026-06-09 19:09:30,186 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\lower_palm_cover.SLDPRT -2026-06-09 19:09:30,187 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???)upper_palm_casing_v3-1@hand_assem_for_sim7 -2026-06-09 19:09:30,188 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\upper_palm_casing_v3.SLDPRT -2026-06-09 19:09:30,188 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-1@hand_assem_for_sim? -2026-06-09 19:09:30,189 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 19:09:30,190 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-2@hand_assem_for_sim? -2026-06-09 19:09:30,190 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 19:09:30,191 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-3@hand_assem_for_sim? -2026-06-09 19:09:30,191 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 19:09:30,191 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-4@hand_assem_for_sim? -2026-06-09 19:09:30,192 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 19:09:30,192 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???GL30.stp-1@hand_assem_for_simB -2026-06-09 19:09:30,192 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\AppData\Local\Temp\swx33344\IC~~\GL30.stp.SLDPRT -2026-06-09 19:09:30,193 INFO CommonSwOperations.cs: 230 - Loaded 7 components for link hand_origin -2026-06-09 19:09:30,193 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,193 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???.thumb_circumduction_joint-1@hand_assem_for_simC -2026-06-09 19:09:30,193 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_circumduction_joint.SLDPRT -2026-06-09 19:09:30,194 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb -2026-06-09 19:09:30,194 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_abduction from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,194 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???)thumb_proximal_joint-1@hand_assem_for_simD -2026-06-09 19:09:30,194 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_proximal_joint.SLDPRT -2026-06-09 19:09:30,195 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!thumb_distal-1@hand_assem_for_simF -2026-06-09 19:09:30,195 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_distal.SLDPRT -2026-06-09 19:09:30,195 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???GL30.stp-2@hand_assem_for_simK -2026-06-09 19:09:30,196 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\AppData\Local\Temp\swx33344\IC~~\GL30.stp.SLDPRT -2026-06-09 19:09:30,196 INFO CommonSwOperations.cs: 230 - Loaded 3 components for link thumb_abduction -2026-06-09 19:09:30,196 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_inter from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,196 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???&thumb_inter_assem-1@hand_assem_for_simA -2026-06-09 19:09:30,197 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_inter_assem.SLDASM -2026-06-09 19:09:30,197 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb_inter -2026-06-09 19:09:30,197 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_distal from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,198 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???'thumb_distal_assem-1@hand_assem_for_sim@ -2026-06-09 19:09:30,198 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_distal_assem.SLDASM -2026-06-09 19:09:30,198 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb_distal -2026-06-09 19:09:30,198 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for abduction_4 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,199 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-4@hand_assem_for_sim? -2026-06-09 19:09:30,199 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 19:09:30,199 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link abduction_4 -2026-06-09 19:09:30,199 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_4 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,200 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-4@hand_assem_for_sim? -2026-06-09 19:09:30,200 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 19:09:30,201 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_4 -2026-06-09 19:09:30,201 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_4 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,201 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-4@hand_assem_for_sim? -2026-06-09 19:09:30,202 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 19:09:30,202 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_4 -2026-06-09 19:09:30,202 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_4 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,202 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-4@hand_assem_for_sim? -2026-06-09 19:09:30,202 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 19:09:30,203 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_4 -2026-06-09 19:09:30,203 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for abduction_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,203 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-1@hand_assem_for_sim? -2026-06-09 19:09:30,203 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 19:09:30,203 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link abduction_1 -2026-06-09 19:09:30,204 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,204 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-1@hand_assem_for_sim? -2026-06-09 19:09:30,204 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 19:09:30,204 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_1 -2026-06-09 19:09:30,204 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,204 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-1@hand_assem_for_sim? -2026-06-09 19:09:30,205 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 19:09:30,205 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_1 -2026-06-09 19:09:30,205 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,205 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-1@hand_assem_for_sim? -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_1 -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for abduction_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-2@hand_assem_for_sim? -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link abduction_2 -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-2@hand_assem_for_sim? -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_2 -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-2@hand_assem_for_sim? -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_2 -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-2@hand_assem_for_sim? -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_2 -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for abduction_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-3@hand_assem_for_sim? -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link abduction_3 -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-3@hand_assem_for_sim? -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_3 -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-3@hand_assem_for_sim? -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_3 -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-3@hand_assem_for_sim? -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 19:09:30,206 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_3 -2026-06-09 19:09:30,349 INFO SwAddin.cs: 344 - Showing property manager -2026-06-09 19:09:42,231 INFO ExportPropertyManager.cs: 422 - Configuration saved -2026-06-09 19:09:42,235 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found -nametruehand_originxyztrue0.0126390083886839310.0549439388053319380.017766742308305411rpytrue000originfalsefalsevaluetrue0.066010643993259885massfalseixxtrue5.237825027569516E-05ixytrue5.56027503556309E-06ixztrue-2.0423270424111578E-06iyytrue4.6843514472457764E-05iyztrue-3.5375901931888546E-06izztrue9.3311109396945036E-05inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsehand_originlinktruenametruethumbxyztrue-0.0041079215545758128-0.023660585810971024-0.013742843239502683rpytrue000originfalsefalsevaluetrue0.0058703027415141591massfalseixxtrue2.1194598224564355E-06ixytrue-1.3009619554747831E-07ixztrue3.987490068663393E-08iyytrue1.4838853758908384E-06iyztrue-2.82528057166446E-07izztrue7.4592716901118572E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruecircumductiontypetruerevolutexyztrue0.00370991967320959130.0778978368943719220.019751413602317171rpytrue000originfalsefalselinktruehand_originparenttruelinktruethumbchildtruexyztrue000axisfalselowertrue-0.5uppertrue0.5efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis1 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<proximal_u_joint-4>Automatically 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<proximal_u_joint-4>MCP 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<proximal_assem-4>PIP 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<inter_assem-4>DIP 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<proximal_u_joint-2>MCP_A <proximal_u_joint-2>linktruenametruefinger_2xyztrue-0.00875026175073964630.0181859692754779180.0030502962841246484rpytrue000originfalsefalsevaluetrue0.00756567707682998massfalseixxtrue8.4473439108192224E-07ixytrue3.2930909841797086E-11ixztrue-3.681478520410311E-11iyytrue4.9577744174959673E-07iyztrue4.7371677111646594E-08izztrue9.3257777603005065E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_2typetruerevolutexyztrue0.00849999999999971440.0077500000000001769-0.013367863543458598rpytrue000originfalsefalselinktrueabduction_2parenttruelinktruefinger_2childtruexyztrue-100axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax <proximal_u_joint-2>MCP <proximal_u_joint-2>linktruenametrueinter_2xyztrue-0.00850016012702297170.0155411813270360730.0030591464289813977rpytrue000originfalsefalsevaluetrue0.0042976265417070938massfalseixxtrue3.7700443634810952E-07ixytrue-2.2176115057601324E-11ixztrue1.2918647864794751E-11iyytrue2.1459967905122308E-07iyztrue7.76887924381257E-09izztrue4.0343581688841186E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruePIP_2typetruerevolutexyztrue-0.000250000000000178680.0362499999999982630rpytrue000originfalsefalselinktruefinger_2parenttruelinktrueinter_2childtruexyztrue-100axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsepipax <proximal_assem-2>PIP <proximal_assem-2>linktruenametruedistal_2xyztrue-0.00200042289654688880.00968340922915689180.0015765320700716137rpytrue000originfalsefalsevaluetrue0.0051001321895871475massfalseixxtrue2.382920972387417E-07ixytrue-1.0420823267602045E-11ixztrue-6.353576265508697E-12iyytrue1.6013493929717573E-07iyztrue1.5453394578652569E-08izztrue2.963158979349665E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueDIP_2typetruerevolutexyztrue-0.00649999999999923730.03316462310836170rpytrue000originfalsefalselinktrueinter_2parenttruelinktruedistal_2childtruexyztrue100axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsedipax <inter_assem-2>DIP <inter_assem-2>linktruefalseaEIAAAUAAAD//v8hZABpAHMAdABhAGwAXwBhAHMAcwBlAG0ALQAyAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAKcAAAA=falsefalsefalseaEIAAAUAAAD//v8gaQBuAHQAZQByAF8AYQBzAHMAZQBtAC0AMgBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAACoAAAAfalsefalsefalseaEIAAAUAAAD//v8jcAByAG8AeABpAG0AYQBsAF8AYQBzAHMAZQBtAC0AMgBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAACpAAAAfalsefalsefalseaEIAAAUAAAD//v8lcAByAG8AeABpAG0AYQBsAF8AdQBfAGoAbwBpAG4AdAAtADIAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAAqgAAAA==falsefalsenametrueabduction_3xyztrue3.3793488840583308E-100.0031312931387722977-0.0079303871553244309rpytrue000originfalsefalsevaluetrue0.0014823485767080093massfalseixxtrue7.9728186577048922E-08ixytrue-1.4312278271561389E-15ixztrue-2.1473996592068984E-15iyytrue1.2854876476802755E-07iyztrue2.4667530887832309E-08izztrue1.2602534665739125E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1110.35colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_3typetruerevolutexyztrue0.0363971674161245040.108303503157999640.036084237344356063rpytrue0.0211199194595026170.0022382853648138783-0.10557002834643474originfalsefalselinktruehand_originparenttruelinktrueabduction_3childtruexyztrue00-1axisfalselowertrue-0.349uppertrue0.349efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax_abd <proximal_u_joint-3>Automatically Generatelinktruenametruefinger_3xyztrue-0.008750181807661860.0181859247827286620.0030502627114392111rpytrue000originfalsefalsevaluetrue0.0075657111881613347massfalseixxtrue8.4473876730533553E-07ixytrue3.7937104623243015E-11ixztrue-3.1066433593749447E-11iyytrue4.9578035127757234E-07iyztrue4.7369130454860988E-08izztrue9.325804906441921E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_3typetruerevolutexyztrue0.00849999999999971610.0077500000000004562-0.013367863543458675rpytrue000originfalsefalselinktrueabduction_3parenttruelinktruefinger_3childtruexyztrue-0.9999999999999998900axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax <proximal_u_joint-3>MCP <proximal_u_joint-3>linktruenametrueinter_3xyztrue-0.00850015977411766250.0155411822205714090.0030591423614464847rpytrue000originfalsefalsevaluetrue0.00429762762746428massfalseixxtrue3.7700466395501814E-07ixytrue-2.2100377326343183E-11ixztrue1.2836113958214781E-11iyytrue2.1459974855036976E-07iyztrue7.7689281572956728E-09izztrue4.0343593643979316E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruePIP_3typetruerevolutexyztrue-0.000249999999999479810.03625000000000050rpytrue000originfalsefalselinktruefinger_3parenttruelinktrueinter_3childtruexyztrue-0.9999999999999998900axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsepipax <proximal_assem-3>PIP <proximal_assem-3>linktruenametruedistal_3xyztrue-0.00200042014716380820.00968343874813275270.0015765630551569099rpytrue000originfalsefalsevaluetrue0.0051001305638709729massfalseixxtrue2.3829163392190576E-07ixytrue-1.1345708815550242E-11ixztrue-7.8298669204020328E-12iyytrue1.60134674513257E-07iyztrue1.545389565579283E-08izztrue2.9631413593149124E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueDIP_3typetruerevolutexyztrue-0.00650000000000021390.0331646231083600890rpytrue000originfalsefalselinktrueinter_3parenttruelinktruedistal_3childtruexyztrue0.9999999999999998900axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsedipax <inter_assem-3>DIP <inter_assem-3>linktruefalseaEIAAAUAAAD//v8hZABpAHMAdABhAGwAXwBhAHMAcwBlAG0ALQAzAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAL8AAAA=falsefalsefalseaEIAAAUAAAD//v8gaQBuAHQAZQByAF8AYQBzAHMAZQBtAC0AMwBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAADAAAAAfalsefalsefalseaEIAAAUAAAD//v8jcAByAG8AeABpAG0AYQBsAF8AYQBzAHMAZQBtAC0AMwBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAADBAAAAfalsefalsefalseaEIAAAUAAAD//v8lcAByAG8AeABpAG0AYQBsAF8AdQBfAGoAbwBpAG4AdAAtADMAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAAwgAAAA==falsefalsefalseaEIAAAUAAAD//v8lbABvAHcAZQByAF8AcABhAGwAbQBfAGMAbwB2AGUAcgAtADEAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAANQAAAA==aEIAAAUAAAD//v8pdQBwAHAAZQByAF8AcABhAGwAbQBfAGMAYQBzAGkAbgBnAF8AdgAzAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAAA3AAAAaEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAJEAAAA=aEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQAyAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAKsAAAA=aEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQAzAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAMMAAAA=aEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQA0AEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAANoAAAA=aEIAAAUAAAD//v8dRwBMADMAMAAuAHMAdABwAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABCAAAAfalsefalse -2026-06-09 19:09:43,212 INFO ExportHelperExtension.cs: 347 - Creating joint thumb -2026-06-09 19:09:43,239 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child thumb failed -2026-06-09 19:09:43,264 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_abduction -2026-06-09 19:09:43,271 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb to child thumb_abduction failed -2026-06-09 19:09:43,354 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_inter -2026-06-09 19:09:43,397 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb_abduction to child thumb_inter failed -2026-06-09 19:09:43,616 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_distal -2026-06-09 19:09:43,663 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb_inter to child thumb_distal failed -2026-06-09 19:09:44,234 INFO ExportHelperExtension.cs: 347 - Creating joint abduction_1 -2026-06-09 19:09:44,314 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child abduction_1 failed -2026-06-09 19:09:44,330 INFO ExportHelperExtension.cs: 347 - Creating joint finger_1 -2026-06-09 19:09:44,396 WARN ExportHelperExtension.cs: 351 - Creating joint from parent abduction_1 to child finger_1 failed -2026-06-09 19:09:44,672 INFO ExportHelperExtension.cs: 347 - Creating joint inter_1 -2026-06-09 19:09:44,732 WARN ExportHelperExtension.cs: 351 - Creating joint from parent finger_1 to child inter_1 failed -2026-06-09 19:09:44,898 INFO ExportHelperExtension.cs: 347 - Creating joint distal_1 -2026-06-09 19:09:44,952 WARN ExportHelperExtension.cs: 351 - Creating joint from parent inter_1 to child distal_1 failed -2026-06-09 19:09:45,141 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hand_assem_for_sim -2026-06-09 19:09:45,141 INFO ExportHelperExtension.cs: 1136 - Found 166 in hand_assem_for_sim -2026-06-09 19:09:45,147 INFO ExportHelperExtension.cs: 1145 - Found 9 features of type [CoordSys] in hand_assem_for_sim -2026-06-09 19:09:45,147 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 19:09:45,147 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 19:09:45,147 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-3 -2026-06-09 19:09:45,147 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 19:09:45,147 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-3 -2026-06-09 19:09:45,147 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-1 -2026-06-09 19:09:45,147 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 19:09:45,147 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-1 -2026-06-09 19:09:45,149 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-1 -2026-06-09 19:09:45,149 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 19:09:45,149 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-1 -2026-06-09 19:09:45,149 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-1 -2026-06-09 19:09:45,149 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-1 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-1 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-1 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from master_sketch_hand-1 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in master_sketch_hand-1 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-1 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-1 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-2 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-2 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-2 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-2 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-2 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-2 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-2 -2026-06-09 19:09:45,151 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 19:09:45,156 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-2 -2026-06-09 19:09:45,156 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-2 -2026-06-09 19:09:45,156 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 19:09:45,156 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-2 -2026-06-09 19:09:45,156 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-3 -2026-06-09 19:09:45,156 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 19:09:45,156 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-3 -2026-06-09 19:09:45,156 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-3 -2026-06-09 19:09:45,156 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 19:09:45,156 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-3 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-1 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-1 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-4 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-4 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-4 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-4 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal_assem-1 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal_assem-1 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-3 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-3 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from upper_palm_casing_v3-1 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in upper_palm_casing_v3-1 -2026-06-09 19:09:45,159 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-4 -2026-06-09 19:09:45,172 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 19:09:45,179 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-4 -2026-06-09 19:09:45,179 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-3 -2026-06-09 19:09:45,179 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 19:09:45,179 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-3 -2026-06-09 19:09:45,179 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-4 -2026-06-09 19:09:45,181 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 19:09:45,181 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-4 -2026-06-09 19:09:45,181 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-4 -2026-06-09 19:09:45,181 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 19:09:45,181 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-4 -2026-06-09 19:09:45,181 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from lower_palm_cover-1 -2026-06-09 19:09:45,181 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 19:09:45,183 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in lower_palm_cover-1 -2026-06-09 19:09:45,183 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_inter_assem-1 -2026-06-09 19:09:45,183 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 19:09:45,183 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_inter_assem-1 -2026-06-09 19:09:45,183 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal-1 -2026-06-09 19:09:45,183 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 19:09:45,183 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal-1 -2026-06-09 19:09:45,185 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_proximal_joint-1 -2026-06-09 19:09:45,185 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 19:09:45,185 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_proximal_joint-1 -2026-06-09 19:09:45,185 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-2 -2026-06-09 19:09:45,185 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 19:09:45,185 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-2 -2026-06-09 19:09:45,185 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_circumduction_joint-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_circumduction_joint-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hand_assem_for_sim -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1136 - Found 166 in hand_assem_for_sim -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1145 - Found 6 features of type [RefAxis] in hand_assem_for_sim -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-3 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-3 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from master_sketch_hand-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in master_sketch_hand-1 -2026-06-09 19:09:45,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-1 -2026-06-09 19:09:45,196 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 19:09:45,196 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-1 -2026-06-09 19:09:45,196 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-2 -2026-06-09 19:09:45,196 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 19:09:45,196 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-2 -2026-06-09 19:09:45,196 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-2 -2026-06-09 19:09:45,196 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 19:09:45,198 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-2 -2026-06-09 19:09:45,198 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-2 -2026-06-09 19:09:45,198 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 19:09:45,198 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-2 -2026-06-09 19:09:45,198 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-2 -2026-06-09 19:09:45,198 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 19:09:45,198 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-2 -2026-06-09 19:09:45,198 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-2 -2026-06-09 19:09:45,200 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 19:09:45,200 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-2 -2026-06-09 19:09:45,200 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-3 -2026-06-09 19:09:45,200 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 19:09:45,200 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-3 -2026-06-09 19:09:45,200 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-3 -2026-06-09 19:09:45,200 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 19:09:45,202 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-3 -2026-06-09 19:09:45,202 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-1 -2026-06-09 19:09:45,202 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 19:09:45,202 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-1 -2026-06-09 19:09:45,202 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-4 -2026-06-09 19:09:45,204 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 19:09:45,204 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-4 -2026-06-09 19:09:45,204 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-4 -2026-06-09 19:09:45,204 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 19:09:45,204 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-4 -2026-06-09 19:09:45,204 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal_assem-1 -2026-06-09 19:09:45,204 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 19:09:45,206 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_distal_assem-1 -2026-06-09 19:09:45,206 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-3 -2026-06-09 19:09:45,206 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 19:09:45,206 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-3 -2026-06-09 19:09:45,206 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from upper_palm_casing_v3-1 -2026-06-09 19:09:45,206 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 19:09:45,206 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in upper_palm_casing_v3-1 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-4 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-4 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-3 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-3 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-4 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-4 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-4 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-4 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from lower_palm_cover-1 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in lower_palm_cover-1 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_inter_assem-1 -2026-06-09 19:09:45,208 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 19:09:45,214 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_inter_assem-1 -2026-06-09 19:09:45,219 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal-1 -2026-06-09 19:09:45,235 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 19:09:45,235 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_distal-1 -2026-06-09 19:09:45,239 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_proximal_joint-1 -2026-06-09 19:09:45,239 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 19:09:45,239 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_proximal_joint-1 -2026-06-09 19:09:45,241 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-2 -2026-06-09 19:09:45,241 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 19:09:45,243 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-2 -2026-06-09 19:09:45,243 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_circumduction_joint-1 -2026-06-09 19:09:45,243 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 19:09:45,245 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_circumduction_joint-1 -2026-06-09 19:09:45,296 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:09:58,540 INFO AssemblyExportForm.cs: 253 - Completing URDF export -2026-06-09 19:09:58,545 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found 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<thumb_circumduction_joint-1>thumb_circumductionlinktruenametruethumb_abductionxyztrue0.012610708826781225-0.0036476514783893854-0.0017814763797105691rpytrue000originfalsefalsevaluetrue0.02644286049995407massfalseixxtrue5.3623096744587916E-06ixytrue-3.2975039154526935E-07ixztrue2.9923679738371138E-07iyytrue3.6233155083077614E-06iyztrue-1.4694277973485221E-07izztrue3.0752792608796087E-06inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_thumbtypetruerevolutexyztrue-0.032144110700172625-0.022570882823739133-0.032309130382684688rpytrue000originfalsefalselinktruethumbparenttruelinktruethumb_abductionchildtruexyztrue0.97337114310832928-0.229234852856157660axisfalselowertrue0uppertrue2efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis1 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-2026-06-09 19:10:06,865 INFO AssemblyExportForm.cs: 253 - Completing URDF export -2026-06-09 19:10:06,870 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found 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-2026-06-09 19:10:12,634 INFO AssemblyExportForm.cs: 309 - Saving URDF package to C:\Users\neilm\Downloads\hand_assem_for_sim7 -2026-06-09 19:10:12,634 INFO ExportHelper.cs: 147 - Beginning the export process -2026-06-09 19:10:12,634 INFO ExportHelper.cs: 153 - Creating package directories with name hand_assem_for_sim7 and save path C:\Users\neilm\Downloads -2026-06-09 19:10:13,739 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\neilm\Downloads\hand_assem_for_sim7\CMakeLists.txt -2026-06-09 19:10:13,739 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\neilm\Downloads\hand_assem_for_sim7\config\joint_names_hand_assem_for_sim7.yaml -2026-06-09 19:10:13,739 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\neilm\Downloads\hand_assem_for_sim7\package.xml -2026-06-09 19:10:13,739 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\neilm\Downloads\hand_assem_for_sim7\package.xml -2026-06-09 19:10:13,752 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\neilm\Downloads\hand_assem_for_sim7\launch\ -2026-06-09 19:10:13,759 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\neilm\Downloads\hand_assem_for_sim7\launch\ -2026-06-09 19:10:13,765 INFO ExportHelper.cs: 187 - Saving existing STL preferences -2026-06-09 19:10:13,767 INFO ExportHelper.cs: 450 - Saving users preferences -2026-06-09 19:10:13,773 INFO ExportHelper.cs: 190 - Modifying STL preferences -2026-06-09 19:10:13,773 INFO ExportHelper.cs: 464 - Setting STL preferences -2026-06-09 19:10:13,781 INFO ExportHelper.cs: 196 - Found 0 hidden components -2026-06-09 19:10:13,781 INFO ExportHelper.cs: 197 - Hiding all components -2026-06-09 19:10:14,193 INFO ExportHelper.cs: 204 - Beginning individual files export -2026-06-09 19:10:14,195 INFO ExportHelper.cs: 270 - Exporting link: hand_origin -2026-06-09 19:10:14,195 INFO ExportHelper.cs: 272 - Link hand_origin has 2 children -2026-06-09 19:10:14,197 INFO ExportHelper.cs: 270 - Exporting link: thumb -2026-06-09 19:10:14,197 INFO ExportHelper.cs: 272 - Link thumb has 1 children -2026-06-09 19:10:14,197 INFO ExportHelper.cs: 270 - Exporting link: thumb_abduction -2026-06-09 19:10:14,197 INFO ExportHelper.cs: 272 - Link thumb_abduction has 1 children -2026-06-09 19:10:14,199 INFO ExportHelper.cs: 270 - Exporting link: thumb_inter -2026-06-09 19:10:14,199 INFO ExportHelper.cs: 272 - Link thumb_inter has 1 children -2026-06-09 19:10:14,199 INFO ExportHelper.cs: 270 - Exporting link: thumb_distal -2026-06-09 19:10:14,201 INFO ExportHelper.cs: 272 - Link thumb_distal has 0 children -2026-06-09 19:10:14,202 INFO ExportHelper.cs: 317 - thumb_distal: Exporting STL with coordinate frame thumb_DIP -2026-06-09 19:10:14,203 INFO ExportHelper.cs: 322 - thumb_distal: Reference geometry name -2026-06-09 19:10:14,341 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim7\meshes\thumb_distal.STL -2026-06-09 19:10:14,693 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 19:10:14,693 INFO ExportHelper.cs: 317 - thumb_inter: Exporting STL with coordinate frame thumb_PIP -2026-06-09 19:10:14,693 INFO ExportHelper.cs: 322 - thumb_inter: Reference geometry name -2026-06-09 19:10:14,753 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim7\meshes\thumb_inter.STL -2026-06-09 19:10:14,900 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 19:10:14,900 INFO ExportHelper.cs: 317 - thumb_abduction: Exporting STL with coordinate frame thumb_abduction -2026-06-09 19:10:14,909 INFO ExportHelper.cs: 322 - thumb_abduction: Reference geometry name -2026-06-09 19:10:14,958 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim7\meshes\thumb_abduction.STL -2026-06-09 19:10:15,090 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 19:10:15,092 INFO ExportHelper.cs: 317 - thumb: Exporting STL with coordinate frame thumb_circumduction -2026-06-09 19:10:15,092 INFO ExportHelper.cs: 322 - thumb: Reference geometry name -2026-06-09 19:10:15,124 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim7\meshes\thumb.STL -2026-06-09 19:10:15,188 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 19:10:15,188 INFO ExportHelper.cs: 270 - Exporting link: abduction_1 -2026-06-09 19:10:15,188 INFO ExportHelper.cs: 272 - Link abduction_1 has 1 children -2026-06-09 19:10:15,188 INFO ExportHelper.cs: 270 - Exporting link: finger_1 -2026-06-09 19:10:15,188 INFO ExportHelper.cs: 272 - Link finger_1 has 1 children -2026-06-09 19:10:15,204 INFO ExportHelper.cs: 270 - Exporting link: inter_1 -2026-06-09 19:10:15,204 INFO ExportHelper.cs: 272 - Link inter_1 has 1 children -2026-06-09 19:10:15,204 INFO ExportHelper.cs: 270 - Exporting link: distal_1 -2026-06-09 19:10:15,204 INFO ExportHelper.cs: 272 - Link distal_1 has 0 children -2026-06-09 19:10:15,204 INFO ExportHelper.cs: 317 - distal_1: Exporting STL with coordinate frame DIP_1 -2026-06-09 19:10:15,204 INFO ExportHelper.cs: 322 - distal_1: Reference geometry name -2026-06-09 19:10:15,439 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim7\meshes\distal_1.STL -2026-06-09 19:10:15,823 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 19:10:15,823 INFO ExportHelper.cs: 317 - inter_1: Exporting STL with coordinate frame PIP_1 -2026-06-09 19:10:15,823 INFO ExportHelper.cs: 322 - inter_1: Reference geometry name -2026-06-09 19:10:16,058 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim7\meshes\inter_1.STL -2026-06-09 19:10:16,329 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 19:10:16,329 INFO ExportHelper.cs: 317 - finger_1: Exporting STL with coordinate frame MCP_1 -2026-06-09 19:10:16,329 INFO ExportHelper.cs: 322 - finger_1: Reference geometry name -2026-06-09 19:10:16,536 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim7\meshes\finger_1.STL -2026-06-09 19:10:16,807 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 19:10:16,807 INFO ExportHelper.cs: 317 - abduction_1: Exporting STL with coordinate frame MCP_A_1 -2026-06-09 19:10:16,807 INFO ExportHelper.cs: 322 - abduction_1: Reference geometry name -2026-06-09 19:10:17,012 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim7\meshes\abduction_1.STL -2026-06-09 19:10:17,235 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 19:10:17,235 INFO ExportHelper.cs: 317 - hand_origin: Exporting STL with coordinate frame hand_origin -2026-06-09 19:10:17,235 INFO ExportHelper.cs: 322 - hand_origin: Reference geometry name -2026-06-09 19:10:17,485 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim7\meshes\hand_origin.STL -2026-06-09 19:10:18,093 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 19:10:18,093 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components -2026-06-09 19:10:19,339 INFO ExportHelper.cs: 145 - Resetting STL preferences -2026-06-09 19:10:19,340 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences -2026-06-09 19:10:19,342 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\neilm\Downloads\hand_assem_for_sim7\urdf\hand_assem_for_sim7.urdf -2026-06-09 19:10:19,353 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\neilm\Downloads\hand_assem_for_sim7\urdf\hand_assem_for_sim7.csv -2026-06-09 19:10:19,386 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 19:10:19,387 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 19:10:19,388 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 19:10:19,389 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 19:10:19,389 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 19:10:19,390 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 19:10:19,391 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 19:10:19,391 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 19:10:19,392 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 19:10:19,393 INFO ExportHelper.cs: 234 - Copying log file -2026-06-09 19:10:19,394 INFO ExportHelper.cs: 439 - Copying C:\Users\neilm\sw2urdf_logs\sw2urdf.log to C:\Users\neilm\Downloads\hand_assem_for_sim7\export.log -2026-06-09 19:10:19,396 INFO ExportHelper.cs: 237 - Resetting STL preferences -2026-06-09 19:10:19,397 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences -2026-06-09 19:50:10,014 INFO SwAddin.cs: 294 - Assembly export called for file hand_assem_for_sim -2026-06-09 19:50:11,560 INFO SwAddin.cs: 313 - Saving assembly -2026-06-09 19:50:12,145 INFO SwAddin.cs: 316 - Opening property manager -2026-06-09 19:50:12,147 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hand_assem_for_sim -2026-06-09 19:50:12,147 INFO ExportHelperExtension.cs: 1136 - Found 178 in hand_assem_for_sim -2026-06-09 19:50:12,147 INFO ExportHelperExtension.cs: 1145 - Found 13 features of type [CoordSys] in hand_assem_for_sim -2026-06-09 19:50:12,147 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 19:50:12,152 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 19:50:12,152 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-3 -2026-06-09 19:50:12,152 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 19:50:12,154 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-3 -2026-06-09 19:50:12,154 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-1 -2026-06-09 19:50:12,154 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 19:50:12,156 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-1 -2026-06-09 19:50:12,156 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-1 -2026-06-09 19:50:12,156 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 19:50:12,156 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-1 -2026-06-09 19:50:12,156 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-1 -2026-06-09 19:50:12,156 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 19:50:12,156 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-1 -2026-06-09 19:50:12,161 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-1 -2026-06-09 19:50:12,161 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 19:50:12,161 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-1 -2026-06-09 19:50:12,163 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from master_sketch_hand-1 -2026-06-09 19:50:12,163 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 19:50:12,163 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in master_sketch_hand-1 -2026-06-09 19:50:12,163 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-1 -2026-06-09 19:50:12,163 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 19:50:12,165 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-1 -2026-06-09 19:50:12,165 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-2 -2026-06-09 19:50:12,165 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 19:50:12,165 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-2 -2026-06-09 19:50:12,167 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-2 -2026-06-09 19:50:12,167 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 19:50:12,167 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-2 -2026-06-09 19:50:12,167 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-2 -2026-06-09 19:50:12,169 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 19:50:12,169 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-2 -2026-06-09 19:50:12,169 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-2 -2026-06-09 19:50:12,169 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 19:50:12,171 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-2 -2026-06-09 19:50:12,171 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-2 -2026-06-09 19:50:12,171 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 19:50:12,171 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-2 -2026-06-09 19:50:12,171 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-3 -2026-06-09 19:50:12,173 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 19:50:12,173 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-3 -2026-06-09 19:50:12,175 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-3 -2026-06-09 19:50:12,175 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 19:50:12,175 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-3 -2026-06-09 19:50:12,175 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-1 -2026-06-09 19:50:12,177 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 19:50:12,177 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-1 -2026-06-09 19:50:12,179 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-4 -2026-06-09 19:50:12,179 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 19:50:12,181 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-4 -2026-06-09 19:50:12,183 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-4 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-4 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal_assem-1 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal_assem-1 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-3 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-3 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from upper_palm_casing_v3-1 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in upper_palm_casing_v3-1 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-4 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-4 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-3 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-3 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-4 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-4 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-4 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-4 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from lower_palm_cover-1 -2026-06-09 19:50:12,226 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in lower_palm_cover-1 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_inter_assem-1 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_inter_assem-1 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal-1 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal-1 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_proximal_joint-1 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_proximal_joint-1 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-2 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-2 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_circumduction_joint-1 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_circumduction_joint-1 -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hand_assem_for_sim -2026-06-09 19:50:12,240 INFO ExportHelperExtension.cs: 1136 - Found 178 in hand_assem_for_sim -2026-06-09 19:50:12,251 INFO ExportHelperExtension.cs: 1145 - Found 10 features of type [RefAxis] in hand_assem_for_sim -2026-06-09 19:50:12,251 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 19:50:12,251 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 19:50:12,251 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-3 -2026-06-09 19:50:12,251 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 19:50:12,251 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-3 -2026-06-09 19:50:12,251 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-1 -2026-06-09 19:50:12,251 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 19:50:12,251 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-1 -2026-06-09 19:50:12,251 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-1 -2026-06-09 19:50:12,251 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 19:50:12,251 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-1 -2026-06-09 19:50:12,256 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-1 -2026-06-09 19:50:12,256 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 19:50:12,258 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-1 -2026-06-09 19:50:12,258 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-1 -2026-06-09 19:50:12,260 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 19:50:12,260 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-1 -2026-06-09 19:50:12,260 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from master_sketch_hand-1 -2026-06-09 19:50:12,260 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 19:50:12,262 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in master_sketch_hand-1 -2026-06-09 19:50:12,262 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-1 -2026-06-09 19:50:12,262 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 19:50:12,262 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-1 -2026-06-09 19:50:12,264 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-2 -2026-06-09 19:50:12,264 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 19:50:12,264 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-2 -2026-06-09 19:50:12,264 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-2 -2026-06-09 19:50:12,264 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 19:50:12,266 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-2 -2026-06-09 19:50:12,266 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-2 -2026-06-09 19:50:12,266 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 19:50:12,266 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-2 -2026-06-09 19:50:12,266 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-2 -2026-06-09 19:50:12,268 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 19:50:12,268 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-2 -2026-06-09 19:50:12,268 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-2 -2026-06-09 19:50:12,268 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 19:50:12,270 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-2 -2026-06-09 19:50:12,270 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-3 -2026-06-09 19:50:12,270 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 19:50:12,272 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-3 -2026-06-09 19:50:12,272 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-3 -2026-06-09 19:50:12,272 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 19:50:12,274 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-3 -2026-06-09 19:50:12,274 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-1 -2026-06-09 19:50:12,276 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 19:50:12,276 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-1 -2026-06-09 19:50:12,276 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-4 -2026-06-09 19:50:12,278 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 19:50:12,278 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-4 -2026-06-09 19:50:12,278 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-4 -2026-06-09 19:50:12,278 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 19:50:12,280 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-4 -2026-06-09 19:50:12,280 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal_assem-1 -2026-06-09 19:50:12,280 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 19:50:12,282 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_distal_assem-1 -2026-06-09 19:50:12,282 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-3 -2026-06-09 19:50:12,282 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 19:50:12,282 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-3 -2026-06-09 19:50:12,284 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from upper_palm_casing_v3-1 -2026-06-09 19:50:12,284 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 19:50:12,284 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in upper_palm_casing_v3-1 -2026-06-09 19:50:12,286 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-4 -2026-06-09 19:50:12,286 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 19:50:12,286 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-4 -2026-06-09 19:50:12,288 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-3 -2026-06-09 19:50:12,288 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 19:50:12,288 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-3 -2026-06-09 19:50:12,290 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-4 -2026-06-09 19:50:12,290 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 19:50:12,290 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-4 -2026-06-09 19:50:12,290 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-4 -2026-06-09 19:50:12,290 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 19:50:12,290 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-4 -2026-06-09 19:50:12,293 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from lower_palm_cover-1 -2026-06-09 19:50:12,293 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 19:50:12,293 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in lower_palm_cover-1 -2026-06-09 19:50:12,293 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_inter_assem-1 -2026-06-09 19:50:12,295 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 19:50:12,295 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_inter_assem-1 -2026-06-09 19:50:12,295 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal-1 -2026-06-09 19:50:12,295 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 19:50:12,297 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_distal-1 -2026-06-09 19:50:12,297 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_proximal_joint-1 -2026-06-09 19:50:12,297 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 19:50:12,297 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_proximal_joint-1 -2026-06-09 19:50:12,299 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-2 -2026-06-09 19:50:12,299 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 19:50:12,299 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-2 -2026-06-09 19:50:12,299 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_circumduction_joint-1 -2026-06-09 19:50:12,299 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 19:50:12,301 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_circumduction_joint-1 -2026-06-09 19:50:12,719 INFO SwAddin.cs: 339 - Loading config tree -2026-06-09 19:50:12,721 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found -nametruehand_originxyztrue0.0126390083716875330.0549439387869936070.017766742323776813rpytrue000originfalsefalsevaluetrue0.0660106440326253massfalseixxtrue5.2378250299633524E-05ixytrue5.5602749745455189E-06ixztrue-2.0423270154152246E-06iyytrue4.6843514472563189E-05iyztrue-3.5375901900778097E-06izztrue9.3311109426031443E-05inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsehand_originlinktruenametruethumbxyztrue-0.0041079215545758128-0.023660585810971024-0.013742843239502672rpytrue000originfalsefalsevaluetrue0.0058703027415141591massfalseixxtrue2.1194598224564308E-06ixytrue-1.3009619554747924E-07ixztrue3.98749006866217E-08iyytrue1.4838853758908443E-06iyztrue-2.825280571664447E-07izztrue7.4592716901119143E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruecircumductiontypetruerevolutexyztrue0.00370990.0778980.019751rpytrue000originfalsefalselinktruehand_originparenttruelinktruethumbchildtruexyztrue0.97337-0.229230axisfalselowertrue-0.5uppertrue0.5efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis1 <thumb_circumduction_joint-1>thumb_circumductionlinktruenametruethumb_abductionxyztrue0.012610708826781232-0.0036476514783893577-0.0017814763797105709rpytrue000originfalsefalsevaluetrue0.026442860499954077massfalseixxtrue5.3623096744588111E-06ixytrue-3.2975039154528131E-07ixztrue2.9923679738371535E-07iyytrue3.623315508307797E-06iyztrue-1.4694277973484779E-07izztrue3.0752792608796562E-06inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_thumbtypetruerevolutexyztrue-0.032144-0.022571-0.032309rpytrue000originfalsefalselinktruethumbparenttruelinktruethumb_abductionchildtruexyztrue0.97337-0.229230axisfalselowertrue0uppertrue2efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis1 <thumb_proximal_joint-1>thumb_abductionlinktruenametruethumb_interxyztrue-0.0026067040349163177-0.010879108879798857-0.018275470399712869rpytrue000originfalsefalsevaluetrue0.0088710303099021667massfalseixxtrue1.9468960871178784E-06ixytrue-6.4109957445591012E-08ixztrue-1.0434082971278784E-07iyytrue1.7404532436164454E-06iyztrue-2.4198417160809E-07izztrue7.3172598404725019E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruePIP_thumbtypetruerevolutexyztrue0.018978282330607665-0.0088428422134161355-0.027272474467553855rpytrue000originfalsefalselinktruethumb_abductionparenttruelinktruethumb_interchildtruexyztrue0.222602988561972110.94521109131615166-0.23879678041424238axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis2thumb_PIPlinktruenametruethumb_distalxyztrue-0.0029845504635899259-0.012134930275238445-0.0110379338945127rpytrue000originfalsefalsevaluetrue0.0050293418088318519massfalseixxtrue5.42872804300309E-07ixytrue-1.978675670238464E-08ixztrue1.5327012008038031E-08iyytrue4.4335619624366659E-07iyztrue-1.4661365688094446E-08izztrue3.9885376224255169E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueDIP_thumbtypetruerevolutexyztrue-0.0015765533719664451-0.0066943204260697942-0.040530242455460892rpytrue000originfalsefalselinktruethumb_interparenttruelinktruethumb_distalchildtruexyztrue0.222602988561971640.94521109131615177-0.23879678041424243axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsethumb_dipaxthumb_DIPlinktruefalseaEIAAAUAAAD//v8ndABoAHUAbQBiAF8AZABpAHMAdABhAGwAXwBhAHMAcwBlAG0ALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAEAAAAA=falsefalsefalseaEIAAAUAAAD//v8mdABoAHUAbQBiAF8AaQBuAHQAZQByAF8AYQBzAHMAZQBtAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABBAAAAfalsefalsefalseaEIAAAUAAAD//v8pdABoAHUAbQBiAF8AcAByAG8AeABpAG0AYQBsAF8AagBvAGkAbgB0AC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABEAAAAaEIAAAUAAAD//v8hdABoAHUAbQBiAF8AZABpAHMAdABhAGwALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAEYAAAA=aEIAAAUAAAD//v8dRwBMADMAMAAuAHMAdABwAC0AMgBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABLAAAAfalsefalsefalseaEIAAAUAAAD//v8udABoAHUAbQBiAF8AYwBpAHIAYwB1AG0AZAB1AGMAdABpAG8AbgBfAGoAbwBpAG4AdAAtADEAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAAQwAAAA==falsefalsenametrueabduction_1xyztrue-6.0356518394311109E-110.0032990017436259084-0.0078621009444750575rpytrue000originfalsefalsevaluetrue0.001482348803792659massfalseixxtrue7.9728182189335378E-08ixytrue6.8029756017759325E-17ixztrue3.1006632231006552E-16iyytrue1.2750014841523633E-07iyztrue2.4698857875729996E-08izztrue1.27073958361035E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1110.35colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_1typetruerevolutexyztrue-0.0179940.110130.036123rpytrue000originfalsefalselinktruehand_originparenttruelinktrueabduction_1childtruexyztrue-100axisfalselowertrue-0.349uppertrue0.349efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax_1MCP_A_1linktruenametruefinger_1xyztrue0.00824982377981490350.0181170112002920980.0034357642828769797rpytrue000originfalsefalsevaluetrue0.0075657254952880238massfalseixxtrue8.4474170010842785E-07ixytrue3.8637772508858463E-11ixztrue-2.9462750173549386E-11iyytrue4.9396699192680022E-07iyztrue3.80516192146477E-08izztrue9.3439700687322654E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_1typetruerevolutexyztrue-0.00850.0080321-0.0132rpytrue000originfalsefalselinktrueabduction_1parenttruelinktruefinger_1childtruexyztrue-100axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax_1MCP_1linktruenametrueinter_1xyztrue0.008499839959047740.0154727081799848860.0033885093660150425rpytrue000originfalsefalsevaluetrue0.0042976221168303588massfalseixxtrue3.7700398355624209E-07ixytrue-2.264082855677271E-11ixztrue1.2714964557687063E-11iyytrue2.1435466426207428E-07iyztrue3.75250170665542E-09izztrue4.0368048363614766E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruePIP_1typetruerevolutexyztrue-0.000250.0362420.00076983rpytrue000originfalsefalselinktruefinger_1parenttruelinktrueinter_1childtruexyztrue100axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsepipax_1PIP_1linktruenametruedistal_1xyztrue0.007999600615472640.00964770229434870620.0017818059842088854rpytrue000originfalsefalsevaluetrue0.005100135185059541massfalseixxtrue2.3829173823673888E-07ixytrue-1.045448457884861E-11ixztrue-5.4676075674783895E-12iyytrue1.5953975262005052E-07iyztrue1.2548226851779523E-08izztrue2.9691035417404181E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueDIP_1typetruerevolutexyztrue0.00050.0331570.0007043rpytrue000originfalsefalselinktrueinter_1parenttruelinktruedistal_1childtruexyztrue-100axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsedipax_1DIP_1linktruefalseaEIAAAUAAAD//v8hZABpAHMAdABhAGwAXwBhAHMAcwBlAG0ALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAI0AAAA=falsefalsefalseaEIAAAUAAAD//v8gaQBuAHQAZQByAF8AYQBzAHMAZQBtAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAACOAAAAfalsefalsefalseaEIAAAUAAAD//v8jcAByAG8AeABpAG0AYQBsAF8AYQBzAHMAZQBtAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAACPAAAAfalsefalsefalseaEIAAAUAAAD//v8lcAByAG8AeABpAG0AYQBsAF8AdQBfAGoAbwBpAG4AdAAtADEAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAAkAAAAA==falsefalsefalseaEIAAAUAAAD//v8lbABvAHcAZQByAF8AcABhAGwAbQBfAGMAbwB2AGUAcgAtADEAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAANQAAAA==aEIAAAUAAAD//v8pdQBwAHAAZQByAF8AcABhAGwAbQBfAGMAYQBzAGkAbgBnAF8AdgAzAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAAA3AAAAaEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAJEAAAA=aEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQAyAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAKsAAAA=aEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQAzAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAMMAAAA=aEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQA0AEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAANoAAAA=aEIAAAUAAAD//v8dRwBMADMAMAAuAHMAdABwAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABCAAAAfalsefalse -2026-06-09 19:50:12,724 INFO LinkNode.cs: 35 - Building node hand_origin -2026-06-09 19:50:12,724 INFO LinkNode.cs: 35 - Building node thumb -2026-06-09 19:50:12,734 INFO LinkNode.cs: 35 - Building node thumb_abduction -2026-06-09 19:50:12,734 INFO LinkNode.cs: 35 - Building node thumb_inter -2026-06-09 19:50:12,734 INFO LinkNode.cs: 35 - Building node thumb_distal -2026-06-09 19:50:12,734 INFO LinkNode.cs: 35 - Building node abduction_1 -2026-06-09 19:50:12,734 INFO LinkNode.cs: 35 - Building node finger_1 -2026-06-09 19:50:12,734 INFO LinkNode.cs: 35 - Building node inter_1 -2026-06-09 19:50:12,734 INFO LinkNode.cs: 35 - Building node distal_1 -2026-06-09 19:50:12,734 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for hand_origin from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:50:12,734 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%lower_palm_cover-1@hand_assem_for_sim5 -2026-06-09 19:50:12,734 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\lower_palm_cover.SLDPRT -2026-06-09 19:50:12,734 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???)upper_palm_casing_v3-1@hand_assem_for_sim7 -2026-06-09 19:50:12,734 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\upper_palm_casing_v3.SLDPRT -2026-06-09 19:50:12,734 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-1@hand_assem_for_sim? -2026-06-09 19:50:12,734 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 19:50:12,734 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-2@hand_assem_for_sim? -2026-06-09 19:50:12,734 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 19:50:12,734 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-3@hand_assem_for_sim? -2026-06-09 19:50:12,750 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 19:50:12,750 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-4@hand_assem_for_sim? -2026-06-09 19:50:12,750 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 19:50:12,750 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???GL30.stp-1@hand_assem_for_simB -2026-06-09 19:50:12,752 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\AppData\Local\Temp\swx33344\IC~~\GL30.stp.SLDPRT -2026-06-09 19:50:12,752 INFO CommonSwOperations.cs: 230 - Loaded 7 components for link hand_origin -2026-06-09 19:50:12,752 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:50:12,754 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???.thumb_circumduction_joint-1@hand_assem_for_simC -2026-06-09 19:50:12,754 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_circumduction_joint.SLDPRT -2026-06-09 19:50:12,754 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb -2026-06-09 19:50:12,754 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_abduction from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:50:12,756 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???)thumb_proximal_joint-1@hand_assem_for_simD -2026-06-09 19:50:12,756 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_proximal_joint.SLDPRT -2026-06-09 19:50:12,756 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!thumb_distal-1@hand_assem_for_simF -2026-06-09 19:50:12,756 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_distal.SLDPRT -2026-06-09 19:50:12,756 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???GL30.stp-2@hand_assem_for_simK -2026-06-09 19:50:12,756 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\AppData\Local\Temp\swx33344\IC~~\GL30.stp.SLDPRT -2026-06-09 19:50:12,756 INFO CommonSwOperations.cs: 230 - Loaded 3 components for link thumb_abduction -2026-06-09 19:50:12,760 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_inter from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:50:12,760 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???&thumb_inter_assem-1@hand_assem_for_simA -2026-06-09 19:50:12,760 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_inter_assem.SLDASM -2026-06-09 19:50:12,760 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb_inter -2026-06-09 19:50:12,760 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_distal from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:50:12,760 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???'thumb_distal_assem-1@hand_assem_for_sim@ -2026-06-09 19:50:12,760 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_distal_assem.SLDASM -2026-06-09 19:50:12,760 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb_distal -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for abduction_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-1@hand_assem_for_sim? -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link abduction_1 -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-1@hand_assem_for_sim? -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_1 -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-1@hand_assem_for_sim? -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_1 -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-1@hand_assem_for_sim? -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 19:50:12,765 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_1 -2026-06-09 19:50:13,126 INFO SwAddin.cs: 344 - Showing property manager -2026-06-09 19:50:17,329 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:50:35,550 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:50:38,737 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:50:52,222 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:51:01,255 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:51:05,024 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:51:17,208 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:51:20,901 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:51:31,399 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:51:41,910 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:51:52,189 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:51:54,554 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:52:07,251 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:52:15,633 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:52:15,661 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:52:36,077 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:52:39,708 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:52:41,446 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:52:57,465 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 19:53:01,405 INFO ExportPropertyManager.cs: 422 - Configuration saved -2026-06-09 19:53:01,405 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found -nametruehand_originxyztrue0.0126390083716875330.0549439387869936070.017766742323776813rpytrue000originfalsefalsevaluetrue0.0660106440326253massfalseixxtrue5.2378250299633524E-05ixytrue5.5602749745455189E-06ixztrue-2.0423270154152246E-06iyytrue4.6843514472563189E-05iyztrue-3.5375901900778097E-06izztrue9.3311109426031443E-05inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsehand_originlinktruenametruethumbxyztrue-0.0041079215545758128-0.023660585810971024-0.013742843239502672rpytrue000originfalsefalsevaluetrue0.0058703027415141591massfalseixxtrue2.1194598224564308E-06ixytrue-1.3009619554747924E-07ixztrue3.98749006866217E-08iyytrue1.4838853758908443E-06iyztrue-2.825280571664447E-07izztrue7.4592716901119143E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruecircumductiontypetruerevolutexyztrue0.00370990.0778980.019751rpytrue000originfalsefalselinktruehand_originparenttruelinktruethumbchildtruexyztrue0.97337-0.229230axisfalselowertrue-0.5uppertrue0.5efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis1 <thumb_circumduction_joint-1>thumb_circumductionlinktruenametruethumb_abductionxyztrue0.012610708826781232-0.0036476514783893577-0.0017814763797105709rpytrue000originfalsefalsevaluetrue0.026442860499954077massfalseixxtrue5.3623096744588111E-06ixytrue-3.2975039154528131E-07ixztrue2.9923679738371535E-07iyytrue3.623315508307797E-06iyztrue-1.4694277973484779E-07izztrue3.0752792608796562E-06inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_thumbtypetruerevolutexyztrue-0.032144-0.022571-0.032309rpytrue000originfalsefalselinktruethumbparenttruelinktruethumb_abductionchildtruexyztrue0.97337-0.229230axisfalselowertrue0uppertrue2efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis1 <thumb_proximal_joint-1>thumb_abductionlinktruenametruethumb_interxyztrue-0.0026067040349163177-0.010879108879798857-0.018275470399712869rpytrue000originfalsefalsevaluetrue0.0088710303099021667massfalseixxtrue1.9468960871178784E-06ixytrue-6.4109957445591012E-08ixztrue-1.0434082971278784E-07iyytrue1.7404532436164454E-06iyztrue-2.4198417160809E-07izztrue7.3172598404725019E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruePIP_thumbtypetruerevolutexyztrue0.018978282330607665-0.0088428422134161355-0.027272474467553855rpytrue000originfalsefalselinktruethumb_abductionparenttruelinktruethumb_interchildtruexyztrue0.222602988561972110.94521109131615166-0.23879678041424238axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis2thumb_PIPlinktruenametruethumb_distalxyztrue-0.0029845504635899259-0.012134930275238445-0.0110379338945127rpytrue000originfalsefalsevaluetrue0.0050293418088318519massfalseixxtrue5.42872804300309E-07ixytrue-1.978675670238464E-08ixztrue1.5327012008038031E-08iyytrue4.4335619624366659E-07iyztrue-1.4661365688094446E-08izztrue3.9885376224255169E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueDIP_thumbtypetruerevolutexyztrue-0.0015765533719664451-0.0066943204260697942-0.040530242455460892rpytrue000originfalsefalselinktruethumb_interparenttruelinktruethumb_distalchildtruexyztrue0.222602988561971640.94521109131615177-0.23879678041424243axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsethumb_dipaxthumb_DIPlinktruefalseaEIAAAUAAAD//v8ndABoAHUAbQBiAF8AZABpAHMAdABhAGwAXwBhAHMAcwBlAG0ALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAEAAAAA=falsefalsefalseaEIAAAUAAAD//v8mdABoAHUAbQBiAF8AaQBuAHQAZQByAF8AYQBzAHMAZQBtAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABBAAAAfalsefalsefalseaEIAAAUAAAD//v8pdABoAHUAbQBiAF8AcAByAG8AeABpAG0AYQBsAF8AagBvAGkAbgB0AC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABEAAAAaEIAAAUAAAD//v8hdABoAHUAbQBiAF8AZABpAHMAdABhAGwALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAEYAAAA=aEIAAAUAAAD//v8dRwBMADMAMAAuAHMAdABwAC0AMgBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABLAAAAfalsefalsefalseaEIAAAUAAAD//v8udABoAHUAbQBiAF8AYwBpAHIAYwB1AG0AZAB1AGMAdABpAG8AbgBfAGoAbwBpAG4AdAAtADEAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAAQwAAAA==falsefalsenametrueabduction_1xyztrue-6.0356518394311109E-110.0032990017436259084-0.0078621009444750575rpytrue000originfalsefalsevaluetrue0.001482348803792659massfalseixxtrue7.9728182189335378E-08ixytrue6.8029756017759325E-17ixztrue3.1006632231006552E-16iyytrue1.2750014841523633E-07iyztrue2.4698857875729996E-08izztrue1.27073958361035E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1110.35colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_1typetruerevolutexyztrue-0.0179940.110130.036123rpytrue000originfalsefalselinktruehand_originparenttruelinktrueabduction_1childtruexyztrue-100axisfalselowertrue-0.349uppertrue0.349efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax_1MCP_A_1linktruenametruefinger_1xyztrue0.00824982377981490350.0181170112002920980.0034357642828769797rpytrue000originfalsefalsevaluetrue0.0075657254952880238massfalseixxtrue8.4474170010842785E-07ixytrue3.8637772508858463E-11ixztrue-2.9462750173549386E-11iyytrue4.9396699192680022E-07iyztrue3.80516192146477E-08izztrue9.3439700687322654E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_1typetruerevolutexyztrue-0.00850.0080321-0.0132rpytrue000originfalsefalselinktrueabduction_1parenttruelinktruefinger_1childtruexyztrue-100axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax_1MCP_1linktruenametrueinter_1xyztrue0.008499839959047740.0154727081799848860.0033885093660150425rpytrue000originfalsefalsevaluetrue0.0042976221168303588massfalseixxtrue3.7700398355624209E-07ixytrue-2.264082855677271E-11ixztrue1.2714964557687063E-11iyytrue2.1435466426207428E-07iyztrue3.75250170665542E-09izztrue4.0368048363614766E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruePIP_1typetruerevolutexyztrue-0.000250.0362420.00076983rpytrue000originfalsefalselinktruefinger_1parenttruelinktrueinter_1childtruexyztrue100axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsepipax_1PIP_1linktruenametruedistal_1xyztrue0.007999600615472640.00964770229434870620.0017818059842088854rpytrue000originfalsefalsevaluetrue0.005100135185059541massfalseixxtrue2.3829173823673888E-07ixytrue-1.045448457884861E-11ixztrue-5.4676075674783895E-12iyytrue1.5953975262005052E-07iyztrue1.2548226851779523E-08izztrue2.9691035417404181E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueDIP_1typetruerevolutexyztrue0.00050.0331570.0007043rpytrue000originfalsefalselinktrueinter_1parenttruelinktruedistal_1childtruexyztrue-100axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsedipax_1DIP_1linktruefalseaEIAAAUAAAD//v8hZABpAHMAdABhAGwAXwBhAHMAcwBlAG0ALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAI0AAAA=falsefalsefalseaEIAAAUAAAD//v8gaQBuAHQAZQByAF8AYQBzAHMAZQBtAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAACOAAAAfalsefalsefalseaEIAAAUAAAD//v8jcAByAG8AeABpAG0AYQBsAF8AYQBzAHMAZQBtAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAACPAAAAfalsefalsefalseaEIAAAUAAAD//v8lcAByAG8AeABpAG0AYQBsAF8AdQBfAGoAbwBpAG4AdAAtADEAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAAkAAAAA==falsefalsefalseaEIAAAUAAAD//v8lbABvAHcAZQByAF8AcABhAGwAbQBfAGMAbwB2AGUAcgAtADEAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAANQAAAA==aEIAAAUAAAD//v8pdQBwAHAAZQByAF8AcABhAGwAbQBfAGMAYQBzAGkAbgBnAF8AdgAzAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAAA3AAAAaEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAJEAAAA=aEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQAyAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAKsAAAA=aEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQAzAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAMMAAAA=aEIAAAUAAAD//v8tcAByAG8AeABpAG0AYQBsAF8AYQBiAGQAdQBjAHQAaQBvAG4AXwBqAG8AaQBuAHQALQA0AEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAANoAAAA=aEIAAAUAAAD//v8dRwBMADMAMAAuAHMAdABwAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABCAAAAfalsefalse -2026-06-09 19:53:03,222 INFO ExportHelperExtension.cs: 347 - Creating joint thumb -2026-06-09 19:53:03,302 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child thumb failed -2026-06-09 19:53:03,351 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_abduction -2026-06-09 19:53:03,353 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb to child thumb_abduction failed -2026-06-09 19:53:03,511 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_inter -2026-06-09 19:53:03,586 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb_abduction to child thumb_inter failed -2026-06-09 19:53:03,965 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_distal -2026-06-09 19:53:04,114 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb_inter to child thumb_distal failed -2026-06-09 19:53:05,193 INFO ExportHelperExtension.cs: 347 - Creating joint abduction_1 -2026-06-09 19:53:05,315 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child abduction_1 failed -2026-06-09 19:53:05,351 INFO ExportHelperExtension.cs: 347 - Creating joint finger_1 -2026-06-09 19:53:05,486 WARN ExportHelperExtension.cs: 351 - Creating joint from parent abduction_1 to child finger_1 failed -2026-06-09 19:53:05,945 INFO ExportHelperExtension.cs: 347 - Creating joint inter_1 -2026-06-09 19:53:06,088 WARN ExportHelperExtension.cs: 351 - Creating joint from parent finger_1 to child inter_1 failed -2026-06-09 19:53:06,374 INFO ExportHelperExtension.cs: 347 - Creating joint distal_1 -2026-06-09 19:53:06,517 WARN ExportHelperExtension.cs: 351 - Creating joint from parent inter_1 to child distal_1 failed -2026-06-09 19:53:06,740 INFO ExportHelperExtension.cs: 347 - Creating joint finger_2 -2026-06-09 19:53:06,884 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child finger_2 failed -2026-06-09 19:53:06,916 INFO ExportHelperExtension.cs: 347 - Creating joint proximal_2 -2026-06-09 19:53:07,091 WARN ExportHelperExtension.cs: 351 - Creating joint from parent finger_2 to child proximal_2 failed -2026-06-09 19:53:07,566 INFO ExportHelperExtension.cs: 347 - Creating joint inter_2 -2026-06-09 19:53:07,566 WARN ExportHelperExtension.cs: 351 - Creating joint from parent proximal_2 to child inter_2 failed -2026-06-09 19:53:07,867 INFO ExportHelperExtension.cs: 347 - Creating joint distal_2 -2026-06-09 19:53:08,042 WARN ExportHelperExtension.cs: 351 - Creating joint from parent inter_2 to child distal_2 failed -2026-06-09 19:53:08,282 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hand_assem_for_sim -2026-06-09 19:53:08,298 INFO ExportHelperExtension.cs: 1136 - Found 178 in hand_assem_for_sim -2026-06-09 19:53:08,298 INFO ExportHelperExtension.cs: 1145 - Found 13 features of type [CoordSys] in hand_assem_for_sim -2026-06-09 19:53:08,298 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 19:53:08,298 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 19:53:08,298 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-3 -2026-06-09 19:53:08,298 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 19:53:08,298 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-3 -2026-06-09 19:53:08,298 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-1 -2026-06-09 19:53:08,298 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 19:53:08,298 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-1 -2026-06-09 19:53:08,298 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-1 -2026-06-09 19:53:08,298 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 19:53:08,298 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-1 -2026-06-09 19:53:08,298 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-1 -2026-06-09 19:53:08,308 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 19:53:08,308 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-1 -2026-06-09 19:53:08,308 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-1 -2026-06-09 19:53:08,308 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 19:53:08,308 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-1 -2026-06-09 19:53:08,308 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from master_sketch_hand-1 -2026-06-09 19:53:08,308 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 19:53:08,308 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in master_sketch_hand-1 -2026-06-09 19:53:08,308 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-1 -2026-06-09 19:53:08,308 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-1 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-2 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-2 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-2 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-2 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-2 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-2 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-2 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-2 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-2 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-2 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-3 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-3 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-3 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-3 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-1 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-1 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-4 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-4 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-4 -2026-06-09 19:53:08,314 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-4 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal_assem-1 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal_assem-1 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-3 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-3 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from upper_palm_casing_v3-1 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in upper_palm_casing_v3-1 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-4 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-4 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-3 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-3 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-4 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-4 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-4 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-4 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from lower_palm_cover-1 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in lower_palm_cover-1 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_inter_assem-1 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 19:53:08,330 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_inter_assem-1 -2026-06-09 19:53:08,346 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal-1 -2026-06-09 19:53:08,346 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 19:53:08,346 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal-1 -2026-06-09 19:53:08,346 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_proximal_joint-1 -2026-06-09 19:53:08,346 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 19:53:08,346 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_proximal_joint-1 -2026-06-09 19:53:08,346 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-2 -2026-06-09 19:53:08,346 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 19:53:08,346 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-2 -2026-06-09 19:53:08,346 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_circumduction_joint-1 -2026-06-09 19:53:08,346 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 19:53:08,346 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_circumduction_joint-1 -2026-06-09 19:53:08,346 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hand_assem_for_sim -2026-06-09 19:53:08,346 INFO ExportHelperExtension.cs: 1136 - Found 178 in hand_assem_for_sim -2026-06-09 19:53:08,356 INFO ExportHelperExtension.cs: 1145 - Found 10 features of type [RefAxis] in hand_assem_for_sim -2026-06-09 19:53:08,356 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 19:53:08,378 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 19:53:08,378 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-3 -2026-06-09 19:53:08,378 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 19:53:08,378 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-3 -2026-06-09 19:53:08,378 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-1 -2026-06-09 19:53:08,378 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 19:53:08,378 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-1 -2026-06-09 19:53:08,378 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-1 -2026-06-09 19:53:08,378 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 19:53:08,378 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-1 -2026-06-09 19:53:08,378 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-1 -2026-06-09 19:53:08,391 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 19:53:08,391 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-1 -2026-06-09 19:53:08,393 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-1 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-1 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from master_sketch_hand-1 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in master_sketch_hand-1 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-1 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-1 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-2 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-2 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-2 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-2 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-2 -2026-06-09 19:53:08,394 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 19:53:08,404 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-2 -2026-06-09 19:53:08,406 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-2 -2026-06-09 19:53:08,406 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 19:53:08,408 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-2 -2026-06-09 19:53:08,408 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-2 -2026-06-09 19:53:08,410 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 19:53:08,410 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-2 -2026-06-09 19:53:08,412 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-3 -2026-06-09 19:53:08,412 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 19:53:08,412 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-3 -2026-06-09 19:53:08,414 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-3 -2026-06-09 19:53:08,414 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 19:53:08,414 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-3 -2026-06-09 19:53:08,416 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-1 -2026-06-09 19:53:08,416 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 19:53:08,416 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-1 -2026-06-09 19:53:08,418 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-4 -2026-06-09 19:53:08,418 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 19:53:08,418 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-4 -2026-06-09 19:53:08,418 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-4 -2026-06-09 19:53:08,420 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 19:53:08,421 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-4 -2026-06-09 19:53:08,421 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal_assem-1 -2026-06-09 19:53:08,421 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 19:53:08,421 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_distal_assem-1 -2026-06-09 19:53:08,421 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-3 -2026-06-09 19:53:08,421 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 19:53:08,421 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-3 -2026-06-09 19:53:08,421 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from upper_palm_casing_v3-1 -2026-06-09 19:53:08,421 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 19:53:08,421 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in upper_palm_casing_v3-1 -2026-06-09 19:53:08,429 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-4 -2026-06-09 19:53:08,429 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 19:53:08,429 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-4 -2026-06-09 19:53:08,429 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-3 -2026-06-09 19:53:08,429 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 19:53:08,429 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-3 -2026-06-09 19:53:08,429 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-4 -2026-06-09 19:53:08,429 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 19:53:08,429 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-4 -2026-06-09 19:53:08,429 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-4 -2026-06-09 19:53:08,429 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 19:53:08,429 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-4 -2026-06-09 19:53:08,429 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from lower_palm_cover-1 -2026-06-09 19:53:08,429 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 19:53:08,437 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in lower_palm_cover-1 -2026-06-09 19:53:08,439 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_inter_assem-1 -2026-06-09 19:53:08,439 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 19:53:08,439 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_inter_assem-1 -2026-06-09 19:53:08,439 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal-1 -2026-06-09 19:53:08,439 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 19:53:08,439 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_distal-1 -2026-06-09 19:53:08,439 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_proximal_joint-1 -2026-06-09 19:53:08,439 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 19:53:08,439 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_proximal_joint-1 -2026-06-09 19:53:08,446 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-2 -2026-06-09 19:53:08,446 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 19:53:08,446 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-2 -2026-06-09 19:53:08,446 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_circumduction_joint-1 -2026-06-09 19:53:08,446 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 19:53:08,446 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_circumduction_joint-1 -2026-06-09 19:53:08,525 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:06:48,535 INFO AssemblyExportForm.cs: 253 - Completing URDF export -2026-06-09 20:06:48,543 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found 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<upper_palm_casing_v3-1>thumb_circumductionlinktruenametruethumb_abductionxyztrue0.012610708826781232-0.0036476514783893577-0.0017814763797105709rpytrue000originfalsefalsevaluetrue0.026442860499954077massfalseixxtrue5.3623096744588111E-06ixytrue-3.2975039154528131E-07ixztrue2.9923679738371535E-07iyytrue3.623315508307797E-06iyztrue-1.4694277973484779E-07izztrue3.0752792608796562E-06inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_thumbtypetruerevolutexyztrue-0.032144-0.022571-0.032309rpytrue000originfalsefalselinktruethumbparenttruelinktruethumb_abductionchildtruexyztrue0.97337-0.229230axisfalselowertrue0uppertrue2efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis1 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-2026-06-09 20:06:53,610 INFO AssemblyExportForm.cs: 309 - Saving URDF package to C:\Users\neilm\Downloads\hand_assem_for_sim8 -2026-06-09 20:06:53,610 INFO ExportHelper.cs: 147 - Beginning the export process -2026-06-09 20:06:53,610 INFO ExportHelper.cs: 153 - Creating package directories with name hand_assem_for_sim8 and save path C:\Users\neilm\Downloads -2026-06-09 20:06:54,787 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\neilm\Downloads\hand_assem_for_sim8\CMakeLists.txt -2026-06-09 20:06:54,787 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\neilm\Downloads\hand_assem_for_sim8\config\joint_names_hand_assem_for_sim8.yaml -2026-06-09 20:06:54,787 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\neilm\Downloads\hand_assem_for_sim8\package.xml -2026-06-09 20:06:54,787 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\neilm\Downloads\hand_assem_for_sim8\package.xml -2026-06-09 20:06:54,787 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\neilm\Downloads\hand_assem_for_sim8\launch\ -2026-06-09 20:06:54,787 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\neilm\Downloads\hand_assem_for_sim8\launch\ -2026-06-09 20:06:54,787 INFO ExportHelper.cs: 187 - Saving existing STL preferences -2026-06-09 20:06:54,787 INFO ExportHelper.cs: 450 - Saving users preferences -2026-06-09 20:06:54,802 INFO ExportHelper.cs: 190 - Modifying STL preferences -2026-06-09 20:06:54,803 INFO ExportHelper.cs: 464 - Setting STL preferences -2026-06-09 20:06:54,806 INFO ExportHelper.cs: 196 - Found 0 hidden components -2026-06-09 20:06:54,806 INFO ExportHelper.cs: 197 - Hiding all components -2026-06-09 20:06:56,586 INFO ExportHelper.cs: 204 - Beginning individual files export -2026-06-09 20:06:56,586 INFO ExportHelper.cs: 270 - Exporting link: hand_origin -2026-06-09 20:06:56,586 INFO ExportHelper.cs: 272 - Link hand_origin has 3 children -2026-06-09 20:06:56,586 INFO ExportHelper.cs: 270 - Exporting link: thumb -2026-06-09 20:06:56,586 INFO ExportHelper.cs: 272 - Link thumb has 1 children -2026-06-09 20:06:56,586 INFO ExportHelper.cs: 270 - Exporting link: thumb_abduction -2026-06-09 20:06:56,586 INFO ExportHelper.cs: 272 - Link thumb_abduction has 1 children -2026-06-09 20:06:56,586 INFO ExportHelper.cs: 270 - Exporting link: thumb_inter -2026-06-09 20:06:56,586 INFO ExportHelper.cs: 272 - Link thumb_inter has 1 children -2026-06-09 20:06:56,600 INFO ExportHelper.cs: 270 - Exporting link: thumb_distal -2026-06-09 20:06:56,600 INFO ExportHelper.cs: 272 - Link thumb_distal has 0 children -2026-06-09 20:06:56,602 INFO ExportHelper.cs: 317 - thumb_distal: Exporting STL with coordinate frame thumb_DIP -2026-06-09 20:06:56,602 INFO ExportHelper.cs: 322 - thumb_distal: Reference geometry name -2026-06-09 20:06:56,856 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim8\meshes\thumb_distal.STL -2026-06-09 20:06:57,443 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:06:57,445 INFO ExportHelper.cs: 317 - thumb_inter: Exporting STL with coordinate frame thumb_PIP -2026-06-09 20:06:57,445 INFO ExportHelper.cs: 322 - thumb_inter: Reference geometry name -2026-06-09 20:06:57,564 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim8\meshes\thumb_inter.STL -2026-06-09 20:06:57,796 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:06:57,796 INFO ExportHelper.cs: 317 - thumb_abduction: Exporting STL with coordinate frame thumb_abduction -2026-06-09 20:06:57,796 INFO ExportHelper.cs: 322 - thumb_abduction: Reference geometry name -2026-06-09 20:06:57,925 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim8\meshes\thumb_abduction.STL -2026-06-09 20:06:58,210 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:06:58,212 INFO ExportHelper.cs: 317 - thumb: Exporting STL with coordinate frame thumb_circumduction -2026-06-09 20:06:58,212 INFO ExportHelper.cs: 322 - thumb: Reference geometry name -2026-06-09 20:06:58,290 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim8\meshes\thumb.STL -2026-06-09 20:06:58,433 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:06:58,433 INFO ExportHelper.cs: 270 - Exporting link: abduction_1 -2026-06-09 20:06:58,440 INFO ExportHelper.cs: 272 - Link abduction_1 has 1 children -2026-06-09 20:06:58,440 INFO ExportHelper.cs: 270 - Exporting link: finger_1 -2026-06-09 20:06:58,440 INFO ExportHelper.cs: 272 - Link finger_1 has 1 children -2026-06-09 20:06:58,440 INFO ExportHelper.cs: 270 - Exporting link: inter_1 -2026-06-09 20:06:58,440 INFO ExportHelper.cs: 272 - Link inter_1 has 1 children -2026-06-09 20:06:58,440 INFO ExportHelper.cs: 270 - Exporting link: distal_1 -2026-06-09 20:06:58,449 INFO ExportHelper.cs: 272 - Link distal_1 has 0 children -2026-06-09 20:06:58,449 INFO ExportHelper.cs: 317 - distal_1: Exporting STL with coordinate frame DIP_1 -2026-06-09 20:06:58,450 INFO ExportHelper.cs: 322 - distal_1: Reference geometry name -2026-06-09 20:06:59,056 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim8\meshes\distal_1.STL -2026-06-09 20:06:59,881 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:06:59,881 INFO ExportHelper.cs: 317 - inter_1: Exporting STL with coordinate frame PIP_1 -2026-06-09 20:06:59,881 INFO ExportHelper.cs: 322 - inter_1: Reference geometry name -2026-06-09 20:07:00,548 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim8\meshes\inter_1.STL -2026-06-09 20:07:01,203 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:07:01,203 INFO ExportHelper.cs: 317 - finger_1: Exporting STL with coordinate frame MCP_1 -2026-06-09 20:07:01,206 INFO ExportHelper.cs: 322 - finger_1: Reference geometry name -2026-06-09 20:07:01,865 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim8\meshes\finger_1.STL -2026-06-09 20:07:02,535 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:07:02,537 INFO ExportHelper.cs: 317 - abduction_1: Exporting STL with coordinate frame MCP_A_1 -2026-06-09 20:07:02,537 INFO ExportHelper.cs: 322 - abduction_1: Reference geometry name -2026-06-09 20:07:03,071 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim8\meshes\abduction_1.STL -2026-06-09 20:07:03,706 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:07:03,709 INFO ExportHelper.cs: 270 - Exporting link: finger_2 -2026-06-09 20:07:03,709 INFO ExportHelper.cs: 272 - Link finger_2 has 1 children -2026-06-09 20:07:03,714 INFO ExportHelper.cs: 270 - Exporting link: proximal_2 -2026-06-09 20:07:03,714 INFO ExportHelper.cs: 272 - Link proximal_2 has 1 children -2026-06-09 20:07:03,717 INFO ExportHelper.cs: 270 - Exporting link: inter_2 -2026-06-09 20:07:03,719 INFO ExportHelper.cs: 272 - Link inter_2 has 1 children -2026-06-09 20:07:03,719 INFO ExportHelper.cs: 270 - Exporting link: distal_2 -2026-06-09 20:07:03,722 INFO ExportHelper.cs: 272 - Link distal_2 has 0 children -2026-06-09 20:07:03,722 INFO ExportHelper.cs: 317 - distal_2: Exporting STL with coordinate frame DIP_2 -2026-06-09 20:07:03,722 INFO ExportHelper.cs: 322 - distal_2: Reference geometry name -2026-06-09 20:07:04,437 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim8\meshes\distal_2.STL -2026-06-09 20:07:05,307 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:07:05,307 INFO ExportHelper.cs: 317 - inter_2: Exporting STL with coordinate frame PIP_2 -2026-06-09 20:07:05,307 INFO ExportHelper.cs: 322 - inter_2: Reference geometry name -2026-06-09 20:07:06,100 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim8\meshes\inter_2.STL -2026-06-09 20:07:06,815 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:07:06,833 INFO ExportHelper.cs: 317 - proximal_2: Exporting STL with coordinate frame MCP_2 -2026-06-09 20:07:06,843 INFO ExportHelper.cs: 322 - proximal_2: Reference geometry name -2026-06-09 20:07:07,513 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim8\meshes\proximal_2.STL -2026-06-09 20:07:08,213 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:07:08,229 INFO ExportHelper.cs: 317 - finger_2: Exporting STL with coordinate frame MCP_A_2 -2026-06-09 20:07:08,229 INFO ExportHelper.cs: 322 - finger_2: Reference geometry name -2026-06-09 20:07:08,767 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim8\meshes\finger_2.STL -2026-06-09 20:07:09,370 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:07:09,386 INFO ExportHelper.cs: 317 - hand_origin: Exporting STL with coordinate frame hand_origin -2026-06-09 20:07:09,386 INFO ExportHelper.cs: 322 - hand_origin: Reference geometry name -2026-06-09 20:07:10,084 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim8\meshes\hand_origin.STL -2026-06-09 20:07:11,483 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:07:11,483 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components -2026-06-09 20:07:14,083 INFO ExportHelper.cs: 145 - Resetting STL preferences -2026-06-09 20:07:14,083 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences -2026-06-09 20:07:14,083 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\neilm\Downloads\hand_assem_for_sim8\urdf\hand_assem_for_sim8.urdf -2026-06-09 20:07:14,083 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\neilm\Downloads\hand_assem_for_sim8\urdf\hand_assem_for_sim8.csv -2026-06-09 20:07:14,083 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:07:14,095 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:07:14,095 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:07:14,095 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:07:14,097 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:07:14,097 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:07:14,097 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:07:14,099 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:07:14,099 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:07:14,099 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:07:14,099 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:07:14,101 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:07:14,101 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:07:14,103 INFO ExportHelper.cs: 234 - Copying log file -2026-06-09 20:07:14,103 INFO ExportHelper.cs: 439 - Copying C:\Users\neilm\sw2urdf_logs\sw2urdf.log to C:\Users\neilm\Downloads\hand_assem_for_sim8\export.log -2026-06-09 20:07:14,108 INFO ExportHelper.cs: 237 - Resetting STL preferences -2026-06-09 20:07:14,108 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences -2026-06-09 20:20:35,828 INFO SwAddin.cs: 294 - Assembly export called for file hand_assem_for_sim -2026-06-09 20:20:37,408 INFO SwAddin.cs: 313 - Saving assembly -2026-06-09 20:20:37,973 INFO SwAddin.cs: 316 - Opening property manager -2026-06-09 20:20:37,973 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hand_assem_for_sim -2026-06-09 20:20:37,973 INFO ExportHelperExtension.cs: 1136 - Found 190 in hand_assem_for_sim -2026-06-09 20:20:37,976 INFO ExportHelperExtension.cs: 1145 - Found 17 features of type [CoordSys] in hand_assem_for_sim -2026-06-09 20:20:37,976 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 20:20:37,978 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 20:20:37,978 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-3 -2026-06-09 20:20:37,978 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 20:20:37,978 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-3 -2026-06-09 20:20:37,978 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-1 -2026-06-09 20:20:37,981 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 20:20:37,981 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-1 -2026-06-09 20:20:37,981 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-1 -2026-06-09 20:20:37,981 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 20:20:37,981 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-1 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-1 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-1 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-1 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-1 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from master_sketch_hand-1 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in master_sketch_hand-1 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-1 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-1 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-2 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-2 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-2 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 20:20:37,986 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-2 -2026-06-09 20:20:37,997 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-2 -2026-06-09 20:20:37,997 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 20:20:38,001 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-2 -2026-06-09 20:20:38,001 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-2 -2026-06-09 20:20:38,001 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 20:20:38,001 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-2 -2026-06-09 20:20:38,003 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-2 -2026-06-09 20:20:38,003 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 20:20:38,003 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-2 -2026-06-09 20:20:38,003 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-3 -2026-06-09 20:20:38,003 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 20:20:38,005 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-3 -2026-06-09 20:20:38,005 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-3 -2026-06-09 20:20:38,005 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 20:20:38,005 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-3 -2026-06-09 20:20:38,005 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-1 -2026-06-09 20:20:38,007 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 20:20:38,007 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-1 -2026-06-09 20:20:38,007 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-4 -2026-06-09 20:20:38,007 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 20:20:38,007 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-4 -2026-06-09 20:20:38,007 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-4 -2026-06-09 20:20:38,007 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 20:20:38,007 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-4 -2026-06-09 20:20:38,007 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal_assem-1 -2026-06-09 20:20:38,007 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 20:20:38,007 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal_assem-1 -2026-06-09 20:20:38,012 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-3 -2026-06-09 20:20:38,012 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 20:20:38,012 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-3 -2026-06-09 20:20:38,012 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from upper_palm_casing_v3-1 -2026-06-09 20:20:38,014 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 20:20:38,014 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in upper_palm_casing_v3-1 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-4 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-4 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-3 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-3 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-4 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-4 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-4 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-4 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from lower_palm_cover-1 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in lower_palm_cover-1 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_inter_assem-1 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_inter_assem-1 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal-1 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal-1 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_proximal_joint-1 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_proximal_joint-1 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-2 -2026-06-09 20:20:38,016 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 20:20:38,028 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-2 -2026-06-09 20:20:38,028 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_circumduction_joint-1 -2026-06-09 20:20:38,028 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 20:20:38,030 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_circumduction_joint-1 -2026-06-09 20:20:38,030 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hand_assem_for_sim -2026-06-09 20:20:38,030 INFO ExportHelperExtension.cs: 1136 - Found 190 in hand_assem_for_sim -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1145 - Found 14 features of type [RefAxis] in hand_assem_for_sim -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-3 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-3 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from master_sketch_hand-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in master_sketch_hand-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-1 -2026-06-09 20:20:38,032 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-2 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-2 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-2 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-2 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-2 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-2 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-2 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-2 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-2 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-2 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-3 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-3 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-3 -2026-06-09 20:20:38,044 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 20:20:38,054 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-3 -2026-06-09 20:20:38,054 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-1 -2026-06-09 20:20:38,054 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 20:20:38,054 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-1 -2026-06-09 20:20:38,054 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-4 -2026-06-09 20:20:38,054 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 20:20:38,054 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-4 -2026-06-09 20:20:38,054 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-4 -2026-06-09 20:20:38,054 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 20:20:38,054 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-4 -2026-06-09 20:20:38,054 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal_assem-1 -2026-06-09 20:20:38,054 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 20:20:38,054 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_distal_assem-1 -2026-06-09 20:20:38,060 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-3 -2026-06-09 20:20:38,115 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 20:20:38,124 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-3 -2026-06-09 20:20:38,124 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from upper_palm_casing_v3-1 -2026-06-09 20:20:38,124 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 20:20:38,124 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in upper_palm_casing_v3-1 -2026-06-09 20:20:38,124 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-4 -2026-06-09 20:20:38,128 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 20:20:38,128 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-4 -2026-06-09 20:20:38,128 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-3 -2026-06-09 20:20:38,130 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 20:20:38,130 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-3 -2026-06-09 20:20:38,130 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-4 -2026-06-09 20:20:38,132 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 20:20:38,132 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-4 -2026-06-09 20:20:38,133 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-4 -2026-06-09 20:20:38,133 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 20:20:38,133 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-4 -2026-06-09 20:20:38,133 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from lower_palm_cover-1 -2026-06-09 20:20:38,133 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 20:20:38,133 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in lower_palm_cover-1 -2026-06-09 20:20:38,133 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_inter_assem-1 -2026-06-09 20:20:38,133 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 20:20:38,133 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_inter_assem-1 -2026-06-09 20:20:38,133 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal-1 -2026-06-09 20:20:38,140 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 20:20:38,140 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_distal-1 -2026-06-09 20:20:38,140 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_proximal_joint-1 -2026-06-09 20:20:38,140 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 20:20:38,140 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_proximal_joint-1 -2026-06-09 20:20:38,140 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-2 -2026-06-09 20:20:38,140 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 20:20:38,140 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-2 -2026-06-09 20:20:38,140 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_circumduction_joint-1 -2026-06-09 20:20:38,140 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 20:20:38,140 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_circumduction_joint-1 -2026-06-09 20:20:38,522 INFO SwAddin.cs: 339 - Loading config tree -2026-06-09 20:20:38,522 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found -nametruehand_originxyztrue0.0126390083886839570.0549439388053319520.017766742308305432rpytrue000originfalsefalsevaluetrue0.066010643993259427massfalseixxtrue5.2378250275695194E-05ixytrue5.5602750355630932E-06ixztrue-2.0423270424111565E-06iyytrue4.6843514472457764E-05iyztrue-3.5375901931888554E-06izztrue9.3311109396945063E-05inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsehand_originlinktruenametruethumbxyztrue-0.0041079215545758128-0.023660585810971024-0.013742843239502679rpytrue000originfalsefalsevaluetrue0.0058703027415141617massfalseixxtrue2.1194598224564359E-06ixytrue-1.3009619554747834E-07ixztrue3.9874900686633937E-08iyytrue1.483885375890839E-06iyztrue-2.825280571664456E-07izztrue7.459271690111854E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruecircumductiontypetruerevolutexyztrue0.00370991967320959130.0778978368943719220.019751413602317171rpytrue000originfalsefalselinktruehand_originparenttruelinktruethumbchildtruexyztrue-0.22918587120005168-0.97316315845836265-0.020671319784107644axisfalselowertrue-0.5uppertrue0.5efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsecircumductionax <upper_palm_casing_v3-1>thumb_circumductionlinktruenametruethumb_abductionxyztrue0.012610708826781225-0.0036476514783893854-0.0017814763797105691rpytrue000originfalsefalsevaluetrue0.02644286049995407massfalseixxtrue5.3623096744587908E-06ixytrue-3.2975039154526935E-07ixztrue2.9923679738371132E-07iyytrue3.6233155083077614E-06iyztrue-1.4694277973485231E-07izztrue3.0752792608796079E-06inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_thumbtypetruerevolutexyztrue-0.032144-0.022571-0.032309rpytrue000originfalsefalselinktruethumbparenttruelinktruethumb_abductionchildtruexyztrue0.97337-0.229230axisfalselowertrue0uppertrue2efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis1 <thumb_proximal_joint-1>thumb_abductionlinktruenametruethumb_interxyztrue-0.0026067040349163212-0.010879108879798857-0.018275470399712862rpytrue000originfalsefalsevaluetrue0.0088710303099021649massfalseixxtrue1.9468960871178789E-06ixytrue-6.4109957445590853E-08ixztrue-1.0434082971278787E-07iyytrue1.7404532436164454E-06iyztrue-2.4198417160809E-07izztrue7.317259840472504E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruePIP_thumbtypetruerevolutexyztrue0.018978-0.0088428-0.027272rpytrue000originfalsefalselinktruethumb_abductionparenttruelinktruethumb_interchildtruexyztrue0.22260.94521-0.2388axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseAxis2thumb_PIPlinktruenametruethumb_distalxyztrue-0.0029845504640686818-0.012134930276189351-0.011037933898898039rpytrue000originfalsefalsevaluetrue0.0050293418037722134massfalseixxtrue5.4287280361208575E-07ixytrue-1.9786756591364309E-08ixztrue1.5327011998631836E-08iyytrue4.433561959867886E-07iyztrue-1.4661365759797977E-08izztrue3.9885376175655044E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueDIP_thumbtypetruerevolutexyztrue-0.0015766-0.0066943-0.04053rpytrue000originfalsefalselinktruethumb_interparenttruelinktruethumb_distalchildtruexyztrue0.22260.94521-0.2388axisfalselowertrue-1.5uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsethumb_dipaxthumb_DIPlinktruefalseaEIAAAUAAAD//v8ndABoAHUAbQBiAF8AZABpAHMAdABhAGwAXwBhAHMAcwBlAG0ALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAEAAAAA=falsefalsefalseaEIAAAUAAAD//v8mdABoAHUAbQBiAF8AaQBuAHQAZQByAF8AYQBzAHMAZQBtAC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABBAAAAfalsefalsefalseaEIAAAUAAAD//v8pdABoAHUAbQBiAF8AcAByAG8AeABpAG0AYQBsAF8AagBvAGkAbgB0AC0AMQBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABEAAAAaEIAAAUAAAD//v8hdABoAHUAbQBiAF8AZABpAHMAdABhAGwALQAxAEAAaABhAG4AZABfAGEAcwBzAGUAbQBfAGYAbwByAF8AcwBpAG0ABAAAABAAAAABAAAAAQAAAEYAAAA=aEIAAAUAAAD//v8dRwBMADMAMAAuAHMAdABwAC0AMgBAAGgAYQBuAGQAXwBhAHMAcwBlAG0AXwBmAG8AcgBfAHMAaQBtAAQAAAAQAAAAAQAAAAEAAABLAAAAfalsefalsefalseaEIAAAUAAAD//v8udABoAHUAbQBiAF8AYwBpAHIAYwB1AG0AZAB1AGMAdABpAG8AbgBfAGoAbwBpAG4AdAAtADEAQABoAGEAbgBkAF8AYQBzAHMAZQBtAF8AZgBvAHIAXwBzAGkAbQAEAAAAEAAAAAEAAAABAAAAQwAAAA==falsefalsenametrueabduction_1xyztrue-6.03565114554172E-110.00329900174362591-0.0078621009444750575rpytrue000originfalsefalsevaluetrue0.001482348803792659massfalseixxtrue7.9728182189367738E-08ixytrue6.80297499793901E-17ixztrue3.1006621128095418E-16iyytrue1.2750014841526389E-07iyztrue2.4698857875729483E-08izztrue1.2707395836103882E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1110.35colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_A_1typetruerevolutexyztrue-0.0179940.110130.036123rpytrue000originfalsefalselinktruehand_originparenttruelinktrueabduction_1childtruexyztrue00.021237-0.99977axisfalselowertrue-0.349uppertrue0.349efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemcpax_abd_1MCP_A_1linktruenametruefinger_1xyztrue0.00824982377981490350.0181170112002920980.0034357642828769797rpytrue000originfalsefalsevaluetrue0.0075657254952880238massfalseixxtrue8.4474170010844013E-07ixytrue3.8637772508843593E-11ixztrue-2.9462750173526885E-11iyytrue4.9396699192681335E-07iyztrue3.8051619214647595E-08izztrue9.3439700687322707E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.752941176470588220.752941176470588220.752941176470588221colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueMCP_1typetruerevolutexyztrue-0.00850.0080321-0.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-2026-06-09 20:20:38,538 INFO LinkNode.cs: 35 - Building node hand_origin -2026-06-09 20:20:38,538 INFO LinkNode.cs: 35 - Building node thumb -2026-06-09 20:20:38,538 INFO LinkNode.cs: 35 - Building node thumb_abduction -2026-06-09 20:20:38,538 INFO LinkNode.cs: 35 - Building node thumb_inter -2026-06-09 20:20:38,538 INFO LinkNode.cs: 35 - Building node thumb_distal -2026-06-09 20:20:38,538 INFO LinkNode.cs: 35 - Building node abduction_1 -2026-06-09 20:20:38,538 INFO LinkNode.cs: 35 - Building node finger_1 -2026-06-09 20:20:38,538 INFO LinkNode.cs: 35 - Building node inter_1 -2026-06-09 20:20:38,538 INFO LinkNode.cs: 35 - Building node distal_1 -2026-06-09 20:20:38,538 INFO LinkNode.cs: 35 - Building node finger_2 -2026-06-09 20:20:38,538 INFO LinkNode.cs: 35 - Building node proximal_2 -2026-06-09 20:20:38,538 INFO LinkNode.cs: 35 - Building node inter_2 -2026-06-09 20:20:38,538 INFO LinkNode.cs: 35 - Building node distal_2 -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for hand_origin from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%lower_palm_cover-1@hand_assem_for_sim5 -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\lower_palm_cover.SLDPRT -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???)upper_palm_casing_v3-1@hand_assem_for_sim7 -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\upper_palm_casing_v3.SLDPRT -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-1@hand_assem_for_sim? -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-2@hand_assem_for_sim? -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-3@hand_assem_for_sim? -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-4@hand_assem_for_sim? -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???GL30.stp-1@hand_assem_for_simB -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\AppData\Local\Temp\swx33344\IC~~\GL30.stp.SLDPRT -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 230 - Loaded 7 components for link hand_origin -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:20:38,538 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???.thumb_circumduction_joint-1@hand_assem_for_simC -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_circumduction_joint.SLDPRT -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_abduction from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???)thumb_proximal_joint-1@hand_assem_for_simD -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_proximal_joint.SLDPRT -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!thumb_distal-1@hand_assem_for_simF -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_distal.SLDPRT -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???GL30.stp-2@hand_assem_for_simK -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\AppData\Local\Temp\swx33344\IC~~\GL30.stp.SLDPRT -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 230 - Loaded 3 components for link thumb_abduction -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_inter from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???&thumb_inter_assem-1@hand_assem_for_simA -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_inter_assem.SLDASM -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb_inter -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_distal from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???'thumb_distal_assem-1@hand_assem_for_sim@ -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_distal_assem.SLDASM -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb_distal -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for abduction_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-1@hand_assem_for_sim? -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link abduction_1 -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:20:38,554 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-1@hand_assem_for_sim? -2026-06-09 20:20:38,564 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 20:20:38,564 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_1 -2026-06-09 20:20:38,564 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:20:38,564 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-1@hand_assem_for_sim? -2026-06-09 20:20:38,564 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 20:20:38,564 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_1 -2026-06-09 20:20:38,564 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:20:38,564 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-1@hand_assem_for_sim? -2026-06-09 20:20:38,564 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 20:20:38,564 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_1 -2026-06-09 20:20:38,564 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:20:38,564 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-2@hand_assem_for_sim? -2026-06-09 20:20:38,569 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 20:20:38,569 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_2 -2026-06-09 20:20:38,569 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for proximal_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:20:38,569 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-2@hand_assem_for_sim? -2026-06-09 20:20:38,569 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 20:20:38,569 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link proximal_2 -2026-06-09 20:20:38,569 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:20:38,569 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-2@hand_assem_for_sim? -2026-06-09 20:20:38,569 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 20:20:38,569 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_2 -2026-06-09 20:20:38,569 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:20:38,569 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-2@hand_assem_for_sim? -2026-06-09 20:20:38,569 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 20:20:38,569 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_2 -2026-06-09 20:20:38,808 INFO SwAddin.cs: 344 - Showing property manager -2026-06-09 20:20:49,535 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:20:55,522 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:21:09,097 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:21:13,181 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:21:15,338 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:21:32,997 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:21:51,587 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:21:57,117 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:21:59,818 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:22:08,837 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:22:20,524 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:22:23,056 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:22:25,809 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:22:27,977 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:22:32,801 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:22:42,489 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:22:45,210 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:22:46,765 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:22:53,381 INFO ExportPropertyManager.cs: 422 - Configuration saved -2026-06-09 20:22:53,389 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found -nametruehand_originxyztrue0.0126390083886839570.0549439388053319520.017766742308305432rpytrue000originfalsefalsevaluetrue0.066010643993259427massfalseixxtrue5.2378250275695194E-05ixytrue5.5602750355630932E-06ixztrue-2.0423270424111565E-06iyytrue4.6843514472457764E-05iyztrue-3.5375901931888554E-06izztrue9.3311109396945063E-05inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsehand_originlinktruenametruethumbxyztrue-0.0041079215545758128-0.023660585810971024-0.013742843239502679rpytrue000originfalsefalsevaluetrue0.0058703027415141617massfalseixxtrue2.1194598224564359E-06ixytrue-1.3009619554747834E-07ixztrue3.9874900686633937E-08iyytrue1.483885375890839E-06iyztrue-2.825280571664456E-07izztrue7.459271690111854E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruecircumductiontypetruerevolutexyztrue0.00370991967320959130.0778978368943719220.019751413602317171rpytrue000originfalsefalselinktruehand_originparenttruelinktruethumbchildtruexyztrue-0.22918587120005168-0.97316315845836265-0.020671319784107644axisfalselowertrue-0.5uppertrue0.5efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsecircumductionax 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-2026-06-09 20:22:55,677 INFO ExportHelperExtension.cs: 347 - Creating joint thumb -2026-06-09 20:22:55,757 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child thumb failed -2026-06-09 20:22:55,821 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_abduction -2026-06-09 20:22:55,821 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb to child thumb_abduction failed -2026-06-09 20:22:56,033 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_inter -2026-06-09 20:22:56,144 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb_abduction to child thumb_inter failed -2026-06-09 20:22:56,552 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_distal -2026-06-09 20:22:56,697 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb_inter to child thumb_distal failed -2026-06-09 20:22:58,094 INFO ExportHelperExtension.cs: 347 - Creating joint abduction_1 -2026-06-09 20:22:58,252 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child abduction_1 failed -2026-06-09 20:22:58,280 INFO ExportHelperExtension.cs: 347 - Creating joint finger_1 -2026-06-09 20:22:58,443 WARN ExportHelperExtension.cs: 351 - Creating joint from parent abduction_1 to child finger_1 failed -2026-06-09 20:22:58,995 INFO ExportHelperExtension.cs: 347 - Creating joint inter_1 -2026-06-09 20:22:59,140 WARN ExportHelperExtension.cs: 351 - Creating joint from parent finger_1 to child inter_1 failed -2026-06-09 20:22:59,538 INFO ExportHelperExtension.cs: 347 - Creating joint distal_1 -2026-06-09 20:22:59,704 WARN ExportHelperExtension.cs: 351 - Creating joint from parent inter_1 to child distal_1 failed -2026-06-09 20:22:59,981 INFO ExportHelperExtension.cs: 347 - Creating joint finger_2 -2026-06-09 20:23:00,204 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child finger_2 failed -2026-06-09 20:23:00,248 INFO ExportHelperExtension.cs: 347 - Creating joint proximal_2 -2026-06-09 20:23:00,402 WARN ExportHelperExtension.cs: 351 - Creating joint from parent finger_2 to child proximal_2 failed -2026-06-09 20:23:00,934 INFO ExportHelperExtension.cs: 347 - Creating joint inter_2 -2026-06-09 20:23:01,102 WARN ExportHelperExtension.cs: 351 - Creating joint from parent proximal_2 to child inter_2 failed -2026-06-09 20:23:01,533 INFO ExportHelperExtension.cs: 347 - Creating joint distal_2 -2026-06-09 20:23:01,681 WARN ExportHelperExtension.cs: 351 - Creating joint from parent inter_2 to child distal_2 failed -2026-06-09 20:23:02,009 INFO ExportHelperExtension.cs: 347 - Creating joint finger_3 -2026-06-09 20:23:02,168 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child finger_3 failed -2026-06-09 20:23:02,200 INFO ExportHelperExtension.cs: 347 - Creating joint proximal_3 -2026-06-09 20:23:02,359 WARN ExportHelperExtension.cs: 351 - Creating joint from parent finger_3 to child proximal_3 failed -2026-06-09 20:23:02,979 INFO ExportHelperExtension.cs: 347 - Creating joint inter_3 -2026-06-09 20:23:03,134 WARN ExportHelperExtension.cs: 351 - Creating joint from parent proximal_3 to child inter_3 failed -2026-06-09 20:23:03,584 INFO ExportHelperExtension.cs: 347 - Creating joint distal_3 -2026-06-09 20:23:03,758 WARN ExportHelperExtension.cs: 351 - Creating joint from parent inter_3 to child distal_3 failed -2026-06-09 20:23:04,107 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hand_assem_for_sim -2026-06-09 20:23:04,107 INFO ExportHelperExtension.cs: 1136 - Found 190 in hand_assem_for_sim -2026-06-09 20:23:04,107 INFO ExportHelperExtension.cs: 1145 - Found 17 features of type [CoordSys] in hand_assem_for_sim -2026-06-09 20:23:04,107 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 20:23:04,107 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 20:23:04,107 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-3 -2026-06-09 20:23:04,107 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 20:23:04,107 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-3 -2026-06-09 20:23:04,107 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-1 -2026-06-09 20:23:04,107 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from master_sketch_hand-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in master_sketch_hand-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-1 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-2 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-2 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-2 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-2 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-2 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-2 -2026-06-09 20:23:04,123 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-2 -2026-06-09 20:23:04,167 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 20:23:04,167 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-2 -2026-06-09 20:23:04,167 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-2 -2026-06-09 20:23:04,171 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 20:23:04,171 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-2 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-3 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-3 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-3 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-3 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-1 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-1 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-4 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-4 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-4 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-4 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal_assem-1 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal_assem-1 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-3 -2026-06-09 20:23:04,173 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-3 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from upper_palm_casing_v3-1 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in upper_palm_casing_v3-1 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-4 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-4 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-3 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-3 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-4 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-4 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-4 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-4 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from lower_palm_cover-1 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in lower_palm_cover-1 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_inter_assem-1 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_inter_assem-1 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal-1 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal-1 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_proximal_joint-1 -2026-06-09 20:23:04,187 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_proximal_joint-1 -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-2 -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-2 -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_circumduction_joint-1 -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_circumduction_joint-1 -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hand_assem_for_sim -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1136 - Found 190 in hand_assem_for_sim -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1145 - Found 14 features of type [RefAxis] in hand_assem_for_sim -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-3 -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-3 -2026-06-09 20:23:04,203 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-1 -2026-06-09 20:23:04,214 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 20:23:04,214 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-1 -2026-06-09 20:23:04,214 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-1 -2026-06-09 20:23:04,214 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 20:23:04,214 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-1 -2026-06-09 20:23:04,214 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-1 -2026-06-09 20:23:04,214 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 20:23:04,214 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-1 -2026-06-09 20:23:04,214 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-1 -2026-06-09 20:23:04,214 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-1 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from master_sketch_hand-1 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in master_sketch_hand-1 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-1 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-1 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-2 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-2 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-2 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-2 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-2 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-2 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-2 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-2 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-2 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-2 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-3 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-3 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-3 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-3 -2026-06-09 20:23:04,219 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-1 -2026-06-09 20:23:04,235 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 20:23:04,235 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-1 -2026-06-09 20:23:04,235 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-4 -2026-06-09 20:23:04,235 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 20:23:04,235 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-4 -2026-06-09 20:23:04,235 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-4 -2026-06-09 20:23:04,251 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 20:23:04,252 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-4 -2026-06-09 20:23:04,252 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal_assem-1 -2026-06-09 20:23:04,252 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 20:23:04,252 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_distal_assem-1 -2026-06-09 20:23:04,255 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-3 -2026-06-09 20:23:04,255 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 20:23:04,255 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-3 -2026-06-09 20:23:04,255 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from upper_palm_casing_v3-1 -2026-06-09 20:23:04,255 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 20:23:04,255 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in upper_palm_casing_v3-1 -2026-06-09 20:23:04,255 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-4 -2026-06-09 20:23:04,255 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 20:23:04,255 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-4 -2026-06-09 20:23:04,255 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-3 -2026-06-09 20:23:04,262 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 20:23:04,262 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-3 -2026-06-09 20:23:04,262 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-4 -2026-06-09 20:23:04,262 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 20:23:04,262 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-4 -2026-06-09 20:23:04,262 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-4 -2026-06-09 20:23:04,262 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 20:23:04,262 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-4 -2026-06-09 20:23:04,262 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from lower_palm_cover-1 -2026-06-09 20:23:04,267 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 20:23:04,267 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in lower_palm_cover-1 -2026-06-09 20:23:04,267 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_inter_assem-1 -2026-06-09 20:23:04,267 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 20:23:04,267 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_inter_assem-1 -2026-06-09 20:23:04,267 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal-1 -2026-06-09 20:23:04,267 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 20:23:04,267 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_distal-1 -2026-06-09 20:23:04,267 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_proximal_joint-1 -2026-06-09 20:23:04,267 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 20:23:04,273 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_proximal_joint-1 -2026-06-09 20:23:04,273 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-2 -2026-06-09 20:23:04,273 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 20:23:04,273 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-2 -2026-06-09 20:23:04,273 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_circumduction_joint-1 -2026-06-09 20:23:04,273 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 20:23:04,273 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_circumduction_joint-1 -2026-06-09 20:23:04,394 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:23:58,320 INFO AssemblyExportForm.cs: 253 - Completing URDF export -2026-06-09 20:23:58,327 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found 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-2026-06-09 20:24:04,422 INFO AssemblyExportForm.cs: 309 - Saving URDF package to C:\Users\neilm\Downloads\hand_assem_for_sim9 -2026-06-09 20:24:04,422 INFO ExportHelper.cs: 147 - Beginning the export process -2026-06-09 20:24:04,437 INFO ExportHelper.cs: 153 - Creating package directories with name hand_assem_for_sim9 and save path C:\Users\neilm\Downloads -2026-06-09 20:24:05,921 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\neilm\Downloads\hand_assem_for_sim9\CMakeLists.txt -2026-06-09 20:24:05,923 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\neilm\Downloads\hand_assem_for_sim9\config\joint_names_hand_assem_for_sim9.yaml -2026-06-09 20:24:05,929 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\neilm\Downloads\hand_assem_for_sim9\package.xml -2026-06-09 20:24:05,929 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\neilm\Downloads\hand_assem_for_sim9\package.xml -2026-06-09 20:24:05,933 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\neilm\Downloads\hand_assem_for_sim9\launch\ -2026-06-09 20:24:05,935 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\neilm\Downloads\hand_assem_for_sim9\launch\ -2026-06-09 20:24:05,937 INFO ExportHelper.cs: 187 - Saving existing STL preferences -2026-06-09 20:24:05,939 INFO ExportHelper.cs: 450 - Saving users preferences -2026-06-09 20:24:05,939 INFO ExportHelper.cs: 190 - Modifying STL preferences -2026-06-09 20:24:05,942 INFO ExportHelper.cs: 464 - Setting STL preferences -2026-06-09 20:24:05,944 INFO ExportHelper.cs: 196 - Found 0 hidden components -2026-06-09 20:24:05,946 INFO ExportHelper.cs: 197 - Hiding all components -2026-06-09 20:24:07,429 INFO ExportHelper.cs: 204 - Beginning individual files export -2026-06-09 20:24:07,433 INFO ExportHelper.cs: 270 - Exporting link: hand_origin -2026-06-09 20:24:07,433 INFO ExportHelper.cs: 272 - Link hand_origin has 4 children -2026-06-09 20:24:07,433 INFO ExportHelper.cs: 270 - Exporting link: thumb -2026-06-09 20:24:07,433 INFO ExportHelper.cs: 272 - Link thumb has 1 children -2026-06-09 20:24:07,441 INFO ExportHelper.cs: 270 - Exporting link: thumb_abduction -2026-06-09 20:24:07,441 INFO ExportHelper.cs: 272 - Link thumb_abduction has 1 children -2026-06-09 20:24:07,447 INFO ExportHelper.cs: 270 - Exporting link: thumb_inter -2026-06-09 20:24:07,465 INFO ExportHelper.cs: 272 - Link thumb_inter has 1 children -2026-06-09 20:24:07,470 INFO ExportHelper.cs: 270 - Exporting link: thumb_distal -2026-06-09 20:24:07,472 INFO ExportHelper.cs: 272 - Link thumb_distal has 0 children -2026-06-09 20:24:07,474 INFO ExportHelper.cs: 317 - thumb_distal: Exporting STL with coordinate frame thumb_DIP -2026-06-09 20:24:07,474 INFO ExportHelper.cs: 322 - thumb_distal: Reference geometry name -2026-06-09 20:24:07,798 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\thumb_distal.STL -2026-06-09 20:24:08,385 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:24:08,385 INFO ExportHelper.cs: 317 - thumb_inter: Exporting STL with coordinate frame thumb_PIP -2026-06-09 20:24:08,401 INFO ExportHelper.cs: 322 - thumb_inter: Reference geometry name -2026-06-09 20:24:08,507 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\thumb_inter.STL -2026-06-09 20:24:08,752 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:24:08,752 INFO ExportHelper.cs: 317 - thumb_abduction: Exporting STL with coordinate frame thumb_abduction -2026-06-09 20:24:08,752 INFO ExportHelper.cs: 322 - thumb_abduction: Reference geometry name -2026-06-09 20:24:08,863 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\thumb_abduction.STL -2026-06-09 20:24:09,170 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:24:09,172 INFO ExportHelper.cs: 317 - thumb: Exporting STL with coordinate frame thumb_circumduction -2026-06-09 20:24:09,172 INFO ExportHelper.cs: 322 - thumb: Reference geometry name -2026-06-09 20:24:09,256 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\thumb.STL -2026-06-09 20:24:09,384 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:24:09,384 INFO ExportHelper.cs: 270 - Exporting link: abduction_1 -2026-06-09 20:24:09,384 INFO ExportHelper.cs: 272 - Link abduction_1 has 1 children -2026-06-09 20:24:09,384 INFO ExportHelper.cs: 270 - Exporting link: finger_1 -2026-06-09 20:24:09,384 INFO ExportHelper.cs: 272 - Link finger_1 has 1 children -2026-06-09 20:24:09,384 INFO ExportHelper.cs: 270 - Exporting link: inter_1 -2026-06-09 20:24:09,384 INFO ExportHelper.cs: 272 - Link inter_1 has 1 children -2026-06-09 20:24:09,384 INFO ExportHelper.cs: 270 - Exporting link: distal_1 -2026-06-09 20:24:09,384 INFO ExportHelper.cs: 272 - Link distal_1 has 0 children -2026-06-09 20:24:09,384 INFO ExportHelper.cs: 317 - distal_1: Exporting STL with coordinate frame DIP_1 -2026-06-09 20:24:09,400 INFO ExportHelper.cs: 322 - distal_1: Reference geometry name -2026-06-09 20:24:09,956 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\distal_1.STL -2026-06-09 20:24:10,750 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:24:10,750 INFO ExportHelper.cs: 317 - inter_1: Exporting STL with coordinate frame PIP_1 -2026-06-09 20:24:10,752 INFO ExportHelper.cs: 322 - inter_1: Reference geometry name -2026-06-09 20:24:11,308 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\inter_1.STL -2026-06-09 20:24:11,975 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:24:11,979 INFO ExportHelper.cs: 317 - finger_1: Exporting STL with coordinate frame MCP_1 -2026-06-09 20:24:11,979 INFO ExportHelper.cs: 322 - finger_1: Reference geometry name -2026-06-09 20:24:12,523 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\finger_1.STL -2026-06-09 20:24:13,123 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:24:13,125 INFO ExportHelper.cs: 317 - abduction_1: Exporting STL with coordinate frame MCP_A_1 -2026-06-09 20:24:13,125 INFO ExportHelper.cs: 322 - abduction_1: Reference geometry name -2026-06-09 20:24:13,630 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\abduction_1.STL -2026-06-09 20:24:14,159 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:24:14,159 INFO ExportHelper.cs: 270 - Exporting link: finger_2 -2026-06-09 20:24:14,159 INFO ExportHelper.cs: 272 - Link finger_2 has 1 children -2026-06-09 20:24:14,159 INFO ExportHelper.cs: 270 - Exporting link: proximal_2 -2026-06-09 20:24:14,171 INFO ExportHelper.cs: 272 - Link proximal_2 has 1 children -2026-06-09 20:24:14,172 INFO ExportHelper.cs: 270 - Exporting link: inter_2 -2026-06-09 20:24:14,173 INFO ExportHelper.cs: 272 - Link inter_2 has 1 children -2026-06-09 20:24:14,173 INFO ExportHelper.cs: 270 - Exporting link: distal_2 -2026-06-09 20:24:14,173 INFO ExportHelper.cs: 272 - Link distal_2 has 0 children -2026-06-09 20:24:14,173 INFO ExportHelper.cs: 317 - distal_2: Exporting STL with coordinate frame DIP_2 -2026-06-09 20:24:14,173 INFO ExportHelper.cs: 322 - distal_2: Reference geometry name -2026-06-09 20:24:14,707 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\distal_2.STL -2026-06-09 20:24:15,508 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:24:15,514 INFO ExportHelper.cs: 317 - inter_2: Exporting STL with coordinate frame PIP_2 -2026-06-09 20:24:15,514 INFO ExportHelper.cs: 322 - inter_2: Reference geometry name -2026-06-09 20:24:16,118 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\inter_2.STL -2026-06-09 20:24:16,865 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:24:16,865 INFO ExportHelper.cs: 317 - proximal_2: Exporting STL with coordinate frame MCP_2 -2026-06-09 20:24:16,865 INFO ExportHelper.cs: 322 - proximal_2: Reference geometry name -2026-06-09 20:24:17,519 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\proximal_2.STL -2026-06-09 20:24:22,590 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:24:22,598 INFO ExportHelper.cs: 317 - finger_2: Exporting STL with coordinate frame MCP_A_2 -2026-06-09 20:24:22,598 INFO ExportHelper.cs: 322 - finger_2: Reference geometry name -2026-06-09 20:24:28,700 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\finger_2.STL -2026-06-09 20:24:32,561 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:24:32,568 INFO ExportHelper.cs: 270 - Exporting link: finger_3 -2026-06-09 20:24:32,568 INFO ExportHelper.cs: 272 - Link finger_3 has 1 children -2026-06-09 20:24:32,573 INFO ExportHelper.cs: 270 - Exporting link: proximal_3 -2026-06-09 20:24:32,575 INFO ExportHelper.cs: 272 - Link proximal_3 has 1 children -2026-06-09 20:24:32,577 INFO ExportHelper.cs: 270 - Exporting link: inter_3 -2026-06-09 20:24:32,577 INFO ExportHelper.cs: 272 - Link inter_3 has 1 children -2026-06-09 20:24:32,580 INFO ExportHelper.cs: 270 - Exporting link: distal_3 -2026-06-09 20:24:32,580 INFO ExportHelper.cs: 272 - Link distal_3 has 0 children -2026-06-09 20:24:32,585 INFO ExportHelper.cs: 317 - distal_3: Exporting STL with coordinate frame DIP_3 -2026-06-09 20:24:32,585 INFO ExportHelper.cs: 322 - distal_3: Reference geometry name -2026-06-09 20:24:40,439 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\distal_3.STL -2026-06-09 20:24:47,684 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:24:47,684 INFO ExportHelper.cs: 317 - inter_3: Exporting STL with coordinate frame PIP_3 -2026-06-09 20:24:47,699 INFO ExportHelper.cs: 322 - inter_3: Reference geometry name -2026-06-09 20:24:53,545 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\inter_3.STL -2026-06-09 20:24:57,361 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:24:57,369 INFO ExportHelper.cs: 317 - proximal_3: Exporting STL with coordinate frame MCP_3 -2026-06-09 20:24:57,369 INFO ExportHelper.cs: 322 - proximal_3: Reference geometry name -2026-06-09 20:25:00,961 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\proximal_3.STL -2026-06-09 20:25:07,287 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:25:07,287 INFO ExportHelper.cs: 317 - finger_3: Exporting STL with coordinate frame MCP_A_3 -2026-06-09 20:25:07,287 INFO ExportHelper.cs: 322 - finger_3: Reference geometry name -2026-06-09 20:25:10,306 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\finger_3.STL -2026-06-09 20:25:15,964 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:25:15,973 INFO ExportHelper.cs: 317 - hand_origin: Exporting STL with coordinate frame hand_origin -2026-06-09 20:25:15,974 INFO ExportHelper.cs: 322 - hand_origin: Reference geometry name -2026-06-09 20:25:21,695 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim9\meshes\hand_origin.STL -2026-06-09 20:25:29,483 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:25:29,492 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components -2026-06-09 20:25:47,939 INFO ExportHelper.cs: 145 - Resetting STL preferences -2026-06-09 20:25:47,940 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences -2026-06-09 20:25:47,940 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\neilm\Downloads\hand_assem_for_sim9\urdf\hand_assem_for_sim9.urdf -2026-06-09 20:25:47,959 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\neilm\Downloads\hand_assem_for_sim9\urdf\hand_assem_for_sim9.csv -2026-06-09 20:25:47,966 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:47,968 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:47,975 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:47,980 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:47,982 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:47,987 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:47,991 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:47,998 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:47,999 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:48,005 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:48,005 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:48,015 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:48,021 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:48,024 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:48,026 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:48,034 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:48,034 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:25:48,040 INFO ExportHelper.cs: 234 - Copying log file -2026-06-09 20:25:48,040 INFO ExportHelper.cs: 439 - Copying C:\Users\neilm\sw2urdf_logs\sw2urdf.log to C:\Users\neilm\Downloads\hand_assem_for_sim9\export.log -2026-06-09 20:25:48,058 INFO ExportHelper.cs: 237 - Resetting STL preferences -2026-06-09 20:25:48,065 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences -2026-06-09 20:50:04,422 INFO SwAddin.cs: 294 - Assembly export called for file hand_assem_for_sim -2026-06-09 20:50:05,774 INFO SwAddin.cs: 313 - Saving assembly -2026-06-09 20:50:06,432 INFO SwAddin.cs: 316 - Opening property manager -2026-06-09 20:50:06,434 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hand_assem_for_sim -2026-06-09 20:50:06,434 INFO ExportHelperExtension.cs: 1136 - Found 202 in hand_assem_for_sim -2026-06-09 20:50:06,436 INFO ExportHelperExtension.cs: 1145 - Found 21 features of type [CoordSys] in hand_assem_for_sim -2026-06-09 20:50:06,436 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 20:50:06,436 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 20:50:06,436 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-3 -2026-06-09 20:50:06,438 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 20:50:06,438 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-3 -2026-06-09 20:50:06,438 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-1 -2026-06-09 20:50:06,438 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 20:50:06,440 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-1 -2026-06-09 20:50:06,440 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-1 -2026-06-09 20:50:06,440 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 20:50:06,442 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-1 -2026-06-09 20:50:06,442 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-1 -2026-06-09 20:50:06,444 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 20:50:06,444 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-1 -2026-06-09 20:50:06,444 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-1 -2026-06-09 20:50:06,446 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 20:50:06,446 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-1 -2026-06-09 20:50:06,446 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from master_sketch_hand-1 -2026-06-09 20:50:06,448 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 20:50:06,448 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in master_sketch_hand-1 -2026-06-09 20:50:06,448 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-1 -2026-06-09 20:50:06,448 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 20:50:06,448 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-1 -2026-06-09 20:50:06,450 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-2 -2026-06-09 20:50:06,450 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 20:50:06,450 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-2 -2026-06-09 20:50:06,450 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-2 -2026-06-09 20:50:06,452 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 20:50:06,452 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-2 -2026-06-09 20:50:06,452 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-2 -2026-06-09 20:50:06,452 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 20:50:06,452 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-2 -2026-06-09 20:50:06,452 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-2 -2026-06-09 20:50:06,452 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 20:50:06,456 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-2 -2026-06-09 20:50:06,456 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-2 -2026-06-09 20:50:06,456 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 20:50:06,458 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-2 -2026-06-09 20:50:06,458 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-3 -2026-06-09 20:50:06,458 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 20:50:06,458 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-3 -2026-06-09 20:50:06,460 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-3 -2026-06-09 20:50:06,460 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 20:50:06,460 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-3 -2026-06-09 20:50:06,460 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-1 -2026-06-09 20:50:06,460 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 20:50:06,462 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-1 -2026-06-09 20:50:06,462 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-4 -2026-06-09 20:50:06,462 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 20:50:06,462 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-4 -2026-06-09 20:50:06,464 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-4 -2026-06-09 20:50:06,464 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 20:50:06,464 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-4 -2026-06-09 20:50:06,464 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal_assem-1 -2026-06-09 20:50:06,466 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 20:50:06,466 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal_assem-1 -2026-06-09 20:50:06,466 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-3 -2026-06-09 20:50:06,466 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 20:50:06,466 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-3 -2026-06-09 20:50:06,468 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from upper_palm_casing_v3-1 -2026-06-09 20:50:06,468 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 20:50:06,468 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in upper_palm_casing_v3-1 -2026-06-09 20:50:06,470 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-4 -2026-06-09 20:50:06,470 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 20:50:06,470 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-4 -2026-06-09 20:50:06,470 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-3 -2026-06-09 20:50:06,470 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 20:50:06,472 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-3 -2026-06-09 20:50:06,472 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-4 -2026-06-09 20:50:06,472 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 20:50:06,473 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-4 -2026-06-09 20:50:06,473 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-4 -2026-06-09 20:50:06,473 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 20:50:06,473 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-4 -2026-06-09 20:50:06,476 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from lower_palm_cover-1 -2026-06-09 20:50:06,476 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 20:50:06,476 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in lower_palm_cover-1 -2026-06-09 20:50:06,478 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_inter_assem-1 -2026-06-09 20:50:06,478 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 20:50:06,478 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_inter_assem-1 -2026-06-09 20:50:06,478 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal-1 -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal-1 -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_proximal_joint-1 -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_proximal_joint-1 -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-2 -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-2 -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_circumduction_joint-1 -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_circumduction_joint-1 -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hand_assem_for_sim -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1136 - Found 202 in hand_assem_for_sim -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1145 - Found 18 features of type [RefAxis] in hand_assem_for_sim -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-3 -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 20:50:06,480 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-3 -2026-06-09 20:50:06,490 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-1 -2026-06-09 20:50:06,490 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 20:50:06,490 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-1 -2026-06-09 20:50:06,490 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-1 -2026-06-09 20:50:06,490 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 20:50:06,490 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-1 -2026-06-09 20:50:06,490 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-1 -2026-06-09 20:50:06,490 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 20:50:06,490 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-1 -2026-06-09 20:50:06,490 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-1 -2026-06-09 20:50:06,490 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 20:50:06,490 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-1 -2026-06-09 20:50:06,490 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from master_sketch_hand-1 -2026-06-09 20:50:06,490 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 20:50:06,498 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in master_sketch_hand-1 -2026-06-09 20:50:06,498 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-1 -2026-06-09 20:50:06,498 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 20:50:06,500 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-1 -2026-06-09 20:50:06,500 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-2 -2026-06-09 20:50:06,500 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 20:50:06,500 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-2 -2026-06-09 20:50:06,500 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-2 -2026-06-09 20:50:06,500 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 20:50:06,500 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-2 -2026-06-09 20:50:06,500 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-2 -2026-06-09 20:50:06,500 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 20:50:06,500 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-2 -2026-06-09 20:50:06,500 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-2 -2026-06-09 20:50:06,500 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 20:50:06,506 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-2 -2026-06-09 20:50:06,506 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-2 -2026-06-09 20:50:06,506 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 20:50:06,506 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-2 -2026-06-09 20:50:06,506 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-3 -2026-06-09 20:50:06,506 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 20:50:06,506 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-3 -2026-06-09 20:50:06,506 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-3 -2026-06-09 20:50:06,506 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 20:50:06,506 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-3 -2026-06-09 20:50:06,506 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-1 -2026-06-09 20:50:06,569 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 20:50:06,569 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-1 -2026-06-09 20:50:06,569 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-4 -2026-06-09 20:50:06,573 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 20:50:06,573 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-4 -2026-06-09 20:50:06,573 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-4 -2026-06-09 20:50:06,573 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 20:50:06,573 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-4 -2026-06-09 20:50:06,581 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal_assem-1 -2026-06-09 20:50:06,581 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 20:50:06,581 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_distal_assem-1 -2026-06-09 20:50:06,581 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-3 -2026-06-09 20:50:06,584 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 20:50:06,584 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-3 -2026-06-09 20:50:06,584 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from upper_palm_casing_v3-1 -2026-06-09 20:50:06,584 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 20:50:06,584 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in upper_palm_casing_v3-1 -2026-06-09 20:50:06,584 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-4 -2026-06-09 20:50:06,584 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 20:50:06,584 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-4 -2026-06-09 20:50:06,584 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-3 -2026-06-09 20:50:06,584 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 20:50:06,584 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-3 -2026-06-09 20:50:06,584 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-4 -2026-06-09 20:50:06,584 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 20:50:06,584 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-4 -2026-06-09 20:50:06,584 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-4 -2026-06-09 20:50:06,600 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 20:50:06,600 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-4 -2026-06-09 20:50:06,600 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from lower_palm_cover-1 -2026-06-09 20:50:06,600 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 20:50:06,600 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in lower_palm_cover-1 -2026-06-09 20:50:06,600 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_inter_assem-1 -2026-06-09 20:50:06,600 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 20:50:06,600 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_inter_assem-1 -2026-06-09 20:50:06,600 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal-1 -2026-06-09 20:50:06,600 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 20:50:06,600 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_distal-1 -2026-06-09 20:50:06,600 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_proximal_joint-1 -2026-06-09 20:50:06,611 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 20:50:06,611 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_proximal_joint-1 -2026-06-09 20:50:06,611 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-2 -2026-06-09 20:50:06,616 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 20:50:06,616 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-2 -2026-06-09 20:50:06,616 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_circumduction_joint-1 -2026-06-09 20:50:06,616 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 20:50:06,616 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_circumduction_joint-1 -2026-06-09 20:50:07,045 INFO SwAddin.cs: 339 - Loading config tree -2026-06-09 20:50:07,045 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found -nametruehand_originxyztrue0.0126390083886839530.0549439388053319790.017766742308305404rpytrue000originfalsefalsevaluetrue0.066010643993259857massfalseixxtrue5.23782502756952E-05ixytrue5.5602750355631152E-06ixztrue-2.04232704241116E-06iyytrue4.6843514472457778E-05iyztrue-3.5375901931888516E-06izztrue9.3311109396945077E-05inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsehand_originlinktruenametruethumbxyztrue-0.0041079215545758094-0.023660585810971024-0.013742843239502676rpytrue000originfalsefalsevaluetrue0.0058703027415141617massfalseixxtrue2.1194598224564338E-06ixytrue-1.3009619554747839E-07ixztrue3.9874900686633825E-08iyytrue1.4838853758908371E-06iyztrue-2.8252805716644523E-07izztrue7.45927169011185E-07inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.7921568627450980.819607843137254880.933333333333333351colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruecircumductiontypetruerevolutexyztrue0.00370990.0778980.019751rpytrue000originfalsefalselinktruehand_originparenttruelinktruethumbchildtruexyztrue-0.22919-0.97316-0.020671axisfalselowertrue-0.6uppertrue0.1efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsecircumductionax 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-2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node hand_origin -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node thumb -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node thumb_abduction -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node thumb_inter -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node thumb_distal -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node abduction_1 -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node finger_1 -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node inter_1 -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node distal_1 -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node finger_2 -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node proximal_2 -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node inter_2 -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node distal_2 -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node finger_3 -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node proximal_3 -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node inter_3 -2026-06-09 20:50:07,060 INFO LinkNode.cs: 35 - Building node distal_3 -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for hand_origin from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%lower_palm_cover-1@hand_assem_for_sim5 -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\lower_palm_cover.SLDPRT -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???)upper_palm_casing_v3-1@hand_assem_for_sim7 -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\upper_palm_casing_v3.SLDPRT -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-1@hand_assem_for_sim? -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-2@hand_assem_for_sim? -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-3@hand_assem_for_sim? -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-4@hand_assem_for_sim? -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???GL30.stp-1@hand_assem_for_simB -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\AppData\Local\Temp\swx33344\IC~~\GL30.stp.SLDPRT -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 230 - Loaded 7 components for link hand_origin -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,060 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???.thumb_circumduction_joint-1@hand_assem_for_simC -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_circumduction_joint.SLDPRT -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_abduction from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???)thumb_proximal_joint-1@hand_assem_for_simD -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_proximal_joint.SLDPRT -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!thumb_distal-1@hand_assem_for_simF -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_distal.SLDPRT -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???GL30.stp-2@hand_assem_for_simK -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\AppData\Local\Temp\swx33344\IC~~\GL30.stp.SLDPRT -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 230 - Loaded 3 components for link thumb_abduction -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_inter from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???&thumb_inter_assem-1@hand_assem_for_simA -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_inter_assem.SLDASM -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb_inter -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_distal from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???'thumb_distal_assem-1@hand_assem_for_sim@ -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_distal_assem.SLDASM -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb_distal -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for abduction_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-1@hand_assem_for_sim? -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link abduction_1 -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-1@hand_assem_for_sim? -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_1 -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-1@hand_assem_for_sim? -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_1 -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-1@hand_assem_for_sim? -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_1 -2026-06-09 20:50:07,076 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,091 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-2@hand_assem_for_sim? -2026-06-09 20:50:07,092 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 20:50:07,092 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_2 -2026-06-09 20:50:07,092 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for proximal_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,092 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-2@hand_assem_for_sim? -2026-06-09 20:50:07,092 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 20:50:07,092 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link proximal_2 -2026-06-09 20:50:07,092 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,092 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-2@hand_assem_for_sim? -2026-06-09 20:50:07,092 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 20:50:07,092 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_2 -2026-06-09 20:50:07,092 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,092 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-2@hand_assem_for_sim? -2026-06-09 20:50:07,102 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 20:50:07,102 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_2 -2026-06-09 20:50:07,102 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,102 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-3@hand_assem_for_sim? -2026-06-09 20:50:07,102 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 20:50:07,102 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_3 -2026-06-09 20:50:07,102 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for proximal_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,102 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-3@hand_assem_for_sim? -2026-06-09 20:50:07,102 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 20:50:07,102 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link proximal_3 -2026-06-09 20:50:07,102 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,102 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-3@hand_assem_for_sim? -2026-06-09 20:50:07,107 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 20:50:07,107 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_3 -2026-06-09 20:50:07,107 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:50:07,107 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-3@hand_assem_for_sim? -2026-06-09 20:50:07,107 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 20:50:07,107 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_3 -2026-06-09 20:50:07,470 INFO SwAddin.cs: 344 - Showing property manager -2026-06-09 20:50:13,535 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:50:26,031 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:50:29,806 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:50:31,585 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:50:44,675 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:50:56,225 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:50:59,578 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:51:01,576 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:51:05,021 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:51:15,903 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:51:18,240 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:51:19,961 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:51:23,110 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:51:32,083 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:51:34,588 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:51:36,122 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:51:39,561 INFO ExportPropertyManager.cs: 422 - Configuration saved -2026-06-09 20:51:39,577 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found 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-2026-06-09 20:51:41,986 INFO ExportHelperExtension.cs: 347 - Creating joint thumb -2026-06-09 20:51:42,073 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child thumb failed -2026-06-09 20:51:42,130 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_abduction -2026-06-09 20:51:42,139 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb to child thumb_abduction failed -2026-06-09 20:51:42,323 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_inter -2026-06-09 20:51:42,428 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb_abduction to child thumb_inter failed -2026-06-09 20:51:42,850 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_distal -2026-06-09 20:51:43,008 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb_inter to child thumb_distal failed -2026-06-09 20:51:44,506 INFO ExportHelperExtension.cs: 347 - Creating joint abduction_1 -2026-06-09 20:51:44,660 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child abduction_1 failed -2026-06-09 20:51:44,695 INFO ExportHelperExtension.cs: 347 - Creating joint finger_1 -2026-06-09 20:51:44,868 WARN ExportHelperExtension.cs: 351 - Creating joint from parent abduction_1 to child finger_1 failed -2026-06-09 20:51:45,424 INFO ExportHelperExtension.cs: 347 - Creating joint inter_1 -2026-06-09 20:51:45,612 WARN ExportHelperExtension.cs: 351 - Creating joint from parent finger_1 to child inter_1 failed -2026-06-09 20:51:46,006 INFO ExportHelperExtension.cs: 347 - Creating joint distal_1 -2026-06-09 20:51:46,159 WARN ExportHelperExtension.cs: 351 - Creating joint from parent inter_1 to child distal_1 failed -2026-06-09 20:51:46,356 INFO ExportHelperExtension.cs: 347 - Creating joint finger_2 -2026-06-09 20:51:46,518 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child finger_2 failed -2026-06-09 20:51:46,549 INFO ExportHelperExtension.cs: 347 - Creating joint proximal_2 -2026-06-09 20:51:46,722 WARN ExportHelperExtension.cs: 351 - Creating joint from parent finger_2 to child proximal_2 failed -2026-06-09 20:51:47,263 INFO ExportHelperExtension.cs: 347 - Creating joint inter_2 -2026-06-09 20:51:47,429 WARN ExportHelperExtension.cs: 351 - Creating joint from parent proximal_2 to child inter_2 failed -2026-06-09 20:51:47,823 INFO ExportHelperExtension.cs: 347 - Creating joint distal_2 -2026-06-09 20:51:47,982 WARN ExportHelperExtension.cs: 351 - Creating joint from parent inter_2 to child distal_2 failed -2026-06-09 20:51:48,209 INFO ExportHelperExtension.cs: 347 - Creating joint finger_3 -2026-06-09 20:51:48,373 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child finger_3 failed -2026-06-09 20:51:48,411 INFO ExportHelperExtension.cs: 347 - Creating joint proximal_3 -2026-06-09 20:51:48,589 WARN ExportHelperExtension.cs: 351 - Creating joint from parent finger_3 to child proximal_3 failed -2026-06-09 20:51:49,156 INFO ExportHelperExtension.cs: 347 - Creating joint inter_3 -2026-06-09 20:51:49,317 WARN ExportHelperExtension.cs: 351 - Creating joint from parent proximal_3 to child inter_3 failed -2026-06-09 20:51:49,756 INFO ExportHelperExtension.cs: 347 - Creating joint distal_3 -2026-06-09 20:51:49,913 WARN ExportHelperExtension.cs: 351 - Creating joint from parent inter_3 to child distal_3 failed -2026-06-09 20:51:50,127 INFO ExportHelperExtension.cs: 347 - Creating joint finger_4 -2026-06-09 20:51:50,271 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child finger_4 failed -2026-06-09 20:51:50,313 INFO ExportHelperExtension.cs: 347 - Creating joint proximal_4 -2026-06-09 20:51:50,462 WARN ExportHelperExtension.cs: 351 - Creating joint from parent finger_4 to child proximal_4 failed -2026-06-09 20:51:50,986 INFO ExportHelperExtension.cs: 347 - Creating joint inter_4 -2026-06-09 20:51:51,161 WARN ExportHelperExtension.cs: 351 - Creating joint from parent proximal_4 to child inter_4 failed -2026-06-09 20:51:51,543 INFO ExportHelperExtension.cs: 347 - Creating joint distal_4 -2026-06-09 20:51:51,684 WARN ExportHelperExtension.cs: 351 - Creating joint from parent inter_4 to child distal_4 failed -2026-06-09 20:51:51,988 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hand_assem_for_sim -2026-06-09 20:51:51,988 INFO ExportHelperExtension.cs: 1136 - Found 202 in hand_assem_for_sim -2026-06-09 20:51:51,988 INFO ExportHelperExtension.cs: 1145 - Found 21 features of type [CoordSys] in hand_assem_for_sim -2026-06-09 20:51:51,988 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 20:51:51,988 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 20:51:51,988 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-3 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-3 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from master_sketch_hand-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in master_sketch_hand-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-1 -2026-06-09 20:51:52,020 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-1 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-2 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-2 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-2 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-2 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-2 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-2 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-2 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-2 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-2 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-2 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-3 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-3 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-3 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-3 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-1 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-1 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-4 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-4 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-4 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-4 -2026-06-09 20:51:52,036 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal_assem-1 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal_assem-1 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-3 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-3 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from upper_palm_casing_v3-1 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in upper_palm_casing_v3-1 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-4 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-4 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-3 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-3 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-4 -2026-06-09 20:51:52,053 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 20:51:52,063 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-4 -2026-06-09 20:51:52,063 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-4 -2026-06-09 20:51:52,063 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 20:51:52,063 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-4 -2026-06-09 20:51:52,063 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from lower_palm_cover-1 -2026-06-09 20:51:52,063 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 20:51:52,063 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in lower_palm_cover-1 -2026-06-09 20:51:52,063 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_inter_assem-1 -2026-06-09 20:51:52,063 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_inter_assem-1 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal-1 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal-1 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_proximal_joint-1 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_proximal_joint-1 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-2 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-2 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_circumduction_joint-1 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_circumduction_joint-1 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hand_assem_for_sim -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1136 - Found 202 in hand_assem_for_sim -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1145 - Found 18 features of type [RefAxis] in hand_assem_for_sim -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-3 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-3 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-1 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 20:51:52,068 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-1 -2026-06-09 20:51:52,084 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-1 -2026-06-09 20:51:52,084 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 20:51:52,084 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-1 -2026-06-09 20:51:52,084 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-1 -2026-06-09 20:51:52,084 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 20:51:52,084 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-1 -2026-06-09 20:51:52,084 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-1 -2026-06-09 20:51:52,084 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 20:51:52,084 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-1 -2026-06-09 20:51:52,084 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from master_sketch_hand-1 -2026-06-09 20:51:52,084 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 20:51:52,084 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in master_sketch_hand-1 -2026-06-09 20:51:52,084 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-1 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-1 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-2 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-2 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-2 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-2 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-2 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-2 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-2 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-2 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-2 -2026-06-09 20:51:52,100 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 20:51:52,111 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-2 -2026-06-09 20:51:52,111 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-3 -2026-06-09 20:51:52,111 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 20:51:52,111 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-3 -2026-06-09 20:51:52,111 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-3 -2026-06-09 20:51:52,111 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 20:51:52,111 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-3 -2026-06-09 20:51:52,111 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-1 -2026-06-09 20:51:52,111 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-1 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-4 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-4 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-4 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-4 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal_assem-1 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_distal_assem-1 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-3 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-3 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from upper_palm_casing_v3-1 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in upper_palm_casing_v3-1 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-4 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-4 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-3 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-3 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-4 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-4 -2026-06-09 20:51:52,116 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-4 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-4 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from lower_palm_cover-1 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in lower_palm_cover-1 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_inter_assem-1 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_inter_assem-1 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal-1 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_distal-1 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_proximal_joint-1 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_proximal_joint-1 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-2 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-2 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_circumduction_joint-1 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 20:51:52,132 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_circumduction_joint-1 -2026-06-09 20:51:52,247 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:52:28,849 INFO AssemblyExportForm.cs: 253 - Completing URDF export -2026-06-09 20:52:28,854 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found 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-2026-06-09 20:52:36,016 INFO AssemblyExportForm.cs: 309 - Saving URDF package to C:\Users\neilm\Downloads\hand_assem_for_sim_final -2026-06-09 20:52:36,017 INFO ExportHelper.cs: 147 - Beginning the export process -2026-06-09 20:52:36,019 INFO ExportHelper.cs: 153 - Creating package directories with name hand_assem_for_sim_final and save path C:\Users\neilm\Downloads -2026-06-09 20:52:36,990 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\neilm\Downloads\hand_assem_for_sim_final\CMakeLists.txt -2026-06-09 20:52:36,990 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\neilm\Downloads\hand_assem_for_sim_final\config\joint_names_hand_assem_for_sim_final.yaml -2026-06-09 20:52:36,990 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\neilm\Downloads\hand_assem_for_sim_final\package.xml -2026-06-09 20:52:36,990 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\neilm\Downloads\hand_assem_for_sim_final\package.xml -2026-06-09 20:52:37,001 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\neilm\Downloads\hand_assem_for_sim_final\launch\ -2026-06-09 20:52:37,003 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\neilm\Downloads\hand_assem_for_sim_final\launch\ -2026-06-09 20:52:37,008 INFO ExportHelper.cs: 187 - Saving existing STL preferences -2026-06-09 20:52:37,010 INFO ExportHelper.cs: 450 - Saving users preferences -2026-06-09 20:52:37,012 INFO ExportHelper.cs: 190 - Modifying STL preferences -2026-06-09 20:52:37,014 INFO ExportHelper.cs: 464 - Setting STL preferences -2026-06-09 20:52:37,021 INFO ExportHelper.cs: 196 - Found 0 hidden components -2026-06-09 20:52:37,024 INFO ExportHelper.cs: 197 - Hiding all components -2026-06-09 20:52:38,955 INFO ExportHelper.cs: 204 - Beginning individual files export -2026-06-09 20:52:38,957 INFO ExportHelper.cs: 270 - Exporting link: hand_origin -2026-06-09 20:52:38,957 INFO ExportHelper.cs: 272 - Link hand_origin has 5 children -2026-06-09 20:52:38,963 INFO ExportHelper.cs: 270 - Exporting link: thumb -2026-06-09 20:52:38,963 INFO ExportHelper.cs: 272 - Link thumb has 1 children -2026-06-09 20:52:38,963 INFO ExportHelper.cs: 270 - Exporting link: thumb_abduction -2026-06-09 20:52:38,963 INFO ExportHelper.cs: 272 - Link thumb_abduction has 1 children -2026-06-09 20:52:38,963 INFO ExportHelper.cs: 270 - Exporting link: thumb_inter -2026-06-09 20:52:38,963 INFO ExportHelper.cs: 272 - Link thumb_inter has 1 children -2026-06-09 20:52:38,971 INFO ExportHelper.cs: 270 - Exporting link: thumb_distal -2026-06-09 20:52:38,971 INFO ExportHelper.cs: 272 - Link thumb_distal has 0 children -2026-06-09 20:52:38,971 INFO ExportHelper.cs: 317 - thumb_distal: Exporting STL with coordinate frame thumb_DIP -2026-06-09 20:52:38,971 INFO ExportHelper.cs: 322 - thumb_distal: Reference geometry name -2026-06-09 20:52:39,361 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\thumb_distal.STL -2026-06-09 20:52:39,904 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:52:39,904 INFO ExportHelper.cs: 317 - thumb_inter: Exporting STL with coordinate frame thumb_PIP -2026-06-09 20:52:39,904 INFO ExportHelper.cs: 322 - thumb_inter: Reference geometry name -2026-06-09 20:52:40,011 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\thumb_inter.STL -2026-06-09 20:52:40,250 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:52:40,250 INFO ExportHelper.cs: 317 - thumb_abduction: Exporting STL with coordinate frame thumb_abduction -2026-06-09 20:52:40,250 INFO ExportHelper.cs: 322 - thumb_abduction: Reference geometry name -2026-06-09 20:52:40,377 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\thumb_abduction.STL -2026-06-09 20:52:40,664 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:52:40,664 INFO ExportHelper.cs: 317 - thumb: Exporting STL with coordinate frame thumb_circumduction -2026-06-09 20:52:40,664 INFO ExportHelper.cs: 322 - thumb: Reference geometry name -2026-06-09 20:52:40,760 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\thumb.STL -2026-06-09 20:52:40,905 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:52:40,905 INFO ExportHelper.cs: 270 - Exporting link: abduction_1 -2026-06-09 20:52:40,905 INFO ExportHelper.cs: 272 - Link abduction_1 has 1 children -2026-06-09 20:52:40,915 INFO ExportHelper.cs: 270 - Exporting link: finger_1 -2026-06-09 20:52:40,915 INFO ExportHelper.cs: 272 - Link finger_1 has 1 children -2026-06-09 20:52:40,920 INFO ExportHelper.cs: 270 - Exporting link: inter_1 -2026-06-09 20:52:40,920 INFO ExportHelper.cs: 272 - Link inter_1 has 1 children -2026-06-09 20:52:40,922 INFO ExportHelper.cs: 270 - Exporting link: distal_1 -2026-06-09 20:52:40,922 INFO ExportHelper.cs: 272 - Link distal_1 has 0 children -2026-06-09 20:52:40,922 INFO ExportHelper.cs: 317 - distal_1: Exporting STL with coordinate frame DIP_1 -2026-06-09 20:52:40,922 INFO ExportHelper.cs: 322 - distal_1: Reference geometry name -2026-06-09 20:52:41,659 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\distal_1.STL -2026-06-09 20:52:42,629 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:52:42,646 INFO ExportHelper.cs: 317 - inter_1: Exporting STL with coordinate frame PIP_1 -2026-06-09 20:52:42,646 INFO ExportHelper.cs: 322 - inter_1: Reference geometry name -2026-06-09 20:52:43,251 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\inter_1.STL -2026-06-09 20:52:43,963 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:52:43,963 INFO ExportHelper.cs: 317 - finger_1: Exporting STL with coordinate frame MCP_1 -2026-06-09 20:52:43,963 INFO ExportHelper.cs: 322 - finger_1: Reference geometry name -2026-06-09 20:52:44,657 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\finger_1.STL -2026-06-09 20:52:45,313 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:52:45,313 INFO ExportHelper.cs: 317 - abduction_1: Exporting STL with coordinate frame MCP_A_1 -2026-06-09 20:52:45,313 INFO ExportHelper.cs: 322 - abduction_1: Reference geometry name -2026-06-09 20:52:45,864 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\abduction_1.STL -2026-06-09 20:52:46,441 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:52:46,441 INFO ExportHelper.cs: 270 - Exporting link: finger_2 -2026-06-09 20:52:46,445 INFO ExportHelper.cs: 272 - Link finger_2 has 1 children -2026-06-09 20:52:46,447 INFO ExportHelper.cs: 270 - Exporting link: proximal_2 -2026-06-09 20:52:46,447 INFO ExportHelper.cs: 272 - Link proximal_2 has 1 children -2026-06-09 20:52:46,450 INFO ExportHelper.cs: 270 - Exporting link: inter_2 -2026-06-09 20:52:46,450 INFO ExportHelper.cs: 272 - Link inter_2 has 1 children -2026-06-09 20:52:46,451 INFO ExportHelper.cs: 270 - Exporting link: distal_2 -2026-06-09 20:52:46,451 INFO ExportHelper.cs: 272 - Link distal_2 has 0 children -2026-06-09 20:52:46,451 INFO ExportHelper.cs: 317 - distal_2: Exporting STL with coordinate frame DIP_2 -2026-06-09 20:52:46,451 INFO ExportHelper.cs: 322 - distal_2: Reference geometry name -2026-06-09 20:52:47,011 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\distal_2.STL -2026-06-09 20:52:47,775 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:52:47,775 INFO ExportHelper.cs: 317 - inter_2: Exporting STL with coordinate frame PIP_2 -2026-06-09 20:52:47,775 INFO ExportHelper.cs: 322 - inter_2: Reference geometry name -2026-06-09 20:52:48,406 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\inter_2.STL -2026-06-09 20:52:49,080 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:52:49,082 INFO ExportHelper.cs: 317 - proximal_2: Exporting STL with coordinate frame MCP_2 -2026-06-09 20:52:49,082 INFO ExportHelper.cs: 322 - proximal_2: Reference geometry name -2026-06-09 20:52:49,694 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\proximal_2.STL -2026-06-09 20:52:50,391 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:52:50,391 INFO ExportHelper.cs: 317 - finger_2: Exporting STL with coordinate frame MCP_A_2 -2026-06-09 20:52:50,391 INFO ExportHelper.cs: 322 - finger_2: Reference geometry name -2026-06-09 20:52:51,509 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\finger_2.STL -2026-06-09 20:52:52,562 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:52:52,566 INFO ExportHelper.cs: 270 - Exporting link: finger_3 -2026-06-09 20:52:52,568 INFO ExportHelper.cs: 272 - Link finger_3 has 1 children -2026-06-09 20:52:52,568 INFO ExportHelper.cs: 270 - Exporting link: proximal_3 -2026-06-09 20:52:52,572 INFO ExportHelper.cs: 272 - Link proximal_3 has 1 children -2026-06-09 20:52:52,575 INFO ExportHelper.cs: 270 - Exporting link: inter_3 -2026-06-09 20:52:52,575 INFO ExportHelper.cs: 272 - Link inter_3 has 1 children -2026-06-09 20:52:52,577 INFO ExportHelper.cs: 270 - Exporting link: distal_3 -2026-06-09 20:52:52,577 INFO ExportHelper.cs: 272 - Link distal_3 has 0 children -2026-06-09 20:52:52,577 INFO ExportHelper.cs: 317 - distal_3: Exporting STL with coordinate frame DIP_3 -2026-06-09 20:52:52,577 INFO ExportHelper.cs: 322 - distal_3: Reference geometry name -2026-06-09 20:52:53,767 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\distal_3.STL -2026-06-09 20:52:55,165 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:52:55,165 INFO ExportHelper.cs: 317 - inter_3: Exporting STL with coordinate frame PIP_3 -2026-06-09 20:52:55,165 INFO ExportHelper.cs: 322 - inter_3: Reference geometry name -2026-06-09 20:52:56,210 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\inter_3.STL -2026-06-09 20:52:57,558 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:52:57,558 INFO ExportHelper.cs: 317 - proximal_3: Exporting STL with coordinate frame MCP_3 -2026-06-09 20:52:57,558 INFO ExportHelper.cs: 322 - proximal_3: Reference geometry name -2026-06-09 20:52:58,867 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\proximal_3.STL -2026-06-09 20:53:00,446 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:53:00,450 INFO ExportHelper.cs: 317 - finger_3: Exporting STL with coordinate frame MCP_A_3 -2026-06-09 20:53:00,450 INFO ExportHelper.cs: 322 - finger_3: Reference geometry name -2026-06-09 20:53:01,846 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\finger_3.STL -2026-06-09 20:53:03,261 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:53:03,267 INFO ExportHelper.cs: 270 - Exporting link: finger_4 -2026-06-09 20:53:03,267 INFO ExportHelper.cs: 272 - Link finger_4 has 1 children -2026-06-09 20:53:03,270 INFO ExportHelper.cs: 270 - Exporting link: proximal_4 -2026-06-09 20:53:03,273 INFO ExportHelper.cs: 272 - Link proximal_4 has 1 children -2026-06-09 20:53:03,277 INFO ExportHelper.cs: 270 - Exporting link: inter_4 -2026-06-09 20:53:03,277 INFO ExportHelper.cs: 272 - Link inter_4 has 1 children -2026-06-09 20:53:03,277 INFO ExportHelper.cs: 270 - Exporting link: distal_4 -2026-06-09 20:53:03,277 INFO ExportHelper.cs: 272 - Link distal_4 has 0 children -2026-06-09 20:53:03,277 INFO ExportHelper.cs: 317 - distal_4: Exporting STL with coordinate frame DIP_4 -2026-06-09 20:53:03,277 INFO ExportHelper.cs: 322 - distal_4: Reference geometry name -2026-06-09 20:53:04,859 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\distal_4.STL -2026-06-09 20:53:06,620 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:53:06,622 INFO ExportHelper.cs: 317 - inter_4: Exporting STL with coordinate frame PIP_4 -2026-06-09 20:53:06,622 INFO ExportHelper.cs: 322 - inter_4: Reference geometry name -2026-06-09 20:53:07,757 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\inter_4.STL -2026-06-09 20:53:08,915 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:53:08,915 INFO ExportHelper.cs: 317 - proximal_4: Exporting STL with coordinate frame MCP_4 -2026-06-09 20:53:08,915 INFO ExportHelper.cs: 322 - proximal_4: Reference geometry name -2026-06-09 20:53:09,738 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\proximal_4.STL -2026-06-09 20:53:10,528 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:53:10,532 INFO ExportHelper.cs: 317 - finger_4: Exporting STL with coordinate frame MCP_A_4 -2026-06-09 20:53:10,532 INFO ExportHelper.cs: 322 - finger_4: Reference geometry name -2026-06-09 20:53:11,131 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\finger_4.STL -2026-06-09 20:53:11,826 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:53:11,826 INFO ExportHelper.cs: 317 - hand_origin: Exporting STL with coordinate frame hand_origin -2026-06-09 20:53:11,828 INFO ExportHelper.cs: 322 - hand_origin: Reference geometry name -2026-06-09 20:53:12,555 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_assem_for_sim_final\meshes\hand_origin.STL -2026-06-09 20:53:14,068 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:53:14,068 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components -2026-06-09 20:53:16,652 INFO ExportHelper.cs: 145 - Resetting STL preferences -2026-06-09 20:53:16,652 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences -2026-06-09 20:53:16,654 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\neilm\Downloads\hand_assem_for_sim_final\urdf\hand_assem_for_sim_final.urdf -2026-06-09 20:53:16,654 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\neilm\Downloads\hand_assem_for_sim_final\urdf\hand_assem_for_sim_final.csv -2026-06-09 20:53:16,654 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,654 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,659 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,659 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,659 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,659 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,659 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,659 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,659 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,659 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,659 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,659 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,666 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,666 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,666 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,666 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,668 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,668 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,670 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,670 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,670 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:53:16,670 INFO ExportHelper.cs: 234 - Copying log file -2026-06-09 20:53:16,670 INFO ExportHelper.cs: 439 - Copying C:\Users\neilm\sw2urdf_logs\sw2urdf.log to C:\Users\neilm\Downloads\hand_assem_for_sim_final\export.log -2026-06-09 20:53:16,675 INFO ExportHelper.cs: 237 - Resetting STL preferences -2026-06-09 20:53:16,675 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences -2026-06-09 20:55:05,701 INFO SwAddin.cs: 294 - Assembly export called for file hand_assem_for_sim -2026-06-09 20:55:06,778 INFO SwAddin.cs: 313 - Saving assembly -2026-06-09 20:55:07,351 INFO SwAddin.cs: 316 - Opening property manager -2026-06-09 20:55:07,351 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hand_assem_for_sim -2026-06-09 20:55:07,358 INFO ExportHelperExtension.cs: 1136 - Found 202 in hand_assem_for_sim -2026-06-09 20:55:07,361 INFO ExportHelperExtension.cs: 1145 - Found 21 features of type [CoordSys] in hand_assem_for_sim -2026-06-09 20:55:07,361 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 20:55:07,362 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 20:55:07,362 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-3 -2026-06-09 20:55:07,364 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 20:55:07,364 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-3 -2026-06-09 20:55:07,364 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-1 -2026-06-09 20:55:07,366 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 20:55:07,366 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-1 -2026-06-09 20:55:07,369 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-1 -2026-06-09 20:55:07,369 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 20:55:07,371 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-1 -2026-06-09 20:55:07,371 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-1 -2026-06-09 20:55:07,371 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 20:55:07,373 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-1 -2026-06-09 20:55:07,373 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-1 -2026-06-09 20:55:07,373 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 20:55:07,375 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-1 -2026-06-09 20:55:07,375 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from master_sketch_hand-1 -2026-06-09 20:55:07,375 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 20:55:07,375 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in master_sketch_hand-1 -2026-06-09 20:55:07,377 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-1 -2026-06-09 20:55:07,377 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 20:55:07,377 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-1 -2026-06-09 20:55:07,377 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-2 -2026-06-09 20:55:07,379 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 20:55:07,379 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-2 -2026-06-09 20:55:07,379 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-2 -2026-06-09 20:55:07,381 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 20:55:07,381 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-2 -2026-06-09 20:55:07,381 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-2 -2026-06-09 20:55:07,381 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 20:55:07,383 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-2 -2026-06-09 20:55:07,383 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-2 -2026-06-09 20:55:07,383 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 20:55:07,385 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-2 -2026-06-09 20:55:07,385 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-2 -2026-06-09 20:55:07,387 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 20:55:07,387 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-2 -2026-06-09 20:55:07,387 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-3 -2026-06-09 20:55:07,387 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 20:55:07,389 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-3 -2026-06-09 20:55:07,389 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-3 -2026-06-09 20:55:07,389 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 20:55:07,391 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-3 -2026-06-09 20:55:07,391 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-1 -2026-06-09 20:55:07,391 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 20:55:07,393 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-1 -2026-06-09 20:55:07,393 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-4 -2026-06-09 20:55:07,393 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 20:55:07,393 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-4 -2026-06-09 20:55:07,395 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-4 -2026-06-09 20:55:07,395 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 20:55:07,395 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-4 -2026-06-09 20:55:07,395 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal_assem-1 -2026-06-09 20:55:07,398 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 20:55:07,398 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal_assem-1 -2026-06-09 20:55:07,398 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-3 -2026-06-09 20:55:07,400 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 20:55:07,400 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-3 -2026-06-09 20:55:07,400 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from upper_palm_casing_v3-1 -2026-06-09 20:55:07,402 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 20:55:07,402 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in upper_palm_casing_v3-1 -2026-06-09 20:55:07,404 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-4 -2026-06-09 20:55:07,404 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 20:55:07,404 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-4 -2026-06-09 20:55:07,405 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-3 -2026-06-09 20:55:07,405 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 20:55:07,405 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-3 -2026-06-09 20:55:07,405 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-4 -2026-06-09 20:55:07,407 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 20:55:07,407 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-4 -2026-06-09 20:55:07,407 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-4 -2026-06-09 20:55:07,409 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 20:55:07,409 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-4 -2026-06-09 20:55:07,409 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from lower_palm_cover-1 -2026-06-09 20:55:07,409 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 20:55:07,411 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in lower_palm_cover-1 -2026-06-09 20:55:07,411 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_inter_assem-1 -2026-06-09 20:55:07,411 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 20:55:07,411 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_inter_assem-1 -2026-06-09 20:55:07,415 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal-1 -2026-06-09 20:55:07,415 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 20:55:07,419 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal-1 -2026-06-09 20:55:07,419 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_proximal_joint-1 -2026-06-09 20:55:07,458 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 20:55:07,461 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_proximal_joint-1 -2026-06-09 20:55:07,463 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-2 -2026-06-09 20:55:07,463 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 20:55:07,465 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-2 -2026-06-09 20:55:07,465 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_circumduction_joint-1 -2026-06-09 20:55:07,465 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 20:55:07,469 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_circumduction_joint-1 -2026-06-09 20:55:07,469 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hand_assem_for_sim -2026-06-09 20:55:07,471 INFO ExportHelperExtension.cs: 1136 - Found 202 in hand_assem_for_sim -2026-06-09 20:55:07,471 INFO ExportHelperExtension.cs: 1145 - Found 18 features of type [RefAxis] in hand_assem_for_sim -2026-06-09 20:55:07,473 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 20:55:07,473 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 20:55:07,473 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-3 -2026-06-09 20:55:07,475 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 20:55:07,475 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-3 -2026-06-09 20:55:07,477 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-1 -2026-06-09 20:55:07,477 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 20:55:07,479 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-1 -2026-06-09 20:55:07,479 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-1 -2026-06-09 20:55:07,479 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 20:55:07,481 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-1 -2026-06-09 20:55:07,481 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-1 -2026-06-09 20:55:07,481 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 20:55:07,483 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-1 -2026-06-09 20:55:07,483 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-1 -2026-06-09 20:55:07,485 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 20:55:07,485 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-1 -2026-06-09 20:55:07,487 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from master_sketch_hand-1 -2026-06-09 20:55:07,487 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 20:55:07,487 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in master_sketch_hand-1 -2026-06-09 20:55:07,489 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-1 -2026-06-09 20:55:07,489 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 20:55:07,489 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-1 -2026-06-09 20:55:07,490 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-2 -2026-06-09 20:55:07,490 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 20:55:07,490 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-2 -2026-06-09 20:55:07,490 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-2 -2026-06-09 20:55:07,493 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 20:55:07,493 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-2 -2026-06-09 20:55:07,493 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-2 -2026-06-09 20:55:07,493 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 20:55:07,495 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-2 -2026-06-09 20:55:07,495 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-2 -2026-06-09 20:55:07,495 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 20:55:07,497 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-2 -2026-06-09 20:55:07,497 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-2 -2026-06-09 20:55:07,497 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 20:55:07,497 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-2 -2026-06-09 20:55:07,499 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-3 -2026-06-09 20:55:07,499 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 20:55:07,499 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-3 -2026-06-09 20:55:07,499 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-3 -2026-06-09 20:55:07,501 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 20:55:07,501 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-3 -2026-06-09 20:55:07,501 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-1 -2026-06-09 20:55:07,501 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 20:55:07,503 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-1 -2026-06-09 20:55:07,503 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-4 -2026-06-09 20:55:07,503 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 20:55:07,505 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-4 -2026-06-09 20:55:07,505 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-4 -2026-06-09 20:55:07,505 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 20:55:07,506 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-4 -2026-06-09 20:55:07,506 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal_assem-1 -2026-06-09 20:55:07,506 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 20:55:07,509 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_distal_assem-1 -2026-06-09 20:55:07,509 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-3 -2026-06-09 20:55:07,509 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 20:55:07,511 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-3 -2026-06-09 20:55:07,511 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from upper_palm_casing_v3-1 -2026-06-09 20:55:07,511 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 20:55:07,513 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in upper_palm_casing_v3-1 -2026-06-09 20:55:07,513 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-4 -2026-06-09 20:55:07,513 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 20:55:07,513 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-4 -2026-06-09 20:55:07,513 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-3 -2026-06-09 20:55:07,515 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 20:55:07,515 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-3 -2026-06-09 20:55:07,515 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-4 -2026-06-09 20:55:07,517 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 20:55:07,517 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-4 -2026-06-09 20:55:07,517 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-4 -2026-06-09 20:55:07,517 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 20:55:07,519 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-4 -2026-06-09 20:55:07,519 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from lower_palm_cover-1 -2026-06-09 20:55:07,519 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 20:55:07,519 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in lower_palm_cover-1 -2026-06-09 20:55:07,521 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_inter_assem-1 -2026-06-09 20:55:07,521 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 20:55:07,521 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_inter_assem-1 -2026-06-09 20:55:07,522 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal-1 -2026-06-09 20:55:07,522 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 20:55:07,522 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_distal-1 -2026-06-09 20:55:07,524 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_proximal_joint-1 -2026-06-09 20:55:07,524 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 20:55:07,524 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_proximal_joint-1 -2026-06-09 20:55:07,524 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-2 -2026-06-09 20:55:07,526 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 20:55:07,526 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-2 -2026-06-09 20:55:07,526 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_circumduction_joint-1 -2026-06-09 20:55:07,526 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 20:55:07,528 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_circumduction_joint-1 -2026-06-09 20:55:07,963 INFO SwAddin.cs: 339 - Loading config tree -2026-06-09 20:55:07,963 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found 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-2026-06-09 20:55:07,967 INFO LinkNode.cs: 35 - Building node hand_origin -2026-06-09 20:55:07,967 INFO LinkNode.cs: 35 - Building node thumb -2026-06-09 20:55:07,967 INFO LinkNode.cs: 35 - Building node thumb_abduction -2026-06-09 20:55:07,967 INFO LinkNode.cs: 35 - Building node thumb_inter -2026-06-09 20:55:07,967 INFO LinkNode.cs: 35 - Building node thumb_distal -2026-06-09 20:55:07,967 INFO LinkNode.cs: 35 - Building node abduction_1 -2026-06-09 20:55:07,967 INFO LinkNode.cs: 35 - Building node finger_1 -2026-06-09 20:55:07,967 INFO LinkNode.cs: 35 - Building node inter_1 -2026-06-09 20:55:07,967 INFO LinkNode.cs: 35 - Building node distal_1 -2026-06-09 20:55:07,967 INFO LinkNode.cs: 35 - Building node finger_2 -2026-06-09 20:55:07,967 INFO LinkNode.cs: 35 - Building node proximal_2 -2026-06-09 20:55:07,967 INFO LinkNode.cs: 35 - Building node inter_2 -2026-06-09 20:55:07,967 INFO LinkNode.cs: 35 - Building node distal_2 -2026-06-09 20:55:07,983 INFO LinkNode.cs: 35 - Building node finger_3 -2026-06-09 20:55:07,983 INFO LinkNode.cs: 35 - Building node proximal_3 -2026-06-09 20:55:07,983 INFO LinkNode.cs: 35 - Building node inter_3 -2026-06-09 20:55:07,983 INFO LinkNode.cs: 35 - Building node distal_3 -2026-06-09 20:55:07,983 INFO LinkNode.cs: 35 - Building node finger_4 -2026-06-09 20:55:07,983 INFO LinkNode.cs: 35 - Building node proximal_4 -2026-06-09 20:55:07,983 INFO LinkNode.cs: 35 - Building node inter_4 -2026-06-09 20:55:07,983 INFO LinkNode.cs: 35 - Building node distal_4 -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for hand_origin from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%lower_palm_cover-1@hand_assem_for_sim5 -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\lower_palm_cover.SLDPRT -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???)upper_palm_casing_v3-1@hand_assem_for_sim7 -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\upper_palm_casing_v3.SLDPRT -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-1@hand_assem_for_sim? -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-2@hand_assem_for_sim? -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-3@hand_assem_for_sim? -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???-proximal_abduction_joint-4@hand_assem_for_sim? -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_abduction_joint.SLDPRT -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???GL30.stp-1@hand_assem_for_simB -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\AppData\Local\Temp\swx33344\IC~~\GL30.stp.SLDPRT -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 230 - Loaded 7 components for link hand_origin -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:07,983 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???.thumb_circumduction_joint-1@hand_assem_for_simC -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_circumduction_joint.SLDPRT -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_abduction from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???)thumb_proximal_joint-1@hand_assem_for_simD -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_proximal_joint.SLDPRT -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!thumb_distal-1@hand_assem_for_simF -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_distal.SLDPRT -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???GL30.stp-2@hand_assem_for_simK -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\AppData\Local\Temp\swx33344\IC~~\GL30.stp.SLDPRT -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 230 - Loaded 3 components for link thumb_abduction -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_inter from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???&thumb_inter_assem-1@hand_assem_for_simA -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_inter_assem.SLDASM -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb_inter -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for thumb_distal from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???'thumb_distal_assem-1@hand_assem_for_sim@ -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\thumb_distal_assem.SLDASM -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link thumb_distal -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for abduction_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-1@hand_assem_for_sim? -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link abduction_1 -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-1@hand_assem_for_sim? -2026-06-09 20:55:07,999 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 20:55:08,009 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_1 -2026-06-09 20:55:08,009 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:08,009 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-1@hand_assem_for_sim? -2026-06-09 20:55:08,009 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 20:55:08,009 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_1 -2026-06-09 20:55:08,009 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_1 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:08,009 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-1@hand_assem_for_sim? -2026-06-09 20:55:08,009 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 20:55:08,009 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_1 -2026-06-09 20:55:08,009 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:08,009 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-2@hand_assem_for_sim? -2026-06-09 20:55:08,009 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 20:55:08,009 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_2 -2026-06-09 20:55:08,009 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for proximal_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-2@hand_assem_for_sim? -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link proximal_2 -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-2@hand_assem_for_sim? -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_2 -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_2 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-2@hand_assem_for_sim? -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_2 -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-3@hand_assem_for_sim? -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_3 -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for proximal_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-3@hand_assem_for_sim? -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link proximal_3 -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-3@hand_assem_for_sim? -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_3 -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_3 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-3@hand_assem_for_sim? -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_3 -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for finger_4 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???%proximal_u_joint-4@hand_assem_for_sim? -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_u_joint.SLDPRT -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link finger_4 -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for proximal_4 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???#proximal_assem-4@hand_assem_for_sim? -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\proximal_assem.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link proximal_4 -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for inter_4 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? inter_assem-4@hand_assem_for_sim? -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\inter_assem.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link inter_4 -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for distal_4 from C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\hand_assem_for_sim.SLDASM -2026-06-09 20:55:08,015 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???!distal_assem-4@hand_assem_for_sim? -2026-06-09 20:55:08,030 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\neilm\OneDrive\Desktop\Baja\Robot\Hand V4\distal_assem.SLDASM -2026-06-09 20:55:08,030 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link distal_4 -2026-06-09 20:55:08,342 INFO SwAddin.cs: 344 - Showing property manager -2026-06-09 20:55:11,077 INFO ExportPropertyManager.cs: 422 - Configuration saved -2026-06-09 20:55:11,098 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found 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-2026-06-09 20:55:13,294 INFO ExportHelperExtension.cs: 347 - Creating joint thumb -2026-06-09 20:55:13,397 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child thumb failed -2026-06-09 20:55:13,451 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_abduction -2026-06-09 20:55:13,457 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb to child thumb_abduction failed -2026-06-09 20:55:13,632 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_inter -2026-06-09 20:55:13,736 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb_abduction to child thumb_inter failed -2026-06-09 20:55:14,179 INFO ExportHelperExtension.cs: 347 - Creating joint thumb_distal -2026-06-09 20:55:14,324 WARN ExportHelperExtension.cs: 351 - Creating joint from parent thumb_inter to child thumb_distal failed -2026-06-09 20:55:15,656 INFO ExportHelperExtension.cs: 347 - Creating joint abduction_1 -2026-06-09 20:55:15,829 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child abduction_1 failed -2026-06-09 20:55:15,865 INFO ExportHelperExtension.cs: 347 - Creating joint finger_1 -2026-06-09 20:55:16,055 WARN ExportHelperExtension.cs: 351 - Creating joint from parent abduction_1 to child finger_1 failed -2026-06-09 20:55:16,554 INFO ExportHelperExtension.cs: 347 - Creating joint inter_1 -2026-06-09 20:55:16,713 WARN ExportHelperExtension.cs: 351 - Creating joint from parent finger_1 to child inter_1 failed -2026-06-09 20:55:17,038 INFO ExportHelperExtension.cs: 347 - Creating joint distal_1 -2026-06-09 20:55:17,194 WARN ExportHelperExtension.cs: 351 - Creating joint from parent inter_1 to child distal_1 failed -2026-06-09 20:55:17,380 INFO ExportHelperExtension.cs: 347 - Creating joint finger_2 -2026-06-09 20:55:17,543 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child finger_2 failed -2026-06-09 20:55:17,578 INFO ExportHelperExtension.cs: 347 - Creating joint proximal_2 -2026-06-09 20:55:17,753 WARN ExportHelperExtension.cs: 351 - Creating joint from parent finger_2 to child proximal_2 failed -2026-06-09 20:55:18,234 INFO ExportHelperExtension.cs: 347 - Creating joint inter_2 -2026-06-09 20:55:18,424 WARN ExportHelperExtension.cs: 351 - Creating joint from parent proximal_2 to child inter_2 failed -2026-06-09 20:55:18,805 INFO ExportHelperExtension.cs: 347 - Creating joint distal_2 -2026-06-09 20:55:18,980 WARN ExportHelperExtension.cs: 351 - Creating joint from parent inter_2 to child distal_2 failed -2026-06-09 20:55:19,171 INFO ExportHelperExtension.cs: 347 - Creating joint finger_3 -2026-06-09 20:55:19,348 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child finger_3 failed -2026-06-09 20:55:19,379 INFO ExportHelperExtension.cs: 347 - Creating joint proximal_3 -2026-06-09 20:55:19,552 WARN ExportHelperExtension.cs: 351 - Creating joint from parent finger_3 to child proximal_3 failed -2026-06-09 20:55:20,074 INFO ExportHelperExtension.cs: 347 - Creating joint inter_3 -2026-06-09 20:55:20,218 WARN ExportHelperExtension.cs: 351 - Creating joint from parent proximal_3 to child inter_3 failed -2026-06-09 20:55:20,575 INFO ExportHelperExtension.cs: 347 - Creating joint distal_3 -2026-06-09 20:55:20,751 WARN ExportHelperExtension.cs: 351 - Creating joint from parent inter_3 to child distal_3 failed -2026-06-09 20:55:20,955 INFO ExportHelperExtension.cs: 347 - Creating joint finger_4 -2026-06-09 20:55:21,114 WARN ExportHelperExtension.cs: 351 - Creating joint from parent hand_origin to child finger_4 failed -2026-06-09 20:55:21,156 INFO ExportHelperExtension.cs: 347 - Creating joint proximal_4 -2026-06-09 20:55:21,306 WARN ExportHelperExtension.cs: 351 - Creating joint from parent finger_4 to child proximal_4 failed -2026-06-09 20:55:21,814 INFO ExportHelperExtension.cs: 347 - Creating joint inter_4 -2026-06-09 20:55:21,973 WARN ExportHelperExtension.cs: 351 - Creating joint from parent proximal_4 to child inter_4 failed -2026-06-09 20:55:22,373 INFO ExportHelperExtension.cs: 347 - Creating joint distal_4 -2026-06-09 20:55:22,538 WARN ExportHelperExtension.cs: 351 - Creating joint from parent inter_4 to child distal_4 failed -2026-06-09 20:55:22,824 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hand_assem_for_sim -2026-06-09 20:55:22,824 INFO ExportHelperExtension.cs: 1136 - Found 202 in hand_assem_for_sim -2026-06-09 20:55:22,824 INFO ExportHelperExtension.cs: 1145 - Found 21 features of type [CoordSys] in hand_assem_for_sim -2026-06-09 20:55:22,824 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 20:55:22,824 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 20:55:22,824 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-3 -2026-06-09 20:55:22,824 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 20:55:22,824 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-3 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from master_sketch_hand-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in master_sketch_hand-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-1 -2026-06-09 20:55:22,840 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-2 -2026-06-09 20:55:22,850 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 20:55:22,850 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-2 -2026-06-09 20:55:22,850 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-2 -2026-06-09 20:55:22,850 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 20:55:22,850 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-2 -2026-06-09 20:55:22,850 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-2 -2026-06-09 20:55:22,850 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 20:55:22,850 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-2 -2026-06-09 20:55:22,850 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-2 -2026-06-09 20:55:22,850 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-2 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-2 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-2 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-3 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-3 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-3 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-3 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-1 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-1 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-4 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-4 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-4 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-4 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal_assem-1 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal_assem-1 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_abduction_joint-3 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_abduction_joint-3 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from upper_palm_casing_v3-1 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in upper_palm_casing_v3-1 -2026-06-09 20:55:22,856 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_assem-4 -2026-06-09 20:55:22,871 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 20:55:22,871 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_assem-4 -2026-06-09 20:55:22,871 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from proximal_u_joint-3 -2026-06-09 20:55:22,871 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 20:55:22,871 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in proximal_u_joint-3 -2026-06-09 20:55:22,871 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from distal_assem-4 -2026-06-09 20:55:22,871 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 20:55:22,871 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in distal_assem-4 -2026-06-09 20:55:22,871 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from inter_assem-4 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in inter_assem-4 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from lower_palm_cover-1 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in lower_palm_cover-1 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_inter_assem-1 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_inter_assem-1 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_distal-1 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_distal-1 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_proximal_joint-1 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_proximal_joint-1 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from GL30.stp-2 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in GL30.stp-2 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from thumb_circumduction_joint-1 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in thumb_circumduction_joint-1 -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hand_assem_for_sim -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1136 - Found 202 in hand_assem_for_sim -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1145 - Found 18 features of type [RefAxis] in hand_assem_for_sim -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1160 - 30 components to check -2026-06-09 20:55:22,887 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-3 -2026-06-09 20:55:22,903 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-3 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-3 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from master_sketch_hand-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1136 - Found 28 in master_sketch_hand-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in master_sketch_hand-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-1 -2026-06-09 20:55:22,904 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-1 -2026-06-09 20:55:22,914 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-2 -2026-06-09 20:55:22,914 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-2 -2026-06-09 20:55:22,914 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-2 -2026-06-09 20:55:22,914 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-2 -2026-06-09 20:55:22,914 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-2 -2026-06-09 20:55:22,914 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-2 -2026-06-09 20:55:22,914 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-2 -2026-06-09 20:55:22,914 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-2 -2026-06-09 20:55:22,914 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-2 -2026-06-09 20:55:22,914 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-2 -2026-06-09 20:55:22,914 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-2 -2026-06-09 20:55:22,914 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-2 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-2 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-2 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-2 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-3 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-3 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-3 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-3 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-3 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-3 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-1 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-1 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-1 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-4 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-4 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-4 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-4 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-4 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-4 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal_assem-1 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_distal_assem-1 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_distal_assem-1 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_abduction_joint-3 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1136 - Found 49 in proximal_abduction_joint-3 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_abduction_joint-3 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from upper_palm_casing_v3-1 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1136 - Found 141 in upper_palm_casing_v3-1 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in upper_palm_casing_v3-1 -2026-06-09 20:55:22,919 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_assem-4 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1136 - Found 25 in proximal_assem-4 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in proximal_assem-4 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from proximal_u_joint-3 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1136 - Found 73 in proximal_u_joint-3 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in proximal_u_joint-3 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from distal_assem-4 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1136 - Found 46 in distal_assem-4 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in distal_assem-4 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from inter_assem-4 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1136 - Found 24 in inter_assem-4 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in inter_assem-4 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from lower_palm_cover-1 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1136 - Found 60 in lower_palm_cover-1 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in lower_palm_cover-1 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_inter_assem-1 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1136 - Found 24 in thumb_inter_assem-1 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in thumb_inter_assem-1 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_distal-1 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1136 - Found 65 in thumb_distal-1 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_distal-1 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_proximal_joint-1 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1136 - Found 69 in thumb_proximal_joint-1 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_proximal_joint-1 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from GL30.stp-2 -2026-06-09 20:55:22,935 INFO ExportHelperExtension.cs: 1136 - Found 36 in GL30.stp-2 -2026-06-09 20:55:22,951 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in GL30.stp-2 -2026-06-09 20:55:22,951 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from thumb_circumduction_joint-1 -2026-06-09 20:55:22,967 INFO ExportHelperExtension.cs: 1136 - Found 72 in thumb_circumduction_joint-1 -2026-06-09 20:55:22,967 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in thumb_circumduction_joint-1 -2026-06-09 20:55:23,046 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message -2026-06-09 20:55:40,522 INFO AssemblyExportForm.cs: 253 - Completing URDF export -2026-06-09 20:55:40,542 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found 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-2026-06-09 20:55:47,502 INFO AssemblyExportForm.cs: 309 - Saving URDF package to C:\Users\neilm\Downloads\hand_urdf -2026-06-09 20:55:47,504 INFO ExportHelper.cs: 147 - Beginning the export process -2026-06-09 20:55:47,506 INFO ExportHelper.cs: 153 - Creating package directories with name hand_urdf and save path C:\Users\neilm\Downloads -2026-06-09 20:55:48,597 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\neilm\Downloads\hand_urdf\CMakeLists.txt -2026-06-09 20:55:48,601 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\neilm\Downloads\hand_urdf\config\joint_names_hand_urdf.yaml -2026-06-09 20:55:48,603 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\neilm\Downloads\hand_urdf\package.xml -2026-06-09 20:55:48,605 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\neilm\Downloads\hand_urdf\package.xml -2026-06-09 20:55:48,607 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\neilm\Downloads\hand_urdf\launch\ -2026-06-09 20:55:48,609 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\neilm\Downloads\hand_urdf\launch\ -2026-06-09 20:55:48,615 INFO ExportHelper.cs: 187 - Saving existing STL preferences -2026-06-09 20:55:48,617 INFO ExportHelper.cs: 450 - Saving users preferences -2026-06-09 20:55:48,619 INFO ExportHelper.cs: 190 - Modifying STL preferences -2026-06-09 20:55:48,621 INFO ExportHelper.cs: 464 - Setting STL preferences -2026-06-09 20:55:48,627 INFO ExportHelper.cs: 196 - Found 0 hidden components -2026-06-09 20:55:48,629 INFO ExportHelper.cs: 197 - Hiding all components -2026-06-09 20:55:50,261 INFO ExportHelper.cs: 204 - Beginning individual files export -2026-06-09 20:55:50,264 INFO ExportHelper.cs: 270 - Exporting link: hand_origin -2026-06-09 20:55:50,264 INFO ExportHelper.cs: 272 - Link hand_origin has 5 children -2026-06-09 20:55:50,264 INFO ExportHelper.cs: 270 - Exporting link: thumb -2026-06-09 20:55:50,264 INFO ExportHelper.cs: 272 - Link thumb has 1 children -2026-06-09 20:55:50,264 INFO ExportHelper.cs: 270 - Exporting link: thumb_abduction -2026-06-09 20:55:50,264 INFO ExportHelper.cs: 272 - Link thumb_abduction has 1 children -2026-06-09 20:55:50,264 INFO ExportHelper.cs: 270 - Exporting link: thumb_inter -2026-06-09 20:55:50,264 INFO ExportHelper.cs: 272 - Link thumb_inter has 1 children -2026-06-09 20:55:50,264 INFO ExportHelper.cs: 270 - Exporting link: thumb_distal -2026-06-09 20:55:50,264 INFO ExportHelper.cs: 272 - Link thumb_distal has 0 children -2026-06-09 20:55:50,264 INFO ExportHelper.cs: 317 - thumb_distal: Exporting STL with coordinate frame thumb_DIP -2026-06-09 20:55:50,264 INFO ExportHelper.cs: 322 - thumb_distal: Reference geometry name -2026-06-09 20:55:50,599 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\thumb_distal.STL -2026-06-09 20:55:51,185 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:55:51,185 INFO ExportHelper.cs: 317 - thumb_inter: Exporting STL with coordinate frame thumb_PIP -2026-06-09 20:55:51,185 INFO ExportHelper.cs: 322 - thumb_inter: Reference geometry name -2026-06-09 20:55:51,301 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\thumb_inter.STL -2026-06-09 20:55:51,528 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:55:51,528 INFO ExportHelper.cs: 317 - thumb_abduction: Exporting STL with coordinate frame thumb_abduction -2026-06-09 20:55:51,528 INFO ExportHelper.cs: 322 - thumb_abduction: Reference geometry name -2026-06-09 20:55:51,648 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\thumb_abduction.STL -2026-06-09 20:55:51,909 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:55:51,909 INFO ExportHelper.cs: 317 - thumb: Exporting STL with coordinate frame thumb_circumduction -2026-06-09 20:55:51,909 INFO ExportHelper.cs: 322 - thumb: Reference geometry name -2026-06-09 20:55:52,005 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\thumb.STL -2026-06-09 20:55:52,165 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:55:52,165 INFO ExportHelper.cs: 270 - Exporting link: abduction_1 -2026-06-09 20:55:52,175 INFO ExportHelper.cs: 272 - Link abduction_1 has 1 children -2026-06-09 20:55:52,177 INFO ExportHelper.cs: 270 - Exporting link: finger_1 -2026-06-09 20:55:52,177 INFO ExportHelper.cs: 272 - Link finger_1 has 1 children -2026-06-09 20:55:52,179 INFO ExportHelper.cs: 270 - Exporting link: inter_1 -2026-06-09 20:55:52,181 INFO ExportHelper.cs: 272 - Link inter_1 has 1 children -2026-06-09 20:55:52,183 INFO ExportHelper.cs: 270 - Exporting link: distal_1 -2026-06-09 20:55:52,185 INFO ExportHelper.cs: 272 - Link distal_1 has 0 children -2026-06-09 20:55:52,185 INFO ExportHelper.cs: 317 - distal_1: Exporting STL with coordinate frame DIP_1 -2026-06-09 20:55:52,185 INFO ExportHelper.cs: 322 - distal_1: Reference geometry name -2026-06-09 20:55:52,882 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\distal_1.STL -2026-06-09 20:55:53,902 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:55:53,904 INFO ExportHelper.cs: 317 - inter_1: Exporting STL with coordinate frame PIP_1 -2026-06-09 20:55:53,904 INFO ExportHelper.cs: 322 - inter_1: Reference geometry name -2026-06-09 20:55:54,609 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\inter_1.STL -2026-06-09 20:55:55,372 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:55:55,372 INFO ExportHelper.cs: 317 - finger_1: Exporting STL with coordinate frame MCP_1 -2026-06-09 20:55:55,372 INFO ExportHelper.cs: 322 - finger_1: Reference geometry name -2026-06-09 20:55:56,137 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\finger_1.STL -2026-06-09 20:55:56,965 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:55:56,965 INFO ExportHelper.cs: 317 - abduction_1: Exporting STL with coordinate frame MCP_A_1 -2026-06-09 20:55:56,965 INFO ExportHelper.cs: 322 - abduction_1: Reference geometry name -2026-06-09 20:55:57,685 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\abduction_1.STL -2026-06-09 20:55:58,377 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:55:58,377 INFO ExportHelper.cs: 270 - Exporting link: finger_2 -2026-06-09 20:55:58,383 INFO ExportHelper.cs: 272 - Link finger_2 has 1 children -2026-06-09 20:55:58,383 INFO ExportHelper.cs: 270 - Exporting link: proximal_2 -2026-06-09 20:55:58,383 INFO ExportHelper.cs: 272 - Link proximal_2 has 1 children -2026-06-09 20:55:58,383 INFO ExportHelper.cs: 270 - Exporting link: inter_2 -2026-06-09 20:55:58,389 INFO ExportHelper.cs: 272 - Link inter_2 has 1 children -2026-06-09 20:55:58,392 INFO ExportHelper.cs: 270 - Exporting link: distal_2 -2026-06-09 20:55:58,393 INFO ExportHelper.cs: 272 - Link distal_2 has 0 children -2026-06-09 20:55:58,393 INFO ExportHelper.cs: 317 - distal_2: Exporting STL with coordinate frame DIP_2 -2026-06-09 20:55:58,393 INFO ExportHelper.cs: 322 - distal_2: Reference geometry name -2026-06-09 20:55:59,089 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\distal_2.STL -2026-06-09 20:55:59,990 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:55:59,990 INFO ExportHelper.cs: 317 - inter_2: Exporting STL with coordinate frame PIP_2 -2026-06-09 20:55:59,990 INFO ExportHelper.cs: 322 - inter_2: Reference geometry name -2026-06-09 20:56:00,678 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\inter_2.STL -2026-06-09 20:56:01,422 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:56:01,422 INFO ExportHelper.cs: 317 - proximal_2: Exporting STL with coordinate frame MCP_2 -2026-06-09 20:56:01,422 INFO ExportHelper.cs: 322 - proximal_2: Reference geometry name -2026-06-09 20:56:02,007 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\proximal_2.STL -2026-06-09 20:56:03,302 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:56:03,302 INFO ExportHelper.cs: 317 - finger_2: Exporting STL with coordinate frame MCP_A_2 -2026-06-09 20:56:03,308 INFO ExportHelper.cs: 322 - finger_2: Reference geometry name -2026-06-09 20:56:04,296 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\finger_2.STL -2026-06-09 20:56:05,486 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:56:05,503 INFO ExportHelper.cs: 270 - Exporting link: finger_3 -2026-06-09 20:56:05,503 INFO ExportHelper.cs: 272 - Link finger_3 has 1 children -2026-06-09 20:56:05,503 INFO ExportHelper.cs: 270 - Exporting link: proximal_3 -2026-06-09 20:56:05,503 INFO ExportHelper.cs: 272 - Link proximal_3 has 1 children -2026-06-09 20:56:05,513 INFO ExportHelper.cs: 270 - Exporting link: inter_3 -2026-06-09 20:56:05,513 INFO ExportHelper.cs: 272 - Link inter_3 has 1 children -2026-06-09 20:56:05,517 INFO ExportHelper.cs: 270 - Exporting link: distal_3 -2026-06-09 20:56:05,519 INFO ExportHelper.cs: 272 - Link distal_3 has 0 children -2026-06-09 20:56:05,519 INFO ExportHelper.cs: 317 - distal_3: Exporting STL with coordinate frame DIP_3 -2026-06-09 20:56:05,519 INFO ExportHelper.cs: 322 - distal_3: Reference geometry name -2026-06-09 20:56:06,421 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\distal_3.STL -2026-06-09 20:56:07,306 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:56:07,322 INFO ExportHelper.cs: 317 - inter_3: Exporting STL with coordinate frame PIP_3 -2026-06-09 20:56:07,322 INFO ExportHelper.cs: 322 - inter_3: Reference geometry name -2026-06-09 20:56:07,953 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\inter_3.STL -2026-06-09 20:56:08,740 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:56:08,740 INFO ExportHelper.cs: 317 - proximal_3: Exporting STL with coordinate frame MCP_3 -2026-06-09 20:56:08,740 INFO ExportHelper.cs: 322 - proximal_3: Reference geometry name -2026-06-09 20:56:09,452 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\proximal_3.STL -2026-06-09 20:56:10,256 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:56:10,258 INFO ExportHelper.cs: 317 - finger_3: Exporting STL with coordinate frame MCP_A_3 -2026-06-09 20:56:10,258 INFO ExportHelper.cs: 322 - finger_3: Reference geometry name -2026-06-09 20:56:11,016 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\finger_3.STL -2026-06-09 20:56:11,669 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:56:11,681 INFO ExportHelper.cs: 270 - Exporting link: finger_4 -2026-06-09 20:56:11,681 INFO ExportHelper.cs: 272 - Link finger_4 has 1 children -2026-06-09 20:56:11,681 INFO ExportHelper.cs: 270 - Exporting link: proximal_4 -2026-06-09 20:56:11,686 INFO ExportHelper.cs: 272 - Link proximal_4 has 1 children -2026-06-09 20:56:11,686 INFO ExportHelper.cs: 270 - Exporting link: inter_4 -2026-06-09 20:56:11,686 INFO ExportHelper.cs: 272 - Link inter_4 has 1 children -2026-06-09 20:56:11,686 INFO ExportHelper.cs: 270 - Exporting link: distal_4 -2026-06-09 20:56:11,686 INFO ExportHelper.cs: 272 - Link distal_4 has 0 children -2026-06-09 20:56:11,686 INFO ExportHelper.cs: 317 - distal_4: Exporting STL with coordinate frame DIP_4 -2026-06-09 20:56:11,686 INFO ExportHelper.cs: 322 - distal_4: Reference geometry name -2026-06-09 20:56:12,431 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\distal_4.STL -2026-06-09 20:56:13,318 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:56:13,318 INFO ExportHelper.cs: 317 - inter_4: Exporting STL with coordinate frame PIP_4 -2026-06-09 20:56:13,318 INFO ExportHelper.cs: 322 - inter_4: Reference geometry name -2026-06-09 20:56:13,967 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\inter_4.STL -2026-06-09 20:56:14,711 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:56:14,711 INFO ExportHelper.cs: 317 - proximal_4: Exporting STL with coordinate frame MCP_4 -2026-06-09 20:56:14,716 INFO ExportHelper.cs: 322 - proximal_4: Reference geometry name -2026-06-09 20:56:15,356 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\proximal_4.STL -2026-06-09 20:56:16,078 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:56:16,078 INFO ExportHelper.cs: 317 - finger_4: Exporting STL with coordinate frame MCP_A_4 -2026-06-09 20:56:16,078 INFO ExportHelper.cs: 322 - finger_4: Reference geometry name -2026-06-09 20:56:16,705 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\finger_4.STL -2026-06-09 20:56:17,301 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:56:17,308 INFO ExportHelper.cs: 317 - hand_origin: Exporting STL with coordinate frame hand_origin -2026-06-09 20:56:17,308 INFO ExportHelper.cs: 322 - hand_origin: Reference geometry name -2026-06-09 20:56:18,030 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\neilm\Downloads\hand_urdf\meshes\hand_origin.STL -2026-06-09 20:56:19,506 INFO ExportHelper.cs: 405 - Removing SW header in STL file -2026-06-09 20:56:19,506 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components -2026-06-09 20:56:23,263 INFO ExportHelper.cs: 145 - Resetting STL preferences -2026-06-09 20:56:23,263 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences -2026-06-09 20:56:23,265 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\neilm\Downloads\hand_urdf\urdf\hand_urdf.urdf -2026-06-09 20:56:23,268 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\neilm\Downloads\hand_urdf\urdf\hand_urdf.csv -2026-06-09 20:56:23,268 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,268 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,268 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,273 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,275 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,275 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,277 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,277 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,277 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,277 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,284 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,284 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,284 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,284 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,284 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,284 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,284 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,284 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,284 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,284 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,284 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, -2026-06-09 20:56:23,284 INFO ExportHelper.cs: 234 - Copying log file -2026-06-09 20:56:23,284 INFO ExportHelper.cs: 439 - Copying C:\Users\neilm\sw2urdf_logs\sw2urdf.log to C:\Users\neilm\Downloads\hand_urdf\export.log diff --git a/src/simulation/Humanoid_Wato/wato_hand/launch/display.launch b/src/simulation/Humanoid_Wato/wato_hand/launch/display.launch deleted file mode 100644 index 84afa7cb..00000000 --- a/src/simulation/Humanoid_Wato/wato_hand/launch/display.launch +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - \ No newline at end of file diff --git a/src/simulation/Humanoid_Wato/wato_hand/launch/gazebo.launch b/src/simulation/Humanoid_Wato/wato_hand/launch/gazebo.launch deleted file mode 100644 index b5bc10d9..00000000 --- a/src/simulation/Humanoid_Wato/wato_hand/launch/gazebo.launch +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/src/simulation/Humanoid_Wato/wato_hand/package.xml b/src/simulation/Humanoid_Wato/wato_hand/package.xml deleted file mode 100644 index 2b977c32..00000000 --- a/src/simulation/Humanoid_Wato/wato_hand/package.xml +++ /dev/null @@ -1,21 +0,0 @@ - - hand_urdf - 1.0.0 - -

URDF Description package for hand_urdf

-

This package contains configuration data, 3D models and launch files -for hand_urdf robot

- - TODO - - BSD - catkin - roslaunch - robot_state_publisher - rviz - joint_state_publisher_gui - gazebo - - - - \ No newline at end of file diff --git a/src/simulation/Humanoid_Wato/wato_hand/splay_demo.py b/src/simulation/Humanoid_Wato/wato_hand/splay_demo.py deleted file mode 100644 index 731e0927..00000000 --- a/src/simulation/Humanoid_Wato/wato_hand/splay_demo.py +++ /dev/null @@ -1,139 +0,0 @@ -"""Sweep MCP_A abduction joints (4 fingers + thumb) so spread motion is easy to see. - -Run from this directory (omit --headless to watch in the GUI): - - /home/hy/IsaacLab/isaaclab.sh -p splay_demo.py - -Finger splay (MCP_A_1..4): ±0.15 rad (±8.594 deg). -Thumb abduction (MCP_A_thumb): 0 to 2.0 rad (~114.6 deg). -""" - -from __future__ import annotations - -import argparse -import math -import os -import sys - -from isaaclab.app import AppLauncher - -parser = argparse.ArgumentParser(description="Wato hand MCP_A splay demo.") -parser.add_argument("--freq_hz", type=float, default=1.0, help="Splay sweep frequency in Hz.") -AppLauncher.add_app_launcher_args(parser) -args_cli = parser.parse_args() - -app_launcher = AppLauncher(args_cli) -simulation_app = app_launcher.app - -import torch - -import isaaclab.sim as sim_utils -from isaaclab.assets import ArticulationCfg, AssetBaseCfg -from isaaclab.scene import InteractiveScene, InteractiveSceneCfg -from isaaclab.utils import configclass - -from wato_hand_cfg import JOINT_POS_LIMITS, apply_joint_limits - -# Same hand asset/physics as in-hand RL (self-collision off, palm-up, etc.). -# pioneer_humanoid is pip-installed (editable) in the isaac_lab image. -from pioneer_humanoid.hand import INHAND_HAND_CFG - -# Finger splay ±8.594 deg; thumb abduction 0..114.592 deg (each uses its own limits). -SPREAD_JOINTS = ["MCP_A_1", "MCP_A_2", "MCP_A_3", "MCP_A_4", "MCP_A_thumb"] - -# Neutral demo pose: only MCP_A joints move; others pinned at 0. -_MCP_A_THUMB_MID = 0.5 * (JOINT_POS_LIMITS["MCP_A_thumb"][0] + JOINT_POS_LIMITS["MCP_A_thumb"][1]) -_NEUTRAL_JOINT_POS = {name: 0.0 for name in [ - "circumduction", "MCP_A_thumb", "PIP_thumb", "DIP_thumb", - "MCP_A_1", "MCP_A_2", "MCP_A_3", "MCP_A_4", - "MCP_1", "PIP_1", "DIP_1", "MCP_2", "PIP_2", "DIP_2", - "MCP_3", "PIP_3", "DIP_3", "MCP_4", "PIP_4", "DIP_4", -]} -_NEUTRAL_JOINT_POS["MCP_A_thumb"] = _MCP_A_THUMB_MID - - -@configclass -class SplayDemoSceneCfg(InteractiveSceneCfg): - ground = AssetBaseCfg( - prim_path="/World/defaultGroundPlane", - spawn=sim_utils.GroundPlaneCfg(), - ) - light = AssetBaseCfg( - prim_path="/World/Light", - spawn=sim_utils.DomeLightCfg(intensity=2500.0, color=(0.85, 0.85, 0.85)), - ) - robot = INHAND_HAND_CFG.replace( - prim_path="{ENV_REGEX_NS}/Robot", - init_state=ArticulationCfg.InitialStateCfg( - pos=INHAND_HAND_CFG.init_state.pos, - rot=INHAND_HAND_CFG.init_state.rot, - joint_pos=_NEUTRAL_JOINT_POS, - ), - ) - - -def _sweep_angle(sim_time_s: float, freq_hz: float, lo: float, hi: float) -> float: - """Sine sweep between joint-specific limits.""" - mid = 0.5 * (lo + hi) - amp = 0.5 * (hi - lo) - return mid + amp * math.sin(2.0 * math.pi * freq_hz * sim_time_s) - - -def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene, freq_hz: float) -> None: - robot = scene["robot"] - sim_dt = sim.get_physics_dt() - sim_time_s = 0.0 - print_every = int(1.0 / sim_dt) - - spread_ids = [robot.find_joints(name)[0][0] for name in SPREAD_JOINTS] - spread_limits = [JOINT_POS_LIMITS[name] for name in SPREAD_JOINTS] - fixed_ids = [i for i in range(robot.num_joints) if i not in spread_ids] - - # Pin every non-spread joint at 0 rad. - fixed_pos = torch.zeros((robot.num_instances, len(fixed_ids)), device=robot.device) - spread_target = torch.zeros((robot.num_instances, len(spread_ids)), device=robot.device) - - print(f"[INFO] Moving only: {SPREAD_JOINTS}") - print("[INFO] All other joints pinned at 0 rad") - for name, (lo, hi) in zip(SPREAD_JOINTS, spread_limits): - print(f"[INFO] {name}: {math.degrees(lo):.1f} deg to {math.degrees(hi):.1f} deg") - print(f"[INFO] Sweep frequency: {freq_hz:.2f} Hz") - - step = 0 - while simulation_app.is_running(): - for i, (lo, hi) in enumerate(spread_limits): - spread_target[:, i] = _sweep_angle(sim_time_s, freq_hz, lo, hi) - - robot.set_joint_position_target(fixed_pos, joint_ids=fixed_ids) - robot.set_joint_position_target(spread_target, joint_ids=spread_ids) - scene.write_data_to_sim() - sim.step() - scene.update(sim_dt) - - if step % print_every == 0: - finger = spread_target[0, 0].item() - thumb = spread_target[0, -1].item() - print( - f"[splay] t={sim_time_s:5.1f}s MCP_A_1={math.degrees(finger):+.1f} deg" - f" MCP_A_thumb={math.degrees(thumb):+.1f} deg" - ) - - sim_time_s += sim_dt - step += 1 - - -def main() -> None: - sim_cfg = sim_utils.SimulationCfg(dt=1.0 / 120.0, device=args_cli.device) - sim = sim_utils.SimulationContext(sim_cfg) - sim.set_camera_view(eye=(0.35, 0.35, 0.75), target=(0.0, 0.08, 0.54)) - - scene = InteractiveScene(SplayDemoSceneCfg(num_envs=1, env_spacing=2.0)) - sim.reset() - apply_joint_limits(scene["robot"]) - print("[INFO] Splay demo running. MCP_A_1..4 + MCP_A_thumb move; all other joints stay at 0.") - run_simulator(sim, scene, args_cli.freq_hz) - - -if __name__ == "__main__": - main() - simulation_app.close() diff --git a/src/simulation/humanoid_rl_tasks/humanoid_rl_tasks/inhand/TRAINING_LOG.md b/src/simulation/humanoid_rl_tasks/humanoid_rl_tasks/inhand/TRAINING_LOG.md index 69b1026d..9b3d8a2f 100644 --- a/src/simulation/humanoid_rl_tasks/humanoid_rl_tasks/inhand/TRAINING_LOG.md +++ b/src/simulation/humanoid_rl_tasks/humanoid_rl_tasks/inhand/TRAINING_LOG.md @@ -65,7 +65,7 @@ ### 7. Instanceable USD + scaling to 1024 envs (WORKS) `replicate_physics = True` was already set. The existing `hand_urdf.usd` has no companion `_meshes.usd` but runs at 1024 envs without OOM — effectively sufficient. -**To make fully instanceable (not yet done):** Isaac Sim GUI → URDF Importer → "Create Instanceable Asset" → produces `hand_urdf.usd` + `instanceable_meshes.usd`. Update `_HAND_USD_PATH` in `wato_hand_cfg.py`. +**To make fully instanceable (not yet done):** Isaac Sim GUI → URDF Importer → "Create Instanceable Asset" → produces `hand_urdf.usd` + `instanceable_meshes.usd`. Update `_HAND_USD_PATH` in `pioneer_humanoid/hand_cfg.py`. **Throughput:** - 256 envs: ~11k steps/s diff --git a/src/simulation/humanoid_rl_tasks/humanoid_rl_tasks/inhand/mdp/events.py b/src/simulation/humanoid_rl_tasks/humanoid_rl_tasks/inhand/mdp/events.py index b565dfe3..70b0e9ee 100644 --- a/src/simulation/humanoid_rl_tasks/humanoid_rl_tasks/inhand/mdp/events.py +++ b/src/simulation/humanoid_rl_tasks/humanoid_rl_tasks/inhand/mdp/events.py @@ -170,7 +170,7 @@ def apply_wato_hand_joint_limits( env_ids: torch.Tensor, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"), ) -> None: - """Push expanded JOINT_POS_LIMITS from wato_hand_cfg into PhysX at startup. + """Push expanded JOINT_POS_LIMITS from pioneer_humanoid.hand_cfg into PhysX at startup. The USD has the original hardware limits baked in (±8.6 deg for MCP_A). This overwrites them so the RL policy can explore a larger abduction range.