diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..208c88a
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,17 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/opt/ros/humble/include/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c17",
+            "cppStandard": "gnu++17",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 9a5341f..7b53f63 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,3 +1,15 @@
 {
-    "cmake.sourceDirectory": "/home/ray/ROS2Workspace/softwaresystem/RobotOS1"
+    "cmake.sourceDirectory": "/home/hivecore/ros2_ws/softwaresystem/RobotOS1",
+    "files.associations": {
+        "*.launch": "python",
+        "*.world": "xml",
+        "*.xacro": "xml",
+        "array": "cpp",
+        "bitset": "cpp",
+        "string_view": "cpp",
+        "initializer_list": "cpp",
+        "regex": "cpp",
+        "utility": "cpp",
+        "valarray": "cpp"
+    }
 }
\ No newline at end of file
diff --git a/HiveCoreR0/hive_core_bot0.gv b/HiveCoreR0/hive_core_bot0.gv
new file mode 100644
index 0000000..2e869bf
--- /dev/null
+++ b/HiveCoreR0/hive_core_bot0.gv
@@ -0,0 +1,47 @@
+digraph G {
+node [shape=box];
+"base_link" [label="base_link"];
+"left_hip_pitch_link" [label="left_hip_pitch_link"];
+"left_leg_pitch_link" [label="left_leg_pitch_link"];
+"left_wheel2_link" [label="left_wheel2_link"];
+"left_wheel1_link" [label="left_wheel1_link"];
+"left_shoulder_link" [label="left_shoulder_link"];
+"left_arm1_link" [label="left_arm1_link"];
+"left_arm2_link" [label="left_arm2_link"];
+"right_hip_pitch_link" [label="right_hip_pitch_link"];
+"right_leg_pitch_link" [label="right_leg_pitch_link"];
+"right_wheel2_link" [label="right_wheel2_link"];
+"right_wheel1_link" [label="right_wheel1_link"];
+"right_shoulder_link" [label="right_shoulder_link"];
+"right_arm1_link" [label="right_arm1_link"];
+"right_arm2_link" [label="right_arm2_link"];
+node [shape=ellipse, color=blue, fontcolor=blue];
+"base_link" -> "left_hip_pitch_joint" [label="xyz: -0.06 -0.1358 -0.037269 \nrpy: -1.5708 -0.0095732 0"]
+"left_hip_pitch_joint" -> "left_hip_pitch_link"
+"left_hip_pitch_link" -> "left_leg_pitch_joint" [label="xyz: 0 0 -0.0295 \nrpy: 0 -0 0.01205"]
+"left_leg_pitch_joint" -> "left_leg_pitch_link"
+"left_leg_pitch_link" -> "left_wheel2_joint" [label="xyz: 0 0.4805 0.004 \nrpy: 3.14159 -3.30872e-24 -0.0024764"]
+"left_wheel2_joint" -> "left_wheel2_link"
+"left_hip_pitch_link" -> "left_wheel1_joint" [label="xyz: 0 0.48 0.01 \nrpy: 0 -0 0.0095732"]
+"left_wheel1_joint" -> "left_wheel1_link"
+"base_link" -> "left_shoulder_joint" [label="xyz: -0.06 -0.0878 0.36288 \nrpy: 0 -0 0"]
+"left_shoulder_joint" -> "left_shoulder_link"
+"left_shoulder_link" -> "left_arm1_joint" [label="xyz: 0 0 0.0385 \nrpy: 1.5708 4.33681e-19 -0.0074682"]
+"left_arm1_joint" -> "left_arm1_link"
+"left_arm1_link" -> "left_arm2_joint" [label="xyz: 0.020127 0.0040341 0.17817 \nrpy: -1.6062 0.0074682 4.33693e-19"]
+"left_arm2_joint" -> "left_arm2_link"
+"base_link" -> "right_hip_pitch_joint" [label="xyz: -0.06 0.1358 -0.037269 \nrpy: 1.5708 -0.0029091 0"]
+"right_hip_pitch_joint" -> "right_hip_pitch_link"
+"right_hip_pitch_link" -> "right_leg_pitch_joint" [label="xyz: 0 0 -0.0295 \nrpy: 0 0 -0.0029091"]
+"right_leg_pitch_joint" -> "right_leg_pitch_link"
+"right_leg_pitch_link" -> "right_wheel2_joint" [label="xyz: 1.9386e-05 -0.4805 0.004 \nrpy: -3.14159 -0 0"]
+"right_wheel2_joint" -> "right_wheel2_link"
+"right_hip_pitch_link" -> "right_wheel1_joint" [label="xyz: 0 -0.48 0.01 \nrpy: 0 0 -0.0029091"]
+"right_wheel1_joint" -> "right_wheel1_link"
+"base_link" -> "right_shoulder_joint" [label="xyz: -0.06 0.0878 0.36288 \nrpy: 0 -0 0"]
+"right_shoulder_joint" -> "right_shoulder_link"
+"right_shoulder_link" -> "right_arm1_joint" [label="xyz: 0 0 0.0385 \nrpy: 1.5708 -0 0"]
+"right_arm1_joint" -> "right_arm1_link"
+"right_arm1_link" -> "right_arm2_joint" [label="xyz: 0.017969 0.0026972 -0.17843 \nrpy: -1.5793 0 0"]
+"right_arm2_joint" -> "right_arm2_link"
+}
diff --git a/HiveCoreR0/hive_core_bot0.pdf b/HiveCoreR0/hive_core_bot0.pdf
new file mode 100644
index 0000000..7b61e90
Binary files /dev/null and b/HiveCoreR0/hive_core_bot0.pdf differ
diff --git a/HiveCoreR0/src/hive_core_r0/CMakeLists.txt b/HiveCoreR0/src/hive_core_r0/CMakeLists.txt
new file mode 100644
index 0000000..a573bfd
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/CMakeLists.txt
@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.10)
+project(hive_core_r0)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(arm_control_node src/arm_control_node.cpp)
+ament_target_dependencies(arm_control_node rclcpp geometry_msgs)
+
+add_executable(hiveBot1_control_node src/hiveBot1_control_node.cpp)
+ament_target_dependencies(hiveBot1_control_node rclcpp geometry_msgs)
+
+add_executable(keyboard_control_node src/keyboard_control_node.cpp)
+ament_target_dependencies(keyboard_control_node rclcpp geometry_msgs)
+
+
+install(TARGETS
+  arm_control_node
+  hiveBot1_control_node
+  keyboard_control_node
+  DESTINATION lib/${PROJECT_NAME})
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(DIRECTORY launch urdf config world src
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/HiveCoreR0/src/hive_core_r0/LICENSE b/HiveCoreR0/src/hive_core_r0/LICENSE
new file mode 100644
index 0000000..d645695
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/LICENSE
@@ -0,0 +1,202 @@
+
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+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
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diff --git a/HiveCoreR0/src/hive_core_r0/config/bot0_ros2_controller.yaml b/HiveCoreR0/src/hive_core_r0/config/bot0_ros2_controller.yaml
new file mode 100644
index 0000000..f1234ef
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/config/bot0_ros2_controller.yaml
@@ -0,0 +1,73 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+    use_sim_time: true
+
+    # 关节状态广播器 - 必须配置，用于发布关节状态
+    bot0_joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+      use_sim_time: true
+
+    # 关节位置控制器
+    bot0_position_controller:
+      type: position_controllers/JointGroupPositionController
+
+    # 轮子速度控制器（已从差速控制器改为速度控制器）
+    bot0_wheel_velocity_controller:
+      type: velocity_controllers/JointGroupVelocityController
+
+# 腿部和手臂关节位置控制器配置
+bot0_position_controller:
+  ros__parameters:
+    joints:
+      - left_hip_pitch_joint
+      - left_leg_pitch_joint
+      - right_hip_pitch_joint
+      - right_leg_pitch_joint
+      - left_shoulder_joint
+      - left_arm1_joint
+      - left_arm2_joint
+      - right_shoulder_joint
+      - right_arm1_joint
+      - right_arm2_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    # 位置控制器PID参数
+    gains:
+      left_hip_pitch_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      left_leg_pitch_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      right_hip_pitch_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      right_leg_pitch_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      left_shoulder_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      left_arm1_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      left_arm2_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      right_shoulder_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      right_arm1_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      right_arm2_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+    # 位置控制允许的误差范围
+    allowable_position_error: 0.1  # 弧度
+
+# 轮子速度控制器配置（替代原来的差速控制器）
+bot0_wheel_velocity_controller:
+  ros__parameters:
+    joints:
+      - left_wheel1_joint
+      - left_wheel2_joint
+      - right_wheel1_joint
+      - right_wheel2_joint
+    command_interfaces:
+      - velocity
+    state_interfaces:
+      - position
+      - velocity
+    # 速度控制器PID参数
+    gains:
+      left_wheel1_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      left_wheel2_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      right_wheel1_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      right_wheel2_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+    # 速度控制允许的误差范围
+    allowable_velocity_error: 0.2  # rad/s
diff --git a/HiveCoreR0/src/hive_core_r0/config/bot1_ros2_controller.yaml b/HiveCoreR0/src/hive_core_r0/config/bot1_ros2_controller.yaml
new file mode 100644
index 0000000..7ea05fe
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/config/bot1_ros2_controller.yaml
@@ -0,0 +1,57 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+    use_sim_time: true
+
+    # 关节状态广播器 - 必须配置，用于发布关节状态
+    bot1_joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+      use_sim_time: true
+
+    # 关节位置控制器
+    bot1_position_controller:
+      type: position_controllers/JointGroupPositionController
+
+# 腿部和手臂关节位置控制器配置
+bot1_position_controller:
+  ros__parameters:
+    joints:
+      - left_leg1_joint
+      - left_wheel1_joint
+      - left_leg2_joint
+      - left_wheel2_joint
+      - right_leg1_joint
+      - right_wheel1_joint
+      - right_leg2_joint
+      - right_wheel2_joint
+      - pitch_body_joint
+      - left_shoulder_joint
+      - left_arm1_joint
+      - left_arm2_joint
+      - right_shoulder_joint
+      - right_arm1_joint
+      - right_arm2_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    # 位置控制器PID参数
+    gains:
+      left_leg1_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      left_wheel1_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      left_leg2_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      left_wheel2_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      right_leg1_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      right_wheel1_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      right_leg2_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      right_wheel2_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      pitch_body_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      left_shoulder_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      left_arm1_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      left_arm2_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      right_shoulder_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      right_arm1_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      right_arm2_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+    # 位置控制允许的误差范围
+    allowable_position_error: 0.1  # 弧度
diff --git a/HiveCoreR0/src/hive_core_r0/launch/gazebo_sim_bot0.launch.py b/HiveCoreR0/src/hive_core_r0/launch/gazebo_sim_bot0.launch.py
new file mode 100644
index 0000000..bff4c6a
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/launch/gazebo_sim_bot0.launch.py
@@ -0,0 +1,119 @@
+import os
+import launch
+import launch_ros
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, RegisterEventHandler
+from launch.substitutions import LaunchConfiguration, Command, PathJoinSubstitution, FindExecutable
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.parameter_descriptions import ParameterValue
+from launch.event_handlers import OnProcessStart
+from launch.actions import TimerAction
+
+def generate_launch_description():
+    # 声明参数
+    robot_name_in_model = "HiveBot0"
+    urdf_package = 'hive_core_r0'
+    urdf_tutorial_path = get_package_share_directory(urdf_package)
+    default_world_path = os.path.join(urdf_tutorial_path, 'world', 'table.world')
+    default_model_path = urdf_tutorial_path + '/urdf/hiveBot0/hive_core_bot0.urdf.xacro'
+
+    # 声明模型路径参数
+    action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
+        name='model', default_value=str(default_model_path),
+        description='URDF 的绝对路径')
+    
+    # 获取文件内容生成新的参数
+    robot_description = launch_ros.parameter_descriptions.ParameterValue(
+        launch.substitutions.Command(
+            ['xacro ', launch.substitutions.LaunchConfiguration('model')]),
+        value_type=str)
+    
+    # 声明机器人状态发布节点
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters=[{'robot_description': robot_description}],
+    )
+    
+    # 启动Gazebo - 添加 paused=true 参数使仿真暂停
+    launch_gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            os.path.join(get_package_share_directory('gazebo_ros'), 'launch',
+            'gazebo.launch.py')
+        ]),
+        launch_arguments={
+            # 'world': default_world_path,
+            'verbose': 'true',
+        }.items()
+    )
+    
+    # 在Gazebo中生成机器人
+    spawn_entity_node = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=[
+            '-entity', robot_name_in_model,  # 模型名称
+            '-topic', '/robot_description',  # 从ROS话题获取URDF
+            '-x', '0.0',  # 初始位置x
+            '-y', '0.0',  # 初始位置y
+            '-z', '0.55',  # 初始位置z (高于地面)
+            '-Y', '0.0'   # 初始朝向
+        ]
+    )
+    
+    # 加载并激活 load_joint_state_controller 控制器
+    load_joint_state_controller = launch.actions.ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+            'bot0_joint_state_broadcaster'],
+        output='screen'
+    )
+
+    # 加载并激活 load_bot0_position_controller 控制器
+    load_bot0_position_controller = launch.actions.ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active','bot0_position_controller'], 
+        output='screen')
+    
+    load_bot0_wheel_velocity_controller = launch.actions.ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active','bot0_wheel_velocity_controller'], 
+        output='screen')
+
+    action_node_arm_control = launch_ros.actions.Node(
+        package='hive_core_r0',
+        executable='arm_control_node',
+        name='arm_control_node',
+        output='screen'
+    )
+    
+    return LaunchDescription([
+        action_declare_arg_mode_path,
+        
+        # 先启动Gazebo
+        launch_gazebo,
+        
+        # 然后启动状态发布器
+        robot_state_publisher_node,
+        
+        # 延迟后生成机器人（确保Gazebo完全启动）
+        TimerAction(
+            period= 5.0, 
+            actions=[spawn_entity_node]
+        ),
+
+        # 事件动作，当加载机器人结束后执行    
+        launch.actions.RegisterEventHandler(
+            event_handler=launch.event_handlers.OnProcessExit(
+                target_action=spawn_entity_node,
+                on_exit=[load_joint_state_controller, load_bot0_position_controller, load_bot0_wheel_velocity_controller],)
+            ),
+
+        launch.actions.RegisterEventHandler(
+        event_handler=launch.event_handlers.OnProcessExit(
+            target_action=load_bot0_position_controller,
+            on_exit=[action_node_arm_control],)
+            ),
+
+    ])
\ No newline at end of file
diff --git a/HiveCoreR0/src/hive_core_r0/launch/gazebo_sim_bot1.launch.py b/HiveCoreR0/src/hive_core_r0/launch/gazebo_sim_bot1.launch.py
new file mode 100644
index 0000000..3c041b7
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/launch/gazebo_sim_bot1.launch.py
@@ -0,0 +1,140 @@
+import os
+import launch
+import launch_ros
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, RegisterEventHandler
+from launch.substitutions import LaunchConfiguration, Command, PathJoinSubstitution, FindExecutable
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.parameter_descriptions import ParameterValue
+from launch.event_handlers import OnProcessStart
+from launch.actions import TimerAction
+
+def generate_launch_description():
+    # 声明参数
+    robot_name_in_model = "HiveBot0"
+    urdf_package = 'hive_core_r0'
+    urdf_tutorial_path = get_package_share_directory(urdf_package)
+    default_model_path = urdf_tutorial_path + '/urdf/hiveBot1/hive_core_bot1.urdf.xacro'
+    default_world_path = os.path.join(urdf_tutorial_path, 'world', 'empty.world')
+
+    # 声明模型路径参数
+    action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
+        name='model', default_value=str(default_model_path),
+        description='URDF 的绝对路径')
+    
+    # 获取文件内容生成新的参数
+    robot_description = launch_ros.parameter_descriptions.ParameterValue(
+        launch.substitutions.Command(
+            ['xacro ', launch.substitutions.LaunchConfiguration('model')]),
+        value_type=str)
+    
+    # 声明机器人状态发布节点
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters=[{'robot_description': robot_description}],
+    )
+
+    # 启动Gazebo - 添加 paused=true 参数使仿真暂停
+    launch_gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            os.path.join(get_package_share_directory('gazebo_ros'), 'launch',
+            'gazebo.launch.py')
+        ]),
+        launch_arguments={
+            'world': default_world_path,
+            'verbose': 'true',
+        }.items()
+    )
+    
+    # 在Gazebo中生成机器人
+    spawn_entity_node = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=[
+            '-entity', robot_name_in_model,  # 模型名称
+            '-topic', '/robot_description',  # 从ROS话题获取URDF
+            '-x', '0.0',  # 初始位置x
+            '-y', '0.0',  # 初始位置y
+            '-z', '0.45',  # 初始位置z (高于地面)
+            '-Y', '0.0'   # 初始朝向
+        ]
+    )
+
+    # 1. 启动controller_manager（通常由gazebo_ros2_control自动启动，若未启动则显式添加）
+    controller_manager_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[
+            {'robot_description': robot_description},
+            os.path.join(urdf_tutorial_path, 'config', 'bot1_ros2_controller.yaml')  # 显式指定配置文件
+        ],
+        output="screen"
+    )
+    
+    # 加载并激活 load_joint_state_controller 控制器
+    load_joint_state_controller = TimerAction(
+        period=3.0,  # 延迟3秒，等待初始化
+        actions=[ExecuteProcess(
+            cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 
+                'bot1_joint_state_broadcaster'],
+            output='screen'
+        )]
+    )
+
+    # 加载并激活 load_bot0_position_controller 控制器
+    load_bot1_position_controller = TimerAction(
+        period=2.0,  # 延迟2秒
+        actions=[ExecuteProcess(
+            cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 
+                'bot1_position_controller'],
+            output='screen'
+        )]
+    )
+
+
+    action_node_hiveBot1_control = launch_ros.actions.Node(
+        package='hive_core_r0',
+        executable='hiveBot1_control_node',
+        name='hiveBot1_control_node',
+        output='screen'
+    )
+
+    # 4. 延迟启动控制节点（在位置控制器加载后）
+    start_control_node = TimerAction(
+        period=2.0,
+        actions=[action_node_hiveBot1_control]
+    )
+
+    keyboard_control_node = launch_ros.actions.Node(
+        package='hive_core_r0',
+        executable='keyboard_control_node',
+        name='keyboard_control_node',
+        output='screen'
+    )
+    # 5. 延迟启动键盘控制节点（在控制节点启动后）
+    start_keyboard_control_node = TimerAction(
+        period=2.0,
+        actions=[keyboard_control_node]
+    )
+    
+    # 在LaunchDescription中按顺序添加
+    return LaunchDescription([
+        action_declare_arg_mode_path,
+        launch_gazebo,
+        robot_state_publisher_node,
+        # 延迟后生成机器人（确保Gazebo完全启动）
+        TimerAction(
+            period= 5.0, 
+            actions=[spawn_entity_node]
+        ),
+        controller_manager_node,  # 显式启动控制器管理器
+        load_joint_state_controller,
+        load_bot1_position_controller,
+        start_control_node,
+        # start_keyboard_control_node,
+    ])
\ No newline at end of file
diff --git a/HiveCoreR0/src/hive_core_r0/package.xml b/HiveCoreR0/src/hive_core_r0/package.xml
new file mode 100644
index 0000000..dae87e2
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>hive_core_r0</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ray@hivecore.cn">hivecore</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/HiveCoreR0/src/hive_core_r0/src/arm_control_node.cpp b/HiveCoreR0/src/hive_core_r0/src/arm_control_node.cpp
new file mode 100644
index 0000000..e258d60
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/src/arm_control_node.cpp
@@ -0,0 +1,116 @@
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/float64_multi_array.hpp"
+#include <cmath>
+#include <chrono>
+
+using namespace std::chrono_literals;
+
+class ArmSineMotionNode : public rclcpp::Node
+{
+public:
+    ArmSineMotionNode() : Node("arm_sine_motion_node")
+    {
+        // 1. 声明并获取参数（振幅默认50度，频率默认0.5Hz）
+        this->declare_parameter("amplitude_deg", 50.0);  // 振幅（度）
+        this->declare_parameter("frequency", 0.5);       // 频率（Hz）
+        this->declare_parameter("control_period_ms", 1); // 控制周期（毫秒，默认20ms=50Hz）
+
+        // 2. 读取参数并转换单位（度→弧度）
+        double amplitude_deg = this->get_parameter("amplitude_deg").as_double();
+        amplitude_rad_ = amplitude_deg * M_PI / 180.0;  // 50度→弧度
+        frequency_ = this->get_parameter("frequency").as_double();
+        int period_ms = this->get_parameter("control_period_ms").as_int();
+
+        // 3. 手臂关节在控制器指令数组中的索引（对应joints配置顺序）
+        // 控制器joints顺序：[0-3腿部, 4-9手臂]
+        arm_joint_indices_ = {4, 5, 6, 7, 8, 9};  // 6个手臂关节索引
+        total_joints_ = 10;  // 控制器总关节数（4腿部+6手臂）
+
+        // 4. 创建发布者（发送位置指令到位置控制器）
+        cmd_pub_ = this->create_publisher<std_msgs::msg::Float64MultiArray>(
+            "/bot0_position_controller/commands", 
+            10
+        );
+
+        // 5. 创建定时器（周期性发送指令）
+        timer_ = this->create_wall_timer(
+            std::chrono::milliseconds(period_ms),
+            std::bind(&ArmSineMotionNode::timer_callback, this)
+        );
+
+        // 6. 记录起始时间（用于计算正弦运动相位）
+        start_time_ = this->now();
+        RCLCPP_INFO(this->get_logger(), "手臂正弦运动节点启动（振幅50度，频率%.2fHz）", frequency_);
+    }
+
+    void RestJoint()
+    {
+        auto reset_msg = std_msgs::msg::Float64MultiArray();
+        reset_msg.data.resize(10, 0.0);
+        cmd_pub_->publish(reset_msg);
+    }
+
+private:
+    void timer_callback()
+    {
+        // 1. 计算当前运动时间（秒）
+        rclcpp::Duration elapsed = this->now() - start_time_;
+        double current_time = elapsed.seconds();
+
+        // 2. 计算正弦位置：y = A*sin(2πft)
+        // A=振幅（弧度），f=频率（Hz），t=时间（秒）
+        double sine_pos = amplitude_rad_ * std::sin(2 * M_PI * frequency_ * current_time);
+
+        // 3. 构建指令数组（10个关节：腿部保持0，手臂按正弦运动）
+        auto cmd_msg = std_msgs::msg::Float64MultiArray();
+        cmd_msg.data.resize(total_joints_, 0.0);  // 初始化所有关节为0
+
+        // 4. 为手臂关节赋值正弦位置
+        // for (size_t i = 0; i < arm_joint_indices_.size(); ++i) {
+        //     int joint_idx = arm_joint_indices_[i];
+        //     cmd_msg.data[joint_idx] = 0;//sine_pos;  // 所有手臂关节同步运动
+        // }
+
+        for (int i = 0; i < total_joints_; ++i) {
+            // int joint_idx = arm_joint_indices_[i];
+            if (i == 1 || i == 3)
+            {
+                cmd_msg.data[i] = sine_pos * 2;
+            }
+            else
+            {
+                cmd_msg.data[i] = sine_pos;  // 所有手臂关节同步运动
+            }
+        }
+        
+        cmd_msg.data.resize(total_joints_, 0.0);  // 初始化所有关节为0
+
+        // 5. 发送指令
+        cmd_pub_->publish(cmd_msg);
+    }
+
+    // 成员变量
+    rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr cmd_pub_;
+    rclcpp::TimerBase::SharedPtr timer_;
+    rclcpp::Time start_time_;  // 起始时间
+    double amplitude_rad_;     // 振幅（弧度）
+    double frequency_;         // 频率（Hz）
+    std::vector<int> arm_joint_indices_;  // 手臂关节索引
+    int total_joints_;         // 总关节数
+};
+
+int main(int argc, char * argv[])
+{
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<ArmSineMotionNode>();
+
+    // 运行节点（按Ctrl+C退出）
+    rclcpp::spin(node);
+
+    // 退出时发送复位指令（所有关节回0）
+    node->RestJoint();
+    RCLCPP_INFO(node->get_logger(), "节点退出，发送复位指令");
+
+    rclcpp::shutdown();
+    return 0;
+}
diff --git a/HiveCoreR0/src/hive_core_r0/src/hiveBot1_control_node.cpp b/HiveCoreR0/src/hive_core_r0/src/hiveBot1_control_node.cpp
new file mode 100644
index 0000000..83b9617
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/src/hiveBot1_control_node.cpp
@@ -0,0 +1,336 @@
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/float64_multi_array.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+#include <cmath>
+#include <chrono>
+#include <termios.h>
+#include <unistd.h>
+#include <fcntl.h>
+
+using namespace std::chrono_literals;
+
+// 键盘输入处理函数（非阻塞模式）
+int kbhit()
+{
+    struct termios oldt, newt;
+    int ch;
+    int oldf;
+
+    tcgetattr(STDIN_FILENO, &oldt);
+    newt = oldt;
+    newt.c_lflag &= ~(ICANON | ECHO);
+    tcsetattr(STDIN_FILENO, TCSANOW, &newt);
+    oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
+    fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);
+
+    ch = getchar();
+
+    tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
+    fcntl(STDIN_FILENO, F_SETFL, oldf);
+
+    if(ch != EOF)
+    {
+        ungetc(ch, stdin);
+        return 1;
+    }
+
+    return 0;
+}
+
+class RobotPhaseMotionNode : public rclcpp::Node
+{
+public:
+    RobotPhaseMotionNode() : Node("robot_phase_motion_node")
+    {
+        // 声明并获取参数
+        this->declare_parameter("leg_target_deg", 0.0);       // 腿部目标角度（度）
+        this->declare_parameter("arm_amplitude_deg", 30.0);    // 手臂摆动振幅（度）
+        this->declare_parameter("arm_frequency", 0.5);         // 手臂摆动频率（Hz）
+        this->declare_parameter("control_period_ms", 10);      // 控制周期（毫秒）
+        this->declare_parameter("wheel_radius", 0.05);         // 轮子半径（米）
+        this->declare_parameter("wheel_separation", 0.3);      // 轮距（米）
+        this->declare_parameter("linear_speed", 0.2);          // 线速度（m/s）
+        this->declare_parameter("angular_speed", 0.5);         // 角速度（rad/s）
+
+        // 读取参数并转换单位
+        double leg_target_deg = this->get_parameter("leg_target_deg").as_double();
+        leg_target_rad_ = leg_target_deg * M_PI / 180.0;
+        
+        double arm_amplitude_deg = this->get_parameter("arm_amplitude_deg").as_double();
+        arm_amplitude_rad_ = arm_amplitude_deg * M_PI / 180.0;
+        
+        arm_frequency_ = this->get_parameter("arm_frequency").as_double();
+        int period_ms = this->get_parameter("control_period_ms").as_int();
+        wheel_radius_ = this->get_parameter("wheel_radius").as_double();
+        wheel_separation_ = this->get_parameter("wheel_separation").as_double();
+        linear_speed_ = this->get_parameter("linear_speed").as_double();
+        angular_speed_ = this->get_parameter("angular_speed").as_double();
+        joint_directions_ = {1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};  // 关节方向
+
+        total_joints_ = 15;  // 总关节数
+        
+        // 关节索引定义
+        leg_joint_indices_ = {0, 2, 4, 6};  // 腿部关节索引
+        arm_joint_indices_ = {9, 10, 11, 12, 13};  // 手臂关节索引
+        wheel_joint_indices_ = {1,  5};  // 轮子关节索引（left_wheel1, right_wheel1 ）两个主动轮
+        wheel_joint_directions_ = {-1, 1};  // 轮子方向
+
+        // 初始化轮子目标角度
+        wheel_targets_.resize(2, 0.0);
+
+        // 创建发布者
+        cmd_pub_ = this->create_publisher<std_msgs::msg::Float64MultiArray>(
+            "/bot1_position_controller/commands", 10
+        );
+
+        // 创建订阅者（接收来自速度指令）
+        twist_sub_ = this->create_subscription<geometry_msgs::msg::Twist>(
+            "/cmd_vel", 10,
+            std::bind(&RobotPhaseMotionNode::twist_callback, this, std::placeholders::_1)
+        );
+
+        // 创建定时器
+        timer_ = this->create_wall_timer(
+            std::chrono::milliseconds(period_ms),
+            std::bind(&RobotPhaseMotionNode::timer_callback, this)
+        );
+
+        // 记录起始时间
+        start_time_ = this->now();
+        last_time_ = this->now();
+
+        // 打印控制说明
+        print_help();
+        RCLCPP_INFO(this->get_logger(), "机器人分阶段运动节点启动（含轮子控制）");
+    }
+
+    // 关节复位
+    void resetJoints()
+    {
+        auto reset_msg = std_msgs::msg::Float64MultiArray();
+        reset_msg.data.resize(total_joints_, 0.0);
+        cmd_pub_->publish(reset_msg);
+    }
+
+private:
+    void print_help()
+    {
+        RCLCPP_INFO(this->get_logger(), "键盘控制说明:");
+        RCLCPP_INFO(this->get_logger(), "  w : 前进");
+        RCLCPP_INFO(this->get_logger(), "  s : 后退");
+        RCLCPP_INFO(this->get_logger(), "  a : 左转");
+        RCLCPP_INFO(this->get_logger(), "  d : 右转");
+        RCLCPP_INFO(this->get_logger(), "  x : 停止");
+        RCLCPP_INFO(this->get_logger(), "  q : 退出");
+    }
+
+    void twist_callback(const geometry_msgs::msg::Twist::SharedPtr msg)
+    {
+        // 接收外部速度指令
+        linear_x_ = msg->linear.x;
+        angular_z_ = msg->angular.z;
+    }
+
+    void timer_callback()
+    {
+        // 处理键盘输入
+        handle_keyboard_input();
+
+        // 计算时间差
+        rclcpp::Time current_time = this->now();
+        rclcpp::Duration dt = current_time - last_time_;
+        double dt_sec = dt.seconds();
+        last_time_ = current_time;
+
+        // 构建指令数组
+        auto cmd_msg = std_msgs::msg::Float64MultiArray();
+        cmd_msg.data.resize(total_joints_, 0.0);
+
+        // 分阶段控制腿部和手臂
+        double phase_time = (current_time - start_time_).seconds();
+        handle_phase_motion(cmd_msg, phase_time);
+
+        // 计算并设置轮子角度
+        handle_wheel_control(cmd_msg, dt_sec);
+
+        // 发送指令
+        cmd_pub_->publish(cmd_msg);
+    }
+
+    void handle_phase_motion(std_msgs::msg::Float64MultiArray& cmd_msg, double current_time)
+    {
+        // 第一阶段：前5秒，腿部关节缓慢张开
+        if (current_time <= 5.0)
+        {
+            double progress = current_time / 5.0;
+            double current_leg_angle = leg_target_rad_ * progress;
+            
+            // 设置腿部关节角度
+            for (int idx : leg_joint_indices_)
+            {
+                if (idx == 0 || idx == 4)  // 左腿1、左腿2关节
+                {
+                    cmd_msg.data[idx] = -current_leg_angle;
+                }
+                else
+                {
+                    cmd_msg.data[idx] = current_leg_angle;
+                }
+            }
+            
+            // 手臂保持初始位置
+            for (int idx : arm_joint_indices_)
+            {
+                cmd_msg.data[idx] = 0.0;
+            }
+            
+            if (current_time >= 4.9 && !phase1_notified_)
+            {
+                RCLCPP_INFO(this->get_logger(), "第一阶段即将结束，准备进入手臂摆动阶段");
+                phase1_notified_ = true;
+            }
+        }
+        // 第二阶段：5秒后，双臂做摆手动作
+        else
+        {
+            // 腿部保持在目标角度
+            for (int idx : leg_joint_indices_)
+            {
+                if (idx == 0 || idx == 4)  // 左腿1、左腿2关节
+                {
+                    cmd_msg.data[idx] = -leg_target_rad_;
+                }
+                else
+                {
+                    cmd_msg.data[idx] = leg_target_rad_;
+                }
+            }
+            
+            // 计算手臂摆动角度
+            double arm_phase_time = current_time - 5.0;
+            double arm_angle = arm_amplitude_rad_ * std::sin(2 * M_PI * arm_frequency_ * arm_phase_time);
+            
+            // 设置手臂关节角度（左右臂对称）
+            for (size_t i = 0; i < arm_joint_indices_.size(); ++i)
+            {
+                if (i >= arm_joint_indices_.size() / 2)
+                {
+                    cmd_msg.data[arm_joint_indices_[i]] = -arm_angle;
+                }
+                else
+                {
+                    cmd_msg.data[arm_joint_indices_[i]] = arm_angle;
+                }
+
+                cmd_msg.data[arm_joint_indices_[i]] = 0;
+            }
+        }
+    }
+
+    void handle_wheel_control(std_msgs::msg::Float64MultiArray& cmd_msg, double dt_sec)
+    {
+        // 计算左右轮目标线速度
+        double left_speed = linear_x_ + (angular_z_ * wheel_separation_) / 2.0;
+        double right_speed = linear_x_ - (angular_z_ * wheel_separation_) / 2.0;
+
+        // 计算轮子角速度（rad/s）
+        double left_omega = left_speed / wheel_radius_;
+        double right_omega = right_speed / wheel_radius_;
+
+        // 积分计算目标角度（弧度）
+        wheel_targets_[0] += left_omega * dt_sec;  // left_wheel1
+        wheel_targets_[1] += right_omega * dt_sec; // right_wheel1
+
+        // 赋值轮子目标角度到指令数组
+        for (size_t i = 0; i < wheel_joint_indices_.size(); ++i)
+        {
+            cmd_msg.data[wheel_joint_indices_[i]] = wheel_joint_directions_[i] * wheel_targets_[i];
+        }
+    }
+
+    void handle_keyboard_input()
+    {
+        if(kbhit())
+        {
+            char key = getchar();
+            switch(key)
+            {
+                case 'w':  // 前进
+                    linear_x_ = linear_speed_;
+                    angular_z_ = 0.0;
+                    RCLCPP_INFO(this->get_logger(), "前进");
+                    break;
+                case 's':  // 后退
+                    linear_x_ = -linear_speed_;
+                    angular_z_ = 0.0;
+                    RCLCPP_INFO(this->get_logger(), "后退");
+                    break;
+                case 'a':  // 左转
+                    linear_x_ = 0.0;
+                    angular_z_ = angular_speed_;
+                    RCLCPP_INFO(this->get_logger(), "左转");
+                    break;
+                case 'd':  // 右转
+                    linear_x_ = 0.0;
+                    angular_z_ = -angular_speed_;
+                    RCLCPP_INFO(this->get_logger(), "右转");
+                    break;
+                case 'x':  // 停止
+                    linear_x_ = 0.0;
+                    angular_z_ = 0.0;
+                    RCLCPP_INFO(this->get_logger(), "停止");
+                    break;
+                case 'q':  // 退出
+                    RCLCPP_INFO(this->get_logger(), "退出控制");
+                    resetJoints();
+                    rclcpp::shutdown();
+                    exit(0);
+                    break;
+                default:
+                    print_help();
+                    break;
+            }
+        }
+    }
+
+    // 成员变量
+    rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr cmd_pub_;
+    rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr twist_sub_;
+    rclcpp::TimerBase::SharedPtr timer_;
+    rclcpp::Time start_time_;
+    rclcpp::Time last_time_;
+    
+    // 运动参数
+    double leg_target_rad_;       // 腿部目标角度（弧度）
+    double arm_amplitude_rad_;    // 手臂摆动振幅（弧度）
+    double arm_frequency_;        // 手臂摆动频率（Hz）
+    int total_joints_;            // 总关节数
+    bool phase1_notified_ = false; // 第一阶段结束提示标记
+    
+    // 关节索引
+    std::vector<int> leg_joint_indices_;  // 腿部关节索引
+    std::vector<int> arm_joint_indices_;  // 手臂关节索引
+    std::vector<int> wheel_joint_indices_; // 轮子关节索引
+    std::vector<int> joint_directions_;   // 关节方向
+    std::vector<int> wheel_joint_directions_; // 轮子关节方向
+    
+    // 轮子控制相关
+    double wheel_radius_;         // 轮子半径（米）
+    double wheel_separation_;     // 轮距（米）
+    std::vector<double> wheel_targets_;   // 轮子目标角度（弧度）
+    double linear_x_ = 0.0;       // 线速度（m/s）
+    double angular_z_ = 0.0;      // 角速度（rad/s）
+    double linear_speed_;         // 最大线速度（m/s）
+    double angular_speed_;        // 最大角速度（rad/s）
+};
+
+int main(int argc, char * argv[])
+{
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<RobotPhaseMotionNode>();
+    rclcpp::spin(node);
+    node->resetJoints();
+    RCLCPP_INFO(node->get_logger(), "节点退出，发送复位指令");
+    rclcpp::shutdown();
+    return 0;
+}
diff --git a/HiveCoreR0/src/hive_core_r0/src/keyboard_control_node.cpp b/HiveCoreR0/src/hive_core_r0/src/keyboard_control_node.cpp
new file mode 100644
index 0000000..3513314
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/src/keyboard_control_node.cpp
@@ -0,0 +1,140 @@
+#include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+#include <termios.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <chrono>
+
+using namespace std::chrono_literals;
+
+// 键盘输入处理函数（非阻塞模式）
+int kbhit()
+{
+    struct termios oldt, newt;
+    int ch;
+    int oldf;
+
+    tcgetattr(STDIN_FILENO, &oldt);
+    newt = oldt;
+    newt.c_lflag &= ~(ICANON | ECHO);
+    tcsetattr(STDIN_FILENO, TCSANOW, &newt);
+    oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
+    fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);
+
+    ch = getchar();
+
+    tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
+    fcntl(STDIN_FILENO, F_SETFL, oldf);
+
+    if(ch != EOF)
+    {
+        ungetc(ch, stdin);
+        return 1;
+    }
+
+    return 0;
+}
+
+class KeyboardControlNode : public rclcpp::Node
+{
+public:
+    KeyboardControlNode() : Node("keyboard_control_node")
+    {
+        // 声明参数：移动速度、旋转速度
+        this->declare_parameter("linear_speed", 0.2);   // 线速度（m/s）
+        this->declare_parameter("angular_speed", 0.5);  // 角速度（rad/s）
+
+        // 读取参数
+        linear_speed_ = this->get_parameter("linear_speed").as_double();
+        angular_speed_ = this->get_parameter("angular_speed").as_double();
+
+        // 创建发布者（发送速度指令）
+        twist_pub_ = this->create_publisher<geometry_msgs::msg::Twist>(
+            "/cmd_vel", 10
+        );
+
+        // 打印控制说明
+        print_help();
+
+        // 创建定时器（周期性检查键盘输入）
+        timer_ = this->create_wall_timer(
+            50ms,  // 20Hz检查频率
+            std::bind(&KeyboardControlNode::timer_callback, this)
+        );
+    }
+
+private:
+    void print_help()
+    {
+        RCLCPP_INFO(this->get_logger(), "键盘控制说明:");
+        RCLCPP_INFO(this->get_logger(), "  w : 前进");
+        RCLCPP_INFO(this->get_logger(), "  s : 后退");
+        RCLCPP_INFO(this->get_logger(), "  a : 左转");
+        RCLCPP_INFO(this->get_logger(), "  d : 右转");
+        RCLCPP_INFO(this->get_logger(), "  x : 停止");
+        RCLCPP_INFO(this->get_logger(), "  q : 退出");
+    }
+
+    void timer_callback()
+    {
+        geometry_msgs::msg::Twist twist_msg;
+
+        if(kbhit())
+        {
+            char key = getchar();
+            switch(key)
+            {
+                case 'w':  // 前进
+                    twist_msg.linear.x = linear_speed_;
+                    twist_msg.angular.z = 0.0;
+                    RCLCPP_INFO(this->get_logger(), "前进");
+                    break;
+                case 's':  // 后退
+                    twist_msg.linear.x = -linear_speed_;
+                    twist_msg.angular.z = 0.0;
+                    RCLCPP_INFO(this->get_logger(), "后退");
+                    break;
+                case 'a':  // 左转
+                    twist_msg.linear.x = 0.0;
+                    twist_msg.angular.z = angular_speed_;
+                    RCLCPP_INFO(this->get_logger(), "左转");
+                    break;
+                case 'd':  // 右转
+                    twist_msg.linear.x = 0.0;
+                    twist_msg.angular.z = -angular_speed_;
+                    RCLCPP_INFO(this->get_logger(), "右转");
+                    break;
+                case 'x':  // 停止
+                    twist_msg.linear.x = 0.0;
+                    twist_msg.angular.z = 0.0;
+                    RCLCPP_INFO(this->get_logger(), "停止");
+                    break;
+                case 'q':  // 退出
+                    RCLCPP_INFO(this->get_logger(), "退出控制");
+                    rclcpp::shutdown();
+                    return;
+                default:
+                    twist_msg.linear.x = 0.0;
+                    twist_msg.angular.z = 0.0;
+                    print_help();
+                    break;
+            }
+            twist_pub_->publish(twist_msg);
+        }
+    }
+
+    // 成员变量
+    rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr twist_pub_;
+    rclcpp::TimerBase::SharedPtr timer_;
+    double linear_speed_;   // 线速度（m/s）
+    double angular_speed_;  // 角速度（rad/s）
+};
+
+int main(int argc, char * argv[])
+{
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<KeyboardControlNode>();
+    rclcpp::spin(node);
+    rclcpp::shutdown();
+    return 0;
+}
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/bot0.ros2_control.xacro b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/bot0.ros2_control.xacro
new file mode 100644
index 0000000..01c05bb
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/bot0.ros2_control.xacro
@@ -0,0 +1,165 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- 宏定义：ros2_control硬件接口配置（适配位置控制器和轮子速度控制器） -->
+  <xacro:macro name="bot0_ros2_control">
+    <!-- 1. ros2_control系统配置：定义所有关节的控制接口 -->
+    <ros2_control name="Bot0GazeboSystem" type="system">
+      <!-- 硬件插件：关联Gazebo仿真 -->
+      <hardware>
+        <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+      </hardware>
+
+      <!-- 2. 腿部+手臂关节（位置控制接口，对应bot0_position_controller） -->
+      <!-- 2.1 腿部关节 -->
+      <joint name="left_hip_pitch_joint">
+        <command_interface name="position">  <!-- 位置控制器的命令接口 -->
+          <param name="min">-1.0</param>    <!-- 对应关节限位（弧度） -->
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />  <!-- 反馈接口：位置 -->
+        <state_interface name="velocity" />  <!-- 反馈接口：速度 -->
+        <state_interface name="effort" />    <!-- 反馈接口：力（用于调试） -->
+      </joint>
+
+      <joint name="left_leg_pitch_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="right_hip_pitch_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="right_leg_pitch_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <!-- 2.2 手臂关节 -->
+      <joint name="left_shoulder_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="left_arm1_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="left_arm2_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="right_shoulder_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="right_arm1_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="right_arm2_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <!-- 3. 车轮关节（速度控制接口，对应bot0_wheel_velocity_controller） -->
+      <joint name="left_wheel1_joint">
+        <command_interface name="velocity">  <!-- 速度控制器的命令接口 -->
+          <param name="min">-50</param>      <!-- 对应关节速度限位（rad/s） -->
+          <param name="max">50</param>
+        </command_interface>
+        <state_interface name="position" />  <!-- 反馈接口：位置 -->
+        <state_interface name="velocity" />  <!-- 反馈接口：速度 -->
+        <state_interface name="effort" />    <!-- 反馈接口：力 -->
+      </joint>
+
+      <joint name="left_wheel2_joint">
+        <command_interface name="velocity">
+          <param name="min">-50</param>
+          <param name="max">50</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="right_wheel1_joint">
+        <command_interface name="velocity">
+          <param name="min">-50</param>
+          <param name="max">50</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="right_wheel2_joint">
+        <command_interface name="velocity">
+          <param name="min">-50</param>
+          <param name="max">50</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+    </ros2_control>
+
+    <!-- 4. Gazebo插件配置：关联控制器参数文件 -->
+    <gazebo>
+      <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+        <!-- 加载控制器配置文件（路径需替换为你的实际路径） -->
+        <parameters>$(find hive_core_r0)/config/bot0_ros2_controller.yaml</parameters>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+</robot>
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/generic_joint.xacro b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/generic_joint.xacro
new file mode 100644
index 0000000..b9a5b58
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/generic_joint.xacro
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="generic_joint" params="joint_name type parent child
+                                          origin_xyz origin_rpy axis
+                                          limit_lower limit_upper effort velocity">
+    <joint name="${joint_name}" type="${type}">
+      <origin xyz="${origin_xyz}" rpy="${origin_rpy}" />
+      <parent link="${parent}" />
+      <child link="${child}" />
+      <axis xyz="${axis}" />
+      <limit lower="${limit_lower}" upper="${limit_upper}" 
+             effort="${effort}" velocity="${velocity}" />
+    </joint>
+  </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/generic_link.xacro b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/generic_link.xacro
new file mode 100644
index 0000000..e73dc45
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/generic_link.xacro
@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="generic_link" params="link_name mesh_file mass 
+                                            inertia_ixx inertia_ixy inertia_ixz
+                                            inertia_iyy inertia_iyz inertia_izz
+                                            origin_xyz origin_rpy color_rgba enable_collision">
+        <link name="${link_name}">
+        <!-- 惯性参数 -->
+        <inertial>
+            <origin xyz="${origin_xyz}" rpy="${origin_rpy}" />
+            <mass value="${mass}" />
+            <inertia ixx="${inertia_ixx}" ixy="${inertia_ixy}" ixz="${inertia_ixz}"
+                    iyy="${inertia_iyy}" iyz="${inertia_iyz}" izz="${inertia_izz}" />
+        </inertial>
+        <!-- 可视化模型 -->
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+            <mesh filename="${mesh_file}" />
+            </geometry>
+            <material name="${link_name}_material">
+            <color rgba="${color_rgba}" />
+            </material>
+        </visual>
+        <!-- 碰撞模型（与可视化模型一致） -->
+        <!-- 条件生成碰撞体：仅当enable_collision=true时添加 -->
+        <xacro:if value="${enable_collision}">
+            <collision>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                    <cylinder radius="0.05" length="0.03"/>
+                </geometry>
+                <material name="blue">
+                    <color rgba="0.1 0.1 1.0 0.5" />
+                </material>
+            </collision>
+        </xacro:if>
+
+        </link>
+
+        <!-- 仅当启用碰撞时，添加碰撞物理参数 -->
+        <xacro:if value="${enable_collision}">
+            <gazebo reference="${link_name}">
+                <collision>
+                    <surface>
+                        <contact>
+                            <ode>
+                                <kp>1e3</kp>          <!-- 刚度：1e6~1e8（根据质量调整） -->
+                                <kd>1e2</kd>          <!-- 阻尼：与kp比例1:100左右 -->
+                                <mu1>0.8</mu1>        <!-- 静摩擦系数：0.5~1.0 -->
+                                <mu2>0.8</mu2>        <!-- 动摩擦系数：与mu1接近 -->
+                                <min_depth>0.001</min_depth>  <!-- 允许微小穿透，减少抖动 -->
+                            </ode>
+                        </contact>
+                        <bounce>
+                            <restitution_coefficient>0.0</restitution_coefficient>  <!-- 反弹系数0 -->
+                            <threshold>10000.0</threshold>  <!-- 阈值设大，确保所有碰撞都不反弹 -->
+                        </bounce>
+                    </surface>
+                </collision>
+            </gazebo>
+        </xacro:if>
+
+    </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/RobotOS1/urdf/robot3.urdf b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/hive_core_bot0.urdf
similarity index 85%
rename from RobotOS1/urdf/robot3.urdf
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/hive_core_bot0.urdf
index 69b1b42..a7bc75f 100755
--- a/RobotOS1/urdf/robot3.urdf
+++ b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/hive_core_bot0.urdf
@@ -3,13 +3,7 @@
      Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot
-  name="robot3">
-  <mujoco>
-    <compiler 
-      meshdir="/home/mrji/mujoco_learning/robot3/meshes" 
-      balanceinertia="true" 
-      discardvisual="false" />
-  </mujoco>
+  name="hive_core_bot0">
 
   <link
     name="base_link">
@@ -33,7 +27,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/base_link.STL" />
+          filename="package://urdf/meshes/meshes/base_link.STL" />
       </geometry>
       <material
         name="">
@@ -47,7 +41,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/base_link.STL" />
+          filename="package://urdf/meshes/meshes/base_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -73,7 +67,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_hip_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/left_hip_pitch_link.STL" />
       </geometry>
       <material
         name="">
@@ -87,7 +81,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_hip_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/left_hip_pitch_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -131,7 +125,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_leg_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/left_leg_pitch_link.STL" />
       </geometry>
       <material
         name="">
@@ -145,7 +139,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_leg_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/left_leg_pitch_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -189,7 +183,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_wheel2_link.STL" />
+          filename="package://urdf/meshes/meshes/left_wheel2_link.STL" />
       </geometry>
       <material
         name="">
@@ -203,7 +197,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_wheel2_link.STL" />
+          filename="package://urdf/meshes/meshes/left_wheel2_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -247,7 +241,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_wheel1_link.STL" />
+          filename="package://urdf/meshes/meshes/left_wheel1_link.STL" />
       </geometry>
       <material
         name="">
@@ -261,7 +255,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_wheel1_link.STL" />
+          filename="package://urdf/meshes/meshes/left_wheel1_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -305,7 +299,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_hip_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/right_hip_pitch_link.STL" />
       </geometry>
       <material
         name="">
@@ -319,7 +313,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_hip_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/right_hip_pitch_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -363,7 +357,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_leg_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/right_leg_pitch_link.STL" />
       </geometry>
       <material
         name="">
@@ -377,7 +371,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_leg_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/right_leg_pitch_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -421,7 +415,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_wheel2_link.STL" />
+          filename="package://urdf/meshes/meshes/right_wheel2_link.STL" />
       </geometry>
       <material
         name="">
@@ -435,7 +429,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_wheel2_link.STL" />
+          filename="package://urdf/meshes/meshes/right_wheel2_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -479,7 +473,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_wheel1_link.STL" />
+          filename="package://urdf/meshes/meshes/right_wheel1_link.STL" />
       </geometry>
       <material
         name="">
@@ -493,7 +487,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_wheel1_link.STL" />
+          filename="package://urdf/meshes/meshes/right_wheel1_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -537,7 +531,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_shoulder_link.STL" />
+          filename="package://urdf/meshes/meshes/left_shoulder_link.STL" />
       </geometry>
       <material
         name="">
@@ -551,7 +545,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_shoulder_link.STL" />
+          filename="package://urdf/meshes/meshes/left_shoulder_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -595,7 +589,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_arm1_link.STL" />
+          filename="package://urdf/meshes/meshes/left_arm1_link.STL" />
       </geometry>
       <material
         name="">
@@ -609,7 +603,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_arm1_link.STL" />
+          filename="package://urdf/meshes/meshes/left_arm1_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -653,7 +647,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_arm2_link.STL" />
+          filename="package://urdf/meshes/meshes/left_arm2_link.STL" />
       </geometry>
       <material
         name="">
@@ -667,7 +661,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_arm2_link.STL" />
+          filename="package://urdf/meshes/meshes/left_arm2_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -711,7 +705,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_shoulder_link.STL" />
+          filename="package://urdf/meshes/meshes/right_shoulder_link.STL" />
       </geometry>
       <material
         name="">
@@ -725,7 +719,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_shoulder_link.STL" />
+          filename="package://urdf/meshes/meshes/right_shoulder_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -769,7 +763,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_arm1_link.STL" />
+          filename="package://urdf/meshes/meshes/right_arm1_link.STL" />
       </geometry>
       <material
         name="">
@@ -783,7 +777,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_arm1_link.STL" />
+          filename="package://urdf/meshes/meshes/right_arm1_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -827,7 +821,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_arm2_link.STL" />
+          filename="package://urdf/meshes/meshes/right_arm2_link.STL" />
       </geometry>
       <material
         name="">
@@ -841,7 +835,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_arm2_link.STL" />
+          filename="package://urdf/meshes/meshes/right_arm2_link.STL" />
       </geometry>
     </collision>
   </link>
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/hive_core_bot0.urdf copy.xacro b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/hive_core_bot0.urdf copy.xacro
new file mode 100644
index 0000000..a45e144
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/hive_core_bot0.urdf copy.xacro	
@@ -0,0 +1,440 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- 转换自 URDF 的 XACRO 文件，保留原模型参数并简化重复结构 -->
+<robot name="hive_core_bot0" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find hive_core_r0)/urdf/generic_link.xacro" />
+  <xacro:include filename="$(find hive_core_r0)/urdf/generic_joint.xacro" />
+
+  
+
+  <!-- 1. 基础链接（base_link） -->
+  <xacro:generic_link 
+    link_name="base_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/base_link.STL"
+    mass="0.4247767"
+    inertia_ixx="0.1131876" inertia_ixy="0.0000008" inertia_ixz="0.0001546"
+    inertia_iyy="0.0858545" inertia_iyz="0.0000006" inertia_izz="0.0325040"
+    origin_xyz="-0.0598891820748674 5.31626531352636E-07 0.164869219254393"
+    origin_rpy="0 0 0"
+    color_rgba="0.666666666666667 0.666666666666667 0.666666666666667 1"
+    enable_collision="false"
+  />
+
+  <!-- <link name="world">
+    <inertial>
+      <mass value="0.0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0"
+               iyy="0.0" iyz="0.0"
+               izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="base_link_to_world_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" /> 
+    <parent link="world" /> 
+    <child link="base_link" /> 
+  </joint> -->
+
+
+  <!-- 2. 左髋关节及腿部（left_hip/leg/wheel） -->
+  <!-- 2.1 左髋链接 -->
+  <xacro:generic_link 
+    link_name="left_hip_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/left_hip_pitch_link.STL"
+    mass="0.6475263"
+    inertia_ixx="0.0182516" inertia_ixy="0.0000058" inertia_ixz="0.0001729"
+    inertia_iyy="0.0181748" inertia_iyz="-0.0006055" inertia_izz="0.0003913"
+    origin_xyz="3.93767161736252E-06 0.161490126813208 0.0158567790568734"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 2.2 左髋关节 -->
+  <xacro:generic_joint 
+    joint_name="left_hip_pitch_joint"
+    type="revolute"
+    parent="base_link"
+    child="left_hip_pitch_link"
+    origin_xyz="-0.06 -0.1358 -0.037269"
+    origin_rpy="-1.5708 0.523 0.0"
+    axis="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 2.3 左腿链接 -->
+  <xacro:generic_link 
+    link_name="left_leg_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/left_leg_pitch_link.STL"
+    mass="0.5126336"
+    inertia_ixx="0.0135141" inertia_ixy="0.0000005" inertia_ixz="-0.0000325"
+    inertia_iyy="0.0135986" inertia_iyz="0.0001480" inertia_izz="0.0002025"
+    origin_xyz="-2.63464180747426E-05 0.197159145100908 0.000498203326348359"
+    origin_rpy="0 0 0"
+    color_rgba="1 0.372549019607843 0.294117647058824 1"
+    enable_collision="false"
+  />
+
+  <!-- 2.4 左腿关节 -->
+  <xacro:generic_joint 
+    joint_name="left_leg_pitch_joint"
+    type="revolute"
+    parent="left_hip_pitch_link"
+    child="left_leg_pitch_link"
+    origin_xyz="0 0 -0.0295"
+    origin_rpy="0 0 -1.046"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 2.5 左车轮2链接 -->
+  <xacro:generic_link 
+    link_name="left_wheel2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/left_wheel2_link.STL"
+    mass="0.745"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="4.1585564079967E-08 -5.47447156262759E-06 0.0187838263233595"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 2.6 左车轮2关节 -->
+  <xacro:generic_joint 
+    joint_name="left_wheel2_joint"
+    type="revolute"
+    parent="left_leg_pitch_link"
+    child="left_wheel2_link"
+    origin_xyz="0 0.4805 0.004"
+    origin_rpy="-3.1416 0 -0.0024764"
+    axis="0 0 1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 2.7 左车轮1链接 -->
+  <xacro:generic_link 
+    link_name="left_wheel1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/left_wheel1_link.STL"
+    mass="0.745"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="1.97042367054093E-06 5.10773910927798E-06 0.0187838263233595"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 2.8 左车轮1关节 -->
+  <xacro:generic_joint 
+    joint_name="left_wheel1_joint"
+    type="revolute"
+    parent="left_hip_pitch_link"
+    child="left_wheel1_link"
+    origin_xyz="0 0.48 0.01"
+    origin_rpy="0 0 0.0095732"
+    axis="0 0 1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="2"
+    velocity="3"
+  />
+
+
+  <!-- 3. 右髋关节及腿部（right_hip/leg/wheel） -->
+  <!-- 3.1 右髋链接 -->
+  <xacro:generic_link 
+    link_name="right_hip_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/right_hip_pitch_link.STL"
+    mass="0.6475263"
+    inertia_ixx="0.0182531" inertia_ixy="-0.0000017" inertia_ixz="0.0000501"
+    inertia_iyy="0.0181748" inertia_iyz="0.0006055" inertia_izz="0.0003897"
+    origin_xyz="-3.97209815898069E-06 -0.161490067811833 0.0158567790568734"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 3.2 右髋关节 -->
+  <xacro:generic_joint 
+    joint_name="right_hip_pitch_joint"
+    type="revolute"
+    parent="base_link"
+    child="right_hip_pitch_link"
+    origin_xyz="-0.06 0.1358 -0.037269"
+    origin_rpy="1.5708 0.523 0"
+    axis="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 3.3 右腿链接 -->
+  <xacro:generic_link 
+    link_name="right_leg_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/right_leg_pitch_link.STL"
+    mass="0.5126336"
+    inertia_ixx="0.0135142" inertia_ixy="0.0000001" inertia_ixz="0.0000001"
+    inertia_iyy="0.0135986" inertia_iyz="-0.0001480" inertia_izz="0.0002024"
+    origin_xyz="3.43008600186093E-05 -0.197159143801203 0.000498203308628542"
+    origin_rpy="0 0 0"
+    color_rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"
+    enable_collision="false"
+  />
+
+  <!-- 3.4 右腿关节 -->
+  <xacro:generic_joint 
+    joint_name="right_leg_pitch_joint"
+    type="revolute"
+    parent="right_hip_pitch_link"
+    child="right_leg_pitch_link"
+    origin_xyz="0 0 -0.0295"
+    origin_rpy="0 0 1.046"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 3.5 右车轮2链接 -->
+  <xacro:generic_link 
+    link_name="right_wheel2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/right_wheel2_link.STL"
+    mass="0.745"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="-5.49216228909084E-08 5.47435401360152E-06 0.0187838263233596"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 3.6 右车轮2关节 -->
+  <xacro:generic_joint 
+    joint_name="right_wheel2_joint"
+    type="revolute"
+    parent="right_leg_pitch_link"
+    child="right_wheel2_link"
+    origin_xyz="1.9386E-05 -0.4805 0.004"
+    origin_rpy="3.1416 0 0"
+    axis="0 0 1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 3.7 右车轮1链接 -->
+  <xacro:generic_link 
+    link_name="right_wheel1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/right_wheel1_link.STL"
+    mass="0.745"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="-1.90651569380871E-06 -5.13193590762073E-06 0.0187838263233596"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 3.8 右车轮1关节 -->
+  <xacro:generic_joint 
+    joint_name="right_wheel1_joint"
+    type="revolute"
+    parent="right_hip_pitch_link"
+    child="right_wheel1_link"
+    origin_xyz="0 -0.48 0.01"
+    origin_rpy="0 0 -0.0029091"
+    axis="0 0 1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="2"
+    velocity="3"
+  />
+
+
+  <!-- 4. 左手臂（left_shoulder/arm） -->
+  <!-- 4.1 左肩链接 -->
+  <xacro:generic_link 
+    link_name="left_shoulder_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/left_shoulder_link.STL"
+    mass="0.0131461"
+    inertia_ixx="0.0000070" inertia_ixy="0" inertia_ixz="0.0000017"
+    inertia_iyy="0.0000071" inertia_iyz="0" inertia_izz="0.0000045"
+    origin_xyz="-0.0144837915216556 0.000108169744531657 0.0209530786562939"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 4.2 左肩关节 -->
+  <xacro:generic_joint 
+    joint_name="left_shoulder_joint"
+    type="revolute"
+    parent="base_link"
+    child="left_shoulder_link"
+    origin_xyz="-0.06 -0.0878 0.36288"
+    origin_rpy="0 0 0"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 4.3 左手臂1链接 -->
+  <xacro:generic_link 
+    link_name="left_arm1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/left_arm1_link.STL"
+    mass="0.5854363"
+    inertia_ixx="0.0008783" inertia_ixy="-0.0000561" inertia_ixz="0.0000086"
+    inertia_iyy="0.0002821" inertia_iyz="-0.0000017" inertia_izz="0.0009299"
+    origin_xyz="-0.00228631297282665 -0.000694770956028379 0.0248681244469774"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 4.4 左手臂1关节 -->
+  <xacro:generic_joint 
+    joint_name="left_arm1_joint"
+    type="revolute"
+    parent="left_shoulder_link"
+    child="left_arm1_link"
+    origin_xyz="0 0 0.0385"
+    origin_rpy="1.5708 0 -0.0074682"
+    axis="-1 0 0"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 4.5 左手臂2链接 -->
+  <xacro:generic_link 
+    link_name="left_arm2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/left_arm2_link.STL"
+    mass="0.7955302"
+    inertia_ixx="0.0035648" inertia_ixy="-0.0000258" inertia_ixz="0.0000009"
+    inertia_iyy="0.0002355" inertia_iyz="-0.0001213" inertia_izz="0.0036543"
+    origin_xyz="-0.0237485342372672 -0.0546317049801525 1.0877545797372E-05"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 4.6 左手臂2关节 -->
+  <xacro:generic_joint 
+    joint_name="left_arm2_joint"
+    type="revolute"
+    parent="left_arm1_link"
+    child="left_arm2_link"
+    origin_xyz="0.020127 0.0040341 0.17817"
+    origin_rpy="-1.6062 0.0074682 0"
+    axis="-0.99997 0.0074634 0.0002647"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2"
+    velocity="3"
+  />
+
+
+  <!-- 5. 右手臂（right_shoulder/arm） -->
+  <!-- 5.1 右肩链接 -->
+  <xacro:generic_link 
+    link_name="right_shoulder_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/right_shoulder_link.STL"
+    mass="0.0131461"
+    inertia_ixx="0.0000070" inertia_ixy="0" inertia_ixz="0.0000017"
+    inertia_iyy="0.0000071" inertia_iyz="0" inertia_izz="0.0000045"
+    origin_xyz="-0.0144831349305154 -0.000175271563297497 0.0209530786562937"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 5.2 右肩关节 -->
+  <xacro:generic_joint 
+    joint_name="right_shoulder_joint"
+    type="revolute"
+    parent="base_link"
+    child="right_shoulder_link"
+    origin_xyz="-0.06 0.0878 0.36288"
+    origin_rpy="0 0 0"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 5.3 右手臂1链接 -->
+  <xacro:generic_link 
+    link_name="right_arm1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/right_arm1_link.STL"
+    mass="0.5854363"
+    inertia_ixx="0.0008778" inertia_ixy="0.0000592" inertia_ixz="-0.0000064"
+    inertia_iyy="0.0002836" inertia_iyz="-0.0000262" inertia_izz="0.0009288"
+    origin_xyz="-0.00258654183724675 0.00163071193731268 -0.0247948407356193"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 5.4 右手臂1关节 -->
+  <xacro:generic_joint 
+    joint_name="right_arm1_joint"
+    type="revolute"
+    parent="right_shoulder_link"
+    child="right_arm1_link"
+    origin_xyz="0 0 0.0385"
+    origin_rpy="1.5708 0 0"
+    axis="1 0 0"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 5.5 右手臂2链接 -->
+  <xacro:generic_link 
+    link_name="right_arm2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/right_arm2_link.STL"
+    mass="0.7955302"
+    inertia_ixx="0.0035728" inertia_ixy="0.0000412" inertia_ixz="-0.0000004"
+    inertia_iyy="0.0002317" inertia_iyz="0.0000292" inertia_izz="0.0036666"
+    origin_xyz="-0.0240175529876588 0.0558375631647781 2.11385309717427E-06"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 5.6 右手臂2关节 -->
+  <xacro:generic_joint 
+    joint_name="right_arm2_joint"
+    type="revolute"
+    parent="right_arm1_link"
+    child="right_arm2_link"
+    origin_xyz="0.017969 0.0026972 -0.17843"
+    origin_rpy="-1.5793 0 0"
+    axis="-0.99993 -0.0121 -0.00010316"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2"
+    velocity="3"
+  />
+
+  <xacro:include filename="$(find hive_core_r0)/urdf/bot0.ros2_control.xacro" />
+  <xacro:bot0_ros2_control />
+
+</robot>
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/hive_core_bot0.urdf.xacro b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/hive_core_bot0.urdf.xacro
new file mode 100644
index 0000000..2570beb
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/hive_core_bot0.urdf.xacro
@@ -0,0 +1,438 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- 转换自 URDF 的 XACRO 文件，保留原模型参数并简化重复结构 -->
+<robot name="hive_core_bot0" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find hive_core_r0)/urdf/generic_link.xacro" />
+  <xacro:include filename="$(find hive_core_r0)/urdf/generic_joint.xacro" />
+
+  <!-- 1. 基础链接（base_link） -->
+  <xacro:generic_link 
+    link_name="base_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/base_link.STL"
+    mass="0.2"
+    inertia_ixx="0.00076" inertia_ixy="0.0000008" inertia_ixz="0.00001546"
+    inertia_iyy="0.000858545" inertia_iyz="0.0000006" inertia_izz="0.000325040"
+    origin_xyz="-0.0598891820748674 5.31626531352636E-07 0.164869219254393"
+    origin_rpy="0 0 0"
+    color_rgba="0.666666666666667 0.666666666666667 0.666666666666667 1"
+    enable_collision="false"
+  />
+
+  <link name="world">
+    <inertial>
+      <mass value="0.0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0"
+               iyy="0.0" iyz="0.0"
+               izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="base_link_to_world_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" /> 
+    <parent link="world" /> 
+    <child link="base_link" /> 
+  </joint>
+
+
+  <!-- 2. 左髋关节及腿部（left_hip/leg/wheel） -->
+  <!-- 2.1 左髋链接 -->
+  <xacro:generic_link 
+    link_name="left_hip_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/left_hip_pitch_link.STL"
+    mass="0.1475263"
+    inertia_ixx="0.000182516" inertia_ixy="0.0000058" inertia_ixz="0.0001729"
+    inertia_iyy="0.000181748" inertia_iyz="-0.0006055" inertia_izz="0.0003913"
+    origin_xyz="3.93767161736252E-06 0.161490126813208 0.0158567790568734"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 2.2 左髋关节 -->
+  <xacro:generic_joint 
+    joint_name="left_hip_pitch_joint"
+    type="revolute"
+    parent="base_link"
+    child="left_hip_pitch_link"
+    origin_xyz="-0.06 -0.1358 -0.037269"
+    origin_rpy="-1.5708 0.523 0.0"
+    axis="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 2.3 左腿链接 -->
+  <xacro:generic_link 
+    link_name="left_leg_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/left_leg_pitch_link.STL"
+    mass="0.1126336"
+    inertia_ixx="0.000135141" inertia_ixy="0.0000005" inertia_ixz="-0.0000325"
+    inertia_iyy="0.000135986" inertia_iyz="0.0001480" inertia_izz="0.0002025"
+    origin_xyz="-2.63464180747426E-05 0.197159145100908 0.000498203326348359"
+    origin_rpy="0 0 0"
+    color_rgba="1 0.372549019607843 0.294117647058824 1"
+    enable_collision="false"
+  />
+
+  <!-- 2.4 左腿关节 -->
+  <xacro:generic_joint 
+    joint_name="left_leg_pitch_joint"
+    type="revolute"
+    parent="left_hip_pitch_link"
+    child="left_leg_pitch_link"
+    origin_xyz="0 0 -0.0295"
+    origin_rpy="0 0 -1.046"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 2.5 左车轮2链接 -->
+  <xacro:generic_link 
+    link_name="left_wheel2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/left_wheel2_link.STL"
+    mass="0.145"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="4.1585564079967E-08 -5.47447156262759E-06 0.0187838263233595"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 2.6 左车轮2关节 -->
+  <xacro:generic_joint 
+    joint_name="left_wheel2_joint"
+    type="revolute"
+    parent="left_leg_pitch_link"
+    child="left_wheel2_link"
+    origin_xyz="0 0.4805 0.004"
+    origin_rpy="-3.1416 0 -0.0024764"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 2.7 左车轮1链接 -->
+  <xacro:generic_link 
+    link_name="left_wheel1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/left_wheel1_link.STL"
+    mass="0.145"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="1.97042367054093E-06 5.10773910927798E-06 0.0187838263233595"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 2.8 左车轮1关节 -->
+  <xacro:generic_joint 
+    joint_name="left_wheel1_joint"
+    type="revolute"
+    parent="left_hip_pitch_link"
+    child="left_wheel1_link"
+    origin_xyz="0 0.48 0.01"
+    origin_rpy="0 0 0.0095732"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+
+  <!-- 3. 右髋关节及腿部（right_hip/leg/wheel） -->
+  <!-- 3.1 右髋链接 -->
+  <xacro:generic_link 
+    link_name="right_hip_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/right_hip_pitch_link.STL"
+    mass="0.1475263"
+    inertia_ixx="0.000182531" inertia_ixy="-0.0000017" inertia_ixz="0.0000501"
+    inertia_iyy="0.000181748" inertia_iyz="0.0006055" inertia_izz="0.0003897"
+    origin_xyz="-3.97209815898069E-06 -0.161490067811833 0.0158567790568734"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 3.2 右髋关节 -->
+  <xacro:generic_joint 
+    joint_name="right_hip_pitch_joint"
+    type="revolute"
+    parent="base_link"
+    child="right_hip_pitch_link"
+    origin_xyz="-0.06 0.1358 -0.037269"
+    origin_rpy="1.5708 0.523 0"
+    axis="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 3.3 右腿链接 -->
+  <xacro:generic_link 
+    link_name="right_leg_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/right_leg_pitch_link.STL"
+    mass="0.1126336"
+    inertia_ixx="0.000135142" inertia_ixy="0.0000001" inertia_ixz="0.0000001"
+    inertia_iyy="0.000135986" inertia_iyz="-0.0001480" inertia_izz="0.0002024"
+    origin_xyz="3.43008600186093E-05 -0.197159143801203 0.000498203308628542"
+    origin_rpy="0 0 0"
+    color_rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"
+    enable_collision="false"
+  />
+
+  <!-- 3.4 右腿关节 -->
+  <xacro:generic_joint 
+    joint_name="right_leg_pitch_joint"
+    type="revolute"
+    parent="right_hip_pitch_link"
+    child="right_leg_pitch_link"
+    origin_xyz="0 0 -0.0295"
+    origin_rpy="0 0 1.046"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 3.5 右车轮2链接 -->
+  <xacro:generic_link 
+    link_name="right_wheel2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/right_wheel2_link.STL"
+    mass="0.145"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="-5.49216228909084E-08 5.47435401360152E-06 0.0187838263233596"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 3.6 右车轮2关节 -->
+  <xacro:generic_joint 
+    joint_name="right_wheel2_joint"
+    type="revolute"
+    parent="right_leg_pitch_link"
+    child="right_wheel2_link"
+    origin_xyz="1.9386E-05 -0.4805 0.004"
+    origin_rpy="3.1416 0 0"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 3.7 右车轮1链接 -->
+  <xacro:generic_link 
+    link_name="right_wheel1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/right_wheel1_link.STL"
+    mass="0.145"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="-1.90651569380871E-06 -5.13193590762073E-06 0.0187838263233596"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 3.8 右车轮1关节 -->
+  <xacro:generic_joint 
+    joint_name="right_wheel1_joint"
+    type="revolute"
+    parent="right_hip_pitch_link"
+    child="right_wheel1_link"
+    origin_xyz="0 -0.48 0.01"
+    origin_rpy="0 0 -0.0029091"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+
+  <!-- 4. 左手臂（left_shoulder/arm） -->
+  <!-- 4.1 左肩链接 -->
+  <xacro:generic_link 
+    link_name="left_shoulder_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/left_shoulder_link.STL"
+    mass="0.0131461"
+    inertia_ixx="0.0000070" inertia_ixy="0" inertia_ixz="0.0000017"
+    inertia_iyy="0.0000071" inertia_iyz="0" inertia_izz="0.0000045"
+    origin_xyz="-0.0144837915216556 0.000108169744531657 0.0209530786562939"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 4.2 左肩关节 -->
+  <xacro:generic_joint 
+    joint_name="left_shoulder_joint"
+    type="revolute"
+    parent="base_link"
+    child="left_shoulder_link"
+    origin_xyz="-0.06 -0.0878 0.36288"
+    origin_rpy="0 0 0"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 4.3 左手臂1链接 -->
+  <xacro:generic_link 
+    link_name="left_arm1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/left_arm1_link.STL"
+    mass="0.1854363"
+    inertia_ixx="0.0008783" inertia_ixy="-0.0000561" inertia_ixz="0.0000086"
+    inertia_iyy="0.0002821" inertia_iyz="-0.0000017" inertia_izz="0.0009299"
+    origin_xyz="-0.00228631297282665 -0.000694770956028379 0.0248681244469774"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 4.4 左手臂1关节 -->
+  <xacro:generic_joint 
+    joint_name="left_arm1_joint"
+    type="revolute"
+    parent="left_shoulder_link"
+    child="left_arm1_link"
+    origin_xyz="0 0 0.0385"
+    origin_rpy="1.5708 0 -0.0074682"
+    axis="-1 0 0"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 4.5 左手臂2链接 -->
+  <xacro:generic_link 
+    link_name="left_arm2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/left_arm2_link.STL"
+    mass="0.1955302"
+    inertia_ixx="0.000035648" inertia_ixy="-0.0000258" inertia_ixz="0.0000009"
+    inertia_iyy="0.0002355" inertia_iyz="-0.0001213" inertia_izz="0.0036543"
+    origin_xyz="-0.0237485342372672 -0.0546317049801525 1.0877545797372E-05"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 4.6 左手臂2关节 -->
+  <xacro:generic_joint 
+    joint_name="left_arm2_joint"
+    type="revolute"
+    parent="left_arm1_link"
+    child="left_arm2_link"
+    origin_xyz="0.020127 0.0040341 0.17817"
+    origin_rpy="-1.6062 0.0074682 0"
+    axis="-0.99997 0.0074634 0.0002647"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2000"
+    velocity="30"
+  />
+
+
+  <!-- 5. 右手臂（right_shoulder/arm） -->
+  <!-- 5.1 右肩链接 -->
+  <xacro:generic_link 
+    link_name="right_shoulder_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/right_shoulder_link.STL"
+    mass="0.0131461"
+    inertia_ixx="0.0000070" inertia_ixy="0" inertia_ixz="0.0000017"
+    inertia_iyy="0.0000071" inertia_iyz="0" inertia_izz="0.0000045"
+    origin_xyz="-0.0144831349305154 -0.000175271563297497 0.0209530786562937"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 5.2 右肩关节 -->
+  <xacro:generic_joint 
+    joint_name="right_shoulder_joint"
+    type="revolute"
+    parent="base_link"
+    child="right_shoulder_link"
+    origin_xyz="-0.06 0.0878 0.36288"
+    origin_rpy="0 0 0"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 5.3 右手臂1链接 -->
+  <xacro:generic_link 
+    link_name="right_arm1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/right_arm1_link.STL"
+    mass="0.1854363"
+    inertia_ixx="0.0008778" inertia_ixy="0.0000592" inertia_ixz="-0.0000064"
+    inertia_iyy="0.0002836" inertia_iyz="-0.0000262" inertia_izz="0.0009288"
+    origin_xyz="-0.00258654183724675 0.00163071193731268 -0.0247948407356193"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 5.4 右手臂1关节 -->
+  <xacro:generic_joint 
+    joint_name="right_arm1_joint"
+    type="revolute"
+    parent="right_shoulder_link"
+    child="right_arm1_link"
+    origin_xyz="0 0 0.0385"
+    origin_rpy="1.5708 0 0"
+    axis="1 0 0"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 5.5 右手臂2链接 -->
+  <xacro:generic_link 
+    link_name="right_arm2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/right_arm2_link.STL"
+    mass="0.1955302"
+    inertia_ixx="0.0035728" inertia_ixy="0.0000412" inertia_ixz="-0.0000004"
+    inertia_iyy="0.0002317" inertia_iyz="0.0000292" inertia_izz="0.0036666"
+    origin_xyz="-0.0240175529876588 0.0558375631647781 2.11385309717427E-06"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 5.6 右手臂2关节 -->
+  <xacro:generic_joint 
+    joint_name="right_arm2_joint"
+    type="revolute"
+    parent="right_arm1_link"
+    child="right_arm2_link"
+    origin_xyz="0.017969 0.0026972 -0.17843"
+    origin_rpy="-1.5793 0 0"
+    axis="-0.99993 -0.0121 -0.00010316"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2000"
+    velocity="30"
+  />
+
+  <xacro:include filename="$(find hive_core_r0)/urdf/hiveBot0/bot0.ros2_control.xacro" />
+  <xacro:bot0_ros2_control />
+
+</robot>
diff --git a/RobotOS1/meshes/base_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/base_link.STL
similarity index 100%
rename from RobotOS1/meshes/base_link.STL
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/base_link.STL
diff --git a/RobotOS1/meshes/left_arm1_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/left_arm1_link.STL
similarity index 100%
rename from RobotOS1/meshes/left_arm1_link.STL
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/left_arm1_link.STL
diff --git a/RobotOS1/meshes/left_arm2_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/left_arm2_link.STL
similarity index 100%
rename from RobotOS1/meshes/left_arm2_link.STL
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/left_arm2_link.STL
diff --git a/RobotOS1/meshes/left_hip_pitch_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/left_hip_pitch_link.STL
similarity index 100%
rename from RobotOS1/meshes/left_hip_pitch_link.STL
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/left_hip_pitch_link.STL
diff --git a/RobotOS1/meshes/left_leg_pitch_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/left_leg_pitch_link.STL
similarity index 100%
rename from RobotOS1/meshes/left_leg_pitch_link.STL
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/left_leg_pitch_link.STL
diff --git a/RobotOS1/meshes/left_shoulder_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/left_shoulder_link.STL
similarity index 100%
rename from RobotOS1/meshes/left_shoulder_link.STL
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/left_shoulder_link.STL
diff --git a/RobotOS1/meshes/left_wheel1_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/left_wheel1_link.STL
similarity index 100%
rename from RobotOS1/meshes/left_wheel1_link.STL
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/left_wheel1_link.STL
diff --git a/RobotOS1/meshes/left_wheel2_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/left_wheel2_link.STL
similarity index 100%
rename from RobotOS1/meshes/left_wheel2_link.STL
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/left_wheel2_link.STL
diff --git a/RobotOS1/meshes/right_arm1_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/right_arm1_link.STL
similarity index 100%
rename from RobotOS1/meshes/right_arm1_link.STL
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/right_arm1_link.STL
diff --git a/RobotOS1/meshes/right_arm2_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/right_arm2_link.STL
similarity index 100%
rename from RobotOS1/meshes/right_arm2_link.STL
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/right_arm2_link.STL
diff --git a/RobotOS1/meshes/right_hip_pitch_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/right_hip_pitch_link.STL
similarity index 100%
rename from RobotOS1/meshes/right_hip_pitch_link.STL
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/right_hip_pitch_link.STL
diff --git a/RobotOS1/meshes/right_leg_pitch_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/right_leg_pitch_link.STL
similarity index 100%
rename from RobotOS1/meshes/right_leg_pitch_link.STL
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/right_leg_pitch_link.STL
diff --git a/RobotOS1/meshes/right_shoulder_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/right_shoulder_link.STL
similarity index 100%
rename from RobotOS1/meshes/right_shoulder_link.STL
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/right_shoulder_link.STL
diff --git a/RobotOS1/meshes/right_wheel1_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/right_wheel1_link.STL
similarity index 100%
rename from RobotOS1/meshes/right_wheel1_link.STL
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/right_wheel1_link.STL
diff --git a/RobotOS1/meshes/right_wheel2_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/right_wheel2_link.STL
similarity index 100%
rename from RobotOS1/meshes/right_wheel2_link.STL
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/right_wheel2_link.STL
diff --git a/RobotOS1/urdf/meshes/robot_roll.py b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/robot_roll.py
similarity index 100%
rename from RobotOS1/urdf/meshes/robot_roll.py
rename to HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/meshes/robot_roll.py
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/bot1_ros2_control.xacro b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/bot1_ros2_control.xacro
new file mode 100644
index 0000000..e883387
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/bot1_ros2_control.xacro
@@ -0,0 +1,118 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- 宏定义：ros2_control硬件接口配置（适配位置控制器和轮子速度控制器） -->
+  <xacro:macro name="bot1_ros2_control">
+    <!-- 1. ros2_control系统配置：定义所有关节的控制接口 -->
+    <ros2_control name="Bot1GazeboSystem" type="system">
+      <!-- 硬件插件：关联Gazebo仿真 -->
+      <hardware>
+        <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+      </hardware>
+
+        <!-- 所有关节的接口配置 -->
+        <!-- 腿部关节 -->
+        <joint name="left_leg1_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="left_leg2_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="right_leg1_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="right_leg2_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <!-- 轮子关节 -->
+        <joint name="left_wheel1_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="left_wheel2_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="right_wheel1_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="right_wheel2_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <!-- 身体关节 -->
+        <joint name="pitch_body_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <!-- 左臂关节 -->
+        <joint name="left_shoulder_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="left_arm1_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="left_arm2_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <!-- 右臂关节 -->
+        <joint name="right_shoulder_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="right_arm1_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="right_arm2_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+    </ros2_control>
+
+    <!-- 4. Gazebo插件配置：关联控制器参数文件 -->
+    <gazebo>
+        <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+        <!-- 加载控制器配置文件（路径需替换为你的实际路径） -->
+        <parameters>$(find hive_core_r0)/config/bot1_ros2_controller.yaml</parameters>
+        </plugin>
+    </gazebo>
+    </xacro:macro>
+</robot>
+    
\ No newline at end of file
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/generic_joint.xacro b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/generic_joint.xacro
new file mode 100644
index 0000000..733ed6b
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/generic_joint.xacro
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!-- 通用关节(joint)宏定义 -->
+    <xacro:macro name="generic_joint" params="joint_name type parent child 
+                                            origin_xyz origin_rpy 
+                                            axis_xyz limit_lower limit_upper effort velocity">
+        <joint name="${joint_name}" type="${type}">
+            <origin xyz="${origin_xyz}" rpy="${origin_rpy}" />
+            <parent link="${parent}" />
+            <child link="${child}" />
+            <axis xyz="${axis_xyz}" />
+            <limit lower="${limit_lower}" upper="${limit_upper}" 
+                    effort="${effort}" velocity="${velocity}" />
+        </joint>
+    </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/generic_link.xacro b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/generic_link.xacro
new file mode 100644
index 0000000..d3ec06c
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/generic_link.xacro
@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!-- 通用链接(link)宏定义 -->
+    <xacro:macro name="generic_link" params="link_name mesh_file 
+                                            inertia_xyz inertia_rpy 
+                                            mass ixx ixy ixz iyy iyz izz 
+                                            color_rgba enable_collision">
+        <link name="${link_name}">
+            <!-- 惯性参数 -->
+            <inertial>
+                <origin xyz="${inertia_xyz}" rpy="${inertia_rpy}" />
+                <mass value="${mass}" />
+                <inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}"
+                        iyy="${iyy}" iyz="${iyz}" izz="${izz}" />
+            </inertial>
+            <!-- 可视化模型 -->
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                <mesh filename="${mesh_file}" />
+                </geometry>
+                <material name="${link_name}_material">
+                <color rgba="${color_rgba}" />
+                </material>
+            </visual>
+            <xacro:if value="${enable_collision}">
+                <collision>
+                    <origin xyz="0 0 0" rpy="0 0 0" />
+                    <geometry>
+                        <!-- <mesh filename="${mesh_file}" /> -->
+                        <cylinder radius="0.1" length="0.1" />
+                    </geometry>
+                    <material name="blue">
+                        <color rgba="0.1 0.1 1.0 0.5" />
+                    </material>
+                </collision>
+            </xacro:if>
+
+            <!-- 仅当启用碰撞时，添加碰撞物理参数 -->
+            <xacro:if value="${enable_collision}">
+                <gazebo reference="${link_name}">
+                    <collision>
+                        <surface>
+                            <contact>
+                                <ode>
+                                    <!-- 刚度：根据轮子质量调整，建议 1e5~1e6（质量越大，kp适当增大） -->
+                                    <kp>5e5</kp>  
+                                    <!-- 阻尼：kp的1%~5%，确保振动快速衰减（关键参数） -->
+                                    <kd>2e4</kd>  
+                                    <!-- 静/动摩擦系数：0.8~1.0，避免打滑 -->
+                                    <mu1>1000</mu1>  
+                                    <mu2>1000</mu2>  
+                                    <!-- 允许微小穿透（0.001~0.01m），减少高频抖动 -->
+                                    <min_depth>0.005</min_depth>  
+                                    <!-- 碰撞时的最大校正速度，防止剧烈弹跳 -->
+                                    <max_vel>0.1</max_vel>  
+                                </ode>
+                            </contact>
+                            <bounce>
+                                <!-- 反弹系数：0 = 完全不反弹（核心参数） -->
+                                <restitution_coefficient>0.0</restitution_coefficient>  
+                                <!-- 碰撞速度阈值：设为0，确保所有碰撞都无反弹 -->
+                                <threshold>0.0</threshold>  
+                            </bounce>
+                        </surface>
+                    </collision>
+                </gazebo>
+            </xacro:if>
+        </link>
+    </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/hive_core_bot1.urdf b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/hive_core_bot1.urdf
new file mode 100644
index 0000000..e647403
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/hive_core_bot1.urdf
@@ -0,0 +1,925 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="robot5">
+
+  <mujoco>
+    <compiler 
+      meshdir="/home/mrji/mujoco_learning/robot5/meshes" 
+      balanceinertia="true" 
+      discardvisual="false" />
+  </mujoco>
+
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.0223121090242412 0.00180410615499793 0.0294578734419628"
+        rpy="0 0 0" />
+      <mass
+        value="8.01740117497269" />
+      <inertia
+        ixx="0.0100767591002942"
+        ixy="-8.33871415118017E-06"
+        ixz="-3.04794782095214E-06"
+        iyy="0.00687778146550088"
+        iyz="2.70300324348596E-06"
+        izz="0.0095089226755309" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.592156862745098 0.619607843137255 0.650980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="left_leg1_link">
+    <inertial>
+      <origin
+        xyz="0.0026919722577641 -0.106691141065344 0.000439159272074496"
+        rpy="0 0 0" />
+      <mass
+        value="0.687221704005751" />
+      <inertia
+        ixx="0.00309344360201386"
+        ixy="7.22427359994752E-05"
+        ixz="-1.7837563113331E-07"
+        iyy="0.000199758758340417"
+        iyz="5.25184127616714E-06"
+        izz="0.00327480626360329" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_leg1_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
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+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_leg1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_leg1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.023189 -0.14297 0.032124"
+      rpy="1.5097 0 0" />
+    <parent
+      link="base_link" />
+    <child
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+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="60"
+      velocity="50" />
+  </joint>
+  <link
+    name="left_wheel1_link">
+    <inertial>
+      <origin
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+        rpy="0 0 0" />
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+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_wheel1_link.STL" />
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+        name="">
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+    </visual>
+    <collision>
+      <origin
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+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_wheel1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_wheel1_joint"
+    type="revolute">
+    <origin
+      xyz="0.010552 -0.41639 -0.03757"
+      rpy="3.1416 0 0" />
+    <parent
+      link="left_leg1_link" />
+    <child
+      link="left_wheel1_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1000"
+      upper="1000"
+      effort="30"
+      velocity="50" />
+  </joint>
+  <link
+    name="right_leg1_link">
+    <inertial>
+      <origin
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+        rpy="0 0 0" />
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+    <visual>
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+      <geometry>
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+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_leg1_link.STL" />
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+    name="right_leg1_joint"
+    type="revolute">
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+    <parent
+      link="base_link" />
+    <child
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+      upper="1.57"
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+      velocity="50" />
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+    <visual>
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+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_wheel1_link.STL" />
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+      <material
+        name="">
+        <color
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+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_wheel1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_wheel1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00016377 -0.41653 0.03757"
+      rpy="0 0 0" />
+    <parent
+      link="right_leg1_link" />
+    <child
+      link="right_wheel1_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1000"
+      upper="1000"
+      effort="30"
+      velocity="50" />
+  </joint>
+  <link
+    name="pitch_body_link">
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+        rpy="0 0 0" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/pitch_body_link.STL" />
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+      <material
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+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/pitch_body_link.STL" />
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+    </collision>
+  </link>
+  <joint
+    name="pitch_body_joint"
+    type="revolute">
+    <origin
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+      rpy="1.5708 0 0" />
+    <parent
+      link="base_link" />
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+    <limit
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+    <visual>
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+      <geometry>
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+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_shoulder_link.STL" />
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+  </link>
+  <joint
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+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_arm1_link.STL" />
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+        rpy="0 0 0" />
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+    name="right_shoulder_joint"
+    type="revolute">
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+      rpy="-1.5707963267949 0 0" />
+    <parent
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+    <limit
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+    name="right_arm1_link">
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+    <visual>
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+        rpy="0 0 0" />
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+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_arm1_link.STL" />
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+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_arm1_link.STL" />
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+      rpy="-0.826482123984997 0 0" />
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+    <child
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+      upper="1.57"
+      effort="60"
+      velocity="50" />
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+    type="revolute">
+    <origin
+      xyz="0.00854070115695219 0.120366284301785 0.133656328091823"
+      rpy="-3.14159265358977 0 0" />
+    <parent
+      link="right_arm1_link" />
+    <child
+      link="right_arm2_link" />
+    <axis
+      xyz="-0.999649642897155 0 -0.0264686882106164" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="20"
+      velocity="50" />
+  </joint>
+  <link
+    name="left_leg2_link">
+    <inertial>
+      <origin
+        xyz="-0.00247971563497956 -0.0972883314998296 0.00524725682640842"
+        rpy="0 0 0" />
+      <mass
+        value="0.758444942474565" />
+      <inertia
+        ixx="0.00308402598971299"
+        ixy="-7.39501679752198E-05"
+        ixz="4.61546712808476E-06"
+        iyy="0.00021886670519613"
+        iyz="0.000190799531555152"
+        izz="0.00323764016118335" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_leg2_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.686274509803922 0.686274509803922 0.686274509803922 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_leg2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_leg2_joint"
+    type="revolute">
+    <origin
+      xyz="-0.092811 -0.14333 0.032022"
+      rpy="1.5708 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="left_leg2_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="60"
+      velocity="50" />
+  </joint>
+  <link
+    name="left_wheel2_link">
+    <inertial>
+      <origin
+        xyz="-2.63258476833339E-06 -2.75556383766418E-07 -0.000769610176954399"
+        rpy="0 0 0" />
+      <mass
+        value="0.243841354713671" />
+      <inertia
+        ixx="0.000147761781558832"
+        ixy="4.45494954114067E-10"
+        ixz="-2.127234078802E-08"
+        iyy="0.000147757572061457"
+        iyz="-2.226606099262E-09"
+        izz="0.000229476928281019" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_wheel2_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.780392156862745 0.780392156862745 0.780392156862745 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_wheel2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_wheel2_joint"
+    type="revolute">
+    <origin
+      xyz="-0.010549 -0.41781 -0.01244"
+      rpy="3.0805 0 0" />
+    <parent
+      link="left_leg2_link" />
+    <child
+      link="left_wheel2_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1000"
+      upper="1000"
+      effort="30"
+      velocity="50" />
+  </joint>
+  <link
+    name="right_leg2_link">
+    <inertial>
+      <origin
+        xyz="-0.0050516474502517 -0.0973277461307459 0.000701841039130763"
+        rpy="0 0 0" />
+      <mass
+        value="0.758444958401021" />
+      <inertia
+        ixx="0.00307823597256189"
+        ixy="-0.000148312070292207"
+        ixz="-3.2725667530637E-07"
+        iyy="0.000212654851830719"
+        iyz="-5.42028503051418E-06"
+        izz="0.00324964203847903" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_leg2_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.501960784313725 0.501960784313725 0.501960784313725 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_leg2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_leg2_joint"
+    type="revolute">
+    <origin
+      xyz="-0.092614 0.14333 0.032015"
+      rpy="1.6319 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="right_leg2_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="60"
+      velocity="50" />
+  </joint>
+  <link
+    name="right_wheel2_link">
+    <inertial>
+      <origin
+        xyz="1.93300484906123E-06 1.80829370854951E-06 -0.000769610176954413"
+        rpy="0 0 0" />
+      <mass
+        value="0.243841354713671" />
+      <inertia
+        ixx="0.000147759820077608"
+        ixy="2.14660364874833E-09"
+        ixz="1.56194544574533E-08"
+        iyy="0.000147759533542682"
+        iyz="1.46117384240508E-08"
+        izz="0.000229476928281019" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_wheel2_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.780392156862745 0.780392156862745 0.780392156862745 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_wheel2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_wheel2_joint"
+    type="revolute">
+    <origin
+      xyz="-0.021629 -0.41584 0.037923"
+      rpy="0 0 0" />
+    <parent
+      link="right_leg2_link" />
+    <child
+      link="right_wheel2_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1000"
+      upper="1000"
+      effort="30"
+      velocity="50" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/hive_core_bot1.urdf.xacro b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/hive_core_bot1.urdf.xacro
new file mode 100644
index 0000000..036b193
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/hive_core_bot1.urdf.xacro
@@ -0,0 +1,523 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="hive_core_bot1" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- 引入XACRO命名空间 -->
+  <xacro:property name="meshes_path" value="file://$(find hive_core_r0)/urdf/hiveBot1/meshes" />
+
+  <xacro:include filename="$(find hive_core_r0)/urdf/hiveBot1/generic_link.xacro" />
+  <xacro:include filename="$(find hive_core_r0)/urdf/hiveBot1/generic_joint.xacro" />
+
+  <!-- 基础链接 -->
+  <xacro:generic_link 
+    link_name="base_link"
+    mesh_file="${meshes_path}/base_link.STL"
+    inertia_xyz="-0.0223121090242412 0.00180410615499793 0.0294578734419628"
+    inertia_rpy="0 0 0"
+    mass="8.01740117497269"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.592156862745098 0.619607843137255 0.650980392156863 1"
+    enable_collision="true"
+  />
+
+  <!-- 左腿1链接 -->
+  <xacro:generic_link 
+    link_name="left_leg1_link"
+    mesh_file="${meshes_path}/left_leg1_link.STL"
+    inertia_xyz="0.0026919722577641 -0.106691141065344 0.000439159272074496"
+    inertia_rpy="0 0 0"
+    mass="0.687221704005751"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"
+    enable_collision="false"
+  />
+
+  <!-- 左轮1链接 -->
+  <xacro:generic_link 
+    link_name="left_wheel1_link"
+    mesh_file="${meshes_path}/left_wheel1_link.STL"
+    inertia_xyz="-2.01863499148247E-06 -1.71217600630769E-06 -0.000769610134319532"
+    inertia_rpy="0 0 0"
+    mass="0.243841354713671"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 右腿1链接 -->
+  <xacro:generic_link 
+    link_name="right_leg1_link"
+    mesh_file="${meshes_path}/right_leg1_link.STL"
+    inertia_xyz="-3.01562743165443E-05 -0.106725092599043 -0.000439159317208282"
+    inertia_rpy="0 0 0"
+    mass="0.687221703818328"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.686274509803922 0.686274509803922 0.686274509803922 1"
+    enable_collision="false"
+  />
+
+  <!-- 右轮1链接 -->
+  <xacro:generic_link 
+    link_name="right_wheel1_link"
+    mesh_file="${meshes_path}/right_wheel1_link.STL"
+    inertia_xyz="1.92448237847231E-06 1.8173611248673E-06 -0.000769610176954372"
+    inertia_rpy="0 0 0"
+    mass="0.243841354713671"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 俯仰身体链接 -->
+  <xacro:generic_link 
+    link_name="pitch_body_link"
+    mesh_file="${meshes_path}/pitch_body_link.STL"
+    inertia_xyz="0.000405025729528165 0.164222263553734 0.038212974552542"
+    inertia_rpy="0 0 0"
+    mass="6.27735184123949"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.592156862745098 0.619607843137255 0.650980392156863 1"
+    enable_collision="true"
+  />
+
+  <!-- 左肩链接 -->
+  <xacro:generic_link 
+    link_name="left_shoulder_link"
+    mesh_file="${meshes_path}/left_shoulder_link.STL"
+    inertia_xyz="0.0139828606345992 0.000183964382035662 0.0469280544333041"
+    inertia_rpy="0 0 0"
+    mass="2.24001373537068"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.898039215686275 0.92156862745098 0.929411764705882 1"
+    enable_collision="true"
+  />
+
+  <!-- 左臂1链接 -->
+  <xacro:generic_link 
+    link_name="left_arm1_link"
+    mesh_file="${meshes_path}/left_arm1_link.STL"
+    inertia_xyz="-0.0237185143086008 -0.146707321130601 0.0947584340472464"
+    inertia_rpy="0 0 0"
+    mass="1.97210272038181"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 左臂2链接 -->
+  <xacro:generic_link 
+    link_name="left_arm2_link"
+    mesh_file="${meshes_path}/left_arm2_link.STL"
+    inertia_xyz="-0.0044670114805947 0.108002437145143 -0.0700232476387601"
+    inertia_rpy="0 0 0"
+    mass="0.153345483355902"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="1 1 1 1"
+    enable_collision="true"
+  />
+
+  <!-- 右肩链接 -->
+  <xacro:generic_link 
+    link_name="right_shoulder_link"
+    mesh_file="${meshes_path}/right_shoulder_link.STL"
+    inertia_xyz="0.0139817634960264 -0.000283387663890286 0.0469666821426944"
+    inertia_rpy="0 0 0"
+    mass="2.24001360218308"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.898039215686275 0.92156862745098 0.929411764705882 1"
+    enable_collision="true"
+  />
+
+  <!-- 右臂1链接 -->
+  <xacro:generic_link 
+    link_name="right_arm1_link"
+    mesh_file="${meshes_path}/right_arm1_link.STL"
+    inertia_xyz="-0.0222764790210273 0.116445846258557 0.130395530944397"
+    inertia_rpy="0 0 0"
+    mass="1.97210271472831"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 右臂2链接 -->
+  <xacro:generic_link 
+    link_name="right_arm2_link"
+    mesh_file="${meshes_path}/right_arm2_link.STL"
+    inertia_xyz="-0.00344285141443855 -0.0871900700243705 -0.0947300074211656"
+    inertia_rpy="0 0 0"
+    mass="0.153345483533995"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="1 1 1 1"
+    enable_collision="true"
+  />
+
+  <!-- 左腿2链接 -->
+  <xacro:generic_link 
+    link_name="left_leg2_link"
+    mesh_file="${meshes_path}/left_leg2_link.STL"
+    inertia_xyz="-0.00247971563497956 -0.0972883314998296 0.00524725682640842"
+    inertia_rpy="0 0 0"
+    mass="0.758444942474565"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.686274509803922 0.686274509803922 0.686274509803922 1"
+    enable_collision="false"
+  />
+
+  <!-- 左轮2链接 -->
+  <xacro:generic_link 
+    link_name="left_wheel2_link"
+    mesh_file="${meshes_path}/left_wheel2_link.STL"
+    inertia_xyz="-2.63258476833339E-06 -2.75556383766418E-07 -0.000769610176954399"
+    inertia_rpy="0 0 0"
+    mass="0.243841354713671"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 右腿2链接 -->
+  <xacro:generic_link 
+    link_name="right_leg2_link"
+    mesh_file="${meshes_path}/right_leg2_link.STL"
+    inertia_xyz="-0.0050516474502517 -0.0973277461307459 0.000701841039130763"
+    inertia_rpy="0 0 0"
+    mass="0.758444958401021"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.501960784313725 0.501960784313725 0.501960784313725 1"
+    enable_collision="false"
+  />
+
+  <!-- 右轮2链接 -->
+  <xacro:generic_link 
+    link_name="right_wheel2_link"
+    mesh_file="${meshes_path}/right_wheel2_link.STL"
+    inertia_xyz="1.93300484906123E-06 1.80829370854951E-06 -0.000769610176954413"
+    inertia_rpy="0 0 0"
+    mass="0.243841354713671"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 左腿1关节 -->
+  <xacro:generic_joint 
+    joint_name="left_leg1_joint"
+    type="revolute"
+    parent="base_link"
+    child="left_leg1_link"
+    origin_xyz="-0.023189 -0.14297 0.032124"
+    origin_rpy="1.5097 -0.523 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 左轮1关节 -->
+  <xacro:generic_joint 
+    joint_name="left_wheel1_joint"
+    type="revolute"
+    parent="left_leg1_link"
+    child="left_wheel1_link"
+    origin_xyz="0.010552 -0.41639 -0.03757"
+    origin_rpy="3.1416 0 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 右腿1关节 -->
+  <xacro:generic_joint 
+    joint_name="right_leg1_joint"
+    type="revolute"
+    parent="base_link"
+    child="right_leg1_link"
+    origin_xyz="-0.022996 0.14297 0.032127"
+    origin_rpy="1.6319 -0.523 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 右轮1关节 -->
+  <xacro:generic_joint 
+    joint_name="right_wheel1_joint"
+    type="revolute"
+    parent="right_leg1_link"
+    child="right_wheel1_link"
+    origin_xyz="-0.00016377 -0.41653 0.03757"
+    origin_rpy="0 0 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 俯仰身体关节 -->
+  <xacro:generic_joint 
+    joint_name="pitch_body_joint"
+    type="revolute"
+    parent="base_link"
+    child="pitch_body_link"
+    origin_xyz="-0.022999 0.039 0.048"
+    origin_rpy="1.5708 0 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-0.5236"
+    limit_upper="0.5236"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 左肩关节 -->
+  <xacro:generic_joint 
+    joint_name="left_shoulder_joint"
+    type="revolute"
+    parent="pitch_body_link"
+    child="left_shoulder_link"
+    origin_xyz="0.00396365185327967 0.220964452984708 0.0865"
+    origin_rpy="-1.5707963267949 0 0"
+    axis_xyz="-0.0179350762557234 0 -0.999839153584066"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 左臂1关节 -->
+  <xacro:generic_joint 
+    joint_name="left_arm1_joint"
+    type="revolute"
+    parent="left_shoulder_link"
+    child="left_arm1_link"
+    origin_xyz="0.0403430563984948 0.00044500097133069 0.0467839692408788"
+    origin_rpy="0.560887033481642 0 0"
+    axis_xyz="0.99977570211955 0 -0.0211788916461878"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 左臂2关节 -->
+  <xacro:generic_joint 
+    joint_name="left_arm2_joint"
+    type="revolute"
+    parent="left_arm1_link"
+    child="left_arm2_link"
+    origin_xyz="0.00696183199978448 -0.151367984040579 0.0972793725016652"
+    origin_rpy="-3.14159265358976 0 0"
+    axis_xyz="-0.99977570211955 0 -0.0211788916461861"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 右肩关节 -->
+  <xacro:generic_joint 
+    joint_name="right_shoulder_joint"
+    type="revolute"
+    parent="pitch_body_link"
+    child="right_shoulder_link"
+    origin_xyz="0.00396365185327941 0.220964452984708 -0.00950000000000008"
+    origin_rpy="-1.5707963267949 0 0"
+    axis_xyz="-0.0179350762557234 0 -0.999839153584066"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 右臂1关节 -->
+  <xacro:generic_joint 
+    joint_name="right_arm1_joint"
+    type="revolute"
+    parent="right_shoulder_link"
+    child="right_arm1_link"
+    origin_xyz="0.040338077059205 -0.000769030026202884 0.046784058560075"
+    origin_rpy="-0.826482123984997 0 0"
+    axis_xyz="0.999649642897155 0 -0.0264686882106157"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 右臂2关节 -->
+  <xacro:generic_joint 
+    joint_name="right_arm2_joint"
+    type="revolute"
+    parent="right_arm1_link"
+    child="right_arm2_link"
+    origin_xyz="0.00854070115695219 0.120366284301785 0.133656328091823"
+    origin_rpy="-3.14159265358977 0 0"
+    axis_xyz="-0.999649642897155 0 -0.0264686882106164"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 左腿2关节 -->
+  <xacro:generic_joint 
+    joint_name="left_leg2_joint"
+    type="revolute"
+    parent="base_link"
+    child="left_leg2_link"
+    origin_xyz="-0.092811 -0.14333 0.032022"
+    origin_rpy="1.5708 0.523 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 左轮2关节 -->
+  <xacro:generic_joint 
+    joint_name="left_wheel2_joint"
+    type="revolute"
+    parent="left_leg2_link"
+    child="left_wheel2_link"
+    origin_xyz="-0.010549 -0.41781 -0.01244"
+    origin_rpy="3.0805 0 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 右腿2关节 -->
+  <xacro:generic_joint 
+    joint_name="right_leg2_joint"
+    type="revolute"
+    parent="base_link"
+    child="right_leg2_link"
+    origin_xyz="-0.092614 0.14333 0.032015"
+    origin_rpy="1.6319 0.523 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 右轮2关节 -->
+  <xacro:generic_joint 
+    joint_name="right_wheel2_joint"
+    type="revolute"
+    parent="right_leg2_link"
+    child="right_wheel2_link"
+    origin_xyz="-0.021629 -0.41584 0.037923"
+    origin_rpy="0 0 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- <link name="world">
+    <inertial>
+      <mass value="0.0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0"
+               iyy="0.0" iyz="0.0"
+               izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="base_link_to_world_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" /> 
+    <parent link="world" /> 
+    <child link="base_link" /> 
+  </joint> -->
+
+  <xacro:include filename="$(find hive_core_r0)/urdf/hiveBot1/bot1_ros2_control.xacro" />
+  <xacro:bot1_ros2_control />
+
+</robot>
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/base_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/base_link.STL
new file mode 100644
index 0000000..6620875
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/base_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_arm1_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_arm1_link.STL
new file mode 100644
index 0000000..ce72a37
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_arm1_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_arm2_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_arm2_link.STL
new file mode 100644
index 0000000..2f27263
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_arm2_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_leg1_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_leg1_link.STL
new file mode 100644
index 0000000..aaa8c35
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_leg1_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_leg2_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_leg2_link.STL
new file mode 100644
index 0000000..50f0fa8
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_leg2_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_shoulder_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_shoulder_link.STL
new file mode 100644
index 0000000..309546c
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_shoulder_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_wheel1_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_wheel1_link.STL
new file mode 100644
index 0000000..b222877
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_wheel1_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_wheel2_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_wheel2_link.STL
new file mode 100644
index 0000000..3c9e7ca
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/left_wheel2_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/pitch_body_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/pitch_body_link.STL
new file mode 100644
index 0000000..1470a0d
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/pitch_body_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_arm1_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_arm1_link.STL
new file mode 100644
index 0000000..ddfb601
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_arm1_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_arm2_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_arm2_link.STL
new file mode 100644
index 0000000..d297888
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_arm2_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_leg1_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_leg1_link.STL
new file mode 100644
index 0000000..8c315a2
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_leg1_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_leg2_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_leg2_link.STL
new file mode 100644
index 0000000..4167159
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_leg2_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_shoulder_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_shoulder_link.STL
new file mode 100644
index 0000000..8028fd5
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_shoulder_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_wheel1_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_wheel1_link.STL
new file mode 100644
index 0000000..ea103d7
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_wheel1_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_wheel2_link.STL b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_wheel2_link.STL
new file mode 100644
index 0000000..742fe00
Binary files /dev/null and b/HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/meshes/right_wheel2_link.STL differ
diff --git a/HiveCoreR0/src/hive_core_r0/world/bot0.world b/HiveCoreR0/src/hive_core_r0/world/bot0.world
new file mode 100644
index 0000000..1c21c77
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/world/bot0.world
@@ -0,0 +1,324 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <audio>
+      <device>default</device>
+    </audio>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='table'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='surface'>
+          <pose>0 0 1 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.5 0.8 0.03</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.6</mu>
+                <mu2>0.6</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual1'>
+          <pose>0 0 1 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.5 0.8 0.03</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='front_left_leg_collision'>
+          <pose>0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='front_left_leg_visual'>
+          <pose>0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='front_right_leg_collision'>
+          <pose>0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='front_right_leg_visual'>
+          <pose>0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='back_right_leg_collision'>
+          <pose>-0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='back_right_leg_visual'>
+          <pose>-0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='back_left_leg_collision'>
+          <pose>-0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='back_left_leg_visual'>
+          <pose>-0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-0.772768 -1.3242 0 0 -0 0</pose>
+    </model>
+    <state world_name='default'>
+      <sim_time>83 658000000</sim_time>
+      <real_time>83 738917407</real_time>
+      <wall_time>1753783232 542949961</wall_time>
+      <iterations>83658</iterations>
+      <model name='ground_plane'>
+        <pose>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='table'>
+        <pose>-0.772768 -1.3242 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose>-0.772768 -1.3242 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <light name='sun'>
+        <pose>0 0 10 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>4.75138 -5.25474 1.98471 0 0.275643 2.35619</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+  </world>
+</sdf>
diff --git a/HiveCoreR0/src/hive_core_r0/world/custom_room.world b/HiveCoreR0/src/hive_core_r0/world/custom_room.world
new file mode 100644
index 0000000..1a73ff2
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/world/custom_room.world
@@ -0,0 +1,2745 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link_0'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <audio>
+      <device>default</device>
+    </audio>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <state world_name='default'>
+      <sim_time>1435 337000000</sim_time>
+      <real_time>1463 259419335</real_time>
+      <wall_time>1684421669 225276651</wall_time>
+      <iterations>1435337</iterations>
+      <model name='bookshelf'>
+        <pose>7.91236 4.68506 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link_1'>
+          <pose>7.91236 4.68506 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='cabinet'>
+        <pose>-4.31975 4.20897 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='cabinet_bottom_plate'>
+          <pose>-4.31975 4.20897 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='cabinet_0'>
+        <pose>-5.63889 4.25649 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='cabinet_bottom_plate'>
+          <pose>-5.63889 4.25649 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='cabinet_1'>
+        <pose>-0.201253 -3.92041 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='cabinet_bottom_plate'>
+          <pose>-0.201253 -3.92041 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='cabinet_2'>
+        <pose>-0.211824 -5.1227 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='cabinet_bottom_plate'>
+          <pose>-0.211824 -5.1227 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='cabinet_3'>
+        <pose>-8.8359 -3.13197 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='cabinet_bottom_plate'>
+          <pose>-8.8359 -3.13197 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='cabinet_4'>
+        <pose>-7.80202 -3.07286 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='cabinet_bottom_plate'>
+          <pose>-7.80202 -3.07286 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='cafe_table'>
+        <pose>-4.89593 2.8545 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link_2'>
+          <pose>-4.89593 2.8545 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='cafe_table_0'>
+        <pose>3.54156 1.36869 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link_3'>
+          <pose>3.54156 1.36869 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='cafe_table_1'>
+        <pose>4.46016 1.36814 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link_4'>
+          <pose>4.46016 1.36814 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='ground_plane'>
+        <pose>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link_5'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='room'>
+        <pose>-0.972666 -0.903877 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='Wall_66'>
+          <pose>-0.958745 4.60567 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_67'>
+          <pose>8.46625 -0.944332 0 0 0 -1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_68'>
+          <pose>-0.958745 -6.49434 0 0 -0 3.14159</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_69'>
+          <pose>-10.3837 -0.944332 0 0 -0 1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_71'>
+          <pose>-2.09036 2.38658 0 0 0 -1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_72'>
+          <pose>-5.39036 0.086579 0 0 -0 3.14159</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_79'>
+          <pose>-0.580882 -4.77187 0 0 -0 1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_80'>
+          <pose>3.09411 -3.14872 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_85'>
+          <pose>-7.36159 -2.71357 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_86'>
+          <pose>-4.31159 -4.01357 0 0 0 -1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box'>
+        <pose>-0.958121 2.77839 0.5 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link_6'>
+          <pose>-0.958121 2.77839 0.5 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>-0.004709 -9.78112 9.78158 0.712677 -0.009414 -4.3e-05</acceleration>
+          <wrench>-0.004709 -9.78112 9.78158 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_cylinder'>
+        <pose>-0.961048 0.717233 0.499993 -3e-06 -4e-06 -0</pose>
+        <scale>1 1 1</scale>
+        <link name='link_7'>
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+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 -9.8 0 -0 0</acceleration>
+          <wrench>0 0 -9.8 0 -0 0</wrench>
+        </link>
+      </model>
+      <light name='sun'>
+        <pose>0 0 10 0 -0 0</pose>
+      </light>
+    </state>
+    <model name='room'>
+      <pose>-0.972666 -0.903877 0 0 -0 0</pose>
+      <link name='Wall_66'>
+        <collision name='Wall_66_Collision'>
+          <geometry>
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+          <pose>0 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
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+          <pose>0 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>19 0.15 2.5</size>
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+          <material>
+            <script>
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+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
+          <pose>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
+          <pose>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
+          <pose>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-5.63889 4.25649 0 0 -0 0</pose>
+    </model>
+    <model name='cabinet_1'>
+      <static>1</static>
+      <link name='cabinet_bottom_plate'>
+        <inertial>
+          <pose>0 0 -1 0 -0 0</pose>
+          <inertia>
+            <ixx>2.05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>2.05</iyy>
+            <iyz>0</iyz>
+            <izz>2.05</izz>
+          </inertia>
+          <mass>25</mass>
+        </inertial>
+        <collision name='cabinet_bottom_plate_geom'>
+          <pose>0 0 0.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_visual'>
+          <pose>0 0 0.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_back_plate'>
+          <pose>0.235 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.02 0.45 1.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_back_plate_visual'>
+          <pose>0.235 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.02 0.45 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
+          <pose>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_left_plate_visual'>
+          <pose>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
+          <pose>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
+          <pose>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
+          <pose>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
+          <pose>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
+          <pose>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
+          <pose>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-0.201253 -3.92041 0 0 -0 0</pose>
+    </model>
+    <model name='cabinet_2'>
+      <static>1</static>
+      <link name='cabinet_bottom_plate'>
+        <inertial>
+          <pose>0 0 -1 0 -0 0</pose>
+          <inertia>
+            <ixx>2.05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>2.05</iyy>
+            <iyz>0</iyz>
+            <izz>2.05</izz>
+          </inertia>
+          <mass>25</mass>
+        </inertial>
+        <collision name='cabinet_bottom_plate_geom'>
+          <pose>0 0 0.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_visual'>
+          <pose>0 0 0.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_back_plate'>
+          <pose>0.235 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.02 0.45 1.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_back_plate_visual'>
+          <pose>0.235 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.02 0.45 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
+          <pose>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_left_plate_visual'>
+          <pose>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
+          <pose>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
+          <pose>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
+          <pose>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
+          <pose>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
+          <pose>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
+          <pose>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-0.211824 -5.1227 0 0 -0 0</pose>
+    </model>
+    <model name='cabinet_3'>
+      <static>1</static>
+      <link name='cabinet_bottom_plate'>
+        <inertial>
+          <pose>0 0 -1 0 -0 0</pose>
+          <inertia>
+            <ixx>2.05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>2.05</iyy>
+            <iyz>0</iyz>
+            <izz>2.05</izz>
+          </inertia>
+          <mass>25</mass>
+        </inertial>
+        <collision name='cabinet_bottom_plate_geom'>
+          <pose>0 0 0.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_visual'>
+          <pose>0 0 0.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_back_plate'>
+          <pose>0.235 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.02 0.45 1.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_back_plate_visual'>
+          <pose>0.235 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.02 0.45 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
+          <pose>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_left_plate_visual'>
+          <pose>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
+          <pose>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
+          <pose>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
+          <pose>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
+          <pose>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
+          <pose>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
+          <pose>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-8.8359 -3.13197 0 0 -0 0</pose>
+    </model>
+    <model name='cabinet_4'>
+      <static>1</static>
+      <link name='cabinet_bottom_plate'>
+        <inertial>
+          <pose>0 0 -1 0 -0 0</pose>
+          <inertia>
+            <ixx>2.05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>2.05</iyy>
+            <iyz>0</iyz>
+            <izz>2.05</izz>
+          </inertia>
+          <mass>25</mass>
+        </inertial>
+        <collision name='cabinet_bottom_plate_geom'>
+          <pose>0 0 0.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_visual'>
+          <pose>0 0 0.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_back_plate'>
+          <pose>0.235 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.02 0.45 1.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_back_plate_visual'>
+          <pose>0.235 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.02 0.45 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
+          <pose>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_left_plate_visual'>
+          <pose>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
+          <pose>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
+          <pose>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
+          <pose>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
+          <pose>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
+          <pose>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
+          <pose>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-7.80202 -3.07286 0 0 -0 0</pose>
+    </model>
+    <model name='cafe_table'>
+      <static>1</static>
+      <link name='link_9'>
+        <collision name='surface'>
+          <pose>0 0 0.755 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.913 0.913 0.04</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <collision name='column'>
+          <pose>0 0 0.37 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.042 0.042 0.74</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <collision name='base'>
+          <pose>0 0 0.02 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.56 0.56 0.04</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://cafe_table/meshes/cafe_table.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-4.89593 2.8545 0 0 -0 0</pose>
+    </model>
+    <model name='cafe_table_0'>
+      <static>1</static>
+      <link name='link_10'>
+        <collision name='surface'>
+          <pose>0 0 0.755 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.913 0.913 0.04</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <collision name='column'>
+          <pose>0 0 0.37 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.042 0.042 0.74</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <collision name='base'>
+          <pose>0 0 0.02 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.56 0.56 0.04</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://cafe_table/meshes/cafe_table.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>3.54156 1.36869 0 0 -0 0</pose>
+    </model>
+    <model name='cafe_table_1'>
+      <static>1</static>
+      <link name='link_11'>
+        <collision name='surface'>
+          <pose>0 0 0.755 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.913 0.913 0.04</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <collision name='column'>
+          <pose>0 0 0.37 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.042 0.042 0.74</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <collision name='base'>
+          <pose>0 0 0.02 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.56 0.56 0.04</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://cafe_table/meshes/cafe_table.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>4.46016 1.36814 0 0 -0 0</pose>
+    </model>
+    <model name='unit_cylinder'>
+      <pose>-0.961046 0.717231 0.5 0 -0 0</pose>
+      <link name='link_12'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.145833</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.145833</iyy>
+            <iyz>0</iyz>
+            <izz>0.125</izz>
+          </inertia>
+          <pose>0 0 0 0 -0 0</pose>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <model name='unit_box'>
+      <pose>-0.958121 2.77839 0.5 0 -0 0</pose>
+      <link name='link_13'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.166667</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.166667</iyy>
+            <iyz>0</iyz>
+            <izz>0.166667</izz>
+          </inertia>
+          <pose>0 0 0 0 -0 0</pose>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>-0.170626 -11.744 24.2897 0 1.1458 1.5962</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+  </world>
+</sdf>
diff --git a/HiveCoreR0/src/hive_core_r0/world/empty.world b/HiveCoreR0/src/hive_core_r0/world/empty.world
new file mode 100644
index 0000000..4e6a8aa
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/world/empty.world
@@ -0,0 +1,116 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <kp>1e6</kp>  <!-- 地面刚度可稍大于轮子 -->
+                <kd>5e4</kd>
+                <mu1>1000.0</mu1>
+                <mu2>1000.0</mu2>
+              </ode>
+            </contact>
+            <bounce>
+              <restitution_coefficient>0.0</restitution_coefficient>
+            </bounce>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <audio>
+      <device>default</device>
+    </audio>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <state world_name='default'>
+      <sim_time>94 268000000</sim_time>
+      <real_time>94 323810591</real_time>
+      <wall_time>1753965160 659575744</wall_time>
+      <iterations>94268</iterations>
+      <model name='ground_plane'>
+        <pose>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <light name='sun'>
+        <pose>0 0 10 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>5 -5 2 0 0.275643 2.35619</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+  </world>
+</sdf>
diff --git a/HiveCoreR0/src/hive_core_r0/world/room/model.config b/HiveCoreR0/src/hive_core_r0/world/room/model.config
new file mode 100644
index 0000000..6222143
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/world/room/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>room</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/HiveCoreR0/src/hive_core_r0/world/room/model.sdf b/HiveCoreR0/src/hive_core_r0/world/room/model.sdf
new file mode 100644
index 0000000..d499393
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/world/room/model.sdf
@@ -0,0 +1,297 @@
+<?xml version='1.0'?>
+<sdf version='1.7'>
+  <model name='room'>
+    <pose>-0.972666 -0.903877 0 0 -0 0</pose>
+    <link name='Wall_66'>
+      <collision name='Wall_66_Collision'>
+        <geometry>
+          <box>
+            <size>19 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_66_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>19 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>0.013921 5.50955 0 0 -0 0</pose>
+    </link>
+    <link name='Wall_67'>
+      <collision name='Wall_67_Collision'>
+        <geometry>
+          <box>
+            <size>11.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_67_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>11.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>9.43892 -0.040455 0 0 -0 -1.5708</pose>
+    </link>
+    <link name='Wall_68'>
+      <collision name='Wall_68_Collision'>
+        <geometry>
+          <box>
+            <size>19 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_68_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>19 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>0.013921 -5.59046 0 0 -0 3.14159</pose>
+    </link>
+    <link name='Wall_69'>
+      <collision name='Wall_69_Collision'>
+        <geometry>
+          <box>
+            <size>11.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_69_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>11.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-9.41108 -0.040455 0 0 -0 1.5708</pose>
+    </link>
+    <link name='Wall_71'>
+      <collision name='Wall_71_Collision'>
+        <geometry>
+          <box>
+            <size>4.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_71_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-1.11769 3.29046 0 0 -0 -1.5708</pose>
+    </link>
+    <link name='Wall_72'>
+      <collision name='Wall_72_Collision'>
+        <geometry>
+          <box>
+            <size>6.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_72_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>6.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-4.41769 0.990456 0 0 -0 3.14159</pose>
+    </link>
+    <link name='Wall_79'>
+      <collision name='Wall_79_Collision'>
+        <geometry>
+          <box>
+            <size>3.47722 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_79_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>3.47722 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>0.391784 -3.86799 0 0 -0 1.5708</pose>
+    </link>
+    <link name='Wall_80'>
+      <collision name='Wall_80_Collision'>
+        <geometry>
+          <box>
+            <size>7.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_80_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>7.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>4.06678 -2.24484 0 0 -0 0</pose>
+    </link>
+    <link name='Wall_85'>
+      <collision name='Wall_85_Collision'>
+        <geometry>
+          <box>
+            <size>6.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_85_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>6.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-6.38892 -1.80969 0 0 -0 0</pose>
+    </link>
+    <link name='Wall_86'>
+      <collision name='Wall_86_Collision'>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_86_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-3.33892 -3.10969 0 0 -0 -1.5708</pose>
+    </link>
+    <static>1</static>
+  </model>
+</sdf>
diff --git a/HiveCoreR0/src/hive_core_r0/world/table.world b/HiveCoreR0/src/hive_core_r0/world/table.world
new file mode 100644
index 0000000..0c21f92
--- /dev/null
+++ b/HiveCoreR0/src/hive_core_r0/world/table.world
@@ -0,0 +1,321 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link_0'>
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <kp>1e6</kp>  <!-- 地面刚度可稍大于轮子 -->
+                <kd>5e4</kd>
+                <mu1>10.0</mu1>
+                <mu2>10.0</mu2>
+              </ode>
+            </contact>
+            <bounce>
+              <restitution_coefficient>0.0</restitution_coefficient>
+            </bounce>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <audio>
+      <device>default</device>
+    </audio>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='table'>
+      <static>1</static>
+      <link name='link_1'>
+        <collision name='surface'>
+          <pose>0 0 1 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.5 0.8 0.03</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.6</mu>
+                <mu2>0.6</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual1'>
+          <pose>0 0 1 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.5 0.8 0.03</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='front_left_leg_collision'>
+          <pose>0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='front_left_leg_visual'>
+          <pose>0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='front_right_leg_collision'>
+          <pose>0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='front_right_leg_visual'>
+          <pose>0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='back_right_leg_collision'>
+          <pose>-0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='back_right_leg_visual'>
+          <pose>-0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='back_left_leg_collision'>
+          <pose>-0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='back_left_leg_visual'>
+          <pose>-0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>0.726316 -1.21623 0 0 -0 0</pose>
+    </model>
+    <state world_name='default'>
+      <sim_time>56 645000000</sim_time>
+      <real_time>56 704774179</real_time>
+      <wall_time>1753436842 65734558</wall_time>
+      <iterations>56645</iterations>
+      <model name='ground_plane'>
+        <pose>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link_0'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='table'>
+        <pose>0.726316 -1.21623 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link_1'>
+          <pose>0.726316 -1.21623 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <light name='sun'>
+        <pose>0 0 10 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>4.85069 0.30326 2.30729 0 0.443643 -2.92699</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+  </world>
+</sdf>
diff --git a/HiveCoreR2/build/.built_by b/HiveCoreR2/build/.built_by
new file mode 100644
index 0000000..06e74ac
--- /dev/null
+++ b/HiveCoreR2/build/.built_by
@@ -0,0 +1 @@
+colcon
diff --git a/HiveCoreR2/build/COLCON_IGNORE b/HiveCoreR2/build/COLCON_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/HiveCoreR2/build/hive_core_r2/.cmake/api/v1/query/client-colcon-cmake/codemodel-v2 b/HiveCoreR2/build/hive_core_r2/.cmake/api/v1/query/client-colcon-cmake/codemodel-v2
new file mode 100644
index 0000000..e69de29
diff --git a/HiveCoreR2/build/hive_core_r2/.cmake/api/v1/reply/codemodel-v2-d8ef4385edeb776893cb.json b/HiveCoreR2/build/hive_core_r2/.cmake/api/v1/reply/codemodel-v2-d8ef4385edeb776893cb.json
new file mode 100644
index 0000000..fd373e6
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/.cmake/api/v1/reply/codemodel-v2-d8ef4385edeb776893cb.json
@@ -0,0 +1,70 @@
+{
+	"configurations" : 
+	[
+		{
+			"directories" : 
+			[
+				{
+					"build" : ".",
+					"hasInstallRule" : true,
+					"jsonFile" : "directory-.-33ecad7c80cdfc3dc696.json",
+					"minimumCMakeVersion" : 
+					{
+						"string" : "3.12"
+					},
+					"projectIndex" : 0,
+					"source" : ".",
+					"targetIndexes" : 
+					[
+						0,
+						1
+					]
+				}
+			],
+			"name" : "",
+			"projects" : 
+			[
+				{
+					"directoryIndexes" : 
+					[
+						0
+					],
+					"name" : "hive_core_r2",
+					"targetIndexes" : 
+					[
+						0,
+						1
+					]
+				}
+			],
+			"targets" : 
+			[
+				{
+					"directoryIndex" : 0,
+					"id" : "hive_core_r2_uninstall::@6890427a1f51a3e7e1df",
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new file mode 100644
index 0000000..62581f7
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+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+   /* __SUNPRO_C = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+  /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc     % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+  /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER         % 10000)
+
+#elif defined(__IBMC__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__open_xl__) && defined(__clang__)
+# define COMPILER_ID "IBMClang"
+# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__)
+# define COMPILER_VERSION_MINOR DEC(__open_xl_release__)
+# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__)
+# define COMPILER_VERSION_INTERNAL_STR  __clang_version__
+
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__) && defined(__cray__)
+# define COMPILER_ID "CrayClang"
+# define COMPILER_VERSION_MAJOR DEC(__cray_major__)
+# define COMPILER_VERSION_MINOR DEC(__cray_minor__)
+# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TASKING__)
+# define COMPILER_ID "Tasking"
+  # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000)
+  # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__VERSION__)
+
+#elif defined(__ORANGEC__)
+# define COMPILER_ID "OrangeC"
+# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__)
+# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__)
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100   % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__) && defined(__ti__)
+# define COMPILER_ID "TIClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ti_major__)
+  # define COMPILER_VERSION_MINOR DEC(__ti_minor__)
+  # define COMPILER_VERSION_PATCH DEC(__ti_patchlevel__)
+# define COMPILER_VERSION_INTERNAL DEC(__ti_version__)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
+# define COMPILER_ID "LCC"
+# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100)
+# if defined(__LCC_MINOR__)
+#  define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
+# endif
+# if defined(__GNUC__) && defined(__GNUC_MINOR__)
+#  define SIMULATE_ID "GNU"
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#  if defined(__GNUC_PATCHLEVEL__)
+#   define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#  endif
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(_ADI_COMPILER)
+# define COMPILER_ID "ADSP"
+#if defined(__VERSIONNUM__)
+  /* __VERSIONNUM__ = 0xVVRRPPTT */
+#  define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
+#  define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
+#  define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
+#  define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+# elif defined(_ADI_COMPILER)
+#  define PLATFORM_ID "ADSP"
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__clang__) && defined(__ti__)
+# if defined(__ARM_ARCH)
+#  define ARCHITECTURE_ID "ARM"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+# elif defined(__ADSPSHARC__)
+#  define ARCHITECTURE_ID "SHARC"
+
+# elif defined(__ADSPBLACKFIN__)
+#  define ARCHITECTURE_ID "Blackfin"
+
+#elif defined(__TASKING__)
+
+# if defined(__CTC__) || defined(__CPTC__)
+#  define ARCHITECTURE_ID "TriCore"
+
+# elif defined(__CMCS__)
+#  define ARCHITECTURE_ID "MCS"
+
+# elif defined(__CARM__) || defined(__CPARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__CARC__)
+#  define ARCHITECTURE_ID "ARC"
+
+# elif defined(__C51__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__CPCP__)
+#  define ARCHITECTURE_ID "PCP"
+
+# else
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#define C_STD_99 199901L
+#define C_STD_11 201112L
+#define C_STD_17 201710L
+#define C_STD_23 202311L
+
+#ifdef __STDC_VERSION__
+#  define C_STD __STDC_VERSION__
+#endif
+
+#if !defined(__STDC__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+#  define C_VERSION "90"
+# else
+#  define C_VERSION
+# endif
+#elif C_STD > C_STD_17
+# define C_VERSION "23"
+#elif C_STD > C_STD_11
+# define C_VERSION "17"
+#elif C_STD > C_STD_99
+# define C_VERSION "11"
+#elif C_STD >= C_STD_99
+# define C_VERSION "99"
+#else
+# define C_VERSION "90"
+#endif
+const char* info_language_standard_default =
+  "INFO" ":" "standard_default[" C_VERSION "]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) ||           \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#if defined(COMPILER_VERSION_INTERNAL) || defined(COMPILER_VERSION_INTERNAL_STR)
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/HiveCoreR2/build/hive_core_r2/CMakeFiles/4.0.3/CompilerIdC/a.out b/HiveCoreR2/build/hive_core_r2/CMakeFiles/4.0.3/CompilerIdC/a.out
new file mode 100755
index 0000000..c786756
Binary files /dev/null and b/HiveCoreR2/build/hive_core_r2/CMakeFiles/4.0.3/CompilerIdC/a.out differ
diff --git a/HiveCoreR2/build/hive_core_r2/CMakeFiles/4.0.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/HiveCoreR2/build/hive_core_r2/CMakeFiles/4.0.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..94d4310
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/CMakeFiles/4.0.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,920 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+#if !defined(__has_include)
+/* If the compiler does not have __has_include, pretend the answer is
+   always no.  */
+#  define __has_include(x) 0
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later,
+     except that a few beta releases use the old format with V=2021.  */
+# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+#  if defined(__INTEL_COMPILER_UPDATE)
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+#  else
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+#  endif
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
+   /* The third version component from --version is an update index,
+      but no macro is provided for it.  */
+#  define COMPILER_VERSION_PATCH DEC(0)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+   /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__open_xl__) && defined(__clang__)
+# define COMPILER_ID "IBMClang"
+# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__)
+# define COMPILER_VERSION_MINOR DEC(__open_xl_release__)
+# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__)
+# define COMPILER_VERSION_INTERNAL_STR  __clang_version__
+
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__) && defined(__cray__)
+# define COMPILER_ID "CrayClang"
+# define COMPILER_VERSION_MAJOR DEC(__cray_major__)
+# define COMPILER_VERSION_MINOR DEC(__cray_minor__)
+# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TASKING__)
+# define COMPILER_ID "Tasking"
+  # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000)
+  # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__VERSION__)
+
+#elif defined(__ORANGEC__)
+# define COMPILER_ID "OrangeC"
+# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__)
+# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100   % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__) && defined(__ti__)
+# define COMPILER_ID "TIClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ti_major__)
+  # define COMPILER_VERSION_MINOR DEC(__ti_minor__)
+  # define COMPILER_VERSION_PATCH DEC(__ti_patchlevel__)
+# define COMPILER_VERSION_INTERNAL DEC(__ti_version__)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
+# define COMPILER_ID "LCC"
+# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100)
+# if defined(__LCC_MINOR__)
+#  define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
+# endif
+# if defined(__GNUC__) && defined(__GNUC_MINOR__)
+#  define SIMULATE_ID "GNU"
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#  if defined(__GNUC_PATCHLEVEL__)
+#   define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#  endif
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(_ADI_COMPILER)
+# define COMPILER_ID "ADSP"
+#if defined(__VERSIONNUM__)
+  /* __VERSIONNUM__ = 0xVVRRPPTT */
+#  define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
+#  define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
+#  define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
+#  define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+# elif defined(_ADI_COMPILER)
+#  define PLATFORM_ID "ADSP"
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__clang__) && defined(__ti__)
+# if defined(__ARM_ARCH)
+#  define ARCHITECTURE_ID "ARM"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+# elif defined(__ADSPSHARC__)
+#  define ARCHITECTURE_ID "SHARC"
+
+# elif defined(__ADSPBLACKFIN__)
+#  define ARCHITECTURE_ID "Blackfin"
+
+#elif defined(__TASKING__)
+
+# if defined(__CTC__) || defined(__CPTC__)
+#  define ARCHITECTURE_ID "TriCore"
+
+# elif defined(__CMCS__)
+#  define ARCHITECTURE_ID "MCS"
+
+# elif defined(__CARM__) || defined(__CPARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__CARC__)
+#  define ARCHITECTURE_ID "ARC"
+
+# elif defined(__C51__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__CPCP__)
+#  define ARCHITECTURE_ID "PCP"
+
+# else
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#define CXX_STD_98 199711L
+#define CXX_STD_11 201103L
+#define CXX_STD_14 201402L
+#define CXX_STD_17 201703L
+#define CXX_STD_20 202002L
+#define CXX_STD_23 202302L
+
+#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG)
+#  if _MSVC_LANG > CXX_STD_17
+#    define CXX_STD _MSVC_LANG
+#  elif _MSVC_LANG == CXX_STD_17 && defined(__cpp_aggregate_paren_init)
+#    define CXX_STD CXX_STD_20
+#  elif _MSVC_LANG > CXX_STD_14 && __cplusplus > CXX_STD_17
+#    define CXX_STD CXX_STD_20
+#  elif _MSVC_LANG > CXX_STD_14
+#    define CXX_STD CXX_STD_17
+#  elif defined(__INTEL_CXX11_MODE__) && defined(__cpp_aggregate_nsdmi)
+#    define CXX_STD CXX_STD_14
+#  elif defined(__INTEL_CXX11_MODE__)
+#    define CXX_STD CXX_STD_11
+#  else
+#    define CXX_STD CXX_STD_98
+#  endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+#  if _MSVC_LANG > __cplusplus
+#    define CXX_STD _MSVC_LANG
+#  else
+#    define CXX_STD __cplusplus
+#  endif
+#elif defined(__NVCOMPILER)
+#  if __cplusplus == CXX_STD_17 && defined(__cpp_aggregate_paren_init)
+#    define CXX_STD CXX_STD_20
+#  else
+#    define CXX_STD __cplusplus
+#  endif
+#elif defined(__INTEL_COMPILER) || defined(__PGI)
+#  if __cplusplus == CXX_STD_11 && defined(__cpp_namespace_attributes)
+#    define CXX_STD CXX_STD_17
+#  elif __cplusplus == CXX_STD_11 && defined(__cpp_aggregate_nsdmi)
+#    define CXX_STD CXX_STD_14
+#  else
+#    define CXX_STD __cplusplus
+#  endif
+#elif (defined(__IBMCPP__) || defined(__ibmxl__)) && defined(__linux__)
+#  if __cplusplus == CXX_STD_11 && defined(__cpp_aggregate_nsdmi)
+#    define CXX_STD CXX_STD_14
+#  else
+#    define CXX_STD __cplusplus
+#  endif
+#elif __cplusplus == 1 && defined(__GXX_EXPERIMENTAL_CXX0X__)
+#  define CXX_STD CXX_STD_11
+#else
+#  define CXX_STD __cplusplus
+#endif
+
+const char* info_language_standard_default = "INFO" ":" "standard_default["
+#if CXX_STD > CXX_STD_23
+  "26"
+#elif CXX_STD > CXX_STD_20
+  "23"
+#elif CXX_STD > CXX_STD_17
+  "20"
+#elif CXX_STD > CXX_STD_14
+  "17"
+#elif CXX_STD > CXX_STD_11
+  "14"
+#elif CXX_STD >= CXX_STD_11
+  "11"
+#else
+  "98"
+#endif
+"]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) ||           \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#if defined(COMPILER_VERSION_INTERNAL) || defined(COMPILER_VERSION_INTERNAL_STR)
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
diff --git a/HiveCoreR2/build/hive_core_r2/CMakeFiles/4.0.3/CompilerIdCXX/a.out b/HiveCoreR2/build/hive_core_r2/CMakeFiles/4.0.3/CompilerIdCXX/a.out
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new file mode 100644
index 0000000..facde75
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/CMakeFiles/CMakeConfigureLog.yaml
@@ -0,0 +1,578 @@
+
+---
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+  -
+    kind: "message-v1"
+    backtrace:
+      - "/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/share/cmake-4.0/Modules/CMakeDetermineSystem.cmake:205 (message)"
+      - "CMakeLists.txt:2 (project)"
+    message: |
+      The system is: Linux - 6.8.0-64-generic - x86_64
+  -
+    kind: "message-v1"
+    backtrace:
+      - "/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
+      - "/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
+      - "/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/share/cmake-4.0/Modules/CMakeDetermineCCompiler.cmake:123 (CMAKE_DETERMINE_COMPILER_ID)"
+      - "CMakeLists.txt:2 (project)"
+    message: |
+      Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
+      Compiler: /usr/bin/cc 
+      Build flags: 
+      Id flags:  
+      
+      The output was:
+      0
+      
+      
+      Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "a.out"
+      
+      The C compiler identification is GNU, found in:
+        /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/CMakeFiles/4.0.3/CompilerIdC/a.out
+      
+  -
+    kind: "message-v1"
+    backtrace:
+      - "/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
+      - "/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
+      - "/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/share/cmake-4.0/Modules/CMakeDetermineCXXCompiler.cmake:126 (CMAKE_DETERMINE_COMPILER_ID)"
+      - "CMakeLists.txt:2 (project)"
+    message: |
+      Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded.
+      Compiler: /usr/bin/c++ 
+      Build flags: 
+      Id flags:  
+      
+      The output was:
+      0
+      
+      
+      Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "a.out"
+      
+      The CXX compiler identification is GNU, found in:
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+      
+  -
+    kind: "try_compile-v1"
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diff --git a/HiveCoreR2/build/hive_core_r2/CMakeFiles/uninstall.dir/progress.make b/HiveCoreR2/build/hive_core_r2/CMakeFiles/uninstall.dir/progress.make
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diff --git a/HiveCoreR2/build/hive_core_r2/CTestConfiguration.ini b/HiveCoreR2/build/hive_core_r2/CTestConfiguration.ini
new file mode 100644
index 0000000..806338c
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/CTestConfiguration.ini
@@ -0,0 +1,109 @@
+# This file is configured by CMake automatically as DartConfiguration.tcl
+# If you choose not to use CMake, this file may be hand configured, by
+# filling in the required variables.
+
+
+# Configuration directories and files
+SourceDirectory: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2
+BuildDirectory: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+
+# Where to place the cost data store
+CostDataFile: 
+
+# Site is something like machine.domain, i.e. pragmatic.crd
+Site: hivecore-Precision-3680
+
+# Build name is osname-revision-compiler, i.e. Linux-2.4.2-2smp-c++
+BuildName: 
+
+# Subprojects
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+
+# Dashboard start time
+NightlyStartTime: 
+
+# Commands for the build/test/submit cycle
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+MakeCommand: 
+DefaultCTestConfigurationType: 
+
+# version control
+UpdateVersionOnly: 
+
+# CVS options
+# Default is "-d -P -A"
+CVSCommand: 
+CVSUpdateOptions: 
+
+# Subversion options
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+SVNOptions: 
+SVNUpdateOptions: 
+
+# Git options
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+GITInitSubmodules: 
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+# Perforce options
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+MemoryCheckSanitizerOptions: 
+MemoryCheckCommand: 
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+MemoryCheckSuppressionFile: 
+
+# Coverage
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+
+# Testing options
+# TimeOut is the amount of time in seconds to wait for processes
+# to complete during testing.  After TimeOut seconds, the
+# process will be summarily terminated.
+# Currently set to 25 minutes
+TimeOut: 
+
+# During parallel testing CTest will not start a new test if doing
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+# warning, if you add new options here that have to do with submit,
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+
+# For CTest submissions that timeout, these options
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new file mode 100644
index 0000000..14956f3
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/CTestCustom.cmake
@@ -0,0 +1,2 @@
+set(CTEST_CUSTOM_MAXIMUM_PASSED_TEST_OUTPUT_SIZE 0)
+set(CTEST_CUSTOM_MAXIMUM_FAILED_TEST_OUTPUT_SIZE 0)
diff --git a/HiveCoreR2/build/hive_core_r2/CTestTestfile.cmake b/HiveCoreR2/build/hive_core_r2/CTestTestfile.cmake
new file mode 100644
index 0000000..695bc16
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/CTestTestfile.cmake
@@ -0,0 +1,14 @@
+# CMake generated Testfile for 
+# Source directory: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2
+# Build directory: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+# 
+# This file includes the relevant testing commands required for 
+# testing this directory and lists subdirectories to be tested as well.
+add_test(flake8 "/usr/bin/python3" "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/test_results/hive_core_r2/flake8.xunit.xml" "--package-name" "hive_core_r2" "--output-file" "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_flake8/flake8.txt" "--command" "/opt/ros/humble/bin/ament_flake8" "--xunit-file" "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/test_results/hive_core_r2/flake8.xunit.xml")
+set_tests_properties(flake8 PROPERTIES  LABELS "flake8;linter" TIMEOUT "60" WORKING_DIRECTORY "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2" _BACKTRACE_TRIPLES "/opt/ros/humble/share/ament_cmake_test/cmake/ament_add_test.cmake;125;add_test;/opt/ros/humble/share/ament_cmake_flake8/cmake/ament_flake8.cmake;63;ament_add_test;/opt/ros/humble/share/ament_cmake_flake8/cmake/ament_cmake_flake8_lint_hook.cmake;18;ament_flake8;/opt/ros/humble/share/ament_cmake_flake8/cmake/ament_cmake_flake8_lint_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2/CMakeLists.txt;32;ament_package;/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2/CMakeLists.txt;0;")
+add_test(lint_cmake "/usr/bin/python3" "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/test_results/hive_core_r2/lint_cmake.xunit.xml" "--package-name" "hive_core_r2" "--output-file" "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_lint_cmake/lint_cmake.txt" "--command" "/opt/ros/humble/bin/ament_lint_cmake" "--xunit-file" "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/test_results/hive_core_r2/lint_cmake.xunit.xml")
+set_tests_properties(lint_cmake PROPERTIES  LABELS "lint_cmake;linter" TIMEOUT "60" WORKING_DIRECTORY "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2" _BACKTRACE_TRIPLES "/opt/ros/humble/share/ament_cmake_test/cmake/ament_add_test.cmake;125;add_test;/opt/ros/humble/share/ament_cmake_lint_cmake/cmake/ament_lint_cmake.cmake;47;ament_add_test;/opt/ros/humble/share/ament_cmake_lint_cmake/cmake/ament_cmake_lint_cmake_lint_hook.cmake;21;ament_lint_cmake;/opt/ros/humble/share/ament_cmake_lint_cmake/cmake/ament_cmake_lint_cmake_lint_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2/CMakeLists.txt;32;ament_package;/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2/CMakeLists.txt;0;")
+add_test(pep257 "/usr/bin/python3" "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/test_results/hive_core_r2/pep257.xunit.xml" "--package-name" "hive_core_r2" "--output-file" "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_pep257/pep257.txt" "--command" "/opt/ros/humble/bin/ament_pep257" "--xunit-file" "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/test_results/hive_core_r2/pep257.xunit.xml")
+set_tests_properties(pep257 PROPERTIES  LABELS "pep257;linter" TIMEOUT "60" WORKING_DIRECTORY "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2" _BACKTRACE_TRIPLES "/opt/ros/humble/share/ament_cmake_test/cmake/ament_add_test.cmake;125;add_test;/opt/ros/humble/share/ament_cmake_pep257/cmake/ament_pep257.cmake;41;ament_add_test;/opt/ros/humble/share/ament_cmake_pep257/cmake/ament_cmake_pep257_lint_hook.cmake;18;ament_pep257;/opt/ros/humble/share/ament_cmake_pep257/cmake/ament_cmake_pep257_lint_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2/CMakeLists.txt;32;ament_package;/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2/CMakeLists.txt;0;")
+add_test(xmllint "/usr/bin/python3" "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/test_results/hive_core_r2/xmllint.xunit.xml" "--package-name" "hive_core_r2" "--output-file" "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_xmllint/xmllint.txt" "--command" "/opt/ros/humble/bin/ament_xmllint" "--xunit-file" "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/test_results/hive_core_r2/xmllint.xunit.xml")
+set_tests_properties(xmllint PROPERTIES  LABELS "xmllint;linter" TIMEOUT "60" WORKING_DIRECTORY "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2" _BACKTRACE_TRIPLES "/opt/ros/humble/share/ament_cmake_test/cmake/ament_add_test.cmake;125;add_test;/opt/ros/humble/share/ament_cmake_xmllint/cmake/ament_xmllint.cmake;50;ament_add_test;/opt/ros/humble/share/ament_cmake_xmllint/cmake/ament_cmake_xmllint_lint_hook.cmake;18;ament_xmllint;/opt/ros/humble/share/ament_cmake_xmllint/cmake/ament_cmake_xmllint_lint_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2/CMakeLists.txt;32;ament_package;/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2/CMakeLists.txt;0;")
diff --git a/HiveCoreR2/build/hive_core_r2/Makefile b/HiveCoreR2/build/hive_core_r2/Makefile
new file mode 100644
index 0000000..d63b7bf
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/Makefile
@@ -0,0 +1,228 @@
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+# Generated by "Unix Makefiles" Generator, CMake Version 4.0
+
+# Default target executed when no arguments are given to make.
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+.PHONY : default_target
+
+# Allow only one "make -f Makefile2" at a time, but pass parallelism.
+.NOTPARALLEL:
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+#=============================================================================
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+% : %,v
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+# Disable VCS-based implicit rules.
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+
+# Disable VCS-based implicit rules.
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+
+# Command-line flag to silence nested $(MAKE).
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+
+#Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /home/hivecore/.local/lib/python3.10/site-packages/cmake/data/bin/cmake
+
+# The command to remove a file.
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+
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+	/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/bin/ctest $(ARGS)
+.PHONY : test
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+	/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
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+# Special rule for the target edit_cache
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+	@$(CMAKE_COMMAND) -E cmake_echo_color "--switch=$(COLOR)" --cyan "Install the project..."
+	/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/bin/cmake -P cmake_install.cmake
+.PHONY : install
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+# Special rule for the target install
+install/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color "--switch=$(COLOR)" --cyan "Install the project..."
+	/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/bin/cmake -P cmake_install.cmake
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+	/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local
+
+# Special rule for the target install/local
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+	@$(CMAKE_COMMAND) -E cmake_echo_color "--switch=$(COLOR)" --cyan "Installing only the local directory..."
+	/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
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+	@$(CMAKE_COMMAND) -E cmake_echo_color "--switch=$(COLOR)" --cyan "Installing the project stripped..."
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+.PHONY : install/strip
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+	@$(CMAKE_COMMAND) -E cmake_echo_color "--switch=$(COLOR)" --cyan "Installing the project stripped..."
+	/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
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+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
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+	@echo "... rebuild_cache"
+	@echo "... test"
+	@echo "... hive_core_r2_uninstall"
+	@echo "... uninstall"
+.PHONY : help
+
+
+
+#=============================================================================
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diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_core/hive_core_r2Config-version.cmake b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/hive_core_r2Config-version.cmake
new file mode 100644
index 0000000..7beb732
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/hive_core_r2Config-version.cmake
@@ -0,0 +1,14 @@
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+set(PACKAGE_VERSION "0.0.0")
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+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_core/hive_core_r2Config.cmake b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/hive_core_r2Config.cmake
new file mode 100644
index 0000000..585c3ff
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/hive_core_r2Config.cmake
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_hive_core_r2_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED hive_core_r2_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(hive_core_r2_FOUND FALSE)
+  elseif(NOT hive_core_r2_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(hive_core_r2_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_hive_core_r2_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT hive_core_r2_FIND_QUIETLY)
+  message(STATUS "Found hive_core_r2: 0.0.0 (${hive_core_r2_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'hive_core_r2' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${hive_core_r2_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(hive_core_r2_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "")
+foreach(_extra ${_extras})
+  include("${hive_core_r2_DIR}/${_extra}")
+endforeach()
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_core/package.cmake b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/package.cmake
new file mode 100644
index 0000000..05547f9
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/package.cmake
@@ -0,0 +1,14 @@
+set(_AMENT_PACKAGE_NAME "hive_core_r2")
+set(hive_core_r2_VERSION "0.0.0")
+set(hive_core_r2_MAINTAINER "hivecore <Ray@qq.com>")
+set(hive_core_r2_BUILD_DEPENDS )
+set(hive_core_r2_BUILDTOOL_DEPENDS "ament_cmake")
+set(hive_core_r2_BUILD_EXPORT_DEPENDS )
+set(hive_core_r2_BUILDTOOL_EXPORT_DEPENDS )
+set(hive_core_r2_EXEC_DEPENDS )
+set(hive_core_r2_TEST_DEPENDS "ament_lint_auto" "ament_lint_common")
+set(hive_core_r2_GROUP_DEPENDS )
+set(hive_core_r2_MEMBER_OF_GROUPS )
+set(hive_core_r2_DEPRECATED "")
+set(hive_core_r2_EXPORT_TAGS)
+list(APPEND hive_core_r2_EXPORT_TAGS "<build_type>ament_cmake</build_type>")
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
new file mode 100644
index 0000000..02e441b
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
new file mode 100644
index 0000000..ee49c9f
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "@PACKAGE_VERSION@")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
new file mode 100644
index 0000000..6fb3fe7
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_@PROJECT_NAME@_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED @PROJECT_NAME@_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(@PROJECT_NAME@_FOUND FALSE)
+  elseif(NOT @PROJECT_NAME@_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(@PROJECT_NAME@_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT @PROJECT_NAME@_FIND_QUIETLY)
+  message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "")
+  set(_msg "Package '@PROJECT_NAME@' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE")
+    set(_msg "${_msg} (@PACKAGE_DEPRECATED@)")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@")
+foreach(_extra ${_extras})
+  include("${@PROJECT_NAME@_DIR}/${_extra}")
+endforeach()
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/package.xml.stamp b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/package.xml.stamp
new file mode 100644
index 0000000..de099f8
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/package.xml.stamp
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>hive_core_r2</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="Ray@qq.com">hivecore</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
new file mode 100644
index 0000000..8be9894
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
@@ -0,0 +1,150 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+from collections import OrderedDict
+import os
+import sys
+
+from catkin_pkg.package import parse_package_string
+
+
+def main(argv=sys.argv[1:]):
+    """
+    Extract the information from package.xml and make them accessible to CMake.
+
+    Parse the given package.xml file and
+    print CMake code defining several variables containing the content.
+    """
+    parser = argparse.ArgumentParser(
+        description='Parse package.xml file and print CMake code defining '
+                    'several variables',
+    )
+    parser.add_argument(
+        'package_xml',
+        type=argparse.FileType('r', encoding='utf-8'),
+        help='The path to a package.xml file',
+    )
+    parser.add_argument(
+        'outfile',
+        nargs='?',
+        help='The filename where the output should be written to',
+    )
+    args = parser.parse_args(argv)
+
+    try:
+        package = parse_package_string(
+            args.package_xml.read(), filename=args.package_xml.name)
+    except Exception as e:
+        print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr)
+        raise e
+    finally:
+        args.package_xml.close()
+
+    lines = generate_cmake_code(package)
+    if args.outfile:
+        with open(args.outfile, 'w', encoding='utf-8') as f:
+            for line in lines:
+                f.write('%s\n' % line)
+    else:
+        for line in lines:
+            print(line)
+
+
+def get_dependency_values(key, depends):
+    dependencies = []
+
+    # Filter the dependencies, checking for any condition attributes
+    dependencies.append((key, ' '.join([
+        '"%s"' % str(d) for d in depends
+        if d.condition is None or d.evaluate_condition(os.environ)
+    ])))
+
+    for d in depends:
+        comparisons = [
+            'version_lt',
+            'version_lte',
+            'version_eq',
+            'version_gte',
+            'version_gt']
+        for comp in comparisons:
+            value = getattr(d, comp, None)
+            if value is not None:
+                dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()),
+                                     '"%s"' % value))
+    return dependencies
+
+
+def generate_cmake_code(package):
+    """
+    Return a list of CMake set() commands containing the manifest information.
+
+    :param package: catkin_pkg.package.Package
+    :returns: list of str
+    """
+    variables = []
+    variables.append(('VERSION', '"%s"' % package.version))
+
+    variables.append((
+        'MAINTAINER',
+        '"%s"' % (', '.join([str(m) for m in package.maintainers]))))
+
+    variables.extend(get_dependency_values('BUILD_DEPENDS',
+                                           package.build_depends))
+    variables.extend(get_dependency_values('BUILDTOOL_DEPENDS',
+                                           package.buildtool_depends))
+    variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS',
+                                           package.build_export_depends))
+    variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS',
+                                           package.buildtool_export_depends))
+    variables.extend(get_dependency_values('EXEC_DEPENDS',
+                                           package.exec_depends))
+    variables.extend(get_dependency_values('TEST_DEPENDS',
+                                           package.test_depends))
+    variables.extend(get_dependency_values('GROUP_DEPENDS',
+                                           package.group_depends))
+    variables.extend(get_dependency_values('MEMBER_OF_GROUPS',
+                                           package.member_of_groups))
+
+    deprecated = [e.content for e in package.exports
+                  if e.tagname == 'deprecated']
+    variables.append(('DEPRECATED',
+                      '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE')
+                                if deprecated
+                                else '')))
+
+    lines = []
+    lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name)
+    for (k, v) in variables:
+        lines.append('set(%s_%s %s)' % (package.name, k, v))
+
+    lines.append('set(%s_EXPORT_TAGS)' % package.name)
+    replaces = OrderedDict()
+    replaces['${prefix}/'] = ''
+    replaces['\\'] = '\\\\'  # escape backslashes
+    replaces['"'] = '\\"'  # prevent double quotes to end the CMake string
+    replaces[';'] = '\\;'  # prevent semicolons to be interpreted as list separators
+    for export in package.exports:
+        export = str(export)
+        for k, v in replaces.items():
+            export = export.replace(k, v)
+        lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export))
+
+    return lines
+
+
+if __name__ == '__main__':
+    main()
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/path.sh.stamp b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/path.sh.stamp
new file mode 100644
index 0000000..e59b749
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/path.sh.stamp
@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/templates_2_cmake.py.stamp
new file mode 100644
index 0000000..fb2fb47
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_core/stamps/templates_2_cmake.py.stamp
@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import os
+import sys
+
+from ament_package.templates import get_environment_hook_template_path
+from ament_package.templates import get_package_level_template_names
+from ament_package.templates import get_package_level_template_path
+from ament_package.templates import get_prefix_level_template_names
+from ament_package.templates import get_prefix_level_template_path
+
+IS_WINDOWS = os.name == 'nt'
+
+
+def main(argv=sys.argv[1:]):
+    """
+    Extract the information about templates provided by ament_package.
+
+    Call the API provided by ament_package and
+    print CMake code defining several variables containing information about
+    the available templates.
+    """
+    parser = argparse.ArgumentParser(
+        description='Extract information about templates provided by '
+                    'ament_package and print CMake code defining several '
+                    'variables',
+    )
+    parser.add_argument(
+        'outfile',
+        nargs='?',
+        help='The filename where the output should be written to',
+    )
+    args = parser.parse_args(argv)
+
+    lines = generate_cmake_code()
+    if args.outfile:
+        basepath = os.path.dirname(args.outfile)
+        if not os.path.exists(basepath):
+            os.makedirs(basepath)
+        with open(args.outfile, 'w') as f:
+            for line in lines:
+                f.write('%s\n' % line)
+    else:
+        for line in lines:
+            print(line)
+
+
+def generate_cmake_code():
+    """
+    Return a list of CMake set() commands containing the template information.
+
+    :returns: list of str
+    """
+    variables = []
+
+    if not IS_WINDOWS:
+        variables.append((
+            'ENVIRONMENT_HOOK_LIBRARY_PATH',
+            '"%s"' % get_environment_hook_template_path('library_path.sh')))
+    else:
+        variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
+
+    ext = '.bat.in' if IS_WINDOWS else '.sh.in'
+    variables.append((
+        'ENVIRONMENT_HOOK_PYTHONPATH',
+        '"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
+
+    templates = []
+    for name in get_package_level_template_names():
+        templates.append('"%s"' % get_package_level_template_path(name))
+    variables.append((
+        'PACKAGE_LEVEL',
+        templates))
+
+    templates = []
+    for name in get_prefix_level_template_names():
+        templates.append('"%s"' % get_prefix_level_template_path(name))
+    variables.append((
+        'PREFIX_LEVEL',
+        templates))
+
+    lines = []
+    for (k, v) in variables:
+        if isinstance(v, list):
+            lines.append('set(ament_cmake_package_templates_%s "")' % k)
+            for vv in v:
+                lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
+                             % (k, vv))
+        else:
+            lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
+    # Ensure backslashes are replaced with forward slashes because CMake cannot
+    # parse files with backslashes in it.
+    return [line.replace('\\', '/') for line in lines]
+
+
+if __name__ == '__main__':
+    main()
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/ament_prefix_path.dsv b/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/ament_prefix_path.dsv
new file mode 100644
index 0000000..79d4c95
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.bash b/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.bash
new file mode 100644
index 0000000..49782f2
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.bash
@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.dsv b/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.dsv
new file mode 100644
index 0000000..fc4e706
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.dsv
@@ -0,0 +1,2 @@
+source;share/hive_core_r2/environment/ament_prefix_path.sh
+source;share/hive_core_r2/environment/path.sh
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.sh b/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.sh
new file mode 100644
index 0000000..278cb88
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.sh
@@ -0,0 +1,184 @@
+# generated from ament_package/template/package_level/local_setup.sh.in
+
+# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
+# or fall back to the destination set at configure time
+: ${AMENT_CURRENT_PREFIX:="/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2"}
+if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
+  if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+    echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
+      "exist. Consider sourcing a different extension than '.sh'." 1>&2
+  else
+    AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+  fi
+fi
+
+# function to append values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # avoid leading separator
+  eval _values=\"\$$_listname\"
+  if [ -z "$_values" ]; then
+    eval export $_listname=\"$_value\"
+    #eval echo "set list \$$_listname"
+  else
+    # field separator must not be a colon
+    _ament_append_value_IFS=$IFS
+    unset IFS
+    eval export $_listname=\"\$$_listname:$_value\"
+    #eval echo "append list \$$_listname"
+    IFS=$_ament_append_value_IFS
+    unset _ament_append_value_IFS
+  fi
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to append non-duplicate values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_unique_value() {
+  # arguments
+  _listname=$1
+  _value=$2
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\$$_listname
+  _duplicate=
+  _ament_append_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ $_item = $_value ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # append only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid leading separator
+    if [ -z "$_values" ]; then
+      eval $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval $_listname=\"\$$_listname:$_value\"
+      #eval echo "append list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_append_unique_value_IFS
+  unset _ament_append_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to prepend non-duplicate values to environment variables
+# using colons as separators and avoiding trailing separators
+ament_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\"\$$_listname\"
+  _duplicate=
+  _ament_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ "$_item" = "$_value" ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # prepend only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid trailing separator
+    if [ -z "$_values" ]; then
+      eval export $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval export $_listname=\"$_value:\$$_listname\"
+      #eval echo "prepend list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_prepend_unique_value_IFS
+  unset _ament_prepend_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# list all environment hooks of this package
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/hive_core_r2/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/hive_core_r2/environment/path.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
+  fi
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    if [ -f "$_hook" ]; then
+      # restore IFS before sourcing other files
+      IFS=$_package_local_setup_IFS
+      # trace output
+      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+        echo "# . \"$_hook\""
+      fi
+      . "$_hook"
+    fi
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.zsh b/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.zsh
new file mode 100644
index 0000000..fe161be
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.zsh
@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/package.dsv b/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/package.dsv
new file mode 100644
index 0000000..5e158cf
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/package.dsv
@@ -0,0 +1,4 @@
+source;share/hive_core_r2/local_setup.bash
+source;share/hive_core_r2/local_setup.dsv
+source;share/hive_core_r2/local_setup.sh
+source;share/hive_core_r2/local_setup.zsh
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/path.dsv b/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/path.dsv
new file mode 100644
index 0000000..b94426a
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/hive_core_r2 b/HiveCoreR2/build/hive_core_r2/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
new file mode 100644
index 0000000..25ce83a
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
@@ -0,0 +1 @@
+ament_lint_auto;ament_lint_common
\ No newline at end of file
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_index/share/ament_index/resource_index/packages/hive_core_r2 b/HiveCoreR2/build/hive_core_r2/ament_cmake_index/share/ament_index/resource_index/packages/hive_core_r2
new file mode 100644
index 0000000..e69de29
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/hive_core_r2 b/HiveCoreR2/build/hive_core_r2/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
new file mode 100644
index 0000000..6350bc1
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
@@ -0,0 +1 @@
+/opt/ros/humble
\ No newline at end of file
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_package_templates/templates.cmake b/HiveCoreR2/build/hive_core_r2/ament_cmake_package_templates/templates.cmake
new file mode 100644
index 0000000..42a5a03
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_package_templates/templates.cmake
@@ -0,0 +1,14 @@
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh")
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/pythonpath.sh.in")
+set(ament_cmake_package_templates_PACKAGE_LEVEL "")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.bash.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.zsh.in")
+set(ament_cmake_package_templates_PREFIX_LEVEL "")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/_local_setup_util.py")
diff --git a/HiveCoreR2/build/hive_core_r2/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/HiveCoreR2/build/hive_core_r2/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
new file mode 100644
index 0000000..ea3c576
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
@@ -0,0 +1,57 @@
+# generated from
+# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in
+
+function(ament_cmake_uninstall_target_remove_empty_directories path)
+  set(install_space "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2")
+  if(install_space STREQUAL "")
+    message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty")
+  endif()
+
+  string(LENGTH "${install_space}" length)
+  string(SUBSTRING "${path}" 0 ${length} path_prefix)
+  if(NOT path_prefix STREQUAL install_space)
+    message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'")
+  endif()
+  if(path STREQUAL install_space)
+    return()
+  endif()
+
+  # check if directory is empty
+  file(GLOB files "${path}/*")
+  list(LENGTH files length)
+  if(length EQUAL 0)
+    message(STATUS "Uninstalling: ${path}/")
+    execute_process(COMMAND "/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/bin/cmake" "-E" "remove_directory" "${path}")
+    # recursively try to remove parent directories
+    get_filename_component(parent_path "${path}" PATH)
+    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+  endif()
+endfunction()
+
+# uninstall files installed using the standard install() function
+set(install_manifest "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/install_manifest.txt")
+if(NOT EXISTS "${install_manifest}")
+  message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}")
+endif()
+
+file(READ "${install_manifest}" installed_files)
+string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
+foreach(installed_file ${installed_files})
+  if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+    message(STATUS "Uninstalling: ${installed_file}")
+    file(REMOVE "${installed_file}")
+    if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+      message(FATAL_ERROR "Failed to remove '${installed_file}'")
+    endif()
+
+    # remove empty parent folders
+    get_filename_component(parent_path "${installed_file}" PATH)
+    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+  endif()
+endforeach()
+
+# end of template
+
+message(STATUS "Execute custom uninstall script")
+
+# begin of custom uninstall code
diff --git a/HiveCoreR2/build/hive_core_r2/cmake_args.last b/HiveCoreR2/build/hive_core_r2/cmake_args.last
new file mode 100644
index 0000000..4af1832
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/cmake_args.last
@@ -0,0 +1 @@
+None
\ No newline at end of file
diff --git a/HiveCoreR2/build/hive_core_r2/cmake_install.cmake b/HiveCoreR2/build/hive_core_r2/cmake_install.cmake
new file mode 100644
index 0000000..e34b8a2
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/cmake_install.cmake
@@ -0,0 +1,133 @@
+# Install script for directory: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+# Set path to fallback-tool for dependency-resolution.
+if(NOT DEFINED CMAKE_OBJDUMP)
+  set(CMAKE_OBJDUMP "/usr/bin/objdump")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/hive_core_r2" TYPE DIRECTORY FILES
+    "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2/launch"
+    "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2/urdf"
+    "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2/config"
+    )
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/package_run_dependencies" TYPE FILE FILES "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/hive_core_r2")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/parent_prefix_path" TYPE FILE FILES "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/hive_core_r2")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/hive_core_r2/environment" TYPE FILE FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/hive_core_r2/environment" TYPE FILE FILES "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/ament_prefix_path.dsv")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/hive_core_r2/environment" TYPE FILE FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/hive_core_r2/environment" TYPE FILE FILES "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/path.dsv")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/hive_core_r2" TYPE FILE FILES "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.bash")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/hive_core_r2" TYPE FILE FILES "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.sh")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/hive_core_r2" TYPE FILE FILES "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.zsh")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/hive_core_r2" TYPE FILE FILES "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/local_setup.dsv")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/hive_core_r2" TYPE FILE FILES "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_cmake_environment_hooks/package.dsv")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages" TYPE FILE FILES "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_cmake_index/share/ament_index/resource_index/packages/hive_core_r2")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/hive_core_r2/cmake" TYPE FILE FILES
+    "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_cmake_core/hive_core_r2Config.cmake"
+    "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/ament_cmake_core/hive_core_r2Config-version.cmake"
+    )
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/hive_core_r2" TYPE FILE FILES "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2/package.xml")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+       "${CMAKE_INSTALL_MANIFEST_FILES}")
+if(CMAKE_INSTALL_LOCAL_ONLY)
+  file(WRITE "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/install_local_manifest.txt"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")
+endif()
+if(CMAKE_INSTALL_COMPONENT)
+  if(CMAKE_INSTALL_COMPONENT MATCHES "^[a-zA-Z0-9_.+-]+$")
+    set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+  else()
+    string(MD5 CMAKE_INST_COMP_HASH "${CMAKE_INSTALL_COMPONENT}")
+    set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INST_COMP_HASH}.txt")
+    unset(CMAKE_INST_COMP_HASH)
+  endif()
+else()
+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+if(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  file(WRITE "/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/${CMAKE_INSTALL_MANIFEST}"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")
+endif()
diff --git a/HiveCoreR2/build/hive_core_r2/colcon_build.rc b/HiveCoreR2/build/hive_core_r2/colcon_build.rc
new file mode 100644
index 0000000..573541a
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/HiveCoreR2/build/hive_core_r2/colcon_command_prefix_build.sh b/HiveCoreR2/build/hive_core_r2/colcon_command_prefix_build.sh
new file mode 100644
index 0000000..f9867d5
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/colcon_command_prefix_build.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/HiveCoreR2/build/hive_core_r2/colcon_command_prefix_build.sh.env b/HiveCoreR2/build/hive_core_r2/colcon_command_prefix_build.sh.env
new file mode 100644
index 0000000..df75c05
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/colcon_command_prefix_build.sh.env
@@ -0,0 +1,80 @@
+AMENT_PREFIX_PATH=/opt/ros/humble
+BUNDLED_DEBUGPY_PATH=/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/bundled/libs/debugpy
+CHROME_DESKTOP=code.desktop
+COLCON=1
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
+DESKTOP_SESSION=ubuntu
+DISPLAY=:1
+GDK_BACKEND=x11
+GDMSESSION=ubuntu
+GIO_LAUNCHED_DESKTOP_FILE=/usr/share/applications/code.desktop
+GIO_LAUNCHED_DESKTOP_FILE_PID=63813
+GIT_ASKPASS=/usr/share/code/resources/app/extensions/git/dist/askpass.sh
+GJS_DEBUG_OUTPUT=stderr
+GJS_DEBUG_TOPICS=JS ERROR;JS LOG
+GNOME_DESKTOP_SESSION_ID=this-is-deprecated
+GNOME_SHELL_SESSION_MODE=ubuntu
+GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1
+GTK_IM_MODULE=ibus
+GTK_MODULES=gail:atk-bridge
+HOME=/home/hivecore
+IM_CONFIG_PHASE=1
+INVOCATION_ID=0360bd67df414a9e9de83e899b97036d
+JOURNAL_STREAM=8:4766
+LANG=en_US.UTF-8
+LC_ADDRESS=zh_CN.UTF-8
+LC_ALL=en_US.UTF-8
+LC_IDENTIFICATION=zh_CN.UTF-8
+LC_MEASUREMENT=zh_CN.UTF-8
+LC_MONETARY=zh_CN.UTF-8
+LC_NAME=zh_CN.UTF-8
+LC_NUMERIC=zh_CN.UTF-8
+LC_PAPER=zh_CN.UTF-8
+LC_TELEPHONE=zh_CN.UTF-8
+LC_TIME=zh_CN.UTF-8
+LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib::
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=hivecore
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
+MANAGERPID=1976
+ORIGINAL_XDG_CURRENT_DESKTOP=ubuntu:GNOME
+PATH=/home/hivecore/.local/bin:/opt/ros/humble/bin:/home/hivecore/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin:/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/bundled/scripts/noConfigScripts
+PWD=/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+PYDEVD_DISABLE_FILE_VALIDATION=1
+PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+QT_ACCESSIBILITY=1
+QT_IM_MODULE=ibus
+ROS_DISTRO=humble
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SESSION_MANAGER=local/hivecore-Precision-3680:@/tmp/.ICE-unix/2228,unix/hivecore-Precision-3680:/tmp/.ICE-unix/2228
+SHELL=/bin/bash
+SHLVL=1
+SSH_AGENT_LAUNCHER=gnome-keyring
+SSH_AUTH_SOCK=/run/user/1000/keyring/ssh
+SYSTEMD_EXEC_PID=2256
+TERM=xterm-256color
+TERM_PROGRAM=vscode
+TERM_PROGRAM_VERSION=1.101.2
+USER=hivecore
+USERNAME=hivecore
+VSCODE_DEBUGPY_ADAPTER_ENDPOINTS=/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/.noConfigDebugAdapterEndpoints/endpoint-ffd79902c8a5999d.txt
+VSCODE_GIT_ASKPASS_EXTRA_ARGS=
+VSCODE_GIT_ASKPASS_MAIN=/usr/share/code/resources/app/extensions/git/dist/askpass-main.js
+VSCODE_GIT_ASKPASS_NODE=/usr/share/code/code
+VSCODE_GIT_IPC_HANDLE=/run/user/1000/vscode-git-3bd65c1082.sock
+WINDOWPATH=2
+XAUTHORITY=/run/user/1000/gdm/Xauthority
+XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
+XDG_CURRENT_DESKTOP=Unity
+XDG_DATA_DIRS=/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
+XDG_MENU_PREFIX=gnome-
+XDG_RUNTIME_DIR=/run/user/1000
+XDG_SESSION_CLASS=user
+XDG_SESSION_DESKTOP=ubuntu
+XDG_SESSION_TYPE=x11
+XMODIFIERS=@im=ibus
+_=/usr/bin/colcon
diff --git a/HiveCoreR2/build/hive_core_r2/install_manifest.txt b/HiveCoreR2/build/hive_core_r2/install_manifest.txt
new file mode 100644
index 0000000..f404be3
--- /dev/null
+++ b/HiveCoreR2/build/hive_core_r2/install_manifest.txt
@@ -0,0 +1,33 @@
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
\ No newline at end of file
diff --git a/HiveCoreR2/install/.colcon_install_layout b/HiveCoreR2/install/.colcon_install_layout
new file mode 100644
index 0000000..3aad533
--- /dev/null
+++ b/HiveCoreR2/install/.colcon_install_layout
@@ -0,0 +1 @@
+isolated
diff --git a/HiveCoreR2/install/COLCON_IGNORE b/HiveCoreR2/install/COLCON_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/HiveCoreR2/install/_local_setup_util_ps1.py b/HiveCoreR2/install/_local_setup_util_ps1.py
new file mode 100644
index 0000000..3c6d9e8
--- /dev/null
+++ b/HiveCoreR2/install/_local_setup_util_ps1.py
@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
+FORMAT_STR_USE_ENV_VAR = '$env:{name}'
+FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"'  # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = ''  # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = ''  # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]):  # noqa: D103
+    parser = argparse.ArgumentParser(
+        description='Output shell commands for the packages in topological '
+                    'order')
+    parser.add_argument(
+        'primary_extension',
+        help='The file extension of the primary shell')
+    parser.add_argument(
+        'additional_extension', nargs='?',
+        help='The additional file extension to be considered')
+    parser.add_argument(
+        '--merged-install', action='store_true',
+        help='All install prefixes are merged into a single location')
+    args = parser.parse_args(argv)
+
+    packages = get_packages(Path(__file__).parent, args.merged_install)
+
+    ordered_packages = order_packages(packages)
+    for pkg_name in ordered_packages:
+        if _include_comments():
+            print(
+                FORMAT_STR_COMMENT_LINE.format_map(
+                    {'comment': 'Package: ' + pkg_name}))
+        prefix = os.path.abspath(os.path.dirname(__file__))
+        if not args.merged_install:
+            prefix = os.path.join(prefix, pkg_name)
+        for line in get_commands(
+            pkg_name, prefix, args.primary_extension,
+            args.additional_extension
+        ):
+            print(line)
+
+    for line in _remove_ending_separators():
+        print(line)
+
+
+def get_packages(prefix_path, merged_install):
+    """
+    Find packages based on colcon-specific files created during installation.
+
+    :param Path prefix_path: The install prefix path of all packages
+    :param bool merged_install: The flag if the packages are all installed
+      directly in the prefix or if each package is installed in a subdirectory
+      named after the package
+    :returns: A mapping from the package name to the set of runtime
+      dependencies
+    :rtype: dict
+    """
+    packages = {}
+    # since importing colcon_core isn't feasible here the following constant
+    # must match colcon_core.location.get_relative_package_index_path()
+    subdirectory = 'share/colcon-core/packages'
+    if merged_install:
+        # return if workspace is empty
+        if not (prefix_path / subdirectory).is_dir():
+            return packages
+        # find all files in the subdirectory
+        for p in (prefix_path / subdirectory).iterdir():
+            if not p.is_file():
+                continue
+            if p.name.startswith('.'):
+                continue
+            add_package_runtime_dependencies(p, packages)
+    else:
+        # for each subdirectory look for the package specific file
+        for p in prefix_path.iterdir():
+            if not p.is_dir():
+                continue
+            if p.name.startswith('.'):
+                continue
+            p = p / subdirectory / p.name
+            if p.is_file():
+                add_package_runtime_dependencies(p, packages)
+
+    # remove unknown dependencies
+    pkg_names = set(packages.keys())
+    for k in packages.keys():
+        packages[k] = {d for d in packages[k] if d in pkg_names}
+
+    return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+    """
+    Check the path and if it exists extract the packages runtime dependencies.
+
+    :param Path path: The resource file containing the runtime dependencies
+    :param dict packages: A mapping from package names to the sets of runtime
+      dependencies to add to
+    """
+    content = path.read_text()
+    dependencies = set(content.split(os.pathsep) if content else [])
+    packages[path.name] = dependencies
+
+
+def order_packages(packages):
+    """
+    Order packages topologically.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies
+    :returns: The package names
+    :rtype: list
+    """
+    # select packages with no dependencies in alphabetical order
+    to_be_ordered = list(packages.keys())
+    ordered = []
+    while to_be_ordered:
+        pkg_names_without_deps = [
+            name for name in to_be_ordered if not packages[name]]
+        if not pkg_names_without_deps:
+            reduce_cycle_set(packages)
+            raise RuntimeError(
+                'Circular dependency between: ' + ', '.join(sorted(packages)))
+        pkg_names_without_deps.sort()
+        pkg_name = pkg_names_without_deps[0]
+        to_be_ordered.remove(pkg_name)
+        ordered.append(pkg_name)
+        # remove item from dependency lists
+        for k in list(packages.keys()):
+            if pkg_name in packages[k]:
+                packages[k].remove(pkg_name)
+    return ordered
+
+
+def reduce_cycle_set(packages):
+    """
+    Reduce the set of packages to the ones part of the circular dependency.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies which is modified in place
+    """
+    last_depended = None
+    while len(packages) > 0:
+        # get all remaining dependencies
+        depended = set()
+        for pkg_name, dependencies in packages.items():
+            depended = depended.union(dependencies)
+        # remove all packages which are not dependent on
+        for name in list(packages.keys()):
+            if name not in depended:
+                del packages[name]
+        if last_depended:
+            # if remaining packages haven't changed return them
+            if last_depended == depended:
+                return packages.keys()
+        # otherwise reduce again
+        last_depended = depended
+
+
+def _include_comments():
+    # skipping comment lines when COLCON_TRACE is not set speeds up the
+    # processing especially on Windows
+    return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+    commands = []
+    package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+    if os.path.exists(package_dsv_path):
+        commands += process_dsv_file(
+            package_dsv_path, prefix, primary_extension, additional_extension)
+    return commands
+
+
+def process_dsv_file(
+    dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+    commands = []
+    if _include_comments():
+        commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
+    with open(dsv_path, 'r') as h:
+        content = h.read()
+    lines = content.splitlines()
+
+    basenames = OrderedDict()
+    for i, line in enumerate(lines):
+        # skip over empty or whitespace-only lines
+        if not line.strip():
+            continue
+        # skip over comments
+        if line.startswith('#'):
+            continue
+        try:
+            type_, remainder = line.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "Line %d in '%s' doesn't contain a semicolon separating the "
+                'type from the arguments' % (i + 1, dsv_path))
+        if type_ != DSV_TYPE_SOURCE:
+            # handle non-source lines
+            try:
+                commands += handle_dsv_types_except_source(
+                    type_, remainder, prefix)
+            except RuntimeError as e:
+                raise RuntimeError(
+                    "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+        else:
+            # group remaining source lines by basename
+            path_without_ext, ext = os.path.splitext(remainder)
+            if path_without_ext not in basenames:
+                basenames[path_without_ext] = set()
+            assert ext.startswith('.')
+            ext = ext[1:]
+            if ext in (primary_extension, additional_extension):
+                basenames[path_without_ext].add(ext)
+
+    # add the dsv extension to each basename if the file exists
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if os.path.exists(basename + '.dsv'):
+            extensions.add('dsv')
+
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if 'dsv' in extensions:
+            # process dsv files recursively
+            commands += process_dsv_file(
+                basename + '.dsv', prefix, primary_extension=primary_extension,
+                additional_extension=additional_extension)
+        elif primary_extension in extensions and len(extensions) == 1:
+            # source primary-only files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + primary_extension})]
+        elif additional_extension in extensions:
+            # source non-primary files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + additional_extension})]
+
+    return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+    commands = []
+    if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+        try:
+            env_name, value = remainder.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the value')
+        try_prefixed_value = os.path.join(prefix, value) if value else prefix
+        if os.path.exists(try_prefixed_value):
+            value = try_prefixed_value
+        if type_ == DSV_TYPE_SET:
+            commands += _set(env_name, value)
+        elif type_ == DSV_TYPE_SET_IF_UNSET:
+            commands += _set_if_unset(env_name, value)
+        else:
+            assert False
+    elif type_ in (
+        DSV_TYPE_APPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+    ):
+        try:
+            env_name_and_values = remainder.split(';')
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the values')
+        env_name = env_name_and_values[0]
+        values = env_name_and_values[1:]
+        for value in values:
+            if not value:
+                value = prefix
+            elif not os.path.isabs(value):
+                value = os.path.join(prefix, value)
+            if (
+                type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+                not os.path.exists(value)
+            ):
+                comment = f'skip extending {env_name} with not existing ' \
+                    f'path: {value}'
+                if _include_comments():
+                    commands.append(
+                        FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
+            elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+                commands += _append_unique_value(env_name, value)
+            else:
+                commands += _prepend_unique_value(env_name, value)
+    else:
+        raise RuntimeError(
+            'contains an unknown environment hook type: ' + type_)
+    return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # append even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional leading separator
+    extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': extend + value})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+def _prepend_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # prepend even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional trailing separator
+    extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value + extend})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+    # do nothing if the shell extension does not implement the logic
+    if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+        return []
+
+    global env_state
+    commands = []
+    for name in env_state:
+        # skip variables that already had values before this script started prepending
+        if name in os.environ:
+            continue
+        commands += [
+            FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+            FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+    return commands
+
+
+def _set(name, value):
+    global env_state
+    env_state[name] = value
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    return [line]
+
+
+def _set_if_unset(name, value):
+    global env_state
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    if env_state.get(name, os.environ.get(name)):
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+if __name__ == '__main__':  # pragma: no cover
+    try:
+        rc = main()
+    except RuntimeError as e:
+        print(str(e), file=sys.stderr)
+        rc = 1
+    sys.exit(rc)
diff --git a/HiveCoreR2/install/_local_setup_util_sh.py b/HiveCoreR2/install/_local_setup_util_sh.py
new file mode 100644
index 0000000..f67eaa9
--- /dev/null
+++ b/HiveCoreR2/install/_local_setup_util_sh.py
@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
+FORMAT_STR_USE_ENV_VAR = '${name}'
+FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"'  # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi'  # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi'  # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]):  # noqa: D103
+    parser = argparse.ArgumentParser(
+        description='Output shell commands for the packages in topological '
+                    'order')
+    parser.add_argument(
+        'primary_extension',
+        help='The file extension of the primary shell')
+    parser.add_argument(
+        'additional_extension', nargs='?',
+        help='The additional file extension to be considered')
+    parser.add_argument(
+        '--merged-install', action='store_true',
+        help='All install prefixes are merged into a single location')
+    args = parser.parse_args(argv)
+
+    packages = get_packages(Path(__file__).parent, args.merged_install)
+
+    ordered_packages = order_packages(packages)
+    for pkg_name in ordered_packages:
+        if _include_comments():
+            print(
+                FORMAT_STR_COMMENT_LINE.format_map(
+                    {'comment': 'Package: ' + pkg_name}))
+        prefix = os.path.abspath(os.path.dirname(__file__))
+        if not args.merged_install:
+            prefix = os.path.join(prefix, pkg_name)
+        for line in get_commands(
+            pkg_name, prefix, args.primary_extension,
+            args.additional_extension
+        ):
+            print(line)
+
+    for line in _remove_ending_separators():
+        print(line)
+
+
+def get_packages(prefix_path, merged_install):
+    """
+    Find packages based on colcon-specific files created during installation.
+
+    :param Path prefix_path: The install prefix path of all packages
+    :param bool merged_install: The flag if the packages are all installed
+      directly in the prefix or if each package is installed in a subdirectory
+      named after the package
+    :returns: A mapping from the package name to the set of runtime
+      dependencies
+    :rtype: dict
+    """
+    packages = {}
+    # since importing colcon_core isn't feasible here the following constant
+    # must match colcon_core.location.get_relative_package_index_path()
+    subdirectory = 'share/colcon-core/packages'
+    if merged_install:
+        # return if workspace is empty
+        if not (prefix_path / subdirectory).is_dir():
+            return packages
+        # find all files in the subdirectory
+        for p in (prefix_path / subdirectory).iterdir():
+            if not p.is_file():
+                continue
+            if p.name.startswith('.'):
+                continue
+            add_package_runtime_dependencies(p, packages)
+    else:
+        # for each subdirectory look for the package specific file
+        for p in prefix_path.iterdir():
+            if not p.is_dir():
+                continue
+            if p.name.startswith('.'):
+                continue
+            p = p / subdirectory / p.name
+            if p.is_file():
+                add_package_runtime_dependencies(p, packages)
+
+    # remove unknown dependencies
+    pkg_names = set(packages.keys())
+    for k in packages.keys():
+        packages[k] = {d for d in packages[k] if d in pkg_names}
+
+    return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+    """
+    Check the path and if it exists extract the packages runtime dependencies.
+
+    :param Path path: The resource file containing the runtime dependencies
+    :param dict packages: A mapping from package names to the sets of runtime
+      dependencies to add to
+    """
+    content = path.read_text()
+    dependencies = set(content.split(os.pathsep) if content else [])
+    packages[path.name] = dependencies
+
+
+def order_packages(packages):
+    """
+    Order packages topologically.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies
+    :returns: The package names
+    :rtype: list
+    """
+    # select packages with no dependencies in alphabetical order
+    to_be_ordered = list(packages.keys())
+    ordered = []
+    while to_be_ordered:
+        pkg_names_without_deps = [
+            name for name in to_be_ordered if not packages[name]]
+        if not pkg_names_without_deps:
+            reduce_cycle_set(packages)
+            raise RuntimeError(
+                'Circular dependency between: ' + ', '.join(sorted(packages)))
+        pkg_names_without_deps.sort()
+        pkg_name = pkg_names_without_deps[0]
+        to_be_ordered.remove(pkg_name)
+        ordered.append(pkg_name)
+        # remove item from dependency lists
+        for k in list(packages.keys()):
+            if pkg_name in packages[k]:
+                packages[k].remove(pkg_name)
+    return ordered
+
+
+def reduce_cycle_set(packages):
+    """
+    Reduce the set of packages to the ones part of the circular dependency.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies which is modified in place
+    """
+    last_depended = None
+    while len(packages) > 0:
+        # get all remaining dependencies
+        depended = set()
+        for pkg_name, dependencies in packages.items():
+            depended = depended.union(dependencies)
+        # remove all packages which are not dependent on
+        for name in list(packages.keys()):
+            if name not in depended:
+                del packages[name]
+        if last_depended:
+            # if remaining packages haven't changed return them
+            if last_depended == depended:
+                return packages.keys()
+        # otherwise reduce again
+        last_depended = depended
+
+
+def _include_comments():
+    # skipping comment lines when COLCON_TRACE is not set speeds up the
+    # processing especially on Windows
+    return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+    commands = []
+    package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+    if os.path.exists(package_dsv_path):
+        commands += process_dsv_file(
+            package_dsv_path, prefix, primary_extension, additional_extension)
+    return commands
+
+
+def process_dsv_file(
+    dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+    commands = []
+    if _include_comments():
+        commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
+    with open(dsv_path, 'r') as h:
+        content = h.read()
+    lines = content.splitlines()
+
+    basenames = OrderedDict()
+    for i, line in enumerate(lines):
+        # skip over empty or whitespace-only lines
+        if not line.strip():
+            continue
+        # skip over comments
+        if line.startswith('#'):
+            continue
+        try:
+            type_, remainder = line.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "Line %d in '%s' doesn't contain a semicolon separating the "
+                'type from the arguments' % (i + 1, dsv_path))
+        if type_ != DSV_TYPE_SOURCE:
+            # handle non-source lines
+            try:
+                commands += handle_dsv_types_except_source(
+                    type_, remainder, prefix)
+            except RuntimeError as e:
+                raise RuntimeError(
+                    "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+        else:
+            # group remaining source lines by basename
+            path_without_ext, ext = os.path.splitext(remainder)
+            if path_without_ext not in basenames:
+                basenames[path_without_ext] = set()
+            assert ext.startswith('.')
+            ext = ext[1:]
+            if ext in (primary_extension, additional_extension):
+                basenames[path_without_ext].add(ext)
+
+    # add the dsv extension to each basename if the file exists
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if os.path.exists(basename + '.dsv'):
+            extensions.add('dsv')
+
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if 'dsv' in extensions:
+            # process dsv files recursively
+            commands += process_dsv_file(
+                basename + '.dsv', prefix, primary_extension=primary_extension,
+                additional_extension=additional_extension)
+        elif primary_extension in extensions and len(extensions) == 1:
+            # source primary-only files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + primary_extension})]
+        elif additional_extension in extensions:
+            # source non-primary files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + additional_extension})]
+
+    return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+    commands = []
+    if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+        try:
+            env_name, value = remainder.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the value')
+        try_prefixed_value = os.path.join(prefix, value) if value else prefix
+        if os.path.exists(try_prefixed_value):
+            value = try_prefixed_value
+        if type_ == DSV_TYPE_SET:
+            commands += _set(env_name, value)
+        elif type_ == DSV_TYPE_SET_IF_UNSET:
+            commands += _set_if_unset(env_name, value)
+        else:
+            assert False
+    elif type_ in (
+        DSV_TYPE_APPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+    ):
+        try:
+            env_name_and_values = remainder.split(';')
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the values')
+        env_name = env_name_and_values[0]
+        values = env_name_and_values[1:]
+        for value in values:
+            if not value:
+                value = prefix
+            elif not os.path.isabs(value):
+                value = os.path.join(prefix, value)
+            if (
+                type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+                not os.path.exists(value)
+            ):
+                comment = f'skip extending {env_name} with not existing ' \
+                    f'path: {value}'
+                if _include_comments():
+                    commands.append(
+                        FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
+            elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+                commands += _append_unique_value(env_name, value)
+            else:
+                commands += _prepend_unique_value(env_name, value)
+    else:
+        raise RuntimeError(
+            'contains an unknown environment hook type: ' + type_)
+    return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # append even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional leading separator
+    extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': extend + value})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+def _prepend_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # prepend even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional trailing separator
+    extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value + extend})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+    # do nothing if the shell extension does not implement the logic
+    if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+        return []
+
+    global env_state
+    commands = []
+    for name in env_state:
+        # skip variables that already had values before this script started prepending
+        if name in os.environ:
+            continue
+        commands += [
+            FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+            FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+    return commands
+
+
+def _set(name, value):
+    global env_state
+    env_state[name] = value
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    return [line]
+
+
+def _set_if_unset(name, value):
+    global env_state
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    if env_state.get(name, os.environ.get(name)):
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+if __name__ == '__main__':  # pragma: no cover
+    try:
+        rc = main()
+    except RuntimeError as e:
+        print(str(e), file=sys.stderr)
+        rc = 1
+    sys.exit(rc)
diff --git a/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2 b/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
new file mode 100644
index 0000000..25ce83a
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
@@ -0,0 +1 @@
+ament_lint_auto;ament_lint_common
\ No newline at end of file
diff --git a/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2 b/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
new file mode 100644
index 0000000..e69de29
diff --git a/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2 b/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
new file mode 100644
index 0000000..6350bc1
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
@@ -0,0 +1 @@
+/opt/ros/humble
\ No newline at end of file
diff --git a/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2 b/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2
new file mode 100644
index 0000000..e69de29
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
new file mode 100644
index 0000000..7beb732
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
new file mode 100644
index 0000000..585c3ff
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_hive_core_r2_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED hive_core_r2_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(hive_core_r2_FOUND FALSE)
+  elseif(NOT hive_core_r2_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(hive_core_r2_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_hive_core_r2_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT hive_core_r2_FIND_QUIETLY)
+  message(STATUS "Found hive_core_r2: 0.0.0 (${hive_core_r2_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'hive_core_r2' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${hive_core_r2_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(hive_core_r2_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "")
+foreach(_extra ${_extras})
+  include("${hive_core_r2_DIR}/${_extra}")
+endforeach()
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz
new file mode 100644
index 0000000..d624b06
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz
@@ -0,0 +1,170 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 480
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 0.4101419746875763
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 777
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000026bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000026b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000026bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000026b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000054a0000003efc0100000002fb0000000800540069006d006501000000000000054a000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002d90000026b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1354
+  X: 70
+  Y: 27
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
new file mode 100644
index 0000000..79d4c95
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
new file mode 100644
index 0000000..02e441b
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
new file mode 100644
index 0000000..b94426a
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
new file mode 100644
index 0000000..e59b749
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv
new file mode 100644
index 0000000..e119f32
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;CMAKE_PREFIX_PATH;
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1 b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1
new file mode 100644
index 0000000..d03facc
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh
new file mode 100644
index 0000000..a948e68
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
new file mode 100644
index 0000000..e8614af
Binary files /dev/null and b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc differ
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
new file mode 100644
index 0000000..2561025
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
@@ -0,0 +1,42 @@
+import launch
+import launch_ros
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    # 获取默认路径
+    urdf_tutorial_path = get_package_share_directory('hive_core_r2')
+    default_model_path = urdf_tutorial_path + '/urdf/HiveCoreR2.urdf.xacro'
+    default_rviz_config_path = urdf_tutorial_path + '/config/rviz/display_model.rviz'
+    # 为 Launch 声明参数
+    action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
+        name='model', default_value=str(default_model_path),
+        description='URDF 的绝对路径')
+    # 获取文件内容生成新的参数
+    robot_description = launch_ros.parameter_descriptions.ParameterValue(
+        launch.substitutions.Command(
+            ['xacro ', launch.substitutions.LaunchConfiguration('model')]),
+        value_type=str)
+    # 状态发布节点
+    robot_state_publisher_node = launch_ros.actions.Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters=[{'robot_description': robot_description}]
+    )
+    # 关节状态发布节点
+    joint_state_publisher_node = launch_ros.actions.Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+    )
+    # RViz 节点
+    rviz_node = launch_ros.actions.Node(
+        package='rviz2',
+        executable='rviz2',
+        arguments=['-d', default_rviz_config_path]
+    )
+    return launch.LaunchDescription([
+        action_declare_arg_mode_path,
+        joint_state_publisher_node,
+        robot_state_publisher_node,
+        rviz_node
+    ])
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
new file mode 100644
index 0000000..49782f2
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
new file mode 100644
index 0000000..fc4e706
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
@@ -0,0 +1,2 @@
+source;share/hive_core_r2/environment/ament_prefix_path.sh
+source;share/hive_core_r2/environment/path.sh
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
new file mode 100644
index 0000000..278cb88
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
@@ -0,0 +1,184 @@
+# generated from ament_package/template/package_level/local_setup.sh.in
+
+# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
+# or fall back to the destination set at configure time
+: ${AMENT_CURRENT_PREFIX:="/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2"}
+if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
+  if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+    echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
+      "exist. Consider sourcing a different extension than '.sh'." 1>&2
+  else
+    AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+  fi
+fi
+
+# function to append values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # avoid leading separator
+  eval _values=\"\$$_listname\"
+  if [ -z "$_values" ]; then
+    eval export $_listname=\"$_value\"
+    #eval echo "set list \$$_listname"
+  else
+    # field separator must not be a colon
+    _ament_append_value_IFS=$IFS
+    unset IFS
+    eval export $_listname=\"\$$_listname:$_value\"
+    #eval echo "append list \$$_listname"
+    IFS=$_ament_append_value_IFS
+    unset _ament_append_value_IFS
+  fi
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to append non-duplicate values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_unique_value() {
+  # arguments
+  _listname=$1
+  _value=$2
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\$$_listname
+  _duplicate=
+  _ament_append_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ $_item = $_value ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # append only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid leading separator
+    if [ -z "$_values" ]; then
+      eval $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval $_listname=\"\$$_listname:$_value\"
+      #eval echo "append list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_append_unique_value_IFS
+  unset _ament_append_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to prepend non-duplicate values to environment variables
+# using colons as separators and avoiding trailing separators
+ament_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\"\$$_listname\"
+  _duplicate=
+  _ament_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ "$_item" = "$_value" ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # prepend only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid trailing separator
+    if [ -z "$_values" ]; then
+      eval export $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval export $_listname=\"$_value:\$$_listname\"
+      #eval echo "prepend list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_prepend_unique_value_IFS
+  unset _ament_prepend_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# list all environment hooks of this package
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/hive_core_r2/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/hive_core_r2/environment/path.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
+  fi
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    if [ -f "$_hook" ]; then
+      # restore IFS before sourcing other files
+      IFS=$_package_local_setup_IFS
+      # trace output
+      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+        echo "# . \"$_hook\""
+      fi
+      . "$_hook"
+    fi
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
new file mode 100644
index 0000000..fe161be
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash
new file mode 100644
index 0000000..20a047d
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash
@@ -0,0 +1,39 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/hive_core_r2/package.sh"
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX"
+
+# source bash hooks
+_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/hive_core_r2/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
new file mode 100644
index 0000000..fcbe5bd
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
@@ -0,0 +1,8 @@
+source;share/hive_core_r2/hook/cmake_prefix_path.ps1
+source;share/hive_core_r2/hook/cmake_prefix_path.dsv
+source;share/hive_core_r2/hook/cmake_prefix_path.sh
+source;share/hive_core_r2/local_setup.bash
+source;share/hive_core_r2/local_setup.dsv
+source;share/hive_core_r2/local_setup.ps1
+source;share/hive_core_r2/local_setup.sh
+source;share/hive_core_r2/local_setup.zsh
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1 b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1
new file mode 100644
index 0000000..40453df
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1
@@ -0,0 +1,116 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values};$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values};${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values};$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/hive_core_r2/hook/cmake_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/hive_core_r2/local_setup.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh
new file mode 100644
index 0000000..4d8df2c
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh
@@ -0,0 +1,87 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/hive_core_r2/hook/cmake_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/hive_core_r2/local_setup.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
new file mode 100644
index 0000000..de099f8
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>hive_core_r2</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="Ray@qq.com">hivecore</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh
new file mode 100644
index 0000000..e0cb9ef
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh
@@ -0,0 +1,50 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/hive_core_r2/package.sh"
+unset convert_zsh_to_array
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
+
+# source zsh hooks
+_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/hive_core_r2/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
new file mode 100644
index 0000000..b3c5f06
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
@@ -0,0 +1,683 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="HiveCoreR2">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.404894125841625 0.25 -0.0741710000663555"
+        rpy="0 0 0" />
+      <mass
+        value="36.2382173155109" />
+      <inertia
+        ixx="0.711497711143894"
+        ixy="-8.8839258894658E-17"
+        ixz="-0.00135504720513282"
+        iyy="0.890783752147789"
+        iyz="-4.771855042082E-17"
+        izz="1.46528909632949" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="rightBackLeg1">
+    <inertial>
+      <origin
+        xyz="0.159521553180005 0.114192611665744 -0.00583829035900738"
+        rpy="0 0 0" />
+      <mass
+        value="37.7501467058271" />
+      <inertia
+        ixx="0.734431789745808"
+        ixy="-8.56096856466003E-17"
+        ixz="-0.0172488382149191"
+        iyy="0.926916791916097"
+        iyz="-2.12653031759239E-17"
+        izz="1.47936825397955" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightBackLeg1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightBackLeg1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rightBackHip"
+    type="fixed">
+    <origin
+      xyz="0.233468148498616 0.13 -0.0750000000000009"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="rightBackLeg1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="rightBackLeg2">
+    <inertial>
+      <origin
+        xyz="-1.38777878078145E-17 -1.11022302462516E-16 -0.0980955329353473"
+        rpy="0 0 0" />
+      <mass
+        value="2.91913514072796" />
+      <inertia
+        ixx="0.077483115922509"
+        ixy="7.93656541372871E-19"
+        ixz="2.77072863542925E-19"
+        iyy="0.0757075831245417"
+        iyz="1.9298798670242E-17"
+        izz="0.00286681014418753" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightBackLeg2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightBackLeg2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rightBackKnee"
+    type="fixed">
+    <origin
+      xyz="-0.176484597484903 -0.025 -0.232366667198654"
+      rpy="0.649559204798949 0 1.5707963267949" />
+    <parent
+      link="rightBackLeg1" />
+    <child
+      link="rightBackLeg2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="rightBackWheel">
+    <inertial>
+      <origin
+        xyz="0.09064374912672 0.119345179053196 0.00957524301681929"
+        rpy="0 0 0" />
+      <mass
+        value="2.59613404955675" />
+      <inertia
+        ixx="0.0290159502383724"
+        ixy="-0.0191907680569759"
+        ixz="-2.57425322347828E-18"
+        iyy="0.018324181732962"
+        iyz="-3.74213782227815E-18"
+        izz="0.0466924479447346" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightBackWheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightBackWheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rightBackAnkle"
+    type="fixed">
+    <origin
+      xyz="-0.015 0 -0.57"
+      rpy="1.5707963267949 -0.649559204798949 -1.5707963267949" />
+    <parent
+      link="rightBackLeg2" />
+    <child
+      link="rightBackWheel" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="leftBackLeg1">
+    <inertial>
+      <origin
+        xyz="0.159521553180005 -0.114192611665745 -0.0058382903590074"
+        rpy="0 0 0" />
+      <mass
+        value="37.7501467058271" />
+      <inertia
+        ixx="0.734431789745808"
+        ixy="-8.51866074090712E-17"
+        ixz="-0.0172488382149191"
+        iyy="0.926916791916097"
+        iyz="-2.08494328905552E-17"
+        izz="1.47936825397955" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftBackLeg1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftBackLeg1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="leftBackHip"
+    type="fixed">
+    <origin
+      xyz="0.233468148498616 0.37 -0.0750000000000008"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="leftBackLeg1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="leftBackLeg2">
+    <inertial>
+      <origin
+        xyz="-1.38777878078145E-16 1.11022302462516E-16 -0.0980955329353471"
+        rpy="0 0 0" />
+      <mass
+        value="2.91913514072796" />
+      <inertia
+        ixx="0.0757075831245417"
+        ixy="-3.83388889773367E-19"
+        ixz="-1.19262238973406E-18"
+        iyy="0.077483115922509"
+        iyz="-3.42096044260462E-18"
+        izz="0.00286681014418753" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftBackLeg2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftBackLeg2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="leftBackKnee"
+    type="fixed">
+    <origin
+      xyz="-0.176484597484903 0.025 -0.232366667198655"
+      rpy="0 0.649559204798949 0" />
+    <parent
+      link="leftBackLeg1" />
+    <child
+      link="leftBackLeg2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="leftBackWheel">
+    <inertial>
+      <origin
+        xyz="-0.0906437491267199 0.119345179053196 0.00957524301681928"
+        rpy="0 0 0" />
+      <mass
+        value="2.59613404955675" />
+      <inertia
+        ixx="0.0290159502383723"
+        ixy="0.0191907680569759"
+        ixz="-9.95460132564594E-19"
+        iyy="0.0183241817329619"
+        iyz="1.85841836801446E-18"
+        izz="0.0466924479447345" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftBackWheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftBackWheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="leftBackAnkle"
+    type="fixed">
+    <origin
+      xyz="0 0.015 -0.57"
+      rpy="1.5707963267949 0.649559204798949 3.14159265358979" />
+    <parent
+      link="leftBackLeg2" />
+    <child
+      link="leftBackWheel" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="rightFrountLeg1">
+    <inertial>
+      <origin
+        xyz="-0.118941133817556 0.236273644484428 -0.00580806156003584"
+        rpy="0 0 0" />
+      <mass
+        value="38.1420398579829" />
+      <inertia
+        ixx="0.726813027311006"
+        ixy="-7.05133638374386E-17"
+        ixz="0.0143774445593079"
+        iyy="0.925194268635263"
+        iyz="-3.5549353679584E-17"
+        izz="1.48520684580171" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightFrountLeg1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightFrountLeg1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rightFrountHip"
+    type="fixed">
+    <origin
+      xyz="0.538114243322229 0 -0.0749999999999567"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="rightFrountLeg1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="rightFrountLeg2">
+    <inertial>
+      <origin
+        xyz="-0.150134352504311 -0.0842937274152713 -0.00999999999999742"
+        rpy="0 0 0" />
+      <mass
+        value="2.49859350613591" />
+      <inertia
+        ixx="0.0265333888148182"
+        ixy="-0.0137120460944501"
+        ixz="1.38643097616407E-17"
+        iyy="0.0204949116761058"
+        iyz="1.30539272533426E-17"
+        izz="0.0461441087929164" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightFrountLeg2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightFrountLeg2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rightFrountKnee"
+    type="fixed">
+    <origin
+      xyz="0.340437114893263 -0.0149999999999981 -0.294283147331236"
+      rpy="-1.5707963267949 0 0" />
+    <parent
+      link="rightFrountLeg1" />
+    <child
+      link="rightFrountLeg2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="rightFrountWheel">
+    <inertial>
+      <origin
+        xyz="0.0124502311023402 0.0678549846905305 0.0201400148978498"
+        rpy="0 0 0" />
+      <mass
+        value="2.43427888827594" />
+      <inertia
+        ixx="0.0181775670977843"
+        ixy="-0.00202044566999061"
+        ixz="4.39624865870307E-18"
+        iyy="0.00753665665396837"
+        iyz="-5.3054224981183E-18"
+        izz="0.0251792292087068" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightFrountWheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightFrountWheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rightFrountAnkle"
+    type="fixed">
+    <origin
+      xyz="-0.0812115982488986 0.442611202196532 -0.02"
+      rpy="3.14159265358979 0 0" />
+    <parent
+      link="rightFrountLeg2" />
+    <child
+      link="rightFrountWheel" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="leftFrountLeg1">
+    <inertial>
+      <origin
+        xyz="-0.118941133817558 -0.236273644484428 -0.005808061560033"
+        rpy="0 0 0" />
+      <mass
+        value="38.1420398579829" />
+      <inertia
+        ixx="0.726813027311007"
+        ixy="-6.34037409605033E-17"
+        ixz="0.0143774445593079"
+        iyy="0.925194268635263"
+        iyz="-3.51895129032801E-17"
+        izz="1.48520684580171" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftFrountLeg1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftFrountLeg1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="leftFrountHip"
+    type="fixed">
+    <origin
+      xyz="0.538114243322231 0.5 -0.074999999999958"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="leftFrountLeg1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="leftFrountLeg2">
+    <inertial>
+      <origin
+        xyz="-0.15013435250431 -0.0842937274152861 0.0100000000000027"
+        rpy="0 0 0" />
+      <mass
+        value="2.49859350613591" />
+      <inertia
+        ixx="0.0265333888148181"
+        ixy="-0.01371204609445"
+        ixz="1.16788895693783E-18"
+        iyy="0.0204949116761058"
+        iyz="-2.66516720929131E-18"
+        izz="0.0461441087929164" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftFrountLeg2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftFrountLeg2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="leftFrountKnee"
+    type="fixed">
+    <origin
+      xyz="0.340437114893263 0.0149999999999956 -0.294283147331236"
+      rpy="-1.5707963267949 0 0" />
+    <parent
+      link="leftFrountLeg1" />
+    <child
+      link="leftFrountLeg2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="leftFrountWheel">
+    <inertial>
+      <origin
+        xyz="-0.012450231102341 0.0678549846905308 0.0201400148978522"
+        rpy="0 0 0" />
+      <mass
+        value="2.43427888827594" />
+      <inertia
+        ixx="0.0181775670977843"
+        ixy="0.00202044566999065"
+        ixz="3.17315479223702E-19"
+        iyy="0.00753665665396838"
+        iyz="-8.4337173011357E-19"
+        izz="0.0251792292087068" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftFrountWheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftFrountWheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="leftFrountAnkle"
+    type="fixed">
+    <origin
+      xyz="-0.0812115982489019 0.442611202196531 0.0200000000000001"
+      rpy="0 0 3.14159265358979" />
+    <parent
+      link="leftFrountLeg2" />
+    <child
+      link="leftFrountWheel" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
new file mode 100644
index 0000000..a5de029
--- /dev/null
+++ b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
@@ -0,0 +1,329 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- 转换自SolidWorks生成的URDF，使用Xacro简化重复结构 -->
+<robot name="HiveCoreR2" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!-- ==================== 参数定义（复用值） ==================== -->
+  <!-- 模型包路径（统一修改，避免硬编码） -->
+  <xacro:property name="model_package" value="hive_core_r2" />
+  <!-- 通用材料（所有部件共用的颜色） -->
+  <xacro:property name="material_rgba" value="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+
+
+  <!-- ==================== 宏定义（复用结构） ==================== -->
+  <!-- 1. 材料宏（所有部件共用同一材料） -->
+  <xacro:macro name="common_material" params="name">
+    <material name="${name}">
+      <color rgba="${material_rgba}" />
+    </material>
+  </xacro:macro>
+
+  <!-- 2. 链接(link)宏（简化重复的link结构：包含惯性、视觉、碰撞）
+       参数说明：
+       - link_name：链接名称（用于生成mesh路径）
+       - inertia_origin：惯性原点(xyz rpy)
+       - mass_value：质量
+       - inertia_ixx ~ izz：惯性矩阵参数
+  -->
+  <xacro:macro name="robot_link" 
+    params="link_name 
+            inertia_origin_xyz inertia_origin_rpy 
+            mass_value 
+            inertia_ixx inertia_ixy inertia_ixz 
+            inertia_iyy inertia_iyz inertia_izz">
+    
+    <link name="${link_name}">
+      <!-- 惯性参数 -->
+      <inertial>
+        <origin xyz="${inertia_origin_xyz}" rpy="${inertia_origin_rpy}" />
+        <mass value="${mass_value}" />
+        <inertia 
+          ixx="${inertia_ixx}" ixy="${inertia_ixy}" ixz="${inertia_ixz}"
+          iyy="${inertia_iyy}" iyz="${inertia_iyz}" izz="${inertia_izz}" />
+      </inertial>
+
+      <!-- 视觉模型 -->
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://${model_package}/urdf/meshes/${link_name}.STL" />
+        </geometry>
+        <xacro:common_material name="${link_name}_material" />
+      </visual>
+
+      <!-- 碰撞模型（与视觉模型一致） -->
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://${model_package}/urdf/meshes/${link_name}.STL" />
+        </geometry>
+      </collision>
+    </link>
+  </xacro:macro>
+
+
+  <!-- ==================== 机器人部件定义（调用宏生成） ==================== -->
+  <!-- 1. 基座链接 -->
+  <xacro:robot_link 
+    link_name="base_link"
+    inertia_origin_xyz="0.404894125841625 0.25 -0.0741710000663555"
+    inertia_origin_rpy="0 0 0"
+    mass_value="36.2382173155109"
+    inertia_ixx="0.711497711143894"
+    inertia_ixy="-8.8839258894658E-17"
+    inertia_ixz="-0.00135504720513282"
+    inertia_iyy="0.890783752147789"
+    inertia_iyz="-4.771855042082E-17"
+    inertia_izz="1.46528909632949"
+  />
+
+  <!-- 2. 右后腿部件 -->
+  <xacro:robot_link 
+    link_name="rightBackLeg1"
+    inertia_origin_xyz="0.159521553180005 0.114192611665744 -0.00583829035900738"
+    inertia_origin_rpy="0 0 0"
+    mass_value="37.7501467058271"
+    inertia_ixx="0.734431789745808"
+    inertia_ixy="-8.56096856466003E-17"
+    inertia_ixz="-0.0172488382149191"
+    inertia_iyy="0.926916791916097"
+    inertia_iyz="-2.12653031759239E-17"
+    inertia_izz="1.47936825397955"
+  />
+
+  <xacro:robot_link 
+    link_name="rightBackLeg2"
+    inertia_origin_xyz="-1.38777878078145E-17 -1.11022302462516E-16 -0.0980955329353473"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.91913514072796"
+    inertia_ixx="0.077483115922509"
+    inertia_ixy="7.93656541372871E-19"
+    inertia_ixz="2.77072863542925E-19"
+    inertia_iyy="0.0757075831245417"
+    inertia_iyz="1.9298798670242E-17"
+    inertia_izz="0.00286681014418753"
+  />
+
+  <xacro:robot_link 
+    link_name="rightBackWheel"
+    inertia_origin_xyz="0.09064374912672 0.119345179053196 0.00957524301681929"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.59613404955675"
+    inertia_ixx="0.0290159502383724"
+    inertia_ixy="-0.0191907680569759"
+    inertia_ixz="-2.57425322347828E-18"
+    inertia_iyy="0.018324181732962"
+    inertia_iyz="-3.74213782227815E-18"
+    inertia_izz="0.0466924479447346"
+  />
+
+  <!-- 3. 左后腿部件 -->
+  <xacro:robot_link 
+    link_name="leftBackLeg1"
+    inertia_origin_xyz="0.159521553180005 -0.114192611665745 -0.0058382903590074"
+    inertia_origin_rpy="0 0 0"
+    mass_value="37.7501467058271"
+    inertia_ixx="0.734431789745808"
+    inertia_ixy="-8.51866074090712E-17"
+    inertia_ixz="-0.0172488382149191"
+    inertia_iyy="0.926916791916097"
+    inertia_iyz="-2.08494328905552E-17"
+    inertia_izz="1.47936825397955"
+  />
+
+  <xacro:robot_link 
+    link_name="leftBackLeg2"
+    inertia_origin_xyz="-1.38777878078145E-16 1.11022302462516E-16 -0.0980955329353471"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.91913514072796"
+    inertia_ixx="0.0757075831245417"
+    inertia_ixy="-3.83388889773367E-19"
+    inertia_ixz="-1.19262238973406E-18"
+    inertia_iyy="0.077483115922509"
+    inertia_iyz="-3.42096044260462E-18"
+    inertia_izz="0.00286681014418753"
+  />
+
+  <xacro:robot_link 
+    link_name="leftBackWheel"
+    inertia_origin_xyz="-0.0906437491267199 0.119345179053196 0.00957524301681928"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.59613404955675"
+    inertia_ixx="0.0290159502383723"
+    inertia_ixy="0.0191907680569759"
+    inertia_ixz="-9.95460132564594E-19"
+    inertia_iyy="0.0183241817329619"
+    inertia_iyz="1.85841836801446E-18"
+    inertia_izz="0.0466924479447345"
+  />
+
+  <!-- 4. 右前腿部件 -->
+  <xacro:robot_link 
+    link_name="rightFrountLeg1"
+    inertia_origin_xyz="-0.118941133817556 0.236273644484428 -0.00580806156003584"
+    inertia_origin_rpy="0 0 0"
+    mass_value="38.1420398579829"
+    inertia_ixx="0.726813027311006"
+    inertia_ixy="-7.05133638374386E-17"
+    inertia_ixz="0.0143774445593079"
+    inertia_iyy="0.925194268635263"
+    inertia_iyz="-3.5549353679584E-17"
+    inertia_izz="1.48520684580171"
+  />
+
+  <xacro:robot_link 
+    link_name="rightFrountLeg2"
+    inertia_origin_xyz="-0.150134352504311 -0.0842937274152713 -0.00999999999999742"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.49859350613591"
+    inertia_ixx="0.0265333888148182"
+    inertia_ixy="-0.0137120460944501"
+    inertia_ixz="1.38643097616407E-17"
+    inertia_iyy="0.0204949116761058"
+    inertia_iyz="1.30539272533426E-17"
+    inertia_izz="0.0461441087929164"
+  />
+
+  <xacro:robot_link 
+    link_name="rightFrountWheel"
+    inertia_origin_xyz="0.0124502311023402 0.0678549846905305 0.0201400148978498"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.43427888827594"
+    inertia_ixx="0.0181775670977843"
+    inertia_ixy="-0.00202044566999061"
+    inertia_ixz="4.39624865870307E-18"
+    inertia_iyy="0.00753665665396837"
+    inertia_iyz="-5.3054224981183E-18"
+    inertia_izz="0.0251792292087068"
+  />
+
+  <!-- 5. 左前腿部件 -->
+  <xacro:robot_link 
+    link_name="leftFrountLeg1"
+    inertia_origin_xyz="-0.118941133817558 -0.236273644484428 -0.005808061560033"
+    inertia_origin_rpy="0 0 0"
+    mass_value="38.1420398579829"
+    inertia_ixx="0.726813027311007"
+    inertia_ixy="-6.34037409605033E-17"
+    inertia_ixz="0.0143774445593079"
+    inertia_iyy="0.925194268635263"
+    inertia_iyz="-3.51895129032801E-17"
+    inertia_izz="1.48520684580171"
+  />
+
+  <xacro:robot_link 
+    link_name="leftFrountLeg2"
+    inertia_origin_xyz="-0.15013435250431 -0.0842937274152861 0.0100000000000027"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.49859350613591"
+    inertia_ixx="0.0265333888148181"
+    inertia_ixy="-0.01371204609445"
+    inertia_ixz="1.16788895693783E-18"
+    inertia_iyy="0.0204949116761058"
+    inertia_iyz="-2.66516720929131E-18"
+    inertia_izz="0.0461441087929164"
+  />
+
+  <xacro:robot_link 
+    link_name="leftFrountWheel"
+    inertia_origin_xyz="-0.012450231102341 0.0678549846905308 0.0201400148978522"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.43427888827594"
+    inertia_ixx="0.0181775670977843"
+    inertia_ixy="0.00202044566999065"
+    inertia_ixz="3.17315479223702E-19"
+    inertia_iyy="0.00753665665396838"
+    inertia_iyz="-8.4337173011357E-19"
+    inertia_izz="0.0251792292087068"
+  />
+
+
+  <!-- ==================== 关节定义（保留原参数，确保结构正确） ==================== -->
+  <!-- 右后腿关节 -->
+  <joint name="rightBackHip" type="fixed">
+    <origin xyz="0.233468148498616 0.13 -0.0750000000000009" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="rightBackLeg1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="rightBackKnee" type="fixed">
+    <origin xyz="-0.176484597484903 -0.025 -0.232366667198654" rpy="0.649559204798949 0 1.5707963267949" />
+    <parent link="rightBackLeg1" />
+    <child link="rightBackLeg2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="rightBackAnkle" type="fixed">
+    <origin xyz="-0.015 0 -0.57" rpy="1.5707963267949 -0.649559204798949 -1.5707963267949" />
+    <parent link="rightBackLeg2" />
+    <child link="rightBackWheel" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <!-- 左后腿关节 -->
+  <joint name="leftBackHip" type="fixed">
+    <origin xyz="0.233468148498616 0.37 -0.0750000000000008" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="leftBackLeg1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="leftBackKnee" type="fixed">
+    <origin xyz="-0.176484597484903 0.025 -0.232366667198655" rpy="0 0.649559204798949 0" />
+    <parent link="leftBackLeg1" />
+    <child link="leftBackLeg2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="leftBackAnkle" type="fixed">
+    <origin xyz="0 0.015 -0.57" rpy="1.5707963267949 0.649559204798949 3.14159265358979" />
+    <parent link="leftBackLeg2" />
+    <child link="leftBackWheel" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <!-- 右前腿关节 -->
+  <joint name="rightFrountHip" type="fixed">
+    <origin xyz="0.538114243322229 0 -0.0749999999999567" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="rightFrountLeg1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="rightFrountKnee" type="fixed">
+    <origin xyz="0.340437114893263 -0.0149999999999981 -0.294283147331236" rpy="-1.5707963267949 0 0" />
+    <parent link="rightFrountLeg1" />
+    <child link="rightFrountLeg2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="rightFrountAnkle" type="fixed">
+    <origin xyz="-0.0812115982488986 0.442611202196532 -0.02" rpy="3.14159265358979 0 0" />
+    <parent link="rightFrountLeg2" />
+    <child link="rightFrountWheel" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <!-- 左前腿关节 -->
+  <joint name="leftFrountHip" type="fixed">
+    <origin xyz="0.538114243322231 0.5 -0.074999999999958" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="leftFrountLeg1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="leftFrountKnee" type="fixed">
+    <origin xyz="0.340437114893263 0.0149999999999956 -0.294283147331236" rpy="-1.5707963267949 0 0" />
+    <parent link="leftFrountLeg1" />
+    <child link="leftFrountLeg2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="leftFrountAnkle" type="fixed">
+    <origin xyz="-0.0812115982489019 0.442611202196531 0.0200000000000001" rpy="0 0 3.14159265358979" />
+    <parent link="leftFrountLeg2" />
+    <child link="leftFrountWheel" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+</robot>
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
new file mode 100644
index 0000000..de18524
Binary files /dev/null and b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL differ
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
new file mode 100644
index 0000000..fcf6527
Binary files /dev/null and b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL differ
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
new file mode 100644
index 0000000..3cd4284
Binary files /dev/null and b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL differ
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
new file mode 100644
index 0000000..b384b50
Binary files /dev/null and b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL differ
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
new file mode 100644
index 0000000..74fdaf7
Binary files /dev/null and b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL differ
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
new file mode 100644
index 0000000..b94d7da
Binary files /dev/null and b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL differ
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
new file mode 100644
index 0000000..9f44f6b
Binary files /dev/null and b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL differ
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
new file mode 100644
index 0000000..9f54bfb
Binary files /dev/null and b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL differ
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
new file mode 100644
index 0000000..8ff1a9a
Binary files /dev/null and b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL differ
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
new file mode 100644
index 0000000..1da1c86
Binary files /dev/null and b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL differ
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
new file mode 100644
index 0000000..669941f
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diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
new file mode 100644
index 0000000..bc695b2
Binary files /dev/null and b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL differ
diff --git a/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL b/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
new file mode 100644
index 0000000..117c24a
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diff --git a/HiveCoreR2/install/local_setup.bash b/HiveCoreR2/install/local_setup.bash
new file mode 100644
index 0000000..03f0025
--- /dev/null
+++ b/HiveCoreR2/install/local_setup.bash
@@ -0,0 +1,121 @@
+# generated from colcon_bash/shell/template/prefix.bash.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+else
+  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_bash_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_bash_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_bash_prepend_unique_value_IFS"
+  unset _colcon_prefix_bash_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_bash_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "$(declare -f _colcon_prefix_sh_source_script)"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX
diff --git a/HiveCoreR2/install/local_setup.ps1 b/HiveCoreR2/install/local_setup.ps1
new file mode 100644
index 0000000..6f68c8d
--- /dev/null
+++ b/HiveCoreR2/install/local_setup.ps1
@@ -0,0 +1,55 @@
+# generated from colcon_powershell/shell/template/prefix.ps1.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# check environment variable for custom Python executable
+if ($env:COLCON_PYTHON_EXECUTABLE) {
+  if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) {
+    echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    exit 1
+  }
+  $_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE"
+} else {
+  # use the Python executable known at configure time
+  $_colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) {
+    if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) {
+      echo "error: unable to find python3 executable"
+      exit 1
+    }
+    $_colcon_python_executable="python3"
+  }
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_powershell_source_script {
+  param (
+    $_colcon_prefix_powershell_source_script_param
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_prefix_powershell_source_script_param) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_prefix_powershell_source_script_param'"
+    }
+    . "$_colcon_prefix_powershell_source_script_param"
+  } else {
+    Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'"
+  }
+}
+
+# get all commands in topological order
+$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1
+
+# execute all commands in topological order
+if ($env:COLCON_TRACE) {
+  echo "Execute generated script:"
+  echo "<<<"
+  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output
+  echo ">>>"
+}
+if ($_colcon_ordered_commands) {
+  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression
+}
diff --git a/HiveCoreR2/install/local_setup.sh b/HiveCoreR2/install/local_setup.sh
new file mode 100644
index 0000000..c5c6676
--- /dev/null
+++ b/HiveCoreR2/install/local_setup.sh
@@ -0,0 +1,137 @@
+# generated from colcon_core/shell/template/prefix.sh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+else
+  _colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_sh_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_sh_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_sh_prepend_unique_value_IFS"
+  unset _colcon_prefix_sh_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_sh_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "_colcon_prefix_sh_source_script() {
+    if [ -f \"\$1\" ]; then
+      if [ -n \"\$COLCON_TRACE\" ]; then
+        echo \"# . \\\"\$1\\\"\"
+      fi
+      . \"\$1\"
+    else
+      echo \"not found: \\\"\$1\\\"\" 1>&2
+    fi
+  }"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
diff --git a/HiveCoreR2/install/local_setup.zsh b/HiveCoreR2/install/local_setup.zsh
new file mode 100644
index 0000000..b648710
--- /dev/null
+++ b/HiveCoreR2/install/local_setup.zsh
@@ -0,0 +1,134 @@
+# generated from colcon_zsh/shell/template/prefix.zsh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+else
+  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+_colcon_prefix_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_zsh_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_zsh_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # workaround SH_WORD_SPLIT not being set
+  _colcon_prefix_zsh_convert_to_array _values
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS"
+  unset _colcon_prefix_zsh_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_zsh_prepend_unique_value
+unset _colcon_prefix_zsh_convert_to_array
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "$(declare -f _colcon_prefix_sh_source_script)"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX
diff --git a/HiveCoreR2/install/setup.bash b/HiveCoreR2/install/setup.bash
new file mode 100644
index 0000000..10ea0f7
--- /dev/null
+++ b/HiveCoreR2/install/setup.bash
@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/prefix_chain.bash.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_bash_source_script
diff --git a/HiveCoreR2/install/setup.ps1 b/HiveCoreR2/install/setup.ps1
new file mode 100644
index 0000000..558e9b9
--- /dev/null
+++ b/HiveCoreR2/install/setup.ps1
@@ -0,0 +1,29 @@
+# generated from colcon_powershell/shell/template/prefix_chain.ps1.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_chain_powershell_source_script {
+  param (
+    $_colcon_prefix_chain_powershell_source_script_param
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_prefix_chain_powershell_source_script_param'"
+    }
+    . "$_colcon_prefix_chain_powershell_source_script_param"
+  } else {
+    Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'"
+  }
+}
+
+# source chained prefixes
+_colcon_prefix_chain_powershell_source_script "/opt/ros/humble\local_setup.ps1"
+
+# source this prefix
+$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
+_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1"
diff --git a/HiveCoreR2/install/setup.sh b/HiveCoreR2/install/setup.sh
new file mode 100644
index 0000000..58b62c6
--- /dev/null
+++ b/HiveCoreR2/install/setup.sh
@@ -0,0 +1,45 @@
+# generated from colcon_core/shell/template/prefix_chain.sh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install
+if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then
+  echo "The build time path \"$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+  unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+  return 1
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_sh_source_script
+unset COLCON_CURRENT_PREFIX
diff --git a/HiveCoreR2/install/setup.zsh b/HiveCoreR2/install/setup.zsh
new file mode 100644
index 0000000..54799fd
--- /dev/null
+++ b/HiveCoreR2/install/setup.zsh
@@ -0,0 +1,31 @@
+# generated from colcon_zsh/shell/template/prefix_chain.zsh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_zsh_source_script
diff --git a/HiveCoreR2/log/COLCON_IGNORE b/HiveCoreR2/log/COLCON_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/HiveCoreR2/log/build_2025-07-25_14-37-24/events.log b/HiveCoreR2/log/build_2025-07-25_14-37-24/events.log
new file mode 100644
index 0000000..e30abf3
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-37-24/events.log
@@ -0,0 +1,80 @@
+[0.000000] (-) TimerEvent: {}
+[0.000267] (hive_core_r2) JobQueued: {'identifier': 'hive_core_r2', 'dependencies': OrderedDict()}
+[0.000656] (hive_core_r2) JobStarted: {'identifier': 'hive_core_r2'}
+[0.004649] (hive_core_r2) JobProgress: {'identifier': 'hive_core_r2', 'progress': 'cmake'}
+[0.004917] (hive_core_r2) Command: {'cmd': ['/home/hivecore/.local/bin/cmake', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2', '-DCMAKE_INSTALL_PREFIX=/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2'], 'cwd': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('USER', 'hivecore'), ('LC_TIME', 'zh_CN.UTF-8'), ('ROS_PACKAGE_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share'), ('XDG_SESSION_TYPE', 'x11'), ('GIT_ASKPASS', '/usr/share/code/resources/app/extensions/git/dist/askpass.sh'), ('SHLVL', '2'), ('LD_LIBRARY_PATH', '/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib::'), ('HOME', '/home/hivecore'), ('CHROME_DESKTOP', 'code.desktop'), ('OLDPWD', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src'), ('TERM_PROGRAM_VERSION', '1.101.2'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('VSCODE_GIT_ASKPASS_MAIN', '/usr/share/code/resources/app/extensions/git/dist/askpass-main.js'), ('LC_MONETARY', 'zh_CN.UTF-8'), ('VSCODE_GIT_ASKPASS_NODE', '/usr/share/code/code'), ('PYDEVD_DISABLE_FILE_VALIDATION', '1'), ('DBUS_STARTER_BUS_TYPE', 'session'), ('SYSTEMD_EXEC_PID', '2228'), ('BUNDLED_DEBUGPY_PATH', '/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/bundled/libs/debugpy'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus,guid=82a8ac357147818fab17d71d68821655'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('COLCON_PREFIX_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install'), ('ROS_DISTRO', 'humble'), ('GTK_IM_MODULE', 'ibus'), ('LOGNAME', 'hivecore'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('PKG_CONFIG_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/x86_64-linux-gnu/pkgconfig:/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'hivecore'), ('TERM', 'xterm-256color'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('WINDOWPATH', '2'), ('PATH', '/opt/ros/humble/bin:/home/hivecore/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin:/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/bundled/scripts/noConfigScripts'), ('SESSION_MANAGER', 'local/hivecore-Precision-3680:@/tmp/.ICE-unix/2228,unix/hivecore-Precision-3680:/tmp/.ICE-unix/2228'), ('XDG_MENU_PREFIX', 'gnome-'), ('LC_ADDRESS', 'zh_CN.UTF-8'), ('GNOME_TERMINAL_SCREEN', '/org/gnome/Terminal/screen/b67c7915_4fd4_4ef3_8119_4de739e1ff9d'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('GDK_BACKEND', 'x11'), ('DISPLAY', ':1'), ('VSCODE_DEBUGPY_ADAPTER_ENDPOINTS', '/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/.noConfigDebugAdapterEndpoints/endpoint-ffd79902c8a5999d.txt'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'Unity'), ('LC_TELEPHONE', 'zh_CN.UTF-8'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/gdm/Xauthority'), ('LS_COLORS', 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+[0.240100] (hive_core_r2) StdoutLine: {'line': b'-- Detecting C compiler ABI info - done\n'}
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+[0.261081] (hive_core_r2) StdoutLine: {'line': b'-- Detecting C compile features - done\n'}
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+[0.343115] (hive_core_r2) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info - done\n'}
+[0.351823] (hive_core_r2) StdoutLine: {'line': b'-- Check for working CXX compiler: /usr/bin/c++ - skipped\n'}
+[0.352080] (hive_core_r2) StdoutLine: {'line': b'-- Detecting CXX compile features\n'}
+[0.352510] (hive_core_r2) StdoutLine: {'line': b'-- Detecting CXX compile features - done\n'}
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+[0.466103] (hive_core_r2) StdoutLine: {'line': b'-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter\n'}
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+[0.551721] (hive_core_r2) StdoutLine: {'line': b"-- Added test 'flake8' to check Python code syntax and style conventions\n"}
+[0.551974] (hive_core_r2) StdoutLine: {'line': b"-- Added test 'lint_cmake' to check CMake code style\n"}
+[0.552191] (hive_core_r2) StdoutLine: {'line': b"-- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257\n"}
+[0.552655] (hive_core_r2) StdoutLine: {'line': b"-- Added test 'xmllint' to check XML markup files\n"}
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('VSCODE_GIT_IPC_HANDLE', '/run/user/1000/vscode-git-3bd65c1082.sock'), ('GNOME_TERMINAL_SERVICE', ':1.112'), ('TERM_PROGRAM', 'vscode'), ('SSH_AGENT_LAUNCHER', 'gnome-keyring'), ('SSH_AUTH_SOCK', '/run/user/1000/keyring/ssh'), ('AMENT_PREFIX_PATH', '/opt/ros/humble'), ('ORIGINAL_XDG_CURRENT_DESKTOP', 'ubuntu:GNOME'), ('SHELL', '/bin/bash'), ('LC_NAME', 'zh_CN.UTF-8'), ('QT_ACCESSIBILITY', '1'), ('GDMSESSION', 'ubuntu'), ('LESSCLOSE', '/usr/bin/lesspipe %s %s'), ('LC_MEASUREMENT', 'zh_CN.UTF-8'), ('GPG_AGENT_INFO', '/run/user/1000/gnupg/S.gpg-agent:0:1'), ('LC_IDENTIFICATION', 'zh_CN.UTF-8'), ('VSCODE_GIT_ASKPASS_EXTRA_ARGS', ''), ('QT_IM_MODULE', 'ibus'), ('PWD', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2'), ('LC_ALL', 'en_US.UTF-8'), ('XDG_CONFIG_DIRS', '/etc/xdg/xdg-ubuntu:/etc/xdg'), ('DBUS_STARTER_ADDRESS', 'unix:path=/run/user/1000/bus,guid=82a8ac357147818fab17d71d68821655'), ('XDG_DATA_DIRS', '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop'), ('PYTHONPATH', '/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('LC_NUMERIC', 'zh_CN.UTF-8'), ('LC_PAPER', 'zh_CN.UTF-8'), ('COLCON', '1'), ('VTE_VERSION', '6800'), ('CMAKE_PREFIX_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2:/opt/ros/humble')]), 'shell': False}
+[0.685745] (hive_core_r2) StdoutLine: {'line': b'-- Install configuration: ""\n'}
+[0.685971] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch\n'}
+[0.686017] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__\n'}
+[0.686039] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc\n'}
+[0.686059] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py\n'}
+[0.686077] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf\n'}
+[0.686107] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes\n'}
+[0.686125] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL\n'}
+[0.686280] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL\n'}
+[0.686329] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL\n'}
+[0.686482] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL\n'}
+[0.686513] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL\n'}
+[0.686533] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL\n'}
+[0.686552] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL\n'}
+[0.686570] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL\n'}
+[0.686613] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL\n'}
+[0.686715] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL\n'}
+[0.686780] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL\n'}
+[0.686860] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL\n'}
+[0.686933] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL\n'}
+[0.686998] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf\n'}
+[0.687066] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config\n'}
+[0.687173] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2\n'}
+[0.687272] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2\n'}
+[0.687369] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh\n'}
+[0.687441] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv\n'}
+[0.687512] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh\n'}
+[0.687581] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv\n'}
+[0.687652] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash\n'}
+[0.687721] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh\n'}
+[0.687797] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh\n'}
+[0.687867] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv\n'}
+[0.687938] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv\n'}
+[0.688028] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2\n'}
+[0.688117] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake\n'}
+[0.688176] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake\n'}
+[0.688242] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml\n'}
+[0.689113] (hive_core_r2) CommandEnded: {'returncode': 0}
+[0.700808] (-) TimerEvent: {}
+[0.706943] (hive_core_r2) JobEnded: {'identifier': 'hive_core_r2', 'rc': 0}
+[0.707422] (-) EventReactorShutdown: {}
diff --git a/HiveCoreR2/log/build_2025-07-25_14-37-24/hive_core_r2/command.log b/HiveCoreR2/log/build_2025-07-25_14-37-24/hive_core_r2/command.log
new file mode 100644
index 0000000..e826c4b
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-37-24/hive_core_r2/command.log
@@ -0,0 +1,6 @@
+Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2 -DCMAKE_INSTALL_PREFIX=/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2
+Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2 -DCMAKE_INSTALL_PREFIX=/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2
+Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
diff --git a/HiveCoreR2/log/build_2025-07-25_14-37-24/hive_core_r2/stderr.log b/HiveCoreR2/log/build_2025-07-25_14-37-24/hive_core_r2/stderr.log
new file mode 100644
index 0000000..e69de29
diff --git a/HiveCoreR2/log/build_2025-07-25_14-37-24/hive_core_r2/stdout.log b/HiveCoreR2/log/build_2025-07-25_14-37-24/hive_core_r2/stdout.log
new file mode 100644
index 0000000..2fa5eea
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-37-24/hive_core_r2/stdout.log
@@ -0,0 +1,59 @@
+-- The C compiler identification is GNU 11.4.0
+-- The CXX compiler identification is GNU 11.4.0
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /usr/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /usr/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 1.3.12 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter
+-- Found ament_lint_auto: 0.12.14 (/opt/ros/humble/share/ament_lint_auto/cmake)
+-- Added test 'flake8' to check Python code syntax and style conventions
+-- Added test 'lint_cmake' to check CMake code style
+-- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257
+-- Added test 'xmllint' to check XML markup files
+-- Configuring done (0.5s)
+-- Generating done (0.0s)
+-- Build files have been written to: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+-- Install configuration: ""
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
diff --git a/HiveCoreR2/log/build_2025-07-25_14-37-24/hive_core_r2/stdout_stderr.log b/HiveCoreR2/log/build_2025-07-25_14-37-24/hive_core_r2/stdout_stderr.log
new file mode 100644
index 0000000..2fa5eea
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-37-24/hive_core_r2/stdout_stderr.log
@@ -0,0 +1,59 @@
+-- The C compiler identification is GNU 11.4.0
+-- The CXX compiler identification is GNU 11.4.0
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /usr/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /usr/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 1.3.12 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter
+-- Found ament_lint_auto: 0.12.14 (/opt/ros/humble/share/ament_lint_auto/cmake)
+-- Added test 'flake8' to check Python code syntax and style conventions
+-- Added test 'lint_cmake' to check CMake code style
+-- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257
+-- Added test 'xmllint' to check XML markup files
+-- Configuring done (0.5s)
+-- Generating done (0.0s)
+-- Build files have been written to: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+-- Install configuration: ""
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
diff --git a/HiveCoreR2/log/build_2025-07-25_14-37-24/hive_core_r2/streams.log b/HiveCoreR2/log/build_2025-07-25_14-37-24/hive_core_r2/streams.log
new file mode 100644
index 0000000..7221e09
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-37-24/hive_core_r2/streams.log
@@ -0,0 +1,65 @@
+[0.005s] Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2 -DCMAKE_INSTALL_PREFIX=/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2
+[0.098s] -- The C compiler identification is GNU 11.4.0
+[0.159s] -- The CXX compiler identification is GNU 11.4.0
+[0.169s] -- Detecting C compiler ABI info
+[0.240s] -- Detecting C compiler ABI info - done
+[0.260s] -- Check for working C compiler: /usr/bin/cc - skipped
+[0.260s] -- Detecting C compile features
+[0.260s] -- Detecting C compile features - done
+[0.277s] -- Detecting CXX compiler ABI info
+[0.343s] -- Detecting CXX compiler ABI info - done
+[0.351s] -- Check for working CXX compiler: /usr/bin/c++ - skipped
+[0.351s] -- Detecting CXX compile features
+[0.352s] -- Detecting CXX compile features - done
+[0.358s] -- Found ament_cmake: 1.3.12 (/opt/ros/humble/share/ament_cmake/cmake)
+[0.466s] -- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter
+[0.515s] -- Found ament_lint_auto: 0.12.14 (/opt/ros/humble/share/ament_lint_auto/cmake)
+[0.551s] -- Added test 'flake8' to check Python code syntax and style conventions
+[0.551s] -- Added test 'lint_cmake' to check CMake code style
+[0.552s] -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257
+[0.552s] -- Added test 'xmllint' to check XML markup files
+[0.552s] -- Configuring done (0.5s)
+[0.554s] -- Generating done (0.0s)
+[0.554s] -- Build files have been written to: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.558s] Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2 -DCMAKE_INSTALL_PREFIX=/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2
+[0.558s] Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.604s] Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.647s] Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.685s] -- Install configuration: ""
+[0.685s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+[0.685s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+[0.685s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+[0.685s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+[0.685s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+[0.685s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+[0.685s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+[0.686s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+[0.686s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+[0.686s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+[0.686s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+[0.686s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+[0.686s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+[0.686s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+[0.686s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+[0.686s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+[0.686s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+[0.686s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+[0.686s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+[0.686s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+[0.686s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+[0.687s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+[0.687s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+[0.687s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+[0.687s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+[0.687s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+[0.687s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+[0.687s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+[0.687s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+[0.687s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+[0.687s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+[0.687s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+[0.687s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+[0.687s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+[0.688s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+[0.688s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
+[0.689s] Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
diff --git a/HiveCoreR2/log/build_2025-07-25_14-37-24/logger_all.log b/HiveCoreR2/log/build_2025-07-25_14-37-24/logger_all.log
new file mode 100644
index 0000000..0e7057c
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-37-24/logger_all.log
@@ -0,0 +1,142 @@
+[0.046s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.046s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=32, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0x7edc7855a500>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7edc786dbe50>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7edc786dbe50>>, mixin_verb=('build',))
+[0.109s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.109s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.109s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.109s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.109s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.109s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.109s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2'
+[0.110s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.110s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.110s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.110s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.110s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.110s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.110s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.110s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.110s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.114s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.114s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.114s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['ignore', 'ignore_ament_install']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ignore'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ignore_ament_install'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['colcon_pkg']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'colcon_pkg'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['colcon_meta']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'colcon_meta'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['ros']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ros'
+[0.116s] DEBUG:colcon.colcon_core.package_identification:Package 'src/hive_core_r2' with type 'ros.ament_cmake' and name 'hive_core_r2'
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.129s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.129s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.130s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' in the environment variable CMAKE_PREFIX_PATH doesn't exist
+[0.130s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 0 installed packages in /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install
+[0.131s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 423 installed packages in /opt/ros/humble
+[0.131s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.150s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_args' from command line to 'None'
+[0.150s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_target' from command line to 'None'
+[0.150s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.150s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_clean_cache' from command line to 'False'
+[0.150s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_clean_first' from command line to 'False'
+[0.150s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_force_configure' from command line to 'False'
+[0.150s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'ament_cmake_args' from command line to 'None'
+[0.150s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'catkin_cmake_args' from command line to 'None'
+[0.151s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.151s] DEBUG:colcon.colcon_core.verb:Building package 'hive_core_r2' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2', 'merge_install': False, 'path': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2', 'symlink_install': False, 'test_result_base': None}
+[0.151s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.152s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.152s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2' with build type 'ament_cmake'
+[0.152s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2'
+[0.152s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.152s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.152s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.156s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2 -DCMAKE_INSTALL_PREFIX=/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2
+[0.709s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2 -DCMAKE_INSTALL_PREFIX=/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2
+[0.710s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.756s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.799s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.840s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(hive_core_r2)
+[0.840s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.842s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake module files
+[0.842s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake config files
+[0.842s] Level 1:colcon.colcon_core.shell:create_environment_hook('hive_core_r2', 'cmake_prefix_path')
+[0.843s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1'
+[0.843s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv'
+[0.843s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh'
+[0.844s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.844s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig/hive_core_r2.pc'
+[0.844s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/python3.10/site-packages'
+[0.844s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.845s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1'
+[0.845s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv'
+[0.846s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh'
+[0.846s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash'
+[0.847s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh'
+[0.847s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2)
+[0.848s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(hive_core_r2)
+[0.848s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake module files
+[0.848s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake config files
+[0.848s] Level 1:colcon.colcon_core.shell:create_environment_hook('hive_core_r2', 'cmake_prefix_path')
+[0.848s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1'
+[0.849s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv'
+[0.849s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh'
+[0.849s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.849s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig/hive_core_r2.pc'
+[0.849s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/python3.10/site-packages'
+[0.849s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.850s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1'
+[0.850s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv'
+[0.857s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh'
+[0.857s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash'
+[0.858s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh'
+[0.858s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2)
+[0.858s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[0.858s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[0.858s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[0.858s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[0.862s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[0.862s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[0.862s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[0.882s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[0.883s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.ps1'
+[0.884s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/_local_setup_util_ps1.py'
+[0.886s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.ps1'
+[0.887s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.sh'
+[0.887s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/_local_setup_util_sh.py'
+[0.888s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.sh'
+[0.889s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.bash'
+[0.890s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.bash'
+[0.891s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.zsh'
+[0.891s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.zsh'
diff --git a/HiveCoreR2/log/build_2025-07-25_14-41-32/events.log b/HiveCoreR2/log/build_2025-07-25_14-41-32/events.log
new file mode 100644
index 0000000..41b711c
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-41-32/events.log
@@ -0,0 +1,50 @@
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+[0.149753] (hive_core_r2) StdoutLine: {'line': b'-- Install configuration: ""\n'}
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+[0.150331] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL\n'}
+[0.150349] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL\n'}
+[0.150369] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL\n'}
+[0.150387] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf\n'}
+[0.150404] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config\n'}
+[0.150421] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2\n'}
+[0.150480] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2\n'}
+[0.150529] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh\n'}
+[0.150552] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv\n'}
+[0.150572] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh\n'}
+[0.150592] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv\n'}
+[0.150613] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash\n'}
+[0.150632] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh\n'}
+[0.150656] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh\n'}
+[0.150676] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv\n'}
+[0.150695] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv\n'}
+[0.150725] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2\n'}
+[0.150745] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake\n'}
+[0.150764] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake\n'}
+[0.150783] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml\n'}
+[0.151368] (hive_core_r2) CommandEnded: {'returncode': 0}
+[0.160999] (hive_core_r2) JobEnded: {'identifier': 'hive_core_r2', 'rc': 0}
+[0.161274] (-) EventReactorShutdown: {}
diff --git a/HiveCoreR2/log/build_2025-07-25_14-41-32/hive_core_r2/command.log b/HiveCoreR2/log/build_2025-07-25_14-41-32/hive_core_r2/command.log
new file mode 100644
index 0000000..49a4c78
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-41-32/hive_core_r2/command.log
@@ -0,0 +1,4 @@
+Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
diff --git a/HiveCoreR2/log/build_2025-07-25_14-41-32/hive_core_r2/stderr.log b/HiveCoreR2/log/build_2025-07-25_14-41-32/hive_core_r2/stderr.log
new file mode 100644
index 0000000..e69de29
diff --git a/HiveCoreR2/log/build_2025-07-25_14-41-32/hive_core_r2/stdout.log b/HiveCoreR2/log/build_2025-07-25_14-41-32/hive_core_r2/stdout.log
new file mode 100644
index 0000000..c782b50
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-41-32/hive_core_r2/stdout.log
@@ -0,0 +1,37 @@
+-- Install configuration: ""
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
diff --git a/HiveCoreR2/log/build_2025-07-25_14-41-32/hive_core_r2/stdout_stderr.log b/HiveCoreR2/log/build_2025-07-25_14-41-32/hive_core_r2/stdout_stderr.log
new file mode 100644
index 0000000..c782b50
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-41-32/hive_core_r2/stdout_stderr.log
@@ -0,0 +1,37 @@
+-- Install configuration: ""
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
diff --git a/HiveCoreR2/log/build_2025-07-25_14-41-32/hive_core_r2/streams.log b/HiveCoreR2/log/build_2025-07-25_14-41-32/hive_core_r2/streams.log
new file mode 100644
index 0000000..765c301
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-41-32/hive_core_r2/streams.log
@@ -0,0 +1,41 @@
+[0.005s] Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.062s] Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.109s] Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.150s] -- Install configuration: ""
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+[0.150s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+[0.151s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+[0.151s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+[0.151s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+[0.151s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+[0.151s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+[0.151s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
+[0.151s] Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
diff --git a/HiveCoreR2/log/build_2025-07-25_14-41-32/logger_all.log b/HiveCoreR2/log/build_2025-07-25_14-41-32/logger_all.log
new file mode 100644
index 0000000..0a0072d
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-41-32/logger_all.log
@@ -0,0 +1,139 @@
+[0.049s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.049s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=32, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0x78a70065a4d0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x78a7007dbe20>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x78a7007dbe20>>, mixin_verb=('build',))
+[0.112s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.112s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.112s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.112s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.112s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.112s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.112s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2'
+[0.112s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.112s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.112s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.113s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.113s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.113s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.113s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.113s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.113s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.117s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['ignore', 'ignore_ament_install']
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ignore'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ignore_ament_install'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['colcon_pkg']
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'colcon_pkg'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['colcon_meta']
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'colcon_meta'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['ros']
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ros'
+[0.119s] DEBUG:colcon.colcon_core.package_identification:Package 'src/hive_core_r2' with type 'ros.ament_cmake' and name 'hive_core_r2'
+[0.119s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.119s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.119s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.119s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.119s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.130s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.130s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.131s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 1 installed packages in /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install
+[0.132s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 423 installed packages in /opt/ros/humble
+[0.133s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.151s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_args' from command line to 'None'
+[0.151s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_target' from command line to 'None'
+[0.151s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.151s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_clean_cache' from command line to 'False'
+[0.151s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_clean_first' from command line to 'False'
+[0.151s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_force_configure' from command line to 'False'
+[0.151s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'ament_cmake_args' from command line to 'None'
+[0.151s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'catkin_cmake_args' from command line to 'None'
+[0.151s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.151s] DEBUG:colcon.colcon_core.verb:Building package 'hive_core_r2' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2', 'merge_install': False, 'path': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2', 'symlink_install': False, 'test_result_base': None}
+[0.151s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.152s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.152s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2' with build type 'ament_cmake'
+[0.152s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2'
+[0.153s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.153s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.153s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.157s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.214s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.261s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.303s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(hive_core_r2)
+[0.304s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.305s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake module files
+[0.306s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake config files
+[0.306s] Level 1:colcon.colcon_core.shell:create_environment_hook('hive_core_r2', 'cmake_prefix_path')
+[0.306s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1'
+[0.306s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv'
+[0.307s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh'
+[0.307s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.307s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig/hive_core_r2.pc'
+[0.307s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/python3.10/site-packages'
+[0.308s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.308s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1'
+[0.308s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv'
+[0.309s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh'
+[0.309s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash'
+[0.309s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh'
+[0.310s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2)
+[0.310s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(hive_core_r2)
+[0.310s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake module files
+[0.311s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake config files
+[0.311s] Level 1:colcon.colcon_core.shell:create_environment_hook('hive_core_r2', 'cmake_prefix_path')
+[0.311s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1'
+[0.311s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv'
+[0.311s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh'
+[0.312s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.312s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig/hive_core_r2.pc'
+[0.312s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/python3.10/site-packages'
+[0.312s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.312s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1'
+[0.312s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv'
+[0.313s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh'
+[0.313s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash'
+[0.313s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh'
+[0.313s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2)
+[0.313s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[0.313s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[0.313s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[0.313s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[0.315s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[0.315s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[0.315s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[0.324s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[0.324s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.ps1'
+[0.325s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/_local_setup_util_ps1.py'
+[0.326s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.ps1'
+[0.327s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.sh'
+[0.327s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/_local_setup_util_sh.py'
+[0.328s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.sh'
+[0.328s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.bash'
+[0.329s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.bash'
+[0.330s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.zsh'
+[0.331s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.zsh'
diff --git a/HiveCoreR2/log/build_2025-07-25_14-52-13/events.log b/HiveCoreR2/log/build_2025-07-25_14-52-13/events.log
new file mode 100644
index 0000000..bd2dbbc
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-52-13/events.log
@@ -0,0 +1,51 @@
+[0.000000] (-) TimerEvent: {}
+[0.000247] (hive_core_r2) JobQueued: {'identifier': 'hive_core_r2', 'dependencies': OrderedDict()}
+[0.000309] (hive_core_r2) JobStarted: {'identifier': 'hive_core_r2'}
+[0.003983] (hive_core_r2) JobProgress: {'identifier': 'hive_core_r2', 'progress': 'cmake'}
+[0.004148] (hive_core_r2) JobProgress: {'identifier': 'hive_core_r2', 'progress': 'build'}
+[0.004441] (hive_core_r2) Command: {'cmd': ['/home/hivecore/.local/bin/cmake', '--build', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', '--', '-j32', '-l32'], 'cwd': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('USER', 'hivecore'), ('LC_TIME', 'zh_CN.UTF-8'), ('ROS_PACKAGE_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share'), ('XDG_SESSION_TYPE', 'x11'), ('GIT_ASKPASS', '/usr/share/code/resources/app/extensions/git/dist/askpass.sh'), ('SHLVL', '2'), ('LD_LIBRARY_PATH', '/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib::'), ('HOME', '/home/hivecore'), ('CHROME_DESKTOP', 'code.desktop'), ('OLDPWD', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src'), ('TERM_PROGRAM_VERSION', '1.101.2'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('VSCODE_GIT_ASKPASS_MAIN', '/usr/share/code/resources/app/extensions/git/dist/askpass-main.js'), ('LC_MONETARY', 'zh_CN.UTF-8'), ('VSCODE_GIT_ASKPASS_NODE', '/usr/share/code/code'), ('PYDEVD_DISABLE_FILE_VALIDATION', '1'), ('DBUS_STARTER_BUS_TYPE', 'session'), ('SYSTEMD_EXEC_PID', '2228'), ('BUNDLED_DEBUGPY_PATH', '/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/bundled/libs/debugpy'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus,guid=82a8ac357147818fab17d71d68821655'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('COLCON_PREFIX_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install'), ('ROS_DISTRO', 'humble'), ('GTK_IM_MODULE', 'ibus'), ('LOGNAME', 'hivecore'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('PKG_CONFIG_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/x86_64-linux-gnu/pkgconfig:/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'hivecore'), ('TERM', 'xterm-256color'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('WINDOWPATH', '2'), ('PATH', '/opt/ros/humble/bin:/home/hivecore/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin:/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/bundled/scripts/noConfigScripts'), ('SESSION_MANAGER', 'local/hivecore-Precision-3680:@/tmp/.ICE-unix/2228,unix/hivecore-Precision-3680:/tmp/.ICE-unix/2228'), ('XDG_MENU_PREFIX', 'gnome-'), ('LC_ADDRESS', 'zh_CN.UTF-8'), ('GNOME_TERMINAL_SCREEN', '/org/gnome/Terminal/screen/b67c7915_4fd4_4ef3_8119_4de739e1ff9d'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('GDK_BACKEND', 'x11'), ('DISPLAY', ':1'), ('VSCODE_DEBUGPY_ADAPTER_ENDPOINTS', '/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/.noConfigDebugAdapterEndpoints/endpoint-ffd79902c8a5999d.txt'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'Unity'), ('LC_TELEPHONE', 'zh_CN.UTF-8'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/gdm/Xauthority'), ('LS_COLORS', 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'), 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('XDG_DATA_DIRS', '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop'), ('PYTHONPATH', '/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('LC_NUMERIC', 'zh_CN.UTF-8'), ('LC_PAPER', 'zh_CN.UTF-8'), ('COLCON', '1'), ('VTE_VERSION', '6800'), ('CMAKE_PREFIX_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2:/opt/ros/humble')]), 'shell': False}
+[0.060907] (hive_core_r2) CommandEnded: {'returncode': 0}
+[0.061529] (hive_core_r2) JobProgress: {'identifier': 'hive_core_r2', 'progress': 'install'}
+[0.098321] (hive_core_r2) Command: {'cmd': ['/home/hivecore/.local/bin/cmake', '--install', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2'], 'cwd': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('USER', 'hivecore'), ('LC_TIME', 'zh_CN.UTF-8'), ('ROS_PACKAGE_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share'), ('XDG_SESSION_TYPE', 'x11'), ('GIT_ASKPASS', '/usr/share/code/resources/app/extensions/git/dist/askpass.sh'), ('SHLVL', '2'), ('LD_LIBRARY_PATH', '/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib::'), ('HOME', '/home/hivecore'), ('CHROME_DESKTOP', 'code.desktop'), ('OLDPWD', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src'), ('TERM_PROGRAM_VERSION', '1.101.2'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('VSCODE_GIT_ASKPASS_MAIN', '/usr/share/code/resources/app/extensions/git/dist/askpass-main.js'), ('LC_MONETARY', 'zh_CN.UTF-8'), ('VSCODE_GIT_ASKPASS_NODE', '/usr/share/code/code'), ('PYDEVD_DISABLE_FILE_VALIDATION', '1'), ('DBUS_STARTER_BUS_TYPE', 'session'), ('SYSTEMD_EXEC_PID', '2228'), ('BUNDLED_DEBUGPY_PATH', '/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/bundled/libs/debugpy'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus,guid=82a8ac357147818fab17d71d68821655'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('COLCON_PREFIX_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install'), ('ROS_DISTRO', 'humble'), ('GTK_IM_MODULE', 'ibus'), ('LOGNAME', 'hivecore'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('PKG_CONFIG_PATH', 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('VSCODE_GIT_IPC_HANDLE', '/run/user/1000/vscode-git-3bd65c1082.sock'), ('GNOME_TERMINAL_SERVICE', ':1.112'), ('TERM_PROGRAM', 'vscode'), ('SSH_AGENT_LAUNCHER', 'gnome-keyring'), ('SSH_AUTH_SOCK', '/run/user/1000/keyring/ssh'), ('AMENT_PREFIX_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2:/opt/ros/humble'), ('ORIGINAL_XDG_CURRENT_DESKTOP', 'ubuntu:GNOME'), ('SHELL', '/bin/bash'), ('LC_NAME', 'zh_CN.UTF-8'), ('QT_ACCESSIBILITY', '1'), ('GDMSESSION', 'ubuntu'), ('LESSCLOSE', '/usr/bin/lesspipe %s %s'), ('LC_MEASUREMENT', 'zh_CN.UTF-8'), ('GPG_AGENT_INFO', '/run/user/1000/gnupg/S.gpg-agent:0:1'), ('LC_IDENTIFICATION', 'zh_CN.UTF-8'), ('VSCODE_GIT_ASKPASS_EXTRA_ARGS', ''), ('QT_IM_MODULE', 'ibus'), ('PWD', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2'), ('LC_ALL', 'en_US.UTF-8'), ('XDG_CONFIG_DIRS', '/etc/xdg/xdg-ubuntu:/etc/xdg'), ('DBUS_STARTER_ADDRESS', 'unix:path=/run/user/1000/bus,guid=82a8ac357147818fab17d71d68821655'), ('XDG_DATA_DIRS', '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop'), ('PYTHONPATH', '/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('LC_NUMERIC', 'zh_CN.UTF-8'), ('LC_PAPER', 'zh_CN.UTF-8'), ('COLCON', '1'), ('VTE_VERSION', '6800'), ('CMAKE_PREFIX_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2:/opt/ros/humble')]), 'shell': False}
+[0.099799] (-) TimerEvent: {}
+[0.132225] (hive_core_r2) StdoutLine: {'line': b'-- Install configuration: ""\n'}
+[0.132474] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch\n'}
+[0.132532] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__\n'}
+[0.132681] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc\n'}
+[0.132751] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py\n'}
+[0.132800] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf\n'}
+[0.132846] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes\n'}
+[0.132891] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL\n'}
+[0.132935] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL\n'}
+[0.133073] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL\n'}
+[0.133130] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL\n'}
+[0.133179] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL\n'}
+[0.133227] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL\n'}
+[0.133271] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL\n'}
+[0.133316] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL\n'}
+[0.133362] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL\n'}
+[0.133409] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL\n'}
+[0.133455] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL\n'}
+[0.133502] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL\n'}
+[0.133582] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL\n'}
+[0.133848] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf\n'}
+[0.133899] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro\n'}
+[0.134011] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config\n'}
+[0.134221] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2\n'}
+[0.134270] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2\n'}
+[0.134368] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh\n'}
+[0.134418] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv\n'}
+[0.134465] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh\n'}
+[0.134511] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv\n'}
+[0.134558] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash\n'}
+[0.134607] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh\n'}
+[0.134973] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh\n'}
+[0.135020] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv\n'}
+[0.135164] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv\n'}
+[0.135210] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2\n'}
+[0.135257] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake\n'}
+[0.135303] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake\n'}
+[0.135349] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml\n'}
+[0.135396] (hive_core_r2) CommandEnded: {'returncode': 0}
+[0.152249] (hive_core_r2) JobEnded: {'identifier': 'hive_core_r2', 'rc': 0}
+[0.152851] (-) EventReactorShutdown: {}
diff --git a/HiveCoreR2/log/build_2025-07-25_14-52-13/hive_core_r2/command.log b/HiveCoreR2/log/build_2025-07-25_14-52-13/hive_core_r2/command.log
new file mode 100644
index 0000000..49a4c78
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-52-13/hive_core_r2/command.log
@@ -0,0 +1,4 @@
+Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
diff --git a/HiveCoreR2/log/build_2025-07-25_14-52-13/hive_core_r2/stderr.log b/HiveCoreR2/log/build_2025-07-25_14-52-13/hive_core_r2/stderr.log
new file mode 100644
index 0000000..e69de29
diff --git a/HiveCoreR2/log/build_2025-07-25_14-52-13/hive_core_r2/stdout.log b/HiveCoreR2/log/build_2025-07-25_14-52-13/hive_core_r2/stdout.log
new file mode 100644
index 0000000..27e0ab6
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-52-13/hive_core_r2/stdout.log
@@ -0,0 +1,38 @@
+-- Install configuration: ""
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
diff --git a/HiveCoreR2/log/build_2025-07-25_14-52-13/hive_core_r2/stdout_stderr.log b/HiveCoreR2/log/build_2025-07-25_14-52-13/hive_core_r2/stdout_stderr.log
new file mode 100644
index 0000000..27e0ab6
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-52-13/hive_core_r2/stdout_stderr.log
@@ -0,0 +1,38 @@
+-- Install configuration: ""
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
diff --git a/HiveCoreR2/log/build_2025-07-25_14-52-13/hive_core_r2/streams.log b/HiveCoreR2/log/build_2025-07-25_14-52-13/hive_core_r2/streams.log
new file mode 100644
index 0000000..a603aad
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-52-13/hive_core_r2/streams.log
@@ -0,0 +1,42 @@
+[0.005s] Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.061s] Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.099s] Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.132s] -- Install configuration: ""
+[0.132s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+[0.132s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+[0.132s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+[0.132s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+[0.133s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+[0.133s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+[0.133s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+[0.133s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+[0.133s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+[0.133s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+[0.133s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+[0.133s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+[0.133s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+[0.133s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+[0.133s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+[0.133s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+[0.133s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+[0.133s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+[0.133s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+[0.134s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+[0.134s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+[0.134s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+[0.134s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+[0.134s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+[0.134s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+[0.134s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+[0.134s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+[0.134s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+[0.134s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+[0.135s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+[0.135s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+[0.135s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+[0.135s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+[0.135s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+[0.135s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+[0.135s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+[0.135s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
+[0.135s] Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
diff --git a/HiveCoreR2/log/build_2025-07-25_14-52-13/logger_all.log b/HiveCoreR2/log/build_2025-07-25_14-52-13/logger_all.log
new file mode 100644
index 0000000..7141bd7
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-52-13/logger_all.log
@@ -0,0 +1,139 @@
+[0.049s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.049s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=32, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0x72406e5564d0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x72406e6d3e20>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x72406e6d3e20>>, mixin_verb=('build',))
+[0.115s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.115s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.115s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.115s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.115s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.115s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.115s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['ignore', 'ignore_ament_install']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ignore'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ignore_ament_install'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['colcon_pkg']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'colcon_pkg'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['colcon_meta']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'colcon_meta'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['ros']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ros'
+[0.121s] DEBUG:colcon.colcon_core.package_identification:Package 'src/hive_core_r2' with type 'ros.ament_cmake' and name 'hive_core_r2'
+[0.121s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.121s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.121s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.121s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.121s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.135s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.135s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.135s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 1 installed packages in /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install
+[0.136s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 423 installed packages in /opt/ros/humble
+[0.137s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_args' from command line to 'None'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_target' from command line to 'None'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_clean_cache' from command line to 'False'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_clean_first' from command line to 'False'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_force_configure' from command line to 'False'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'ament_cmake_args' from command line to 'None'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'catkin_cmake_args' from command line to 'None'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.156s] DEBUG:colcon.colcon_core.verb:Building package 'hive_core_r2' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2', 'merge_install': False, 'path': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2', 'symlink_install': False, 'test_result_base': None}
+[0.156s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.157s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.157s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2' with build type 'ament_cmake'
+[0.157s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2'
+[0.158s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.158s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.158s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.162s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.218s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.256s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.292s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(hive_core_r2)
+[0.292s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.294s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake module files
+[0.294s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake config files
+[0.294s] Level 1:colcon.colcon_core.shell:create_environment_hook('hive_core_r2', 'cmake_prefix_path')
+[0.295s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1'
+[0.295s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv'
+[0.295s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh'
+[0.296s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.296s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig/hive_core_r2.pc'
+[0.296s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/python3.10/site-packages'
+[0.296s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.296s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1'
+[0.297s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv'
+[0.297s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh'
+[0.298s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash'
+[0.298s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh'
+[0.299s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2)
+[0.299s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(hive_core_r2)
+[0.299s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake module files
+[0.299s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake config files
+[0.299s] Level 1:colcon.colcon_core.shell:create_environment_hook('hive_core_r2', 'cmake_prefix_path')
+[0.300s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1'
+[0.305s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv'
+[0.305s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh'
+[0.305s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.306s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig/hive_core_r2.pc'
+[0.306s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/python3.10/site-packages'
+[0.306s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.306s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1'
+[0.307s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv'
+[0.307s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh'
+[0.308s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash'
+[0.308s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh'
+[0.309s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2)
+[0.309s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[0.309s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[0.310s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[0.310s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[0.315s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[0.315s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[0.315s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[0.329s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[0.329s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.ps1'
+[0.331s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/_local_setup_util_ps1.py'
+[0.332s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.ps1'
+[0.333s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.sh'
+[0.334s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/_local_setup_util_sh.py'
+[0.334s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.sh'
+[0.335s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.bash'
+[0.335s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.bash'
+[0.336s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.zsh'
+[0.336s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.zsh'
diff --git a/HiveCoreR2/log/build_2025-07-25_14-54-35/events.log b/HiveCoreR2/log/build_2025-07-25_14-54-35/events.log
new file mode 100644
index 0000000..59cc502
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-54-35/events.log
@@ -0,0 +1,53 @@
+[0.000000] (-) TimerEvent: {}
+[0.000140] (hive_core_r2) JobQueued: {'identifier': 'hive_core_r2', 'dependencies': OrderedDict()}
+[0.000164] (hive_core_r2) JobStarted: {'identifier': 'hive_core_r2'}
+[0.003868] (hive_core_r2) JobProgress: {'identifier': 'hive_core_r2', 'progress': 'cmake'}
+[0.004129] (hive_core_r2) JobProgress: {'identifier': 'hive_core_r2', 'progress': 'build'}
+[0.004598] (hive_core_r2) Command: {'cmd': ['/home/hivecore/.local/bin/cmake', '--build', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', '--', '-j32', '-l32'], 'cwd': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('USER', 'hivecore'), ('LC_TIME', 'zh_CN.UTF-8'), ('ROS_PACKAGE_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share'), ('XDG_SESSION_TYPE', 'x11'), ('GIT_ASKPASS', '/usr/share/code/resources/app/extensions/git/dist/askpass.sh'), ('SHLVL', '2'), ('LD_LIBRARY_PATH', '/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib::'), ('HOME', '/home/hivecore'), ('CHROME_DESKTOP', 'code.desktop'), ('OLDPWD', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src'), ('TERM_PROGRAM_VERSION', '1.101.2'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('VSCODE_GIT_ASKPASS_MAIN', '/usr/share/code/resources/app/extensions/git/dist/askpass-main.js'), ('LC_MONETARY', 'zh_CN.UTF-8'), ('VSCODE_GIT_ASKPASS_NODE', '/usr/share/code/code'), ('PYDEVD_DISABLE_FILE_VALIDATION', '1'), ('DBUS_STARTER_BUS_TYPE', 'session'), ('SYSTEMD_EXEC_PID', '2228'), ('BUNDLED_DEBUGPY_PATH', '/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/bundled/libs/debugpy'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus,guid=82a8ac357147818fab17d71d68821655'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('COLCON_PREFIX_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install'), ('ROS_DISTRO', 'humble'), ('GTK_IM_MODULE', 'ibus'), ('LOGNAME', 'hivecore'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('PKG_CONFIG_PATH', 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('DISPLAY', ':1'), ('VSCODE_DEBUGPY_ADAPTER_ENDPOINTS', '/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/.noConfigDebugAdapterEndpoints/endpoint-ffd79902c8a5999d.txt'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'Unity'), ('LC_TELEPHONE', 'zh_CN.UTF-8'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/gdm/Xauthority'), ('LS_COLORS', 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+[0.129127] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv\n'}
+[0.129147] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash\n'}
+[0.129166] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh\n'}
+[0.129187] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh\n'}
+[0.129206] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv\n'}
+[0.129225] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv\n'}
+[0.129244] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2\n'}
+[0.129263] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake\n'}
+[0.129290] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake\n'}
+[0.129369] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml\n'}
+[0.129749] (hive_core_r2) CommandEnded: {'returncode': 0}
+[0.138251] (hive_core_r2) JobEnded: {'identifier': 'hive_core_r2', 'rc': 0}
+[0.138569] (-) EventReactorShutdown: {}
diff --git a/HiveCoreR2/log/build_2025-07-25_14-54-35/hive_core_r2/command.log b/HiveCoreR2/log/build_2025-07-25_14-54-35/hive_core_r2/command.log
new file mode 100644
index 0000000..49a4c78
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-54-35/hive_core_r2/command.log
@@ -0,0 +1,4 @@
+Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
diff --git a/HiveCoreR2/log/build_2025-07-25_14-54-35/hive_core_r2/stderr.log b/HiveCoreR2/log/build_2025-07-25_14-54-35/hive_core_r2/stderr.log
new file mode 100644
index 0000000..e69de29
diff --git a/HiveCoreR2/log/build_2025-07-25_14-54-35/hive_core_r2/stdout.log b/HiveCoreR2/log/build_2025-07-25_14-54-35/hive_core_r2/stdout.log
new file mode 100644
index 0000000..64a2d9e
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-54-35/hive_core_r2/stdout.log
@@ -0,0 +1,40 @@
+-- Install configuration: ""
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
diff --git a/HiveCoreR2/log/build_2025-07-25_14-54-35/hive_core_r2/stdout_stderr.log b/HiveCoreR2/log/build_2025-07-25_14-54-35/hive_core_r2/stdout_stderr.log
new file mode 100644
index 0000000..64a2d9e
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-54-35/hive_core_r2/stdout_stderr.log
@@ -0,0 +1,40 @@
+-- Install configuration: ""
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
diff --git a/HiveCoreR2/log/build_2025-07-25_14-54-35/hive_core_r2/streams.log b/HiveCoreR2/log/build_2025-07-25_14-54-35/hive_core_r2/streams.log
new file mode 100644
index 0000000..4aca544
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-54-35/hive_core_r2/streams.log
@@ -0,0 +1,44 @@
+[0.005s] Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.050s] Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.094s] Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.128s] -- Install configuration: ""
+[0.128s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+[0.128s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+[0.128s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+[0.128s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+[0.128s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+[0.128s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+[0.128s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+[0.128s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+[0.128s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+[0.128s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+[0.128s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+[0.128s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+[0.128s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+[0.128s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+[0.128s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+[0.129s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz
+[0.129s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+[0.129s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+[0.129s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
+[0.130s] Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
diff --git a/HiveCoreR2/log/build_2025-07-25_14-54-35/logger_all.log b/HiveCoreR2/log/build_2025-07-25_14-54-35/logger_all.log
new file mode 100644
index 0000000..de18123
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-54-35/logger_all.log
@@ -0,0 +1,139 @@
+[0.052s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.052s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=32, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0x7ad7fdd5a4d0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7ad7fded7e20>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7ad7fded7e20>>, mixin_verb=('build',))
+[0.118s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.118s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.118s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.118s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.118s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.118s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.118s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['ignore', 'ignore_ament_install']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ignore'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ignore_ament_install'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['colcon_pkg']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'colcon_pkg'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['colcon_meta']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'colcon_meta'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['ros']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ros'
+[0.125s] DEBUG:colcon.colcon_core.package_identification:Package 'src/hive_core_r2' with type 'ros.ament_cmake' and name 'hive_core_r2'
+[0.125s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.125s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.125s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.125s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.125s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.137s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.137s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.138s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 1 installed packages in /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install
+[0.138s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 423 installed packages in /opt/ros/humble
+[0.139s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.158s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_args' from command line to 'None'
+[0.158s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_target' from command line to 'None'
+[0.158s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.158s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_clean_cache' from command line to 'False'
+[0.158s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_clean_first' from command line to 'False'
+[0.158s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_force_configure' from command line to 'False'
+[0.158s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'ament_cmake_args' from command line to 'None'
+[0.158s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'catkin_cmake_args' from command line to 'None'
+[0.158s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.158s] DEBUG:colcon.colcon_core.verb:Building package 'hive_core_r2' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2', 'merge_install': False, 'path': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2', 'symlink_install': False, 'test_result_base': None}
+[0.159s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.159s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.159s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2' with build type 'ament_cmake'
+[0.159s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2'
+[0.160s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.160s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.160s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.164s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.210s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.254s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.289s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(hive_core_r2)
+[0.289s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.291s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake module files
+[0.291s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake config files
+[0.291s] Level 1:colcon.colcon_core.shell:create_environment_hook('hive_core_r2', 'cmake_prefix_path')
+[0.291s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1'
+[0.292s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv'
+[0.292s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh'
+[0.293s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.293s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig/hive_core_r2.pc'
+[0.293s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/python3.10/site-packages'
+[0.293s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.293s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1'
+[0.293s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv'
+[0.294s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh'
+[0.294s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash'
+[0.294s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh'
+[0.294s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2)
+[0.295s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(hive_core_r2)
+[0.295s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake module files
+[0.295s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake config files
+[0.295s] Level 1:colcon.colcon_core.shell:create_environment_hook('hive_core_r2', 'cmake_prefix_path')
+[0.295s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1'
+[0.296s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv'
+[0.296s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh'
+[0.296s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.296s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig/hive_core_r2.pc'
+[0.296s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/python3.10/site-packages'
+[0.296s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.297s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1'
+[0.297s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv'
+[0.297s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh'
+[0.297s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash'
+[0.297s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh'
+[0.297s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2)
+[0.297s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[0.298s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[0.298s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[0.298s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[0.300s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[0.300s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[0.300s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[0.308s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[0.308s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.ps1'
+[0.309s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/_local_setup_util_ps1.py'
+[0.310s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.ps1'
+[0.310s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.sh'
+[0.311s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/_local_setup_util_sh.py'
+[0.311s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.sh'
+[0.312s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.bash'
+[0.312s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.bash'
+[0.313s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.zsh'
+[0.314s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.zsh'
diff --git a/HiveCoreR2/log/build_2025-07-25_14-57-21/events.log b/HiveCoreR2/log/build_2025-07-25_14-57-21/events.log
new file mode 100644
index 0000000..51483ea
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-57-21/events.log
@@ -0,0 +1,53 @@
+[0.000000] (-) TimerEvent: {}
+[0.000112] (hive_core_r2) JobQueued: {'identifier': 'hive_core_r2', 'dependencies': OrderedDict()}
+[0.000163] (hive_core_r2) JobStarted: {'identifier': 'hive_core_r2'}
+[0.003925] (hive_core_r2) JobProgress: {'identifier': 'hive_core_r2', 'progress': 'cmake'}
+[0.004339] (hive_core_r2) JobProgress: {'identifier': 'hive_core_r2', 'progress': 'build'}
+[0.004872] (hive_core_r2) Command: {'cmd': ['/home/hivecore/.local/bin/cmake', '--build', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', '--', '-j32', '-l32'], 'cwd': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('USER', 'hivecore'), ('LC_TIME', 'zh_CN.UTF-8'), ('ROS_PACKAGE_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share'), ('XDG_SESSION_TYPE', 'x11'), ('GIT_ASKPASS', '/usr/share/code/resources/app/extensions/git/dist/askpass.sh'), ('SHLVL', '2'), ('LD_LIBRARY_PATH', '/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib::'), ('HOME', '/home/hivecore'), ('CHROME_DESKTOP', 'code.desktop'), ('OLDPWD', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src'), ('TERM_PROGRAM_VERSION', '1.101.2'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('VSCODE_GIT_ASKPASS_MAIN', '/usr/share/code/resources/app/extensions/git/dist/askpass-main.js'), ('LC_MONETARY', 'zh_CN.UTF-8'), ('VSCODE_GIT_ASKPASS_NODE', '/usr/share/code/code'), ('PYDEVD_DISABLE_FILE_VALIDATION', '1'), ('DBUS_STARTER_BUS_TYPE', 'session'), ('SYSTEMD_EXEC_PID', '2228'), ('BUNDLED_DEBUGPY_PATH', '/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/bundled/libs/debugpy'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus,guid=82a8ac357147818fab17d71d68821655'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('COLCON_PREFIX_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install'), ('ROS_DISTRO', 'humble'), ('GTK_IM_MODULE', 'ibus'), ('LOGNAME', 'hivecore'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('PKG_CONFIG_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/x86_64-linux-gnu/pkgconfig:/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'hivecore'), ('TERM', 'xterm-256color'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('WINDOWPATH', '2'), ('PATH', '/opt/ros/humble/bin:/home/hivecore/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin:/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/bundled/scripts/noConfigScripts'), ('SESSION_MANAGER', 'local/hivecore-Precision-3680:@/tmp/.ICE-unix/2228,unix/hivecore-Precision-3680:/tmp/.ICE-unix/2228'), ('XDG_MENU_PREFIX', 'gnome-'), ('LC_ADDRESS', 'zh_CN.UTF-8'), ('GNOME_TERMINAL_SCREEN', '/org/gnome/Terminal/screen/b67c7915_4fd4_4ef3_8119_4de739e1ff9d'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('GDK_BACKEND', 'x11'), ('DISPLAY', ':1'), ('VSCODE_DEBUGPY_ADAPTER_ENDPOINTS', '/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/.noConfigDebugAdapterEndpoints/endpoint-ffd79902c8a5999d.txt'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'Unity'), ('LC_TELEPHONE', 'zh_CN.UTF-8'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/gdm/Xauthority'), ('LS_COLORS', 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'), 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('XDG_DATA_DIRS', '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop'), ('PYTHONPATH', '/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('LC_NUMERIC', 'zh_CN.UTF-8'), ('LC_PAPER', 'zh_CN.UTF-8'), ('COLCON', '1'), ('VTE_VERSION', '6800'), ('CMAKE_PREFIX_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2:/opt/ros/humble')]), 'shell': False}
+[0.060568] (hive_core_r2) CommandEnded: {'returncode': 0}
+[0.061510] (hive_core_r2) JobProgress: {'identifier': 'hive_core_r2', 'progress': 'install'}
+[0.099661] (-) TimerEvent: {}
+[0.106378] (hive_core_r2) Command: {'cmd': ['/home/hivecore/.local/bin/cmake', '--install', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2'], 'cwd': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('USER', 'hivecore'), ('LC_TIME', 'zh_CN.UTF-8'), ('ROS_PACKAGE_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share'), ('XDG_SESSION_TYPE', 'x11'), ('GIT_ASKPASS', '/usr/share/code/resources/app/extensions/git/dist/askpass.sh'), ('SHLVL', '2'), ('LD_LIBRARY_PATH', '/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib::'), ('HOME', '/home/hivecore'), ('CHROME_DESKTOP', 'code.desktop'), ('OLDPWD', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src'), ('TERM_PROGRAM_VERSION', '1.101.2'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('VSCODE_GIT_ASKPASS_MAIN', '/usr/share/code/resources/app/extensions/git/dist/askpass-main.js'), ('LC_MONETARY', 'zh_CN.UTF-8'), ('VSCODE_GIT_ASKPASS_NODE', '/usr/share/code/code'), ('PYDEVD_DISABLE_FILE_VALIDATION', '1'), ('DBUS_STARTER_BUS_TYPE', 'session'), ('SYSTEMD_EXEC_PID', '2228'), ('BUNDLED_DEBUGPY_PATH', '/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/bundled/libs/debugpy'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus,guid=82a8ac357147818fab17d71d68821655'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('COLCON_PREFIX_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install'), ('ROS_DISTRO', 'humble'), ('GTK_IM_MODULE', 'ibus'), ('LOGNAME', 'hivecore'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('PKG_CONFIG_PATH', 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('DISPLAY', ':1'), ('VSCODE_DEBUGPY_ADAPTER_ENDPOINTS', '/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/.noConfigDebugAdapterEndpoints/endpoint-ffd79902c8a5999d.txt'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'Unity'), ('LC_TELEPHONE', 'zh_CN.UTF-8'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/gdm/Xauthority'), ('LS_COLORS', 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('VSCODE_GIT_IPC_HANDLE', '/run/user/1000/vscode-git-3bd65c1082.sock'), ('GNOME_TERMINAL_SERVICE', ':1.112'), ('TERM_PROGRAM', 'vscode'), ('SSH_AGENT_LAUNCHER', 'gnome-keyring'), ('SSH_AUTH_SOCK', '/run/user/1000/keyring/ssh'), ('AMENT_PREFIX_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2:/opt/ros/humble'), ('ORIGINAL_XDG_CURRENT_DESKTOP', 'ubuntu:GNOME'), ('SHELL', '/bin/bash'), ('LC_NAME', 'zh_CN.UTF-8'), ('QT_ACCESSIBILITY', '1'), ('GDMSESSION', 'ubuntu'), ('LESSCLOSE', '/usr/bin/lesspipe %s %s'), ('LC_MEASUREMENT', 'zh_CN.UTF-8'), ('GPG_AGENT_INFO', '/run/user/1000/gnupg/S.gpg-agent:0:1'), ('LC_IDENTIFICATION', 'zh_CN.UTF-8'), ('VSCODE_GIT_ASKPASS_EXTRA_ARGS', ''), ('QT_IM_MODULE', 'ibus'), ('PWD', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2'), ('LC_ALL', 'en_US.UTF-8'), ('XDG_CONFIG_DIRS', '/etc/xdg/xdg-ubuntu:/etc/xdg'), ('DBUS_STARTER_ADDRESS', 'unix:path=/run/user/1000/bus,guid=82a8ac357147818fab17d71d68821655'), ('XDG_DATA_DIRS', '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop'), ('PYTHONPATH', '/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('LC_NUMERIC', 'zh_CN.UTF-8'), ('LC_PAPER', 'zh_CN.UTF-8'), ('COLCON', '1'), ('VTE_VERSION', '6800'), ('CMAKE_PREFIX_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2:/opt/ros/humble')]), 'shell': False}
+[0.148582] (hive_core_r2) StdoutLine: {'line': b'-- Install configuration: ""\n'}
+[0.148846] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch\n'}
+[0.148906] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__\n'}
+[0.148955] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc\n'}
+[0.149002] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py\n'}
+[0.149108] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf\n'}
+[0.149157] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes\n'}
+[0.149205] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL\n'}
+[0.149253] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL\n'}
+[0.149301] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL\n'}
+[0.149348] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL\n'}
+[0.149395] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL\n'}
+[0.149480] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL\n'}
+[0.149525] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL\n'}
+[0.149568] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL\n'}
+[0.149611] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL\n'}
+[0.149654] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL\n'}
+[0.149700] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL\n'}
+[0.149746] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL\n'}
+[0.149821] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL\n'}
+[0.149868] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf\n'}
+[0.149915] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro\n'}
+[0.149961] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config\n'}
+[0.150007] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz\n'}
+[0.150053] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz\n'}
+[0.150149] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2\n'}
+[0.150200] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2\n'}
+[0.150248] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh\n'}
+[0.150294] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv\n'}
+[0.150340] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh\n'}
+[0.150386] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv\n'}
+[0.150436] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash\n'}
+[0.150482] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh\n'}
+[0.150673] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh\n'}
+[0.150757] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv\n'}
+[0.150818] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv\n'}
+[0.150891] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2\n'}
+[0.150975] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake\n'}
+[0.151022] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake\n'}
+[0.151090] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml\n'}
+[0.151408] (hive_core_r2) CommandEnded: {'returncode': 0}
+[0.163963] (hive_core_r2) JobEnded: {'identifier': 'hive_core_r2', 'rc': 0}
+[0.164649] (-) EventReactorShutdown: {}
diff --git a/HiveCoreR2/log/build_2025-07-25_14-57-21/hive_core_r2/command.log b/HiveCoreR2/log/build_2025-07-25_14-57-21/hive_core_r2/command.log
new file mode 100644
index 0000000..49a4c78
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-57-21/hive_core_r2/command.log
@@ -0,0 +1,4 @@
+Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
diff --git a/HiveCoreR2/log/build_2025-07-25_14-57-21/hive_core_r2/stderr.log b/HiveCoreR2/log/build_2025-07-25_14-57-21/hive_core_r2/stderr.log
new file mode 100644
index 0000000..e69de29
diff --git a/HiveCoreR2/log/build_2025-07-25_14-57-21/hive_core_r2/stdout.log b/HiveCoreR2/log/build_2025-07-25_14-57-21/hive_core_r2/stdout.log
new file mode 100644
index 0000000..484f938
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-57-21/hive_core_r2/stdout.log
@@ -0,0 +1,40 @@
+-- Install configuration: ""
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
diff --git a/HiveCoreR2/log/build_2025-07-25_14-57-21/hive_core_r2/stdout_stderr.log b/HiveCoreR2/log/build_2025-07-25_14-57-21/hive_core_r2/stdout_stderr.log
new file mode 100644
index 0000000..484f938
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-57-21/hive_core_r2/stdout_stderr.log
@@ -0,0 +1,40 @@
+-- Install configuration: ""
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
diff --git a/HiveCoreR2/log/build_2025-07-25_14-57-21/hive_core_r2/streams.log b/HiveCoreR2/log/build_2025-07-25_14-57-21/hive_core_r2/streams.log
new file mode 100644
index 0000000..aea0769
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-57-21/hive_core_r2/streams.log
@@ -0,0 +1,44 @@
+[0.006s] Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.061s] Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.106s] Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.149s] -- Install configuration: ""
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+[0.149s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+[0.150s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+[0.150s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+[0.151s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+[0.151s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+[0.151s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+[0.151s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+[0.151s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+[0.151s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+[0.151s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
+[0.152s] Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
diff --git a/HiveCoreR2/log/build_2025-07-25_14-57-21/logger_all.log b/HiveCoreR2/log/build_2025-07-25_14-57-21/logger_all.log
new file mode 100644
index 0000000..3b97458
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_14-57-21/logger_all.log
@@ -0,0 +1,139 @@
+[0.049s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.049s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=32, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0x751dfcf624d0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x751dfd0dfe20>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x751dfd0dfe20>>, mixin_verb=('build',))
+[0.115s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.115s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.115s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.115s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.115s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.115s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.115s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2'
+[0.115s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ignore'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ignore_ament_install'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['colcon_pkg']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'colcon_pkg'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['colcon_meta']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'colcon_meta'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['ros']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ros'
+[0.122s] DEBUG:colcon.colcon_core.package_identification:Package 'src/hive_core_r2' with type 'ros.ament_cmake' and name 'hive_core_r2'
+[0.122s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.122s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.122s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.122s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.122s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.135s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.135s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.135s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 1 installed packages in /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install
+[0.136s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 423 installed packages in /opt/ros/humble
+[0.137s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_args' from command line to 'None'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_target' from command line to 'None'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_clean_cache' from command line to 'False'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_clean_first' from command line to 'False'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_force_configure' from command line to 'False'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'ament_cmake_args' from command line to 'None'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'catkin_cmake_args' from command line to 'None'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.156s] DEBUG:colcon.colcon_core.verb:Building package 'hive_core_r2' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2', 'merge_install': False, 'path': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2', 'symlink_install': False, 'test_result_base': None}
+[0.156s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.157s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.157s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2' with build type 'ament_cmake'
+[0.157s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2'
+[0.158s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.158s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.158s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.163s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.218s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.264s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.308s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(hive_core_r2)
+[0.309s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.310s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake module files
+[0.310s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake config files
+[0.310s] Level 1:colcon.colcon_core.shell:create_environment_hook('hive_core_r2', 'cmake_prefix_path')
+[0.310s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1'
+[0.311s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv'
+[0.311s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh'
+[0.311s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.311s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig/hive_core_r2.pc'
+[0.311s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/python3.10/site-packages'
+[0.311s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.311s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1'
+[0.312s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv'
+[0.312s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh'
+[0.312s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash'
+[0.313s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh'
+[0.313s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2)
+[0.313s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(hive_core_r2)
+[0.313s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake module files
+[0.313s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake config files
+[0.313s] Level 1:colcon.colcon_core.shell:create_environment_hook('hive_core_r2', 'cmake_prefix_path')
+[0.314s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1'
+[0.318s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv'
+[0.318s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh'
+[0.318s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.319s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig/hive_core_r2.pc'
+[0.319s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/python3.10/site-packages'
+[0.319s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.319s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1'
+[0.319s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv'
+[0.320s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh'
+[0.320s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash'
+[0.320s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh'
+[0.321s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2)
+[0.321s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[0.321s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[0.321s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[0.321s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[0.326s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[0.326s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[0.326s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[0.338s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[0.338s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.ps1'
+[0.339s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/_local_setup_util_ps1.py'
+[0.340s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.ps1'
+[0.340s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.sh'
+[0.341s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/_local_setup_util_sh.py'
+[0.341s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.sh'
+[0.341s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.bash'
+[0.342s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.bash'
+[0.342s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.zsh'
+[0.342s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.zsh'
diff --git a/HiveCoreR2/log/build_2025-07-25_15-00-29/events.log b/HiveCoreR2/log/build_2025-07-25_15-00-29/events.log
new file mode 100644
index 0000000..bc26907
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_15-00-29/events.log
@@ -0,0 +1,53 @@
+[0.000000] (-) TimerEvent: {}
+[0.000116] (hive_core_r2) JobQueued: {'identifier': 'hive_core_r2', 'dependencies': OrderedDict()}
+[0.000160] (hive_core_r2) JobStarted: {'identifier': 'hive_core_r2'}
+[0.014419] (hive_core_r2) JobProgress: {'identifier': 'hive_core_r2', 'progress': 'cmake'}
+[0.014780] (hive_core_r2) JobProgress: {'identifier': 'hive_core_r2', 'progress': 'build'}
+[0.015321] (hive_core_r2) Command: {'cmd': ['/home/hivecore/.local/bin/cmake', '--build', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', '--', '-j32', '-l32'], 'cwd': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('USER', 'hivecore'), ('LC_TIME', 'zh_CN.UTF-8'), ('ROS_PACKAGE_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share'), ('XDG_SESSION_TYPE', 'x11'), ('GIT_ASKPASS', '/usr/share/code/resources/app/extensions/git/dist/askpass.sh'), ('SHLVL', '2'), ('LD_LIBRARY_PATH', '/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib::'), ('HOME', '/home/hivecore'), ('CHROME_DESKTOP', 'code.desktop'), ('OLDPWD', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src'), ('TERM_PROGRAM_VERSION', '1.101.2'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('VSCODE_GIT_ASKPASS_MAIN', '/usr/share/code/resources/app/extensions/git/dist/askpass-main.js'), ('LC_MONETARY', 'zh_CN.UTF-8'), ('VSCODE_GIT_ASKPASS_NODE', '/usr/share/code/code'), ('PYDEVD_DISABLE_FILE_VALIDATION', '1'), ('DBUS_STARTER_BUS_TYPE', 'session'), ('SYSTEMD_EXEC_PID', '2228'), ('BUNDLED_DEBUGPY_PATH', '/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/bundled/libs/debugpy'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus,guid=82a8ac357147818fab17d71d68821655'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('COLCON_PREFIX_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install'), ('ROS_DISTRO', 'humble'), ('GTK_IM_MODULE', 'ibus'), ('LOGNAME', 'hivecore'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('PKG_CONFIG_PATH', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/x86_64-linux-gnu/pkgconfig:/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'hivecore'), ('TERM', 'xterm-256color'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('WINDOWPATH', '2'), ('PATH', '/opt/ros/humble/bin:/home/hivecore/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin:/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/bundled/scripts/noConfigScripts'), ('SESSION_MANAGER', 'local/hivecore-Precision-3680:@/tmp/.ICE-unix/2228,unix/hivecore-Precision-3680:/tmp/.ICE-unix/2228'), ('XDG_MENU_PREFIX', 'gnome-'), ('LC_ADDRESS', 'zh_CN.UTF-8'), ('GNOME_TERMINAL_SCREEN', '/org/gnome/Terminal/screen/b67c7915_4fd4_4ef3_8119_4de739e1ff9d'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('GDK_BACKEND', 'x11'), ('DISPLAY', ':1'), ('VSCODE_DEBUGPY_ADAPTER_ENDPOINTS', '/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/.noConfigDebugAdapterEndpoints/endpoint-ffd79902c8a5999d.txt'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'Unity'), ('LC_TELEPHONE', 'zh_CN.UTF-8'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/gdm/Xauthority'), ('LS_COLORS', 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+[0.142966] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv\n'}
+[0.143013] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash\n'}
+[0.143060] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh\n'}
+[0.143179] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh\n'}
+[0.143241] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv\n'}
+[0.143288] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv\n'}
+[0.143335] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2\n'}
+[0.143382] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake\n'}
+[0.143429] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake\n'}
+[0.143476] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml\n'}
+[0.143965] (hive_core_r2) CommandEnded: {'returncode': 0}
+[0.156552] (hive_core_r2) JobEnded: {'identifier': 'hive_core_r2', 'rc': 0}
+[0.157501] (-) EventReactorShutdown: {}
diff --git a/HiveCoreR2/log/build_2025-07-25_15-00-29/hive_core_r2/command.log b/HiveCoreR2/log/build_2025-07-25_15-00-29/hive_core_r2/command.log
new file mode 100644
index 0000000..49a4c78
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_15-00-29/hive_core_r2/command.log
@@ -0,0 +1,4 @@
+Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
diff --git a/HiveCoreR2/log/build_2025-07-25_15-00-29/hive_core_r2/stderr.log b/HiveCoreR2/log/build_2025-07-25_15-00-29/hive_core_r2/stderr.log
new file mode 100644
index 0000000..e69de29
diff --git a/HiveCoreR2/log/build_2025-07-25_15-00-29/hive_core_r2/stdout.log b/HiveCoreR2/log/build_2025-07-25_15-00-29/hive_core_r2/stdout.log
new file mode 100644
index 0000000..2e7c248
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_15-00-29/hive_core_r2/stdout.log
@@ -0,0 +1,40 @@
+-- Install configuration: ""
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
diff --git a/HiveCoreR2/log/build_2025-07-25_15-00-29/hive_core_r2/stdout_stderr.log b/HiveCoreR2/log/build_2025-07-25_15-00-29/hive_core_r2/stdout_stderr.log
new file mode 100644
index 0000000..2e7c248
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_15-00-29/hive_core_r2/stdout_stderr.log
@@ -0,0 +1,40 @@
+-- Install configuration: ""
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
diff --git a/HiveCoreR2/log/build_2025-07-25_15-00-29/hive_core_r2/streams.log b/HiveCoreR2/log/build_2025-07-25_15-00-29/hive_core_r2/streams.log
new file mode 100644
index 0000000..9781105
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_15-00-29/hive_core_r2/streams.log
@@ -0,0 +1,44 @@
+[0.016s] Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.067s] Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.106s] Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.141s] -- Install configuration: ""
+[0.141s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+[0.141s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+[0.141s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+[0.142s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz
+[0.142s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz
+[0.143s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+[0.143s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+[0.143s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+[0.143s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+[0.143s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+[0.143s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+[0.143s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+[0.143s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+[0.143s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+[0.143s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+[0.143s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+[0.143s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+[0.143s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+[0.143s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+[0.143s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
+[0.144s] Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
diff --git a/HiveCoreR2/log/build_2025-07-25_15-00-29/logger_all.log b/HiveCoreR2/log/build_2025-07-25_15-00-29/logger_all.log
new file mode 100644
index 0000000..4872f51
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_15-00-29/logger_all.log
@@ -0,0 +1,139 @@
+[0.049s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.049s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=32, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0x715cd9f5e4d0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x715cda0dbe20>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x715cda0dbe20>>, mixin_verb=('build',))
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.116s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ignore'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ignore_ament_install'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['colcon_pkg']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'colcon_pkg'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['colcon_meta']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'colcon_meta'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['ros']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ros'
+[0.122s] DEBUG:colcon.colcon_core.package_identification:Package 'src/hive_core_r2' with type 'ros.ament_cmake' and name 'hive_core_r2'
+[0.122s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.122s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.122s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.122s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.122s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.135s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.135s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.136s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 1 installed packages in /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install
+[0.136s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 423 installed packages in /opt/ros/humble
+[0.137s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.157s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_args' from command line to 'None'
+[0.157s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_target' from command line to 'None'
+[0.157s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.157s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_clean_cache' from command line to 'False'
+[0.157s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_clean_first' from command line to 'False'
+[0.157s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_force_configure' from command line to 'False'
+[0.157s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'ament_cmake_args' from command line to 'None'
+[0.157s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'catkin_cmake_args' from command line to 'None'
+[0.157s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.157s] DEBUG:colcon.colcon_core.verb:Building package 'hive_core_r2' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2', 'merge_install': False, 'path': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2', 'symlink_install': False, 'test_result_base': None}
+[0.157s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.157s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.157s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2' with build type 'ament_cmake'
+[0.157s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2'
+[0.158s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.158s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.158s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.174s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.225s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.264s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.301s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(hive_core_r2)
+[0.302s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.303s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake module files
+[0.303s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake config files
+[0.304s] Level 1:colcon.colcon_core.shell:create_environment_hook('hive_core_r2', 'cmake_prefix_path')
+[0.304s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1'
+[0.304s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv'
+[0.304s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh'
+[0.305s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.305s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig/hive_core_r2.pc'
+[0.305s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/python3.10/site-packages'
+[0.305s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.305s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1'
+[0.306s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv'
+[0.306s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh'
+[0.307s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash'
+[0.307s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh'
+[0.307s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2)
+[0.308s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(hive_core_r2)
+[0.308s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake module files
+[0.308s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake config files
+[0.308s] Level 1:colcon.colcon_core.shell:create_environment_hook('hive_core_r2', 'cmake_prefix_path')
+[0.308s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1'
+[0.310s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv'
+[0.310s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh'
+[0.311s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.311s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig/hive_core_r2.pc'
+[0.311s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/python3.10/site-packages'
+[0.311s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.312s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1'
+[0.312s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv'
+[0.313s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh'
+[0.313s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash'
+[0.313s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh'
+[0.314s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2)
+[0.314s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[0.314s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[0.314s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[0.314s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[0.321s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[0.321s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[0.321s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[0.336s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[0.336s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.ps1'
+[0.338s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/_local_setup_util_ps1.py'
+[0.340s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.ps1'
+[0.341s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.sh'
+[0.341s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/_local_setup_util_sh.py'
+[0.342s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.sh'
+[0.344s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.bash'
+[0.344s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.bash'
+[0.346s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.zsh'
+[0.347s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.zsh'
diff --git a/HiveCoreR2/log/build_2025-07-25_15-13-46/events.log b/HiveCoreR2/log/build_2025-07-25_15-13-46/events.log
new file mode 100644
index 0000000..e999439
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_15-13-46/events.log
@@ -0,0 +1,54 @@
+[0.000000] (-) TimerEvent: {}
+[0.000327] (hive_core_r2) JobQueued: {'identifier': 'hive_core_r2', 'dependencies': OrderedDict()}
+[0.000384] (hive_core_r2) JobStarted: {'identifier': 'hive_core_r2'}
+[0.004122] (hive_core_r2) JobProgress: {'identifier': 'hive_core_r2', 'progress': 'cmake'}
+[0.004536] (hive_core_r2) JobProgress: {'identifier': 'hive_core_r2', 'progress': 'build'}
+[0.005037] (hive_core_r2) Command: {'cmd': ['/home/hivecore/.local/bin/cmake', '--build', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', '--', '-j32', '-l32'], 'cwd': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'env': OrderedDict([('GJS_DEBUG_TOPICS', 'JS ERROR;JS LOG'), ('LESSOPEN', '| /usr/bin/lesspipe %s'), ('USER', 'hivecore'), ('LC_TIME', 'zh_CN.UTF-8'), ('XDG_SESSION_TYPE', 'x11'), ('GIT_ASKPASS', '/usr/share/code/resources/app/extensions/git/dist/askpass.sh'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib::'), ('HOME', '/home/hivecore'), ('CHROME_DESKTOP', 'code.desktop'), ('TERM_PROGRAM_VERSION', '1.101.2'), ('DESKTOP_SESSION', 'ubuntu'), ('GIO_LAUNCHED_DESKTOP_FILE', '/usr/share/applications/code.desktop'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('VSCODE_GIT_ASKPASS_MAIN', '/usr/share/code/resources/app/extensions/git/dist/askpass-main.js'), ('LC_MONETARY', 'zh_CN.UTF-8'), ('VSCODE_GIT_ASKPASS_NODE', '/usr/share/code/code'), ('MANAGERPID', '1976'), ('PYDEVD_DISABLE_FILE_VALIDATION', '1'), ('SYSTEMD_EXEC_PID', '2256'), ('BUNDLED_DEBUGPY_PATH', '/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/bundled/libs/debugpy'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus'), ('COLORTERM', 'truecolor'), ('GIO_LAUNCHED_DESKTOP_FILE_PID', '63813'), ('IM_CONFIG_PHASE', '1'), ('ROS_DISTRO', 'humble'), ('GTK_IM_MODULE', 'ibus'), ('LOGNAME', 'hivecore'), ('JOURNAL_STREAM', '8:4766'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'hivecore'), ('TERM', 'xterm-256color'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('WINDOWPATH', '2'), ('PATH', '/home/hivecore/.local/bin:/opt/ros/humble/bin:/home/hivecore/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin:/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/bundled/scripts/noConfigScripts'), ('SESSION_MANAGER', 'local/hivecore-Precision-3680:@/tmp/.ICE-unix/2228,unix/hivecore-Precision-3680:/tmp/.ICE-unix/2228'), ('INVOCATION_ID', '0360bd67df414a9e9de83e899b97036d'), ('XDG_MENU_PREFIX', 'gnome-'), ('LC_ADDRESS', 'zh_CN.UTF-8'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('GDK_BACKEND', 'x11'), ('DISPLAY', ':1'), ('VSCODE_DEBUGPY_ADAPTER_ENDPOINTS', '/home/hivecore/.vscode/extensions/ms-python.debugpy-2025.10.0-linux-x64/.noConfigDebugAdapterEndpoints/endpoint-ffd79902c8a5999d.txt'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'Unity'), ('LC_TELEPHONE', 'zh_CN.UTF-8'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/gdm/Xauthority'), ('LS_COLORS', 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'), 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'/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('LC_NUMERIC', 'zh_CN.UTF-8'), ('LC_PAPER', 'zh_CN.UTF-8'), ('COLCON', '1'), ('CMAKE_PREFIX_PATH', '/opt/ros/humble')]), 'shell': False}
+[0.050475] (hive_core_r2) CommandEnded: {'returncode': 0}
+[0.051169] (hive_core_r2) JobProgress: {'identifier': 'hive_core_r2', 'progress': 'install'}
+[0.099969] (-) TimerEvent: {}
+[0.105567] (hive_core_r2) Command: {'cmd': ['/home/hivecore/.local/bin/cmake', '--install', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2'], 'cwd': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'env': OrderedDict([('GJS_DEBUG_TOPICS', 'JS ERROR;JS LOG'), ('LESSOPEN', '| /usr/bin/lesspipe %s'), ('USER', 'hivecore'), ('LC_TIME', 'zh_CN.UTF-8'), ('XDG_SESSION_TYPE', 'x11'), ('GIT_ASKPASS', '/usr/share/code/resources/app/extensions/git/dist/askpass.sh'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib::'), ('HOME', '/home/hivecore'), ('CHROME_DESKTOP', 'code.desktop'), ('TERM_PROGRAM_VERSION', '1.101.2'), ('DESKTOP_SESSION', 'ubuntu'), ('GIO_LAUNCHED_DESKTOP_FILE', '/usr/share/applications/code.desktop'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), 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('VSCODE_GIT_IPC_HANDLE', '/run/user/1000/vscode-git-3bd65c1082.sock'), ('TERM_PROGRAM', 'vscode'), ('SSH_AGENT_LAUNCHER', 'gnome-keyring'), ('SSH_AUTH_SOCK', '/run/user/1000/keyring/ssh'), ('AMENT_PREFIX_PATH', '/opt/ros/humble'), ('ORIGINAL_XDG_CURRENT_DESKTOP', 'ubuntu:GNOME'), ('SHELL', '/bin/bash'), ('LC_NAME', 'zh_CN.UTF-8'), ('QT_ACCESSIBILITY', '1'), ('GDMSESSION', 'ubuntu'), ('LESSCLOSE', '/usr/bin/lesspipe %s %s'), ('LC_MEASUREMENT', 'zh_CN.UTF-8'), ('GPG_AGENT_INFO', '/run/user/1000/gnupg/S.gpg-agent:0:1'), ('GJS_DEBUG_OUTPUT', 'stderr'), ('LC_IDENTIFICATION', 'zh_CN.UTF-8'), ('VSCODE_GIT_ASKPASS_EXTRA_ARGS', ''), ('QT_IM_MODULE', 'ibus'), ('PWD', '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2'), ('LC_ALL', 'en_US.UTF-8'), ('XDG_CONFIG_DIRS', '/etc/xdg/xdg-ubuntu:/etc/xdg'), ('XDG_DATA_DIRS', '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop'), ('PYTHONPATH', '/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('LC_NUMERIC', 'zh_CN.UTF-8'), ('LC_PAPER', 'zh_CN.UTF-8'), ('COLCON', '1'), ('CMAKE_PREFIX_PATH', '/opt/ros/humble')]), 'shell': False}
+[0.148656] (hive_core_r2) StdoutLine: {'line': b'-- Install configuration: ""\n'}
+[0.148815] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch\n'}
+[0.148873] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__\n'}
+[0.148926] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc\n'}
+[0.148996] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py\n'}
+[0.149045] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf\n'}
+[0.149093] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes\n'}
+[0.149218] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL\n'}
+[0.149278] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL\n'}
+[0.149328] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL\n'}
+[0.149393] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL\n'}
+[0.149438] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL\n'}
+[0.149486] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL\n'}
+[0.149534] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL\n'}
+[0.149582] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL\n'}
+[0.149630] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL\n'}
+[0.149677] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL\n'}
+[0.149724] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL\n'}
+[0.149771] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL\n'}
+[0.149818] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL\n'}
+[0.149865] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf\n'}
+[0.149912] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro\n'}
+[0.149960] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config\n'}
+[0.150007] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz\n'}
+[0.150054] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz\n'}
+[0.150166] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2\n'}
+[0.150223] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2\n'}
+[0.150269] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh\n'}
+[0.150314] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv\n'}
+[0.150362] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh\n'}
+[0.150407] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv\n'}
+[0.150452] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash\n'}
+[0.150498] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh\n'}
+[0.150549] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh\n'}
+[0.150596] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv\n'}
+[0.150643] (hive_core_r2) StdoutLine: {'line': b'-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv\n'}
+[0.150690] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2\n'}
+[0.150737] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake\n'}
+[0.150784] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake\n'}
+[0.150831] (hive_core_r2) StdoutLine: {'line': b'-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml\n'}
+[0.151261] (hive_core_r2) CommandEnded: {'returncode': 0}
+[0.200198] (-) TimerEvent: {}
+[0.217413] (hive_core_r2) JobEnded: {'identifier': 'hive_core_r2', 'rc': 0}
+[0.218816] (-) EventReactorShutdown: {}
diff --git a/HiveCoreR2/log/build_2025-07-25_15-13-46/hive_core_r2/command.log b/HiveCoreR2/log/build_2025-07-25_15-13-46/hive_core_r2/command.log
new file mode 100644
index 0000000..b992a1f
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_15-13-46/hive_core_r2/command.log
@@ -0,0 +1,4 @@
+Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
diff --git a/HiveCoreR2/log/build_2025-07-25_15-13-46/hive_core_r2/stderr.log b/HiveCoreR2/log/build_2025-07-25_15-13-46/hive_core_r2/stderr.log
new file mode 100644
index 0000000..e69de29
diff --git a/HiveCoreR2/log/build_2025-07-25_15-13-46/hive_core_r2/stdout.log b/HiveCoreR2/log/build_2025-07-25_15-13-46/hive_core_r2/stdout.log
new file mode 100644
index 0000000..bbdf71a
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_15-13-46/hive_core_r2/stdout.log
@@ -0,0 +1,40 @@
+-- Install configuration: ""
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
diff --git a/HiveCoreR2/log/build_2025-07-25_15-13-46/hive_core_r2/stdout_stderr.log b/HiveCoreR2/log/build_2025-07-25_15-13-46/hive_core_r2/stdout_stderr.log
new file mode 100644
index 0000000..bbdf71a
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_15-13-46/hive_core_r2/stdout_stderr.log
@@ -0,0 +1,40 @@
+-- Install configuration: ""
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+-- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+-- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
diff --git a/HiveCoreR2/log/build_2025-07-25_15-13-46/hive_core_r2/streams.log b/HiveCoreR2/log/build_2025-07-25_15-13-46/hive_core_r2/streams.log
new file mode 100644
index 0000000..952b814
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_15-13-46/hive_core_r2/streams.log
@@ -0,0 +1,44 @@
+[0.005s] Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.050s] Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.105s] Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.148s] -- Install configuration: ""
+[0.148s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__
+[0.149s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
+[0.149s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/launch/display_launch.py
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg1.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackWheel.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg2.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightBackLeg2.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountWheel.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackWheel.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/rightFrountWheel.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftBackLeg1.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/meshes/base_link.STL
+[0.149s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/config/rviz/display_model.rviz
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/package_run_dependencies/hive_core_r2
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/parent_prefix_path/hive_core_r2
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.sh
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/ament_prefix_path.dsv
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.sh
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/environment/path.dsv
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.bash
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.sh
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.zsh
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/local_setup.dsv
+[0.150s] -- Installing: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/ament_index/resource_index/packages/hive_core_r2
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config.cmake
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/cmake/hive_core_r2Config-version.cmake
+[0.150s] -- Up-to-date: /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.xml
+[0.151s] Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
diff --git a/HiveCoreR2/log/build_2025-07-25_15-13-46/logger_all.log b/HiveCoreR2/log/build_2025-07-25_15-13-46/logger_all.log
new file mode 100644
index 0000000..b004822
--- /dev/null
+++ b/HiveCoreR2/log/build_2025-07-25_15-13-46/logger_all.log
@@ -0,0 +1,138 @@
+[0.048s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.048s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=32, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0x7f9396156560>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7f93962dbeb0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7f93962dbeb0>>, mixin_verb=('build',))
+[0.114s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.114s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.114s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.114s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.114s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.114s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.114s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2'
+[0.114s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.114s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.114s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.114s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.114s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.114s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.114s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.114s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.114s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.119s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['ignore', 'ignore_ament_install']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ignore'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ignore_ament_install'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['colcon_pkg']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'colcon_pkg'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['colcon_meta']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'colcon_meta'
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extensions ['ros']
+[0.120s] Level 1:colcon.colcon_core.package_identification:_identify(src/hive_core_r2) by extension 'ros'
+[0.121s] DEBUG:colcon.colcon_core.package_identification:Package 'src/hive_core_r2' with type 'ros.ament_cmake' and name 'hive_core_r2'
+[0.121s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.121s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.121s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.121s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.121s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.133s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.133s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.134s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 423 installed packages in /opt/ros/humble
+[0.135s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_args' from command line to 'None'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_target' from command line to 'None'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_clean_cache' from command line to 'False'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_clean_first' from command line to 'False'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'cmake_force_configure' from command line to 'False'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'ament_cmake_args' from command line to 'None'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'catkin_cmake_args' from command line to 'None'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'hive_core_r2' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.154s] DEBUG:colcon.colcon_core.verb:Building package 'hive_core_r2' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2', 'merge_install': False, 'path': '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2', 'symlink_install': False, 'test_result_base': None}
+[0.154s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.155s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.155s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2' with build type 'ament_cmake'
+[0.155s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/src/hive_core_r2'
+[0.156s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.156s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.156s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.160s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.206s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /home/hivecore/.local/bin/cmake --build /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2 -- -j32 -l32
+[0.261s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2': CMAKE_PREFIX_PATH=/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.306s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(hive_core_r2)
+[0.306s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /home/hivecore/.local/bin/cmake --install /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2
+[0.308s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake module files
+[0.308s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake config files
+[0.308s] Level 1:colcon.colcon_core.shell:create_environment_hook('hive_core_r2', 'cmake_prefix_path')
+[0.309s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1'
+[0.309s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv'
+[0.309s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh'
+[0.310s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.310s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig/hive_core_r2.pc'
+[0.310s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/python3.10/site-packages'
+[0.310s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.310s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1'
+[0.311s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv'
+[0.311s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh'
+[0.311s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash'
+[0.311s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh'
+[0.312s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2)
+[0.312s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(hive_core_r2)
+[0.312s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake module files
+[0.312s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2' for CMake config files
+[0.312s] Level 1:colcon.colcon_core.shell:create_environment_hook('hive_core_r2', 'cmake_prefix_path')
+[0.313s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.ps1'
+[0.366s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.dsv'
+[0.367s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/hook/cmake_prefix_path.sh'
+[0.367s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.368s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/pkgconfig/hive_core_r2.pc'
+[0.368s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/lib/python3.10/site-packages'
+[0.368s] Level 1:colcon.colcon_core.environment:checking '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/bin'
+[0.369s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.ps1'
+[0.369s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.dsv'
+[0.370s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.sh'
+[0.371s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.bash'
+[0.371s] INFO:colcon.colcon_core.shell:Creating package script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/hive_core_r2/package.zsh'
+[0.372s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/hive_core_r2/share/colcon-core/packages/hive_core_r2)
+[0.372s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[0.373s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[0.373s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[0.373s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[0.382s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[0.382s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[0.382s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[0.403s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[0.403s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.ps1'
+[0.404s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/_local_setup_util_ps1.py'
+[0.405s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.ps1'
+[0.406s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.sh'
+[0.407s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/_local_setup_util_sh.py'
+[0.407s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.sh'
+[0.408s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.bash'
+[0.408s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.bash'
+[0.408s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/local_setup.zsh'
+[0.409s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/install/setup.zsh'
diff --git a/HiveCoreR2/log/latest b/HiveCoreR2/log/latest
new file mode 120000
index 0000000..b57d247
--- /dev/null
+++ b/HiveCoreR2/log/latest
@@ -0,0 +1 @@
+latest_build
\ No newline at end of file
diff --git a/HiveCoreR2/log/latest_build b/HiveCoreR2/log/latest_build
new file mode 120000
index 0000000..7ab56f6
--- /dev/null
+++ b/HiveCoreR2/log/latest_build
@@ -0,0 +1 @@
+build_2025-07-25_15-13-46
\ No newline at end of file
diff --git a/HiveCoreR2/src/hive_core_r2/CMakeLists.txt b/HiveCoreR2/src/hive_core_r2/CMakeLists.txt
new file mode 100644
index 0000000..1c1139e
--- /dev/null
+++ b/HiveCoreR2/src/hive_core_r2/CMakeLists.txt
@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.10)
+project(hive_core_r2)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+
+install(DIRECTORY launch urdf config 
+  DESTINATION share/${PROJECT_NAME}
+)
+
+
+ament_package()
diff --git a/HiveCoreR2/src/hive_core_r2/config/rviz/display_model.rviz b/HiveCoreR2/src/hive_core_r2/config/rviz/display_model.rviz
new file mode 100644
index 0000000..d624b06
--- /dev/null
+++ b/HiveCoreR2/src/hive_core_r2/config/rviz/display_model.rviz
@@ -0,0 +1,170 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 480
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 0.4101419746875763
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 777
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000026bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000026b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000026bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000026b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000054a0000003efc0100000002fb0000000800540069006d006501000000000000054a000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002d90000026b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1354
+  X: 70
+  Y: 27
diff --git a/HiveCoreR2/src/hive_core_r2/export.log b/HiveCoreR2/src/hive_core_r2/export.log
new file mode 100644
index 0000000..17305fb
--- /dev/null
+++ b/HiveCoreR2/src/hive_core_r2/export.log
@@ -0,0 +1,1793 @@
+2025-06-30 16:55:01,053 INFO  Logger.cs: 70 - 
+--------------------------------------------------------------------------------
+2025-06-30 16:55:01,081 INFO  Logger.cs: 71 - Logging commencing for SW2URDF exporter
+2025-06-30 16:55:01,083 INFO  Logger.cs: 73 - Commit version 1.6.0-4-g7f85cfe
+2025-06-30 16:55:01,083 INFO  Logger.cs: 74 - Build version 1.6.7995.38578
+2025-06-30 16:55:01,085 INFO  SwAddin.cs: 192 - Attempting to connect to SW
+2025-06-30 16:55:01,085 INFO  SwAddin.cs: 197 - Setting up callbacks
+2025-06-30 16:55:01,085 INFO  SwAddin.cs: 201 - Setting up command manager
+2025-06-30 16:55:01,086 INFO  SwAddin.cs: 204 - Adding command manager
+2025-06-30 16:55:01,088 INFO  SwAddin.cs: 263 - Adding Assembly export to file menu
+2025-06-30 16:55:01,088 INFO  SwAddin.cs: 272 - Adding Part export to file menu
+2025-06-30 16:55:01,088 INFO  SwAddin.cs: 210 - Adding event handlers
+2025-06-30 16:55:01,090 INFO  SwAddin.cs: 217 - Connecting plugin to SolidWorks
+2025-06-30 17:10:23,141 INFO  SwAddin.cs: 294 - Assembly export called for file ��������װ��.SLDASM
+2025-06-30 17:10:23,142 INFO  SwAddin.cs: 299 - Save is required
+2025-06-30 17:10:23,142 INFO  SwAddin.cs: 313 - Saving assembly
+2025-06-30 17:10:23,321 INFO  SwAddin.cs: 316 - Opening property manager
+2025-06-30 17:10:23,334 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��������װ��.SLDASM
+2025-06-30 17:10:23,338 INFO  ExportHelperExtension.cs: 1136 - Found 90 in ��������װ��.SLDASM
+2025-06-30 17:10:23,338 INFO  ExportHelperExtension.cs: 1145 - Found 13 features of type [CoordSys] in ��������װ��.SLDASM
+2025-06-30 17:10:23,339 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:10:23,339 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:10:23,340 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:10:23,340 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:10:23,341 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:10:23,341 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-3
+2025-06-30 17:10:23,341 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:10:23,342 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-3
+2025-06-30 17:10:23,342 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-3
+2025-06-30 17:10:23,342 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:10:23,342 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-3
+2025-06-30 17:10:23,343 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-3
+2025-06-30 17:10:23,343 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:10:23,343 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-3
+2025-06-30 17:10:23,343 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-1
+2025-06-30 17:10:23,343 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:10:23,344 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-1
+2025-06-30 17:10:23,344 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-3
+2025-06-30 17:10:23,344 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:10:23,345 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-3
+2025-06-30 17:10:23,345 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-5
+2025-06-30 17:10:23,345 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:10:23,345 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-5
+2025-06-30 17:10:23,346 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-4
+2025-06-30 17:10:23,346 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:10:23,346 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-4
+2025-06-30 17:10:23,346 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-4
+2025-06-30 17:10:23,347 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:10:23,347 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-4
+2025-06-30 17:10:23,347 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-4
+2025-06-30 17:10:23,347 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:10:23,347 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-4
+2025-06-30 17:10:23,348 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:10:23,348 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:10:23,348 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:10:23,348 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-2
+2025-06-30 17:10:23,349 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:10:23,349 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-2
+2025-06-30 17:10:23,349 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-1
+2025-06-30 17:10:23,349 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:10:23,350 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-1
+2025-06-30 17:10:23,350 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��������װ��.SLDASM
+2025-06-30 17:10:23,350 INFO  ExportHelperExtension.cs: 1136 - Found 90 in ��������װ��.SLDASM
+2025-06-30 17:10:23,351 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��������װ��.SLDASM
+2025-06-30 17:10:23,351 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:10:23,351 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:10:23,351 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:10:23,352 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:10:23,352 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:10:23,352 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-3
+2025-06-30 17:10:23,352 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:10:23,353 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-3
+2025-06-30 17:10:23,353 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-3
+2025-06-30 17:10:23,353 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:10:23,353 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-3
+2025-06-30 17:10:23,354 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-3
+2025-06-30 17:10:23,354 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:10:23,354 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-3
+2025-06-30 17:10:23,354 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-1
+2025-06-30 17:10:23,354 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:10:23,355 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-1
+2025-06-30 17:10:23,355 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-3
+2025-06-30 17:10:23,355 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:10:23,355 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-3
+2025-06-30 17:10:23,356 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-5
+2025-06-30 17:10:23,356 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:10:23,360 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-5
+2025-06-30 17:10:23,360 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-4
+2025-06-30 17:10:23,419 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:10:23,419 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-4
+2025-06-30 17:10:23,420 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-4
+2025-06-30 17:10:23,420 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:10:23,420 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-4
+2025-06-30 17:10:23,420 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-4
+2025-06-30 17:10:23,421 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:10:23,421 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-4
+2025-06-30 17:10:23,421 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:10:23,421 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:10:23,422 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:10:23,422 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-2
+2025-06-30 17:10:23,422 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:10:23,422 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-2
+2025-06-30 17:10:23,423 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-1
+2025-06-30 17:10:23,423 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:10:23,423 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-1
+2025-06-30 17:10:23,575 INFO  SwAddin.cs: 339 - Loading config tree
+2025-06-30 17:10:23,580 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
+<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i41"/><XYZAttribute z:Ref="i40"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i42" i:type="ParentLink"><Attributes><Attribute z:Id="i43"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i43"/></URDFElement><URDFElement z:Id="i44" i:type="ChildLink"><Attributes><Attribute z:Id="i45"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i45"/></URDFElement><URDFElement z:Id="i46" i:type="Axis"><Attributes><Attribute z:Id="i47"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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z:Ref="i50"/><VelocityAttribute z:Ref="i52"/></URDFElement><URDFElement z:Id="i53" i:type="Calibration"><Attributes><Attribute z:Id="i54"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i55"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i55"/><RisingAttribute z:Ref="i54"/></URDFElement><URDFElement z:Id="i56" i:type="Dynamics"><Attributes><Attribute z:Id="i57"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i58"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i57"/><FrictionAttribute z:Ref="i58"/></URDFElement><URDFElement z:Id="i59" i:type="SafetyController"><Attributes><Attribute z:Id="i60"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i61"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i62"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i63"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i62"/><KVelocityAttribute z:Ref="i63"/><SoftLowerAttribute z:Ref="i61"/><SoftUpperAttribute z:Ref="i60"/></URDFElement><URDFElement z:Id="i64" i:type="Mimic"><Attributes><Attribute z:Id="i65"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value 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+2025-06-30 17:10:23,643 INFO  LinkNode.cs: 35 - Building node base_link
+2025-06-30 17:10:23,643 INFO  LinkNode.cs: 35 - Building node rightBackLeg1
+2025-06-30 17:10:23,643 INFO  LinkNode.cs: 35 - Building node rightBackLeg2
+2025-06-30 17:10:23,643 INFO  LinkNode.cs: 35 - Building node Empty_Link
+2025-06-30 17:10:23,644 INFO  LinkNode.cs: 35 - Building node Empty_Link
+2025-06-30 17:10:23,644 INFO  LinkNode.cs: 35 - Building node Empty_Link
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+2025-06-30 17:10:23,647 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
+2025-06-30 17:10:23,648 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for rightBackLeg1 from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:10:23,648 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB????W?^-2@?]z7h:g??M?

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+2025-06-30 17:10:23,648 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???'Y?2-5@?]z7h:g??M?

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+2025-06-30 17:10:23,648 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����2.SLDPRT
+2025-06-30 17:10:23,649 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link rightBackLeg1
+2025-06-30 17:10:23,649 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for rightBackLeg2 from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:10:23,649 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???'Y?2-3@?]z7h:g??M?

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+2025-06-30 17:10:23,649 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����2.SLDPRT
+2025-06-30 17:10:23,649 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???\?2-3@?]z7h:g??M?

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+2025-06-30 17:10:23,649 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\С��2.SLDPRT
+2025-06-30 17:10:23,649 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link rightBackLeg2
+2025-06-30 17:10:23,651 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Empty_Link from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:10:23,651 INFO  CommonSwOperations.cs: 230 - Loaded 0 components for link Empty_Link
+2025-06-30 17:10:23,651 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Empty_Link from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:10:23,651 INFO  CommonSwOperations.cs: 230 - Loaded 0 components for link Empty_Link
+2025-06-30 17:10:23,651 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Empty_Link from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:10:23,651 INFO  CommonSwOperations.cs: 230 - Loaded 0 components for link Empty_Link
+2025-06-30 17:10:23,677 INFO  SwAddin.cs: 344 - Showing property manager
+2025-06-30 17:11:42,266 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:12:24,257 INFO  SwAddin.cs: 294 - Assembly export called for file ��������װ��.SLDASM
+2025-06-30 17:12:28,727 INFO  SwAddin.cs: 313 - Saving assembly
+2025-06-30 17:12:28,837 INFO  SwAddin.cs: 316 - Opening property manager
+2025-06-30 17:12:28,837 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��������װ��.SLDASM
+2025-06-30 17:12:28,838 INFO  ExportHelperExtension.cs: 1136 - Found 90 in ��������װ��.SLDASM
+2025-06-30 17:12:28,838 INFO  ExportHelperExtension.cs: 1145 - Found 13 features of type [CoordSys] in ��������װ��.SLDASM
+2025-06-30 17:12:28,839 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:12:28,839 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:12:28,839 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:12:28,839 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:12:28,840 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:12:28,840 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-3
+2025-06-30 17:12:28,841 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:12:28,841 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-3
+2025-06-30 17:12:28,841 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-3
+2025-06-30 17:12:28,842 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:12:28,842 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-3
+2025-06-30 17:12:28,843 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-3
+2025-06-30 17:12:28,843 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:12:28,844 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-3
+2025-06-30 17:12:28,844 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-1
+2025-06-30 17:12:28,844 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:12:28,844 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-1
+2025-06-30 17:12:28,845 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-3
+2025-06-30 17:12:28,845 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:12:28,845 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-3
+2025-06-30 17:12:28,845 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-5
+2025-06-30 17:12:28,846 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:12:28,846 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-5
+2025-06-30 17:12:28,846 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-4
+2025-06-30 17:12:28,846 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:12:28,847 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-4
+2025-06-30 17:12:28,847 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-4
+2025-06-30 17:12:28,847 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:12:28,847 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-4
+2025-06-30 17:12:28,848 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-4
+2025-06-30 17:12:28,848 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:12:28,848 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-4
+2025-06-30 17:12:28,848 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:12:28,849 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:12:28,849 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:12:28,849 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-2
+2025-06-30 17:12:28,849 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:12:28,850 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-2
+2025-06-30 17:12:28,850 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-1
+2025-06-30 17:12:28,850 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:12:28,851 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-1
+2025-06-30 17:12:28,851 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��������װ��.SLDASM
+2025-06-30 17:12:28,851 INFO  ExportHelperExtension.cs: 1136 - Found 90 in ��������װ��.SLDASM
+2025-06-30 17:12:28,852 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��������װ��.SLDASM
+2025-06-30 17:12:28,852 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:12:28,852 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:12:28,852 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:12:28,852 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:12:28,853 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:12:28,853 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-3
+2025-06-30 17:12:28,853 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:12:28,854 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-3
+2025-06-30 17:12:28,854 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-3
+2025-06-30 17:12:28,854 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:12:28,854 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-3
+2025-06-30 17:12:28,855 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-3
+2025-06-30 17:12:28,855 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:12:28,857 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-3
+2025-06-30 17:12:28,858 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-1
+2025-06-30 17:12:28,907 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:12:28,908 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-1
+2025-06-30 17:12:28,909 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-3
+2025-06-30 17:12:28,909 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:12:28,910 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-3
+2025-06-30 17:12:28,910 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-5
+2025-06-30 17:12:28,910 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:12:28,911 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-5
+2025-06-30 17:12:28,911 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-4
+2025-06-30 17:12:28,911 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:12:28,911 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-4
+2025-06-30 17:12:28,912 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-4
+2025-06-30 17:12:28,912 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:12:28,912 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-4
+2025-06-30 17:12:28,912 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-4
+2025-06-30 17:12:28,913 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:12:28,913 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-4
+2025-06-30 17:12:28,913 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:12:28,913 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:12:28,914 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:12:28,914 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-2
+2025-06-30 17:12:28,914 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:12:28,914 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-2
+2025-06-30 17:12:28,915 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-1
+2025-06-30 17:12:28,915 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:12:28,915 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-1
+2025-06-30 17:12:28,942 INFO  SwAddin.cs: 339 - Loading config tree
+2025-06-30 17:12:28,943 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
+<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i41"/><XYZAttribute z:Ref="i40"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i42" i:type="ParentLink"><Attributes><Attribute z:Id="i43"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i43"/></URDFElement><URDFElement z:Id="i44" i:type="ChildLink"><Attributes><Attribute z:Id="i45"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i45"/></URDFElement><URDFElement z:Id="i46" i:type="Axis"><Attributes><Attribute z:Id="i47"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i47"/></URDFElement><URDFElement z:Id="i48" i:type="Limit"><Attributes><Attribute z:Id="i49"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i50"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i51"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i52"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i51"/><LowerAttribute z:Ref="i49"/><UpperAttribute 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+2025-06-30 17:12:28,945 INFO  LinkNode.cs: 35 - Building node base_link
+2025-06-30 17:12:28,945 INFO  LinkNode.cs: 35 - Building node rightBackLeg1
+2025-06-30 17:12:28,945 INFO  LinkNode.cs: 35 - Building node rightBackLeg2
+2025-06-30 17:12:28,946 INFO  LinkNode.cs: 35 - Building node Empty_Link
+2025-06-30 17:12:28,946 INFO  LinkNode.cs: 35 - Building node Empty_Link
+2025-06-30 17:12:28,946 INFO  LinkNode.cs: 35 - Building node Empty_Link
+2025-06-30 17:12:28,946 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:12:28,946 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB????W?^-2@?]z7h:g??M?

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+2025-06-30 17:12:28,947 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����.SLDPRT
+2025-06-30 17:12:28,947 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
+2025-06-30 17:12:28,947 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for rightBackLeg1 from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:12:28,947 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB????W?^-2@?]z7h:g??M?

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+2025-06-30 17:12:28,948 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����.SLDPRT
+2025-06-30 17:12:28,948 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???'Y?2-5@?]z7h:g??M?

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+2025-06-30 17:12:28,948 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����2.SLDPRT
+2025-06-30 17:12:28,948 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link rightBackLeg1
+2025-06-30 17:12:28,948 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for rightBackLeg2 from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:12:28,949 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???'Y?2-3@?]z7h:g??M?

h
+2025-06-30 17:12:28,949 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����2.SLDPRT
+2025-06-30 17:12:28,949 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???\?2-3@?]z7h:g??M?

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+2025-06-30 17:12:28,949 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\С��2.SLDPRT
+2025-06-30 17:12:28,950 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link rightBackLeg2
+2025-06-30 17:12:28,950 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Empty_Link from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:12:28,950 INFO  CommonSwOperations.cs: 230 - Loaded 0 components for link Empty_Link
+2025-06-30 17:12:28,950 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Empty_Link from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:12:28,950 INFO  CommonSwOperations.cs: 230 - Loaded 0 components for link Empty_Link
+2025-06-30 17:12:28,951 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Empty_Link from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:12:28,951 INFO  CommonSwOperations.cs: 230 - Loaded 0 components for link Empty_Link
+2025-06-30 17:12:28,960 INFO  SwAddin.cs: 344 - Showing property manager
+2025-06-30 17:12:52,502 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:13:16,318 INFO  ExportPropertyManager.cs: 422 - Configuration saved
+2025-06-30 17:13:16,322 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i341"/><XYZAttribute z:Ref="i340"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i342" i:type="Mass"><Attributes><Attribute z:Id="i343"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i343"/></URDFElement><URDFElement z:Id="i344" i:type="Inertia"><Attributes><Attribute z:Id="i345"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i346"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i347"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i348"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i349"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i350"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i345"/><IxyAttribute z:Ref="i346"/><IxzAttribute z:Ref="i347"/><IyyAttribute z:Ref="i348"/><IyzAttribute z:Ref="i349"/><IzzAttribute z:Ref="i350"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i344"/><Mass z:Ref="i342"/><Origin z:Ref="i339"/></URDFElement><URDFElement z:Id="i351" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i352" i:type="Origin"><Attributes><Attribute z:Id="i353"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i354"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i354"/><XYZAttribute z:Ref="i353"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i355" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i356" i:type="Mesh"><Attributes><Attribute z:Id="i357"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i357"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i356"/></URDFElement><URDFElement z:Id="i358" i:type="Material"><Attributes><Attribute z:Id="i359"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i360" i:type="Color"><Attributes><Attribute z:Id="i361"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i361"/></URDFElement><URDFElement z:Id="i362" i:type="Texture"><Attributes><Attribute z:Id="i363"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i363"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i360"/><NameAttribute z:Ref="i359"/><Texture z:Ref="i362"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i355"/><Material z:Ref="i358"/><Origin z:Ref="i352"/></URDFElement><URDFElement z:Id="i364" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i365" i:type="Origin"><Attributes><Attribute z:Id="i366"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i367"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i367"/><XYZAttribute z:Ref="i366"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i368" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i369" i:type="Mesh"><Attributes><Attribute z:Id="i370"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i370"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i369"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i368"/><Origin z:Ref="i365"/></URDFElement><URDFElement z:Id="i371" i:type="Joint"><Attributes><Attribute z:Id="i372"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i373"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Automatically Detect</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i374" i:type="Origin"><Attributes><Attribute z:Id="i375"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i376"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i376"/><XYZAttribute z:Ref="i375"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i377" i:type="ParentLink"><Attributes><Attribute z:Id="i378"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i378"/></URDFElement><URDFElement z:Id="i379" i:type="ChildLink"><Attributes><Attribute z:Id="i380"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i380"/></URDFElement><URDFElement z:Id="i381" i:type="Axis"><Attributes><Attribute z:Id="i382"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i382"/></URDFElement><URDFElement z:Id="i383" i:type="Limit"><Attributes><Attribute z:Id="i384"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i385"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i386"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i387"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i386"/><LowerAttribute z:Ref="i384"/><UpperAttribute z:Ref="i385"/><VelocityAttribute z:Ref="i387"/></URDFElement><URDFElement z:Id="i388" i:type="Calibration"><Attributes><Attribute z:Id="i389"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i390"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i390"/><RisingAttribute z:Ref="i389"/></URDFElement><URDFElement z:Id="i391" i:type="Dynamics"><Attributes><Attribute z:Id="i392"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i393"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i392"/><FrictionAttribute z:Ref="i393"/></URDFElement><URDFElement z:Id="i394" i:type="SafetyController"><Attributes><Attribute z:Id="i395"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i396"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i397"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i398"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i397"/><KVelocityAttribute z:Ref="i398"/><SoftLowerAttribute z:Ref="i396"/><SoftUpperAttribute z:Ref="i395"/></URDFElement><URDFElement z:Id="i399" i:type="Mimic"><Attributes><Attribute z:Id="i400"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i401"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i402"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i400"/><MultiplierAttribute z:Ref="i401"/><OffsetAttribute z:Ref="i402"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i381"/><AxisName>Automatically Generate</AxisName><Calibration z:Ref="i388"/><Child z:Ref="i379"/><CoordinateSystemName>Automatically Generate</CoordinateSystemName><Dynamics z:Ref="i391"/><Limit z:Ref="i383"/><Mimic z:Ref="i399"/><NameAttribute z:Ref="i372"/><Origin z:Ref="i374"/><Parent z:Ref="i377"/><Safety z:Ref="i394"/><TypeAttribute z:Ref="i373"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"/><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>aEIAAAUAAAD//v8L+lenXi0AMgBAAOVdC3o3aDpnxYhNkQQAAAAQAAAAAQAAAAEAAABVAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2025-06-30 17:13:16,464 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:13:20,204 INFO  SwAddin.cs: 294 - Assembly export called for file ��������װ��.SLDASM
+2025-06-30 17:13:20,206 INFO  SwAddin.cs: 299 - Save is required
+2025-06-30 17:13:20,206 INFO  SwAddin.cs: 313 - Saving assembly
+2025-06-30 17:13:20,415 INFO  SwAddin.cs: 316 - Opening property manager
+2025-06-30 17:13:20,415 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��������װ��.SLDASM
+2025-06-30 17:13:20,416 INFO  ExportHelperExtension.cs: 1136 - Found 90 in ��������װ��.SLDASM
+2025-06-30 17:13:20,416 INFO  ExportHelperExtension.cs: 1145 - Found 13 features of type [CoordSys] in ��������װ��.SLDASM
+2025-06-30 17:13:20,417 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:13:20,417 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:13:20,417 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:13:20,417 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:13:20,418 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:13:20,418 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-3
+2025-06-30 17:13:20,418 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:13:20,418 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-3
+2025-06-30 17:13:20,419 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-3
+2025-06-30 17:13:20,419 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:13:20,419 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-3
+2025-06-30 17:13:20,420 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-3
+2025-06-30 17:13:20,420 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:13:20,420 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-3
+2025-06-30 17:13:20,420 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-1
+2025-06-30 17:13:20,421 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:13:20,421 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-1
+2025-06-30 17:13:20,421 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-3
+2025-06-30 17:13:20,421 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:13:20,422 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-3
+2025-06-30 17:13:20,422 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-5
+2025-06-30 17:13:20,422 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:13:20,423 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-5
+2025-06-30 17:13:20,423 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-4
+2025-06-30 17:13:20,423 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:13:20,423 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-4
+2025-06-30 17:13:20,423 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-4
+2025-06-30 17:13:20,424 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:13:20,424 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-4
+2025-06-30 17:13:20,424 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-4
+2025-06-30 17:13:20,424 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:13:20,425 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-4
+2025-06-30 17:13:20,425 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:13:20,425 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:13:20,426 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:13:20,426 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-2
+2025-06-30 17:13:20,426 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:13:20,426 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-2
+2025-06-30 17:13:20,427 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-1
+2025-06-30 17:13:20,427 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:13:20,427 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-1
+2025-06-30 17:13:20,427 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��������װ��.SLDASM
+2025-06-30 17:13:20,428 INFO  ExportHelperExtension.cs: 1136 - Found 90 in ��������װ��.SLDASM
+2025-06-30 17:13:20,428 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��������װ��.SLDASM
+2025-06-30 17:13:20,428 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:13:20,429 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:13:20,429 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:13:20,429 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:13:20,429 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:13:20,430 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-3
+2025-06-30 17:13:20,430 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:13:20,430 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-3
+2025-06-30 17:13:20,430 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-3
+2025-06-30 17:13:20,431 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:13:20,431 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-3
+2025-06-30 17:13:20,431 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-3
+2025-06-30 17:13:20,431 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:13:20,432 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-3
+2025-06-30 17:13:20,432 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-1
+2025-06-30 17:13:20,432 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:13:20,432 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-1
+2025-06-30 17:13:20,433 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-3
+2025-06-30 17:13:20,433 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:13:20,433 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-3
+2025-06-30 17:13:20,434 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-5
+2025-06-30 17:13:20,434 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:13:20,434 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-5
+2025-06-30 17:13:20,435 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-4
+2025-06-30 17:13:20,435 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:13:20,435 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-4
+2025-06-30 17:13:20,435 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-4
+2025-06-30 17:13:20,436 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:13:20,436 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-4
+2025-06-30 17:13:20,437 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-4
+2025-06-30 17:13:20,437 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:13:20,437 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-4
+2025-06-30 17:13:20,437 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:13:20,438 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:13:20,438 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:13:20,438 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-2
+2025-06-30 17:13:20,438 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:13:20,439 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-2
+2025-06-30 17:13:20,439 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-1
+2025-06-30 17:13:20,439 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:13:20,439 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-1
+2025-06-30 17:13:20,502 INFO  SwAddin.cs: 339 - Loading config tree
+2025-06-30 17:13:20,503 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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z:Ref="i346"/><IxzAttribute z:Ref="i347"/><IyyAttribute z:Ref="i348"/><IyzAttribute z:Ref="i349"/><IzzAttribute z:Ref="i350"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i344"/><Mass z:Ref="i342"/><Origin z:Ref="i339"/></URDFElement><URDFElement z:Id="i351" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i352" i:type="Origin"><Attributes><Attribute z:Id="i353"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i354"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i354"/><XYZAttribute z:Ref="i353"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i355" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i356" i:type="Mesh"><Attributes><Attribute z:Id="i357"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i357"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i356"/></URDFElement><URDFElement z:Id="i358" i:type="Material"><Attributes><Attribute z:Id="i359"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i360" i:type="Color"><Attributes><Attribute z:Id="i361"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i361"/></URDFElement><URDFElement z:Id="i362" i:type="Texture"><Attributes><Attribute z:Id="i363"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i363"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i360"/><NameAttribute z:Ref="i359"/><Texture z:Ref="i362"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i355"/><Material z:Ref="i358"/><Origin z:Ref="i352"/></URDFElement><URDFElement z:Id="i364" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i365" i:type="Origin"><Attributes><Attribute z:Id="i366"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i367"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i367"/><XYZAttribute z:Ref="i366"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i368" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i369" i:type="Mesh"><Attributes><Attribute z:Id="i370"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i370"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i369"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i368"/><Origin z:Ref="i365"/></URDFElement><URDFElement z:Id="i371" i:type="Joint"><Attributes><Attribute z:Id="i372"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i373"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Automatically Detect</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i374" i:type="Origin"><Attributes><Attribute z:Id="i375"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i376"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i376"/><XYZAttribute z:Ref="i375"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i377" i:type="ParentLink"><Attributes><Attribute z:Id="i378"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i378"/></URDFElement><URDFElement z:Id="i379" i:type="ChildLink"><Attributes><Attribute z:Id="i380"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i380"/></URDFElement><URDFElement z:Id="i381" i:type="Axis"><Attributes><Attribute z:Id="i382"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i382"/></URDFElement><URDFElement z:Id="i383" i:type="Limit"><Attributes><Attribute z:Id="i384"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i385"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i386"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i387"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i386"/><LowerAttribute z:Ref="i384"/><UpperAttribute z:Ref="i385"/><VelocityAttribute z:Ref="i387"/></URDFElement><URDFElement z:Id="i388" i:type="Calibration"><Attributes><Attribute z:Id="i389"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i390"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i390"/><RisingAttribute z:Ref="i389"/></URDFElement><URDFElement z:Id="i391" i:type="Dynamics"><Attributes><Attribute z:Id="i392"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i393"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i392"/><FrictionAttribute z:Ref="i393"/></URDFElement><URDFElement z:Id="i394" i:type="SafetyController"><Attributes><Attribute z:Id="i395"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i396"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i397"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i398"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i397"/><KVelocityAttribute z:Ref="i398"/><SoftLowerAttribute z:Ref="i396"/><SoftUpperAttribute z:Ref="i395"/></URDFElement><URDFElement z:Id="i399" i:type="Mimic"><Attributes><Attribute z:Id="i400"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i401"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i402"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i400"/><MultiplierAttribute z:Ref="i401"/><OffsetAttribute z:Ref="i402"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i381"/><AxisName>Automatically Generate</AxisName><Calibration z:Ref="i388"/><Child z:Ref="i379"/><CoordinateSystemName>Automatically Generate</CoordinateSystemName><Dynamics z:Ref="i391"/><Limit z:Ref="i383"/><Mimic z:Ref="i399"/><NameAttribute z:Ref="i372"/><Origin z:Ref="i374"/><Parent z:Ref="i377"/><Safety z:Ref="i394"/><TypeAttribute z:Ref="i373"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"/><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>aEIAAAUAAAD//v8L+lenXi0AMgBAAOVdC3o3aDpnxYhNkQQAAAAQAAAAAQAAAAEAAABVAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2025-06-30 17:13:20,505 INFO  LinkNode.cs: 35 - Building node base_link
+2025-06-30 17:13:20,505 INFO  LinkNode.cs: 35 - Building node rightBackLeg1
+2025-06-30 17:13:20,506 INFO  LinkNode.cs: 35 - Building node rightBackLeg2
+2025-06-30 17:13:20,506 INFO  LinkNode.cs: 35 - Building node Empty_Link
+2025-06-30 17:13:20,506 INFO  LinkNode.cs: 35 - Building node Empty_Link
+2025-06-30 17:13:20,506 INFO  LinkNode.cs: 35 - Building node Empty_Link
+2025-06-30 17:13:20,507 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:13:20,507 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB????W?^-2@?]z7h:g??M?

U
+2025-06-30 17:13:20,507 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����.SLDPRT
+2025-06-30 17:13:20,507 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
+2025-06-30 17:13:20,507 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for rightBackLeg1 from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:13:20,508 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB????W?^-2@?]z7h:g??M?

U
+2025-06-30 17:13:20,508 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����.SLDPRT
+2025-06-30 17:13:20,508 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???'Y?2-3@?]z7h:g??M?

h
+2025-06-30 17:13:20,508 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����2.SLDPRT
+2025-06-30 17:13:20,509 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link rightBackLeg1
+2025-06-30 17:13:20,509 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for rightBackLeg2 from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:13:20,509 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???'Y?2-3@?]z7h:g??M?

h
+2025-06-30 17:13:20,509 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����2.SLDPRT
+2025-06-30 17:13:20,509 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???\?2-3@?]z7h:g??M?

x
+2025-06-30 17:13:20,510 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\С��2.SLDPRT
+2025-06-30 17:13:20,510 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link rightBackLeg2
+2025-06-30 17:13:20,510 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Empty_Link from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:13:20,510 INFO  CommonSwOperations.cs: 230 - Loaded 0 components for link Empty_Link
+2025-06-30 17:13:20,510 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Empty_Link from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:13:20,511 INFO  CommonSwOperations.cs: 230 - Loaded 0 components for link Empty_Link
+2025-06-30 17:13:20,511 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Empty_Link from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:13:20,511 INFO  CommonSwOperations.cs: 230 - Loaded 0 components for link Empty_Link
+2025-06-30 17:13:20,520 INFO  SwAddin.cs: 344 - Showing property manager
+2025-06-30 17:13:37,538 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:14:07,598 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:18:07,393 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:18:12,744 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:18:51,048 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:18:58,381 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:19:02,846 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:19:29,655 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:19:31,659 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:19:43,636 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:19:47,971 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:20:05,906 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:20:12,983 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:20:20,092 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:20:51,102 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:20:54,842 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:21:00,515 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:21:31,313 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:21:35,756 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:21:39,454 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:22:04,445 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:22:12,517 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:22:20,745 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:22:26,104 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:22:54,935 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:22:57,694 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:23:02,853 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:23:21,628 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:23:25,183 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:23:30,072 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:23:52,025 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:23:54,416 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:24:33,993 INFO  ExportPropertyManager.cs: 422 - Configuration saved
+2025-06-30 17:24:33,995 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i360" i:type="Color"><Attributes><Attribute z:Id="i361"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i361"/></URDFElement><URDFElement z:Id="i362" i:type="Texture"><Attributes><Attribute z:Id="i363"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i363"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i360"/><NameAttribute z:Ref="i359"/><Texture z:Ref="i362"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i355"/><Material z:Ref="i358"/><Origin z:Ref="i352"/></URDFElement><URDFElement z:Id="i364" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i365" i:type="Origin"><Attributes><Attribute z:Id="i366"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i367"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i367"/><XYZAttribute z:Ref="i366"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i368" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i369" i:type="Mesh"><Attributes><Attribute z:Id="i370"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i370"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i369"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i368"/><Origin z:Ref="i365"/></URDFElement><URDFElement z:Id="i371" i:type="Joint"><Attributes><Attribute z:Id="i372"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i373"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Automatically Detect</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i374" i:type="Origin"><Attributes><Attribute z:Id="i375"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i376"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i376"/><XYZAttribute z:Ref="i375"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i377" i:type="ParentLink"><Attributes><Attribute z:Id="i378"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i378"/></URDFElement><URDFElement z:Id="i379" i:type="ChildLink"><Attributes><Attribute z:Id="i380"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i380"/></URDFElement><URDFElement z:Id="i381" i:type="Axis"><Attributes><Attribute z:Id="i382"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i382"/></URDFElement><URDFElement z:Id="i383" i:type="Limit"><Attributes><Attribute z:Id="i384"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i385"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i386"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i387"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i386"/><LowerAttribute z:Ref="i384"/><UpperAttribute z:Ref="i385"/><VelocityAttribute z:Ref="i387"/></URDFElement><URDFElement z:Id="i388" i:type="Calibration"><Attributes><Attribute z:Id="i389"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i390"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i390"/><RisingAttribute z:Ref="i389"/></URDFElement><URDFElement z:Id="i391" i:type="Dynamics"><Attributes><Attribute z:Id="i392"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i393"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i392"/><FrictionAttribute z:Ref="i393"/></URDFElement><URDFElement z:Id="i394" i:type="SafetyController"><Attributes><Attribute z:Id="i395"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i396"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i397"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i398"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i397"/><KVelocityAttribute z:Ref="i398"/><SoftLowerAttribute z:Ref="i396"/><SoftUpperAttribute z:Ref="i395"/></URDFElement><URDFElement z:Id="i399" i:type="Mimic"><Attributes><Attribute z:Id="i400"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i401"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i402"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i400"/><MultiplierAttribute z:Ref="i401"/><OffsetAttribute z:Ref="i402"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i381"/><AxisName>Automatically Generate</AxisName><Calibration z:Ref="i388"/><Child z:Ref="i379"/><CoordinateSystemName>Automatically Generate</CoordinateSystemName><Dynamics z:Ref="i391"/><Limit z:Ref="i383"/><Mimic z:Ref="i399"/><NameAttribute z:Ref="i372"/><Origin z:Ref="i374"/><Parent z:Ref="i377"/><Safety z:Ref="i394"/><TypeAttribute z:Ref="i373"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"/><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>aEIAAAUAAAD//v8L+lenXi0AMgBAAOVdC3o3aDpnxYhNkQQAAAAQAAAAAQAAAAEAAABVAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2025-06-30 17:24:36,399 INFO  ExportHelperExtension.cs: 347 - Creating joint rightBackLeg1
+2025-06-30 17:24:36,403 INFO  ExportHelperExtension.cs: 1397 - Fixing components for base_link
+2025-06-30 17:24:36,404 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:36,772 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:24:36,772 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:24:36,772 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:24:36,773 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:24:36,790 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:37,257 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child rightBackLeg1 failed
+2025-06-30 17:24:37,266 INFO  ExportHelperExtension.cs: 347 - Creating joint rightBackLeg2
+2025-06-30 17:24:37,267 INFO  ExportHelperExtension.cs: 1397 - Fixing components for rightBackLeg1
+2025-06-30 17:24:37,267 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:37,267 INFO  ExportHelperExtension.cs: 1402 - Fixing 104
+2025-06-30 17:24:37,267 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:37,772 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:24:37,772 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:24:37,772 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:24:37,773 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:24:37,773 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:37,773 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 104
+2025-06-30 17:24:37,773 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:38,297 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent rightBackLeg1 to child rightBackLeg2 failed
+2025-06-30 17:24:38,302 INFO  ExportHelperExtension.cs: 347 - Creating joint rightBackWheel
+2025-06-30 17:24:38,303 INFO  ExportHelperExtension.cs: 1397 - Fixing components for rightBackLeg2
+2025-06-30 17:24:38,303 INFO  ExportHelperExtension.cs: 1402 - Fixing 104
+2025-06-30 17:24:38,303 INFO  ExportHelperExtension.cs: 1402 - Fixing 120
+2025-06-30 17:24:38,303 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:38,304 INFO  ExportHelperExtension.cs: 1402 - Fixing 104
+2025-06-30 17:24:38,304 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:38,838 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:24:38,839 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:24:38,839 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:24:38,839 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:24:38,839 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 104
+2025-06-30 17:24:38,840 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 120
+2025-06-30 17:24:38,840 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:38,840 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 104
+2025-06-30 17:24:38,840 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:39,381 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent rightBackLeg2 to child rightBackWheel failed
+2025-06-30 17:24:39,387 INFO  ExportHelperExtension.cs: 347 - Creating joint leftBackLeg1
+2025-06-30 17:24:39,387 INFO  ExportHelperExtension.cs: 1397 - Fixing components for base_link
+2025-06-30 17:24:39,387 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:39,876 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:24:39,877 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:24:39,877 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:24:39,877 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:24:39,877 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:40,387 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child leftBackLeg1 failed
+2025-06-30 17:24:40,395 INFO  ExportHelperExtension.cs: 347 - Creating joint leftBackLeg2
+2025-06-30 17:24:40,402 INFO  ExportHelperExtension.cs: 1397 - Fixing components for leftBackLeg1
+2025-06-30 17:24:40,403 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:40,403 INFO  ExportHelperExtension.cs: 1402 - Fixing 166
+2025-06-30 17:24:40,403 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:40,974 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:24:40,974 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:24:40,974 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:24:40,975 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:24:40,975 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:40,975 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 166
+2025-06-30 17:24:40,976 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:41,467 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent leftBackLeg1 to child leftBackLeg2 failed
+2025-06-30 17:24:41,475 INFO  ExportHelperExtension.cs: 347 - Creating joint leftBackWheel
+2025-06-30 17:24:41,475 INFO  ExportHelperExtension.cs: 1397 - Fixing components for leftBackLeg2
+2025-06-30 17:24:41,475 INFO  ExportHelperExtension.cs: 1402 - Fixing 166
+2025-06-30 17:24:41,476 INFO  ExportHelperExtension.cs: 1402 - Fixing 167
+2025-06-30 17:24:41,476 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:41,476 INFO  ExportHelperExtension.cs: 1402 - Fixing 166
+2025-06-30 17:24:41,477 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:42,021 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:24:42,023 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:24:42,023 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:24:42,023 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:24:42,023 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 166
+2025-06-30 17:24:42,024 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 167
+2025-06-30 17:24:42,024 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:42,024 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 166
+2025-06-30 17:24:42,024 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:42,568 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent leftBackLeg2 to child leftBackWheel failed
+2025-06-30 17:24:42,573 INFO  ExportHelperExtension.cs: 347 - Creating joint rightFrountLeg1
+2025-06-30 17:24:42,573 INFO  ExportHelperExtension.cs: 1397 - Fixing components for base_link
+2025-06-30 17:24:42,575 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:43,076 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:24:43,077 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:24:43,077 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:24:43,078 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:24:43,078 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:43,585 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child rightFrountLeg1 failed
+2025-06-30 17:24:43,592 INFO  ExportHelperExtension.cs: 347 - Creating joint rightFrountLeg2
+2025-06-30 17:24:43,593 INFO  ExportHelperExtension.cs: 1397 - Fixing components for rightFrountLeg1
+2025-06-30 17:24:43,593 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:43,593 INFO  ExportHelperExtension.cs: 1402 - Fixing 87
+2025-06-30 17:24:43,594 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:44,122 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:24:44,122 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:24:44,123 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:24:44,123 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:24:44,123 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:44,123 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 87
+2025-06-30 17:24:44,124 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:44,634 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent rightFrountLeg1 to child rightFrountLeg2 failed
+2025-06-30 17:24:44,640 INFO  ExportHelperExtension.cs: 347 - Creating joint rightFrountWheel
+2025-06-30 17:24:44,641 INFO  ExportHelperExtension.cs: 1397 - Fixing components for rightFrountLeg2
+2025-06-30 17:24:44,641 INFO  ExportHelperExtension.cs: 1402 - Fixing 87
+2025-06-30 17:24:44,641 INFO  ExportHelperExtension.cs: 1402 - Fixing 99
+2025-06-30 17:24:44,641 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:44,642 INFO  ExportHelperExtension.cs: 1402 - Fixing 87
+2025-06-30 17:24:44,642 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:45,200 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:24:45,200 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:24:45,200 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:24:45,201 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:24:45,201 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 87
+2025-06-30 17:24:45,201 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 99
+2025-06-30 17:24:45,201 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:45,201 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 87
+2025-06-30 17:24:45,202 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:45,751 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent rightFrountLeg2 to child rightFrountWheel failed
+2025-06-30 17:24:45,756 INFO  ExportHelperExtension.cs: 347 - Creating joint leftFrountLeg1
+2025-06-30 17:24:45,756 INFO  ExportHelperExtension.cs: 1397 - Fixing components for base_link
+2025-06-30 17:24:45,757 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:46,240 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:24:46,241 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:24:46,241 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:24:46,241 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:24:46,242 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:46,738 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child leftFrountLeg1 failed
+2025-06-30 17:24:46,746 INFO  ExportHelperExtension.cs: 347 - Creating joint leftFrountLeg2
+2025-06-30 17:24:46,746 INFO  ExportHelperExtension.cs: 1397 - Fixing components for leftFrountLeg1
+2025-06-30 17:24:46,747 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:46,747 INFO  ExportHelperExtension.cs: 1402 - Fixing 130
+2025-06-30 17:24:46,747 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:47,275 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:24:47,276 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:24:47,276 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:24:47,276 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:24:47,277 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:47,277 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 130
+2025-06-30 17:24:47,277 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:47,772 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent leftFrountLeg1 to child leftFrountLeg2 failed
+2025-06-30 17:24:47,779 INFO  ExportHelperExtension.cs: 347 - Creating joint leftFrountWheel
+2025-06-30 17:24:47,779 INFO  ExportHelperExtension.cs: 1397 - Fixing components for leftFrountLeg2
+2025-06-30 17:24:47,779 INFO  ExportHelperExtension.cs: 1402 - Fixing 130
+2025-06-30 17:24:47,779 INFO  ExportHelperExtension.cs: 1402 - Fixing 140
+2025-06-30 17:24:47,779 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:47,780 INFO  ExportHelperExtension.cs: 1402 - Fixing 130
+2025-06-30 17:24:47,780 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:24:48,327 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:24:48,328 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:24:48,328 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:24:48,328 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:24:48,329 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 130
+2025-06-30 17:24:48,329 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 140
+2025-06-30 17:24:48,329 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:48,329 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 130
+2025-06-30 17:24:48,329 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:24:48,868 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent leftFrountLeg2 to child leftFrountWheel failed
+2025-06-30 17:24:49,001 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��������װ��.SLDASM
+2025-06-30 17:24:49,004 INFO  ExportHelperExtension.cs: 1136 - Found 92 in ��������װ��.SLDASM
+2025-06-30 17:24:49,005 INFO  ExportHelperExtension.cs: 1145 - Found 14 features of type [CoordSys] in ��������װ��.SLDASM
+2025-06-30 17:24:49,006 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:24:49,006 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:24:49,006 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:24:49,006 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:24:49,007 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:24:49,007 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-3
+2025-06-30 17:24:49,007 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:24:49,007 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-3
+2025-06-30 17:24:49,008 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-3
+2025-06-30 17:24:49,008 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:24:49,008 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-3
+2025-06-30 17:24:49,008 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-3
+2025-06-30 17:24:49,009 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:24:49,009 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-3
+2025-06-30 17:24:49,009 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-1
+2025-06-30 17:24:49,009 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:24:49,010 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-1
+2025-06-30 17:24:49,010 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-3
+2025-06-30 17:24:49,010 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:24:49,011 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-3
+2025-06-30 17:24:49,011 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-5
+2025-06-30 17:24:49,011 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:24:49,011 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-5
+2025-06-30 17:24:49,011 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-4
+2025-06-30 17:24:49,037 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:24:49,038 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-4
+2025-06-30 17:24:49,038 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-4
+2025-06-30 17:24:49,039 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:24:49,039 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-4
+2025-06-30 17:24:49,039 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-4
+2025-06-30 17:24:49,040 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:24:49,040 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-4
+2025-06-30 17:24:49,040 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:24:49,040 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:24:49,041 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:24:49,041 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-2
+2025-06-30 17:24:49,041 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:24:49,042 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-2
+2025-06-30 17:24:49,042 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-1
+2025-06-30 17:24:49,042 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:24:49,042 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-1
+2025-06-30 17:24:49,043 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��������װ��.SLDASM
+2025-06-30 17:24:49,043 INFO  ExportHelperExtension.cs: 1136 - Found 92 in ��������װ��.SLDASM
+2025-06-30 17:24:49,043 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��������װ��.SLDASM
+2025-06-30 17:24:49,044 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:24:49,044 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:24:49,044 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:24:49,044 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:24:49,045 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:24:49,045 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-3
+2025-06-30 17:24:49,045 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:24:49,045 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-3
+2025-06-30 17:24:49,046 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-3
+2025-06-30 17:24:49,046 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:24:49,046 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-3
+2025-06-30 17:24:49,046 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-3
+2025-06-30 17:24:49,047 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:24:49,047 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-3
+2025-06-30 17:24:49,047 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-1
+2025-06-30 17:24:49,047 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:24:49,048 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-1
+2025-06-30 17:24:49,048 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-3
+2025-06-30 17:24:49,048 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:24:49,048 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-3
+2025-06-30 17:24:49,049 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-5
+2025-06-30 17:24:49,049 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:24:49,049 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-5
+2025-06-30 17:24:49,049 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-4
+2025-06-30 17:24:49,050 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:24:49,050 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-4
+2025-06-30 17:24:49,050 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-4
+2025-06-30 17:24:49,050 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:24:49,051 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-4
+2025-06-30 17:24:49,051 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-4
+2025-06-30 17:24:49,051 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:24:49,051 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-4
+2025-06-30 17:24:49,052 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:24:49,052 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:24:49,052 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:24:49,052 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-2
+2025-06-30 17:24:49,053 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:24:49,053 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-2
+2025-06-30 17:24:49,053 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-1
+2025-06-30 17:24:49,054 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:24:49,054 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-1
+2025-06-30 17:24:49,147 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:29:04,578 INFO  SwAddin.cs: 294 - Assembly export called for file ��������װ��.SLDASM
+2025-06-30 17:29:06,464 INFO  SwAddin.cs: 313 - Saving assembly
+2025-06-30 17:29:06,599 INFO  SwAddin.cs: 316 - Opening property manager
+2025-06-30 17:29:06,599 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��������װ��.SLDASM
+2025-06-30 17:29:06,599 INFO  ExportHelperExtension.cs: 1136 - Found 97 in ��������װ��.SLDASM
+2025-06-30 17:29:06,601 INFO  ExportHelperExtension.cs: 1145 - Found 14 features of type [CoordSys] in ��������װ��.SLDASM
+2025-06-30 17:29:06,601 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:29:06,601 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:29:06,602 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:29:06,602 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:29:06,602 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:29:06,603 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-3
+2025-06-30 17:29:06,603 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:29:06,603 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-3
+2025-06-30 17:29:06,603 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-3
+2025-06-30 17:29:06,604 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:29:06,604 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-3
+2025-06-30 17:29:06,604 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-3
+2025-06-30 17:29:06,605 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:29:06,605 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-3
+2025-06-30 17:29:06,605 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-1
+2025-06-30 17:29:06,605 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:29:06,606 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-1
+2025-06-30 17:29:06,606 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-3
+2025-06-30 17:29:06,606 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:29:06,606 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-3
+2025-06-30 17:29:06,607 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-5
+2025-06-30 17:29:06,607 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:29:06,607 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-5
+2025-06-30 17:29:06,607 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-4
+2025-06-30 17:29:06,607 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:29:06,608 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-4
+2025-06-30 17:29:06,608 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-4
+2025-06-30 17:29:06,608 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:29:06,608 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-4
+2025-06-30 17:29:06,609 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-4
+2025-06-30 17:29:06,609 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:29:06,609 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-4
+2025-06-30 17:29:06,609 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:29:06,610 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:29:06,610 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:29:06,610 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-2
+2025-06-30 17:29:06,610 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:29:06,611 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-2
+2025-06-30 17:29:06,611 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-1
+2025-06-30 17:29:06,611 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:29:06,612 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-1
+2025-06-30 17:29:06,612 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��������װ��.SLDASM
+2025-06-30 17:29:06,612 INFO  ExportHelperExtension.cs: 1136 - Found 97 in ��������װ��.SLDASM
+2025-06-30 17:29:06,612 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��������װ��.SLDASM
+2025-06-30 17:29:06,612 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:29:06,613 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:29:06,613 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:29:06,613 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:29:06,613 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:29:06,614 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-3
+2025-06-30 17:29:06,614 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:29:06,614 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-3
+2025-06-30 17:29:06,615 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-3
+2025-06-30 17:29:06,615 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:29:06,615 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-3
+2025-06-30 17:29:06,616 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-3
+2025-06-30 17:29:06,616 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:29:06,616 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-3
+2025-06-30 17:29:06,616 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-1
+2025-06-30 17:29:06,617 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:29:06,617 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-1
+2025-06-30 17:29:06,617 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-3
+2025-06-30 17:29:06,617 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:29:06,618 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-3
+2025-06-30 17:29:06,618 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-5
+2025-06-30 17:29:06,618 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:29:06,618 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-5
+2025-06-30 17:29:06,618 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-4
+2025-06-30 17:29:06,619 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:29:06,619 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-4
+2025-06-30 17:29:06,619 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-4
+2025-06-30 17:29:06,620 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:29:06,620 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-4
+2025-06-30 17:29:06,620 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-4
+2025-06-30 17:29:06,620 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:29:06,620 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-4
+2025-06-30 17:29:06,621 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:29:06,621 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:29:06,621 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:29:06,621 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-2
+2025-06-30 17:29:06,622 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:29:06,622 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-2
+2025-06-30 17:29:06,622 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-1
+2025-06-30 17:29:06,622 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:29:06,623 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-1
+2025-06-30 17:29:06,817 INFO  SwAddin.cs: 339 - Loading config tree
+2025-06-30 17:29:06,818 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
+<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i41"/><XYZAttribute z:Ref="i40"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i42" i:type="ParentLink"><Attributes><Attribute z:Id="i43"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i43"/></URDFElement><URDFElement z:Id="i44" i:type="ChildLink"><Attributes><Attribute z:Id="i45"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i45"/></URDFElement><URDFElement z:Id="i46" i:type="Axis"><Attributes><Attribute z:Id="i47"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i47"/></URDFElement><URDFElement z:Id="i48" i:type="Limit"><Attributes><Attribute z:Id="i49"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i50"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i51"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i52"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i51"/><LowerAttribute z:Ref="i49"/><UpperAttribute z:Ref="i50"/><VelocityAttribute z:Ref="i52"/></URDFElement><URDFElement z:Id="i53" i:type="Calibration"><Attributes><Attribute z:Id="i54"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i55"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i55"/><RisingAttribute z:Ref="i54"/></URDFElement><URDFElement z:Id="i56" i:type="Dynamics"><Attributes><Attribute z:Id="i57"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i58"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i57"/><FrictionAttribute z:Ref="i58"/></URDFElement><URDFElement z:Id="i59" i:type="SafetyController"><Attributes><Attribute z:Id="i60"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i61"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i62"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i63"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i62"/><KVelocityAttribute z:Ref="i63"/><SoftLowerAttribute z:Ref="i61"/><SoftUpperAttribute z:Ref="i60"/></URDFElement><URDFElement z:Id="i64" i:type="Mimic"><Attributes><Attribute z:Id="i65"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i66"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i67"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i65"/><MultiplierAttribute z:Ref="i66"/><OffsetAttribute z:Ref="i67"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i46"/><AxisName/><Calibration z:Ref="i53"/><Child z:Ref="i44"/><CoordinateSystemName>Automatically Generate</CoordinateSystemName><Dynamics z:Ref="i56"/><Limit z:Ref="i48"/><Mimic z:Ref="i64"/><NameAttribute z:Ref="i37"/><Origin z:Ref="i39"/><Parent z:Ref="i42"/><Safety z:Ref="i59"/><TypeAttribute z:Ref="i38"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i68"><Attributes><Attribute z:Id="i69"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">rightBackLeg1</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i70" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i71" i:type="Origin"><Attributes><Attribute z:Id="i72"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i73"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i73"/><XYZAttribute z:Ref="i72"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i74" i:type="Mass"><Attributes><Attribute z:Id="i75"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i75"/></URDFElement><URDFElement z:Id="i76" i:type="Inertia"><Attributes><Attribute z:Id="i77"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i78"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i79"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i80"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i81"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i82"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i77"/><IxyAttribute z:Ref="i78"/><IxzAttribute z:Ref="i79"/><IyyAttribute z:Ref="i80"/><IyzAttribute z:Ref="i81"/><IzzAttribute z:Ref="i82"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i76"/><Mass z:Ref="i74"/><Origin z:Ref="i71"/></URDFElement><URDFElement z:Id="i83" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i84" i:type="Origin"><Attributes><Attribute z:Id="i85"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i86"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i92" i:type="Color"><Attributes><Attribute z:Id="i93"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i93"/></URDFElement><URDFElement z:Id="i94" i:type="Texture"><Attributes><Attribute z:Id="i95"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i95"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i92"/><NameAttribute z:Ref="i91"/><Texture z:Ref="i94"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i87"/><Material z:Ref="i90"/><Origin z:Ref="i84"/></URDFElement><URDFElement z:Id="i96" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i97" i:type="Origin"><Attributes><Attribute z:Id="i98"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i99"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i99"/><XYZAttribute z:Ref="i98"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i100" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i101" i:type="Mesh"><Attributes><Attribute z:Id="i102"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i102"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i101"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i100"/><Origin z:Ref="i97"/></URDFElement><URDFElement z:Id="i103" i:type="Joint"><Attributes><Attribute z:Id="i104"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">rightBackHip</Value></Attribute><Attribute z:Id="i105"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i106" i:type="Origin"><Attributes><Attribute z:Id="i107"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i108"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i108"/><XYZAttribute z:Ref="i107"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i109" i:type="ParentLink"><Attributes><Attribute z:Id="i110"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i110"/></URDFElement><URDFElement z:Id="i111" i:type="ChildLink"><Attributes><Attribute z:Id="i112"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i112"/></URDFElement><URDFElement z:Id="i113" i:type="Axis"><Attributes><Attribute z:Id="i114"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i114"/></URDFElement><URDFElement z:Id="i115" i:type="Limit"><Attributes><Attribute z:Id="i116"><AttributeType>lower</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i117"><AttributeType>upper</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i118"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i119"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>true</required><EffortAttribute z:Ref="i118"/><LowerAttribute z:Ref="i116"/><UpperAttribute 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+2025-06-30 17:29:06,825 INFO  LinkNode.cs: 35 - Building node base_link
+2025-06-30 17:29:06,825 INFO  LinkNode.cs: 35 - Building node rightBackLeg1
+2025-06-30 17:29:06,826 INFO  LinkNode.cs: 35 - Building node rightBackLeg2
+2025-06-30 17:29:06,826 INFO  LinkNode.cs: 35 - Building node rightBackWheel
+2025-06-30 17:29:06,826 INFO  LinkNode.cs: 35 - Building node leftBackLeg1
+2025-06-30 17:29:06,826 INFO  LinkNode.cs: 35 - Building node leftBackLeg2
+2025-06-30 17:29:06,826 INFO  LinkNode.cs: 35 - Building node leftBackWheel
+2025-06-30 17:29:06,827 INFO  LinkNode.cs: 35 - Building node rightFrountLeg1
+2025-06-30 17:29:06,827 INFO  LinkNode.cs: 35 - Building node rightFrountLeg2
+2025-06-30 17:29:06,827 INFO  LinkNode.cs: 35 - Building node rightFrountWheel
+2025-06-30 17:29:06,827 INFO  LinkNode.cs: 35 - Building node leftFrountLeg1
+2025-06-30 17:29:06,827 INFO  LinkNode.cs: 35 - Building node leftFrountLeg2
+2025-06-30 17:29:06,828 INFO  LinkNode.cs: 35 - Building node leftFrountWheel
+2025-06-30 17:29:06,828 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:29:06,828 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB????W?^-2@?]z7h:g??M?

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+2025-06-30 17:29:06,830 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����.SLDPRT
+2025-06-30 17:29:06,830 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
+2025-06-30 17:29:06,830 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for rightBackLeg1 from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:29:06,830 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB????W?^-2@?]z7h:g??M?

U
+2025-06-30 17:29:06,830 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����.SLDPRT
+2025-06-30 17:29:06,831 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???'Y?2-3@?]z7h:g??M?

h
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+2025-06-30 17:29:06,831 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link rightBackLeg1
+2025-06-30 17:29:06,832 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for rightBackLeg2 from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:29:06,832 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???'Y?2-3@?]z7h:g??M?

h
+2025-06-30 17:29:06,832 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����2.SLDPRT
+2025-06-30 17:29:06,832 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???\?2-3@?]z7h:g??M?

x
+2025-06-30 17:29:06,833 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\С��2.SLDPRT
+2025-06-30 17:29:06,833 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link rightBackLeg2
+2025-06-30 17:29:06,833 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for rightBackWheel from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:29:06,833 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???\?2-3@?]z7h:g??M?

x
+2025-06-30 17:29:06,834 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\С��2.SLDPRT
+2025-06-30 17:29:06,834 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???Tn?-2@?]z7h:g??M?

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+2025-06-30 17:29:06,834 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����.SLDPRT
+2025-06-30 17:29:06,834 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link rightBackWheel
+2025-06-30 17:29:06,834 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for leftBackLeg1 from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:29:06,835 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB????W?^-2@?]z7h:g??M?

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+2025-06-30 17:29:06,835 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����.SLDPRT
+2025-06-30 17:29:06,835 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???'Y?2-5@?]z7h:g??M?

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+2025-06-30 17:29:06,835 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����2.SLDPRT
+2025-06-30 17:29:06,835 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link leftBackLeg1
+2025-06-30 17:29:06,836 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for leftBackLeg2 from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:29:06,836 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???'Y?2-5@?]z7h:g??M?

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+2025-06-30 17:29:06,836 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����2.SLDPRT
+2025-06-30 17:29:06,836 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???\?2-4@?]z7h:g??M?

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+2025-06-30 17:29:06,837 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\С��2.SLDPRT
+2025-06-30 17:29:06,837 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link leftBackLeg2
+2025-06-30 17:29:06,837 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for leftBackWheel from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:29:06,837 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???\?2-4@?]z7h:g??M?

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+2025-06-30 17:29:06,837 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\С��2.SLDPRT
+2025-06-30 17:29:06,838 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???Tn?-1@?]z7h:g??M?

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+2025-06-30 17:29:06,838 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����.SLDPRT
+2025-06-30 17:29:06,838 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link leftBackWheel
+2025-06-30 17:29:06,838 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for rightFrountLeg1 from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:29:06,839 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB????W?^-2@?]z7h:g??M?

U
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W
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+2025-06-30 17:29:06,839 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link rightFrountLeg1
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W
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+2025-06-30 17:29:06,841 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link rightFrountLeg2
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c
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+2025-06-30 17:29:06,842 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link rightFrountWheel
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+2025-06-30 17:29:06,843 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???'Y?1-4@?]z7h:g??M?

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+2025-06-30 17:29:18,011 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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+2025-06-30 17:29:18,202 INFO  ExportHelperExtension.cs: 347 - Creating joint rightBackLeg1
+2025-06-30 17:29:18,202 INFO  ExportHelperExtension.cs: 1397 - Fixing components for base_link
+2025-06-30 17:29:18,203 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:18,491 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:29:18,492 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:29:18,492 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:29:18,492 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:29:18,492 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:18,768 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child rightBackLeg1 failed
+2025-06-30 17:29:18,775 INFO  ExportHelperExtension.cs: 347 - Creating joint rightBackLeg2
+2025-06-30 17:29:18,777 INFO  ExportHelperExtension.cs: 1397 - Fixing components for rightBackLeg1
+2025-06-30 17:29:18,777 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:18,777 INFO  ExportHelperExtension.cs: 1402 - Fixing 104
+2025-06-30 17:29:18,777 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:19,071 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:29:19,072 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:29:19,072 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:29:19,072 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:29:19,074 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:19,074 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 104
+2025-06-30 17:29:19,074 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:19,345 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent rightBackLeg1 to child rightBackLeg2 failed
+2025-06-30 17:29:19,350 INFO  ExportHelperExtension.cs: 347 - Creating joint rightBackWheel
+2025-06-30 17:29:19,351 INFO  ExportHelperExtension.cs: 1397 - Fixing components for rightBackLeg2
+2025-06-30 17:29:19,351 INFO  ExportHelperExtension.cs: 1402 - Fixing 104
+2025-06-30 17:29:19,351 INFO  ExportHelperExtension.cs: 1402 - Fixing 120
+2025-06-30 17:29:19,351 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:19,352 INFO  ExportHelperExtension.cs: 1402 - Fixing 104
+2025-06-30 17:29:19,352 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:19,675 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:29:19,675 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:29:19,675 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:29:19,676 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:29:19,676 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 104
+2025-06-30 17:29:19,676 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 120
+2025-06-30 17:29:19,676 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:19,678 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 104
+2025-06-30 17:29:19,678 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:20,065 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent rightBackLeg2 to child rightBackWheel failed
+2025-06-30 17:29:20,071 INFO  ExportHelperExtension.cs: 347 - Creating joint leftBackLeg1
+2025-06-30 17:29:20,073 INFO  ExportHelperExtension.cs: 1397 - Fixing components for base_link
+2025-06-30 17:29:20,073 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:20,428 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:29:20,428 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:29:20,428 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:29:20,429 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:29:20,429 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:20,833 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child leftBackLeg1 failed
+2025-06-30 17:29:20,838 INFO  ExportHelperExtension.cs: 347 - Creating joint leftBackLeg2
+2025-06-30 17:29:20,839 INFO  ExportHelperExtension.cs: 1397 - Fixing components for leftBackLeg1
+2025-06-30 17:29:20,839 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:20,839 INFO  ExportHelperExtension.cs: 1402 - Fixing 166
+2025-06-30 17:29:20,840 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:21,328 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:29:21,329 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:29:21,329 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:29:21,329 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:29:21,329 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:21,329 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 166
+2025-06-30 17:29:21,330 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:21,826 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent leftBackLeg1 to child leftBackLeg2 failed
+2025-06-30 17:29:21,831 INFO  ExportHelperExtension.cs: 347 - Creating joint leftBackWheel
+2025-06-30 17:29:21,832 INFO  ExportHelperExtension.cs: 1397 - Fixing components for leftBackLeg2
+2025-06-30 17:29:21,832 INFO  ExportHelperExtension.cs: 1402 - Fixing 166
+2025-06-30 17:29:21,832 INFO  ExportHelperExtension.cs: 1402 - Fixing 167
+2025-06-30 17:29:21,833 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:21,833 INFO  ExportHelperExtension.cs: 1402 - Fixing 166
+2025-06-30 17:29:21,833 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:22,427 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:29:22,429 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:29:22,429 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:29:22,429 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:29:22,430 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 166
+2025-06-30 17:29:22,430 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 167
+2025-06-30 17:29:22,430 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:22,430 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 166
+2025-06-30 17:29:22,430 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:23,223 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent leftBackLeg2 to child leftBackWheel failed
+2025-06-30 17:29:23,228 INFO  ExportHelperExtension.cs: 347 - Creating joint rightFrountLeg1
+2025-06-30 17:29:23,229 INFO  ExportHelperExtension.cs: 1397 - Fixing components for base_link
+2025-06-30 17:29:23,229 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:23,763 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:29:23,764 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:29:23,764 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:29:23,764 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:29:23,765 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:24,307 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child rightFrountLeg1 failed
+2025-06-30 17:29:24,313 INFO  ExportHelperExtension.cs: 347 - Creating joint rightFrountLeg2
+2025-06-30 17:29:24,313 INFO  ExportHelperExtension.cs: 1397 - Fixing components for rightFrountLeg1
+2025-06-30 17:29:24,313 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:24,314 INFO  ExportHelperExtension.cs: 1402 - Fixing 87
+2025-06-30 17:29:24,314 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:24,951 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:29:24,952 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:29:24,952 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:29:24,953 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:29:24,953 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:24,953 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 87
+2025-06-30 17:29:24,953 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:25,558 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent rightFrountLeg1 to child rightFrountLeg2 failed
+2025-06-30 17:29:25,563 INFO  ExportHelperExtension.cs: 347 - Creating joint rightFrountWheel
+2025-06-30 17:29:25,564 INFO  ExportHelperExtension.cs: 1397 - Fixing components for rightFrountLeg2
+2025-06-30 17:29:25,564 INFO  ExportHelperExtension.cs: 1402 - Fixing 87
+2025-06-30 17:29:25,564 INFO  ExportHelperExtension.cs: 1402 - Fixing 99
+2025-06-30 17:29:25,565 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:25,565 INFO  ExportHelperExtension.cs: 1402 - Fixing 87
+2025-06-30 17:29:25,565 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:26,179 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:29:26,179 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:29:26,181 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:29:26,181 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:29:26,181 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 87
+2025-06-30 17:29:26,181 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 99
+2025-06-30 17:29:26,182 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:26,182 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 87
+2025-06-30 17:29:26,182 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:26,883 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent rightFrountLeg2 to child rightFrountWheel failed
+2025-06-30 17:29:26,889 INFO  ExportHelperExtension.cs: 347 - Creating joint leftFrountLeg1
+2025-06-30 17:29:26,890 INFO  ExportHelperExtension.cs: 1397 - Fixing components for base_link
+2025-06-30 17:29:26,890 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:27,627 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:29:27,628 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:29:27,628 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:29:27,628 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:29:27,629 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:28,178 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child leftFrountLeg1 failed
+2025-06-30 17:29:28,188 INFO  ExportHelperExtension.cs: 347 - Creating joint leftFrountLeg2
+2025-06-30 17:29:28,189 INFO  ExportHelperExtension.cs: 1397 - Fixing components for leftFrountLeg1
+2025-06-30 17:29:28,189 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:28,189 INFO  ExportHelperExtension.cs: 1402 - Fixing 130
+2025-06-30 17:29:28,189 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:28,722 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:29:28,723 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:29:28,723 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:29:28,723 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:29:28,724 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:28,724 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 130
+2025-06-30 17:29:28,724 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:29,290 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent leftFrountLeg1 to child leftFrountLeg2 failed
+2025-06-30 17:29:29,296 INFO  ExportHelperExtension.cs: 347 - Creating joint leftFrountWheel
+2025-06-30 17:29:29,296 INFO  ExportHelperExtension.cs: 1397 - Fixing components for leftFrountLeg2
+2025-06-30 17:29:29,297 INFO  ExportHelperExtension.cs: 1402 - Fixing 130
+2025-06-30 17:29:29,297 INFO  ExportHelperExtension.cs: 1402 - Fixing 140
+2025-06-30 17:29:29,297 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:29,297 INFO  ExportHelperExtension.cs: 1402 - Fixing 130
+2025-06-30 17:29:29,298 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:29:29,874 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:29:29,874 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:29:29,874 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:29:29,875 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:29:29,875 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 130
+2025-06-30 17:29:29,875 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 140
+2025-06-30 17:29:29,875 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:29,876 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 130
+2025-06-30 17:29:29,876 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:29:30,494 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent leftFrountLeg2 to child leftFrountWheel failed
+2025-06-30 17:29:30,660 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��������װ��.SLDASM
+2025-06-30 17:29:30,661 INFO  ExportHelperExtension.cs: 1136 - Found 97 in ��������װ��.SLDASM
+2025-06-30 17:29:30,661 INFO  ExportHelperExtension.cs: 1145 - Found 14 features of type [CoordSys] in ��������װ��.SLDASM
+2025-06-30 17:29:30,662 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:29:30,662 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:29:30,662 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:29:30,662 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:29:30,663 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:29:30,663 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-3
+2025-06-30 17:29:30,663 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:29:30,664 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-3
+2025-06-30 17:29:30,664 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-3
+2025-06-30 17:29:30,664 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:29:30,665 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-3
+2025-06-30 17:29:30,665 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-3
+2025-06-30 17:29:30,665 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:29:30,666 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-3
+2025-06-30 17:29:30,666 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-1
+2025-06-30 17:29:30,666 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:29:30,667 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-1
+2025-06-30 17:29:30,667 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-3
+2025-06-30 17:29:30,667 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:29:30,667 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-3
+2025-06-30 17:29:30,667 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-5
+2025-06-30 17:29:30,668 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:29:30,668 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-5
+2025-06-30 17:29:30,668 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-4
+2025-06-30 17:29:30,668 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:29:30,669 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-4
+2025-06-30 17:29:30,669 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-4
+2025-06-30 17:29:30,669 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:29:30,669 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-4
+2025-06-30 17:29:30,670 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-4
+2025-06-30 17:29:30,670 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:29:30,670 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-4
+2025-06-30 17:29:30,670 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:29:30,670 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:29:30,672 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:29:30,672 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-2
+2025-06-30 17:29:30,672 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:29:30,672 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-2
+2025-06-30 17:29:30,673 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-1
+2025-06-30 17:29:30,673 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:29:30,673 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-1
+2025-06-30 17:29:30,673 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��������װ��.SLDASM
+2025-06-30 17:29:30,674 INFO  ExportHelperExtension.cs: 1136 - Found 97 in ��������װ��.SLDASM
+2025-06-30 17:29:30,674 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��������װ��.SLDASM
+2025-06-30 17:29:30,674 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:29:30,675 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:29:30,675 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:29:30,675 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:29:30,675 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:29:30,675 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-3
+2025-06-30 17:29:30,675 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:29:30,676 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-3
+2025-06-30 17:29:30,676 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-3
+2025-06-30 17:29:30,676 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:29:30,677 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-3
+2025-06-30 17:29:30,677 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-3
+2025-06-30 17:29:30,677 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:29:30,677 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-3
+2025-06-30 17:29:30,678 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-1
+2025-06-30 17:29:30,678 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:29:30,678 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-1
+2025-06-30 17:29:30,678 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-3
+2025-06-30 17:29:30,679 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:29:30,679 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-3
+2025-06-30 17:29:30,679 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-5
+2025-06-30 17:29:30,679 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:29:30,681 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-5
+2025-06-30 17:29:30,681 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-4
+2025-06-30 17:29:30,681 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:29:30,682 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-4
+2025-06-30 17:29:30,682 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-4
+2025-06-30 17:29:30,682 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:29:30,682 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-4
+2025-06-30 17:29:30,683 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-4
+2025-06-30 17:29:30,683 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:29:30,683 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-4
+2025-06-30 17:29:30,684 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:29:30,684 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:29:30,684 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:29:30,684 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-2
+2025-06-30 17:29:30,685 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:29:30,685 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-2
+2025-06-30 17:29:30,685 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-1
+2025-06-30 17:29:30,685 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:29:30,686 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-1
+2025-06-30 17:29:30,782 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:35:27,744 INFO  AssemblyExportForm.cs: 253 - Completing URDF export
+2025-06-30 17:35:27,747 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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+2025-06-30 17:35:52,638 INFO  AssemblyExportForm.cs: 309 - Saving URDF package to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:35:52,640 INFO  ExportHelper.cs: 147 - Beginning the export process
+2025-06-30 17:35:52,641 INFO  ExportHelper.cs: 153 - Creating package directories with name ��������װ��.SLDASM and save path D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1
+2025-06-30 17:35:56,447 ERROR AssemblyExportForm.cs: 126 - Exception encountered in Assembly export form
+System.IO.IOException: �޷�������D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM������Ϊͬ���ļ���Ŀ¼�Ѵ��ڡ�
+   �� System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath)
+   �� System.IO.Directory.InternalCreateDirectory(String fullPath, String path, Object dirSecurityObj, Boolean checkHost)
+   �� System.IO.Directory.InternalCreateDirectoryHelper(String path, Boolean checkHost)
+   �� SW2URDF.URDFExport.URDFPackage.CreateDirectories() λ�� C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\URDFPackage.cs:�к� 78
+   �� SW2URDF.URDFExport.ExportHelper.ExportRobot(Boolean exportSTL) λ�� C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:�к� 155
+   �� SW2URDF.UI.AssemblyExportForm.FinishExport(Boolean exportSTL) λ�� C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\UI\AssemblyExportForm.cs:�к� 310
+   �� SW2URDF.UI.AssemblyExportForm.ButtonLinksFinishClick(Object sender, EventArgs e) λ�� C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\UI\AssemblyExportForm.cs:�к� 243
+   �� System.Windows.Forms.Control.OnClick(EventArgs e)
+   �� System.Windows.Forms.Button.OnMouseUp(MouseEventArgs mevent)
+   �� System.Windows.Forms.Control.WmMouseUp(Message& m, MouseButtons button, Int32 clicks)
+   �� System.Windows.Forms.Control.WndProc(Message& m)
+   �� System.Windows.Forms.ButtonBase.WndProc(Message& m)
+   �� System.Windows.Forms.Button.WndProc(Message& m)
+   �� System.Windows.Forms.NativeWindow.Callback(IntPtr hWnd, Int32 msg, IntPtr wparam, IntPtr lparam)
+2025-06-30 17:36:04,127 INFO  AssemblyExportForm.cs: 253 - Completing URDF export
+2025-06-30 17:36:04,129 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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+2025-06-30 17:36:26,408 INFO  AssemblyExportForm.cs: 309 - Saving URDF package to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM
+2025-06-30 17:36:26,409 INFO  ExportHelper.cs: 147 - Beginning the export process
+2025-06-30 17:36:26,409 INFO  ExportHelper.cs: 153 - Creating package directories with name ��������װ��.SLDASM and save path D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2
+2025-06-30 17:36:29,421 INFO  ExportHelper.cs: 162 - Creating CMakeLists.txt at D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\CMakeLists.txt
+2025-06-30 17:36:29,422 INFO  ExportHelper.cs: 166 - Creating joint names config at D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\config\joint_names_��������װ��.SLDASM.yaml
+2025-06-30 17:36:29,423 INFO  ExportHelper.cs: 170 - Creating package.xml at D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\package.xml
+2025-06-30 17:36:29,423 INFO  PackageXMLWriter.cs: 21 - Creating package.xml at D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\package.xml
+2025-06-30 17:36:29,425 INFO  ExportHelper.cs: 177 - Creating RVIZ launch file in D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\launch\
+2025-06-30 17:36:29,427 INFO  ExportHelper.cs: 182 - Creating Gazebo launch file in D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\launch\
+2025-06-30 17:36:29,428 INFO  ExportHelper.cs: 187 - Saving existing STL preferences
+2025-06-30 17:36:29,428 INFO  ExportHelper.cs: 450 - Saving users preferences
+2025-06-30 17:36:29,429 INFO  ExportHelper.cs: 190 - Modifying STL preferences
+2025-06-30 17:36:29,430 INFO  ExportHelper.cs: 464 - Setting STL preferences
+2025-06-30 17:36:29,435 INFO  ExportHelper.cs: 196 - Found 0 hidden components 
+2025-06-30 17:36:29,435 INFO  ExportHelper.cs: 197 - Hiding all components
+2025-06-30 17:36:29,553 INFO  ExportHelper.cs: 204 - Beginning individual files export
+2025-06-30 17:36:29,569 INFO  ExportHelper.cs: 270 - Exporting link: base_link
+2025-06-30 17:36:29,570 INFO  ExportHelper.cs: 272 - Link base_link has 4 children
+2025-06-30 17:36:29,570 INFO  ExportHelper.cs: 270 - Exporting link: rightBackLeg1
+2025-06-30 17:36:29,571 INFO  ExportHelper.cs: 272 - Link rightBackLeg1 has 1 children
+2025-06-30 17:36:29,572 INFO  ExportHelper.cs: 270 - Exporting link: rightBackLeg2
+2025-06-30 17:36:29,572 INFO  ExportHelper.cs: 272 - Link rightBackLeg2 has 1 children
+2025-06-30 17:36:29,573 INFO  ExportHelper.cs: 270 - Exporting link: rightBackWheel
+2025-06-30 17:36:29,573 INFO  ExportHelper.cs: 272 - Link rightBackWheel has 0 children
+2025-06-30 17:36:29,574 INFO  ExportHelper.cs: 317 - rightBackWheel: Exporting STL with coordinate frame rightBackAnkle
+2025-06-30 17:36:29,574 INFO  ExportHelper.cs: 322 - rightBackWheel: Reference geometry name 
+2025-06-30 17:36:29,596 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\meshes\rightBackWheel.STL
+2025-06-30 17:36:29,739 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:36:29,739 INFO  ExportHelper.cs: 317 - rightBackLeg2: Exporting STL with coordinate frame rightBackKnee
+2025-06-30 17:36:29,740 INFO  ExportHelper.cs: 322 - rightBackLeg2: Reference geometry name 
+2025-06-30 17:36:29,757 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\meshes\rightBackLeg2.STL
+2025-06-30 17:36:29,845 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:36:29,846 INFO  ExportHelper.cs: 317 - rightBackLeg1: Exporting STL with coordinate frame rightBackHip
+2025-06-30 17:36:29,846 INFO  ExportHelper.cs: 322 - rightBackLeg1: Reference geometry name 
+2025-06-30 17:36:29,916 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\meshes\rightBackLeg1.STL
+2025-06-30 17:36:30,033 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:36:30,034 INFO  ExportHelper.cs: 270 - Exporting link: leftBackLeg1
+2025-06-30 17:36:30,035 INFO  ExportHelper.cs: 272 - Link leftBackLeg1 has 1 children
+2025-06-30 17:36:30,036 INFO  ExportHelper.cs: 270 - Exporting link: leftBackLeg2
+2025-06-30 17:36:30,036 INFO  ExportHelper.cs: 272 - Link leftBackLeg2 has 1 children
+2025-06-30 17:36:30,037 INFO  ExportHelper.cs: 270 - Exporting link: leftBackWheel
+2025-06-30 17:36:30,037 INFO  ExportHelper.cs: 272 - Link leftBackWheel has 0 children
+2025-06-30 17:36:30,037 INFO  ExportHelper.cs: 317 - leftBackWheel: Exporting STL with coordinate frame leftBackAnkle
+2025-06-30 17:36:30,037 INFO  ExportHelper.cs: 322 - leftBackWheel: Reference geometry name 
+2025-06-30 17:36:30,080 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\meshes\leftBackWheel.STL
+2025-06-30 17:36:30,158 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:36:30,159 INFO  ExportHelper.cs: 317 - leftBackLeg2: Exporting STL with coordinate frame leftBackKnee
+2025-06-30 17:36:30,159 INFO  ExportHelper.cs: 322 - leftBackLeg2: Reference geometry name 
+2025-06-30 17:36:30,177 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\meshes\leftBackLeg2.STL
+2025-06-30 17:36:30,266 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:36:30,267 INFO  ExportHelper.cs: 317 - leftBackLeg1: Exporting STL with coordinate frame leftBackHip
+2025-06-30 17:36:30,267 INFO  ExportHelper.cs: 322 - leftBackLeg1: Reference geometry name 
+2025-06-30 17:36:30,343 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\meshes\leftBackLeg1.STL
+2025-06-30 17:36:30,485 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:36:30,487 INFO  ExportHelper.cs: 270 - Exporting link: rightFrountLeg1
+2025-06-30 17:36:30,487 INFO  ExportHelper.cs: 272 - Link rightFrountLeg1 has 1 children
+2025-06-30 17:36:30,488 INFO  ExportHelper.cs: 270 - Exporting link: rightFrountLeg2
+2025-06-30 17:36:30,488 INFO  ExportHelper.cs: 272 - Link rightFrountLeg2 has 1 children
+2025-06-30 17:36:30,497 INFO  ExportHelper.cs: 270 - Exporting link: rightFrountWheel
+2025-06-30 17:36:30,498 INFO  ExportHelper.cs: 272 - Link rightFrountWheel has 0 children
+2025-06-30 17:36:30,498 INFO  ExportHelper.cs: 317 - rightFrountWheel: Exporting STL with coordinate frame rightFrountAnkle
+2025-06-30 17:36:30,498 INFO  ExportHelper.cs: 322 - rightFrountWheel: Reference geometry name 
+2025-06-30 17:36:30,528 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\meshes\rightFrountWheel.STL
+2025-06-30 17:36:30,637 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:36:30,637 INFO  ExportHelper.cs: 317 - rightFrountLeg2: Exporting STL with coordinate frame rightFrountKnee
+2025-06-30 17:36:30,638 INFO  ExportHelper.cs: 322 - rightFrountLeg2: Reference geometry name 
+2025-06-30 17:36:30,660 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\meshes\rightFrountLeg2.STL
+2025-06-30 17:36:30,747 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:36:30,747 INFO  ExportHelper.cs: 317 - rightFrountLeg1: Exporting STL with coordinate frame rightFrountHip
+2025-06-30 17:36:30,748 INFO  ExportHelper.cs: 322 - rightFrountLeg1: Reference geometry name 
+2025-06-30 17:36:30,875 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\meshes\rightFrountLeg1.STL
+2025-06-30 17:36:31,014 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:36:31,016 INFO  ExportHelper.cs: 270 - Exporting link: leftFrountLeg1
+2025-06-30 17:36:31,017 INFO  ExportHelper.cs: 272 - Link leftFrountLeg1 has 1 children
+2025-06-30 17:36:31,018 INFO  ExportHelper.cs: 270 - Exporting link: leftFrountLeg2
+2025-06-30 17:36:31,018 INFO  ExportHelper.cs: 272 - Link leftFrountLeg2 has 1 children
+2025-06-30 17:36:31,019 INFO  ExportHelper.cs: 270 - Exporting link: leftFrountWheel
+2025-06-30 17:36:31,019 INFO  ExportHelper.cs: 272 - Link leftFrountWheel has 0 children
+2025-06-30 17:36:31,019 INFO  ExportHelper.cs: 317 - leftFrountWheel: Exporting STL with coordinate frame leftFrountAnkle
+2025-06-30 17:36:31,019 INFO  ExportHelper.cs: 322 - leftFrountWheel: Reference geometry name 
+2025-06-30 17:36:31,050 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\meshes\leftFrountWheel.STL
+2025-06-30 17:36:31,142 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:36:31,143 INFO  ExportHelper.cs: 317 - leftFrountLeg2: Exporting STL with coordinate frame leftFrountKnee
+2025-06-30 17:36:31,143 INFO  ExportHelper.cs: 322 - leftFrountLeg2: Reference geometry name 
+2025-06-30 17:36:31,188 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\meshes\leftFrountLeg2.STL
+2025-06-30 17:36:31,278 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:36:31,279 INFO  ExportHelper.cs: 317 - leftFrountLeg1: Exporting STL with coordinate frame leftFrountHip
+2025-06-30 17:36:31,279 INFO  ExportHelper.cs: 322 - leftFrountLeg1: Reference geometry name 
+2025-06-30 17:36:31,366 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\meshes\leftFrountLeg1.STL
+2025-06-30 17:36:31,501 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:36:31,501 INFO  ExportHelper.cs: 317 - base_link: Exporting STL with coordinate frame Origin_global
+2025-06-30 17:36:31,502 INFO  ExportHelper.cs: 322 - base_link: Reference geometry name 
+2025-06-30 17:36:31,602 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\meshes\base_link.STL
+2025-06-30 17:36:31,712 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:36:31,712 INFO  ExportHelper.cs: 145 - Showing all components except previously hidden components
+2025-06-30 17:36:31,893 INFO  ExportHelper.cs: 145 - Resetting STL preferences
+2025-06-30 17:36:31,893 INFO  ExportHelper.cs: 478 - Returning STL preferences to user preferences
+2025-06-30 17:36:31,894 INFO  ExportHelper.cs: 228 - Writing URDF file to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\urdf\��������װ��.SLDASM.urdf
+2025-06-30 17:36:31,977 INFO  CSVImportExport.cs: 32 - Writing CSV file D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\urdf\��������װ��.SLDASM.csv
+2025-06-30 17:36:31,996 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:36:31,997 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:36:31,998 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:36:31,998 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:36:31,998 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:36:31,998 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:36:31,999 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:36:31,999 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:36:31,999 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:36:32,000 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:36:32,000 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:36:32,000 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:36:32,000 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:36:32,001 INFO  ExportHelper.cs: 234 - Copying log file
+2025-06-30 17:36:32,001 INFO  ExportHelper.cs: 439 - Copying C:\Users\Ray\sw2urdf_logs\sw2urdf.log to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\��������װ��.SLDASM\export.log
+2025-06-30 17:36:32,003 INFO  ExportHelper.cs: 237 - Resetting STL preferences
+2025-06-30 17:36:32,003 INFO  ExportHelper.cs: 478 - Returning STL preferences to user preferences
+2025-06-30 17:39:43,516 INFO  SwAddin.cs: 294 - Assembly export called for file ��������װ��.SLDASM
+2025-06-30 17:39:43,517 INFO  SwAddin.cs: 299 - Save is required
+2025-06-30 17:39:43,517 INFO  SwAddin.cs: 313 - Saving assembly
+2025-06-30 17:39:43,729 INFO  SwAddin.cs: 316 - Opening property manager
+2025-06-30 17:39:43,730 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��������װ��.SLDASM
+2025-06-30 17:39:43,731 INFO  ExportHelperExtension.cs: 1136 - Found 97 in ��������װ��.SLDASM
+2025-06-30 17:39:43,731 INFO  ExportHelperExtension.cs: 1145 - Found 14 features of type [CoordSys] in ��������װ��.SLDASM
+2025-06-30 17:39:43,732 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:39:43,734 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:39:43,734 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:39:43,753 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:39:43,754 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:39:43,754 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-3
+2025-06-30 17:39:43,755 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:39:43,755 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-3
+2025-06-30 17:39:43,755 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-3
+2025-06-30 17:39:43,755 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:39:43,756 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-3
+2025-06-30 17:39:43,756 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-3
+2025-06-30 17:39:43,756 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:39:43,757 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-3
+2025-06-30 17:39:43,757 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-1
+2025-06-30 17:39:43,757 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:39:43,757 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-1
+2025-06-30 17:39:43,757 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-3
+2025-06-30 17:39:43,758 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:39:43,758 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-3
+2025-06-30 17:39:43,758 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-5
+2025-06-30 17:39:43,759 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:39:43,759 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-5
+2025-06-30 17:39:43,759 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-4
+2025-06-30 17:39:43,759 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:39:43,760 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-4
+2025-06-30 17:39:43,760 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-4
+2025-06-30 17:39:43,760 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:39:43,760 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-4
+2025-06-30 17:39:43,761 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-4
+2025-06-30 17:39:43,761 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:39:43,761 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-4
+2025-06-30 17:39:43,761 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:39:43,763 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:39:43,763 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:39:43,763 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-2
+2025-06-30 17:39:43,763 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:39:43,764 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-2
+2025-06-30 17:39:43,764 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-1
+2025-06-30 17:39:43,764 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:39:43,764 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-1
+2025-06-30 17:39:43,765 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��������װ��.SLDASM
+2025-06-30 17:39:43,765 INFO  ExportHelperExtension.cs: 1136 - Found 97 in ��������װ��.SLDASM
+2025-06-30 17:39:43,766 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��������װ��.SLDASM
+2025-06-30 17:39:43,766 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:39:43,766 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:39:43,766 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:39:43,766 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:39:43,767 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:39:43,767 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-3
+2025-06-30 17:39:43,767 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:39:43,768 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-3
+2025-06-30 17:39:43,768 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-3
+2025-06-30 17:39:43,768 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:39:43,768 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-3
+2025-06-30 17:39:43,769 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-3
+2025-06-30 17:39:43,769 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:39:43,769 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-3
+2025-06-30 17:39:43,769 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-1
+2025-06-30 17:39:43,770 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:39:43,770 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-1
+2025-06-30 17:39:43,770 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-3
+2025-06-30 17:39:43,770 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:39:43,771 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-3
+2025-06-30 17:39:43,771 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-5
+2025-06-30 17:39:43,771 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:39:43,772 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-5
+2025-06-30 17:39:43,772 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-4
+2025-06-30 17:39:43,772 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:39:43,773 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-4
+2025-06-30 17:39:43,773 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-4
+2025-06-30 17:39:43,773 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:39:43,773 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-4
+2025-06-30 17:39:43,774 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-4
+2025-06-30 17:39:43,774 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:39:43,774 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-4
+2025-06-30 17:39:43,774 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:39:43,775 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:39:43,775 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:39:43,775 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-2
+2025-06-30 17:39:43,776 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:39:43,776 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-2
+2025-06-30 17:39:43,776 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-1
+2025-06-30 17:39:43,776 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:39:43,777 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-1
+2025-06-30 17:39:43,903 INFO  SwAddin.cs: 339 - Loading config tree
+2025-06-30 17:39:43,904 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
+<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0.4048941258416246</a:double><a:double>-0.07417100006635545</a:double><a:double>-0.25</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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+2025-06-30 17:39:43,909 INFO  LinkNode.cs: 35 - Building node base_link
+2025-06-30 17:39:43,909 INFO  LinkNode.cs: 35 - Building node rightBackLeg1
+2025-06-30 17:39:43,909 INFO  LinkNode.cs: 35 - Building node rightBackLeg2
+2025-06-30 17:39:43,910 INFO  LinkNode.cs: 35 - Building node rightBackWheel
+2025-06-30 17:39:43,910 INFO  LinkNode.cs: 35 - Building node leftBackLeg1
+2025-06-30 17:39:43,910 INFO  LinkNode.cs: 35 - Building node leftBackLeg2
+2025-06-30 17:39:43,910 INFO  LinkNode.cs: 35 - Building node leftBackWheel
+2025-06-30 17:39:43,910 INFO  LinkNode.cs: 35 - Building node rightFrountLeg1
+2025-06-30 17:39:43,911 INFO  LinkNode.cs: 35 - Building node rightFrountLeg2
+2025-06-30 17:39:43,911 INFO  LinkNode.cs: 35 - Building node rightFrountWheel
+2025-06-30 17:39:43,911 INFO  LinkNode.cs: 35 - Building node leftFrountLeg1
+2025-06-30 17:39:43,911 INFO  LinkNode.cs: 35 - Building node leftFrountLeg2
+2025-06-30 17:39:43,911 INFO  LinkNode.cs: 35 - Building node leftFrountWheel
+2025-06-30 17:39:43,912 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:39:43,912 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB????W?^-2@?]z7h:g??M?

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+2025-06-30 17:39:43,912 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\����.SLDPRT
+2025-06-30 17:39:43,912 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
+2025-06-30 17:39:43,913 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for rightBackLeg1 from D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V1\��������װ��.SLDASM
+2025-06-30 17:39:43,913 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB????W?^-2@?]z7h:g??M?

U
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h
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h
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x
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+2025-06-30 17:39:43,915 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link rightBackLeg2
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+2025-06-30 17:39:43,915 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???\?2-3@?]z7h:g??M?

x
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+2025-06-30 17:39:43,916 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???Tn?-2@?]z7h:g??M?

?
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+2025-06-30 17:39:43,917 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB????W?^-2@?]z7h:g??M?

U
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+2025-06-30 17:39:43,917 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???'Y?2-5@?]z7h:g??M?

?
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+2025-06-30 17:39:43,918 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link leftBackLeg1
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+2025-06-30 17:39:43,918 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???'Y?2-5@?]z7h:g??M?

?
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?
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+2025-06-30 17:39:43,919 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???\?2-4@?]z7h:g??M?

?
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?
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U
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+2025-06-30 17:39:43,924 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???'Y?1-3@?]z7h:g??M?

W
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+2025-06-30 17:39:43,925 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link rightFrountLeg1
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+2025-06-30 17:39:43,925 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???'Y?1-3@?]z7h:g??M?

W
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+2025-06-30 17:39:43,925 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???\?1-3@?]z7h:g??M?

c
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+2025-06-30 17:39:43,926 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???\?1-3@?]z7h:g??M?

c
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+2025-06-30 17:39:43,927 INFO  CommonSwOperations.cs: 245 - Loading component with PID hB???MRn?-1@?]z7h:g??M?

?
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U
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?
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?
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?
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?
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z:Ref="i832"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i829"/><NameAttribute z:Ref="i828"/><Texture z:Ref="i831"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i824"/><Material z:Ref="i827"/><Origin z:Ref="i821"/></URDFElement><URDFElement z:Id="i833" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i834" i:type="Origin"><Attributes><Attribute z:Id="i835"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i836"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i836"/><XYZAttribute z:Ref="i835"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i837" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i838" i:type="Mesh"><Attributes><Attribute z:Id="i839"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i839"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i838"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i837"/><Origin z:Ref="i834"/></URDFElement><URDFElement z:Id="i840" i:type="Joint"><Attributes><Attribute z:Id="i841"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">leftFrountAnkle</Value></Attribute><Attribute z:Id="i842"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">fixed</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i843" i:type="Origin"><Attributes><Attribute z:Id="i844"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>-0.0812115982489019</a:double><a:double>0.44261120219653149</a:double><a:double>0.020000000000000129</a:double></Value></Attribute><Attribute z:Id="i845"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>3.1415926535897931</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i845"/><XYZAttribute z:Ref="i844"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i846" i:type="ParentLink"><Attributes><Attribute z:Id="i847"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">leftFrountLeg2</Value></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i847"/></URDFElement><URDFElement z:Id="i848" i:type="ChildLink"><Attributes><Attribute z:Id="i849"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">leftFrountWheel</Value></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i849"/></URDFElement><URDFElement z:Id="i850" i:type="Axis"><Attributes><Attribute z:Id="i851"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i851"/></URDFElement><URDFElement z:Id="i852" i:type="Limit"><Attributes><Attribute z:Id="i853"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i854"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i855"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i856"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i855"/><LowerAttribute z:Ref="i853"/><UpperAttribute z:Ref="i854"/><VelocityAttribute z:Ref="i856"/></URDFElement><URDFElement z:Id="i857" i:type="Calibration"><Attributes><Attribute z:Id="i858"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i859"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i859"/><RisingAttribute z:Ref="i858"/></URDFElement><URDFElement z:Id="i860" i:type="Dynamics"><Attributes><Attribute z:Id="i861"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i862"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i861"/><FrictionAttribute z:Ref="i862"/></URDFElement><URDFElement z:Id="i863" i:type="SafetyController"><Attributes><Attribute z:Id="i864"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i865"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i866"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i867"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i866"/><KVelocityAttribute z:Ref="i867"/><SoftLowerAttribute z:Ref="i865"/><SoftUpperAttribute z:Ref="i864"/></URDFElement><URDFElement z:Id="i868" i:type="Mimic"><Attributes><Attribute z:Id="i869"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i870"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i871"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i869"/><MultiplierAttribute z:Ref="i870"/><OffsetAttribute z:Ref="i871"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i850"/><AxisName>Axis_leftFrountAnkle</AxisName><Calibration z:Ref="i857"/><Child z:Ref="i848"/><CoordinateSystemName>leftFrountAnkle</CoordinateSystemName><Dynamics z:Ref="i860"/><Limit z:Ref="i852"/><Mimic z:Ref="i868"/><NameAttribute z:Ref="i841"/><Origin z:Ref="i843"/><Parent z:Ref="i846"/><Safety z:Ref="i863"/><TypeAttribute z:Ref="i842"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i833"/><Inertial z:Ref="i807"/><Joint z:Ref="i840"/><NameAttribute z:Ref="i806"/><Parent z:Ref="i738"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>aEIAAAUAAAD//v8MD1x/gTEALQA0AEAA5V0LejdoOmfFiE2RBAAAABAAAAABAAAAAQAAAIwAAAA=</a:base64Binary><a:base64Binary>aEIAAAUAAAD//v8LTVJujy0AMgBAAOVdC3o3aDpnxYhNkQQAAAAQAAAAAQAAAAEAAADzAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i820"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i766"/><Inertial z:Ref="i740"/><Joint z:Ref="i773"/><NameAttribute z:Ref="i739"/><Parent z:Ref="i671"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>aEIAAAUAAAD//v8MJ1l/gTEALQA0AEAA5V0LejdoOmfFiE2RBAAAABAAAAABAAAAAQAAAIIAAAA=</a:base64Binary><a:base64Binary>aEIAAAUAAAD//v8MD1x/gTEALQA0AEAA5V0LejdoOmfFiE2RBAAAABAAAAABAAAAAQAAAIwAAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i753"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i699"/><Inertial z:Ref="i673"/><Joint z:Ref="i706"/><NameAttribute z:Ref="i672"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>aEIAAAUAAAD//v8L+lenXi0AMgBAAOVdC3o3aDpnxYhNkQQAAAAQAAAAAQAAAAEAAABVAAAA</a:base64Binary><a:base64Binary>aEIAAAUAAAD//v8MJ1l/gTEALQA0AEAA5V0LejdoOmfFiE2RBAAAABAAAAABAAAAAQAAAIIAAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i686"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>aEIAAAUAAAD//v8L+lenXi0AMgBAAOVdC3o3aDpnxYhNkQQAAAAQAAAAAQAAAAEAAABVAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2025-06-30 17:39:46,007 INFO  ExportHelperExtension.cs: 347 - Creating joint rightBackLeg1
+2025-06-30 17:39:46,007 INFO  ExportHelperExtension.cs: 1397 - Fixing components for base_link
+2025-06-30 17:39:46,007 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:46,236 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:39:46,236 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:39:46,237 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:39:46,237 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:39:46,237 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:46,466 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child rightBackLeg1 failed
+2025-06-30 17:39:46,474 INFO  ExportHelperExtension.cs: 347 - Creating joint rightBackLeg2
+2025-06-30 17:39:46,474 INFO  ExportHelperExtension.cs: 1397 - Fixing components for rightBackLeg1
+2025-06-30 17:39:46,474 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:46,475 INFO  ExportHelperExtension.cs: 1402 - Fixing 104
+2025-06-30 17:39:46,475 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:46,724 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:39:46,724 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:39:46,724 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:39:46,725 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:39:46,725 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:46,725 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 104
+2025-06-30 17:39:46,725 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:46,979 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent rightBackLeg1 to child rightBackLeg2 failed
+2025-06-30 17:39:46,985 INFO  ExportHelperExtension.cs: 347 - Creating joint rightBackWheel
+2025-06-30 17:39:46,985 INFO  ExportHelperExtension.cs: 1397 - Fixing components for rightBackLeg2
+2025-06-30 17:39:46,985 INFO  ExportHelperExtension.cs: 1402 - Fixing 104
+2025-06-30 17:39:46,986 INFO  ExportHelperExtension.cs: 1402 - Fixing 120
+2025-06-30 17:39:46,986 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:46,986 INFO  ExportHelperExtension.cs: 1402 - Fixing 104
+2025-06-30 17:39:46,986 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:47,263 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:39:47,264 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:39:47,264 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:39:47,264 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:39:47,264 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 104
+2025-06-30 17:39:47,265 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 120
+2025-06-30 17:39:47,265 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:47,265 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 104
+2025-06-30 17:39:47,265 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:47,602 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent rightBackLeg2 to child rightBackWheel failed
+2025-06-30 17:39:47,607 INFO  ExportHelperExtension.cs: 347 - Creating joint leftBackLeg1
+2025-06-30 17:39:47,607 INFO  ExportHelperExtension.cs: 1397 - Fixing components for base_link
+2025-06-30 17:39:47,608 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:48,086 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:39:48,087 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:39:48,087 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:39:48,087 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:39:48,087 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:48,517 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child leftBackLeg1 failed
+2025-06-30 17:39:48,524 INFO  ExportHelperExtension.cs: 347 - Creating joint leftBackLeg2
+2025-06-30 17:39:48,525 INFO  ExportHelperExtension.cs: 1397 - Fixing components for leftBackLeg1
+2025-06-30 17:39:48,525 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:48,525 INFO  ExportHelperExtension.cs: 1402 - Fixing 166
+2025-06-30 17:39:48,525 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:49,091 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:39:49,092 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:39:49,092 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:39:49,092 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:39:49,093 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:49,093 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 166
+2025-06-30 17:39:49,093 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:49,681 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent leftBackLeg1 to child leftBackLeg2 failed
+2025-06-30 17:39:49,687 INFO  ExportHelperExtension.cs: 347 - Creating joint leftBackWheel
+2025-06-30 17:39:49,687 INFO  ExportHelperExtension.cs: 1397 - Fixing components for leftBackLeg2
+2025-06-30 17:39:49,687 INFO  ExportHelperExtension.cs: 1402 - Fixing 166
+2025-06-30 17:39:49,688 INFO  ExportHelperExtension.cs: 1402 - Fixing 167
+2025-06-30 17:39:49,688 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:49,688 INFO  ExportHelperExtension.cs: 1402 - Fixing 166
+2025-06-30 17:39:49,688 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:50,257 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:39:50,258 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:39:50,258 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:39:50,258 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:39:50,259 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 166
+2025-06-30 17:39:50,259 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 167
+2025-06-30 17:39:50,259 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:50,259 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 166
+2025-06-30 17:39:50,259 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:50,825 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent leftBackLeg2 to child leftBackWheel failed
+2025-06-30 17:39:50,831 INFO  ExportHelperExtension.cs: 347 - Creating joint rightFrountLeg1
+2025-06-30 17:39:50,831 INFO  ExportHelperExtension.cs: 1397 - Fixing components for base_link
+2025-06-30 17:39:50,832 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:51,330 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:39:51,330 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:39:51,330 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:39:51,331 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:39:51,331 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:51,820 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child rightFrountLeg1 failed
+2025-06-30 17:39:51,826 INFO  ExportHelperExtension.cs: 347 - Creating joint rightFrountLeg2
+2025-06-30 17:39:51,827 INFO  ExportHelperExtension.cs: 1397 - Fixing components for rightFrountLeg1
+2025-06-30 17:39:51,827 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:51,827 INFO  ExportHelperExtension.cs: 1402 - Fixing 87
+2025-06-30 17:39:51,828 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:52,349 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:39:52,349 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:39:52,350 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:39:52,350 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:39:52,387 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:52,387 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 87
+2025-06-30 17:39:52,387 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:52,916 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent rightFrountLeg1 to child rightFrountLeg2 failed
+2025-06-30 17:39:52,923 INFO  ExportHelperExtension.cs: 347 - Creating joint rightFrountWheel
+2025-06-30 17:39:52,923 INFO  ExportHelperExtension.cs: 1397 - Fixing components for rightFrountLeg2
+2025-06-30 17:39:52,923 INFO  ExportHelperExtension.cs: 1402 - Fixing 87
+2025-06-30 17:39:52,923 INFO  ExportHelperExtension.cs: 1402 - Fixing 99
+2025-06-30 17:39:52,925 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:52,925 INFO  ExportHelperExtension.cs: 1402 - Fixing 87
+2025-06-30 17:39:52,925 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:53,485 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:39:53,485 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:39:53,486 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:39:53,486 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:39:53,486 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 87
+2025-06-30 17:39:53,486 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 99
+2025-06-30 17:39:53,487 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:53,487 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 87
+2025-06-30 17:39:53,487 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:54,069 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent rightFrountLeg2 to child rightFrountWheel failed
+2025-06-30 17:39:54,074 INFO  ExportHelperExtension.cs: 347 - Creating joint leftFrountLeg1
+2025-06-30 17:39:54,074 INFO  ExportHelperExtension.cs: 1397 - Fixing components for base_link
+2025-06-30 17:39:54,074 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:54,590 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:39:54,591 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:39:54,591 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:39:54,591 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:39:54,591 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:55,088 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child leftFrountLeg1 failed
+2025-06-30 17:39:55,095 INFO  ExportHelperExtension.cs: 347 - Creating joint leftFrountLeg2
+2025-06-30 17:39:55,095 INFO  ExportHelperExtension.cs: 1397 - Fixing components for leftFrountLeg1
+2025-06-30 17:39:55,095 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:55,096 INFO  ExportHelperExtension.cs: 1402 - Fixing 130
+2025-06-30 17:39:55,096 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:55,567 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:39:55,568 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:39:55,568 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:39:55,568 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:39:55,568 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:55,569 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 130
+2025-06-30 17:39:55,569 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:56,059 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent leftFrountLeg1 to child leftFrountLeg2 failed
+2025-06-30 17:39:56,064 INFO  ExportHelperExtension.cs: 347 - Creating joint leftFrountWheel
+2025-06-30 17:39:56,065 INFO  ExportHelperExtension.cs: 1397 - Fixing components for leftFrountLeg2
+2025-06-30 17:39:56,065 INFO  ExportHelperExtension.cs: 1402 - Fixing 130
+2025-06-30 17:39:56,065 INFO  ExportHelperExtension.cs: 1402 - Fixing 140
+2025-06-30 17:39:56,065 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:56,066 INFO  ExportHelperExtension.cs: 1402 - Fixing 130
+2025-06-30 17:39:56,066 INFO  ExportHelperExtension.cs: 1402 - Fixing 85
+2025-06-30 17:39:56,568 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2025-06-30 17:39:56,569 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2025-06-30 17:39:56,569 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2025-06-30 17:39:56,569 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2025-06-30 17:39:56,570 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 130
+2025-06-30 17:39:56,570 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 140
+2025-06-30 17:39:56,570 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:56,570 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 130
+2025-06-30 17:39:56,570 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 85
+2025-06-30 17:39:57,104 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent leftFrountLeg2 to child leftFrountWheel failed
+2025-06-30 17:39:57,189 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��������װ��.SLDASM
+2025-06-30 17:39:57,189 INFO  ExportHelperExtension.cs: 1136 - Found 97 in ��������װ��.SLDASM
+2025-06-30 17:39:57,190 INFO  ExportHelperExtension.cs: 1145 - Found 14 features of type [CoordSys] in ��������װ��.SLDASM
+2025-06-30 17:39:57,190 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:39:57,190 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:39:57,191 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:39:57,191 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:39:57,191 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:39:57,191 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-3
+2025-06-30 17:39:57,192 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:39:57,192 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-3
+2025-06-30 17:39:57,192 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-3
+2025-06-30 17:39:57,192 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:39:57,193 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-3
+2025-06-30 17:39:57,193 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-3
+2025-06-30 17:39:57,193 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:39:57,194 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-3
+2025-06-30 17:39:57,194 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-1
+2025-06-30 17:39:57,194 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:39:57,194 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-1
+2025-06-30 17:39:57,195 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-3
+2025-06-30 17:39:57,195 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:39:57,195 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-3
+2025-06-30 17:39:57,196 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����2-5
+2025-06-30 17:39:57,196 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:39:57,196 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����2-5
+2025-06-30 17:39:57,196 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��2-4
+2025-06-30 17:39:57,197 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:39:57,197 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��2-4
+2025-06-30 17:39:57,197 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��1-4
+2025-06-30 17:39:57,197 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:39:57,198 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��1-4
+2025-06-30 17:39:57,198 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����1-4
+2025-06-30 17:39:57,198 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:39:57,198 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����1-4
+2025-06-30 17:39:57,199 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
+2025-06-30 17:39:57,199 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:39:57,199 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
+2025-06-30 17:39:57,199 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ǰ��-2
+2025-06-30 17:39:57,200 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:39:57,200 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ǰ��-2
+2025-06-30 17:39:57,200 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-1
+2025-06-30 17:39:57,200 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:39:57,201 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-1
+2025-06-30 17:39:57,201 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��������װ��.SLDASM
+2025-06-30 17:39:57,201 INFO  ExportHelperExtension.cs: 1136 - Found 97 in ��������װ��.SLDASM
+2025-06-30 17:39:57,202 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��������װ��.SLDASM
+2025-06-30 17:39:57,202 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-06-30 17:39:57,202 INFO  ExportHelperExtension.cs: 1160 - 13 components to check
+2025-06-30 17:39:57,202 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:39:57,203 INFO  ExportHelperExtension.cs: 1136 - Found 37 in ����-2
+2025-06-30 17:39:57,203 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:39:57,203 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-3
+2025-06-30 17:39:57,203 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-3
+2025-06-30 17:39:57,204 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-3
+2025-06-30 17:39:57,204 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-3
+2025-06-30 17:39:57,204 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-3
+2025-06-30 17:39:57,205 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-3
+2025-06-30 17:39:57,205 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-3
+2025-06-30 17:39:57,205 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-3
+2025-06-30 17:39:57,205 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-3
+2025-06-30 17:39:57,208 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-1
+2025-06-30 17:39:57,255 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-1
+2025-06-30 17:39:57,255 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-1
+2025-06-30 17:39:57,256 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-3
+2025-06-30 17:39:57,256 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-3
+2025-06-30 17:39:57,256 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-3
+2025-06-30 17:39:57,257 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����2-5
+2025-06-30 17:39:57,257 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����2-5
+2025-06-30 17:39:57,257 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����2-5
+2025-06-30 17:39:57,257 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��2-4
+2025-06-30 17:39:57,258 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ��2-4
+2025-06-30 17:39:57,258 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��2-4
+2025-06-30 17:39:57,258 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��1-4
+2025-06-30 17:39:57,259 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��1-4
+2025-06-30 17:39:57,259 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��1-4
+2025-06-30 17:39:57,259 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����1-4
+2025-06-30 17:39:57,259 INFO  ExportHelperExtension.cs: 1136 - Found 27 in ����1-4
+2025-06-30 17:39:57,260 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����1-4
+2025-06-30 17:39:57,260 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
+2025-06-30 17:39:57,260 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-2
+2025-06-30 17:39:57,261 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
+2025-06-30 17:39:57,261 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ǰ��-2
+2025-06-30 17:39:57,261 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ǰ��-2
+2025-06-30 17:39:57,261 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ǰ��-2
+2025-06-30 17:39:57,262 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-1
+2025-06-30 17:39:57,262 INFO  ExportHelperExtension.cs: 1136 - Found 28 in ����-1
+2025-06-30 17:39:57,262 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-1
+2025-06-30 17:39:57,309 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2025-06-30 17:40:02,069 INFO  AssemblyExportForm.cs: 253 - Completing URDF export
+2025-06-30 17:40:02,070 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
+<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0.4048941258416246</a:double><a:double>-0.07417100006635545</a:double><a:double>-0.25</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">36.238217315510852</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.711497711143894</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">-0.0013550472051328216</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">6.6231681645793542E-17</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">1.4652890963294924</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">8.3976025435473923E-17</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.89078375214778915</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0.792156862745098</a:double><a:double>0.81960784313725488</a:double><a:double>0.93333333333333335</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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z:Id="i828"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i829" i:type="Color"><Attributes><Attribute z:Id="i830"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0.792156862745098</a:double><a:double>0.81960784313725488</a:double><a:double>0.93333333333333335</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i830"/></URDFElement><URDFElement z:Id="i831" i:type="Texture"><Attributes><Attribute z:Id="i832"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute 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i:type="Joint"><Attributes><Attribute z:Id="i841"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">leftFrountAnkle</Value></Attribute><Attribute z:Id="i842"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">fixed</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i843" i:type="Origin"><Attributes><Attribute z:Id="i844"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>-0.0812115982489019</a:double><a:double>0.44261120219653149</a:double><a:double>0.020000000000000129</a:double></Value></Attribute><Attribute z:Id="i845"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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+2025-06-30 17:40:18,933 INFO  AssemblyExportForm.cs: 309 - Saving URDF package to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2
+2025-06-30 17:40:18,934 INFO  ExportHelper.cs: 147 - Beginning the export process
+2025-06-30 17:40:18,935 INFO  ExportHelper.cs: 153 - Creating package directories with name HiveCoreR2 and save path D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2
+2025-06-30 17:40:21,822 INFO  ExportHelper.cs: 162 - Creating CMakeLists.txt at D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\CMakeLists.txt
+2025-06-30 17:40:21,822 INFO  ExportHelper.cs: 166 - Creating joint names config at D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\config\joint_names_HiveCoreR2.yaml
+2025-06-30 17:40:21,823 INFO  ExportHelper.cs: 170 - Creating package.xml at D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\package.xml
+2025-06-30 17:40:21,823 INFO  PackageXMLWriter.cs: 21 - Creating package.xml at D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\package.xml
+2025-06-30 17:40:21,824 INFO  ExportHelper.cs: 177 - Creating RVIZ launch file in D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\launch\
+2025-06-30 17:40:21,824 INFO  ExportHelper.cs: 182 - Creating Gazebo launch file in D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\launch\
+2025-06-30 17:40:21,824 INFO  ExportHelper.cs: 187 - Saving existing STL preferences
+2025-06-30 17:40:21,824 INFO  ExportHelper.cs: 450 - Saving users preferences
+2025-06-30 17:40:21,825 INFO  ExportHelper.cs: 190 - Modifying STL preferences
+2025-06-30 17:40:21,825 INFO  ExportHelper.cs: 464 - Setting STL preferences
+2025-06-30 17:40:21,825 INFO  ExportHelper.cs: 196 - Found 0 hidden components 
+2025-06-30 17:40:21,825 INFO  ExportHelper.cs: 197 - Hiding all components
+2025-06-30 17:40:21,939 INFO  ExportHelper.cs: 204 - Beginning individual files export
+2025-06-30 17:40:21,970 INFO  ExportHelper.cs: 270 - Exporting link: base_link
+2025-06-30 17:40:21,971 INFO  ExportHelper.cs: 272 - Link base_link has 4 children
+2025-06-30 17:40:21,972 INFO  ExportHelper.cs: 270 - Exporting link: rightBackLeg1
+2025-06-30 17:40:21,972 INFO  ExportHelper.cs: 272 - Link rightBackLeg1 has 1 children
+2025-06-30 17:40:21,973 INFO  ExportHelper.cs: 270 - Exporting link: rightBackLeg2
+2025-06-30 17:40:21,974 INFO  ExportHelper.cs: 272 - Link rightBackLeg2 has 1 children
+2025-06-30 17:40:21,974 INFO  ExportHelper.cs: 270 - Exporting link: rightBackWheel
+2025-06-30 17:40:21,974 INFO  ExportHelper.cs: 272 - Link rightBackWheel has 0 children
+2025-06-30 17:40:21,975 INFO  ExportHelper.cs: 317 - rightBackWheel: Exporting STL with coordinate frame rightBackAnkle
+2025-06-30 17:40:21,975 INFO  ExportHelper.cs: 322 - rightBackWheel: Reference geometry name 
+2025-06-30 17:40:21,996 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\meshes\rightBackWheel.STL
+2025-06-30 17:40:22,076 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:40:22,077 INFO  ExportHelper.cs: 317 - rightBackLeg2: Exporting STL with coordinate frame rightBackKnee
+2025-06-30 17:40:22,077 INFO  ExportHelper.cs: 322 - rightBackLeg2: Reference geometry name 
+2025-06-30 17:40:22,093 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\meshes\rightBackLeg2.STL
+2025-06-30 17:40:22,183 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:40:22,184 INFO  ExportHelper.cs: 317 - rightBackLeg1: Exporting STL with coordinate frame rightBackHip
+2025-06-30 17:40:22,184 INFO  ExportHelper.cs: 322 - rightBackLeg1: Reference geometry name 
+2025-06-30 17:40:22,255 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\meshes\rightBackLeg1.STL
+2025-06-30 17:40:22,376 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:40:22,378 INFO  ExportHelper.cs: 270 - Exporting link: leftBackLeg1
+2025-06-30 17:40:22,378 INFO  ExportHelper.cs: 272 - Link leftBackLeg1 has 1 children
+2025-06-30 17:40:22,381 INFO  ExportHelper.cs: 270 - Exporting link: leftBackLeg2
+2025-06-30 17:40:22,381 INFO  ExportHelper.cs: 272 - Link leftBackLeg2 has 1 children
+2025-06-30 17:40:22,382 INFO  ExportHelper.cs: 270 - Exporting link: leftBackWheel
+2025-06-30 17:40:22,382 INFO  ExportHelper.cs: 272 - Link leftBackWheel has 0 children
+2025-06-30 17:40:22,382 INFO  ExportHelper.cs: 317 - leftBackWheel: Exporting STL with coordinate frame leftBackAnkle
+2025-06-30 17:40:22,383 INFO  ExportHelper.cs: 322 - leftBackWheel: Reference geometry name 
+2025-06-30 17:40:22,418 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\meshes\leftBackWheel.STL
+2025-06-30 17:40:22,509 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:40:22,510 INFO  ExportHelper.cs: 317 - leftBackLeg2: Exporting STL with coordinate frame leftBackKnee
+2025-06-30 17:40:22,510 INFO  ExportHelper.cs: 322 - leftBackLeg2: Reference geometry name 
+2025-06-30 17:40:22,527 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\meshes\leftBackLeg2.STL
+2025-06-30 17:40:22,616 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:40:22,617 INFO  ExportHelper.cs: 317 - leftBackLeg1: Exporting STL with coordinate frame leftBackHip
+2025-06-30 17:40:22,617 INFO  ExportHelper.cs: 322 - leftBackLeg1: Reference geometry name 
+2025-06-30 17:40:22,693 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\meshes\leftBackLeg1.STL
+2025-06-30 17:40:22,810 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:40:22,811 INFO  ExportHelper.cs: 270 - Exporting link: rightFrountLeg1
+2025-06-30 17:40:22,811 INFO  ExportHelper.cs: 272 - Link rightFrountLeg1 has 1 children
+2025-06-30 17:40:22,812 INFO  ExportHelper.cs: 270 - Exporting link: rightFrountLeg2
+2025-06-30 17:40:22,813 INFO  ExportHelper.cs: 272 - Link rightFrountLeg2 has 1 children
+2025-06-30 17:40:22,813 INFO  ExportHelper.cs: 270 - Exporting link: rightFrountWheel
+2025-06-30 17:40:22,814 INFO  ExportHelper.cs: 272 - Link rightFrountWheel has 0 children
+2025-06-30 17:40:22,814 INFO  ExportHelper.cs: 317 - rightFrountWheel: Exporting STL with coordinate frame rightFrountAnkle
+2025-06-30 17:40:22,814 INFO  ExportHelper.cs: 322 - rightFrountWheel: Reference geometry name 
+2025-06-30 17:40:22,846 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\meshes\rightFrountWheel.STL
+2025-06-30 17:40:22,962 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:40:22,963 INFO  ExportHelper.cs: 317 - rightFrountLeg2: Exporting STL with coordinate frame rightFrountKnee
+2025-06-30 17:40:22,963 INFO  ExportHelper.cs: 322 - rightFrountLeg2: Reference geometry name 
+2025-06-30 17:40:22,986 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\meshes\rightFrountLeg2.STL
+2025-06-30 17:40:23,070 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:40:23,070 INFO  ExportHelper.cs: 317 - rightFrountLeg1: Exporting STL with coordinate frame rightFrountHip
+2025-06-30 17:40:23,071 INFO  ExportHelper.cs: 322 - rightFrountLeg1: Reference geometry name 
+2025-06-30 17:40:23,196 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\meshes\rightFrountLeg1.STL
+2025-06-30 17:40:23,351 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:40:23,352 INFO  ExportHelper.cs: 270 - Exporting link: leftFrountLeg1
+2025-06-30 17:40:23,352 INFO  ExportHelper.cs: 272 - Link leftFrountLeg1 has 1 children
+2025-06-30 17:40:23,353 INFO  ExportHelper.cs: 270 - Exporting link: leftFrountLeg2
+2025-06-30 17:40:23,353 INFO  ExportHelper.cs: 272 - Link leftFrountLeg2 has 1 children
+2025-06-30 17:40:23,353 INFO  ExportHelper.cs: 270 - Exporting link: leftFrountWheel
+2025-06-30 17:40:23,353 INFO  ExportHelper.cs: 272 - Link leftFrountWheel has 0 children
+2025-06-30 17:40:23,353 INFO  ExportHelper.cs: 317 - leftFrountWheel: Exporting STL with coordinate frame leftFrountAnkle
+2025-06-30 17:40:23,354 INFO  ExportHelper.cs: 322 - leftFrountWheel: Reference geometry name 
+2025-06-30 17:40:23,378 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\meshes\leftFrountWheel.STL
+2025-06-30 17:40:23,470 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:40:23,471 INFO  ExportHelper.cs: 317 - leftFrountLeg2: Exporting STL with coordinate frame leftFrountKnee
+2025-06-30 17:40:23,471 INFO  ExportHelper.cs: 322 - leftFrountLeg2: Reference geometry name 
+2025-06-30 17:40:23,513 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\meshes\leftFrountLeg2.STL
+2025-06-30 17:40:23,604 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:40:23,604 INFO  ExportHelper.cs: 317 - leftFrountLeg1: Exporting STL with coordinate frame leftFrountHip
+2025-06-30 17:40:23,605 INFO  ExportHelper.cs: 322 - leftFrountLeg1: Reference geometry name 
+2025-06-30 17:40:23,694 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\meshes\leftFrountLeg1.STL
+2025-06-30 17:40:23,843 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:40:23,844 INFO  ExportHelper.cs: 317 - base_link: Exporting STL with coordinate frame Origin_global
+2025-06-30 17:40:23,844 INFO  ExportHelper.cs: 322 - base_link: Reference geometry name 
+2025-06-30 17:40:23,932 INFO  ExportHelper.cs: 330 - Saving STL to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\meshes\base_link.STL
+2025-06-30 17:40:24,062 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2025-06-30 17:40:24,064 INFO  ExportHelper.cs: 145 - Showing all components except previously hidden components
+2025-06-30 17:40:24,217 INFO  ExportHelper.cs: 145 - Resetting STL preferences
+2025-06-30 17:40:24,217 INFO  ExportHelper.cs: 478 - Returning STL preferences to user preferences
+2025-06-30 17:40:24,218 INFO  ExportHelper.cs: 228 - Writing URDF file to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\urdf\HiveCoreR2.urdf
+2025-06-30 17:40:24,220 INFO  CSVImportExport.cs: 32 - Writing CSV file D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\urdf\HiveCoreR2.csv
+2025-06-30 17:40:24,220 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:40:24,221 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:40:24,221 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:40:24,221 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:40:24,222 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:40:24,222 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:40:24,222 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:40:24,223 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:40:24,223 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:40:24,223 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:40:24,223 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:40:24,224 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:40:24,224 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2025-06-30 17:40:24,224 INFO  ExportHelper.cs: 234 - Copying log file
+2025-06-30 17:40:24,225 INFO  ExportHelper.cs: 439 - Copying C:\Users\Ray\sw2urdf_logs\sw2urdf.log to D:\7_HiveCore\1_RD\1_����˫����Ŀ\��������\��������V2\HiveCoreR2\export.log
diff --git a/HiveCoreR2/src/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc b/HiveCoreR2/src/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc
new file mode 100644
index 0000000..a3fa87b
Binary files /dev/null and b/HiveCoreR2/src/hive_core_r2/launch/__pycache__/display_launch.cpython-310.pyc differ
diff --git a/HiveCoreR2/src/hive_core_r2/launch/display_launch.py b/HiveCoreR2/src/hive_core_r2/launch/display_launch.py
new file mode 100644
index 0000000..2561025
--- /dev/null
+++ b/HiveCoreR2/src/hive_core_r2/launch/display_launch.py
@@ -0,0 +1,42 @@
+import launch
+import launch_ros
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    # 获取默认路径
+    urdf_tutorial_path = get_package_share_directory('hive_core_r2')
+    default_model_path = urdf_tutorial_path + '/urdf/HiveCoreR2.urdf.xacro'
+    default_rviz_config_path = urdf_tutorial_path + '/config/rviz/display_model.rviz'
+    # 为 Launch 声明参数
+    action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
+        name='model', default_value=str(default_model_path),
+        description='URDF 的绝对路径')
+    # 获取文件内容生成新的参数
+    robot_description = launch_ros.parameter_descriptions.ParameterValue(
+        launch.substitutions.Command(
+            ['xacro ', launch.substitutions.LaunchConfiguration('model')]),
+        value_type=str)
+    # 状态发布节点
+    robot_state_publisher_node = launch_ros.actions.Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters=[{'robot_description': robot_description}]
+    )
+    # 关节状态发布节点
+    joint_state_publisher_node = launch_ros.actions.Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+    )
+    # RViz 节点
+    rviz_node = launch_ros.actions.Node(
+        package='rviz2',
+        executable='rviz2',
+        arguments=['-d', default_rviz_config_path]
+    )
+    return launch.LaunchDescription([
+        action_declare_arg_mode_path,
+        joint_state_publisher_node,
+        robot_state_publisher_node,
+        rviz_node
+    ])
diff --git a/HiveCoreR2/src/hive_core_r2/package.xml b/HiveCoreR2/src/hive_core_r2/package.xml
new file mode 100644
index 0000000..de099f8
--- /dev/null
+++ b/HiveCoreR2/src/hive_core_r2/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>hive_core_r2</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="Ray@qq.com">hivecore</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/HiveCoreR2.urdf b/HiveCoreR2/src/hive_core_r2/urdf/HiveCoreR2.urdf
new file mode 100644
index 0000000..b3c5f06
--- /dev/null
+++ b/HiveCoreR2/src/hive_core_r2/urdf/HiveCoreR2.urdf
@@ -0,0 +1,683 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="HiveCoreR2">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.404894125841625 0.25 -0.0741710000663555"
+        rpy="0 0 0" />
+      <mass
+        value="36.2382173155109" />
+      <inertia
+        ixx="0.711497711143894"
+        ixy="-8.8839258894658E-17"
+        ixz="-0.00135504720513282"
+        iyy="0.890783752147789"
+        iyz="-4.771855042082E-17"
+        izz="1.46528909632949" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="rightBackLeg1">
+    <inertial>
+      <origin
+        xyz="0.159521553180005 0.114192611665744 -0.00583829035900738"
+        rpy="0 0 0" />
+      <mass
+        value="37.7501467058271" />
+      <inertia
+        ixx="0.734431789745808"
+        ixy="-8.56096856466003E-17"
+        ixz="-0.0172488382149191"
+        iyy="0.926916791916097"
+        iyz="-2.12653031759239E-17"
+        izz="1.47936825397955" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightBackLeg1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightBackLeg1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rightBackHip"
+    type="fixed">
+    <origin
+      xyz="0.233468148498616 0.13 -0.0750000000000009"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="rightBackLeg1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="rightBackLeg2">
+    <inertial>
+      <origin
+        xyz="-1.38777878078145E-17 -1.11022302462516E-16 -0.0980955329353473"
+        rpy="0 0 0" />
+      <mass
+        value="2.91913514072796" />
+      <inertia
+        ixx="0.077483115922509"
+        ixy="7.93656541372871E-19"
+        ixz="2.77072863542925E-19"
+        iyy="0.0757075831245417"
+        iyz="1.9298798670242E-17"
+        izz="0.00286681014418753" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightBackLeg2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightBackLeg2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rightBackKnee"
+    type="fixed">
+    <origin
+      xyz="-0.176484597484903 -0.025 -0.232366667198654"
+      rpy="0.649559204798949 0 1.5707963267949" />
+    <parent
+      link="rightBackLeg1" />
+    <child
+      link="rightBackLeg2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="rightBackWheel">
+    <inertial>
+      <origin
+        xyz="0.09064374912672 0.119345179053196 0.00957524301681929"
+        rpy="0 0 0" />
+      <mass
+        value="2.59613404955675" />
+      <inertia
+        ixx="0.0290159502383724"
+        ixy="-0.0191907680569759"
+        ixz="-2.57425322347828E-18"
+        iyy="0.018324181732962"
+        iyz="-3.74213782227815E-18"
+        izz="0.0466924479447346" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightBackWheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightBackWheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rightBackAnkle"
+    type="fixed">
+    <origin
+      xyz="-0.015 0 -0.57"
+      rpy="1.5707963267949 -0.649559204798949 -1.5707963267949" />
+    <parent
+      link="rightBackLeg2" />
+    <child
+      link="rightBackWheel" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="leftBackLeg1">
+    <inertial>
+      <origin
+        xyz="0.159521553180005 -0.114192611665745 -0.0058382903590074"
+        rpy="0 0 0" />
+      <mass
+        value="37.7501467058271" />
+      <inertia
+        ixx="0.734431789745808"
+        ixy="-8.51866074090712E-17"
+        ixz="-0.0172488382149191"
+        iyy="0.926916791916097"
+        iyz="-2.08494328905552E-17"
+        izz="1.47936825397955" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftBackLeg1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftBackLeg1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="leftBackHip"
+    type="fixed">
+    <origin
+      xyz="0.233468148498616 0.37 -0.0750000000000008"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="leftBackLeg1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="leftBackLeg2">
+    <inertial>
+      <origin
+        xyz="-1.38777878078145E-16 1.11022302462516E-16 -0.0980955329353471"
+        rpy="0 0 0" />
+      <mass
+        value="2.91913514072796" />
+      <inertia
+        ixx="0.0757075831245417"
+        ixy="-3.83388889773367E-19"
+        ixz="-1.19262238973406E-18"
+        iyy="0.077483115922509"
+        iyz="-3.42096044260462E-18"
+        izz="0.00286681014418753" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftBackLeg2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftBackLeg2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="leftBackKnee"
+    type="fixed">
+    <origin
+      xyz="-0.176484597484903 0.025 -0.232366667198655"
+      rpy="0 0.649559204798949 0" />
+    <parent
+      link="leftBackLeg1" />
+    <child
+      link="leftBackLeg2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="leftBackWheel">
+    <inertial>
+      <origin
+        xyz="-0.0906437491267199 0.119345179053196 0.00957524301681928"
+        rpy="0 0 0" />
+      <mass
+        value="2.59613404955675" />
+      <inertia
+        ixx="0.0290159502383723"
+        ixy="0.0191907680569759"
+        ixz="-9.95460132564594E-19"
+        iyy="0.0183241817329619"
+        iyz="1.85841836801446E-18"
+        izz="0.0466924479447345" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftBackWheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftBackWheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="leftBackAnkle"
+    type="fixed">
+    <origin
+      xyz="0 0.015 -0.57"
+      rpy="1.5707963267949 0.649559204798949 3.14159265358979" />
+    <parent
+      link="leftBackLeg2" />
+    <child
+      link="leftBackWheel" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="rightFrountLeg1">
+    <inertial>
+      <origin
+        xyz="-0.118941133817556 0.236273644484428 -0.00580806156003584"
+        rpy="0 0 0" />
+      <mass
+        value="38.1420398579829" />
+      <inertia
+        ixx="0.726813027311006"
+        ixy="-7.05133638374386E-17"
+        ixz="0.0143774445593079"
+        iyy="0.925194268635263"
+        iyz="-3.5549353679584E-17"
+        izz="1.48520684580171" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightFrountLeg1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightFrountLeg1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rightFrountHip"
+    type="fixed">
+    <origin
+      xyz="0.538114243322229 0 -0.0749999999999567"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="rightFrountLeg1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="rightFrountLeg2">
+    <inertial>
+      <origin
+        xyz="-0.150134352504311 -0.0842937274152713 -0.00999999999999742"
+        rpy="0 0 0" />
+      <mass
+        value="2.49859350613591" />
+      <inertia
+        ixx="0.0265333888148182"
+        ixy="-0.0137120460944501"
+        ixz="1.38643097616407E-17"
+        iyy="0.0204949116761058"
+        iyz="1.30539272533426E-17"
+        izz="0.0461441087929164" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightFrountLeg2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightFrountLeg2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rightFrountKnee"
+    type="fixed">
+    <origin
+      xyz="0.340437114893263 -0.0149999999999981 -0.294283147331236"
+      rpy="-1.5707963267949 0 0" />
+    <parent
+      link="rightFrountLeg1" />
+    <child
+      link="rightFrountLeg2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="rightFrountWheel">
+    <inertial>
+      <origin
+        xyz="0.0124502311023402 0.0678549846905305 0.0201400148978498"
+        rpy="0 0 0" />
+      <mass
+        value="2.43427888827594" />
+      <inertia
+        ixx="0.0181775670977843"
+        ixy="-0.00202044566999061"
+        ixz="4.39624865870307E-18"
+        iyy="0.00753665665396837"
+        iyz="-5.3054224981183E-18"
+        izz="0.0251792292087068" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightFrountWheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/rightFrountWheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rightFrountAnkle"
+    type="fixed">
+    <origin
+      xyz="-0.0812115982488986 0.442611202196532 -0.02"
+      rpy="3.14159265358979 0 0" />
+    <parent
+      link="rightFrountLeg2" />
+    <child
+      link="rightFrountWheel" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="leftFrountLeg1">
+    <inertial>
+      <origin
+        xyz="-0.118941133817558 -0.236273644484428 -0.005808061560033"
+        rpy="0 0 0" />
+      <mass
+        value="38.1420398579829" />
+      <inertia
+        ixx="0.726813027311007"
+        ixy="-6.34037409605033E-17"
+        ixz="0.0143774445593079"
+        iyy="0.925194268635263"
+        iyz="-3.51895129032801E-17"
+        izz="1.48520684580171" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftFrountLeg1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftFrountLeg1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="leftFrountHip"
+    type="fixed">
+    <origin
+      xyz="0.538114243322231 0.5 -0.074999999999958"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="leftFrountLeg1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="leftFrountLeg2">
+    <inertial>
+      <origin
+        xyz="-0.15013435250431 -0.0842937274152861 0.0100000000000027"
+        rpy="0 0 0" />
+      <mass
+        value="2.49859350613591" />
+      <inertia
+        ixx="0.0265333888148181"
+        ixy="-0.01371204609445"
+        ixz="1.16788895693783E-18"
+        iyy="0.0204949116761058"
+        iyz="-2.66516720929131E-18"
+        izz="0.0461441087929164" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftFrountLeg2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftFrountLeg2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="leftFrountKnee"
+    type="fixed">
+    <origin
+      xyz="0.340437114893263 0.0149999999999956 -0.294283147331236"
+      rpy="-1.5707963267949 0 0" />
+    <parent
+      link="leftFrountLeg1" />
+    <child
+      link="leftFrountLeg2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="leftFrountWheel">
+    <inertial>
+      <origin
+        xyz="-0.012450231102341 0.0678549846905308 0.0201400148978522"
+        rpy="0 0 0" />
+      <mass
+        value="2.43427888827594" />
+      <inertia
+        ixx="0.0181775670977843"
+        ixy="0.00202044566999065"
+        ixz="3.17315479223702E-19"
+        iyy="0.00753665665396838"
+        iyz="-8.4337173011357E-19"
+        izz="0.0251792292087068" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftFrountWheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://urdf/meshes/leftFrountWheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="leftFrountAnkle"
+    type="fixed">
+    <origin
+      xyz="-0.0812115982489019 0.442611202196531 0.0200000000000001"
+      rpy="0 0 3.14159265358979" />
+    <parent
+      link="leftFrountLeg2" />
+    <child
+      link="leftFrountWheel" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/HiveCoreR2.urdf.xacro b/HiveCoreR2/src/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
new file mode 100644
index 0000000..a5de029
--- /dev/null
+++ b/HiveCoreR2/src/hive_core_r2/urdf/HiveCoreR2.urdf.xacro
@@ -0,0 +1,329 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- 转换自SolidWorks生成的URDF，使用Xacro简化重复结构 -->
+<robot name="HiveCoreR2" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!-- ==================== 参数定义（复用值） ==================== -->
+  <!-- 模型包路径（统一修改，避免硬编码） -->
+  <xacro:property name="model_package" value="hive_core_r2" />
+  <!-- 通用材料（所有部件共用的颜色） -->
+  <xacro:property name="material_rgba" value="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+
+
+  <!-- ==================== 宏定义（复用结构） ==================== -->
+  <!-- 1. 材料宏（所有部件共用同一材料） -->
+  <xacro:macro name="common_material" params="name">
+    <material name="${name}">
+      <color rgba="${material_rgba}" />
+    </material>
+  </xacro:macro>
+
+  <!-- 2. 链接(link)宏（简化重复的link结构：包含惯性、视觉、碰撞）
+       参数说明：
+       - link_name：链接名称（用于生成mesh路径）
+       - inertia_origin：惯性原点(xyz rpy)
+       - mass_value：质量
+       - inertia_ixx ~ izz：惯性矩阵参数
+  -->
+  <xacro:macro name="robot_link" 
+    params="link_name 
+            inertia_origin_xyz inertia_origin_rpy 
+            mass_value 
+            inertia_ixx inertia_ixy inertia_ixz 
+            inertia_iyy inertia_iyz inertia_izz">
+    
+    <link name="${link_name}">
+      <!-- 惯性参数 -->
+      <inertial>
+        <origin xyz="${inertia_origin_xyz}" rpy="${inertia_origin_rpy}" />
+        <mass value="${mass_value}" />
+        <inertia 
+          ixx="${inertia_ixx}" ixy="${inertia_ixy}" ixz="${inertia_ixz}"
+          iyy="${inertia_iyy}" iyz="${inertia_iyz}" izz="${inertia_izz}" />
+      </inertial>
+
+      <!-- 视觉模型 -->
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://${model_package}/urdf/meshes/${link_name}.STL" />
+        </geometry>
+        <xacro:common_material name="${link_name}_material" />
+      </visual>
+
+      <!-- 碰撞模型（与视觉模型一致） -->
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://${model_package}/urdf/meshes/${link_name}.STL" />
+        </geometry>
+      </collision>
+    </link>
+  </xacro:macro>
+
+
+  <!-- ==================== 机器人部件定义（调用宏生成） ==================== -->
+  <!-- 1. 基座链接 -->
+  <xacro:robot_link 
+    link_name="base_link"
+    inertia_origin_xyz="0.404894125841625 0.25 -0.0741710000663555"
+    inertia_origin_rpy="0 0 0"
+    mass_value="36.2382173155109"
+    inertia_ixx="0.711497711143894"
+    inertia_ixy="-8.8839258894658E-17"
+    inertia_ixz="-0.00135504720513282"
+    inertia_iyy="0.890783752147789"
+    inertia_iyz="-4.771855042082E-17"
+    inertia_izz="1.46528909632949"
+  />
+
+  <!-- 2. 右后腿部件 -->
+  <xacro:robot_link 
+    link_name="rightBackLeg1"
+    inertia_origin_xyz="0.159521553180005 0.114192611665744 -0.00583829035900738"
+    inertia_origin_rpy="0 0 0"
+    mass_value="37.7501467058271"
+    inertia_ixx="0.734431789745808"
+    inertia_ixy="-8.56096856466003E-17"
+    inertia_ixz="-0.0172488382149191"
+    inertia_iyy="0.926916791916097"
+    inertia_iyz="-2.12653031759239E-17"
+    inertia_izz="1.47936825397955"
+  />
+
+  <xacro:robot_link 
+    link_name="rightBackLeg2"
+    inertia_origin_xyz="-1.38777878078145E-17 -1.11022302462516E-16 -0.0980955329353473"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.91913514072796"
+    inertia_ixx="0.077483115922509"
+    inertia_ixy="7.93656541372871E-19"
+    inertia_ixz="2.77072863542925E-19"
+    inertia_iyy="0.0757075831245417"
+    inertia_iyz="1.9298798670242E-17"
+    inertia_izz="0.00286681014418753"
+  />
+
+  <xacro:robot_link 
+    link_name="rightBackWheel"
+    inertia_origin_xyz="0.09064374912672 0.119345179053196 0.00957524301681929"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.59613404955675"
+    inertia_ixx="0.0290159502383724"
+    inertia_ixy="-0.0191907680569759"
+    inertia_ixz="-2.57425322347828E-18"
+    inertia_iyy="0.018324181732962"
+    inertia_iyz="-3.74213782227815E-18"
+    inertia_izz="0.0466924479447346"
+  />
+
+  <!-- 3. 左后腿部件 -->
+  <xacro:robot_link 
+    link_name="leftBackLeg1"
+    inertia_origin_xyz="0.159521553180005 -0.114192611665745 -0.0058382903590074"
+    inertia_origin_rpy="0 0 0"
+    mass_value="37.7501467058271"
+    inertia_ixx="0.734431789745808"
+    inertia_ixy="-8.51866074090712E-17"
+    inertia_ixz="-0.0172488382149191"
+    inertia_iyy="0.926916791916097"
+    inertia_iyz="-2.08494328905552E-17"
+    inertia_izz="1.47936825397955"
+  />
+
+  <xacro:robot_link 
+    link_name="leftBackLeg2"
+    inertia_origin_xyz="-1.38777878078145E-16 1.11022302462516E-16 -0.0980955329353471"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.91913514072796"
+    inertia_ixx="0.0757075831245417"
+    inertia_ixy="-3.83388889773367E-19"
+    inertia_ixz="-1.19262238973406E-18"
+    inertia_iyy="0.077483115922509"
+    inertia_iyz="-3.42096044260462E-18"
+    inertia_izz="0.00286681014418753"
+  />
+
+  <xacro:robot_link 
+    link_name="leftBackWheel"
+    inertia_origin_xyz="-0.0906437491267199 0.119345179053196 0.00957524301681928"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.59613404955675"
+    inertia_ixx="0.0290159502383723"
+    inertia_ixy="0.0191907680569759"
+    inertia_ixz="-9.95460132564594E-19"
+    inertia_iyy="0.0183241817329619"
+    inertia_iyz="1.85841836801446E-18"
+    inertia_izz="0.0466924479447345"
+  />
+
+  <!-- 4. 右前腿部件 -->
+  <xacro:robot_link 
+    link_name="rightFrountLeg1"
+    inertia_origin_xyz="-0.118941133817556 0.236273644484428 -0.00580806156003584"
+    inertia_origin_rpy="0 0 0"
+    mass_value="38.1420398579829"
+    inertia_ixx="0.726813027311006"
+    inertia_ixy="-7.05133638374386E-17"
+    inertia_ixz="0.0143774445593079"
+    inertia_iyy="0.925194268635263"
+    inertia_iyz="-3.5549353679584E-17"
+    inertia_izz="1.48520684580171"
+  />
+
+  <xacro:robot_link 
+    link_name="rightFrountLeg2"
+    inertia_origin_xyz="-0.150134352504311 -0.0842937274152713 -0.00999999999999742"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.49859350613591"
+    inertia_ixx="0.0265333888148182"
+    inertia_ixy="-0.0137120460944501"
+    inertia_ixz="1.38643097616407E-17"
+    inertia_iyy="0.0204949116761058"
+    inertia_iyz="1.30539272533426E-17"
+    inertia_izz="0.0461441087929164"
+  />
+
+  <xacro:robot_link 
+    link_name="rightFrountWheel"
+    inertia_origin_xyz="0.0124502311023402 0.0678549846905305 0.0201400148978498"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.43427888827594"
+    inertia_ixx="0.0181775670977843"
+    inertia_ixy="-0.00202044566999061"
+    inertia_ixz="4.39624865870307E-18"
+    inertia_iyy="0.00753665665396837"
+    inertia_iyz="-5.3054224981183E-18"
+    inertia_izz="0.0251792292087068"
+  />
+
+  <!-- 5. 左前腿部件 -->
+  <xacro:robot_link 
+    link_name="leftFrountLeg1"
+    inertia_origin_xyz="-0.118941133817558 -0.236273644484428 -0.005808061560033"
+    inertia_origin_rpy="0 0 0"
+    mass_value="38.1420398579829"
+    inertia_ixx="0.726813027311007"
+    inertia_ixy="-6.34037409605033E-17"
+    inertia_ixz="0.0143774445593079"
+    inertia_iyy="0.925194268635263"
+    inertia_iyz="-3.51895129032801E-17"
+    inertia_izz="1.48520684580171"
+  />
+
+  <xacro:robot_link 
+    link_name="leftFrountLeg2"
+    inertia_origin_xyz="-0.15013435250431 -0.0842937274152861 0.0100000000000027"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.49859350613591"
+    inertia_ixx="0.0265333888148181"
+    inertia_ixy="-0.01371204609445"
+    inertia_ixz="1.16788895693783E-18"
+    inertia_iyy="0.0204949116761058"
+    inertia_iyz="-2.66516720929131E-18"
+    inertia_izz="0.0461441087929164"
+  />
+
+  <xacro:robot_link 
+    link_name="leftFrountWheel"
+    inertia_origin_xyz="-0.012450231102341 0.0678549846905308 0.0201400148978522"
+    inertia_origin_rpy="0 0 0"
+    mass_value="2.43427888827594"
+    inertia_ixx="0.0181775670977843"
+    inertia_ixy="0.00202044566999065"
+    inertia_ixz="3.17315479223702E-19"
+    inertia_iyy="0.00753665665396838"
+    inertia_iyz="-8.4337173011357E-19"
+    inertia_izz="0.0251792292087068"
+  />
+
+
+  <!-- ==================== 关节定义（保留原参数，确保结构正确） ==================== -->
+  <!-- 右后腿关节 -->
+  <joint name="rightBackHip" type="fixed">
+    <origin xyz="0.233468148498616 0.13 -0.0750000000000009" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="rightBackLeg1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="rightBackKnee" type="fixed">
+    <origin xyz="-0.176484597484903 -0.025 -0.232366667198654" rpy="0.649559204798949 0 1.5707963267949" />
+    <parent link="rightBackLeg1" />
+    <child link="rightBackLeg2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="rightBackAnkle" type="fixed">
+    <origin xyz="-0.015 0 -0.57" rpy="1.5707963267949 -0.649559204798949 -1.5707963267949" />
+    <parent link="rightBackLeg2" />
+    <child link="rightBackWheel" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <!-- 左后腿关节 -->
+  <joint name="leftBackHip" type="fixed">
+    <origin xyz="0.233468148498616 0.37 -0.0750000000000008" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="leftBackLeg1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="leftBackKnee" type="fixed">
+    <origin xyz="-0.176484597484903 0.025 -0.232366667198655" rpy="0 0.649559204798949 0" />
+    <parent link="leftBackLeg1" />
+    <child link="leftBackLeg2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="leftBackAnkle" type="fixed">
+    <origin xyz="0 0.015 -0.57" rpy="1.5707963267949 0.649559204798949 3.14159265358979" />
+    <parent link="leftBackLeg2" />
+    <child link="leftBackWheel" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <!-- 右前腿关节 -->
+  <joint name="rightFrountHip" type="fixed">
+    <origin xyz="0.538114243322229 0 -0.0749999999999567" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="rightFrountLeg1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="rightFrountKnee" type="fixed">
+    <origin xyz="0.340437114893263 -0.0149999999999981 -0.294283147331236" rpy="-1.5707963267949 0 0" />
+    <parent link="rightFrountLeg1" />
+    <child link="rightFrountLeg2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="rightFrountAnkle" type="fixed">
+    <origin xyz="-0.0812115982488986 0.442611202196532 -0.02" rpy="3.14159265358979 0 0" />
+    <parent link="rightFrountLeg2" />
+    <child link="rightFrountWheel" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <!-- 左前腿关节 -->
+  <joint name="leftFrountHip" type="fixed">
+    <origin xyz="0.538114243322231 0.5 -0.074999999999958" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="leftFrountLeg1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="leftFrountKnee" type="fixed">
+    <origin xyz="0.340437114893263 0.0149999999999956 -0.294283147331236" rpy="-1.5707963267949 0 0" />
+    <parent link="leftFrountLeg1" />
+    <child link="leftFrountLeg2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="leftFrountAnkle" type="fixed">
+    <origin xyz="-0.0812115982489019 0.442611202196531 0.0200000000000001" rpy="0 0 3.14159265358979" />
+    <parent link="leftFrountLeg2" />
+    <child link="leftFrountWheel" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+</robot>
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/actuator/wheel.urdf.xacro b/HiveCoreR2/src/hive_core_r2/urdf/actuator/wheel.urdf.xacro
new file mode 100644
index 0000000..31624d8
--- /dev/null
+++ b/HiveCoreR2/src/hive_core_r2/urdf/actuator/wheel.urdf.xacro
@@ -0,0 +1,40 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+   <xacro:include filename="$(find hive_core_r2)/urdf/common_inertia.xacro" />
+    <xacro:macro name="wheel_xacro" params="wheel_name xyz">
+        <link name="${wheel_name}_wheel_link">
+            <visual>
+                <origin xyz="0 0 0" rpy="1.57079 0 0" />
+                <geometry>
+                    <cylinder length="0.04" radius="0.032" />
+                </geometry>
+                <material name="black">
+                    <color rgba="0.0 0.0 0.0 0.8"/>
+                </material>
+            </visual>
+            <collision>
+                <origin xyz="0 0 0" rpy="1.57079 0 0" />
+                <geometry>
+                    <cylinder length="0.04" radius="0.032" />
+                </geometry>
+                <material name="black">
+                    <color rgba="0.0 0.0 0.0 0.8"/>
+                </material>
+            </collision>
+            <xacro:cylinder_inertia m="0.1" h="0.04" r="0.032"/>
+        </link>
+        <gazebo reference="${wheel_name}_wheel_link">
+            <mu1 value="20.0" />
+            <mu2 value="20.0" />
+            <kp value="1000000000.0" />
+            <kd value="1.0" />
+        </gazebo>
+
+        <joint name="${wheel_name}_wheel_joint" type="continuous">
+            <parent link="base_link" />
+            <child link="${wheel_name}_wheel_link" />
+            <origin xyz="${xyz}" />
+            <axis xyz="0 1 0" />
+        </joint>
+    </xacro:macro>
+</robot>
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/base.urdf.xacro b/HiveCoreR2/src/hive_core_r2/urdf/base.urdf.xacro
new file mode 100644
index 0000000..f6dab14
--- /dev/null
+++ b/HiveCoreR2/src/hive_core_r2/urdf/base.urdf.xacro
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+   <xacro:include filename="$(find hive_core_r2)/urdf/common_inertia.xacro" />
+    <xacro:macro name="base_xacro" params="length radius">
+     <link name="base_footprint" />
+
+        <joint name="base_joint" type="fixed">
+            <parent link="base_footprint" />
+            <child link="base_link" />
+            <origin xyz="0.0 0.0 ${length/2.0+0.032-0.001}" rpy="0 0 0" />
+        </joint>
+
+        <link name="base_link">
+            <visual>
+                <origin xyz="0 0 0.0" rpy="0 0 0" />
+                <geometry>
+                    <cylinder length="${length}" radius="${radius}" />
+                </geometry>
+                <material name="blue">
+                    <color rgba="0.1 0.1 1.0 0.5"/>
+                </material>
+            </visual>
+            <collision>
+                <origin xyz="0 0 0.0" rpy="0 0 0" />
+                <geometry>
+                    <cylinder length="${length}" radius="${radius}" />
+                </geometry>
+                <material name="blue">
+                    <color rgba="0.1 0.1 1.0 0.5"/>
+                </material>
+            </collision>
+            <xacro:cylinder_inertia m="1.0" r="${radius}" h="${radius}"/>
+        </link>
+
+    </xacro:macro>
+
+</robot>
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/common_inertia.xacro b/HiveCoreR2/src/hive_core_r2/urdf/common_inertia.xacro
new file mode 100644
index 0000000..8486102
--- /dev/null
+++ b/HiveCoreR2/src/hive_core_r2/urdf/common_inertia.xacro
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:macro name="box_inertia" params="m w h d">
+        <inertial>
+            <mass value="${m}" />
+            <inertia ixx="${(m/12) * (h*h + d*d)}" ixy="0.0" ixz="0.0" iyy="${(m/12) * (w*w + d*d)}" iyz="0.0" izz="${(m/12) * (w*w + h*h)}" />
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="cylinder_inertia" params="m r h">
+        <inertial>
+            <mass value="${m}" />
+            <inertia ixx="${(m/12) * (3*r*r + h*h)}" ixy="0" ixz="0" iyy="${(m/12) * (3*r*r + h*h)}" iyz="0" izz="${(m/2) * (r*r)}" />
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="sphere_inertia" params="m r">
+        <inertial>
+            <mass value="${m}" />
+            <inertia ixx="${(2/5) * m * (r*r)}" ixy="0.0" ixz="0.0" iyy="${(2/5) * m * (r*r)}" iyz="0.0" izz="${(2/5) * m * (r*r)}" />
+        </inertial>
+    </xacro:macro>
+
+</robot>
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/meshes/base_link.STL b/HiveCoreR2/src/hive_core_r2/urdf/meshes/base_link.STL
new file mode 100644
index 0000000..de18524
Binary files /dev/null and b/HiveCoreR2/src/hive_core_r2/urdf/meshes/base_link.STL differ
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftBackLeg1.STL b/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftBackLeg1.STL
new file mode 100644
index 0000000..fcf6527
Binary files /dev/null and b/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftBackLeg1.STL differ
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftBackLeg2.STL b/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftBackLeg2.STL
new file mode 100644
index 0000000..3cd4284
Binary files /dev/null and b/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftBackLeg2.STL differ
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftBackWheel.STL b/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftBackWheel.STL
new file mode 100644
index 0000000..b384b50
Binary files /dev/null and b/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftBackWheel.STL differ
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftFrountLeg1.STL b/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftFrountLeg1.STL
new file mode 100644
index 0000000..74fdaf7
Binary files /dev/null and b/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftFrountLeg1.STL differ
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftFrountLeg2.STL b/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftFrountLeg2.STL
new file mode 100644
index 0000000..b94d7da
Binary files /dev/null and b/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftFrountLeg2.STL differ
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftFrountWheel.STL b/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftFrountWheel.STL
new file mode 100644
index 0000000..9f44f6b
Binary files /dev/null and b/HiveCoreR2/src/hive_core_r2/urdf/meshes/leftFrountWheel.STL differ
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightBackLeg1.STL b/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightBackLeg1.STL
new file mode 100644
index 0000000..9f54bfb
Binary files /dev/null and b/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightBackLeg1.STL differ
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightBackLeg2.STL b/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightBackLeg2.STL
new file mode 100644
index 0000000..8ff1a9a
Binary files /dev/null and b/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightBackLeg2.STL differ
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightBackWheel.STL b/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightBackWheel.STL
new file mode 100644
index 0000000..1da1c86
Binary files /dev/null and b/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightBackWheel.STL differ
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightFrountLeg1.STL b/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightFrountLeg1.STL
new file mode 100644
index 0000000..669941f
Binary files /dev/null and b/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightFrountLeg1.STL differ
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightFrountLeg2.STL b/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightFrountLeg2.STL
new file mode 100644
index 0000000..bc695b2
Binary files /dev/null and b/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightFrountLeg2.STL differ
diff --git a/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightFrountWheel.STL b/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightFrountWheel.STL
new file mode 100644
index 0000000..117c24a
Binary files /dev/null and b/HiveCoreR2/src/hive_core_r2/urdf/meshes/rightFrountWheel.STL differ
diff --git a/RobotOS1/CMakeLists.txt b/RobotOS1/CMakeLists.txt
deleted file mode 100755
index f0ac5eb..0000000
--- a/RobotOS1/CMakeLists.txt
+++ /dev/null
@@ -1,14 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-
-project(robot3)
-
-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/RobotOS1/config/joint_names_robot3.yaml b/RobotOS1/config/joint_names_robot3.yaml
deleted file mode 100755
index 427b0c3..0000000
--- a/RobotOS1/config/joint_names_robot3.yaml
+++ /dev/null
@@ -1 +0,0 @@
-controller_joint_names: ['', 'left_hip_pitch_joint', 'left_leg_pitch_joint', 'left_wheel2_joint', 'left_wheel1_joint', 'right_hip_pitch_joint', 'right_leg_pitch_joint', 'right_wheel2_joint', 'right_wheel1_joint', 'left_shoulder_joint', 'left_arm1_joint', 'left_arm2_joint', 'right_shoulder_joint', 'right_arm1_joint', 'right_arm2_joint', ]
diff --git a/RobotOS1/export.log b/RobotOS1/export.log
deleted file mode 100755
index 929b1af..0000000
--- a/RobotOS1/export.log
+++ /dev/null
@@ -1,1147 +0,0 @@
-2025-05-27 08:23:17,632 INFO  Logger.cs: 70 - 
---------------------------------------------------------------------------------
-2025-05-27 08:23:17,663 INFO  Logger.cs: 71 - Logging commencing for SW2URDF exporter
-2025-05-27 08:23:17,665 INFO  Logger.cs: 73 - Commit version 1.6.0-1-g15f4949
-2025-05-27 08:23:17,665 INFO  Logger.cs: 74 - Build version 1.6.7594.29634
-2025-05-27 08:23:17,667 INFO  SwAddin.cs: 192 - Attempting to connect to SW
-2025-05-27 08:23:17,667 INFO  SwAddin.cs: 197 - Setting up callbacks
-2025-05-27 08:23:17,668 INFO  SwAddin.cs: 201 - Setting up command manager
-2025-05-27 08:23:17,668 INFO  SwAddin.cs: 204 - Adding command manager
-2025-05-27 08:23:17,671 INFO  SwAddin.cs: 263 - Adding Assembly export to file menu
-2025-05-27 08:23:17,672 INFO  SwAddin.cs: 272 - Adding Part export to file menu
-2025-05-27 08:23:17,672 INFO  SwAddin.cs: 210 - Adding event handlers
-2025-05-27 08:23:17,674 INFO  SwAddin.cs: 217 - Connecting plugin to SolidWorks
-2025-05-27 08:26:12,314 INFO  SwAddin.cs: 294 - Assembly export called for file AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:26:12,315 INFO  SwAddin.cs: 299 - Save is required
-2025-05-27 08:26:12,315 INFO  SwAddin.cs: 313 - Saving assembly
-2025-05-27 08:26:12,684 INFO  SwAddin.cs: 316 - Opening property manager
-2025-05-27 08:26:12,697 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:26:12,702 INFO  ExportHelperExtension.cs: 1136 - Found 259 in AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:26:12,704 INFO  ExportHelperExtension.cs: 1145 - Found 15 features of type [CoordSys] in AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:26:12,704 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
-2025-05-27 08:26:12,705 INFO  ExportHelperExtension.cs: 1160 - 49 components to check
-2025-05-27 08:26:12,706 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �����-2
-2025-05-27 08:26:12,707 INFO  ExportHelperExtension.cs: 1136 - Found 72 in �����-2
-2025-05-27 08:26:12,707 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �����-2
-2025-05-27 08:26:12,708 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-1
-2025-05-27 08:26:12,708 INFO  ExportHelperExtension.cs: 1136 - Found 24 in ����-1
-2025-05-27 08:26:12,708 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-1
-2025-05-27 08:26:12,708 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��λģ��-1
-2025-05-27 08:26:12,709 INFO  ExportHelperExtension.cs: 1136 - Found 35 in ��λģ��-1
-2025-05-27 08:26:12,709 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��λģ��-1
-2025-05-27 08:26:12,709 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���Dz���-3
-2025-05-27 08:26:12,710 INFO  ExportHelperExtension.cs: 1136 - Found 35 in ���Dz���-3
-2025-05-27 08:26:12,710 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���Dz���-3
-2025-05-27 08:26:12,710 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �ڲ���-2
-2025-05-27 08:26:12,711 INFO  ExportHelperExtension.cs: 1136 - Found 27 in �ڲ���-2
-2025-05-27 08:26:12,711 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �ڲ���-2
-2025-05-27 08:26:12,711 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �ڲ���-1
-2025-05-27 08:26:12,712 INFO  ExportHelperExtension.cs: 1136 - Found 27 in �ڲ���-1
-2025-05-27 08:26:12,712 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �ڲ���-1
-2025-05-27 08:26:12,712 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-1
-2025-05-27 08:26:12,712 INFO  ExportHelperExtension.cs: 1136 - Found 26 in ����-1
-2025-05-27 08:26:12,713 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-1
-2025-05-27 08:26:12,713 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��λģ��2-2
-2025-05-27 08:26:12,713 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��λģ��2-2
-2025-05-27 08:26:12,714 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��λģ��2-2
-2025-05-27 08:26:12,714 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �����Ƹ�-2
-2025-05-27 08:26:12,714 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �����Ƹ�-2
-2025-05-27 08:26:12,715 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �����Ƹ�-2
-2025-05-27 08:26:12,715 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �����-1
-2025-05-27 08:26:12,715 INFO  ExportHelperExtension.cs: 1136 - Found 72 in �����-1
-2025-05-27 08:26:12,716 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �����-1
-2025-05-27 08:26:12,716 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Angle For Aluminum Profile 3030-4
-2025-05-27 08:26:12,716 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-4
-2025-05-27 08:26:12,717 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Angle For Aluminum Profile 3030-4
-2025-05-27 08:26:12,717 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����µ����-2
-2025-05-27 08:26:12,717 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ����µ����-2
-2025-05-27 08:26:12,718 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����µ����-2
-2025-05-27 08:26:12,718 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �粿���µ����-1
-2025-05-27 08:26:12,718 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �粿���µ����-1
-2025-05-27 08:26:12,719 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �粿���µ����-1
-2025-05-27 08:26:12,719 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �������-2
-2025-05-27 08:26:12,719 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-2
-2025-05-27 08:26:12,720 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �������-2
-2025-05-27 08:26:12,720 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Angle For Aluminum Profile 3030-5
-2025-05-27 08:26:12,721 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-5
-2025-05-27 08:26:12,721 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Angle For Aluminum Profile 3030-5
-2025-05-27 08:26:12,722 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
-2025-05-27 08:26:12,722 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ����-2
-2025-05-27 08:26:12,722 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
-2025-05-27 08:26:12,723 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from AA�����ϰ���-1
-2025-05-27 08:26:12,723 INFO  ExportHelperExtension.cs: 1136 - Found 27 in AA�����ϰ���-1
-2025-05-27 08:26:12,724 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in AA�����ϰ���-1
-2025-05-27 08:26:12,724 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �򻯵��-2
-2025-05-27 08:26:12,724 INFO  ExportHelperExtension.cs: 1136 - Found 31 in �򻯵��-2
-2025-05-27 08:26:12,725 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �򻯵��-2
-2025-05-27 08:26:12,725 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �������-1
-2025-05-27 08:26:12,725 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-1
-2025-05-27 08:26:12,726 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �������-1
-2025-05-27 08:26:12,726 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �������-4
-2025-05-27 08:26:12,726 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-4
-2025-05-27 08:26:12,726 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �������-4
-2025-05-27 08:26:12,728 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ������Ӽ�1-1
-2025-05-27 08:26:12,728 INFO  ExportHelperExtension.cs: 1136 - Found 46 in ������Ӽ�1-1
-2025-05-27 08:26:12,729 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ������Ӽ�1-1
-2025-05-27 08:26:12,729 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:26:12,729 INFO  ExportHelperExtension.cs: 1136 - Found 59 in Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:26:12,730 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:26:12,730 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �򻯵��-1
-2025-05-27 08:26:12,731 INFO  ExportHelperExtension.cs: 1136 - Found 31 in �򻯵��-1
-2025-05-27 08:26:12,731 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �򻯵��-1
-2025-05-27 08:26:12,731 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:26:12,732 INFO  ExportHelperExtension.cs: 1136 - Found 59 in Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:26:12,732 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:26:12,733 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ������Ӽ�1-2
-2025-05-27 08:26:12,733 INFO  ExportHelperExtension.cs: 1136 - Found 46 in ������Ӽ�1-2
-2025-05-27 08:26:12,733 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ������Ӽ�1-2
-2025-05-27 08:26:12,734 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-3
-2025-05-27 08:26:12,734 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ����-3
-2025-05-27 08:26:12,734 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-3
-2025-05-27 08:26:12,735 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ֧�Ű�-1
-2025-05-27 08:26:12,735 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ֧�Ű�-1
-2025-05-27 08:26:12,736 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ֧�Ű�-1
-2025-05-27 08:26:12,736 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �������-3
-2025-05-27 08:26:12,736 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-3
-2025-05-27 08:26:12,740 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �������-3
-2025-05-27 08:26:12,740 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ϰ�����һ��-2
-2025-05-27 08:26:12,750 INFO  ExportHelperExtension.cs: 1136 - Found 60 in ���ϰ�����һ��-2
-2025-05-27 08:26:12,751 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ϰ�����һ��-2
-2025-05-27 08:26:12,751 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Angle For Aluminum Profile 3030-1
-2025-05-27 08:26:12,752 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-1
-2025-05-27 08:26:12,752 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Angle For Aluminum Profile 3030-1
-2025-05-27 08:26:12,752 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ֧�Ű�-2
-2025-05-27 08:26:12,753 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ֧�Ű�-2
-2025-05-27 08:26:12,753 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ֧�Ű�-2
-2025-05-27 08:26:12,753 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Angle For Aluminum Profile 3030-3
-2025-05-27 08:26:12,754 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-3
-2025-05-27 08:26:12,754 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Angle For Aluminum Profile 3030-3
-2025-05-27 08:26:12,754 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ϰ���һ��-1
-2025-05-27 08:26:12,755 INFO  ExportHelperExtension.cs: 1136 - Found 59 in ���ϰ���һ��-1
-2025-05-27 08:26:12,755 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ϰ���һ��-1
-2025-05-27 08:26:12,755 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����µ����-1
-2025-05-27 08:26:12,756 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ����µ����-1
-2025-05-27 08:26:12,756 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����µ����-1
-2025-05-27 08:26:12,756 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3rd(i)-7
-2025-05-27 08:26:12,757 INFO  ExportHelperExtension.cs: 1136 - Found 41 in 3rd(i)-7
-2025-05-27 08:26:12,757 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3rd(i)-7
-2025-05-27 08:26:12,757 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4th(i)-10
-2025-05-27 08:26:12,758 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-10
-2025-05-27 08:26:12,758 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4th(i)-10
-2025-05-27 08:26:12,758 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����ϵ����-2
-2025-05-27 08:26:12,758 INFO  ExportHelperExtension.cs: 1136 - Found 29 in ����ϵ����-2
-2025-05-27 08:26:12,759 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����ϵ����-2
-2025-05-27 08:26:12,759 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from DC13_X540_DUMMY-4
-2025-05-27 08:26:12,759 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-4
-2025-05-27 08:26:12,760 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in DC13_X540_DUMMY-4
-2025-05-27 08:26:12,760 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4th(i)-9
-2025-05-27 08:26:12,760 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-9
-2025-05-27 08:26:12,760 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4th(i)-9
-2025-05-27 08:26:12,761 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from DC13_X540_DUMMY-1
-2025-05-27 08:26:12,761 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-1
-2025-05-27 08:26:12,761 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in DC13_X540_DUMMY-1
-2025-05-27 08:26:12,762 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4th(i)-8
-2025-05-27 08:26:12,762 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-8
-2025-05-27 08:26:12,762 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4th(i)-8
-2025-05-27 08:26:12,762 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4th(i)-7
-2025-05-27 08:26:12,763 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-7
-2025-05-27 08:26:12,763 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4th(i)-7
-2025-05-27 08:26:12,763 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from DC13_X540_DUMMY-2
-2025-05-27 08:26:12,763 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-2
-2025-05-27 08:26:12,764 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in DC13_X540_DUMMY-2
-2025-05-27 08:26:12,764 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �粿���µ����-2
-2025-05-27 08:26:12,764 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �粿���µ����-2
-2025-05-27 08:26:12,765 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �粿���µ����-2
-2025-05-27 08:26:12,765 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����ϵ����-1
-2025-05-27 08:26:12,765 INFO  ExportHelperExtension.cs: 1136 - Found 29 in ����ϵ����-1
-2025-05-27 08:26:12,766 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����ϵ����-1
-2025-05-27 08:26:12,766 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from arm1_bendlink-1
-2025-05-27 08:26:12,766 INFO  ExportHelperExtension.cs: 1136 - Found 36 in arm1_bendlink-1
-2025-05-27 08:26:12,767 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in arm1_bendlink-1
-2025-05-27 08:26:12,767 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from arm1_bendlink-3
-2025-05-27 08:26:12,767 INFO  ExportHelperExtension.cs: 1136 - Found 36 in arm1_bendlink-3
-2025-05-27 08:26:12,767 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in arm1_bendlink-3
-2025-05-27 08:26:12,768 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3rd(i)-8
-2025-05-27 08:26:12,768 INFO  ExportHelperExtension.cs: 1136 - Found 41 in 3rd(i)-8
-2025-05-27 08:26:12,768 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3rd(i)-8
-2025-05-27 08:26:12,769 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from DC13_X540_DUMMY-3
-2025-05-27 08:26:12,769 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-3
-2025-05-27 08:26:12,769 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in DC13_X540_DUMMY-3
-2025-05-27 08:26:12,770 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:26:12,770 INFO  ExportHelperExtension.cs: 1136 - Found 259 in AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:26:12,771 INFO  ExportHelperExtension.cs: 1145 - Found 14 features of type [RefAxis] in AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:26:12,771 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
-2025-05-27 08:26:12,772 INFO  ExportHelperExtension.cs: 1160 - 49 components to check
-2025-05-27 08:26:12,772 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �����-2
-2025-05-27 08:26:12,772 INFO  ExportHelperExtension.cs: 1136 - Found 72 in �����-2
-2025-05-27 08:26:12,773 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �����-2
-2025-05-27 08:26:12,773 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-1
-2025-05-27 08:26:12,774 INFO  ExportHelperExtension.cs: 1136 - Found 24 in ����-1
-2025-05-27 08:26:12,774 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-1
-2025-05-27 08:26:12,774 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��λģ��-1
-2025-05-27 08:26:12,775 INFO  ExportHelperExtension.cs: 1136 - Found 35 in ��λģ��-1
-2025-05-27 08:26:12,775 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��λģ��-1
-2025-05-27 08:26:12,775 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���Dz���-3
-2025-05-27 08:26:12,776 INFO  ExportHelperExtension.cs: 1136 - Found 35 in ���Dz���-3
-2025-05-27 08:26:12,776 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���Dz���-3
-2025-05-27 08:26:12,776 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �ڲ���-2
-2025-05-27 08:26:12,777 INFO  ExportHelperExtension.cs: 1136 - Found 27 in �ڲ���-2
-2025-05-27 08:26:12,777 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �ڲ���-2
-2025-05-27 08:26:12,777 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �ڲ���-1
-2025-05-27 08:26:12,778 INFO  ExportHelperExtension.cs: 1136 - Found 27 in �ڲ���-1
-2025-05-27 08:26:12,778 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �ڲ���-1
-2025-05-27 08:26:12,778 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-1
-2025-05-27 08:26:12,779 INFO  ExportHelperExtension.cs: 1136 - Found 26 in ����-1
-2025-05-27 08:26:12,779 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-1
-2025-05-27 08:26:12,779 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��λģ��2-2
-2025-05-27 08:26:12,780 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��λģ��2-2
-2025-05-27 08:26:12,780 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��λģ��2-2
-2025-05-27 08:26:12,780 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �����Ƹ�-2
-2025-05-27 08:26:12,780 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �����Ƹ�-2
-2025-05-27 08:26:12,781 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �����Ƹ�-2
-2025-05-27 08:26:12,781 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �����-1
-2025-05-27 08:26:12,781 INFO  ExportHelperExtension.cs: 1136 - Found 72 in �����-1
-2025-05-27 08:26:12,782 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �����-1
-2025-05-27 08:26:12,782 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Angle For Aluminum Profile 3030-4
-2025-05-27 08:26:12,782 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-4
-2025-05-27 08:26:12,783 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Angle For Aluminum Profile 3030-4
-2025-05-27 08:26:12,783 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����µ����-2
-2025-05-27 08:26:12,784 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ����µ����-2
-2025-05-27 08:26:12,784 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����µ����-2
-2025-05-27 08:26:12,784 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �粿���µ����-1
-2025-05-27 08:26:12,784 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �粿���µ����-1
-2025-05-27 08:26:12,785 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �粿���µ����-1
-2025-05-27 08:26:12,785 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �������-2
-2025-05-27 08:26:12,785 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-2
-2025-05-27 08:26:12,786 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �������-2
-2025-05-27 08:26:12,786 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Angle For Aluminum Profile 3030-5
-2025-05-27 08:26:12,786 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-5
-2025-05-27 08:26:12,787 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Angle For Aluminum Profile 3030-5
-2025-05-27 08:26:12,787 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
-2025-05-27 08:26:12,787 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ����-2
-2025-05-27 08:26:12,787 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
-2025-05-27 08:26:12,788 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from AA�����ϰ���-1
-2025-05-27 08:26:12,788 INFO  ExportHelperExtension.cs: 1136 - Found 27 in AA�����ϰ���-1
-2025-05-27 08:26:12,788 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in AA�����ϰ���-1
-2025-05-27 08:26:12,789 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �򻯵��-2
-2025-05-27 08:26:12,789 INFO  ExportHelperExtension.cs: 1136 - Found 31 in �򻯵��-2
-2025-05-27 08:26:12,789 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �򻯵��-2
-2025-05-27 08:26:12,789 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �������-1
-2025-05-27 08:26:12,790 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-1
-2025-05-27 08:26:12,790 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �������-1
-2025-05-27 08:26:12,790 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �������-4
-2025-05-27 08:26:12,791 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-4
-2025-05-27 08:26:12,791 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �������-4
-2025-05-27 08:26:12,791 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ������Ӽ�1-1
-2025-05-27 08:26:12,792 INFO  ExportHelperExtension.cs: 1136 - Found 46 in ������Ӽ�1-1
-2025-05-27 08:26:12,792 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ������Ӽ�1-1
-2025-05-27 08:26:12,792 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:26:12,793 INFO  ExportHelperExtension.cs: 1136 - Found 59 in Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:26:12,793 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:26:12,793 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �򻯵��-1
-2025-05-27 08:26:12,794 INFO  ExportHelperExtension.cs: 1136 - Found 31 in �򻯵��-1
-2025-05-27 08:26:12,794 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �򻯵��-1
-2025-05-27 08:26:12,794 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:26:12,794 INFO  ExportHelperExtension.cs: 1136 - Found 59 in Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:26:12,795 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:26:12,795 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ������Ӽ�1-2
-2025-05-27 08:26:12,795 INFO  ExportHelperExtension.cs: 1136 - Found 46 in ������Ӽ�1-2
-2025-05-27 08:26:12,796 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ������Ӽ�1-2
-2025-05-27 08:26:12,796 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-3
-2025-05-27 08:26:12,796 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ����-3
-2025-05-27 08:26:12,797 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-3
-2025-05-27 08:26:12,797 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ֧�Ű�-1
-2025-05-27 08:26:12,797 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ֧�Ű�-1
-2025-05-27 08:26:12,798 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ֧�Ű�-1
-2025-05-27 08:26:12,798 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �������-3
-2025-05-27 08:26:12,798 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-3
-2025-05-27 08:26:12,798 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �������-3
-2025-05-27 08:26:12,799 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ϰ�����һ��-2
-2025-05-27 08:26:12,799 INFO  ExportHelperExtension.cs: 1136 - Found 60 in ���ϰ�����һ��-2
-2025-05-27 08:26:12,799 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ϰ�����һ��-2
-2025-05-27 08:26:12,800 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Angle For Aluminum Profile 3030-1
-2025-05-27 08:26:12,800 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-1
-2025-05-27 08:26:12,800 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Angle For Aluminum Profile 3030-1
-2025-05-27 08:26:12,807 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ֧�Ű�-2
-2025-05-27 08:26:12,829 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ֧�Ű�-2
-2025-05-27 08:26:12,830 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ֧�Ű�-2
-2025-05-27 08:26:12,830 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Angle For Aluminum Profile 3030-3
-2025-05-27 08:26:12,831 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-3
-2025-05-27 08:26:12,831 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Angle For Aluminum Profile 3030-3
-2025-05-27 08:26:12,832 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ϰ���һ��-1
-2025-05-27 08:26:12,832 INFO  ExportHelperExtension.cs: 1136 - Found 59 in ���ϰ���һ��-1
-2025-05-27 08:26:12,833 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ϰ���һ��-1
-2025-05-27 08:26:12,833 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����µ����-1
-2025-05-27 08:26:12,834 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ����µ����-1
-2025-05-27 08:26:12,834 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����µ����-1
-2025-05-27 08:26:12,834 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3rd(i)-7
-2025-05-27 08:26:12,835 INFO  ExportHelperExtension.cs: 1136 - Found 41 in 3rd(i)-7
-2025-05-27 08:26:12,836 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3rd(i)-7
-2025-05-27 08:26:12,836 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4th(i)-10
-2025-05-27 08:26:12,836 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-10
-2025-05-27 08:26:12,837 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4th(i)-10
-2025-05-27 08:26:12,837 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����ϵ����-2
-2025-05-27 08:26:12,838 INFO  ExportHelperExtension.cs: 1136 - Found 29 in ����ϵ����-2
-2025-05-27 08:26:12,838 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����ϵ����-2
-2025-05-27 08:26:12,838 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from DC13_X540_DUMMY-4
-2025-05-27 08:26:12,838 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-4
-2025-05-27 08:26:12,839 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in DC13_X540_DUMMY-4
-2025-05-27 08:26:12,839 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4th(i)-9
-2025-05-27 08:26:12,839 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-9
-2025-05-27 08:26:12,840 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4th(i)-9
-2025-05-27 08:26:12,840 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from DC13_X540_DUMMY-1
-2025-05-27 08:26:12,840 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-1
-2025-05-27 08:26:12,841 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in DC13_X540_DUMMY-1
-2025-05-27 08:26:12,841 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4th(i)-8
-2025-05-27 08:26:12,841 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-8
-2025-05-27 08:26:12,841 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4th(i)-8
-2025-05-27 08:26:12,842 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4th(i)-7
-2025-05-27 08:26:12,842 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-7
-2025-05-27 08:26:12,842 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4th(i)-7
-2025-05-27 08:26:12,843 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from DC13_X540_DUMMY-2
-2025-05-27 08:26:12,843 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-2
-2025-05-27 08:26:12,843 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in DC13_X540_DUMMY-2
-2025-05-27 08:26:12,843 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �粿���µ����-2
-2025-05-27 08:26:12,844 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �粿���µ����-2
-2025-05-27 08:26:12,844 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �粿���µ����-2
-2025-05-27 08:26:12,844 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����ϵ����-1
-2025-05-27 08:26:12,845 INFO  ExportHelperExtension.cs: 1136 - Found 29 in ����ϵ����-1
-2025-05-27 08:26:12,845 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����ϵ����-1
-2025-05-27 08:26:12,846 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from arm1_bendlink-1
-2025-05-27 08:26:12,846 INFO  ExportHelperExtension.cs: 1136 - Found 36 in arm1_bendlink-1
-2025-05-27 08:26:12,847 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in arm1_bendlink-1
-2025-05-27 08:26:12,847 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from arm1_bendlink-3
-2025-05-27 08:26:12,847 INFO  ExportHelperExtension.cs: 1136 - Found 36 in arm1_bendlink-3
-2025-05-27 08:26:12,848 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in arm1_bendlink-3
-2025-05-27 08:26:12,848 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3rd(i)-8
-2025-05-27 08:26:12,849 INFO  ExportHelperExtension.cs: 1136 - Found 41 in 3rd(i)-8
-2025-05-27 08:26:12,849 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3rd(i)-8
-2025-05-27 08:26:12,850 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from DC13_X540_DUMMY-3
-2025-05-27 08:26:12,850 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-3
-2025-05-27 08:26:12,851 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in DC13_X540_DUMMY-3
-2025-05-27 08:26:13,003 INFO  SwAddin.cs: 339 - Loading config tree
-2025-05-27 08:26:13,008 INFO  ExportPropertyManagerExtension.cs: 520 - Starting new configuration
-2025-05-27 08:26:13,011 INFO  SwAddin.cs: 344 - Showing property manager
-2025-05-27 08:28:36,467 INFO  ExportPropertyManager.cs: 422 - Configuration saved
-2025-05-27 08:28:36,626 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:29:05,336 INFO  SwAddin.cs: 294 - Assembly export called for file AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:29:05,337 INFO  SwAddin.cs: 299 - Save is required
-2025-05-27 08:29:05,337 INFO  SwAddin.cs: 313 - Saving assembly
-2025-05-27 08:29:05,709 INFO  SwAddin.cs: 316 - Opening property manager
-2025-05-27 08:29:05,709 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:29:05,710 INFO  ExportHelperExtension.cs: 1136 - Found 259 in AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:29:05,711 INFO  ExportHelperExtension.cs: 1145 - Found 15 features of type [CoordSys] in AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:29:05,711 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
-2025-05-27 08:29:05,711 INFO  ExportHelperExtension.cs: 1160 - 49 components to check
-2025-05-27 08:29:05,712 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �����-2
-2025-05-27 08:29:05,712 INFO  ExportHelperExtension.cs: 1136 - Found 72 in �����-2
-2025-05-27 08:29:05,712 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �����-2
-2025-05-27 08:29:05,713 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-1
-2025-05-27 08:29:05,713 INFO  ExportHelperExtension.cs: 1136 - Found 24 in ����-1
-2025-05-27 08:29:05,713 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-1
-2025-05-27 08:29:05,714 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��λģ��-1
-2025-05-27 08:29:05,714 INFO  ExportHelperExtension.cs: 1136 - Found 35 in ��λģ��-1
-2025-05-27 08:29:05,714 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��λģ��-1
-2025-05-27 08:29:05,715 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���Dz���-3
-2025-05-27 08:29:05,715 INFO  ExportHelperExtension.cs: 1136 - Found 35 in ���Dz���-3
-2025-05-27 08:29:05,716 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���Dz���-3
-2025-05-27 08:29:05,716 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �ڲ���-2
-2025-05-27 08:29:05,716 INFO  ExportHelperExtension.cs: 1136 - Found 27 in �ڲ���-2
-2025-05-27 08:29:05,717 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �ڲ���-2
-2025-05-27 08:29:05,717 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �ڲ���-1
-2025-05-27 08:29:05,717 INFO  ExportHelperExtension.cs: 1136 - Found 27 in �ڲ���-1
-2025-05-27 08:29:05,718 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �ڲ���-1
-2025-05-27 08:29:05,718 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-1
-2025-05-27 08:29:05,718 INFO  ExportHelperExtension.cs: 1136 - Found 26 in ����-1
-2025-05-27 08:29:05,719 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-1
-2025-05-27 08:29:05,719 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��λģ��2-2
-2025-05-27 08:29:05,719 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��λģ��2-2
-2025-05-27 08:29:05,720 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��λģ��2-2
-2025-05-27 08:29:05,720 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �����Ƹ�-2
-2025-05-27 08:29:05,720 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �����Ƹ�-2
-2025-05-27 08:29:05,721 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �����Ƹ�-2
-2025-05-27 08:29:05,721 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �����-1
-2025-05-27 08:29:05,721 INFO  ExportHelperExtension.cs: 1136 - Found 72 in �����-1
-2025-05-27 08:29:05,722 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �����-1
-2025-05-27 08:29:05,722 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Angle For Aluminum Profile 3030-4
-2025-05-27 08:29:05,722 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-4
-2025-05-27 08:29:05,723 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Angle For Aluminum Profile 3030-4
-2025-05-27 08:29:05,723 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����µ����-2
-2025-05-27 08:29:05,723 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ����µ����-2
-2025-05-27 08:29:05,723 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����µ����-2
-2025-05-27 08:29:05,724 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �粿���µ����-1
-2025-05-27 08:29:05,724 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �粿���µ����-1
-2025-05-27 08:29:05,724 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �粿���µ����-1
-2025-05-27 08:29:05,725 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �������-2
-2025-05-27 08:29:05,725 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-2
-2025-05-27 08:29:05,725 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �������-2
-2025-05-27 08:29:05,726 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Angle For Aluminum Profile 3030-5
-2025-05-27 08:29:05,726 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-5
-2025-05-27 08:29:05,726 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Angle For Aluminum Profile 3030-5
-2025-05-27 08:29:05,727 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
-2025-05-27 08:29:05,727 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ����-2
-2025-05-27 08:29:05,727 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
-2025-05-27 08:29:05,727 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from AA�����ϰ���-1
-2025-05-27 08:29:05,728 INFO  ExportHelperExtension.cs: 1136 - Found 27 in AA�����ϰ���-1
-2025-05-27 08:29:05,728 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in AA�����ϰ���-1
-2025-05-27 08:29:05,728 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �򻯵��-2
-2025-05-27 08:29:05,729 INFO  ExportHelperExtension.cs: 1136 - Found 31 in �򻯵��-2
-2025-05-27 08:29:05,729 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �򻯵��-2
-2025-05-27 08:29:05,733 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �������-1
-2025-05-27 08:29:05,750 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-1
-2025-05-27 08:29:05,751 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �������-1
-2025-05-27 08:29:05,751 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �������-4
-2025-05-27 08:29:05,751 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-4
-2025-05-27 08:29:05,752 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �������-4
-2025-05-27 08:29:05,752 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ������Ӽ�1-1
-2025-05-27 08:29:05,752 INFO  ExportHelperExtension.cs: 1136 - Found 46 in ������Ӽ�1-1
-2025-05-27 08:29:05,753 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ������Ӽ�1-1
-2025-05-27 08:29:05,753 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:29:05,754 INFO  ExportHelperExtension.cs: 1136 - Found 59 in Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:29:05,754 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:29:05,755 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �򻯵��-1
-2025-05-27 08:29:05,755 INFO  ExportHelperExtension.cs: 1136 - Found 31 in �򻯵��-1
-2025-05-27 08:29:05,755 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �򻯵��-1
-2025-05-27 08:29:05,756 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:29:05,756 INFO  ExportHelperExtension.cs: 1136 - Found 59 in Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:29:05,757 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:29:05,757 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ������Ӽ�1-2
-2025-05-27 08:29:05,757 INFO  ExportHelperExtension.cs: 1136 - Found 46 in ������Ӽ�1-2
-2025-05-27 08:29:05,758 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ������Ӽ�1-2
-2025-05-27 08:29:05,758 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-3
-2025-05-27 08:29:05,759 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ����-3
-2025-05-27 08:29:05,759 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-3
-2025-05-27 08:29:05,759 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ֧�Ű�-1
-2025-05-27 08:29:05,760 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ֧�Ű�-1
-2025-05-27 08:29:05,760 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ֧�Ű�-1
-2025-05-27 08:29:05,761 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �������-3
-2025-05-27 08:29:05,761 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-3
-2025-05-27 08:29:05,762 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �������-3
-2025-05-27 08:29:05,762 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ϰ�����һ��-2
-2025-05-27 08:29:05,763 INFO  ExportHelperExtension.cs: 1136 - Found 60 in ���ϰ�����һ��-2
-2025-05-27 08:29:05,763 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ϰ�����һ��-2
-2025-05-27 08:29:05,763 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Angle For Aluminum Profile 3030-1
-2025-05-27 08:29:05,764 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-1
-2025-05-27 08:29:05,764 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Angle For Aluminum Profile 3030-1
-2025-05-27 08:29:05,764 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ֧�Ű�-2
-2025-05-27 08:29:05,765 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ֧�Ű�-2
-2025-05-27 08:29:05,765 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ֧�Ű�-2
-2025-05-27 08:29:05,765 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Angle For Aluminum Profile 3030-3
-2025-05-27 08:29:05,766 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-3
-2025-05-27 08:29:05,766 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Angle For Aluminum Profile 3030-3
-2025-05-27 08:29:05,766 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ϰ���һ��-1
-2025-05-27 08:29:05,767 INFO  ExportHelperExtension.cs: 1136 - Found 59 in ���ϰ���һ��-1
-2025-05-27 08:29:05,767 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ϰ���һ��-1
-2025-05-27 08:29:05,768 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����µ����-1
-2025-05-27 08:29:05,768 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ����µ����-1
-2025-05-27 08:29:05,769 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����µ����-1
-2025-05-27 08:29:05,769 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3rd(i)-7
-2025-05-27 08:29:05,769 INFO  ExportHelperExtension.cs: 1136 - Found 41 in 3rd(i)-7
-2025-05-27 08:29:05,770 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3rd(i)-7
-2025-05-27 08:29:05,770 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4th(i)-10
-2025-05-27 08:29:05,770 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-10
-2025-05-27 08:29:05,771 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4th(i)-10
-2025-05-27 08:29:05,771 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����ϵ����-2
-2025-05-27 08:29:05,771 INFO  ExportHelperExtension.cs: 1136 - Found 29 in ����ϵ����-2
-2025-05-27 08:29:05,772 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����ϵ����-2
-2025-05-27 08:29:05,772 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from DC13_X540_DUMMY-4
-2025-05-27 08:29:05,772 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-4
-2025-05-27 08:29:05,773 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in DC13_X540_DUMMY-4
-2025-05-27 08:29:05,773 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4th(i)-9
-2025-05-27 08:29:05,774 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-9
-2025-05-27 08:29:05,774 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4th(i)-9
-2025-05-27 08:29:05,774 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from DC13_X540_DUMMY-1
-2025-05-27 08:29:05,775 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-1
-2025-05-27 08:29:05,775 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in DC13_X540_DUMMY-1
-2025-05-27 08:29:05,775 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4th(i)-8
-2025-05-27 08:29:05,776 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-8
-2025-05-27 08:29:05,776 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4th(i)-8
-2025-05-27 08:29:05,776 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4th(i)-7
-2025-05-27 08:29:05,777 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-7
-2025-05-27 08:29:05,777 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4th(i)-7
-2025-05-27 08:29:05,777 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from DC13_X540_DUMMY-2
-2025-05-27 08:29:05,777 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-2
-2025-05-27 08:29:05,778 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in DC13_X540_DUMMY-2
-2025-05-27 08:29:05,778 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �粿���µ����-2
-2025-05-27 08:29:05,778 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �粿���µ����-2
-2025-05-27 08:29:05,779 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �粿���µ����-2
-2025-05-27 08:29:05,779 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����ϵ����-1
-2025-05-27 08:29:05,779 INFO  ExportHelperExtension.cs: 1136 - Found 29 in ����ϵ����-1
-2025-05-27 08:29:05,780 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����ϵ����-1
-2025-05-27 08:29:05,780 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from arm1_bendlink-1
-2025-05-27 08:29:05,780 INFO  ExportHelperExtension.cs: 1136 - Found 36 in arm1_bendlink-1
-2025-05-27 08:29:05,781 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in arm1_bendlink-1
-2025-05-27 08:29:05,781 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from arm1_bendlink-3
-2025-05-27 08:29:05,781 INFO  ExportHelperExtension.cs: 1136 - Found 36 in arm1_bendlink-3
-2025-05-27 08:29:05,782 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in arm1_bendlink-3
-2025-05-27 08:29:05,782 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3rd(i)-8
-2025-05-27 08:29:05,782 INFO  ExportHelperExtension.cs: 1136 - Found 41 in 3rd(i)-8
-2025-05-27 08:29:05,782 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3rd(i)-8
-2025-05-27 08:29:05,783 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from DC13_X540_DUMMY-3
-2025-05-27 08:29:05,783 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-3
-2025-05-27 08:29:05,783 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in DC13_X540_DUMMY-3
-2025-05-27 08:29:05,784 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:29:05,784 INFO  ExportHelperExtension.cs: 1136 - Found 259 in AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:29:05,785 INFO  ExportHelperExtension.cs: 1145 - Found 14 features of type [RefAxis] in AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:29:05,785 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
-2025-05-27 08:29:05,786 INFO  ExportHelperExtension.cs: 1160 - 49 components to check
-2025-05-27 08:29:05,786 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �����-2
-2025-05-27 08:29:05,786 INFO  ExportHelperExtension.cs: 1136 - Found 72 in �����-2
-2025-05-27 08:29:05,787 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �����-2
-2025-05-27 08:29:05,787 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-1
-2025-05-27 08:29:05,787 INFO  ExportHelperExtension.cs: 1136 - Found 24 in ����-1
-2025-05-27 08:29:05,788 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-1
-2025-05-27 08:29:05,788 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��λģ��-1
-2025-05-27 08:29:05,788 INFO  ExportHelperExtension.cs: 1136 - Found 35 in ��λģ��-1
-2025-05-27 08:29:05,788 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��λģ��-1
-2025-05-27 08:29:05,789 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���Dz���-3
-2025-05-27 08:29:05,789 INFO  ExportHelperExtension.cs: 1136 - Found 35 in ���Dz���-3
-2025-05-27 08:29:05,789 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���Dz���-3
-2025-05-27 08:29:05,790 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �ڲ���-2
-2025-05-27 08:29:05,790 INFO  ExportHelperExtension.cs: 1136 - Found 27 in �ڲ���-2
-2025-05-27 08:29:05,790 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �ڲ���-2
-2025-05-27 08:29:05,791 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �ڲ���-1
-2025-05-27 08:29:05,791 INFO  ExportHelperExtension.cs: 1136 - Found 27 in �ڲ���-1
-2025-05-27 08:29:05,791 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �ڲ���-1
-2025-05-27 08:29:05,791 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-1
-2025-05-27 08:29:05,792 INFO  ExportHelperExtension.cs: 1136 - Found 26 in ����-1
-2025-05-27 08:29:05,792 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-1
-2025-05-27 08:29:05,792 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��λģ��2-2
-2025-05-27 08:29:05,793 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��λģ��2-2
-2025-05-27 08:29:05,793 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��λģ��2-2
-2025-05-27 08:29:05,793 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �����Ƹ�-2
-2025-05-27 08:29:05,793 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �����Ƹ�-2
-2025-05-27 08:29:05,794 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �����Ƹ�-2
-2025-05-27 08:29:05,794 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �����-1
-2025-05-27 08:29:05,794 INFO  ExportHelperExtension.cs: 1136 - Found 72 in �����-1
-2025-05-27 08:29:05,795 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �����-1
-2025-05-27 08:29:05,795 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Angle For Aluminum Profile 3030-4
-2025-05-27 08:29:05,795 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-4
-2025-05-27 08:29:05,796 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Angle For Aluminum Profile 3030-4
-2025-05-27 08:29:05,796 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����µ����-2
-2025-05-27 08:29:05,796 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ����µ����-2
-2025-05-27 08:29:05,797 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����µ����-2
-2025-05-27 08:29:05,797 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �粿���µ����-1
-2025-05-27 08:29:05,797 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �粿���µ����-1
-2025-05-27 08:29:05,798 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �粿���µ����-1
-2025-05-27 08:29:05,798 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �������-2
-2025-05-27 08:29:05,798 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-2
-2025-05-27 08:29:05,799 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �������-2
-2025-05-27 08:29:05,799 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Angle For Aluminum Profile 3030-5
-2025-05-27 08:29:05,799 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-5
-2025-05-27 08:29:05,800 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Angle For Aluminum Profile 3030-5
-2025-05-27 08:29:05,800 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
-2025-05-27 08:29:05,801 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ����-2
-2025-05-27 08:29:05,801 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
-2025-05-27 08:29:05,801 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from AA�����ϰ���-1
-2025-05-27 08:29:05,802 INFO  ExportHelperExtension.cs: 1136 - Found 27 in AA�����ϰ���-1
-2025-05-27 08:29:05,802 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in AA�����ϰ���-1
-2025-05-27 08:29:05,802 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �򻯵��-2
-2025-05-27 08:29:05,803 INFO  ExportHelperExtension.cs: 1136 - Found 31 in �򻯵��-2
-2025-05-27 08:29:05,803 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �򻯵��-2
-2025-05-27 08:29:05,803 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �������-1
-2025-05-27 08:29:05,804 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-1
-2025-05-27 08:29:05,804 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �������-1
-2025-05-27 08:29:05,804 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �������-4
-2025-05-27 08:29:05,804 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-4
-2025-05-27 08:29:05,805 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �������-4
-2025-05-27 08:29:05,805 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ������Ӽ�1-1
-2025-05-27 08:29:05,824 INFO  ExportHelperExtension.cs: 1136 - Found 46 in ������Ӽ�1-1
-2025-05-27 08:29:05,825 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ������Ӽ�1-1
-2025-05-27 08:29:05,825 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:29:05,825 INFO  ExportHelperExtension.cs: 1136 - Found 59 in Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:29:05,826 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:29:05,826 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �򻯵��-1
-2025-05-27 08:29:05,827 INFO  ExportHelperExtension.cs: 1136 - Found 31 in �򻯵��-1
-2025-05-27 08:29:05,827 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �򻯵��-1
-2025-05-27 08:29:05,827 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:29:05,827 INFO  ExportHelperExtension.cs: 1136 - Found 59 in Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:29:05,828 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:29:05,828 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ������Ӽ�1-2
-2025-05-27 08:29:05,828 INFO  ExportHelperExtension.cs: 1136 - Found 46 in ������Ӽ�1-2
-2025-05-27 08:29:05,829 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ������Ӽ�1-2
-2025-05-27 08:29:05,829 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-3
-2025-05-27 08:29:05,829 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ����-3
-2025-05-27 08:29:05,830 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-3
-2025-05-27 08:29:05,830 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ֧�Ű�-1
-2025-05-27 08:29:05,830 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ֧�Ű�-1
-2025-05-27 08:29:05,831 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ֧�Ű�-1
-2025-05-27 08:29:05,831 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �������-3
-2025-05-27 08:29:05,831 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-3
-2025-05-27 08:29:05,831 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �������-3
-2025-05-27 08:29:05,832 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ϰ�����һ��-2
-2025-05-27 08:29:05,832 INFO  ExportHelperExtension.cs: 1136 - Found 60 in ���ϰ�����һ��-2
-2025-05-27 08:29:05,832 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ϰ�����һ��-2
-2025-05-27 08:29:05,833 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Angle For Aluminum Profile 3030-1
-2025-05-27 08:29:05,833 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-1
-2025-05-27 08:29:05,833 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Angle For Aluminum Profile 3030-1
-2025-05-27 08:29:05,834 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ֧�Ű�-2
-2025-05-27 08:29:05,834 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ֧�Ű�-2
-2025-05-27 08:29:05,834 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ֧�Ű�-2
-2025-05-27 08:29:05,834 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Angle For Aluminum Profile 3030-3
-2025-05-27 08:29:05,835 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-3
-2025-05-27 08:29:05,835 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Angle For Aluminum Profile 3030-3
-2025-05-27 08:29:05,835 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ϰ���һ��-1
-2025-05-27 08:29:05,836 INFO  ExportHelperExtension.cs: 1136 - Found 59 in ���ϰ���һ��-1
-2025-05-27 08:29:05,836 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ϰ���һ��-1
-2025-05-27 08:29:05,836 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����µ����-1
-2025-05-27 08:29:05,837 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ����µ����-1
-2025-05-27 08:29:05,837 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����µ����-1
-2025-05-27 08:29:05,837 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3rd(i)-7
-2025-05-27 08:29:05,838 INFO  ExportHelperExtension.cs: 1136 - Found 41 in 3rd(i)-7
-2025-05-27 08:29:05,838 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3rd(i)-7
-2025-05-27 08:29:05,838 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4th(i)-10
-2025-05-27 08:29:05,838 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-10
-2025-05-27 08:29:05,839 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4th(i)-10
-2025-05-27 08:29:05,839 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����ϵ����-2
-2025-05-27 08:29:05,839 INFO  ExportHelperExtension.cs: 1136 - Found 29 in ����ϵ����-2
-2025-05-27 08:29:05,840 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����ϵ����-2
-2025-05-27 08:29:05,840 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from DC13_X540_DUMMY-4
-2025-05-27 08:29:05,840 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-4
-2025-05-27 08:29:05,841 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in DC13_X540_DUMMY-4
-2025-05-27 08:29:05,841 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4th(i)-9
-2025-05-27 08:29:05,841 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-9
-2025-05-27 08:29:05,841 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4th(i)-9
-2025-05-27 08:29:05,842 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from DC13_X540_DUMMY-1
-2025-05-27 08:29:05,842 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-1
-2025-05-27 08:29:05,842 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in DC13_X540_DUMMY-1
-2025-05-27 08:29:05,842 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4th(i)-8
-2025-05-27 08:29:05,843 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-8
-2025-05-27 08:29:05,843 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4th(i)-8
-2025-05-27 08:29:05,843 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4th(i)-7
-2025-05-27 08:29:05,844 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-7
-2025-05-27 08:29:05,844 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4th(i)-7
-2025-05-27 08:29:05,844 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from DC13_X540_DUMMY-2
-2025-05-27 08:29:05,844 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-2
-2025-05-27 08:29:05,845 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in DC13_X540_DUMMY-2
-2025-05-27 08:29:05,845 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �粿���µ����-2
-2025-05-27 08:29:05,845 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �粿���µ����-2
-2025-05-27 08:29:05,846 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �粿���µ����-2
-2025-05-27 08:29:05,846 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����ϵ����-1
-2025-05-27 08:29:05,846 INFO  ExportHelperExtension.cs: 1136 - Found 29 in ����ϵ����-1
-2025-05-27 08:29:05,846 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����ϵ����-1
-2025-05-27 08:29:05,847 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from arm1_bendlink-1
-2025-05-27 08:29:05,847 INFO  ExportHelperExtension.cs: 1136 - Found 36 in arm1_bendlink-1
-2025-05-27 08:29:05,847 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in arm1_bendlink-1
-2025-05-27 08:29:05,848 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from arm1_bendlink-3
-2025-05-27 08:29:05,848 INFO  ExportHelperExtension.cs: 1136 - Found 36 in arm1_bendlink-3
-2025-05-27 08:29:05,848 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in arm1_bendlink-3
-2025-05-27 08:29:05,848 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3rd(i)-8
-2025-05-27 08:29:05,849 INFO  ExportHelperExtension.cs: 1136 - Found 41 in 3rd(i)-8
-2025-05-27 08:29:05,849 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3rd(i)-8
-2025-05-27 08:29:05,849 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from DC13_X540_DUMMY-3
-2025-05-27 08:29:05,850 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-3
-2025-05-27 08:29:05,850 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in DC13_X540_DUMMY-3
-2025-05-27 08:29:05,966 INFO  SwAddin.cs: 339 - Loading config tree
-2025-05-27 08:29:05,967 INFO  ExportPropertyManagerExtension.cs: 520 - Starting new configuration
-2025-05-27 08:29:05,969 INFO  SwAddin.cs: 344 - Showing property manager
-2025-05-27 08:31:13,974 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:33:47,261 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:34:08,917 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:34:13,381 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:34:18,861 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:35:13,423 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:35:18,148 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:35:25,253 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:36:15,526 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:36:23,982 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:36:30,556 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:37:41,500 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:37:48,790 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:37:52,853 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:39:03,045 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:39:13,342 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:39:22,435 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:40:15,467 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:40:19,406 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:40:25,412 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:40:27,172 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:41:19,565 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:41:22,308 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:41:29,149 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:42:23,037 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:42:26,333 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:42:31,421 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:44:13,437 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:44:21,851 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:44:24,717 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:45:28,796 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:45:33,036 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:45:39,221 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:46:28,941 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:46:33,826 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:46:47,035 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:48:10,468 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:48:15,925 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:48:19,026 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:49:13,268 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:49:16,308 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:49:21,955 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:50:27,221 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:50:29,628 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:50:34,565 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 08:52:35,833 INFO  ExportPropertyManager.cs: 422 - Configuration saved
-2025-05-27 08:52:36,025 INFO  ExportHelperExtension.cs: 347 - Creating joint left_hip_pitch_link
-2025-05-27 08:52:36,273 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child left_hip_pitch_link failed
-2025-05-27 08:52:36,287 INFO  ExportHelperExtension.cs: 347 - Creating joint left_leg_pitch_link
-2025-05-27 08:52:36,373 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent left_hip_pitch_link to child left_leg_pitch_link failed
-2025-05-27 08:52:36,387 INFO  ExportHelperExtension.cs: 347 - Creating joint left_wheel2_link
-2025-05-27 08:52:36,465 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent left_leg_pitch_link to child left_wheel2_link failed
-2025-05-27 08:52:36,470 INFO  ExportHelperExtension.cs: 347 - Creating joint left_wheel1_link
-2025-05-27 08:52:36,547 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent left_hip_pitch_link to child left_wheel1_link failed
-2025-05-27 08:52:36,551 INFO  ExportHelperExtension.cs: 347 - Creating joint right_hip_pitch_link
-2025-05-27 08:52:36,633 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child right_hip_pitch_link failed
-2025-05-27 08:52:36,645 INFO  ExportHelperExtension.cs: 347 - Creating joint right_leg_pitch_link
-2025-05-27 08:52:36,728 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent right_hip_pitch_link to child right_leg_pitch_link failed
-2025-05-27 08:52:36,742 INFO  ExportHelperExtension.cs: 347 - Creating joint right_wheel2_link
-2025-05-27 08:52:36,820 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent right_leg_pitch_link to child right_wheel2_link failed
-2025-05-27 08:52:36,824 INFO  ExportHelperExtension.cs: 347 - Creating joint right_wheel1_link
-2025-05-27 08:52:36,902 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent right_hip_pitch_link to child right_wheel1_link failed
-2025-05-27 08:52:36,906 INFO  ExportHelperExtension.cs: 347 - Creating joint left_shoulder_link
-2025-05-27 08:52:36,989 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child left_shoulder_link failed
-2025-05-27 08:52:36,992 INFO  ExportHelperExtension.cs: 347 - Creating joint left_arm1_link
-2025-05-27 08:52:37,077 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent left_shoulder_link to child left_arm1_link failed
-2025-05-27 08:52:37,087 INFO  ExportHelperExtension.cs: 347 - Creating joint left_arm2_link
-2025-05-27 08:52:37,170 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent left_arm1_link to child left_arm2_link failed
-2025-05-27 08:52:37,218 INFO  ExportHelperExtension.cs: 347 - Creating joint right_shoulder_link
-2025-05-27 08:52:37,304 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child right_shoulder_link failed
-2025-05-27 08:52:37,307 INFO  ExportHelperExtension.cs: 347 - Creating joint right_arm1_link
-2025-05-27 08:52:37,393 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent right_shoulder_link to child right_arm1_link failed
-2025-05-27 08:52:37,403 INFO  ExportHelperExtension.cs: 347 - Creating joint right_arm2_link
-2025-05-27 08:52:37,489 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent right_arm1_link to child right_arm2_link failed
-2025-05-27 08:52:37,621 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:52:37,625 INFO  ExportHelperExtension.cs: 1136 - Found 260 in AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:52:37,626 INFO  ExportHelperExtension.cs: 1145 - Found 15 features of type [CoordSys] in AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:52:37,626 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
-2025-05-27 08:52:37,627 INFO  ExportHelperExtension.cs: 1160 - 49 components to check
-2025-05-27 08:52:37,627 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �����-2
-2025-05-27 08:52:37,628 INFO  ExportHelperExtension.cs: 1136 - Found 72 in �����-2
-2025-05-27 08:52:37,628 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �����-2
-2025-05-27 08:52:37,628 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-1
-2025-05-27 08:52:37,629 INFO  ExportHelperExtension.cs: 1136 - Found 24 in ����-1
-2025-05-27 08:52:37,629 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-1
-2025-05-27 08:52:37,629 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��λģ��-1
-2025-05-27 08:52:37,629 INFO  ExportHelperExtension.cs: 1136 - Found 35 in ��λģ��-1
-2025-05-27 08:52:37,630 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��λģ��-1
-2025-05-27 08:52:37,630 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���Dz���-3
-2025-05-27 08:52:37,630 INFO  ExportHelperExtension.cs: 1136 - Found 35 in ���Dz���-3
-2025-05-27 08:52:37,631 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���Dz���-3
-2025-05-27 08:52:37,631 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �ڲ���-2
-2025-05-27 08:52:37,632 INFO  ExportHelperExtension.cs: 1136 - Found 27 in �ڲ���-2
-2025-05-27 08:52:37,632 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �ڲ���-2
-2025-05-27 08:52:37,632 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �ڲ���-1
-2025-05-27 08:52:37,632 INFO  ExportHelperExtension.cs: 1136 - Found 27 in �ڲ���-1
-2025-05-27 08:52:37,639 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �ڲ���-1
-2025-05-27 08:52:37,639 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-1
-2025-05-27 08:52:37,653 INFO  ExportHelperExtension.cs: 1136 - Found 26 in ����-1
-2025-05-27 08:52:37,654 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-1
-2025-05-27 08:52:37,654 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��λģ��2-2
-2025-05-27 08:52:37,655 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��λģ��2-2
-2025-05-27 08:52:37,655 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��λģ��2-2
-2025-05-27 08:52:37,655 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �����Ƹ�-2
-2025-05-27 08:52:37,656 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �����Ƹ�-2
-2025-05-27 08:52:37,656 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �����Ƹ�-2
-2025-05-27 08:52:37,656 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �����-1
-2025-05-27 08:52:37,657 INFO  ExportHelperExtension.cs: 1136 - Found 72 in �����-1
-2025-05-27 08:52:37,657 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �����-1
-2025-05-27 08:52:37,657 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Angle For Aluminum Profile 3030-4
-2025-05-27 08:52:37,658 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-4
-2025-05-27 08:52:37,658 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Angle For Aluminum Profile 3030-4
-2025-05-27 08:52:37,658 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����µ����-2
-2025-05-27 08:52:37,659 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ����µ����-2
-2025-05-27 08:52:37,659 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����µ����-2
-2025-05-27 08:52:37,659 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �粿���µ����-1
-2025-05-27 08:52:37,660 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �粿���µ����-1
-2025-05-27 08:52:37,660 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �粿���µ����-1
-2025-05-27 08:52:37,660 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �������-2
-2025-05-27 08:52:37,660 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-2
-2025-05-27 08:52:37,661 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �������-2
-2025-05-27 08:52:37,661 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Angle For Aluminum Profile 3030-5
-2025-05-27 08:52:37,661 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-5
-2025-05-27 08:52:37,662 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Angle For Aluminum Profile 3030-5
-2025-05-27 08:52:37,662 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-2
-2025-05-27 08:52:37,662 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ����-2
-2025-05-27 08:52:37,663 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-2
-2025-05-27 08:52:37,663 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from AA�����ϰ���-1
-2025-05-27 08:52:37,663 INFO  ExportHelperExtension.cs: 1136 - Found 27 in AA�����ϰ���-1
-2025-05-27 08:52:37,663 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in AA�����ϰ���-1
-2025-05-27 08:52:37,664 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �򻯵��-2
-2025-05-27 08:52:37,664 INFO  ExportHelperExtension.cs: 1136 - Found 31 in �򻯵��-2
-2025-05-27 08:52:37,664 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �򻯵��-2
-2025-05-27 08:52:37,665 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �������-1
-2025-05-27 08:52:37,665 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-1
-2025-05-27 08:52:37,665 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �������-1
-2025-05-27 08:52:37,665 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �������-4
-2025-05-27 08:52:37,666 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-4
-2025-05-27 08:52:37,666 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �������-4
-2025-05-27 08:52:37,666 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ������Ӽ�1-1
-2025-05-27 08:52:37,667 INFO  ExportHelperExtension.cs: 1136 - Found 46 in ������Ӽ�1-1
-2025-05-27 08:52:37,667 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ������Ӽ�1-1
-2025-05-27 08:52:37,667 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:52:37,668 INFO  ExportHelperExtension.cs: 1136 - Found 59 in Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:52:37,668 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:52:37,668 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �򻯵��-1
-2025-05-27 08:52:37,668 INFO  ExportHelperExtension.cs: 1136 - Found 31 in �򻯵��-1
-2025-05-27 08:52:37,669 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �򻯵��-1
-2025-05-27 08:52:37,669 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:52:37,669 INFO  ExportHelperExtension.cs: 1136 - Found 59 in Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:52:37,670 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:52:37,670 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ������Ӽ�1-2
-2025-05-27 08:52:37,670 INFO  ExportHelperExtension.cs: 1136 - Found 46 in ������Ӽ�1-2
-2025-05-27 08:52:37,671 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ������Ӽ�1-2
-2025-05-27 08:52:37,671 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����-3
-2025-05-27 08:52:37,671 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ����-3
-2025-05-27 08:52:37,672 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����-3
-2025-05-27 08:52:37,672 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ֧�Ű�-1
-2025-05-27 08:52:37,672 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ֧�Ű�-1
-2025-05-27 08:52:37,673 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ֧�Ű�-1
-2025-05-27 08:52:37,673 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �������-3
-2025-05-27 08:52:37,673 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-3
-2025-05-27 08:52:37,673 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �������-3
-2025-05-27 08:52:37,674 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ϰ�����һ��-2
-2025-05-27 08:52:37,674 INFO  ExportHelperExtension.cs: 1136 - Found 60 in ���ϰ�����һ��-2
-2025-05-27 08:52:37,674 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ϰ�����һ��-2
-2025-05-27 08:52:37,675 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Angle For Aluminum Profile 3030-1
-2025-05-27 08:52:37,675 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-1
-2025-05-27 08:52:37,675 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Angle For Aluminum Profile 3030-1
-2025-05-27 08:52:37,676 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ֧�Ű�-2
-2025-05-27 08:52:37,676 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ֧�Ű�-2
-2025-05-27 08:52:37,676 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ֧�Ű�-2
-2025-05-27 08:52:37,676 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Angle For Aluminum Profile 3030-3
-2025-05-27 08:52:37,677 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-3
-2025-05-27 08:52:37,677 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Angle For Aluminum Profile 3030-3
-2025-05-27 08:52:37,677 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ϰ���һ��-1
-2025-05-27 08:52:37,678 INFO  ExportHelperExtension.cs: 1136 - Found 59 in ���ϰ���һ��-1
-2025-05-27 08:52:37,678 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ϰ���һ��-1
-2025-05-27 08:52:37,678 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����µ����-1
-2025-05-27 08:52:37,679 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ����µ����-1
-2025-05-27 08:52:37,679 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����µ����-1
-2025-05-27 08:52:37,679 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3rd(i)-7
-2025-05-27 08:52:37,680 INFO  ExportHelperExtension.cs: 1136 - Found 41 in 3rd(i)-7
-2025-05-27 08:52:37,680 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3rd(i)-7
-2025-05-27 08:52:37,680 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4th(i)-10
-2025-05-27 08:52:37,680 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-10
-2025-05-27 08:52:37,681 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4th(i)-10
-2025-05-27 08:52:37,681 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����ϵ����-2
-2025-05-27 08:52:37,681 INFO  ExportHelperExtension.cs: 1136 - Found 29 in ����ϵ����-2
-2025-05-27 08:52:37,682 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����ϵ����-2
-2025-05-27 08:52:37,682 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from DC13_X540_DUMMY-4
-2025-05-27 08:52:37,682 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-4
-2025-05-27 08:52:37,683 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in DC13_X540_DUMMY-4
-2025-05-27 08:52:37,683 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4th(i)-9
-2025-05-27 08:52:37,683 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-9
-2025-05-27 08:52:37,684 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4th(i)-9
-2025-05-27 08:52:37,684 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from DC13_X540_DUMMY-1
-2025-05-27 08:52:37,684 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-1
-2025-05-27 08:52:37,684 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in DC13_X540_DUMMY-1
-2025-05-27 08:52:37,685 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4th(i)-8
-2025-05-27 08:52:37,685 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-8
-2025-05-27 08:52:37,685 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4th(i)-8
-2025-05-27 08:52:37,686 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4th(i)-7
-2025-05-27 08:52:37,686 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-7
-2025-05-27 08:52:37,686 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4th(i)-7
-2025-05-27 08:52:37,686 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from DC13_X540_DUMMY-2
-2025-05-27 08:52:37,687 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-2
-2025-05-27 08:52:37,687 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in DC13_X540_DUMMY-2
-2025-05-27 08:52:37,687 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from �粿���µ����-2
-2025-05-27 08:52:37,688 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �粿���µ����-2
-2025-05-27 08:52:37,691 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in �粿���µ����-2
-2025-05-27 08:52:37,691 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ����ϵ����-1
-2025-05-27 08:52:37,709 INFO  ExportHelperExtension.cs: 1136 - Found 29 in ����ϵ����-1
-2025-05-27 08:52:37,709 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ����ϵ����-1
-2025-05-27 08:52:37,710 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from arm1_bendlink-1
-2025-05-27 08:52:37,710 INFO  ExportHelperExtension.cs: 1136 - Found 36 in arm1_bendlink-1
-2025-05-27 08:52:37,710 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in arm1_bendlink-1
-2025-05-27 08:52:37,711 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from arm1_bendlink-3
-2025-05-27 08:52:37,711 INFO  ExportHelperExtension.cs: 1136 - Found 36 in arm1_bendlink-3
-2025-05-27 08:52:37,711 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in arm1_bendlink-3
-2025-05-27 08:52:37,711 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3rd(i)-8
-2025-05-27 08:52:37,712 INFO  ExportHelperExtension.cs: 1136 - Found 41 in 3rd(i)-8
-2025-05-27 08:52:37,712 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3rd(i)-8
-2025-05-27 08:52:37,712 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from DC13_X540_DUMMY-3
-2025-05-27 08:52:37,713 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-3
-2025-05-27 08:52:37,713 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in DC13_X540_DUMMY-3
-2025-05-27 08:52:37,713 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:52:37,714 INFO  ExportHelperExtension.cs: 1136 - Found 260 in AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:52:37,715 INFO  ExportHelperExtension.cs: 1145 - Found 14 features of type [RefAxis] in AA�򻯳�Ʒ ����������.SLDASM
-2025-05-27 08:52:37,715 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
-2025-05-27 08:52:37,715 INFO  ExportHelperExtension.cs: 1160 - 49 components to check
-2025-05-27 08:52:37,715 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �����-2
-2025-05-27 08:52:37,716 INFO  ExportHelperExtension.cs: 1136 - Found 72 in �����-2
-2025-05-27 08:52:37,716 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �����-2
-2025-05-27 08:52:37,716 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-1
-2025-05-27 08:52:37,717 INFO  ExportHelperExtension.cs: 1136 - Found 24 in ����-1
-2025-05-27 08:52:37,717 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-1
-2025-05-27 08:52:37,717 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��λģ��-1
-2025-05-27 08:52:37,717 INFO  ExportHelperExtension.cs: 1136 - Found 35 in ��λģ��-1
-2025-05-27 08:52:37,718 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��λģ��-1
-2025-05-27 08:52:37,718 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���Dz���-3
-2025-05-27 08:52:37,718 INFO  ExportHelperExtension.cs: 1136 - Found 35 in ���Dz���-3
-2025-05-27 08:52:37,719 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���Dz���-3
-2025-05-27 08:52:37,719 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �ڲ���-2
-2025-05-27 08:52:37,719 INFO  ExportHelperExtension.cs: 1136 - Found 27 in �ڲ���-2
-2025-05-27 08:52:37,720 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �ڲ���-2
-2025-05-27 08:52:37,720 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �ڲ���-1
-2025-05-27 08:52:37,720 INFO  ExportHelperExtension.cs: 1136 - Found 27 in �ڲ���-1
-2025-05-27 08:52:37,720 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �ڲ���-1
-2025-05-27 08:52:37,721 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-1
-2025-05-27 08:52:37,721 INFO  ExportHelperExtension.cs: 1136 - Found 26 in ����-1
-2025-05-27 08:52:37,721 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-1
-2025-05-27 08:52:37,722 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��λģ��2-2
-2025-05-27 08:52:37,722 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ��λģ��2-2
-2025-05-27 08:52:37,722 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��λģ��2-2
-2025-05-27 08:52:37,723 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �����Ƹ�-2
-2025-05-27 08:52:37,723 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �����Ƹ�-2
-2025-05-27 08:52:37,723 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �����Ƹ�-2
-2025-05-27 08:52:37,723 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �����-1
-2025-05-27 08:52:37,724 INFO  ExportHelperExtension.cs: 1136 - Found 72 in �����-1
-2025-05-27 08:52:37,724 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �����-1
-2025-05-27 08:52:37,724 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Angle For Aluminum Profile 3030-4
-2025-05-27 08:52:37,725 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-4
-2025-05-27 08:52:37,725 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Angle For Aluminum Profile 3030-4
-2025-05-27 08:52:37,725 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����µ����-2
-2025-05-27 08:52:37,726 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ����µ����-2
-2025-05-27 08:52:37,726 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����µ����-2
-2025-05-27 08:52:37,726 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �粿���µ����-1
-2025-05-27 08:52:37,727 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �粿���µ����-1
-2025-05-27 08:52:37,727 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �粿���µ����-1
-2025-05-27 08:52:37,727 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �������-2
-2025-05-27 08:52:37,728 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-2
-2025-05-27 08:52:37,728 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �������-2
-2025-05-27 08:52:37,728 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Angle For Aluminum Profile 3030-5
-2025-05-27 08:52:37,728 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-5
-2025-05-27 08:52:37,729 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Angle For Aluminum Profile 3030-5
-2025-05-27 08:52:37,729 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-2
-2025-05-27 08:52:37,729 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ����-2
-2025-05-27 08:52:37,730 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-2
-2025-05-27 08:52:37,730 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from AA�����ϰ���-1
-2025-05-27 08:52:37,730 INFO  ExportHelperExtension.cs: 1136 - Found 27 in AA�����ϰ���-1
-2025-05-27 08:52:37,731 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in AA�����ϰ���-1
-2025-05-27 08:52:37,731 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �򻯵��-2
-2025-05-27 08:52:37,731 INFO  ExportHelperExtension.cs: 1136 - Found 31 in �򻯵��-2
-2025-05-27 08:52:37,731 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �򻯵��-2
-2025-05-27 08:52:37,732 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �������-1
-2025-05-27 08:52:37,732 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-1
-2025-05-27 08:52:37,732 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �������-1
-2025-05-27 08:52:37,733 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �������-4
-2025-05-27 08:52:37,733 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-4
-2025-05-27 08:52:37,733 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �������-4
-2025-05-27 08:52:37,733 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ������Ӽ�1-1
-2025-05-27 08:52:37,734 INFO  ExportHelperExtension.cs: 1136 - Found 46 in ������Ӽ�1-1
-2025-05-27 08:52:37,734 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ������Ӽ�1-1
-2025-05-27 08:52:37,734 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:52:37,735 INFO  ExportHelperExtension.cs: 1136 - Found 59 in Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:52:37,735 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Sealed-Lead-Acid-12V-1.3Ah-2
-2025-05-27 08:52:37,736 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �򻯵��-1
-2025-05-27 08:52:37,736 INFO  ExportHelperExtension.cs: 1136 - Found 31 in �򻯵��-1
-2025-05-27 08:52:37,736 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �򻯵��-1
-2025-05-27 08:52:37,736 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:52:37,737 INFO  ExportHelperExtension.cs: 1136 - Found 59 in Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:52:37,737 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Sealed-Lead-Acid-12V-1.3Ah-1
-2025-05-27 08:52:37,738 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ������Ӽ�1-2
-2025-05-27 08:52:37,738 INFO  ExportHelperExtension.cs: 1136 - Found 46 in ������Ӽ�1-2
-2025-05-27 08:52:37,738 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ������Ӽ�1-2
-2025-05-27 08:52:37,738 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����-3
-2025-05-27 08:52:37,739 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ����-3
-2025-05-27 08:52:37,739 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����-3
-2025-05-27 08:52:37,739 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ֧�Ű�-1
-2025-05-27 08:52:37,740 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ֧�Ű�-1
-2025-05-27 08:52:37,740 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ֧�Ű�-1
-2025-05-27 08:52:37,740 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �������-3
-2025-05-27 08:52:37,741 INFO  ExportHelperExtension.cs: 1136 - Found 33 in �������-3
-2025-05-27 08:52:37,741 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �������-3
-2025-05-27 08:52:37,741 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ϰ�����һ��-2
-2025-05-27 08:52:37,742 INFO  ExportHelperExtension.cs: 1136 - Found 60 in ���ϰ�����һ��-2
-2025-05-27 08:52:37,742 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ϰ�����һ��-2
-2025-05-27 08:52:37,742 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Angle For Aluminum Profile 3030-1
-2025-05-27 08:52:37,743 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-1
-2025-05-27 08:52:37,743 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Angle For Aluminum Profile 3030-1
-2025-05-27 08:52:37,743 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ֧�Ű�-2
-2025-05-27 08:52:37,744 INFO  ExportHelperExtension.cs: 1136 - Found 34 in ֧�Ű�-2
-2025-05-27 08:52:37,747 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ֧�Ű�-2
-2025-05-27 08:52:37,748 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Angle For Aluminum Profile 3030-3
-2025-05-27 08:52:37,772 INFO  ExportHelperExtension.cs: 1136 - Found 37 in Angle For Aluminum Profile 3030-3
-2025-05-27 08:52:37,772 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Angle For Aluminum Profile 3030-3
-2025-05-27 08:52:37,773 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ϰ���һ��-1
-2025-05-27 08:52:37,773 INFO  ExportHelperExtension.cs: 1136 - Found 59 in ���ϰ���һ��-1
-2025-05-27 08:52:37,774 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ϰ���һ��-1
-2025-05-27 08:52:37,774 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����µ����-1
-2025-05-27 08:52:37,774 INFO  ExportHelperExtension.cs: 1136 - Found 31 in ����µ����-1
-2025-05-27 08:52:37,775 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����µ����-1
-2025-05-27 08:52:37,775 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3rd(i)-7
-2025-05-27 08:52:37,775 INFO  ExportHelperExtension.cs: 1136 - Found 41 in 3rd(i)-7
-2025-05-27 08:52:37,776 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3rd(i)-7
-2025-05-27 08:52:37,776 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4th(i)-10
-2025-05-27 08:52:37,776 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-10
-2025-05-27 08:52:37,777 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4th(i)-10
-2025-05-27 08:52:37,777 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����ϵ����-2
-2025-05-27 08:52:37,777 INFO  ExportHelperExtension.cs: 1136 - Found 29 in ����ϵ����-2
-2025-05-27 08:52:37,777 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����ϵ����-2
-2025-05-27 08:52:37,778 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from DC13_X540_DUMMY-4
-2025-05-27 08:52:37,778 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-4
-2025-05-27 08:52:37,778 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in DC13_X540_DUMMY-4
-2025-05-27 08:52:37,779 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4th(i)-9
-2025-05-27 08:52:37,779 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-9
-2025-05-27 08:52:37,779 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4th(i)-9
-2025-05-27 08:52:37,780 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from DC13_X540_DUMMY-1
-2025-05-27 08:52:37,780 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-1
-2025-05-27 08:52:37,780 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in DC13_X540_DUMMY-1
-2025-05-27 08:52:37,780 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4th(i)-8
-2025-05-27 08:52:37,781 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-8
-2025-05-27 08:52:37,781 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4th(i)-8
-2025-05-27 08:52:37,781 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4th(i)-7
-2025-05-27 08:52:37,782 INFO  ExportHelperExtension.cs: 1136 - Found 28 in 4th(i)-7
-2025-05-27 08:52:37,782 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4th(i)-7
-2025-05-27 08:52:37,782 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from DC13_X540_DUMMY-2
-2025-05-27 08:52:37,783 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-2
-2025-05-27 08:52:37,783 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in DC13_X540_DUMMY-2
-2025-05-27 08:52:37,783 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from �粿���µ����-2
-2025-05-27 08:52:37,784 INFO  ExportHelperExtension.cs: 1136 - Found 39 in �粿���µ����-2
-2025-05-27 08:52:37,784 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in �粿���µ����-2
-2025-05-27 08:52:37,784 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ����ϵ����-1
-2025-05-27 08:52:37,784 INFO  ExportHelperExtension.cs: 1136 - Found 29 in ����ϵ����-1
-2025-05-27 08:52:37,785 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ����ϵ����-1
-2025-05-27 08:52:37,785 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from arm1_bendlink-1
-2025-05-27 08:52:37,785 INFO  ExportHelperExtension.cs: 1136 - Found 36 in arm1_bendlink-1
-2025-05-27 08:52:37,786 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in arm1_bendlink-1
-2025-05-27 08:52:37,786 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from arm1_bendlink-3
-2025-05-27 08:52:37,786 INFO  ExportHelperExtension.cs: 1136 - Found 36 in arm1_bendlink-3
-2025-05-27 08:52:37,787 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in arm1_bendlink-3
-2025-05-27 08:52:37,787 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3rd(i)-8
-2025-05-27 08:52:37,788 INFO  ExportHelperExtension.cs: 1136 - Found 41 in 3rd(i)-8
-2025-05-27 08:52:37,788 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3rd(i)-8
-2025-05-27 08:52:37,788 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from DC13_X540_DUMMY-3
-2025-05-27 08:52:37,789 INFO  ExportHelperExtension.cs: 1136 - Found 28 in DC13_X540_DUMMY-3
-2025-05-27 08:52:37,789 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in DC13_X540_DUMMY-3
-2025-05-27 08:52:37,832 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
-2025-05-27 09:15:11,335 INFO  AssemblyExportForm.cs: 253 - Completing URDF export
-2025-05-27 09:15:11,350 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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-2025-05-27 09:15:52,738 INFO  AssemblyExportForm.cs: 309 - Saving URDF package to E:\robot model\robot3
-2025-05-27 09:15:52,739 INFO  ExportHelper.cs: 147 - Beginning the export process
-2025-05-27 09:15:52,741 INFO  ExportHelper.cs: 153 - Creating package directories with name robot3 and save path E:\robot model
-2025-05-27 09:15:55,664 INFO  ExportHelper.cs: 162 - Creating CMakeLists.txt at E:\robot model\robot3\CMakeLists.txt
-2025-05-27 09:15:55,665 INFO  ExportHelper.cs: 166 - Creating joint names config at E:\robot model\robot3\config\joint_names_robot3.yaml
-2025-05-27 09:15:55,666 INFO  ExportHelper.cs: 170 - Creating package.xml at E:\robot model\robot3\package.xml
-2025-05-27 09:15:55,666 INFO  PackageXMLWriter.cs: 21 - Creating package.xml at E:\robot model\robot3\package.xml
-2025-05-27 09:15:55,668 INFO  ExportHelper.cs: 177 - Creating RVIZ launch file in E:\robot model\robot3\launch\
-2025-05-27 09:15:55,670 INFO  ExportHelper.cs: 182 - Creating Gazebo launch file in E:\robot model\robot3\launch\
-2025-05-27 09:15:55,672 INFO  ExportHelper.cs: 187 - Saving existing STL preferences
-2025-05-27 09:15:55,673 INFO  ExportHelper.cs: 450 - Saving users preferences
-2025-05-27 09:15:55,674 INFO  ExportHelper.cs: 190 - Modifying STL preferences
-2025-05-27 09:15:55,675 INFO  ExportHelper.cs: 464 - Setting STL preferences
-2025-05-27 09:15:55,681 INFO  ExportHelper.cs: 196 - Found 0 hidden components 
-2025-05-27 09:15:55,681 INFO  ExportHelper.cs: 197 - Hiding all components
-2025-05-27 09:15:56,106 INFO  ExportHelper.cs: 204 - Beginning individual files export
-2025-05-27 09:15:56,108 INFO  ExportHelper.cs: 270 - Exporting link: base_link
-2025-05-27 09:15:56,109 INFO  ExportHelper.cs: 272 - Link base_link has 4 children
-2025-05-27 09:15:56,110 INFO  ExportHelper.cs: 270 - Exporting link: left_hip_pitch_link
-2025-05-27 09:15:56,110 INFO  ExportHelper.cs: 272 - Link left_hip_pitch_link has 2 children
-2025-05-27 09:15:56,110 INFO  ExportHelper.cs: 270 - Exporting link: left_leg_pitch_link
-2025-05-27 09:15:56,110 INFO  ExportHelper.cs: 272 - Link left_leg_pitch_link has 1 children
-2025-05-27 09:15:56,111 INFO  ExportHelper.cs: 270 - Exporting link: left_wheel2_link
-2025-05-27 09:15:56,111 INFO  ExportHelper.cs: 272 - Link left_wheel2_link has 0 children
-2025-05-27 09:15:56,112 INFO  ExportHelper.cs: 317 - left_wheel2_link: Exporting STL with coordinate frame left_wheel2
-2025-05-27 09:15:56,112 INFO  ExportHelper.cs: 322 - left_wheel2_link: Reference geometry name 
-2025-05-27 09:15:56,420 INFO  ExportHelper.cs: 330 - Saving STL to E:\robot model\robot3\meshes\left_wheel2_link.STL
-2025-05-27 09:15:56,718 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
-2025-05-27 09:15:56,719 INFO  ExportHelper.cs: 317 - left_leg_pitch_link: Exporting STL with coordinate frame left_leg_pitch
-2025-05-27 09:15:56,719 INFO  ExportHelper.cs: 322 - left_leg_pitch_link: Reference geometry name 
-2025-05-27 09:15:56,922 INFO  ExportHelper.cs: 330 - Saving STL to E:\robot model\robot3\meshes\left_leg_pitch_link.STL
-2025-05-27 09:15:57,192 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
-2025-05-27 09:15:57,193 INFO  ExportHelper.cs: 270 - Exporting link: left_wheel1_link
-2025-05-27 09:15:57,194 INFO  ExportHelper.cs: 272 - Link left_wheel1_link has 0 children
-2025-05-27 09:15:57,194 INFO  ExportHelper.cs: 317 - left_wheel1_link: Exporting STL with coordinate frame left_wheel1
-2025-05-27 09:15:57,194 INFO  ExportHelper.cs: 322 - left_wheel1_link: Reference geometry name 
-2025-05-27 09:15:57,384 INFO  ExportHelper.cs: 330 - Saving STL to E:\robot model\robot3\meshes\left_wheel1_link.STL
-2025-05-27 09:15:57,613 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
-2025-05-27 09:15:57,614 INFO  ExportHelper.cs: 317 - left_hip_pitch_link: Exporting STL with coordinate frame left_hip_pitch
-2025-05-27 09:15:57,614 INFO  ExportHelper.cs: 322 - left_hip_pitch_link: Reference geometry name 
-2025-05-27 09:15:57,789 INFO  ExportHelper.cs: 330 - Saving STL to E:\robot model\robot3\meshes\left_hip_pitch_link.STL
-2025-05-27 09:15:58,052 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
-2025-05-27 09:15:58,053 INFO  ExportHelper.cs: 270 - Exporting link: right_hip_pitch_link
-2025-05-27 09:15:58,054 INFO  ExportHelper.cs: 272 - Link right_hip_pitch_link has 2 children
-2025-05-27 09:15:58,054 INFO  ExportHelper.cs: 270 - Exporting link: right_leg_pitch_link
-2025-05-27 09:15:58,055 INFO  ExportHelper.cs: 272 - Link right_leg_pitch_link has 1 children
-2025-05-27 09:15:58,055 INFO  ExportHelper.cs: 270 - Exporting link: right_wheel2_link
-2025-05-27 09:15:58,056 INFO  ExportHelper.cs: 272 - Link right_wheel2_link has 0 children
-2025-05-27 09:15:58,056 INFO  ExportHelper.cs: 317 - right_wheel2_link: Exporting STL with coordinate frame right_wheel2
-2025-05-27 09:15:58,056 INFO  ExportHelper.cs: 322 - right_wheel2_link: Reference geometry name 
-2025-05-27 09:15:58,283 INFO  ExportHelper.cs: 330 - Saving STL to E:\robot model\robot3\meshes\right_wheel2_link.STL
-2025-05-27 09:15:58,501 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
-2025-05-27 09:15:58,502 INFO  ExportHelper.cs: 317 - right_leg_pitch_link: Exporting STL with coordinate frame right_leg_pitch
-2025-05-27 09:15:58,502 INFO  ExportHelper.cs: 322 - right_leg_pitch_link: Reference geometry name 
-2025-05-27 09:15:58,677 INFO  ExportHelper.cs: 330 - Saving STL to E:\robot model\robot3\meshes\right_leg_pitch_link.STL
-2025-05-27 09:15:58,941 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
-2025-05-27 09:15:58,942 INFO  ExportHelper.cs: 270 - Exporting link: right_wheel1_link
-2025-05-27 09:15:58,943 INFO  ExportHelper.cs: 272 - Link right_wheel1_link has 0 children
-2025-05-27 09:15:58,943 INFO  ExportHelper.cs: 317 - right_wheel1_link: Exporting STL with coordinate frame right_wheel1
-2025-05-27 09:15:58,943 INFO  ExportHelper.cs: 322 - right_wheel1_link: Reference geometry name 
-2025-05-27 09:15:59,122 INFO  ExportHelper.cs: 330 - Saving STL to E:\robot model\robot3\meshes\right_wheel1_link.STL
-2025-05-27 09:15:59,350 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
-2025-05-27 09:15:59,351 INFO  ExportHelper.cs: 317 - right_hip_pitch_link: Exporting STL with coordinate frame right_hip_pitch
-2025-05-27 09:15:59,351 INFO  ExportHelper.cs: 322 - right_hip_pitch_link: Reference geometry name 
-2025-05-27 09:15:59,524 INFO  ExportHelper.cs: 330 - Saving STL to E:\robot model\robot3\meshes\right_hip_pitch_link.STL
-2025-05-27 09:15:59,799 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
-2025-05-27 09:15:59,800 INFO  ExportHelper.cs: 270 - Exporting link: left_shoulder_link
-2025-05-27 09:15:59,801 INFO  ExportHelper.cs: 272 - Link left_shoulder_link has 1 children
-2025-05-27 09:15:59,802 INFO  ExportHelper.cs: 270 - Exporting link: left_arm1_link
-2025-05-27 09:15:59,802 INFO  ExportHelper.cs: 272 - Link left_arm1_link has 1 children
-2025-05-27 09:15:59,803 INFO  ExportHelper.cs: 270 - Exporting link: left_arm2_link
-2025-05-27 09:15:59,803 INFO  ExportHelper.cs: 272 - Link left_arm2_link has 0 children
-2025-05-27 09:15:59,803 INFO  ExportHelper.cs: 317 - left_arm2_link: Exporting STL with coordinate frame left_arm2
-2025-05-27 09:15:59,803 INFO  ExportHelper.cs: 322 - left_arm2_link: Reference geometry name 
-2025-05-27 09:15:59,994 INFO  ExportHelper.cs: 330 - Saving STL to E:\robot model\robot3\meshes\left_arm2_link.STL
-2025-05-27 09:16:00,347 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
-2025-05-27 09:16:00,348 INFO  ExportHelper.cs: 317 - left_arm1_link: Exporting STL with coordinate frame left_arm1
-2025-05-27 09:16:00,349 INFO  ExportHelper.cs: 322 - left_arm1_link: Reference geometry name 
-2025-05-27 09:16:00,533 INFO  ExportHelper.cs: 330 - Saving STL to E:\robot model\robot3\meshes\left_arm1_link.STL
-2025-05-27 09:16:00,792 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
-2025-05-27 09:16:00,793 INFO  ExportHelper.cs: 317 - left_shoulder_link: Exporting STL with coordinate frame left_shoulder
-2025-05-27 09:16:00,793 INFO  ExportHelper.cs: 322 - left_shoulder_link: Reference geometry name 
-2025-05-27 09:16:00,961 INFO  ExportHelper.cs: 330 - Saving STL to E:\robot model\robot3\meshes\left_shoulder_link.STL
-2025-05-27 09:16:01,173 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
-2025-05-27 09:16:01,174 INFO  ExportHelper.cs: 270 - Exporting link: right_shoulder_link
-2025-05-27 09:16:01,174 INFO  ExportHelper.cs: 272 - Link right_shoulder_link has 1 children
-2025-05-27 09:16:01,175 INFO  ExportHelper.cs: 270 - Exporting link: right_arm1_link
-2025-05-27 09:16:01,175 INFO  ExportHelper.cs: 272 - Link right_arm1_link has 1 children
-2025-05-27 09:16:01,176 INFO  ExportHelper.cs: 270 - Exporting link: right_arm2_link
-2025-05-27 09:16:01,176 INFO  ExportHelper.cs: 272 - Link right_arm2_link has 0 children
-2025-05-27 09:16:01,176 INFO  ExportHelper.cs: 317 - right_arm2_link: Exporting STL with coordinate frame right_arm2
-2025-05-27 09:16:01,177 INFO  ExportHelper.cs: 322 - right_arm2_link: Reference geometry name 
-2025-05-27 09:16:01,361 INFO  ExportHelper.cs: 330 - Saving STL to E:\robot model\robot3\meshes\right_arm2_link.STL
-2025-05-27 09:16:01,714 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
-2025-05-27 09:16:01,715 INFO  ExportHelper.cs: 317 - right_arm1_link: Exporting STL with coordinate frame right_arm1
-2025-05-27 09:16:01,716 INFO  ExportHelper.cs: 322 - right_arm1_link: Reference geometry name 
-2025-05-27 09:16:01,910 INFO  ExportHelper.cs: 330 - Saving STL to E:\robot model\robot3\meshes\right_arm1_link.STL
-2025-05-27 09:16:02,189 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
-2025-05-27 09:16:02,190 INFO  ExportHelper.cs: 317 - right_shoulder_link: Exporting STL with coordinate frame right_shoulder
-2025-05-27 09:16:02,190 INFO  ExportHelper.cs: 322 - right_shoulder_link: Reference geometry name 
-2025-05-27 09:16:02,359 INFO  ExportHelper.cs: 330 - Saving STL to E:\robot model\robot3\meshes\right_shoulder_link.STL
-2025-05-27 09:16:02,590 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
-2025-05-27 09:16:02,590 INFO  ExportHelper.cs: 317 - base_link: Exporting STL with coordinate frame base_link
-2025-05-27 09:16:02,591 INFO  ExportHelper.cs: 322 - base_link: Reference geometry name 
-2025-05-27 09:16:03,033 INFO  ExportHelper.cs: 330 - Saving STL to E:\robot model\robot3\meshes\base_link.STL
-2025-05-27 09:16:03,910 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
-2025-05-27 09:16:03,911 INFO  ExportHelper.cs: 145 - Showing all components except previously hidden components
-2025-05-27 09:16:05,012 INFO  ExportHelper.cs: 145 - Resetting STL preferences
-2025-05-27 09:16:05,013 INFO  ExportHelper.cs: 478 - Returning STL preferences to user preferences
-2025-05-27 09:16:05,013 INFO  ExportHelper.cs: 228 - Writing URDF file to E:\robot model\robot3\urdf\robot3.urdf
-2025-05-27 09:16:05,093 INFO  CSVImportExport.cs: 32 - Writing CSV file E:\robot model\robot3\urdf\robot3.csv
-2025-05-27 09:16:05,109 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
-2025-05-27 09:16:05,110 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
-2025-05-27 09:16:05,110 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
-2025-05-27 09:16:05,111 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
-2025-05-27 09:16:05,111 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
-2025-05-27 09:16:05,111 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
-2025-05-27 09:16:05,112 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
-2025-05-27 09:16:05,112 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
-2025-05-27 09:16:05,112 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
-2025-05-27 09:16:05,113 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
-2025-05-27 09:16:05,113 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
-2025-05-27 09:16:05,113 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
-2025-05-27 09:16:05,114 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
-2025-05-27 09:16:05,114 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
-2025-05-27 09:16:05,114 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
-2025-05-27 09:16:05,115 INFO  ExportHelper.cs: 234 - Copying log file
-2025-05-27 09:16:05,117 INFO  ExportHelper.cs: 439 - Copying C:\Users\86150\sw2urdf_logs\sw2urdf.log to E:\robot model\robot3\export.log
diff --git a/RobotOS1/launch/display.launch b/RobotOS1/launch/display.launch
deleted file mode 100755
index 3737240..0000000
--- a/RobotOS1/launch/display.launch
+++ /dev/null
@@ -1,20 +0,0 @@
-<launch>
-  <arg
-    name="model" />
-  <param
-    name="robot_description"
-    textfile="$(find robot3)/urdf/robot3.urdf" />
-  <node
-    name="joint_state_publisher_gui"
-    pkg="joint_state_publisher_gui"
-    type="joint_state_publisher_gui" />
-  <node
-    name="robot_state_publisher"
-    pkg="robot_state_publisher"
-    type="robot_state_publisher" />
-  <node
-    name="rviz"
-    pkg="rviz"
-    type="rviz"
-    args="-d $(find robot3)/urdf.rviz" />
-</launch>
\ No newline at end of file
diff --git a/RobotOS1/launch/gazebo.launch b/RobotOS1/launch/gazebo.launch
deleted file mode 100755
index 0a92703..0000000
--- a/RobotOS1/launch/gazebo.launch
+++ /dev/null
@@ -1,20 +0,0 @@
-<launch>
-  <include
-    file="$(find gazebo_ros)/launch/empty_world.launch" />
-  <node
-    name="tf_footprint_base"
-    pkg="tf"
-    type="static_transform_publisher"
-    args="0 0 0 0 0 0 base_link base_footprint 40" />
-  <node
-    name="spawn_model"
-    pkg="gazebo_ros"
-    type="spawn_model"
-    args="-file $(find robot3)/urdf/robot3.urdf -urdf -model robot3"
-    output="screen" />
-  <node
-    name="fake_joint_calibration"
-    pkg="rostopic"
-    type="rostopic"
-    args="pub /calibrated std_msgs/Bool true" />
-</launch>
\ No newline at end of file
diff --git a/RobotOS1/package.xml b/RobotOS1/package.xml
deleted file mode 100755
index 315ac31..0000000
--- a/RobotOS1/package.xml
+++ /dev/null
@@ -1,21 +0,0 @@
-<package format="2">
-  <name>robot3</name>
-  <version>1.0.0</version>
-  <description>
-    <p>URDF Description package for robot3</p>
-    <p>This package contains configuration data, 3D models and launch files
-for robot3 robot</p>
-  </description>
-  <author>TODO</author>
-  <maintainer email="TODO@email.com" />
-  <license>BSD</license>
-  <buildtool_depend>catkin</buildtool_depend>
-  <depend>roslaunch</depend>
-  <depend>robot_state_publisher</depend>
-  <depend>rviz</depend>
-  <depend>joint_state_publisher_gui</depend>
-  <depend>gazebo</depend>
-  <export>
-    <architecture_independent />
-  </export>
-</package>
\ No newline at end of file
diff --git a/RobotOS1/urdf/base_link.STL b/RobotOS1/urdf/base_link.STL
deleted file mode 100755
index 9b83836..0000000
Binary files a/RobotOS1/urdf/base_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/left_arm1_link.STL b/RobotOS1/urdf/left_arm1_link.STL
deleted file mode 100755
index b490296..0000000
Binary files a/RobotOS1/urdf/left_arm1_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/left_arm2_link.STL b/RobotOS1/urdf/left_arm2_link.STL
deleted file mode 100755
index e86a41d..0000000
Binary files a/RobotOS1/urdf/left_arm2_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/left_hip_pitch_link.STL b/RobotOS1/urdf/left_hip_pitch_link.STL
deleted file mode 100755
index a11933c..0000000
Binary files a/RobotOS1/urdf/left_hip_pitch_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/left_leg_pitch_link.STL b/RobotOS1/urdf/left_leg_pitch_link.STL
deleted file mode 100755
index 0edcbb9..0000000
Binary files a/RobotOS1/urdf/left_leg_pitch_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/left_shoulder_link.STL b/RobotOS1/urdf/left_shoulder_link.STL
deleted file mode 100755
index f111585..0000000
Binary files a/RobotOS1/urdf/left_shoulder_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/left_wheel1_link.STL b/RobotOS1/urdf/left_wheel1_link.STL
deleted file mode 100755
index 2354012..0000000
Binary files a/RobotOS1/urdf/left_wheel1_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/left_wheel2_link.STL b/RobotOS1/urdf/left_wheel2_link.STL
deleted file mode 100755
index 43387e6..0000000
Binary files a/RobotOS1/urdf/left_wheel2_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/meshes/base_link.STL b/RobotOS1/urdf/meshes/base_link.STL
deleted file mode 100755
index 9b83836..0000000
Binary files a/RobotOS1/urdf/meshes/base_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/meshes/left_arm1_link.STL b/RobotOS1/urdf/meshes/left_arm1_link.STL
deleted file mode 100755
index b490296..0000000
Binary files a/RobotOS1/urdf/meshes/left_arm1_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/meshes/left_arm2_link.STL b/RobotOS1/urdf/meshes/left_arm2_link.STL
deleted file mode 100755
index e86a41d..0000000
Binary files a/RobotOS1/urdf/meshes/left_arm2_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/meshes/left_hip_pitch_link.STL b/RobotOS1/urdf/meshes/left_hip_pitch_link.STL
deleted file mode 100755
index a11933c..0000000
Binary files a/RobotOS1/urdf/meshes/left_hip_pitch_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/meshes/left_leg_pitch_link.STL b/RobotOS1/urdf/meshes/left_leg_pitch_link.STL
deleted file mode 100755
index 0edcbb9..0000000
Binary files a/RobotOS1/urdf/meshes/left_leg_pitch_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/meshes/left_shoulder_link.STL b/RobotOS1/urdf/meshes/left_shoulder_link.STL
deleted file mode 100755
index f111585..0000000
Binary files a/RobotOS1/urdf/meshes/left_shoulder_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/meshes/left_wheel1_link.STL b/RobotOS1/urdf/meshes/left_wheel1_link.STL
deleted file mode 100755
index 2354012..0000000
Binary files a/RobotOS1/urdf/meshes/left_wheel1_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/meshes/left_wheel2_link.STL b/RobotOS1/urdf/meshes/left_wheel2_link.STL
deleted file mode 100755
index 43387e6..0000000
Binary files a/RobotOS1/urdf/meshes/left_wheel2_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/meshes/right_arm1_link.STL b/RobotOS1/urdf/meshes/right_arm1_link.STL
deleted file mode 100755
index 9030d2d..0000000
Binary files a/RobotOS1/urdf/meshes/right_arm1_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/meshes/right_arm2_link.STL b/RobotOS1/urdf/meshes/right_arm2_link.STL
deleted file mode 100755
index bdc6572..0000000
Binary files a/RobotOS1/urdf/meshes/right_arm2_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/meshes/right_hip_pitch_link.STL b/RobotOS1/urdf/meshes/right_hip_pitch_link.STL
deleted file mode 100755
index 69661bd..0000000
Binary files a/RobotOS1/urdf/meshes/right_hip_pitch_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/meshes/right_leg_pitch_link.STL b/RobotOS1/urdf/meshes/right_leg_pitch_link.STL
deleted file mode 100755
index 1a24885..0000000
Binary files a/RobotOS1/urdf/meshes/right_leg_pitch_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/meshes/right_shoulder_link.STL b/RobotOS1/urdf/meshes/right_shoulder_link.STL
deleted file mode 100755
index 7a0dff1..0000000
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diff --git a/RobotOS1/urdf/meshes/right_wheel1_link.STL b/RobotOS1/urdf/meshes/right_wheel1_link.STL
deleted file mode 100755
index a2663e9..0000000
Binary files a/RobotOS1/urdf/meshes/right_wheel1_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/meshes/right_wheel2_link.STL b/RobotOS1/urdf/meshes/right_wheel2_link.STL
deleted file mode 100755
index 2a7b5e5..0000000
Binary files a/RobotOS1/urdf/meshes/right_wheel2_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/right_arm1_link.STL b/RobotOS1/urdf/right_arm1_link.STL
deleted file mode 100755
index 9030d2d..0000000
Binary files a/RobotOS1/urdf/right_arm1_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/right_arm2_link.STL b/RobotOS1/urdf/right_arm2_link.STL
deleted file mode 100755
index bdc6572..0000000
Binary files a/RobotOS1/urdf/right_arm2_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/right_hip_pitch_link.STL b/RobotOS1/urdf/right_hip_pitch_link.STL
deleted file mode 100755
index 69661bd..0000000
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diff --git a/RobotOS1/urdf/right_leg_pitch_link.STL b/RobotOS1/urdf/right_leg_pitch_link.STL
deleted file mode 100755
index 1a24885..0000000
Binary files a/RobotOS1/urdf/right_leg_pitch_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/right_shoulder_link.STL b/RobotOS1/urdf/right_shoulder_link.STL
deleted file mode 100755
index 7a0dff1..0000000
Binary files a/RobotOS1/urdf/right_shoulder_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/right_wheel1_link.STL b/RobotOS1/urdf/right_wheel1_link.STL
deleted file mode 100755
index a2663e9..0000000
Binary files a/RobotOS1/urdf/right_wheel1_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/right_wheel2_link.STL b/RobotOS1/urdf/right_wheel2_link.STL
deleted file mode 100755
index 2a7b5e5..0000000
Binary files a/RobotOS1/urdf/right_wheel2_link.STL and /dev/null differ
diff --git a/RobotOS1/urdf/robot3.csv b/RobotOS1/urdf/robot3.csv
deleted file mode 100755
index fc64ed8..0000000
--- a/RobotOS1/urdf/robot3.csv
+++ /dev/null
@@ -1,16 +0,0 @@
-Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
-base_link,-0.0598891820748674,5.31626531352636E-07,0.164869219254393,0,0,0,7.33969273744462,0.0353291392023482,-2.8945750194243E-08,2.11594095208159E-06,0.0335711592208216,0.000271762665669396,0.00701126241700792,0,0,0,0,0,0,package://robot3/meshes/base_link.STL,0.666666666666667,0.666666666666667,0.666666666666667,1,0,0,0,0,0,0,package://robot3/meshes/base_link.STL,,新上半身另一半-2;肩膀下电机简化-1;支撑板-1;肩膀下电机简化-2;支撑板-2;Angle For Aluminum Profile 3030-3;Angle For Aluminum Profile 3030-5;Angle For Aluminum Profile 3030-1;Angle For Aluminum Profile 3030-4;Sealed-Lead-Acid-12V-1.3Ah-1;电池连接件1-1;Sealed-Lead-Acid-12V-1.3Ah-2;电池连接件1-2;简化轴承座-2;简化轴承座-1;AA简化新上半身-1/新左腰部平台-1;AA简化新上半身-1/新右腰部平台-1;插销推杆-2;定位模块2-2;定位模块-1;六角插销-3;新上半身一半-1;光轴-3;光轴-2;简化轴承座-3;简化轴承座-4;右髋-1/右侧电机座-1;左髋-1/左侧电机座-1,base_link,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
-left_hip_pitch_link,3.93767161736252E-06,0.161490126813208,0.0158567790568734,0,0,0,0.647526339814874,0.0102648545860372,-2.29409678904373E-06,-2.59558334421073E-08,0.000246501135769241,1.67258066439869E-05,0.010329535938566,0,0,0,0,0,0,package://robot3/meshes/left_hip_pitch_link.STL,1,1,1,1,0,0,0,0,0,0,package://robot3/meshes/left_hip_pitch_link.STL,,简化电机-1;内侧腿-2/右内腿板-1;外侧腿-2/内腿连接法兰B-1,left_hip_pitch,A_left_hip_pitch,left_hip_pitch_joint,revolute,-0.06,-0.1358,-0.037269,-1.5708,-0.0095732,0,base_link,0,0,-1,100,50,-1.57,1.57,,,,,,,,
-left_leg_pitch_link,-2.63464180747426E-05,0.197159145100908,0.000498203326348359,0,0,0,0.512633617146925,0.00722923341588236,2.08332581819351E-06,8.43234132073939E-09,0.000184537126972943,-8.42677914064545E-05,0.00733154966415246,0,0,0,0,0,0,package://robot3/meshes/left_leg_pitch_link.STL,1,0.372549019607843,0.294117647058824,1,0,0,0,0,0,0,package://robot3/meshes/left_leg_pitch_link.STL,,外侧腿-2/腿板连接件B-1;外侧腿-2/端盖B-1;外侧腿-2/腿板_外侧1-1,left_leg_pitch,A_left_leg_pitch,left_leg_pitch_joint,revolute,0,0,-0.0295,0,0,0.01205,left_hip_pitch_link,0,0,1,100,50,-1.57,1.57,,,,,,,,
-left_wheel2_link,4.1585564079967E-08,-5.47447156262759E-06,0.0187838263233595,0,0,0,0.246221197660763,0.000155862515432955,-7.05176250297316E-11,2.43528481620933E-10,0.000155872043160321,-3.20589554855461E-08,0.000262570842948365,0,0,0,0,0,0,package://robot3/meshes/left_wheel2_link.STL,0.780392156862745,0.780392156862745,0.780392156862745,1,0,0,0,0,0,0,package://robot3/meshes/left_wheel2_link.STL,,外侧腿-2/轮毂电机-1,left_wheel2,A_left_wheel2,left_wheel2_joint,revolute,0,0.4805,0.004,-3.1416,0,-0.0024764,left_leg_pitch_link,0,0,1,100,50,-1000,1000,,,,,,,,
-left_wheel1_link,1.97042367054093E-06,5.10773910927798E-06,0.0187838263233595,0,0,0,0.246221197660763,0.000155863750535229,3.20112680897945E-09,1.15389629880907E-08,0.000155870808058046,2.99113400920877E-08,0.000262570842948365,0,0,0,0,0,0,package://robot3/meshes/left_wheel1_link.STL,0.780392156862745,0.780392156862745,0.780392156862745,1,0,0,0,0,0,0,package://robot3/meshes/left_wheel1_link.STL,,内侧腿-2/轮毂电机-1,left_wheel1,A_left_wheel1,left_wheel1_joint,revolute,0,0.48,0.01,0,0,0.0095732,left_hip_pitch_link,0,0,1,100,50,-1000,1000,,,,,,,,
-right_hip_pitch_link,-3.97209815898069E-06,-0.161490067811833,0.0158567790568734,0,0,0,0.647526339814875,0.0102648550884178,-2.29438072118385E-06,2.6182761858173E-08,0.000246500633388666,-1.6726195561603E-05,0.010329535938566,0,0,0,0,0,0,package://robot3/meshes/right_hip_pitch_link.STL,1,1,1,1,0,0,0,0,0,0,package://robot3/meshes/right_hip_pitch_link.STL,,简化电机-2;外侧腿-1/内腿连接法兰B-1;内侧腿-1/右内腿板-1,right_hip_pitch,A_right_hip_pitch,right_hip_pitch_joint,revolute,-0.06,0.1358,-0.037269,1.5708,-0.0029091,0,base_link,0,0,-1,100,50,-1.57,1.57,,,,,,,,
-right_leg_pitch_link,3.43008600186093E-05,-0.197159143801203,0.000498203308628542,0,0,0,0.512633618713017,0.00722923325218376,2.36753175021739E-06,-1.18316332479498E-08,0.000184537306689484,8.42677920023009E-05,0.00733154968000536,0,0,0,0,0,0,package://robot3/meshes/right_leg_pitch_link.STL,0.647058823529412,0.619607843137255,0.588235294117647,1,0,0,0,0,0,0,package://robot3/meshes/right_leg_pitch_link.STL,,外侧腿-1/端盖B-1;外侧腿-1/腿板连接件B-1;外侧腿-1/腿板_外侧1-1,right_leg_pitch,A_right_leg_pitch,right_leg_pitch_joint,revolute,0,0,-0.0295,0,0,-0.0029091,right_hip_pitch_link,0,0,1,100,50,-1.57,1.57,,,,,,,,
-right_wheel2_link,-5.49216228909084E-08,5.47435401360152E-06,0.0187838263233596,0,0,0,0.246221197660763,0.000155862515833067,-9.37269060893747E-11,-3.2162553827427E-10,0.000155872042760209,3.2058267107854E-08,0.000262570842948364,0,0,0,0,0,0,package://robot3/meshes/right_wheel2_link.STL,0.780392156862745,0.780392156862745,0.780392156862745,1,0,0,0,0,0,0,package://robot3/meshes/right_wheel2_link.STL,,外侧腿-1/轮毂电机-1,right_wheel2,A_right_wheel2,right_wheel2_joint,revolute,1.9386E-05,-0.4805,0.004,3.1416,0,0,right_leg_pitch_link,0,0,1,100,50,-1000,1000,,,,,,,,
-right_wheel1_link,-1.90651569380871E-06,-5.13193590762073E-06,0.0187838263233596,0,0,0,0.246221197660763,0.000155863671728484,3.11204465575566E-09,-1.11647126229566E-08,0.000155870886864792,-3.00530385317656E-08,0.000262570842948364,0,0,0,0,0,0,package://robot3/meshes/right_wheel1_link.STL,0.780392156862745,0.780392156862745,0.780392156862745,1,0,0,0,0,0,0,package://robot3/meshes/right_wheel1_link.STL,,内侧腿-1/轮毂电机-1,right_wheel1,A_right_wheel1,right_wheel1_joint,revolute,0,-0.48,0.01,0,0,-0.0029091,right_hip_pitch_link,0,0,1,100,50,-1000,1000,,,,,,,,
-left_shoulder_link,-0.0144837915216556,0.000108169744531657,0.0209530786562939,0,0,0,0.0131460728071447,6.97527886815648E-06,6.50120079293974E-10,1.71422653747178E-06,7.0623242664372E-06,-1.28024106360931E-08,4.51847500288221E-06,0,0,0,0,0,0,package://robot3/meshes/left_shoulder_link.STL,1,1,1,1,0,0,0,0,0,0,package://robot3/meshes/left_shoulder_link.STL,,肩部上下电机连-2,left_shoulder,A_left_shoulder,left_shoulder_joint,revolute,-0.06,-0.0878,0.36288,0,0,0,base_link,0,0,1,100,50,-1.57,1.57,,,,,,,,
-left_arm1_link,-0.00228631297282665,-0.000694770956028379,0.0248681244469774,0,0,0,0.205368959445536,0.000453271756683533,4.86050519285356E-07,1.78313281804853E-06,0.000439236029042774,-2.38826303979722E-06,5.94852101938372E-05,0,0,0,0,0,0,package://robot3/meshes/left_arm1_link.STL,1,1,1,1,0,0,0,0,0,0,package://robot3/meshes/left_arm1_link.STL,,肩膀上电机简化-1;arm1_bendlink-3;3rd(i)-8,left_arm1,A_left_arm1,left_arm1_joint,revolute,0,0,0.0385,1.5708,0,-0.0074682,left_shoulder_link,-1,0,0,42.8,50,-1.5,1.5,,,,,,,,
-left_arm2_link,-0.0237485342372672,-0.0546317049801525,1.0877545797372E-05,0,0,0,0.224709252335196,0.000216521591384588,-1.59232055667217E-06,1.95924741151164E-09,4.6574554279622E-05,-8.90668315983443E-08,0.000226443044997353,0,0,0,0,0,0,package://robot3/meshes/left_arm2_link.STL,1,1,1,1,0,0,0,0,0,0,package://robot3/meshes/left_arm2_link.STL,,DC13_X540_DUMMY-3;4th(i)-7;DC13_X540_DUMMY-1;4th(i)-9,left_arm2,A_left_arm2,left_arm2_joint,revolute,0.020127,0.0040341,0.17817,-1.6062,0.0074682,0,left_arm1_link,-0.99997,0.0074634,0.0002647,18,50,-1.5,1.5,,,,,,,,
-right_shoulder_link,-0.0144831349305154,-0.000175271563297497,0.0209530786562937,0,0,0,0.0131460728071447,6.97528676044484E-06,-1.0533666096497E-09,1.71414882674561E-06,7.06231637414882E-06,2.07442343132162E-08,4.51847500288222E-06,0,0,0,0,0,0,package://robot3/meshes/right_shoulder_link.STL,1,1,1,1,0,0,0,0,0,0,package://robot3/meshes/right_shoulder_link.STL,,肩部上下电机连-1,right_shoulder,A_right_shoulder,right_shoulder_joint,revolute,-0.06,0.0878,0.36288,0,0,0,base_link,0,0,1,100,50,-1.57,1.57,,,,,,,,
-right_arm1_link,-0.00258654183724675,0.00163071193731268,-0.0247948407356193,0,0,0,0.205368959445536,0.000453170582378804,-2.74429063189701E-07,-6.56011918750897E-06,0.000438877289766572,1.19124523787236E-05,5.99451237747681E-05,0,0,0,0,0,0,package://robot3/meshes/right_arm1_link.STL,1,1,1,1,0,0,0,0,0,0,package://robot3/meshes/right_arm1_link.STL,,arm1_bendlink-1;3rd(i)-7;肩膀上电机简化-2,right_arm1,A_right_arm1,right_arm1_joint,revolute,0,0,0.0385,1.5708,0,0,right_shoulder_link,1,0,0,42.8,50,-1.5,1.5,,,,,,,,
-right_arm2_link,-0.0240175529876588,0.0558375631647781,2.11385309717427E-06,0,0,0,0.224709252312172,0.000216503168895651,2.38031155628203E-06,5.65361793210531E-11,4.65929763038616E-05,-8.9238704186976E-08,0.000226443045453438,0,0,0,0,0,0,package://robot3/meshes/right_arm2_link.STL,1,1,1,1,0,0,0,0,0,0,package://robot3/meshes/right_arm2_link.STL,,DC13_X540_DUMMY-2;4th(i)-10;4th(i)-8;DC13_X540_DUMMY-4,right_arm2,A_right_arm2,right_arm2_joint,revolute,0.017969,0.0026972,-0.17843,-1.5793,0,0,right_arm1_link,-0.99993,-0.0121,-0.00010316,18,50,-1.5,1.5,,,,,,,,
diff --git a/RobotOS1/urdf/robot3.xml b/RobotOS1/urdf/robot3.xml
deleted file mode 100755
index 27e4ab4..0000000
--- a/RobotOS1/urdf/robot3.xml
+++ /dev/null
@@ -1,264 +0,0 @@
-<mujoco model="robot3">
-  <default>
-    <default class="robot">
-      <default class="motor">
-        <joint />
-        <motor />
-      </default>
-      <default class="visual">
-        <geom material="visualgeom" contype="0" conaffinity="0" group="2" />
-      </default>
-      <default class="collision">
-        <geom material="collision_material" condim="3" contype="0" conaffinity="1" group="1" solref="0.005 1" friction="1 0.01 0.01" />
-        <equality solimp="0.99 0.999 1e-05" solref="0.005 1" />
-      </default>
-    </default>
-  </default>
-
-  <compiler angle="radian" />
-    <option timestep="0.001" gravity="0 0 -9.81" wind="0 0 0" integrator="RK4"
-        density="1.625"
-        viscosity="1.8e-5" />
-
-    <visual>
-        <global realtime="1" />
-        <quality shadowsize="2048" numslices="28" offsamples="4" />
-        <headlight diffuse="1 1 1" specular="0.5 0.5 0.5" active="1" />
-        <rgba fog="1 0 0 1" haze="1 1 1 1" />
-    </visual>
-
-  <asset>
-    <texture name="plane" type="2d" builtin="checker" rgb1=".1 .1 .1" rgb2=".9 .9 .9"
-            width="512" height="512" mark="cross" markrgb=".8 .8 .8" />
-    <material name="plane" reflectance="0.3" texture="plane" texrepeat="1 1" texuniform="true" />
-    <material name="metal" rgba="1 1 1 1" />
-    <material name="rubber" rgba="0.5 0.5 0.5 1" />
-    <material name="default_material" rgba="0.7 0.7 0.7 1" />
-    <material name="collision_material" rgba="1.0 0.28 0.1 0.9" />
-    <mesh name="base_link.STL" file="/home/ray/ROS2Workspace/softwaresystem/RobotOS1/meshes/base_link.STL" />
-    <mesh name="left_hip_pitch_link.STL" file="/home/ray/ROS2Workspace/softwaresystem/RobotOS1/meshes/left_hip_pitch_link.STL" />
-    <mesh name="left_leg_pitch_link.STL" file="/home/ray/ROS2Workspace/softwaresystem/RobotOS1/meshes/left_leg_pitch_link.STL" />
-    <mesh name="left_wheel2_link.STL" file="/home/ray/ROS2Workspace/softwaresystem/RobotOS1/meshes/left_wheel2_link.STL" />
-    <mesh name="left_wheel1_link.STL" file="/home/ray/ROS2Workspace/softwaresystem/RobotOS1/meshes/left_wheel1_link.STL" />
-    <mesh name="right_hip_pitch_link.STL" file="/home/ray/ROS2Workspace/softwaresystem/RobotOS1/meshes/right_hip_pitch_link.STL" />
-    <mesh name="right_leg_pitch_link.STL" file="/home/ray/ROS2Workspace/softwaresystem/RobotOS1/meshes/right_leg_pitch_link.STL" />
-    <mesh name="right_wheel2_link.STL" file="/home/ray/ROS2Workspace/softwaresystem/RobotOS1/meshes/right_wheel2_link.STL" />
-    <mesh name="right_wheel1_link.STL" file="/home/ray/ROS2Workspace/softwaresystem/RobotOS1/meshes/right_wheel1_link.STL" />
-    <mesh name="left_shoulder_link.STL" file="/home/ray/ROS2Workspace/softwaresystem/RobotOS1/meshes/left_shoulder_link.STL" />
-    <mesh name="left_arm1_link.STL" file="/home/ray/ROS2Workspace/softwaresystem/RobotOS1/meshes/left_arm1_link.STL" />
-    <mesh name="left_arm2_link.STL" file="/home/ray/ROS2Workspace/softwaresystem/RobotOS1/meshes/left_arm2_link.STL" />
-    <mesh name="right_shoulder_link.STL" file="/home/ray/ROS2Workspace/softwaresystem/RobotOS1/meshes/right_shoulder_link.STL" />
-    <mesh name="right_arm1_link.STL" file="/home/ray/ROS2Workspace/softwaresystem/RobotOS1/meshes/right_arm1_link.STL" />
-    <mesh name="right_arm2_link.STL" file="/home/ray/ROS2Workspace/softwaresystem/RobotOS1/meshes/right_arm2_link.STL" />
-  </asset>
-
-<!--   <custom>
-    <numeric name="wheel_radius" data="0.1" />
-    <numeric name="wheel_base_y" data="0.3445" />
-  </custom> -->
-
-  <worldbody>
-    <geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="plane"
-          condim="3" friction="1.5 0.3 0.05"
-          solimp="0.9 0.95 0.001" solref="0.02 1"/>
-    <light directional="true" ambient=".3 .3 .3" pos="30 30 30" dir="0 -2 -1"
-            diffuse=".5 .5 .5" specular=".5 .5 .5" />
-    <body name="base_link" pos="0 0 0.65" quat="1 0 0 0" childclass="robot">
-      <freejoint name="floating_base" />
-      <camera name="c1" mode="fixed" pos="0 0 0.1" fovy="80" quat="-0.5 -0.3 0.3 0.5" />
-      <camera name="c2" mode="fixed" pos="0 0 0.15" fovy="80" euler="1.57 -1.57 0" />
-      <camera name="c3" mode="fixed" pos="0 0 0.4" fovy="90" quat="-0.5 -0.37 0.37 0.5" />
-      <camera name="c4" mode="fixed" pos="-0.13 0 0.4" fovy="90" quat="0.5 -0.37 0.37 -0.5" />
-      <site name="imu" />
-      <geom name="base_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="base_link.STL" class="collision" />
-      <geom name="base_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" material="metal" type="mesh" mesh="base_link.STL" class="visual" />
-
-      <!-- 加入雷达 -->
-<!--       <body name="laser" pos="0 0 0.3">
-        <geom type="sphere" size="0.01" rgba="0.2 0.2 0.2 1" />
-        <body euler="0 -1.0472 0">  
-          <replicate count="25" euler="0 0.08726 0" sep="BBB">           
-            <body euler="0 0 -0.7854">  
-              <replicate count="25" euler="0 0 0.06545" sep="AAA" offset="0.0 0.0 0.0">
-                <site name="rf" pos="0.02 0 0" zaxis="1 0 0" size="0.001 0.001 0.001"
-                      rgba="0.2 0.2 0.2 1" />
-              </replicate>
-            </body>
-          </replicate>
-        </body>
-      </body>
- -->
-      <body name="left_hip_pitch_link" pos="-0.06 -0.1358 -0.037269" quat="0.7070973820890846 -0.7070999794075672 -0.003384618178084856 -0.0033846306105044543">
-        <joint name="left_hip_pitch_joint" type="hinge" ref="0.5236" class="motor" range="-1.57 1.57" axis="0 0 -1" />
-        <inertial pos="3.93767161736252E-06 0.161490126813208 0.0158567790568734" quat="1.0 0.0 0.0 0.0" mass="0.6475263" diaginertia="0.0182516 0.0181748 0.0003913" />
-        <geom name="left_hip_pitch_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="left_hip_pitch_link.STL" class="collision" />
-        <geom name="left_hip_pitch_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" material="metal" type="mesh" mesh="left_hip_pitch_link.STL" class="visual" />
-        <body name="left_leg_pitch_link" pos="0 0 -0.0295" quat="0.9999818497424056 0.0 0.0 0.006024963548188557">
-          <joint name="left_leg_pitch_joint" type="hinge" ref="1.0472" class="motor" range="-1.57 1.57" axis="0 0 1" />
-          <inertial pos="-2.63464180747426E-05 0.197159145100908 0.000498203326348359" quat="1.0 0.0 0.0 0.0" mass="0.5126336" diaginertia="0.0135141 0.0135986 0.0002025" />
-          <geom name="left_leg_pitch_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="left_leg_pitch_link.STL" class="collision" />
-          <geom name="left_leg_pitch_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" material="metal" type="mesh" mesh="left_leg_pitch_link.STL" class="visual" />
-          <body name="left_wheel2_link" pos="0 0.4805 0.004" quat="-3.6732022875794935e-06 -0.9999992334237316 0.0012381996836028366 4.548161396802735e-09">
-            <joint name="left_wheel2_joint" type="hinge" ref="0.0" class="motor" axis="0 0 1" />
-            <inertial pos="4.1585564079967E-08 -5.47447156262759E-06 0.0187838263233595" quat="1.0 0.0 0.0 0.0" mass="0.745" diaginertia="0.0004716 0.0007945 0.0004716" />
-            <geom name="left_wheel2_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="left_wheel2_link.STL" class="collision" friction="0.7 0.2 0.1"/>
-            <geom name="left_wheel2_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" material="rubber" type="mesh" mesh="left_wheel2_link.STL" class="visual" />
-          </body>
-        </body>
-        <body name="left_wheel1_link" pos="0 0.48 0.01" quat="0.9999885442520924 0.0 0.0 0.0047865817219583965">
-          <joint name="left_wheel1_joint" type="hinge" ref="0.0" class="motor" axis="0 0 1" />
-          <inertial pos="1.97042367054093E-06 5.10773910927798E-06 0.0187838263233595" quat="1.0 0.0 0.0 0.0" mass="0.745" diaginertia="0.0004716 0.0007945 0.0004716" />
-          <geom name="left_wheel1_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="left_wheel1_link.STL" class="collision" friction="0.7 0.2 0.1" />
-          <geom name="left_wheel1_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" material="rubber" type="mesh" mesh="left_wheel1_link.STL" class="visual" />
-        </body>
-      </body>
-      <body name="right_hip_pitch_link" pos="-0.06 0.1358 -0.037269" quat="0.7071047344942819 0.7071073318397715 -0.0010285199169106727 0.001028523694882219">
-        <joint name="right_hip_pitch_joint" type="hinge" ref="0.5236" class="motor" range="-1.57 1.57" axis="0 0 -1" />
-        <inertial pos="-3.97209815898069E-06 -0.161490067811833 0.0158567790568734" quat="1.0 0.0 0.0 0.0" mass="0.6475263" diaginertia="0.0182531 0.0181748 0.0003897" />
-        <geom name="right_hip_pitch_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="right_hip_pitch_link.STL" class="collision" />
-        <geom name="right_hip_pitch_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" material="metal" type="mesh" mesh="right_hip_pitch_link.STL" class="visual" />
-        <body name="right_leg_pitch_link" pos="0 0 -0.0295" quat="0.9999989421423353 0.0 0.0 -0.001454549487097675">
-          <joint name="right_leg_pitch_joint" type="hinge" ref="1.0472" class="motor" range="-1.57 1.57" axis="0 0 1" />
-          <inertial pos="3.43008600186093E-05 -0.197159143801203 0.000498203308628542" quat="1.0 0.0 0.0 0.0" mass="0.5126336" diaginertia="0.0135142 0.0135986 0.0002024" />
-          <geom name="right_leg_pitch_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="right_leg_pitch_link.STL" class="collision" />
-          <geom name="right_leg_pitch_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" material="metal" type="mesh" mesh="right_leg_pitch_link.STL" class="visual" />
-          <body name="right_wheel2_link" pos="1.9386E-05 -0.4805 0.004" quat="-3.673205103346574e-06 0.9999999999932537 0.0 -0.0">
-            <joint name="right_wheel2_joint" type="hinge" ref="0.0" class="motor" axis="0 0 1" />
-            <inertial pos="-5.49216228909084E-08 5.47435401360152E-06 0.0187838263233596" quat="1.0 0.0 0.0 0.0" mass="0.745" diaginertia="0.0004716 0.0007945 0.0004716" />
-            <geom name="right_wheel2_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="right_wheel2_link.STL" class="collision" friction="0.7 0.2 0.1"/>
-            <geom name="right_wheel2_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" material="rubber" type="mesh" mesh="right_wheel2_link.STL" class="visual" />
-          </body>
-        </body>
-        <body name="right_wheel1_link" pos="0 -0.48 0.01" quat="0.9999989421423353 0.0 0.0 -0.001454549487097675">
-          <joint name="right_wheel1_joint" type="hinge" ref="0.0" class="motor" axis="0 0 1" />
-          <inertial pos="-1.90651569380871E-06 -5.13193590762073E-06 0.0187838263233596" quat="1.0 0.0 0.0 0.0" mass="0.745" diaginertia="0.0004716 0.0007945 0.0004716" />
-          <geom name="right_wheel1_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="right_wheel1_link.STL" class="collision" friction="0.7 0.2 0.1" />
-          <geom name="right_wheel1_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" material="rubber" type="mesh" mesh="right_wheel1_link.STL" class="visual" />
-        </body>
-      </body>
-      <body name="left_shoulder_link" pos="-0.06 -0.0878 0.36288" quat="1.0 0.0 0.0 0.0">
-        <joint name="left_shoulder_joint" type="hinge" ref="0.0" class="motor" range="-1.57 1.57" axis="0 0 1" damping="1" />
-        <inertial pos="-0.0144837915216556 0.000108169744531657 0.0209530786562939" quat="1.0 0.0 0.0 0.0" mass="0.0131461" diaginertia="7e-06 7.1e-06 4.5e-06" />
-        <geom name="left_shoulder_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="left_shoulder_link.STL" class="collision" />
-        <geom name="left_shoulder_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" material="metal" type="mesh" mesh="left_shoulder_link.STL" class="visual" />
-        <body name="left_arm1_link" pos="0 0 0.0385" quat="0.7071005527533233 0.7071031500834525 -0.002640406144908195 -0.0026403964461726814">
-          <joint name="left_arm1_joint" type="hinge" ref="0.0" class="motor" range="-1.3 2.3" axis="-1 0 0" damping="1" />
-          <inertial pos="-0.00228631297282665 -0.000694770956028379 0.0248681244469774" quat="1.0 0.0 0.0 0.0" mass="0.5854363" diaginertia="0.0008783 0.0002821 0.0009299" />
-          <geom name="left_arm1_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="left_arm1_link.STL" class="collision" />
-          <geom name="left_arm1_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" material="metal" type="mesh" mesh="left_arm1_link.STL" class="visual" />
-          <body name="left_arm2_link" pos="0.020127 0.0040341 0.17817" quat="0.6944747196208786 -0.7195074150900038 0.002593250103544229 0.002686725126152307">
-            <joint name="left_arm2_joint" type="hinge" ref="0.0" class="motor" range="-1 1" axis="-0.99997 0.0074634 0.0002647" damping="1" />
-            <inertial pos="-0.0237485342372672 -0.0546317049801525 1.0877545797372E-05" quat="1.0 0.0 0.0 0.0" mass="0.7955302" diaginertia="0.0035648 0.0002355 0.0036543" />
-            <geom name="left_arm2_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="left_arm2_link.STL" class="collision" />
-            <geom name="left_arm2_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" material="metal" type="mesh" mesh="left_arm2_link.STL" class="visual" />
-          </body>
-        </body>
-      </body>
-      <body name="right_shoulder_link" pos="-0.06 0.0878 0.36288" quat="1.0 0.0 0.0 0.0">
-        <joint name="right_shoulder_joint" type="hinge" ref="0.0" class="motor" range="-1.57 1.57" axis="0 0 1" damping="1" />
-        <inertial pos="-0.0144831349305154 -0.000175271563297497 0.0209530786562937" quat="1.0 0.0 0.0 0.0" mass="0.0131461" diaginertia="7e-06 7.1e-06 4.5e-06" />
-        <geom name="right_shoulder_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="right_shoulder_link.STL" class="collision" />
-        <geom name="right_shoulder_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" material="metal" type="mesh" mesh="right_shoulder_link.STL" class="visual" />
-        <body name="right_arm1_link" pos="0 0 0.0385" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
-          <joint name="right_arm1_joint" type="hinge" ref="0.0" class="motor" range="-1.3 2.3" axis="1 0 0" damping="1" />
-          <inertial pos="-0.00258654183724675 0.00163071193731268 -0.0247948407356193" quat="1.0 0.0 0.0 0.0" mass="0.5854363" diaginertia="0.0008778 0.0002836 0.0009288" />
-          <geom name="right_arm1_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="right_arm1_link.STL" class="collision" />
-          <geom name="right_arm1_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" material="metal" type="mesh" mesh="right_arm1_link.STL" class="visual" />
-          <body name="right_arm2_link" pos="0.017969 0.0026972 -0.17843" quat="0.704093896181981 -0.7101068830530216 0.0 0.0">
-            <joint name="right_arm2_joint" type="hinge" ref="0.0" class="motor" range="-1 1" axis="-0.99993 -0.0121 -0.00010316" damping="1" />
-            <inertial pos="-0.0240175529876588 0.0558375631647781 2.11385309717427E-06" quat="1.0 0.0 0.0 0.0" mass="0.7955302" diaginertia="0.0035728 0.0002317 0.0036666" />
-            <geom name="right_arm2_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="right_arm2_link.STL" class="collision" />
-            <geom name="right_arm2_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" material="metal" type="mesh" mesh="right_arm2_link.STL" class="visual" />
-          </body>
-        </body>
-      </body>
-      <site name="base_link_site" pos="0 0 0" quat="1 0 0 0" />
-      <camera name="front_camera" mode="track" fovy="90.0" quat="4.329780281177467e-17 4.329780281177466e-17 0.7071067811865475 0.7071067811865476" pos="0.0 2.0 0.5" />
-      <camera name="side_camera" mode="track" fovy="90.0" quat="-0.5 -0.4999999999999999 0.5 0.5000000000000001" pos="-2.0 0.0 0.5" />
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor name="left_wheel2_joint_ctrl" joint="left_wheel2_joint" class="motor" forcerange="-30 30" />
-    <motor name="left_wheel1_joint_ctrl" joint="left_wheel1_joint" class="motor" forcerange="-30 30" />
-    <motor name="right_wheel2_joint_ctrl" joint="right_wheel2_joint" class="motor" forcerange="-30 30" />
-    <motor name="right_wheel1_joint_ctrl" joint="right_wheel1_joint" class="motor" forcerange="-30 30" />
-    <motor name="left_shoulder_joint_ctrl" joint="left_shoulder_joint" class="motor" forcerange="-42.8 42.8" />
-    <motor name="left_arm1_joint_ctrl" joint="left_arm1_joint" class="motor" forcerange="-42.8 42.8" />
-    <motor name="left_arm2_joint_ctrl" joint="left_arm2_joint" class="motor" forcerange="-18 18" />
-    <motor name="right_shoulder_joint_ctrl" joint="right_shoulder_joint" class="motor" forcerange="-42.8 42.8" />
-    <motor name="right_arm1_joint_ctrl" joint="right_arm1_joint" class="motor" forcerange="-42.8 42.8" />
-    <motor name="right_arm2_joint_ctrl" joint="right_arm2_joint" class="motor" forcerange="-18 18" />
-
-    <!-- 轮毂电机 (使用general类型实现速度+前馈控制) -->
-<!--     <general name="left_wheel2_vel" joint="left_wheel2_joint" 
-            dyntype="integrator" biastype="affine" 
-            gainprm="0.5 0 0 0 0 0 0 0 0 0" 
-            biasprm="0 0 0 -0.1 0 0 0 0 0 0"
-            dynprm="0.001"
-            forcerange="-30 30"/>
-    
-    <general name="left_wheel1_vel" joint="left_wheel1_joint" 
-            dyntype="integrator" biastype="affine" 
-            gainprm="0.5 0 0 0 0 0 0 0 0 0" 
-            biasprm="0 0 0 -0.1 0 0 0 0 0 0"
-            dynprm="0.001"
-            forcerange="-30 30"/>
-    
-    <general name="right_wheel2_vel" joint="right_wheel2_joint" 
-            dyntype="integrator" biastype="affine" 
-            gainprm="0.5 0 0 0 0 0 0 0 0 0" 
-            biasprm="0 0 0 -0.1 0 0 0 0 0 0"
-            dynprm="0.001"
-            forcerange="-30 30"/>
-    
-    <general name="right_wheel1_vel" joint="right_wheel1_joint" 
-            dyntype="integrator" biastype="affine" 
-            gainprm="0.5 0 0 0 0 0 0 0 0 0" 
-            biasprm="0 0 0 -0.1 0 0 0 0 0 0"
-            dynprm="0.001"
-            forcerange="-30 30"/> -->
-    
-<!--     <velocity name="left_wheel2_vel" joint="left_wheel2_joint" kv="15" forcerange="-16.2 16.2"/>
-    <velocity name="left_wheel1_vel" joint="left_wheel1_joint" kv="15" forcerange="-0.1 0.1"/>
-    <velocity name="right_wheel2_vel" joint="right_wheel2_joint" kv="15" forcerange="-16.2 16.2"/>
-    <velocity name="right_wheel1_vel" joint="right_wheel1_joint" kv="15" forcerange="-0.1 0.1"/> -->
-    
-    <!-- 腰部电机 (低刚度位置模式) -->
-    <position name="1_pos" joint="left_hip_pitch_joint" kp="500" kv="22"/>
-    <position name="2_pos" joint="left_leg_pitch_joint" kp="500" kv="22"/>
-    <position name="3_pos" joint="right_hip_pitch_joint" kp="500" kv="22"/>
-    <position name="4_pos" joint="right_leg_pitch_joint" kp="500" kv="22"/>
-  </actuator>
-
-  <contact>
-    <exclude body1="base_link" body2="left_hip_pitch_link" />
-    <exclude body1="left_hip_pitch_link" body2="left_leg_pitch_link" />
-    <exclude body1="left_leg_pitch_link" body2="left_wheel2_link" />
-    <exclude body1="left_hip_pitch_link" body2="left_wheel1_link" />
-    <exclude body1="base_link" body2="right_hip_pitch_link" />
-    <exclude body1="right_hip_pitch_link" body2="right_leg_pitch_link" />
-    <exclude body1="right_leg_pitch_link" body2="right_wheel2_link" />
-    <exclude body1="right_hip_pitch_link" body2="right_wheel1_link" />
-    <exclude body1="base_link" body2="left_shoulder_link" />
-    <exclude body1="left_shoulder_link" body2="left_arm1_link" />
-    <exclude body1="left_arm1_link" body2="left_arm2_link" />
-    <exclude body1="base_link" body2="right_shoulder_link" />
-    <exclude body1="right_shoulder_link" body2="right_arm1_link" />
-    <exclude body1="right_arm1_link" body2="right_arm2_link" />
-    <exclude body1="left_leg_pitch_link" body2="base_link"/>
-    <exclude body1="right_leg_pitch_link" body2="base_link"/>
-  </contact> 
-
-  <sensor>
-    <framequat name='orientation' objtype='site' objname='imu' />
-    <gyro name='base_ang_vel' site='imu' />
-    <accelerometer name="accel" site="imu" />
-<!--     <rangefinder site="rf" /> -->
-<!--     <framepos name="base_link_site_pos" objtype="site" objname="base_link_site" />
-    <framequat name="base_link_site_quat" objtype="site" objname="base_link_site" />
-    <framelinvel name="base_link_site_linvel" objtype="site" objname="base_link_site" />
-    <frameangvel name="base_link_site_angvel" objtype="site" objname="base_link_site" />
-    <velocimeter name="base_link_site_vel" site="base_link_site" /> -->
-  </sensor>
-</mujoco>
\ No newline at end of file
diff --git a/RobotOS1/urdf/robot_pitch.py b/RobotOS1/urdf/robot_pitch.py
deleted file mode 100755
index 9a49e16..0000000
--- a/RobotOS1/urdf/robot_pitch.py
+++ /dev/null
@@ -1,108 +0,0 @@
-import mujoco
-import mujoco.viewer
-import numpy as np
-import time
-
-# 期望的俯仰角度（弧度）
-x = 60  # 腿部岔开角度
-a = 90 - (x / 2)
-DESIRED_DEGREE = 10  # 输入一个角度,正值为俯，负值为仰
-DESIRED_PITCH = np.radians(DESIRED_DEGREE) * (a / 90)  # 转换为弧度并调整比例
-
-def main():
-    # 加载模型和创建模拟
-    model = mujoco.MjModel.from_xml_path("/home/mrji/mujoco_learning/robot3/urdf/robot3.xml")  
-    data = mujoco.MjData(model)
-    
-    # 完整重置机器人状态
-    mujoco.mj_resetData(model, data)  # 确保所有状态完全重置
-    
-    # 初始姿态设置 - 确保设置所有相关关节
-    data.qpos[model.joint("left_hip_pitch_joint").id] = 0
-    data.qpos[model.joint("right_hip_pitch_joint").id] = 0
-    data.qpos[model.joint("left_leg_pitch_joint").id] = 0
-    data.qpos[model.joint("right_leg_pitch_joint").id] = 0
-    
-    # 重置所有速度为0
-    data.qvel[:] = 0
-    
-    # 修改：在最开始的时候额外重置一次
-    mujoco.mj_resetData(model, data)
-    
-    # 创建查看器
-    with mujoco.viewer.launch_passive(model, data) as viewer:
-        # 设置摄像头位置
-        viewer.cam.azimuth = 180  # 面向机器人正面
-        viewer.cam.elevation = -20  # 稍微俯视
-        viewer.cam.distance = 2.0  # 距离
-        viewer.cam.lookat[:] = [0.0, 0.0, 0.65]  # 看向机器人中心
-        
-        # 获取执行器ID
-        hip_left = model.actuator("1_pos").id
-        leg_left = model.actuator("2_pos").id
-        hip_right = model.actuator("3_pos").id
-        leg_right = model.actuator("4_pos").id
-        
-        # 初始化控制信号
-        data.ctrl[hip_left] = 0
-        data.ctrl[leg_left] = 0
-        data.ctrl[hip_right] = 0
-        data.ctrl[leg_right] = 0
-        
-        # 状态控制变量
-        start_time = time.time()
-        current_phase = "STABLE"  # STABLE, MOVING, DONE
-        transition_start_time = 0
-        transition_duration = 1.0  # 过渡时间为1秒
-        current_hip_target = 0  # 当前的目标角度值
-        
-        # 初始稳定步骤 - 让物理引擎稳定
-        for _ in range(100):
-            mujoco.mj_step(model, data)
-            viewer.sync()
-            time.sleep(0.001)
-        
-        # 模拟循环
-        while viewer.is_running():
-            step_start = time.time()
-            elapsed_time = time.time() - start_time
-            
-            # 状态机控制
-            if current_phase == "STABLE":
-                # 稳定阶段 - 保持初始姿态1秒
-                if elapsed_time >= 1.0:
-                    current_phase = "MOVING"
-                    transition_start_time = time.time()
-                    print("开始向目标角度过渡...")
-            
-            elif current_phase == "MOVING":
-                # 过渡阶段 - 在1秒内平滑过渡到目标角度
-                transition_elapsed = time.time() - transition_start_time
-                if transition_elapsed >= transition_duration:
-                    current_hip_target = DESIRED_PITCH
-                    current_phase = "DONE"
-                    print(f"达到目标俯仰角度: {DESIRED_DEGREE}度")
-                else:
-                    # 线性插值过渡
-                    fraction = transition_elapsed / transition_duration
-                    current_hip_target = DESIRED_PITCH * fraction
-            
-            # 更新控制信号
-            data.ctrl[hip_left] = current_hip_target
-            data.ctrl[hip_right] = -current_hip_target
-            data.ctrl[leg_left] = 0
-            data.ctrl[leg_right] = 0
-            
-            # 执行物理模拟
-            mujoco.mj_step(model, data)
-            
-            # 同步查看器
-            viewer.sync()
-            
-            # 控制步长（约1000Hz）
-            time_until_next_step = 0.001 - (time.time() - step_start)
-            if time_until_next_step > 0:
-                time.sleep(time_until_next_step)
-
-if __name__ == "__main__":
-    main()
\ No newline at end of file
diff --git a/RobotOS1/urdf/self_rotation.py b/RobotOS1/urdf/self_rotation.py
deleted file mode 100755
index 5b10c81..0000000
--- a/RobotOS1/urdf/self_rotation.py
+++ /dev/null
@@ -1,133 +0,0 @@
-import mujoco
-import numpy as np
-import time
-from mujoco import viewer
-
-def main():
-    # 加载模型
-    model = mujoco.MjModel.from_xml_path('/home/ray/ROS2Workspace/softwaresystem/RobotOS1/urdf/robot3.xml')
-    data = mujoco.MjData(model)
-    
-    # 获取执行器索引
-    actuator_names = [
-        "left_wheel2_vel", "left_wheel1_vel", 
-        "right_wheel2_vel", "right_wheel1_vel"
-    ]
-    actuator_ids = [mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, name) for name in actuator_names]
-    
-    # 设置自转参数 (8秒一圈)
-    rotation_time = 2.2  # 可调范围5-10秒
-    
-    # 机器人结构参数（需要根据实际模型调整）
-    effective_wheel_radius = 0.12  # 轮子有效半径（米）
-    track_width = 0.7  # 左右轮中心距（米）
-    
-    # 计算轮子角速度差
-    angular_velocity = 2 * np.pi / rotation_time  # 机器人旋转角速度(rad/s)
-    wheel_angular_difference = angular_velocity * track_width / (2 * effective_wheel_radius)
-    
-    print(f"目标旋转时间: {rotation_time}秒/圈")
-    print(f"轮子角速度差: {wheel_angular_difference:.2f} rad/s")
-    
-    # 使用内置查看器
-    with viewer.launch_passive(model, data) as viewer_handle:
-        start_time = time.time()
-        rotation_count = 0
-        last_yaw = 0
-        last_print_time = start_time
-        
-        print("开始模拟...按 Ctrl+C 停止")
-        
-        # 设置相机
-        viewer_handle.cam.distance = 3.0
-        viewer_handle.cam.elevation = -20
-        viewer_handle.cam.azimuth = 45
-        
-        # 初始稳定阶段（1秒）
-        init_stable_time = 0.5
-        init_end_time = start_time + init_stable_time
-        
-        # 渐进加速参数
-        acceleration_duration = 10.0  # 加速时间
-        current_speed_factor = 0.0
-        max_speed_factor = 1.0
-        
-        # 运行模拟
-        while viewer_handle.is_running():
-            current_time = time.time()
-            elapsed_time = current_time - start_time
-            
-            # 初始稳定阶段
-            if current_time < init_end_time:
-                # 保持静止，让机器人稳定
-                data.ctrl[actuator_ids] = [0, 0, 0, 0]
-            else:
-                # 渐进加速
-                if current_speed_factor < max_speed_factor:
-                    current_speed_factor = min(max_speed_factor, 
-                                             (current_time - init_end_time) / acceleration_duration)
-                
-                # 应用速度控制
-                left_speed = current_speed_factor * wheel_angular_difference
-                right_speed = -current_speed_factor * wheel_angular_difference
-                
-                data.ctrl[actuator_ids[0]] = left_speed   # left_wheel2
-                data.ctrl[actuator_ids[1]] = left_speed   # left_wheel1
-                data.ctrl[actuator_ids[2]] = right_speed  # right_wheel2
-                data.ctrl[actuator_ids[3]] = right_speed  # right_wheel1
-            
-            # 步进模拟
-            mujoco.mj_step(model, data)
-            
-            # 更新查看器
-            viewer_handle.sync()
-            
-            # 获取机器人方向（使用基座方向）
-            base_quat = data.qpos[3:7]  # 基座的四元数
-            roll, pitch, yaw = quaternion_to_euler(base_quat)
-            
-            # 检测完整旋转
-            if last_yaw > 3.0 and yaw < -3.0:  # 从正π到负π
-                rotation_count += 1
-            elif last_yaw < -3.0 and yaw > 3.0:  # 从负π到正π
-                rotation_count += 1
-            last_yaw = yaw
-            
-            # 每秒显示状态
-            if current_time - last_print_time >= 1.0:
-                if rotation_count > 0:
-                    actual_time_per_rotation = elapsed_time / rotation_count
-                    print(f"目标: {rotation_time:.1f}秒/圈 | 实际: {actual_time_per_rotation:.1f}秒/圈 | 旋转圈数: {rotation_count}")
-                else:
-                    print(f"旋转中...当前偏航角: {yaw:.2f} rad | 速度因子: {current_speed_factor:.2f}")
-                last_print_time = current_time
-            
-            # 控制模拟速度
-            time.sleep(model.opt.timestep)
-        
-        print("模拟结束")
-
-def quaternion_to_euler(q):
-    """将四元数转换为欧拉角 (roll, pitch, yaw)"""
-    w, x, y, z = q
-    # 绕x轴旋转 (roll)
-    sinr_cosp = 2 * (w * x + y * z)
-    cosr_cosp = 1 - 2 * (x * x + y * y)
-    roll = np.arctan2(sinr_cosp, cosr_cosp)
-    
-    # 绕y轴旋转 (pitch)
-    sinp = 2 * (w * y - z * x)
-    if np.abs(sinp) >= 1:
-        pitch = np.copysign(np.pi / 2, sinp)
-    else:
-        pitch = np.arcsin(sinp)
-    
-    # 绕z轴旋转 (yaw)
-    siny_cosp = 2 * (w * z + x * y)
-    cosy_cosp = 1 - 2 * (y * y + z * z)
-    yaw = np.arctan2(siny_cosp, cosy_cosp)
-    
-    return roll, pitch, yaw
-
-if __name__ == "__main__":
-    main()
\ No newline at end of file
diff --git a/RobotOS1/urdf/self_rotation2.py b/RobotOS1/urdf/self_rotation2.py
deleted file mode 100755
index fe8bb97..0000000
--- a/RobotOS1/urdf/self_rotation2.py
+++ /dev/null
@@ -1,183 +0,0 @@
-import mujoco
-import numpy as np
-import time
-from mujoco import viewer
-
-def main():
-    # 加载模型
-    model = mujoco.MjModel.from_xml_path('/home/ray/ROS2Workspace/softwaresystem/RobotOS1/urdf/robot3.xml')
-    data = mujoco.MjData(model)
-    
-    # 获取执行器索引
-    actuator_names = [
-        "left_wheel2_vel", "left_wheel1_vel", 
-        "right_wheel2_vel", "right_wheel1_vel"
-    ]
-    actuator_ids = [mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, name) for name in actuator_names]
-    
-    # 设置自转参数 (8秒一圈)
-    rotation_time = 10.0  # 可调范围5-10秒
-    
-    # 机器人结构参数（需要根据实际模型调整）
-    effective_wheel_radius = 0.12  # 轮子有效半径（米）
-    track_width = 0.7  # 左右轮中心距（米）
-    
-    # 计算轮子角速度差
-    angular_velocity = 2 * np.pi / rotation_time  # 机器人旋转角速度(rad/s)
-    wheel_angular_difference = angular_velocity * track_width / (2 * effective_wheel_radius)
-    
-    print(f"目标旋转时间: {rotation_time}秒/圈")
-    print(f"轮子角速度差: {wheel_angular_difference:.2f} rad/s")
-    
-    # 使用内置查看器
-    with viewer.launch_passive(model, data) as viewer_handle:
-        start_time = time.time()
-        rotation_count = 0
-        last_yaw = 0
-        last_print_time = start_time
-        
-        print("开始模拟...按 Ctrl+C 停止")
-        
-        # 设置相机
-        viewer_handle.cam.distance = 3.0
-        viewer_handle.cam.elevation = -20
-        viewer_handle.cam.azimuth = 45
-        
-        # 初始稳定阶段（1秒）
-        init_stable_time = 0.5
-        init_end_time = start_time + init_stable_time
-        
-        # 渐进加速参数
-        acceleration_duration = 10.0  # 加速时间
-        current_speed_factor = 0.0
-        max_speed_factor = 1.0
-        
-        # 运行模拟
-        while viewer_handle.is_running():
-            current_time = time.time()
-            elapsed_time = current_time - start_time
-            
-            # 初始稳定阶段
-            if current_time < init_end_time:
-                # 保持静止，让机器人稳定
-                data.ctrl[actuator_ids] = [0, 0, 0, 0]
-            else:
-                # 渐进加速
-                if current_speed_factor < max_speed_factor:
-                    current_speed_factor = min(max_speed_factor, 
-                                             (current_time - init_end_time) / acceleration_duration)
-                
-                # 应用速度控制
-                left_speed = current_speed_factor * wheel_angular_difference
-                right_speed = -current_speed_factor * wheel_angular_difference
-                
-# 方法1：预分配固定长度列表
-                cur_dq = [0.0] * 4  # [0.0, 0.0, 0.0, 0.0]
-                des_dq = [0.0] * 4
-                tau = [0.0] * 4
-                # cur_dq[0] = data.qvel[0]#
-                # cur_dq[1] = data.qvel[1]#cur_dq[0] = data.qvel[0]#
-                # cur_dq[2] = data.qvel[2]#
-                # cur_dq[3] = data.qvel[3]#
-                # 获取关节在速度向量中的索引
-                wheel_joint_names = ["left_wheel2_joint", "left_wheel1_joint", 
-                                    "right_wheel2_joint", "right_wheel1_joint"]
-                cur_dq = [
-                    data.qvel[mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_JOINT, name)] 
-                    for name in wheel_joint_names
-                ]
-                kd = 1
-                des_dq[0]= left_speed
-                
-
-                des_dq[1]= 0.85 * left_speed 
-                des_dq[2]= right_speed 
-                des_dq[3]= 0.85 * right_speed 
-
-
-                des_dq[0] = -1
-                des_dq[1] = -1
-                des_dq[2] = -1
-                des_dq[3] = 1
-
-                tau[0] = kd *(des_dq[0]- cur_dq[0])
-                tau[1] = kd *(des_dq[1]- cur_dq[1])
-                tau[2] = kd *(des_dq[2]- cur_dq[2])
-                tau[3] = kd *(des_dq[3]- cur_dq[3])
-                
-                # data.ctrl[actuator_ids[0]] = left_speed   # left_wheel2
-                # data.ctrl[actuator_ids[1]] = 0.85 * left_speed   # left_wheel1
-                # data.ctrl[actuator_ids[2]] = right_speed  # right_wheel2
-                # data.ctrl[actuator_ids[3]] = 0.85 * right_speed  # right_wheel1
-
-                    # 获取执行器索引
-                actuator_names1 = [
-                    "left_wheel2_joint_ctrl", "left_wheel1_joint_ctrl",
-                    "right_wheel2_joint_ctrl", "right_wheel1_joint_ctrl"
-                ]
-                actuator_ids1 = [
-                    mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, name) 
-                    for name in actuator_names1
-                ]
-                data.ctrl[actuator_ids1[0]] = tau[0]   # left_wheel2
-                data.ctrl[actuator_ids1[1]] = tau[1]   # left_wheel1
-                data.ctrl[actuator_ids1[2]] = tau[2] # right_wheel2
-                data.ctrl[actuator_ids1[3]] = tau[3]  # right_wheel1
-            
-            # 步进模拟
-            mujoco.mj_step(model, data)
-            
-            # 更新查看器
-            viewer_handle.sync()
-            
-            # 获取机器人方向（使用基座方向）
-            base_quat = data.qpos[3:7]  # 基座的四元数
-            roll, pitch, yaw = quaternion_to_euler(base_quat)
-            
-            # 检测完整旋转
-            if last_yaw > 3.0 and yaw < -3.0:  # 从正π到负π
-                rotation_count += 1
-            elif last_yaw < -3.0 and yaw > 3.0:  # 从负π到正π
-                rotation_count += 1
-            last_yaw = yaw
-            
-            # 每秒显示状态
-            if current_time - last_print_time >= 1.0:
-                if rotation_count > 0:
-                    actual_time_per_rotation = elapsed_time / rotation_count
-                    print(f"目标: {rotation_time:.1f}秒/圈 | 实际: {actual_time_per_rotation:.1f}秒/圈 | 旋转圈数: {rotation_count}")
-                else:
-                    print(f"旋转中...当前偏航角: {yaw:.2f} rad | 速度因子: {current_speed_factor:.2f}")
-                last_print_time = current_time
-            
-            # 控制模拟速度
-            time.sleep(0.001)
-        #time.sleep(model.opt.timestep)
-        
-        
-        print("模拟结束")
-
-def quaternion_to_euler(q):
-    """将四元数转换为欧拉角 (roll, pitch, yaw)"""
-    w, x, y, z = q
-    # 绕x轴旋转 (roll)
-    sinr_cosp = 2 * (w * x + y * z)
-    cosr_cosp = 1 - 2 * (x * x + y * y)
-    roll = np.arctan2(sinr_cosp, cosr_cosp)
-    
-    # 绕y轴旋转 (pitch)
-    sinp = 2 * (w * y - z * x)
-    if np.abs(sinp) >= 1:
-        pitch = np.copysign(np.pi / 2, sinp)
-    else:
-        pitch = np.arcsin(sinp)
-    
-    # 绕z轴旋转 (yaw)
-    siny_cosp = 2 * (w * z + x * y)
-    cosy_cosp = 1 - 2 * (y * y + z * z)
-    yaw = np.arctan2(siny_cosp, cosy_cosp)
-    
-    return roll, pitch, yaw
-
-if __name__ == "__main__":
-    main()
\ No newline at end of file
diff --git a/RobotOS1/urdf/test_glfw.py b/RobotOS1/urdf/test_glfw.py
deleted file mode 100755
index b0ddbb8..0000000
--- a/RobotOS1/urdf/test_glfw.py
+++ /dev/null
@@ -1,43 +0,0 @@
-import glfw
-import OpenGL.GL as gl
-
-def main():
-    # 初始化 GLFW
-    if not glfw.init():
-        print("GLFW 初始化失败")
-        return
-    
-    print("GLFW 初始化成功")
-    
-    # 创建窗口
-    window = glfw.create_window(800, 600, "GLFW 窗口测试", None, None)
-    if not window:
-        print("无法创建 GLFW 窗口")
-        glfw.terminate()
-        return
-    
-    print("GLFW 窗口创建成功")
-    
-    # 设置当前上下文
-    glfw.make_context_current(window)
-    
-    # 设置背景颜色
-    gl.glClearColor(0.2, 0.3, 0.6, 1.0)  # RGBA - 深蓝色
-    
-    # 主循环
-    while not glfw.window_should_close(window):
-        # 清除缓冲区
-        gl.glClear(gl.GL_COLOR_BUFFER_BIT)
-        
-        # 交换缓冲区
-        glfw.swap_buffers(window)
-        
-        # 处理事件
-        glfw.poll_events()
-    
-    # 清理
-    glfw.terminate()
-    print("GLFW 已终止")
-
-if __name__ == "__main__":
-    main()
\ No newline at end of file
diff --git a/wiki b/wiki
new file mode 100644
index 0000000..6ccfc83
--- /dev/null
+++ b/wiki
@@ -0,0 +1 @@
+urdf_to_graphiz hive_core_bot0.urdf
\ No newline at end of file