How to export XYRS or .pos file

I am confused on how to plot the XYRS or .pos file for pick and place machines. The assembler is asking for this data. I see lots of references on the KiCAD .pos file in the forums but am unclear on how to plot it. I am using version 5.1. Thanks

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Uggh, I really enjoyed my experience with KiCAD 5.1 on these two boards but I wish the developers had time to update the documentation. I did not see that option at all.

Thanks!

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