Add files using upload-large-folder tool

.gitattributes

@@ -137,3 +137,8 @@ texture_urdf/剪刀/Component_2/model.dae.blend filter=lfs diff=lfs merge=lfs -t
 texture_urdf/家具/Credenza+2+portas+de+giro+100+cm/model.dae.blend filter=lfs diff=lfs merge=lfs -text
 texture_urdf/书/Notebooks1/Untitled.blend filter=lfs diff=lfs merge=lfs -text
 texture_urdf/家具/gas+stove+single+burner[[:space:]][[:space:]]lzlz/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家具/G25125_09/G25125_09.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家具/i1p9zm7ssw00-mueble_salon/1.blend1 filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家具/i1p9zm7ssw00-mueble_salon/furniture_xena.max filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家具/i1p9zm7ssw00-mueble_salon/Xena_1.max filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家具/pot/pot.blend filter=lfs diff=lfs merge=lfs -text

texture_urdf/家具/G25125_09/G25125_09.blend

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+version https://git-lfs.github.com/spec/v1
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+size 2694874

texture_urdf/家具/i1p9zm7ssw00-mueble_salon/1.blend1

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+version https://git-lfs.github.com/spec/v1
+oid sha256:de1f7f33ec3998716af3bf0448cdaa904ef355c24bccb41e874d901e9c9f1544
+size 2203505

texture_urdf/家具/i1p9zm7ssw00-mueble_salon/Xena_1.max

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+version https://git-lfs.github.com/spec/v1
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+size 950272

texture_urdf/家具/i1p9zm7ssw00-mueble_salon/furniture_xena.max

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+version https://git-lfs.github.com/spec/v1
+oid sha256:760ac62fb55fcaeb5f0cf2943981787ffe8d142f386df7573e5c3176363fc2a2
+size 921600

texture_urdf/家具/pot/pot.blend

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e806f3e171e83d0fe6d81ed1ce0d88412afac35d03e9411be6661820b632a2e8
+size 2360309

texture_urdf/电水壶/3dexport_teapot_1523693793/URDF_Data/meshes/dae/Cylinder005.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.2586331367492676, 0.2586331367492676, 0.2586331367492676], mesh=<bpy_struct, Mesh("Cylinder005") at 0x0000026A8EBD2B08>, meshname=Cylinder005, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Cylinder005") at 0x0000026A8EBD2B08> to C:\Users\DELL\Desktop\工作完成9\3dexport_teapot_1523693793\URDF_Data\meshes\dae\Cylinder005.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成9\3dexport_teapot_1523693793\URDF_Data\meshes\dae\Cylinder005.dae from bpy_types.Mesh

texture_urdf/电水壶/3dexport_teapot_1523693793/URDF_Data/meshes/dae/Object001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.2586331367492676, 0.2586331367492676, 0.2586331367492676], mesh=<bpy_struct, Mesh("Object001") at 0x0000026A8E98B208>, meshname=Object001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Object001") at 0x0000026A8E98B208> to C:\Users\DELL\Desktop\工作完成9\3dexport_teapot_1523693793\URDF_Data\meshes\dae\Object001.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成9\3dexport_teapot_1523693793\URDF_Data\meshes\dae\Object001.dae from bpy_types.Mesh

texture_urdf/电水壶/3dexport_teapot_1523693793/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,30 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="Joint1" type="prismatic">
+    <limit lower="0.00000" upper="3.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="5.38042 -0.97698 8.46839"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="Cylinder005">
+      <origin rpy="1.57080 0.00000 -0.52360" xyz="0.00000 0.00000 0.00000"/>
+      <material name="wire_255255255"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Cylinder005.dae" scale="0.25863 0.25863 0.25863"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="Object001">
+      <origin rpy="1.57080 0.00000 -0.52360" xyz="-5.38042 0.97698 -8.46839"/>
+      <material name="wire_255255255"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Object001.dae" scale="0.25863 0.25863 0.25863"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="wire_255255255">
+    <color rgba="1.00000 1.00000 1.00000 1.00000"/>
+  </material>
+</robot>

texture_urdf/电水壶/Fellow+Stagg+EKG+Electric+Pour-Over+Kettle+with+Maple+Handle+Pink/URDF_Data/joint_limits.yml

@@ -0,0 +1,41 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.5,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.5,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "joint0",
+      "joint1",
+      "joint2"
+    ]
+  }
+}

texture_urdf/电水壶/Fellow+Stagg+EKG+Electric+Pour-Over+Kettle+with+Maple+Handle+Pink/URDF_Data/meshes/dae/ID175.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID175") at 0x0000019D05E87208>, meshname=ID175, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID175") at 0x0000019D05E87208> to D:\1009233120冉惟言\工作\Fellow+Stagg+EKG+Electric+Pour-Over+Kettle+with+Maple+Handle+Pink\URDF_Data\meshes\dae\ID175.dae
+->wrote dae to D:\1009233120冉惟言\工作\Fellow+Stagg+EKG+Electric+Pour-Over+Kettle+with+Maple+Handle+Pink\URDF_Data\meshes\dae\ID175.dae from bpy_types.Mesh

texture_urdf/电水壶/Fellow+Stagg+EKG+Electric+Pour-Over+Kettle+with+Maple+Handle+Pink/URDF_Data/meshes/dae/ID191.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID191") at 0x0000019CF94CB208>, meshname=ID191, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID191") at 0x0000019CF94CB208> to D:\1009233120冉惟言\工作\Fellow+Stagg+EKG+Electric+Pour-Over+Kettle+with+Maple+Handle+Pink\URDF_Data\meshes\dae\ID191.dae
+->wrote dae to D:\1009233120冉惟言\工作\Fellow+Stagg+EKG+Electric+Pour-Over+Kettle+with+Maple+Handle+Pink\URDF_Data\meshes\dae\ID191.dae from bpy_types.Mesh

texture_urdf/电水壶/Fellow+Stagg+EKG+Electric+Pour-Over+Kettle+with+Maple+Handle+Pink/URDF_Data/meshes/dae/ID20.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0000001192092896, 1.0000001192092896, 1.0000001192092896], mesh=<bpy_struct, Mesh("ID20") at 0x0000019CF77CC108>, meshname=ID20, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID20") at 0x0000019CF77CC108> to D:\1009233120冉惟言\工作\Fellow+Stagg+EKG+Electric+Pour-Over+Kettle+with+Maple+Handle+Pink\URDF_Data\meshes\dae\ID20.dae
+->wrote dae to D:\1009233120冉惟言\工作\Fellow+Stagg+EKG+Electric+Pour-Over+Kettle+with+Maple+Handle+Pink\URDF_Data\meshes\dae\ID20.dae from bpy_types.Mesh

texture_urdf/电水壶/Fellow+Stagg+EKG+Electric+Pour-Over+Kettle+with+Maple+Handle+Pink/URDF_Data/meshes/dae/ID48.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID48") at 0x0000019CD03CB208>, meshname=ID48, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID48") at 0x0000019CD03CB208> to D:\1009233120冉惟言\工作\Fellow+Stagg+EKG+Electric+Pour-Over+Kettle+with+Maple+Handle+Pink\URDF_Data\meshes\dae\ID48.dae
+->wrote dae to D:\1009233120冉惟言\工作\Fellow+Stagg+EKG+Electric+Pour-Over+Kettle+with+Maple+Handle+Pink\URDF_Data\meshes\dae\ID48.dae from bpy_types.Mesh

texture_urdf/电水壶/Fellow+Stagg+EKG+Electric+Pour-Over+Kettle+with+Maple+Handle+Pink/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,65 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint0" type="prismatic">
+    <limit lower="0.00000" upper="0.50000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.44350"/>
+    <parent link="baselink"/>
+    <child link="link0"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint1" type="continuous">
+    <limit lower="0" upper="0" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="1.37629 0.14216 0.30100"/>
+    <parent link="baselink"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint2" type="prismatic">
+    <limit lower="0.00000" upper="0.50000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.39849"/>
+    <parent link="link0"/>
+    <child link="link2"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="baselink">
+    <visual name="group_1.001">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.33927 0.00000 0.02676"/>
+      <material name="Fellow_Pink"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID20.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual name="group_3.004">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.09032 -0.20506"/>
+      <material name="Fellow_Pink"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID175.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="group_1.004">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-1.03702 -0.14216 -0.27424"/>
+      <material name="Fellow_Pink"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID48.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link2">
+    <visual name="group_3.006">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.09032 -0.60355"/>
+      <material name="material"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID191.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="Fellow_Pink">
+    <color rgba="0.92157 0.77647 0.77647 1.00000"/>
+  </material>
+  <material name="material">
+    <color rgba="0.64314 0.69804 0.72941 1.00000"/>
+  </material>
+</robot>

texture_urdf/电水壶/Kenwood+SJ320+Kettle/URDF_Data/joint_limits.yml

@@ -0,0 +1,30 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 1.5,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.07999999821186066,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "joint0",
+      "joint1"
+    ]
+  }
+}

texture_urdf/电水壶/Kenwood+SJ320+Kettle/URDF_Data/meshes/dae/ID108.dae

@@ -0,0 +1,114 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-17T15:19:16</created>
+    <modified>2025-06-17T15:19:16</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Color_008-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.1176471 0.1176471 0.1176471 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color303030255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Color_008-material" name="Color_008">
+      <instance_effect url="#Color_008-effect"/>
+    </material>
+    <material id="edge_color303030255-material" name="edge_color303030255">
+      <instance_effect url="#edge_color303030255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID108-mesh" name="ID108">
+      <mesh>
+        <source id="ID108-mesh-positions">
+          <float_array id="ID108-mesh-positions-array" count="636">-0.7472847 0.3461364 1.160297 1.142159 0.4659582 1.205283 -0.7772754 0.4659582 1.205283 1.11228 0.4214651 1.188579 1.107489 0.4121929 1.185097 1.082242 0.3461364 1.160297 1.082242 0.3461364 1.160297 -0.7472847 0.3461364 1.160297 1.107489 0.4121929 1.185097 1.11228 0.4214651 1.188579 1.142159 0.4659582 1.205283 -0.7772754 0.4659582 1.205283 -0.7472847 0.3461364 1.160297 1.082242 0.3461364 1.160297 1.107489 0.4121929 1.185097 1.11228 0.4214651 1.188579 1.142159 0.4659582 1.205283 -0.7772754 0.4659582 1.205283 -0.6985778 0.2356741 1.087237 0.9992904 0.2436516 1.092513 0.9941863 0.2356741 1.087237 0.9941863 0.2356741 1.087237 -0.6985778 0.2356741 1.087237 0.9992904 0.2436516 1.092513 -0.6985778 0.2356741 1.087237 0.9941863 0.2356741 1.087237 0.9992904 0.2436516 1.092513 1.169328 0.5905512 1.220472 -0.7874016 0.5905512 1.220472 1.169328 0.5905512 1.220472 -0.7874016 0.5905512 1.220472 1.169328 0.5905512 1.220472 -0.7874016 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+          <technique_common>
+            <accessor source="#ID108-mesh-positions-array" count="212" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID108-mesh-normals">
+          <float_array id="ID108-mesh-normals-array" count="432">0 -0.4349093 0.9004743 -2.35303e-7 -0.2056402 0.9786277 0 -0.2258618 0.9741594 3.57223e-7 -0.3515043 0.9361864 1.5716e-6 -0.3515307 0.9361764 0 -0.4215064 0.9068256 0 0.4215064 -0.9068256 0 0.4349093 -0.9004743 -1.5716e-6 0.3515307 -0.9361764 -3.57223e-7 0.3515043 -0.9361864 2.35303e-7 0.2056401 -0.9786277 0 0.2258618 -0.9741594 0 -0.6141656 0.7891772 1.37855e-7 -0.5516487 0.8340766 0 -0.6041721 0.7968539 0 0.6041721 -0.796854 0 0.6141656 -0.7891772 -1.43849e-7 0.5516487 -0.8340765 0 0 1 0 0 1 0 0 -1 0 -1.2087e-7 -1 0 -0.7572523 0.6531226 0 -0.7476902 0.6640478 0 0.7572523 -0.6531225 0 0.74769 -0.6640479 0 0.2258619 0.9741594 -2.35302e-7 0.2056397 0.9786279 2.35302e-7 -0.2056397 -0.9786279 0 -0.225862 -0.9741594 0 -0.8330911 0.5531358 0 -0.8639692 0.5035448 0 -0.8590621 0.5118715 0 0.8330909 -0.5531362 0 0.8639692 -0.5035448 0 0.859062 -0.5118716 0 0.4349089 0.9004745 6.30873e-7 0.3515036 0.9361865 2.09548e-6 0.3515321 0.936176 0 0.421507 0.9068252 0 -0.421507 -0.9068253 -2.09549e-6 -0.3515325 -0.9361757 0 -0.4349091 -0.9004744 -6.30875e-7 -0.3515037 -0.9361865 0 -0.9176512 0.3973868 0 -0.9176511 0.397387 0 -0.9176492 0.3973914 0 0.9176491 -0.3973919 0 0.9176512 -0.3973868 0 0.9176511 -0.397387 0 0.6141651 0.7891775 1.91798e-7 0.5516487 0.8340766 0 0.6041733 0.7968531 0 -0.604174 -0.7968525 -1.91798e-7 -0.551649 -0.8340764 0 -0.6141654 -0.7891775 0 -0.960763 -0.2773709 0 -0.9476819 -0.3192165 0 -0.9482042 -0.3176617 0 -0.960763 -0.2773708 0 -0.960763 -0.2773709 0 -0.9607645 -0.2773656 0 0.9607645 0.2773656 0 0.960763 0.2773709 0 0.960763 0.2773708 0 0.960763 0.2773709 0 0.9476819 0.3192164 0 0.9482042 0.3176617 0 0.7572523 0.6531225 0 0.7476733 0.6640667 0 -0.7572525 -0.6531224 0 -0.7476735 -0.6640666 0 -0.8863795 -0.4629594 0 -0.8908569 -0.4542843 0 -0.9144235 -0.4047589 0 0.9144235 0.4047589 0 0.8863795 0.4629594 0 0.8908569 0.4542843 -2.18242e-7 0.8590629 0.5118703 0 0.8639687 0.5035456 0 0.8330488 0.5531995 0 -0.8330488 -0.5531995 1.95349e-7 -0.8590629 -0.5118703 0 -0.8639687 -0.5035455 0 -0.7879816 -0.6156988 0 -0.7934107 -0.6086866 1.51601e-7 0.7879817 0.6156988 0 0.7934108 0.6086866 0 0.9176533 0.3973821 0 0.9176507 0.3973882 -1.51317e-7 0.9176519 0.3973852 0 -0.9176507 -0.3973881 1.51317e-7 -0.9176519 -0.3973851 0 -0.9176536 -0.3973816 0 -0.6275492 -0.778577 3.8485e-7 -0.704298 -0.7099046 1.34618e-6 -0.7042967 -0.7099058 0 -0.6127496 -0.7902771 0 0.6127497 0.790277 0 0.6275492 0.7785769 -1.34618e-6 0.7042967 0.7099058 -2.90007e-7 0.7042981 0.7099045 2.9119e-7 0.9476822 -0.3192155 0 0.9607644 -0.2773658 0 0.948205 -0.317659 2.32493e-7 0.9607638 -0.277368 0 0.960763 -0.2773708 0 0.960766 -0.2773603 0 -0.960766 0.2773603 0 -0.960763 0.2773708 -2.4218e-7 -0.9607639 0.2773674 -3.05241e-7 -0.9476823 0.3192152 0 -0.9607645 0.2773654 0 -0.9482052 0.3176588 0 -0.3604348 -0.9327844 0 -0.3480223 -0.9374863 0 0.3480224 0.9374862 0 0.3604348 0.9327845 3.17155e-7 0.8908566 -0.4542846 0 0.9144226 -0.4047611 0 0.8863812 -0.4629563 0 -0.9144224 0.4047613 -3.34775e-7 -0.8908566 0.4542849 0 -0.886381 0.4629567 0 0 -1 0 0 -1 0 -1.59446e-7 1 0 0 1 0 0.7879824 -0.6156979 0 0.7934108 -0.6086865 0 -0.7879825 0.6156976 0 -0.7934107 0.6086868 0 0.3480226 -0.9374862 0 0.3604347 -0.9327846 0 -0.3480228 0.9374861 0 -0.3604347 0.9327844 0 0.6275489 -0.7785773 -1.98012e-7 0.7043002 -0.7099023 -5.88959e-7 0.7043004 -0.7099021 0 0.6127495 -0.7902773 0 -0.6127493 0.7902774 6.73094e-7 -0.704299 0.7099034 0 -0.627549 0.7785772 3.34691e-7 -0.7043001 0.7099024</float_array>
+          <technique_common>
+            <accessor source="#ID108-mesh-normals-array" count="144" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID108-mesh-vertices">
+          <input semantic="POSITION" source="#ID108-mesh-positions"/>
+        </vertices>
+        <lines count="92">
+          <input semantic="VERTEX" source="#ID108-mesh-vertices" offset="0"/>
+          <p>13 12 13 14 14 15 15 16 16 17 17 12 25 24 25 26 26 13 12 24 16 31 31 32 32 17 24 37 38 37 38 25 31 43 43 44 44 32 37 51 52 51 52 53 53 38 43 62 62 63 63 64 64 65 65 44 51 72 73 72 73 74 74 52 64 81 81 82 82 83 83 65 72 96 97 96 97 98 98 99 99 73 82 104 104 105 105 83 96 112 113 112 113 114 114 97 104 121 121 122 122 123 123 105 112 128 129 128 129 113 122 136 136 137 137 138 138 123 128 147 148 147 148 149 149 150 150 129 137 163 163 164 164 165 165 166 166 138 172 171 172 148 147 171 180 179 179 166 165 181 181 180 171 186 187 186 187 172 180 192 192 193 193 179 199 198 199 187 186 198 209 208 208 193 192 210 210 211 211 209 209 199 198 208</p>
+        </lines>
+        <triangles material="Color_008-material" count="136">
+          <input semantic="VERTEX" source="#ID108-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID108-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 1 1 0 0 3 3 3 3 0 0 4 4 4 4 0 0 5 5 6 6 7 7 8 8 8 8 7 7 9 9 9 9 7 7 10 10 11 11 10 10 7 7 18 12 5 5 0 0 5 5 18 12 19 13 19 13 18 12 20 14 21 15 22 16 23 17 23 17 22 16 6 6 7 7 6 6 22 16 2 2 27 18 28 19 27 18 2 2 1 1 10 10 11 11 29 20 30 21 29 20 11 11 20 14 33 22 34 23 33 22 20 14 18 12 22 16 21 15 35 24 36 25 35 24 21 15 27 18 39 26 28 19 39 26 27 18 40 27 41 28 29 20 42 29 30 21 42 29 29 20 45 30 46 31 47 32 46 31 45 30 33 22 33 22 45 30 34 23 36 25 48 33 35 24 35 24 48 33 49 34 50 35 49 34 48 33 40 27 54 36 39 26 54 36 40 27 55 37 54 36 55 37 56 38 54 36 56 38 57 39 58 40 59 41 60 42 59 41 61 43 60 42 61 43 41 28 60 42 42 29 60 42 41 28 66 44 46 31 67 45 46 31 66 44 68 46 46 31 68 46 47 32 50 35 69 47 49 34 69 47 70 48 49 34 71 49 49 34 70 48 57 39 75 50 54 36 75 50 57 39 76 51 75 50 76 51 77 52 78 53 79 54 80 55 79 54 58 40 80 55 60 42 80 55 58 40 84 56 85 57 86 58 85 57 84 56 87 59 87 60 84 60 88 60 87 61 88 61 89 61 90 62 91 62 92 62 91 63 93 63 92 63 92 64 93 65 94 66 95 67 94 66 93 65 100 68 77 52 101 69 77 52 100 68 75 50 80 55 102 70 78 53 103 71 78 53 102 70 106 72 85 57 107 73 85 57 106 72 108 74 85 57 108 74 86 58 95 67 109 75 94 66 109 75 110 76 94 66 111 77 94 66 110 76 100 68 115 78 116 79 115 78 100 68 117 80 117 80 100 68 101 69 103 71 102 70 118 81 118 81 102 70 119 82 120 83 119 82 102 70 124 84 107 73 125 85 107 73 124 84 106 72 110 76 126 86 111 77 127 87 111 77 126 86 130 88 131 88 132 88 131 89 130 90 116 79 131 89 116 79 115 78 119 82 120 83 133 91 120 83 134 92 133 91 135 93 133 93 134 93 139 94 124 84 125 85 124 84 139 94 140 95 140 95 139 94 141 96 141 96 139 94 142 97 143 98 144 99 145 100 145 100 144 99 146 101 146 101 144 99 126 86 127 87 126 86 144 99 151 102 152 103 153 104 152 103 151 102 154 105 152 106 154 106 155 106 155 107 154 107 156 107 157 108 158 108 159 108 159 109 158 109 160 109 158 110 161 111 160 112 162 113 160 112 161 111 167 114 142 97 139 94 142 97 167 114 168 115 169 116 170 117 143 98 144 99 143 98 170 117 173 118 174 119 175 120 174 119 173 118 151 102 174 119 151 102 153 104 162 113 161 111 176 121 161 111 177 122 176 121 178 123 176 121 177 122 182 124 168 115 167 114 168 115 182 124 183 125 184 126 185 127 169 116 170 117 169 116 185 127 173 118 188 128 189 129 188 128 173 118 175 120 178 123 177 122 190 130 191 131 190 130 177 122 194 132 182 124 195 133 182 124 194 132 183 125 184 126 196 134 185 127 197 135 185 127 196 134 188 128 200 136 189 129 200 136 188 128 201 137 200 136 201 137 202 138 200 136 202 138 203 139 204 140 205 141 206 142 205 141 207 143 206 142 207 143 190 130 206 142 191 131 206 142 190 130 203 139 195 133 200 136 195 133 203 139 194 132 196 134 204 140 197 135 206 142 197 135 204 140</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID108" name="tmp_export_ID108" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID108-mesh" name="tmp_export_ID108">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Color_008-material" target="#Color_008-material"/>
+              <instance_material symbol="edge_color303030255-material" target="#edge_color303030255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/电水壶/Kenwood+SJ320+Kettle/URDF_Data/meshes/dae/ID108.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.9050246477127075, 0.6033497452735901, 0.6033497452735901], mesh=<bpy_struct, Mesh("ID108") at 0x0000027F1BC2F908>, meshname=ID108, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID108") at 0x0000027F1BC2F908> to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID108.dae
+->wrote dae to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID108.dae from bpy_types.Mesh

texture_urdf/电水壶/Kenwood+SJ320+Kettle/URDF_Data/meshes/dae/ID125.002.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.6033497452735901, 0.6033497452735901, 0.6033497452735901], mesh=<bpy_struct, Mesh("ID125.002") at 0x0000027F1BC2CF08>, meshname=ID125.002, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID125.002") at 0x0000027F1BC2CF08> to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID125.002.dae
+->wrote dae to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID125.002.dae from bpy_types.Mesh

texture_urdf/电水壶/Kenwood+SJ320+Kettle/URDF_Data/meshes/dae/ID172.dae

@@ -0,0 +1,161 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-17T15:19:16</created>
+    <modified>2025-06-17T15:19:16</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="material_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.545098 0.5333333 0.6039216 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Color_008-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.1176471 0.1176471 0.1176471 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color808080255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color303030255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="material_002-material" name="material.002">
+      <instance_effect url="#material_002-effect"/>
+    </material>
+    <material id="Color_008-material" name="Color_008">
+      <instance_effect url="#Color_008-effect"/>
+    </material>
+    <material id="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+    <material id="edge_color303030255-material" name="edge_color303030255">
+      <instance_effect url="#edge_color303030255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID172-mesh" name="ID172">
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+        </triangles>
+        <triangles material="Color_008-material" count="558">
+          <input semantic="VERTEX" source="#ID172-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID172-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 1 1 0 0 3 3 12 4 13 5 14 6 13 5 12 4 2 2 2 2 12 4 0 0 21 7 22 8 23 9 22 8 21 7 24 10 3 3 31 11 1 1 31 11 3 3 32 12 37 13 14 6 38 14 14 6 37 13 12 4 43 15 23 9 44 16 23 9 43 15 21 7 48 17 24 10 21 7 24 10 48 17 49 18 24 10 54 19 22 8 54 19 24 10 55 20 32 12 59 21 31 11 59 21 32 12 60 22 60 22 32 12 61 23 68 24 37 13 38 14 37 13 68 24 69 25 74 26 44 16 75 27 44 16 74 26 43 15 79 28 21 7 43 15 21 7 79 28 48 17 82 29 49 18 48 17 49 18 82 29 83 30 49 18 55 20 24 10 55 20 49 18 88 31 55 20 91 32 54 19 91 32 55 20 92 33 61 23 96 34 60 22 96 34 61 23 97 35 102 36 69 25 68 24 69 25 102 36 103 37 69 25 103 37 104 38 111 39 75 27 112 40 75 27 111 39 74 26 116 41 43 15 74 26 43 15 116 41 79 28 119 42 48 17 79 28 48 17 119 42 82 29 122 43 83 30 82 29 83 30 122 43 123 44 83 30 88 31 49 18 88 31 83 30 128 45 88 31 92 33 55 20 92 33 88 31 131 46 92 33 134 47 91 32 134 47 92 33 135 48 139 49 96 34 97 35 96 34 139 49 140 50 145 51 104 38 103 37 104 38 145 51 146 52 151 53 112 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855 289 921 311 852 288 918 310 855 289 924 312 858 290 924 312 855 289 921 311 858 290 927 313 861 291 927 313 858 290 924 312 864 292 927 313 930 314 927 313 864 292 861 291 867 293 930 314 933 315 930 314 867 293 864 292 870 294 933 315 876 296 933 315 870 294 867 293 873 295 876 296 793 268 876 296 873 295 870 294 876 296 879 297 796 269 879 297 876 296 933 315 879 297 882 298 799 270 882 298 879 297 936 316 882 298 885 299 802 271 885 299 882 298 939 317 885 299 888 300 805 272 888 300 885 299 942 318 888 300 891 301 808 273 891 301 888 300 945 319 945 319 816 276 891 301 816 276 945 319 894 302 897 303 894 302 948 320 894 302 897 303 819 277 900 304 897 303 951 321 897 303 900 304 822 278 903 305 900 304 954 322 900 304 903 305 825 279 828 280 909 307 906 306 909 307 828 280 903 305 909 307 954 322 912 308 954 322 909 307 903 305 912 308 957 323 915 309 957 323 912 308 954 322 915 309 960 324 918 310 960 324 915 309 957 323 918 310 963 325 921 311 963 325 918 310 960 324 921 311 966 326 924 312 966 326 921 311 963 325 924 312 969 327 927 313 969 327 924 312 966 326 930 314 969 327 936 316 969 327 930 314 927 313 933 315 936 316 879 297 936 316 933 315 930 314 936 316 939 317 882 298 939 317 936 316 969 327 972 328 885 299 939 317 885 299 972 328 942 318 942 318 945 319 888 300 945 319 942 318 975 329 975 329 894 302 945 319 894 302 975 329 948 320 951 321 948 320 978 330 948 320 951 321 897 303 954 322 951 321 957 323 951 321 954 322 900 304 957 323 978 330 960 324 978 330 957 323 951 321 960 324 981 331 963 325 981 331 960 324 978 330 963 325 972 328 966 326 972 328 963 325 981 331 966 326 939 317 969 327 939 317 966 326 972 328 981 331 942 318 972 328 942 318 981 331 975 329 978 330 975 329 981 331 975 329 978 330 948 320</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID172" name="tmp_export_ID172" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID172-mesh" name="tmp_export_ID172">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material_002-material" target="#material_002-material"/>
+              <instance_material symbol="Color_008-material" target="#Color_008-material"/>
+              <instance_material symbol="edge_color808080255-material" target="#edge_color808080255-material"/>
+              <instance_material symbol="edge_color303030255-material" target="#edge_color303030255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/电水壶/Kenwood+SJ320+Kettle/URDF_Data/meshes/dae/ID172.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.6033497452735901, 0.6033497452735901, 0.6033497452735901], mesh=<bpy_struct, Mesh("ID172") at 0x0000027F164DF208>, meshname=ID172, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID172") at 0x0000027F164DF208> to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID172.dae
+->wrote dae to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID172.dae from bpy_types.Mesh

texture_urdf/电水壶/Kenwood+SJ320+Kettle/URDF_Data/meshes/dae/ID21.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.6033497452735901, 0.6033497452735901, 0.6033497452735901], mesh=<bpy_struct, Mesh("ID21.001") at 0x0000027EFD50A408>, meshname=ID21.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID21.001") at 0x0000027EFD50A408> to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID21.001.dae
+->wrote dae to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID21.001.dae from bpy_types.Mesh

texture_urdf/电水壶/Kenwood+SJ320+Kettle/URDF_Data/meshes/dae/ID49.001.dae

@@ -0,0 +1,140 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-17T15:19:16</created>
+    <modified>2025-06-17T15:19:16</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="material_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.545098 0.5333333 0.6039216 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="material_0_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8901961 0.8823529 0.8705882 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color808080255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
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+        <instance_geometry url="#ID49_001-mesh" name="tmp_export_ID49.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material_002-material" target="#material_002-material"/>
+              <instance_material symbol="material_0_001-material" target="#material_0_001-material"/>
+              <instance_material symbol="edge_color808080255-material" target="#edge_color808080255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/电水壶/Kenwood+SJ320+Kettle/URDF_Data/meshes/dae/ID49.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.6033497452735901, 0.6033497452735901, 0.6033497452735901], mesh=<bpy_struct, Mesh("ID49.001") at 0x0000027F2F774808>, meshname=ID49.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID49.001") at 0x0000027F2F774808> to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID49.001.dae
+->wrote dae to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID49.001.dae from bpy_types.Mesh

texture_urdf/电水壶/Kenwood+SJ320+Kettle/URDF_Data/meshes/dae/ID5.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.6033497452735901, 0.6033497452735901, 0.6033497452735901], mesh=<bpy_struct, Mesh("ID5") at 0x0000027EFD50B208>, meshname=ID5, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID5") at 0x0000027EFD50B208> to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID5.dae
+->wrote dae to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID5.dae from bpy_types.Mesh

texture_urdf/电水壶/Kenwood+SJ320+Kettle/URDF_Data/meshes/dae/ID64.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.6033497452735901, 0.6033497452735901, 0.6033497452735901], mesh=<bpy_struct, Mesh("ID64") at 0x0000027EF42EE408>, meshname=ID64, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID64") at 0x0000027EF42EE408> to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID64.dae
+->wrote dae to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID64.dae from bpy_types.Mesh

texture_urdf/电水壶/Kenwood+SJ320+Kettle/URDF_Data/meshes/dae/ID91.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.603349506855011, 0.603349506855011, 0.603349506855011], mesh=<bpy_struct, Mesh("ID91") at 0x0000027F1870AB08>, meshname=ID91, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID91") at 0x0000027F1870AB08> to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID91.dae
+->wrote dae to D:\1009233120冉惟言\工作\Kenwood+SJ320+Kettle\URDF_Data\meshes\dae\ID91.dae from bpy_types.Mesh

texture_urdf/电水壶/Kenwood+SJ320+Kettle/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,87 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint0" type="revolute">
+    <limit lower="0.00000" upper="1.50000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="1.57080 0.00000 0.00000" xyz="-1.42524 -0.00000 5.00144"/>
+    <parent link="baselink"/>
+    <child link="link0"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint1" type="prismatic">
+    <limit lower="0.00000" upper="0.08000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="-1.49528 -0.00000 5.58056"/>
+    <parent link="baselink"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 -1.00000"/>
+  </joint>
+  <link name="baselink">
+    <visual name="group_1">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-1.95970 -1.95970 0.48820"/>
+      <material name="Color_001"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID5.dae" scale="0.60335 0.60335 0.60335"/>
+      </geometry>
+    </visual>
+    <visual name="group_1.001">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-1.95970 -1.95970 0.48820"/>
+      <material name="material.002"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID21.001.dae" scale="0.60335 0.60335 0.60335"/>
+      </geometry>
+    </visual>
+    <visual name="group_1.004">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-1.95970 -1.95970 0.48820"/>
+      <material name="material.002"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID49.001.dae" scale="0.60335 0.60335 0.60335"/>
+      </geometry>
+    </visual>
+    <visual name="group_2">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-2.23935 -2.23935 -0.00000"/>
+      <material name="material.002"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID64.dae" scale="0.60335 0.60335 0.60335"/>
+      </geometry>
+    </visual>
+    <visual name="group_4">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-1.78154 -0.35631 4.74918"/>
+      <material name="Color_008"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID108.dae" scale="0.90502 0.60335 0.60335"/>
+      </geometry>
+    </visual>
+    <visual name="group_5">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-3.59496 -0.35631 0.62377"/>
+      <material name="material.002"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID125.002.dae" scale="0.60335 0.60335 0.60335"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual name="group_3">
+      <origin rpy="-1.57080 0.00000 0.00000" xyz="-0.00000 -0.00000 1.42524"/>
+      <material name="Color_008"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID91.dae" scale="0.60335 0.60335 0.60335"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="group_8">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-0.24178 -0.16151 -0.14061"/>
+      <material name="material.002"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID172.dae" scale="0.60335 0.60335 0.60335"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="Color_001">
+    <color rgba="0.88627 0.88627 0.88627 1.00000"/>
+  </material>
+  <material name="Color_008">
+    <color rgba="0.11765 0.11765 0.11765 1.00000"/>
+  </material>
+  <material name="material.002">
+    <color rgba="0.54118 0.52941 0.60392 1.00000"/>
+  </material>
+</robot>