Add files using upload-large-folder tool

.gitattributes

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 texture_urdf/家具/cooker/3dexport_cooker_obj_1618023446.blend filter=lfs diff=lfs merge=lfs -text
 texture_urdf/家具/cd25ceb4b5c35554e7b3699bea77d3cbf6783fec/1.blend filter=lfs diff=lfs merge=lfs -text
 texture_urdf/家具/exqha1cm1nnk-door/1.blend1 filter=lfs diff=lfs merge=lfs -text
+texture_urdf/冰箱/Refrigerator_v1_L2.123c02903527-cbc4-4ace-bcbc-609153d4f525/Untitled.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/书/vol20.74[[:space:]]book/model.dae filter=lfs diff=lfs merge=lfs -text
+texture_urdf/冰箱/Refrigerator_v1_L3.123c420881d6-7273-44a1-a3a3-b6125a2d5cd7/1.blend1 filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家具/exqha1cm1nnk-door/1.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/冰箱/Refrigerator_v1_L3.123c420881d6-7273-44a1-a3a3-b6125a2d5cd7/1.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家具/cd25ceb4b5c35554e7b3699bea77d3cbf6783fec/1.blend1 filter=lfs diff=lfs merge=lfs -text

texture_urdf/书/vol20.74 book/model.dae

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+size 17971572

texture_urdf/冰箱/Refrigerator_v1_L2.123c02903527-cbc4-4ace-bcbc-609153d4f525/Untitled.blend

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texture_urdf/冰箱/Refrigerator_v1_L3.123c420881d6-7273-44a1-a3a3-b6125a2d5cd7/1.blend

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texture_urdf/冰箱/Refrigerator_v1_L3.123c420881d6-7273-44a1-a3a3-b6125a2d5cd7/1.blend1

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texture_urdf/家具/cd25ceb4b5c35554e7b3699bea77d3cbf6783fec/1.blend1

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texture_urdf/家具/exqha1cm1nnk-door/1.blend

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+version https://git-lfs.github.com/spec/v1
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texture_urdf/工具/1000/URDF_Data/joint_limits.yml

@@ -0,0 +1,19 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.10000000149011612,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "joint0"
+    ]
+  }
+}

texture_urdf/工具/1000/URDF_Data/meshes/dae/ID2390.dae_history.log

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+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID2390") at 0x0000019CF8A1DD08>, meshname=ID2390, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID2390") at 0x0000019CF8A1DD08> to D:\1009233120冉惟言\工作\1000\URDF_Data\meshes\dae\ID2390.dae
+->wrote dae to D:\1009233120冉惟言\工作\1000\URDF_Data\meshes\dae\ID2390.dae from bpy_types.Mesh

texture_urdf/工具/1000/URDF_Data/meshes/dae/ID2521.dae_history.log

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+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID2521") at 0x0000019CF8887908>, meshname=ID2521, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID2521") at 0x0000019CF8887908> to D:\1009233120冉惟言\工作\1000\URDF_Data\meshes\dae\ID2521.dae
+->wrote dae to D:\1009233120冉惟言\工作\1000\URDF_Data\meshes\dae\ID2521.dae from bpy_types.Mesh

texture_urdf/工具/1000/URDF_Data/urdf/URDF_Data.urdf

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+<robot name="URDF_Data" version="1.0">
+  <joint name="joint0" type="prismatic">
+    <limit lower="0.00000" upper="0.10000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.15926 0.16931"/>
+    <parent link="baselink"/>
+    <child link="link0"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="baselink">
+    <visual name="_3DGeom_9">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.09153 0.14289 0.00000"/>
+      <material name="Chrome_Polished"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID2390.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual name="_3DGeom_12.001">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.09153 -0.01637 -0.16931"/>
+      <material name="material_0"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID2521.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="Chrome_Polished">
+    <color rgba="0.00392 0.00392 0.00392 1.00000"/>
+  </material>
+  <material name="material_0">
+    <color rgba="0.64314 0.69804 0.72941 1.00000"/>
+  </material>
+</robot>

texture_urdf/工具/Australium+Wrench+4~/URDF_Data/joint_limits.yml

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+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.6299999952316284,
+          "speed": 0.0
+        },
+        "min": {
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+        }
+      }
+    ],
+    "names": [
+      "joint1"
+    ]
+  }
+}

texture_urdf/工具/Australium+Wrench+4~/URDF_Data/meshes/dae/ID27.dae

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+<?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>2025-06-18T14:34:35</created>
+    <modified>2025-06-18T14:34:35</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.6431373 0.6980392 0.7333333 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="material_9-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
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+              <color sid="emission">0 0 0 1</color>
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+            <diffuse>
+              <color sid="diffuse">0.1803922 0.1647059 0.01176471 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color000255-effect">
+      <profile_COMMON>
+        <technique sid="common">
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+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="material_12-effect">
+      <profile_COMMON>
+        <technique sid="common">
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+            <diffuse>
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+        </technique>
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+    <effect id="material_1-effect">
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+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="material_8-effect">
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+          <p>747 4 748 4 749 4 748 4 747 4 750 4 759 143 760 143 761 143 760 144 759 144 762 144 769 145 770 145 771 145 770 146 769 146 772 146 779 3 780 3 781 3 780 3 779 3 782 3 789 0 790 0 791 0 790 0 789 0 792 0 799 147 800 147 801 147 800 148 799 148 802 148 809 0 789 0 810 0 789 0 809 0 792 0 815 6 816 6 817 6 816 6 815 6 818 6</p>
+        </triangles>
+        <triangles material="material_4-material" count="64">
+          <input semantic="VERTEX" source="#ID27-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID27-mesh-normals" offset="1"/>
+          <p>825 155 826 155 827 155 826 2 825 2 828 2 828 2 825 2 829 2 827 156 826 156 830 156 827 2 830 2 831 2 831 157 830 157 832 157 831 2 832 2 833 2 833 158 832 158 834 158 833 159 834 159 835 159 828 2 829 2 836 2 836 2 829 2 837 2 837 2 829 2 838 2 838 2 829 2 839 2 839 160 829 160 840 160 840 2 829 2 841 2 841 161 829 161 842 161 842 2 829 2 843 2 842 162 843 162 844 162 842 163 844 163 845 163 842 164 845 164 846 164 843 2 829 2 847 2 847 165 829 165 848 165 848 166 829 166 849 166 849 167 829 167 850 167 850 168 829 168 851 168 851 2 829 2 852 2 852 169 829 169 853 169 853 2 829 2 854 2 854 170 829 170 855 170 833 2 856 2 857 2 856 2 833 2 858 2 858 2 833 2 859 2 859 171 833 171 860 171 860 2 833 2 861 2 861 172 833 172 835 172 857 173 856 173 862 173 857 174 862 174 863 174 857 175 863 175 864 175 857 176 864 176 865 176 857 177 865 177 866 177 857 178 866 178 867 178 857 179 867 179 842 179 857 180 842 180 868 180 868 181 842 181 869 181 869 2 842 2 870 2 870 2 842 2 846 2 857 182 868 182 871 182 857 183 871 183 872 183 857 184 872 184 873 184 857 185 873 185 874 185 857 186 874 186 875 186 857 187 875 187 876 187 857 188 876 188 877 188 857 189 877 189 878 189 857 190 878 190 855 190 857 2 855 2 829 2 857 191 829 191 879 191 857 2 879 2 880 2 1336 3 1337 3 1338 3 1337 3 1336 3 1339 3 1348 2 1349 2 1350 2 1349 2 1348 2 1351 2 1358 2 1359 2 1360 2 1359 2 1358 2 1361 2</p>
+        </triangles>
+        <triangles material="material_10-material" count="4">
+          <input semantic="VERTEX" source="#ID27-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID27-mesh-normals" offset="1"/>
+          <p>1538 2 1539 2 1540 2 1539 2 1538 2 1541 2 1550 6 1551 6 1552 6 1551 6 1550 6 1553 6</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID27" name="tmp_export_ID27" 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="#ID27-mesh" name="tmp_export_ID27">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material-material" target="#material-material"/>
+              <instance_material symbol="material_9-material" target="#material_9-material"/>
+              <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
+              <instance_material symbol="material_12-material" target="#material_12-material"/>
+              <instance_material symbol="material_1-material" target="#material_1-material"/>
+              <instance_material symbol="material_8-material" target="#material_8-material"/>
+              <instance_material symbol="edge_color46423255-material" target="#edge_color46423255-material"/>
+              <instance_material symbol="edge_color18516010255-material" target="#edge_color18516010255-material"/>
+              <instance_material symbol="edge_color25522631255-material" target="#edge_color25522631255-material"/>
+              <instance_material symbol="material_0-material" target="#material_0-material"/>
+              <instance_material symbol="material_11-material" target="#material_11-material"/>
+              <instance_material symbol="edge_color44413255-material" target="#edge_color44413255-material"/>
+              <instance_material symbol="material_4-material" target="#material_4-material"/>
+              <instance_material symbol="material_10-material" target="#material_10-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Australium+Wrench+4~/URDF_Data/meshes/dae/ID27.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.02539999969303608, 0.02539999969303608, 0.02539999969303608], mesh=<bpy_struct, Mesh("ID27") at 0x0000019CD8F2EB08>, meshname=ID27, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID27") at 0x0000019CD8F2EB08> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID27.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID27.dae from bpy_types.Mesh

texture_urdf/工具/Australium+Wrench+4~/URDF_Data/meshes/dae/ID47.dae

@@ -0,0 +1,166 @@
+<?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>2025-06-18T14:34:35</created>
+    <modified>2025-06-18T14:34:35</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="material_1-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.7254902 0.627451 0.03921569 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.6431373 0.6980392 0.7333333 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color000255-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="material_12-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">1 0.8862745 0.1215686 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_1-material" name="material_1">
+      <instance_effect url="#material_1-effect"/>
+    </material>
+    <material id="material-material" name="material">
+      <instance_effect url="#material-effect"/>
+    </material>
+    <material id="edge_color000255-material" name="edge_color000255">
+      <instance_effect url="#edge_color000255-effect"/>
+    </material>
+    <material id="material_12-material" name="material_12">
+      <instance_effect url="#material_12-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID47-mesh" name="ID47">
+      <mesh>
+        <source id="ID47-mesh-positions">
+          <float_array id="ID47-mesh-positions-array" count="303">168.9392 237.938 17.08745 168.9392 280.3396 13.34729 168.9392 237.938 0 168.9392 309.0403 17.08745 168.9392 299.8277 13.34729 168.9392 299.8277 3.859104 168.9392 280.3396 3.859104 168.9392 309.0403 0 168.9392 309.0403 17.08745 168.9392 299.8277 3.859104 168.9392 309.0403 0 168.9392 280.3396 3.859104 168.9392 280.3396 13.34729 168.9392 237.938 0 168.9392 299.8277 13.34729 168.9392 237.938 17.08745 168.9392 237.938 17.08745 168.9392 309.0403 17.08745 168.9392 309.0403 0 168.9392 237.938 0 168.9392 299.8277 13.34729 168.9392 280.3396 13.34729 168.9392 280.3396 3.859104 168.9392 299.8277 3.859104 189.9234 309.0403 0 168.9392 237.938 0 168.9392 309.0403 0 179.4313 237.938 0 189.9234 265.5526 0 189.9234 265.5526 0 189.9234 309.0403 0 179.4313 237.938 0 168.9392 237.938 0 168.9392 309.0403 0 189.9234 309.0403 0 189.9234 265.5526 0 179.4313 237.938 0 189.9234 265.5526 0 189.9234 280.3396 3.859104 189.9234 265.5526 17.08745 189.9234 309.0403 0 189.9234 299.8277 3.859104 189.9234 299.8277 13.34729 189.9234 280.3396 13.34729 189.9234 309.0403 17.08745 189.9234 309.0403 0 189.9234 299.8277 13.34729 189.9234 309.0403 17.08745 189.9234 280.3396 13.34729 189.9234 280.3396 3.859104 189.9234 265.5526 17.08745 189.9234 299.8277 3.859104 189.9234 265.5526 0 189.9234 265.5526 17.08745 189.9234 265.5526 0 189.9234 309.0403 0 189.9234 309.0403 17.08745 189.9234 299.8277 13.34729 189.9234 280.3396 13.34729 189.9234 299.8277 3.859104 189.9234 280.3396 3.859104 189.9234 265.5526 0 179.4313 237.938 17.08745 179.4313 237.938 0 189.9234 265.5526 17.08745 189.9234 265.5526 17.08745 189.9234 265.5526 0 179.4313 237.938 17.08745 179.4313 237.938 0 179.4313 237.938 17.08745 179.4313 237.938 0 168.9392 309.0403 17.08745 189.9234 309.0403 0 168.9392 309.0403 0 189.9234 309.0403 17.08745 189.9234 309.0403 17.08745 168.9392 309.0403 17.08745 189.9234 309.0403 0 168.9392 309.0403 0 168.9392 309.0403 0 168.9392 309.0403 17.08745 179.4313 237.938 17.08745 168.9392 309.0403 17.08745 168.9392 237.938 17.08745 189.9234 309.0403 17.08745 189.9234 265.5526 17.08745 189.9234 265.5526 17.08745 179.4313 237.938 17.08745 189.9234 309.0403 17.08745 168.9392 309.0403 17.08745 168.9392 237.938 17.08745 168.9392 237.938 17.08745 179.4313 237.938 0 168.9392 237.938 17.08745 168.9392 237.938 0 179.4313 237.938 17.08745 179.4313 237.938 17.08745 179.4313 237.938 0 168.9392 237.938 17.08745 168.9392 237.938 0 168.9392 237.938 0</float_array>
+          <technique_common>
+            <accessor source="#ID47-mesh-positions-array" count="101" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID47-mesh-normals">
+          <float_array id="ID47-mesh-normals-array" count="72">-1 0 0 0 0 -1 0 0 -1 0 0 -1 1 7.75445e-7 0 1 0 0 1 -3.0342e-7 0 0 0 1 0 0 1 0 0 1 1 -1.93247e-6 0 1 0 0 1 3.10178e-6 0 0.9347991 -0.3551769 0 0.9348 -0.3551744 0 0 1 0 1.33768e-7 0 1 0 -1 0 -1 -2.32634e-6 0 -1 -8.70054e-7 0 -1 1.39651e-6 0 -1 1.44935e-6 0 -0.9348 0.3551744 0 -0.9347991 0.3551769 0</float_array>
+          <technique_common>
+            <accessor source="#ID47-mesh-normals-array" count="24" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID47-mesh-vertices">
+          <input semantic="POSITION" source="#ID47-mesh-positions"/>
+        </vertices>
+        <lines count="30">
+          <input semantic="VERTEX" source="#ID47-mesh-vertices" offset="0"/>
+          <p>17 16 18 17 18 19 19 16 21 20 21 22 22 23 23 20 34 18 34 35 35 36 36 19 54 53 55 54 56 55 56 53 58 57 59 57 60 59 58 60 53 69 70 69 54 70 55 79 79 80 56 80 69 91 80 91 70 100 100 91</p>
+        </lines>
+        <triangles material="material_1-material" count="11">
+          <input semantic="VERTEX" source="#ID47-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID47-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 1 0 0 0 3 0 1 0 3 0 4 0 4 0 3 0 5 0 2 0 6 0 7 0 6 0 2 0 1 0 7 0 6 0 5 0 7 0 5 0 3 0 24 1 25 1 26 1 25 2 24 2 27 2 27 3 24 3 28 3</p>
+        </triangles>
+        <triangles material="material-material" count="28">
+          <input semantic="VERTEX" source="#ID47-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID47-mesh-normals" offset="1"/>
+          <p>8 4 9 4 10 4 9 5 11 5 10 5 12 6 13 6 11 6 10 5 11 5 13 5 9 5 8 5 14 5 14 5 8 5 12 5 8 5 15 5 12 5 13 5 12 5 15 5 29 7 30 7 31 7 31 8 30 8 32 8 33 9 32 9 30 9 45 18 46 18 47 18 46 0 48 0 47 0 49 19 50 19 48 19 47 0 48 0 50 0 46 20 45 20 51 20 51 0 45 0 49 0 45 0 52 0 49 0 50 21 49 21 52 21 65 22 66 22 67 22 68 23 67 23 66 23 75 17 76 17 77 17 78 17 77 17 76 17 86 1 87 1 88 1 88 1 87 1 89 1 90 1 89 1 87 1 96 15 97 15 98 15 99 15 98 15 97 15</p>
+        </triangles>
+        <triangles material="material_12-material" count="17">
+          <input semantic="VERTEX" source="#ID47-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID47-mesh-normals" offset="1"/>
+          <p>37 10 38 10 39 10 38 11 37 11 40 11 38 5 40 5 41 5 41 5 40 5 42 5 39 5 43 5 44 5 43 5 39 5 38 5 44 5 43 5 42 5 44 12 42 12 40 12 61 13 62 13 63 13 62 14 61 14 64 14 71 15 72 15 73 15 72 15 71 15 74 15 81 9 82 9 83 9 82 9 81 9 84 9 84 16 81 16 85 16 92 17 93 17 94 17 93 17 92 17 95 17</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID47" name="tmp_export_ID47" 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="#ID47-mesh" name="tmp_export_ID47">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material_1-material" target="#material_1-material"/>
+              <instance_material symbol="material-material" target="#material-material"/>
+              <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
+              <instance_material symbol="material_12-material" target="#material_12-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Australium+Wrench+4~/URDF_Data/meshes/dae/ID47.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.02539999969303608, 0.02539999969303608, 0.02539999969303608], mesh=<bpy_struct, Mesh("ID47") at 0x0000019CD8F2F908>, meshname=ID47, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID47") at 0x0000019CD8F2F908> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID47.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID47.dae from bpy_types.Mesh

texture_urdf/工具/Australium+Wrench+4~/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,33 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint1" type="prismatic">
+    <limit lower="0.00000" upper="0.63000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="-0.00000 -1.57080 0.00000" xyz="2.42098 -0.00000 0.69218"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="SketchUp.002">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-2.34827 -6.87254 0.15090"/>
+      <material name="material"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID27.dae" scale="0.02540 0.02540 0.02540"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="SketchUp.004">
+      <origin rpy="1.48227 1.57080 1.48227" xyz="-0.54128 -6.87254 4.76925"/>
+      <material name="material_1"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID47.dae" scale="0.02540 0.02540 0.02540"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="material">
+    <color rgba="0.64314 0.69804 0.72941 1.00000"/>
+  </material>
+  <material name="material_1">
+    <color rgba="0.72549 0.62745 0.03922 1.00000"/>
+  </material>
+</robot>

texture_urdf/工具/Balança/URDF_Data/joint_limits.yml

@@ -0,0 +1,30 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 6.199999809265137,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.019999999552965164,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "joint0",
+      "joint1"
+    ]
+  }
+}

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID106.001.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>2025-06-19T12:01:38</created>
+    <modified>2025-06-19T12:01:38</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="material_001-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_007-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.4666667 0.4666667 0.4666667 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_color119119119255-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_001-material" name="material.001">
+      <instance_effect url="#material_001-effect"/>
+    </material>
+    <material id="Color_007-material" name="Color_007">
+      <instance_effect url="#Color_007-effect"/>
+    </material>
+    <material id="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+    <material id="edge_color119119119255-material" name="edge_color119119119255">
+      <instance_effect url="#edge_color119119119255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID106_001-mesh" name="ID106.001">
+      <mesh>
+        <source id="ID106_001-mesh-positions">
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+          <technique_common>
+            <accessor source="#ID106_001-mesh-positions-array" count="144" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID106_001-mesh-normals">
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+          <technique_common>
+            <accessor source="#ID106_001-mesh-normals-array" count="96" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID106_001-mesh-vertices">
+          <input semantic="POSITION" source="#ID106_001-mesh-positions"/>
+        </vertices>
+        <lines count="72">
+          <input semantic="VERTEX" source="#ID106_001-mesh-vertices" offset="0"/>
+          <p>9 8 16 9 8 22 28 16 22 34 40 28 34 46 52 40 46 58 64 52 58 70 76 64 70 82 88 76 82 94 100 88 94 106 112 100 106 118 124 112 118 130 136 124 130 142 142 136 10 9 11 10 11 8 17 16 17 10 23 11 23 22 28 29 29 17 35 23 35 34 41 40 29 41 47 35 46 47 53 52 41 53 47 59 59 58 65 64 53 65 59 71 71 70 77 76 65 77 71 83 83 82 89 88 77 89 95 83 95 94 100 101 101 89 107 95 107 106 113 112 101 113 119 107 118 119 125 124 113 125 119 131 131 130 137 136 125 137 131 143 143 142 143 137</p>
+        </lines>
+        <triangles material="material_001-material" count="48">
+          <input semantic="VERTEX" source="#ID106_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID106_001-mesh-normals" offset="1"/>
+          <p>4 48 5 49 6 50 7 51 6 50 5 49 4 48 6 50 14 52 15 53 14 52 6 50 5 49 20 54 7 51 21 55 7 51 20 54 15 53 26 56 14 52 27 57 14 52 26 56 20 54 32 58 21 55 33 59 21 55 32 58 26 56 38 60 27 57 39 61 27 57 38 60 32 58 44 62 33 59 45 63 33 59 44 62 38 60 50 64 39 61 51 65 39 61 50 64 44 62 56 66 45 63 57 67 45 63 56 66 51 65 50 64 62 68 63 69 62 68 50 64 57 67 56 66 68 70 69 71 68 70 56 66 62 68 63 69 74 72 75 73 74 72 63 69 68 70 69 71 80 74 81 75 80 74 69 71 74 72 75 73 86 76 87 77 86 76 75 73 80 74 81 75 92 78 93 79 92 78 81 75 86 76 87 77 98 80 99 81 98 80 87 77 93 79 104 82 92 78 105 83 92 78 104 82 98 80 99 81 110 84 111 85 110 84 99 81 104 82 116 86 105 83 117 87 105 83 116 86 110 84 111 85 122 88 123 89 122 88 111 85 116 86 128 90 117 87 129 91 117 87 128 90 122 88 123 89 134 92 135 93 134 92 123 89 128 90 140 94 129 91 141 95 129 91 140 94 134 92 135 93 140 94 141 95 140 94 135 93</p>
+        </triangles>
+        <triangles material="Color_007-material" count="48">
+          <input semantic="VERTEX" source="#ID106_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID106_001-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 1 1 0 0 3 3 1 1 12 4 13 5 12 4 1 1 3 3 18 6 2 2 19 7 2 2 18 6 0 0 24 8 12 4 25 9 12 4 24 8 13 5 30 10 19 7 31 11 19 7 30 10 18 6 36 12 25 9 37 13 25 9 36 12 24 8 42 14 31 11 43 15 31 11 42 14 30 10 48 16 37 13 49 17 37 13 48 16 36 12 54 18 43 15 55 19 43 15 54 18 42 14 48 16 60 20 61 21 60 20 48 16 49 17 54 18 66 22 67 23 66 22 54 18 55 19 61 21 72 24 73 25 72 24 61 21 60 20 67 23 78 26 79 27 78 26 67 23 66 22 73 25 84 28 85 29 84 28 73 25 72 24 79 27 90 30 91 31 90 30 79 27 78 26 85 29 96 32 97 33 96 32 85 29 84 28 102 34 90 30 103 35 90 30 102 34 91 31 97 33 108 36 109 37 108 36 97 33 96 32 114 38 103 35 115 39 103 35 114 38 102 34 109 37 120 40 121 41 120 40 109 37 108 36 126 42 115 39 127 43 115 39 126 42 114 38 121 41 132 44 133 45 132 44 121 41 120 40 138 46 127 43 139 47 127 43 138 46 126 42 133 45 138 46 139 47 138 46 133 45 132 44</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID106_001" name="tmp_export_ID106.001" 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="#ID106_001-mesh" name="tmp_export_ID106.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material_001-material" target="#material_001-material"/>
+              <instance_material symbol="Color_007-material" target="#Color_007-material"/>
+              <instance_material symbol="edge_color808080255-material" target="#edge_color808080255-material"/>
+              <instance_material symbol="edge_color119119119255-material" target="#edge_color119119119255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID106.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID106.001") at 0x00000202EEBC0808>, meshname=ID106.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID106.001") at 0x00000202EEBC0808> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID106.001.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID106.001.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID114.001.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:38</created>
+    <modified>2025-06-19T12:01:38</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="edge_color119119119255-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="edge_color119119119255-material" name="edge_color119119119255">
+      <instance_effect url="#edge_color119119119255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID114_001-mesh" name="ID114.001">
+      <mesh>
+        <source id="ID114_001-mesh-positions">
+          <float_array id="ID114_001-mesh-positions-array" count="6">0.04195684 0.02100759 0.02578431 0.04195684 0.02100759 0.02868962</float_array>
+          <technique_common>
+            <accessor source="#ID114_001-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID114_001-mesh-normals">
+          <float_array id="ID114_001-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID114_001-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID114_001-mesh-vertices">
+          <input semantic="POSITION" source="#ID114_001-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID114_001-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID114_001" name="tmp_export_ID114.001" 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="#ID114_001-mesh" name="tmp_export_ID114.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="edge_color119119119255-material" target="#edge_color119119119255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID114.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID114.001") at 0x00000202EEB93208>, meshname=ID114.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID114.001") at 0x00000202EEB93208> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID114.001.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID114.001.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID118.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:39</created>
+    <modified>2025-06-19T12:01:39</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="edge_color119119119255-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="edge_color119119119255-material" name="edge_color119119119255">
+      <instance_effect url="#edge_color119119119255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID118-mesh" name="ID118">
+      <mesh>
+        <source id="ID118-mesh-positions">
+          <float_array id="ID118-mesh-positions-array" count="6">0.04186409 0.02030301 0.02578431 0.04186409 0.02030301 0.02868962</float_array>
+          <technique_common>
+            <accessor source="#ID118-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID118-mesh-normals">
+          <float_array id="ID118-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID118-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID118-mesh-vertices">
+          <input semantic="POSITION" source="#ID118-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID118-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID118" name="tmp_export_ID118" 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="#ID118-mesh" name="tmp_export_ID118">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="edge_color119119119255-material" target="#edge_color119119119255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID118.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID118") at 0x00000202EEB90F08>, meshname=ID118, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID118") at 0x00000202EEB90F08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID118.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID118.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID122.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:39</created>
+    <modified>2025-06-19T12:01:39</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="edge_color119119119255-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="edge_color119119119255-material" name="edge_color119119119255">
+      <instance_effect url="#edge_color119119119255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID122-mesh" name="ID122">
+      <mesh>
+        <source id="ID122-mesh-positions">
+          <float_array id="ID122-mesh-positions-array" count="6">0.04195684 0.01959836 0.02578431 0.04195684 0.01959836 0.02868962</float_array>
+          <technique_common>
+            <accessor source="#ID122-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID122-mesh-normals">
+          <float_array id="ID122-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID122-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID122-mesh-vertices">
+          <input semantic="POSITION" source="#ID122-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID122-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID122" name="tmp_export_ID122" 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="#ID122-mesh" name="tmp_export_ID122">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="edge_color119119119255-material" target="#edge_color119119119255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID122.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID122") at 0x00000202EEB90108>, meshname=ID122, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID122") at 0x00000202EEB90108> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID122.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID122.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID126.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:39</created>
+    <modified>2025-06-19T12:01:39</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="edge_color119119119255-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="edge_color119119119255-material" name="edge_color119119119255">
+      <instance_effect url="#edge_color119119119255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID126-mesh" name="ID126">
+      <mesh>
+        <source id="ID126-mesh-positions">
+          <float_array id="ID126-mesh-positions-array" count="6">0.04222881 0.01894181 0.02578431 0.04222881 0.01894181 0.02868962</float_array>
+          <technique_common>
+            <accessor source="#ID126-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID126-mesh-normals">
+          <float_array id="ID126-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID126-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID126-mesh-vertices">
+          <input semantic="POSITION" source="#ID126-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID126-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID126" name="tmp_export_ID126" 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="#ID126-mesh" name="tmp_export_ID126">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="edge_color119119119255-material" target="#edge_color119119119255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID126.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID126") at 0x00000202EEB91D08>, meshname=ID126, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID126") at 0x00000202EEB91D08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID126.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID126.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID130.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:39</created>
+    <modified>2025-06-19T12:01:39</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="edge_color119119119255-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="edge_color119119119255-material" name="edge_color119119119255">
+      <instance_effect url="#edge_color119119119255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID130-mesh" name="ID130">
+      <mesh>
+        <source id="ID130-mesh-positions">
+          <float_array id="ID130-mesh-positions-array" count="6">0.04529106 0.01767337 0.02578431 0.04529106 0.01767337 0.02868962</float_array>
+          <technique_common>
+            <accessor source="#ID130-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID130-mesh-normals">
+          <float_array id="ID130-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID130-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID130-mesh-vertices">
+          <input semantic="POSITION" source="#ID130-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID130-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID130" name="tmp_export_ID130" 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="#ID130-mesh" name="tmp_export_ID130">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="edge_color119119119255-material" target="#edge_color119119119255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID130.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID130") at 0x00000202EEB92408>, meshname=ID130, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID130") at 0x00000202EEB92408> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID130.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID130.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID134.001.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:39</created>
+    <modified>2025-06-19T12:01:39</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="edge_color119119119255-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="edge_color119119119255-material" name="edge_color119119119255">
+      <instance_effect url="#edge_color119119119255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID134_001-mesh" name="ID134.001">
+      <mesh>
+        <source id="ID134_001-mesh-positions">
+          <float_array id="ID134_001-mesh-positions-array" count="6">0.04594761 0.01794534 0.02578431 0.04594761 0.01794534 0.02868962</float_array>
+          <technique_common>
+            <accessor source="#ID134_001-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID134_001-mesh-normals">
+          <float_array id="ID134_001-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID134_001-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID134_001-mesh-vertices">
+          <input semantic="POSITION" source="#ID134_001-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID134_001-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID134_001" name="tmp_export_ID134.001" 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="#ID134_001-mesh" name="tmp_export_ID134.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="edge_color119119119255-material" target="#edge_color119119119255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID134.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID134.001") at 0x00000202EEBA4108>, meshname=ID134.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID134.001") at 0x00000202EEBA4108> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID134.001.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID134.001.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID138.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:39</created>
+    <modified>2025-06-19T12:01:39</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="edge_color119119119255-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="edge_color119119119255-material" name="edge_color119119119255">
+      <instance_effect url="#edge_color119119119255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID138-mesh" name="ID138">
+      <mesh>
+        <source id="ID138-mesh-positions">
+          <float_array id="ID138-mesh-positions-array" count="6">0.04266142 0.01837795 0.02578431 0.04266142 0.01837795 0.02868962</float_array>
+          <technique_common>
+            <accessor source="#ID138-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID138-mesh-normals">
+          <float_array id="ID138-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID138-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID138-mesh-vertices">
+          <input semantic="POSITION" source="#ID138-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID138-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID138" name="tmp_export_ID138" 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="#ID138-mesh" name="tmp_export_ID138">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="edge_color119119119255-material" target="#edge_color119119119255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID138.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID138") at 0x00000202EEBA4F08>, meshname=ID138, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID138") at 0x00000202EEBA4F08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID138.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID138.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID142.001.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:39</created>
+    <modified>2025-06-19T12:01:39</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="edge_color119119119255-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="edge_color119119119255-material" name="edge_color119119119255">
+      <instance_effect url="#edge_color119119119255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID142_001-mesh" name="ID142.001">
+      <mesh>
+        <source id="ID142_001-mesh-positions">
+          <float_array id="ID142_001-mesh-positions-array" count="6">0.04651147 0.01837795 0.02578431 0.04651147 0.01837795 0.02868962</float_array>
+          <technique_common>
+            <accessor source="#ID142_001-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID142_001-mesh-normals">
+          <float_array id="ID142_001-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID142_001-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID142_001-mesh-vertices">
+          <input semantic="POSITION" source="#ID142_001-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID142_001-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID142_001" name="tmp_export_ID142.001" 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="#ID142_001-mesh" name="tmp_export_ID142.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="edge_color119119119255-material" target="#edge_color119119119255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID142.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID142.001") at 0x00000202EEBA6B08>, meshname=ID142.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID142.001") at 0x00000202EEBA6B08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID142.001.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID142.001.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID146.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:39</created>
+    <modified>2025-06-19T12:01:39</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="edge_color119119119255-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="edge_color119119119255-material" name="edge_color119119119255">
+      <instance_effect url="#edge_color119119119255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID146-mesh" name="ID146">
+      <mesh>
+        <source id="ID146-mesh-positions">
+          <float_array id="ID146-mesh-positions-array" count="6">0.04322528 0.01794534 0.02578431 0.04322528 0.01794534 0.02868962</float_array>
+          <technique_common>
+            <accessor source="#ID146-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID146-mesh-normals">
+          <float_array id="ID146-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID146-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID146-mesh-vertices">
+          <input semantic="POSITION" source="#ID146-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID146-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID146" name="tmp_export_ID146" 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="#ID146-mesh" name="tmp_export_ID146">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="edge_color119119119255-material" target="#edge_color119119119255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID146.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID146") at 0x00000202EEBA5D08>, meshname=ID146, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID146") at 0x00000202EEBA5D08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID146.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID146.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID150.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:39</created>
+    <modified>2025-06-19T12:01:39</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="edge_color119119119255-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="edge_color119119119255-material" name="edge_color119119119255">
+      <instance_effect url="#edge_color119119119255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID150-mesh" name="ID150">
+      <mesh>
+        <source id="ID150-mesh-positions">
+          <float_array id="ID150-mesh-positions-array" count="6">0.04694408 0.01894181 0.02578431 0.04694408 0.01894181 0.02868962</float_array>
+          <technique_common>
+            <accessor source="#ID150-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID150-mesh-normals">
+          <float_array id="ID150-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID150-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID150-mesh-vertices">
+          <input semantic="POSITION" source="#ID150-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID150-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID150" name="tmp_export_ID150" 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="#ID150-mesh" name="tmp_export_ID150">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="edge_color119119119255-material" target="#edge_color119119119255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID150.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID150") at 0x00000202EEBA7208>, meshname=ID150, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID150") at 0x00000202EEBA7208> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID150.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID150.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID154.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:39</created>
+    <modified>2025-06-19T12:01:39</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="edge_color119119119255-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="edge_color119119119255-material" name="edge_color119119119255">
+      <instance_effect url="#edge_color119119119255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID154-mesh" name="ID154">
+      <mesh>
+        <source id="ID154-mesh-positions">
+          <float_array id="ID154-mesh-positions-array" count="6">0.04388183 0.01767337 0.02578431 0.04388183 0.01767337 0.02868962</float_array>
+          <technique_common>
+            <accessor source="#ID154-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID154-mesh-normals">
+          <float_array id="ID154-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID154-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID154-mesh-vertices">
+          <input semantic="POSITION" source="#ID154-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID154-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID154" name="tmp_export_ID154" 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="#ID154-mesh" name="tmp_export_ID154">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="edge_color119119119255-material" target="#edge_color119119119255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID154.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID154") at 0x00000202FB411D08>, meshname=ID154, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID154") at 0x00000202FB411D08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID154.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID154.dae from bpy_types.Mesh