Add files using upload-large-folder tool

.gitattributes

@@ -132,3 +132,5 @@ texture_urdf/家具/cd25ceb4b5c35554e7b3699bea77d3cbf6783fec/1.blend1 filter=lfs
 texture_urdf/冰箱/Refrigerator_v1_L3.123caac80f95-7e95-4d81-b611-9d84a0b8d4a0/1.blend filter=lfs diff=lfs merge=lfs -text
 texture_urdf/家具/FT047/model.blend filter=lfs diff=lfs merge=lfs -text
 texture_urdf/剪刀/Component_23/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/剪刀/Component_3/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/剪刀/Component_2/model.dae.blend filter=lfs diff=lfs merge=lfs -text

texture_urdf/剪刀/Component_2/model.dae.blend

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f5799eb649236e3f3273683a3ad56ebc07202d71e9fefe6ecdd1abf54587cd16
+size 1022450

texture_urdf/剪刀/Component_3/model.dae.blend

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+version https://git-lfs.github.com/spec/v1
+oid sha256:add9696f039a832d3bcf0a9615db6d36c51d4f368e8e09198784d37f3fc0afef
+size 1815106

texture_urdf/开关/SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN/URDF_Data/joint_limits.yml

@@ -0,0 +1,41 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.10000000149011612,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.10000000149011612,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.10000000149011612,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "joint0",
+      "joint1",
+      "joint2"
+    ]
+  }
+}

texture_urdf/开关/SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN/URDF_Data/meshes/dae/ID37.001.dae

@@ -0,0 +1,64 @@
+<?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>2025-06-17T16:44:25</created>
+    <modified>2025-06-17T16:44:25</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects/>
+  <library_images/>
+  <library_geometries>
+    <geometry id="ID37_001-mesh" name="ID37.001">
+      <mesh>
+        <source id="ID37_001-mesh-positions">
+          <float_array id="ID37_001-mesh-positions-array" count="111">0.8267717 0 0.1968504 0 1.771654 0 0 0 0.1968504 0.8267717 1.771654 0 0.8267717 1.771654 0 0.8267717 0 0.1968504 0 1.771654 0 0 0 0.1968504 0 0 0.1968504 0 1.771654 0 0.8267717 0 0.1968504 0.8267717 1.771654 0 0.8267717 0 0.1968504 0 0 0 0.8267717 0 0 0 0 0.1968504 0 0 0.1968504 0.8267717 0 0.1968504 0 0 0 0.8267717 0 0 0 0 0 0.8267717 0 0 0.8267717 0.7069051 0 0.8267717 0 0.1968504 0.8267717 0 0 0.8267717 1.771654 0 0.8267717 0.8858268 0 0.8267717 1.100606 0 0.8267717 1.100606 0 0.8267717 0.8858268 0 0.8267717 1.771654 0 0.8267717 0.7069051 0 0.8267717 0 0.1968504 0.8267717 0 0 0.8267717 0.7069051 0 0.8267717 0.8858268 0 0.8267717 1.100606 0</float_array>
+          <technique_common>
+            <accessor source="#ID37_001-mesh-positions-array" count="37" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID37_001-mesh-normals">
+          <float_array id="ID37_001-mesh-normals-array" count="36">0 0.1104315 0.9938838 0 -0.1104315 -0.9938838 0 -1 0 0 1 0 1 0 0 1 4.79658e-5 0 1 -4.76718e-5 0 1 -4.79658e-5 0 -1 4.79658e-5 0 -1 -4.79658e-5 0 -1 4.76718e-5 0 -1 0 0</float_array>
+          <technique_common>
+            <accessor source="#ID37_001-mesh-normals-array" count="12" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID37_001-mesh-vertices">
+          <input semantic="POSITION" source="#ID37_001-mesh-positions"/>
+        </vertices>
+        <lines count="11">
+          <input semantic="VERTEX" source="#ID37_001-mesh-vertices" offset="0"/>
+          <p>9 8 10 8 11 10 11 9 8 20 21 20 10 21 21 34 34 35 35 36 36 11</p>
+        </lines>
+        <triangles count="16">
+          <input semantic="VERTEX" source="#ID37_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID37_001-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 1 0 0 0 3 0 4 1 5 1 6 1 7 1 6 1 5 1 12 2 13 2 14 2 13 2 12 2 15 2 16 3 17 3 18 3 19 3 18 3 17 3 22 4 23 4 24 4 23 4 22 4 25 4 25 5 22 6 26 7 25 5 26 6 27 7 28 8 29 9 30 10 29 8 31 9 30 10 30 11 31 11 32 11 33 11 32 11 31 11</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID37_001" name="tmp_export_ID37.001" 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="#ID37_001-mesh" name="tmp_export_ID37.001"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/开关/SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN/URDF_Data/meshes/dae/ID37.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID37.001") at 0x0000027F16E11D08>, meshname=ID37.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID37.001") at 0x0000027F16E11D08> to D:\1009233120冉惟言\工作\SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN\URDF_Data\meshes\dae\ID37.001.dae
+->wrote dae to D:\1009233120冉惟言\工作\SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN\URDF_Data\meshes\dae\ID37.001.dae from bpy_types.Mesh

texture_urdf/开关/SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN/URDF_Data/meshes/dae/ID54.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>2025-06-17T16:44:25</created>
+    <modified>2025-06-17T16:44:25</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="__Color_000_3-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">1 1 1 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color255255255255-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_000_3-material" name="__Color_000_3">
+      <instance_effect url="#__Color_000_3-effect"/>
+    </material>
+    <material id="edge_color255255255255-material" name="edge_color255255255255">
+      <instance_effect url="#edge_color255255255255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID54-mesh" name="ID54">
+      <mesh>
+        <source id="ID54-mesh-positions">
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+          <technique_common>
+            <accessor source="#ID54-mesh-normals-array" count="212" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID54-mesh-vertices">
+          <input semantic="POSITION" source="#ID54-mesh-positions"/>
+        </vertices>
+        <lines count="124">
+          <input semantic="VERTEX" source="#ID54-mesh-vertices" offset="0"/>
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+        </lines>
+        <triangles material="__Color_000_3-material" count="260">
+          <input semantic="VERTEX" source="#ID54-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID54-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID54" name="tmp_export_ID54" 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="#ID54-mesh" name="tmp_export_ID54">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="__Color_000_3-material" target="#__Color_000_3-material"/>
+              <instance_material symbol="edge_color255255255255-material" target="#edge_color255255255255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/开关/SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN/URDF_Data/meshes/dae/ID54.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID54") at 0x0000027F16E11608>, meshname=ID54, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID54") at 0x0000027F16E11608> to D:\1009233120冉惟言\工作\SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN\URDF_Data\meshes\dae\ID54.dae
+->wrote dae to D:\1009233120冉惟言\工作\SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN\URDF_Data\meshes\dae\ID54.dae from bpy_types.Mesh

texture_urdf/开关/SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN/URDF_Data/meshes/dae/ID6.001.dae

@@ -0,0 +1,64 @@
+<?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>2025-06-17T16:44:25</created>
+    <modified>2025-06-17T16:44:25</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects/>
+  <library_images/>
+  <library_geometries>
+    <geometry id="ID6_001-mesh" name="ID6.001">
+      <mesh>
+        <source id="ID6_001-mesh-positions">
+          <float_array id="ID6_001-mesh-positions-array" count="66">0.8267717 0 0.1968504 0 1.771654 0 0 0 0.1968504 0.8267717 1.771654 0 0.8267717 1.771654 0 0.8267717 0 0.1968504 0 1.771654 0 0 0 0.1968504 0 0 0.1968504 0 1.771654 0 0.8267717 0 0.1968504 0.8267717 1.771654 0 0.8267717 0 0.1968504 0 0 0 0.8267717 0 0 0 0 0.1968504 0 0 0.1968504 0.8267717 0 0.1968504 0 0 0 0.8267717 0 0 0 0 0 0.8267717 0 0</float_array>
+          <technique_common>
+            <accessor source="#ID6_001-mesh-positions-array" count="22" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID6_001-mesh-normals">
+          <float_array id="ID6_001-mesh-normals-array" count="12">0 0.1104315 0.9938838 0 -0.1104315 -0.9938838 0 -1 0 0 1 0</float_array>
+          <technique_common>
+            <accessor source="#ID6_001-mesh-normals-array" count="4" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID6_001-mesh-vertices">
+          <input semantic="POSITION" source="#ID6_001-mesh-positions"/>
+        </vertices>
+        <lines count="7">
+          <input semantic="VERTEX" source="#ID6_001-mesh-vertices" offset="0"/>
+          <p>9 8 10 8 11 10 11 9 8 20 21 20 10 21</p>
+        </lines>
+        <triangles count="8">
+          <input semantic="VERTEX" source="#ID6_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID6_001-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 1 0 0 0 3 0 4 1 5 1 6 1 7 1 6 1 5 1 12 2 13 2 14 2 13 2 12 2 15 2 16 3 17 3 18 3 19 3 18 3 17 3</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID6_001" name="tmp_export_ID6.001" 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="#ID6_001-mesh" name="tmp_export_ID6.001"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/开关/SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN/URDF_Data/meshes/dae/ID6.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID6.001") at 0x0000027EE7803208>, meshname=ID6.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID6.001") at 0x0000027EE7803208> to D:\1009233120冉惟言\工作\SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN\URDF_Data\meshes\dae\ID6.001.dae
+->wrote dae to D:\1009233120冉惟言\工作\SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN\URDF_Data\meshes\dae\ID6.001.dae from bpy_types.Mesh

texture_urdf/开关/SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN/URDF_Data/meshes/dae/ID63.dae

@@ -0,0 +1,64 @@
+<?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>2025-06-17T16:44:25</created>
+    <modified>2025-06-17T16:44:25</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects/>
+  <library_images/>
+  <library_geometries>
+    <geometry id="ID63-mesh" name="ID63">
+      <mesh>
+        <source id="ID63-mesh-positions">
+          <float_array id="ID63-mesh-positions-array" count="93">0.8267717 0 0.1968504 0 0 0 0.8267717 0 0 0 0 0.1968504 0 0 0.1968504 0.8267717 0 0.1968504 0 0 0 0.8267717 0 0 0 0 0 0 0 0.1968504 0.8267717 0 0 0.8267717 0 0.1968504 0 1.771654 0 0 0 0 0 0 0.1968504 0 0.8858268 0 0 0.8858268 0 0 1.771654 0 0 0 0 0 0 0.1968504 0 1.771654 0 0 0.8858268 0 0.8267717 0 0.1968504 0 1.771654 0 0 0 0.1968504 0.8267717 1.771654 0 0.8267717 1.771654 0 0.8267717 0 0.1968504 0 1.771654 0 0 0 0.1968504 0.8267717 1.771654 0</float_array>
+          <technique_common>
+            <accessor source="#ID63-mesh-positions-array" count="31" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID63-mesh-normals">
+          <float_array id="ID63-mesh-normals-array" count="36">0 -1 0 0 1 0 -1 0 0 -1 -4.79658e-5 0 -1 4.76718e-5 0 -1 4.79658e-5 0 1 -4.79658e-5 0 1 4.79658e-5 0 1 -4.76718e-5 0 1 0 0 0 0.1104315 0.9938838 0 -0.1104315 -0.9938838</float_array>
+          <technique_common>
+            <accessor source="#ID63-mesh-normals-array" count="12" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID63-mesh-vertices">
+          <input semantic="POSITION" source="#ID63-mesh-positions"/>
+        </vertices>
+        <lines count="9">
+          <input semantic="VERTEX" source="#ID63-mesh-vertices" offset="0"/>
+          <p>9 8 10 8 11 10 11 9 20 9 21 20 8 21 30 11 30 20</p>
+        </lines>
+        <triangles count="12">
+          <input semantic="VERTEX" source="#ID63-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID63-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 1 0 0 0 3 0 4 1 5 1 6 1 7 1 6 1 5 1 12 2 13 2 14 2 13 3 12 4 15 5 16 6 17 7 18 8 19 9 18 9 17 9 22 10 23 10 24 10 23 10 22 10 25 10 26 11 27 11 28 11 29 11 28 11 27 11</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID63" name="tmp_export_ID63" 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="#ID63-mesh" name="tmp_export_ID63"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/开关/SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN/URDF_Data/meshes/dae/ID63.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID63") at 0x0000027F18D54F08>, meshname=ID63, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID63") at 0x0000027F18D54F08> to D:\1009233120冉惟言\工作\SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN\URDF_Data\meshes\dae\ID63.dae
+->wrote dae to D:\1009233120冉惟言\工作\SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN\URDF_Data\meshes\dae\ID63.dae from bpy_types.Mesh

texture_urdf/开关/SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,62 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint0" type="revolute">
+    <limit lower="0.00000" upper="0.10000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="-0.00000 1.57080 0.00000" xyz="-0.06693 2.65748 0.39370"/>
+    <parent link="baselink"/>
+    <child link="link0"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint1" type="revolute">
+    <limit lower="0.00000" upper="0.10000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="-0.00000 1.57080 0.00000" xyz="0.78346 2.65748 0.39370"/>
+    <parent link="baselink"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint2" type="revolute">
+    <limit lower="0.00000" upper="0.10000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="-0.00000 1.57080 0.00000" xyz="1.63386 2.65748 0.39370"/>
+    <parent link="baselink"/>
+    <child link="link2"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="baselink">
+    <visual name="group_2.002">
+      <origin rpy="-0.00000 0.00000 0.00000" xyz="2.99155 1.77165 0.25431"/>
+      <material name="__Color_000_3"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID54.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual name="group_3.003">
+      <origin rpy="-0.00000 -1.57080 0.00000" xyz="-0.00000 -1.77165 0.00000"/>
+      <material name="__Color_000_3"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID63.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="group_0.004">
+      <origin rpy="-0.00000 -1.57080 0.00000" xyz="-0.00000 -1.77165 0.00000"/>
+      <material name="__Color_000_3"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID6.001.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link2">
+    <visual name="group_1.003">
+      <origin rpy="-0.00000 -1.57080 0.00000" xyz="-0.00000 -1.77165 0.00000"/>
+      <material name="__Color_000_3"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID37.001.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="__Color_000_3">
+    <color rgba="1.00000 1.00000 1.00000 1.00000"/>
+  </material>
+</robot>

texture_urdf/开关/Switch's/URDF_Data/joint_limits.yml

@@ -0,0 +1,41 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": -0.20000000298023224
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": -0.20000000298023224
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 4.170000076293945,
+          "speed": 0.0
+        },
+        "min": {
+          "position": -3.4000000953674316
+        }
+      }
+    ],
+    "names": [
+      "joint1",
+      "joint2",
+      "joint3"
+    ]
+  }
+}

texture_urdf/开关/Switch's/URDF_Data/meshes/dae/obj11.005.dae

@@ -0,0 +1,89 @@
+<?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>2025-06-17T15:38:24</created>
+    <modified>2025-06-17T15:38:24</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat6-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.800474 0.0316974 0.01652129 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="mat6-material" name="mat6">
+      <instance_effect url="#mat6-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="obj11_005-mesh" name="obj11.005">
+      <mesh>
+        <source id="obj11_005-mesh-positions">
+          <float_array id="obj11_005-mesh-positions-array" count="132">-0.05896019 -0.25 -0.59375 -0.05896019 0.25 0.59375 -0.05896019 0.25 -0.59375 -0.05896019 -0.25 0.59375 0.02224421 -0.25 0.59375 0.02224421 0.25 0.59375 0.01917749 0.25 0.5477671 0.01049089 0.25 0.3652883 0.005277693 0.25 0.1826771 0.003539741 0.25 0 0.005277693 0.25 -0.1826769 0.01049089 0.25 -0.365288 0.01917749 0.25 -0.547767 0.02224421 0.25 -0.59375 0.02224421 -0.25 -0.59375 0.01917749 -0.25 0.5477671 0.01049089 -0.25 0.3652883 0.005277693 -0.25 0.1826771 0.003539741 -0.25 0 0.005277693 -0.25 -0.1826769 0.01049089 -0.25 -0.365288 0.01917749 -0.25 -0.547767 -0.05221641 -0.2550766 -0.5991119 -0.0520665 0.2522249 0.6006439 -0.0531519 0.2557032 -0.5879417 -0.05318671 -0.2557735 0.5995235 0.02224421 -0.2569084 0.6009801 0.02224421 0.2430836 0.6009724 0.01917749 0.26 0.5477672 0.01049089 0.24 0.3652881 0.005277693 0.24 0.1826771 0.003539741 0.26 0 0.005277693 0.26 -0.1826769 0.01049089 0.26 -0.365288 0.01917749 0.26 -0.547767 0.02224421 0.257694 -0.5873623 0.02224421 -0.2569164 -0.6009724 0.01917749 -0.24 0.5477654 0.01049089 -0.24 0.3652883 0.005277693 -0.26 0.1826771 0.003539741 -0.26 0 0.005277693 -0.24 -0.1826769 0.01049089 -0.24 -0.365288 0.01917749 -0.26 -0.547767</float_array>
+          <technique_common>
+            <accessor source="#obj11_005-mesh-positions-array" count="44" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="obj11_005-mesh-normals">
+          <float_array id="obj11_005-mesh-normals-array" count="519">-0.4831881 0.7992333 -0.3574287 -1 0 0 -0.1228439 0.9848021 -0.1227772 -4.77711e-5 0 1 4.71539e-5 7.65473e-6 1 0 -4.77711e-5 1 0 -0.9063894 0.4224433 -4.71539e-5 -7.65473e-6 1 -0.05096936 -0.4568615 0.8880764 0 -1 -3.35542e-4 0 -1 -3.35542e-4 5.57617e-7 -1 -3.35542e-4 0 -1 4.76285e-5 0 -1 4.66749e-5 0 -1 4.69133e-5 4.76462e-5 -1 -3.45272e-6 -4.77518e-5 -1 1.35887e-6 -4.76085e-5 -1 3.93893e-6 -5.35012e-7 1 -3.35542e-4 0 1 -3.35542e-4 0 1 -3.35542e-4 4.69118e-6 1 3.35256e-4 -8.31438e-7 1 3.35287e-4 -1.44937e-7 1 3.35288e-4 -4.77517e-5 1 -1.36331e-6 4.71978e-5 1 -7.37894e-6 -4.57048e-5 1 1.38979e-5 0 1 -4.77711e-5 0 1 -4.77711e-5 0 1 -4.77711e-5 4.54463e-7 1 4.7769e-5 0 1 4.77711e-5 0 1 4.77711e-5 -4.76599e-5 1 3.25845e-6 -2.42287e-5 1 -4.1171e-5 4.77711e-5 1 0 -4.71538e-5 7.6554e-6 1 -4.77711e-5 0 -1 4.71539e-5 -7.65473e-6 -1 0 4.77711e-5 -1 0 1 4.77711e-5 0 1 -9.59953e-5 0 1 4.77711e-5 0 1 -4.83906e-5 0 1 -4.93442e-5 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+          <technique_common>
+            <accessor source="#obj11_005-mesh-normals-array" count="173" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="obj11_005-mesh-vertices">
+          <input semantic="POSITION" source="#obj11_005-mesh-positions"/>
+        </vertices>
+        <triangles material="mat6-material" count="84">
+          <input semantic="VERTEX" source="#obj11_005-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#obj11_005-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 1 1 0 0 3 1 5 3 4 4 1 5 3 6 1 7 4 8 6 9 1 10 5 11 2 12 6 13 7 14 2 15 7 16 8 17 13 18 12 19 2 20 12 21 11 22 2 23 11 24 10 25 2 26 10 27 9 28 2 29 9 30 8 31 2 32 2 33 6 34 1 35 13 36 0 0 2 2 14 37 13 38 0 39 4 40 0 41 15 42 15 43 0 44 16 45 18 28 0 29 19 27 19 46 0 47 20 48 14 49 0 50 21 51 21 52 0 53 20 54 18 55 0 56 17 57 17 17 0 15 16 16 3 6 4 8 0 58 22 59 24 60 23 61 23 61 25 62 22 59 27 63 23 64 26 65 25 66 26 67 23 68 28 69 27 70 23 71 24 72 29 73 28 74 24 75 30 76 29 77 35 78 24 79 34 80 34 81 24 82 33 83 33 84 24 85 32 86 32 87 24 88 31 89 31 90 24 91 30 92 24 93 23 94 28 95 35 96 24 60 22 59 36 97 22 98 35 99 26 100 37 101 22 102 37 103 38 104 22 105 40 106 41 107 22 108 41 109 42 110 22 111 36 112 43 113 22 114 43 115 42 116 22 117 40 118 39 119 22 120 39 121 38 122 22 123 25 66 22 124 26 67 4 125 27 126 26 127 5 128 28 129 6 130 6 130 29 131 7 132 8 133 29 131 30 134 9 135 30 136 8 137 10 138 31 139 9 135 10 138 33 140 32 141 12 142 33 140 11 143 12 142 35 144 34 145 13 146 36 147 35 144 4 148 37 149 26 150 16 151 37 149 15 152 16 153 39 154 17 155 17 155 40 156 18 157 18 158 41 159 40 160 19 161 42 162 41 159 20 163 43 164 21 165 14 166 43 164 36 147 4 125 5 167 27 126 5 128 27 168 28 129 6 130 28 129 29 131 8 133 7 132 29 131 9 135 31 139 30 136 10 138 32 141 31 139 10 138 11 143 33 140 12 142 34 145 33 140 12 142 13 146 35 144 13 146 14 166 36 147 4 148 15 152 37 149 16 151 38 169 37 149 16 153 38 170 39 154 17 155 39 154 40 156 18 158 19 161 41 159 19 161 20 171 42 162 20 163 42 172 43 164 14 166 21 165 43 164</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj11_005" name="tmp_export_obj11.005" 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="#obj11_005-mesh" name="tmp_export_obj11.005">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat6-material" target="#mat6-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/开关/Switch's/URDF_Data/meshes/dae/obj11.005.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("obj11.005") at 0x000001C187259608>, meshname=obj11.005, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj11.005") at 0x000001C187259608> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj11.005.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj11.005.dae from bpy_types.Mesh

texture_urdf/开关/Switch's/URDF_Data/meshes/dae/obj13.004.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("obj13.004") at 0x000001C187EBB908>, meshname=obj13.004, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj13.004") at 0x000001C187EBB908> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj13.004.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj13.004.dae from bpy_types.Mesh

texture_urdf/开关/Switch's/URDF_Data/meshes/dae/obj3.007.dae

@@ -0,0 +1,89 @@
+<?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>2025-06-17T15:38:24</created>
+    <modified>2025-06-17T15:38:24</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat0_007-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0.00169381 0.8004969 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="mat0_007-material" name="mat0.007">
+      <instance_effect url="#mat0_007-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="obj3_007-mesh" name="obj3.007">
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+          <technique_common>
+            <accessor source="#obj3_007-mesh-normals-array" count="500" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="obj3_007-mesh-vertices">
+          <input semantic="POSITION" source="#obj3_007-mesh-positions"/>
+        </vertices>
+        <triangles material="mat0_007-material" count="284">
+          <input semantic="VERTEX" source="#obj3_007-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#obj3_007-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj3_007" name="tmp_export_obj3.007" 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="#obj3_007-mesh" name="tmp_export_obj3.007">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat0_007-material" target="#mat0_007-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/开关/Switch's/URDF_Data/meshes/dae/obj3.007.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("obj3.007") at 0x000001C187778808>, meshname=obj3.007, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj3.007") at 0x000001C187778808> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj3.007.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj3.007.dae from bpy_types.Mesh

texture_urdf/开关/Switch's/URDF_Data/meshes/dae/obj5.006.dae

@@ -0,0 +1,89 @@
+<?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>2025-06-17T15:38:24</created>
+    <modified>2025-06-17T15:38:24</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat0_006-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 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="mat0_006-material" name="mat0.006">
+      <instance_effect url="#mat0_006-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="obj5_006-mesh" name="obj5.006">
+      <mesh>
+        <source id="obj5_006-mesh-positions">
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+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
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+          <technique_common>
+            <accessor source="#obj5_006-mesh-normals-array" count="213" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="obj5_006-mesh-vertices">
+          <input semantic="POSITION" source="#obj5_006-mesh-positions"/>
+        </vertices>
+        <triangles material="mat0_006-material" count="184">
+          <input semantic="VERTEX" source="#obj5_006-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#obj5_006-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 1 1 0 0 3 3 1 1 3 3 4 4 4 4 3 3 5 5 4 4 5 5 6 6 6 6 5 5 7 7 6 6 7 7 8 8 8 8 7 7 9 9 8 8 9 9 10 10 10 10 9 9 11 11 10 10 11 11 12 12 12 12 11 11 13 13 12 12 13 13 14 14 14 14 13 13 15 15 14 14 15 15 16 16 16 16 15 15 17 17 16 16 17 17 18 18 18 18 17 17 19 19 18 18 19 19 20 4 20 20 21 21 22 22 22 22 21 21 23 23 21 24 19 24 20 24 24 25 10 10 12 12 25 26 24 27 10 28 25 29 8 8 10 10 26 30 25 31 8 32 27 33 26 30 6 34 8 32 6 34 26 30 28 35 6 36 27 37 4 38 28 39 6 40 29 41 4 42 28 43 1 44 29 45 4 46 2 47 30 48 1 44 29 45 1 44 30 48 2 2 31 49 0 0 30 48 2 47 31 50 32 51 0 0 31 49 0 0 32 51 3 3 33 52 3 3 32 51 5 53 33 54 3 55 7 7 33 56 34 57 5 53 7 58 33 54 34 57 9 9 7 7 9 9 34 57 35 59 11 11 35 60 36 61 9 62 11 63 35 64 36 61 13 13 11 11 37 65 36 66 13 67 37 68 15 15 13 13 38 69 37 65 15 70 38 71 17 17 15 15 17 17 38 71 39 72 17 17 40 73 19 19 40 73 17 17 39 72 19 19 41 74 21 75 41 74 19 19 40 73 21 21 42 76 23 23 41 77 21 78 42 79 23 23 43 80 22 22 42 79 23 81 43 82 22 22 44 83 20 20 43 84 22 85 44 86 45 87 20 20 44 83 18 88 45 89 20 90 45 91 16 16 18 18 46 92 45 93 16 94 14 95 46 96 47 97 16 94 14 98 46 92 24 27 47 99 12 100 14 101 12 100 47 99 31 50 29 45 30 48 29 45 31 50 32 4 29 45 32 4 28 4 28 4 32 4 33 4 28 4 33 4 27 33 27 33 33 4 34 4 27 33 34 4 26 30 26 30 34 4 35 4 25 26 36 66 24 27 24 27 36 66 37 65 24 27 37 65 47 99 47 99 37 65 38 69 43 82 41 77 42 79 43 24 41 74 44 83 41 74 40 73 44 83 44 83 40 73 45 87 40 73 39 72 45 87 45 87 39 72 46 96 39 72 38 71 46 96 46 96 38 71 47 97 36 61 35 60 25 24 25 24 35 60 26 24 48 102 50 103 49 104 49 104 51 105 48 102 49 104 52 106 51 105 52 106 53 107 51 105 52 106 54 108 53 107 54 108 55 109 53 107 54 108 56 110 55 109 56 110 57 111 55 109 56 110 58 112 57 111 58 112 59 113 57 111 58 112 60 114 59 113 60 114 61 115 59 113 60 114 62 116 61 115 62 116 63 117 61 115 62 116 64 118 63 117 64 118 65 119 63 117 64 118 66 120 65 119 66 120 67 121 65 119 66 120 68 122 67 121 68 123 70 124 69 125 70 124 71 126 69 125 69 127 68 127 67 127 72 128 60 114 58 112 73 129 58 130 72 131 73 132 58 112 56 110 74 133 56 134 73 135 75 136 54 137 74 133 56 134 74 133 54 137 76 138 75 139 54 140 52 141 54 142 76 143 77 144 76 145 52 146 49 147 52 148 77 149 50 150 49 147 78 151 77 149 78 151 49 147 50 103 48 102 79 152 78 151 79 153 50 150 80 154 79 152 48 102 48 102 51 105 80 154 81 155 80 154 51 105 53 156 51 157 81 158 55 109 82 159 81 160 53 156 81 158 55 161 82 159 55 109 57 111 57 111 83 162 82 159 59 113 84 163 83 164 57 165 83 166 59 167 84 163 59 113 61 115 85 168 61 169 84 170 85 171 61 115 63 117 86 172 63 173 85 168 86 174 63 117 65 119 65 119 87 175 86 174 65 119 67 121 88 176 88 176 87 175 65 119 67 121 69 177 89 178 89 178 88 176 67 121 69 125 71 126 90 179 89 180 90 181 69 182 71 126 70 124 91 183 90 181 91 184 71 185 70 124 68 123 92 186 91 187 92 188 70 189 93 190 92 186 68 123 66 191 68 192 93 193 93 194 66 120 64 118 94 195 64 196 93 197 62 198 95 199 94 200 64 196 94 195 62 201 72 131 60 202 95 203 62 204 95 203 60 202 79 153 78 151 77 149 77 149 80 205 79 153 77 149 76 206 80 205 76 206 81 207 80 205 76 206 75 136 81 207 75 136 82 208 81 207 75 136 74 133 82 208 74 133 83 209 82 208 73 129 72 131 84 170 72 131 85 168 84 170 72 131 95 203 85 168 95 203 86 172 85 168 91 184 90 181 89 180 91 210 92 186 89 178 89 178 92 186 88 176 92 186 93 190 88 176 88 176 93 190 87 175 93 190 94 200 87 175 87 175 94 200 86 174 94 200 95 199 86 174 84 163 73 211 83 164 73 211 74 212 83 164</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj5_006" name="tmp_export_obj5.006" 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="#obj5_006-mesh" name="tmp_export_obj5.006">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat0_006-material" target="#mat0_006-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/开关/Switch's/URDF_Data/meshes/dae/obj5.006.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("obj5.006") at 0x000001C187DC5608>, meshname=obj5.006, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj5.006") at 0x000001C187DC5608> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj5.006.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj5.006.dae from bpy_types.Mesh

texture_urdf/开关/Switch's/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,68 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint1" type="prismatic">
+    <limit lower="-0.20000" upper="0.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="1.90640 0.90002 0.50952"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint2" type="prismatic">
+    <limit lower="-0.20000" upper="0.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="3.16470 0.00000 0.42783"/>
+    <parent link="base_link"/>
+    <child link="link2"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint3" type="revolute">
+    <limit lower="-3.40000" upper="4.17000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="4.75015 0.90002 0.72299"/>
+    <parent link="base_link"/>
+    <child link="link3"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="obj13">
+      <origin rpy="1.57080 1.57080 0.00000" xyz="0.40640 1.99377 0.44348"/>
+      <material name="mat0.006"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj13.004.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="obj11">
+      <origin rpy="1.57080 1.57080 0.00000" xyz="0.00000 -0.00000 0.00000"/>
+      <material name="mat6"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj11.005.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link2">
+    <visual name="obj5">
+      <origin rpy="1.57080 1.57080 0.00000" xyz="-2.75830 1.99377 0.01565"/>
+      <material name="mat0.006"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj5.006.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link3">
+    <visual name="obj3">
+      <origin rpy="1.57080 1.57080 0.00000" xyz="-0.00000 0.00000 0.00000"/>
+      <material name="mat0.007"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj3.007.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="mat0.006">
+    <color rgba="0.80000 0.80000 0.80000 1.00000"/>
+  </material>
+  <material name="mat0.007">
+    <color rgba="0.80000 0.80000 0.80000 1.00000"/>
+  </material>
+  <material name="mat6">
+    <color rgba="0.80000 0.80000 0.80000 1.00000"/>
+  </material>
+</robot>

texture_urdf/开关/Untitled/URDF_Data/joint_limits.yml

@@ -0,0 +1,19 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": -0.3059999942779541
+        }
+      }
+    ],
+    "names": [
+      "joint1"
+    ]
+  }
+}

texture_urdf/开关/Untitled/URDF_Data/meshes/dae/ID27.005.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>2025-06-18T18:09:19</created>
+    <modified>2025-06-18T18:09:19</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="material_011-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.6705882 0.6901961 0.8 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Color_A01-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">1 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_color000255_013-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_011-material" name="material.011">
+      <instance_effect url="#material_011-effect"/>
+    </material>
+    <material id="Color_A01-material" name="Color_A01">
+      <instance_effect url="#Color_A01-effect"/>
+    </material>
+    <material id="edge_color000255_013-material" name="edge_color000255.013">
+      <instance_effect url="#edge_color000255_013-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID27_005-mesh" name="ID27.005">
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID27_005-mesh-vertices">
+          <input semantic="POSITION" source="#ID27_005-mesh-positions"/>
+        </vertices>
+        <lines count="72">
+          <input semantic="VERTEX" source="#ID27_005-mesh-vertices" offset="0"/>
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+        </lines>
+        <triangles material="material_011-material" count="70">
+          <input semantic="VERTEX" source="#ID27_005-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID27_005-mesh-normals" offset="1"/>
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+        </triangles>
+        <triangles material="Color_A01-material" count="70">
+          <input semantic="VERTEX" source="#ID27_005-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID27_005-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 1 1 0 1 3 1 1 2 3 2 4 2 4 2 3 2 5 2 5 3 3 3 6 3 5 2 6 2 7 2 7 4 6 4 8 4 7 5 8 5 9 5 9 6 8 6 10 6 9 2 10 2 11 2 11 7 10 7 12 7 11 2 12 2 13 2 13 8 12 8 14 8 13 2 14 2 15 2 15 9 14 9 16 9 15 2 16 2 17 2 17 10 16 10 18 10 17 11 18 11 19 11 17 2 19 2 20 2 20 2 19 2 21 2 21 12 19 12 22 12 21 13 22 13 23 13 72 14 73 15 74 16 73 15 72 14 75 17 74 16 82 18 83 19 82 18 74 16 73 15 83 19 87 20 88 21 87 20 83 19 82 18 88 21 92 22 93 23 92 22 88 21 87 20 97 24 92 22 98 25 92 22 97 24 93 23 102 26 98 25 103 27 98 25 102 26 97 24 107 28 103 27 108 29 103 27 107 28 102 26 112 30 108 29 113 31 108 29 112 30 107 28 117 32 113 31 118 33 113 31 117 32 112 30 122 34 118 33 123 35 118 33 122 34 117 32 127 36 122 34 123 35 122 34 127 36 128 37 132 38 128 37 127 36 128 37 132 38 133 39 137 40 133 39 132 38 133 39 137 40 138 41 142 42 138 41 137 40 138 41 142 42 143 43 147 44 143 43 142 42 143 43 147 44 148 45 152 46 148 45 147 44 148 45 152 46 153 47 157 48 152 46 158 49 152 46 157 48 153 47 162 50 158 49 163 51 158 49 162 50 157 48 167 52 163 51 168 53 163 51 167 52 162 50 172 54 168 53 173 55 168 53 172 54 167 52 177 56 173 55 178 57 173 55 177 56 172 54 182 58 178 57 183 59 178 57 182 58 177 56 182 58 187 60 188 61 187 60 182 58 183 59 188 61 75 17 72 14 75 17 188 61 187 60</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID27_005" name="tmp_export_ID27.005" 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_005-mesh" name="tmp_export_ID27.005">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material_011-material" target="#material_011-material"/>
+              <instance_material symbol="Color_A01-material" target="#Color_A01-material"/>
+              <instance_material symbol="edge_color000255_013-material" target="#edge_color000255_013-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/开关/Untitled/URDF_Data/meshes/dae/ID27.005.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.02539999969303608, 0.02539999969303608, 0.02539999969303608], mesh=<bpy_struct, Mesh("ID27.005") at 0x0000023891B87208>, meshname=ID27.005, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID27.005") at 0x0000023891B87208> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID27.005.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID27.005.dae from bpy_types.Mesh

texture_urdf/开关/Untitled/URDF_Data/meshes/dae/ID37.dae

@@ -0,0 +1,218 @@
+<?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>2025-06-18T18:09:19</created>
+    <modified>2025-06-18T18:09:19</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="material_011-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.6705882 0.6901961 0.8 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color000255_013-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="Color_009-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="Color_E01-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">1 1 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="material_0_009-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">1 1 1 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="material_011-material" name="material.011">
+      <instance_effect url="#material_011-effect"/>
+    </material>
+    <material id="edge_color000255_013-material" name="edge_color000255.013">
+      <instance_effect url="#edge_color000255_013-effect"/>
+    </material>
+    <material id="Color_009-material" name="Color_009">
+      <instance_effect url="#Color_009-effect"/>
+    </material>
+    <material id="Color_E01-material" name="Color_E01">
+      <instance_effect url="#Color_E01-effect"/>
+    </material>
+    <material id="material_0_009-material" name="material_0.009">
+      <instance_effect url="#material_0_009-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID37-mesh" name="ID37">
+      <mesh>
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+          <p>48 75 49 75 50 75 49 75 51 75 50 75 50 75 51 75 52 75 52 75 51 75 53 75 51 75 54 75 53 75 54 75 55 75 53 75 55 75 56 75 53 75 56 76 57 76 53 76 53 75 57 75 58 75 57 75 59 75 58 75 59 75 60 75 58 75 58 75 60 75 61 75 60 75 62 75 61 75 61 75 62 75 63 75 62 77 64 77 63 77 64 78 65 78 63 78 63 79 65 79 66 79 65 75 67 75 66 75 67 80 68 80 66 80 66 81 68 81 69 81 68 75 70 75 69 75 70 75 71 75 69 75 69 75 71 75 72 75 71 75 73 75 72 75 73 75 74 75 72 75 74 75 75 75 72 75 72 75 75 75 76 75 75 75 77 75 76 75 76 75 77 75 78 75 79 75 78 75 77 75 55 75 54 75 80 75 80 82 54 82 81 82 54 75 82 75 81 75 81 75 82 75 83 75 83 75 82 75 84 75 82 75 85 75 84 75 84 75 85 75 86 75 86 75 85 75 87 75 85 75 88 75 87 75 87 83 88 83 89 83 88 75 90 75 89 75 89 75 90 75 91 75 91 75 90 75 92 75 90 75 93 75 92 75 92 75 93 75 94 75 94 75 93 75 95 75 93 75 74 75 95 75 73 75 95 75 74 75 148 84 149 85 150 86 151 87 150 86 149 85 150 86 151 87 157 88 157 88 151 87 158 89 159 90 158 89 151 87 158 89 159 90 164 91 165 92 164 91 159 90 164 91 165 92 169 93 170 94 169 93 165 92 170 94 175 95 169 93 169 93 175 95 176 96 177 97 176 96 175 95 175 95 182 98 177 97 183 99 177 97 182 98 182 98 187 100 183 99 188 101 183 99 187 100 187 100 193 102 188 101 188 101 193 102 194 103 195 104 194 103 193 102 193 102 200 105 195 104 201 106 195 104 200 105 200 105 205 107 201 106 206 108 201 106 205 107 210 109 211 110 205 107 206 108 205 107 211 110 215 111 216 112 210 109 211 110 210 109 216 112 220 113 221 114 215 111 216 112 215 111 221 114 226 115 227 116 228 117 228 117 227 116 220 113 221 114 220 113 227 116 233 118 234 119 228 117 226 115 228 117 234 119 238 120 239 121 233 118 234 119 233 118 239 121 238 120 244 122 239 121 239 121 244 122 245 123 246 124 245 123 244 122 244 122 251 125 246 124 252 126 246 124 251 125 251 125 256 127 252 126 257 128 252 126 256 127 256 127 262 129 257 128 257 128 262 129 263 130 264 131 263 130 262 129 262 129 269 132 264 131 270 133 264 131 269 132 269 132 274 134 270 133 275 135 270 133 274 134 275 135 274 134 279 136 280 137 279 136 274 134 279 136 280 137 148 84 149 85 148 84 280 137 289 75 290 75 291 75 290 75 292 75 291 75 292 75 293 75 291 75 293 75 294 75 291 75 295 142 291 142 294 142 307 2 308 2 309 2 310 2 309 2 308 2 322 146 323 147 324 146 323 146 325 147 324 146 325 146 326 147 324 146 324 150 326 150 327 150 328 150 327 150 326 150 341 153 342 153 343 153 343 153 342 153 344 153 344 153 342 153 345 153 345 153 342 153 346 153 347 153 346 153 342 153 359 154 360 155 361 154 360 145 362 144 361 145 362 154 363 155 361 154 361 143 363 143 364 143 365 143 364 143 363 143 377 149 378 149 379 149 378 149 380 149 379 149 380 149 381 149 379 149 379 149 381 149 382 149 383 149 382 149 381 149 390 75 391 75 392 75 399 75 400 75 401 75 417 75 418 75 419 75 420 160 419 160 418 160 418 161 417 161 421 161 421 75 417 75 422 75 422 75 417 75 423 75 423 75 417 75 424 75 417 75 425 75 424 75 424 75 425 75 426 75 426 75 425 75 427 75 428 75 427 75 425 75 453 75 454 75 455 75 454 75 456 75 455 75 456 75 457 75 455 75 457 75 458 75 455 75 458 75 459 75 455 75 460 75 461 75 462 75 462 75 461 75 459 75 455 166 459 166 461 166 460 75 463 75 461 75 464 167 461 167 463 167 484 171 485 171 486 171 485 75 487 75 486 75 487 172 488 172 486 172 488 173 489 173 486 173 490 174 486 174 489 174 502 75 503 75 504 75 505 75 504 75 503 75 514 75 515 75 516 75 517 75 516 75 515 75 529 75 530 75 531 75 530 75 532 75 531 75 532 75 533 75 531 75 533 75 534 75 531 75 535 179 531 179 534 179 550 181 551 181 552 181 552 75 551 75 553 75 553 75 551 75 554 75 554 75 551 75 555 75 556 75 555 75 551 75 572 75 573 75 574 75 574 75 573 75 575 75 575 75 573 75 576 75 576 75 573 75 577 75 573 199 578 199 577 199 579 75 577 75 578 75 596 200 597 200 598 200 598 201 597 201 599 201 599 202 597 202 573 202 597 75 600 75 573 75 600 75 601 75 573 75 601 75 602 75 573 75 602 75 603 75 573 75 578 203 573 203 603 203 620 75 621 75 622 75 622 75 621 75 623 75 623 75 621 75 597 75 621 75 624 75 597 75 624 75 625 75 597 75 625 75 626 75 597 75 626 75 627 75 597 75 600 75 597 75 627 75 642 75 643 75 621 75 643 75 644 75 621 75 644 75 645 75 621 75 645 75 646 75 621 75 646 75 647 75 621 75 624 204 621 204 647 204</p>
+        </triangles>
+        <triangles material="Color_009-material" count="23">
+          <input semantic="VERTEX" source="#ID37-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID37-mesh-normals" offset="1"/>
+          <p>282 138 283 138 284 138 283 139 282 139 285 139 283 140 285 140 286 140 283 141 286 141 287 141 283 2 287 2 288 2 387 2 388 2 389 2 405 2 406 2 407 2 406 2 405 2 408 2 408 2 405 2 409 2 409 2 405 2 410 2 409 2 410 2 411 2 411 2 410 2 412 2 412 156 410 156 413 156 413 157 410 157 414 157 414 158 415 158 416 158 415 159 414 159 410 159 477 2 478 2 479 2 478 168 477 168 480 168 478 169 480 169 481 169 478 2 481 2 482 2 478 170 482 170 483 170 498 2 499 2 500 2 499 2 498 2 501 2</p>
+        </triangles>
+        <triangles material="Color_E01-material" count="23">
+          <input semantic="VERTEX" source="#ID37-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID37-mesh-normals" offset="1"/>
+          <p>396 2 397 2 398 2 441 2 442 2 443 2 442 2 441 2 444 2 442 2 445 2 446 2 445 2 442 2 447 2 447 2 442 2 444 2 446 162 445 162 448 162 446 163 448 163 449 163 446 164 449 164 450 164 446 165 450 165 451 165 446 2 451 2 452 2 510 2 511 2 512 2 511 2 510 2 513 2 522 175 523 175 524 175 523 176 522 176 525 176 523 2 525 2 526 2 523 177 526 177 527 177 523 178 527 178 528 178 543 2 544 2 545 2 544 2 543 2 546 2 546 2 543 2 547 2 547 2 543 2 548 2 548 180 543 180 549 180</p>
+        </triangles>
+        <triangles material="material_0_009-material" count="28">
+          <input semantic="VERTEX" source="#ID37-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID37-mesh-normals" offset="1"/>
+          <p>564 182 565 182 566 182 565 183 564 183 567 183 565 2 567 2 568 2 568 2 567 2 569 2 569 2 567 2 570 2 570 184 567 184 571 184 588 185 567 185 564 185 567 186 588 186 589 186 567 187 589 187 590 187 567 188 590 188 591 188 567 2 591 2 592 2 567 189 592 189 593 189 593 190 592 190 594 190 594 191 592 191 595 191 612 2 592 2 591 2 592 192 612 192 613 192 592 193 613 193 614 193 592 194 614 194 615 194 592 195 615 195 616 195 592 2 616 2 617 2 617 2 616 2 618 2 618 2 616 2 619 2 636 196 616 196 615 196 616 197 636 197 637 197 616 2 637 2 638 2 616 2 638 2 639 2 616 198 639 198 640 198 616 2 640 2 641 2</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID37" name="tmp_export_ID37" 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="#ID37-mesh" name="tmp_export_ID37">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Color_008-material" target="#Color_008-material"/>
+              <instance_material symbol="material_011-material" target="#material_011-material"/>
+              <instance_material symbol="edge_color000255_013-material" target="#edge_color000255_013-material"/>
+              <instance_material symbol="Color_009-material" target="#Color_009-material"/>
+              <instance_material symbol="Color_E01-material" target="#Color_E01-material"/>
+              <instance_material symbol="material_0_009-material" target="#material_0_009-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/开关/Untitled/URDF_Data/meshes/dae/ID37.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.02539999969303608, 0.02539999969303608, 0.02539999969303608], mesh=<bpy_struct, Mesh("ID37") at 0x000002388A490108>, meshname=ID37, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID37") at 0x000002388A490108> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID37.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID37.dae from bpy_types.Mesh

texture_urdf/开关/Untitled/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,33 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint1" type="prismatic">
+    <limit lower="-0.30600" upper="0.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 1.51827"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="SketchUp.003">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.73998"/>
+      <material name="Color_008"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID37.dae" scale="0.02540 0.02540 0.02540"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="SketchUp.002">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-0.77895 -0.87308 -1.56948"/>
+      <material name="material.011"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID27.005.dae" scale="0.02540 0.02540 0.02540"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="Color_008">
+    <color rgba="0.11765 0.11765 0.11765 1.00000"/>
+  </material>
+  <material name="material.011">
+    <color rgba="0.66667 0.69020 0.80000 1.00000"/>
+  </material>
+</robot>

texture_urdf/开关/Untitled/model.dae

@@ -0,0 +1,1029 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>MythMaster</author>
+            <authoring_tool>SketchUp 8.0.11752</authoring_tool>
+        </contributor>
+        <created>2019-12-13T04:53:03Z</created>
+        <modified>2019-12-13T04:53:03Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_cameras>
+        <camera id="ID1" name="skp_camera_Last_Saved_SketchUp_View">
+            <optics>
+                <technique_common>
+                    <perspective>
+                        <yfov>35</yfov>
+                        <aspect_ratio>0</aspect_ratio>
+                        <znear>1</znear>
+                        <zfar>1000</zfar>
+                    </perspective>
+                </technique_common>
+            </optics>
+        </camera>
+    </library_cameras>
+    <library_visual_scenes>
+        <visual_scene id="ID2">
+            <node name="SketchUp">
+                <instance_geometry url="#ID3">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID4">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID17">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID18">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID27">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID28">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID37">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID4">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID45">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID46">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID55">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID57">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID65">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID18">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID73">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID46">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID81">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID46">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID89">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID46">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID97">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID18">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID105">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID18">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID113">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID18">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID121">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID46">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <node name="skp_camera_Last_Saved_SketchUp_View">
+                    <matrix>0.6641145 0.2749745 -0.6952273 -214.2562 -0.7476309 0.2442576 -0.6175648 -199.4734 0 0.9299071 0.3677944 180.4904 0 0 0 1</matrix>
+                    <instance_camera url="#ID1" />
+                </node>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <library_geometries>
+        <geometry id="ID3">
+            <mesh>
+                <source id="ID6">
+                    <float_array id="ID14" count="252">61.25 69 0 0 0 0 0 69 0 61.25 0 0 61.25 0 0 61.25 69 0 0 0 0 0 69 0 61.25 69 0 0 69 0 61.25 0 0 0 0 0 0 69 29.1875 61.25 69 0 0 69 0 61.25 69 29.1875 17.25 69 29.1875 30.625 69 29.1875 45.9375 69 29.1875 45.9375 69 29.1875 30.625 69 29.1875 61.25 69 29.1875 17.25 69 29.1875 0 69 29.1875 61.25 69 0 0 69 0 61.25 69 29.1875 0 69 29.1875 17.25 69 29.1875 30.625 69 29.1875 45.9375 69 29.1875 61.25 69 0 61.25 0 29.1875 61.25 0 0 61.25 15.3125 29.1875 61.25 30.625 29.1875 61.25 49.8125 29.1875 61.25 69 29.1875 61.25 69 29.1875 61.25 69 0 61.25 49.8125 29.1875 61.25 30.625 29.1875 61.25 15.3125 29.1875 61.25 0 29.1875 61.25 0 0 61.25 30.625 29.1875 61.25 15.3125 29.1875 61.25 0 29.1875 61.25 49.8125 29.1875 61.25 0 29.1875 0 0 0 61.25 0 0 0 0 29.1875 45.9375 0 29.1875 30.625 0 29.1875 15.3125 0 29.1875 15.3125 0 29.1875 30.625 0 29.1875 0 0 29.1875 45.9375 0 29.1875 61.25 0 29.1875 0 0 0 61.25 0 0 0 0 29.1875 15.3125 0 29.1875 45.9375 0 29.1875 30.625 0 29.1875 0 17.25 29.1875 0 0 0 0 0 29.1875 0 69 0 0 34.5 29.1875 0 51.75 29.1875 0 69 29.1875 0 69 29.1875 0 51.75 29.1875 0 69 0 0 34.5 29.1875 0 17.25 29.1875 0 0 0 0 0 29.1875 0 51.75 29.1875 0 17.25 29.1875 0 34.5 29.1875</float_array>
+                    <technique_common>
+                        <accessor count="84" source="#ID14" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
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texture_urdf/开关/rocker+switch/URDF_Data/urdf/URDF_Data.urdf

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texture_urdf/开关/switch/URDF_Data/joint_limits.yml

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+          <p>40 100 354 41 100 355 42 100 356 42 101 357 41 101 358 43 101 359 41 101 360 44 101 361 43 101 362 43 101 363 44 101 364 45 101 365 44 101 366 46 101 367 45 101 368 46 101 369 47 101 370 45 101 371 45 101 372 47 101 373 48 101 374 47 101 375 49 101 376 48 101 377 48 101 378 49 101 379 50 101 380 49 102 381 51 102 382 50 102 383 51 103 384 52 103 385 50 103 386 50 101 387 52 101 388 53 101 389 52 101 390 54 101 391 53 101 392 53 101 393 54 101 394 55 101 395 54 104 396 56 104 397 55 104 398 56 101 399 57 101 400 55 101 401 55 105 402 57 105 403 58 105 404 57 106 405 59 106 406 58 106 407 59 101 408 60 101 409 58 101 410 58 101 411 60 101 412 61 101 413 61 101 414 60 101 415 62 101 416 62 101 417 60 101 418 63 101 419 63 101 420 60 101 421 64 101 422 64 101 423 60 101 424 65 101 425 65 101 426 60 101 427 66 101 428 66 101 429 60 101 430 67 101 431 67 107 432 60 107 433 68 107 434 68 101 435 60 101 436 69 101 437 69 101 438 60 101 439 70 101 440 70 101 441 60 101 442 71 101 443 71 108 444 60 108 445 72 108 446 72 101 447 60 101 448 73 101 449 73 101 450 60 101 451 74 101 452 74 101 453 60 101 454 75 101 455 75 101 456 60 101 457 76 101 458 76 109 459 60 109 460 77 109 461 77 101 462 60 101 463 78 101 464 79 101 465 78 101 466 60 101 467 124 110 468 125 110 469 126 110 470 127 110 471 126 110 472 125 110 473 134 73 474 135 73 475 136 73 476 137 73 477 136 73 478 135 73 479 143 111 480 144 112 481 145 113 482 146 114 483 145 113 484 144 112 485 145 113 486 146 114 487 150 115 488 151 116 489 150 115 490 146 114 491 150 115 492 151 116 493 155 117 494 156 118 495 155 117 496 151 116 497 155 117 498 156 118 499 160 119 500 161 120 501 160 119 502 156 118 503 160 119 504 161 120 505 165 121 506 166 122 507 165 121 508 161 120 509 165 121 510 166 122 511 170 123 512 171 124 513 170 123 514 166 122 515 175 125 516 170 123 517 176 126 518 171 124 519 176 126 520 170 123 521 180 127 522 175 125 523 181 128 524 176 126 525 181 128 526 175 125 527 180 127 528 181 128 529 185 129 530 186 130 531 185 129 532 181 128 533 185 129 534 186 130 535 190 131 536 191 132 537 190 131 538 186 130 539 190 131 540 191 132 541 195 133 542 196 134 543 195 133 544 191 132 545 195 133 546 196 134 547 200 135 548 201 136 549 200 135 550 196 134 551 207 137 552 208 137 553 209 137 554 210 138 555 209 138 556 208 138 557 216 139 558 217 140 559 218 141 560 219 142 561 218 141 562 217 140 563 218 141 564 219 142 565 223 143 566 224 144 567 223 143 568 219 142 569 223 143 570 224 144 571 228 145 572 229 146 573 228 145 574 224 144 575 228 145 576 229 146 577 233 147 578 234 148 579 233 147 580 229 146 581 233 147 582 234 148 583 238 149 584 239 150 585 238 149 586 234 148 587 238 149 588 239 150 589 243 151 590 244 152 591 243 151 592 239 150 593 243 151 594 244 152 595 248 153 596 249 154 597 248 153 598 244 152 599 248 153 600 249 154 601 253 155 602 254 156 603 253 155 604 249 154 605 253 155 606 254 156 607 258 157 608 259 158 609 258 157 610 254 156 611 258 157 612 259 158 613 263 159 614 264 160 615 263 159 616 259 158 617 268 161 618 263 159 619 269 162 620 264 160 621 269 162 622 263 159 623 268 161 624 269 162 625 273 163 626 274 164 627 273 163 628 269 162 629 280 18 630 281 18 631 282 18 632 283 18 633 282 18 634 281 18 635 289 165 636 290 166 637 291 167 638 292 168 639 291 167 640 290 166 641 296 169 642 289 165 643 297 170 644 291 167 645 297 170 646 289 165 647 301 171 648 296 169 649 302 172 650 297 170 651 302 172 652 296 169 653 306 173 654 301 171 655 307 174 656 302 172 657 307 174 658 301 171 659 311 175 660 306 173 661 312 176 662 307 174 663 312 176 664 306 173 665 316 177 666 311 175 667 317 178 668 312 176 669 317 178 670 311 175 671 321 179 672 322 180 673 317 178 674 316 177 675 317 178 676 322 180 677 326 181 678 327 182 679 321 179 680 322 180 681 321 179 682 327 182 683 331 183 684 332 184 685 326 181 686 327 182 687 326 181 688 332 184 689 336 185 690 337 186 691 331 183 692 332 184 693 331 183 694 337 186 695 341 187 696 342 188 697 336 185 698 337 186 699 336 185 700 342 188 701 346 189 702 347 190 703 341 187 704 342 188 705 341 187 706 347 190 707</p>
+        </triangles>
+        <triangles material="p276124_488_336-1-material" count="118">
+          <input semantic="VERTEX" source="#ID102-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID102-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#ID102-mesh-map-0" offset="2" set="0"/>
+          <p>0 0 0 1 0 1 2 0 2 1 0 3 0 0 4 3 0 5 3 1 6 0 1 7 4 1 8 4 0 9 0 0 10 5 0 11 5 0 12 0 0 13 6 0 14 6 0 15 0 0 16 7 0 17 7 0 18 0 0 19 8 0 20 8 2 21 0 2 22 9 2 23 9 0 24 0 0 25 10 0 26 10 0 27 0 0 28 11 0 29 11 0 30 0 0 31 12 0 32 12 3 33 0 3 34 13 3 35 13 0 36 0 0 37 14 0 38 14 0 39 0 0 40 15 0 41 15 0 42 0 0 43 16 0 44 16 0 45 0 0 46 17 0 47 17 0 48 0 0 49 18 0 50 18 0 51 0 0 52 19 0 53 19 0 54 0 0 55 20 0 56 20 4 57 0 4 58 21 4 59 20 5 60 21 5 61 22 5 62 20 6 63 22 6 64 23 6 65 23 7 66 22 7 67 24 7 68 23 8 69 24 8 70 25 8 71 23 0 72 25 0 73 26 0 74 26 9 75 25 9 76 27 9 77 26 0 78 27 0 79 28 0 80 28 10 81 27 10 82 29 10 83 28 11 84 29 11 85 30 11 86 28 0 87 30 0 88 31 0 89 31 12 90 30 12 91 32 12 92 31 0 93 32 0 94 33 0 95 33 13 96 32 13 97 34 13 98 33 14 99 34 14 100 35 14 101 33 0 102 35 0 103 36 0 104 36 15 105 35 15 106 37 15 107 36 0 108 37 0 109 38 0 110 38 16 111 37 16 112 39 16 113 120 17 114 121 17 115 122 17 116 121 17 117 120 17 118 123 17 119 130 18 120 131 18 121 132 18 122 131 18 123 130 18 124 133 18 125 139 19 126 140 20 127 141 21 128 140 20 129 139 19 130 142 22 131 141 21 132 148 23 133 149 24 134 148 23 135 141 21 136 140 20 137 149 24 138 153 25 139 154 26 140 153 25 141 149 24 142 148 23 143 154 26 144 158 27 145 159 28 146 158 27 147 154 26 148 153 25 149 159 28 150 163 29 151 164 30 152 163 29 153 159 28 154 158 27 155 164 30 156 168 31 157 169 32 158 168 31 159 164 30 160 163 29 161 168 31 162 173 33 163 169 32 164 173 33 165 168 31 166 174 34 167 174 34 168 178 35 169 173 33 170 178 35 171 174 34 172 179 36 173 178 35 174 183 37 175 184 38 176 183 37 177 178 35 178 179 36 179 184 38 180 188 39 181 189 40 182 188 39 183 184 38 184 183 37 185 189 40 186 193 41 187 194 42 188 193 41 189 189 40 190 188 39 191 194 42 192 198 43 193 199 44 194 198 43 195 194 42 196 193 41 197 203 45 198 204 45 199 205 45 200 204 46 201 203 46 202 206 46 203 212 47 204 213 48 205 214 49 206 213 48 207 212 47 208 215 50 209 214 49 210 221 51 211 222 52 212 221 51 213 214 49 214 213 48 215 222 52 216 226 53 217 227 54 218 226 53 219 222 52 220 221 51 221 227 54 222 231 55 223 232 56 224 231 55 225 227 54 226 226 53 227 232 56 228 236 57 229 237 58 230 236 57 231 232 56 232 231 55 233 237 58 234 241 59 235 242 60 236 241 59 237 237 58 238 236 57 239 242 60 240 246 61 241 247 62 242 246 61 243 242 60 244 241 59 245 247 62 246 251 63 247 252 64 248 251 63 249 247 62 250 246 61 251 252 64 252 256 65 253 257 66 254 256 65 255 252 64 256 251 63 257 257 66 258 261 67 259 262 68 260 261 67 261 257 66 262 256 65 263 261 67 264 266 69 265 262 68 266 266 69 267 261 67 268 267 70 269 266 69 270 271 71 271 272 72 272 271 71 273 266 69 274 267 70 275 276 73 276 277 73 277 278 73 278 277 73 279 276 73 280 279 73 281 285 74 282 286 75 283 287 76 284 286 75 285 285 74 286 288 77 287 288 77 288 294 78 289 286 75 290 294 78 291 288 77 292 295 79 293 295 79 294 299 80 295 294 78 296 299 80 297 295 79 298 300 81 299 300 81 300 304 82 301 299 80 302 304 82 303 300 81 304 305 83 305 305 83 306 309 84 307 304 82 308 309 84 309 305 83 310 310 85 311 310 85 312 314 86 313 309 84 314 314 86 315 310 85 316 315 87 317 319 88 318 314 86 319 315 87 320 314 86 321 319 88 322 320 89 323 324 90 324 320 89 325 319 88 326 320 89 327 324 90 328 325 91 329 329 92 330 325 91 331 324 90 332 325 91 333 329 92 334 330 93 335 334 94 336 330 93 337 329 92 338 330 93 339 334 94 340 335 95 341 339 96 342 335 95 343 334 94 344 335 95 345 339 96 346 340 97 347 344 98 348 340 97 349 339 96 350 340 97 351 344 98 352 345 99 353</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID102" name="tmp_export_ID102" 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="#ID102-mesh" name="tmp_export_ID102">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="p276121_488_336-1-material" target="#p276121_488_336-1-material">
+                <bind_vertex_input semantic="ID107" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="p276124_488_336-1-material" target="#p276124_488_336-1-material">
+                <bind_vertex_input semantic="ID107" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="edge_color000255_002-material" target="#edge_color000255_002-material">
+                <bind_vertex_input semantic="ID107" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/开关/switch/URDF_Data/meshes/dae/ID102.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID102") at 0x0000027EF4483908>, meshname=ID102, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID102") at 0x0000027EF4483908> to D:\1009233120冉惟言\工作\Senza\URDF_Data\meshes\dae\ID102.dae
+->wrote dae to D:\1009233120冉惟言\工作\Senza\URDF_Data\meshes\dae\ID102.dae from bpy_types.Mesh

texture_urdf/开关/switch/URDF_Data/meshes/dae/ID112.dae

@@ -0,0 +1,184 @@
+<?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>2025-06-17T14:13:36</created>
+    <modified>2025-06-17T14:13:36</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="p276121_488_336-1-effect">
+      <profile_COMMON>
+        <newparam sid="p276121_488_336-1_jpg-surface">
+          <surface type="2D">
+            <init_from>p276121_488_336-1_jpg</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="p276121_488_336-1_jpg-sampler">
+          <sampler2D>
+            <source>p276121_488_336-1_jpg-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="p276121_488_336-1_jpg-sampler" texcoord="ID117"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="p276124_488_336-1-effect">
+      <profile_COMMON>
+        <newparam sid="p276124_488_336-1_jpg-surface">
+          <surface type="2D">
+            <init_from>p276124_488_336-1_jpg</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="p276124_488_336-1_jpg-sampler">
+          <sampler2D>
+            <source>p276124_488_336-1_jpg-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="p276124_488_336-1_jpg-sampler" texcoord="ID117"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color000255_002-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>
+    <image id="p276121_488_336-1_jpg" name="p276121_488_336-1_jpg">
+      <init_from>p276121_488_336-1.jpg</init_from>
+    </image>
+    <image id="p276124_488_336-1_jpg" name="p276124_488_336-1_jpg">
+      <init_from>p276124_488_336-1.jpg</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="p276121_488_336-1-material" name="p276121_488_336-1">
+      <instance_effect url="#p276121_488_336-1-effect"/>
+    </material>
+    <material id="p276124_488_336-1-material" name="p276124_488_336-1">
+      <instance_effect url="#p276124_488_336-1-effect"/>
+    </material>
+    <material id="edge_color000255_002-material" name="edge_color000255.002">
+      <instance_effect url="#edge_color000255_002-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID112-mesh" name="ID112">
+      <mesh>
+        <source id="ID112-mesh-positions">
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+          <p>41 122 363 42 122 364 43 122 365 42 123 366 44 123 367 43 123 368 43 122 369 44 122 370 45 122 371 44 124 372 46 124 373 45 124 374 45 125 375 46 125 376 47 125 377 46 126 378 48 126 379 47 126 380 47 127 381 48 127 382 49 127 383 48 122 384 50 122 385 49 122 386 49 122 387 50 122 388 51 122 389 50 122 390 52 122 391 51 122 392 51 128 393 52 128 394 53 128 395 52 122 396 54 122 397 53 122 398 53 122 399 54 122 400 55 122 401 54 122 402 56 122 403 55 122 404 55 122 405 56 122 406 57 122 407 56 122 408 58 122 409 57 122 410 57 129 411 58 129 412 59 129 413 58 122 414 60 122 415 59 122 416 59 122 417 60 122 418 61 122 419 60 130 420 62 130 421 61 130 422 61 131 423 62 131 424 63 131 425 62 132 426 64 132 427 63 132 428 63 133 429 64 133 430 65 133 431 64 134 432 66 134 433 65 134 434 66 122 435 67 122 436 65 122 437 67 122 438 68 122 439 65 122 440 68 135 441 69 135 442 65 135 443 69 122 444 70 122 445 65 122 446 70 122 447 71 122 448 65 122 449 71 122 450 72 122 451 65 122 452 72 122 453 73 122 454 65 122 455 73 122 456 74 122 457 65 122 458 74 122 459 75 122 460 65 122 461 75 122 462 76 122 463 65 122 464 76 136 465 77 136 466 65 136 467 77 137 468 78 137 469 65 137 470 78 122 471 79 122 472 65 122 473 65 122 474 79 122 475 80 122 476 81 122 477 80 122 478 79 122 479 127 138 480 128 138 481 129 138 482 130 139 483 129 139 484 128 139 485 137 140 486 138 140 487 139 140 488 140 140 489 139 140 490 138 140 491 146 141 492 147 141 493 148 141 494 149 142 495 148 143 496 147 144 497 155 145 498 156 146 499 157 147 500 158 148 501 157 149 502 156 150 503 164 151 504 165 152 505 166 153 506 167 154 507 166 155 508 165 156 509 173 157 510 174 157 511 175 157 512 176 158 513 175 158 514 174 158 515 182 159 516 183 159 517 184 159 518 185 160 519 184 160 520 183 160 521 191 161 522 192 161 523 193 161 524 194 162 525 193 162 526 192 162 527 200 163 528 201 163 529 202 163 530 203 163 531 202 163 532 201 163 533 209 164 534 210 165 535 211 166 536 212 167 537 211 168 538 210 169 539 218 170 540 219 170 541 220 170 542 221 171 543 220 171 544 219 171 545 227 172 546 228 172 547 229 172 548 230 173 549 229 173 550 228 173 551 236 94 552 237 94 553 238 94 554 239 94 555 238 94 556 237 94 557 245 121 558 246 121 559 247 121 560 248 121 561 247 121 562 246 121 563 254 174 564 255 175 565 256 176 566 257 177 567 256 176 568 255 175 569 261 178 570 262 179 571 254 174 572 255 175 573 254 174 574 262 179 575 266 180 576 267 181 577 261 178 578 262 179 579 261 178 580 267 181 581 271 182 582 272 183 583 266 180 584 267 181 585 266 180 586 272 183 587 276 184 588 272 183 589 277 185 590 271 182 591 277 185 592 272 183 593 281 186 594 276 184 595 282 187 596 277 185 597 282 187 598 276 184 599 286 188 600 281 186 601 287 189 602 282 187 603 287 189 604 281 186 605 291 190 606 286 188 607 292 191 608 287 189 609 292 191 610 286 188 611 296 192 612 291 190 613 297 193 614 292 191 615 297 193 616 291 190 617 301 194 618 296 192 619 302 195 620 297 193 621 302 195 622 296 192 623 306 196 624 301 194 625 307 197 626 302 195 627 307 197 628 301 194 629 311 198 630 306 196 631 312 199 632 307 197 633 312 199 634 306 196 635 318 66 636 319 66 637 320 66 638 321 66 639 320 66 640 319 66 641 325 66 642 318 66 643 326 66 644 320 66 645 326 66 646 318 66 647 332 200 648 333 201 649 334 202 650 335 203 651 334 202 652 333 201 653 339 204 654 332 200 655 340 205 656 334 202 657 340 205 658 332 200 659 344 206 660 339 204 661 345 207 662 340 205 663 345 207 664 339 204 665 349 208 666 344 206 667 350 209 668 345 207 669 350 209 670 344 206 671 354 210 672 349 208 673 355 211 674 350 209 675 355 211 676 349 208 677 359 212 678 354 210 679 360 213 680 355 211 681 360 213 682 354 210 683 359 212 684 360 213 685 364 214 686 365 215 687 364 214 688 360 213 689 364 214 690 365 215 691 369 216 692 370 217 693 369 216 694 365 215 695 369 216 696 370 217 697 374 218 698 375 219 699 374 218 700 370 217 701 374 218 702 375 219 703 379 220 704 380 221 705 379 220 706 375 219 707 379 220 708 380 221 709 384 222 710 385 223 711 384 222 712 380 221 713 384 222 714 385 223 715 389 224 716 390 225 717 389 224 718 385 223 719 396 67 720 397 67 721 398 67 722 399 67 723 398 67 724 397 67 725</p>
+        </triangles>
+        <triangles material="p276124_488_336-1-material" count="121">
+          <input semantic="VERTEX" source="#ID112-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID112-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#ID112-mesh-map-0" offset="2" set="0"/>
+          <p>0 0 0 1 0 1 2 0 2 1 0 3 0 0 4 3 0 5 3 1 6 0 1 7 4 1 8 3 2 9 4 2 10 5 2 11 3 3 12 5 3 13 6 3 14 3 4 15 6 4 16 7 4 17 3 5 18 7 5 19 8 5 20 3 6 21 8 6 22 9 6 23 3 7 24 9 7 25 10 7 26 3 8 27 10 8 28 11 8 29 3 9 30 11 9 31 12 9 32 3 10 33 12 10 34 13 10 35 3 11 36 13 11 37 14 11 38 3 0 39 14 0 40 15 0 41 3 0 42 15 0 43 16 0 44 3 12 45 16 12 46 17 12 47 3 13 48 17 13 49 18 13 50 18 14 51 17 14 52 19 14 53 18 15 54 19 15 55 20 15 56 20 16 57 19 16 58 21 16 59 20 0 60 21 0 61 22 0 62 22 17 63 21 17 64 23 17 65 22 18 66 23 18 67 24 18 68 24 19 69 23 19 70 25 19 71 24 0 72 25 0 73 26 0 74 26 20 75 25 20 76 27 20 77 26 0 78 27 0 79 28 0 80 28 21 81 27 21 82 29 21 83 28 22 84 29 22 85 30 22 86 30 23 87 29 23 88 31 23 89 30 0 90 31 0 91 32 0 92 32 24 93 31 24 94 33 24 95 32 25 96 33 25 97 34 25 98 34 26 99 33 26 100 35 26 101 34 27 102 35 27 103 36 27 104 36 28 105 35 28 106 37 28 107 36 0 108 37 0 109 38 0 110 38 29 111 37 29 112 39 29 113 38 0 114 39 0 115 40 0 116 123 30 117 124 30 118 125 30 119 124 31 120 123 31 121 126 31 122 133 32 123 134 32 124 135 32 125 134 32 126 133 32 127 136 32 128 142 33 129 143 34 130 144 35 131 143 36 132 142 36 133 145 36 134 151 37 135 152 38 136 153 39 137 152 40 138 151 41 139 154 42 140 160 43 141 161 44 142 162 45 143 161 46 144 160 47 145 163 48 146 169 49 147 170 49 148 171 49 149 170 50 150 169 50 151 172 50 152 178 51 153 179 51 154 180 51 155 179 52 156 178 52 157 181 52 158 187 53 159 188 53 160 189 53 161 188 54 162 187 54 163 190 54 164 196 55 165 197 55 166 198 55 167 197 55 168 196 55 169 199 55 170 205 56 171 206 57 172 207 58 173 206 59 174 205 60 175 208 61 176 214 62 177 215 62 178 216 62 179 215 63 180 214 63 181 217 63 182 223 64 183 224 64 184 225 64 185 224 65 186 223 65 187 226 65 188 232 66 189 233 66 190 234 66 191 233 66 192 232 66 193 235 66 194 241 67 195 242 67 196 243 67 197 242 67 198 241 67 199 244 67 200 250 68 201 251 69 202 252 70 203 251 69 204 250 68 205 253 71 206 259 72 207 253 71 208 250 68 209 253 71 210 259 72 211 260 73 212 264 74 213 260 73 214 259 72 215 260 73 216 264 74 217 265 75 218 269 76 219 265 75 220 264 74 221 265 75 222 269 76 223 270 77 224 269 76 225 274 78 226 270 77 227 274 78 228 269 76 229 275 79 230 275 79 231 279 80 232 274 78 233 279 80 234 275 79 235 280 81 236 280 81 237 284 82 238 279 80 239 284 82 240 280 81 241 285 83 242 285 83 243 289 84 244 284 82 245 289 84 246 285 83 247 290 85 248 290 85 249 294 86 250 289 84 251 294 86 252 290 85 253 295 87 254 295 87 255 299 88 256 294 86 257 299 88 258 295 87 259 300 89 260 300 89 261 304 90 262 299 88 263 304 90 264 300 89 265 305 91 266 305 91 267 309 92 268 304 90 269 309 92 270 305 91 271 310 93 272 314 94 273 315 94 274 316 94 275 315 94 276 314 94 277 317 94 278 317 94 279 323 94 280 315 94 281 323 94 282 317 94 283 324 94 284 328 95 285 329 96 286 330 97 287 329 96 288 328 95 289 331 98 290 331 98 291 337 99 292 329 96 293 337 99 294 331 98 295 338 100 296 338 100 297 342 101 298 337 99 299 342 101 300 338 100 301 343 102 302 343 102 303 347 103 304 342 101 305 347 103 306 343 102 307 348 104 308 348 104 309 352 105 310 347 103 311 352 105 312 348 104 313 353 106 314 353 106 315 357 107 316 352 105 317 357 107 318 353 106 319 358 108 320 357 107 321 362 109 322 363 110 323 362 109 324 357 107 325 358 108 326 363 110 327 367 111 328 368 112 329 367 111 330 363 110 331 362 109 332 368 112 333 372 113 334 373 114 335 372 113 336 368 112 337 367 111 338 373 114 339 377 115 340 378 116 341 377 115 342 373 114 343 372 113 344 378 116 345 382 117 346 383 118 347 382 117 348 378 116 349 377 115 350 383 118 351 387 119 352 388 120 353 387 119 354 383 118 355 382 117 356 392 121 357 393 121 358 394 121 359 393 121 360 392 121 361 395 121 362</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID112" name="tmp_export_ID112" 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="#ID112-mesh" name="tmp_export_ID112">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="p276121_488_336-1-material" target="#p276121_488_336-1-material">
+                <bind_vertex_input semantic="ID117" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="p276124_488_336-1-material" target="#p276124_488_336-1-material">
+                <bind_vertex_input semantic="ID117" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="edge_color000255_002-material" target="#edge_color000255_002-material">
+                <bind_vertex_input semantic="ID117" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/开关/switch/URDF_Data/meshes/dae/ID112.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID112") at 0x0000027EF4480808>, meshname=ID112, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID112") at 0x0000027EF4480808> to D:\1009233120冉惟言\工作\Senza\URDF_Data\meshes\dae\ID112.dae
+->wrote dae to D:\1009233120冉惟言\工作\Senza\URDF_Data\meshes\dae\ID112.dae from bpy_types.Mesh

texture_urdf/开关/switch/URDF_Data/meshes/dae/ID3.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID3") at 0x0000027EE775F908>, meshname=ID3, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID3") at 0x0000027EE775F908> to D:\1009233120冉惟言\工作\Senza\URDF_Data\meshes\dae\ID3.dae
+->wrote dae to D:\1009233120冉惟言\工作\Senza\URDF_Data\meshes\dae\ID3.dae from bpy_types.Mesh