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+urdf/冰箱/igrow-podCREOSTP/109_igrow-pod_1_inch_asm.stp filter=lfs diff=lfs merge=lfs -text
+urdf/冰箱/igrow-podCREOSTP/1.SLDASM filter=lfs diff=lfs merge=lfs -text
+urdf/冰箱/refrigerator-41[[:space:]]STP/URDF_Data/meshes/link_1.STL filter=lfs diff=lfs merge=lfs -text
+urdf/冰箱/igrow-podCREOSTP/none.prt.1 filter=lfs diff=lfs merge=lfs -text
+urdf/冰箱/refrigerator-42[[:space:]]STP[[:space:]]IGS/1.SLDASM filter=lfs diff=lfs merge=lfs -text
+urdf/冰箱/refrigerator-42[[:space:]]STP[[:space:]]IGS/URDF_Data/meshes/link_2.STL filter=lfs diff=lfs merge=lfs -text
+urdf/冰箱/refrigerator-42[[:space:]]STP[[:space:]]IGS/Refrigerator[[:space:]]Model.iges filter=lfs diff=lfs merge=lfs -text
+urdf/冰箱/refrigerator-42[[:space:]]STP[[:space:]]IGS/URDF_Data/meshes/link_3.STL filter=lfs diff=lfs merge=lfs -text
+urdf/冰箱/refrigerator-42[[:space:]]STP[[:space:]]IGS/URDF_Data/meshes/base_link.STL filter=lfs diff=lfs merge=lfs -text
+urdf/冰箱/refrigerator-42[[:space:]]STP[[:space:]]IGS/URDF_Data/meshes/link_1.STL filter=lfs diff=lfs merge=lfs -text
+urdf/冰箱/refrigerator-42[[:space:]]STP[[:space:]]IGS/URDF_Data/meshes/link_0.STL filter=lfs diff=lfs merge=lfs -text

texture_urdf/书/Group_34/model.dae.blend

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ce2a6a0de2ed0d44f8bed8bd2cbeafde03f010b5cf615d920d666f83d731056
+size 198298721

texture_urdf/书/Notebooks/URDF_Data/meshes/dae/ID2595.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0000001192092896, 1.0000001192092896, 1.0000001192092896], mesh=<bpy_struct, Mesh("ID2595") at 0x000001EC1170F208>, meshname=ID2595, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID2595") at 0x000001EC1170F208> to D:\1009233120冉惟言\工作\Notebooks\URDF_Data\meshes\dae\ID2595.dae
+->wrote dae to D:\1009233120冉惟言\工作\Notebooks\URDF_Data\meshes\dae\ID2595.dae from bpy_types.Mesh

texture_urdf/书/Notebooks/URDF_Data/meshes/dae/ID2604.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.9999999403953552, 0.9999999403953552, 0.9999999403953552], mesh=<bpy_struct, Mesh("ID2604") at 0x000001EC1170E408>, meshname=ID2604, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID2604") at 0x000001EC1170E408> to D:\1009233120冉惟言\工作\Notebooks\URDF_Data\meshes\dae\ID2604.dae
+->wrote dae to D:\1009233120冉惟言\工作\Notebooks\URDF_Data\meshes\dae\ID2604.dae from bpy_types.Mesh

texture_urdf/书/Notebooks1/URDF_Data/meshes/dae/ID3640.dae

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+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-18T14:59:13</created>
+    <modified>2025-06-18T14:59:13</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="couro_fsdkfjasoifjaofwerwe-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.1098039 0.1098039 0.1098039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Translucent_Glass_Blue-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.3921569 0.5843137 0.9294118 1</color>
+            </diffuse>
+            <transparent opaque="A_ONE">
+              <color sid="alpha">0 0 0 0.5019608</color>
+            </transparent>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color000255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
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+              <color sid="emission">0 0 0 1</color>
+            </emission>
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+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
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+      <profile_COMMON>
+        <technique sid="common">
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+              <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="couro_fsdkfjasoifjaofwerwe-material" name="couro_fsdkfjasoifjaofwerwe">
+      <instance_effect url="#couro_fsdkfjasoifjaofwerwe-effect"/>
+    </material>
+    <material id="Translucent_Glass_Blue-material" name="Translucent_Glass_Blue">
+      <instance_effect url="#Translucent_Glass_Blue-effect"/>
+    </material>
+    <material id="edge_color000255-material" name="edge_color000255">
+      <instance_effect url="#edge_color000255-effect"/>
+    </material>
+    <material id="edge_color282828255-material" name="edge_color282828255">
+      <instance_effect url="#edge_color282828255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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+          <technique_common>
+            <accessor source="#ID3640-mesh-positions-array" count="388" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID3640-mesh-normals">
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+          <technique_common>
+            <accessor source="#ID3640-mesh-normals-array" count="139" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID3640-mesh-vertices">
+          <input semantic="POSITION" source="#ID3640-mesh-positions"/>
+        </vertices>
+        <lines count="116">
+          <input semantic="VERTEX" source="#ID3640-mesh-vertices" offset="0"/>
+          <p>9 8 10 11 77 76 78 79 79 80 80 81 81 82 82 83 83 84 84 85 85 86 86 87 87 88 88 89 89 9 8 77 110 10 248 247 11 248 249 110 250 249 251 250 252 251 253 252 254 253 255 254 256 255 257 256 258 257 259 258 248 77 258 79 252 85 251 86 10 9 11 8 76 78 91 90 90 92 92 93 93 94 94 95 95 96 96 97 97 98 98 99 99 100 100 101 101 102 102 103 103 104 104 105 105 91 110 89 247 259 261 260 260 262 262 263 263 261 265 264 264 266 266 267 267 265 269 268 268 270 270 271 271 269 273 272 272 274 274 275 275 273 277 276 276 278 278 279 279 277 281 280 280 282 282 283 283 281 285 284 284 286 286 287 287 285 289 288 288 290 290 291 291 289 293 292 292 294 294 295 295 293 297 296 296 298 298 299 299 297 301 300 300 302 302 303 303 301 305 304 304 306 306 307 307 305 309 308 308 310 310 311 311 309 247 76 259 78 257 80 256 81 255 82 254 83 253 84 250 87 249 88</p>
+        </lines>
+        <triangles material="couro_fsdkfjasoifjaofwerwe-material" count="156">
+          <input semantic="VERTEX" source="#ID3640-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID3640-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 1 1 0 0 3 3 12 4 13 4 14 4 13 4 12 4 15 4 14 5 13 5 16 5 13 4 15 4 17 4 17 4 15 4 18 4 18 6 15 6 19 6 18 4 19 4 20 4 20 7 19 7 21 7 20 4 21 4 22 4 22 4 21 4 23 4 23 4 21 4 24 4 23 4 24 4 25 4 25 8 24 8 26 8 26 4 24 4 27 4 16 9 28 9 14 9 28 4 16 4 29 4 28 10 29 10 30 10 28 4 30 4 31 4 31 4 30 4 32 4 31 4 32 4 33 4 33 11 32 11 34 11 33 4 34 4 35 4 33 12 35 12 36 12 36 13 35 13 37 13 36 14 37 14 27 14 36 15 27 15 24 15 36 16 24 16 38 16 36 4 38 4 39 4 39 17 38 17 40 17 39 18 40 18 41 18 41 19 40 19 42 19 41 20 42 20 43 20 106 21 2 2 107 22 2 2 106 21 0 0 111 23 112 23 113 23 112 23 111 23 114 23 112 23 114 23 115 23 114 24 111 25 116 26 114 27 116 28 117 29 114 30 117 31 118 31 114 24 118 25 119 26 114 23 119 23 120 23 115 23 114 23 121 23 115 23 121 23 122 23 123 32 124 32 125 32 124 33 123 33 126 33 124 23 126 23 127 23 127 34 126 34 128 34 128 23 126 23 129 23 129 23 126 23 130 23 130 35 126 35 131 35 131 23 126 23 132 23 132 23 126 23 133 23 133 23 126 23 134 23 134 23 126 23 135 23 135 23 126 23 136 23 136 36 126 36 137 36 137 34 126 34 138 34 138 23 126 23 139 23 139 37 126 37 140 37 140 23 126 23 141 23 141 23 126 23 142 23 142 23 126 23 143 23 143 23 126 23 121 23 121 23 126 23 144 23 144 23 126 23 145 23 145 38 126 38 146 38 145 23 146 23 147 23 147 39 146 39 148 39 147 40 148 40 149 40 147 23 149 23 150 23 150 23 149 23 151 23 151 41 149 41 152 41 151 42 152 42 153 42 151 23 153 23 154 23 154 23 153 23 155 23 155 43 153 43 156 43 157 23 158 23 144 23 158 23 157 23 123 23 158 44 123 44 125 44 158 27 125 28 159 29 158 30 159 31 160 31 158 45 160 46 161 47 158 48 161 49 162 49 158 27 162 28 113 29 158 23 113 23 112 23 144 23 158 23 122 23 144 50 122 50 121 50 142 23 120 23 119 23 120 23 142 23 143 23 140 23 118 23 117 23 118 23 140 23 141 23 138 23 116 23 111 23 116 23 138 23 139 23 163 23 161 23 160 23 161 23 163 23 164 23 161 23 164 23 165 23 164 24 163 25 166 26 164 27 166 28 167 29 164 45 167 46 168 47 164 51 168 52 169 52 164 45 169 46 170 47 165 23 164 23 137 23 165 23 137 23 171 23 171 23 137 23 172 23 172 53 137 53 138 53 135 23 170 23 169 23 170 23 135 23 136 23 133 23 168 23 167 23 168 23 133 23 134 23 131 23 166 23 163 23 166 23 131 23 132 23 125 23 173 23 174 23 173 53 125 53 124 53 173 24 124 25 175 26 173 54 175 54 176 54 174 23 173 23 130 23 174 54 130 54 177 54 177 53 130 53 178 53 178 23 130 23 131 23 128 23 176 23 175 23 176 23 128 23 129 23 171 23 113 23 162 23 113 23 171 23 172 23 177 23 160 23 159 23 160 23 177 23 178 23 3 3 312 55 1 1 312 55 3 3 313 56 316 57 317 57 318 57 317 57 316 57 319 57 324 53 325 53 326 53 325 53 324 53 327 53 332 58 333 58 334 58 333 58 332 58 335 58 340 59 341 60 342 61 341 60 340 59 343 62 343 62 348 63 341 60 348 63 343 62 349 64 349 64 352 65 348 63 352 65 349 64 353 66 352 65 356 67 357 68 356 67 352 65 353 66 357 68 360 69 361 70 360 69 357 68 356 67 361 70 364 71 365 72 364 71 361 70 360 69 368 54 369 54 370 54 369 54 368 54 371 54 376 73 377 74 378 75 377 74 376 73 379 76 378 75 384 77 385 78 384 77 378 75 377 74 385 78 106 21 107 22 106 21 385 78 384 77</p>
+        </triangles>
+        <triangles material="Translucent_Glass_Blue-material" count="156">
+          <input semantic="VERTEX" source="#ID3640-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID3640-mesh-normals" offset="1"/>
+          <p>4 79 5 80 6 81 7 82 6 81 5 80 44 83 45 83 46 83 45 84 47 84 46 84 46 85 47 85 48 85 47 23 49 23 48 23 48 23 49 23 50 23 49 23 51 23 50 23 51 86 52 86 50 86 52 87 53 87 50 87 53 88 54 88 50 88 50 89 54 89 55 89 54 23 56 23 55 23 56 90 57 90 55 90 55 23 57 23 58 23 57 23 59 23 58 23 58 23 59 23 60 23 59 91 61 91 60 91 61 23 62 23 60 23 63 23 60 23 62 23 52 92 51 92 64 92 64 93 51 93 65 93 65 23 51 23 66 23 51 23 67 23 66 23 66 23 67 23 68 23 68 23 67 23 69 23 67 23 70 23 69 23 69 23 70 23 71 23 70 23 72 23 71 23 71 23 72 23 73 23 73 23 72 23 74 23 62 23 74 23 63 23 72 23 75 23 74 23 63 94 74 94 75 94 5 80 108 95 7 82 109 96 7 82 108 95 179 4 180 4 181 4 182 4 181 4 180 4 183 4 184 4 185 4 186 4 185 4 184 4 187 4 188 4 189 4 190 4 189 4 188 4 191 97 192 98 179 98 179 97 192 98 180 98 180 99 192 100 193 100 192 4 194 4 193 4 189 101 190 102 194 101 190 97 195 98 194 97 195 31 196 30 194 103 193 4 194 4 196 4 197 4 191 4 198 4 199 4 198 4 191 4 200 4 201 4 202 4 203 4 202 4 201 4 204 4 205 4 206 4 207 4 206 4 205 4 208 97 209 98 183 98 183 101 209 102 184 102 184 99 209 100 210 100 209 4 211 4 210 4 206 45 207 46 211 45 207 104 202 52 211 51 202 45 203 46 211 45 203 101 198 102 211 101 198 101 199 102 211 101 210 4 211 4 212 4 211 101 199 102 212 101 181 49 212 48 199 105 213 4 208 4 214 4 215 4 214 4 208 4 216 4 217 4 218 4 219 4 218 4 217 4 220 4 221 4 222 4 223 4 222 4 221 4 224 4 225 4 226 4 225 4 227 4 226 4 228 101 185 102 227 101 185 24 186 25 227 24 186 103 212 31 227 30 212 45 181 46 227 45 181 104 182 52 227 51 182 45 196 46 227 45 196 106 229 106 227 106 229 4 230 4 227 4 226 4 227 4 230 4 231 20 232 20 233 20 233 4 232 4 234 4 234 4 232 4 235 4 232 107 236 107 235 107 236 4 237 4 235 4 235 4 237 4 238 4 238 4 237 4 239 4 237 4 240 4 239 4 240 4 241 4 239 4 239 4 241 4 242 4 241 4 243 4 242 4 242 4 243 4 226 4 226 108 243 108 224 108 224 4 243 4 220 4 220 4 243 4 221 4 221 4 243 4 216 4 216 4 243 4 217 4 217 109 243 109 213 109 213 4 243 4 208 4 208 4 243 4 209 4 209 110 243 110 204 110 204 111 243 111 205 111 205 4 243 4 200 4 200 4 243 4 201 4 201 4 243 4 197 4 197 4 243 4 191 4 191 112 243 112 192 112 192 4 243 4 187 4 187 4 243 4 188 4 188 113 243 113 244 113 244 4 243 4 195 4 243 4 229 4 195 4 196 114 195 114 229 114 225 101 224 102 245 102 224 4 246 4 245 4 222 101 223 102 246 101 223 97 218 98 246 97 218 104 219 52 246 51 219 101 214 102 246 101 214 27 215 28 246 27 245 4 246 4 228 4 246 101 215 102 228 101 185 102 228 101 215 101 314 115 4 79 315 116 6 81 315 116 4 79 320 117 321 117 322 117 323 117 322 117 321 117 328 54 329 54 330 54 331 54 330 54 329 54 336 118 337 118 338 118 339 118 338 118 337 118 344 119 345 120 346 121 347 122 346 121 345 120 350 123 344 119 351 124 346 121 351 124 344 119 354 125 350 123 355 126 351 124 355 126 350 123 354 125 355 126 358 127 359 128 358 127 355 126 358 127 359 128 362 129 363 130 362 129 359 128 362 129 363 130 366 131 367 132 366 131 363 130 372 53 373 53 374 53 375 53 374 53 373 53 380 133 381 134 382 135 383 136 382 135 381 134 382 135 383 136 386 137 387 138 386 137 383 136 386 137 387 138 108 95 109 96 108 95 387 138</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID3640" name="tmp_export_ID3640" 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="#ID3640-mesh" name="tmp_export_ID3640">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="couro_fsdkfjasoifjaofwerwe-material" target="#couro_fsdkfjasoifjaofwerwe-material"/>
+              <instance_material symbol="Translucent_Glass_Blue-material" target="#Translucent_Glass_Blue-material"/>
+              <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
+              <instance_material symbol="edge_color282828255-material" target="#edge_color282828255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/书/Notebooks1/URDF_Data/meshes/dae/ID3640.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.9999995231628418, 0.9999995231628418, 0.9999995231628418], mesh=<bpy_struct, Mesh("ID3640") at 0x000001EC0F9CB908>, meshname=ID3640, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID3640") at 0x000001EC0F9CB908> to D:\1009233120冉惟言\工作\Notebooks1\URDF_Data\meshes\dae\ID3640.dae
+->wrote dae to D:\1009233120冉惟言\工作\Notebooks1\URDF_Data\meshes\dae\ID3640.dae from bpy_types.Mesh

texture_urdf/书/Notebooks1/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,33 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint0" type="revolute">
+    <limit lower="0.00000" upper="3.14000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="1.57080 0.00000 0.00000" xyz="-0.06176 -0.04577 0.00694"/>
+    <parent link="baselink"/>
+    <child link="link0"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="baselink">
+    <visual name="group_45.004">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-0.06775 -0.04577 0.00000"/>
+      <material name="__Color_M00_1"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID3599.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual name="group_45.008">
+      <origin rpy="-1.57080 0.00000 0.00000" xyz="-0.00599 -0.00694 0.00000"/>
+      <material name="couro_fsdkfjasoifjaofwerwe"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID3640.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="__Color_M00_1">
+    <color rgba="1.00000 1.00000 1.00000 1.00000"/>
+  </material>
+  <material name="couro_fsdkfjasoifjaofwerwe">
+    <color rgba="0.10588 0.10588 0.10588 1.00000"/>
+  </material>
+</robot>

texture_urdf/书/vol20.72 book/URDF_Data/joint_limits.yml

@@ -0,0 +1,30 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 15.428999900817871,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 15.0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "joint1",
+      "joint2"
+    ]
+  }
+}

texture_urdf/书/vol20.72 book/URDF_Data/meshes/dae/ID1367.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.12142620235681534, 0.12142620235681534, 0.12142624706029892], mesh=<bpy_struct, Mesh("ID1367") at 0x00000187910C9608>, meshname=ID1367, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID1367") at 0x00000187910C9608> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID1367.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID1367.dae from bpy_types.Mesh

texture_urdf/书/vol20.72 book/URDF_Data/meshes/dae/ID2692.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.09778961539268494, 0.09778961539268494, 0.09778962284326553], mesh=<bpy_struct, Mesh("ID2692") at 0x00000187941CF208>, meshname=ID2692, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID2692") at 0x00000187941CF208> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID2692.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID2692.dae from bpy_types.Mesh

texture_urdf/书/vol20.72 book/URDF_Data/meshes/dae/ID6677.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.13169269263744354, 0.13169263303279877, 0.13169269263744354], mesh=<bpy_struct, Mesh("ID6677") at 0x000001879D9AF208>, meshname=ID6677, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID6677") at 0x000001879D9AF208> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID6677.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID6677.dae from bpy_types.Mesh

texture_urdf/书/vol20.72 book/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,52 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint1" type="prismatic">
+    <limit lower="0.00000" upper="15.42900" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.16745 1.57080 0.00000" xyz="-35.53535 100.30265 16.53625"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint2" type="prismatic">
+    <limit lower="0.00000" upper="15.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.16745 1.57080 0.00000" xyz="-40.95948 74.50140 16.53625"/>
+    <parent link="base_link"/>
+    <child link="link2"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="_3DGeom_1.226">
+      <origin rpy="-0.00000 0.00000 0.00000" xyz="0.06685 99.64249 24.85355"/>
+      <material name="_185_185_185"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID1367.dae" scale="0.12143 0.12143 0.12143"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="_3DGeom_47.023">
+      <origin rpy="-1.57080 -1.40335 1.57080" xyz="16.49223 5.27352 35.21506"/>
+      <material name="_13_13_1"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID6677.dae" scale="0.13169 0.13169 0.13169"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link2">
+    <visual name="_3DGeom_18.001">
+      <origin rpy="-1.57080 -1.40335 1.57080" xyz="16.49224 31.61789 36.26312"/>
+      <material name="_13_13_13"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID2692.dae" scale="0.09779 0.09779 0.09779"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="_13_13_1">
+    <color rgba="0.04706 0.04706 0.04706 1.00000"/>
+  </material>
+  <material name="_13_13_13">
+    <color rgba="0.04706 0.04706 0.04706 1.00000"/>
+  </material>
+  <material name="_185_185_185">
+    <color rgba="0.72549 0.72549 0.72549 1.00000"/>
+  </material>
+</robot>

texture_urdf/书/vol20.74 book/URDF_Data/joint_limits.yml

@@ -0,0 +1,30 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 34.6879997253418,
+          "speed": -0.029999999329447746
+        },
+        "min": {
+          "position": 0.0
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 30.218000411987305,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "joint1",
+      "joint2"
+    ]
+  }
+}

texture_urdf/书/vol20.74 book/URDF_Data/meshes/dae/ID22119.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.11896011978387833, 0.11896011978387833, 0.11896011978387833], mesh=<bpy_struct, Mesh("ID22119") at 0x00000187DDEC8808>, meshname=ID22119, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID22119") at 0x00000187DDEC8808> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID22119.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID22119.dae from bpy_types.Mesh

texture_urdf/书/vol20.74 book/URDF_Data/meshes/dae/ID26273.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.007294213864952326, 0.007294213864952326, 0.007294213864952326], mesh=<bpy_struct, Mesh("ID26273") at 0x00000187E7AA7908>, meshname=ID26273, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID26273") at 0x00000187E7AA7908> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID26273.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID26273.dae from bpy_types.Mesh

texture_urdf/书/vol20.74 book/URDF_Data/meshes/dae/ID543.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.15374672412872314, 0.15374669432640076, 0.15374672412872314], mesh=<bpy_struct, Mesh("ID543.001") at 0x000001873FD5F908>, meshname=ID543.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID543.001") at 0x000001873FD5F908> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID543.001.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID543.001.dae from bpy_types.Mesh

texture_urdf/书/vol20.74 book/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,49 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint1" type="prismatic">
+    <limit lower="0.00000" upper="34.68800" effort="0.00000" velocity="-0.03000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="-180.72670 -0.35692 -0.57647"/>
+    <parent link="new_link"/>
+    <child link="new_link.001"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint2" type="prismatic">
+    <limit lower="0.00000" upper="30.21800" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="-151.43494 0.00002 -1.37668"/>
+    <parent link="new_link"/>
+    <child link="new_link.000"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="new_link">
+    <visual name="_3DGeom_2.004">
+      <origin rpy="1.57080 -0.00000 0.00000" xyz="-166.35119 97.90184 5.91174"/>
+      <material name="_185_185_185.001"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID543.001.dae" scale="0.15375 0.15375 0.15375"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="new_link.000">
+    <visual name="_3DGeom_175">
+      <origin rpy="1.57080 -0.00000 0.00000" xyz="-14.91142 157.21432 6.89481"/>
+      <material name="_185_185_185.001"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID26273.dae" scale="0.00729 0.00729 0.00729"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="new_link.001">
+    <visual name="_3DGeom_124">
+      <origin rpy="1.57080 -0.00000 0.00000" xyz="14.38033 38.94620 6.09458"/>
+      <material name="_256_52_52"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID22119.dae" scale="0.11896 0.11896 0.11896"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="_185_185_185.001">
+    <color rgba="0.72549 0.72549 0.72549 1.00000"/>
+  </material>
+  <material name="_256_52_52">
+    <color rgba="1.00000 0.20392 0.20392 1.00000"/>
+  </material>
+</robot>

texture_urdf/冰箱/cage/URDF_Data/joint_limits.yml

@@ -0,0 +1,19 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 3.140000104904175,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "joint1"
+    ]
+  }
+}

texture_urdf/冰箱/cage/URDF_Data/meshes/dae/Cage_1.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("Cage_1") at 0x000001EE31B92408>, meshname=Cage_1, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Cage_1") at 0x000001EE31B92408> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\Cage_1.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\Cage_1.dae from bpy_types.Mesh

texture_urdf/冰箱/cage/URDF_Data/meshes/dae/Fridge_1Mesh.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("Fridge_1Mesh") at 0x000001EE5D728108>, meshname=Fridge_1Mesh, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Fridge_1Mesh") at 0x000001EE5D728108> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\Fridge_1Mesh.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\Fridge_1Mesh.dae from bpy_types.Mesh

texture_urdf/冰箱/cage/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,33 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint1" type="prismatic">
+    <limit lower="0.00000" upper="3.14000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="1.57080 1.57080 -0.00000" xyz="-0.37851 0.00000 0.11535"/>
+    <parent link="base_link"/>
+    <child link="new_link"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="Cage_1">
+      <origin rpy="1.57080 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
+      <material name="Cage_Shade.001"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Cage_1.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="new_link">
+    <visual name="Fridge_1Mesh">
+      <origin rpy="-0.00000 -0.00000 1.57080" xyz="0.11535 0.37851 0.00000"/>
+      <material name="Fridge_Shade.001"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Fridge_1Mesh.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="Cage_Shade.001">
+    <color rgba="0.25098 0.44314 0.54510 1.00000"/>
+  </material>
+  <material name="Fridge_Shade.001">
+    <color rgba="0.25098 0.44314 0.54510 1.00000"/>
+  </material>
+</robot>

texture_urdf/冰箱/fridge/Fridge.mtl

@@ -0,0 +1,68 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 21.11.2011 09:23:43
+
+newmtl refrigerator_plastic
+	Ns 55.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.2118 0.2118 0.2118
+	Kd 0.2118 0.2118 0.2118
+	Ks 0.5220 0.5220 0.5220
+	Ke 0.0000 0.0000 0.0000
+
+newmtl refrigerator_steel
+	Ns 75.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 1.0000 1.0000 1.0000
+	Kd 1.0000 1.0000 1.0000
+	Ks 0.3510 0.3510 0.3510
+	Ke 0.0000 0.0000 0.0000
+	map_Ka refrigerator_steel.jpg
+	map_Kd refrigerator_steel.jpg
+
+newmtl refrigerator_control_panel
+	Ns 22.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 1.0000 1.0000 1.0000
+	Kd 1.0000 1.0000 1.0000
+	Ks 0.3510 0.3510 0.3510
+	Ke 0.0000 0.0000 0.0000
+	map_Ka refrigerator_panel.jpg
+	map_Kd refrigerator_panel.jpg
+
+newmtl refrigerator_steel_light
+	Ns 75.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 1.0000 1.0000 1.0000
+	Kd 1.0000 1.0000 1.0000
+	Ks 0.3510 0.3510 0.3510
+	Ke 0.0000 0.0000 0.0000
+	map_Ka refrigerator_steel.jpg
+	map_Kd refrigerator_steel.jpg
+
+newmtl refrigerator_chrome
+	Ns 100.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.4000 0.4000 0.4000
+	Kd 0.4000 0.4000 0.4000
+	Ks 0.5220 0.5220 0.5220
+	Ke 0.0000 0.0000 0.0000

texture_urdf/冰箱/fridge/URDF_Data/joint_limits.yml

@@ -0,0 +1,30 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 2.700000047683716,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 2.700000047683716,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "joint0",
+      "joint1"
+    ]
+  }
+}

texture_urdf/冰箱/fridge/URDF_Data/meshes/dae/refrigerator_body.002.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.16529136896133423, 0.16529136896133423, 0.16529136896133423], mesh=<bpy_struct, Mesh("refrigerator_body.002") at 0x000002410D0FB208>, meshname=refrigerator_body.002, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("refrigerator_body.002") at 0x000002410D0FB208> to D:\1009233120冉惟言\工作\Refrigerator_v1_L2.123c229a4eaf-c0f8-4df7-9dec-6c6d4c61c441\Refrigerator_v1_L2.123c229a4eaf-c0f8-4df7-9dec-6c6d4c61c441\URDF_Data\meshes\dae\refrigerator_body.002.dae
+->wrote dae to D:\1009233120冉惟言\工作\Refrigerator_v1_L2.123c229a4eaf-c0f8-4df7-9dec-6c6d4c61c441\Refrigerator_v1_L2.123c229a4eaf-c0f8-4df7-9dec-6c6d4c61c441\URDF_Data\meshes\dae\refrigerator_body.002.dae from bpy_types.Mesh

texture_urdf/冰箱/fridge/URDF_Data/meshes/dae/refrigerator_doors.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.16529136896133423, 0.16529136896133423, 0.16529136896133423], mesh=<bpy_struct, Mesh("refrigerator_doors.001") at 0x00000240CE29EB08>, meshname=refrigerator_doors.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("refrigerator_doors.001") at 0x00000240CE29EB08> to D:\1009233120冉惟言\工作\Refrigerator_v1_L2.123c229a4eaf-c0f8-4df7-9dec-6c6d4c61c441\Refrigerator_v1_L2.123c229a4eaf-c0f8-4df7-9dec-6c6d4c61c441\URDF_Data\meshes\dae\refrigerator_doors.001.dae
+->wrote dae to D:\1009233120冉惟言\工作\Refrigerator_v1_L2.123c229a4eaf-c0f8-4df7-9dec-6c6d4c61c441\Refrigerator_v1_L2.123c229a4eaf-c0f8-4df7-9dec-6c6d4c61c441\URDF_Data\meshes\dae\refrigerator_doors.001.dae from bpy_types.Mesh

texture_urdf/冰箱/fridge/URDF_Data/meshes/dae/refrigerator_doors.002.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("refrigerator_doors.002") at 0x00000240F7024808>, meshname=refrigerator_doors.002, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("refrigerator_doors.002") at 0x00000240F7024808> to D:\1009233120冉惟言\工作\Refrigerator_v1_L2.123c229a4eaf-c0f8-4df7-9dec-6c6d4c61c441\Refrigerator_v1_L2.123c229a4eaf-c0f8-4df7-9dec-6c6d4c61c441\URDF_Data\meshes\dae\refrigerator_doors.002.dae
+->wrote dae to D:\1009233120冉惟言\工作\Refrigerator_v1_L2.123c229a4eaf-c0f8-4df7-9dec-6c6d4c61c441\Refrigerator_v1_L2.123c229a4eaf-c0f8-4df7-9dec-6c6d4c61c441\URDF_Data\meshes\dae\refrigerator_doors.002.dae from bpy_types.Mesh

texture_urdf/冰箱/fridge/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,50 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint0" type="revolute">
+    <limit lower="0.00000" upper="2.70000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="-8.29295 -3.26047 32.68042"/>
+    <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="2.70000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="8.21543 -3.26047 32.71331"/>
+    <parent link="baselink"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="baselink">
+    <visual name="refrigerator_body">
+      <origin rpy="-0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
+      <material name="refrigerator_plastic.002"/>
+      <geometry>
+        <mesh filename="../meshes/dae/refrigerator_body.002.dae" scale="0.16529 0.16529 0.16529"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual name="refrigerator_doors">
+      <origin rpy="-0.00000 0.00000 0.00000" xyz="8.29295 3.26047 -32.68042"/>
+      <material name="refrigerator_steel.002"/>
+      <geometry>
+        <mesh filename="../meshes/dae/refrigerator_doors.001.dae" scale="0.16529 0.16529 0.16529"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="refrigerator_doors.001">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-8.21543 3.26047 -32.71331"/>
+      <material name="refrigerator_steel.002"/>
+      <geometry>
+        <mesh filename="../meshes/dae/refrigerator_doors.002.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="refrigerator_plastic.002">
+    <color rgba="0.21176 0.21176 0.21176 1.00000"/>
+  </material>
+  <material name="refrigerator_steel.002">
+    <texture filename="../../refrigerator_steel.jpg"/>
+    <color rgba="1.00000 1.00000 1.00000 1.00000"/>
+  </material>
+</robot>

texture_urdf/冰箱/refrigerated/URDF_Data/joint_limits.yml

@@ -0,0 +1,30 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 1.7000000476837158,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": -1.7000000476837158
+        }
+      }
+    ],
+    "names": [
+      "joint1",
+      "joint2"
+    ]
+  }
+}

texture_urdf/冰箱/refrigerated/URDF_Data/meshes/dae/Mesh32 __________7_1 __________33_1 Model.dae

@@ -0,0 +1,173 @@
+<?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>2025-06-16T15:37:02</created>
+    <modified>2025-06-16T15:37:02</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="BLA-effect">
+      <profile_COMMON>
+        <newparam sid="BLA_png-surface">
+          <surface type="2D">
+            <init_from>BLA_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="BLA_png-sampler">
+          <sampler2D>
+            <source>BLA_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="BLA_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="DAR-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.113725 0.113725 0.109804 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="METAL3-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.470588 0.466667 0.466667 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
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+          <p>1 0 0 3 0 1 0 0 2 25 1 3 1 2 4 17 3 5 30 4 6 4 5 7 29 6 8 40 7 9 44 8 10 48 9 11 31 10 12 13 11 13 32 12 14 53 13 15 14 14 16 31 10 17 52 15 18 15 15 19 53 15 20 52 16 21 17 16 22 16 16 23 50 17 24 17 18 25 51 19 26 49 20 27 18 21 28 50 17 29 48 22 30 19 23 31 49 20 32 47 24 33 20 25 34 48 22 35 46 26 36 21 27 37 47 24 38 45 28 39 22 29 40 46 26 41 44 30 42 23 31 43 45 28 44 43 32 45 24 33 46 44 30 47 42 34 48 25 35 49 43 32 50 41 36 51 26 37 52 42 34 53 40 38 54 27 39 55 41 36 56 2 40 57 28 41 58 40 38 59 32 12 60 12 42 61 33 43 62 33 43 63 11 44 64 34 45 65 34 45 66 10 46 67 35 47 68 35 47 69 9 48 70 36 49 71 36 49 72 8 50 73 37 51 74 37 51 75 7 52 76 38 53 77 38 53 78 6 54 79 39 55 80 39 55 81 5 56 82 30 4 83 29 6 84 0 57 85 3 58 86 1 0 144 2 0 145 3 0 146 0 88 147 4 89 148 5 90 149 5 90 150 6 60 151 7 91 152 7 91 153 8 92 154 9 93 155 9 93 156 10 60 157 11 60 158 11 60 159 12 60 160 13 94 161 13 94 162 14 95 163 15 96 164 15 96 165 16 97 166 0 88 167 16 97 168 17 3 169 1 2 170 17 3 171 18 98 172 21 99 173 18 98 174 19 60 175 21 99 176 19 60 177 20 60 178 21 99 179 21 99 180 22 100 181 23 101 182 23 101 183 24 102 184 25 1 185 25 1 186 26 103 187 1 2 188 26 103 189 27 60 190 1 2 191 27 60 192 28 60 193 1 2 194 1 2 195 0 88 196 16 97 197 0 88 198 5 90 199 9 93 200 5 90 201 7 91 202 9 93 203 9 93 204 11 60 205 13 94 206 13 94 207 15 96 208 9 93 209 9 93 210 15 96 211 0 88 212 21 99 213 23 101 214 17 3 215 23 101 216 25 1 217 17 3 218 30 4 219 5 56 220 4 5 221 53 104 222 31 105 223 32 106 224 32 106 225 33 107 226 34 108 227 34 108 228 35 61 229 36 109 230 36 109 231 37 110 232 38 111 233 38 111 234 39 112 235 30 113 236 30 113 237 29 61 238 3 114 239 3 114 240 2 115 241 52 116 242 2 115 243 40 7 244 51 117 245 52 116 246 2 115 247 51 117 248 40 7 249 41 61 250 42 118 251 42 118 252 43 61 253 44 8 254 44 8 255 45 61 256 46 61 257 46 61 258 47 119 259 44 8 260 47 119 261 48 9 262 44 8 263 48 9 264 49 61 265 50 120 266 50 120 267 51 117 268 40 7 269 52 116 270 53 104 271 3 114 272 53 104 273 32 106 274 36 109 275 32 106 276 34 108 277 36 109 278 36 109 279 38 111 280 30 113 281 30 113 282 3 114 283 36 109 284 36 109 285 3 114 286 53 104 287 40 7 288 42 118 289 44 8 290 48 9 291 50 120 292 40 7 293 31 10 294 14 14 295 13 11 296 53 13 297 15 121 298 14 14 299 52 15 300 16 15 301 15 15 302 52 16 303 51 16 304 17 16 305 50 17 306 18 21 307 17 18 308 49 20 309 19 23 310 18 21 311 48 22 312 20 25 313 19 23 314 47 24 315 21 27 316 20 25 317 46 26 318 22 29 319 21 27 320 45 28 321 23 31 322 22 29 323 44 30 324 24 33 325 23 31 326 43 32 327 25 35 328 24 33 329 42 34 330 26 37 331 25 35 332 41 36 333 27 39 334 26 37 335 40 38 336 28 41 337 27 39 338 2 40 339 1 122 340 28 41 341 32 12 342 13 11 343 12 42 344 33 43 345 12 42 346 11 44 347 34 45 348 11 44 349 10 46 350 35 47 351 10 46 352 9 48 353 36 49 354 9 48 355 8 50 356 37 51 357 8 50 358 7 52 359 38 53 360 7 52 361 6 54 362 39 55 363 6 54 364 5 56 365 29 6 366 4 5 367 0 57 368</p>
+        </triangles>
+        <triangles material="DAR-material" count="16">
+          <input semantic="VERTEX" source="#Mesh32___________7_1___________33_1_Model-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Mesh32___________7_1___________33_1_Model-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Mesh32___________7_1___________33_1_Model-mesh-map-0" offset="2" set="0"/>
+          <p>58 59 87 59 59 88 60 59 89 55 60 90 57 60 91 56 60 92 54 15 93 56 15 94 60 15 95 60 61 96 62 61 97 54 61 98 58 62 99 62 63 100 59 64 101 57 65 102 63 65 103 58 66 104 54 67 105 62 68 106 63 69 107 60 59 369 56 59 370 58 59 371 56 59 372 57 59 373 58 59 374 55 60 375 61 60 376 57 60 377 54 15 378 55 15 379 56 15 380 60 61 381 59 61 382 62 61 383 58 62 384 63 123 385 62 63 386 57 65 387 61 66 388 63 65 389 61 124 390 55 125 391 63 69 392 55 125 393 54 67 394 63 69 395</p>
+        </triangles>
+        <triangles material="METAL3-material" count="24">
+          <input semantic="VERTEX" source="#Mesh32___________7_1___________33_1_Model-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Mesh32___________7_1___________33_1_Model-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Mesh32___________7_1___________33_1_Model-mesh-map-0" offset="2" set="0"/>
+          <p>65 15 108 67 15 109 64 15 110 68 70 111 65 71 112 64 72 113 64 73 114 70 74 115 68 75 116 71 76 117 67 77 118 66 78 119 71 79 120 65 80 121 69 81 122 68 0 123 71 0 124 69 0 125 73 15 126 75 15 127 72 15 128 76 82 129 73 83 130 72 84 131 72 73 132 78 74 133 76 75 134 79 85 135 75 86 136 74 87 137 79 79 138 73 80 139 77 81 140 76 0 141 79 0 142 77 0 143 65 15 396 66 15 397 67 15 398 68 70 399 69 126 400 65 71 401 64 73 402 67 127 403 70 74 404 71 76 405 70 128 406 67 77 407 71 79 408 66 129 409 65 80 410 68 0 411 70 0 412 71 0 413 73 15 414 74 15 415 75 15 416 76 82 417 77 126 418 73 83 419 72 73 420 75 127 421 78 74 422 79 85 423 78 130 424 75 86 425 79 79 426 74 129 427 73 80 428 76 0 429 78 0 430 79 0 431</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_Mesh32___________7_1___________33_1_Model" name="tmp_export_Mesh32 __________7_1 __________33_1 Model" 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="#Mesh32___________7_1___________33_1_Model-mesh" name="tmp_export_Mesh32 __________7_1 __________33_1 Model">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="BLA-material" target="#BLA-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="DAR-material" target="#DAR-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="METAL3-material" target="#METAL3-material">
+                <bind_vertex_input semantic="UVMap" 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/冰箱/refrigerated/URDF_Data/meshes/dae/Mesh32 __________7_1 __________33_1 Model.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.5307677388191223, 0.5307677388191223, 0.5307677388191223], mesh=<bpy_struct, Mesh("Mesh32 __________7_1 __________33_1 Model") at 0x000001F63BFDCF08>, meshname=Mesh32 __________7_1 __________33_1 Model, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Mesh32 __________7_1 __________33_1 Model") at 0x000001F63BFDCF08> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\Mesh32 __________7_1 __________33_1 Model.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\Mesh32 __________7_1 __________33_1 Model.dae from bpy_types.Mesh

texture_urdf/冰箱/refrigerated/URDF_Data/meshes/dae/Mesh33 __________7_2 __________33_1 Model.dae

@@ -0,0 +1,173 @@
+<?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>2025-06-16T15:37:02</created>
+    <modified>2025-06-16T15:37:02</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="BLA-effect">
+      <profile_COMMON>
+        <newparam sid="BLA_png-surface">
+          <surface type="2D">
+            <init_from>BLA_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="BLA_png-sampler">
+          <sampler2D>
+            <source>BLA_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="BLA_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="DAR-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.113725 0.113725 0.109804 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="METAL3-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.470588 0.466667 0.466667 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="BLA_png" name="BLA_png">
+      <init_from>BLA.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="BLA-material" name="BLA">
+      <instance_effect url="#BLA-effect"/>
+    </material>
+    <material id="DAR-material" name="DAR">
+      <instance_effect url="#DAR-effect"/>
+    </material>
+    <material id="METAL3-material" name="METAL3">
+      <instance_effect url="#METAL3-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Mesh33___________7_2___________33_1_Model-mesh" name="Mesh33 __________7_2 __________33_1 Model">
+      <mesh>
+        <source id="Mesh33___________7_2___________33_1_Model-mesh-positions">
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+          <technique_common>
+            <accessor source="#Mesh33___________7_2___________33_1_Model-mesh-positions-array" count="80" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Mesh33___________7_2___________33_1_Model-mesh-normals">
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+          <technique_common>
+            <accessor source="#Mesh33___________7_2___________33_1_Model-mesh-normals-array" count="137" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Mesh33___________7_2___________33_1_Model-mesh-map-0">
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+          <technique_common>
+            <accessor source="#Mesh33___________7_2___________33_1_Model-mesh-map-0-array" count="432" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Mesh33___________7_2___________33_1_Model-mesh-vertices">
+          <input semantic="POSITION" source="#Mesh33___________7_2___________33_1_Model-mesh-positions"/>
+        </vertices>
+        <triangles material="BLA-material" count="104">
+          <input semantic="VERTEX" source="#Mesh33___________7_2___________33_1_Model-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Mesh33___________7_2___________33_1_Model-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Mesh33___________7_2___________33_1_Model-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 3 0 1 0 0 2 0 1 3 19 2 4 23 3 5 30 4 6 4 4 7 29 4 8 34 5 9 38 6 10 42 7 11 2 8 12 17 9 13 31 10 14 31 10 15 16 11 16 32 12 17 32 12 18 15 13 19 33 14 20 33 14 21 14 15 22 34 16 23 34 16 24 13 17 25 35 18 26 35 18 27 12 19 28 36 20 29 36 20 30 11 21 31 37 22 32 37 22 33 10 23 34 38 24 35 38 24 36 9 25 37 39 26 38 39 26 39 8 27 40 40 28 41 40 28 42 7 29 43 41 30 44 41 30 45 6 31 46 42 32 47 6 33 48 30 33 49 42 33 50 29 34 51 28 35 52 43 36 53 43 36 54 27 37 55 44 38 56 44 38 57 26 39 58 45 40 59 45 40 60 25 41 61 46 42 62 46 42 63 24 43 64 47 44 65 47 44 66 23 45 67 48 46 68 48 46 69 22 47 70 49 48 71 49 48 72 21 49 73 50 50 74 50 50 75 20 51 76 51 52 77 51 52 78 19 53 79 52 54 80 52 54 81 18 55 82 53 56 83 53 56 84 0 57 85 3 58 86 1 0 144 2 0 145 3 0 146 28 60 147 4 91 148 27 92 149 4 91 150 5 93 151 0 1 152 27 92 153 4 91 154 26 94 155 5 93 156 6 95 157 1 96 158 6 95 159 7 60 160 9 97 161 7 60 162 8 60 163 9 97 164 9 97 165 10 98 166 11 99 167 11 99 168 12 100 169 13 101 170 13 101 171 14 102 172 17 103 173 14 102 174 15 104 175 17 103 176 15 104 177 16 105 178 17 103 179 17 103 180 1 96 181 6 95 182 1 96 183 0 1 184 5 93 185 0 1 186 18 60 187 19 2 188 19 2 189 20 60 190 21 60 191 21 60 192 22 106 193 19 2 194 22 106 195 23 3 196 19 2 197 23 3 198 24 107 199 25 108 200 25 108 201 26 94 202 23 3 203 23 3 204 26 94 205 4 91 206 23 3 207 4 91 208 0 1 209 6 95 210 9 97 211 17 103 212 9 97 213 11 99 214 17 103 215 11 99 216 13 101 217 17 103 218 30 4 219 5 4 220 4 4 221 53 59 222 3 109 223 52 110 224 3 109 225 2 111 226 30 112 227 52 110 228 3 109 229 29 113 230 2 111 231 31 114 232 34 5 233 31 114 234 32 115 235 34 5 236 32 115 237 33 116 238 34 5 239 34 5 240 35 117 241 36 118 242 36 118 243 37 59 244 34 5 245 37 59 246 38 6 247 34 5 248 38 6 249 39 119 250 40 120 251 40 120 252 41 121 253 38 6 254 41 121 255 42 7 256 38 6 257 42 7 258 30 112 259 2 111 260 30 112 261 29 113 262 3 109 263 52 110 264 29 113 265 49 59 266 29 113 267 43 59 268 44 59 269 44 59 270 45 122 271 29 113 272 45 122 273 46 59 274 48 123 275 46 59 276 47 59 277 48 123 278 48 123 279 49 59 280 29 113 281 49 59 282 50 124 283 52 110 284 50 124 285 51 125 286 52 110 287 48 123 288 29 113 289 45 122 290 2 111 291 34 5 292 42 7 293 2 8 294 1 126 295 17 9 296 31 10 297 17 9 298 16 11 299 32 12 300 16 11 301 15 13 302 33 14 303 15 13 304 14 15 305 34 16 306 14 15 307 13 17 308 35 18 309 13 17 310 12 19 311 36 20 312 12 19 313 11 21 314 37 22 315 11 21 316 10 23 317 38 24 318 10 23 319 9 25 320 39 26 321 9 25 322 8 27 323 40 28 324 8 27 325 7 29 326 41 30 327 7 29 328 6 31 329 6 33 330 5 33 331 30 33 332 29 34 333 4 127 334 28 35 335 43 36 336 28 35 337 27 37 338 44 38 339 27 37 340 26 39 341 45 40 342 26 39 343 25 41 344 46 42 345 25 41 346 24 43 347 47 44 348 24 43 349 23 45 350 48 46 351 23 45 352 22 47 353 49 48 354 22 47 355 21 49 356 50 50 357 21 49 358 20 51 359 51 52 360 20 51 361 19 53 362 52 54 363 19 53 364 18 55 365 53 56 366 18 55 367 0 57 368</p>
+        </triangles>
+        <triangles material="DAR-material" count="16">
+          <input semantic="VERTEX" source="#Mesh33___________7_2___________33_1_Model-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Mesh33___________7_2___________33_1_Model-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Mesh33___________7_2___________33_1_Model-mesh-map-0" offset="2" set="0"/>
+          <p>58 33 87 59 33 88 60 33 89 55 59 90 57 59 91 56 59 92 54 4 93 56 4 94 60 4 95 60 60 96 62 60 97 54 60 98 58 61 99 62 62 100 59 61 101 57 63 102 63 64 103 58 65 104 54 66 105 62 66 106 63 66 107 60 33 369 56 33 370 58 33 371 56 33 372 57 33 373 58 33 374 55 59 375 61 59 376 57 59 377 54 4 378 55 4 379 56 4 380 60 60 381 59 60 382 62 60 383 58 61 384 63 62 385 62 62 386 57 63 387 61 128 388 63 64 389 61 66 390 55 66 391 63 66 392 55 66 393 54 66 394 63 66 395</p>
+        </triangles>
+        <triangles material="METAL3-material" count="24">
+          <input semantic="VERTEX" source="#Mesh33___________7_2___________33_1_Model-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Mesh33___________7_2___________33_1_Model-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Mesh33___________7_2___________33_1_Model-mesh-map-0" offset="2" set="0"/>
+          <p>65 4 108 67 4 109 64 4 110 64 67 111 69 68 112 65 69 113 64 70 114 70 71 115 68 72 116 71 73 117 67 74 118 66 75 119 71 76 120 65 77 121 69 78 122 68 0 123 71 0 124 69 0 125 73 4 126 75 4 127 72 4 128 76 79 129 73 80 130 72 81 131 72 82 132 78 83 133 76 84 134 79 85 135 75 86 136 74 87 137 79 88 138 73 89 139 77 90 140 76 0 141 79 0 142 77 0 143 65 4 396 66 4 397 67 4 398 64 67 399 68 129 400 69 68 401 64 70 402 67 130 403 70 71 404 71 73 405 70 131 406 67 74 407 71 76 408 66 132 409 65 77 410 68 0 411 70 0 412 71 0 413 73 4 414 74 4 415 75 4 416 76 79 417 77 133 418 73 80 419 72 82 420 75 134 421 78 83 422 79 85 423 78 135 424 75 86 425 79 88 426 74 136 427 73 89 428 76 0 429 78 0 430 79 0 431</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_Mesh33___________7_2___________33_1_Model" name="tmp_export_Mesh33 __________7_2 __________33_1 Model" 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="#Mesh33___________7_2___________33_1_Model-mesh" name="tmp_export_Mesh33 __________7_2 __________33_1 Model">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="BLA-material" target="#BLA-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="DAR-material" target="#DAR-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="METAL3-material" target="#METAL3-material">
+                <bind_vertex_input semantic="UVMap" 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/冰箱/refrigerated/URDF_Data/meshes/dae/Mesh33 __________7_2 __________33_1 Model.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.5307677388191223, 0.5307677388191223, 0.5307677388191223], mesh=<bpy_struct, Mesh("Mesh33 __________7_2 __________33_1 Model") at 0x000001F63BFCEB08>, meshname=Mesh33 __________7_2 __________33_1 Model, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Mesh33 __________7_2 __________33_1 Model") at 0x000001F63BFCEB08> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\Mesh33 __________7_2 __________33_1 Model.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\Mesh33 __________7_2 __________33_1 Model.dae from bpy_types.Mesh

texture_urdf/冰箱/refrigerated/URDF_Data/meshes/dae/Mesh5 Group6 __________33_1 Model.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.5307677388191223, 0.5307677388191223, 0.5307677388191223], mesh=<bpy_struct, Mesh("Mesh5 Group6 __________33_1 Model") at 0x000001F63BFCC808>, meshname=Mesh5 Group6 __________33_1 Model, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Mesh5 Group6 __________33_1 Model") at 0x000001F63BFCC808> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\Mesh5 Group6 __________33_1 Model.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\Mesh5 Group6 __________33_1 Model.dae from bpy_types.Mesh

texture_urdf/冰箱/refrigerated/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,49 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint1" type="revolute">
+    <limit lower="0.00000" upper="1.70000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="0.25500 -0.00029 0.17260"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint2" type="revolute">
+    <limit lower="-1.70000" upper="0.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="-0.80165 0.00155 0.17260"/>
+    <parent link="base_link"/>
+    <child link="link2"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="Mesh5 Group6 __________33_1 Model">
+      <origin rpy="1.57080 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
+      <material name="B"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Mesh5 Group6 __________33_1 Model.dae" scale="0.53077 0.53077 0.53077"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="Mesh32 __________7_1 __________33_1 Model">
+      <origin rpy="1.57080 0.00000 0.00000" xyz="-0.25500 0.00029 -0.17260"/>
+      <material name="BLA"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Mesh32 __________7_1 __________33_1 Model.dae" scale="0.53077 0.53077 0.53077"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link2">
+    <visual name="Mesh33 __________7_2 __________33_1 Model">
+      <origin rpy="1.57080 0.00000 0.00000" xyz="0.80165 -0.00155 -0.17260"/>
+      <material name="BLA"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Mesh33 __________7_2 __________33_1 Model.dae" scale="0.53077 0.53077 0.53077"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="B">
+    <color rgba="0.22745 0.25882 0.26667 1.00000"/>
+  </material>
+  <material name="BLA">
+    <color rgba="0.30980 0.30196 0.28627 1.00000"/>
+  </material>
+</robot>

texture_urdf/家具/bookcase2/URDF_Data/joint_limits.yml

@@ -0,0 +1,30 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 1.600000023841858,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 1.600000023841858,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "joint0",
+      "joint1"
+    ]
+  }
+}