Add files using upload-large-folder tool

.gitattributes

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 texture_urdf/书/Group_34/Group_34.blend filter=lfs diff=lfs merge=lfs -text
 texture_urdf/家具/brzbypchwmio-WoodenWardrobe/1.blend1 filter=lfs diff=lfs merge=lfs -text
 texture_urdf/家具/53-chair_obj_fbx/chair.fbx filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家具/brzbypchwmio-WoodenWardrobe/1.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家具/brzbypchwmio-WoodenWardrobe/Wooden[[:space:]]wardrobe/Wooden[[:space:]]wardrobe.blend1 filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家具/bookcase2/Untitled.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家具/3dsmj.com__608300/table2_2013__vray.max filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家具/53-chair_obj_fbx/chair.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家具/Buffet+1+porte,+3+tiroirs+Daffo+de+chez+LA+REDOUTE/Buffet+1+porte,+3+tiroirs+Daffo+de+chez+LA+REDOUTE.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家具/booscase3/Untitled.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家具/brzbypchwmio-WoodenWardrobe/Wooden[[:space:]]wardrobe/Wooden[[:space:]]wardrobe.blend filter=lfs diff=lfs merge=lfs -text

texture_urdf/家具/3dsmj.com__608300/table2_2013__vray.max

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texture_urdf/家具/bookcase2/Untitled.blend

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texture_urdf/家具/brzbypchwmio-WoodenWardrobe/Wooden wardrobe/Wooden wardrobe.blend

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texture_urdf/家具/brzbypchwmio-WoodenWardrobe/Wooden wardrobe/Wooden wardrobe.blend1

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texture_urdf/家具/cooker/3dexport_cooker_01_textures_1618023446.rar

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texture_urdf/家具/cooker/3dexport_cooker_obj_1618023446.rar

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+size 32292

texture_urdf/家电/Modern+Table+Lamp/URDF_Data/meshes/dae/obj280.001.dae_history.log

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+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("obj280.001") at 0x0000015FA94BF908>, meshname=obj280.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj280.001") at 0x0000015FA94BF908> to D:\1111111111\Modern+Table+Lamp\URDF_Data\meshes\dae\obj280.001.dae
+->wrote dae to D:\1111111111\Modern+Table+Lamp\URDF_Data\meshes\dae\obj280.001.dae from bpy_types.Mesh

texture_urdf/家电/Modern+Table+Lamp/URDF_Data/meshes/dae/obj36.001.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>2025-06-18T14:17:50</created>
+    <modified>2025-06-18T14:17:50</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat0_002-effect">
+      <profile_COMMON>
+        <newparam sid="Metal032_2K-JPG_Color_jpg_001-surface">
+          <surface type="2D">
+            <init_from>Metal032_2K-JPG_Color_jpg_001</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Metal032_2K-JPG_Color_jpg_001-sampler">
+          <sampler2D>
+            <source>Metal032_2K-JPG_Color_jpg_001-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="Metal032_2K-JPG_Color_jpg_001-sampler"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="Metal032_2K-JPG_Color_jpg_001" name="Metal032_2K-JPG_Color_jpg_001">
+      <init_from>Metal032_2K-JPG_Color.jpg.001.jpg</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="mat0_002-material" name="mat0.002">
+      <instance_effect url="#mat0_002-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="obj36_001-mesh" name="obj36.001">
+      <mesh>
+        <source id="obj36_001-mesh-positions">
+          <float_array id="obj36_001-mesh-positions-array" count="324">2.716535 0.492126 10.72441 2.716535 -0.492126 10.52756 2.716535 -0.492126 10.72441 3.110236 0.492126 0.7086614 3.110236 0.492126 0.511811 2.716535 0.492126 0.511811 3.110236 0.492126 0.7086614 3.110236 -0.492126 0.7086614 3.110236 0.492126 0.511811 2.716535 0.492126 0.511811 2.716535 -0.492126 0.511811 2.716535 0.492126 0.7086614 2.716535 0.492126 0.7086614 2.716535 -0.492126 0.511811 2.716535 -0.492126 0.7086614 3.110236 0.492126 10.52756 3.110236 0.492126 0.7086614 2.716535 0.492126 0.7086614 3.110236 0.492126 10.52756 2.716535 0.492126 0.7086614 2.716535 0.492126 10.52756 3.110236 0.492126 10.52756 2.716535 0.492126 10.52756 3.110236 -0.492126 10.52756 3.110236 -0.492126 10.52756 2.716535 0.492126 10.52756 2.716535 -0.492126 10.52756 2.716535 -0.492126 10.52756 3.110236 -0.492126 0.7086614 3.110236 -0.492126 10.52756 2.716535 -0.492126 10.52756 2.716535 -0.492126 0.7086614 3.110236 -0.492126 0.7086614 3.110236 -0.492126 0.7086614 2.716535 -0.492126 0.7086614 3.110236 0.492126 0.7086614 3.110236 0.492126 0.7086614 2.716535 0.492126 0.511811 2.716535 0.492126 0.7086614 3.110236 0.492126 0.7086614 2.716535 -0.492126 0.7086614 2.716535 0.492126 0.7086614 3.110236 0.492126 0.7086614 3.110236 -0.492126 10.52756 3.110236 -0.492126 0.7086614 3.110236 0.492126 10.52756 3.110236 -0.492126 10.52756 3.110236 0.492126 0.7086614 2.716535 0.492126 0.7086614 2.716535 -0.492126 0.7086614 2.716535 0.492126 10.52756 2.716535 0.492126 10.52756 2.716535 -0.492126 0.7086614 2.716535 -0.492126 10.52756 3.110236 0.492126 10.72441 3.110236 0.492126 10.52756 2.716535 0.492126 10.52756 3.110236 0.492126 10.72441 2.716535 0.492126 10.52756 2.716535 0.492126 10.72441 3.110236 0.492126 10.72441 2.716535 0.492126 10.72441 3.110236 -0.492126 10.72441 3.110236 -0.492126 10.72441 2.716535 0.492126 10.72441 2.716535 -0.492126 10.72441 2.716535 -0.492126 10.72441 3.110236 -0.492126 10.52756 3.110236 -0.492126 10.72441 3.110236 0.492126 0.7086614 2.716535 0.492126 0.7086614 3.110236 -0.492126 0.7086614 2.716535 -0.492126 10.72441 2.716535 -0.492126 10.52756 3.110236 -0.492126 10.52756 3.110236 -0.492126 10.52756 2.716535 -0.492126 10.52756 3.110236 0.492126 10.52756 3.110236 0.492126 10.52756 2.716535 -0.492126 10.52756 2.716535 0.492126 10.52756 3.110236 0.492126 10.52756 3.110236 -0.492126 10.72441 3.110236 -0.492126 10.52756 3.110236 0.492126 10.72441 3.110236 -0.492126 10.72441 3.110236 0.492126 10.52756 2.716535 0.492126 10.52756 2.716535 -0.492126 10.52756 2.716535 0.492126 10.72441 3.110236 -0.492126 0.7086614 2.716535 0.492126 0.7086614 2.716535 -0.492126 0.7086614 2.716535 -0.492126 0.7086614 3.110236 -0.492126 0.511811 3.110236 -0.492126 0.7086614 2.716535 -0.492126 0.7086614 2.716535 -0.492126 0.511811 3.110236 -0.492126 0.511811 3.110236 -0.492126 0.511811 2.716535 -0.492126 0.511811 3.110236 0.492126 0.511811 3.110236 0.492126 0.511811 2.716535 -0.492126 0.511811 2.716535 0.492126 0.511811 3.110236 0.492126 0.511811 3.110236 -0.492126 0.7086614 3.110236 -0.492126 0.511811</float_array>
+          <technique_common>
+            <accessor source="#obj36_001-mesh-positions-array" count="108" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="obj36_001-mesh-normals">
+          <float_array id="obj36_001-mesh-normals-array" count="108">-1 0 0 0 1 0 1 0 0 -1 0 0 -1 0 0 0 1 0 0 1 0 0 0 1 0 0 1 0 -1 0 0 -1 0 0 0 -1 0 1 0 0 0 -1 1 0 0 1 0 0 -1 0 0 -1 0 0 0 1 0 0 1 0 0 0 1 0 0 1 0 -1 0 0 0 1 0 -1 0 0 0 -1 0 0 -1 1 0 0 1 0 0 -1 0 0 0 0 1 0 -1 0 0 -1 0 0 0 -1 0 0 -1 1 0 0</float_array>
+          <technique_common>
+            <accessor source="#obj36_001-mesh-normals-array" count="36" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="obj36_001-mesh-vertices">
+          <input semantic="POSITION" source="#obj36_001-mesh-positions"/>
+        </vertices>
+        <triangles material="mat0_002-material" count="36">
+          <input semantic="VERTEX" source="#obj36_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#obj36_001-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 3 1 4 1 5 1 6 2 7 2 8 2 9 3 10 3 11 3 12 4 13 4 14 4 15 5 16 5 17 5 18 6 19 6 20 6 21 7 22 7 23 7 24 8 25 8 26 8 27 9 28 9 29 9 30 10 31 10 32 10 33 11 34 11 35 11 36 12 37 12 38 12 39 13 40 13 41 13 42 14 43 14 44 14 45 15 46 15 47 15 48 16 49 16 50 16 51 17 52 17 53 17 54 18 55 18 56 18 57 19 58 19 59 19 60 20 61 20 62 20 63 21 64 21 65 21 66 22 67 22 68 22 69 23 70 23 71 23 72 24 73 24 74 24 75 25 76 25 77 25 78 26 79 26 80 26 81 27 82 27 83 27 84 28 85 28 86 28 87 29 88 29 89 29 90 30 91 30 92 30 93 31 94 31 95 31 96 32 97 32 98 32 99 33 100 33 101 33 102 34 103 34 104 34 105 35 106 35 107 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj36_001" name="tmp_export_obj36.001" 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="#obj36_001-mesh" name="tmp_export_obj36.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat0_002-material" target="#mat0_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/家电/Modern+Table+Lamp/URDF_Data/meshes/dae/obj36.001.dae_history.log

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+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("obj36.001") at 0x0000015F3A043908>, meshname=obj36.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj36.001") at 0x0000015F3A043908> to D:\1111111111\Modern+Table+Lamp\URDF_Data\meshes\dae\obj36.001.dae
+->wrote dae to D:\1111111111\Modern+Table+Lamp\URDF_Data\meshes\dae\obj36.001.dae from bpy_types.Mesh

texture_urdf/家电/Modern+Table+Lamp/URDF_Data/urdf/URDF_Data.urdf

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+<robot name="URDF_Data" version="1.0">
+  <joint name="joint0" type="revolute">
+    <limit lower="0.00000" upper="1.57000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01187 10.67067 0.00924"/>
+    <parent link="link0"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint1" type="revolute">
+    <limit lower="0.00000" upper="1.57000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="1.57080 0.00000 0.00000" xyz="2.92341 0.06548 0.34099"/>
+    <parent link="baselink"/>
+    <child link="link0"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="baselink">
+    <visual name="obj280">
+      <origin rpy="-0.00005 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
+      <material name="mat0.002"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj280.001.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual name="obj36">
+      <origin rpy="-1.57085 0.00000 0.00000" xyz="-2.92341 -0.34099 0.06548"/>
+      <material name="mat0.002"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj36.001.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="obj220">
+      <origin rpy="-1.57085 0.00000 0.00000" xyz="-2.91154 -11.01166 0.05624"/>
+      <material name="mat1.001"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj220.001.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="mat0.002">
+    <color rgba="1.00000 0.12157 0.12157 1.00000"/>
+  </material>
+  <material name="mat1.001">
+    <color rgba="0.20784 0.20392 0.27059 1.00000"/>
+  </material>
+</robot>

texture_urdf/家电/Pao+steamer/URDF_Data/joint_limits.yml

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+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0
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+      {
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+          "position": 0.07999999821186066,
+          "speed": 0.0
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+        "min": {
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+      },
+      {
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+          "position": 2.799999952316284,
+          "speed": 0.0
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+        "min": {
+          "position": 0.0
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+      }
+    ],
+    "names": [
+      "joint0",
+      "joint1",
+      "joint2"
+    ]
+  }
+}

texture_urdf/家电/Pao+steamer/URDF_Data/meshes/dae/ID1423_1.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>2025-06-18T10:54:05</created>
+    <modified>2025-06-18T10:54:05</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="edge_color114114114255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.6 0.6 0.6 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Color_M05-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.4470588 0.4470588 0.4470588 1</color>
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+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="edge_color114114114255-material" name="edge_color114114114255">
+      <instance_effect url="#edge_color114114114255-effect"/>
+    </material>
+    <material id="Color_M05-material" name="Color_M05">
+      <instance_effect url="#Color_M05-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID1423_1-mesh" name="ID1423_1">
+      <mesh>
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320 1503 321 1504 321 1505 321 1506 7 1507 7 1508 7 1509 322 1510 322 1511 322 1512 7 1513 7 1514 7 1515 7 1516 7 1517 7 1518 7 1519 7 1520 7 1521 7 1522 7 1523 7 1524 7 1525 7 1526 7 1527 323 1528 323 1529 323 1530 324 1531 324 1532 324 1533 7 1534 7 1535 7 1536 7 1537 7 1538 7 1539 7 1540 7 1541 7 1542 7 1543 7 1544 7 1545 7 1546 7 1547 7 1548 7 1549 7 1550 7 1551 325 1552 325 1553 325 1554 326 1555 327 1556 328 1557 329 1558 330 1559 331 1560 332 1561 333 1562 334 1563 335 1564 336 1565 337 1566 338 1567 339 1568 340 1569 341 1570 342 1571 343 1572 344 1573 345 1574 346 1575 347 1576 348 1577 349 1578 350 1579 351 1580 352 1581 353 1582 354 1583 355 1584 356 1585 357 1586 358 1587 359 1588 360 1589 361 1590 362 1591 363 1592 364 1593 365 1594 366 1595 367 1596 368 1597 369 1598 370 1599 371 1600 372 1601 373 1602 374 1603 375 1604 376 1605 377 1606 378 1607 379 1608 380 1609 381 1610 382 1611 383 1612 384 1613 385 1614 386 1615 387 1616 387 1617 388 1618 389 1619 390 1620 391 1621 392 1622 393 1623 394 1624 394 1625 395 1626 396 1627 397 1628 398 1629 399 1630 400 1631 400 1632 401 1633 401 1634 402 1635 403 1636 404 1637 405 1638 406 1639 407 1640 408 1641 409 1642 410 1643 411 1644 412 1645 413 1646 414 1647 415 1648 416 1649 417 1650 418 1651 419 1652 420 1653 421 1654 422 1655 423 1656 424 1657 425 1658 426 1659 427 1660 428 1661 429 1662 430 1663 431 1664 432 1665 433 1666 434 1667 435 1668 436 1669 437 1670 438 1671 439 1672 440 1673 441 1674 442 1675 443 1676 444 1677 445 1678 446 1679 447 1680 448 1681 449 1682 450 1683 451 1684 452 1685 453 1686 454 1687 455 1688 456 1689 457 1690 458 1691 459 1692 460 1693 461 1694 462 1695 463 1696 464 1697 465 1698 466 1699 467 1700 468 1701 469 1702 470 1703 471 1704 472 1705 473 1706 474 1707 475 1708 476 1709 477 1710 478 1711 479 1712 480 1713 481 1714 482 1715 481 1716 483 1717 484 1718 483 1719 485 1720 486 1721 487 1722 488 1723 489 1724 490 1725 491 1726 492 1727 493 1728 494 1729 495 1730 496 1731 497 1732 498 1733 499 1734 500 1735 501 1736 502 1737 503 1738 504 1739 505 1740 506 1741 507 1742 508 1743 509 1744 510 1745 511 1746 512 1747 513 1748 514 1749 515 1750 516 1751 517 1752 518 1753 519 1754 520 1755 521 1756 522 1757 523 1758 524 1759 525 1760 526 1761 527 1762 528 1763 529 1764 530 1765 531 1766 532 1767 533 1768 534 1769 535 1770 536 1771 537 1772 538 1773 539 1774 540 1775 541 1776 542 1777 543 1778 544 1779 545 1780 546 1781 547 1782 548 1783 549 1784 550 1785 551 1786 394 1787 394 1788 387 1789 387 1790 552 1791 553 1792 554 1793 555 1794 556 1795 401 1796 401 1797 557 1798 558 1799 559 1800 560 1801 561 1802 562 1803 400 1804 400 1805 563 1806 564 1807 565 1808 566 1809 567 1810 568 1811 569 1812 570 1813 571 1814 572 1815 573 1816 574 1817 575 1818 576 1819 577 1820 578 1821 579 1822 580 1823 581 1824 582 1825 583 1826 584 1827 585 1828 586 1829 587 1830 588 1831 486 1832 589 1833 590 1834 591 1835 590 1836 592 1837 593 1838 592 1839 594 1840 479 1841 595 1842 596 1843 597 1844 598 1845 599 1846 600 1847 601 1848 602 1849 603 1850 604 1851 605 1852 606 1853 607 1854 608 1855 609 1856 610 1857 611 1858 612 1859 613 1860 614 1861 615 1862 616 1863 617 1864 618 1865 619</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID1423_1" name="tmp_export_ID1423_1" 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="#ID1423_1-mesh" name="tmp_export_ID1423_1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="edge_color114114114255-material" target="#edge_color114114114255-material"/>
+              <instance_material symbol="Color_M05-material" target="#Color_M05-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/家电/Pao+steamer/URDF_Data/meshes/dae/ID1423_1.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID1423_1") at 0x000001EC02FDB208>, meshname=ID1423_1, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID1423_1") at 0x000001EC02FDB208> to D:\1009233120冉惟言\工作\Pao+steamer\URDF_Data\meshes\dae\ID1423_1.dae
+->wrote dae to D:\1009233120冉惟言\工作\Pao+steamer\URDF_Data\meshes\dae\ID1423_1.dae from bpy_types.Mesh

texture_urdf/家电/Pao+steamer/URDF_Data/meshes/dae/ID187_6.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0000003576278687, 1.0000003576278687, 1.0000003576278687], mesh=<bpy_struct, Mesh("ID187_6") at 0x000001EC01AED608>, meshname=ID187_6, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID187_6") at 0x000001EC01AED608> to D:\1009233120冉惟言\工作\Pao+steamer\URDF_Data\meshes\dae\ID187_6.dae
+->wrote dae to D:\1009233120冉惟言\工作\Pao+steamer\URDF_Data\meshes\dae\ID187_6.dae from bpy_types.Mesh

texture_urdf/家电/Pao+steamer/URDF_Data/meshes/dae/ID1917_6.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>2025-06-18T10:54:05</created>
+    <modified>2025-06-18T10:54:05</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="__DarkRed_-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.545098 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="__DarkRed_-material" name="__DarkRed_">
+      <instance_effect url="#__DarkRed_-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID1917_6-mesh" name="ID1917_6">
+      <mesh>
+        <source id="ID1917_6-mesh-positions">
+          <float_array id="ID1917_6-mesh-positions-array" count="2358">0.4662081 0.1068542 -0.3643782 0.4662984 0.1083003 -0.3647217 0.4667563 0.1081776 -0.3643782 0.4662984 0.1083003 -0.3647217 0.4662081 0.1068542 -0.3643782 0.4657976 0.1070911 -0.3647217 0.4667563 0.1081776 -0.3643782 0.4664692 0.1095979 -0.3647217 0.4669433 0.1095979 -0.3643782 0.4664692 0.1095979 -0.3647217 0.4667563 0.1081776 -0.3643782 0.4662984 0.1083003 -0.3647217 0.4665946 0.1066309 -0.3639994 0.4667563 0.1081776 -0.3643782 0.4671875 0.1080621 -0.3639994 0.4667563 0.1081776 -0.3643782 0.4665946 0.1066309 -0.3639994 0.4662081 0.1068542 -0.3643782 0.465336 0.1057176 -0.3643782 0.4657976 0.1070911 -0.3647217 0.4662081 0.1068542 -0.3643782 0.4657976 0.1070911 -0.3647217 0.465336 0.1057176 -0.3643782 0.4650008 0.1060528 -0.3647217 0.4657976 0.1070911 -0.3647217 0.4658164 0.1084295 -0.3650278 0.4662984 0.1083003 -0.3647217 0.4658164 0.1084295 -0.3650278 0.4657976 0.1070911 -0.3647217 0.4653654 0.1073406 -0.3650278 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-0.6795517 0.1820477 -0.7106815 -0.6775006 1.64881e-5 -0.7355222 -0.7035169 2.11312e-5 -0.7106785 -0.6544135 0.1753569 -0.7355223 -0.609277 0.351724 -0.7106841 -0.5867475 0.3387353 -0.7355173 -0.6092789 0.3517213 -0.7106838 -0.6544053 0.1753829 -0.7355233 -0.6795404 0.182094 -0.7106804 -0.5867236 0.338758 -0.735526 -0.497464 0.4974585 -0.7106791 -0.4790785 0.4790505 -0.7355232 -0.4974678 0.4974615 -0.7106742 -0.5867165 0.3387569 -0.7355322 -0.6092593 0.3517658 -0.7106786 -0.4790526 0.4790933 -0.7355123 -0.3517889 0.6092387 -0.7106848 -0.3387638 0.5867199 -0.7355263 -0.3517794 0.6092441 -0.7106848 -0.4790501 0.479071 -0.7355284 -0.4974446 0.4974828 -0.7106755 -0.338744 0.5867301 -0.7355272 -0.1821202 0.6795339 -0.7106799 -0.1753712 0.6544086 -0.7355232 -0.1820842 0.6795446 -0.7106788 -0.3387202 0.5867542 -0.735519 -0.351754 0.6092671 -0.7106777 -0.1753123 0.654435 -0.7355138 -4.51356e-5 0.7035166 -0.7106789 -2.9319e-5 0.6775007 -0.7355221 -4.17084e-5 0.7035214 -0.7106741 -0.1753427 0.6544058 -0.7355325 -0.18207 0.67955 -0.7106774 0.1753352 0.6544245 -0.7355176 1.1585e-5 0.703513 -0.7106823 0.1820436 0.6795557 -0.7106787 1.46404e-6 0.703514 -0.7106815 0.1753184 0.6544362 -0.7355112 3.51518e-5 0.6774976 -0.735525</float_array>
+          <technique_common>
+            <accessor source="#ID1917_6-mesh-normals-array" count="786" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID1917_6-mesh-vertices">
+          <input semantic="POSITION" source="#ID1917_6-mesh-positions"/>
+        </vertices>
+        <triangles material="__DarkRed_-material" count="262">
+          <input semantic="VERTEX" source="#ID1917_6-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID1917_6-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21 21 22 22 23 23 24 24 25 25 26 26 27 27 28 28 29 29 30 30 31 31 32 32 33 33 34 34 35 35 36 36 37 37 38 38 39 39 40 40 41 41 42 42 43 43 44 44 45 45 46 46 47 47 48 48 49 49 50 50 51 51 52 52 53 53 54 54 55 55 56 56 57 57 58 58 59 59 60 60 61 61 62 62 63 63 64 64 65 65 66 66 67 67 68 68 69 69 70 70 71 71 72 72 73 73 74 74 75 75 76 76 77 77 78 78 79 79 80 80 81 81 82 82 83 83 84 84 85 85 86 86 87 87 88 88 89 89 90 90 91 91 92 92 93 93 94 94 95 95 96 96 97 97 98 98 99 99 100 100 101 101 102 102 103 103 104 104 105 105 106 106 107 107 108 108 109 109 110 110 111 111 112 112 113 113 114 114 115 115 116 116 117 117 118 118 119 119 120 120 121 121 122 122 123 123 124 124 125 125 126 126 127 127 128 128 129 129 130 130 131 131 132 132 133 133 134 134 135 135 136 136 137 137 138 138 139 139 140 140 141 141 142 142 143 143 144 144 145 145 146 146 147 147 148 148 149 149 150 150 151 151 152 152 153 153 154 154 155 155 156 156 157 157 158 158 159 159 160 160 161 161 162 162 163 163 164 164 165 165 166 166 167 167 168 168 169 169 170 170 171 171 172 172 173 173 174 174 175 175 176 176 177 177 178 178 179 179 180 180 181 181 182 182 183 183 184 184 185 185 186 186 187 187 188 188 189 189 190 190 191 191 192 192 193 193 194 194 195 195 196 196 197 197 198 198 199 199 200 200 201 201 202 202 203 203 204 204 205 205 206 206 207 207 208 208 209 209 210 210 211 211 212 212 213 213 214 214 215 215 216 216 217 217 218 218 219 219 220 220 221 221 222 222 223 223 224 224 225 225 226 226 227 227 228 228 229 229 230 230 231 231 232 232 233 233 234 234 235 235 236 236 237 237 238 238 239 239 240 240 241 241 242 242 243 243 244 244 245 245 246 246 247 247 248 248 249 249 250 250 251 251 252 252 253 253 254 254 255 255 256 256 257 257 258 258 259 259 260 260 261 261 262 262 263 263 264 264 265 265 266 266 267 267 268 268 269 269 270 270 271 271 272 272 273 273 274 274 275 275 276 276 277 277 278 278 279 279 280 280 281 281 282 282 283 283 284 284 285 285 286 286 287 287 288 288 289 289 290 290 291 291 292 292 293 293 294 294 295 295 296 296 297 297 298 298 299 299 300 300 301 301 302 302 303 303 304 304 305 305 306 306 307 307 308 308 309 309 310 310 311 311 312 312 313 313 314 314 315 315 316 316 317 317 318 318 319 319 320 320 321 321 322 322 323 323 324 324 325 325 326 326 327 327 328 328 329 329 330 330 331 331 332 332 333 333 334 334 335 335 336 336 337 337 338 338 339 339 340 340 341 341 342 342 343 343 344 344 345 345 346 346 347 347 348 348 349 349 350 350 351 351 352 352 353 353 354 354 355 355 356 356 357 357 358 358 359 359 360 360 361 361 362 362 363 363 364 364 365 365 366 366 367 367 368 368 369 369 370 370 371 371 372 372 373 373 374 374 375 375 376 376 377 377 378 378 379 379 380 380 381 381 382 382 383 383 384 384 385 385 386 386 387 387 388 388 389 389 390 390 391 391 392 392 393 393 394 394 395 395 396 396 397 397 398 398 399 399 400 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525 526 526 527 527 528 528 529 529 530 530 531 531 532 532 533 533 534 534 535 535 536 536 537 537 538 538 539 539 540 540 541 541 542 542 543 543 544 544 545 545 546 546 547 547 548 548 549 549 550 550 551 551 552 552 553 553 554 554 555 555 556 556 557 557 558 558 559 559 560 560 561 561 562 562 563 563 564 564 565 565 566 566 567 567 568 568 569 569 570 570 571 571 572 572 573 573 574 574 575 575 576 576 577 577 578 578 579 579 580 580 581 581 582 582 583 583 584 584 585 585 586 586 587 587 588 588 589 589 590 590 591 591 592 592 593 593 594 594 595 595 596 596 597 597 598 598 599 599 600 600 601 601 602 602 603 603 604 604 605 605 606 606 607 607 608 608 609 609 610 610 611 611 612 612 613 613 614 614 615 615 616 616 617 617 618 618 619 619 620 620 621 621 622 622 623 623 624 624 625 625 626 626 627 627 628 628 629 629 630 630 631 631 632 632 633 633 634 634 635 635 636 636 637 637 638 638 639 639 640 640 641 641 642 642 643 643 644 644 645 645 646 646 647 647 648 648 649 649 650 650 651 651 652 652 653 653 654 654 655 655 656 656 657 657 658 658 659 659 660 660 661 661 662 662 663 663 664 664 665 665 666 666 667 667 668 668 669 669 670 670 671 671 672 672 673 673 674 674 675 675 676 676 677 677 678 678 679 679 680 680 681 681 682 682 683 683 684 684 685 685 686 686 687 687 688 688 689 689 690 690 691 691 692 692 693 693 694 694 695 695 696 696 697 697 698 698 699 699 700 700 701 701 702 702 703 703 704 704 705 705 706 706 707 707 708 708 709 709 710 710 711 711 712 712 713 713 714 714 715 715 716 716 717 717 718 718 719 719 720 720 721 721 722 722 723 723 724 724 725 725 726 726 727 727 728 728 729 729 730 730 731 731 732 732 733 733 734 734 735 735 736 736 737 737 738 738 739 739 740 740 741 741 742 742 743 743 744 744 745 745 746 746 747 747 748 748 749 749 750 750 751 751 752 752 753 753 754 754 755 755 756 756 757 757 758 758 759 759 760 760 761 761 762 762 763 763 764 764 765 765 766 766 767 767 768 768 769 769 770 770 771 771 772 772 773 773 774 774 775 775 776 776 777 777 778 778 779 779 780 780 781 781 782 782 783 783 784 784 785 785</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID1917_6" name="tmp_export_ID1917_6" 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="#ID1917_6-mesh" name="tmp_export_ID1917_6">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="__DarkRed_-material" target="#__DarkRed_-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/家电/Pao+steamer/URDF_Data/meshes/dae/ID1917_6.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID1917_6") at 0x000001EBE8B53908>, meshname=ID1917_6, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID1917_6") at 0x000001EBE8B53908> to D:\1009233120冉惟言\工作\Pao+steamer\URDF_Data\meshes\dae\ID1917_6.dae
+->wrote dae to D:\1009233120冉惟言\工作\Pao+steamer\URDF_Data\meshes\dae\ID1917_6.dae from bpy_types.Mesh

texture_urdf/家电/Pao+steamer/URDF_Data/meshes/dae/ID1991.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>2025-06-18T10:54:05</created>
+    <modified>2025-06-18T10:54:05</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <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>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Color_A01-material" name="Color_A01">
+      <instance_effect url="#Color_A01-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID1991-mesh" name="ID1991">
+      <mesh>
+        <source id="ID1991-mesh-positions">
+          <float_array id="ID1991-mesh-positions-array" count="54">0.4796901 0.06895446 -0.369 0.4946678 0.06895446 -0.363 0.4796901 0.06895446 -0.363 0.4946678 0.06895446 -0.363 0.4796901 0.06895446 -0.369 0.4946678 0.06895446 -0.369 0.4796901 0.09567481 -0.363 0.4796901 0.06895446 -0.369 0.4796901 0.06895446 -0.363 0.4796901 0.06895446 -0.369 0.4946678 0.09567481 -0.363 0.4946678 0.06895446 -0.369 0.4946678 0.09567481 -0.363 0.4796901 0.06895446 -0.369 0.4796901 0.09567481 -0.363 0.4946678 0.09567481 -0.363 0.4946678 0.06895446 -0.363 0.4946678 0.06895446 -0.369</float_array>
+          <technique_common>
+            <accessor source="#ID1991-mesh-positions-array" count="18" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID1991-mesh-normals">
+          <float_array id="ID1991-mesh-normals-array" count="15">0 -1 0 -1 0 0 0 0.2190917 -0.9757043 0 0.2190927 -0.9757041 1 0 0</float_array>
+          <technique_common>
+            <accessor source="#ID1991-mesh-normals-array" count="5" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID1991-mesh-vertices">
+          <input semantic="POSITION" source="#ID1991-mesh-positions"/>
+        </vertices>
+        <triangles material="Color_A01-material" count="6">
+          <input semantic="VERTEX" source="#ID1991-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID1991-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 3 0 4 0 5 0 6 1 7 1 8 1 9 2 10 2 11 2 12 3 13 3 14 3 15 4 16 4 17 4</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID1991" name="tmp_export_ID1991" 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="#ID1991-mesh" name="tmp_export_ID1991">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Color_A01-material" target="#Color_A01-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/家电/Pao+steamer/URDF_Data/meshes/dae/ID1991.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID1991") at 0x000001EBE8B39608>, meshname=ID1991, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID1991") at 0x000001EBE8B39608> to D:\1009233120冉惟言\工作\Pao+steamer\URDF_Data\meshes\dae\ID1991.dae
+->wrote dae to D:\1009233120冉惟言\工作\Pao+steamer\URDF_Data\meshes\dae\ID1991.dae from bpy_types.Mesh

texture_urdf/家电/Pao+steamer/URDF_Data/meshes/dae/ID293_6.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID293_6") at 0x000001EBE8F24808>, meshname=ID293_6, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID293_6") at 0x000001EBE8F24808> to D:\1009233120冉惟言\工作\Pao+steamer\URDF_Data\meshes\dae\ID293_6.dae
+->wrote dae to D:\1009233120冉惟言\工作\Pao+steamer\URDF_Data\meshes\dae\ID293_6.dae from bpy_types.Mesh

texture_urdf/家电/Pao+steamer/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,81 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint0" type="continuous">
+    <limit lower="0" upper="0" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="-1.57080 0.00000 0.00000" xyz="0.14184 0.38187 0.07196"/>
+    <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="0.08000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="-0.00000 1.57080 0.00000" xyz="-0.10151 0.36300 0.09567"/>
+    <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="2.80000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 -1.21693" xyz="-0.15505 0.35950 0.63700"/>
+    <parent link="baselink"/>
+    <child link="link2"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="baselink">
+    <visual name="anniu">
+      <origin rpy="1.57080 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
+      <material name="__DarkRed_"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID1917_6.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+    <visual name="zhuti">
+      <origin rpy="1.57080 0.00000 0.00000" xyz="-0.58869 0.00000 0.00000"/>
+      <material name="Metal_Silver"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID293_6.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual name="xuanniu">
+      <origin rpy="3.14159 0.00000 0.00000" xyz="-0.73052 0.07196 -0.38187"/>
+      <material name="edge_color114114114255"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID1423_1.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="kaiguan">
+      <origin rpy="1.57080 -1.57080 0.00000" xyz="0.09567 -0.36300 -0.48718"/>
+      <material name="Color_A01"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID1991.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link2">
+    <visual name="men">
+      <origin rpy="1.57080 -0.00000 -0.00000" xyz="-0.43364 -0.35950 -0.63700"/>
+      <material name="Translucent_Glass_Blue"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID187_6.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="Color_A01">
+    <color rgba="1.00000 0.00000 0.00000 1.00000"/>
+  </material>
+  <material name="Metal_Silver">
+    <color rgba="1.00000 1.00000 1.00000 1.00000"/>
+  </material>
+  <material name="Translucent_Glass_Blue">
+    <color rgba="0.39216 0.58039 0.92941 1.00000"/>
+  </material>
+  <material name="__DarkRed_">
+    <color rgba="0.54118 0.00000 0.00000 1.00000"/>
+  </material>
+  <material name="edge_color114114114255">
+    <color rgba="0.60000 0.60000 0.60000 1.00000"/>
+  </material>
+</robot>

texture_urdf/家电/Pao+steamer/model/model.mtl

@@ -0,0 +1,387 @@
+# MTL file - created by a modified js OBJExporter
+
+newmtl edge_color000255
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Ka 1 1 1
+Kd 0.6000000238418579 0.6000000238418579 0.6000000238418579
+Ke 0 0 0
+
+newmtl Metal_Silver
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 1 1 1
+Ke 0 0 0
+
+newmtl edge_color234233238255
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Ka 1 1 1
+Kd 0.6000000238418579 0.6000000238418579 0.6000000238418579
+Ke 0 0 0
+
+newmtl material
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 1 1 1
+Ke 0 0 0
+
+newmtl material_0_material
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 0.6431372761726379 0.698039174079895 0.7333332896232605
+Ke 0 0 0
+
+newmtl Translucent_Glass_Blue
+Tr 0.7480353713035583
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 0.3921568989753723 0.584313690662384 0.9294118285179138
+Ke 0 0 0
+
+newmtl Translucent_Glass_Sky_Reflection
+Tr 0.48000001907348633
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 1 1 1
+Ke 0 0 0
+
+newmtl edge_color100149237255
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Ka 1 1 1
+Kd 0.6000000238418579 0.6000000238418579 0.6000000238418579
+Ke 0 0 0
+
+newmtl Color_M05
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 0.4470587968826294 0.4470587968826294 0.4470587968826294
+Ke 0 0 0
+
+newmtl edge_color114114114255
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Ka 1 1 1
+Kd 0.6000000238418579 0.6000000238418579 0.6000000238418579
+Ke 0 0 0
+
+newmtl Color_A05
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 1 0 0
+Ke 0 0 0
+
+newmtl edge_color25500255
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Ka 1 1 1
+Kd 0.6000000238418579 0.6000000238418579 0.6000000238418579
+Ke 0 0 0
+
+newmtl Color_E05
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 1 1 0
+Ke 0 0 0
+
+newmtl edge_color2552550255
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Ka 1 1 1
+Kd 0.6000000238418579 0.6000000238418579 0.6000000238418579
+Ke 0 0 0
+
+newmtl Color_E04
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 1 1 0.19607840478420258
+Ke 0 0 0
+
+newmtl edge_color25525550255
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Ka 1 1 1
+Kd 0.6000000238418579 0.6000000238418579 0.6000000238418579
+Ke 0 0 0
+
+newmtl Metal_Aluminum_Anodized
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 1 1 1
+Ke 0 0 0
+
+newmtl edge_color202209219255
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Ka 1 1 1
+Kd 0.6000000238418579 0.6000000238418579 0.6000000238418579
+Ke 0 0 0
+
+newmtl Metal_Rusted
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 1 1 1
+Ke 0 0 0
+
+newmtl edge_color18411791255
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Ka 1 1 1
+Kd 0.6000000238418579 0.6000000238418579 0.6000000238418579
+Ke 0 0 0
+
+newmtl Metal_Steel_Textured
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 1 1 1
+Ke 0 0 0
+
+newmtl edge_color106110123255
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Ka 1 1 1
+Kd 0.6000000238418579 0.6000000238418579 0.6000000238418579
+Ke 0 0 0
+
+newmtl __White_
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 1 1 1
+Ke 0 0 0
+
+newmtl __Silver_
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 0.7529411911964417 0.7529411911964417 0.7529411911964417
+Ke 0 0 0
+
+newmtl __DarkRed_
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 0.5450980067253113 0 0
+Ke 0 0 0
+
+newmtl Color_A01
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 1 0 0
+Ke 0 0 0
+
+newmtl Color_007
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 0.22745099663734436 0.22745099663734436 0.22745099663734436
+Ke 0 0 0
+
+newmtl Color_001
+Tr 0.0000
+Tf 1.0000 1.0000 1.0000
+illum 1
+Pr 0.9599999785423279
+Pds 1
+Pl 1
+Pccns 1-1
+Pior 1
+Pshc 0 0 0
+Pshr 1
+Psi 1
+Psc 1 1 1
+Ka 1 1 1
+Kd 0.886274516582489 0.886274516582489 0.886274516582489
+Ke 0 0 0

texture_urdf/家电/Stand_Mixer_v1_L2.123c7c67c4cd-2b79-4721-9fec-ea4791eec7ff/Stand_Mixer_v1_L2.123c7c67c4cd-2b79-4721-9fec-ea4791eec7ff/11654_Stand_Mixer_v1_L2.mtl

@@ -0,0 +1,16 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 20.11.2011 18:41:38
+
+newmtl 11654_Stand_Mixer
+	Ns 55.0000
+	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 0.7650 0.7650 0.7650
+	Ke 0.0000 0.0000 0.0000
+	map_Ka 11654_Stand-Mix_diffuse.jpg
+	map_Kd 11654_Stand-Mix_diffuse.jpg

texture_urdf/家电/Stand_Mixer_v1_L2.123c7c67c4cd-2b79-4721-9fec-ea4791eec7ff/URDF_Data/joint_limits.yml

@@ -0,0 +1,30 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 6.0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0
+        }
+      }
+    ],
+    "names": [
+      "Joint1",
+      "Joint2"
+    ]
+  }
+}

texture_urdf/家电/Stand_Mixer_v1_L2.123c7c67c4cd-2b79-4721-9fec-ea4791eec7ff/URDF_Data/meshes/dae/Bowl.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.9999995231628418, 0.9999995231628418, 0.9999995231628418], mesh=<bpy_struct, Mesh("Bowl.001") at 0x0000015F0E36F208>, meshname=Bowl.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Bowl.001") at 0x0000015F0E36F208> to C:\Users\DELL\Desktop\工作完成8\Stand_Mixer_v1_L2.123c7c67c4cd-2b79-4721-9fec-ea4791eec7ff\URDF_Data\meshes\dae\Bowl.001.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成8\Stand_Mixer_v1_L2.123c7c67c4cd-2b79-4721-9fec-ea4791eec7ff\URDF_Data\meshes\dae\Bowl.001.dae from bpy_types.Mesh

texture_urdf/家电/Stand_Mixer_v1_L2.123c7c67c4cd-2b79-4721-9fec-ea4791eec7ff/URDF_Data/meshes/dae/Lever.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.9999999403953552, 0.9999999403953552, 0.9999999403953552], mesh=<bpy_struct, Mesh("Lever") at 0x0000015F0EA7B208>, meshname=Lever, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Lever") at 0x0000015F0EA7B208> to C:\Users\DELL\Desktop\工作完成8\Stand_Mixer_v1_L2.123c7c67c4cd-2b79-4721-9fec-ea4791eec7ff\URDF_Data\meshes\dae\Lever.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成8\Stand_Mixer_v1_L2.123c7c67c4cd-2b79-4721-9fec-ea4791eec7ff\URDF_Data\meshes\dae\Lever.dae from bpy_types.Mesh

texture_urdf/家电/Stand_Mixer_v1_L2.123c7c67c4cd-2b79-4721-9fec-ea4791eec7ff/URDF_Data/meshes/dae/Mixer.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.9999999403953552, 0.9999999403953552, 0.9999999403953552], mesh=<bpy_struct, Mesh("Mixer") at 0x0000015F0EADCF08>, meshname=Mixer, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Mixer") at 0x0000015F0EADCF08> to C:\Users\DELL\Desktop\工作完成8\Stand_Mixer_v1_L2.123c7c67c4cd-2b79-4721-9fec-ea4791eec7ff\URDF_Data\meshes\dae\Mixer.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成8\Stand_Mixer_v1_L2.123c7c67c4cd-2b79-4721-9fec-ea4791eec7ff\URDF_Data\meshes\dae\Mixer.dae from bpy_types.Mesh