Add files using upload-large-folder tool

.gitattributes

@@ -131,3 +131,4 @@ texture_urdf/冰箱/Refrigerator_v1_L3.123c420881d6-7273-44a1-a3a3-b6125a2d5cd7/
 texture_urdf/家具/cd25ceb4b5c35554e7b3699bea77d3cbf6783fec/1.blend1 filter=lfs diff=lfs merge=lfs -text
 texture_urdf/冰箱/Refrigerator_v1_L3.123caac80f95-7e95-4d81-b611-9d84a0b8d4a0/1.blend filter=lfs diff=lfs merge=lfs -text
 texture_urdf/家具/FT047/model.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/剪刀/Component_23/model.dae.blend filter=lfs diff=lfs merge=lfs -text

texture_urdf/剪刀/Component_23/model.dae.blend

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dad8927b9f0cab58a6f516aca102900858d936a4a65e058d64ec693893c21b4
+size 3035919

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID82.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID82") at 0x00000202EA250F08>, meshname=ID82, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID82") at 0x00000202EA250F08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID82.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID82.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID90.001.dae

@@ -0,0 +1,140 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-19T12:01:38</created>
+    <modified>2025-06-19T12:01:38</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.545098 0.5333333 0.6039216 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Color_007-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.4666667 0.4666667 0.4666667 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color808080255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="material_001-material" name="material.001">
+      <instance_effect url="#material_001-effect"/>
+    </material>
+    <material id="Color_007-material" name="Color_007">
+      <instance_effect url="#Color_007-effect"/>
+    </material>
+    <material id="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID90_001-mesh" name="ID90.001">
+      <mesh>
+        <source id="ID90_001-mesh-positions">
+          <float_array id="ID90_001-mesh-positions-array" count="216">0.04169857 0.01952916 0.02905273 0.04169857 0.02107679 0.02905273 0.04159671 0.02030301 0.02905273 0.04199725 0.01880812 0.02905273 0.04199725 0.02179789 0.02905273 0.04247236 0.01818889 0.02905273 0.04247236 0.02241706 0.02905273 0.04309159 0.02289217 0.02905273 0.04309159 0.01771378 0.02905273 0.04381263 0.02319085 0.02905273 0.04381263 0.0174151 0.02905273 0.04458642 0.01731324 0.02905273 0.04458642 0.02329272 0.02905273 0.04536026 0.0174151 0.02905273 0.04536026 0.02319085 0.02905273 0.0460813 0.01771378 0.02905273 0.0460813 0.02289217 0.02905273 0.04670053 0.02241706 0.02905273 0.04670053 0.01818889 0.02905273 0.04717564 0.02179789 0.02905273 0.04717564 0.01880812 0.02905273 0.04747432 0.01952916 0.02905273 0.04747432 0.02107679 0.02905273 0.04757618 0.02030301 0.02905273 0.04757618 0.02030301 0.02905273 0.04747432 0.01952916 0.02905273 0.04747432 0.02107679 0.02905273 0.04717564 0.02179789 0.02905273 0.04717564 0.01880812 0.02905273 0.04670053 0.01818889 0.02905273 0.04670053 0.02241706 0.02905273 0.0460813 0.01771378 0.02905273 0.0460813 0.02289217 0.02905273 0.04536026 0.02319085 0.02905273 0.04536026 0.0174151 0.02905273 0.04458642 0.02329272 0.02905273 0.04458642 0.01731324 0.02905273 0.04381263 0.02319085 0.02905273 0.04381263 0.0174151 0.02905273 0.04309159 0.01771378 0.02905273 0.04309159 0.02289217 0.02905273 0.04247236 0.01818889 0.02905273 0.04247236 0.02241706 0.02905273 0.04199725 0.02179789 0.02905273 0.04199725 0.01880812 0.02905273 0.04169857 0.02107679 0.02905273 0.04169857 0.01952916 0.02905273 0.04159671 0.02030301 0.02905273 0.04169857 0.02107679 0.02905273 0.04159671 0.02030301 0.02905273 0.04169857 0.01952916 0.02905273 0.04199725 0.01880812 0.02905273 0.04247236 0.01818889 0.02905273 0.04309159 0.01771378 0.02905273 0.04381263 0.0174151 0.02905273 0.04458642 0.01731324 0.02905273 0.04536026 0.0174151 0.02905273 0.0460813 0.01771378 0.02905273 0.04670053 0.01818889 0.02905273 0.04717564 0.01880812 0.02905273 0.04747432 0.01952916 0.02905273 0.04757618 0.02030301 0.02905273 0.04747432 0.02107679 0.02905273 0.04717564 0.02179789 0.02905273 0.04670053 0.02241706 0.02905273 0.0460813 0.02289217 0.02905273 0.04536026 0.02319085 0.02905273 0.04458642 0.02329272 0.02905273 0.04381263 0.02319085 0.02905273 0.04309159 0.02289217 0.02905273 0.04247236 0.02241706 0.02905273 0.04199725 0.02179789 0.02905273</float_array>
+          <technique_common>
+            <accessor source="#ID90_001-mesh-positions-array" count="72" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID90_001-mesh-normals">
+          <float_array id="ID90_001-mesh-normals-array" count="66">0 0 1 7.68303e-6 0 1 -1.44873e-5 0 1 1.11165e-5 0 1 -6.24019e-6 0 1 3.93087e-6 0 1 1.42451e-6 0 1 -1.37594e-6 0 1 -3.93085e-6 0 1 -3.47394e-6 0 1 7.24376e-6 0 1 -7.68315e-6 0 1 8.14799e-6 0 1 0 0 -1 1.02442e-5 0 -1 -1.44875e-5 0 -1 6.98818e-6 0 -1 -6.98822e-6 0 -1 9.07664e-6 0 -1 -1.11165e-5 0 -1 7.24365e-6 0 -1 -1.0244e-5 0 -1</float_array>
+          <technique_common>
+            <accessor source="#ID90_001-mesh-normals-array" count="22" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID90_001-mesh-vertices">
+          <input semantic="POSITION" source="#ID90_001-mesh-positions"/>
+        </vertices>
+        <lines count="24">
+          <input semantic="VERTEX" source="#ID90_001-mesh-vertices" offset="0"/>
+          <p>49 48 50 49 51 50 52 51 53 52 54 53 55 54 56 55 57 56 58 57 59 58 60 59 61 60 62 61 63 62 64 63 65 64 66 65 67 66 68 67 69 68 70 69 71 70 48 71</p>
+        </lines>
+        <triangles material="material_001-material" count="22">
+          <input semantic="VERTEX" source="#ID90_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID90_001-mesh-normals" offset="1"/>
+          <p>24 13 25 13 26 13 26 13 25 13 27 13 25 13 28 13 27 13 28 14 29 14 27 14 27 15 29 15 30 15 29 13 31 13 30 13 30 13 31 13 32 13 32 13 31 13 33 13 31 16 34 16 33 16 33 13 34 13 35 13 34 13 36 13 35 13 35 13 36 13 37 13 36 13 38 13 37 13 38 17 39 17 37 17 37 13 39 13 40 13 39 18 41 18 40 18 40 19 41 19 42 19 42 20 41 20 43 20 41 21 44 21 43 21 43 13 44 13 45 13 44 13 46 13 45 13 47 13 45 13 46 13</p>
+        </triangles>
+        <triangles material="Color_007-material" count="22">
+          <input semantic="VERTEX" source="#ID90_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID90_001-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 1 0 0 0 3 0 1 0 3 0 4 0 4 1 3 1 5 1 4 2 5 2 6 2 6 3 5 3 7 3 7 4 5 4 8 4 7 0 8 0 9 0 9 5 8 5 10 5 9 6 10 6 11 6 9 0 11 0 12 0 12 7 11 7 13 7 12 0 13 0 14 0 14 8 13 8 15 8 14 0 15 0 16 0 16 0 15 0 17 0 17 9 15 9 18 9 17 10 18 10 19 10 19 11 18 11 20 11 19 12 20 12 21 12 19 0 21 0 22 0 22 0 21 0 23 0</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID90_001" name="tmp_export_ID90.001" 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="#ID90_001-mesh" name="tmp_export_ID90.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material_001-material" target="#material_001-material"/>
+              <instance_material symbol="Color_007-material" target="#Color_007-material"/>
+              <instance_material symbol="edge_color808080255-material" target="#edge_color808080255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID90.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID90.001") at 0x00000202EA1B7208>, meshname=ID90.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID90.001") at 0x00000202EA1B7208> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID90.001.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID90.001.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID98.001.dae

@@ -0,0 +1,161 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-19T12:01:38</created>
+    <modified>2025-06-19T12:01:38</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.545098 0.5333333 0.6039216 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Color_007-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.4666667 0.4666667 0.4666667 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color808080255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color119119119255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="material_001-material" name="material.001">
+      <instance_effect url="#material_001-effect"/>
+    </material>
+    <material id="Color_007-material" name="Color_007">
+      <instance_effect url="#Color_007-effect"/>
+    </material>
+    <material id="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+    <material id="edge_color119119119255-material" name="edge_color119119119255">
+      <instance_effect url="#edge_color119119119255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID98_001-mesh" name="ID98.001">
+      <mesh>
+        <source id="ID98_001-mesh-positions">
+          <float_array id="ID98_001-mesh-positions-array" count="432">0.04757618 0.02030301 0.02905273 0.04721605 0.01959836 0.02868962 0.04747432 0.01952916 0.02905273 0.0473088 0.02030301 0.02868962 0.0473088 0.02030301 0.02868962 0.04757618 0.02030301 0.02905273 0.04721605 0.01959836 0.02868962 0.04747432 0.01952916 0.02905273 0.04747432 0.01952916 0.02905273 0.04757618 0.02030301 0.02905273 0.0473088 0.02030301 0.02868962 0.04721605 0.01959836 0.02868962 0.04747432 0.02107679 0.02905273 0.04721605 0.02100759 0.02868962 0.04721605 0.02100759 0.02868962 0.04747432 0.02107679 0.02905273 0.04747432 0.02107679 0.02905273 0.04721605 0.02100759 0.02868962 0.04694408 0.01894181 0.02868962 0.04717564 0.01880812 0.02905273 0.04694408 0.01894181 0.02868962 0.04717564 0.01880812 0.02905273 0.04717564 0.01880812 0.02905273 0.04694408 0.01894181 0.02868962 0.04694408 0.0216642 0.02868962 0.04717564 0.02179789 0.02905273 0.04717564 0.02179789 0.02905273 0.04694408 0.0216642 0.02868962 0.04717564 0.02179789 0.02905273 0.04694408 0.0216642 0.02868962 0.04651147 0.01837795 0.02868962 0.04670053 0.01818889 0.02905273 0.04651147 0.01837795 0.02868962 0.04670053 0.01818889 0.02905273 0.04670053 0.01818889 0.02905273 0.04651147 0.01837795 0.02868962 0.04651147 0.022228 0.02868962 0.04670053 0.02241706 0.02905273 0.04670053 0.02241706 0.02905273 0.04651147 0.022228 0.02868962 0.04670053 0.02241706 0.02905273 0.04651147 0.022228 0.02868962 0.0460813 0.01771378 0.02905273 0.04594761 0.01794534 0.02868962 0.0460813 0.01771378 0.02905273 0.04594761 0.01794534 0.02868962 0.0460813 0.01771378 0.02905273 0.04594761 0.01794534 0.02868962 0.04594761 0.02266061 0.02868962 0.0460813 0.02289217 0.02905273 0.0460813 0.02289217 0.02905273 0.04594761 0.02266061 0.02868962 0.0460813 0.02289217 0.02905273 0.04594761 0.02266061 0.02868962 0.04529106 0.01767337 0.02868962 0.04536026 0.0174151 0.02905273 0.04536026 0.0174151 0.02905273 0.04529106 0.01767337 0.02868962 0.04536026 0.0174151 0.02905273 0.04529106 0.01767337 0.02868962 0.04529106 0.02293258 0.02868962 0.04536026 0.02319085 0.02905273 0.04536026 0.02319085 0.02905273 0.04529106 0.02293258 0.02868962 0.04536026 0.02319085 0.02905273 0.04529106 0.02293258 0.02868962 0.04458642 0.01758062 0.02868962 0.04458642 0.01731324 0.02905273 0.04458642 0.01731324 0.02905273 0.04458642 0.01758062 0.02868962 0.04458642 0.01731324 0.02905273 0.04458642 0.01758062 0.02868962 0.04458642 0.02302539 0.02868962 0.04458642 0.02329272 0.02905273 0.04458642 0.02329272 0.02905273 0.04458642 0.02302539 0.02868962 0.04458642 0.02329272 0.02905273 0.04458642 0.02302539 0.02868962 0.04388183 0.01767337 0.02868962 0.04381263 0.0174151 0.02905273 0.04381263 0.0174151 0.02905273 0.04388183 0.01767337 0.02868962 0.04381263 0.0174151 0.02905273 0.04388183 0.01767337 0.02868962 0.04388183 0.02293258 0.02868962 0.04381263 0.02319085 0.02905273 0.04381263 0.02319085 0.02905273 0.04388183 0.02293258 0.02868962 0.04381263 0.02319085 0.02905273 0.04388183 0.02293258 0.02868962 0.04322528 0.01794534 0.02868962 0.04309159 0.01771378 0.02905273 0.04309159 0.01771378 0.02905273 0.04322528 0.01794534 0.02868962 0.04309159 0.01771378 0.02905273 0.04322528 0.01794534 0.02868962 0.04322528 0.02266061 0.02868962 0.04309159 0.02289217 0.02905273 0.04309159 0.02289217 0.02905273 0.04322528 0.02266061 0.02868962 0.04309159 0.02289217 0.02905273 0.04322528 0.02266061 0.02868962 0.04266142 0.01837795 0.02868962 0.04247236 0.01818889 0.02905273 0.04247236 0.01818889 0.02905273 0.04266142 0.01837795 0.02868962 0.04247236 0.01818889 0.02905273 0.04266142 0.01837795 0.02868962 0.04247236 0.02241706 0.02905273 0.04266142 0.022228 0.02868962 0.04247236 0.02241706 0.02905273 0.04266142 0.022228 0.02868962 0.04247236 0.02241706 0.02905273 0.04266142 0.022228 0.02868962 0.04199725 0.01880812 0.02905273 0.04222881 0.01894181 0.02868962 0.04222881 0.01894181 0.02868962 0.04199725 0.01880812 0.02905273 0.04199725 0.01880812 0.02905273 0.04222881 0.01894181 0.02868962 0.04199725 0.02179789 0.02905273 0.04222881 0.0216642 0.02868962 0.04199725 0.02179789 0.02905273 0.04222881 0.0216642 0.02868962 0.04199725 0.02179789 0.02905273 0.04222881 0.0216642 0.02868962 0.04169857 0.01952916 0.02905273 0.04195684 0.01959836 0.02868962 0.04195684 0.01959836 0.02868962 0.04169857 0.01952916 0.02905273 0.04169857 0.01952916 0.02905273 0.04195684 0.01959836 0.02868962 0.04169857 0.02107679 0.02905273 0.04195684 0.02100759 0.02868962 0.04169857 0.02107679 0.02905273 0.04195684 0.02100759 0.02868962 0.04169857 0.02107679 0.02905273 0.04195684 0.02100759 0.02868962 0.04159671 0.02030301 0.02905273 0.04186409 0.02030301 0.02868962 0.04186409 0.02030301 0.02868962 0.04159671 0.02030301 0.02905273 0.04159671 0.02030301 0.02905273 0.04186409 0.02030301 0.02868962</float_array>
+          <technique_common>
+            <accessor source="#ID98_001-mesh-positions-array" count="144" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
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+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID98_001-mesh-vertices">
+          <input semantic="POSITION" source="#ID98_001-mesh-positions"/>
+        </vertices>
+        <lines count="72">
+          <input semantic="VERTEX" source="#ID98_001-mesh-vertices" offset="0"/>
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+        </lines>
+        <triangles material="material_001-material" count="48">
+          <input semantic="VERTEX" source="#ID98_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID98_001-mesh-normals" offset="1"/>
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+        </triangles>
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+  </library_geometries>
+  <library_visual_scenes>
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+      <node id="tmp_export_ID98_001" name="tmp_export_ID98.001" 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="#ID98_001-mesh" name="tmp_export_ID98.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material_001-material" target="#material_001-material"/>
+              <instance_material symbol="Color_007-material" target="#Color_007-material"/>
+              <instance_material symbol="edge_color808080255-material" target="#edge_color808080255-material"/>
+              <instance_material symbol="edge_color119119119255-material" target="#edge_color119119119255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID98.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID98.001") at 0x00000202EA1B4F08>, meshname=ID98.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID98.001") at 0x00000202EA1B4F08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID98.001.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID98.001.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,751 @@
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+  <joint name="joint0" type="revolute">
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+    <origin rpy="-1.82161 0.00000 0.00000" xyz="-0.01603 0.09133 0.25607"/>
+    <parent link="baselink"/>
+    <child link="link0"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint1" type="prismatic">
+    <limit lower="0.00000" upper="0.02000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="-0.23516 0.10422 0.46619"/>
+    <parent link="baselink"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 -1.00000"/>
+  </joint>
+  <link name="baselink">
+    <visual name="group_6">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-0.19443 0.06468 0.01856"/>
+      <material name="Color_A01"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID436.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual name="group_16.002">
+      <origin rpy="1.82161 0.00000 0.00000" xyz="-0.01236 0.03151 0.00949"/>
+      <material name="material.001"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID760.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="group_0">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.10978 -0.56108"/>
+      <material name="material.001"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID792.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+    <visual name="group_0.002">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.10978 -0.56108"/>
+      <material name="edge_color808080255"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID804.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+    <visual name="group_0.003">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.10978 -0.56108"/>
+      <material name="edge_color808080255"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID808.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+    <visual name="group_1">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.10505 0.17948 -0.00265"/>
+      <material name="Color_A01"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID5.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+    <visual name="group_10">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.29113 0.19141 -0.06062"/>
+      <material name="Color_A01"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID640.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+    <visual name="group_10.001">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.29113 0.19141 -0.06062"/>
+      <material name="Color_A01"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID648.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+    <visual name="group_11.003">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
+      <material name="edge_color119119119255"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID681.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+    <visual name="group_2">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.17297 0.19454 -0.04737"/>
+      <material name="Color_A01"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID20.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+    <visual name="group_2.001">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.17297 0.19454 -0.04737"/>
+      <material name="Color_A01"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID28.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+    <visual name="group_2.002">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.17297 0.19454 -0.04737"/>
+      <material name="Color_A01"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID36.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+    <visual name="group_2.003">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.17297 0.19454 -0.04737"/>
+      <material name="material.001"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID46.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+    <visual name="group_2.004">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.17297 0.19454 -0.04737"/>
+      <material name="material.001"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID58.dae" scale="1.00000 1.00000 1.00000"/>
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+    </visual>
+    <visual name="group_2.005">
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+      <material name="material.001"/>
+      <geometry>
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+      <material name="Color_A01"/>
+      <geometry>
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+    </visual>
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+      <material name="material.001"/>
+      <geometry>
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+      <material name="material.001"/>
+      <geometry>
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+      <material name="edge_color119119119255"/>
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+      <material name="edge_color119119119255"/>
+      <geometry>
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+      <material name="edge_color119119119255"/>
+      <geometry>
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+      <material name="edge_color119119119255"/>
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+      <material name="edge_color119119119255"/>
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+      <material name="edge_color119119119255"/>
+      <geometry>
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+    </visual>
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+      <material name="edge_color119119119255"/>
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+      <material name="edge_color119119119255"/>
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+      <material name="edge_color119119119255"/>
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texture_urdf/工具/Bar+Syen/URDF_Data/joint_limits.yml

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+{
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+}

texture_urdf/工具/Bar+Syen/URDF_Data/meshes/dae/ID152.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID152") at 0x000002488C325608>, meshname=ID152, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID152") at 0x000002488C325608> to D:\1009233120冉惟言\工作\Bar+Syen\URDF_Data\meshes\dae\ID152.dae
+->wrote dae to D:\1009233120冉惟言\工作\Bar+Syen\URDF_Data\meshes\dae\ID152.dae from bpy_types.Mesh

texture_urdf/工具/Bar+Syen/URDF_Data/meshes/dae/ID35.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID35") at 0x0000024879FC9608>, meshname=ID35, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID35") at 0x0000024879FC9608> to D:\1009233120冉惟言\工作\Bar+Syen\URDF_Data\meshes\dae\ID35.dae
+->wrote dae to D:\1009233120冉惟言\工作\Bar+Syen\URDF_Data\meshes\dae\ID35.dae from bpy_types.Mesh

texture_urdf/工具/Bar+Syen/URDF_Data/meshes/dae/ID93.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID93") at 0x0000024879DC5608>, meshname=ID93, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID93") at 0x0000024879DC5608> to D:\1009233120冉惟言\工作\Bar+Syen\URDF_Data\meshes\dae\ID93.dae
+->wrote dae to D:\1009233120冉惟言\工作\Bar+Syen\URDF_Data\meshes\dae\ID93.dae from bpy_types.Mesh

texture_urdf/工具/Bar+Syen/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,50 @@
+<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="5.42253 -2.97802 2.01305"/>
+    <parent link="baselink"/>
+    <child link="link0"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint1" type="continuous">
+    <limit lower="0" upper="0" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="-1.57080 0.00000 0.00000" xyz="5.42253 3.42080 2.01305"/>
+    <parent link="baselink"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="baselink">
+    <visual name="group_3.001">
+      <origin rpy="3.14159 -0.00000 3.14159" xyz="5.35725 3.42080 1.95653"/>
+      <material name="Metal_Corrugated_Shiny"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID93.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual name="group_2.001">
+      <origin rpy="-1.57080 0.00000 0.00000" xyz="-2.13692 -2.13692 -0.13842"/>
+      <material name="Preto"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID35.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="group_8">
+      <origin rpy="1.57080 0.00000 3.14159" xyz="-0.17296 0.17326 -0.11531"/>
+      <material name="Metal_Corrugated_Shiny"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID152.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="Metal_Corrugated_Shiny">
+    <texture filename="../../model/Metal_Corrugated_Shiny.jpg"/>
+    <color rgba="0.80000 0.80000 0.80000 1.00000"/>
+  </material>
+  <material name="Preto">
+    <color rgba="0.11765 0.11765 0.11765 1.00000"/>
+  </material>
+</robot>

texture_urdf/工具/Canetas+BIC/URDF_Data/joint_limits.yml

@@ -0,0 +1,19 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 1.0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "joint0"
+    ]
+  }
+}

texture_urdf/工具/Canetas+BIC/URDF_Data/meshes/dae/ID112.dae

@@ -0,0 +1,114 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-19T10:10:14</created>
+    <modified>2025-06-19T10:10:14</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="_0019_Crimson-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8627451 0 0.05882353 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color220015255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="_0019_Crimson-material" name="_0019_Crimson">
+      <instance_effect url="#_0019_Crimson-effect"/>
+    </material>
+    <material id="edge_color220015255-material" name="edge_color220015255">
+      <instance_effect url="#edge_color220015255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID112-mesh" name="ID112">
+      <mesh>
+        <source id="ID112-mesh-positions">
+          <float_array id="ID112-mesh-positions-array" count="2523">0.06752121 -3.14529e-4 0.135044 0.04708278 0.2162117 0.1192992 0.04168194 -1.94164e-4 0.1299042 0.06852936 0.2161118 0.1235652 0.06852936 0.2161118 0.1235652 0.06752121 -3.14529e-4 0.135044 0.04708278 0.2162117 0.1192992 0.04168194 -1.94164e-4 0.1299042 0.04168194 -1.94164e-4 0.1299042 0.06752121 -3.14529e-4 0.135044 0.06852936 0.2161118 0.1235652 0.04708278 0.2162117 0.1192992 0.09336048 -4.34894e-4 0.1299042 0.08997595 0.2160119 0.1192992 0.08997595 0.2160119 0.1192992 0.09336048 -4.34894e-4 0.1299042 0.09336048 -4.34894e-4 0.1299042 0.08997595 0.2160119 0.1192992 0.0541467 0.3514202 0.103766 0.06915938 0.3513503 0.1067522 0.06915938 0.3513503 0.1067522 0.0541467 0.3514202 0.103766 0.06915938 0.3513503 0.1067522 0.0541467 0.3514202 0.103766 0.02890127 0.2162964 0.1071506 0.01977646 -9.21234e-5 0.1152672 0.02890127 0.2162964 0.1071506 0.01977646 -9.21234e-5 0.1152672 0.01977646 -9.21234e-5 0.1152672 0.02890127 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795 565 797 567 794 564 798 568 794 564 797 567 793 563 795 565 799 569 796 566 800 570 796 566 799 569 801 571 798 568 802 572 798 568 801 571 797 567 799 569 803 573 800 570 804 574 800 570 803 573 805 575 802 572 806 576 802 572 805 575 801 571 803 573 807 577 804 574 808 578 804 574 807 577 805 575 809 579 810 580 809 579 805 575 806 576 808 578 807 577 811 581 812 582 811 581 807 577 810 580 813 583 814 584 813 583 810 580 809 579 811 581 812 582 815 585 816 586 815 585 812 582 814 584 817 587 818 588 817 587 814 584 813 583 815 585 816 586 819 589 820 590 819 589 816 586 818 588 821 591 822 592 821 591 818 588 817 587 819 589 820 590 823 593 824 594 823 593 820 590 825 595 821 591 826 596 821 591 825 595 822 592 824 594 827 597 823 593 828 598 823 593 827 597 829 599 826 596 830 600 826 596 829 599 825 595 827 597 831 601 828 598 832 602 828 598 831 601 833 603 834 603 835 603 834 604 833 604 836 604 837 605 838 605 839 605 840 606 839 606 838 606</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID112" name="tmp_export_ID112" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID112-mesh" name="tmp_export_ID112">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="_0019_Crimson-material" target="#_0019_Crimson-material"/>
+              <instance_material symbol="edge_color220015255-material" target="#edge_color220015255-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/Canetas+BIC/URDF_Data/meshes/dae/ID112.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID112") at 0x000001EFE87AA408>, meshname=ID112, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID112") at 0x000001EFE87AA408> to D:\1009233120冉惟言\工作\Canetas+BIC\URDF_Data\meshes\dae\ID112.dae
+->wrote dae to D:\1009233120冉惟言\工作\Canetas+BIC\URDF_Data\meshes\dae\ID112.dae from bpy_types.Mesh

texture_urdf/工具/Canetas+BIC/URDF_Data/meshes/dae/ID157.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID157") at 0x000001EFED611D08>, meshname=ID157, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID157") at 0x000001EFED611D08> to D:\1009233120冉惟言\工作\Canetas+BIC\URDF_Data\meshes\dae\ID157.dae
+->wrote dae to D:\1009233120冉惟言\工作\Canetas+BIC\URDF_Data\meshes\dae\ID157.dae from bpy_types.Mesh

texture_urdf/工具/Canetas+BIC/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,33 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint0" type="prismatic">
+    <limit lower="0.00000" upper="1.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="1.57080 0.00000 0.00000" xyz="0.00000 0.81156 0.00000"/>
+    <parent link="baselink"/>
+    <child link="link0"/>
+    <axis xyz="0.00000 0.00000 -1.00000"/>
+  </joint>
+  <link name="baselink">
+    <visual name="group_7.001">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-0.07310 -1.19835 -0.01898"/>
+      <material name="_0128_White"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID157.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual name="group_6">
+      <origin rpy="-1.57080 0.00000 0.00000" xyz="-0.07075 -0.03134 0.68431"/>
+      <material name="_0019_Crimson"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID112.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="_0019_Crimson">
+    <color rgba="0.86275 0.00000 0.05882 1.00000"/>
+  </material>
+  <material name="_0128_White">
+    <color rgba="0.60392 0.60392 0.60392 0.40000"/>
+  </material>
+</robot>

texture_urdf/工具/PERICO/URDF_Data/joint_limits.yml

@@ -0,0 +1,19 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 5.293000221252441,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "joint1"
+    ]
+  }
+}

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

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[2.0, 2.0, 2.0], mesh=<bpy_struct, Mesh("ID106.001") at 0x000001C1AF9D5608>, meshname=ID106.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID106.001") at 0x000001C1AF9D5608> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID106.001.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID106.001.dae from bpy_types.Mesh

texture_urdf/工具/PERICO/URDF_Data/meshes/dae/ID106.024.dae

@@ -0,0 +1,262 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-17T16:50:04</created>
+    <modified>2025-06-17T16:50:04</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="material_0_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">1 1 1 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Metal_Seamed-effect">
+      <profile_COMMON>
+        <newparam sid="Metal_Seamed_jpg-surface">
+          <surface type="2D">
+            <init_from>Metal_Seamed_jpg</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Metal_Seamed_jpg-sampler">
+          <sampler2D>
+            <source>Metal_Seamed_jpg-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="Metal_Seamed_jpg-sampler" texcoord="ID116"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color000255_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Metal_Aluminum_Anodized_1-effect">
+      <profile_COMMON>
+        <newparam sid="Metal_Aluminum_Anodized_1_jpg-surface">
+          <surface type="2D">
+            <init_from>Metal_Aluminum_Anodized_1_jpg</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Metal_Aluminum_Anodized_1_jpg-sampler">
+          <sampler2D>
+            <source>Metal_Aluminum_Anodized_1_jpg-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="Metal_Aluminum_Anodized_1_jpg-sampler" texcoord="ID116"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color118119115255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="Metal_Aluminum_Anodized_1_jpg" name="Metal_Aluminum_Anodized_1_jpg">
+      <init_from>Metal_Aluminum_Anodized_1.jpg</init_from>
+    </image>
+    <image id="Metal_Seamed_jpg" name="Metal_Seamed_jpg">
+      <init_from>Metal_Seamed.jpg</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="material_0_002-material" name="material_0.002">
+      <instance_effect url="#material_0_002-effect"/>
+    </material>
+    <material id="Metal_Seamed-material" name="Metal_Seamed">
+      <instance_effect url="#Metal_Seamed-effect"/>
+    </material>
+    <material id="edge_color000255_002-material" name="edge_color000255.002">
+      <instance_effect url="#edge_color000255_002-effect"/>
+    </material>
+    <material id="Metal_Aluminum_Anodized_1-material" name="Metal_Aluminum_Anodized_1">
+      <instance_effect url="#Metal_Aluminum_Anodized_1-effect"/>
+    </material>
+    <material id="edge_color118119115255-material" name="edge_color118119115255">
+      <instance_effect url="#edge_color118119115255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID106_024-mesh" name="ID106.024">
+      <mesh>
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4.084789</float_array>
+          <technique_common>
+            <accessor source="#ID106_024-mesh-map-2-array" count="342" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID106_024-mesh-vertices">
+          <input semantic="POSITION" source="#ID106_024-mesh-positions"/>
+        </vertices>
+        <lines count="53">
+          <input semantic="VERTEX" source="#ID106_024-mesh-vertices" offset="0"/>
+          <p>25 24 24 26 27 24 28 27 27 29 29 26 29 30 30 31 30 32 32 33 32 34 34 35 34 36 36 37 36 38 38 39 38 28 39 40 37 40 40 25 35 37 33 35 31 33 26 31 28 41 42 28 43 42 25 43 41 25 163 162 162 164 164 165 165 166 166 167 167 168 168 169 169 170 170 171 171 172 172 173 173 174 174 175 175 176 176 177 177 178 178 179 179 180 180 181 181 182 182 183 183 184 184 185 185 163</p>
+        </lines>
+        <triangles material="Metal_Seamed-material" count="57">
+          <input semantic="VERTEX" source="#ID106_024-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID106_024-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#ID106_024-mesh-map-0" offset="2" set="0"/>
+          <input semantic="TEXCOORD" source="#ID106_024-mesh-map-1" offset="2" set="1"/>
+          <input semantic="TEXCOORD" source="#ID106_024-mesh-map-2" offset="2" set="2"/>
+          <p>0 0 0 2 0 1 1 0 2 2 1 3 0 1 4 3 1 5 2 2 6 3 2 7 4 2 8 2 2 9 4 2 10 5 2 11 2 2 12 5 2 13 6 2 14 2 3 15 6 3 16 7 3 17 8 4 18 10 4 19 9 4 20 10 5 21 8 5 22 11 5 23 11 5 24 8 5 25 12 5 26 12 5 27 8 5 28 13 5 29 13 5 30 8 5 31 14 5 32 14 5 33 8 5 34 15 5 35 44 6 54 46 6 55 45 6 56 46 7 57 44 7 58 47 7 59 46 8 60 47 8 61 48 8 62 54 12 72 56 12 73 55 12 74 56 12 75 54 12 76 57 12 77 62 12 84 64 12 85 63 12 86 64 12 87 62 12 88 65 12 89 70 12 96 72 12 97 71 12 98 72 12 99 70 12 100 73 12 101 78 14 108 80 14 109 79 14 110 80 15 111 78 15 112 81 15 113 86 18 120 88 18 121 87 18 122 88 19 123 86 19 124 89 19 125 94 22 132 96 22 133 95 22 134 96 23 135 94 23 136 97 23 137 97 24 138 94 24 139 98 24 140 104 28 150 106 28 151 105 28 152 106 29 153 104 29 154 107 29 155 107 30 156 104 30 157 108 30 158 107 31 159 108 31 160 109 31 161 109 32 162 108 32 163 110 32 164 110 33 165 108 33 166 111 33 167 111 34 168 108 34 169 112 34 170 112 35 171 108 35 172 113 35 173 113 36 174 108 36 175 114 36 176 115 37 177 114 37 178 108 37 179 116 38 180 117 38 181 115 38 182 115 39 183 117 39 184 118 39 185 115 40 186 118 40 187 119 40 188 115 41 189 119 41 190 120 41 191 115 42 192 120 42 193 121 42 194 115 43 195 121 43 196 122 43 197 115 44 198 122 44 199 114 44 200 117 45 201 116 45 202 123 45 203 123 46 204 116 46 205 124 46 206 124 47 207 116 47 208 125 47 209 125 48 210 116 48 211 126 48 212 126 49 213 116 49 214 127 49 215 127 50 216 116 50 217 128 50 218 116 51 219 129 51 220 128 51 221 116 52 222 130 52 223 129 52 224 116 53 225 131 53 226 130 53 227 116 54 228 132 54 229 131 54 230 116 55 231 106 55 232 132 55 233 105 56 234 106 56 235 116 56 236</p>
+        </triangles>
+        <triangles material="Metal_Aluminum_Anodized_1-material" count="57">
+          <input semantic="VERTEX" source="#ID106_024-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID106_024-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#ID106_024-mesh-map-0" offset="2" set="0"/>
+          <input semantic="TEXCOORD" source="#ID106_024-mesh-map-1" offset="2" set="1"/>
+          <input semantic="TEXCOORD" source="#ID106_024-mesh-map-2" offset="2" set="2"/>
+          <p>16 2 36 18 2 37 17 2 38 17 2 39 18 2 40 19 2 41 19 2 42 18 2 43 20 2 44 20 2 45 18 2 46 21 2 47 21 2 48 18 2 49 22 2 50 23 2 51 22 2 52 18 2 53 49 9 63 51 9 64 50 9 65 51 10 66 52 10 67 50 10 68 53 11 69 50 11 70 52 11 71 58 13 78 60 13 79 59 13 80 61 13 81 59 13 82 60 13 83 66 13 90 68 13 91 67 13 92 69 13 93 67 13 94 68 13 95 74 13 102 76 13 103 75 13 104 77 13 105 75 13 106 76 13 107 82 16 114 84 16 115 83 16 116 85 17 117 83 17 118 84 17 119 90 20 126 92 20 127 91 20 128 93 21 129 91 21 130 92 21 131 99 25 141 101 25 142 100 25 143 100 26 144 101 26 145 102 26 146 103 27 147 102 27 148 101 27 149 133 57 237 135 57 238 134 57 239 135 58 240 133 58 241 136 58 242 136 59 243 133 59 244 137 59 245 137 60 246 133 60 247 138 60 248 138 61 249 133 61 250 139 61 251 139 62 252 133 62 253 140 62 254 140 63 255 133 63 256 141 63 257 133 64 258 142 64 259 141 64 260 141 65 261 142 65 262 143 65 263 144 66 264 143 66 265 142 66 266 145 67 267 143 67 268 144 67 269 146 68 270 153 68 271 145 68 272 146 69 273 145 69 274 147 69 275 147 70 276 145 70 277 148 70 278 148 71 279 145 71 280 149 71 281 149 72 282 145 72 283 150 72 284 150 73 285 145 73 286 151 73 287 151 74 288 145 74 289 152 74 290 134 75 291 152 75 292 145 75 293 153 76 294 154 76 295 145 76 296 154 77 297 155 77 298 145 77 299 155 78 300 156 78 301 145 78 302 156 79 303 143 79 304 145 79 305 157 80 306 152 80 307 134 80 308 158 81 309 157 81 310 134 81 311 159 82 312 158 82 313 134 82 314 160 83 315 159 83 316 134 83 317 161 84 318 160 84 319 134 84 320 135 85 321 161 85 322 134 85 323 186 86 324 188 86 325 187 86 326 188 5 327 189 5 328 187 5 329 189 5 330 190 5 331 187 5 332 190 5 333 191 5 334 187 5 335 191 87 336 192 87 337 187 87 338 193 5 339 187 5 340 192 5 341</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID106_024" name="tmp_export_ID106.024" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID106_024-mesh" name="tmp_export_ID106.024">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material_0_002-material" target="#material_0_002-material">
+                <bind_vertex_input semantic="ID116" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="ID156" input_semantic="TEXCOORD" input_set="1"/>
+                <bind_vertex_input semantic="ID136" input_semantic="TEXCOORD" input_set="2"/>
+              </instance_material>
+              <instance_material symbol="Metal_Seamed-material" target="#Metal_Seamed-material">
+                <bind_vertex_input semantic="ID116" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="ID156" input_semantic="TEXCOORD" input_set="1"/>
+                <bind_vertex_input semantic="ID136" input_semantic="TEXCOORD" input_set="2"/>
+              </instance_material>
+              <instance_material symbol="edge_color000255_002-material" target="#edge_color000255_002-material">
+                <bind_vertex_input semantic="ID116" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="ID156" input_semantic="TEXCOORD" input_set="1"/>
+                <bind_vertex_input semantic="ID136" input_semantic="TEXCOORD" input_set="2"/>
+              </instance_material>
+              <instance_material symbol="Metal_Aluminum_Anodized_1-material" target="#Metal_Aluminum_Anodized_1-material">
+                <bind_vertex_input semantic="ID116" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="ID156" input_semantic="TEXCOORD" input_set="1"/>
+                <bind_vertex_input semantic="ID136" input_semantic="TEXCOORD" input_set="2"/>
+              </instance_material>
+              <instance_material symbol="edge_color118119115255-material" target="#edge_color118119115255-material">
+                <bind_vertex_input semantic="ID116" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="ID156" input_semantic="TEXCOORD" input_set="1"/>
+                <bind_vertex_input semantic="ID136" input_semantic="TEXCOORD" input_set="2"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/工具/PERICO/URDF_Data/meshes/dae/ID106.024.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[2.0, 2.0, 2.0], mesh=<bpy_struct, Mesh("ID106.024") at 0x000001C18782C108>, meshname=ID106.024, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID106.024") at 0x000001C18782C108> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID106.024.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID106.024.dae from bpy_types.Mesh

texture_urdf/工具/PERICO/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="5.29300" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="1.57080 0.00000 0.18945" xyz="-41.78319 1.77519 1.23005"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="instance_2.001">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-80.07257 -26.07116 4.53937"/>
+      <material name="Metal_Aluminum_Anodized_1"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID106.001.dae" scale="2.00000 2.00000 2.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="instance_2.026">
+      <origin rpy="-1.57080 -0.18945 0.00000" xyz="-42.84825 3.30933 20.13761"/>
+      <material name="material_0.002"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID106.024.dae" scale="2.00000 2.00000 2.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="Metal_Aluminum_Anodized_1">
+    <color rgba="0.80000 0.80000 0.80000 1.00000"/>
+  </material>
+  <material name="material_0.002">
+    <color rgba="1.00000 1.00000 1.00000 1.00000"/>
+  </material>
+</robot>

texture_urdf/工具/Rack+wrench/URDF_Data/joint_limits.yml

@@ -0,0 +1,19 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.02500000037252903,
+          "speed": 0.0
+        },
+        "min": {
+          "position": -0.03400000184774399
+        }
+      }
+    ],
+    "names": [
+      "joint0"
+    ]
+  }
+}

texture_urdf/工具/Rack+wrench/URDF_Data/meshes/dae/ID5.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID5") at 0x0000027EF5346408>, meshname=ID5, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID5") at 0x0000027EF5346408> to D:\1009233120冉惟言\工作\Rack+wrench\URDF_Data\meshes\dae\ID5.dae
+->wrote dae to D:\1009233120冉惟言\工作\Rack+wrench\URDF_Data\meshes\dae\ID5.dae from bpy_types.Mesh

texture_urdf/工具/Rack+wrench/URDF_Data/meshes/dae/ID54.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0000001192092896, 1.0000001192092896, 1.0], mesh=<bpy_struct, Mesh("ID54") at 0x0000027F16E8B908>, meshname=ID54, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID54") at 0x0000027F16E8B908> to D:\1009233120冉惟言\工作\Rack+wrench\URDF_Data\meshes\dae\ID54.dae
+->wrote dae to D:\1009233120冉惟言\工作\Rack+wrench\URDF_Data\meshes\dae\ID54.dae from bpy_types.Mesh

texture_urdf/工具/Rack+wrench/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,31 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint0" type="prismatic">
+    <limit lower="-0.03400" upper="0.02500" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="-0.00000 1.57080 0.00000" xyz="0.05292 -0.00281 0.00596"/>
+    <parent link="baselink"/>
+    <child link="link0"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="baselink">
+    <visual name="instance_0">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-0.10341 -0.04079 0.00000"/>
+      <material name="Metal_Corrogated_Shiny"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID5.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual name="instance_1.002">
+      <origin rpy="-0.00000 -1.57080 0.00000" xyz="0.00996 -0.04198 -0.08086"/>
+      <material name="Metal_Corrogated_Shiny"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID54.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="Metal_Corrogated_Shiny">
+    <texture filename="../../model/Metal_Corrogated_Shiny.jpg"/>
+    <color rgba="0.80000 0.80000 0.80000 1.00000"/>
+  </material>
+</robot>

texture_urdf/工具/Squeeze+Clamp gj gj/URDF_Data/joint_limits.yml

@@ -0,0 +1,19 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.17000000178813934,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "joint1"
+    ]
+  }
+}

texture_urdf/工具/Squeeze+Clamp gj gj/URDF_Data/meshes/dae/ID304.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID304") at 0x000001FEBDF2AB08>, meshname=ID304, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID304") at 0x000001FEBDF2AB08> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID304.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID304.dae from bpy_types.Mesh

texture_urdf/工具/Squeeze+Clamp gj gj/URDF_Data/meshes/dae/ID444.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID444.001") at 0x000001FEBEE5D608>, meshname=ID444.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID444.001") at 0x000001FEBEE5D608> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID444.001.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\ID444.001.dae from bpy_types.Mesh

texture_urdf/工具/Squeeze+Clamp gj gj/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,30 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint1" type="revolute">
+    <limit lower="0.00000" upper="0.17000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="-0.67880 1.45547 0.00000"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="instance_26">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="1.08409 0.48288 0.12500"/>
+      <material name="material.001"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID444.001.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="instance_15">
+      <origin rpy="-1.57080 0.00000 0.00000" xyz="-2.01257 0.19190 0.75000"/>
+      <material name="material.001"/>
+      <geometry>
+        <mesh filename="../meshes/dae/ID304.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="material.001">
+    <color rgba="0.64314 0.69804 0.72941 1.00000"/>
+  </material>
+</robot>

texture_urdf/工具/Wrench (1)/URDF_Data/joint_limits.yml

@@ -0,0 +1,19 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 1.2000000476837158,
+          "speed": 0.0
+        },
+        "min": {
+          "position": -0.20000000298023224
+        }
+      }
+    ],
+    "names": [
+      "joint0"
+    ]
+  }
+}