Add files using upload-large-folder tool

.gitattributes

@@ -1622,3 +1622,37 @@ texture_urdf/工具/PERICO/model.dae.blend filter=lfs diff=lfs merge=lfs -text
 texture_urdf/工具/plier/model.dae.blend filter=lfs diff=lfs merge=lfs -text
 texture_urdf/工具/Rack+wrench/Untitled.blend filter=lfs diff=lfs merge=lfs -text
 texture_urdf/工具/Squeeze+Clamp[[:space:]]gj[[:space:]]gj/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/家电/toaster_v1_L2.123c5637e0ff-9b47-4d61-b833-332caabe98e5/1.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/工具/wrench/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/工具/Wrench[[:space:]](1)/model.dae filter=lfs diff=lfs merge=lfs -text
+texture_urdf/工具/Wrench[[:space:]](1)/Untitled.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/工具/g+s+8yu,/plier/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/开关/DPST+Switch[[:space:]]kg/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/开关/e/Interruptor/FbxInterruptor.fbx filter=lfs diff=lfs merge=lfs -text
+texture_urdf/开关/e/Interruptor/Interruptor.mb filter=lfs diff=lfs merge=lfs -text
+texture_urdf/开关/e/Interruptor/InterruptorRender.mb filter=lfs diff=lfs merge=lfs -text
+texture_urdf/开关/e/Interruptor/.mayaSwatches/InterruptorRender.mb.swatches filter=lfs diff=lfs merge=lfs -text
+texture_urdf/开关/e/Interruptor/3dmaxInterruptor.max filter=lfs diff=lfs merge=lfs -text
+texture_urdf/开关/e/Interruptor/1.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/开关/Panic+Button[[:space:]][[:space:]]kg/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/开关/panic_button/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/开关/easy/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/开关/Switch's/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/开关/Group_13/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/开关/rocker+switch/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/微波炉/1/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/微波炉/microwave/microwave.3ds filter=lfs diff=lfs merge=lfs -text
+texture_urdf/微波炉/microwave/microwave.fbx filter=lfs diff=lfs merge=lfs -text
+texture_urdf/微波炉/microwave/microwave_BI2.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/开关/switch/Untitled.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/微波炉/microwave/microwave_Cycles.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/微波炉/microwave/microwave_BI2.stl filter=lfs diff=lfs merge=lfs -text
+texture_urdf/微波炉/microwave/microwave_Cycles_2.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/微波炉/microwave/microwave_BI.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/开关/SWITCH+BOARD+(3)+WITH+SOCKET+&+FAN/Untitled.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/微波炉/microwave/Untitled.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/微波炉/Microwave+oven[[:space:]](3)/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/微波炉/Microwave+Oven[[:space:]](1)/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/微波炉/microwave1/Untitled.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/微波炉/microwave/model.dae.blend filter=lfs diff=lfs merge=lfs -text
+texture_urdf/微波炉/Untitled/1.blend filter=lfs diff=lfs merge=lfs -text

texture_urdf/家具/30-chest-of-drawers/URDF_Data/meshes/dae/立方体.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[2.2216882705688477, 1.5401586294174194, 0.5154435634613037], mesh=<bpy_struct, Mesh("立方体") at 0x000001830E659D08>, meshname=立方体, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("立方体") at 0x000001830E659D08> to C:\Users\DELL\Desktop\工作完成11\30-chest-of-drawers\URDF_Data\meshes\dae\立方体.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成11\30-chest-of-drawers\URDF_Data\meshes\dae\立方体.dae from bpy_types.Mesh

texture_urdf/家具/30-tv_table/TV_TABLE/table.mtl

@@ -0,0 +1,30 @@
+# Blender MTL File: 'table.blend'
+# Material Count: 3
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+
+newmtl Steel
+Ns 96.078431
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl lightwood
+Ns 96.078431
+Ka 1.000000 1.000000 1.000000
+Kd 0.640000 0.391610 0.140946
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

texture_urdf/家具/30-tv_table/URDF_Data/meshes/dae/Cube_Cube.008.dae

@@ -0,0 +1,130 @@
+<?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>2025-06-12T10:48:04</created>
+    <modified>2025-06-12T10:48:04</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Steel-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="lightwood-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.64 0.39161 0.140946 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Steel-material" name="Steel">
+      <instance_effect url="#Steel-effect"/>
+    </material>
+    <material id="lightwood-material" name="lightwood">
+      <instance_effect url="#lightwood-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_Cube_008-mesh" name="Cube_Cube.008">
+      <mesh>
+        <source id="Cube_Cube_008-mesh-positions">
+          <float_array id="Cube_Cube_008-mesh-positions-array" count="213">0.957755 0.285921 -0.947175 0.957755 -0.289637 -0.947175 0.957755 0.285921 0.947175 0.957755 -0.289637 0.947175 -1.100824 0.142032 -0.473588 -1.100824 0.142032 0.473588 -1.100824 -0.001857995 -0.473588 -1.100824 0.142032 0 -1.100824 -0.001857995 0 -1.100824 -0.001857995 0.473588 -1.071417 0.133185 -0.415351 -1.071417 0.133185 0.415351 -1.071417 0.006988942 -0.415351 -1.071417 0.133185 0 -1.071417 0.006988942 0 -1.071417 0.006988942 0.415351 -1.04625 0.133185 -0.415351 -1.04625 0.133185 0.415351 -1.04625 0.006988942 -0.415351 -1.04625 0.133185 0 -1.04625 0.006988942 0 -1.04625 0.006988942 0.415351 -1.018341 0.142032 -0.473588 -1.018341 -0.145747 -0.473588 -1.018341 -0.145747 0.473588 -1.018341 0.142032 0.473588 -1.018341 0.142032 0 -1.018341 -0.145747 0 -1.018341 -0.001857995 0.473588 -1.018341 -0.001857995 -0.473588 -1.018341 0.142032 -0.947175 -1.018341 0.285921 0.473588 -1.018341 -0.145747 0.947175 -1.018341 -0.289637 -0.473588 -1.018341 -0.145747 -0.947175 -1.018341 0.285921 -0.473588 -1.018341 0.142032 0.947175 -1.018341 -0.289637 0.473588 -1.018341 -0.001857995 0 -1.018341 -0.001857995 -0.947175 -1.018341 0.285921 0 -1.018341 -0.001857995 0.947175 -1.018341 -0.289637 0 0.875083 0.285921 0.864503 -0.935668 0.285921 0.864503 -0.935668 0.285921 -0.864503 0.875083 0.285921 -0.864503 0.957755 0.285921 -0.947175 0.957755 -0.289637 -0.947175 0.957755 0.285921 0.947175 0.957755 -0.289637 0.947175 -1.018341 0.285921 -0.947175 -1.018341 -0.289637 -0.947175 -1.018341 0.285921 0.947175 -1.018341 -0.289637 0.947175 0.827391 -0.264257 0.816811 -0.887977 -0.264257 0.816811 -0.887977 -0.264257 -0.816811 0.827392 -0.264257 -0.816811 0.875083 0.285921 0.864503 -0.935668 0.285921 0.864503 -0.935668 0.285921 -0.864503 0.875083 0.285921 -0.864503 0.827391 -0.264257 0.816811 0.827392 -0.264257 -0.816811 0.875083 0.285921 0.864503 0.875083 0.285921 -0.864503 0.875083 0.285921 0.864503 0.875083 0.285921 -0.864503 0.957755 0.285921 -0.947175 0.957755 0.285921 0.947175</float_array>
+          <technique_common>
+            <accessor source="#Cube_Cube_008-mesh-positions-array" count="71" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_Cube_008-mesh-normals">
+          <float_array id="Cube_Cube_008-mesh-normals-array" count="219">1 0 0 0 0 -1 0 0 1 0.8926511 0 -0.4507483 0.8926513 0 -0.4507482 0.8926513 0 -0.450748 0.2880905 -0.9576032 0 0.2880913 -0.957603 0 0.2880913 -0.957603 0 0.2880905 0.9576033 0 0.2880913 0.957603 0 0.2880913 0.957603 0 0 -1 0 0 1 0 -1 0 0 0.8926512 0 0.4507484 0.8926513 0 0.4507482 0.8926513 0 0.450748 -0.3021758 -0.9532523 0 -0.3021754 -0.9532524 0 -0.3021757 0.9532523 0 -0.3021754 0.9532524 0 -0.3021754 0.9532524 0 -0.9017931 0 0.4321683 -0.9017929 0 0.4321684 -0.9017929 0 0.4321685 -0.3021758 -0.9532523 0 0.2880905 -0.9576032 0 0.2880905 0.9576032 0 -0.9017931 0 -0.4321683 -0.901793 0 -0.4321684 -0.901793 0 -0.4321684 -0.3021757 0.9532523 0 0 1 7.2297e-7 0 1 -2.50009e-7 0 1 7.9633e-7 0 1 -7.2297e-7 0 1 2.50009e-7 0 1 2.62234e-7 0 0 -1 0 0 -1 1.42747e-7 0 -1 0 0 1 0 0 1 1.42747e-7 0 1 0 0.08636081 0.9962639 0 0.08636081 0.9962639 0 0.08636081 0.996264 0 0.08636081 -0.9962639 0 0.08636081 -0.996264 0.9962641 0.08635896 0 0.9962641 0.08635908 0 0.9962641 0.08635914 0 0 1 0 0 1 0 0 1 0 -0.996264 0.08636039 -4.57339e-7 -0.9962641 0.0863595 0 -0.996264 0.08636075 -5.81666e-7 0.892651 0 -0.4507485 0.892651 0 0.4507485 -0.901793 0 0.4321682 -0.901793 0 -0.4321683 0 1 -2.62234e-7 0 1 -7.9633e-7 0 0 -1 0 0 -1 0 0 1 0 0 1 0 0.08636081 0.996264 0 0.08636081 -0.996264 0.9962642 0.0863589 0 -0.9962641 0.0863592 0</float_array>
+          <technique_common>
+            <accessor source="#Cube_Cube_008-mesh-normals-array" count="73" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_Cube_008-mesh-map-0">
+          <float_array id="Cube_Cube_008-mesh-map-0-array" count="636">0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</float_array>
+          <technique_common>
+            <accessor source="#Cube_Cube_008-mesh-map-0-array" count="318" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_Cube_008-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_Cube_008-mesh-positions"/>
+        </vertices>
+        <triangles material="Steel-material" count="40">
+          <input semantic="VERTEX" source="#Cube_Cube_008-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_Cube_008-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_Cube_008-mesh-map-0" offset="2" set="0"/>
+          <p>18 1 3 10 1 4 16 1 5 17 2 6 15 2 7 21 2 8 12 3 9 4 4 10 10 5 11 15 6 12 8 7 13 14 8 14 10 9 15 7 10 16 13 11 17 21 12 18 14 12 19 20 12 20 19 13 21 11 13 22 17 13 23 5 14 24 8 14 25 9 14 26 7 14 27 6 14 28 8 14 29 11 15 30 9 16 31 15 17 32 38 18 33 18 19 34 29 19 35 26 20 36 17 21 37 25 22 38 25 23 39 21 24 40 28 25 41 38 18 42 21 19 43 20 26 44 12 6 45 8 7 46 6 27 47 11 9 48 7 10 49 5 28 50 29 29 51 16 30 52 22 31 53 20 12 54 12 12 55 18 12 56 16 13 57 13 13 58 19 13 59 26 20 60 16 21 61 19 32 62 18 1 144 12 1 145 10 1 146 17 2 147 11 2 148 15 2 149 12 3 150 6 59 151 4 4 152 15 6 153 9 27 154 8 7 155 10 9 156 4 28 157 7 10 158 21 12 159 15 12 160 14 12 161 19 13 162 13 13 163 11 13 164 5 14 165 7 14 166 8 14 167 7 14 168 4 14 169 6 14 170 11 15 171 5 60 172 9 16 173 38 18 174 20 26 175 18 19 176 26 20 177 19 32 178 17 21 179 25 23 180 17 61 181 21 24 182 38 18 183 28 19 184 21 19 185 12 6 186 14 8 187 8 7 188 11 9 189 13 11 190 7 10 191 29 29 192 18 62 193 16 30 194 20 12 195 14 12 196 12 12 197 16 13 198 10 13 199 13 13 200 26 20 201 22 22 202 16 21 203</p>
+        </triangles>
+        <triangles material="lightwood-material" count="66">
+          <input semantic="VERTEX" source="#Cube_Cube_008-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_Cube_008-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_Cube_008-mesh-map-0" offset="2" set="0"/>
+          <p>0 0 0 3 0 1 1 0 2 41 14 63 24 14 64 32 14 65 24 14 66 42 14 67 37 14 68 38 14 69 23 14 70 27 14 71 29 14 72 34 14 73 23 14 74 22 14 75 39 14 76 29 14 77 40 14 78 22 14 79 26 14 80 36 14 81 28 14 82 41 14 83 23 14 84 52 14 85 33 14 86 27 14 87 33 14 88 42 14 89 31 14 90 26 14 91 25 14 92 28 14 93 27 14 94 24 14 95 32 14 96 37 14 97 54 14 98 53 14 99 25 14 100 36 14 101 47 33 102 45 34 103 46 35 104 49 36 105 44 37 106 53 38 107 30 39 108 47 40 109 39 41 110 35 14 111 30 14 112 22 14 113 31 13 114 44 37 115 40 13 116 49 42 117 36 43 118 41 44 119 42 12 120 33 12 121 48 12 122 61 45 123 58 46 124 62 47 125 60 48 126 55 49 127 56 48 128 60 50 129 57 51 130 61 52 131 57 53 132 55 54 133 58 55 134 65 56 135 64 57 136 63 58 137 69 13 138 67 13 139 70 13 140 0 0 141 2 0 142 3 0 143 41 14 204 28 14 205 24 14 206 24 14 207 27 14 208 42 14 209 38 14 210 29 14 211 23 14 212 29 14 213 39 14 214 34 14 215 22 14 216 30 14 217 39 14 218 40 14 219 35 14 220 22 14 221 36 14 222 25 14 223 28 14 224 23 14 225 34 14 226 52 14 227 27 14 228 23 14 229 33 14 230 31 14 231 40 14 232 26 14 233 28 14 234 38 14 235 27 14 236 32 14 237 24 14 238 37 14 239 53 14 240 31 14 241 25 14 242 47 33 243 51 63 244 45 34 245 49 36 246 43 64 247 44 37 248 48 65 249 52 1 250 34 66 251 48 65 252 34 66 253 39 41 254 51 1 255 47 40 256 30 39 257 47 40 258 48 65 259 39 41 260 35 14 261 51 14 262 30 14 263 45 34 264 51 63 265 35 13 266 45 34 267 35 13 268 40 13 269 53 38 270 44 37 271 31 13 272 44 37 273 45 34 274 40 13 275 54 2 276 50 67 277 32 68 278 50 67 279 49 42 280 41 44 281 32 68 282 50 67 283 41 44 284 49 42 285 53 2 286 36 43 287 33 12 288 52 12 289 48 12 290 48 12 291 50 12 292 42 12 293 50 12 294 54 12 295 37 12 296 50 12 297 37 12 298 42 12 299 61 45 300 57 69 301 58 46 302 60 48 303 59 70 304 55 49 305 60 50 306 56 71 307 57 51 308 57 53 309 56 13 310 55 54 311 65 56 312 66 72 313 64 57 314 69 13 315 68 13 316 67 13 317</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_Cube_Cube_008" name="tmp_export_Cube_Cube.008" 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="#Cube_Cube_008-mesh" name="tmp_export_Cube_Cube.008">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Steel-material" target="#Steel-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="lightwood-material" target="#lightwood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/家具/30-tv_table/URDF_Data/meshes/dae/Cube_Cube.008.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.9999998807907104, 0.9999998807907104, 0.9999998807907104], mesh=<bpy_struct, Mesh("Cube_Cube.008") at 0x0000022C34543908>, meshname=Cube_Cube.008, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Cube_Cube.008") at 0x0000022C34543908> to C:\Users\DELL\Desktop\工作完成7\30-tv_table\URDF_Data\meshes\dae\Cube_Cube.008.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成7\30-tv_table\URDF_Data\meshes\dae\Cube_Cube.008.dae from bpy_types.Mesh

texture_urdf/家具/30-tv_table/URDF_Data/meshes/dae/Cube_Cube.009.dae

@@ -0,0 +1,130 @@
+<?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>2025-06-12T10:48:04</created>
+    <modified>2025-06-12T10:48:04</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Steel-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="lightwood-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.64 0.39161 0.140946 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Steel-material" name="Steel">
+      <instance_effect url="#Steel-effect"/>
+    </material>
+    <material id="lightwood-material" name="lightwood">
+      <instance_effect url="#lightwood-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_Cube_009-mesh" name="Cube_Cube.009">
+      <mesh>
+        <source id="Cube_Cube_009-mesh-positions">
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+          <technique_common>
+            <accessor source="#Cube_Cube_009-mesh-positions-array" count="90" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_Cube_009-mesh-normals">
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+          <technique_common>
+            <accessor source="#Cube_Cube_009-mesh-normals-array" count="67" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_Cube_009-mesh-map-0">
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+          <technique_common>
+            <accessor source="#Cube_Cube_009-mesh-map-0-array" count="318" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_Cube_009-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_Cube_009-mesh-positions"/>
+        </vertices>
+        <triangles material="Steel-material" count="40">
+          <input semantic="VERTEX" source="#Cube_Cube_009-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_Cube_009-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_Cube_009-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+        <triangles material="lightwood-material" count="66">
+          <input semantic="VERTEX" source="#Cube_Cube_009-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_Cube_009-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_Cube_009-mesh-map-0" offset="2" set="0"/>
+          <p>3 0 0 0 0 1 2 0 2 21 22 54 26 22 55 34 22 56 26 20 57 11 20 58 17 27 59 9 21 60 20 21 61 15 21 62 25 7 63 13 7 64 16 7 65 27 22 66 22 22 67 33 22 68 28 22 69 29 22 70 32 22 71 25 22 72 30 22 73 31 22 74 20 22 75 28 22 76 15 22 77 5 22 78 31 22 79 20 22 80 32 22 81 14 22 82 19 22 83 24 22 84 19 22 85 4 22 86 15 22 87 32 22 88 24 22 89 33 22 90 6 22 91 23 22 92 29 22 93 23 22 94 14 22 95 18 22 96 33 22 97 29 22 98 34 22 99 17 22 100 27 22 101 16 22 102 34 22 103 30 22 104 65 8 114 67 8 115 56 8 116 62 35 117 64 36 118 61 37 119 58 38 120 61 39 121 57 39 122 59 40 123 62 41 124 58 42 125 59 43 126 64 44 127 63 45 128 79 46 129 81 47 130 80 48 131 78 49 132 82 50 133 76 51 134 83 52 135 84 53 136 85 54 137 87 7 138 89 7 139 86 7 140 3 0 141 1 0 142 0 0 143 21 22 195 7 22 196 26 22 197 10 58 198 6 20 199 22 59 200 10 58 201 22 59 202 17 27 203 7 20 204 11 20 205 26 20 206 11 20 207 10 58 208 17 27 209 4 21 210 8 21 211 24 21 212 8 21 213 9 21 214 15 21 215 24 21 216 8 21 217 15 21 218 9 21 219 5 21 220 20 21 221 12 7 222 7 7 223 21 7 224 12 7 225 21 7 226 16 7 227 5 7 228 13 7 229 25 7 230 13 7 231 12 7 232 16 7 233 27 22 234 17 22 235 22 22 236 28 22 237 18 22 238 29 22 239 25 22 240 16 22 241 30 22 242 20 22 243 31 22 244 28 22 245 5 22 246 25 22 247 31 22 248 32 22 249 29 22 250 14 22 251 24 22 252 32 22 253 19 22 254 15 22 255 28 22 256 32 22 257 33 22 258 22 22 259 6 22 260 29 22 261 33 22 262 23 22 263 18 22 264 27 22 265 33 22 266 34 22 267 26 22 268 17 22 269 16 22 270 21 22 271 34 22 272 67 8 282 54 8 283 56 8 284 56 8 285 55 8 286 65 8 287 55 8 288 53 8 289 66 8 290 55 8 291 66 8 292 65 8 293 62 35 294 63 7 295 64 36 296 58 38 297 62 61 298 61 39 299 59 40 300 63 62 301 62 41 302 59 43 303 60 63 304 64 44 305 79 46 306 77 64 307 81 47 308 78 49 309 83 65 310 82 50 311 83 52 312 80 66 313 84 53 314 87 7 315 88 7 316 89 7 317</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_Cube_Cube_009" name="tmp_export_Cube_Cube.009" 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="#Cube_Cube_009-mesh" name="tmp_export_Cube_Cube.009">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Steel-material" target="#Steel-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="lightwood-material" target="#lightwood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/家具/30-tv_table/URDF_Data/meshes/dae/Cube_Cube.009.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("Cube_Cube.009") at 0x0000022C34594F08>, meshname=Cube_Cube.009, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Cube_Cube.009") at 0x0000022C34594F08> to C:\Users\DELL\Desktop\工作完成7\30-tv_table\URDF_Data\meshes\dae\Cube_Cube.009.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成7\30-tv_table\URDF_Data\meshes\dae\Cube_Cube.009.dae from bpy_types.Mesh

texture_urdf/家具/30-tv_table/URDF_Data/meshes/dae/Cube_Cube.015.dae

@@ -0,0 +1,124 @@
+<?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>2025-06-12T10:48:04</created>
+    <modified>2025-06-12T10:48:04</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Steel-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="lightwood-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.64 0.39161 0.140946 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Steel-material" name="Steel">
+      <instance_effect url="#Steel-effect"/>
+    </material>
+    <material id="lightwood-material" name="lightwood">
+      <instance_effect url="#lightwood-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_Cube_015-mesh" name="Cube_Cube.015">
+      <mesh>
+        <source id="Cube_Cube_015-mesh-positions">
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+              <param name="Z" type="float"/>
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+        </source>
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+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
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+          <technique_common>
+            <accessor source="#Cube_Cube_015-mesh-map-0-array" count="474" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_Cube_015-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_Cube_015-mesh-positions"/>
+        </vertices>
+        <triangles material="lightwood-material" count="158">
+          <input semantic="VERTEX" source="#Cube_Cube_015-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_Cube_015-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_Cube_015-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_Cube_Cube_015" name="tmp_export_Cube_Cube.015" 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="#Cube_Cube_015-mesh" name="tmp_export_Cube_Cube.015">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Steel-material" target="#Steel-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="lightwood-material" target="#lightwood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/家具/30-tv_table/URDF_Data/meshes/dae/Cube_Cube.015.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("Cube_Cube.015") at 0x0000022C931BF208>, meshname=Cube_Cube.015, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Cube_Cube.015") at 0x0000022C931BF208> to C:\Users\DELL\Desktop\工作完成7\30-tv_table\URDF_Data\meshes\dae\Cube_Cube.015.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成7\30-tv_table\URDF_Data\meshes\dae\Cube_Cube.015.dae from bpy_types.Mesh

texture_urdf/家具/30-tv_table/URDF_Data/meshes/dae/Cube_Cube.016.dae

@@ -0,0 +1,130 @@
+<?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>2025-06-12T10:48:04</created>
+    <modified>2025-06-12T10:48:04</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Steel-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="lightwood-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.64 0.39161 0.140946 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Steel-material" name="Steel">
+      <instance_effect url="#Steel-effect"/>
+    </material>
+    <material id="lightwood-material" name="lightwood">
+      <instance_effect url="#lightwood-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_Cube_016-mesh" name="Cube_Cube.016">
+      <mesh>
+        <source id="Cube_Cube_016-mesh-positions">
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
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+          </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"/>
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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
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+        <vertices id="Cube_Cube_016-mesh-vertices">
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+        <triangles material="Steel-material" count="40">
+          <input semantic="VERTEX" source="#Cube_Cube_016-mesh-vertices" offset="0"/>
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+        </triangles>
+        <triangles material="lightwood-material" count="66">
+          <input semantic="VERTEX" source="#Cube_Cube_016-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_Cube_016-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_Cube_016-mesh-map-0" offset="2" set="0"/>
+          <p>4 0 0 2 0 1 5 0 2 3 1 3 0 2 4 2 3 5 14 4 6 17 4 7 15 4 8 12 5 9 9 6 10 13 5 11 10 7 12 7 8 13 11 9 14 11 10 15 8 11 16 12 12 17 8 0 18 6 0 19 9 0 20 55 25 81 38 25 82 46 25 83 38 25 84 56 25 85 51 25 86 52 25 87 37 25 88 41 25 89 43 25 90 48 25 91 37 25 92 36 25 93 53 25 94 43 25 95 54 25 96 36 25 97 40 25 98 50 25 99 42 25 100 55 25 101 37 25 102 64 25 103 47 25 104 41 25 105 47 25 106 56 25 107 45 25 108 40 25 109 39 25 110 42 25 111 41 25 112 38 25 113 46 25 114 51 25 115 66 25 116 65 25 117 39 25 118 50 25 119 44 13 120 59 44 121 53 45 122 49 25 123 44 25 124 36 25 125 45 0 126 57 0 127 54 0 128 61 46 129 50 14 130 55 47 131 56 24 132 47 24 133 60 24 134 73 48 135 70 49 136 71 50 137 72 51 138 68 52 139 74 53 140 4 0 141 3 0 142 2 0 143 3 1 144 1 54 145 0 2 146 14 4 147 16 4 148 17 4 149 12 5 150 8 5 151 9 6 152 10 7 153 6 55 154 7 8 155 11 10 156 7 56 157 8 11 158 8 0 159 7 0 160 6 0 161 55 25 222 42 25 223 38 25 224 38 25 225 41 25 226 56 25 227 52 25 228 43 25 229 37 25 230 43 25 231 53 25 232 48 25 233 36 25 234 44 25 235 53 25 236 54 25 237 49 25 238 36 25 239 50 25 240 39 25 241 42 25 242 37 25 243 48 25 244 64 25 245 41 25 246 37 25 247 47 25 248 45 25 249 54 25 250 40 25 251 42 25 252 52 25 253 41 25 254 46 25 255 38 25 256 51 25 257 65 25 258 45 25 259 39 25 260 60 60 261 64 13 262 48 61 263 60 60 264 48 61 265 53 45 266 63 13 267 59 44 268 44 13 269 59 44 270 60 60 271 53 45 272 49 25 273 63 25 274 44 25 275 58 0 276 63 0 277 49 0 278 58 0 279 49 0 280 54 0 281 65 0 282 57 0 283 45 0 284 57 0 285 58 0 286 54 0 287 66 14 288 62 62 289 46 14 290 62 62 291 61 46 292 55 47 293 46 14 294 62 62 295 55 47 296 61 46 297 65 14 298 50 14 299 47 24 300 64 24 301 60 24 302 60 24 303 62 24 304 56 24 305 62 24 306 66 24 307 51 24 308 62 24 309 51 24 310 56 24 311 73 48 312 69 63 313 70 49 314 72 51 315 67 64 316 68 52 317</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_Cube_Cube_016" name="tmp_export_Cube_Cube.016" 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="#Cube_Cube_016-mesh" name="tmp_export_Cube_Cube.016">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Steel-material" target="#Steel-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="lightwood-material" target="#lightwood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/家具/30-tv_table/URDF_Data/meshes/dae/Cube_Cube.016.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("Cube_Cube.016") at 0x0000022C346EB908>, meshname=Cube_Cube.016, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Cube_Cube.016") at 0x0000022C346EB908> to C:\Users\DELL\Desktop\工作完成7\30-tv_table\URDF_Data\meshes\dae\Cube_Cube.016.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成7\30-tv_table\URDF_Data\meshes\dae\Cube_Cube.016.dae from bpy_types.Mesh

texture_urdf/家具/30-tv_table/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,62 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="Joint1" type="prismatic">
+    <limit lower="0.00000" upper="1.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 -1.57080 0.00000" xyz="-0.49326 -1.09876 1.78488"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="Joint2" type="prismatic">
+    <limit lower="0.00000" upper="1.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 -1.57080 0.00000" xyz="-0.51504 -1.09876 1.10585"/>
+    <parent link="base_link"/>
+    <child link="link2"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="Joint3" type="prismatic">
+    <limit lower="0.00000" upper="1.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 -1.57080 0.00000" xyz="-0.58806 -1.09876 0.45245"/>
+    <parent link="base_link"/>
+    <child link="link3"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="Cube_Cube.002">
+      <origin rpy="1.57080 0.00000 0.00000" xyz="0.00000 -1.09876 1.04820"/>
+      <material name="lightwood"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Cube_Cube.015.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="Cube_Cube.003">
+      <origin rpy="1.57080 1.57080 0.00000" xyz="-0.73668 0.00000 -0.49326"/>
+      <material name="lightwood"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Cube_Cube.009.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link2">
+    <visual name="Cube_Cube.006">
+      <origin rpy="1.57080 1.57080 0.00000" xyz="-0.05765 0.00000 -0.51504"/>
+      <material name="lightwood"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Cube_Cube.008.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link3">
+    <visual name="Cube_Cube.004">
+      <origin rpy="1.57080 1.57080 0.00000" xyz="0.59575 0.00000 -0.58806"/>
+      <material name="lightwood"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Cube_Cube.016.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="lightwood">
+    <color rgba="0.63922 0.38824 0.13725 1.00000"/>
+  </material>
+</robot>

texture_urdf/家具/3dexport_obj_1618332620/OBJ/OBJ.mtl

@@ -0,0 +1,16 @@
+# WaveFront *.mtl file (generated by Cinema 4D)
+
+newmtl Mat
+Ka 1 1 1
+Kd 0.80000001192093 0.49666666984558 0.28000000119209
+Ks 1 1 1
+Ns 50
+illum 7
+
+newmtl Mat.1
+Ka 1 1 1
+Kd 0.80000001192093 0.80000001192093 0.80000001192093
+Ks 1 1 1
+Ns 50
+illum 7
+

texture_urdf/家具/3dexport_obj_1618332620/OBJ/OBJ.obj

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+
+mtllib ./OBJ.mtl
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texture_urdf/家具/3dexport_obj_1618332620/URDF_Data/meshes/dae/01.dae_history.log

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+Instantiated with filepath=None->None, scale=[0.00790123175829649, 0.00790123175829649, 0.00790123175829649], mesh=<bpy_struct, Mesh("01") at 0x0000023A12C19608>, meshname=01, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("01") at 0x0000023A12C19608> to C:\Users\DELL\Desktop\工作完成9\3dexport_obj_1618332620\URDF_Data\meshes\dae\01.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成9\3dexport_obj_1618332620\URDF_Data\meshes\dae\01.dae from bpy_types.Mesh

texture_urdf/家具/3dexport_obj_1618332620/URDF_Data/meshes/dae/02.dae

@@ -0,0 +1,104 @@
+<?xml version="1.0" encoding="utf-8"?>
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+  <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>2025-06-16T17:12:37</created>
+    <modified>2025-06-16T17:12:37</modified>
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+    <up_axis>Z_UP</up_axis>
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+        </technique>
+      </profile_COMMON>
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+  </library_effects>
+  <library_images/>
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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="_2-mesh-vertices">
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+        </vertices>
+        <triangles material="Mat-material" count="252">
+          <input semantic="VERTEX" source="#_2-mesh-vertices" offset="0"/>
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+          <input semantic="TEXCOORD" source="#_2-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_02" name="tmp_export_02" 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="#_2-mesh" name="tmp_export_02">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Mat-material" target="#Mat-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/家具/3dexport_obj_1618332620/URDF_Data/meshes/dae/02.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.007901230826973915, 0.00790123175829649, 0.007901230826973915], mesh=<bpy_struct, Mesh("02") at 0x0000023A13338808>, meshname=02, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("02") at 0x0000023A13338808> to C:\Users\DELL\Desktop\工作完成9\3dexport_obj_1618332620\URDF_Data\meshes\dae\02.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成9\3dexport_obj_1618332620\URDF_Data\meshes\dae\02.dae from bpy_types.Mesh

texture_urdf/家具/3dexport_obj_1618332620/URDF_Data/meshes/dae/03.dae

@@ -0,0 +1,104 @@
+<?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>2025-06-16T17:12:37</created>
+    <modified>2025-06-16T17:12:37</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Mat-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
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