Add files using upload-large-folder tool

.gitattributes

@@ -129,3 +129,5 @@ texture_urdf/冰箱/Refrigerator_v1_L3.123c420881d6-7273-44a1-a3a3-b6125a2d5cd7/
 texture_urdf/家具/exqha1cm1nnk-door/1.blend filter=lfs diff=lfs merge=lfs -text
 texture_urdf/冰箱/Refrigerator_v1_L3.123c420881d6-7273-44a1-a3a3-b6125a2d5cd7/1.blend filter=lfs diff=lfs merge=lfs -text
 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/冰箱/Refrigerator_v1_L3.123caac80f95-7e95-4d81-b611-9d84a0b8d4a0/1.blend

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+oid sha256:6ae99738a5b5218daaee86460340de0dea7930d881f9f70031c67c7e82709076
+size 4350711

texture_urdf/家具/FT047/model.blend

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+version https://git-lfs.github.com/spec/v1
+oid sha256:66937f776ce6bd356160d0087ad689487880f08a8c3fb12e544b2cf2b904d8a8
+size 2768508

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID310.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>2025-06-19T12:01:39</created>
+    <modified>2025-06-19T12:01:39</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="material_0_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8901961 0.8823529 0.8705882 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="material_0_001-material" name="material_0.001">
+      <instance_effect url="#material_0_001-effect"/>
+    </material>
+    <material id="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID310-mesh" name="ID310">
+      <mesh>
+        <source id="ID310-mesh-positions">
+          <float_array id="ID310-mesh-positions-array" count="81">0 -0.1138114 0.03868949 0 -0.1133589 0.0389676 5.30182e-4 -0.1138114 0.03868949 5.30182e-4 -0.1138114 0.03868949 0 -0.1133589 0.0389676 0 -0.1138114 0.03868949 0 -0.1138114 0.03868949 0 -0.1133589 0.0389676 5.30182e-4 -0.1138114 0.03868949 0 -0.1119557 0.0398299 -9.00402e-4 -0.1145817 0.0382232 0 -0.1115031 0.04010796 -9.00402e-4 -0.1145817 0.0382232 0 -0.1119557 0.0398299 0 -0.1115031 0.04010796 0 -0.1115031 0.04010796 0 -0.1119557 0.0398299 -9.00402e-4 -0.1145817 0.0382232 5.30182e-4 -0.1115031 0.04010796 5.30182e-4 -0.1115031 0.04010796 5.30182e-4 -0.1115031 0.04010796 -9.29724e-4 -0.1128756 0.03926539 -9.00403e-4 -0.1107329 0.04057425 -9.29724e-4 -0.1128756 0.03926539 -9.00403e-4 -0.1107329 0.04057425 -9.29724e-4 -0.1128756 0.03926539 -9.00403e-4 -0.1107329 0.04057425</float_array>
+          <technique_common>
+            <accessor source="#ID310-mesh-positions-array" count="27" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID310-mesh-normals">
+          <float_array id="ID310-mesh-normals-array" count="96">-0.008341133 0.5235496 -0.8519544 -0.01151239 0.5226976 -0.8524404 0 0.5235563 -0.8519912 -0.005204319 0.5235514 -0.8519783 -0.0096156 0.523175 -0.8521711 0.004260063 0.5219189 -0.8529845 -0.001034975 0.521787 -0.8530753 -0.004929602 0.5234987 -0.8520122 -0.004941344 0.5233781 -0.8520863 -0.00126928 0.5214322 -0.8532918 -0.005003988 0.5234421 -0.8520467 -0.001832962 0.5229763 -0.8523453 0 0.5235497 -0.8519951 3.2446e-4 0.5218023 -0.8530665 0.003957271 0.5212401 -0.8534009 0.004223346 0.5212144 -0.8534154 0 -0.523559 0.8519895 0.01118308 -0.5210539 0.8534505 0.008389115 -0.5235406 0.8519595 0.001823365 -0.5227629 0.8524762 0.004984617 -0.5232418 0.8521697 0.001146256 -0.5215659 0.8532102 0.004852175 -0.5233297 0.8521165 0.00484395 -0.5233834 0.8520836 8.74787e-4 -0.5220646 0.8529055 -0.004049062 -0.5214875 0.8532494 0.009450972 -0.5239295 0.8517092 0.005524635 -0.5236356 0.8519245 0 -0.523553 0.8519932 -0.004222989 -0.5212168 0.853414 -0.003957271 -0.5212404 0.8534008 -4.15756e-4 -0.5222678 0.8527815</float_array>
+          <technique_common>
+            <accessor source="#ID310-mesh-normals-array" count="32" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID310-mesh-vertices">
+          <input semantic="POSITION" source="#ID310-mesh-positions"/>
+        </vertices>
+        <lines count="12">
+          <input semantic="VERTEX" source="#ID310-mesh-vertices" offset="0"/>
+          <p>7 6 7 8 6 8 16 15 7 16 17 6 17 15 20 15 16 20 17 25 25 26 15 26</p>
+        </lines>
+        <triangles material="material_001-material" count="7">
+          <input semantic="VERTEX" source="#ID310-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID310-mesh-normals" offset="1"/>
+          <p>3 16 4 17 5 18 5 19 4 20 12 21 4 22 13 23 12 24 14 25 12 26 13 27 19 28 14 25 13 27 12 26 14 25 23 29 24 30 23 30 14 31</p>
+        </triangles>
+        <triangles material="material_0_001-material" count="7">
+          <input semantic="VERTEX" source="#ID310-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID310-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 9 3 10 4 11 5 10 6 9 7 1 8 10 9 1 10 0 11 9 3 11 5 18 12 11 13 21 14 22 14 21 15 11 5 10 4</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID310" name="tmp_export_ID310" 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="#ID310-mesh" name="tmp_export_ID310">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material_001-material" target="#material_001-material"/>
+              <instance_material symbol="material_0_001-material" target="#material_0_001-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/ID310.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID310") at 0x00000202EF4F4108>, meshname=ID310, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID310") at 0x00000202EF4F4108> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID310.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID310.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID318.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>2025-06-19T12:01:39</created>
+    <modified>2025-06-19T12:01:39</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="material_0_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8901961 0.8823529 0.8705882 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="material_0_001-material" name="material_0.001">
+      <instance_effect url="#material_0_001-effect"/>
+    </material>
+    <material id="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID318-mesh" name="ID318">
+      <mesh>
+        <source id="ID318-mesh-positions">
+          <float_array id="ID318-mesh-positions-array" count="63">0.03138124 -0.1138114 0.03868949 0.03191143 -0.1133589 0.0389676 0.03191143 -0.1138114 0.03868949 0.03191143 -0.1138114 0.03868949 0.03191143 -0.1133589 0.0389676 0.03138124 -0.1138114 0.03868949 0.03191143 -0.1138114 0.03868949 0.03138124 -0.1138114 0.03868949 0.03191143 -0.1133589 0.0389676 0.03281182 -0.1107329 0.04057425 0.03191143 -0.1115031 0.04010796 0.03191143 -0.1119557 0.0398299 0.03191143 -0.1119557 0.0398299 0.03191143 -0.1115031 0.04010796 0.03281182 -0.1107329 0.04057425 0.03191143 -0.1115031 0.04010796 0.03281182 -0.1107329 0.04057425 0.03191143 -0.1119557 0.0398299 0.03138124 -0.1115031 0.04010796 0.03138124 -0.1115031 0.04010796 0.03138124 -0.1115031 0.04010796</float_array>
+          <technique_common>
+            <accessor source="#ID318-mesh-positions-array" count="21" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID318-mesh-normals">
+          <float_array id="ID318-mesh-normals-array" count="66">0 0.5235499 -0.8519951 -0.005267739 0.5235365 -0.851987 -8.84991e-4 0.5235483 -0.8519957 -0.006683528 0.5235546 -0.851966 -0.001840174 0.5227886 -0.8524605 -0.008389055 0.5235878 -0.8519304 -0.01155287 0.5234952 -0.8519504 -0.01155287 0.5235549 -0.8519136 -0.01118284 0.5210367 -0.853461 0 0.523543 -0.8519993 -0.008389055 0.5235348 -0.851963 8.84991e-4 -0.5235483 0.8519957 0.005267739 -0.5235365 0.851987 0 -0.5235499 0.8519951 0.01155287 -0.5234952 0.8519504 0.01155287 -0.5235716 0.8519033 0.008389055 -0.52349 0.8519905 0.006683528 -0.5235546 0.851966 0.001801669 -0.5229894 0.8523374 0.008389115 -0.5235352 0.8519628 0 -0.523543 0.8519993 0.0115121 -0.5226823 0.8524499</float_array>
+          <technique_common>
+            <accessor source="#ID318-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="ID318-mesh-vertices">
+          <input semantic="POSITION" source="#ID318-mesh-positions"/>
+        </vertices>
+        <lines count="9">
+          <input semantic="VERTEX" source="#ID318-mesh-vertices" offset="0"/>
+          <p>7 6 7 8 6 8 16 15 6 16 8 17 17 15 15 20 17 20</p>
+        </lines>
+        <triangles material="material_001-material" count="5">
+          <input semantic="VERTEX" source="#ID318-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID318-mesh-normals" offset="1"/>
+          <p>3 11 4 12 5 13 12 14 4 15 13 16 3 11 14 17 4 12 13 18 4 12 14 17 13 19 19 20 12 21</p>
+        </triangles>
+        <triangles material="material_0_001-material" count="5">
+          <input semantic="VERTEX" source="#ID318-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID318-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 9 3 1 1 10 4 1 1 9 3 2 2 10 5 1 6 11 7 11 8 18 9 10 10</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID318" name="tmp_export_ID318" 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="#ID318-mesh" name="tmp_export_ID318">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material_001-material" target="#material_001-material"/>
+              <instance_material symbol="material_0_001-material" target="#material_0_001-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/ID318.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID318") at 0x00000202EF4F7908>, meshname=ID318, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID318") at 0x00000202EF4F7908> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID318.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID318.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID326.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID326") at 0x00000202EF4F5D08>, meshname=ID326, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID326") at 0x00000202EF4F5D08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID326.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID326.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID334.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>2025-06-19T12:01:40</created>
+    <modified>2025-06-19T12:01:40</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="material_0_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8901961 0.8823529 0.8705882 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="material_0_001-material" name="material_0.001">
+      <instance_effect url="#material_0_001-effect"/>
+    </material>
+    <material id="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID334-mesh" name="ID334">
+      <mesh>
+        <source id="ID334-mesh-positions">
+          <float_array id="ID334-mesh-positions-array" count="54">0.03294575 -0.1109089 0.04046642 0.03287047 -0.1145317 0.03825402 0.03287047 -0.1107827 0.04054343 0.03297173 -0.1110486 0.04038107 0.03297173 -0.1142658 0.03841644 0.03294575 -0.1144056 0.03833109 0.03294575 -0.1144056 0.03833109 0.03297173 -0.1142658 0.03841644 0.03287047 -0.1145317 0.03825402 0.03297173 -0.1110486 0.04038107 0.03294575 -0.1109089 0.04046642 0.03287047 -0.1107827 0.04054343 0.03287047 -0.1107827 0.04054343 0.03287047 -0.1145317 0.03825402 0.03294575 -0.1109089 0.04046642 0.03297173 -0.1110486 0.04038107 0.03297173 -0.1142658 0.03841644 0.03294575 -0.1144056 0.03833109</float_array>
+          <technique_common>
+            <accessor source="#ID334-mesh-positions-array" count="18" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID334-mesh-normals">
+          <float_array id="ID334-mesh-normals-array" count="48">8.79865e-5 0.5211882 -0.8534418 -9.65255e-5 0.5211338 -0.853475 -1.72965e-4 0.5211921 -0.8534395 3.0199e-4 0.5207517 -0.8537083 -1.71608e-4 0.5212047 -0.8534318 9.28411e-5 0.5213532 -0.853341 9.23946e-5 0.5213431 -0.8533471 9.26615e-5 0.5213506 -0.8533427 5.26992e-4 -0.5214278 0.8532953 5.2955e-4 -0.5213943 0.8533158 5.19422e-4 -0.5214813 0.8532626 1.71866e-4 -0.5212026 0.8534331 -3.13968e-4 -0.5215699 0.8532087 1.69154e-4 -0.521221 0.8534218 0 -0.5211647 0.8534562 -8.79865e-5 -0.5211882 0.8534418</float_array>
+          <technique_common>
+            <accessor source="#ID334-mesh-normals-array" count="16" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID334-mesh-vertices">
+          <input semantic="POSITION" source="#ID334-mesh-positions"/>
+        </vertices>
+        <lines count="6">
+          <input semantic="VERTEX" source="#ID334-mesh-vertices" offset="0"/>
+          <p>13 12 12 14 15 14 15 16 16 17 13 17</p>
+        </lines>
+        <triangles material="material_001-material" count="4">
+          <input semantic="VERTEX" source="#ID334-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID334-mesh-normals" offset="1"/>
+          <p>6 8 7 9 8 10 7 11 9 12 8 13 9 14 10 14 8 14 11 15 8 15 10 15</p>
+        </triangles>
+        <triangles material="material_0_001-material" count="4">
+          <input semantic="VERTEX" source="#ID334-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID334-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 1 1 0 1 3 1 1 2 3 3 4 4 1 5 4 6 5 7</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID334" name="tmp_export_ID334" 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="#ID334-mesh" name="tmp_export_ID334">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material_001-material" target="#material_001-material"/>
+              <instance_material symbol="material_0_001-material" target="#material_0_001-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/ID334.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID334") at 0x00000202EF4F4F08>, meshname=ID334, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID334") at 0x00000202EF4F4F08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID334.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID334.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID342.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>2025-06-19T12:01:40</created>
+    <modified>2025-06-19T12:01:40</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="material_0_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8901961 0.8823529 0.8705882 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="material_0_001-material" name="material_0.001">
+      <instance_effect url="#material_0_001-effect"/>
+    </material>
+    <material id="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID342-mesh" name="ID342">
+      <mesh>
+        <source id="ID342-mesh-positions">
+          <float_array id="ID342-mesh-positions-array" count="84">-9.29724e-4 -0.1128756 0.03926539 -0.001034319 -0.1109089 0.04046642 -9.59047e-4 -0.1107827 0.04054343 -0.001060247 -0.1110486 0.04038107 -0.001060247 -0.1142658 0.03841644 -9.59046e-4 -0.1145317 0.03825402 -0.001034319 -0.1144056 0.03833109 -0.001034319 -0.1144056 0.03833109 -9.59046e-4 -0.1145317 0.03825402 -0.001060247 -0.1142658 0.03841644 -9.29724e-4 -0.1128756 0.03926539 -0.001060247 -0.1110486 0.04038107 -0.001034319 -0.1109089 0.04046642 -9.59047e-4 -0.1107827 0.04054343 -0.001034319 -0.1109089 0.04046642 -0.001060247 -0.1110486 0.04038107 -9.59047e-4 -0.1107827 0.04054343 -9.29724e-4 -0.1128756 0.03926539 -9.59046e-4 -0.1145317 0.03825402 -0.001034319 -0.1144056 0.03833109 -0.001060247 -0.1142658 0.03841644 -0.001060247 -0.1147183 0.03814011 -0.001034319 -0.1144056 0.03833109 -9.59046e-4 -0.1145317 0.03825402 -9.59046e-4 -0.1145317 0.03825402 -0.001034319 -0.1144056 0.03833109 -0.001060247 -0.1147183 0.03814011 -0.001060247 -0.1147183 0.03814011</float_array>
+          <technique_common>
+            <accessor source="#ID342-mesh-positions-array" count="28" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID342-mesh-normals">
+          <float_array id="ID342-mesh-normals-array" count="78">-1.15493e-4 0.5211774 -0.8534484 -5.76976e-4 0.5212143 -0.8534258 1.51426e-4 0.5218364 -0.8530457 -5.77736e-4 0.5211944 -0.8534379 -1.77387e-4 0.5211712 -0.8534522 -3.53858e-4 0.5211785 -0.8534477 1.37277e-4 0.5212757 -0.8533883 1.33057e-4 0.5212929 -0.8533778 1.3506e-4 0.5212851 -0.8533826 1.1635e-4 0.5214054 -0.8533091 1.67189e-5 0.5215023 -0.8532499 3.04144e-5 0.5214923 -0.8532561 -4.20768e-4 -0.5213173 0.8533628 -4.09685e-4 -0.5213613 0.853336 -4.27008e-4 -0.5212839 0.8533832 3.18471e-4 -0.5211761 0.8534491 1.77387e-4 -0.5211712 0.8534522 4.81983e-4 -0.5211867 0.8534427 -2.27392e-4 -0.5206107 0.8537942 4.81912e-4 -0.521174 0.8534503 -2.52956e-4 -0.5211252 0.8534803 -2.56698e-4 -0.5211471 0.8534669 -2.58572e-4 -0.5211782 0.8534479 3.89556e-5 -0.5213785 0.8533256 6.73379e-5 -0.5214025 0.8533108 4.41866e-5 -0.5213833 0.8533227</float_array>
+          <technique_common>
+            <accessor source="#ID342-mesh-normals-array" count="26" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID342-mesh-vertices">
+          <input semantic="POSITION" source="#ID342-mesh-positions"/>
+        </vertices>
+        <lines count="9">
+          <input semantic="VERTEX" source="#ID342-mesh-vertices" offset="0"/>
+          <p>15 14 14 16 17 16 18 17 19 18 19 20 20 15 18 27 27 19</p>
+        </lines>
+        <triangles material="material_001-material" count="6">
+          <input semantic="VERTEX" source="#ID342-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID342-mesh-normals" offset="1"/>
+          <p>7 12 8 13 9 14 8 15 10 15 9 15 9 16 10 16 11 16 11 17 10 18 12 19 13 20 12 21 10 22 24 23 25 24 26 25</p>
+        </triangles>
+        <triangles material="material_0_001-material" count="6">
+          <input semantic="VERTEX" source="#ID342-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID342-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 1 1 0 2 3 3 3 4 0 4 4 4 4 5 0 5 5 5 4 6 5 7 6 8 21 9 22 10 23 11</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID342" name="tmp_export_ID342" 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="#ID342-mesh" name="tmp_export_ID342">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material_001-material" target="#material_001-material"/>
+              <instance_material symbol="material_0_001-material" target="#material_0_001-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/ID342.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID342") at 0x00000202C41C8F08>, meshname=ID342, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID342") at 0x00000202C41C8F08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID342.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID342.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID350.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>2025-06-19T12:01:40</created>
+    <modified>2025-06-19T12:01:40</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="material_0_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8901961 0.8823529 0.8705882 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="material_0_001-material" name="material_0.001">
+      <instance_effect url="#material_0_001-effect"/>
+    </material>
+    <material id="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID350-mesh" name="ID350">
+      <mesh>
+        <source id="ID350-mesh-positions">
+          <float_array id="ID350-mesh-positions-array" count="27">0 -0.1115031 0.04010796 -8.41759e-4 -0.1106826 0.04060459 -6.93967e-4 -0.1106184 0.04064381 -6.93967e-4 -0.1106184 0.04064381 -8.41759e-4 -0.1106826 0.04060459 0 -0.1115031 0.04010796 -6.93967e-4 -0.1106184 0.04064381 0 -0.1115031 0.04010796 -8.41759e-4 -0.1106826 0.04060459</float_array>
+          <technique_common>
+            <accessor source="#ID350-mesh-positions-array" count="9" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID350-mesh-normals">
+          <float_array id="ID350-mesh-normals-array" count="6">0.00134772 0.5188087 -0.8548893 -0.00134772 -0.5188087 0.8548893</float_array>
+          <technique_common>
+            <accessor source="#ID350-mesh-normals-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID350-mesh-vertices">
+          <input semantic="POSITION" source="#ID350-mesh-positions"/>
+        </vertices>
+        <lines count="3">
+          <input semantic="VERTEX" source="#ID350-mesh-vertices" offset="0"/>
+          <p>7 6 7 8 8 6</p>
+        </lines>
+        <triangles material="material_001-material" count="1">
+          <input semantic="VERTEX" source="#ID350-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID350-mesh-normals" offset="1"/>
+          <p>3 1 4 1 5 1</p>
+        </triangles>
+        <triangles material="material_0_001-material" count="1">
+          <input semantic="VERTEX" source="#ID350-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID350-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID350" name="tmp_export_ID350" 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="#ID350-mesh" name="tmp_export_ID350">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material_001-material" target="#material_001-material"/>
+              <instance_material symbol="material_0_001-material" target="#material_0_001-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/ID350.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID350") at 0x00000202C41CB208>, meshname=ID350, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID350") at 0x00000202C41CB208> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID350.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID350.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID358.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>2025-06-19T12:01:40</created>
+    <modified>2025-06-19T12:01:40</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="material_0_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8901961 0.8823529 0.8705882 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="material_0_001-material" name="material_0.001">
+      <instance_effect url="#material_0_001-effect"/>
+    </material>
+    <material id="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID358-mesh" name="ID358">
+      <mesh>
+        <source id="ID358-mesh-positions">
+          <float_array id="ID358-mesh-positions-array" count="27">-0.001060247 -0.1147183 0.03814011 -8.41758e-4 -0.1146318 0.03819292 -6.93966e-4 -0.1146962 0.03815364 -6.93966e-4 -0.1146962 0.03815364 -8.41758e-4 -0.1146318 0.03819292 -0.001060247 -0.1147183 0.03814011 -0.001060247 -0.1147183 0.03814011 -6.93966e-4 -0.1146962 0.03815364 -8.41758e-4 -0.1146318 0.03819292</float_array>
+          <technique_common>
+            <accessor source="#ID358-mesh-positions-array" count="9" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID358-mesh-normals">
+          <float_array id="ID358-mesh-normals-array" count="6">1.44731e-5 0.5211791 -0.8534473 -1.44731e-5 -0.5211791 0.8534473</float_array>
+          <technique_common>
+            <accessor source="#ID358-mesh-normals-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID358-mesh-vertices">
+          <input semantic="POSITION" source="#ID358-mesh-positions"/>
+        </vertices>
+        <lines count="3">
+          <input semantic="VERTEX" source="#ID358-mesh-vertices" offset="0"/>
+          <p>7 6 8 6 8 7</p>
+        </lines>
+        <triangles material="material_001-material" count="1">
+          <input semantic="VERTEX" source="#ID358-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID358-mesh-normals" offset="1"/>
+          <p>3 1 4 1 5 1</p>
+        </triangles>
+        <triangles material="material_0_001-material" count="1">
+          <input semantic="VERTEX" source="#ID358-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID358-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID358" name="tmp_export_ID358" 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="#ID358-mesh" name="tmp_export_ID358">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material_001-material" target="#material_001-material"/>
+              <instance_material symbol="material_0_001-material" target="#material_0_001-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/ID358.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID358") at 0x00000202C41CAB08>, meshname=ID358, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID358") at 0x00000202C41CAB08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID358.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID358.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID36.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="Color_A01-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.7764706 0.06666667 0.06666667 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <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="edge_color1981717255-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_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="Color_A01-material" name="Color_A01">
+      <instance_effect url="#Color_A01-effect"/>
+    </material>
+    <material id="material_001-material" name="material.001">
+      <instance_effect url="#material_001-effect"/>
+    </material>
+    <material id="edge_color1981717255-material" name="edge_color1981717255">
+      <instance_effect url="#edge_color1981717255-effect"/>
+    </material>
+    <material id="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID36-mesh" name="ID36">
+      <mesh>
+        <source id="ID36-mesh-positions">
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+          <technique_common>
+            <accessor source="#ID36-mesh-positions-array" count="312" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
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+          <technique_common>
+            <accessor source="#ID36-mesh-normals-array" count="217" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID36-mesh-vertices">
+          <input semantic="POSITION" source="#ID36-mesh-positions"/>
+        </vertices>
+        <lines count="120">
+          <input semantic="VERTEX" source="#ID36-mesh-vertices" offset="0"/>
+          <p>9 8 10 9 10 11 17 16 9 17 27 26 26 10 9 27 10 32 32 33 39 38 17 39 44 27 17 44 94 93 95 94 96 95 97 96 98 97 99 98 100 99 101 100 102 101 103 102 104 103 105 104 106 105 107 106 108 107 109 108 110 109 26 110 111 44 112 111 113 112 93 113 32 110 122 32 122 123 129 128 129 39 39 111 93 142 142 143 143 94 143 148 148 95 148 153 153 96 158 153 158 97 163 158 163 98 168 163 99 168 168 173 173 100 173 178 178 101 178 183 183 102 188 183 188 103 193 188 193 104 198 193 105 198 198 203 203 106 203 208 208 107 208 213 213 108 213 122 122 109 129 112 226 129 226 113 142 226 213 231 226 236 143 245 142 246 148 251 153 256 158 261 163 266 168 271 173 276 178 281 183 286 188 291 193 296 198 301 203 306 208 311 8 11 16 8 11 33 38 16 33 123 128 38 123 231 236 128 245 246 251 245 256 251 261 256 266 261 271 266 276 271 281 276 286 281 291 286 296 291 301 296 306 301 311 306 231 311 246 236</p>
+        </lines>
+        <triangles material="Color_A01-material" count="118">
+          <input semantic="VERTEX" source="#ID36-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID36-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 1 1 0 0 3 3 12 4 3 3 0 0 3 3 12 4 13 5 18 6 19 7 20 8 19 7 18 6 21 9 2 2 28 10 29 11 28 10 2 2 1 1 34 12 13 5 12 4 13 5 34 12 35 13 40 14 19 7 21 9 19 7 40 14 41 15 45 16 46 16 47 16 46 17 45 17 48 17 46 18 48 18 49 18 49 18 48 18 50 18 49 19 50 19 51 19 51 20 50 20 52 20 51 21 52 21 53 21 53 22 52 22 54 22 53 23 54 23 55 23 55 18 54 18 56 18 56 24 54 24 57 24 56 25 57 25 58 25 56 18 58 18 59 18 59 26 58 26 60 26 60 27 58 27 61 27 60 28 61 28 62 28 60 18 62 18 63 18 63 18 62 18 64 18 63 29 64 29 65 29 65 30 64 30 66 30 65 31 66 31 67 31 67 32 66 32 68 32 114 33 20 8 115 34 20 8 114 33 18 6 29 11 118 35 119 36 118 35 29 11 28 10 124 37 35 13 34 12 35 13 124 37 125 38 130 39 41 15 40 14 41 15 130 39 131 40 134 41 135 42 136 43 135 42 134 41 137 44 136 43 144 45 145 46 144 45 136 43 135 42 145 46 149 47 150 48 149 47 145 46 144 45 150 48 154 49 155 50 154 49 150 48 149 47 159 51 154 49 160 52 154 49 159 51 155 50 164 53 160 52 165 54 160 52 164 53 159 51 169 55 165 54 170 56 165 54 169 55 164 53 169 55 174 57 175 58 174 57 169 55 170 56 175 58 179 59 180 60 179 59 175 58 174 57 180 60 184 61 185 62 184 61 180 60 179 59 185 62 189 63 190 64 189 63 185 62 184 61 189 63 194 65 190 64 194 65 189 63 195 66 195 66 199 67 194 65 199 67 195 66 200 68 200 68 204 69 199 67 204 69 200 68 205 70 205 70 209 71 204 69 209 71 205 70 210 72 210 72 214 73 209 71 214 73 210 72 215 74 215 74 115 34 214 73 115 34 215 74 114 33 218 75 131 40 130 39 131 40 218 75 219 76 218 75 222 77 219 76 222 77 218 75 223 78 222 77 137 44 134 41 137 44 222 77 223 78 227 79 118 35 228 80 118 35 227 79 119 36 124 37 232 81 125 38 232 81 124 37 233 82 237 83 238 84 239 85 238 84 237 83 240 86 239 85 247 87 248 88 247 87 239 85 238 84 248 88 252 89 253 90 252 89 248 88 247 87 253 90 257 91 258 92 257 91 253 90 252 89 262 93 257 91 263 94 257 91 262 93 258 92 267 95 263 94 268 96 263 94 267 95 262 93 272 97 268 96 273 98 268 96 272 97 267 95 277 99 273 98 278 100 273 98 277 99 272 97 282 101 278 100 283 102 278 100 282 101 277 99 287 103 283 102 288 104 283 102 287 103 282 101 287 103 292 105 293 106 292 105 287 103 288 104 292 105 297 107 293 106 297 107 292 105 298 108 298 108 302 109 297 107 302 109 298 108 303 110 303 110 307 111 302 109 307 111 303 110 308 112 308 112 228 80 307 111 228 80 308 112 227 79 232 81 240 86 237 83 240 86 232 81 233 82</p>
+        </triangles>
+        <triangles material="material_001-material" count="118">
+          <input semantic="VERTEX" source="#ID36-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID36-mesh-normals" offset="1"/>
+          <p>4 113 5 114 6 115 7 116 6 115 5 114 14 117 15 118 4 113 5 114 4 113 15 118 22 119 23 120 24 121 25 122 24 121 23 120 6 115 7 116 30 123 31 124 30 123 7 116 36 125 37 126 14 117 15 118 14 117 37 126 42 127 43 128 24 121 22 119 24 121 43 128 69 129 70 129 71 129 71 130 70 130 72 130 70 130 73 130 72 130 72 130 73 130 74 130 73 130 75 130 74 130 74 130 75 130 76 130 75 130 77 130 76 130 77 131 78 131 76 131 76 132 78 132 79 132 79 130 78 130 80 130 78 130 81 130 80 130 81 130 82 130 80 130 80 130 82 130 83 130 83 133 82 133 84 133 82 134 85 134 84 134 84 135 85 135 86 135 85 136 87 136 86 136 86 130 87 130 88 130 87 130 89 130 88 130 88 130 89 130 90 130 89 137 91 137 90 137 92 138 90 138 91 138 23 120 116 139 25 122 117 140 25 122 116 139 30 123 31 124 120 141 121 142 120 141 31 124 126 143 127 144 36 125 37 126 36 125 127 144 132 145 133 146 42 127 43 128 42 127 133 146 138 147 139 148 140 149 141 150 140 149 139 148 140 149 141 150 146 151 147 152 146 151 141 150 146 151 147 152 151 153 152 154 151 153 147 152 151 153 152 154 156 155 157 156 156 155 152 154 157 156 161 157 156 155 162 158 156 155 161 157 161 157 166 159 162 158 167 160 162 158 166 159 166 159 171 161 167 160 172 162 167 160 171 161 172 162 171 161 176 163 177 164 176 163 171 161 176 163 177 164 181 165 182 166 181 165 177 164 181 165 182 166 186 167 187 168 186 167 182 166 186 167 187 168 191 169 192 170 191 169 187 168 196 171 191 169 197 172 192 170 197 172 191 169 201 173 196 171 202 174 197 172 202 174 196 171 206 175 201 173 207 176 202 174 207 176 201 173 211 177 206 175 212 178 207 176 212 178 206 175 216 179 211 177 217 180 212 178 217 180 211 177 116 139 216 179 117 140 217 180 117 140 216 179 220 181 221 182 132 145 133 146 132 145 221 182 224 183 221 182 225 184 220 181 225 184 221 182 224 183 225 184 138 147 139 148 138 147 225 184 121 142 229 185 120 141 230 186 120 141 229 185 234 187 127 144 235 188 126 143 235 188 127 144 241 107 242 189 243 190 244 191 243 190 242 189 243 190 244 191 249 192 250 193 249 192 244 191 249 192 250 193 254 194 255 195 254 194 250 193 254 194 255 195 259 196 260 197 259 196 255 195 260 197 264 198 259 196 265 199 259 196 264 198 264 198 269 200 265 199 270 201 265 199 269 200 269 200 274 202 270 201 275 203 270 201 274 202 274 202 279 204 275 203 280 205 275 203 279 204 279 204 284 206 280 205 285 207 280 205 284 206 284 206 289 208 285 207 290 209 285 207 289 208 290 209 289 208 294 210 295 211 294 210 289 208 299 212 294 210 300 86 295 211 300 86 294 210 304 213 299 212 305 214 300 86 305 214 299 212 309 215 304 213 310 216 305 214 310 216 304 213 229 185 309 215 230 186 310 216 230 186 309 215 234 187 235 188 241 107 242 189 241 107 235 188</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID36" name="tmp_export_ID36" 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="#ID36-mesh" name="tmp_export_ID36">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Color_A01-material" target="#Color_A01-material"/>
+              <instance_material symbol="material_001-material" target="#material_001-material"/>
+              <instance_material symbol="edge_color1981717255-material" target="#edge_color1981717255-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/ID36.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID36") at 0x00000202FBA7CF08>, meshname=ID36, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID36") at 0x00000202FBA7CF08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID36.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID36.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID366.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:40</created>
+    <modified>2025-06-19T12:01:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="edge_color1981717255-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="edge_color1981717255-material" name="edge_color1981717255">
+      <instance_effect url="#edge_color1981717255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID366-mesh" name="ID366">
+      <mesh>
+        <source id="ID366-mesh-positions">
+          <float_array id="ID366-mesh-positions-array" count="6">0.03191137 0 1.14371e-4 0.03149557 0 1.14336e-4</float_array>
+          <technique_common>
+            <accessor source="#ID366-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID366-mesh-normals">
+          <float_array id="ID366-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID366-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID366-mesh-vertices">
+          <input semantic="POSITION" source="#ID366-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID366-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID366" name="tmp_export_ID366" 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="#ID366-mesh" name="tmp_export_ID366">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="edge_color1981717255-material" target="#edge_color1981717255-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/ID366.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID366") at 0x00000202C41C9D08>, meshname=ID366, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID366") at 0x00000202C41C9D08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID366.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID366.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID370.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:40</created>
+    <modified>2025-06-19T12:01:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <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="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID370-mesh" name="ID370">
+      <mesh>
+        <source id="ID370-mesh-positions">
+          <float_array id="ID370-mesh-positions-array" count="6">0.03191143 -0.1138114 0.03868949 0.03281182 -0.1145817 0.0382232</float_array>
+          <technique_common>
+            <accessor source="#ID370-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID370-mesh-normals">
+          <float_array id="ID370-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID370-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID370-mesh-vertices">
+          <input semantic="POSITION" source="#ID370-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID370-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID370" name="tmp_export_ID370" 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="#ID370-mesh" name="tmp_export_ID370">
+          <bind_material>
+            <technique_common>
+              <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/ID370.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID370") at 0x00000202C41C9608>, meshname=ID370, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID370") at 0x00000202C41C9608> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID370.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID370.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID374.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:40</created>
+    <modified>2025-06-19T12:01:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <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="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID374-mesh" name="ID374">
+      <mesh>
+        <source id="ID374-mesh-positions">
+          <float_array id="ID374-mesh-positions-array" count="6">-0.001060247 -0.1147183 0.03814011 -9.00402e-4 -0.1145817 0.0382232</float_array>
+          <technique_common>
+            <accessor source="#ID374-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID374-mesh-normals">
+          <float_array id="ID374-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID374-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID374-mesh-vertices">
+          <input semantic="POSITION" source="#ID374-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID374-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID374" name="tmp_export_ID374" 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="#ID374-mesh" name="tmp_export_ID374">
+          <bind_material>
+            <technique_common>
+              <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/ID374.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID374") at 0x00000202C41CB908>, meshname=ID374, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID374") at 0x00000202C41CB908> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID374.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID374.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID378.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:40</created>
+    <modified>2025-06-19T12:01:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <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="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID378-mesh" name="ID378">
+      <mesh>
+        <source id="ID378-mesh-positions">
+          <float_array id="ID378-mesh-positions-array" count="6">-0.001060247 -0.1105962 0.04065734 -6.93967e-4 -0.1106184 0.04064381</float_array>
+          <technique_common>
+            <accessor source="#ID378-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID378-mesh-normals">
+          <float_array id="ID378-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID378-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID378-mesh-vertices">
+          <input semantic="POSITION" source="#ID378-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID378-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID378" name="tmp_export_ID378" 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="#ID378-mesh" name="tmp_export_ID378">
+          <bind_material>
+            <technique_common>
+              <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/ID378.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID378") at 0x00000202E9796408>, meshname=ID378, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID378") at 0x00000202E9796408> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID378.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID378.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID382.dae

@@ -0,0 +1,88 @@
+<?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>2025-06-19T12:01:40</created>
+    <modified>2025-06-19T12:01:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <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="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID382-mesh" name="ID382">
+      <mesh>
+        <source id="ID382-mesh-positions">
+          <float_array id="ID382-mesh-positions-array" count="6">0.03287047 -0.1145317 0.03825402 0.03281182 -0.1107329 0.04057425</float_array>
+          <technique_common>
+            <accessor source="#ID382-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID382-mesh-normals">
+          <float_array id="ID382-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID382-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID382-mesh-vertices">
+          <input semantic="POSITION" source="#ID382-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID382-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID382" name="tmp_export_ID382" 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="#ID382-mesh" name="tmp_export_ID382">
+          <bind_material>
+            <technique_common>
+              <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/ID382.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID382") at 0x00000202E9797208>, meshname=ID382, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID382") at 0x00000202E9797208> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID382.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID382.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID395.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>2025-06-19T12:01:40</created>
+    <modified>2025-06-19T12:01:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Color_A01-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.7764706 0.06666667 0.06666667 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <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="edge_color1981717255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Color_A01-material" name="Color_A01">
+      <instance_effect url="#Color_A01-effect"/>
+    </material>
+    <material id="material_001-material" name="material.001">
+      <instance_effect url="#material_001-effect"/>
+    </material>
+    <material id="edge_color1981717255-material" name="edge_color1981717255">
+      <instance_effect url="#edge_color1981717255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID395-mesh" name="ID395">
+      <mesh>
+        <source id="ID395-mesh-positions">
+          <float_array id="ID395-mesh-positions-array" count="144">0.09334731 0.2282992 0.3790645 0.06095451 0.2791415 0.3790645 0.06095451 0.2282992 0.3790645 0.09334731 0.2791415 0.3790645 0.09334731 0.2791415 0.3790645 0.09334731 0.2282992 0.3790645 0.06095451 0.2791415 0.3790645 0.06095451 0.2282992 0.3790645 0.09334731 0.2791415 0.3790645 0.09334731 0.2282992 0.3790645 0.06095451 0.2791415 0.3790645 0.06095451 0.2282992 0.3790645 0.09334731 0.2791415 0.4002709 0.09334731 0.2282992 0.3790645 0.09334731 0.2282992 0.4002709 0.09334731 0.2791415 0.3790645 0.09334731 0.2791415 0.3790645 0.09334731 0.2791415 0.4002709 0.09334731 0.2282992 0.3790645 0.09334731 0.2282992 0.4002709 0.09334731 0.2791415 0.4002709 0.09334731 0.2282992 0.4002709 0.09334731 0.2791415 0.4002709 0.06095451 0.2791415 0.3790645 0.09334731 0.2791415 0.3790645 0.06095451 0.2791415 0.4002709 0.06095451 0.2791415 0.4002709 0.09334731 0.2791415 0.4002709 0.06095451 0.2791415 0.3790645 0.09334731 0.2791415 0.3790645 0.06095451 0.2791415 0.4002709 0.06095451 0.2282992 0.3790645 0.06095451 0.2791415 0.4002709 0.06095451 0.2282992 0.4002709 0.06095451 0.2791415 0.3790645 0.06095451 0.2791415 0.3790645 0.06095451 0.2282992 0.3790645 0.06095451 0.2791415 0.4002709 0.06095451 0.2282992 0.4002709 0.06095451 0.2282992 0.4002709 0.06095451 0.2282992 0.3790645 0.09334731 0.2282992 0.4002709 0.09334731 0.2282992 0.3790645 0.06095451 0.2282992 0.4002709 0.06095451 0.2282992 0.4002709 0.06095451 0.2282992 0.3790645 0.09334731 0.2282992 0.4002709 0.09334731 0.2282992 0.3790645</float_array>
+          <technique_common>
+            <accessor source="#ID395-mesh-positions-array" count="48" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID395-mesh-normals">
+          <float_array id="ID395-mesh-normals-array" count="18">0 0 1 -1 0 0 0 -1 0 1 0 0 0 1 0 0 0 -1</float_array>
+          <technique_common>
+            <accessor source="#ID395-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID395-mesh-vertices">
+          <input semantic="POSITION" source="#ID395-mesh-positions"/>
+        </vertices>
+        <lines count="12">
+          <input semantic="VERTEX" source="#ID395-mesh-vertices" offset="0"/>
+          <p>9 8 8 10 10 11 11 9 21 20 8 20 9 21 20 30 10 30 30 39 11 39 39 21</p>
+        </lines>
+        <triangles material="Color_A01-material" count="10">
+          <input semantic="VERTEX" source="#ID395-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID395-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 1 0 0 0 3 0 12 1 13 1 14 1 13 1 12 1 15 1 22 2 23 2 24 2 23 2 22 2 25 2 31 3 32 3 33 3 32 3 31 3 34 3 40 4 41 4 42 4 41 4 40 4 43 4</p>
+        </triangles>
+        <triangles material="material_001-material" count="10">
+          <input semantic="VERTEX" source="#ID395-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID395-mesh-normals" offset="1"/>
+          <p>4 5 5 5 6 5 7 5 6 5 5 5 16 3 17 3 18 3 19 3 18 3 17 3 26 4 27 4 28 4 29 4 28 4 27 4 35 1 36 1 37 1 38 1 37 1 36 1 44 2 45 2 46 2 47 2 46 2 45 2</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID395" name="tmp_export_ID395" 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="#ID395-mesh" name="tmp_export_ID395">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Color_A01-material" target="#Color_A01-material"/>
+              <instance_material symbol="material_001-material" target="#material_001-material"/>
+              <instance_material symbol="edge_color1981717255-material" target="#edge_color1981717255-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/ID395.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID395") at 0x00000202E9794F08>, meshname=ID395, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID395") at 0x00000202E9794F08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID395.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID395.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID403.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>2025-06-19T12:01:40</created>
+    <modified>2025-06-19T12:01:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Color_A01-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.7764706 0.06666667 0.06666667 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <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="edge_color1981717255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Color_A01-material" name="Color_A01">
+      <instance_effect url="#Color_A01-effect"/>
+    </material>
+    <material id="material_001-material" name="material.001">
+      <instance_effect url="#material_001-effect"/>
+    </material>
+    <material id="edge_color1981717255-material" name="edge_color1981717255">
+      <instance_effect url="#edge_color1981717255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID403-mesh" name="ID403">
+      <mesh>
+        <source id="ID403-mesh-positions">
+          <float_array id="ID403-mesh-positions-array" count="144">0.2675049 0.2282992 0.3790645 0.2351121 0.2791415 0.3790645 0.2351121 0.2282992 0.3790645 0.2675049 0.2791415 0.3790645 0.2675049 0.2791415 0.3790645 0.2675049 0.2282992 0.3790645 0.2351121 0.2791415 0.3790645 0.2351121 0.2282992 0.3790645 0.2351121 0.2791415 0.3790645 0.2675049 0.2791415 0.3790645 0.2351121 0.2282992 0.3790645 0.2675049 0.2282992 0.3790645 0.2675049 0.2791415 0.4002709 0.2351121 0.2791415 0.3790645 0.2675049 0.2791415 0.3790645 0.2351121 0.2791415 0.4002709 0.2351121 0.2791415 0.4002709 0.2675049 0.2791415 0.4002709 0.2351121 0.2791415 0.3790645 0.2675049 0.2791415 0.3790645 0.2351121 0.2791415 0.4002709 0.2675049 0.2791415 0.4002709 0.2351121 0.2282992 0.3790645 0.2351121 0.2791415 0.4002709 0.2351121 0.2282992 0.4002709 0.2351121 0.2791415 0.3790645 0.2351121 0.2791415 0.3790645 0.2351121 0.2282992 0.3790645 0.2351121 0.2791415 0.4002709 0.2351121 0.2282992 0.4002709 0.2351121 0.2282992 0.4002709 0.2351121 0.2282992 0.3790645 0.2675049 0.2282992 0.4002709 0.2675049 0.2282992 0.3790645 0.2351121 0.2282992 0.4002709 0.2351121 0.2282992 0.4002709 0.2351121 0.2282992 0.3790645 0.2675049 0.2282992 0.4002709 0.2675049 0.2282992 0.3790645 0.2675049 0.2282992 0.4002709 0.2675049 0.2791415 0.4002709 0.2675049 0.2282992 0.3790645 0.2675049 0.2282992 0.4002709 0.2675049 0.2791415 0.3790645 0.2675049 0.2791415 0.3790645 0.2675049 0.2791415 0.4002709 0.2675049 0.2282992 0.3790645 0.2675049 0.2282992 0.4002709</float_array>
+          <technique_common>
+            <accessor source="#ID403-mesh-positions-array" count="48" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID403-mesh-normals">
+          <float_array id="ID403-mesh-normals-array" count="18">0 0 1 0 -1 0 1 0 0 0 1 0 -1 0 0 0 0 -1</float_array>
+          <technique_common>
+            <accessor source="#ID403-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID403-mesh-vertices">
+          <input semantic="POSITION" source="#ID403-mesh-positions"/>
+        </vertices>
+        <lines count="12">
+          <input semantic="VERTEX" source="#ID403-mesh-vertices" offset="0"/>
+          <p>9 8 10 8 10 11 11 9 21 20 8 20 9 21 30 20 10 30 30 39 11 39 39 21</p>
+        </lines>
+        <triangles material="Color_A01-material" count="10">
+          <input semantic="VERTEX" source="#ID403-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID403-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 1 0 0 0 3 0 12 1 13 1 14 1 13 1 12 1 15 1 22 2 23 2 24 2 23 2 22 2 25 2 31 3 32 3 33 3 32 3 31 3 34 3 40 4 41 4 42 4 41 4 40 4 43 4</p>
+        </triangles>
+        <triangles material="material_001-material" count="10">
+          <input semantic="VERTEX" source="#ID403-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID403-mesh-normals" offset="1"/>
+          <p>4 5 5 5 6 5 7 5 6 5 5 5 16 3 17 3 18 3 19 3 18 3 17 3 26 4 27 4 28 4 29 4 28 4 27 4 35 1 36 1 37 1 38 1 37 1 36 1 44 2 45 2 46 2 47 2 46 2 45 2</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID403" name="tmp_export_ID403" 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="#ID403-mesh" name="tmp_export_ID403">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Color_A01-material" target="#Color_A01-material"/>
+              <instance_material symbol="material_001-material" target="#material_001-material"/>
+              <instance_material symbol="edge_color1981717255-material" target="#edge_color1981717255-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/ID403.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID403") at 0x00000202F6C13208>, meshname=ID403, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID403") at 0x00000202F6C13208> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID403.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID403.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID411.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>2025-06-19T12:01:40</created>
+    <modified>2025-06-19T12:01:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Color_A01-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.7764706 0.06666667 0.06666667 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <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="edge_color1981717255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Color_A01-material" name="Color_A01">
+      <instance_effect url="#Color_A01-effect"/>
+    </material>
+    <material id="material_001-material" name="material.001">
+      <instance_effect url="#material_001-effect"/>
+    </material>
+    <material id="edge_color1981717255-material" name="edge_color1981717255">
+      <instance_effect url="#edge_color1981717255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID411-mesh" name="ID411">
+      <mesh>
+        <source id="ID411-mesh-positions">
+          <float_array id="ID411-mesh-positions-array" count="684">0.1196035 0.240707 0.3870169 0.1196035 0.268059 0.3870169 0.1196035 0.2393816 0.3870169 0.2087764 0.240707 0.3870169 0.2087764 0.2693844 0.3870169 0.2087764 0.268059 0.3870169 0.1222543 0.2314292 0.3870169 0.1249051 0.23408 0.3870169 0.1222543 0.2367308 0.3870169 0.2061256 0.2314292 0.3870169 0.1249051 0.2354054 0.3870169 0.1262304 0.23408 0.3870169 0.2021495 0.23408 0.3870169 0.2034748 0.23408 0.3870169 0.2034748 0.2354054 0.3870169 0.2034748 0.2393816 0.3870169 0.2061256 0.2367308 0.3870169 0.2074511 0.2393816 0.3870169 0.2114272 0.2367308 0.3870169 0.2087764 0.2393816 0.3870169 0.2074511 0.2693844 0.3870169 0.2034748 0.2733606 0.3870169 0.2034748 0.2693844 0.3870169 0.2061256 0.2720352 0.3870169 0.2114272 0.2720352 0.3870169 0.1169527 0.2720352 0.3870169 0.1196035 0.2693844 0.3870169 0.1222543 0.2720352 0.3870169 0.1209288 0.2693844 0.3870169 0.1249051 0.2693844 0.3870169 0.1222543 0.2773368 0.3870169 0.1249051 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+          <technique_common>
+            <accessor source="#ID411-mesh-positions-array" count="228" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID411-mesh-normals">
+          <float_array id="ID411-mesh-normals-array" count="99">0 0 1 0 -4.79658e-5 -1 0 4.76718e-5 -1 0 4.79658e-5 -1 -6.62712e-5 0 1 6.6269e-5 0 1 4.41794e-5 0 1 2.48792e-6 0 1 -3.31351e-5 0 1 3.31348e-5 0 1 0 4.79658e-5 1 0 -4.76718e-5 1 0 -4.79658e-5 1 8.28377e-6 0 1 -1.10451e-5 0 1 0 -1 0 1 0 0 0 1 0 -1 0 0 0 0 -1 4.97582e-6 0 -1 -1 4.30224e-5 2.07642e-5 -1 4.30224e-5 2.07643e-5 -1 4.30204e-5 2.07684e-5 -3.31348e-5 0 -1 1.65675e-5 0 -1 -2.07642e-5 4.30224e-5 -1 -2.07643e-5 4.30224e-5 -1 -2.07684e-5 4.30204e-5 -1 8.78259e-6 0 -1 -9.18856e-6 0 -1 -2.20902e-5 0 -1 6.62712e-5 0 -1</float_array>
+          <technique_common>
+            <accessor source="#ID411-mesh-normals-array" count="33" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID411-mesh-vertices">
+          <input semantic="POSITION" source="#ID411-mesh-positions"/>
+        </vertices>
+        <lines count="64">
+          <input semantic="VERTEX" source="#ID411-mesh-vertices" offset="0"/>
+          <p>81 80 81 82 82 83 84 83 84 85 85 86 87 86 87 88 88 89 90 89 90 91 91 80 93 92 92 94 94 95 95 96 96 97 97 98 98 99 99 100 100 101 101 102 102 103 103 104 104 105 105 106 106 107 107 108 108 109 109 110 110 111 111 112 112 113 113 114 114 115 115 116 116 117 117 118 118 119 119 93 129 128 81 129 80 128 129 138 82 138 138 147 83 147 156 147 84 156 156 165 85 165 165 174 86 174 183 174 87 183 183 192 88 192 192 201 89 201 210 201 90 210 210 219 91 219 219 128</p>
+        </lines>
+        <triangles material="Color_A01-material" count="64">
+          <input semantic="VERTEX" source="#ID411-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID411-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 3 1 4 2 5 3 6 0 7 0 8 0 7 0 6 0 9 0 8 0 7 0 10 0 7 0 9 0 11 0 11 0 9 0 12 0 12 0 9 0 13 0 13 4 9 4 14 4 14 0 9 0 15 0 15 0 9 0 16 0 15 0 16 0 17 0 17 0 16 0 18 0 17 0 18 0 19 0 19 5 18 5 3 5 20 0 21 0 22 0 21 6 20 6 23 6 23 0 20 0 24 0 24 0 20 0 4 0 24 0 4 0 3 0 24 7 3 7 18 7 25 0 26 0 27 0 26 0 25 0 2 0 26 0 2 0 1 0 27 0 26 0 28 0 27 0 28 0 29 0 27 8 29 8 30 8 30 9 29 9 31 9 30 0 31 0 32 0 31 10 29 11 33 12 32 0 31 0 34 0 32 0 34 0 35 0 32 0 35 0 36 0 32 0 36 0 21 0 32 13 21 13 23 13 37 0 2 0 25 0 2 0 37 0 8 0 2 0 8 0 38 0 38 0 8 0 39 0 39 14 8 14 10 14 120 15 121 15 122 15 121 15 120 15 123 15 130 16 131 16 132 16 131 16 130 16 133 16 139 17 140 17 141 17 140 17 139 17 142 17 148 16 149 16 150 16 149 16 148 16 151 16 157 17 158 17 159 17 158 17 157 17 160 17 166 18 167 18 168 18 167 18 166 18 169 18 175 17 176 17 177 17 176 17 175 17 178 17 184 18 185 18 186 18 185 18 184 18 187 18 193 15 194 15 195 15 194 15 193 15 196 15 202 18 203 18 204 18 203 18 202 18 205 18 211 15 212 15 213 15 212 15 211 15 214 15 220 16 221 16 222 16 221 16 220 16 223 16</p>
+        </triangles>
+        <triangles material="material_001-material" count="64">
+          <input semantic="VERTEX" source="#ID411-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID411-mesh-normals" offset="1"/>
+          <p>40 19 41 19 42 19 42 19 41 19 43 19 43 19 41 19 44 19 41 19 45 19 44 19 46 20 44 20 45 20 47 19 48 19 49 19 48 19 50 19 49 19 50 19 51 19 49 19 51 19 52 19 49 19 52 19 53 19 49 19 54 21 55 22 53 23 49 19 53 19 56 19 53 24 55 24 56 24 56 25 55 25 57 25 55 19 58 19 57 19 58 19 59 19 57 19 60 26 44 27 59 28 44 29 46 29 59 29 57 19 59 19 46 19 61 19 62 19 63 19 62 30 64 30 63 30 64 19 65 19 63 19 63 19 65 19 47 19 47 19 65 19 48 19 66 19 48 19 65 19 62 19 61 19 67 19 67 19 61 19 68 19 61 19 69 19 68 19 68 19 69 19 70 19 69 19 71 19 70 19 70 31 71 31 72 31 72 32 71 32 73 32 73 19 71 19 74 19 74 19 71 19 75 19 75 19 71 19 76 19 40 19 76 19 41 19 71 19 77 19 76 19 41 19 76 19 77 19 78 27 64 28 62 27 44 27 60 28 79 26 124 17 125 17 126 17 127 17 126 17 125 17 134 18 135 18 136 18 137 18 136 18 135 18 143 15 144 15 145 15 146 15 145 15 144 15 152 18 153 18 154 18 155 18 154 18 153 18 161 15 162 15 163 15 164 15 163 15 162 15 170 16 171 16 172 16 173 16 172 16 171 16 179 15 180 15 181 15 182 15 181 15 180 15 188 16 189 16 190 16 191 16 190 16 189 16 197 17 198 17 199 17 200 17 199 17 198 17 206 16 207 16 208 16 209 16 208 16 207 16 215 17 216 17 217 17 218 17 217 17 216 17 224 18 225 18 226 18 227 18 226 18 225 18</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID411" name="tmp_export_ID411" 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="#ID411-mesh" name="tmp_export_ID411">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Color_A01-material" target="#Color_A01-material"/>
+              <instance_material symbol="material_001-material" target="#material_001-material"/>
+              <instance_material symbol="edge_color1981717255-material" target="#edge_color1981717255-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/ID411.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID411") at 0x00000202F6C11608>, meshname=ID411, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID411") at 0x00000202F6C11608> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID411.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID411.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID419.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>2025-06-19T12:01:40</created>
+    <modified>2025-06-19T12:01:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Color_A01-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.7764706 0.06666667 0.06666667 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <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="edge_color1981717255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Color_A01-material" name="Color_A01">
+      <instance_effect url="#Color_A01-effect"/>
+    </material>
+    <material id="material_001-material" name="material.001">
+      <instance_effect url="#material_001-effect"/>
+    </material>
+    <material id="edge_color1981717255-material" name="edge_color1981717255">
+      <instance_effect url="#edge_color1981717255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID419-mesh" name="ID419">
+      <mesh>
+        <source id="ID419-mesh-positions">
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+          <technique_common>
+            <accessor source="#ID419-mesh-positions-array" count="296" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID419-mesh-normals">
+          <float_array id="ID419-mesh-normals-array" count="141">0 -1 0 0 0 1 2.92753e-5 0 1 -4.79384e-4 0 0.9999999 -4.79384e-4 0 0.9999999 -4.79384e-4 0 0.9999999 0 4.76718e-5 -1 0 -4.79658e-5 -1 1 4.79658e-5 0 1 -4.76718e-5 0 1 -4.79658e-5 0 -5.13798e-5 0 1 -0.7071068 -0.7071068 0 -0.7071092 -0.7071045 0 0.7071045 -0.7071092 0 0.7071115 -0.7071021 0 0 1 0 -0.7071068 0.7071068 0 -0.7071045 0.7071092 0 -1 0 0 1 0 0 0.7071068 -0.7071068 0 0.7071045 0.7071092 0 0.7071021 0.7071115 0 0.7071209 0.7070928 0 0.7071091 0.7071045 0 -0.7071138 0.7070997 0 -0.7071161 0.7070974 0 0 0 -1 5.13798e-5 0 -1 -1 4.38979e-5 1.8843e-5 -1 4.38997e-5 1.88388e-5 -1 4.38979e-5 1.8843e-5 8.32824e-4 0 -0.9999997 8.3283e-4 0 -0.9999997 8.32824e-4 0 -0.9999997 -2.34202e-5 0 -1 -4.68405e-5 0 -1 0.7071092 0.7071045 0 0.7071068 0.7071068 0 -0.7071115 0.7071021 0 -0.7071021 -0.7071115 0 -0.7071045 -0.7071092 0 -0.7071091 -0.7071045 0 -0.7071209 -0.7070928 0 0.7071161 -0.7070974 0 0.7071138 -0.7070997 0</float_array>
+          <technique_common>
+            <accessor source="#ID419-mesh-normals-array" count="47" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID419-mesh-vertices">
+          <input semantic="POSITION" source="#ID419-mesh-positions"/>
+        </vertices>
+        <lines count="76">
+          <input semantic="VERTEX" source="#ID419-mesh-vertices" offset="0"/>
+          <p>9 8 10 8 11 10 11 9 53 52 54 53 55 54 55 56 57 56 58 57 58 8 9 59 60 59 61 60 62 61 63 62 63 64 65 64 66 65 66 67 68 67 68 69 52 69 78 58 78 10 11 87 87 59 96 52 97 96 97 53 106 97 106 54 115 106 115 55 115 124 124 56 133 124 133 57 78 133 150 87 150 60 159 150 159 61 168 159 168 62 177 168 177 63 177 186 186 64 195 186 195 65 204 195 204 66 204 213 213 67 222 213 222 68 222 231 231 69 96 231 246 78 10 246 253 11 87 253 260 97 106 260 267 115 124 267 274 159 168 274 281 177 186 281 288 204 213 288 295 222 231 295</p>
+        </lines>
+        <triangles material="Color_A01-material" count="66">
+          <input semantic="VERTEX" source="#ID419-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID419-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 1 0 0 0 3 0 12 1 13 1 14 1 13 1 12 1 15 1 15 2 12 2 16 2 15 1 16 1 17 1 18 1 19 1 20 1 19 1 18 1 21 1 21 3 18 4 22 5 22 1 18 1 23 1 23 1 18 1 24 1 23 1 24 1 25 1 25 1 24 1 26 1 25 1 26 1 27 1 27 6 26 7 14 7 27 8 14 9 13 10 28 11 29 11 30 11 29 1 28 1 31 1 31 1 28 1 19 1 31 1 19 1 21 1 70 12 71 12 72 12 71 13 70 13 73 13 79 14 80 14 81 14 80 15 79 15 82 15 88 16 89 16 90 16 89 16 88 16 91 16 98 17 99 17 100 17 99 18 98 18 101 18 107 19 108 19 109 19 108 19 107 19 110 19 116 13 117 13 118 13 117 12 116 12 119 12 125 0 126 0 127 0 126 0 125 0 128 0 134 19 135 19 136 19 135 19 134 19 137 19 142 20 143 20 144 20 143 20 142 20 145 20 151 0 152 0 153 0 152 0 151 0 154 0 160 21 161 21 162 21 161 14 160 14 163 14 169 20 170 20 171 20 170 20 169 20 172 20 178 22 179 22 180 22 179 23 178 23 181 23 187 16 188 16 189 16 188 16 187 16 190 16 196 20 197 20 198 20 197 20 196 20 199 20 205 24 206 24 207 24 206 25 205 25 208 25 214 16 215 16 216 16 215 16 214 16 217 16 223 26 224 26 225 26 224 27 223 27 226 27 232 19 233 19 234 19 233 19 232 19 235 19 240 1 241 1 242 1 247 1 248 1 249 1 254 1 255 1 256 1 261 1 262 1 263 1 268 1 269 1 270 1 275 1 276 1 277 1 282 1 283 1 284 1 289 1 290 1 291 1</p>
+        </triangles>
+        <triangles material="material_001-material" count="66">
+          <input semantic="VERTEX" source="#ID419-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID419-mesh-normals" offset="1"/>
+          <p>4 16 5 16 6 16 7 16 6 16 5 16 32 28 33 28 34 28 33 28 35 28 34 28 34 28 35 28 36 28 37 29 36 29 35 29 38 8 39 9 40 8 39 30 41 31 40 32 40 28 41 28 42 28 41 28 43 28 42 28 42 28 43 28 44 28 43 28 45 28 44 28 44 28 45 28 46 28 46 33 45 34 32 35 32 36 45 36 33 36 47 28 33 28 45 28 48 28 49 28 50 28 49 37 51 37 50 37 50 28 51 28 38 28 39 28 38 28 51 28 74 38 75 38 76 38 77 39 76 39 75 39 83 40 84 40 85 40 86 18 85 18 84 18 92 0 93 0 94 0 95 0 94 0 93 0 102 14 103 14 104 14 105 21 104 21 103 21 111 20 112 20 113 20 114 20 113 20 112 20 120 39 121 39 122 39 123 38 122 38 121 38 129 16 130 16 131 16 132 16 131 16 130 16 138 20 139 20 140 20 141 20 140 20 139 20 146 19 147 19 148 19 149 19 148 19 147 19 155 16 156 16 157 16 158 16 157 16 156 16 164 18 165 18 166 18 167 17 166 17 165 17 173 19 174 19 175 19 176 19 175 19 174 19 182 41 183 41 184 41 185 42 184 42 183 42 191 0 192 0 193 0 194 0 193 0 192 0 200 19 201 19 202 19 203 19 202 19 201 19 209 43 210 43 211 43 212 44 211 44 210 44 218 0 219 0 220 0 221 0 220 0 219 0 227 45 228 45 229 45 230 46 229 46 228 46 236 20 237 20 238 20 239 20 238 20 237 20 243 28 244 28 245 28 250 28 251 28 252 28 257 28 258 28 259 28 264 28 265 28 266 28 271 28 272 28 273 28 278 28 279 28 280 28 285 28 286 28 287 28 292 28 293 28 294 28</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID419" name="tmp_export_ID419" 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="#ID419-mesh" name="tmp_export_ID419">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Color_A01-material" target="#Color_A01-material"/>
+              <instance_material symbol="material_001-material" target="#material_001-material"/>
+              <instance_material symbol="edge_color1981717255-material" target="#edge_color1981717255-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/ID419.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID419") at 0x000002030465E408>, meshname=ID419, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID419") at 0x000002030465E408> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID419.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID419.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID436.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID436") at 0x00000202EF4AEB08>, meshname=ID436, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID436") at 0x00000202EF4AEB08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID436.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID436.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID453.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>2025-06-19T12:01:40</created>
+    <modified>2025-06-19T12:01:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Color_A01-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.7764706 0.06666667 0.06666667 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <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="edge_color1981717255-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_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="Color_A01-material" name="Color_A01">
+      <instance_effect url="#Color_A01-effect"/>
+    </material>
+    <material id="material_001-material" name="material.001">
+      <instance_effect url="#material_001-effect"/>
+    </material>
+    <material id="edge_color1981717255-material" name="edge_color1981717255">
+      <instance_effect url="#edge_color1981717255-effect"/>
+    </material>
+    <material id="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID453-mesh" name="ID453">
+      <mesh>
+        <source id="ID453-mesh-positions">
+          <float_array id="ID453-mesh-positions-array" count="1902">-0.1003732 -5.30193e-4 0.02260947 -0.1053153 -0.03138124 0.02759432 -0.1053153 -5.30194e-4 0.02759432 -0.1003732 -0.03138124 0.02260947 -0.1003732 -0.03138124 0.02260947 -0.1003732 -5.30193e-4 0.02260947 -0.1053153 -0.03138124 0.02759432 -0.1053153 -5.30194e-4 0.02759432 -0.1053153 -0.03138124 0.02759432 -0.1053153 -5.30194e-4 0.02759432 -0.1003732 -5.30193e-4 0.02260947 -0.1003732 -0.03138124 0.02260947 -0.1098054 -0.03138124 0.0329672 -0.1098054 -5.30196e-4 0.0329672 -0.1098054 -0.03138124 0.0329672 -0.1098054 -5.30196e-4 0.0329672 -0.1098054 -0.03138124 0.0329672 -0.1098054 -5.30196e-4 0.0329672 -0.1053153 -5.30194e-4 0.02759432 -0.1000126 0 0.02299863 -0.1003732 -5.30193e-4 0.02260947 -0.104923 0 0.02795159 -0.104923 0 0.02795159 -0.1053153 -5.30194e-4 0.02759432 -0.1000126 0 0.02299863 -0.1003732 -5.30193e-4 0.02260947 -0.104923 0 0.02795159 -0.1000126 0 0.02299863 -0.09501463 -0.03138124 0.01804828 -0.09501463 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+        </triangles>
+        <triangles material="material_001-material" count="227">
+          <input semantic="VERTEX" source="#ID453-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID453-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID453" name="tmp_export_ID453" 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="#ID453-mesh" name="tmp_export_ID453">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Color_A01-material" target="#Color_A01-material"/>
+              <instance_material symbol="material_001-material" target="#material_001-material"/>
+              <instance_material symbol="edge_color1981717255-material" target="#edge_color1981717255-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/ID453.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID453") at 0x00000202EA071D08>, meshname=ID453, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID453") at 0x00000202EA071D08> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID453.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID453.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID46.dae

@@ -0,0 +1,182 @@
+<?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_color1981717255-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_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_color1981717255-material" name="edge_color1981717255">
+      <instance_effect url="#edge_color1981717255-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="ID46-mesh" name="ID46">
+      <mesh>
+        <source id="ID46-mesh-positions">
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+          <technique_common>
+            <accessor source="#ID46-mesh-normals-array" count="323" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID46-mesh-vertices">
+          <input semantic="POSITION" source="#ID46-mesh-positions"/>
+        </vertices>
+        <lines count="168">
+          <input semantic="VERTEX" source="#ID46-mesh-vertices" offset="0"/>
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+        </lines>
+        <triangles material="material_001-material" count="188">
+          <input semantic="VERTEX" source="#ID46-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID46-mesh-normals" offset="1"/>
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+        </triangles>
+        <triangles material="Color_007-material" count="188">
+          <input semantic="VERTEX" source="#ID46-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID46-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_ID46" name="tmp_export_ID46" 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="#ID46-mesh" name="tmp_export_ID46">
+          <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_color1981717255-material" target="#edge_color1981717255-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/ID46.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("ID46") at 0x00000202FBA7D608>, meshname=ID46, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("ID46") at 0x00000202FBA7D608> to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID46.dae
+->wrote dae to D:\1009233120冉惟言\工作\Balança\URDF_Data\meshes\dae\ID46.dae from bpy_types.Mesh

texture_urdf/工具/Balança/URDF_Data/meshes/dae/ID461.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>2025-06-19T12:01:40</created>
+    <modified>2025-06-19T12:01:40</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="material_0_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8901961 0.8823529 0.8705882 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="material_0_001-material" name="material_0.001">
+      <instance_effect url="#material_0_001-effect"/>
+    </material>
+    <material id="edge_color808080255-material" name="edge_color808080255">
+      <instance_effect url="#edge_color808080255-effect"/>
+    </material>
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