Add files using upload-large-folder tool

texture_urdf/箱子盒子/Box+Susi+Songket+30x25x12/ImageToStl.com_model (3)/model.mtl

@@ -0,0 +1,72 @@
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+newmtl mat0
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.19608 0.19608 0.19608
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat1
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.64314 0.69804 0.73333
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat2
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 1.0 1.0 1.0
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat3
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.09412 0.09412 0.09412
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat4
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 1 1 1
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat5
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0 0 0
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat6
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.85 0.85 0.85
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+

texture_urdf/箱子盒子/Box+Susi+Songket+30x25x12/ImageToStl.com_model (3)/model.obj

@@ -0,0 +1,170 @@
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+mtllib model.mtl
+
+o obj1
+v 10.23622 0 4.724409
+v 10.15748 0 3.543307
+v 10.23622 0 3.543307
+v 0.07874016 0 3.543307
+v 0 0 3.543307
+v 0 0 4.724409
+v 0 12.20472 4.724409
+v 0 12.20472 3.543307
+v 10.23622 12.12598 3.543307
+v 10.23622 12.20472 4.724409
+v 10.23622 12.20472 3.543307
+v 0.07874016 12.20472 3.543307
+vn 0 -1 0
+vn -1 0 0
+vn 1 0 0
+vn 0 1 0
+usemtl mat0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 4//1 1//1 5//1
+f 5//1 1//1 6//1
+f 7//2 5//2 6//2
+f 5//2 7//2 8//2
+f 9//3 1//3 3//3
+f 1//3 9//3 10//3
+f 10//3 9//3 11//3
+f 7//4 12//4 8//4
+f 12//4 7//4 11//4
+f 11//4 7//4 10//4
+f 6//4 1//4 5//4
+f 5//4 1//4 4//4
+f 4//4 1//4 2//4
+f 3//4 2//4 1//4
+f 8//3 7//3 5//3
+f 6//3 5//3 7//3
+f 11//2 9//2 10//2
+f 10//2 9//2 1//2
+f 3//2 1//2 9//2
+f 10//1 7//1 11//1
+f 11//1 7//1 12//1
+f 8//1 12//1 7//1
+# Vertices: 12, normals: 4, texture coordinates: 0, faces: 24
+
+o obj2
+v 10.15748 12.12598 0
+v 10.15748 0.07874016 3.543307
+v 10.15748 0.07874016 0
+v 10.15748 12.12598 3.543307
+v 0.07874016 12.12598 3.543307
+v 0.07874016 12.12598 0
+v 0.07874016 0.07874016 0
+v 0.07874016 0.07874016 3.543307
+vn 1 0 0
+vn 0 1 0
+vn 0 -1 0
+vn -1 0 0
+usemtl mat1
+f 13//5 14//5 15//5
+f 14//5 13//5 16//5
+f 17//6 13//6 18//6
+f 13//6 17//6 16//6
+f 14//7 19//7 15//7
+f 19//7 14//7 20//7
+f 17//8 19//8 20//8
+f 19//8 17//8 18//8
+f 16//8 13//8 14//8
+f 15//8 14//8 13//8
+f 16//7 17//7 13//7
+f 18//7 13//7 17//7
+f 20//6 14//6 19//6
+f 15//6 19//6 14//6
+f 18//5 17//5 19//5
+f 20//5 19//5 17//5
+# Vertices: 8, normals: 4, texture coordinates: 0, faces: 16
+
+o obj3
+v 10.23622 0 3.543307
+v 10.15748 0.07874016 3.543307
+v 10.15748 0 3.543307
+v 10.15748 12.12598 3.543307
+v 10.23622 12.12598 3.543307
+v 0.07874016 12.20472 3.543307
+v 0.07874016 12.12598 3.543307
+v 10.23622 12.20472 3.543307
+v 0.07874016 0.07874016 3.543307
+v 0.07874016 0 3.543307
+v 0 12.20472 3.543307
+v 0 0 3.543307
+vn 0 0 1
+vn -0 -0 -1
+usemtl mat1
+f 21//9 22//9 23//9
+f 22//9 21//9 24//9
+f 24//9 21//9 25//9
+f 24//9 26//9 27//9
+f 26//9 24//9 28//9
+f 28//9 24//9 25//9
+f 22//9 27//9 29//9
+f 27//9 22//9 24//9
+f 23//9 29//9 30//9
+f 29//9 23//9 22//9
+f 30//9 31//9 32//9
+f 31//9 30//9 26//9
+f 26//9 30//9 29//9
+f 26//9 29//9 27//9
+f 25//10 21//10 24//10
+f 24//10 21//10 22//10
+f 23//10 22//10 21//10
+f 25//10 24//10 28//10
+f 28//10 24//10 26//10
+f 27//10 26//10 24//10
+f 24//10 22//10 27//10
+f 29//10 27//10 22//10
+f 22//10 23//10 29//10
+f 30//10 29//10 23//10
+f 27//10 29//10 26//10
+f 29//10 30//10 26//10
+f 26//10 30//10 31//10
+f 32//10 31//10 30//10
+# Vertices: 12, normals: 2, texture coordinates: 0, faces: 28
+
+o obj4
+v 10.15748 12.12598 0
+v 0.07874016 0.07874016 0
+v 0.07874016 12.12598 0
+v 10.15748 0.07874016 0
+vn 0 0 -1
+vn -0 -0 1
+usemtl mat1
+f 33//11 34//11 35//11
+f 34//11 33//11 36//11
+f 36//12 33//12 34//12
+f 35//12 34//12 33//12
+# Vertices: 4, normals: 2, texture coordinates: 0, faces: 4
+
+o obj5
+v 10.23622 0 4.724409
+v 0 12.20472 4.724409
+v 0 0 4.724409
+v 10.23622 12.20472 4.724409
+vn 0 0 1
+vn -0 -0 -1
+usemtl mat1
+f 37//13 38//13 39//13
+f 38//13 37//13 40//13
+f 40//14 37//14 38//14
+f 39//14 38//14 37//14
+# Vertices: 4, normals: 2, texture coordinates: 0, faces: 4
+
+o obj6
+v 6.79646815 8.686727 4.724409
+v 3.717683 8.686727 4.724409
+v 6.79646815 3.53243274 4.724409
+v 3.717683 3.53243274 4.724409
+vt 0 1
+vt 0 0
+vt 1 1
+vt 1 0
+usemtl mat4
+f 41/1 42/2 43/3
+f 44/4 43/3 42/2
+f 43/3 42/2 41/1
+f 42/2 43/3 44/4
+# Vertices: 4, normals: 0, texture coordinates: 4, faces: 4
+

texture_urdf/箱子盒子/Box+Susi+Songket+30x25x12/ImageToStl.com_model (3)/readme.txt

@@ -0,0 +1,3 @@
+感谢您使用ImageToStl。除此注释外，您还可以找到转换后的文件。
+
+请访问 https://imagetostl.com 上的 ImageToStl，获取更多免费文件转换和在线查看工具。

texture_urdf/箱子盒子/Box+Susi+Songket+30x25x12/URDF_Data/joint_limits.yml

@@ -0,0 +1,19 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 1.0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "Joint1"
+    ]
+  }
+}

texture_urdf/箱子盒子/Box+Susi+Songket+30x25x12/URDF_Data/meshes/dae/obj2.dae

@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-20T10:23:31</created>
+    <modified>2025-06-20T10:23:31</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat1-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.06462059 0.1280681 0.1582247 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="mat1-material" name="mat1">
+      <instance_effect url="#mat1-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="obj2-mesh" name="obj2">
+      <mesh>
+        <source id="obj2-mesh-positions">
+          <float_array id="obj2-mesh-positions-array" count="72">10.15748 12.12598 0 10.15748 0.07874011 3.543307 10.15748 0.07874011 0 10.15748 12.12598 3.543307 0.07874011 12.12598 3.543307 0.07874011 12.12598 0 0.07874011 0.07874011 0 0.07874011 0.07874011 3.543307 10.15748 12.12598 0 0.07874011 0.07874011 0 0.07874011 12.12598 0 10.15748 0.07874011 0 10.15041 12.11891 0 10.15041 0.08581119 3.543307 10.15041 0.08581119 0 10.15041 12.11891 3.543307 0.08581119 12.11891 3.543307 0.08581119 12.11891 0 0.08581119 0.08581119 0 0.08581119 0.08581119 3.543307 10.15748 12.12598 0.00999999 0.07874011 0.07874011 0.00999999 0.07874011 12.12598 0.00999999 10.15748 0.07874011 0.00999999</float_array>
+          <technique_common>
+            <accessor source="#obj2-mesh-positions-array" count="24" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="obj2-mesh-normals">
+          <float_array id="obj2-mesh-normals-array" count="75">1 0 0 0 1 0 0 -1 0 -1 0 0 0 0 -1 0 1 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 1 -4.51904e-5 0 1 -4.52022e-5 0 1 2.66298e-5 0 1 0 0 1 0 0 1 2.66256e-5 0 1 -0.7071101 0.7071036 0 0.7071101 0.7071036 0 0.7071258 0.7070878 0 -0.7071258 -0.7070878 0 -0.7071258 0.7070878 0 0.7071101 -0.7071036 0 -0.7071101 -0.7071036 0 0.7071258 -0.7070878 0</float_array>
+          <technique_common>
+            <accessor source="#obj2-mesh-normals-array" count="25" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="obj2-mesh-vertices">
+          <input semantic="POSITION" source="#obj2-mesh-positions"/>
+        </vertices>
+        <triangles material="mat1-material" count="44">
+          <input semantic="VERTEX" source="#obj2-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#obj2-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 1 0 0 0 3 0 4 1 0 1 5 1 0 1 4 1 3 1 1 2 6 2 2 2 6 2 1 2 7 2 4 3 6 3 7 3 6 3 4 3 5 3 8 4 9 4 10 4 9 4 8 4 11 4 12 3 14 3 13 3 13 3 15 3 12 3 16 2 17 2 12 2 12 2 15 2 16 2 13 5 14 5 18 5 18 6 19 6 13 6 16 7 19 7 18 7 18 8 17 8 16 8 20 9 22 9 21 9 21 9 23 9 20 9 2 4 12 4 0 4 3 10 13 11 1 12 0 4 17 4 5 4 4 13 15 9 3 10 6 4 14 4 2 4 1 12 19 14 7 15 7 15 16 16 4 13 5 4 18 4 6 4 10 17 20 18 8 19 9 20 22 21 10 17 11 22 21 23 9 20 8 19 23 24 11 22 2 4 14 4 12 4 3 10 15 9 13 11 0 4 12 4 17 4 4 13 16 16 15 9 6 4 18 4 14 4 1 12 13 11 19 14 7 15 19 14 16 16 5 4 17 4 18 4 10 17 22 21 20 18 9 20 21 23 22 21 11 22 23 24 21 23 8 19 20 18 23 24</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj2" name="tmp_export_obj2" 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="#obj2-mesh" name="tmp_export_obj2">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat1-material" target="#mat1-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/箱子盒子/Box+Susi+Songket+30x25x12/URDF_Data/meshes/dae/obj2.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.0881890058517456, 0.0881890058517456, 0.0881890058517456], mesh=<bpy_struct, Mesh("obj2") at 0x000001B10E8A6B08>, meshname=obj2, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj2") at 0x000001B10E8A6B08> to C:\Users\DELL\Desktop\工作完成13\Box+Susi+Songket+30x25x12\URDF_Data\meshes\dae\obj2.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成13\Box+Susi+Songket+30x25x12\URDF_Data\meshes\dae\obj2.dae from bpy_types.Mesh

texture_urdf/箱子盒子/Box+Susi+Songket+30x25x12/URDF_Data/meshes/dae/obj3.dae

@@ -0,0 +1,115 @@
+<?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>2025-06-20T10:23:31</created>
+    <modified>2025-06-20T10:23:31</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat1-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.06462059 0.1280681 0.1582247 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="mat0-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.05147243 0.05147243 0.05147243 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="mat1-material" name="mat1">
+      <instance_effect url="#mat1-effect"/>
+    </material>
+    <material id="mat0-material" name="mat0">
+      <instance_effect url="#mat0-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="obj3-mesh" name="obj3">
+      <mesh>
+        <source id="obj3-mesh-positions">
+          <float_array id="obj3-mesh-positions-array" count="168">10.23622 0 3.543307 10.15748 0.07874011 3.543307 10.15748 0 3.543307 10.15748 12.12598 3.543307 10.23622 12.12598 3.543307 0.07874011 12.20472 3.543307 0.07874011 12.12598 3.543307 10.23622 12.20472 3.543307 0.07874011 0.07874011 3.543307 0.07874011 0 3.543307 0 12.20472 3.543307 0 0 3.543307 10.23622 0 4.72441 10.15748 0 3.543308 10.23622 0 3.543308 0.07874011 0 3.543308 0 0 3.543308 0 0 4.72441 0 12.20472 4.72441 0 12.20472 3.543308 10.23622 12.12598 3.543308 10.23622 12.20472 4.72441 10.23622 12.20472 3.543308 0.07874011 12.20472 3.543308 10.23622 0 4.72441 0 12.20472 4.72441 0 0 4.72441 10.23622 12.20472 4.72441 10.23622 0 3.533307 10.15748 0.07874011 3.533307 10.15748 0 3.533307 10.15748 12.12598 3.533307 10.23622 12.12598 3.533307 0.07874011 12.20472 3.533307 0.07874011 12.12598 3.533307 10.23622 12.20472 3.533307 0.08581119 0.07874011 3.536236 0.07874011 0 3.533307 0 12.20472 3.533307 0 0 3.533307 10.22915 0.007070958 4.72441 10.15748 0.00999999 3.543308 10.22915 0.007071018 3.543308 0.07874011 0.00999999 3.543308 0.007071077 0.007071018 3.543308 0.007071018 0.007071018 4.72441 0.007071137 12.19765 4.72441 0.007071018 12.19765 3.543308 10.22622 12.12598 3.543308 10.22915 12.19765 4.72441 10.22915 12.19765 3.543308 0.07874011 12.19472 3.543308 10.23622 0 4.71441 0 12.20472 4.71441 0 0 4.71441 10.23622 12.20472 4.71441</float_array>
+          <technique_common>
+            <accessor source="#obj3-mesh-positions-array" count="56" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="obj3-mesh-normals">
+          <float_array id="obj3-mesh-normals-array" count="219">0 0 1 0 4.79658e-5 1 0 -4.76718e-5 1 0 -4.79658e-5 1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 0 1 0 0 0 1 0 0 0 -1 -1.32759e-4 -3.86844e-5 -1 0 0 -1 -8.04278e-6 0 -1 -6.44351e-5 -5.39183e-5 -1 -2.9075e-4 -2.42091e-4 -1 0 0.03717219 -0.9993089 -2.90791e-4 0 -1 -0.9238868 -5.83213e-4 -0.3826653 0.9228191 -0.04807758 0.3822219 0.0670641 0.9973619 0.02777862 -0.3802168 0 0.9248974 0.04083353 0.999166 0 0 0.999997 0.002479851 -0.03850024 0.9420669 0.3332082 0 1 0 1 0 0 1 0 0 -1 -2.41589e-4 0 -0.999997 0 0.002479612 -0.9991666 0.04081827 0 -0.04083061 -0.9991661 0 2.88533e-4 -0.9999969 0.002497136 0 -1 0 0.7071056 -0.707108 0 0.7071269 -0.7070866 0 0.7071084 0.7071053 0 0.707108 0.7071056 0 -0.7071056 -0.707108 0 -0.7071282 0.7070855 0 -0.7071282 -0.7070854 0 -0.7071056 0.707108 0 -2.43631e-6 0 -1 -5.61216e-7 0 -1 -4.12736e-7 0 -1 1.21815e-6 0 -1 -2.56478e-6 0 -1 -4.40779e-5 0 -1 1.28237e-6 0 -1 1.24856e-5 0 1 2.8957e-5 0 1 2.89647e-5 0 1 0 0 1 0 0 -1 -4.45479e-5 0 -1 0 0 -1 4.42313e-5 0 1 1.24937e-5 0 1 0 0 -1 -1.20915e-6 0 -1 0 0 -1 -1.27342e-6 0 -1 4.42491e-5 0 1 -0.7071067 -0.707107 0 0.7071066 -0.707107 0 0.7071281 -0.7070855 0 -0.7071281 0.7070855 0 -0.7071282 -0.7070855 0 0.7071067 0.707107 0 -0.7071066 0.707107 0 0.7071282 0.7070855 0</float_array>
+          <technique_common>
+            <accessor source="#obj3-mesh-normals-array" count="73" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="obj3-mesh-vertices">
+          <input semantic="POSITION" source="#obj3-mesh-positions"/>
+        </vertices>
+        <triangles material="mat1-material" count="56">
+          <input semantic="VERTEX" source="#obj3-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#obj3-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 1 0 0 0 3 0 3 0 0 0 4 0 3 0 5 0 6 0 5 0 3 0 7 0 7 0 3 0 4 0 1 0 6 0 8 0 6 0 1 0 3 0 2 0 8 0 9 0 8 0 2 0 1 0 9 0 10 0 11 0 10 0 9 0 5 0 5 1 9 2 8 3 5 0 8 0 6 0 24 0 25 0 26 0 25 0 24 0 27 0 28 12 30 12 29 12 29 13 31 14 28 15 31 12 32 12 28 12 31 14 34 16 33 12 33 12 35 12 31 12 35 12 32 12 31 12 29 13 36 17 34 16 34 16 31 14 29 13 30 18 37 18 36 18 36 17 29 13 30 19 37 12 39 12 38 12 38 12 33 12 37 12 33 20 36 21 37 22 33 23 34 23 36 23 52 12 54 12 53 12 53 12 55 12 52 12 2 35 28 36 0 37 0 37 32 10 4 10 7 38 33 11 5 11 4 10 35 39 7 38 9 35 30 35 2 35 11 40 37 35 9 35 10 41 39 42 11 40 5 11 38 43 10 41 26 65 52 66 24 67 25 68 54 69 26 65 27 70 53 71 25 68 24 67 55 72 27 70 2 35 30 35 28 36 0 37 28 36 32 10 7 38 35 39 33 11 4 10 32 10 35 39 9 35 37 35 30 35 11 40 39 42 37 35 10 41 38 43 39 42 5 11 33 11 38 43 26 65 54 69 52 66 25 68 53 71 54 69 27 70 55 72 53 71 24 67 52 66 55 72</p>
+        </triangles>
+        <triangles material="mat0-material" count="48">
+          <input semantic="VERTEX" source="#obj3-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#obj3-mesh-normals" offset="1"/>
+          <p>12 4 13 4 14 4 13 5 12 5 15 5 15 6 12 6 16 6 16 7 12 7 17 7 18 8 16 8 17 8 16 9 18 9 19 9 20 10 12 10 14 10 12 10 20 10 21 10 21 10 20 10 22 10 18 11 23 11 19 11 23 11 18 11 22 11 22 11 18 11 21 11 40 24 42 24 41 24 41 25 43 25 40 25 43 26 44 26 40 26 44 27 45 27 40 27 46 28 45 28 44 28 44 29 47 29 46 29 48 30 42 30 40 30 40 31 49 31 48 31 49 32 50 32 48 32 46 33 47 33 51 33 51 34 50 34 46 34 50 35 49 35 46 35 13 44 42 45 14 46 15 47 41 48 13 44 15 47 44 49 43 50 12 51 45 52 17 53 18 54 45 52 46 0 19 55 44 49 16 56 20 57 42 45 48 12 21 58 40 59 12 51 20 57 50 60 22 12 23 61 47 62 19 55 23 61 50 60 51 63 18 54 49 64 21 58 13 44 41 48 42 45 15 47 43 50 41 48 15 47 16 56 44 49 12 51 40 59 45 52 18 54 17 53 45 52 19 55 47 62 44 49 20 57 14 46 42 45 21 58 49 64 40 59 20 57 48 12 50 60 23 61 51 63 47 62 23 61 22 12 50 60 18 54 46 0 49 64</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj3" name="tmp_export_obj3" 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="#obj3-mesh" name="tmp_export_obj3">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat1-material" target="#mat1-material"/>
+              <instance_material symbol="mat0-material" target="#mat0-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/箱子盒子/Box+Susi+Songket+30x25x12/URDF_Data/meshes/dae/obj3.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.0881890058517456, 0.0881890058517456, 0.0881890058517456], mesh=<bpy_struct, Mesh("obj3") at 0x000001B10E912408>, meshname=obj3, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj3") at 0x000001B10E912408> to C:\Users\DELL\Desktop\工作完成13\Box+Susi+Songket+30x25x12\URDF_Data\meshes\dae\obj3.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成13\Box+Susi+Songket+30x25x12\URDF_Data\meshes\dae\obj3.dae from bpy_types.Mesh

texture_urdf/箱子盒子/Box+Susi+Songket+30x25x12/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,30 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="Joint1" type="prismatic">
+    <limit lower="0.00000" upper="1.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="0.44949 0.53249 0.25538"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="obj2">
+      <origin rpy="-0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
+      <material name="mat1"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj2.dae" scale="0.08819 0.08819 0.08819"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="obj3">
+      <origin rpy="-0.00000 0.00000 0.00000" xyz="-0.44949 -0.53249 -0.25538"/>
+      <material name="mat1"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj3.dae" scale="0.08819 0.08819 0.08819"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="mat1">
+    <color rgba="0.64314 0.69804 0.72941 1.00000"/>
+  </material>
+</robot>

texture_urdf/箱子盒子/Box+Susi+Songket+30x25x12/model.dae

@@ -0,0 +1,498 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>SketchUp 19.1.173</authoring_tool>
+        </contributor>
+        <created>2020-03-08T07:07:54Z</created>
+        <modified>2020-03-08T07:07:54Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_cameras>
+        <camera id="ID1" name="skp_camera_Last_Saved_SketchUp_View">
+            <optics>
+                <technique_common>
+                    <perspective>
+                        <yfov>35</yfov>
+                        <aspect_ratio>0</aspect_ratio>
+                        <znear>1</znear>
+                        <zfar>1000</zfar>
+                    </perspective>
+                </technique_common>
+            </optics>
+        </camera>
+    </library_cameras>
+    <library_visual_scenes>
+        <visual_scene id="ID2">
+            <node name="SketchUp">
+                <instance_geometry url="#ID3">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID4">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID17">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID18">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID27">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID29">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID37">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID29">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID45">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID46">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material4" target="#ID12">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <node name="skp_camera_Last_Saved_SketchUp_View">
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+                    <instance_camera url="#ID1" />
+                </node>
+                <node id="ID55" name="image_0">
+                    <matrix>-4.25075e-19 0.0009712256 0 3.717683 -0.0009712256 -4.25075e-19 0 8.686727 0 0 1 4.724409 0 0 0 1</matrix>
+                    <instance_geometry url="#ID56">
+                        <bind_material>
+                            <technique_common>
+                                <instance_material symbol="Material2" target="#ID29">
+                                    <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                </instance_material>
+                            </technique_common>
+                        </bind_material>
+                    </instance_geometry>
+                </node>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <library_geometries>
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+            <mesh>
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+                    <technique_common>
+                        <accessor count="52" source="#ID14" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
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+                    <technique_common>
+                        <accessor count="52" source="#ID15" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID8">
+                    <Name_array id="ID16" count="0" />
+                    <technique_common>
+                        <accessor count="0" source="#ID16" stride="1">
+                            <param name="skp_material" type="Name" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID9">
+                    <input semantic="POSITION" source="#ID6" />
+                    <input semantic="NORMAL" source="#ID7" />
+                </vertices>
+                <triangles count="12" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID9" />
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+                </triangles>
+                <triangles count="12" material="Material3">
+                    <input offset="0" semantic="VERTEX" source="#ID9" />
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+                </triangles>
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+                </lines>
+            </mesh>
+        </geometry>
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+                    <Name_array id="ID26" count="0" />
+                    <technique_common>
+                        <accessor count="0" source="#ID26" stride="1">
+                            <param name="skp_material" type="Name" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID23">
+                    <input semantic="POSITION" source="#ID20" />
+                    <input semantic="NORMAL" source="#ID21" />
+                </vertices>
+                <triangles count="8" material="Material3">
+                    <input offset="0" semantic="VERTEX" source="#ID23" />
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+                </triangles>
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+                </triangles>
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+                    <technique_common>
+                        <accessor count="12" source="#ID42" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID39">
+                    <float_array id="ID43" count="36">0 0 -1 0 0 -1 0 0 -1 0 0 -1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 0 0 0 0 0 0 0 0 0 0 0 0</float_array>
+                    <technique_common>
+                        <accessor count="12" source="#ID43" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID40">
+                    <Name_array id="ID44" count="0" />
+                    <technique_common>
+                        <accessor count="0" source="#ID44" stride="1">
+                            <param name="skp_material" type="Name" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID41">
+                    <input semantic="POSITION" source="#ID38" />
+                    <input semantic="NORMAL" source="#ID39" />
+                </vertices>
+                <triangles count="2" material="Material3">
+                    <input offset="0" semantic="VERTEX" source="#ID41" />
+                    <p>0 1 2 1 0 3</p>
+                </triangles>
+                <triangles count="2" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID41" />
+                    <p>4 5 6 7 6 5</p>
+                </triangles>
+                <lines count="4" material="Material4">
+                    <input offset="0" semantic="VERTEX" source="#ID41" />
+                    <p>8 9 9 10 10 11 11 8</p>
+                </lines>
+            </mesh>
+        </geometry>
+        <geometry id="ID45">
+            <mesh>
+                <source id="ID48">
+                    <float_array id="ID52" count="36">10.23622 0 4.724409 0 12.20472 4.724409 0 0 4.724409 10.23622 12.20472 4.724409 10.23622 12.20472 4.724409 10.23622 0 4.724409 0 12.20472 4.724409 0 0 4.724409 0 0 4.724409 0 12.20472 4.724409 10.23622 0 4.724409 10.23622 12.20472 4.724409</float_array>
+                    <technique_common>
+                        <accessor count="12" source="#ID52" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID49">
+                    <float_array id="ID53" count="36">0 0 1 0 0 1 0 0 1 0 0 1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 0 0 0 0 0 0 0 0 0 0 0 0</float_array>
+                    <technique_common>
+                        <accessor count="12" source="#ID53" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID50">
+                    <Name_array id="ID54" count="0" />
+                    <technique_common>
+                        <accessor count="0" source="#ID54" stride="1">
+                            <param name="skp_material" type="Name" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID51">
+                    <input semantic="POSITION" source="#ID48" />
+                    <input semantic="NORMAL" source="#ID49" />
+                </vertices>
+                <triangles count="2" material="Material3">
+                    <input offset="0" semantic="VERTEX" source="#ID51" />
+                    <p>0 1 2 1 0 3</p>
+                </triangles>
+                <triangles count="2" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID51" />
+                    <p>4 5 6 7 6 5</p>
+                </triangles>
+                <lines count="4" material="Material4">
+                    <input offset="0" semantic="VERTEX" source="#ID51" />
+                    <p>8 9 10 8 11 10 9 11</p>
+                </lines>
+            </mesh>
+        </geometry>
+        <geometry id="ID56">
+            <mesh>
+                <source id="ID57">
+                    <float_array id="ID62" count="24">0 3170 0 0 0 0 5307 3170 0 5307 0 0 5307 3170 0 0 0 0 0 3170 0 5307 0 0</float_array>
+                    <technique_common>
+                        <accessor count="8" source="#ID62" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID59">
+                    <Name_array id="ID65" count="0" />
+                    <technique_common>
+                        <accessor count="0" source="#ID65" stride="1">
+                            <param name="skp_material" type="Name" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID61">
+                    <float_array id="ID64" count="8">0 1 0 0 1 1 1 0</float_array>
+                    <technique_common>
+                        <accessor count="4" source="#ID64" stride="2">
+                            <param name="S" type="float" />
+                            <param name="T" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID60">
+                    <input semantic="POSITION" source="#ID57" />
+                </vertices>
+                <triangles count="4" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID60" />
+                    <input offset="1" semantic="TEXCOORD" source="#ID61" />
+                    <p>0 0 1 1 2 2 3 3 2 2 1 1 4 2 5 1 6 0 5 1 4 2 7 3</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_materials>
+        <material id="ID4" name="material_4">
+            <instance_effect url="#ID5" />
+        </material>
+        <material id="ID11" name="material">
+            <instance_effect url="#ID10" />
+        </material>
+        <material id="ID12" name="edge_color000255">
+            <instance_effect url="#ID13" />
+        </material>
+        <material id="ID18" name="material_2">
+            <instance_effect url="#ID19" />
+        </material>
+        <material id="ID29" name="material_0">
+            <instance_effect url="#ID28" />
+        </material>
+        <material id="ID46" name="material_3">
+            <instance_effect url="#ID47" />
+        </material>
+    </library_materials>
+    <library_effects>
+        <effect id="ID5">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>0.1960784 0.1960784 0.1960784 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+        <effect id="ID10">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>0.6431373 0.6980392 0.7333333 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+        <effect id="ID13">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <constant>
+                        <transparent opaque="A_ONE">
+                            <color>0 0 0 1</color>
+                        </transparent>
+                        <transparency>
+                            <float>1</float>
+                        </transparency>
+                    </constant>
+                </technique>
+            </profile_COMMON>
+        </effect>
+        <effect id="ID19">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>0.09411765 0.09411765 0.09411765 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+        <effect id="ID28">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>1 1 1 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+        <effect id="ID47">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>0 0 0 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <scene>
+        <instance_visual_scene url="#ID2" />
+    </scene>
+</COLLADA>

texture_urdf/箱子盒子/Boxy1/URDF_Data/joint_limits.yml

@@ -0,0 +1,52 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 2.359999895095825,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": -2.359999895095825
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": -2.359999895095825
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 2.359999895095825,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "joint1",
+      "joint2",
+      "joint3",
+      "joint4"
+    ]
+  }
+}

texture_urdf/箱子盒子/Boxy1/URDF_Data/meshes/dae/obj1.002.dae

@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-17T11:31:26</created>
+    <modified>2025-06-17T11:31:26</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat0_003-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.74902 0.64314 0.49412 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="mat0_003-material" name="mat0.003">
+      <instance_effect url="#mat0_003-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="obj1_002-mesh" name="obj1.002">
+      <mesh>
+        <source id="obj1_002-mesh-positions">
+          <float_array id="obj1_002-mesh-positions-array" count="48">12 12 0 0 0 0 0 12 0 12 0 0 12 0 8 12 12 8 0 0 8 0 12 8 11.99423 11.99423 0.005773663 0.005773365 0.005773365 0.005773663 0.005773484 11.99423 0.005773484 11.99423 0.005773484 0.005773484 11.99293 0.007071018 8 11.99293 11.99293 8 0.007071018 0.007071018 8 0.007071018 11.99293 8</float_array>
+          <technique_common>
+            <accessor source="#obj1_002-mesh-positions-array" count="16" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="obj1_002-mesh-normals">
+          <float_array id="obj1_002-mesh-normals-array" count="72">0.3308287 0.3308287 -0.8838014 -0.3308287 -0.3308287 -0.8838014 -0.5773503 0.5773503 -0.5773503 0.5773503 -0.5773503 -0.5773503 0.7071068 -0.7071068 0 1 0 0 0 -1 0 -1 0 0 -0.7071068 0.7071068 0 0 1 0 -0.330931 -0.330931 0.8837248 0.5773929 -0.5773929 0.577265 0.3309309 0.3309309 0.8837248 -0.5773929 0.5773929 0.577265 -0.7071068 0.7071068 -2.29579e-4 -1 0 -1.62361e-4 0 1 -1.62323e-4 1 0 -1.62323e-4 0.7071068 -0.7071068 -2.29605e-4 0 -1 -1.62433e-4 0 0 1 -4.02898e-5 0 1 -4.03018e-5 0 1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#obj1_002-mesh-normals-array" count="24" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="obj1_002-mesh-vertices">
+          <input semantic="POSITION" source="#obj1_002-mesh-positions"/>
+        </vertices>
+        <triangles material="mat0_003-material" count="28">
+          <input semantic="VERTEX" source="#obj1_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#obj1_002-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 1 1 0 0 3 3 0 0 4 4 3 3 4 5 0 5 5 5 4 4 1 1 3 3 1 6 4 6 6 6 7 7 1 7 6 7 1 1 7 8 2 2 7 8 0 0 2 2 0 9 7 9 5 9 8 10 10 11 9 12 9 12 11 13 8 10 8 10 11 13 12 14 12 15 13 15 8 15 12 14 11 13 9 12 9 16 14 16 12 16 15 17 14 17 9 17 9 12 10 11 15 18 15 18 10 11 8 10 8 19 13 19 15 19 5 20 12 21 4 22 4 22 14 23 6 23 6 23 15 23 7 23 7 23 13 23 5 20 5 20 13 23 12 21 4 22 12 21 14 23 6 23 14 23 15 23 7 23 15 23 13 23</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj1_002" name="tmp_export_obj1.002" 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="#obj1_002-mesh" name="tmp_export_obj1.002">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat0_003-material" target="#mat0_003-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/箱子盒子/Boxy1/URDF_Data/meshes/dae/obj1.002.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.9999999403953552, 0.9999999403953552, 0.9999999403953552], mesh=<bpy_struct, Mesh("obj1.002") at 0x000001F903A55608>, meshname=obj1.002, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj1.002") at 0x000001F903A55608> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj1.002.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj1.002.dae from bpy_types.Mesh

texture_urdf/箱子盒子/Boxy1/URDF_Data/meshes/dae/obj2.002.dae

@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-17T11:31:26</created>
+    <modified>2025-06-17T11:31:26</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat0_003-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.74902 0.64314 0.49412 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="mat0_003-material" name="mat0.003">
+      <instance_effect url="#mat0_003-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="obj2_002-mesh" name="obj2.002">
+      <mesh>
+        <source id="obj2_002-mesh-positions">
+          <float_array id="obj2_002-mesh-positions-array" count="24">11.875 16.24264 12.24264 0.125 12 8 0.125 16.24264 12.24264 11.875 12 8 11.875 16.23557 12.24971 0.125 11.99293 8.007072 0.125 16.23557 12.24971 11.875 11.99293 8.007072</float_array>
+          <technique_common>
+            <accessor source="#obj2_002-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="obj2_002-mesh-normals">
+          <float_array id="obj2_002-mesh-normals-array" count="60">-1.38283e-5 -2.41697e-5 -1 -3.14648e-5 -2.41995e-5 -1 0 -2.41697e-5 -1 -8.16882e-5 -2.42293e-5 -1 0 -2.41101e-5 -1 -3.39403e-5 -2.41995e-5 -1 -0.3215961 -0.05467897 0.9452969 0.7071238 -0.4999879 0.4999881 -0.6297538 -0.7274019 0.2725743 -0.3216565 -0.05470073 0.945275 0.7071238 -0.4999639 0.5000122 -0.6297681 -0.7273821 0.2725941 0.3089854 0.672438 0.6725737 0.9085907 -0.4118623 0.06951653 -0.2780482 0.7905857 0.5455855 -0.004119575 -0.9956222 0.09337753 -0.9659344 -0.1828358 -0.1831445 0.6452248 0.524829 -0.5551933 -0.6616256 0.49713 -0.5613496 0.02145427 -0.9962434 0.08389836</float_array>
+          <technique_common>
+            <accessor source="#obj2_002-mesh-normals-array" count="20" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="obj2_002-mesh-vertices">
+          <input semantic="POSITION" source="#obj2_002-mesh-positions"/>
+        </vertices>
+        <triangles material="mat0_003-material" count="12">
+          <input semantic="VERTEX" source="#obj2_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#obj2_002-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 1 3 0 4 3 5 4 6 6 7 5 8 5 9 7 10 4 11 2 12 4 13 0 14 2 12 5 15 6 16 3 17 5 15 1 18 0 14 7 19 3 17 2 12 6 16 4 13 2 12 1 18 5 15 3 17 7 19 5 15 0 14 4 13 7 19</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj2_002" name="tmp_export_obj2.002" 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="#obj2_002-mesh" name="tmp_export_obj2.002">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat0_003-material" target="#mat0_003-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/箱子盒子/Boxy1/URDF_Data/meshes/dae/obj2.002.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.9999998807907104, 0.9999998807907104, 0.9999998807907104], mesh=<bpy_struct, Mesh("obj2.002") at 0x000001F90AD9C808>, meshname=obj2.002, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj2.002") at 0x000001F90AD9C808> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj2.002.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj2.002.dae from bpy_types.Mesh

texture_urdf/箱子盒子/Boxy1/URDF_Data/meshes/dae/obj3.002.dae

@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-17T11:31:26</created>
+    <modified>2025-06-17T11:31:26</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat0_003-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.74902 0.64314 0.49412 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="mat0_003-material" name="mat0.003">
+      <instance_effect url="#mat0_003-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="obj3_002-mesh" name="obj3.002">
+      <mesh>
+        <source id="obj3_002-mesh-positions">
+          <float_array id="obj3_002-mesh-positions-array" count="24">16.24264 12 12.24264 12 0 8 12 12 8 16.24264 0 12.24264 16.23557 12 12.24971 11.99293 0 8.007072 11.99293 12 8.007072 16.23557 0 12.24971</float_array>
+          <technique_common>
+            <accessor source="#obj3_002-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="obj3_002-mesh-normals">
+          <float_array id="obj3_002-mesh-normals-array" count="60">-2.40505e-5 -2.41399e-5 -1 -2.39611e-5 4.65003e-5 -1 -2.39611e-5 -3.37801e-5 -1 -2.43485e-5 0 -1 -2.42591e-5 1.38161e-5 -1 -2.42591e-5 0 -1 -0.7236154 -0.6324599 0.2763607 -0.499964 0.7071238 0.500012 -0.05274879 -0.3161938 0.9472271 -0.7236002 -0.6324707 0.2763758 -0.4999881 0.7071238 0.4999881 -0.0527594 -0.316223 0.9472167 -0.3841378 0.9231771 -0.01349598 -0.9953761 0.005947589 0.0958715 0.8442489 -0.2316911 0.4832837 0.5279797 -0.6822647 -0.5057197 0.4968087 0.6597526 -0.5638331 0.6766369 0.2902464 0.6766977 -0.990841 -0.0537281 0.1238852 -0.2053087 -0.9569335 -0.2052478</float_array>
+          <technique_common>
+            <accessor source="#obj3_002-mesh-normals-array" count="20" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="obj3_002-mesh-vertices">
+          <input semantic="POSITION" source="#obj3_002-mesh-positions"/>
+        </vertices>
+        <triangles material="mat0_003-material" count="12">
+          <input semantic="VERTEX" source="#obj3_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#obj3_002-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 1 3 0 4 3 5 4 6 6 7 5 8 5 9 7 10 4 11 0 12 6 13 4 14 1 15 6 13 2 16 3 17 5 18 1 15 0 12 7 19 3 17 0 12 2 16 6 13 1 15 5 18 6 13 3 17 7 19 5 18 0 12 4 14 7 19</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj3_002" name="tmp_export_obj3.002" 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="#obj3_002-mesh" name="tmp_export_obj3.002">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat0_003-material" target="#mat0_003-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/箱子盒子/Boxy1/URDF_Data/meshes/dae/obj3.002.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.000000238418579, 0.9999998211860657, 1.000000238418579], mesh=<bpy_struct, Mesh("obj3.002") at 0x000001F904225D08>, meshname=obj3.002, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj3.002") at 0x000001F904225D08> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj3.002.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj3.002.dae from bpy_types.Mesh

texture_urdf/箱子盒子/Boxy1/URDF_Data/meshes/dae/obj4.002.dae

@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-17T11:31:26</created>
+    <modified>2025-06-17T11:31:26</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat0_003-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.74902 0.64314 0.49412 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="mat0_003-material" name="mat0.003">
+      <instance_effect url="#mat0_003-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="obj4_002-mesh" name="obj4.002">
+      <mesh>
+        <source id="obj4_002-mesh-positions">
+          <float_array id="obj4_002-mesh-positions-array" count="24">11.875 -4.242641 12.24264 0.125 0 8 0.125 -4.242641 12.24264 11.875 0 8 11.875 -4.249712 12.23557 0.125 -0.007071018 7.992929 0.125 -4.249712 12.23557 11.875 -0.007071018 7.992929</float_array>
+          <technique_common>
+            <accessor source="#obj4_002-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="obj4_002-mesh-normals">
+          <float_array id="obj4_002-mesh-normals-array" count="60">-1.38879e-5 2.41399e-5 -1 -3.14648e-5 2.41101e-5 -1 0 2.41101e-5 -1 -8.1718e-5 2.41697e-5 -1 0 2.41101e-5 -1 -3.39403e-5 2.41101e-5 -1 -0.3215961 0.05467897 0.945297 0.7071238 0.4999879 0.499988 -0.629754 0.7274018 0.2725742 -0.3216565 0.05470073 0.9452751 0.7071238 0.4999639 0.500012 -0.6297683 0.727382 0.272594 0.881953 0.3333368 -0.3332349 -0.4872694 0.5331974 -0.6915701 -0.8779167 0.3765317 -0.2957805 0.5850707 -0.3594768 0.7269586 0.471373 0.6236726 -0.6235705 -0.5740136 -0.3732649 0.7288222 0.791205 -0.5678243 0.227091 -0.7792688 -0.5837057 0.2280963</float_array>
+          <technique_common>
+            <accessor source="#obj4_002-mesh-normals-array" count="20" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="obj4_002-mesh-vertices">
+          <input semantic="POSITION" source="#obj4_002-mesh-positions"/>
+        </vertices>
+        <triangles material="mat0_003-material" count="12">
+          <input semantic="VERTEX" source="#obj4_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#obj4_002-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 1 3 0 4 3 5 4 6 6 7 5 8 5 9 7 10 4 11 2 12 4 13 0 14 1 15 6 16 2 12 3 17 5 18 1 15 0 14 7 19 3 17 2 12 6 16 4 13 1 15 5 18 6 16 3 17 7 19 5 18 0 14 4 13 7 19</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj4_002" name="tmp_export_obj4.002" 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="#obj4_002-mesh" name="tmp_export_obj4.002">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat0_003-material" target="#mat0_003-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/箱子盒子/Boxy1/URDF_Data/meshes/dae/obj4.002.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.9999999403953552, 0.9999998807907104, 0.9999998807907104], mesh=<bpy_struct, Mesh("obj4.002") at 0x000001F903A22408>, meshname=obj4.002, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj4.002") at 0x000001F903A22408> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj4.002.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj4.002.dae from bpy_types.Mesh

texture_urdf/箱子盒子/Boxy1/URDF_Data/meshes/dae/obj5.003.dae

@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-17T11:31:26</created>
+    <modified>2025-06-17T11:31:26</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat0_003-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.74902 0.64314 0.49412 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="mat0_003-material" name="mat0.003">
+      <instance_effect url="#mat0_003-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="obj5_003-mesh" name="obj5.003">
+      <mesh>
+        <source id="obj5_003-mesh-positions">
+          <float_array id="obj5_003-mesh-positions-array" count="24">-4.242641 12 12.24264 0 0 8 0 12 8 -4.242641 0 12.24264 -4.249712 12 12.23557 -0.007071018 0 7.992929 -0.007071018 12 7.992929 -4.249712 0 12.23557</float_array>
+          <technique_common>
+            <accessor source="#obj5_003-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="obj5_003-mesh-normals">
+          <float_array id="obj5_003-mesh-normals-array" count="60">2.39611e-5 -2.41399e-5 -1 2.39611e-5 4.65003e-5 -1 2.39611e-5 -3.37801e-5 -1 2.41995e-5 0 -1 2.41995e-5 1.38161e-5 -1 2.41995e-5 0 -1 0.7236154 -0.6324599 0.2763606 0.4999641 0.7071238 0.5000119 0.05274885 -0.3161938 0.9472271 0.7236002 -0.6324708 0.276376 0.499988 0.7071238 0.4999881 0.05275917 -0.316223 0.9472168 -0.373251 -0.5739453 0.728883 0.6268339 -0.7420449 -0.2375895 0.7182059 -0.5130379 -0.470077 -0.3895975 0.5618134 0.7297804 -0.5836042 -0.7793327 0.2281378 0.3333001 0.8819225 -0.3333526 -0.5969348 0.7686709 0.2298131 0.6235962 0.4713708 -0.6236485</float_array>
+          <technique_common>
+            <accessor source="#obj5_003-mesh-normals-array" count="20" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="obj5_003-mesh-vertices">
+          <input semantic="POSITION" source="#obj5_003-mesh-positions"/>
+        </vertices>
+        <triangles material="mat0_003-material" count="12">
+          <input semantic="VERTEX" source="#obj5_003-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#obj5_003-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 1 3 0 4 3 5 4 6 6 7 5 8 5 9 7 10 4 11 2 12 4 13 0 14 1 15 6 16 2 12 3 17 5 18 1 15 0 14 7 19 3 17 2 12 6 16 4 13 1 15 5 18 6 16 3 17 7 19 5 18 0 14 4 13 7 19</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj5_003" name="tmp_export_obj5.003" 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="#obj5_003-mesh" name="tmp_export_obj5.003">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat0_003-material" target="#mat0_003-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/箱子盒子/Boxy1/URDF_Data/meshes/dae/obj5.003.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.9999997019767761, 0.9999997019767761, 0.9999997019767761], mesh=<bpy_struct, Mesh("obj5.003") at 0x000001F903C5DD08>, meshname=obj5.003, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj5.003") at 0x000001F903C5DD08> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj5.003.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj5.003.dae from bpy_types.Mesh

texture_urdf/箱子盒子/Boxy1/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,78 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint1" type="revolute">
+    <limit lower="0.00000" upper="2.36000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 1.57080 0.00000" xyz="5.87500 5.90646 8.33595"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint2" type="revolute">
+    <limit lower="-2.36000" upper="0.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="-0.00000 1.57080 0.00000" xyz="5.87500 -6.09353 8.33596"/>
+    <parent link="base_link"/>
+    <child link="link2"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint3" type="revolute">
+    <limit lower="-2.36000" upper="0.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="1.57080 0.00000 0.00000" xyz="-0.12500 -0.09354 8.33595"/>
+    <parent link="base_link"/>
+    <child link="link3"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="joint4" type="revolute">
+    <limit lower="0.00000" upper="2.36000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="1.57080 0.00000 0.00000" xyz="11.87500 -0.09354 8.33595"/>
+    <parent link="base_link"/>
+    <child link="link4"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="obj1">
+      <origin rpy="-0.00000 0.00000 0.00000" xyz="-0.12500 -6.09354 0.33596"/>
+      <material name="mat0.003"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj1.002.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="obj2">
+      <origin rpy="-0.00000 -1.57080 0.00000" xyz="8.00000 -12.00000 -6.00000"/>
+      <material name="mat0.003"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj2.002.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link2">
+    <visual name="obj4">
+      <origin rpy="-0.00000 -1.57080 0.00000" xyz="8.00000 -0.00000 -6.00000"/>
+      <material name="mat0.003"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj4.002.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link3">
+    <visual name="obj5">
+      <origin rpy="-1.57080 0.00000 0.00000" xyz="0.00000 -8.00000 6.00000"/>
+      <material name="mat0.003"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj5.003.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link4">
+    <visual name="obj3">
+      <origin rpy="-1.57080 0.00000 0.00000" xyz="-12.00000 -8.00000 6.00000"/>
+      <material name="mat0.003"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj3.002.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="mat0.003">
+    <color rgba="0.74902 0.64314 0.49412 1.00000"/>
+  </material>
+</robot>

texture_urdf/箱子盒子/Boxy1/model.dae

@@ -0,0 +1,273 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>lloyd s</author>
+            <authoring_tool>SketchUp 7.1.6860</authoring_tool>
+        </contributor>
+        <created>2019-12-08T09:32:36Z</created>
+        <modified>2019-12-08T09:32:36Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_cameras>
+        <camera id="ID1" name="skp_camera_Last_Saved_SketchUp_View">
+            <optics>
+                <technique_common>
+                    <perspective>
+                        <yfov>35</yfov>
+                        <aspect_ratio>0</aspect_ratio>
+                        <znear>1</znear>
+                        <zfar>1000</zfar>
+                    </perspective>
+                </technique_common>
+            </optics>
+        </camera>
+    </library_cameras>
+    <library_visual_scenes>
+        <visual_scene id="ID2">
+            <node name="SketchUp">
+                <node name="skp_camera_Last_Saved_SketchUp_View">
+                    <matrix>0.857707 -0.2984724 0.4186323 20.02463 0.5141388 0.4979236 -0.6983791 -18.49115 0 0.8142397 0.5805288 25.73068 0 0 0 1</matrix>
+                    <instance_camera url="#ID1" />
+                </node>
+                <node id="ID3" name="instance_0">
+                    <matrix>1 0 0 0 0 1 0 0 0 0 0.8 0 0 0 0 1</matrix>
+                    <instance_node url="#ID4" />
+                </node>
+                <node id="ID17" name="instance_1">
+                    <matrix>0.9791667 0 0 0.125 0 0.7071068 -0.7071068 12 0 0.7071068 0.7071068 8 0 0 0 1</matrix>
+                    <instance_node url="#ID18" />
+                </node>
+                <node id="ID27" name="instance_2">
+                    <matrix>0.7071068 0 -0.7071068 12 0 1 0 -3.552714e-15 0.7071068 -0 0.7071068 8 0 0 0 1</matrix>
+                    <instance_node url="#ID28" />
+                </node>
+                <node id="ID37" name="instance_3">
+                    <matrix>0.9791667 0 0 0.125 0 -0.7071068 -0.7071068 -1.421085e-14 0 0.7071068 -0.7071068 8 0 0 0 1</matrix>
+                    <instance_node url="#ID18" />
+                </node>
+                <node id="ID38" name="instance_4">
+                    <matrix>-0.7071068 0 -0.7071068 0 0 1 0 -3.552714e-15 0.7071068 0 -0.7071068 8 0 0 0 1</matrix>
+                    <instance_node url="#ID28" />
+                </node>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <library_nodes>
+        <node id="ID4" name="boxyBottom">
+            <instance_geometry url="#ID5">
+                <bind_material>
+                    <technique_common>
+                        <instance_material symbol="Material2" target="#ID6">
+                            <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                        </instance_material>
+                        <instance_material symbol="Material3" target="#ID12">
+                            <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                        </instance_material>
+                    </technique_common>
+                </bind_material>
+            </instance_geometry>
+        </node>
+        <node id="ID18" name="flappyOne">
+            <instance_geometry url="#ID19">
+                <bind_material>
+                    <technique_common>
+                        <instance_material symbol="Material2" target="#ID6">
+                            <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                        </instance_material>
+                        <instance_material symbol="Material3" target="#ID12">
+                            <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                        </instance_material>
+                    </technique_common>
+                </bind_material>
+            </instance_geometry>
+        </node>
+        <node id="ID28" name="flappyTwo">
+            <instance_geometry url="#ID29">
+                <bind_material>
+                    <technique_common>
+                        <instance_material symbol="Material2" target="#ID6">
+                            <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                        </instance_material>
+                        <instance_material symbol="Material3" target="#ID12">
+                            <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                        </instance_material>
+                    </technique_common>
+                </bind_material>
+            </instance_geometry>
+        </node>
+    </library_nodes>
+    <library_geometries>
+        <geometry id="ID5">
+            <mesh>
+                <source id="ID8">
+                    <float_array id="ID14" count="144">12 12 0 0 0 0 0 12 0 12 0 0 12 0 0 12 12 0 0 0 0 0 12 0 12 0 0 12 12 0 0 0 0 0 12 0 12 12 0 12 0 10 12 0 0 12 12 10 12 12 10 12 12 0 12 0 10 12 0 0 12 12 10 12 0 10 12 0 10 0 0 0 12 0 0 0 0 10 0 0 10 12 0 10 0 0 0 12 0 0 0 0 10 0 12 10 0 0 0 0 0 10 0 12 0 0 12 0 0 12 10 0 0 0 0 0 10 0 12 10 0 12 10 12 12 0 0 12 0 12 12 10 12 12 10 0 12 10 12 12 0 0 12 0</float_array>
+                    <technique_common>
+                        <accessor count="48" source="#ID14" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID9">
+                    <float_array id="ID15" count="144">0 0 -1 0 0 -1 0 0 -1 0 0 -1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 0 0 0 0 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0</float_array>
+                    <technique_common>
+                        <accessor count="48" source="#ID15" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID10">
+                    <Name_array id="ID16" count="0" />
+                    <technique_common>
+                        <accessor count="0" source="#ID16" stride="1">
+                            <param name="skp_material" type="Name" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID11">
+                    <input semantic="POSITION" source="#ID8" />
+                    <input semantic="NORMAL" source="#ID9" />
+                </vertices>
+                <triangles count="20" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID11" />
+                    <p>0 1 2 1 0 3 4 5 6 7 6 5 12 13 14 13 12 15 16 17 18 19 18 17 22 23 24 23 22 25 26 27 28 29 28 27 31 32 33 32 31 34 35 36 37 38 37 36 40 41 42 41 40 43 44 45 46 47 46 45</p>
+                </triangles>
+                <lines count="12" material="Material3">
+                    <input offset="0" semantic="VERTEX" source="#ID11" />
+                    <p>8 9 10 8 11 10 9 11 9 20 21 20 8 21 30 21 10 30 39 30 11 39 20 39</p>
+                </lines>
+            </mesh>
+        </geometry>
+        <geometry id="ID19">
+            <mesh>
+                <source id="ID20">
+                    <float_array id="ID24" count="36">12 6 -8.881784e-16 0 0 0 0 6 -8.881784e-16 12 0 0 12 0 0 12 6 -8.881784e-16 0 0 0 0 6 -8.881784e-16 12 0 0 0 0 0 0 6 -8.881784e-16 12 6 -8.881784e-16</float_array>
+                    <technique_common>
+                        <accessor count="12" source="#ID24" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID21">
+                    <float_array id="ID25" count="36">0 0 -1 0 0 -1 0 0 -1 0 0 -1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 0 0 0 0 0 0 0 0 0 0 0 0</float_array>
+                    <technique_common>
+                        <accessor count="12" source="#ID25" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID22">
+                    <Name_array id="ID26" count="0" />
+                    <technique_common>
+                        <accessor count="0" source="#ID26" stride="1">
+                            <param name="skp_material" type="Name" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID23">
+                    <input semantic="POSITION" source="#ID20" />
+                    <input semantic="NORMAL" source="#ID21" />
+                </vertices>
+                <triangles count="4" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID23" />
+                    <p>0 1 2 1 0 3 4 5 6 7 6 5</p>
+                </triangles>
+                <lines count="4" material="Material3">
+                    <input offset="0" semantic="VERTEX" source="#ID23" />
+                    <p>8 9 9 10 10 11 11 8</p>
+                </lines>
+            </mesh>
+        </geometry>
+        <geometry id="ID29">
+            <mesh>
+                <source id="ID30">
+                    <float_array id="ID34" count="36">6 12 0 0 3.552714e-15 0 0 12 0 6 0 0 6 0 0 6 12 0 0 3.552714e-15 0 0 12 0 6 12 0 6 0 0 0 3.552714e-15 0 0 12 0</float_array>
+                    <technique_common>
+                        <accessor count="12" source="#ID34" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID31">
+                    <float_array id="ID35" count="36">0 0 -1 0 0 -1 0 0 -1 0 0 -1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 0 0 0 0 0 0 0 0 0 0 0 0</float_array>
+                    <technique_common>
+                        <accessor count="12" source="#ID35" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID32">
+                    <Name_array id="ID36" count="0" />
+                    <technique_common>
+                        <accessor count="0" source="#ID36" stride="1">
+                            <param name="skp_material" type="Name" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID33">
+                    <input semantic="POSITION" source="#ID30" />
+                    <input semantic="NORMAL" source="#ID31" />
+                </vertices>
+                <triangles count="4" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID33" />
+                    <p>0 1 2 1 0 3 4 5 6 7 6 5</p>
+                </triangles>
+                <lines count="4" material="Material3">
+                    <input offset="0" semantic="VERTEX" source="#ID33" />
+                    <p>8 9 9 10 10 11 11 8</p>
+                </lines>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_materials>
+        <material id="ID6" name="material_1">
+            <instance_effect url="#ID7" />
+        </material>
+        <material id="ID12" name="edge_color191164126255">
+            <instance_effect url="#ID13" />
+        </material>
+    </library_materials>
+    <library_effects>
+        <effect id="ID7">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>0.7490196 0.6431373 0.4941176 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+        <effect id="ID13">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <constant>
+                        <transparent opaque="A_ONE">
+                            <color>0.7490196 0.6431373 0.4941176 1</color>
+                        </transparent>
+                        <transparency>
+                            <float>1</float>
+                        </transparency>
+                    </constant>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <scene>
+        <instance_visual_scene url="#ID2" />
+    </scene>
+</COLLADA>

texture_urdf/箱子盒子/Caixa+14/ImageToStl.com_model (14)/model.mtl

@@ -0,0 +1,93 @@
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+newmtl mat0
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.62745 0.62745 0.62745
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat1
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.64314 0.69804 0.73333
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat2
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 1.0 1.0 1.0
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat3
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.85 0.85 0.85
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+map_Kd CAIXA_14.jpg
+
+newmtl mat4
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 1.0 1.0 1.0
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat5
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 1 1 1
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat6
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.97647 0.97647 0.97647
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat7
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 1.0 1.0 1.0
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat8
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.85 0.85 0.85
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+

texture_urdf/箱子盒子/Caixa+14/ImageToStl.com_model (14)/readme.txt

@@ -0,0 +1,3 @@
+感谢您使用ImageToStl。除此注释外，您还可以找到转换后的文件。
+
+请访问 https://imagetostl.com 上的 ImageToStl，获取更多免费文件转换和在线查看工具。

texture_urdf/箱子盒子/Caixa+14/URDF_Data/joint_limits.yml

@@ -0,0 +1,19 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 3.0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "Joint1"
+    ]
+  }
+}

texture_urdf/箱子盒子/Caixa+14/URDF_Data/meshes/dae/obj1.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0000001192092896, 1.0000001192092896, 1.0000001192092896], mesh=<bpy_struct, Mesh("obj1") at 0x000002620EDC8F08>, meshname=obj1, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj1") at 0x000002620EDC8F08> to C:\Users\DELL\Desktop\工作完成11\Caixa+14\URDF_Data\meshes\dae\obj1.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成11\Caixa+14\URDF_Data\meshes\dae\obj1.dae from bpy_types.Mesh

texture_urdf/箱子盒子/Caixa+14/URDF_Data/meshes/dae/obj2.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0000001192092896, 1.0000001192092896, 1.0000001192092896], mesh=<bpy_struct, Mesh("obj2") at 0x000002620EA55D08>, meshname=obj2, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj2") at 0x000002620EA55D08> to C:\Users\DELL\Desktop\工作完成11\Caixa+14\URDF_Data\meshes\dae\obj2.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成11\Caixa+14\URDF_Data\meshes\dae\obj2.dae from bpy_types.Mesh

texture_urdf/箱子盒子/Caixa+14/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,33 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="Joint1" type="prismatic">
+    <limit lower="0.00000" upper="3.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="8.01370 9.98070 9.84868"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="obj2">
+      <origin rpy="-0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
+      <material name="mat3"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj2.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="obj1">
+      <origin rpy="-0.00000 0.00000 0.00000" xyz="-8.01370 -9.98070 -9.84868"/>
+      <material name="mat0"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj1.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="mat0">
+    <color rgba="0.62353 0.62353 0.62353 1.00000"/>
+  </material>
+  <material name="mat3">
+    <color rgba="0.84706 0.84706 0.84706 1.00000"/>
+  </material>
+</robot>

texture_urdf/箱子盒子/GF1+kasse/URDF_Data/joint_limits.yml

@@ -0,0 +1,19 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 1.309999942779541,
+          "speed": 0.0
+        },
+        "min": {
+          "position": -1.7000000476837158
+        }
+      }
+    ],
+    "names": [
+      "joint1"
+    ]
+  }
+}

texture_urdf/箱子盒子/GF1+kasse/URDF_Data/meshes/dae/obj20.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("obj20") at 0x000001C18349E408>, meshname=obj20, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj20") at 0x000001C18349E408> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj20.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj20.dae from bpy_types.Mesh

texture_urdf/箱子盒子/GF1+kasse/URDF_Data/meshes/dae/obj25.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("obj25") at 0x000001C18315D608>, meshname=obj25, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj25") at 0x000001C18315D608> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj25.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\obj25.dae from bpy_types.Mesh

texture_urdf/箱子盒子/GF1+kasse/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,33 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint1" type="revolute">
+    <limit lower="-1.70000" upper="1.31000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="-1.57080 -0.00000 0.00000" xyz="0.00000 12.89379 10.63810"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="obj25">
+      <origin rpy="-0.00000 -0.00000 -3.14159" xyz="0.03901 18.38586 10.14236"/>
+      <material name="mat1"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj25.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="obj20">
+      <origin rpy="-1.57080 0.00000 -3.14159" xyz="1.65580 -6.39916 5.37971"/>
+      <material name="mat0"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj20.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="mat0">
+    <color rgba="0.80000 0.80000 0.80000 1.00000"/>
+  </material>
+  <material name="mat1">
+    <color rgba="0.80000 0.80000 0.80000 1.00000"/>
+  </material>
+</robot>

texture_urdf/箱子盒子/ImageToStl.com_Assem5/Assem5.mtl

@@ -0,0 +1,22 @@
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+newmtl mat0
+Ns 500
+Ka 1.0 1.0 1.0
+Kd 0.50196 1 1
+Ks 0.05 0.05 0.05
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 2
+
+newmtl mat1
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.85 0.85 0.85
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+

texture_urdf/箱子盒子/ImageToStl.com_Assem5/URDF_Data/meshes/dae/obj1.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.09999998658895493, 0.09999998658895493, 0.09999998658895493], mesh=<bpy_struct, Mesh("obj1.001") at 0x00000209D25EB208>, meshname=obj1.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj1.001") at 0x00000209D25EB208> to C:\Users\Spexie\phobos-models\URDF_Data\meshes\dae\obj1.001.dae
+->wrote dae to C:\Users\Spexie\phobos-models\URDF_Data\meshes\dae\obj1.001.dae from bpy_types.Mesh

texture_urdf/箱子盒子/ImageToStl.com_Assem5/URDF_Data/meshes/dae/obj2.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.10000000149011612, 0.10000000149011612, 0.10000000149011612], mesh=<bpy_struct, Mesh("obj2") at 0x00000209D23F3208>, meshname=obj2, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj2") at 0x00000209D23F3208> to C:\Users\Spexie\phobos-models\URDF_Data\meshes\dae\obj2.dae
+->wrote dae to C:\Users\Spexie\phobos-models\URDF_Data\meshes\dae\obj2.dae from bpy_types.Mesh

texture_urdf/箱子盒子/ImageToStl.com_Assem5/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,30 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="Joint1" type="revolute">
+    <limit lower="-1.49000" upper="1.87000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="-8.48935 -5.44901 2.36309"/>
+    <parent link="new_link"/>
+    <child link="new_link.000"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="new_link">
+    <visual name="obj2">
+      <origin rpy="1.57080 0.00000 0.00000" xyz="-0.00000 0.00000 9.53387"/>
+      <material name="mat0"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj2.dae" scale="0.10000 0.10000 0.10000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="new_link.000">
+    <visual name="obj1.001">
+      <origin rpy="1.57080 0.00000 0.00000" xyz="-2.83022 -7.49544 7.76234"/>
+      <material name="mat0"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj1.001.dae" scale="0.10000 0.10000 0.10000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="mat0">
+    <color rgba="0.49804 1.00000 1.00000 1.00000"/>
+  </material>
+</robot>

texture_urdf/箱子盒子/ImageToStl.com_Assem5/readme.txt

@@ -0,0 +1,3 @@
+感谢您使用ImageToStl。除此注释外，您还可以找到转换后的文件。
+
+请访问 https://imagetostl.com 上的 ImageToStl，获取更多免费文件转换和在线查看工具。

texture_urdf/箱子盒子/ImageToStl.com_Box+Panel/Box Panel.mtl

@@ -0,0 +1,62 @@
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+newmtl mat0
+Ns 500
+Ka 1.0 1.0 1.0
+Kd 0.66667 0.69804 0.76471
+Ks 0.05 0.05 0.05
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 2
+
+newmtl mat1
+Ns 500
+Ka 1.0 1.0 1.0
+Kd 0.29804 0.29804 0.29804
+Ks 0.05 0.05 0.05
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 2
+
+newmtl mat2
+Ns 500
+Ka 1.0 1.0 1.0
+Kd 1 1 1
+Ks 0.05 0.05 0.05
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 2
+
+newmtl mat3
+Ns 500
+Ka 1.0 1.0 1.0
+Kd 0.64706 0.61961 0.58824
+Ks 0.05 0.05 0.05
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 2
+
+newmtl mat4
+Ns 500
+Ka 1.0 1.0 1.0
+Kd 0.00784 0.23529 0.82353
+Ks 0.05 0.05 0.05
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 2
+
+newmtl mat5
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.85 0.85 0.85
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+