Add files using upload-large-folder tool

texture_urdf/门/36x96_6_Panel_Door-White_V1_L1.123c11e8e590-4e14-48ad-8439-d28c77eef8ba/URDF_Data/meshes/dae/Knob2904.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("Knob2904.001") at 0x000001F451085D08>, meshname=Knob2904.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Knob2904.001") at 0x000001F451085D08> to C:\Users\Spexie\phobos-models\URDF\meshes\dae\Knob2904.001.dae
+->wrote dae to C:\Users\Spexie\phobos-models\URDF\meshes\dae\Knob2904.001.dae from bpy_types.Mesh

texture_urdf/门/36x96_6_Panel_Door-White_V1_L1.123c11e8e590-4e14-48ad-8439-d28c77eef8ba/URDF_Data/meshes/dae/Knob2904.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("Knob2904") at 0x000001F44D242B08>, meshname=Knob2904, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Knob2904") at 0x000001F44D242B08> to C:\Users\Spexie\phobos-models\URDF\meshes\dae\Knob2904.dae
+->wrote dae to C:\Users\Spexie\phobos-models\URDF\meshes\dae\Knob2904.dae from bpy_types.Mesh

texture_urdf/门/36x96_6_Panel_Door-White_V1_L1.123c11e8e590-4e14-48ad-8439-d28c77eef8ba/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,41 @@
+<robot name="URDF" version="1.0">
+  <joint name="new_link.000.001_joint" type="revolute">
+    <limit lower="-1.57000" upper="1.57000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="-83.31454 0.18156 -70.10509"/>
+    <parent link="new_link"/>
+    <child link="new_link.000.001"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="new_link.000_joint" type="continuous">
+    <limit lower="0" upper="0" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="1.57080 0.00000 0.00000" xyz="83.31453 6.08643 73.93385"/>
+    <parent link="new_link.000.001"/>
+    <child link="new_link.000"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="new_link"/>
+  <link name="new_link.000">
+    <visual name="Knob2904.001">
+      <origin rpy="-1.57080 0.00000 0.00000" xyz="-28.27159 22.67810 6.47464"/>
+      <material name="Silver_mat"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Knob2904.001.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="new_link.000.001">
+    <visual name="Knob2904">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="46.59205 0.00000 113.19619"/>
+      <material name="White_Mat__wood_"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Knob2904.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="Silver_mat">
+    <color rgba="0.69412 0.69412 0.69412 1.00000"/>
+  </material>
+  <material name="White_Mat__wood_">
+    <color rgba="0.96471 0.96471 0.96471 1.00000"/>
+  </material>
+</robot>

texture_urdf/门/60x80_Double_French_Door_Honey_v1_L1.1238ec037a8-8db4-401a-b0ff-86db7f30c1dc/60x80_Double_French_Door_Honey_v1_L1.1238ec037a8-8db4-401a-b0ff-86db7f30c1dc/60x80 Double_French_Door_Honey_v1.mtl

@@ -0,0 +1,38 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 03.08.2012 13:27:25
+
+newmtl Silver_mat
+	Ns 60.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.6980 0.6980 0.6980
+	Kd 0.6980 0.6980 0.6980
+	Ks 0.5676 0.5676 0.5676
+	Ke 0.0000 0.0000 0.0000
+
+newmtl Honey_mat
+	Ns 25.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.6000 0.4275 0.2745
+	Kd 0.6000 0.4275 0.2745
+	Ks 0.1800 0.1800 0.1800
+	Ke 0.0000 0.0000 0.0000
+
+newmtl Window_Mat
+	Ns 10.0000
+	Ni 1.5000
+	d 0.2000
+	Tr 0.8000
+	Tf 0.2000 0.2000 0.2000 
+	illum 2
+	Ka 0.8627 0.8627 0.8627
+	Kd 0.8627 0.8627 0.8627
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000

texture_urdf/门/60x80_Double_French_Door_Honey_v1_L1.1238ec037a8-8db4-401a-b0ff-86db7f30c1dc/URDF_Data/joint_limits.yml

@@ -0,0 +1,30 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 0.0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": -1.5700000524520874
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 1.5700000524520874,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "Joint1",
+      "Joint2"
+    ]
+  }
+}

texture_urdf/门/60x80_Double_French_Door_Honey_v1_L1.1238ec037a8-8db4-401a-b0ff-86db7f30c1dc/URDF_Data/meshes/dae/DoubleFrenchDoor60x106.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.07260314375162125, 0.07260314375162125, 0.07260314375162125], mesh=<bpy_struct, Mesh("DoubleFrenchDoor60x106.001") at 0x000001DB120EDD08>, meshname=DoubleFrenchDoor60x106.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("DoubleFrenchDoor60x106.001") at 0x000001DB120EDD08> to C:\Users\DELL\Desktop\工作完成9\60x80_Double_French_Door_Honey_v1_L1.1238ec037a8-8db4-401a-b0ff-86db7f30c1dc\URDF_Data\meshes\dae\DoubleFrenchDoor60x106.001.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成9\60x80_Double_French_Door_Honey_v1_L1.1238ec037a8-8db4-401a-b0ff-86db7f30c1dc\URDF_Data\meshes\dae\DoubleFrenchDoor60x106.001.dae from bpy_types.Mesh

texture_urdf/门/60x80_Double_French_Door_Honey_v1_L1.1238ec037a8-8db4-401a-b0ff-86db7f30c1dc/URDF_Data/meshes/dae/DoubleFrenchDoor60x106.004.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.07576622068881989, 0.07260314375162125, 0.07260314375162125], mesh=<bpy_struct, Mesh("DoubleFrenchDoor60x106.004") at 0x000001DB120D0F08>, meshname=DoubleFrenchDoor60x106.004, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("DoubleFrenchDoor60x106.004") at 0x000001DB120D0F08> to C:\Users\DELL\Desktop\工作完成9\60x80_Double_French_Door_Honey_v1_L1.1238ec037a8-8db4-401a-b0ff-86db7f30c1dc\URDF_Data\meshes\dae\DoubleFrenchDoor60x106.004.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成9\60x80_Double_French_Door_Honey_v1_L1.1238ec037a8-8db4-401a-b0ff-86db7f30c1dc\URDF_Data\meshes\dae\DoubleFrenchDoor60x106.004.dae from bpy_types.Mesh

texture_urdf/门/60x80_Double_French_Door_Honey_v1_L1.1238ec037a8-8db4-401a-b0ff-86db7f30c1dc/URDF_Data/meshes/dae/Knob1315.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.07260314375162125, 0.07260314375162125, 0.07260314375162125], mesh=<bpy_struct, Mesh("Knob1315") at 0x000001DB12795608>, meshname=Knob1315, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Knob1315") at 0x000001DB12795608> to C:\Users\DELL\Desktop\工作完成9\60x80_Double_French_Door_Honey_v1_L1.1238ec037a8-8db4-401a-b0ff-86db7f30c1dc\URDF_Data\meshes\dae\Knob1315.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成9\60x80_Double_French_Door_Honey_v1_L1.1238ec037a8-8db4-401a-b0ff-86db7f30c1dc\URDF_Data\meshes\dae\Knob1315.dae from bpy_types.Mesh

texture_urdf/门/60x80_Double_French_Door_Honey_v1_L1.1238ec037a8-8db4-401a-b0ff-86db7f30c1dc/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,49 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="Joint1" type="revolute">
+    <limit lower="-1.57000" upper="0.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="-5.39896 -0.36849 15.84885"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="Joint2" type="revolute">
+    <limit lower="0.00000" upper="1.57000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="5.47360 -0.36849 15.84885"/>
+    <parent link="base_link"/>
+    <child link="link2"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="DoubleFrenchDoor60x106.004">
+      <origin rpy="-3.14158 0.00000 0.00000" xyz="0.05479 0.00000 9.01406"/>
+      <material name="Honey_mat"/>
+      <geometry>
+        <mesh filename="../meshes/dae/DoubleFrenchDoor60x106.004.dae" scale="0.07577 0.07260 0.07260"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="DoubleFrenchDoor60x106.001">
+      <origin rpy="-3.14158 0.00000 0.00000" xyz="5.39896 0.36849 -6.83479"/>
+      <material name="Honey_mat"/>
+      <geometry>
+        <mesh filename="../meshes/dae/DoubleFrenchDoor60x106.001.dae" scale="0.07260 0.07260 0.07260"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link2">
+    <visual name="Knob1315">
+      <origin rpy="-3.14158 0.00000 0.00000" xyz="-5.47360 0.36849 -6.83479"/>
+      <material name="Silver_mat"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Knob1315.dae" scale="0.07260 0.07260 0.07260"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="Honey_mat">
+    <color rgba="0.60000 0.42745 0.27059 1.00000"/>
+  </material>
+  <material name="Silver_mat">
+    <color rgba="0.69412 0.69412 0.69412 1.00000"/>
+  </material>
+</robot>

texture_urdf/门/60x80_Double_French_Mullion_Door-White_va30f9991-6bbf-48ed-9b14-2500048d7282/60x80_Double_French_Mullion_Door-White_va30f9991-6bbf-48ed-9b14-2500048d7282/16689_60x80_Double_French_Mullion_Door-White_v1.mtl

@@ -0,0 +1,38 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 15.08.2012 10:50:51
+
+newmtl Silver_mat
+	Ns 60.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.6980 0.6980 0.6980
+	Kd 0.6980 0.6980 0.6980
+	Ks 0.5676 0.5676 0.5676
+	Ke 0.0000 0.0000 0.0000
+
+newmtl White_Mat__wood_
+	Ns 26.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.9686 0.9686 0.9686
+	Kd 0.9686 0.9686 0.9686
+	Ks 0.4050 0.4050 0.4050
+	Ke 0.0000 0.0000 0.0000
+
+newmtl Window_Mat
+	Ns 10.0000
+	Ni 1.5000
+	d 0.2000
+	Tr 0.8000
+	Tf 0.2000 0.2000 0.2000 
+	illum 2
+	Ka 0.8627 0.8627 0.8627
+	Kd 0.8627 0.8627 0.8627
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000

texture_urdf/门/60x80_Double_French_Mullion_Door-White_va30f9991-6bbf-48ed-9b14-2500048d7282/URDF_Data/joint_limits.yml

@@ -0,0 +1,19 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 1.5,
+          "speed": 0.0
+        },
+        "min": {
+          "position": -1.5
+        }
+      }
+    ],
+    "names": [
+      "joint1"
+    ]
+  }
+}

texture_urdf/门/60x80_Double_French_Mullion_Door-White_va30f9991-6bbf-48ed-9b14-2500048d7282/URDF_Data/meshes/dae/DoubleFrenchDoorMullions60x124.015.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("DoubleFrenchDoorMullions60x124.015") at 0x000001E19CE11608>, meshname=DoubleFrenchDoorMullions60x124.015, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("DoubleFrenchDoorMullions60x124.015") at 0x000001E19CE11608> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\DoubleFrenchDoorMullions60x124.015.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\DoubleFrenchDoorMullions60x124.015.dae from bpy_types.Mesh

texture_urdf/门/60x80_Double_French_Mullion_Door-White_va30f9991-6bbf-48ed-9b14-2500048d7282/URDF_Data/meshes/dae/DoubleFrenchDoorMullions60x124.024.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("DoubleFrenchDoorMullions60x124.024") at 0x000001E19CD1E408>, meshname=DoubleFrenchDoorMullions60x124.024, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("DoubleFrenchDoorMullions60x124.024") at 0x000001E19CD1E408> to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\DoubleFrenchDoorMullions60x124.024.dae
+->wrote dae to C:\Users\DELL\Desktop\URDF_Data\meshes\dae\DoubleFrenchDoorMullions60x124.024.dae from bpy_types.Mesh

texture_urdf/门/60x80_Double_French_Mullion_Door-White_va30f9991-6bbf-48ed-9b14-2500048d7282/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,30 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="joint1" type="revolute">
+    <limit lower="-1.50000" upper="1.50000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="-114.83024 45.47015 -8.77264"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="DoubleFrenchDoorMullions60x124.010">
+      <origin rpy="-0.00000 0.00000 0.00000" xyz="-38.30604 40.36656 90.03296"/>
+      <material name="White_Mat__wood_.001"/>
+      <geometry>
+        <mesh filename="../meshes/dae/DoubleFrenchDoorMullions60x124.024.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="DoubleFrenchDoorMullions60x124.001">
+      <origin rpy="-0.00000 0.00000 0.00000" xyz="76.52420 -5.10359 98.80561"/>
+      <material name="White_Mat__wood_.001"/>
+      <geometry>
+        <mesh filename="../meshes/dae/DoubleFrenchDoorMullions60x124.015.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="White_Mat__wood_.001">
+    <color rgba="0.96471 0.96471 0.96471 1.00000"/>
+  </material>
+</robot>

texture_urdf/门/84x96_Slider_Door-Black_V1_L1.123ccfb284d7-b09d-465e-a86a-c61e18f31247/84x96_Slider_Door-Black_V1_L1.123ccfb284d7-b09d-465e-a86a-c61e18f31247/16668_84x96_Slider_Door-Black_V1.mtl

@@ -0,0 +1,38 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 13.08.2012 15:49:05
+
+newmtl Ebony_mat
+	Ns 26.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.1176 0.1176 0.1176
+	Kd 0.1176 0.1176 0.1176
+	Ks 0.2250 0.2250 0.2250
+	Ke 0.0000 0.0000 0.0000
+
+newmtl Window_Mat
+	Ns 10.0000
+	Ni 1.5000
+	d 0.2000
+	Tr 0.8000
+	Tf 0.2000 0.2000 0.2000 
+	illum 2
+	Ka 0.8627 0.8627 0.8627
+	Kd 0.8627 0.8627 0.8627
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000
+
+newmtl Silver_mat
+	Ns 60.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.6980 0.6980 0.6980
+	Kd 0.6980 0.6980 0.6980
+	Ks 0.5676 0.5676 0.5676
+	Ke 0.0000 0.0000 0.0000

texture_urdf/门/84x96_Slider_Door-Black_V1_L1.123ccfb284d7-b09d-465e-a86a-c61e18f31247/URDF_Data/joint_limits.yml

@@ -0,0 +1,30 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 4.0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 4.0,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "Joint1",
+      "Joint2"
+    ]
+  }
+}

texture_urdf/门/84x96_Slider_Door-Black_V1_L1.123ccfb284d7-b09d-465e-a86a-c61e18f31247/URDF_Data/meshes/dae/Slider84x105.001.dae

@@ -0,0 +1,133 @@
+<?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>2025-06-16T11:31:40</created>
+    <modified>2025-06-16T11:31:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Ebony_mat-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.1176 0.1176 0.1176 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Window_Mat-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8627 0.8627 0.8627 1</color>
+            </diffuse>
+            <transparent opaque="A_ONE">
+              <color sid="alpha">0 0 0 0.2</color>
+            </transparent>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Ebony_mat-material" name="Ebony_mat">
+      <instance_effect url="#Ebony_mat-effect"/>
+    </material>
+    <material id="Window_Mat-material" name="Window_Mat">
+      <instance_effect url="#Window_Mat-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Slider84x105_001-mesh" name="Slider84x105.001">
+      <mesh>
+        <source id="Slider84x105_001-mesh-positions">
+          <float_array id="Slider84x105_001-mesh-positions-array" count="72">-26.3018 2.4709 -113.1776 -134.1432 7.5497 -113.1776 -26.3018 7.5497 -113.1776 -26.3018 2.4709 127.6419 -134.1432 2.4709 -113.1776 -38.1688 2.4709 -93.33921 -38.1688 7.5497 -93.33921 -38.1689 2.4709 116.7629 -123.3754 7.5497 -93.33921 -123.3754 2.4709 -93.33921 -134.1432 2.4709 127.6419 -123.3754 2.4709 116.7629 -123.3754 7.5497 116.7629 -38.1689 7.5497 116.7629 -134.1432 7.5497 127.6419 -26.3018 7.5497 127.6419 -26.3018 4.3754 -111.9079 -134.1432 5.6451 -111.9079 -26.3018 5.6451 -111.9079 -134.1432 4.3754 126.3722 -134.1432 4.3754 -111.9079 -26.3018 4.3754 126.3722 -134.1432 5.6452 126.3722 -26.3018 5.6452 126.3722</float_array>
+          <technique_common>
+            <accessor source="#Slider84x105_001-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="Slider84x105_001-mesh-normals">
+          <float_array id="Slider84x105_001-mesh-normals-array" count="72">0 0 -1 1 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 0 1 -1 0 -4.72066e-7 -1 0 -4.72066e-7 -1 0 -4.72066e-7 0 -1 0 0 -1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 1 -4.18042e-7 0 1 -4.18042e-7 0 1 -4.18041e-7</float_array>
+          <technique_common>
+            <accessor source="#Slider84x105_001-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>
+        <source id="Slider84x105_001-mesh-map-0">
+          <float_array id="Slider84x105_001-mesh-map-0-array" count="264">790.548 166.2592 790.548 208.7262 788.548 208.7262 788.548 208.7262 788.548 166.2592 790.548 166.2592 1.0304 46.9702 1.0304 -47.0298 3.0304 -47.0298 372.234 -46.9163 372.234 47.9163 367.5609 -39.1041 329.7671 -46.9163 372.234 -46.9163 367.5609 -39.1041 760.7269 404.5526 758.7269 404.5526 758.7269 369.0856 -2.0304 -43.5298 -0.03039997 -43.5298 -0.03039997 44.4702 372.234 47.9163 367.5609 43.6322 367.5609 -39.1041 758.7269 369.0856 760.7269 369.0856 760.7269 404.5526 329.7671 -46.9163 367.5609 -39.1041 334.0073 -39.1041 334.0073 -39.1041 334.0073 43.6322 329.7671 47.9163 329.7671 -46.9163 334.0073 -39.1041 329.7671 47.9163 1.0304 44.4702 1.0304 -43.5298 3.0304 -43.5298 334.0073 43.6322 367.5609 43.6322 329.7671 47.9163 790.548 170.9324 790.548 206.3993 788.548 206.3993 3.0304 -43.5298 3.0304 44.4702 1.0304 44.4702 367.5609 43.6322 334.0073 43.6322 329.7671 47.9163 788.548 206.3993 788.548 170.9324 790.548 170.9324 329.7671 47.9163 334.0073 43.6322 334.0073 -39.1041 329.7671 -46.9163 329.7671 47.9163 334.0073 -39.1041 -2.0304 46.9702 -2.0304 -47.0298 -0.03039997 -47.0298 760.7269 409.2257 758.7269 409.2257 758.7269 366.7588 758.7269 366.7588 760.7269 366.7588 760.7269 409.2257 -0.03039997 -47.0298 -0.03039997 46.9702 -2.0304 46.9702 329.7671 47.9163 372.234 47.9163 367.5609 43.6322 372.234 47.9163 367.5609 -39.1041 367.5609 43.6322 372.234 47.9163 372.234 -46.9163 367.5609 -39.1041 3.0304 -47.0298 3.0304 46.9702 1.0304 46.9702 -0.03039997 44.4702 -2.0304 44.4702 -2.0304 -43.5298 372.234 47.9163 329.7671 47.9163 367.5609 43.6322 329.7671 -46.9163 334.0073 -39.1041 367.5609 -39.1041 372.234 -46.9163 329.7671 -46.9163 367.5609 -39.1041 -512.0815 -339.9311 -469.6146 -339.9311 -469.6146 -339.4311 -469.6146 -339.4311 -512.0815 -339.4311 -512.0815 -339.9311 -132.2441 -295.2414 -132.2442 -388.2414 -131.7442 -388.2414 245.0323 -388.2414 245.0323 -295.2414 202.5654 -295.2414 202.5654 -295.2414 202.5654 -388.2414 245.0323 -388.2414 -131.7442 -388.2414 -131.7441 -295.2414 -132.2441 -295.2414 245.0323 -339.9311 245.0323 -339.4311 202.5654 -339.4311 202.5654 -339.4311 202.5654 -339.9311 245.0323 -339.9311 -512.0815 -295.2414 -512.0815 -388.2414 -469.6146 -388.2414 -469.6146 -388.2414 -469.6146 -295.2414 -512.0815 -295.2414 -135.305 -295.2414 -135.305 -388.2414 -134.805 -388.2414 -134.805 -388.2414 -134.805 -295.2414 -135.305 -295.2414</float_array>
+          <technique_common>
+            <accessor source="#Slider84x105_001-mesh-map-0-array" count="132" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Slider84x105_001-mesh-vertices">
+          <input semantic="POSITION" source="#Slider84x105_001-mesh-positions"/>
+        </vertices>
+        <triangles material="Ebony_mat-material" count="40">
+          <input semantic="VERTEX" source="#Slider84x105_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Slider84x105_001-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Slider84x105_001-mesh-map-0" offset="2" set="0"/>
+          <p>0 0 0 4 0 1 1 0 2 1 0 3 2 0 4 0 0 5 3 1 6 0 1 7 2 1 8 0 2 9 3 3 10 5 4 11 4 5 12 0 2 13 5 4 14 5 6 15 6 6 16 8 6 17 6 7 18 5 8 19 7 9 20 3 3 21 7 10 22 5 4 23 8 6 24 9 6 25 5 6 26 4 5 27 5 4 28 9 11 29 9 11 30 11 11 31 10 11 32 4 5 33 9 11 34 10 11 35 11 1 36 9 1 37 8 1 38 11 11 39 7 10 40 10 11 41 7 0 42 11 0 43 12 0 44 8 1 45 12 1 46 11 1 47 13 12 48 12 13 49 14 14 50 12 0 51 13 0 52 7 0 53 14 14 54 12 13 55 8 15 56 1 16 57 14 14 58 8 15 59 14 17 60 1 17 61 4 17 62 3 6 63 15 6 64 14 6 65 14 6 66 10 6 67 3 6 68 4 17 69 10 17 70 14 17 71 14 14 72 15 18 73 13 12 74 15 18 75 6 19 76 13 12 77 15 18 78 2 20 79 6 19 80 2 1 81 15 1 82 3 1 83 7 9 84 13 9 85 6 7 86 3 3 87 10 11 88 7 10 89 1 16 90 8 15 91 6 19 92 2 20 93 1 16 94 6 19 95 16 0 96 20 0 97 17 0 98 17 0 99 18 0 100 16 0 101 21 1 102 16 1 103 18 1 104 18 1 111 23 1 112 21 1 113 21 6 114 23 6 115 22 6 116 22 6 117 19 6 118 21 6 119 22 17 126 17 17 127 20 17 128 20 17 129 19 17 130 22 17 131</p>
+        </triangles>
+        <triangles material="Window_Mat-material" count="4">
+          <input semantic="VERTEX" source="#Slider84x105_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Slider84x105_001-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Slider84x105_001-mesh-map-0" offset="2" set="0"/>
+          <p>16 11 105 21 11 106 19 11 107 19 11 108 20 11 109 16 11 110 23 21 120 18 22 121 17 23 122 17 23 123 22 22 124 23 21 125</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_Slider84x105_001" name="tmp_export_Slider84x105.001" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Slider84x105_001-mesh" name="tmp_export_Slider84x105.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Ebony_mat-material" target="#Ebony_mat-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Window_Mat-material" target="#Window_Mat-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/门/84x96_Slider_Door-Black_V1_L1.123ccfb284d7-b09d-465e-a86a-c61e18f31247/URDF_Data/meshes/dae/Slider84x105.001.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.042253658175468445, 0.042253658175468445, 0.042253658175468445], mesh=<bpy_struct, Mesh("Slider84x105.001") at 0x0000022D8E35F208>, meshname=Slider84x105.001, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Slider84x105.001") at 0x0000022D8E35F208> to C:\Users\DELL\Desktop\工作完成9\84x96_Slider_Door-Black_V1_L1.123ccfb284d7-b09d-465e-a86a-c61e18f31247\URDF_Data\meshes\dae\Slider84x105.001.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成9\84x96_Slider_Door-Black_V1_L1.123ccfb284d7-b09d-465e-a86a-c61e18f31247\URDF_Data\meshes\dae\Slider84x105.001.dae from bpy_types.Mesh

texture_urdf/门/84x96_Slider_Door-Black_V1_L1.123ccfb284d7-b09d-465e-a86a-c61e18f31247/URDF_Data/meshes/dae/Slider84x105.003.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.042253658175468445, 0.042253658175468445, 0.042253658175468445], mesh=<bpy_struct, Mesh("Slider84x105.003") at 0x0000022D34932B08>, meshname=Slider84x105.003, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Slider84x105.003") at 0x0000022D34932B08> to C:\Users\DELL\Desktop\工作完成9\84x96_Slider_Door-Black_V1_L1.123ccfb284d7-b09d-465e-a86a-c61e18f31247\URDF_Data\meshes\dae\Slider84x105.003.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成9\84x96_Slider_Door-Black_V1_L1.123ccfb284d7-b09d-465e-a86a-c61e18f31247\URDF_Data\meshes\dae\Slider84x105.003.dae from bpy_types.Mesh

texture_urdf/门/84x96_Slider_Door-Black_V1_L1.123ccfb284d7-b09d-465e-a86a-c61e18f31247/URDF_Data/meshes/dae/Slider_Handle190.dae

@@ -0,0 +1,162 @@
+<?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>2025-06-16T11:31:40</created>
+    <modified>2025-06-16T11:31:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Silver_mat-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.698 0.698 0.698 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Ebony_mat-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.1176 0.1176 0.1176 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Window_Mat-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8627 0.8627 0.8627 1</color>
+            </diffuse>
+            <transparent opaque="A_ONE">
+              <color sid="alpha">0 0 0 0.2</color>
+            </transparent>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Silver_mat-material" name="Silver_mat">
+      <instance_effect url="#Silver_mat-effect"/>
+    </material>
+    <material id="Ebony_mat-material" name="Ebony_mat">
+      <instance_effect url="#Ebony_mat-effect"/>
+    </material>
+    <material id="Window_Mat-material" name="Window_Mat">
+      <instance_effect url="#Window_Mat-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Slider_Handle190-mesh" name="Slider_Handle190">
+      <mesh>
+        <source id="Slider_Handle190-mesh-positions">
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+          <p>1 0 0 3 0 1 0 0 2 5 0 3 7 0 4 4 0 5 9 1 6 11 2 7 8 3 8 11 2 9 13 4 10 8 3 11 8 3 12 14 5 13 15 6 14 8 3 15 16 7 16 9 1 17 18 8 18 20 9 19 17 10 20 17 10 21 21 11 22 22 12 23 17 10 24 23 13 25 24 14 26 24 14 27 18 8 28 17 10 29 27 15 30 9 1 31 26 16 32 26 16 33 16 7 34 28 17 35 28 17 36 30 18 37 26 16 38 30 18 39 27 15 40 26 16 41 32 19 42 16 7 43 15 6 44 32 19 45 14 5 46 33 20 47 33 20 48 35 21 49 32 19 50 35 21 51 28 17 52 32 19 53 36 22 54 14 5 55 13 4 56 13 4 57 37 23 58 36 22 59 37 23 60 39 24 61 36 22 62 39 24 63 33 20 64 36 22 65 41 25 66 30 18 67 40 26 68 30 18 69 42 27 70 40 26 71 42 27 72 44 28 73 40 26 74 44 28 75 41 25 76 40 26 77 42 27 78 35 21 79 46 29 80 35 21 81 47 30 82 46 29 83 47 30 84 49 31 85 46 29 86 49 31 87 42 27 88 46 29 89 47 30 90 39 24 91 50 32 92 39 24 93 51 33 94 50 32 95 51 33 96 53 34 97 50 32 98 53 34 99 47 30 100 50 32 101 51 35 102 55 36 103 54 37 104 55 36 105 41 38 106 54 37 107 41 38 108 56 39 109 54 37 110 56 39 111 51 35 112 54 37 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819 133 256 820 134 259 821 255 257 822 134 259 823 249 258 824 255 257 825 254 255 826 133 256 827 1 0 960 2 0 961 3 0 962 5 0 963 6 0 964 7 0 965 9 1 966 10 276 967 11 2 968 11 2 969 12 277 970 13 4 971 8 3 972 13 4 973 14 5 974 8 3 975 15 6 976 16 7 977 18 8 978 19 278 979 20 9 980 17 10 981 20 9 982 21 11 983 17 10 984 22 12 985 23 13 986 24 14 987 25 279 988 18 8 989 27 15 990 10 276 991 9 1 992 26 16 993 9 1 994 16 7 995 28 17 996 29 280 997 30 18 998 30 18 999 31 281 1000 27 15 1001 32 19 1002 28 17 1003 16 7 1004 32 19 1005 15 6 1006 14 5 1007 33 20 1008 34 282 1009 35 21 1010 35 21 1011 29 280 1012 28 17 1013 36 22 1014 33 20 1015 14 5 1016 13 4 1017 12 277 1018 37 23 1019 37 23 1020 38 283 1021 39 24 1022 39 24 1023 34 282 1024 33 20 1025 41 25 1026 31 281 1027 30 18 1028 30 18 1029 29 280 1030 42 27 1031 42 27 1032 43 284 1033 44 28 1034 44 28 1035 45 285 1036 41 25 1037 42 27 1038 29 280 1039 35 21 1040 35 21 1041 34 282 1042 47 30 1043 47 30 1044 48 286 1045 49 31 1046 49 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147 1384 174 157 1385 176 159 1386 175 158 1387 174 157 1388 171 154 1389 177 51 1390 174 157 1391 162 146 1392 175 158 1393 178 160 1394 179 161 1395 166 310 1396 167 150 1397 180 162 1398 179 161 1399 178 160 1400 176 159 1401 181 163 1402 178 160 1403 183 164 1404 166 311 1405 179 165 1406 169 167 1407 159 312 1408 183 164 1409 173 168 1410 169 167 1411 182 166 1412 180 170 1413 184 169 1414 182 166 1415 173 156 1416 186 175 1417 185 171 1418 171 154 1419 172 155 1420 185 171 1421 188 173 1422 187 172 1423 185 171 1424 190 174 1425 189 155 1426 185 171 1427 171 154 1428 187 172 1429 191 176 1430 176 159 1431 177 51 1432 191 176 1433 193 178 1434 192 177 1435 191 176 1436 188 173 1437 194 179 1438 191 176 1439 176 159 1440 192 177 1441 195 180 1442 180 162 1443 181 163 1444 195 180 1445 197 182 1446 196 181 1447 195 180 1448 193 178 1449 198 163 1450 195 180 1451 180 170 1452 196 188 1453 199 183 1454 173 168 1455 184 169 1456 199 183 1457 190 185 1458 186 184 1459 199 183 1460 197 187 1461 200 186 1462 199 183 1463 190 174 1464 202 193 1465 201 189 1466 188 173 1467 189 155 1468 201 189 1469 204 191 1470 203 190 1471 201 189 1472 206 192 1473 205 155 1474 201 189 1475 188 173 1476 203 190 1477 207 194 1478 193 178 1479 194 179 1480 207 194 1481 209 196 1482 208 195 1483 207 194 1484 204 191 1485 210 197 1486 207 194 1487 193 178 1488 208 195 1489 211 198 1490 197 182 1491 198 163 1492 211 198 1493 213 200 1494 212 199 1495 211 198 1496 209 196 1497 214 163 1498 211 198 1499 197 187 1500 212 204 1501 215 201 1502 190 185 1503 200 186 1504 215 201 1505 206 168 1506 202 202 1507 215 201 1508 213 170 1509 216 203 1510 215 201 1511 206 192 1512 218 208 1513 217 205 1514 204 191 1515 205 155 1516 217 205 1517 220 154 1518 219 206 1519 217 205 1520 218 208 1521 222 313 1522 221 207 1523 204 191 1524 219 206 1525 223 209 1526 209 196 1527 210 197 1528 223 209 1529 225 211 1530 224 210 1531 223 209 1532 220 154 1533 226 0 1534 223 209 1535 209 196 1536 224 210 1537 227 212 1538 213 200 1539 214 163 1540 227 212 1541 230 214 1542 229 314 1543 228 213 1544 225 211 1545 230 214 1546 227 212 1547 213 170 1548 228 218 1549 231 215 1550 206 168 1551 216 203 1552 231 215 1553 232 217 1554 222 315 1555 218 216 1556 228 218 1557 229 316 1558 232 217 1559 221 207 1560 222 313 1561 234 219 1562 220 154 1563 221 207 1564 233 220 1565 149 133 1566 235 221 1567 233 220 1568 147 130 1569 148 132 1570 233 220 1571 220 154 1572 235 221 1573 236 222 1574 225 211 1575 226 0 1576 236 222 1577 151 135 1578 237 223 1579 236 222 1580 149 133 1581 150 134 1582 236 222 1583 225 211 1584 237 223 1585 238 224 1586 239 225 1587 229 314 1588 230 214 1589 153 137 1590 239 225 1591 238 224 1592 151 135 1593 152 136 1594 238 224 1595 140 124 1596 241 230 1597 240 226 1598 138 121 1599 139 123 1600 240 226 1601 138 121 1602 242 227 1603 243 231 1604 244 232 1605 159 309 1606 155 143 1607 183 234 1608 159 317 1609 244 235 1610 246 237 1611 166 318 1612 183 234 1613 165 149 1614 166 310 1615 246 240 1616 140 124 1617 165 149 1618 247 241 1619 232 243 1620 229 319 1621 249 244 1622 250 246 1623 222 320 1624 232 243 1625 234 219 1626 222 313 1627 250 249 1628 147 130 1629 234 219 1630 251 250 1631 147 130 1632 252 251 1633 253 254 1634 153 137 1635 146 138 1636 253 254 1637 153 137 1638 254 255 1639 255 257 1640 249 258 1641 229 314 1642 239 225 1643</p>
+        </triangles>
+        <triangles material="Ebony_mat-material" count="40">
+          <input semantic="VERTEX" source="#Slider_Handle190-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Slider_Handle190-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Slider_Handle190-mesh-map-0" offset="2" set="0"/>
+          <p>256 123 828 261 123 829 257 123 830 257 123 831 258 123 832 256 123 833 259 155 834 256 155 835 258 155 836 256 260 837 259 261 838 260 262 839 261 263 840 256 260 841 260 262 842 263 163 843 257 163 844 261 163 845 261 163 846 262 163 847 263 163 848 261 263 849 264 264 850 262 265 851 261 263 852 260 262 853 264 264 854 264 264 855 266 266 856 262 265 857 266 155 858 264 155 859 265 155 860 265 138 861 264 138 862 260 138 863 267 123 864 266 123 865 268 123 866 266 266 867 267 267 868 262 265 869 265 155 870 268 155 871 266 155 872 269 268 873 268 269 874 263 270 875 268 123 876 269 123 877 267 123 878 263 270 879 268 269 880 265 271 881 263 270 882 270 272 883 269 268 884 270 272 885 271 273 886 269 268 887 267 163 888 269 163 889 271 163 890 270 272 891 258 274 892 271 273 893 271 163 894 260 163 895 267 163 896 260 138 897 271 138 898 265 138 899 271 273 900 258 274 901 257 275 902 257 275 903 265 271 904 271 273 905 258 155 906 270 155 907 259 155 908 259 138 909 270 138 910 263 138 911 259 261 912 267 267 913 260 262 914 259 261 915 262 265 916 267 267 917 257 275 918 263 270 919 265 271 920 263 138 921 262 138 922 259 138 923 274 123 924 273 123 925 272 123 926 277 138 927 276 138 928 275 138 929 277 163 933 274 163 934 278 163 935 275 155 939 272 155 940 273 155 941 272 123 942 278 123 943 274 123 944 275 138 945 279 138 946 277 138 947 278 163 951 276 163 952 277 163 953 273 155 957 279 155 958 275 155 959</p>
+        </triangles>
+        <triangles material="Window_Mat-material" count="4">
+          <input semantic="VERTEX" source="#Slider_Handle190-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Slider_Handle190-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Slider_Handle190-mesh-map-0" offset="2" set="0"/>
+          <p>276 0 930 278 0 931 272 0 932 279 58 936 273 58 937 274 58 938 272 0 948 275 0 949 276 0 950 274 58 954 277 58 955 279 58 956</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_Slider_Handle190" name="tmp_export_Slider_Handle190" 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="#Slider_Handle190-mesh" name="tmp_export_Slider_Handle190">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Silver_mat-material" target="#Silver_mat-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Ebony_mat-material" target="#Ebony_mat-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Window_Mat-material" target="#Window_Mat-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/门/84x96_Slider_Door-Black_V1_L1.123ccfb284d7-b09d-465e-a86a-c61e18f31247/URDF_Data/meshes/dae/Slider_Handle190.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.042253654450178146, 0.042253654450178146, 0.042253654450178146], mesh=<bpy_struct, Mesh("Slider_Handle190") at 0x0000022D8E658808>, meshname=Slider_Handle190, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("Slider_Handle190") at 0x0000022D8E658808> to C:\Users\DELL\Desktop\工作完成9\84x96_Slider_Door-Black_V1_L1.123ccfb284d7-b09d-465e-a86a-c61e18f31247\URDF_Data\meshes\dae\Slider_Handle190.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成9\84x96_Slider_Door-Black_V1_L1.123ccfb284d7-b09d-465e-a86a-c61e18f31247\URDF_Data\meshes\dae\Slider_Handle190.dae from bpy_types.Mesh

texture_urdf/门/84x96_Slider_Door-Black_V1_L1.123ccfb284d7-b09d-465e-a86a-c61e18f31247/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,49 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="Joint1" type="prismatic">
+    <limit lower="0.00000" upper="4.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 -1.57080 0.00000" xyz="9.30336 0.14474 4.78216"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="Joint2" type="prismatic">
+    <limit lower="0.00000" upper="4.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="-0.00000 1.57080 0.00000" xyz="0.51985 -0.10415 4.78217"/>
+    <parent link="base_link"/>
+    <child link="link2"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="Slider84x105.003">
+      <origin rpy="3.14154 0.00000 0.00000" xyz="6.18789 0.00000 0.00000"/>
+      <material name="Ebony_mat"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Slider84x105.003.dae" scale="0.04225 0.04225 0.04225"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="Slider_Handle190">
+      <origin rpy="3.14154 1.57080 0.00000" xyz="-4.78216 -0.14474 3.11548"/>
+      <material name="Silver_mat"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Slider_Handle190.dae" scale="0.04225 0.04225 0.04225"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link2">
+    <visual name="Slider84x105.001">
+      <origin rpy="3.14154 -1.57080 0.00000" xyz="4.78217 0.10415 5.66804"/>
+      <material name="Ebony_mat"/>
+      <geometry>
+        <mesh filename="../meshes/dae/Slider84x105.001.dae" scale="0.04225 0.04225 0.04225"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="Ebony_mat">
+    <color rgba="0.11373 0.11373 0.11373 1.00000"/>
+  </material>
+  <material name="Silver_mat">
+    <color rgba="0.69412 0.69412 0.69412 1.00000"/>
+  </material>
+</robot>

texture_urdf/门/8h7ntg9rff9c-Porta (1)/URDF_Data/meshes/dae/vidro_Cube.000.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("vidro_Cube.000") at 0x000001F454B04808>, meshname=vidro_Cube.000, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("vidro_Cube.000") at 0x000001F454B04808> to C:\Users\Spexie\phobos-models\URDF\meshes\dae\vidro_Cube.000.dae
+->wrote dae to C:\Users\Spexie\phobos-models\URDF\meshes\dae\vidro_Cube.000.dae from bpy_types.Mesh

texture_urdf/门/8h7ntg9rff9c-Porta (1)/URDF_Data/meshes/dae/vidro_Cube.002.dae

@@ -0,0 +1,151 @@
+<?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>2025-06-13T15:06:41</created>
+    <modified>2025-06-13T15:06:41</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Vidro-effect">
+      <profile_COMMON>
+        <newparam sid="vidro_png-surface">
+          <surface type="2D">
+            <init_from>vidro_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="vidro_png-sampler">
+          <sampler2D>
+            <source>vidro_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="vidro_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="porta-effect">
+      <profile_COMMON>
+        <newparam sid="porta_png-surface">
+          <surface type="2D">
+            <init_from>porta_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="porta_png-sampler">
+          <sampler2D>
+            <source>porta_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="porta_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="porta_png" name="porta_png">
+      <init_from>porta.png</init_from>
+    </image>
+    <image id="vidro_png" name="vidro_png">
+      <init_from>vidro.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Vidro-material" name="Vidro">
+      <instance_effect url="#Vidro-effect"/>
+    </material>
+    <material id="porta-material" name="porta">
+      <instance_effect url="#porta-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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+          <technique_common>
+            <accessor source="#vidro_Cube_002-mesh-map-0-array" count="1224" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="vidro_Cube_002-mesh-vertices">
+          <input semantic="POSITION" source="#vidro_Cube_002-mesh-positions"/>
+        </vertices>
+        <triangles material="porta-material" count="408">
+          <input semantic="VERTEX" source="#vidro_Cube_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#vidro_Cube_002-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#vidro_Cube_002-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_vidro_Cube_002" name="tmp_export_vidro_Cube.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="#vidro_Cube_002-mesh" name="tmp_export_vidro_Cube.002">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Vidro-material" target="#Vidro-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="porta-material" target="#porta-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

texture_urdf/门/8h7ntg9rff9c-Porta (1)/URDF_Data/meshes/dae/vidro_Cube.002.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("vidro_Cube.002") at 0x000001F451570108>, meshname=vidro_Cube.002, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("vidro_Cube.002") at 0x000001F451570108> to C:\Users\Spexie\phobos-models\URDF\meshes\dae\vidro_Cube.002.dae
+->wrote dae to C:\Users\Spexie\phobos-models\URDF\meshes\dae\vidro_Cube.002.dae from bpy_types.Mesh

texture_urdf/门/8h7ntg9rff9c-Porta (1)/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,38 @@
+<robot name="URDF" version="1.0">
+  <joint name="new_link.000.001_joint" type="revolute">
+    <limit lower="-1.57000" upper="1.57000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="-9.75770 0.02219 -6.55620"/>
+    <parent link="new_link"/>
+    <child link="new_link.000.001"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <joint name="new_link.000_joint" type="continuous">
+    <limit lower="0" upper="0" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="1.57080 0.00000 0.00000" xyz="9.74785 0.49115 7.14102"/>
+    <parent link="new_link.000.001"/>
+    <child link="new_link.000"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="new_link"/>
+  <link name="new_link.000">
+    <visual name="vidro_Cube.002">
+      <origin rpy="-1.57080 0.00000 0.00000" xyz="0.00000 0.00000 0.49637"/>
+      <material name="Vidro"/>
+      <geometry>
+        <mesh filename="../meshes/dae/vidro_Cube.002.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="new_link.000.001">
+    <visual name="vidro_Cube.000">
+      <origin rpy="0.00000 0.00000 0.00000" xyz="5.27886 0.00000 9.90193"/>
+      <material name="Vidro"/>
+      <geometry>
+        <mesh filename="../meshes/dae/vidro_Cube.000.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="Vidro">
+    <color rgba="0.63922 0.63922 0.63922 1.00000"/>
+  </material>
+</robot>

texture_urdf/门/8h7ntg9rff9c-Porta (1)/porta.mtl

@@ -0,0 +1,24 @@
+# Blender MTL File: 'porta.blend'
+# Material Count: 2
+
+newmtl Vidro
+Ns 96.078431
+Ka 1.000000 1.000000 1.000000
+Kd 0.640000 0.640000 0.640000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd C:\Users\Kaio Basso\Documents\3D\novos\porta\vidro.png
+
+newmtl porta
+Ns 96.078431
+Ka 1.000000 1.000000 1.000000
+Kd 0.640000 0.640000 0.640000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd C:\Users\Kaio Basso\Documents\3D\novos\porta\porta.png

texture_urdf/门/96x84_Mullion_Slider_Door-Pine_V1_L1.1239df4a2f5-5555-4f27-a29f-a452defb9699/96x84_Mullion_Slider_Door-Pine_V1_L1.1239df4a2f5-5555-4f27-a29f-a452defb9699/16694_96x84_Mullion_Slider_Door-Pine_V1.mtl

@@ -0,0 +1,38 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 16.08.2012 15:02:21
+
+newmtl Silver_mat
+	Ns 60.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.6980 0.6980 0.6980
+	Kd 0.6980 0.6980 0.6980
+	Ks 0.5676 0.5676 0.5676
+	Ke 0.0000 0.0000 0.0000
+
+newmtl Pine_mat
+	Ns 26.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.7804 0.6431 0.4627
+	Kd 0.7804 0.6431 0.4627
+	Ks 0.2250 0.2250 0.2250
+	Ke 0.0000 0.0000 0.0000
+
+newmtl Window_Mat
+	Ns 10.0000
+	Ni 1.5000
+	d 0.2000
+	Tr 0.8000
+	Tf 0.2000 0.2000 0.2000 
+	illum 2
+	Ka 0.8627 0.8627 0.8627
+	Kd 0.8627 0.8627 0.8627
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000

texture_urdf/门/96x84_Mullion_Slider_Door-Pine_V1_L1.1239df4a2f5-5555-4f27-a29f-a452defb9699/URDF_Data/joint_limits.yml

@@ -0,0 +1,30 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 1.399999976158142,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      },
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 1.399999976158142,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "Joint1",
+      "Joint2"
+    ]
+  }
+}

texture_urdf/门/96x84_Mullion_Slider_Door-Pine_V1_L1.1239df4a2f5-5555-4f27-a29f-a452defb9699/URDF_Data/meshes/dae/SliderMullions96x116.004.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.010639384388923645, 0.010639384388923645, 0.010639384388923645], mesh=<bpy_struct, Mesh("SliderMullions96x116.004") at 0x00000191A12E7908>, meshname=SliderMullions96x116.004, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("SliderMullions96x116.004") at 0x00000191A12E7908> to C:\Users\DELL\Desktop\工作完成9\96x84_Mullion_Slider_Door-Pine_V1_L1.1239df4a2f5-5555-4f27-a29f-a452defb9699\URDF_Data\meshes\dae\SliderMullions96x116.004.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成9\96x84_Mullion_Slider_Door-Pine_V1_L1.1239df4a2f5-5555-4f27-a29f-a452defb9699\URDF_Data\meshes\dae\SliderMullions96x116.004.dae from bpy_types.Mesh