Add files using upload-large-folder tool

texture_urdf/门/Single+Door/URDF_Data/meshes/dae/obj36.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("obj36") at 0x000002AE136C1D08>, meshname=obj36, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj36") at 0x000002AE136C1D08> to C:\Users\DELL\Desktop\工作完成12\Single+Door\URDF_Data\meshes\dae\obj36.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成12\Single+Door\URDF_Data\meshes\dae\obj36.dae from bpy_types.Mesh

texture_urdf/门/Single+Door/URDF_Data/meshes/dae/obj8.dae

@@ -0,0 +1,129 @@
+<?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>2025-06-19T11:46:51</created>
+    <modified>2025-06-19T11:46:51</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat0-effect">
+      <profile_COMMON>
+        <newparam sid="image_download_true_png-surface">
+          <surface type="2D">
+            <init_from>image_download_true_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="image_download_true_png-sampler">
+          <sampler2D>
+            <source>image_download_true_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="image_download_true_png-sampler"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="mat1-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.65098 0.64706 0.64706 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="image_download_true_png" name="image_download_true_png">
+      <init_from>image_download=true.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="mat0-material" name="mat0">
+      <instance_effect url="#mat0-effect"/>
+    </material>
+    <material id="mat1-material" name="mat1">
+      <instance_effect url="#mat1-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="obj8-mesh" name="obj8">
+      <mesh>
+        <source id="obj8-mesh-positions">
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+          <technique_common>
+            <accessor source="#obj8-mesh-normals-array" count="545" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="obj8-mesh-vertices">
+          <input semantic="POSITION" source="#obj8-mesh-positions"/>
+        </vertices>
+        <triangles material="mat0-material" count="12">
+          <input semantic="VERTEX" source="#obj8-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#obj8-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 453 151 454 151 455 151 705 235 706 235 707 235 954 318 955 318 956 318 1155 385 1156 385 1157 385 1167 389 1168 389 1169 389 1245 415 1246 415 1247 415 1248 416 1249 416 1250 416 1251 417 1252 417 1253 417 1254 418 1255 418 1256 418 1257 419 1258 419 1259 419 1260 420 1261 420 1262 420</p>
+        </triangles>
+        <triangles material="mat1-material" count="533">
+          <input semantic="VERTEX" source="#obj8-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#obj8-mesh-normals" offset="1"/>
+          <p>3 1 4 1 5 1 6 2 7 2 8 2 9 3 10 3 11 3 12 4 13 4 14 4 15 5 16 5 17 5 18 6 19 6 20 6 21 7 22 7 23 7 24 8 25 8 26 8 27 9 28 9 29 9 30 10 31 10 32 10 33 11 34 11 35 11 36 12 37 12 38 12 39 13 40 13 41 13 42 14 43 14 44 14 45 15 46 15 47 15 48 16 49 16 50 16 51 17 52 17 53 17 54 18 55 18 56 18 57 19 58 19 59 19 60 20 61 20 62 20 63 21 64 21 65 21 66 22 67 22 68 22 69 23 70 23 71 23 72 24 73 24 74 24 75 25 76 25 77 25 78 26 79 26 80 26 81 27 82 27 83 27 84 28 85 28 86 28 87 29 88 29 89 29 90 30 91 30 92 30 93 31 94 31 95 31 96 32 97 32 98 32 99 33 100 33 101 33 102 34 103 34 104 34 105 35 106 35 107 35 108 36 109 36 110 36 111 37 112 37 113 37 114 38 115 38 116 38 117 39 118 39 119 39 120 40 121 40 122 40 123 41 124 41 125 41 126 42 127 42 128 42 129 43 130 43 131 43 132 44 133 44 134 44 135 45 136 45 137 45 138 46 139 46 140 46 141 47 142 47 143 47 144 48 145 48 146 48 147 49 148 49 149 49 150 50 151 50 152 50 153 51 154 51 155 51 156 52 157 52 158 52 159 53 160 53 161 53 162 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj8" name="tmp_export_obj8" 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="#obj8-mesh" name="tmp_export_obj8">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat0-material" target="#mat0-material"/>
+              <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/门/Single+Door/URDF_Data/meshes/dae/obj8.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("obj8") at 0x000002AE142FCF08>, meshname=obj8, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj8") at 0x000002AE142FCF08> to C:\Users\DELL\Desktop\工作完成12\Single+Door\URDF_Data\meshes\dae\obj8.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成12\Single+Door\URDF_Data\meshes\dae\obj8.dae from bpy_types.Mesh

texture_urdf/门/Single+Door/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,30 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="Joint1" type="revolute">
+    <limit lower="-1.57000" upper="0.00000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="2.08661 0.00001 80.59055"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0.00000 0.00000 1.00000"/>
+  </joint>
+  <link name="base_link">
+    <visual name="obj36">
+      <origin rpy="-0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
+      <material name="mat0"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj36.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="obj8">
+      <origin rpy="-0.00000 0.00000 0.00000" xyz="-2.08661 -0.00001 -80.59058"/>
+      <material name="mat0"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj8.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="mat0">
+    <color rgba="0.66667 0.49020 0.31765 1.00000"/>
+  </material>
+</robot>

texture_urdf/门/Untitled/ImageToStl.com_model (4)/model.mtl

@@ -0,0 +1,64 @@
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+newmtl mat0
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.85 0.85 0.85
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+map_Kd material_3.jpg
+
+newmtl mat1
+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 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 __CorrogateShiny_6.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 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/门/Untitled/ImageToStl.com_model (4)/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/门/Untitled/URDF_Data/joint_limits.yml

@@ -0,0 +1,19 @@
+{
+  "limits": {
+    "elements": [
+      {
+        "max": {
+          "effort": 0.0,
+          "position": 1.5700000524520874,
+          "speed": 0.0
+        },
+        "min": {
+          "position": -1.5700000524520874
+        }
+      }
+    ],
+    "names": [
+      "Joint1"
+    ]
+  }
+}

texture_urdf/门/Untitled/URDF_Data/meshes/dae/obj1.dae

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+<?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>2025-06-17T15:14:11</created>
+    <modified>2025-06-17T15:14:11</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat0-effect">
+      <profile_COMMON>
+        <newparam sid="material_3_jpg_001-surface">
+          <surface type="2D">
+            <init_from>material_3_jpg_001</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="material_3_jpg_001-sampler">
+          <sampler2D>
+            <source>material_3_jpg_001-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="material_3_jpg_001-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="material_3_jpg_001" name="material_3_jpg_001">
+      <init_from>material_3.jpg.001.jpg</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="mat0-material" name="mat0">
+      <instance_effect url="#mat0-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="obj1-mesh" name="obj1">
+      <mesh>
+        <source id="obj1-mesh-positions">
+          <float_array id="obj1-mesh-positions-array" count="162">36 0.4315741 84.00001 34.2 0.4315741 82 36 0.4315741 0 34.2 0.4315741 0 34.2 4.387677 82 34.2 4.387677 0 34.2 0.4315741 82 34.2 0.4315741 0 0 0.4315747 84.00001 1.799996 0.4315746 82 34.2 0.4315741 82 36 0.4315741 84.00001 36 4.387676 84.00001 36 0.4315741 84.00001 36 4.387676 0 36 0.4315741 0 34.2 0.4315741 0 36 0.4315741 0 1.799996 0.4315746 82 1.799996 4.387677 82 34.2 0.4315741 82 1.799996 0.4315746 82 0 0.4315747 84.00001 1.799996 0.4315746 0 0 0.4315747 0 0 0.4315747 84.00001 36 0.4315741 84.00001 0 4.387677 84.00001 1.799996 4.387677 0 1.799996 4.387677 82 0 4.387677 0 0 0.4315747 0 0 0.4315747 84.00001 0 0.4315747 84.00001 0 4.387677 84.00001 0 0.4315747 0 1.799996 0.4315746 0 1.799996 4.387677 0 34.2 0.4315741 82 36 0.4315741 0 34.2 0.4315741 0 36 0.4315741 84.00001 34.2 4.387677 0 34.2 4.387677 82 0 0.4315747 84.00001 1.799996 0.4315746 82 36 4.387676 84.00001 36 4.387676 0 1.799996 4.387677 82 1.799996 0.4315746 0 0 0.4315747 0 0 4.387677 84.00001 1.799996 4.387677 0 0 4.387677 0</float_array>
+          <technique_common>
+            <accessor source="#obj1-mesh-positions-array" count="54" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="obj1-mesh-normals">
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+          <technique_common>
+            <accessor source="#obj1-mesh-normals-array" count="86" 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 source="#obj1-mesh-map-0-array" count="192" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="obj1-mesh-vertices">
+          <input semantic="POSITION" source="#obj1-mesh-positions"/>
+        </vertices>
+        <triangles material="mat0-material" count="64">
+          <input semantic="VERTEX" source="#obj1-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#obj1-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#obj1-mesh-map-0" offset="2" set="0"/>
+          <p>0 0 0 1 1 1 2 2 2 3 2 3 2 2 4 1 1 5 4 3 6 5 4 7 6 5 8 7 6 9 6 5 10 5 4 11 0 0 12 8 7 13 1 1 14 9 8 15 1 1 16 8 7 17 10 9 18 11 10 19 4 11 20 12 12 21 4 11 22 11 10 23 12 13 24 13 14 25 14 15 26 15 16 27 14 17 28 13 18 29 16 19 30 5 19 31 17 19 32 14 19 33 17 19 34 5 19 35 4 20 36 12 20 37 5 20 38 14 21 39 5 21 40 12 21 41 18 19 42 19 19 43 20 19 44 4 19 45 20 19 46 19 19 47 21 22 48 22 22 49 23 22 50 24 23 51 23 23 52 22 23 53 25 24 54 26 25 55 27 26 56 12 27 57 27 26 58 26 25 59 12 28 60 4 28 61 27 28 62 19 29 63 27 30 64 4 31 65 28 32 66 29 33 67 23 34 68 21 35 69 23 36 70 29 37 71 30 38 72 31 39 73 27 40 74 32 41 75 27 42 76 31 43 77 33 44 78 21 45 79 34 46 80 29 47 81 34 48 82 21 49 83 35 19 84 30 19 85 36 19 86 37 19 87 36 19 88 30 19 89 27 30 90 19 29 91 30 50 92 37 50 93 30 50 94 19 29 95 38 50 96 39 50 97 40 50 98 39 50 99 38 50 100 41 50 101 42 51 102 38 52 103 40 16 104 38 53 105 42 54 106 43 13 107 44 55 108 38 55 109 45 55 110 38 56 111 44 56 112 41 56 113 41 57 114 43 58 115 46 59 116 43 58 117 41 57 118 38 60 119 41 5 120 47 4 121 39 6 122 47 4 123 41 5 124 46 3 125 42 24 126 39 24 127 47 24 128 39 24 129 42 24 130 40 24 131 46 61 132 42 62 133 47 63 134 42 62 135 46 61 136 43 64 137 48 24 138 38 24 139 43 24 140 38 24 141 48 24 142 45 24 143 44 65 144 49 66 145 50 66 146 49 66 147 44 65 148 45 65 149 41 67 150 51 67 151 46 67 152 51 68 153 41 68 154 44 68 155 43 69 156 51 70 157 48 71 158 51 70 159 43 69 160 46 72 161 48 73 162 49 74 163 45 5 164 49 75 165 48 76 166 52 77 167 50 78 168 51 79 169 44 80 170 51 79 171 50 78 172 53 81 173 45 82 174 51 83 175 48 84 176 51 83 177 45 82 178 44 85 179 53 24 180 49 24 181 52 24 182 49 24 183 53 24 184 50 24 185 48 2 186 53 2 187 52 2 188 53 2 189 48 2 190 51 2 191</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj1" name="tmp_export_obj1" 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-mesh" name="tmp_export_obj1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat0-material" target="#mat0-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/Untitled/URDF_Data/meshes/dae/obj1.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[1.0, 1.0, 1.0], mesh=<bpy_struct, Mesh("obj1") at 0x000001C410D40808>, meshname=obj1, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj1") at 0x000001C410D40808> to C:\Users\DELL\Desktop\工作完成10\Untitled\URDF_Data\meshes\dae\obj1.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成10\Untitled\URDF_Data\meshes\dae\obj1.dae from bpy_types.Mesh

texture_urdf/门/Untitled/URDF_Data/meshes/dae/obj2.dae_history.log

@@ -0,0 +1,3 @@
+Instantiated with filepath=None->None, scale=[0.9999998807907104, 0.9999998807907104, 0.9999998807907104], mesh=<bpy_struct, Mesh("obj2") at 0x000001C4105B1608>, meshname=obj2, material=None, mesh_orientation=None, {}
+->trying export of <bpy_struct, Mesh("obj2") at 0x000001C4105B1608> to C:\Users\DELL\Desktop\工作完成10\Untitled\URDF_Data\meshes\dae\obj2.dae
+->wrote dae to C:\Users\DELL\Desktop\工作完成10\Untitled\URDF_Data\meshes\dae\obj2.dae from bpy_types.Mesh

texture_urdf/门/Untitled/URDF_Data/urdf/URDF_Data.urdf

@@ -0,0 +1,30 @@
+<robot name="URDF_Data" version="1.0">
+  <joint name="Joint1" type="revolute">
+    <limit lower="-1.57000" upper="1.57000" effort="0.00000" velocity="0.00000"/>
+    <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 55.63351"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <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="-34.20000 -1.93011 -23.36649"/>
+      <material name="mat0"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj1.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link1">
+    <visual name="obj2">
+      <origin rpy="-0.00000 0.00000 0.00000" xyz="-34.19999 -1.93011 -78.99998"/>
+      <material name="mat0"/>
+      <geometry>
+        <mesh filename="../meshes/dae/obj2.dae" scale="1.00000 1.00000 1.00000"/>
+      </geometry>
+    </visual>
+  </link>
+  <material name="mat0">
+    <color rgba="0.84706 0.84706 0.84706 1.00000"/>
+  </material>
+</robot>

texture_urdf/门/дверь/ImageToStl.com_model (6)/model.mtl

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+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+newmtl mat0
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.85 0.85 0.85
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+map_Kd material_1.PNG
+
+newmtl mat1
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.69412 0.71765 0.7451
+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 material_4.png
+
+newmtl mat4
+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 material_3.png
+
+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
+map_Kd material_5.PNG
+
+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
+map_Kd material_6.png
+
+newmtl mat7
+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 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/门/дверь/ImageToStl.com_model (6)/model.obj

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+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+mtllib model.mtl
+
+o obj1
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texture_urdf/门/дверь/ImageToStl.com_model (6)/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/门/дверь/URDF_Data/joint_limits.yml

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+{
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+    "elements": [
+      {
+        "max": {
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+          "position": 1.100000023841858,
+          "speed": 0.0
+        },
+        "min": {
+          "position": 0.0
+        }
+      }
+    ],
+    "names": [
+      "Joint1"
+    ]
+  }
+}

texture_urdf/门/дверь/URDF_Data/meshes/dae/obj17.dae

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+<?xml version="1.0" encoding="utf-8"?>
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+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-18T17:38:10</created>
+    <modified>2025-06-18T17:38:10</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
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+          <surface type="2D">
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+          </surface>
+        </newparam>
+        <newparam sid="material_1_PNG_001-sampler">
+          <sampler2D>
+            <source>material_1_PNG_001-surface</source>
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+        </newparam>
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+        </newparam>
+        <newparam sid="material_3_png-sampler">
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+          </sampler2D>
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+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="material_1_PNG_001" name="material_1_PNG_001">
+      <init_from>material_1.PNG.001.png</init_from>
+    </image>
+    <image id="material_3_png" name="material_3_png">
+      <init_from>material_3.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
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+      <instance_effect url="#mat0-effect"/>
+    </material>
+    <material id="mat1-material" name="mat1">
+      <instance_effect url="#mat1-effect"/>
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+          <input semantic="NORMAL" source="#obj17-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#obj17-mesh-map-0" offset="2" set="0"/>
+          <p>10 8 12 9 9 13 11 10 14 8 11 15 11 10 16 9 9 17 12 12 18 9 9 19 13 13 20 13 13 21 9 9 22 14 14 23 10 8 24 14 14 25 9 9 26 15 15 27 14 14 28 11 10 29 10 8 30 11 10 31 14 14 32 16 16 33 17 17 34 8 11 35 8 11 36 17 17 37 11 10 38 15 15 39 11 10 40 17 17 41 13 13 42 17 17 43 12 12 44 16 16 45 12 12 46 17 17 47 18 18 48 19 19 49 20 20 50 19 19 51 18 18 52 21 21 53 22 22 54 23 23 55 24 24 56 23 23 57 22 22 58 25 25 59 25 25 60 22 22 61 26 26 62 27 27 63 28 28 64 29 29 65 28 28 66 27 27 67 30 30 68 31 31 69 32 32 70 33 33 71 32 32 72 31 31 73 34 34 74 34 34 75 31 31 76 35 35 77 36 36 78 37 37 79 38 38 80 37 37 81 36 36 82 39 39 83</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj17" name="tmp_export_obj17" 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="#obj17-mesh" name="tmp_export_obj17">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat0-material" target="#mat0-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="mat1-material" target="#mat1-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>