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如果要从新的机械结构开始搭建控制框架，可以先从 SolidWorks 导出 URDF，再把导出的 URDF、mesh 和材质文件整理进一个 ROS 2 model package。 常用流程是： 在 SolidWorks 中整理装配体坐标系、关节轴、link 命名和零位姿。 使用 SolidWorks URDF Exporter 导出 URDF 与 mesh。
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