How to add texture to components in urdf

[Fusica]

I now want to use AprilTag in Raism Unreal for some visual detection related tasks. I tried to design a DAE component with texture information and replace it into the original URDF, but the texture information cannot be displayed. I want to know how you edited and generated the DAE in URDF in rsc, and how can Raism correctly load the texture information?

[jhwangbo]

Texture information should be integrated in the mesh file. You can use blender to do so

[Fusica]

I also use Blender for editing, and I even correspond to version 2.81. However, I suspect that my texture mapping steps are different from yours, as shown in the picture. I want to add a QR code information on a plane of the obj component. First, I imported this obj component, selected the plane where the QR code needs to be added, unwrapped it separately, then added a photo texture in UV editing. In the material section, I chose base color as image texture. Finally, I exported the file as DAE format. However, this process does not allow me to see the texture information in Raisim. Another point worth mentioning is that in my URDF file, collision uses OBJ files while visual uses DAE files; is this usage reasonable?

Therefore, I hope that you can point out my mistakes or tell me about specific mesh editing processes. Thank you very much for your help!