给我一个完整的代码使用python和ur_rtde的方法，使加载的3D模型可以和机械手进行同步运动

以下是一个完整的Python代码示例，使用ur_rtde库和Trimesh库，使加载的3D模型可以和机械手进行同步运动。请注意，这是一个简单的示例，您需要根据自己的应用程序进行修改。

import ur_rtde.rtde as rtde
import ur_rtde.rtde_config as rtde_config
import numpy as np
import trimesh

# set up the UR robot connection
ROBOT_HOST = '192.168.1.100'
config_filename = 'path/to/your/robot_config_file.xml'

conf = rtde_config.ConfigFile(config_filename)
state_names, state_types = conf.get_recipe('state')
setp_names, setp_types = conf.get_recipe('setp')
rtde_c = rtde.RTDE(ROBOT_HOST)
rtde_c.connect()
state_callback = rtde.RTDECallback()
rtde_c.send_output(setp_names, setp_types)
rtde_c.receive_input(state_names, state_callback)

# load the 3D model and synchronize with the robot position and orientation
mesh = trimesh.load('path/to/your/3D/model.obj')
robot_state = state_callback.get()
robot_pose = np.array(robot_state.actual_TCP_pose)
mesh.apply_transform(robot_pose)

# start the loop to continuously update the robot and the 3D model position
while True:
    # get the current robot pose
    robot_state = state_callback.get()
    robot_pose = np.array(robot_state.actual_TCP_pose)

    # calculate the new pose for the 3D model based on the robot movement
    new_pose = # calculate new pose based on robot movement

    # update the 3D model position
    mesh.apply_transform(new_pose)

    # send the new robot pose to the UR robot
    rtde_c.send(setp_names, [new_pose])

请注意，您还需要编写代码来计算新的3D模型姿态，以便与机器人同步运动。此外，您可能需要添加一些代码来处理错误和异常情况，并确保机器人和3D模型始终处于同步状态。