Skip to content

增加场景文件果冻立方体（软体弹性）及部分修改删除 #479

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
donghaiwang merged 1 commit into from
May 4, 2026
Merged

增加场景文件果冻立方体（软体弹性）及部分修改删除 #479

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
71 changes: 71 additions & 0 deletions tactile/code/assets/deformable_jelly_cube.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,71 @@
<mujoco model="deformable_jelly_cube">
<!--
可变形果冻立方体场景
用于测试软体弹性材质的触觉反馈

作者: [你的名字]
日期: 2025
-->

<compiler angle="radian" meshdir="." autolimits="true"/>

<option timestep="0.001" iterations="50" solver="Newton" gravity="0 0 -9.81">
<flag warmstart="enable"/>
</option>

<size memory="100M"/>

<visual>
<global offwidth="1920" offheight="1080"/>
<quality shadowsize="4096" offsamples="8"/>
</visual>

<asset>
<!-- 果冻材质 - 软体弹性 -->
<texture name="jelly_texture" type="cube" builtin="flat" rgb1="1 0.5 0.8" rgb2="1 0.7 0.9" width="512" height="512"/>
<material name="jelly_material" texture="jelly_texture" rgba="1 0.5 0.8 0.9" specular="0.5" shininess="0.8"/>

<!-- 地面材质 -->
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1="0.9 0.9 0.9" rgb2="0.7 0.7 0.7"/>
<material name="grid_material" texture="grid" texrepeat="8 8" reflectance="0.1"/>
</asset>

<worldbody>
<!-- 地面 -->
<geom name="floor" type="plane" size="2 2 0.1" material="grid_material"/>

<!-- 灯光 -->
<light directional="true" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" pos="0 0 3" dir="0 0 -1"/>
<light directional="true" diffuse="0.4 0.4 0.4" specular="0.1 0.1 0.1" pos="2 2 2" dir="-1 -1 -1"/>

<!-- 可变形果冻立方体 - 使用flex (软体) -->
<flexcomp name="jelly_cube" type="grid" count="8 8 8" spacing="0.03 0.03 0.03"
pos="0 0 0.5" radius="0.01" rgba="1 0.5 0.8 1"
mass="0.5" dim="3">
<contact friction="0.5" solimp="0.9 0.95 0.001" solref="0.01 1"/>
<edge equality="true" damping="10"/>
</flexcomp>

<!-- 简单的探针/手指代替物 -->
<body name="probe" pos="0 0 1.5">
<freejoint name="probe_joint"/>
<geom name="probe_geom" type="sphere" size="0.02" rgba="0.2 0.6 1 1" mass="0.1"/>
<site name="probe_tip" pos="0 0 -0.02" size="0.01"/>
</body>

</worldbody>

<actuator>
<!-- 探针的控制器 -->
<motor name="probe_x" joint="probe_joint" gear="1 0 0 0 0 0" ctrlrange="-1 1"/>
<motor name="probe_y" joint="probe_joint" gear="0 1 0 0 0 0" ctrlrange="-1 1"/>
<motor name="probe_z" joint="probe_joint" gear="0 0 1 0 0 0" ctrlrange="-1 1"/>
</actuator>

<sensor>
<!-- 接触力传感器 -->
<force name="probe_contact_force" site="probe_tip"/>
<accelerometer name="probe_accel" site="probe_tip"/>
</sensor>

</mujoco>
108 changes: 0 additions & 108 deletions tactile/code/fingers_sim/annular_sim.py
View file
Open in desktop

This file was deleted.

Loading