From df98c35acc0892cf3da01b88afe066774c8b8b82 Mon Sep 17 00:00:00 2001
From: A-0-A-0-A <3131489786@qq,com>
Date: Mon, 4 May 2026 17:40:24 +0800
Subject: [PATCH] =?UTF-8?q?=E5=B8=83=E6=96=99=EF=BC=88=E6=9F=94=E6=80=A7?=
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---
 tactile/code/assets/deformable_cloth.xml | 73 ++++++++++++++++++++++++
 1 file changed, 73 insertions(+)
 create mode 100644 tactile/code/assets/deformable_cloth.xml
diff --git a/tactile/code/assets/deformable_cloth.xml b/tactile/code/assets/deformable_cloth.xml
new file mode 100644
index 00000000..cbfc5305
--- /dev/null
+++ b/tactile/code/assets/deformable_cloth.xml
@@ -0,0 +1,73 @@
+<mujoco model="deformable_cloth">
+  <!-- 
+    可变形布料场景
+    用于测试柔性织物材质的触觉反馈
+  -->
+  
+  <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>
+    <!-- 布料材质 - 柔性织物 -->
+    <texture name="cloth_texture" type="2d" builtin="checker" width="512" height="512" 
+             rgb1="0.8 0.3 0.3" rgb2="0.6 0.2 0.2"/>
+    <material name="cloth_material" texture="cloth_texture" rgba="0.8 0.3 0.3 1" 
+              specular="0.1" shininess="0.1"/>
+    
+    <!-- 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"/>
+    
+    <!-- 可变形布料 - 使用flex (2D网格)，固定四角 -->
+    <flexcomp name="cloth_sheet" type="grid" count="15 15 1" spacing="0.02 0.02 0.02"
+              pos="0 0 1.0" radius="0.005" rgba="0.8 0.3 0.3 1"
+              mass="0.2" dim="2">
+      <contact friction="0.8" solimp="0.9 0.95 0.001" solref="0.01 1"/>
+      <edge equality="true" damping="5"/>
+      <!-- 固定四个角: 顶点索引 0, 14, 210, 224 -->
+      <pin id="0"/>
+      <pin id="14"/>
+      <pin id="210"/>
+      <pin id="224"/>
+    </flexcomp>
+    
+    <!-- 探针 -->
+    <body name="probe" pos="0 0 1.3">
+      <freejoint name="probe_joint"/>
+      <geom name="probe_geom" type="sphere" size="0.015" rgba="0.2 0.6 1 1" mass="0.05"/>
+      <site name="probe_tip" pos="0 0 -0.015" size="0.01"/>
+    </body>
+    
+  </worldbody>
+  
+  <actuator>
+    <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>
+    <force name="probe_contact_force" site="probe_tip"/>
+  </sensor>
+  
+</mujoco>
\ No newline at end of file
