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布料（柔性织物）上传 #481

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Merged
donghaiwang merged 1 commit into from
May 4, 2026
+73 −0
Merged

布料（柔性织物）上传 #481

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73 changes: 73 additions & 0 deletions tactile/code/assets/deformable_cloth.xml
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Original file line number Diff line number Diff line change
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<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>