OpenHUTB · A-0-A-0-A · Apr 25, 2026 · Apr 26, 2026
diff --git a/tactile/code/assets/CoppeliaSim scene.ttt b/tactile/code/assets/CoppeliaSim scene.ttt
diff --git a/tactile/code/assets/Index_bones/Annular_1.stl b/tactile/code/assets/Index_bones/Annular_1.stl
diff --git a/tactile/code/assets/Index_bones/Annular_2.stl b/tactile/code/assets/Index_bones/Annular_2.stl
diff --git a/tactile/code/assets/Index_bones/Annular_3.stl b/tactile/code/assets/Index_bones/Annular_3.stl
diff --git a/tactile/code/assets/Index_bones/Annular_4.stl b/tactile/code/assets/Index_bones/Annular_4.stl
diff --git a/tactile/code/assets/Index_bones/Annular_J1.stl b/tactile/code/assets/Index_bones/Annular_J1.stl
diff --git a/tactile/code/assets/Index_bones/Annular_J2.stl b/tactile/code/assets/Index_bones/Annular_J2.stl
diff --git a/tactile/code/assets/Index_bones/Annular_J3.stl b/tactile/code/assets/Index_bones/Annular_J3.stl
diff --git a/tactile/code/assets/Index_bones/Index_1.stl b/tactile/code/assets/Index_bones/Index_1.stl
diff --git a/tactile/code/assets/Index_bones/Index_2.stl b/tactile/code/assets/Index_bones/Index_2.stl
diff --git a/tactile/code/assets/Index_bones/Index_3.stl b/tactile/code/assets/Index_bones/Index_3.stl
diff --git a/tactile/code/assets/Index_bones/Index_4.stl b/tactile/code/assets/Index_bones/Index_4.stl
diff --git a/tactile/code/assets/Index_bones/Index_J1.stl b/tactile/code/assets/Index_bones/Index_J1.stl
diff --git a/tactile/code/assets/Index_bones/Index_J2.stl b/tactile/code/assets/Index_bones/Index_J2.stl
diff --git a/tactile/code/assets/Index_bones/Index_J3.stl b/tactile/code/assets/Index_bones/Index_J3.stl
diff --git a/tactile/code/assets/Index_bones/J1.stl b/tactile/code/assets/Index_bones/J1.stl
diff --git a/tactile/code/assets/Index_bones/J2.stl b/tactile/code/assets/Index_bones/J2.stl
diff --git a/tactile/code/assets/Index_bones/J3.stl b/tactile/code/assets/Index_bones/J3.stl
diff --git a/tactile/code/assets/Index_bones/Middle_1.stl b/tactile/code/assets/Index_bones/Middle_1.stl
diff --git a/tactile/code/assets/Index_bones/Middle_2.stl b/tactile/code/assets/Index_bones/Middle_2.stl
diff --git a/tactile/code/assets/Index_bones/Middle_3.stl b/tactile/code/assets/Index_bones/Middle_3.stl
diff --git a/tactile/code/assets/Index_bones/Middle_4.stl b/tactile/code/assets/Index_bones/Middle_4.stl
diff --git a/tactile/code/assets/Index_bones/Middle_J1.stl b/tactile/code/assets/Index_bones/Middle_J1.stl
diff --git a/tactile/code/assets/Index_bones/Middle_J2.stl b/tactile/code/assets/Index_bones/Middle_J2.stl
diff --git a/tactile/code/assets/Index_bones/Middle_J3.stl b/tactile/code/assets/Index_bones/Middle_J3.stl
diff --git a/tactile/code/assets/Index_bones/Palm.stl b/tactile/code/assets/Index_bones/Palm.stl
diff --git a/tactile/code/assets/Index_bones/Pinky_1.stl b/tactile/code/assets/Index_bones/Pinky_1.stl
diff --git a/tactile/code/assets/Index_bones/Pinky_2.stl b/tactile/code/assets/Index_bones/Pinky_2.stl
diff --git a/tactile/code/assets/Index_bones/Pinky_3.stl b/tactile/code/assets/Index_bones/Pinky_3.stl
diff --git a/tactile/code/assets/Index_bones/Pinky_4.stl b/tactile/code/assets/Index_bones/Pinky_4.stl
diff --git a/tactile/code/assets/Index_bones/Pinky_J1.stl b/tactile/code/assets/Index_bones/Pinky_J1.stl
diff --git a/tactile/code/assets/Index_bones/Pinky_J2.stl b/tactile/code/assets/Index_bones/Pinky_J2.stl
diff --git a/tactile/code/assets/Index_bones/Pinky_J3.stl b/tactile/code/assets/Index_bones/Pinky_J3.stl
diff --git a/tactile/code/assets/Index_bones/Thumb_1.stl b/tactile/code/assets/Index_bones/Thumb_1.stl
diff --git a/tactile/code/assets/Index_bones/Thumb_2.stl b/tactile/code/assets/Index_bones/Thumb_2.stl
diff --git a/tactile/code/assets/Index_bones/Thumb_3.stl b/tactile/code/assets/Index_bones/Thumb_3.stl
diff --git a/tactile/code/assets/Index_bones/Thumb_J1.stl b/tactile/code/assets/Index_bones/Thumb_J1.stl
diff --git a/tactile/code/assets/Index_bones/Thumb_J2.stl b/tactile/code/assets/Index_bones/Thumb_J2.stl
diff --git a/tactile/code/assets/Index_bones/Thumb_J3.stl b/tactile/code/assets/Index_bones/Thumb_J3.stl
diff --git a/tactile/code/assets/MuJoCo hands and phantom.xml b/tactile/code/assets/MuJoCo hands and phantom.xml
diff --git a/tactile/code/assets/MuJoCo hands.xml b/tactile/code/assets/MuJoCo hands.xml
diff --git a/tactile/code/assets/MuJoCo phantom.xml b/tactile/code/assets/MuJoCo phantom.xml
diff --git a/tactile/code/assets/MuJoCo scene simple.xml b/tactile/code/assets/MuJoCo scene simple.xml
@@ -0,0 +1,58 @@
+<?xml-model href="../../mujoco-xml-schema-mjcf/mujoco.xsd"?>
+<mujoco>
+    <statistic extent="1.5" meansize=".05" />
+
+    <option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast" jacobian="sparse">
+        <!-- <flag gravity="disable" /> -->
+    </option>
+
+    <size memory="10M" />
+
+    <visual>
+        <rgba haze="0.15 0.25 0.35 1" />
+        <quality shadowsize="4096" />
+        <map stiffness="100" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3" />
+    </visual>
+
+    <!-- 注意：MuJoCo 3.x 不需要显式声明弹性体插件 -->
+
+    <asset>
+        <texture type="skybox" builtin="gradient" rgb1="1 0.5 0.7" rgb2="0 0 0" width="512"
+            height="512" />
+        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
+            width="512" height="512" mark="cross" markrgb=".8 .8 .8" />
+
+        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1"
+            texuniform="true" />
+    </asset>
+
+    <worldbody>
+        <body name="right_hand_mocap" mocap="true" pos="0 0 0.2" euler="0 0 0">
+            <geom type="capsule" size="0.03 0.06" />
+        </body>
+
+        <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0"
+            dir="0 0 -1" castshadow="false" />
+        <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />
+
+        <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane"
+            condim="1" />
+
+        <body name="finger" mocap="true" pos="0 0 0.1" euler="90 0 0">
+            <geom type="capsule" size="0.01115 0.036" />
+            <site name="fingertip" type="sphere" pos="0.0 -0.008 -0.035" rgba="0.5 0.5 1 1" />
+        </body>
+
+        <flexcomp type="grid" count="5 5 5" spacing=".02 .02 .02" pos="0 0 0.045" dim="3"
+            radius=".005" rgba="0 .7 .7 1" mass="5" name="softbody">
+            <pin gridrange="0 0 0 4 4 0"/>
+            <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none" />
+
+        </flexcomp>
+    </worldbody>
+
+    <sensor>
+        <touch site="fingertip" name="fingertip_sensor" />
+    </sensor>
+
+</mujoco>
diff --git a/tactile/code/assets/balloons.xml b/tactile/code/assets/balloons.xml
@@ -0,0 +1,161 @@
+<?xml-model href="../../mujoco-xml-schema-mjcf/mujoco.xsd"?>
+<mujoco>
+    <statistic extent="1.5" meansize=".05" />
+
+    <option density="1.204" viscosity="1.8e-5" timestep=".001" integrator="implicitfast"
+            solver="CG" tolerance="1e-6" jacobian="sparse" />
+
+    <visual>
+      <rgba haze="0.15 0.25 0.35 1" fog="0.5 0.8 0.5 0.5"/>
+      <quality shadowsize="4096" />
+      <map stiffness="100" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3" />
+    </visual>
+
+    <size memory="10M" />
+
+    <extension>
+        <plugin plugin="mujoco.elasticity.solid" />
+    </extension>
+
+    <default>
+      <tendon limited="true" width="0.003" rgba="1 1 1 1"/>
+      <geom friction=".2"/>
+      <default class="weight">
+        <geom rgba=".8 .4 .8 1"/>
+        <site rgba=".8 .4 .8 1"/>
+      </default>
+      <default class="balloon">
+        <!--
+          0.167 is the MKS density of helium at room temperature.
+          Note this does not take into account the mass of the rubber,
+          which is likely not insignificant.
+        -->
+        <geom density="0.167" fluidshape="ellipsoid"/>
+        <default class="pink">
+          <geom rgba="1 .6 .7 1"/>
+          <site rgba="1 .6 .7 1"/>
+        </default>
+        <default class="blue">
+          <geom rgba=".3 .7 .9 1"/>
+          <site rgba=".3 .7 .9 1"/>
+        </default>
+        <default class="green">
+          <geom rgba=".4 .9 .5 1"/>
+          <site rgba=".4 .9 .5 1"/>
+        </default>
+        <default class="orange">
+          <geom rgba="1 .4 0 1"/>
+          <site rgba="1 .4 0 1"/>
+        </default>
+      </default>
+    </default>
+
+    <asset>
+      <texture type="skybox" builtin="gradient" rgb1="0.529 0.808 0.922" rgb2="0 0 0" width="512"
+          height="512" />
+      <texture name="grid" type="2d" builtin="checker" width="512" height="512"
+        rgb2="0.127 0.731 0.141 " rgb1="0.484 0.984 0.0" mark="edge"/>
+      <material name="grid" texture="grid" texrepeat="2 2" texuniform="true"
+        reflectance="0" rgba=".5 .5 .5 1"/>
+
+       <mesh file="Hand_Decomposed.obj" scale=".2 .2 .2" />
+    </asset>
+
+    <worldbody>
+      <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0"
+        dir="0 0 -1" castshadow="false" />
+      <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />
+
+      <flexcomp type="grid" count="6 6 6" spacing=".06 .06 .06" pos="0 0.8 -.25" dim="3"
+          radius=".005" rgba="0 .7 .7 1" mass="5" name="softbody">
+          <edge damping="1"/>
+          <!-- <pin gridrange="0 0 0 4 4 0"/> -->
+          <contact selfcollide="none" />
+          <plugin plugin="mujoco.elasticity.solid">
+              <config key="poisson" value="0" />
+              <config key="young" value="5e4" />
+          </plugin>
+      </flexcomp>
+
+      <body name="finger" mocap="true" pos="2 0 1" euler="90 0 0">
+        <geom type="capsule" size="0.01115 0.036" />
+      </body>
+      <frame name="right_hand_frame" pos="0 0 1">
+        <body name="right_hand_mocap" mocap="true">
+            <geom type="box" size="0.02 0.05 0.05" rgba=".5 .5 .5 .3" contype="0" conaffinity="0"/>
+          <site name="fingertip" type="sphere" pos="0.0 -0.03 -0.055" rgba="0.5 0.5 1 1" />
+        </body>
+        <body name="right_hand_collision">
+          <freejoint/>
+            <geom type="mesh" mesh="Hand_Decomposed" euler="180 0 0"/>
+        </body>
+      </frame>
+
+      <geom name="ground" type="plane" size="5 5 .05" pos="0 0 -.5" material="grid"/>
+      <geom name="ramp" type="box" size=".4 .2 .03" pos="0 0 -.4" euler="0 20 0" rgba="1 1 1 1"/>
+
+      <body name="weight" childclass="weight" pos=".3 0 .2">
+        <freejoint/>
+        <!-- The mass of the weight was chosen to be slightly bigger than the total buoyancy of the balloons. -->
+        <geom name="weight" type="box" size=".015 .015 .015" mass=".0347"/>
+        <site name="weight1" pos=" .013  .013 .013" size="0.005"/>
+        <site name="weight2" pos="-.013 -.013 .013" size="0.005"/>
+      </body>
+
+      <!-- The gravcomp value of 7.2 is the ratio of air and helium desities at room temperature. -->
+      <body name="pink" gravcomp="7.2" pos="-.2 .1 .2" childclass="pink">
+        <freejoint />
+        <geom name="pink" type="ellipsoid" size=".11 .11 .15"/>
+        <geom name="pink_knot" pos="0 0 -.15" size=".02"/>
+        <site name="pink" pos="0 0 -.17" size="0.01"/>
+      </body>
+
+      <body name="blue" gravcomp="7.2" pos=".1 .1 .2" childclass="blue">
+        <freejoint />
+        <geom name="blue" type="ellipsoid" size=".12 .12 .15"/>
+        <geom name="blue_knot" pos="0 0 -.15" size=".02"/>
+        <site name="blue" pos="0 0 -.17" size="0.01"/>
+      </body>
+
+      <body name="green" gravcomp="7.2" pos=".1 -.1 .2" childclass="green">
+        <freejoint />
+        <geom name="green" type="ellipsoid" size=".12 .12 .14"/>
+        <geom name="green_knot" pos="0 0 -.14" size=".02"/>
+        <site name="green" pos="0 0 -.16" size="0.01"/>
+      </body>
+
+      <body name="orange" gravcomp="7.2" pos="-.12 -.12 .2" childclass="orange">
+        <freejoint />
+        <geom name="orange" type="ellipsoid" size=".12 .12 .13"/>
+        <geom name="orange_knot" pos="0 0 -.13" size=".02"/>
+        <site name="orange" pos="0 0 -.15" size="0.01"/>
+      </body>
+    </worldbody>
+
+    <equality>
+      <weld body1="right_hand_mocap" body2="right_hand_collision"/>
+    </equality>
+
+    <tendon>
+      <spatial range="0 0.6">
+        <site site="pink"/>
+        <site site="weight1"/>
+      </spatial>
+      <spatial range="0 0.4">
+        <site site="blue"/>
+        <site site="weight1"/>
+      </spatial>
+      <spatial range="0 0.3">
+        <site site="green"/>
+        <site site="weight2"/>
+      </spatial>
+      <spatial range="0 0.5">
+        <site site="orange"/>
+        <site site="weight2"/>
+      </spatial>
+    </tendon>
+
+    <sensor>
+        <touch site="fingertip" name="fingertip_sensor" />
+    </sensor>
+  </mujoco>
diff --git a/tactile/code/assets/cover.png b/tactile/code/assets/cover.png
diff --git a/tactile/code/assets/deformable_cloth.xml 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>
diff --git a/tactile/code/assets/deformable_jelly_cube.xml b/tactile/code/assets/deformable_jelly_cube.xml
@@ -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>