diff --git a/.gitignore b/.gitignore
index e69de29bb2..daba3febf6 100644
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diff --git a/requirements.txt b/requirements.txt
index 2d3d95d455..d52f717b66 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -2,4 +2,5 @@ python-markdown-math
imageio
numpy
matplotlib
-tensorflow
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+tensorflow
+mujoco>=2.3.0
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diff --git a/src/drone_simulation/main.py b/src/drone_simulation/main.py
new file mode 100644
index 0000000000..78f334b53d
--- /dev/null
+++ b/src/drone_simulation/main.py
@@ -0,0 +1,112 @@
+# simple_visible_drone.py
+import mujoco
+import mujoco.viewer
+import numpy as np
+import time
+import os
+import glob
+
+# 定义日志文件路径（可根据实际情况修改）
+LOG_FILE_PATHS = [
+ "mujoco.log",
+ "drone_simulation.log",
+ "./logs/*.log"
+]
+
+
+def delete_log_files():
+ """删除指定的日志文件（无控制台输出）"""
+ deleted_count = 0
+ for path in LOG_FILE_PATHS:
+ if "*" in path:
+ for file in glob.glob(path):
+ try:
+ os.remove(file)
+ deleted_count += 1
+ except (FileNotFoundError, PermissionError):
+ continue
+ else:
+ if os.path.exists(path):
+ try:
+ os.remove(path)
+ deleted_count += 1
+ except (FileNotFoundError, PermissionError):
+ continue
+
+
+# 最小化但可见的模型
+MJCF_MODEL = """
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+"""
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+def main():
+ # 删除日志文件（无输出）
+ delete_log_files()
+
+ # 加载模型和数据
+ model = mujoco.MjModel.from_xml_string(MJCF_MODEL)
+ data = mujoco.MjData(model)
+
+ # 等待3秒（无提示）
+ time.sleep(3)
+
+ with mujoco.viewer.launch_passive(model, data) as viewer:
+ # 设置相机视角
+ viewer.cam.lookat[:] = [0, 0, 1]
+ viewer.cam.distance = 8.0
+ viewer.cam.azimuth = 45
+ viewer.cam.elevation = -30
+
+ t = 0
+ while viewer.is_running() and t < 20:
+ # 简单的上下浮动
+ force_z = 20 * np.sin(t * 2) + 50
+
+ # 应用力
+ data.qfrc_applied[2] = force_z
+
+ # 缓慢旋转
+ data.qfrc_applied[5] = 5 * np.sin(t * 0.5)
+
+ mujoco.mj_step(model, data)
+ viewer.sync()
+
+ t += 0.01
+ time.sleep(0.01)
+
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+if __name__ == "__main__":
+ main()
diff --git a/src/drone_simulation/model.xml b/src/drone_simulation/model.xml
new file mode 100644
index 0000000000..717a287e45
--- /dev/null
+++ b/src/drone_simulation/model.xml
@@ -0,0 +1,164 @@
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