OpenHUTB · kx123508 · Dec 22, 2025 · Dec 22, 2025 · Dec 22, 2025 · Dec 23, 2025
diff --git a/.gitignore b/.gitignore
diff --git a/requirements.txt b/requirements.txt
@@ -2,4 +2,5 @@ python-markdown-math
 imageio
 numpy
 matplotlib
-tensorflow
+tensorflow
+mujoco>=2.3.0
diff --git a/src/drone_simulation/main.py 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 = """
+<mujoco>
+  <visual>
+    <global azimuth="45" elevation="-30"/>
+  </visual>
+
+  <worldbody>
+    <!-- 明亮的背景 -->
+    <light name="top" pos="0 0 10" dir="0 0 -1" directional="true" diffuse="1 1 1"/>
+
+    <!-- 彩色地面 -->
+    <geom name="ground" type="plane" pos="0 0 0" size="5 5 0.1" rgba="0.6 0.8 0.6 1"/>
+
+    <!-- 大号彩色无人机 -->
+    <body name="drone" pos="0 0 1">
+      <freejoint/>
+
+      <!-- 中心大立方体 -->
+      <geom name="body" type="box" size="0.25 0.25 0.05" rgba="1 0.5 0 1" mass="1.0"/>
+
+      <!-- 四个大旋翼（更容易看到） -->
+      <geom name="rotor1" type="cylinder" pos="0.5 0.5 0" size="0.2 0.02" rgba="1 0 0 1" mass="0.2"/>
+      <geom name="rotor2" type="cylinder" pos="0.5 -0.5 0" size="0.2 0.02" rgba="0 1 0 1" mass="0.2"/>
+      <geom name="rotor3" type="cylinder" pos="-0.5 -0.5 0" size="0.2 0.02" rgba="0 0 1 1" mass="0.2"/>
+      <geom name="rotor4" type="cylinder" pos="-0.5 0.5 0" size="0.2 0.02" rgba="1 1 0 1" mass="0.2"/>
+
+      <!-- 连接臂 -->
+      <geom name="arm1" type="capsule" fromto="0 0 0 0.5 0.5 0" size="0.03" rgba="0 0 0 1"/>
+      <geom name="arm2" type="capsule" fromto="0 0 0 0.5 -0.5 0" size="0.03" rgba="0 0 0 1"/>
+      <geom name="arm3" type="capsule" fromto="0 0 0 -0.5 -0.5 0" size="0.03" rgba="0 0 0 1"/>
+      <geom name="arm4" type="capsule" fromto="0 0 0 -0.5 0.5 0" size="0.03" rgba="0 0 0 1"/>
+    </body>
+  </worldbody>
+</mujoco>
+"""
+
+
+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)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/src/drone_simulation/model.xml b/src/drone_simulation/model.xml
@@ -0,0 +1,164 @@
+<?xml version="1.0" ?>
+<mujoco model="quadrotor">
+
+  <!-- 仿真选项 -->
+  <option timestep="0.005" iterations="50" tolerance="1e-10" cone="elliptic">
+    <flag contact="enable" energy="enable"/>
+  </option>
+
+  <!-- 物理参数 -->
+  <size nconmax="100" njmax="200"/>
+
+  <!-- 资产定义 -->
+  <asset>
+    <!-- 纹理 -->
+    <texture name="skybox" type="skybox" builtin="gradient" rgb1="0.6 0.8 1.0" rgb2="0.2 0.3 0.6"/>
+    <texture name="ground" type="2d" builtin="checker" rgb1="0.8 0.9 0.8" rgb2="0.6 0.8 0.6" width="512" height="512"/>
+    <texture name="metal" type="2d" builtin="flat" rgb1="0.5 0.5 0.5" rgb2="0.1 0.1 0.1"/>
+    <texture name="propeller" type="2d" builtin="flat" rgb1="0.9 0.2 0.2" rgb2="0.5 0.1 0.1"/>
+
+    <!-- 材质 -->
+    <material name="sky" texture="skybox" texuniform="true"/>
+    <material name="ground_mat" texture="ground" texuniform="true" texrepeat="10 10"/>
+    <material name="metal_mat" texture="metal" shininess="0.5" specular="0.5"/>
+    <material name="propeller_mat" texture="propeller" shininess="0.3" specular="0.2"/>
+    <material name="red" rgba="0.8 0.2 0.2 1"/>
+    <material name="green" rgba="0.2 0.8 0.2 1"/>
+    <material name="blue" rgba="0.2 0.2 0.8 1"/>
+    <material name="black" rgba="0.1 0.1 0.1 1"/>
+    <material name="white" rgba="1 1 1 1"/>
+
+    <!-- 网格 -->
+    <mesh name="quad_body" file="quad_body.stl" scale="0.01 0.01 0.01"/>
+    <mesh name="propeller_blade" file="propeller_blade.stl" scale="0.01 0.01 0.01"/>
+  </asset>
+
+  <!-- 世界定义 -->
+  <worldbody>
+    <!-- 光源 -->
+    <light name="top_light" pos="0 0 10" dir="0 0 -1" directional="true" diffuse="0.8 0.8 0.8"/>
+    <light name="front_light" pos="5 0 5" dir="-1 0 -1" directional="true" diffuse="0.5 0.5 0.5"/>
+
+    <!-- 天空和地面 -->
+    <geom name="sky" type="plane" pos="0 0 0" size="0 0 0" material="sky"/>
+    <geom name="ground" type="plane" pos="0 0 0" size="20 20 0.1" material="ground_mat" condim="3" friction="1 0.005 0.0001"/>
+
+    <!-- 参考坐标系 -->
+    <geom name="origin_x" type="cylinder" fromto="0 0 0.1 1 0 0.1" size="0.01" rgba="1 0 0 1"/>
+    <geom name="origin_y" type="cylinder" fromto="0 0 0.1 0 1 0.1" size="0.01" rgba="0 1 0 1"/>
+    <geom name="origin_z" type="cylinder" fromto="0 0 0.1 0 0 1.1" size="0.01" rgba="0 0 1 1"/>
+
+    <!-- 四旋翼无人机主体 -->
+    <body name="quadrotor" pos="0 0 1.5" euler="0 0 0">
+      <!-- 自由关节 (6自由度) -->
+      <freejoint name="quad_free_joint"/>
+
+      <!-- 主体框架 -->
+      <geom name="center_body" type="cylinder" size="0.1 0.02" rgba="0.3 0.3 0.3 1" mass="0.3"/>
+      <geom name="arm_front_right" type="capsule" fromto="0 0 0 0.25 0.25 0" size="0.008" rgba="0.1 0.1 0.1 1" mass="0.05"/>
+      <geom name="arm_front_left" type="capsule" fromto="0 0 0 0.25 -0.25 0" size="0.008" rgba="0.1 0.1 0.1 1" mass="0.05"/>
+      <geom name="arm_back_left" type="capsule" fromto="0 0 0 -0.25 -0.25 0" size="0.008" rgba="0.1 0.1 0.1 1" mass="0.05"/>
+      <geom name="arm_back_right" type="capsule" fromto="0 0 0 -0.25 0.25 0" size="0.008" rgba="0.1 0.1 0.1 1" mass="0.05"/>
+
+      <!-- 电机和旋翼 (前右) -->
+      <body name="motor_front_right" pos="0.25 0.25 0">
+        <geom name="motor_housing_front_right" type="cylinder" size="0.025 0.03" rgba="0.2 0.2 0.2 1" mass="0.05"/>
+
+        <body name="rotor_front_right" pos="0 0 0.05">
+          <joint name="rotor_front_right_joint" type="hinge" axis="0 0 1" limited="false"/>
+          <geom name="propeller_front_right" type="cylinder" size="0.12 0.005" rgba="0.8 0.2 0.2 0.8" mass="0.02"/>
+        </body>
+      </body>
+
+      <!-- 电机和旋翼 (前左) -->
+      <body name="motor_front_left" pos="0.25 -0.25 0">
+        <geom name="motor_housing_front_left" type="cylinder" size="0.025 0.03" rgba="0.2 0.2 0.2 1" mass="0.05"/>
+
+        <body name="rotor_front_left" pos="0 0 0.05">
+          <joint name="rotor_front_left_joint" type="hinge" axis="0 0 1" limited="false"/>
+          <geom name="propeller_front_left" type="cylinder" size="0.12 0.005" rgba="0.2 0.8 0.2 0.8" mass="0.02"/>
+        </body>
+      </body>
+
+      <!-- 电机和旋翼 (后左) -->
+      <body name="motor_back_left" pos="-0.25 -0.25 0">
+        <geom name="motor_housing_back_left" type="cylinder" size="0.025 0.03" rgba="0.2 0.2 0.2 1" mass="0.05"/>
+
+        <body name="rotor_back_left" pos="0 0 0.05">
+          <joint name="rotor_back_left_joint" type="hinge" axis="0 0 1" limited="false"/>
+          <geom name="propeller_back_left" type="cylinder" size="0.12 0.005" rgba="0.8 0.2 0.2 0.8" mass="0.02"/>
+        </body>
+      </body>
+
+      <!-- 电机和旋翼 (后右) -->
+      <body name="motor_back_right" pos="-0.25 0.25 0">
+        <geom name="motor_housing_back_right" type="cylinder" size="0.025 0.03" rgba="0.2 0.2 0.2 1" mass="0.05"/>
+
+        <body name="rotor_back_right" pos="0 0 0.05">
+          <joint name="rotor_back_right_joint" type="hinge" axis="0 0 1" limited="false"/>
+          <geom name="propeller_back_right" type="cylinder" size="0.12 0.005" rgba="0.2 0.8 0.2 0.8" mass="0.02"/>
+        </body>
+      </body>
+
+      <!-- 起落架 -->
+      <geom name="landing_gear_front" type="cylinder" pos="0.15 0 0" size="0.005 0.05" rgba="0.5 0.5 0.5 1" mass="0.01"/>
+      <geom name="landing_gear_back" type="cylinder" pos="-0.15 0 0" size="0.005 0.05" rgba="0.5 0.5 0.5 1" mass="0.01"/>
+
+      <!-- 视觉标记 (用于方向识别) -->
+      <geom name="front_marker" type="sphere" pos="0.15 0 0.02" size="0.015" rgba="1 1 0 1"/>
+      <geom name="rear_marker" type="sphere" pos="-0.15 0 0.02" size="0.015" rgba="0 1 1 1"/>
+    </body>
+
+    <!-- 障碍物 (可选) -->
+    <body name="obstacle1" pos="2 0 1">
+      <geom name="obs1" type="cylinder" size="0.3 1" rgba="0.7 0.7 0.9 0.7"/>
+    </body>
+
+    <body name="obstacle2" pos="-2 0 1">
+      <geom name="obs2" type="box" size="0.5 0.5 1" rgba="0.9 0.7 0.7 0.7"/>
+    </body>
+
+    <!-- 目标点 -->
+    <body name="target" pos="0 3 2">
+      <geom name="target_sphere" type="sphere" size="0.1" rgba="1 0 0 0.5" contype="0" conaffinity="0"/>
+    </body>
+
+  </worldbody>
+
+  <!-- 执行器定义 -->
+  <actuator>
+    <!-- 电机控制 -->
+    <motor name="motor_front_right" joint="rotor_front_right_joint" gear="50" ctrllimited="true" ctrlrange="0 1000"/>
+    <motor name="motor_front_left" joint="rotor_front_left_joint" gear="50" ctrllimited="true" ctrlrange="0 1000"/>
+    <motor name="motor_back_left" joint="rotor_back_left_joint" gear="50" ctrllimited="true" ctrlrange="0 1000"/>
+    <motor name="motor_back_right" joint="rotor_back_right_joint" gear="50" ctrllimited="true" ctrlrange="0 1000"/>
+  </actuator>
+
+  <!-- 传感器定义 -->
+  <sensor>
+    <!-- 位置传感器 -->
+    <framepos name="quad_position" objtype="body" objname="quadrotor"/>
+
+    <!-- 姿态传感器 (四元数) -->
+    <framequat name="quad_orientation" objtype="body" objname="quadrotor"/>
+
+    <!-- 线速度传感器 -->
+    <framelinvel name="quad_linear_velocity" objtype="body" objname="quadrotor"/>
+
+    <!-- 角速度传感器 -->
+    <frameangvel name="quad_angular_velocity" objtype="body" objname="quadrotor"/>
+
+    <!-- 线加速度传感器 -->
+    <framelinacc name="quad_linear_acceleration" objtype="body" objname="quadrotor"/>
+
+    <!-- 旋翼转速传感器 -->
+    <jointpos name="rotor_speed_front_right" joint="rotor_front_right_joint"/>
+    <jointpos name="rotor_speed_front_left" joint="rotor_front_left_joint"/>
+    <jointpos name="rotor_speed_back_left" joint="rotor_back_left_joint"/>
+    <jointpos name="rotor_speed_back_right" joint="rotor_back_right_joint"/>
+
+    <!-- 接触传感器 -->
+    <touch name="touch_sensor" site="quadrotor_center"/>
+  </sensor>
+
+</mujoco>