Articulated fly model

Source: FlyBody, Google DeepMind and HHMI Janelia
https://github.com/TuragaLab/flybody
Commit: d015e9bfe441bd90ae431bac24c55cb74bdbce26
Licence: Apache-2.0, reproduced in LICENSE-FLYBODY beside this file.

Modified by ForgeSworn, 16 September 2026: compiled anatomical joint frames
exported to rig.json; mesh vertices welded and surfaces simplified for browser
rendering. Fine bristle meshes are preserved. No trained policy, measured
wingbeat dataset or MuJoCo runtime is distributed with this viewer.

The browser controller is engineered forward/inverse kinematics. Motor report
samples choose actions and drive travel, turning and proboscis extension.
Escape activity starts a bounded flight illustration. Foot placement, wing
cycles, flight trajectory and landing are supplied by the browser controller.
It is not a physical simulation or a complete connectome flight controller.
Flight uses 64 samples of an engineered wing stroke to render a translucent
full-cycle exposure without frame-rate aliasing. Sweep and feathering are
phase-offset, with a smooth blend to the folded anatomical pose at touchdown.
This display stroke is not measured wing data or a neural flight policy.
Between reports, a separately labelled animation supplies exploring and flight.
Free visual feeding and confirmed wallet payments start an authored drinking
and regurgitation sequence. Animated droplets do not represent financial gifts.

Rebuild the model with tools/fly-body/export-model.py in the public repository:
https://github.com/forgesworn/forgesworn.dev
Dependencies used: Python 3.12, mujoco 3.13.0, numpy 1.26.4,
trimesh 5.1.0, fast-simplification 0.2.0.

Rendering: Three.js 0.169.0, MIT licence in ../../vendor/LICENSE-THREE.
Vendored from https://cdn.jsdelivr.net/npm/three@0.169.0/build/three.module.min.js

Brain data: MaleCNS v1.0, CC-BY 4.0, HHMI Janelia FlyEM and collaborators.
https://male-cns.janelia.org/
The unsigned offline examples in ../brain-recordings.json contain the input,
seed, source/image hashes and Motor v1 report. They are labelled recordings,
not signed live events. The brain plugin source is currently private.