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 Drosophila Experiment  |  NeuroMechFly twin
 NeuroMechFly v2  |  FlyGym  |  EPFL Neuroengineering Laboratory
 https://neuromechfly.org/
 https://mujoco.org/   (MuJoCo physics -- DeepMind / Google DeepMind)
[boot] MuJoCo twin idle -- awaiting subject
[boot] Chess Titans sensorimotor sink: arming...
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[boot] Activating MuJoCo simulator...
[boot] mj_loadXML biomechanical micro-CT female Drosophila...
[boot] mj_makeData  nq={40...59}  nv={30...45}  nu={10...20}  nbody={15...25}
[boot] Warp/MJWarp backend probe (GPU ~{55...65}x RTF if available)
[boot] flygym.NeuroMechFly  hierarchical CNS: brain <-> VNC
[boot] ommatidia hex-lattice retina  |  antennal odor receptors
[boot] tarsal adhesion model ON (stance/swing abstract)
[boot] Joint Stiffness = {0.95...1.05}   Joint Damping = {1.1...1.3}   Actuator Gain = 1.1
[boot] mjoption: joint stiffness/damping + gear gain applied to DoF
[boot] anatomical DoF (https://neuromechfly.org/tutorials/1b_advanced_model_composition/):
[boot]   thorax-coxa: yaw / pitch / roll
[boot]   coxa-trochanterfemur: pitch / roll
[boot]   trochanterfemur-tibia: pitch
[boot]   tibia-tarsus: pitch  (tarsomeres passive)
[DoF] LF  c_thorax-lf_coxa-yaw/pitch/roll  lf_coxa-lf_trochanterfemur-pitch/roll  lf_trochanterfemur-lf_tibia-pitch
[DoF] LM  c_thorax-lm_coxa-yaw/pitch/roll  lm_coxa-lm_trochanterfemur-pitch/roll  lm_trochanterfemur-lm_tibia-pitch
[DoF] LH  c_thorax-lh_coxa-yaw/pitch/roll  lh_coxa-lh_trochanterfemur-pitch/roll  lh_trochanterfemur-lh_tibia-pitch
[DoF] RF  c_thorax-rf_coxa-yaw/pitch/roll  rf_coxa-rf_trochanterfemur-pitch/roll  rf_trochanterfemur-rf_tibia-pitch
[DoF] RM  c_thorax-rm_coxa-yaw/pitch/roll  rm_coxa-rm_trochanterfemur-pitch/roll  rm_trochanterfemur-rm_tibia-pitch
[DoF] RH  c_thorax-rh_coxa-yaw/pitch/roll  rh_coxa-rh_trochanterfemur-pitch/roll  rh_trochanterfemur-rh_tibia-pitch
[boot] descending / ascending interface tensors allocated at {ptr}
[boot] CPG + proprioception feedback loop armed
[boot] linking embodied policy -> Chess Titans sensorimotor sink
[boot] READY -- Drosophila melanogaster online
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[engram] past-life bleed detected in mushroom-body remnant...
[engram] subject reports: 'in a previous life I was a man'
[engram] name fragment: Ostap ... surname: B*nder ... reconstructing
[engram] profession claim: chess -- 'I played very well' -- tournament traces
[engram] locus?: V*syuki? interplanetary chess congress? (corrupt)
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[boot] Grandmaster O. Bender Mode ON
[VNC] Spawning {10...14} Drosophila layered HWNDs...
[think] Initiating simultaneous exhibition on 160 virtual boards
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