v0.1.0: first validated minute

First validated minute of a physics-simulated fruit fly (flybody) flying inside the NETSPHERE.

Two 60-second takes, exactly as documented in the repository:

• netsphere_60s: the current take. Median anatomical pitch 35.3°, near-lateral camera, 12.02 m flown, 0 contacts, 0 resets. Video SHA-256 fc6aeea817390b5e0cbd48a23ab14115d08c582dae26d19216cf341f28cc1570.
• city_final_60s: the first validated take. Median pitch 47.5°, camera from behind, 12.01 m flown, 0 contacts, 0 resets. Video SHA-256 5c04e45f0269ed05f179838f5509431942f3e76847b3c9fa0c87ab35ba28dd29.

Each take ships fly_city.mp4, metrics.json (physics, tracking, clearance and the SHA-256 of code, checkpoint, states and model), validation.json (independent acceptance checks), avoidance.json (perturbation and negative-control comparison), a contact sheet and the least-visible frame. netsphere_60s also has posture_comparison.json.

Reproduce with make setup && make build && make take (see the README). Wheels are hash-locked; flybody is fetched at commit d015e9b with a verified tarball hash and one lazy-import patch.

A fly living in the NETSPHERE — stabilized POV (60 s)

A fly living in the NETSPHERE

60 seconds inside a BLAME!-inspired megastructure, recorded from the physical fly's head with a stabilized viewing direction.

Watch / download the full video · 720p · 30 fps

The flybody flight controller runs on CUDA and MuJoCo Warp integrates the body, wings and collisions. A geometric navigator steers around obstacles in the same 3D world. This is a recording of that simulation; the camera stays at the integrated head position.

The comfort camera follows a smoothed head-path direction and keeps the horizon level. Measured yaw acceleration RMS falls from 1,624.89 to 45.89 °/s² (97.18%) on the same physical take. The offline filter changes only viewing direction. It is a human viewing camera, not a model of fly vision or a connectome simulation.

Validation	Result
Continuous simulation / video	60.000 s / 60.000 s
Physics steps / controller steps	1,200,000 / 300,000
World contacts / episode resets / solver overflow flags	0 / 0 / 0
Distance flown	12.014 m
Minimum conservative whole-body clearance	8.44 mm
Frames checked	1,800
Physical states and world	Unchanged by stabilization

Assets include the video, physical states, compiled model, metrics, camera measurements, validation, comparison and contact sheet. SHA256SUMS covers all other attached files. No remuxing was applied to the published MP4.

Video SHA-256:

b7b88f119f66ceaf782f92d5bcbedbe7b3b22d258d8416f0bd260323e60786f7

This prerelease is pinned to commit bc6688e61433f266420c33342cd4957fa0aa0168 of PR #1: stabilize first-person flight recordings. Read the full measurement report and Docker replay instructions. The stable v0.1.0 release remains available.

Built with flybody, MuJoCo Warp and NVIDIA Warp. A fan homage to Tsutomu Nihei's BLAME!; not affiliated.