# NeuroMechFly attribution

NeLy-EPFL/flygym, Apache-2.0. Source: 38c8ec61034cd59bc5ba0de20688d4a3c0000d60. Generated assets: 0884af08981994543634563d95e9b1eb49945082 (gh-pages).
https://github.com/NeLy-EPFL/flygym
https://www.nature.com/articles/s41592-024-02497-y

controller.js extracts and exports the upstream CPG controller, omitting unused single-leg and tripod modes. Reset starts in the configured tripod phase relationship instead of random phases, reducing arbitrary initial heading changes. The episode uses CPG control, not hybrid sensory correction. scene.js adapts the upstream browser helper: unused theme/overlay/stat helpers are omitted, filesystem initialization checks directory existence, and Three.js is imported by relative path (and re-exported) instead of through a document import map so the module loads from the Next.js route without a second copy of the library. MuJoCo: Google DeepMind, Apache-2.0. Three.js: MIT. Bundled license notices retained.

The episode replaces slalom world geoms in the generated XML with a tabletop and mug collision geom; the fly and stepping tables are retained.