├── .github └── workflows │ ├── lint.yml │ ├── pytest.yml │ ├── pyversions.yml │ └── tf-test.yml ├── .gitignore ├── LICENSE ├── README.md ├── docs ├── controller-reuse-vision-flight.ipynb ├── fly-env-examples.ipynb ├── fly-on-ball-minimal.ipynb ├── getting-started.ipynb └── sensory-input-tracking.ipynb ├── fly-white.png ├── flybody ├── __init__.py ├── agents │ ├── __init__.py │ ├── actors.py │ ├── agent_dmpo.py │ ├── counting.py │ ├── learning_dmpo.py │ ├── losses_mpo.py │ ├── network_factory.py │ ├── network_factory_vis.py │ ├── ray_distributed_dmpo.py │ ├── remote_as_local_wrapper.py │ ├── utils_ray.py │ └── utils_tf.py ├── download_data.py ├── ellipsoid_fluid_model.py ├── fly_envs.py ├── fruitfly │ ├── __init__.py │ ├── assets │ │ ├── abdomen_1_body.obj │ │ ├── abdomen_1_lower.obj │ │ ├── abdomen_2_body.obj │ │ ├── abdomen_2_lower.obj │ │ ├── abdomen_3_body.obj │ │ ├── abdomen_3_lower.obj │ │ ├── abdomen_4_body.obj │ │ ├── abdomen_4_lower.obj │ │ ├── abdomen_5_body.obj │ │ ├── abdomen_5_lower.obj │ │ ├── abdomen_6_body.obj │ │ ├── abdomen_6_lower.obj │ │ ├── abdomen_7_body.obj │ │ ├── abdomen_7_lower.obj │ │ ├── abdomen_8_body.obj │ │ ├── antenna_left_black.obj │ │ ├── antenna_left_body.obj │ │ ├── antenna_right_black.obj │ │ ├── antenna_right_body.obj │ │ ├── blender_model │ │ │ └── drosophila.blend │ │ ├── coxa_T1_left_body.obj │ │ ├── coxa_T1_right_body.obj │ │ ├── coxa_T2_left_body.obj │ │ ├── coxa_T2_right_body.obj │ │ ├── coxa_T3_left_body.obj │ │ ├── coxa_T3_right_body.obj │ │ ├── femur_T1_left_body.obj │ │ ├── femur_T1_right_body.obj │ │ ├── femur_T2_left_body.obj │ │ ├── femur_T2_right_body.obj │ │ ├── femur_T3_left_body.obj │ │ ├── femur_T3_right_body.obj │ │ ├── floor.xml │ │ ├── fruitfly.xml │ │ ├── haltere_left_body.obj │ │ ├── haltere_right_body.obj │ │ ├── haustellum_black.obj │ │ ├── haustellum_body.obj │ │ ├── head_black.obj │ │ ├── head_body.obj │ │ ├── head_ocelli.obj │ │ ├── head_red.obj │ │ ├── labrum_left_lower.obj │ │ ├── labrum_right_lower.obj │ │ ├── rostrum_body.obj │ │ ├── rostrum_bristle-brown.obj │ │ ├── tarsal_claw_T1_left_brown.obj │ │ ├── tarsal_claw_T1_right_brown.obj │ │ ├── tarsal_claw_T2_left_brown.obj │ │ ├── tarsal_claw_T2_right_brown.obj │ │ ├── tarsal_claw_T3_left_brown.obj │ │ ├── tarsal_claw_T3_right_brown.obj │ │ ├── tarsus_T1_1_left_body.obj │ │ ├── tarsus_T1_1_right_body.obj │ │ ├── tarsus_T1_2_left_body.obj │ │ ├── tarsus_T1_2_right_body.obj │ │ ├── tarsus_T1_3_left_body.obj │ │ ├── tarsus_T1_3_right_body.obj │ │ ├── tarsus_T1_4_left_body.obj │ │ ├── tarsus_T1_4_right_body.obj │ │ ├── tarsus_T2_1_left_body.obj │ │ ├── tarsus_T2_1_right_body.obj │ │ ├── tarsus_T2_2_left_body.obj │ │ ├── tarsus_T2_2_right_body.obj │ │ ├── tarsus_T2_3_left_body.obj │ │ ├── tarsus_T2_3_right_body.obj │ │ ├── tarsus_T2_4_left_body.obj │ │ ├── tarsus_T2_4_right_body.obj │ │ ├── tarsus_T3_1_left_body.obj │ │ ├── tarsus_T3_1_right_body.obj │ │ ├── tarsus_T3_2_left_body.obj │ │ ├── tarsus_T3_2_right_body.obj │ │ ├── tarsus_T3_3_left_body.obj │ │ ├── tarsus_T3_3_right_body.obj │ │ ├── tarsus_T3_4_left_body.obj │ │ ├── tarsus_T3_4_right_body.obj │ │ ├── thorax_black.obj │ │ ├── thorax_body.obj │ │ ├── tibia_T1_left_body.obj │ │ ├── tibia_T1_right_body.obj │ │ ├── tibia_T2_left_body.obj │ │ ├── tibia_T2_right_body.obj │ │ ├── tibia_T3_left_body.obj │ │ ├── tibia_T3_right_body.obj │ │ ├── wing_left_brown.obj │ │ ├── wing_left_membrane.obj │ │ ├── wing_right_brown.obj │ │ └── wing_right_membrane.obj │ ├── build_fruitfly │ │ ├── README.md │ │ ├── add_flyid_labels.py │ │ ├── assets │ │ │ ├── abdomen_1_body.msh │ │ │ ├── abdomen_1_lower.msh │ │ │ ├── abdomen_2_body.msh │ │ │ ├── abdomen_2_lower.msh │ │ │ ├── abdomen_3_body.msh │ │ │ ├── abdomen_3_lower.msh │ │ │ ├── abdomen_4_body.msh │ │ │ ├── abdomen_4_lower.msh │ │ │ ├── abdomen_5_body.msh │ │ │ ├── abdomen_5_lower.msh │ │ │ ├── abdomen_6_body.msh │ │ │ ├── abdomen_6_lower.msh │ │ │ ├── abdomen_7_body.msh │ │ │ ├── abdomen_7_lower.msh │ │ │ ├── abdomen_8_body.msh │ │ │ ├── antenna_left_black.msh │ │ │ ├── antenna_left_body.msh │ │ │ ├── antenna_right_black.msh │ │ │ ├── antenna_right_body.msh │ │ │ ├── coxa_T1_left_body.msh │ │ │ ├── coxa_T1_right_body.msh │ │ │ ├── coxa_T2_left_body.msh │ │ │ ├── coxa_T2_right_body.msh │ │ │ ├── coxa_T3_left_body.msh │ │ │ ├── coxa_T3_right_body.msh │ │ │ ├── drosophila.xml │ │ │ ├── drosophila_defaults.xml │ │ │ ├── drosophila_fused.xml │ │ │ ├── femur_T1_left_body.msh │ │ │ ├── femur_T1_right_body.msh │ │ │ ├── femur_T2_left_body.msh │ │ │ ├── femur_T2_right_body.msh │ │ │ ├── femur_T3_left_body.msh │ │ │ ├── femur_T3_right_body.msh │ │ │ ├── haltere_left_body.msh │ │ │ ├── haltere_right_body.msh │ │ │ ├── haustellum_black.msh │ │ │ ├── haustellum_body.msh │ │ │ ├── head_black.msh │ │ │ ├── head_body.msh │ │ │ ├── head_ocelli.msh │ │ │ ├── head_red.msh │ │ │ ├── labrum_left_lower.msh │ │ │ ├── labrum_right_lower.msh │ │ │ ├── rostrum_body.msh │ │ │ ├── rostrum_bristle-brown.msh │ │ │ ├── tarsal_claw_T1_left_brown.msh │ │ │ ├── tarsal_claw_T1_right_brown.msh │ │ │ ├── tarsal_claw_T2_left_brown.msh │ │ │ ├── tarsal_claw_T2_right_brown.msh │ │ │ ├── tarsal_claw_T3_left_brown.msh │ │ │ ├── tarsal_claw_T3_right_brown.msh │ │ │ ├── tarsus_T1_1_left_body.msh │ │ │ ├── tarsus_T1_1_right_body.msh │ │ │ ├── tarsus_T1_2_left_body.msh │ │ │ ├── tarsus_T1_2_right_body.msh │ │ │ ├── tarsus_T1_3_left_body.msh │ │ │ ├── tarsus_T1_3_right_body.msh │ │ │ ├── tarsus_T1_4_left_body.msh │ │ │ ├── tarsus_T1_4_right_body.msh │ │ │ ├── tarsus_T2_1_left_body.msh │ │ │ ├── tarsus_T2_1_right_body.msh │ │ │ ├── tarsus_T2_2_left_body.msh │ │ │ ├── tarsus_T2_2_right_body.msh │ │ │ ├── tarsus_T2_3_left_body.msh │ │ │ ├── tarsus_T2_3_right_body.msh │ │ │ ├── tarsus_T2_4_left_body.msh │ │ │ ├── tarsus_T2_4_right_body.msh │ │ │ ├── tarsus_T3_1_left_body.msh │ │ │ ├── tarsus_T3_1_right_body.msh │ │ │ ├── tarsus_T3_2_left_body.msh │ │ │ ├── tarsus_T3_2_right_body.msh │ │ │ ├── tarsus_T3_3_left_body.msh │ │ │ ├── tarsus_T3_3_right_body.msh │ │ │ ├── tarsus_T3_4_left_body.msh │ │ │ ├── tarsus_T3_4_right_body.msh │ │ │ ├── thorax_black.msh │ │ │ ├── thorax_body.msh │ │ │ ├── tibia_T1_left_body.msh │ │ │ ├── tibia_T1_right_body.msh │ │ │ ├── tibia_T2_left_body.msh │ │ │ ├── tibia_T2_right_body.msh │ │ │ ├── tibia_T3_left_body.msh │ │ │ ├── tibia_T3_right_body.msh │ │ │ ├── wing_left_brown.msh │ │ │ ├── wing_left_membrane.msh │ │ │ ├── wing_right_brown.msh │ │ │ └── wing_right_membrane.msh │ │ ├── floor.xml │ │ ├── fruitfly.xml │ │ ├── fuse_fruitfly.py │ │ └── make_fruitfly.py │ └── fruitfly.py ├── inverse_kinematics.py ├── loggers.py ├── quaternions.py ├── tasks │ ├── __init__.py │ ├── arenas │ │ ├── __init__.py │ │ ├── ball.py │ │ └── hills.py │ ├── base.py │ ├── constants.py │ ├── flight_imitation.py │ ├── pattern_generators.py │ ├── rewards.py │ ├── synthetic_trajectories.py │ ├── task_utils.py │ ├── template_task.py │ ├── trajectory_loaders.py │ ├── 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