Context. The loop made visible — the disposable demonstration vehicle. macOS-first, JVM-capable. NOT Socket; it can be shown to a lab without exposing any Socket policy.
Objective. Wire a fixture/recorded Signal source → CognitiveLoop → fan-out to (a) a Synthetic voxel Load (Phosphor renderer) and (b) the MujocoSimLoad body. Phosphor renders the commanded ghost + the MuJoCo-observed body; the sim's ProprioceptionSignal/ContactSignal feed back into the loop. No iPhone, no perception model, no EMS — dry.
Changes
- New disposable sandbox module (Compose Multiplatform, macOS target) consuming published AMPERE 0.8.0 + Phosphor 0.6.0 +
:sim-mujoco.
- Fixture source emitting a recorded
MotorArc, loop wiring, on-screen render.
Validation (receipts)
- End-to-end: a recorded
MotorArc drives the voxel hand on screen.
- Return path: MuJoCo's observed divergence (gravity sag / contact) is visible as the commanded-vs-observed gap, and a
ContactSignal alters the next emission.
- Non-overfit, top level: point the same harness at the arm morphology + an arm
MotorArc fixture → it renders + simulates an arm with zero harness code change.
Out of scope
Everything in the post-MVP canopy (iPhone capture, on-device perception, transport, real EMS/servo Loads).
Scope ~3 pts · Model: Sonnet, medium thinking. Disposable — delete when the experiment graduates.
Context. The loop made visible — the disposable demonstration vehicle. macOS-first, JVM-capable. NOT Socket; it can be shown to a lab without exposing any Socket policy.
Objective. Wire a fixture/recorded
Signalsource →CognitiveLoop→ fan-out to (a) aSyntheticvoxelLoad(Phosphor renderer) and (b) theMujocoSimLoadbody. Phosphor renders the commanded ghost + the MuJoCo-observed body; the sim'sProprioceptionSignal/ContactSignalfeed back into the loop. No iPhone, no perception model, no EMS — dry.Changes
:sim-mujoco.MotorArc, loop wiring, on-screen render.Validation (receipts)
MotorArcdrives the voxel hand on screen.ContactSignalalters the next emission.MotorArcfixture → it renders + simulates an arm with zero harness code change.Out of scope
Everything in the post-MVP canopy (iPhone capture, on-device perception, transport, real EMS/servo Loads).
Scope ~3 pts · Model: Sonnet, medium thinking. Disposable — delete when the experiment graduates.