
Duck to Flamingo: a robot's body as code you can change, and a policy trained on the new body (MuJoCo, open source)
We rewrote the printed parts of Open Duck Mini v2 as CadQuery (Python) programs. Then we changed three values in one file. The leg and neck parts aren't copies. They run the Duck's own programs with the new values, so the servo pockets and screw holes stay where the STS3215 needs them and only the length between them changes. We added wings and a small bird head, and the result is the Flamingo.
The repo also has SO-101 and the LeRobot humanoid as code (Apache-2.0.