{"id":14838407,"url":"https://github.com/apirrone/Open_Duck_Mini","last_synced_at":"2025-09-17T22:32:39.402Z","repository":{"id":241290431,"uuid":"801580724","full_name":"apirrone/Open_Duck_Mini","owner":"apirrone","description":"Making a mini version of the BDX droid","archived":false,"fork":false,"pushed_at":"2024-09-17T13:47:28.000Z","size":4331,"stargazers_count":138,"open_issues_count":0,"forks_count":13,"subscribers_count":8,"default_branch":"main","last_synced_at":"2024-09-17T15:43:41.284Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/apirrone.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":"FUNDING.yml","license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null},"funding":{"github":"apirrone"}},"created_at":"2024-05-16T14:03:25.000Z","updated_at":"2024-09-17T15:12:11.000Z","dependencies_parsed_at":null,"dependency_job_id":"4437f35d-7ec5-4ffb-b3ab-3896e80cdbd1","html_url":"https://github.com/apirrone/Open_Duck_Mini","commit_stats":null,"previous_names":["apirrone/mini_bdx","apirrone/open_duck_mini"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/apirrone%2FOpen_Duck_Mini","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/apirrone%2FOpen_Duck_Mini/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/apirrone%2FOpen_Duck_Mini/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/apirrone%2FOpen_Duck_Mini/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/apirrone","download_url":"https://codeload.github.com/apirrone/Open_Duck_Mini/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":219853866,"owners_count":16553526,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-09-19T09:01:23.791Z","updated_at":"2025-09-17T22:32:34.076Z","avatar_url":"https://github.com/apirrone.png","language":"Python","funding_links":["https://github.com/sponsors/apirrone"],"categories":["Uncategorized","Robots","Kinder und Jugendliche","Open Source Robots"],"sub_categories":["Uncategorized","Bipeds","Bipedals"],"readme":"# Open Duck Mini\n\nThis project is still a work in progress !\n\nNote : we'll start working on a v2 of this robot soon (December 2024). The v2 should be cheaper (aiming for ~$500), better designed, easier to build and more capable ! I would advise waiting for the v2 if you want to build this robot :)\n\n![Capture d’écran du 2024-07-22 18-15-29](https://github.com/user-attachments/assets/41876cb7-b4f2-4c68-8ef9-f92f2eb45044)\n\nI'm making a miniature version of the BDX Droid by Disney. It is about 35 centimeters tall with its legs extended.\n\nThis is a policy trained in Isaac Gym with [AWD](https://github.com/rimim/AWD).\n\nhttps://github.com/user-attachments/assets/bbb0f181-659d-4227-af8a-83866aa6278a\n\nSim2Sim from Isaac to Mujoco\n\nhttps://github.com/user-attachments/assets/94ffe9a0-739e-4083-810a-541e25db2fb9\n\nThis is a policy trained in Isaac Gym for standing up while being robust to perturbations.\n\nhttps://github.com/user-attachments/assets/4e03fe2b-371c-4bd5-a462-8fa0ee84efa2\n\nSim2Real walking is starting to work !\n\nhttps://github.com/user-attachments/assets/15f329b8-af58-42c1-bdef-b7eebd7a5fba\n\n\n\n\n# This repo\n\nThis is kind of a hub where I centralize all resources related to this project. This is a working repo, so there are a lot of undocumented scripts :) I'll try to clean things up at some point.\n\n# CAD\n\nhttps://cad.onshape.com/documents/a18ff8cc622a533762a3a6f5/w/27ef6089ad5fe9ba396b6036/e/9ce9b71d7a21eb04415b067f\n\nSee [this document](docs/prepare_robot.md) for getting from a onshape design to a simulated robot in MuJoCo\n\nIdler cap https://cad.onshape.com/documents/be101dee8170780f05a04bfa/w/c49eb6dbb859e081d7ac252c/e/935d77385a5196902c262118\n\n# RL stuff\n\nWe now use [AWD](https://github.com/rimim/AWD)\n\n## Actuator identification \n\nWe used Rhoban's [BAM](https://github.com/Rhoban/bam)\n\n# BOM\n\nNote : I switched to using `xc330-M288-T` servomotors instead of `xl330-M288-T` for the legs. They are more expensive, but way more powerful. Maybe we'll try to go back to xl330 servos once everything is working properly with the xc330.\n\nhttps://docs.google.com/spreadsheets/d/18hrYgjaE9uL2pnrnq5pNUzFLZcI4Rg0AvSc9sqwE680/edit?usp=sharing\n\n# Assembly Guide\n\nTODO\n\nThe current version (alpha) is not very easy to build, has some mechanical problems (too much play at some joints). After everything works on this version of the robot, I will redesign it from the ground up, trying to make it more accessible and better mechanically designed !\n\n\n# Embedded runtime\n\nThis repo contains the code to run the policies on the onboard computer (Raspberry pi zero 2w) https://github.com/apirrone/Open_Duck_Mini_Runtime\n\n# Resources\n\n## Interesting papers and resources\n- https://www.nature.com/articles/s41598-023-38259-7.pdf\n- https://arxiv.org/pdf/2304.13653\n- https://arxiv.org/pdf/2401.16889\n- https://arxiv.org/pdf/1801.01290\n- First comment of this video explains the reward https://www.youtube.com/watch?v=L_4BPjLBF4E\n- https://www.haonanyu.blog/post/sim2real/\n\n## Directly BDX related (from disney)\n- https://www.nvidia.com/en-us/on-demand/session/gtc24-s63374/\n- https://la.disneyresearch.com/publication/design-and-control-of-a-bipedal-robotic-character/\n\n\n## Bootstraping by behavior cloning\n- https://stable-baselines.readthedocs.io/en/master/guide/pretrain.html \n\n# References\n- https://cults3d.com/en/3d-model/gadget/robot-disney-star-wars\n- https://www.disneytouristblog.com/wp-content/uploads/2023/10/bd1-droid-testing-disney-imagineering-2.jpg\n- nice close up video https://www.youtube.com/watch?v=QuWaaNN-1hs\n\n## Imitation learning\n- https://github.com/rgalljamov/DRLoco\n- https://xbpeng.github.io/projects/DeepMimic/index.html\n-\n## MPC\n- https://github.com/google-deepmind/mujoco_mpc\n\n\nThanks a lot to HuggingFace for sponsoring this project !\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fapirrone%2FOpen_Duck_Mini","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fapirrone%2FOpen_Duck_Mini","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fapirrone%2FOpen_Duck_Mini/lists"}