witcheer
the Microduck is open source down to the daemons. the simulator runs the same robotd, tofd and robotctl binaries the real one boots, against a MuJoCo body. so I can start to train it before receiving it IRL :) what ran on my RTX 5090 box today, all sim: - standing: control loop 50.0 of 50.0 Hz, 302 ticks, 0 missed, trunk at 0.116 m - walking: 8 s forward on a single intent, still standing after - their whole test suite: 57 suites, 1381 passed, 0 failed - first training probe on the GPU: 1024 environments, 0.65 s per iteration, 1.9 GB of VRAM what I want to build next: a Hermes Agent tool that talks to robotd, then our own walking policy trained.