Day 23: ok, so this video jumps around because it's not a true physics sim. what it does is for each pose of the animation frame, it runs a physics sim loop and finds a stable rest point. it still is helpful to me for debugging center of mass issues
ok, here is this "weeks" robot, It actually took me 3 weeks, which REALLY messes up my "52 robots in 52 weeks" goal, but there it is, 300% longer than I thought it would take.