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To jump in, I am working on "porting" the Talon design (not my design) into OpenSCAD specifically to make it parametric, but if you're interested in making Cyborg Beast parametric, I'd be interested in working with you to port it into OpenSCAD. It's a beautiful design!

There are many options for making designs parametric. The most popular open source parametric modeling tool is OpenSCAD. And it's used in Thingiverse Customizer, which makes it very easy for people to use parametric designs to generate personalized things.

That being said, OpenSCAD is a programming language, not a GUI modeling tool, so it's a very different kind of tool than, say, AutoCAD or Rhino, which are also parametric.