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Umbra is a 24 key ergonomic keyboard. The keyboard is open source. The project readme has details about how the self-encasing PCB design works: https://github.com/skarrmann/umbra/
Like Janus, Umbra uses multiple copies of the same PCB as both the logical PCB and the bottom plate. However, this design is intended for unibody ergonomic keyboards.
It appears ZMK support for RP2040 is a work-in-progress, so maybe we'll see Pi Pico support in the future.
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.