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Add toddlerbot_2xc and toddlerbot_2xm #202

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4528ba6
Add toddlerbot_2xc and toddlerbot_2xm
hshi74 Aug 30, 2025
b0ee6c9
Update the PR based on the suggestions
hshi74 Oct 2, 2025
30b5b78
Merge branch 'google-deepmind:main' into main
hshi74 Oct 2, 2025
fe3c74a
Update README.md
hshi74 Oct 2, 2025
e3b49d0
Update the PR based on the suggestions
hshi74 Oct 2, 2025
c1177ae
Add empty lines between large blocks
hshi74 Oct 2, 2025
24b360c
Remove minus signs before 0s and unnecessary decimals
hshi74 Oct 2, 2025
b547c26
Remove unnecessary minus signs and decimals
hshi74 Oct 3, 2025
3877bd1
Add the toddlerbot thumbnail
hshi74 Oct 3, 2025
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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Expand Up @@ -22,6 +22,7 @@ Built by the Google DeepMind team with contributions from the open-source commun
- [Chintan Desai](https://github.com/hello-chintan)
- [Dada Tian](https://github.com/lonelyfluency)
- [Eugene Frizza](https://github.com/eufrizz)
- [Haochen Shi](https://github.com/hshi74)
- [Ian Noh](https://github.com/dongridong)
- [Jason Chen](https://github.com/chenxin199305)
- [Jonathan Zamora](https://github.com/jonzamora)
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7 changes: 7 additions & 0 deletions toddlerbot_2xc/CHANGELOG.md
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# Changelog – ToddlerBot 2XC Description

All notable changes to this model will be documented in this file.

## [2024-08-29]

- Initial release.
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52 changes: 52 additions & 0 deletions toddlerbot_2xc/scene.xml
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<?xml version="1.0"?>
<mujoco model="toddlerbot_2xc_scene">
<include file="toddlerbot_2xc.xml"/>
<statistic center="0 0 0.25" extent="0.6"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="160" elevation="-20" offwidth="1280" offheight="720"/>
</visual>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
<camera name="perspective" pos="0.7 -0.7 0.7" xyaxes="1 1 0 -1 1 3" mode="trackcom"/>
<camera name="side" pos="0 -1 0.6" xyaxes="1 0 0 0 1 3" mode="trackcom"/>
<camera name="top" pos="0 0 1" xyaxes="0 1 0 -1 0 0" mode="trackcom"/>
<camera name="front" pos="1 0 0.6" xyaxes="0 1 0 -1 0 3" mode="trackcom"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" condim="3"/>
</worldbody>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0"/>
</asset>
<contact>
<pair geom1="floor" geom2="torso_collision_0"/>
<pair geom1="floor" geom2="torso_collision_1"/>
<pair geom1="floor" geom2="head_collision"/>
<pair geom1="floor" geom2="pelvis_link_collision"/>
<pair geom1="floor" geom2="left_hip_pitch_link_collision"/>
<pair geom1="floor" geom2="left_hip_yaw_link_collision"/>
<pair geom1="floor" geom2="left_knee_link_collision"/>
<pair geom1="floor" geom2="left_ankle_pitch_link_collision"/>
<pair geom1="floor" geom2="left_ankle_roll_link_collision"/>
<pair geom1="floor" geom2="right_hip_pitch_link_collision"/>
<pair geom1="floor" geom2="right_hip_yaw_link_collision"/>
<pair geom1="floor" geom2="right_knee_link_collision"/>
<pair geom1="floor" geom2="right_ankle_pitch_link_collision"/>
<pair geom1="floor" geom2="right_ankle_roll_link_collision"/>
<pair geom1="floor" geom2="left_shoulder_roll_link_collision"/>
<pair geom1="floor" geom2="left_shoulder_yaw_link_collision"/>
<pair geom1="floor" geom2="left_elbow_roll_link_collision"/>
<pair geom1="floor" geom2="left_elbow_yaw_link_collision"/>
<pair geom1="floor" geom2="left_wrist_pitch_link_collision"/>
<pair geom1="floor" geom2="left_hand_collision"/>
<pair geom1="floor" geom2="right_shoulder_roll_link_collision"/>
<pair geom1="floor" geom2="right_shoulder_yaw_link_collision"/>
<pair geom1="floor" geom2="right_elbow_roll_link_collision"/>
<pair geom1="floor" geom2="right_elbow_yaw_link_collision"/>
<pair geom1="floor" geom2="right_wrist_pitch_link_collision"/>
<pair geom1="floor" geom2="right_hand_collision"/>
</contact>
</mujoco>
17 changes: 17 additions & 0 deletions toddlerbot_2xc/scene_fixed.xml
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<?xml version="1.0"?>
<mujoco model="toddlerbot_2xc_fixed_scene">
<include file="toddlerbot_2xc_fixed.xml"/>
<statistic center="0 0 -0.05" extent="0.6"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="160" elevation="-20" offwidth="1280" offheight="720"/>
</visual>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
<camera name="perspective" pos="0.7 -0.7 0.35" xyaxes="1 1 0 -1 1 3" mode="trackcom"/>
<camera name="side" pos="0 -1 0.25" xyaxes="1 0 0 0 1 3" mode="trackcom"/>
<camera name="top" pos="0 0 0.65" xyaxes="0 1 0 -1 0 0" mode="trackcom"/>
<camera name="front" pos="1 0 0.25" xyaxes="0 1 0 -1 0 3" mode="trackcom"/>
</worldbody>
</mujoco>
30 changes: 30 additions & 0 deletions toddlerbot_2xc/scene_mjx.xml
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<?xml version="1.0"?>
<mujoco model="toddlerbot_2xc_mjx_scene">
<include file="toddlerbot_2xc_mjx.xml"/>
<statistic center="0 0 0.25" extent="0.6"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="160" elevation="-20" offwidth="1280" offheight="720"/>
</visual>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
<camera name="perspective" pos="0.7 -0.7 0.7" xyaxes="1 1 0 -1 1 3" mode="trackcom"/>
<camera name="side" pos="0 -1 0.6" xyaxes="1 0 0 0 1 3" mode="trackcom"/>
<camera name="top" pos="0 0 1" xyaxes="0 1 0 -1 0 0" mode="trackcom"/>
<camera name="front" pos="1 0 0.6" xyaxes="0 1 0 -1 0 3" mode="trackcom"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" condim="3"/>
</worldbody>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0"/>
</asset>
<contact>
<pair geom1="floor" geom2="left_ankle_roll_link_collision"/>
<pair geom1="floor" geom2="right_ankle_roll_link_collision"/>
<pair geom1="floor" geom2="left_hand_collision"/>
<pair geom1="floor" geom2="right_hand_collision"/>
</contact>
</mujoco>
17 changes: 17 additions & 0 deletions toddlerbot_2xc/scene_mjx_fixed.xml
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<?xml version="1.0"?>
<mujoco model="toddlerbot_2xc_mjx_fixed_scene">
<include file="toddlerbot_2xc_mjx_fixed.xml"/>
<statistic center="0 0 -0.05" extent="0.6"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="160" elevation="-20" offwidth="1280" offheight="720"/>
</visual>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
<camera name="perspective" pos="0.7 -0.7 0.35" xyaxes="1 1 0 -1 1 3" mode="trackcom"/>
<camera name="side" pos="0 -1 0.25" xyaxes="1 0 0 0 1 3" mode="trackcom"/>
<camera name="top" pos="0 0 0.65" xyaxes="0 1 0 -1 0 0" mode="trackcom"/>
<camera name="front" pos="1 0 0.25" xyaxes="0 1 0 -1 0 3" mode="trackcom"/>
</worldbody>
</mujoco>
52 changes: 52 additions & 0 deletions toddlerbot_2xc/scene_pos.xml
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<?xml version="1.0"?>
<mujoco model="toddlerbot_2xc_pos_scene">
<include file="toddlerbot_2xc_pos.xml"/>
<statistic center="0 0 0.25" extent="0.6"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="160" elevation="-20" offwidth="1280" offheight="720"/>
</visual>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
<camera name="perspective" pos="0.7 -0.7 0.7" xyaxes="1 1 0 -1 1 3" mode="trackcom"/>
<camera name="side" pos="0 -1 0.6" xyaxes="1 0 0 0 1 3" mode="trackcom"/>
<camera name="top" pos="0 0 1" xyaxes="0 1 0 -1 0 0" mode="trackcom"/>
<camera name="front" pos="1 0 0.6" xyaxes="0 1 0 -1 0 3" mode="trackcom"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" condim="3"/>
</worldbody>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0"/>
</asset>
<contact>
<pair geom1="floor" geom2="torso_collision_0"/>
<pair geom1="floor" geom2="torso_collision_1"/>
<pair geom1="floor" geom2="head_collision"/>
<pair geom1="floor" geom2="pelvis_link_collision"/>
<pair geom1="floor" geom2="left_hip_pitch_link_collision"/>
<pair geom1="floor" geom2="left_hip_yaw_link_collision"/>
<pair geom1="floor" geom2="left_knee_link_collision"/>
<pair geom1="floor" geom2="left_ankle_pitch_link_collision"/>
<pair geom1="floor" geom2="left_ankle_roll_link_collision"/>
<pair geom1="floor" geom2="right_hip_pitch_link_collision"/>
<pair geom1="floor" geom2="right_hip_yaw_link_collision"/>
<pair geom1="floor" geom2="right_knee_link_collision"/>
<pair geom1="floor" geom2="right_ankle_pitch_link_collision"/>
<pair geom1="floor" geom2="right_ankle_roll_link_collision"/>
<pair geom1="floor" geom2="left_shoulder_roll_link_collision"/>
<pair geom1="floor" geom2="left_shoulder_yaw_link_collision"/>
<pair geom1="floor" geom2="left_elbow_roll_link_collision"/>
<pair geom1="floor" geom2="left_elbow_yaw_link_collision"/>
<pair geom1="floor" geom2="left_wrist_pitch_link_collision"/>
<pair geom1="floor" geom2="left_hand_collision"/>
<pair geom1="floor" geom2="right_shoulder_roll_link_collision"/>
<pair geom1="floor" geom2="right_shoulder_yaw_link_collision"/>
<pair geom1="floor" geom2="right_elbow_roll_link_collision"/>
<pair geom1="floor" geom2="right_elbow_yaw_link_collision"/>
<pair geom1="floor" geom2="right_wrist_pitch_link_collision"/>
<pair geom1="floor" geom2="right_hand_collision"/>
</contact>
</mujoco>
17 changes: 17 additions & 0 deletions toddlerbot_2xc/scene_pos_fixed.xml
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<?xml version="1.0"?>
<mujoco model="toddlerbot_2xc_pos_fixed_scene">
<include file="toddlerbot_2xc_pos_fixed.xml"/>
<statistic center="0 0 -0.05" extent="0.6"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="160" elevation="-20" offwidth="1280" offheight="720"/>
</visual>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
<camera name="perspective" pos="0.7 -0.7 0.35" xyaxes="1 1 0 -1 1 3" mode="trackcom"/>
<camera name="side" pos="0 -1 0.25" xyaxes="1 0 0 0 1 3" mode="trackcom"/>
<camera name="top" pos="0 0 0.65" xyaxes="0 1 0 -1 0 0" mode="trackcom"/>
<camera name="front" pos="1 0 0.25" xyaxes="0 1 0 -1 0 3" mode="trackcom"/>
</worldbody>
</mujoco>
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