ToddlerBot

ToddlerBot is a low-cost, open-source humanoid robot platform designed for scalable policy learning and research in robotics and AI. Standing approximately 50cm tall and weighing around 2.5kg, it features 23 Dynamixel servo motors (XC330 or XM430 series), a Jetson Orin NX compute module, custom TTL power PCB, stereo depth camera, and 6-axis IMU. The codebase covers low-level control, reinforcement learning training with MuJoCo/MJX, diffusion policy training, and real-world deployment. Two variants are available: toddlerbot_2xc (budget-friendly, XC330 motors) and toddlerbot_2xm (stronger, XM430 motors). Supported capabilities include bipedal walking, whole-body locomotion over obstacles, keyframe animation playback, VR teleoperation, and loco-manipulation.

Attribution

Author: Haochen Shi, Weizhuo Wang, Shuran Song, C. Karen Liu (Stanford) License: Code: MIT · Hardware design (STL/CAD): CC BY-NC-SA 4.0 Source: https://github.com/hshi74/toddlerbot Papers: ToddlerBot (2025) · Locomotion Beyond Feet (2026) CAD: Onshape · MakerWorld

Printing

⚠️ This Print All set is incomplete and not yet build-ready. ToddlerBot is a 23-DOF humanoid that needs roughly 50 printed structural parts, but this list currently holds only 12 — and those 12 are _visual meshes auto-imported from the robot’s URDF/simulation description, not the official print files. The set is also left/right asymmetric (e.g. left_ankle_pitch, left_elbow_roll, left_gripper, left_shoulder_pitch are present with no right-side counterparts), so it cannot build a complete robot as-is.

Where the real print files live: the ToddlerBot authors distribute the printable parts as a ready-to-slice 3MF release on MakerWorld (makerworld.com/en/models/1733983) and as editable CAD on Onshape — both linked in the Attribution section above. The upstream GitHub repo (hshi74/toddlerbot) contains only MuJoCo _visual/_collision simulation meshes organized by servo/config variant (toddlerbot_2xc, toddlerbot_2xm, gripper/palm options), not a clean printable STL set, so a faithful set can’t simply be pulled from git.

To build one: download the MakerWorld 3MF release for your chosen variant — toddlerbot_2xc (budget XC330 motors) or toddlerbot_2xm (stronger XM430 motors) — and print on a BambuLab-class printer using the included orientations/profiles (part strength depends on correct orientation). Most limb/link parts come in mirrored left/right pairs.

The 12 meshes here are kept as a structural reference/preview only. (Catalog note: this is a known gap — the importer pulled sim meshes instead of the MakerWorld print set; see the related platform issue about importer mesh filtering.)