TidyBot++

TidyBot++ is an open-source holonomic mobile manipulator from Stanford and Princeton, presented at CoRL 2024. Its mobile base uses powered casters to achieve full holonomic motion, controlling all planar degrees of freedom independently, and it supports arbitrary arms (the reference build uses a Kinova Gen3 with a Robotiq 2F-85 gripper). An intuitive mobile-phone WebXR teleoperation interface makes it easy to collect imitation-learning demonstrations, and the release includes hardware design docs and model assets, low-level real-time controllers, a MuJoCo simulation environment, and the complete diffusion-policy training and inference pipeline. The public model assets cover the reference base shell plus Kinova Gen3 and Robotiq 2F-85 simulation assembly; detailed caster/electronics sourcing still needs deeper BOM verification.

What you get

• A standardized, machine-readable robot schema derived from the source repo.
• A primary assembly 3D asset is available from models/stanford_tidybot/tidybot.xml.
• Source-backed bill-of-materials evidence is linked with per-part provenance where available. Prices marked estimated are not yet verified against a vendor.
• A transparent reproducibility score so buildability is a sortable, first-class property.
• Cross-links to the source repo, datasets, models, and forks.

Source

Canonical source: jimmyyhwu/tidybot2. Original files stay intact and separately licensed under MIT; Motari adds a separate, adjacent metadata layer.