Auto-assembled, not yet reviewed

TidyBot++

Open-source holonomic powered-caster mobile manipulator for robot learning (CoRL 2024).

Reproducibility63/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
TidyBot++ 10-DoF mobile manipulator, 3D render from tidybot.xml
main assembly 3D · tidybot.xml

About 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.

Licenses

Hardware
No hardware license statedthe CAD and BOM repository (tidybot2-resources) has no license; MIT covers the code and CC BY 4.0 the docs site
Software
MIT
Docs
CC-BY-4.0

Degrees of freedom

10 DoF

No per-group breakdown has been sourced yet.

Mobile manipulatorHolonomic basePowered casterssource

How to build TidyBot++

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Build the holonomic base

    Assemble the powered-caster mobile base per the tidybot2.github.io/docs assembly guide so all planar DoF are independently controllable.

    Motari summarytidybot2.github.io/docs

  2. Mount an arm and gripper

    Attach a manipulator (reference build: Kinova Gen3 + Robotiq 2F-85) to the base arm plate; the design supports arbitrary arms.

    Motari summarytidybot2.github.io/docs

  3. Set up the onboard mini PC

    Install a real-time-tuned Linux on the onboard mini PC and run the BaseServer/ArmServer RPC controllers as isolated real-time processes.

    Motari summarytidybot2.github.io/docs

  4. Connect teleop and compute

    Join phone, GPU laptop, and mini PC over the wireless router; launch the WebXR phone teleoperation interface for data collection.

    Motari summarytidybot2.github.io/docs

  5. Collect data and train

    Record demonstrations, validate by replaying episodes, then train and deploy a diffusion policy via the included pipeline (sim available without hardware).

    Upstream stepgithub.com/jimmyyhwu/tidybot2/blob/c8dd23819f9cced476124a4b8...
Print timenot published
Assembly time10 h

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

TidyBot++ bill of materials

14 rows

Cost to build

$5,379.63USDsource total
  • mobile base for the Kinova reference design, arm not included$5,379.63source total
  • mobile base for the Franka reference design, arm not included$6,272.77source total
  • mobile base for the ARX5 reference design, arm not included$5,205.71source total

In the source currency, as read on 2026-09-30. Not converted, and not checked against current vendor prices: none of these is a Motari-verified checkout total.

TidyBot++ parts, as the source lists them. Prices are the source's, not checked against vendors.

TidyBot++ bill of materials
PartQtySpecSourceConfidence
Reference arm and gripper stackKinova Gen3 with Robotiq 2F-85 used by the released simulation/reference build
17-DoF Kinova Gen3 plus 85 mm Robotiq gripper
Kinova / Robotiqnot priced in the project's BOM (arm sourced separately)README examples and notes identify Kinova Gen3 as the tested arm; the 3D model uses Gen3 + 2F-85 meshes from models/stanford_tidybot/tidybot.xml, read 2026-06-06
high
Drive systemSee the upstream drive system section for the itemized parts
14 SDS MK4 swerve modules, 8 Kraken X60 motors, 4 CANcoders, power system and CAN system
SDS / WCP / CTRE / AndyMark$4,370.92TidyBot++ docs BOM, Kinova main components table, read 2026-09-30
high
FrameSee the upstream frame section
12020 T-slot extrusion frame with laser-cut acrylic plates
Amazon / TAP Plastics$390.35TidyBot++ docs BOM, Kinova main components table, read 2026-09-30
high
Arm mounting hardwareKinova reference design
1M6 roll-in T-nuts and flat head screws for the Kinova mounting plate
Amazon$20.26TidyBot++ docs BOM, Kinova main components table, read 2026-09-30
high
Portable power stationSee upstream component notes
1powers the arm and onboard compute
Amazon$399.00TidyBot++ docs BOM, Kinova main components table, read 2026-09-30
high
AccessoriesSee the upstream accessories section
1rope ratchets, cable sleeves, ties, USB hub, HDMI extender
Amazon$67.93TidyBot++ docs BOM, Kinova main components table, read 2026-09-30
high
Mini PCUpstream names no price; see component notes
1onboard computer for low-level control
you source itprice not listedTidyBot++ docs BOM, Kinova main components table, read 2026-09-30
high
GPU laptopUpstream names no price
1onboard or offboard policy inference
you source itprice not listedTidyBot++ docs BOM, Kinova main components table, read 2026-09-30
high
Wi-Fi routerUpstream names no price
1communication with the onboard computer
you source itprice not listedTidyBot++ docs BOM, Kinova main components table, read 2026-09-30
high
Wireless gamepadKinova reference design
1joystick teleop of the mobile base
Amazon$38.19TidyBot++ docs BOM, Kinova main components table, read 2026-09-30
high
Logitech C930e webcamKinova reference design
1forward-facing onboard base camera, 90 degree field of view
Amazon$79.99TidyBot++ docs BOM, Kinova main components table, read 2026-09-30
high
Fisheye lens attachmentKinova reference design
1expands the wrist camera field of view
Amazon$12.99TidyBot++ docs BOM, Kinova main components table, read 2026-09-30
high
Smartphone teleoperation deviceWebXR/mobile phone demonstration collection interface
1phone with compatible browser
owner suppliedowner-suppliedREADME abstract and usage docs describe the mobile phone teleoperation interface, read 2026-06-06
high
Simulation model assetsbase shell, Gen3 links, and Robotiq 2F-85 STL meshes
120 STL source meshes plus MuJoCo assembly XML
self-build / source filessource assets includedmodels/stanford_tidybot/tidybot.xml lists base, Gen3, and 2F-85 mesh assets, read 2026-06-06
high

Rows from the source's own parts list 5

README.md@c8dd238markdown

Source rowQtyPrice and vendorLine
powered casters / mobile phone teleoperation
github.comno price listed
L13
onboard mini PC
1
github.comtidybot2.github.iono price listed
L56
wireless router network
1
github.comno price listed
L62
phone teleoperation device
1
github.comtidybot2.github.ioowner-supplied
L141

models/stanford_tidybot/tidybot.xml@c8dd238xml

Source rowQtyPrice and vendorLine
simulation model assets
20 meshes
github.comsource assets included
L74

TidyBot++ source files

6 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

TidyBot++ in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

The 3D specimen on this page is converted from models/stanford_tidybot/tidybot.xml at c8dd238.

Builds of TidyBot++

0 reviewed

No reviewed builds of TidyBot++ yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Last push to jimmyyhwu/tidybot2: 2025-12-18 (checked 2026-10-01)

Related links

How this page was made

Assembled from public sources on 2026-06-04, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". The fields were read from public sources and have not been re-checked against the live repository.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain TidyBot++? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 63/100

Markdown
[![Motari reproducibility score for TidyBot++](https://motari.io/api/v1/badge/tidybot-plus-plus)](https://motari.io/r/tidybot-plus-plus)
HTML
<a href="https://motari.io/r/tidybot-plus-plus"><img src="https://motari.io/api/v1/badge/tidybot-plus-plus" alt="Motari reproducibility score for TidyBot++" height="20"></a>

Not fully met yet: bom evidence (partial), wiring diagram (partial), oshw-compatible license. The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed