How to build TidyBot++
10-DoF mobile manipulator · Advanced
TidyBot++ (Stanford/Princeton, CoRL 2024) is an open holonomic base with powered casters, supporting arms like the Kinova Gen3 and WebXR phone teleop. Base BOM about $5,380.
Many actuators, custom wiring and real tuning work.
Our estimate, part-time
$5,379.63 total from the TidyBot++ BOM
MIT (code; CAD unlicensed)
What is TidyBot++?
TidyBot++ is a holonomic mobile base from Stanford and Princeton, presented at CoRL 2024. Four powered SDS MK4 swerve casters let it control x, y and rotation independently.
It works with any arm. The reference build uses a Kinova Gen3 with a Robotiq 2F-85. You teleoperate it with a phone through WebXR, which makes collecting imitation-learning data easy.
The release includes hardware docs, real-time controllers, a MuJoCo environment and policy code. The code is MIT, but the CAD/BOM repo has no license.
TidyBot++ specifications
- Drive
- 4× SDS MK4 swerve modules
- Frame
- 2020 T-slot + laser-cut plates
- Reference arm
- Kinova Gen3 + Robotiq 2F-85
- Teleop
- Phone WebXR
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| SDS MK4 swerve modules | 4 | |
| 2020 extrusion frame | 1 | |
| Portable power station | 1 | |
| Arm mounting hardware | 1 | |
| Arm and gripper | — | Not included in the base cost |
Where's the full bill of materials?
The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat $5,379 as a ballpark from the project. Start at the project repository.
Tools you'll need
- Hex drivers
- Laser cutter or service
- Linux PC
Step-by-step build overview
Electronics & wiring overview
The swerve motor controllers sit on CAN to the onboard PC, and the power station feeds the arm and compute.
Software
MIT-licensed controllers, MuJoCo sim and policy code.
Tips from the bench
- ☕ Leave the power station's output headroom for arm current spikes.
TidyBot++ FAQ
Does the price include the arm?
No. The ~$5,380 covers the base.
Sources
Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.
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