tidybot-robot-hardware

name

tidybot-robot-hardware

description

Robot physical specs, coordinate frames, camera setup, and morphology — Franka Panda arm, mobile base, Robotiq gripper, camera positions and IDs. Use when (1) writing arm or base control code, (2) referencing world-frame coordinates or axis conventions, (3) computing end-effector targets or grasp positions, (4) using camera IDs or understanding camera placement, (5) reasoning about spatial layout, reach, or workspace boundaries.

Robot Hardware

Morphology

• Arm: Franka Emika Panda, 7-DOF
• Mobile Base: Platform height 0.47m. Arm base at Z=0.47m.
• Gripper: Robotiq, on Franka end effector
• Arm orientation: Faces +X (front of mobile base)

Ground target: Z ~ -0.47m (EE pose reported in arm base frame).

World Frame

Origin: mobile base pose at server start (0, 0, 0).

Axis	Positive	Negative
X	Front	Back
Y	Left	Right
Z	Up	Down

Cameras

1. Base camera — front edge of base, facing +X
2. Wrist camera — inner wrist of Franka arm
   • At rest: faces -Z with slight tilt toward gripper
   • Offset from gripper: -0.09m in X
   • Camera ID: (check via SDK or ROBOT.md)

End Effector

Straight-down grasp orientation: (roll=pi, pitch=0, yaw=0)

Safety

All movements are recorded and reversible via rewind.