By 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
- Base camera — front edge of base, facing +X
- 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.