Lucy, a Toyota HSR, is meant to be an assistive domestic robot that combines a compact design (the height of the robot is 135cm) with a fairly rich set of sensing and actuation capabilities. Lucy is equipped with an omnidirectional base. The robot’s head, which is a controllable joint as well, has multiple sensors: an RGB-D camera, a wide angle camera, a stereo camera, and a microphone array. Lucy’s manipulator has five degrees of freedom, one of which is a linear joint that can extend the robot’s height. Software-wise, the platform is running ROS.