01Bill of materials

One core parts list every build shares, plus six perception/compute choices that set your tier. Configuration updated 22 September 2026 (price basis: 31 July 2026) and maintained as CSVs in the repo — the PDFs and the site's interactive BOM are generated from the same data.

Downloads

MABEL_Build_Guide.pdfillustrated mechanical assembly MABEL_Wiring_Guide.pdfharness, buses, pinouts

The parts list itself is below, live — searchable, filterable by tier, with a vendor link per line. Download the current core parts CSV, compute and sensing CSV, or BOM audit PDF.

Core BOM — $7,650.29, every build

49 lines, identical across tiers. By section:

Section	USD	Share
Mobile base	1,912.11	24.99%
Body / torso	889.06	11.62%
Arms - both	2,622.24	34.28%
Hands - both	1,194.61	15.62%
Neck / head	235.30	3.08%
Structural hardware	184.21	2.41%
Electronics, power & cabling	491.84	6.43%
3D printed material	120.68	1.58%
Core total	7,650.05	100%

Explore the bill

The same numbers as the table above, arranged so you can see where the money actually goes. Hover a slice or a row and the components inside it appear underneath; switch between grouping by module and by kind of part.

The breakdown

Where the money goes.

Eight subsystems make up the core bill. Hover a slice — or a row — and the actual components inside it appear below.

Subsystem	Share	Cost
Mobile base	25%	$1,912
Body / torso	12%	$889
Arms - both	34%	$2,622
Hands - both	16%	$1,195
Neck / head	3%	$235
Structural hardware	2%	$184
Electronics, power & cabling	6%	$492
3D printed material	2%	$121
Core total		$7,650

Every line

All 49 parts.

Search it, filter by subsystem, and hover any row for a preview. Price basis: 31 July 2026; configuration and catalog corrections updated 22 September 2026.

Prices move.NVIDIA raised every Jetson price 33–101% on 22 July 2026 — the identical robot went from $12,969 to $14,968 overnight. Compute is a choice here, not a component: the bill treats it that way.

Both views are generated from BOM/data/core.csv and BOM/data/choices.csv — the same two files the tables above are built from, so they cannot disagree.

The six choices — pick a tier

Only perception and compute differ between tiers. The mechanism is identical, so every choice upgrades later without touching the structure.

Choice	Essential	Recommended	Maximum
Onboard compute	Raspberry Pi 5 16 GB ($120.00)	NVIDIA Jetson Orin NX 16 GB + carrier ($1,249.00)	NVIDIA Jetson AGX Thor Developer Kit ($5,499.00)
Wrist cameras	MMlove AR0144 GS-720P-60fps ($97.98)	MMlove AR0144 GS-1200P-90fps ($165.98)	Intel RealSense D405 ($576.00)
Head camera	IEights OG02B10 stereo, 1200P 60 fps, 100 deg HFOV ($119.00)	IEights OG02B10 stereo, 1200P 60 fps, 100 deg HFOV ($119.00)	Stereolabs ZED Mini ($399.00)
Base depth camera	Omit - rely on the 2D lidar ($0.00)	Omit - rely on the 2D lidar ($0.00)	Intel RealSense D435i ($319.72)
2D lidar	youyeetoo FHL-LD19 ($69.00)	Slamtec RPLIDAR C1 ($99.00)	Slamtec RPLIDAR A2M12 ($228.63)
Camera-specific cabling	None needed ($0.00)	None needed ($0.00)	Micro-B pair + ZED USB-C run ($48.66)
Listed parts subtotal	$8,056.03	$9,283.03	$14,721.06

The standard robot uses the Essential configuration: Raspberry Pi 5 (16 GB), 720p global-shutter wrist cameras, an IEights stereo head camera, and LD19 lidar. Policies run off-board; Jetson compute and depth cameras are optional upgrades. Totals exclude unpriced items, optional storage, operator equipment, shipping, taxes, and labor.

Ordering notes

REV swerve modules — the catalog module price excludes motors and SPARK controllers; order NEO, NEO 550 and controllers explicitly (the core CSV prices the as-paid lump per module).
DaMiao actuators — quoted in CNY via Taobao (taobao.csv); allow for freight and exchange drift. The FOCGM43 line in some vendor sheets is the J4340.
Lift column — a complete FlexiSpot E7 Pro standing desk is bought; only the column and frame are used (0–0.635 m stroke).
Sheet parts — machined.csv lists the laser-cut/bent pieces with operations (bends, dimple forms, taps); any local or online fab service can make them from the drawings.
Jetson pricing moves — Thor jumped $3,499 → $5,499 in July 2026; the BOM tracks an as-quoted and an at-today total for exactly this reason.

Part geometry — the CAD is the simulation model

MABEL's single source of truth is the MuJoCo model, and its mesh set is the robot's part geometry — every structural part, printed or machined, ships as STL/OBJ per module:

Path	Contents
`simulation/mabel_mujoco/assets/meshes/`	per-module part meshes — `base/` (chassis), `swerve_drive/`, `lift/`, `body/`, `arms/`, `hands/` (the full ORCA part set), `head/`
`mabel_ws/src/mabel_description/meshes/`	the same geometry as consumed by the ROS URDF
`mechanical/arm_housing/exports/`	16 print-ready arm-housing STLs (left/right × four segments × two halves), generated parametrically from the model

Every printed part fits a desktop printer; budget ≈ $161 of filament (core BOM line, Bambu PLA: white for covers/mounts, black for the high-wear ORCA hand structure). Sheet parts are itemized with operations in machined.csv. Print as you assemble — the per-module lists in 02 · Assembly follow the build order.