01Bill of materials

One core parts list every build shares, plus six perception/compute choices that set your tier. Prices are live-quoted (last refresh: 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_bom.pdffull bill of materials, per-vendor MABEL_Build_Guide.pdfillustrated mechanical assembly MABEL_Wiring_Guide.pdfharness, buses, pinouts core.csvthe shared core list (49 lines) choices.csvperception + compute options machined.csvlaser-cut / bent sheet parts taobao.csvCNY-quoted lines (DaMiao et al.)

Core BOM — $8,058.29, every build

49 lines, identical across tiers. By section:

Section	USD	Share	Headline parts
Arms (both)	2,622.24	32.5%	14 × DaMiao QDD (2 × J8009P, 2 × J4340, 3 × J4310 per arm)
Mobile base	2,272.11	28.2%	3 × REV swerve module (NEO + NEO 550), 6 × SPARK, sheet chassis
Hands (both)	1,194.61	14.8%	32 × Feetech HLS3915 + 2 × HLS3930, ORCA hand hardware
Body / torso	889.06	11.0%	DM-J10422P torso (400 N·m), FlexiSpot E7 Pro lift column
Electronics, power & cabling	499.83	6.2%	Custom PCBs, battery pack ×2, Teensy 4.1 ×2, Pico, U2D2, audio
Neck / head	235.30	2.9%	DaMiao yaw + 2 × Dynamixel XC330-T181
Structural hardware	184.21	2.3%	Rail, fasteners, bearings
3D printed material	160.93	2.0%	Filament for every printed part
Core total	8,058.29	100%	as-quoted 31 Jul 2026

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	Jetson Orin Nano Super ($399)	Jetson Orin NX 16 GB ($1,249)	Jetson AGX Thor ($5,499)
Wrist cameras ×2	AR0144 global-shutter 720p60	AR0144 global-shutter 1200p90	RealSense D405 (metric depth)
Head camera	1200p stereo global-shutter pair, 112° HFOV		Stereolabs ZED Mini (VIO + depth engine)
Base depth camera	omit — 2D lidar covers navigation		RealSense D435i
2D lidar	youyeetoo FHL-LD19	Slamtec RPLIDAR C1	Slamtec RPLIDAR A2M12
Build total	$8,722	$9,670	$15,129

The reference robot in these docs is the Maximum build (Jetson Thor, D405 wrists, ZED Mini head, D435i base, A2M12). Where a step is sensor-specific it is flagged; everything else is tier-independent.

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.