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MABEL, photo from its repository
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3D preview converted from github.com/robotmabel/open_mabel at 2f9229f, under CERN-OHL-S-2.0. View the original files from GitHub (65.5 MB) (opens in a new tab)

Open source · free filesReady to build

MABEL

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An open-source 56-DOF mobile bimanual robot with a swerve base, lift, torso, active head, two 7-DOF arms and two 17-DOF hands, teleoperated from an Apple Vision Pro.

Project information

Buildability
86/100Ready to build
Estimated cost
$8,056.03approx. €7,150 (ECB rate, 4 Nov 2026)without what the creator lists as not costed yet: the hands' frames and tendons, two Teensy 4.1 boards, the custom PCBsThe Essential build, as the creator totals it in hardware/bom/generated/bom_summary.json (prices of 31 July 2026); the Recommended build is $9,283.03, the Maximum $14,721.06.
Level
Advanced
Parts
49 lines
Tools
3D printer, soldering iron
Hardware license
CERN-OHL-S-2.0 (opens in a new tab)
Software license
Apache-2.0 (opens in a new tab)
Commercial use
Allowed
Works with
ROS 2
Degrees of freedom
56

Some folders have their own license: firmware/swerve_drive/sparkcan_py/ (MIT).

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (66 scripts)
Download the files, free (.zip at the pinned commit)Fork on GitHub (opens in a new tab)

Suggested by Robotheca, created by @robotmabel (opens in a new tab), from github.com/robotmabel/open_mabel (opens in a new tab), pinned to commit 2f9229f (opens in a new tab). You buy the parts yourself; Robotheca doesn't sell robots.

What to buy

49 lines, read from hardware/bom/data/core.csv at 2f9229f
Export CSV (parts list)

49 of 49 parts shown

  • 3REV 3in MAXSwerve Module$825≈ €732$275 each ·revrobotics.com: buy REV 3in MAXSwerve Module, opens in a new tab
  • 3REV MAXSwerve Motor & Controller Bundle$840≈ €746$280 each ·revrobotics.com: buy REV MAXSwerve Motor & Controller Bundle, opens in a new tab
  • 1Base sheet metal, lower$51.75≈ €46$51.75 each ·Custom fabrication
  • 1Base sheet metal, upper$195.36≈ €173$195.36 each ·Custom fabrication
  • 1FlexiSpot E7 Pro lift column$399≈ €354$399 each ·flexispot.com: buy FlexiSpot E7 Pro lift column, opens in a new tab
  • 1Lift-to-torso adapter$59.26≈ €53$59.26 each ·Custom fabrication
  • 1Torso output plate$55.16≈ €49$55.16 each ·Custom fabrication
  • 1Body bottom plate$33.55≈ €30$33.55 each ·Custom fabrication
  • 2Arm mounting plate$26.34≈ €23$13.17 each ·Custom fabrication
  • 1Neck mounting plate$29.05≈ €26$29.05 each ·Custom fabrication
  • 1DAMIAO DM10422P torso actuator¥1,999≈ €266¥1,999 each ·Taobao
  • 6DAMIAO FOCGM43 joint module¥3,594≈ €478¥599 each ·Taobao
  • 4DAMIAO DM4340 joint motor¥3,529.32≈ €469¥882.33 each ·Taobao
  • 4DAMIAO DM8009P joint module¥7,596≈ €1,010¥1,899 each ·Taobao
  • 1OpenArm structural set¥2,699≈ €359¥2,699 each ·Taobao
  • 1Arm harness set¥865≈ €115¥865 each ·Taobao
  • 32Feetech HL3915M servo¥7,520≈ €1,000¥235 each ·Taobao
  • 2Feetech HL3930M servo¥718≈ €96¥359 each ·Taobao
  • 2ST/SC bus servo driver board¥55.30≈ €7¥27.65 each ·Taobao
  • 2Bus servo power distribution board¥36≈ €5¥18 each ·Taobao
  • 1Robotis Dynamixel 2XL430-W250-T$149.39≈ €133$149.39 each ·RobotShop: buy Robotis Dynamixel 2XL430-W250-T, opens in a new tab
  • 1DAMIAO FOCGM43 neck actuator¥599≈ €80¥599 each ·Taobao
  • 1Aluminium extrusion, cut lengths$101.46≈ €90$101.46 each ·McMaster-Carr: buy Aluminium extrusion, cut lengths, opens in a new tab
  • 1Extrusion 90 degree corner brackets$26.90≈ €24$26.90 each ·amazon.com
  • 1Extrusion angled plates$20.88≈ €19$20.88 each ·amazon.com
  • 1Metric screw assortment$13.99≈ €12$13.99 each ·amazon.com
  • 1Imperial screw assortment$8.99≈ €8$8.99 each ·amazon.com
  • 1Neodymium magnets$11.99≈ €11$11.99 each ·amazon.com
  • 1SODOLA 6-port 2.5 GbE switch$49.99≈ €44$49.99 each ·amazon.com
  • 1USB expansion board$74.99≈ €67$74.99 each ·amazon.com
  • 2Battery$93.62≈ €83$46.81 each ·amazon.com
  • 1Ethernet twinax cable$45.99≈ €41$45.99 each ·amazon.com
  • 2Wi-Fi antenna cable$35.98≈ €32$17.99 each ·amazon.com
  • 1Power cable, 6XT$24.99≈ €22$24.99 each ·amazon.com
  • 1Buck converter 24 V to 12 V$18.99≈ €17$18.99 each ·amazon.com
  • 1Speaker + USB sound card$19.50≈ €17$19.50 each ·amazon.com
  • 1Power cord extension$16.95≈ €15$16.95 each ·amazon.com
  • 1Fuse box$15.99≈ €14$15.99 each ·amazon.com
  • 1Raspberry Pi Pico$15.95≈ €14$15.95 each ·amazon.com
  • 1Motor driver$9.99≈ €9$9.99 each ·amazon.com
  • 4USB-C to USB-A cable$27.96≈ €25$6.99 each ·amazon.com
  • 2Ethernet patch cable$13.98≈ €12$6.99 each ·amazon.com
  • 2Protective sleeving, 1/2 in$17.98≈ €16$8.99 each ·amazon.com
  • 1Protective sleeving, 1/4 in$8.99≈ €8$8.99 each ·amazon.com
  • 1Custom PCBs$0≈ €0$0 each ·JLCPCB: buy Custom PCBs, opens in a new tab
  • 1Custom PCB components$0≈ €0$0 each ·-
  • 4Bambu Lab PLA Basic, Jade White$68.96≈ €61$17.24 each ·Bambu Lab: buy Bambu Lab PLA Basic, Jade White, opens in a new tab
  • 2Bambu Lab PLA Basic, Black$34.48≈ €31$17.24 each ·Bambu Lab: buy Bambu Lab PLA Basic, Black, opens in a new tab
  • 1Bambu Lab PLA Basic, Light Gray$17.24≈ €15$17.24 each ·Bambu Lab: buy Bambu Lab PLA Basic, Light Gray, opens in a new tab

≈ € amounts use the ECB reference rate of 4 Nov 2026, for comparison only.

Prices are in several currencies, so there is no parts total.

Why it scores 86

It measures the published files, not the robot · How we score

86/100

Ready to build

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 2f9229f. It isn't a rating of the robot.

  1. 13D and CAD files1 CAD source file.Most points to gain: Add the parts to print (STL or 3MF files).10/20
  2. 2Robot descriptionA URDF with all its mesh files.15/15
  3. 3Parts list49 lines: 49 with a price, 9 with a shop link.Add shop links to 40 lines.16/20
  4. 4SoftwareCode in this repository, instructions to install or run it, built on ros2.15/15
  5. 5DocumentationREADME of 13,015 characters with 7 pictures; 13 build steps.15/15
  6. 6Simulation63 simulation files (MuJoCo, Gazebo, Webots or Isaac).5/5
  7. 7LicensesHardware: CERN-OHL-S-2.0; software: Apache-2.0.10/10

Build it

The creator's 13 steps, each linked to its instructions
  1. Install the Python environment and control library
  2. Run the robot in simulation
  3. Teleoperate with the Vision Pro
  4. Collect demonstrations
  5. Curate data and train a policy
  6. Order parts and build the upstream sub-assemblies
  7. Make the MABEL custom parts
  8. Fabricate the base carrier board
  9. Flash firmware and bring up the buses
  10. Calibrate the motors and hands
  11. Bring up the real robot
  12. Connect over Tailscale
  13. Change the robot model

The guide appears here as you scroll.

Guide by @robotmabel (README.md), under CERN-OHL-S-2.0 (hardware) and Apache-2.0 (software).

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents, not by its creator

Main parts: Robotheca's summary

  • Teensy 4.1 microcontroller runs the swerve base and arm, torso and neck firmware.
  • Raspberry Pi Pico runs the lift controller in MicroPython.
  • DAMIAO CAN motors drive the arms, torso and neck over SocketCAN.
  • Feetech and Dynamixel servos are used for the hands and other joints.
  • A custom base carrier PCB (motherboard) holds the power and interconnect circuitry, designed in KiCad.
  • A 24 V to 12 V buck converter, fuse box and battery supply power.

Connections: Robotheca's summary

  • DAMIAO motors connect over a CAN bus that is brought up with SocketCAN.
  • Hardware is owned solely by the hardware_bridge process, which opens all buses, serial ports and cameras.
  • The base carrier PCB schematic and Gerber files in the electrical folder describe the board connections.

Cables and connectors

From the parts list.

  • Arm harness set × 1
  • Ethernet twinax cable × 1
  • Wi-Fi antenna cable × 2
  • Power cable, 6XT × 1
  • USB-C to USB-A cable × 4
  • Ethernet patch cable × 2

What it can do: Robotheca's summary

Written by Robotheca from the project's documents, not by its creator
  • Teleoperated whole-body control of a mobile bimanual robot from an Apple Vision Pro without hand-held controllers.
  • Drives a three-module swerve base, a vertical lift, a pitching torso, a 3-DOF active head with stereo cameras, two 7-DOF arms and two 17-DOF hands.
  • Runs in MuJoCo simulation with a teleop gateway on port 9090, a browser control center, and keyboard or gamepad control.
  • Records teleoperation demonstrations as HDF5 episodes and supports imitation learning and reinforcement learning workflows.
  • Motion is gated by a safety layer that limits base speed by lift height to prevent tip-over.

Works with AI

Found by Robotheca in the project's files at commit 2f9229f, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.

Software

Framework
ROS 2
Languages
Python, Swift, JavaScript, Shell, C++, C
License
Apache-2.0

Robotheca doesn't review code. Read it before running it.

How to run it: Robotheca's summary

Written by Robotheca from the project's documents, not by its creator.

  1. 1Install the mabel control library with pip from the controller folder and install server requirements.
  2. 2Verify the MuJoCo model loads and run the controller tests.
  3. 3Start the simulation and gateway with server/run.sh and open the Simulation Control Center.
  4. 4Open the MabelTeleop project in Xcode, set your own signing team and bundle identifier, and run it on the Vision Pro.
  5. 5Flash the Teensy 4.1 swerve and arm firmware with PlatformIO and deploy the lift firmware to the Pico with mpremote.
  6. 6Scan the ORCA hand servo IDs and bring up CAN with firmware/can_up.sh.
  7. 7Calibrate motors and hands with the calibration scripts.
  8. 8Build the ROS 2 workspace with ros/dev_up.sh and start the real robot with server/real_run.sh.

Software that runs on this robot

No software from Robotheca's catalogue found in this robot's files yet. Links come from its robot.yaml, its dependency files read as text, or Robotheca's editors.

The code

Free files

Browse all files

Every file of the project, at commit 2f9229f.

Community

Questions and improvements go to the creator's repository.

Add a badge to your README

For the creator: two badges that link back here. The second always shows this page's current label and score.

Listed on RobothecaRobotheca buildability

Markdown (one click selects it)

[![Listed on Robotheca](https://robotheca.org/robots/mabel-2/badge.svg)](https://robotheca.org/robots/mabel-2)
[![Robotheca buildability](https://robotheca.org/robots/mabel-2/score.svg)](https://robotheca.org/robots/mabel-2)

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≈ € values are approximate, converted at the ECB euro reference rate of 4 Nov 2026. The creator's original price always comes first.