# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: MABEL
summary: 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.
category: home
difficulty: advanced
license:
  hardware: CERN-OHL-S-2.0
  software: Apache-2.0
source:
  repository: https://github.com/robotmabel/open_mabel
  ref: 2f9229f822b78877ed554d80649e2b7c41a0cbda
tools:
  - 3D printer
  - soldering iron
files:
  urdf: ros/src/mabel_description/urdf/mabel_full.urdf
  cad: hardware/cad/
  electronics: electrical/Motherboard/
  bom: hardware/bom/data/core.csv
  images:
    - .github/media/mabel_lab.jpg
software:
  framework: ros2
specs:
  dof: 56
build_steps:
  - title: Install the Python environment and control library
  - title: Run the robot in simulation
  - title: Teleoperate with the Vision Pro
  - title: Collect demonstrations
  - title: Curate data and train a policy
  - title: Order parts and build the upstream sub-assemblies
  - title: Make the MABEL custom parts
  - title: Fabricate the base carrier board
  - title: Flash firmware and bring up the buses
  - title: Calibrate the motors and hands
  - title: Bring up the real robot
  - title: Connect over Tailscale
  - title: Change the robot model