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GELLO

  • Software
  • Humanoids and robot learning
  • Tool
  • Runs on hardware you can build

GELLO is a low-cost, intuitive teleoperation framework that lets a person control robot manipulator arms using a scaled-down leader arm. It covers several arms, including the I2RT YAM.

Source on GitHub: github.com/wuphilipp/gello_software (opens in a new tab). Facts read at commit 204f53a (opens in a new tab).

Licenses

Code
MIT (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 204f53a (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Provides software for a leader arm, built from Dynamixel motors, that teleoperates a follower robot manipulator.
  • Supports the I2RT YAM, Franka FR3, Franka FER (Panda), UR and xArm robots, and can be extended to other arms.
  • Includes YAML-based configuration and a generator script that calibrates joint offsets and writes hardware and simulation configs for the YAM.
  • Can run a MuJoCo simulation before commanding a real robot.
  • Offers keyboard-driven data collection of teleoperation demonstrations, with a utility to convert the saved data.
  • Supports bimanual operation and optional gravity compensation through its FACTR module.

Written by Robotheca from the project's README (opens in a new tab) at commit 204f53a.

Getting started

Difficulty
Intermediate
Hardware it needs, as the project states it
Dynamixel motors on a U2D2 controller for the leader arm, a serial connection, and CAN bus configuration for arms such as the YAM. Robot-specific dependencies are needed for UR, Panda and xArm.

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
14 Sept 2026 on main
Latest release
None published on GitHub

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.