GELLO
by Philipp Wu (UC Berkeley)Leader armLeRobot: plugin
Low-cost printed leader arm built from small Dynamixels that mirrors the kinematics of a target robot (UR5e, xArm, Franka, ...) for intuitive teleop. Around $300 in parts.
Specs
- Type
- Leader arm
- Degrees of freedom
- 7
- Actuators
- Dynamixel
- Hardware license
- MIT
- Open hardware files
- Yes
- Motors
- 7× Dynamixel XL330-M288-T
- 1× Dynamixel XL330-M077-T (gripper)
- Docs quality
- 4 of 5 for the build guide, editor's rating
Price and where to get it
$300
DIY / print it
No vendor listed. Source the parts from the project's bill of materials.
Project
- Website
- wuphilipp.github.io
- LeRobot plugin
- F-Fer/lerobot_ur5e_gello
Activity
GitHub stars337
Forks48
Last push5 mo ago2026-04-10
HF datasets—not tracked
Plugin repo F-Fer/lerobot_ur5e_gello: 36 stars, last push 2026-02-16.
Fetched 2026-09-15. Dataset count is an approximate name match on the Hugging Face Hub, not a ground-truth tally.
Spotted an error in this entry? Send a correction and it will be credited in the changelog.