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Franka Research 3
Franka Robotics
The reference platform for AI & robotics
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Franka GELLO & GELLO Duo
Open-source teleoperation for robot teaching and physical AI
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Franka GELLO and GELLO Duo are teleoperation devices providing direct joint-level control for robot teaching, data collection, and imitation learning workflows. Available in single (GELLO) and dual-arm (GELLO Duo) configurations, both are fully open source — mechanical STL files and software stack are publicly available — and are ready to use with the Franka Research 3 ecosystem.
Key Features
- Fully open-source mechanical design and software stack
- Ready-to-use teleoperation system with rapid deployment
- Single-arm (FR3) and dual-arm (FR3 Duo) configurations
- Build yourself or use pre-assembled tested version
- All STL files for 3D printing publicly available
Specifications
| Integration | ROS 2 framework with FR3 and FR3 Duo |
| Control | Low-latency joint-level control |
| Gripper Support | Franka Hand and Robotiq compatibility |
| Setup | DevContainer support with structured installation |
| Configurations | Single-arm (GELLO) and Dual-arm (GELLO Duo) |
| Licensing | Fully open source — STL & software publicly available |
Applications
Imitation learning
Robot teaching and demonstration generation
Bimanual manipulation tasks
Deformable object handling
Coordinated dual-arm control research
Physical AI data collection
Video
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