GELLO

Printed leader parts are specific to the follower geometry

The mechanical archive has separate folders for robot types and distinct active, large-passive and small-passive YAM leaders. Compatibility of the selected YAML with the large and small passive assemblies remains unverified. Resolve that mapping with variant-specific assembly and calibration documentation before selecting printed parts; the generic GELLO name does not make them interchangeable. Its README links an external BOM and assembly document; that document was not independently preserved in this review. [S008] [S010]

STLs are available, while editable-source coverage varies: the inventory contains OpenSCAD for AR4 and a STEP model for Lite6, but the root README directs readers to contact the author for CAD access. This profile does not infer complete editable CAD for every leader. The mechanical repository has an MIT license, with a separate MIT notice for the Franka contribution. [S008] [S009] [S010] [S011]

Replace example identifiers and calibrate the actual assembly

The selected yam_passive.yaml assigns six joint IDs and a seventh gripper ID, a specific serial path, measured-looking joint offsets and the can_left interface. These are example configuration values, not measurements of a reader's assembly. The README calls for unique Dynamixel IDs, matching poses, joint signs and offset calibration, and provides separate generated configurations for simulation and physical hardware. [S001] [S005]

The YAM route requires its robot-specific control dependency as well as the leader SDK. The root Git configuration lists DynamixelSDK and MuJoCo Menagerie submodules, but does not by itself provide every dependency named by the installation guide. No environment was installed and no leader or follower was connected here. [S001] [S007]

Franka FR3 uses a separate ROS 2 workflow

The FR3 implementation is documented under ROS 2 Humble, with robot-system compatibility requirements for libfranka and associated packages. Its publisher documentation distinguishes serial baud rate from publication rate: requesting more publications can repeat old samples rather than create fresh measurements. The same procedure may change servo EEPROM baud settings when the detected chain differs from the requested configuration. These are meaningful integration effects, not merely launch preferences. [S006]

The YAM YAML workflow should therefore not be blended with FR3 calibration and launch instructions. Likewise, the optional active gravity-compensation path is distinct from the passive leader selected here; it needs its own configuration and model reconciliation. [S001] [S005] [S006]

Demonstration recording is an output, not proof of learned performance

The software describes recording teleoperation data and launching one or two follower configurations. It does not make the selected leader a pretrained autonomous manipulation policy. Software and mechanical sources support research coverage under their scoped MIT notices, while third-party SDKs and robot packages retain their own terms. [S001] [S003] [S007] [S009]

A complete delivered budget must include the selected leader components, host/interface hardware and follower system. No build, calibration, recording session, motion test or control-performance measurement was performed by this catalog. [S001] [S005] [S008]