Franka Research 3
Franka Research 3 is an arm with 7 joints, made by Franka Robotics. This model comes from MuJoCo Menagerie by Google DeepMind, under the Apache-2.0 licence. The licence text is in LICENSE.
Not made by Lucen Robotics. Listed as a reference model for simulation.
The source's own README is kept unchanged as SOURCE_README.md.
How it was set up
The files come from franka_fr3 in MuJoCo Menagerie, at commit 822c2d8.
The robot card was drafted from the model by lucen robot init, as in Add your robot.
The model file does not state the values below. Each one comes from the source beside it.
| Setting | Value | Where it comes from |
|---|---|---|
| Control rate | 50 Hz | Playground franka_emika_panda/pick.py ctrl_dt=0.02 (the Panda, the FR3's predecessor); the FR3's own FCI loop runs at 1 kHz (a starting point) |
| Action | joint position target | joint-position targets (FCI's joint position interface) |
| What a policy senses | joint positions, joint velocities | the FR3's joint encoders |
| Command | joint targets | a fixed-base arm commanded in joint space |
| Everything else | read from the model file | joint order, the home keyframe, and per-joint kp/kv and force limits from the MJCF's own <position> actuators. |
A value marked as a starting point is not the maker's own. The checks on the robot page show how it behaves.
The configs cited above, at the commits read:
- Playground: MuJoCo Playground, commit
4057c14. Each robot's task file, under locomotion or manipulation, in itsdefault_config().
No file from the source was changed. This README, the robot card and the robot's pictures are new.