- 7
- 17.8 kg
- 3 kg
- 855 mm
- 2 m/s
- 1000 Hz
- ±0.1 mm
- IP30
- Mains powered
- Continuous duty
- Franka Control Interface host (real-time Linux)
- Gigabit Ethernet (FCI), ROS 2 franka_ros2
Actuators
2Joints and end effectors that produce the action vector recorded in datasets.
Arm joints
×7Torque-controlled rotary
87 N·m J1–J4, 12 N·m J5–J7
Franka Hand
×1Parallel two-finger gripper
80 mm stroke, 70 N grasp force
Motors & drives
1The drive units inside those joints, with torque and reduction details.
Integrated joint drive
BLDC + harmonic drive
link-side torque sensor per joint
Sensors
3Observation streams available to a policy running on this platform.
Joint torque sensors
Strain-gauge, link side
all 7 joints, 1 kHz
Joint encoders
Dual absolute
motor and link side
Wrist camera (typical add-on)
RGB-D
RealSense D405/D435 in most datasets
The reference research arm behind DROID, robomimic and many Open X-Embodiment subsets.
Data recorded on this hardware
Resolving related models, datasets and papers…
Single Arm datasets in the catalog
Real-world IndexedBridgeData V2
Source: UC Berkeley RAIL
- 60K
- 333.9
- 4
Real-world IndexedLeRobot Community SO-100 Datasets
Source: Hugging Face LeRobot
- 23K
- 481
- 2
Real-world IndexedDROID
Source: Stanford IRIS & REAL Labs
- 76K
- 350
- 3
Simulation IndexedLIBERO
Source: UT Austin RobIn Lab
- 6.5K
- 36.1
- 2