RobotData

Hardware / Single Arm

FR3

Franka Research 3 · Franka Robotics

Robot profile & datasetsOpen in knowledge graphVendor page
DEGREES OF FREEDOM
7
MASS
17.8 kg
PAYLOAD
3 kg
REACH
855 mm
TOP SPEED
2 m/s
CONTROL RATE
1000 Hz
REPEATABILITY
±0.1 mm
PROTECTION
IP30
POWER
Mains powered
RUNTIME
Continuous duty
ONBOARD COMPUTE
Franka Control Interface host (real-time Linux)
INTERFACES
Gigabit Ethernet (FCI), ROS 2 franka_ros2

Actuators

2

Joints and end effectors that produce the action vector recorded in datasets.

Arm joints

×7

Torque-controlled rotary

87 N·m J1–J4, 12 N·m J5–J7

Franka Hand

×1

Parallel two-finger gripper

80 mm stroke, 70 N grasp force

Motors & drives

1

The drive units inside those joints, with torque and reduction details.

Integrated joint drive

BLDC + harmonic drive

link-side torque sensor per joint

Sensors

3

Observation 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…