# Franka robot description: robots/fer/kinematics.yaml

Official pinned robot configuration text for robots/fer/kinematics.yaml. Inspect the upstream package and adjacent assets before use.

ID: `franka-description-artifact-robots-fer-kinematics-yaml`

Record version: `source-44326830a6773dd6611cdf9947045eeb3276ea4e3ca47a05272816c862c8e386`

Hub commit: `3a81abb601c3b4b8fcb9a8bed5ca270e546f5f1a`

## Access

Inspect this checksum-pinned text in the full upstream checkout. Resolve adjacent definitions/assets and their separate licenses using upstream instructions. The Hub does not load or execute this artifact.

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/frankarobotics/franka_description/blob/7aeeddc449edf8d62b594f9e36a81da53e7796f9/README.rst

## Source and license

- Repository: https://github.com/frankarobotics/franka_description
- Pinned source: https://github.com/frankarobotics/franka_description/blob/7aeeddc449edf8d62b594f9e36a81da53e7796f9/robots/fer/kinematics.yaml
- Revision: `7aeeddc449edf8d62b594f9e36a81da53e7796f9`
- Path: `robots/fer/kinematics.yaml`
- Source SHA256: `44326830a6773dd6611cdf9947045eeb3276ea4e3ca47a05272816c862c8e386`
- Source bytes: 831
- Original authors: See pinned upstream source and license notices.
- License: [Apache-2.0](https://github.com/frankarobotics/franka_description/blob/7aeeddc449edf8d62b594f9e36a81da53e7796f9/LICENSE)
- License scope: Selected robot-description/configuration source text only. Preserve upstream notices; meshes, textures, dependencies and trademarks retain their separate licenses.

License SHA256: `4b25434e6ec2012e28a484f1d7924a0fd1a8bf232c2be2d50d584d299d04d6d6`

## Artifact

```json
{
  "kind": "robot_configuration",
  "format": "yaml",
  "role": "Source/configuration reference; not an executable Hub skill",
  "structure": {
    "keys": [
      "joint1",
      "joint2",
      "joint3",
      "joint4",
      "joint5",
      "joint6",
      "joint7",
      "joint8",
      "kinematic",
      "pitch",
      "roll",
      "x",
      "y",
      "yaw",
      "z"
    ],
    "keys_truncated": false
  }
}
```

## Requirements

```json
{
  "python": "Not a Python entrypoint; follow the pinned upstream package requirements",
  "packages": [
    "Pinned franka_description package",
    "ROS 2 Xacro and adjacent configuration/mesh resources"
  ],
  "display": "Descriptions and parameters depend on the selected upstream robot generation, attachments and adjacent assets. Xacro generation and robot-specific calibration/controller integration were not performed.",
  "execution_domain": "configuration",
  "source_imports": []
}
```

## Invocation

```json
{
  "entrypoint": "Data/configuration artifact: robots/fer/kinematics.yaml; use its upstream loader or package integration after inspection",
  "notes": "This file is not a standalone program. No Xacro expansion, include resolution, model loading, configuration deployment or robot execution was performed."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Verified exact source and applicable license SHA-256 bytes. Inspected UTF-8 configuration text and mapping-key shape; YAML semantics and ROS parameter compatibility were not evaluated.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.