# franka fr3 v2 joint-position control: robotics skill example

franka fr3 v2 joint-position control. Bounded simulated joint offsets from the original reset pose; not locomotion or object-task validation.

## Task and environment

mujoco | 3.3.7 | franka_fr3_v2 | native_position_actuators | linux | 3.10

## Example input

```json
{
  "seed": 0,
  "joint_offset_rad": 0.08
}
```

## Retrieve and prepare

Read https://hub.superfastrobotics.com/skills/mujoco-franka-fr3-v2-joint-control/skill.json or https://api.superfastrobotics.com/v1/skills/mujoco-franka-fr3-v2-joint-control?hub_commit=d800c48cfd84f618a5c6ab84f8f7feec74ab0b56&record_version=1.0.0&include=experience without installing a client. Inspect the license, exact environment and evidence before preparation. Preparation and execution remain separate.

Source: https://github.com/google-deepmind/mujoco_menagerie at 62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35. Record version: 1.0.0.

## Success condition

All declared goal and finite-state checks pass; exit 0 with task_complete. Move the named actuated hinge joints by a bounded offset from the reset/settled pose; max residual <0.035 rad and nonzero actual motion. This is not end-effector planning, balance, locomotion or hardware control.

## Recorded evidence

task_complete: All 3 frozen cases completed against this exact adapter and source.

This page is a data-only example and performs no execution.