# franka fr3 joint-position control franka fr3 joint-position control. Source-pinned, bounded simulation with explicit goal checks; no physical execution. Record version: `1.0.0` · Hub commit: `ede75c00118e9808e5099da43c26f4619cc3bc37` ## Executable interface ```json { "version": "1", "kind": "controller", "abstraction_level": 1, "execution_domain": "simulation", "language": "python", "input_transport": "json_file_or_inline", "output_transport": "json_stdout", "output_selector": "outputs", "conventions": { "linear_unit": "m", "angular_unit": "rad", "time_unit": "s", "coordinate_frame": "right_handed_world_xyz; +z_up", "joint_order": "fr3_joint1,fr3_joint2,fr3_joint3,fr3_joint4,fr3_joint5,fr3_joint6,fr3_joint7", "quaternion_order": "not_used" }, "input_schema": { "type": "object", "required": [ "seed", "joint_offset_rad" ], "properties": { "seed": { "type": "integer", "minimum": 0, "maximum": 10000 }, "joint_offset_rad": { "type": "number", "minimum": -0.15, "maximum": 0.15, "x-unit": "rad" } }, "additionalProperties": false }, "output_schema": { "type": "object", "required": [ "joint_positions_rad", "target_joint_positions_rad", "max_error_rad", "movement_rad" ], "properties": { "joint_positions_rad": { "type": "array", "minItems": 7, "maxItems": 7, "items": { "type": "number", "minimum": -20, "maximum": 20 }, "x-unit": "rad", "x-frame": "named_model_joint_coordinates", "x-order": [ "fr3_joint1", "fr3_joint2", "fr3_joint3", "fr3_joint4", "fr3_joint5", "fr3_joint6", "fr3_joint7" ] }, "target_joint_positions_rad": { "type": "array", "minItems": 7, "maxItems": 7, "items": { "type": "number", "minimum": -20, "maximum": 20 }, "x-unit": "rad", "x-frame": "named_model_joint_coordinates", "x-order": [ "fr3_joint1", "fr3_joint2", "fr3_joint3", "fr3_joint4", "fr3_joint5", "fr3_joint6", "fr3_joint7" ] }, "max_error_rad": { "type": "number", "minimum": 0, "maximum": 50, "x-unit": "rad" }, "movement_rad": { "type": "number", "minimum": 0, "maximum": 50, "x-unit": "rad" } }, "additionalProperties": false }, "preconditions": [ "Use the exact recorded source, Linux Python 3.10 environment and pinned direct packages.", "No physical robot, network actuation or external robot credentials." ], "postconditions": [ "All reported checks must be true and all output numbers finite.", "Success covers the declared goal and frozen cases, not arbitrary tasks or physical hardware." ], "failure_codes": [ "invalid_input_or_environment", "execution_failed", "task_failed" ], "composition": { "depends_on": [], "automatic_frame_conversion": false, "automatic_hardware_execution": false }, "origin_reference_ids": [ "mujoco-menagerie-artifact-franka-fr3-scene-xml" ], "origin_relationship": "prepared_from_the_same_pinned_model; inspect the declared controller and goal; no physical compatibility is inferred" } ``` ## Exact environment | Runtime | Robot | Controller | Observation | OS | Python | Evidence | | --- | --- | --- | --- | --- | --- | --- | | mujoco 3.3.7 | franka_fr3 | native_position_actuators | joint_state | linux x86_64 | >=3.10,<3.11 | task_complete | Privileged simulator state and declared goals; no perception or real sensor validation. Compatibility status: **hub_verified**. An environment match does not establish task completion. Runtime verification: **task_complete**. ## Source and license - Repository: https://github.com/google-deepmind/mujoco_menagerie - Source commit: `62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35` (no tag) - Original authors: MuJoCo Menagerie contributors and the pinned model licensors - License: [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/franka_fr3/LICENSE) - Source archive SHA256: `6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152` - Upstream files: `franka_fr3/CHANGELOG.md`, `franka_fr3/LICENSE`, `franka_fr3/README.md`, `franka_fr3/assets/link0.obj`, `franka_fr3/assets/link0.stl`, `franka_fr3/assets/link0_0.obj`, `franka_fr3/assets/link0_1.obj`, `franka_fr3/assets/link0_2.obj`, `franka_fr3/assets/link0_3.obj`, `franka_fr3/assets/link0_4.obj`, `franka_fr3/assets/link0_5.obj`, `franka_fr3/assets/link0_6.obj`, `franka_fr3/assets/link1.obj`, `franka_fr3/assets/link1.stl`, `franka_fr3/assets/link2.obj`, `franka_fr3/assets/link2.stl`, `franka_fr3/assets/link3.obj`, `franka_fr3/assets/link3.stl`, `franka_fr3/assets/link3_0.obj`, `franka_fr3/assets/link3_1.obj`, `franka_fr3/assets/link4.obj`, `franka_fr3/assets/link4.stl`, `franka_fr3/assets/link4_0.obj`, `franka_fr3/assets/link4_1.obj`, `franka_fr3/assets/link5.obj`, `franka_fr3/assets/link5.stl`, `franka_fr3/assets/link5_0.obj`, `franka_fr3/assets/link5_1.obj`, `franka_fr3/assets/link5_2.obj`, `franka_fr3/assets/link6.obj`, `franka_fr3/assets/link6.stl`, `franka_fr3/assets/link6_0.obj`, `franka_fr3/assets/link6_1.obj`, `franka_fr3/assets/link6_2.obj`, `franka_fr3/assets/link6_3.obj`, `franka_fr3/assets/link6_4.obj`, `franka_fr3/assets/link6_5.obj`, `franka_fr3/assets/link6_6.obj`, `franka_fr3/assets/link6_7.obj`, `franka_fr3/assets/link7.obj`, `franka_fr3/assets/link7.stl`, `franka_fr3/assets/link7_0.obj`, `franka_fr3/assets/link7_1.obj`, `franka_fr3/assets/link7_2.obj`, `franka_fr3/assets/link7_3.obj`, `franka_fr3/fr3.png`, `franka_fr3/fr3.xml`, `franka_fr3/scene.xml` - Upstream contribution rules: https://github.com/google-deepmind/mujoco_menagerie ## Find, inspect, prepare ```sh python /PATH_TO_SKILL/scripts/rsh.py find "controller" --runtime mujoco --runtime-version 3.3.7 --robot franka_fr3 --json python /PATH_TO_SKILL/scripts/rsh.py inspect mujoco-franka-fr3-joint-control --json python /PATH_TO_SKILL/scripts/rsh.py prepare mujoco-franka-fr3-joint-control --project ./experiment --expected-source-commit 62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35 --expected-record-version 1.0.0 --plan --json ``` Remove `--plan` to download the checksum-verified pinned source and create an isolated project environment. Preparation returns the remaining configuration. Dependency installation is an explicit `--install-deps` step; it can execute package build hooks. Robot simulation is a separate command returned by prepare, never run by find/inspect. Direct package pins: `mujoco==3.3.7`, `numpy==1.26.4`. Direct runtime versions are pinned and measured. The receipt retains the complete environment freeze; prepare records the installed environment. System drivers are separate host requirements. Hardware: Linux x86_64; CPU simulation; see retained receipt for the exact host environment. Rendering: Headless. EGL libraries are required for MuJoCo imports; PushT uses SDL dummy video. No interactive display.. External API keys: none. ## Invocation contract Entrypoint: `python run.py`. ```json { "argv": [ "{python}", "{recipe_dir}/run.py", "--source-dir", "{source_dir}", "--example" ], "inputs": { "seed": 0, "joint_offset_rad": 0.08 }, "outputs": { "format": "single JSON object", "payload_selector": "outputs", "schema": { "type": "object", "required": [ "joint_positions_rad", "target_joint_positions_rad", "max_error_rad", "movement_rad" ], "properties": { "joint_positions_rad": { "type": "array", "minItems": 7, "maxItems": 7, "items": { "type": "number", "minimum": -20, "maximum": 20 }, "x-unit": "rad", "x-frame": "named_model_joint_coordinates", "x-order": [ "fr3_joint1", "fr3_joint2", "fr3_joint3", "fr3_joint4", "fr3_joint5", "fr3_joint6", "fr3_joint7" ] }, "target_joint_positions_rad": { "type": "array", "minItems": 7, "maxItems": 7, "items": { "type": "number", "minimum": -20, "maximum": 20 }, "x-unit": "rad", "x-frame": "named_model_joint_coordinates", "x-order": [ "fr3_joint1", "fr3_joint2", "fr3_joint3", "fr3_joint4", "fr3_joint5", "fr3_joint6", "fr3_joint7" ] }, "max_error_rad": { "type": "number", "minimum": 0, "maximum": 50, "x-unit": "rad" }, "movement_rad": { "type": "number", "minimum": 0, "maximum": 50, "x-unit": "rad" } }, "additionalProperties": false } } } ``` Success: 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. Timeout: 180 seconds. Terminate the adapter at the recorded timeout. No physical hardware is opened. Failures: Invalid input or source checksum; Different pinned package version; Unavailable runtime/driver; Goal not reached within bounded steps. ## Actual evidence All 3 frozen cases completed against this exact adapter and source. Reviewer: Hub finite-case Lambda execution harness · 2026-10-20. Commands/checks actually performed: - python tools/verify_runtime_expansion.py --backend menagerie --source-cache SOURCE_CACHE --output OUTPUT Submitted evidence and hub verification remain separate. A schema check, PR creation or merge does not establish task success or publication. ## Reusable fixes Change the runtime expansion manifest/template, regenerate, and rerun all frozen cases. Preserve source/model/checkpoint licenses and distinguish simulation from hardware. # franka fr3 joint-position control franka fr3 joint-position control. Source-pinned, bounded simulation with explicit goal checks; no physical execution. 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. Source and model terms: Apache-2.0. The Hub wrapper is MIT. See the record for input JSON, exact environment, frozen execution receipts and preparation requirements.