{"id":"franka-robotics-fr3-duo","model_id":"FR3 Duo","name":"Franka Robotics FR3 Duo","summary":"The FR3 Duo is a dual-arm research robot system made of two FR3 robots, a mounting kit, and optional vision and manipulation hardware. It supports teleoperation, data collection, and policy execution, with low-level control at 1 kHz through the Franka Control Interface. Each arm has 7 degrees of freedom, 855 mm reach, and 3 kg payload.","study_notes":["Dual-arm system includes two FR3 robots and one FR3 Duo Mounting Kit comprising the FR3 Duo Mount and FR3 Duo Cover.","Each arm has 7 degrees of freedom; the document states 17 total DOF for the system.","Each arm has 855 mm reach and 3 kg payload; 14 torque sensors are listed in total, or 7 per arm.","Vision locations are a head camera and two wrist cameras.","Expandability is provided by mechanical and electrical connection points.","The optional FR3 Duo Vision and Manipulation Kit includes two Robotiq 2F-85 grippers with a shared power supply, two RealSense D405 wrist cameras with holders and cabling, and a Stereolab ZED Mini stereo camera on a Franka Head Bracket.","FCI provides low-level real-time control at 1 kHz over Ethernet UDP, with joint torque, joint position, joint velocity, Cartesian pose, and Cartesian velocity commands.","FCI also provides 1 kHz measurements of joint data, estimated external torques and forces, and collision/contact information.","franka_ros integrates libfranka into ROS 2 Control and includes URDF models, 3D meshes, RViz visualization, Gazebo simulation, and MoveIt integration.","The product is marked Prototype in the document."],"safety_notes":["Internal supervision in FCI only prevents self-damage; operator protection requires custom safety rules implemented by the user.","FCI reports collision and contact information at 1 kHz."],"sources":[{"url":"https://franka.de/fr3-duo","title":"FR3 Duo","accessed":"2026-10-26"},{"url":"https://franka.de/hubfs/FR3Duo_TwoPager_February2026.pdf?hsLang=en","title":"FR3Duo TwoPager February2026","accessed":"2026-10-26"}],"verification":{"status":"source_checked","checked_at":"2026-10-26","values":3,"method":"llm_source_check"},"updated_at":"2026-10-26","type":"hardware","spec":{"category":"other","manufacturer":"franka-robotics","controllers":[],"payload_kg":3,"reach_mm":855,"joints":[],"protocols":[],"standards":[],"error_codes":[]},"url":"https://machineschema.com/hardware/franka-robotics-fr3-duo","license":"https://creativecommons.org/licenses/by/4.0/"}