Franka FR3 Example

The FR3 example demonstrates manipulator control through the Manipulator::RobotController interface.

Run

cd examples/python
python3 dyros_robot_controller_example.py --robot_name fr3

cd examples/C++/build
./dyros_robot_controller_example fr3

Modes

Key	Mode	Description
1	Home	Move to a predefined joint-space configuration
2	QPIK	Move the end-effector with QP inverse kinematics
3	Gravity Compensation	Apply gravity compensation torques
4	Gravity Compensation W QPID	Use QPID in the gravity compensation workflow

Files

File	Purpose
examples/C++/src/fr3_controller.cpp	C++ controller implementation
examples/C++/include/fr3_controller.hpp	C++ controller declaration
examples/python/fr3_controller.py	Python controller implementation
examples/robots/fr3	FR3 model assets