clearpathrobotics · tonybaltovski · Oct 23, 2025 · Sep 26, 2025 · Sep 26, 2025 · Oct 22, 2025
@@ -3,8 +3,9 @@ title: Kinova Gen3 Lite
 sidebar_position: 3
 ---
 
-import KinovaGen3Lite from "/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/kinova_gen3_lite.mdx";
-import Kinova2FLite from "/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/kinova_2f_lite.mdx";
+import KinovaLineUp from "/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/kinova/lineup.mdx";
+import KinovaConfigs from "/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/kinova/configs.mdx";
+
 import Support from "/components/support.mdx";
 import Tabs from "@theme/Tabs";
 import TabItem from "@theme/TabItem";
@@ -91,9 +92,8 @@ The PACS&trade; kit for this sensor includes:
 This manipulator is included in the Clearpath Robotics descriptino and robot package that is installed on all of our robots.
 This allows you to add or remove manipulator from your robot's software configuration by modying the [robot configuration yaml](/docs/ros/config/yaml/manipulators).
 
-<KinovaGen3Lite/>
-<Kinova2FLite/>
-
+<KinovaLineUp/>
+<KinovaConfigs/>
 
 ### Networking, with netplan
 

@@ -0,0 +1,206 @@
+
+import Tabs from "@theme/Tabs";
+import TabItem from "@theme/TabItem";
+
+<Tabs>
+<TabItem default value="Franka Research 3">
+
+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/franka/fr3.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+manipulators:
+  moveit:
+    enable: false
+  arms:
+    - model: franka
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      arm_id: fr3
+      robot_ip: 192.168.131.40
+```
+</td>
+</tr>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/franka/fr3_w_gripper.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+manipulators:
+  moveit:
+    enable: false
+  arms:
+    - model: franka
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      arm_id: fr3
+      robot_ip: 192.168.131.40
+      gripper:
+        model: franka_gripper
+```
+</td>
+</tr>
+</table>
+
+</TabItem>
+
+<TabItem default value="Franka Production 3">
+
+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/franka/fp3.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+manipulators:
+  moveit:
+    enable: false
+  arms:
+    - model: franka
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      arm_id: fp3
+      robot_ip: 192.168.131.40
+```
+</td>
+</tr>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/franka/fp3_w_gripper.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+manipulators:
+  moveit:
+    enable: false
+  arms:
+    - model: franka
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      arm_id: fp3
+      robot_ip: 192.168.131.40
+      gripper:
+        model: franka_gripper
+```
+</td>
+</tr>
+</table>
+
+
+</TabItem>
+<TabItem default value="Franka Emika Robot">
+
+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/franka/fer.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+manipulators:
+  moveit:
+    enable: false
+  arms:
+    - model: franka
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      arm_id: fer
+      robot_ip: 192.168.131.40
+```
+</td>
+</tr>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/franka/fer_w_gripper.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+manipulators:
+  moveit:
+    enable: false
+  arms:
+    - model: franka
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      arm_id: fer
+      robot_ip: 192.168.131.40
+      gripper:
+        model: franka_gripper
+```
+</td>
+</tr>
+</table>
+
+
+</TabItem>
+</Tabs>
+
+
+<details>
+<summary>Franka Setup</summary>
+
+### Package and Setup
+The Franka arms use the `franka_description` and `franka_ros2` ROS 2 packages abd the `libfranka` SDK. The description and driver are open source, maintained by Franka Robotics, and hosted on GitHub. Refer to the [description repository](https://github.com/frankarobotics/franka_description), [driver repository](https://github.com/frankarobotics/franka_ros2), and [SDK repository](https://github.com/frankarobotics/libfranka). Follow the [instructions in the driver repository's README](https://github.com/frankarobotics/franka_ros2/blob/humble/README.md#franka-ros-2-dependencies-setup) to build the Franka packages in a workspace.
+
+For more specifics on the way Clearpath's configuration system adds the arm to the robot description, see the [description file](https://github.com/clearpathrobotics/clearpath_common/blob/humble/clearpath_manipulators_description/urdf/arm/franka.urdf.xacro). Note, all parameters to the `xacro:macro franka` can be passed through the `robot.yaml` entry above. For examples, read the sections below.
+
+### Franka Desk Setup
+
+#### Networking Settings
+<figure>
+    <img src={require("./img/franka/network.png").default} width="500" />
+</figure>
+By default, the `C2 - Shop Floor network` should have `DHCP Client` disabled and set to the static `192.168.131.40` IP address. If changed to an IP other than `192.168.131.40`, then that new address must be passed to the `robot.yaml` entry through the `robot_ip` parameter.
+
+#### Initializing the Arm
+<figure>
+    <img src={require("./img/franka/activate_fci.png").default} width="500" />
+</figure>
+To begin moving the arm, unlock the joints. Then, enable the `FCI` mode to allow a an external computer to control the arm.
+
+### Parameter: Device IP
+The `robot_ip` must be set to match the networking settings of the arm's control box. By default, we use the `192.168.131.40` address.
+
+
+</details>
@@ -0,0 +1,38 @@
+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/franka_gripper.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+manipulators:
+  moveit:
+    enable: false
+  arms:
+    - model: franka
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      arm_id: fr3
+      robot_ip: 192.168.131.40
+      gripper:
+        model: franka_gripper
+```
+</td>
+</tr>
+</table>
+
+<details>
+<summary>Franka Gripper Setup</summary>
+
+### Package and Setup
+The Franka grippers can only be used with the Franka arms and have the same dependencies. They use the `franka_description` and `franka_ros2` ROS 2 packages abd the `libfranka` SDK. The description and driver are open source, maintained by Franka Robotics, and hosted on GitHub. Refer to the [description repository](https://github.com/frankarobotics/franka_description), [driver repository](https://github.com/frankarobotics/franka_ros2), and [SDK repository](https://github.com/frankarobotics/libfranka). Follow the [instructions in the driver repository's README](https://github.com/frankarobotics/franka_ros2/blob/humble/README.md#franka-ros-2-dependencies-setup) to build the Franka packages in a workspace.
+
+For more specifics on the way Clearpath's configuration system adds the arm to the robot description, see the [description file](https://github.com/clearpathrobotics/clearpath_common/blob/humble/clearpath_manipulators_description/urdf/arm/franka.urdf.xacro). Note, all parameters to the `xacro:macro franka` can be passed through the `robot.yaml` entry above. For examples, read the sections below.
+
+</details>
@@ -1,3 +1,5 @@
+import KinovaCommon from "/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/kinova_common.mdx";
+
 <table>
 <tr>
 <td>
@@ -27,11 +29,11 @@ manipulators:
 </tr>
 </table>
 
-#### Package and Setup
+<details>
+<summary>Kinova 2F Lite Gripper Setup</summary>
 :::note
 The Kinova 2F Lite gripper is the standard gripper on the Kinova Gen3 Lite. It is controlled via the arm's hardware interface and therefore, does not need its own controller.
 :::
-The Kinova 2F Lite gripper uses the `kortex_description` and `kortex_driver` ROS 2 Packages. The driver is open source, maintained by Kinova Robotics, and hosted on [GitHub](https://github.com/Kinovarobotics/ros2_kortex).
-
-For more specifics on the way Clearpath's configuration system adds the manipulator to the robot description, see the Kinova 2F Lite gripper [description file](https://github.com/clearpathrobotics/clearpath_common/blob/humble/clearpath_manipulators_description/urdf/gripper/kinova_2f_lite.urdf.xacro) in `clearpath_manipulators_description`.
+<KinovaCommon/>
 
+</details>
@@ -0,0 +1,7 @@
+### Package and Setup
+Kinova  manipulators the `kortex_description` and `kortex_driver` ROS 2 Packages. The driver is open source, maintained by Kinova Robotics, and hosted on [GitHub](https://github.com/Kinovarobotics/ros2_kortex).
+
+For more specifics on the way Clearpath's configuration system adds the manipulator to the robot description, see the Kinova [description files](https://github.com/clearpathrobotics/clearpath_common/blob/humble/clearpath_manipulators_description/urdf/arm) in `clearpath_manipulators_description`.
+
+### Device IP and Port
+The `ip` and `port` parameters must be set to the corresponding values set on the manipulators configuration page.
@@ -1,3 +1,5 @@
+import KinovaCommon from "/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/kinova_common.mdx";
+
 <table>
 <tr>
 <td>
@@ -27,10 +29,9 @@ manipulators:
 </tr>
 </table>
 
-#### Package and Setup
-The Kinova Gen3 6Dof uses the `kortex_description` and `kortex_driver` ROS 2 Packages. The driver is open source, maintained by Kinova Robotics, and hosted on [GitHub](https://github.com/Kinovarobotics/ros2_kortex).
+<details>
+<summary>Kinova Gen3 6DoF Setup</summary>
 
-For more specifics on the way Clearpath's configuration system adds the manipulator to the robot description, see the Kinova Gen3 6Dof [description file](https://github.com/clearpathrobotics/clearpath_common/blob/humble/clearpath_manipulators_description/urdf/arm/kinova_gen3_6dof.urdf.xacro) in `clearpath_manipulators_description`.
+<KinovaCommon/>
 
-#### Device IP and Port
-The `ip` and `port` parameters must be set to the corresponding values set on the manipulators configuration page.
+</details>
@@ -1,3 +1,5 @@
+import KinovaCommon from "/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/kinova_common.mdx";
+
 <table>
 <tr>
 <td>
@@ -27,10 +29,9 @@ manipulators:
 </tr>
 </table>
 
-#### Package and Setup
-The Kinova Gen3 7Dof uses the `kortex_description` and `kortex_driver` ROS 2 Packages. The driver is open source, maintained by Kinova Robotics, and hosted on [GitHub](https://github.com/Kinovarobotics/ros2_kortex).
+<details>
+<summary>Kinova Gen3 7DoF Setup</summary>
 
-For more specifics on the way Clearpath's configuration system adds the manipulator to the robot description, see the Kinova Gen3 7Dof [description file](https://github.com/clearpathrobotics/clearpath_common/blob/humble/clearpath_manipulators_description/urdf/arm/kinova_gen3_6dof.urdf.xacro) in `clearpath_manipulators_description`.
+<KinovaCommon/>
 
-#### Device IP and Port
-The `ip` and `port` parameters must be set to the corresponding values set on the manipulators configuration page.
+</details>
@@ -1,3 +1,5 @@
+import KinovaCommon from "/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/kinova_common.mdx";
+
 <table>
 <tr>
 <td>
@@ -27,10 +29,9 @@ manipulators:
 </tr>
 </table>
 
-#### Package and Setup
-The Kinova Gen3 Lite uses the `kortex_description` and `kortex_driver` ROS 2 Packages. The driver is open source, maintained by Kinova Robotics, and hosted on [GitHub](https://github.com/Kinovarobotics/ros2_kortex).
+<details>
+<summary>Kinova Gen3 Lite Setup</summary>
 
-For more specifics on the way Clearpath's configuration system adds the manipulator to the robot description, see the Kinova Gen3 Lite [description file](https://github.com/clearpathrobotics/clearpath_common/blob/humble/clearpath_manipulators_description/urdf/arm/kinova_gen3_lite.urdf.xacro) in `clearpath_manipulators_description`.
+<KinovaCommon/>
 
-#### Device IP and Port
-The `ip` and `port` parameters must be set to the corresponding values set on the manipulators configuration page.
+</details>
@@ -27,11 +27,15 @@ manipulators:
 </tr>
 </table>
 
-#### Package and Setup
+<details>
+<summary>Robotiq 2F 140 Setup</summary>
+
+### Package and Setup
 :::note
 The Robotiq 2F 140 gripper is supported by the Kinova Gen3 arm's wrist connector and hardware interface. Therefore, when attached to Kinova arm's the Robotiq gripper does not need its own controller.
 :::
 The Robotiq 2F 140 uses the `robotiq_description` and `robotiq_driver` ROS 2 Packages. The driver is open source, maintained by PickNik Robotics, and hosted on [GitHub](https://github.com/PickNikRobotics/ros2_robotiq_gripper).
 
 For more specifics on the way Clearpath's configuration system adds the manipulator to the robot description, see the Robotiq 2F 140 gripper [description file](https://github.com/clearpathrobotics/clearpath_common/blob/humble/clearpath_manipulators_description/urdf/gripper/robotiq_2f_140.urdf.xacro) in `clearpath_manipulators_description`.
 
+</details>
@@ -27,11 +27,15 @@ manipulators:
 </tr>
 </table>
 
-#### Package and Setup
+<details>
+<summary>Robotiq 2F 85 Setup</summary>
+
+### Package and Setup
 :::note
 The Robotiq 2F 85 gripper is supported by the Kinova Gen3 arm's wrist connector and hardware interface. Therefore, when attached to Kinova arm's the Robotiq gripper does not need its own controller.
 :::
 The Robotiq 2F 85 uses the `robotiq_description` and `robotiq_driver` ROS 2 Packages. The driver is open source, maintained by PickNik Robotics, and hosted on [GitHub](https://github.com/PickNikRobotics/ros2_robotiq_gripper).
 
 For more specifics on the way Clearpath's configuration system adds the manipulator to the robot description, see the Robotiq 2F 85 gripper [description file](https://github.com/clearpathrobotics/clearpath_common/blob/humble/clearpath_manipulators_description/urdf/gripper/robotiq_2f_85.urdf.xacro) in `clearpath_manipulators_description`.
 
+</details>