diff --git a/jsk_panda_robot/panda_eus/euslisp/fr3-interface.l b/jsk_panda_robot/panda_eus/euslisp/fr3-interface.l
index 7a98979271..b2f0eccd63 100644
--- a/jsk_panda_robot/panda_eus/euslisp/fr3-interface.l
+++ b/jsk_panda_robot/panda_eus/euslisp/fr3-interface.l
@@ -1,30 +1,15 @@
-(require :franka-common-interface "package://panda_eus/euslisp/franka-common-interface.l")
+(require :panda-interface "package://panda_eus/euslisp/panda-interface.l")
 (require :fr3-utils "package://panda_eus/euslisp/fr3-utils.l")
 
 (defclass fr3-robot-interface
-  :super franka-common-interface
+  :super panda-robot-interface
   :slots ())
 
 (defmethod fr3-robot-interface
   (:init
     (&rest args)
     (send-super* :init :robot fr3-robot
-                 :joint-states-topic "joint_states"
-                 :all-arms (list :rarm)
-                 :all-arm-aliases (list :arm)
-                 :error-topics (list "/franka_state_controller/franka_states")
-                 :error-topic-types (list franka_msgs::FrankaState)
-                 :error-recovery-action "/franka_control/error_recovery"
-                 :gripper-action-prefixes (list "")
                  args))
-  (:default-controller
-    ()
-    (list
-      (list
-       (cons :controller-action "/position_joint_trajectory_controller/follow_joint_trajectory")
-       (cons :controller-state  "/position_joint_trajectory_controller/state")
-       (cons :action-type control_msgs::FollowJointTrajectoryAction)
-       (cons :joint-names (send-all (send robot :joint-list) :name)))))
   )
 
 (defun fr3-init ()
diff --git a/jsk_panda_robot/panda_eus/euslisp/panda-interface.l b/jsk_panda_robot/panda_eus/euslisp/panda-interface.l
index 78cb96a842..ecbfa8fe46 100644
--- a/jsk_panda_robot/panda_eus/euslisp/panda-interface.l
+++ b/jsk_panda_robot/panda_eus/euslisp/panda-interface.l
@@ -7,8 +7,8 @@
 
 (defmethod panda-robot-interface
   (:init
-    (&rest args)
-    (send-super* :init :robot panda-robot
+    (&rest args &key (robot panda-robot))
+    (send-super* :init :robot robot
                  :joint-states-topic "joint_states"
                  :all-arms (list :rarm)
                  :all-arm-aliases (list :arm)