FR3_IsaacSim
OPEN-SOURCE RESOURCES

3D ASSETS

Franka Robotics releases official 3D model files for its robot systems. As the community grows, so does the number of unofficial versions scattered across repositories and platforms. This page is the single source maintained and released directly by Franka — so you always know you are working with the correct, up-to-date geometry.


DOWNLOADS

Available models

 

Files are available in four standard formats:

 

  • CAD — Mechanical geometry for hardware integration and design reference

  • URDF — Unified Robot Description Format, the standard for ROS-based control and planning

  • USD — Universal Scene Description, optimized for simulation in NVIDIA Isaac Sim and Omniverse

  • MJCF — MuJoCo XML format, widely used for physics simulation and reinforcement learning research

 

 

Robot

CAD

URDF

USD

MJCF

FR3 Arm v1

Download

Download

Download

Download

FR3 Arm v2

↓

↓

↓

↓

FR3 Arm v2 with ...

 

 

 

 

FR3 Duo

 

[v1.1] [v1.2] [v1.3]


Changelog

 

 

 

 

FR3 Duo with Reference Setup*

 

 

 

 


* Reference Setup = inclusive of two Robotiq 2F-85 Grippers, two RealSense D405 wrist cameras with dedicated holders, and a Stereolab ZED Mini Stereo Camera mounted on a Franka Head Bracket.

WHY 3D ASSETS

  1. VISUALIZATION

    Load robot models into your rendering or UI environment to display accurate geometry, joint structure, and link configuration — for documentation, presentations, or monitoring interfaces.

  2. SIMULATION

    Run physics-based simulations of Franka robots in environments like NVIDIA Isaac Sim or MuJoCo — enabling safe, cost-effective testing of control policies before real-world deployment.

  3. MOTION PLANNING & CONTROL

    Use URDF or USD models as the basis for motion planning pipelines (e.g. MoveIt) and real-time control workflows, with accurate kinematic and dynamic parameters.

  4. AI & DATA COLLECTION

    Build digital twins and synthetic data pipelines for training and benchmarking physical AI models — replicating the exact hardware configuration across labs and institutions.

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