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

Robot 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

SolidWorks

URDF

USD

MJCF

Franka Research 3 (FR3) Arm*

download

get it from GitHub

download

 

FR3 Duo

  

get it from GitHub

download

 

FR3 Duo with Reference Franka Vision & Manip. Kit**

  


download

 

Tactile Mobile Robot (TMR)

  

get it from GitHub

 

 

Mobile FR3 Duo

  

get it from GitHub

 

 

Mobile FR3 Duo with Reference Franka Vision & Manip. Kit**

  

 


 
 

Franka Control

download

 

 

 


* All FR3 Arms of the table above — including those used in FR3 Duo and Mobile FR3 Duo — are v2
** Franka Vision & Manipulation Kit = includes two Robotiq 2F-85 Grippers, two RealSense D405 wrist cameras with dedicated holders, and a Stereolabs ZED Mini Stereo Camera mounted on a Franka Head Bracket.

 

 

 

Other Robots

SolidWorks

URDF

Franka Research 3 (FR3) Arm v2.1

   get it from GitHub

Franka Research 3 (FR3) Arm v1

 download get it from GitHub

Franka Production 3 (FP3) Arm

 download

Franka Emika Robot (FER) Arm

 download get it from GitHub

 

Accessories models

 

Beyond the full robot assemblies above, we also provide individual mounting and adapter components, ready to print or machine, for integrating third-party hardware with your Franka system.

 

Accessories

File

Franka Hand (for FR3)

SolidWorks [download]

Franka Hand (for FP3)

SolidWorks [download]

Generic Wrist-Cam Mount (Franka Hand) [guide]

 STEP [download]; STL [download]

RealSenseD435 Wrist-Cam Mount (Franka Hand) [guide]

STEP [download]; STL [download]

Wrist-Cam Mount (Robotiq Gripper)

SolidWorks [download]

 

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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