Franka Robotics releases official model and simulation 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're working with the correct, up-to-date geometry and simulation assets. Select your simulation environment below to get the right model, setup, and docs - or jump straight to raw file downloads by format.
Load robot models into your rendering or UI environment to display accurate geometry, joint structure, and link configuration, for documentation, presentations, or monitoring interfaces.
SIMULATION
Run physics-based simulations of Franka robots in Gazebo, MuJoCo, or NVIDIA Isaac Sim, using ready-made reference setups for safe, cost-effective testing of control policies before real-world deployment.
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.
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.
* All FR3 Arms of the table above, including those used in FR3 Duo and Mobile FR3 Duo, are v2 ** Reference setup = 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.
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.
This section provides an overview of available robot models and simulation resources for Franka robot embodiments. Select the required environment to access the corresponding model, setup, or documentation
** Reference setup = 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. *** USD assets and setup instructions: github.com/frankarobotics/franka_simulation
Community Contributions
EXPLORE, JOIN, CONTRIBUTE
DISCOVER THE BRILLIANT CONTRIBUTIONS OF THE FRANKA COMMUNITY
The Franka Community is renowned for its innovative and collaborative spirit in the fields of robotics and AI. Explore some of the standout contributions that make this community exceptional!
The resource hub for developers working with the Franka Research 3 robot platform. Dive into a wealth of tools, libraries and documentation designed to accelerate your development journey. Whether you're a seasoned developer or just starting out, you'll find everything you need to build, create and innovate.
