Franka Robotics FR3 Description (MJCF)

Important

Requires MuJoCo 3.1.3 or later.

Overview

This package contains a simplified robot description (MJCF) of the Franka Research 3 (aka FR3) developed by Franka Robotics (formerly Franka Emika). It is derived from the publicly available URDF description.

URDF → MJCF derivation steps

1. Ran the URDF generation script in franka_description.
   • Command used: ./scripts/create_urdf.sh fr3
2. Converted the DAE visual meshes to OBJ using Blender.
   • Removed license headers in the DAE files to properly load in Blender.
   • When exporting, ensure "up axis" is +Z, and "forward axis" is +Y.
3. Processed OBJ files with obj2mjcf.
4. Added <mujoco> <compiler discardvisual="true" strippath="false" fusestatic="false" balanceinertia="true"/> </mujoco> to the URDF's <robot> clause.
5. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
6. Lightened the black color used on the robot to better match the real world.
7. Manually edited the MJCF to extract common properties into the <default> section.
8. Added position-controlled actuators for the arm.
9. Added scene.xml which includes the robot, with a textured groundplane, skybox, and haze.

License

This model is released under an Apache-2.0 License.