--- title: "Robot Models & Simulation" description: "Franka Robotics releases official model and simulation files for its robot systems. This page is the single source maintained and released directly by Franka, so you always know you" canonical: https://franka.de/models-and-simulation url: https://franka-robotics.getmd.ai/models-and-simulation.md last_converted: 2026-09-22T17:15:05.998Z --- ![FR3_IsaacSim](https://franka.de/hubfs/FR3_IsaacSim.png) OPEN-SOURCE RESOURCES # ROBOT MODELS & SIMULATION 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. [Model downloads](https://franka.de/models-and-simulation?hsLang=en#models) [Simulation environments](https://franka.de/models-and-simulation?hsLang=en#simulation) 1. ### VISUALIZATION *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> 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 *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> 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. 3. ### MOTION PLANNING & CONTROL *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> 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 *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> Build digital twins and synthetic data pipelines for training and benchmarking physical AI models, replicating the exact hardware configuration across labs and institutions. *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> ## 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 *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> | Robot | SolidWorks | URDF | USD | | --- | --- | --- | --- | | Franka Research 3 (FR3) Arm v2* | download | get it from GitHub | see Simulation table | | FR3 Duo | | get it from GitHub | | | FR3 Duo (reference setup)** | | | | | Tactile Mobile Robot (TMR) | | get it from GitHub | | | Mobile FR3 Duo | | get it from GitHub | | | Mobile FR3 Duo (reference setup)** | | | | | | | | | | Franka Control | download | | | * 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. *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> ## 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. *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> | 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] | *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> ## Simulation environments 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 *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> | Robot embodiment | Gazebo | MuJoCo | Isaac Sim*** | | --- | --- | --- | --- | | FR3 | Jazzy docs robot_type:=fr3 (default) | MuJoCo Menagerie Use: franka_fr3 / franka_fr3_v2 | USD release Use: fr3v2_1 | | FR3 Duo (reference setup)** | Jazzy docs with_sensors:=true | Not yet available | USD release Use: fr3_duo + franka_vision_and_manipulation_kit | | TMR | Humble docs with_sensors:=true | Not yet available | USD release Use: tmrv0_2 + franka_mobile_sensors | | Mobile FR3 Duo (reference setup)** | Humble docs with_sensors:=true | Not yet available | USD release Use: mobile_fr3_duo_with_vision_and_manipulation_kit | ** 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](https://github.com/frankarobotics/franka_simulation) Community Contributions ![20220920_Franka_Emika1791_resized-2](https://franka.de/hubfs/20220920_Franka_Emika1791_resized-2.jpg) 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! [Explore](https://franka.de/community?hsLang=en) ![Franka Research 3 with Ai Companion integration](https://franka.de/hubfs/_Franka%20Robotics%20_Franka%20AI%20Companion_20241723.jpg) BUILD, CREATE, INNOVATE ## DEVELOP ON THE FRANKA ROBOT PLATFORM 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. [Explore](https://franka.de/develop?hsLang=en)