The Franka Description repository offers all Franka Robotics models. It includes detailed 3D models and essential robot parameters, crucial for simulating these robots in various environments. Additionally, the repository provides a feature to create URDFs (Unified Robot Description Format) for the selected Franka robot model.
- Comprehensive 3D Models: Detailed 3D models of all Franka Robotics models for accurate simulation and visualization.
- Robot Parameters: All necessary robot parameters for realistic and reliable simulations.
- URDF Creation: Ability to create URDF files for any selected Franka robot model, essential for robot simulations in ROS and other robotic middleware.
- Docker
To start the generation, execute the start.sh script. The arguments passed to the sh script will be used from the create_urdf.py.
# Start the generation of the urdf model
./scripts/create_urdf.sh <robot_id>
The urdf generation is performed by the create_urdf.py script which offers several parameters to customize the output urdf model:
usage: create_urdf.py [-h] [--no-hand] [--with-sc] [--abs-path] [--host-dir HOST_DIR] robot_model
Generate franka robots urdf models. Script to be executed from franka_description root folder!
positional arguments:
robot_model id of the robot model (accepted values are: fr3, fp3, fer)
optional arguments:
-h, --help show this help message and exit
--no-hand Disable loading of franka hand.
--with-sc Include self-collision volumes in the urdf model.
--abs-path Use absolute paths.
--host-dir HOST_DIR Provide a host directory for the absolute path.
franka_description is offered as a ROS2 package.
The urdf file can be visualized via RViz with the following command:
# visualize_franka.sh launches the visualize_franka.launch.py in a ros2 instance running in the docker container
# The arguments given to the .sh script are forwarded as launch arguments
# Accepted launch arguments are:
# arm_id - accepted values are: fr3, fp3, fer
# load_gripper - accepted values are: true, false
./scripts/visualize_franka.sh arm_id:=<robot_id>
This project is licensed under the MIT License - see the LICENSE file for details.