Franka Research 3

Current Franka research-arm source with modular end-effector options.

Robot armsXacroROS 2

Inspect the generated URDF

This source uses Xacro. Generate a URDF with the upstream package and its required arguments, then open the output and meshes in the viewer.

Visualization checks geometry and joint motion. It does not run a physics simulation.

Use the upstream generation workflow to resolve the selected arm and end effector.

Official Franka descriptions with configurable end effectors. Generate the model with the supplied scripts and arguments.

Keep meshes, includes and license files together. A single URDF or Xacro file may not be enough.

Full repository at the recorded revision. Submodules and external dependencies may need separate installation.

Maintainer / source: frankarobotics/franka_description
Branch at check: main
Model path: robots/fr3/fr3.urdf.xacro
Revision: 7aeeddc449ed
License context: Apache-2.0 reported at repository level; inspect asset-specific terms
Source checked: 2026-10-28 · path and resources, not simulator behavior

1. Get the complete package
Use the ZIP above or clone the upstream repository. Follow its installation instructions for your branch and ROS distribution.
2. Resolve the description
Expand Xacro with the documented arguments and dependencies. Keep package paths and mesh files available.
3. Inspect before simulation
Check the link tree and limits, then validate in your chosen simulator. Controllers and physics settings are separate.
Check your URDF