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> <ee_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] [--robot-ee] [--no-ee] [--with-sc] [--abs-path] [--host-dir HOST_DIR] [--only-ee] 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, none)
optional arguments:
-h, --help show this help message and exit
--robot-ee id of the robot end effector (accepted values are: franka_hand, cobot_pump)
--no-ee Disable loading of end-effector (robot-ee would be ingnored if set) [WARNING: this argument will be removed in future releases, introducing "none" as ee id].
--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.
--only-ee Get URDF with solely end-effector data
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 (default ee_id is franka_hand), false (ee_id will be ignored) [WARNING: this argument will be removed in future releases, introducing "none" as ee id]
# ee_id - accepted values are: franka_hand, cobot_pump
./scripts/visualize_franka.sh arm_id:=<robot_id>
This project is licensed under the Apache License 2.0 - see the LICENSE file for details.
