Behron
3e39a34a7a
More merge conflicts. Taking main changes then will integrate mine.
32 lines
1.6 KiB
Markdown
32 lines
1.6 KiB
Markdown
# Franka Robotics FR3 Description (MJCF)
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> [!IMPORTANT]
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> Requires MuJoCo 3.1.3 or later.
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## Overview
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This package contains a simplified robot description (MJCF) of the [Franka Research 3](https://franka.de/research) (aka FR3) developed by [Franka Robotics](https://franka.de/company) (formerly Franka Emika). It is derived from the [publicly available URDF description](https://github.com/frankaemika/franka_description).
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<p float="left">
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<img src="fr3.png" width="400">
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</p>
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## URDF → MJCF derivation steps
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1. Ran the URDF generation [script](https://github.com/frankaemika/franka_description/blob/main/scripts/create_urdf.sh) in [franka_description](https://github.com/frankaemika/franka_description).
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* Command used: `./scripts/create_urdf.sh fr3`
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2. Converted the DAE visual meshes to OBJ using [Blender](https://www.blender.org/).
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* Removed license headers in the DAE files to properly load in Blender.
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* When exporting, ensure "up axis" is +Z, and "forward axis" is +Y.
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3. Processed OBJ files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
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4. Added `<mujoco> <compiler discardvisual="true" strippath="false" fusestatic="false" balanceinertia="true"/> </mujoco>` to the URDF's `<robot>` clause.
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5. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
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6. Lightened the black color used on the robot to better match the real world.
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7. Manually edited the MJCF to extract common properties into the `<default>` section.
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8. Added position-controlled actuators for the arm.
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9. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
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## License
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This model is released under an [Apache-2.0 License](LICENSE).
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