Isaac Sim 6 USD assets for seven Franka Robotics robot families, published as
release tarballs. Each archive is self-contained: it extracts to a single
<model>/ directory whose layer and payload references are relative and
closed — no other files or downloads are needed.
Get the seven <model>-isaacsim6.tar.gz archives (plus
tarball_manifest.json with the SHA-256 digests) from the
Releases page.
| Archive | Contents |
|---|---|
fr3v2_1-isaacsim6.tar.gz |
FR3 v2.1 arm, fixed base |
fr3_duo-isaacsim6.tar.gz |
Dual-arm FR3, fixed base |
tmrv0_2-isaacsim6.tar.gz |
TMR v0.2 mobile base |
franka_mobile_sensors-isaacsim6.tar.gz |
Mobile sensor platform (4x D455 RGB/depth, 2x SICK lidar, IMU) |
franka_vision_and_manipulation_kit-isaacsim6.tar.gz |
Stationary vision kit (ZED stereo + 2x wrist D405) |
mobile_fr3_duo_v0_2-isaacsim6.tar.gz |
Mobile dual-arm FR3 |
mobile_fr3_duo_with_vision_and_manipulation_kit-isaacsim6.tar.gz |
Full-stack mobile dual-arm with the combined sensor suite |
Supported runtime: Isaac Sim 6.0.0-rc.59.
tar -xzf fr3v2_1-isaacsim6.tar.gz
# then open fr3v2_1/fr3v2_1.usda in Isaac Sim- Mobile archives additionally embed
worlds/sensor_test_world.usda— open it to get the robot on a collision floor with colored camera and lidar targets. - Sensor-bearing archives also embed
worlds/sensorized_world.usda, a declarativesensors/profile, and archive-localtools/to bootstrap and capture native Camera / OmniLidar / IMU outputs. See the archive'sREADME.txtfor the exact invocation. - Verify integrity with the
SHA256SUMSfile inside each archive; release-level digests are recorded intarball_manifest.json.
The USD trees were generated from SHA-pinned franka_ros2 /
franka_description sources through the asset manifest and Isaac Sim 6
tooling maintained in
franka_3d_assets.
Before publishing, every archive passed the distant-render visual gate, its
physics stability gate (fixed-base gravity compensation or mobile
forward/stop/reverse), and a clean-room reopen in a fresh Isaac Sim session;
the sensor-bearing archives additionally passed native sensor capture
validation against the packaged test world.