feat: Added fr3v2

[AndreasKuhner]

Description

Fixes:

Checklist

Please check off each item ([x]) once complete, or mark it as [N/A] if it doesn't apply:

• Added your name to CONTRIBUTORS.md (alphabetically by first name)
• Updated CHANGELOG.md:
  • Global changelog (if your change affects the overall repo)
  • Model-specific changelog (if it affects a specific model only)
• Followed the XML formatting/style guidelines (if editing MJCF)
• Ran pytest test/ locally and ensured all tests pass
• Signed the Contributor License Agreement (CLA)

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[kevinzakka]

Hi @AndreasKuhner, do the OBJ meshes converted from the DAE ones not have any of the usual colors (e.g. black bracelet) present on Franka arms?

[AndreasKuhner]

Hi @kevinzakka ,
I tried to just follow the instructions (aka opened the .dae files in Blender und exported them as .obj). The result was then a grayish looking robot in the viewer. So I peeked how it was done for the fr3v1.. where some colors manually were defined. Would I need to do some other step during the conversion of the .dae or some special checks/marks/...?

And, maybe also some confusion -> the v2 looks a lot more 'clean' aka white. So no black bracelets (or as much as before) :)

[AndreasKuhner]

Any update? Would I need to do something else? :)

[AndreasKuhner]

Hi @kevinzakka ,
any update on this PR? :)

Cheers,
Andreas

[kevinzakka]

Hi @AndreasKuhner, sorry I'm behind on PRs. Will try to get to this as soon as I can.

[AndreasKuhner]

Any updates? :)

[kevinzakka]

Can you add the commit SHA this was taken at?

[AndreasKuhner]

What do you mean exactly?

[AndreasKuhner]

I guess to reference which URDF we use here?

-> Added the tag/version of it.

[kevinzakka]

Hmm was this readme just copied from v1? What's the difference?

[AndreasKuhner]

Yes, it is just a copy. Mostly visually the v2 is different from v1 (of course some internal changes here and there but nothing which is reflected by the URDFs).

[AndreasKuhner]

What is the state with this PR? :)

[kmohyeldine]

@kevinzakka can we have some updates here please. Thanks