Support FR3?

[architsharma97]

Type of Issue

Select the type of issue:

• [ x ] Feature request (to request an additional feature)

Description

Is polymetis planning to support the Franka Research Arm 3? It seems like Franka is not selling Emika Panda arms anymore, so this seems important. We are thinking of buying a Franka FR3 and we'd like to use polymetis :)

[AlexanderKhazatsky]

Any updates on this?

[AlexanderKhazatsky]

@exhaustin Hey Austin! Hope you've been well. Would love to hear if you guys might include some internal stuff for FR3. One concrete issue is that the joint limits are pretty different.

[exhaustin]

Hi @AlexanderKhazatsky! Again sorry for the slow response.
As I am no longer working at Meta, and that the team is no longer using the Franka Panda, support for Polymetis will be dropped.
I know this is disappointing news, I'm happy to discuss offline to see how I can help.

[AlexanderKhazatsky]

Hey Austin, sad to hear about the Polymetis support being dropped :(

On another note, I'd love to reach and chat with you offline whenever you have the chance. Is there an email I can contact you at privately?

[AlexanderKhazatsky]

@exhaustin

[trevorablett]

In case anyone reads this in the future, I've been using polymetis with an FR3 (after manually modifying the joint limits), and haven't had issues yet.

[venkatadithya-perceptyne]

@trevorablett Can you explain the errors u got and how did you fix them

[trevorablett]

@trevorablett Can you explain the errors u got and how did you fix them

No errors! Just modified the joint limits in the relevant config file.

[venkatadithya-perceptyne]

I am getting this errors can someone help @trevorablett @exhaustin

[Siva552]

Did you solve the problems? I try to use polymetis in FR3 from version 5.7.1 to 5.8.1. If you need help, send me email @venkatadithya-perceptyne

[JaredBaileyDuke]

Certainly lots of issues following on my end. I'm running 5.7.2. Any assistance is welcome. I'm currently struggling to get libfranka 0.15 into polymetis