[Polymetis] support FR3 with libfranka v0.15.0?

[wkinger]

I'm using FR3 with server version 9, libfranka v0.15.0. Is the polymetis library working properly on this configuration? Do I need to make any modifications? If anyone has successfully tried it, please feel free to share your insights. Thank you very much.

[wkinger]

when I try to connect robot by run:
launch_robot.py robot_client=franka_hardware
the terminal input is as below:

[2025-03-26 17:04:29.895] [info] ==== Initializing new RobotClient... ====
[2025-03-26 17:04:30.049] [info] Success.
[2025-03-26 17:04:30.049] [info] Connecting to Franka Emika...
terminate called after throwing an instance of 'franka::IncompatibleVersionException'
  what():  libfranka: Incompatible library version (server version: 9, library version: 5). Please check https://frankaemika.github.io for Panda system updates or use a different version of libfranka.

[Siva552]

yes,it support FR3 with libfranka v0.15.0,I have used a few weeks

[venkatadithya-perceptyne]

@Siva552 could you please explain any changes you made to the setup process to make it work?

[eric-li-colab]

@Siva552 Thank you for the help. Following your instructions I was able to run polymetis on system 5.8.0. I was running into a few communications problems though. Could you elaborate on what you mean by "System version 5.8.0 has some communication problems'? Also, how were you able to downgrade the Franka firmware? Checking on Franka-World forums it seems I would need to contact Franka support. Thank you for the help.

[Siva552]

@eric-li-colab You can try communication_test provided by libfranka can find the success rate is not the right. For example, all the rates show 1.0.but the minimum rate is 0.95 or some other value below 1.0. Maybe Polymetis uses this value, it causes a communication error.
I downgrade robot system version to 5.7.2. I test it in 5.7.2 and 5.7.1 ,All can work well.
To downgrade your robot system version you should contact your support ,they will help you downgrade version.

[AndreasKuhner]

Hi all,
a small addition -> last week we released the robot system version 5.8.1 which improve the communication_constraint violations by a lot. It definitely beats 5.7.x and 5.8.0. Maybe you guys can give it a shot and we are happy to get some feedback 🚀

Cheers,
Andreas

[Siva552]

Hi @AndreasKuhner , I just tested on robot version 5.8.1 and libfranka version 0.15.2. Gello based on polymetis worked very well . Thanks for your nice job !
Maybe this issue can be closed.

[josyulakp]

Hi @AndreasKuhner , I just tested on robot version 5.8.1 and libfranka version 0.15.2. Gello based on polymetis worked very well . Thanks for your nice job ! Maybe this issue can be closed.

Hi @Siva552 could you please share your changes to connect to the FR3, what changes in urdf and yaml did you make? are there any other changes that one has to make to connect to FR3. It'd be incredibly helpful if you can put your fork for fr3 public. I have followed all your suggestion yet I'm not able to connect to fr3 which is crucial for me right now. thanks.

[JaredBaileyDuke]

Hi @AndreasKuhner , I just tested on robot version 5.8.1 and libfranka version 0.15.2. Gello based on polymetis worked very well . Thanks for your nice job ! Maybe this issue can be closed.

Hi @Siva552 could you please share your changes to connect to the FR3, what changes in urdf and yaml did you make? are there any other changes that one has to make to connect to FR3. It'd be incredibly helpful if you can put your fork for fr3 public. I have followed all your suggestion yet I'm not able to connect to fr3 which is crucial for me right now. thanks.

This would be quite helpful. We are running on 5.7.2 for the FR3.

[JaredBaileyDuke]

@Siva552 could you please explain any changes you made to the setup process to make it work?
Build your libfranka in source mode (the version you want to use), follow https://github.com/frankaemika/libfranka to the command line "sudo dpkg -i libfranka*.deb", copy the libfranka document to polymetis/polymetis/src/clients/franka_panda_client/third_party , then cmake and make.
It just suitable for system version 5.7.2,in . System version 5.8.0 has some communication problems.

I'm on day 3 of banging my head against the wall trying to get Polymetis working on the FR3. I have definitely hit the wall of the old libfranka. I'm going to give this a go.

[Siva552]

Hi @AndreasKuhner , I just tested on robot version 5.8.1 and libfranka version 0.15.2. Gello based on polymetis worked very well . Thanks for your nice job ! Maybe this issue can be closed.

Hi @Siva552 could you please share your changes to connect to the FR3, what changes in urdf and yaml did you make? are there any other changes that one has to make to connect to FR3. It'd be incredibly helpful if you can put your fork for fr3 public. I have followed all your suggestion yet I'm not able to connect to fr3 which is crucial for me right now. thanks.

This would be quite helpful. We are running on 5.7.2 for the FR3.

Yes ,I try polymetis on franka version 5.7.1 to 5.8.2, I found 5.8.0 is not suitable for polymetis ,others are OK. you can try my answer, or email me