Hi Jean, thanks for the great package. Upon trying to unlock the FR3, I get the following error:
Traceback (most recent call last):
File "<stdin>", line 1, in <module>
File "/path/to/python3.10/site-packages/panda_py/__init__.py", line 113, in unlock
self._request('post',
File "/path/to/python3.10/site-packages/panda_py/__init__.py", line 312, in _request
raise ConnectionError(response.text)
ConnectionError: <!DOCTYPE html>
<html>
<head>
<title>Not found</title>
</head>
<body>
<code>No handler accepted "/api/robot/open-brakes"</code>
</body></html>
I've downloaded the wheel associated with libfranka version 0.13.2 for python 3.10. My guess is that the API call might be different between the Panda and the FR3? By examining the API calls sent out from the web GUI, I can successfully unlock the robot with the following change to __init__.py:
def lock(self, force: bool = True) -> None:
"""
Locks the brakes. API call blocks until the brakes are locked.
"""
self._request('post',
'/desk/api/joints/lock',
files={'force': force})
def unlock(self, force: bool = True) -> None:
"""
Unlocks the brakes. API call blocks until the brakes are unlocked.
"""
self._request('post',
'/desk/api/joints/unlock',
files={'force': force},
headers={'X-Control-Token': self._token.token})
If there is indeed a difference between the FER and FR3 interfaces, then perhaps the Desk object can just take an additional flag that indicates which platform the user has. I've opened a PR with those changes for your review.
Hi Jean, thanks for the great package. Upon trying to unlock the FR3, I get the following error:
I've downloaded the wheel associated with
libfranka
version0.13.2
forpython
3.10. My guess is that the API call might be different between the Panda and the FR3? By examining the API calls sent out from the web GUI, I can successfully unlock the robot with the following change to__init__.py
:If there is indeed a difference between the
FER
andFR3
interfaces, then perhaps theDesk
object can just take an additional flag that indicates which platform the user has. I've opened a PR with those changes for your review.