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facebookresearch / fairo

A modular embodied agent architecture and platform for building embodied agents
MIT License
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Support FR3? #1408

Open architsharma97 opened 1 year ago

architsharma97 commented 1 year ago

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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 commented 1 year ago

Any updates on this?

AlexanderKhazatsky commented 1 year ago

@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 commented 1 year ago

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 commented 1 year ago

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 commented 1 year ago

@exhaustin

trevorablett commented 6 months ago

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.