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jk-ethz / franka_lock_unlock

Lock or unlock the Franka Emika Panda joint brakes and enable the FCI programmatically.
GNU Affero General Public License v3.0
14 stars 7 forks source link

Franka Research 3 Support #5

Open EricMittag opened 1 year ago

EricMittag commented 1 year ago

Is the Franka Research 3 supported? Login and requesting / getting control does work but unlocking ends with error: No handler accepted "/api/robot/open-brakes"

Thanks for the package and further help!

jk-ethz commented 1 year ago

Can you check if the changes in this fork work for the FR3: https://github.com/jk-ethz/franka_lock_unlock/commit/f3a62c5dd2fa8bc2a15c462df98887f41f670401

EricMittag commented 1 year ago

They work! :)

calebescobedo commented 9 months ago

I needed to change the FR3 '_lock_unlock' function to have the following line for it to work for me

 action = self._session.post(urljoin(self._hostname, f'/desk/api/joints/{"unlock" if unlock else "lock"}'), \
                                                        files={'force': force},
                                                        headers={'X-Control-Token': self._token})
jk-ethz commented 9 months ago

I needed to change the FR3 '_lock_unlock' function to have the following line for it to work for me

 action = self._session.post(urljoin(self._hostname, f'/desk/api/joints/{"unlock" if unlock else "lock"}'), \
                                                        files={'force': force},
                                                        headers={'X-Control-Token': self._token})

Interesting, so they changed the API calls once again. Which Franka system version are you on?