Franka Research 3 Support

[EricMittag]

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]

Can you check if the changes in this fork work for the FR3:
f3a62c5

[EricMittag]

They work! :)

[calebescobedo]

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]

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?