Usage with FR3v2

[FarStryke21]

How do we use this package with the fr3v2 description robots. The franka_description repo gives two files for the fr3. For those using the v2 robot, how do we simulate and control it with moveit?

[AndreasKuhner]

Hi @FarStryke21 ,
technically, franka_description has also the fr3v2 robot as type. So you can just use that.

Yet, for simulation... it doesn't really matter if it is the fr3 or fr3v2 - there are some under-the-hood changes which are not reflected/important for the simulation.

Cheers,
Andreas

[FarStryke21]

Hi @AndreasKuhner ,

Thanks for the update. I am currently building a simulation using the FR3v2 (what I have in my lab) in Isaac Sim. For basic motion validation, I was hoping to quickly use MoveIt's servo packages to test out the system. That has proven to be a bigger headache, primarily due to MoveIt's structuring.

Are there any examples/demos I can refer to for addressing this?

Coming back to my original question, I was hoping to seamlessly swap between the sim to hardware when testing stuff out. Do you mean to say that the provided fr3's moveit files can directly be used with the fr3v2 as they are the same from a software POV?

Thanks,
Aman

[AndreasKuhner]

Do you mean to say that the provided fr3's moveit files can directly be used with the fr3v2 as they are the same from a software POV?

Correct. From the outside (aka the URDF), a v1 and v2 is the same.

Are there any examples/demos I can refer to for addressing this?

Not from our side - I am also not familiar with the servo package :) Maybe someone else in the community has an idea?

Cheers,
Andreas