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A patched and old fork of libfranka locked into version 0.9.2 for legacy hardware operation.
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README.md

libfranka: C++ library for Franka Emika research robots

Build Status codecov

With this library, you can control research versions of Franka Emika robots. See the Franka Control Interface (FCI) documentation for more information about what libfranka can do and how to set it up. The generated API documentation also gives an overview of its capabilities.

License

libfranka is licensed under the Apache 2.0 license.