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Franka Control Interface (FCI)
The Franka Control Interface (FCI) allows a fast and direct low-level bidirectional connection to the Arm and Hand. It provides the current status of the robot and enables its direct control.
Even though the FCI allows for programmatic access (C++) onto the robot, this interface is not suitable for creating complex applications as it requires client code to execute in a 1khz "real-time" loop.
Overview, tutorial and install instructions of Franka Control Interface