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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.

FCI Documentation

Overview, tutorial and install instructions of Franka Control Interface



C++ library for Franka Emika research robots

Source code API documentation


ROS integration for Franka Emika research robots, including support for MoveIt! and ROS Control

Source code ROS wiki

System updates