<commit_before># libfranka: FRANKA EMIKA Research Interface C++ library

The Research Interface allows for direct access to the FRANKA EMIKA robot. Using libfranka, you can connect to the robot, query its current state and provide your own controllers and motion generators.

When using libfranka, a typical program structure will use a loop:

    #include <franka/robot.h>
    
    ...
 
    franka::Robot robot(robot_ip);

    while (robot.waitForRobotState()) {
      const franka::RobotState& robot_state = robot.getRobotState();
      // Send commands
    }

Samples showcasing different libfranka usecases can be found in the example folder.
<commit_msg>README: Minor changes.<commit_after># libfranka: FRANKA EMIKA Research Interface C++ library

The Research Interface allows for direct access to the FRANKA EMIKA robot. Using `libfranka`, you can connect to the robot, query its current state and provide your own controllers and motion generators.

When using `libfranka`, a typical program structure will use a loop:

```cpp
#include <franka/robot.h>

// ...

franka::Robot robot(robot_hostname);

while (robot.waitForRobotState()) {
  const franka::RobotState& robot_state = robot.getRobotState();
  // Send commands
}
```

Samples showcasing different `libfranka` usecases can be found in the `examples` folder.

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