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The LBR-Stack is a collection of packages that simplify the usage and extendthe capabilities of KUKA's Fast Robot Interface (FRI). It is designed formission critical hard real-time applications. Supported are the KUKA LBRMed7/14 and KUKA LBR iiwa7/14 robots in the Gazebo simulation and forcommunication with real hardware.

LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots