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Update Franka Robotics resource links in README #4

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8 changes: 4 additions & 4 deletions README.md
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# franka_interactive_controllers

Control interface built on top of [franka_ros](https://frankaemika.github.io/docs/franka_ros.html) that allows to control the franka robot arm in several joint and Cartesian space impedance control schemes for interactive, safe and reactive (mostly DS-based) motion planning and learning. This low-level control interface is used and developed by/for [Prof. Nadia Figueroa](https://github.com/nbfigueroa) and her collaborators and students. Initially developed at MIT in the [Interactive Robotics Group](https://interactive.mit.edu/) continued development at the [University of Pennsylvania](https://www.seas.upenn.edu/).
Control interface built on top of [franka_ros](https://frankarobotics.github.io/docs/franka_ros/docs/index.html) that allows to control the franka robot arm in several joint and Cartesian space impedance control schemes for interactive, safe and reactive (mostly DS-based) motion planning and learning. This low-level control interface is used and developed by/for [Prof. Nadia Figueroa](https://github.com/nbfigueroa) and her collaborators and students. Initially developed at MIT in the [Interactive Robotics Group](https://interactive.mit.edu/) continued development at the [University of Pennsylvania](https://www.seas.upenn.edu/).

---
## Installation
Besides [franka_ros](https://frankaemika.github.io/docs/franka_ros.html) and by consequence [libfranka](https://github.com/frankaemika/libfranka) this package depends on several other code repositories that are robot-agnostic and useful for control and learning of motion policies from demonstrations.
Besides [franka_ros](https://frankarobotics.github.io/docs/franka_ros/docs/index.html) and by consequence [libfranka](https://github.com/frankarobotics/libfranka) this package depends on several other code repositories that are robot-agnostic and useful for control and learning of motion policies from demonstrations.

To install this repo and all its dependencies do the following steps:
* In your catkin src directory clone the repository
Expand Down Expand Up @@ -54,7 +54,7 @@ We include a list of [instructions](https://github.com/nbfigueroa/franka_interac
Following we detail instructions on how to bringup the controllers and their functionalities:

### Main Robot Launch
To bring up the standalone robot with [franka_ros](https://frankaemika.github.io/docs/franka_ros.html) without any specific controller (useful for testing -- can be included in your custom launch file):
To bring up the standalone robot with [franka_ros](https://frankarobotics.github.io/docs/franka_ros/docs/index.html) without any specific controller (useful for testing -- can be included in your custom launch file):
```bash
roslaunch franka_interactive_controllers franka_interactive_bringup.launch
```
Expand Down Expand Up @@ -139,4 +139,4 @@ Maintainer: [Nadia Figueroa](https://nbfigueroa.github.io/) (nadiafig @ seas dot
Code Contributions by: [Bilkit Githinji](https://interactive.mit.edu/about/people/bilkit), [Shen Li](https://shenlirobot.github.io/).

## Licenses
Please note that the code for some of the controllers in this repository is derived from [franka_ros](https://github.com/frankaemika/franka_ros/), specifically the [franka_example_controllers](https://github.com/frankaemika/franka_ros/tree/develop/franka_example_controllers) package which is licenced under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0.html). The remaining code in the repository is licensed under an MIT license (see LICENSE for details).
Please note that the code for some of the controllers in this repository is derived from [franka_ros](https://github.com/frankarobotics/franka_ros/), specifically the [franka_example_controllers](https://github.com/frankaemika/franka_ros/tree/develop/franka_example_controllers) package which is licenced under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0.html). The remaining code in the repository is licensed under an MIT license (see LICENSE for details).