Changed franky to a lower-case spelling in readme

Author: TimSchneider42

README.md

@@ -26,15 +26,15 @@
   </a>
 </p>
 
-Franky is a high-level control library for Franka robots offering Python and C++ support.
-By providing a high-level control interface, Franky eliminates the need for strict real-time programming at 1 kHz,
+franky is a high-level control library for Franka robots offering Python and C++ support.
+By providing a high-level control interface, franky eliminates the need for strict real-time programming at 1 kHz,
 making control from non-real-time environments, such as Python programs, feasible.
-Instead of relying on low-level control commands, Franky expects high-level position or velocity targets and
+Instead of relying on low-level control commands, franky expects high-level position or velocity targets and
 uses [Ruckig](https://github.com/pantor/ruckig) to plan time-optimal trajectories in real-time.
 
-Although Python does not provide real-time guarantees, Franky strives to maintain as much real-time control as possible.
-Motions can be preempted at any moment, prompting Franky to re-plan trajectories on the fly.
-To handle unforeseen situations—such as unexpected contact with the environment — Franky includes a reaction system that
+Although Python does not provide real-time guarantees, franky strives to maintain as much real-time control as possible.
+Motions can be preempted at any moment, prompting franky to re-plan trajectories on the fly.
+To handle unforeseen situations—such as unexpected contact with the environment — franky includes a reaction system that
 allows to update motion commands dynamically.
 Furthermore, most non-real-time functionality of [libfranka](https://frankaemika.github.io/docs/libfranka.html), such as
 Gripper control is made directly available in Python.
@@ -50,13 +50,13 @@ at [https://timschneider42.github.io/franky/](https://timschneider42.github.io/f
   No more endless hours setting up ROS, juggling packages, or untangling dependencies. Just `pip install` — no ROS at all.
 
 - **[Four control modes](#motion-types)**: [Cartesian position](#cartesian-position-control), [Cartesian velocity](#cartesian-velocity-control), [Joint position](#joint-position-control), [Joint velocity](#joint-velocity-control)
-  Franky uses [Ruckig](https://github.com/pantor/ruckig) to generate smooth, time-optimal trajectories while respecting velocity, acceleration, and jerk limits.
+  franky uses [Ruckig](https://github.com/pantor/ruckig) to generate smooth, time-optimal trajectories while respecting velocity, acceleration, and jerk limits.
 
 - **[Real-time control from Python and C++](#real-time-motions)**
-  Need to change the target while the robot’s moving? No problem. Franky re-plans trajectories on the fly so that you can preempt motions anytime.
+  Need to change the target while the robot’s moving? No problem. franky re-plans trajectories on the fly so that you can preempt motions anytime.
 
 - **[Reactive behavior](#-real-time-reactions)**
-  Robots don’t always go according to plan. Franky lets you define reactions to unexpected events—like contact with the environment — so you can change course in real-time.
+  Robots don’t always go according to plan. franky lets you define reactions to unexpected events—like contact with the environment — so you can change course in real-time.
 
 - **[Motion and reaction callbacks](#motion-callbacks)**
   Want to monitor what’s happening under the hood? Add callbacks to your motions and reactions. They won’t block the control thread and are super handy for debugging or logging.
@@ -65,11 +65,11 @@ at [https://timschneider42.github.io/franky/](https://timschneider42.github.io/f
   Adjust max velocity, acceleration, and jerk to match your setup or task. Fine control for smooth, safe operation.
 
 - **Full Python access to the libfranka API**
-  Want to tweak impedance, read the robot state, set force thresholds, or mess with the Jacobian? Go for it. If libfranka supports it, chances are Franky does, too.
+  Want to tweak impedance, read the robot state, set force thresholds, or mess with the Jacobian? Go for it. If libfranka supports it, chances are franky does, too.
 
 ## 📖 Python Quickstart Guide
 
-Real-time kernel already installed and real-time permissions granted? Just install Franky via
+Real-time kernel already installed and real-time permissions granted? Just install franky via
 
 ```bash
 pip install franky-control
@@ -98,19 +98,19 @@ If you are seeing server version mismatch errors, such as
 franky.IncompatibleVersionException: libfranka: Incompatible library version (server version: 5, library version: 9)
 ```
 then your Franka robot is either not on the most recent firmware version or you are using the older Franka Panda model.
-In any case, it's no big deal; just check [here](https://frankaemika.github.io/docs/compatibility.html) which libfranka version you need and follow our [instructions](installing-frankly) to install the appropriate Franky wheels.
+In any case, it's no big deal; just check [here](https://frankaemika.github.io/docs/compatibility.html) which libfranka version you need and follow our [instructions](installing-frankly) to install the appropriate franky wheels.
 
 ## <a id="setup" /> ⚙️ Setup
 
-To install Franky, you have to follow three steps:
+To install franky, you have to follow three steps:
 
 1. Ensure that you are using a realtime kernel
 2. Ensure that the executing user has permission to run real-time applications
-3. Install Franky via pip or build it from source
+3. Install franky via pip or build it from source
 
 ### Installing a real-time kernel
 
-In order for Franky to function properly, it requires the underlying OS to use a realtime kernel.
+In order for franky to function properly, it requires the underlying OS to use a realtime kernel.
 Otherwise, you might see `communication_constrains_violation` errors.
 
 To check whether your system is currently using a real-time kernel, type `uname -a`.
@@ -130,7 +130,7 @@ or, if you are using Ubuntu, it can be [enabled through Ubuntu Pro](https://ubun
 
 ### Allowing the executing user to run real-time applications
 
-First, create a group `realtime` and add your user (or whoever is running Franky) to this group:
+First, create a group `realtime` and add your user (or whoever is running franky) to this group:
 
 ```bash
 sudo addgroup realtime
@@ -159,9 +159,9 @@ $ groups
 
 If realtime is not listed in your groups, try rebooting.
 
-### Installing Franky
+### Installing franky
 
-To start using Franky with Python and libfranka *0.15.0*, just install it via
+To start using franky with Python and libfranka *0.15.0*, just install it via
 
 ```bash
 pip install franky-control
@@ -181,7 +181,7 @@ pip install --no-index --find-links=./dist franky-control
 
 ### Using Docker
 
-To use Franky within Docker we provide a [Dockerfile](docker/run/Dockerfile) and
+To use franky within Docker we provide a [Dockerfile](docker/run/Dockerfile) and
 accompanying [docker-compose](docker-compose.yml) file.
 
 ```bash
@@ -205,7 +205,7 @@ docker compose run franky-run bash
 The container requires access to the host machines network *and* elevated user rights to allow the docker user to set RT
 capabilities of the processes run from within it.
 
-### Can I use CUDA jointly with Franky?
+### Can I use CUDA jointly with franky?
 
 Yes. However, you need to set `IGNORE_PREEMPT_RT_PRESENCE=1` during the installation and all subsequent updates of the CUDA drivers on the real-time kernel.
 
@@ -231,15 +231,15 @@ Alternatively, if you are a cowboy and do not care about security, you can also
 bash <(wget -qO- https://raw.githubusercontent.com/timschneider42/franky/master/tools/install_cuda_realtime.bash)
 ```
 
-### Building Franky
+### Building franky
 
-Franky is based on [libfranka](https://github.com/frankaemika/libfranka), [Eigen](https://eigen.tuxfamily.org) for
+franky is based on [libfranka](https://github.com/frankaemika/libfranka), [Eigen](https://eigen.tuxfamily.org) for
 transformation calculations and [pybind11](https://github.com/pybind/pybind11) for the Python bindings.
 As the Franka is sensitive to acceleration discontinuities, it requires jerk-constrained motion generation, for which
-Franky uses the [Ruckig](https://ruckig.com) community version for Online Trajectory Generation (OTG).
+franky uses the [Ruckig](https://ruckig.com) community version for Online Trajectory Generation (OTG).
 
 After installing the dependencies (the exact versions can be found [here](#-development)), you can build and install
-Franky via
+franky via
 
 ```bash
 git clone --recurse-submodules git@github.com:timschneider42/franky.git
@@ -251,10 +251,10 @@ make
 make install
 ```
 
-To use Franky, you can also include it as a subproject in your parent CMake via `add_subdirectory(franky)` and then
+To use franky, you can also include it as a subproject in your parent CMake via `add_subdirectory(franky)` and then
 `target_link_libraries(<target> franky)`.
 
-If you need only the Python module, you can install Franky via
+If you need only the Python module, you can install franky via
 
 ```bash
 pip install .
@@ -263,9 +263,9 @@ pip install .
 Make sure that the built library `_franky.cpython-3**-****-linux-gnu.so` is in the Python path, e.g. by adjusting
 `PYTHONPATH` accordingly.
 
-#### Building Franky with Docker
+#### Building franky with Docker
 
-For building Franky and its wheels, we provide another Docker container that can also be launched using docker-compose:
+For building franky and its wheels, we provide another Docker container that can also be launched using docker-compose:
 
 ```bash
 docker compose build franky-build
@@ -275,7 +275,7 @@ docker compose run --rm franky-build build-wheels  # To build wheels for all sup
 
 ## 📚 Tutorial
 
-Franky comes with both a C++ and Python API that differ only regarding real-time capability.
+franky comes with both a C++ and Python API that differ only regarding real-time capability.
 We will introduce both languages next to each other.
 In your C++ project, just include `include <franky.hpp>` and link the library.
 For Python, just `import franky`.
@@ -338,7 +338,7 @@ In all cases, distances are in [m] and rotations in [rad].
 
 ### 🤖 Robot
 
-Franky exposes most of the libfanka API for Python.
+franky exposes most of the libfanka API for Python.
 Moreover, we added methods to adapt the dynamics limits of the robot for all motions.
 
 ```python
@@ -434,10 +434,10 @@ and [Model](https://timschneider42.github.io/franky/classfranky_1_1_model.html)
 
 ### <a id="motion-types" /> 🏃‍♂️ Motion Types
 
-Franky currently supports four different impedance control modes: **joint position control**, **joint velocity control**, **cartesian position control**, and **cartesian velocity control**.
+franky currently supports four different impedance control modes: **joint position control**, **joint velocity control**, **cartesian position control**, and **cartesian velocity control**.
 Each of these control modes is invoked by passing the robot an appropriate _Motion_ object.
 
-In the following, we provide a brief example for each motion type implemented by Franky in Python.
+In the following, we provide a brief example for each motion type implemented by franky in Python.
 The C++ interface is generally analogous, though some variable and method names are different because we
 follow [PEP 8](https://peps.python.org/pep-0008/) naming conventions in Python
 and [Google naming conventions](https://google.github.io/styleguide/cppguide.html) in C++.
@@ -901,7 +901,7 @@ For Franka robots, control happens via the Franka Control Interface (FCI), which
 The Franka UI also provides methods for locking and unlocking the brakes, setting the execution mode, and executing the safety self-test.
 However, sometimes you may want to access these methods programmatically, e.g. for automatically unlocking the brakes before starting a motion, or automatically executing the self-test after 24h of continuous execution.
 
-For that reason, Franky provides a `RobotWebSession` class that allows you to access the web interface API of the robot.
+For that reason, franky provides a `RobotWebSession` class that allows you to access the web interface API of the robot.
 Note that directly accessing the web interface API is not officially supported and documented by Franka.
 Hence, use this feature at your own risk.
 
@@ -972,7 +972,7 @@ See [robot_web_session.py](franky/robot_web_session.py) for an example of how to
 
 ## 🛠️ Development
 
-Franky is currently tested against following versions
+franky is currently tested against following versions
 
 - libfranka 0.7.1, 0.8.0, 0.9.2, 0.10.0, 0.11.0, 0.12.1, 0.13.3, 0.14.2, 0.15.0
 - Eigen 3.4.0
@@ -985,14 +985,14 @@ Franky is currently tested against following versions
 ## 📜 License
 
 For non-commercial applications, this software is licensed under the LGPL v3.0.
-If you want to use Franky within commercial applications or under a different license, please contact us for individual
+If you want to use franky within commercial applications or under a different license, please contact us for individual
 agreements.
 
 ## 🔍 Differences to frankx
 
-Franky started originally as a fork of [frankx](https://github.com/pantor/frankx), though both codebase and
+franky started originally as a fork of [frankx](https://github.com/pantor/frankx), though both codebase and
 functionality differ substantially from frankx by now.
-Aside of bug fixes and general performance improvements, Franky provides the following new features/improvements:
+Aside of bug fixes and general performance improvements, franky provides the following new features/improvements:
 
 * [Motions can be updated asynchronously.](#-real-time-motions)
 * [Reactions allow for the registration of callbacks instead of just printing to stdout when fired.](#-real-time-reactions)
@@ -1009,7 +1009,7 @@ Aside of bug fixes and general performance improvements, Franky provides the fol
 * [The `Measure` class allows for arithmetic operations.](#-real-time-reactions)
 * Exceptions caused by libfranka are raised properly instead of being printed to stdout.
 * [We provide wheels for both Franka Research 3 and the older Franka Panda](#-setup)
-* Franky supports [joint velocity control](#joint-velocity-control)
+* franky supports [joint velocity control](#joint-velocity-control)
   and [cartesian velocity control](#cartesian-velocity-control)
 * The dynamics limits are not hard-coded anymore but can be [set for each robot instance](#-robot).
 

doc/Doxyfile

@@ -32,7 +32,7 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "Franky"
+PROJECT_NAME           = "franky"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version