Changed two accidentially updated libfranka version strings back to 0.15.0

Author: TimSchneider42

CMakeLists.txt

@@ -28,7 +28,7 @@ if (${Franka_VERSION} VERSION_GREATER_EQUAL "0.10.0")
     add_compile_definitions(FRANKA_0_10)
 endif ()
 
-if (${Franka_VERSION} VERSION_GREATER_EQUAL "0.15.3")
+if (${Franka_VERSION} VERSION_GREATER_EQUAL "0.15.0")
     add_compile_definitions(FRANKA_0_15)
 endif ()
 

README.md

@@ -424,7 +424,7 @@ ee_pose_kin = robot.model.pose(Frame.EndEffector, q, f_t_ee, ee_t_k)
 jacobian = robot.model.body_jacobian(Frame.EndEffector, state)
 
 # Alternatively, just get the URDF as a string and do the kinematics computation yourself (only
-# for libfranka >= 0.15.3)
+# for libfranka >= 0.15.0)
 urdf_model = robot.model_urdf
 ```