62 * IEEE ROBOTICS & AUTOMATION MAGAZINE * JUNE 2022 Real-Time Non Real-Time Franka Operating System Internal Services Core Robot Control Task Execution Robot Service Gripper Service fci_learning_tutorial plug_in_learning_fci_app race-com APP plug_in_learning_fci Pilot Service FCI 1 kHz External Services 1-kHz Control FCI FCI Service RT Patch libfranka Learning Service FSI plug_in_fci_app fci_tutorial APP ICON plug_in_fci race-com Figure 10. An overview of the hardware and software architecture for the learning example with a custom FCI controller.