diff --git a/patch/ros-humble-libfranka.patch b/patch/ros-humble-libfranka.patch
deleted file mode 100644
index 443b6e8d2..000000000
--- a/patch/ros-humble-libfranka.patch
+++ /dev/null
@@ -1,22 +0,0 @@
-From 0eba7a396c5fce06f220f023608715bd119ec5d9 Mon Sep 17 00:00:00 2001
-From: Silvio Traversaro <silvio@traversaro.it>
-Date: Sat, 2 Aug 2025 15:12:14 +0200
-Subject: [PATCH] Fix compilation with Poco >= 1.12
-
----
- test/mock_server.cpp | 2 +-
- 1 file changed, 1 insertion(+), 1 deletion(-)
-
-diff --git a/test/mock_server.cpp b/test/mock_server.cpp
-index 1cc7edac..6f4fb3c6 100644
---- a/test/mock_server.cpp
-+++ b/test/mock_server.cpp
-@@ -116,7 +116,7 @@ void MockServer<C>::serverThread() {
-                            : typename C::Connect::Response(C::Connect::Status::kSuccess);
-       });
- 
--  Poco::Net::DatagramSocket udp_socket({kHostname, 0});
-+  Poco::Net::DatagramSocket udp_socket({kHostname, 0}, /*reuseAddress*/ false);
-   udp_socket.setBlocking(true);
-   Socket udp_socket_wrapper;
-   udp_socket_wrapper.sendBytes = [&](const void* data, size_t size) {
diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml
index df6cf7eb0..4b4e497f7 100644
--- a/pkg_additional_info.yaml
+++ b/pkg_additional_info.yaml
@@ -66,6 +66,11 @@ librealsense2:
   generate_dummy_package_with_run_deps:
     dep_name: librealsense
     max_pin: 'x.x'
+libfranka:
+  generate_dummy_package_with_run_deps:
+    dep_name: libfranka
+    max_pin: 'x.x.x'
+  build_number: 14
 ignition_cmake2_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
 ignition_math6_vendor:
diff --git a/vinca.yaml b/vinca.yaml
index 206577454..cc4d10d4d 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -454,3 +454,8 @@ packages_select_by_deps:
       # robotique grippers
       - robotiq_description
       - robotiq_controllers
+
+      # mocap4r2
+      - mocap4r2_control
+      - mocap4r2_control_msgs
+