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At the present moment, it isn't any "official" Java-based client framework for the NGSI API implemented by Orion Context Broker. Some users have developed their own (e.g. https://github.com/jonaslins/fiwareOrionLibrary) but we don't know about their maturity or if they are mantained or not. I'd suggest your contact these users directly.

You could use generic REST client frameworks in Java (you could have a look to this question at SOF for some alternatives). Maybe the following package from Cygnus (which acts as REST client to interact with Orion and CKAN) could be useful: https://github.com/telefonicaid/fiware-cygnus/tree/develop/cygnus-common/src/main/java/com/telefonica/iot/cygnus/backends/http