{"id":417,"date":"2025-04-29T01:30:00","date_gmt":"2025-04-29T01:30:00","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamc\/?page_id=417"},"modified":"2025-12-11T18:48:05","modified_gmt":"2025-12-11T18:48:05","slug":"software","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamc\/software\/","title":{"rendered":"Software"},"content":{"rendered":"\n
\n\n\n\n

Dependencies<\/h2>\n\n\n\n

Our software stack is built upon the FrankaPy library developed by the Carnegie Mellon Intelligent Autonomous Manipulation Lab. Specifically, we are using the ROS2 Humble branch. Additionally, we have dependencies on the ROS2 RealSense package. Table 1 contains the link to each of these dependencies, including the installation instructions.<\/p>\n\n\n\n

FrankaPy<\/td>FrankaPy<\/a><\/td><\/tr>
Franka-Interface (Server side of FrankaPy)<\/td>Franka-Interface<\/a><\/td><\/tr>
Realsense ROS2<\/td>Realsense-ROS<\/a><\/td><\/tr>
ROS2 Humble<\/td>ROS2<\/a><\/td><\/tr><\/tbody><\/table>
Table 1: Software Dependencies Installation Instructions<\/figcaption><\/figure>\n\n\n\n
\n\n\n\n

SNAAK Software<\/h2>\n\n\n\n

All software for the SNAAK project is located in a GitHub organization, the link to which will be atop Table 2. There are numerous repositories in this organization, one for each subsystem. Each repository contains one specific ROS2 package. Table 2 contains a list of all the needed packages, and a link to their repository. Note that the main branch of each repository will contain the latest stable version of each repository.<\/p>\n\n\n\n

Overall Organization<\/td>https:\/\/github.com\/SNAAK-CMU<\/a><\/td><\/tr>
Manipulation<\/td>https:\/\/github.com\/SNAAK-CMU\/snaak_manipulation<\/a><\/td><\/tr>
State Machine<\/td>https:\/\/github.com\/SNAAK-CMU\/snaak_state_machine<\/a><\/td><\/tr>
Pneumatic<\/td>https:\/\/github.com\/SNAAK-CMU\/snaak_pneumatic<\/a><\/td><\/tr>
Vision<\/td>https:\/\/github.com\/SNAAK-CMU\/snaak_vision<\/a><\/td><\/tr>
Hand-Eye Calibration<\/td>https:\/\/github.com\/SNAAK-CMU\/handeye_calibration_ros2<\/a><\/td><\/tr>
Weighing Scale<\/td>https:\/\/github.com\/SNAAK-CMU\/snaak_weight_read<\/a><\/td><\/tr>
Shredded Grasp<\/td>https:\/\/github.com\/SNAAK-CMU\/snaak_shredded_grasp<\/a><\/td><\/tr>
Model-Based RL Training<\/td>https:\/\/github.com\/SNAAK-CMU\/snaak_granular_grasp<\/a><\/td><\/tr>
User Interface<\/td>https:\/\/github.com\/SNAAK-CMU\/snaak_ui<\/a><\/td><\/tr><\/tbody><\/table>
Table 2: GitHub Repositories for the SNAAK System.<\/figcaption><\/figure>\n\n\n\n

To run the system, follow the below instructions:<\/p>\n\n\n\n

    \n
  1. Install all dependencies<\/li>\n\n\n\n
  2. From the documents folder, create a new ROS2 workspace inside and src folder<\/li>\n\n\n\n
  3. Clone all repositories in Table 2 inside the src folder<\/li>\n\n\n\n
  4. Build the workspace using “colcon build”<\/li>\n\n\n\n
  5. Copy “snaak_launch.bash” from the snaak_state_machine package to the Documents folder<\/li>\n\n\n\n
  6. Run “.\/snaak_launch.bash –start-frankapy”<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"

    Dependencies Our software stack is built upon the FrankaPy library developed by the Carnegie Mellon Intelligent Autonomous Manipulation Lab. Specifically, we are using the ROS2 Humble branch. Additionally, we have dependencies on the ROS2 RealSense package. Table 1 contains the […]<\/p>\n","protected":false},"author":397,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"page-templates\/page_fullwidth.php","meta":{"footnotes":""},"class_list":["post-417","page","type-page","status-publish","hentry","clearfix"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamc\/wp-json\/wp\/v2\/pages\/417","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamc\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamc\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamc\/wp-json\/wp\/v2\/users\/397"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamc\/wp-json\/wp\/v2\/comments?post=417"}],"version-history":[{"count":8,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamc\/wp-json\/wp\/v2\/pages\/417\/revisions"}],"predecessor-version":[{"id":551,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamc\/wp-json\/wp\/v2\/pages\/417\/revisions\/551"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamc\/wp-json\/wp\/v2\/media?parent=417"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}