UFACTORY Vision Based Grasping Demo

ufactory_vision

Project Overview

ufactory_vision is a vision-based grasping demo project based on UFACTORY robot arms. Users can quickly implement vision-based object detection and grasping with this project.

Hardware Requirements

Hardware Configuration for Example Scripts

Robot Arm Model	Camera Model	End Effector
xArm 5/6/7 or 850	Intel Realsense D435/D555, Luxonis OAK-D-Pro-PoE	UFACTORY GripperG1/G2
Lite 6	Intel Realsense D435 / Luxonis OAK-D-Pro-PoE	Vacuum Gripper Lite

• Configuration with Intel Realsense D435 Camera: Readme
• Configuration with Intel Realsense D555 Camera: Readme
• Configuration with Luxonis OAK-D-Pro-PoE Camera: Readme

Videos

• Customized 850 + Realsense D555 + UFACTORY Gripper G2

  
  

• xArm6 + Realsense D435 + UFACTORY Gripper G1

  
  

• Lite6 + Luxonis OAK-D-Pro-PoE + Vacuum Gripper Lite

  
  

Important Notes

• TCP/Coordinate Offset: Do not set TCP offset or coordinate offset, otherwise you may need to fine-tune the code.
• TCP Payload: Set TCP payload to avoid false collision detection.
• Collision Detection: Before running the example, ensure that collision detection is enabled. It is recommended to set the collision sensitivity to 3 or higher.

License

This project is licensed under the BSD 3-Clause License. For details, please check the LICENSEfile.

Acknowledgements

Our demo project is built based on the following open-source projects:

• GGCNN
• ggcnn_kinova_grasping