ufactory_vision

Project Overview

ufactory_vision is a vision-based grasping demo based on UFACTORY xArm 6 and Intel Realsense D435 camera. Users can quickly implement vision-based object detection and grasping with this project.

Hardware Requirements

This project requires the following hardware:

• Robot Arm: UFACTORY xArm 6
• Gripper: UFACTORY xArm Gripper
• Camera: Intel RealSense D435
• Camera Mount: Provided by UFACTORY (available for purchase or 3D printing)
  • Purchase Link: UFACTORY Camera Stand
  • 3D File Download: Camera_Stand_1300.STEP

Supported Python Versions

Supported Python versions: 3.8-3.11 (Recommended: 3.11).

Installation

Clone the repository

git clone https://github.com/xArm-Developer/ufactory_vision.git

Create a Python Virtual Environment

It is recommended to use a virtual environment for running this project.

Windows (Using Anaconda)

conda create --name ufactory_vision python=3.11
conda activate ufactory_vision

Linux (Using venv)

python3.11 -m venv ufactory_vision
source ufactory_vision/bin/activate

Install dependencies

cd ggcnn_grasping_demo
pip install -r requirements_rs.txt

Run Example

python run_rs_grasp.py 192.168.1.xxx

Replace 192.168.1.xxx with the IP address of the controller.

Important Notes

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 LICENSE file.