Arm Demos Documentation

Arm Demos is a ROS 2 project to demonstrate the capabilities of the UR3e robotic arm. The goal of this project is to have fun, safe, and interactive robotics demonstrations, as well as to provide a working baseline for future development with the UR3e.

Features

  • Robot motion planning with inverse kinematics and collision avoidance using MoveIt, TRAC-IK, and OMPL.

  • Human hand motion and gesture imitation using Google MediaPipe Hand Landmarker and OpenCV.

Libraries

  • ROS 2: Node system for programming robots

  • MoveIt 2 (TRAC-IK, OMPL): Motion planning

  • DepthAI SDK: Camera streaming

  • Google MediaPipe Hand Landmarker: Hand video to joint coordinates

  • OpenCV: Camera stream and landmark view

Requirements

  • A host computer.

  • A Universal Robots UR3e robotic arm, connected with ethernet.

  • A Luxonis OAK-D Pro camera, connected with high-speed USB3.

Getting Started

  • Installation

    • Instructions to set up the arm demos repository

  • Camera Connection

    • Instructions to connect to an OAK-D camera for hand tracking

  • Development

    • Instructions for working in the project’s development environment

  • Usage

    • Instructions to run the included tools and demos