ARM Demos is a collection of ROS 2 (Jazzy) applications for the Colman UR3e robotic arm platform. The suite demonstrates real-time hand gesture control via MediaPipe and OAK-D, vision-guided pick-and-place using AprilTag detection and a vacuum gripper, and eye-in-hand camera calibration workflows. All packages are managed with Pixi for fully reproducible environments on Linux.Documentation Index
Fetch the complete documentation index at: https://mintlify.com/MRRP-lab/arm-demos/llms.txt
Use this file to discover all available pages before exploring further.
Introduction
Learn what ARM Demos includes and how the packages fit together.
Quickstart
Clone the repo, build the workspace, and run your first demo in minutes.
Environment setup
Install Pixi, set up the ROS 2 Jazzy workspace, and prepare your development environment.
Hardware setup
Connect the UR3e robot, OAK-D camera, and vacuum gripper for real robot operation.
Demos
Hand tracking
Control the arm in real time using hand gestures detected by MediaPipe.
Pick and place
Autonomously pick objects located with AprilTag markers and vacuum gripper.
Eye-in-hand calibration
Calibrate the wrist-mounted OAK-D camera relative to the end-effector.
Packages
colman_bringup
Launch files and bringup configurations for the full robot stack.
colman_motion
MoveIt 2 motion planning nodes for pick-and-place and hand-eye calibration.
colman_perception
Camera publishing, AprilTag detection, and YOLO object segmentation nodes.
colman_description
URDF/Xacro robot description files and controller configurations.