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Single robotics arm to grip a box


I am currently doing a project about pick and place mission which is using a UR5 to grip a box aided with computer vision.

Below is some details about the hardware that I used:

robotics arm : UR5

camera : Realsense D345 (RGB-D camera)

end-effector: Dual finger gripper (enough to pick up the box that we want)

Right now I am able to detect the box with the RGB camera in D345. May I ask how to actually perform the final task? I have searched through the internet and most of them are using dual arm to do this task.