Regarding training a 6-axis robotic arm to perform actions

[lwx2024]

I would like to train a model that can run on a 6-axis robotic arm. How should I go about this? Can I use a depth camera mounted on the end-effector of the robotic arm to collect and return the xyzabc coordinates of each frame during data collection? What should I pay attention to, and which configuration files need to be modified?

[lwx2024]

Subsequently, I hope the model can output xyzabc in real time based on the data returned by the depth camera, so that it can control the robotic arm to perform the corresponding actions