Hi Caio,
I don't know if [this already working setup](
http://www.theconstructsim.com/smart-grasping-system-simulation-available-on-ros-development-studio/) made by Shadow Robot can be useful for you. It uses a Kinect + UR5 + Shadow Hand
It works online and you have everything working already, including Python API for grasping. Of course you can modify it at will.
Cheers
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