├── README.md ├── example1-sim3D ├── IBPExample.gif ├── Initialize │ ├── BlockIcons │ │ ├── MotionPlannerIcon.png │ │ ├── ObjDetect.PNG │ │ ├── RobotToSLComm.png │ │ ├── SLToRobotComm.png │ │ ├── TaskManagerIcon.PNG │ │ └── Thumbs.db │ ├── Buses │ │ ├── loadJointTrajectoryBus.m │ │ ├── loadMotionPlannerCollisionObjectBus.m │ │ ├── loadMotionPlannerCommandBus.m │ │ ├── loadMotionPlannerResponseBus.m │ │ ├── loadMotionPlannerTaskBus.m │ │ ├── loadObjectDetectorResponseBus.m │ │ ├── loadRobotCommandBus.m │ │ ├── loadRobotFeedbackBus.m │ │ └── loadUserCommandBus.m │ ├── ConnectToRobotROS.m │ ├── Enums │ │ ├── GripperTypeEnum.m │ │ ├── ObjectTypesID.m │ │ ├── PickAndPlaceModes.m │ │ ├── TargetEnvs.m │ │ └── enumCmd.m │ ├── LoadBuses.m │ ├── RequestIP.m │ ├── RequestRobotIP.m │ ├── compilerValidation.m │ ├── exampleHelperGenerateCollisionEnviornmentInPlanner.m │ ├── generateAndTransferLaunchScriptForCamera.m │ ├── generateAndTransferLaunchScriptForUR5e.m │ ├── generateAndTransferLaunchScriptForUR5eSimGazebo.m │ ├── getGripperType.m │ ├── initRobotModelParam.m │ ├── initializeParametersForBinPickingSimulationSL.m │ ├── loadPickAndPlaceParametersSL.m │ ├── loadRobotParameters.m │ ├── openMainScript.m │ ├── selectDetectorMATFile.m │ └── urHandleClass.m ├── IntelligentBinPickingExampleWithSimulink.prj ├── MotionPlanning │ ├── Contopptraj.m │ ├── Interpolation.m │ ├── MotionPlannerCHOMP.m │ ├── exampleHelperAddGripper.m │ ├── exampleHelperApproximateCollisionBoxSpheresBinPicking.m │ ├── exampleHelperAttachPartAtEndEffector.m │ ├── exampleHelperCHOMPMotionPlanner.m │ ├── exampleHelperSelectPartForMEXPlanner.m │ ├── exampleHelperTrajectoryInterpolation.m │ └── generateMEXForPlanner.m ├── Perception │ ├── PerceptionAndLocalization.m │ ├── PoseMaskRCNNModel.m │ ├── align2ndAxis.m │ ├── align3rdAxis.m │ ├── findObjectPoses.m │ ├── generateParam.mat │ ├── loadObjectModelPointClouds.m │ ├── makePartialCloud.m │ ├── makeUVWfromCoeff.m │ ├── meshes │ │ ├── Bin_STL_Scaled.stl │ │ ├── Epick_MW_2.STL │ │ ├── IO_coupling_MW.STL │ │ ├── bellow_small.stl │ │ ├── binPickingStand_scaled.stl │ │ ├── box_part.STL │ │ ├── extention_tube.stl │ │ └── table_solid_scaled.stl │ ├── model_partial │ │ ├── g22fj53.ply │ │ ├── g22fj61.ply │ │ ├── g22fj97.ply │ │ └── g22fl09.ply │ ├── models │ │ ├── Ishape.ply │ │ ├── Ishape.stl │ │ ├── Lshape.ply │ │ ├── Lshape.stl │ │ ├── Tshape.ply │ │ ├── Tshape.stl │ │ ├── Xshape.ply │ │ ├── Xshape.stl │ │ ├── Xshape1.stl │ │ ├── borrow_tree.ply │ │ ├── borrow_tree.stl │ │ ├── borrow_tree_rs.ply │ │ ├── borrow_tree_rs.stl │ │ ├── g22fj53.stl │ │ ├── g22fj61.stl │ │ ├── g22fj97.stl │ │ ├── g22fl09.stl │ │ └── pvc_tray.stl │ └── pointCloudModels.mat ├── README.md ├── RobotConnectivity │ ├── FollowTrajectory.m │ ├── GetConfigUR.m │ ├── MotionStatusUR.m │ ├── SendJointConfig.m │ └── exampleHelperHandBackControl.m ├── SECURITY.md ├── SimulinkModel │ └── IntelligentBinPicking.slx ├── license.txt └── resources │ └── project │ ├── 3I6REvjCBznshaOd3td3ujDMHB8 │ ├── 72FMA4t6WKTqC3jCKmUcrd3Lmxwd.xml │ ├── 72FMA4t6WKTqC3jCKmUcrd3Lmxwp.xml │ ├── 9NVciEnquan_EOvx_Mrx0BD_kZkd.xml │ ├── 9NVciEnquan_EOvx_Mrx0BD_kZkp.xml │ ├── E5CvdCIVpumfzbioGg9c0d1bT9Id.xml │ ├── E5CvdCIVpumfzbioGg9c0d1bT9Ip.xml │ ├── M1-Ml-E4kLMYpXizn9CPsBsNVCgd.xml │ ├── M1-Ml-E4kLMYpXizn9CPsBsNVCgp.xml │ ├── VJ8G72eQFLnoVjv50V4bMR3QyRUd.xml │ ├── VJ8G72eQFLnoVjv50V4bMR3QyRUp.xml │ ├── Wnyk47W5EM0iScBjDMBmHrmUA0Id.xml │ ├── Wnyk47W5EM0iScBjDMBmHrmUA0Ip.xml │ ├── fH2gjQCkZt9rqGa2sHEFZyiuhDcd.xml │ └── fH2gjQCkZt9rqGa2sHEFZyiuhDcp.xml │ ├── 4tVY-WlTWDa4gXU8ank0XRaQx4E │ ├── -S-dx8eEpsEj5AZacnD0effgMtYd.xml │ ├── -S-dx8eEpsEj5AZacnD0effgMtYp.xml │ ├── 3I6REvjCBznshaOd3td3ujDMHB8d.xml │ ├── 3I6REvjCBznshaOd3td3ujDMHB8p.xml │ ├── 4X8AiNODcS1Bdm1qYD_6YEpoHggd.xml │ ├── 4X8AiNODcS1Bdm1qYD_6YEpoHggp.xml │ ├── 9AeAT34K02z3yYF438H-n7dbZ2Yd.xml │ ├── 9AeAT34K02z3yYF438H-n7dbZ2Yp.xml │ ├── 9HR2GI6fd5qMmM2GZCNu4GaPFB4d.xml │ ├── 9HR2GI6fd5qMmM2GZCNu4GaPFB4p.xml │ ├── CoLefsBX2gcpzAF5QL90JYq-UEkd.xml │ ├── CoLefsBX2gcpzAF5QL90JYq-UEkp.xml │ ├── GYhuXvkvc_toHlvsIC3ej8-cxMod.xml │ ├── GYhuXvkvc_toHlvsIC3ej8-cxMop.xml │ ├── Kd4Q15UvhBNxnLwJc6xkj92bT2sd.xml │ ├── Kd4Q15UvhBNxnLwJc6xkj92bT2sp.xml │ ├── LgSQDCctBWZLAxatRRvlc1f_g7kd.xml │ ├── LgSQDCctBWZLAxatRRvlc1f_g7kp.xml │ ├── PMQJNDbPVWKMA5R6nFZhYMAuGO0d.xml │ ├── PMQJNDbPVWKMA5R6nFZhYMAuGO0p.xml │ ├── YJd7oBp7LmHgynUFeMS9-cDCMakd.xml │ ├── YJd7oBp7LmHgynUFeMS9-cDCMakp.xml │ ├── Z2e0ukGRLFqr08Wpph9SBNXeD-Ud.xml │ ├── Z2e0ukGRLFqr08Wpph9SBNXeD-Up.xml │ ├── ZgGT-82gTxPcTtgeji3OECnXLHMd.xml │ ├── ZgGT-82gTxPcTtgeji3OECnXLHMp.xml │ ├── _v15P46GpooOn6O9556mMu892D4d.xml │ ├── _v15P46GpooOn6O9556mMu892D4p.xml │ ├── aO1NTZhvMpku1PG0KUUfzqlJbXsd.xml │ ├── aO1NTZhvMpku1PG0KUUfzqlJbXsp.xml │ ├── b-iRK73CyPQc-UXTyT_Xu6XMCz8d.xml │ ├── b-iRK73CyPQc-UXTyT_Xu6XMCz8p.xml │ ├── bmQP4SVhmaVTOF6mlR4qi2FSc8wd.xml │ ├── bmQP4SVhmaVTOF6mlR4qi2FSc8wp.xml │ ├── nR5V4dqigP-HbAgBdFwIkycMemkd.xml │ ├── nR5V4dqigP-HbAgBdFwIkycMemkp.xml │ ├── utWQ_YvGKF9SVRv0TUJXCocqE-gd.xml │ ├── utWQ_YvGKF9SVRv0TUJXCocqE-gp.xml │ ├── zMHw1dzfRaLUwXGSV_bNmgEYcYQd.xml │ ├── zMHw1dzfRaLUwXGSV_bNmgEYcYQp.xml │ ├── z_NGk4f6-633A0LsJP5P6aJe_L8d.xml │ └── z_NGk4f6-633A0LsJP5P6aJe_L8p.xml │ ├── 6xhH2l9GP9loT6TdFn_Mo65sDHg │ ├── P8PSrqcBHMbGhqD2r1d9oc0h3TUd.xml │ └── P8PSrqcBHMbGhqD2r1d9oc0h3TUp.xml │ ├── 9AeAT34K02z3yYF438H-n7dbZ2Y │ ├── 7aJdnpcDAzJuOU2lMgNctXm4C0cd.xml │ ├── 7aJdnpcDAzJuOU2lMgNctXm4C0cp.xml │ ├── 8_YuVD_QYl0zxYfUQaMr0jNcxvQd.xml │ ├── 8_YuVD_QYl0zxYfUQaMr0jNcxvQp.xml │ ├── L3dZVJi9Y8bCGFx-AwgUtXGd408d.xml │ ├── L3dZVJi9Y8bCGFx-AwgUtXGd408p.xml │ ├── UnqjQos_yA4qZkdUcHpWxHHKhc4d.xml │ ├── UnqjQos_yA4qZkdUcHpWxHHKhc4p.xml │ ├── kIbjz43yLLWh7b8oAtmNTWHwSu0d.xml │ ├── kIbjz43yLLWh7b8oAtmNTWHwSu0p.xml │ ├── vOxF6Fkq-jFP2BxW2kfoVrPmmgsd.xml │ └── vOxF6Fkq-jFP2BxW2kfoVrPmmgsp.xml │ ├── EEtUlUb-dLAdf0KpMVivaUlztwA │ ├── 0w4gwhmac2HTkQFKsAXW4WZ1QRMd.xml │ ├── 0w4gwhmac2HTkQFKsAXW4WZ1QRMp.xml │ ├── 1kpvqxTZuOsf0A6mZhO_PWuh5RAd.xml │ ├── 1kpvqxTZuOsf0A6mZhO_PWuh5RAp.xml │ ├── 9snjPFAmdamzqi02R0PYMEYxdPId.xml │ ├── 9snjPFAmdamzqi02R0PYMEYxdPIp.xml │ ├── HMZo94Ya75IyzBnqh64svuYVoUwd.xml │ ├── HMZo94Ya75IyzBnqh64svuYVoUwp.xml │ ├── Isj0004YnyVmbOW5rmsYIvSc3NQd.xml │ ├── Isj0004YnyVmbOW5rmsYIvSc3NQp.xml │ ├── Osxuk0lKQGwc-8iqBKSo-6B66Ekd.xml │ ├── Osxuk0lKQGwc-8iqBKSo-6B66Ekp.xml │ ├── ZQMn9H6DGDpNaJ3JcI05HjD6AE0d.xml │ ├── ZQMn9H6DGDpNaJ3JcI05HjD6AE0p.xml │ ├── fk9sG0ZjGZCqIuumBLStiQvOpy0d.xml │ ├── fk9sG0ZjGZCqIuumBLStiQvOpy0p.xml │ ├── nNTvW2gO8UhVWfbnfBJAC91AodEd.xml │ ├── nNTvW2gO8UhVWfbnfBJAC91AodEp.xml │ ├── rEZU34PuBGu39lG-GYUhQh8FBdUd.xml │ ├── rEZU34PuBGu39lG-GYUhQh8FBdUp.xml │ ├── vVJGYsgy7S7rL6Cqg-nCbuCooO0d.xml │ └── vVJGYsgy7S7rL6Cqg-nCbuCooO0p.xml │ ├── GN8WLzCAPoKXTGJM9QnIg9vPeQU │ ├── 081r8t38_C7fBqcAM5K0JI7T_DUd.xml │ ├── 081r8t38_C7fBqcAM5K0JI7T_DUp.xml │ ├── 3nw8iRHOc-2p1xaR--rSJMPexzId.xml │ ├── 3nw8iRHOc-2p1xaR--rSJMPexzIp.xml │ ├── Dc14Rb4g7fFW6KFfIJprQAXl-Eod.xml │ ├── Dc14Rb4g7fFW6KFfIJprQAXl-Eop.xml │ ├── EB-PgcdX53C7vc4S-YtDYoeo2VAd.xml │ ├── EB-PgcdX53C7vc4S-YtDYoeo2VAp.xml │ ├── I_7d6AtGnFFY6LYM41teepFYbwUd.xml │ ├── I_7d6AtGnFFY6LYM41teepFYbwUp.xml │ ├── LtQ8xStAT9QZ_0PW8C0wZ_MAoiAd.xml │ ├── LtQ8xStAT9QZ_0PW8C0wZ_MAoiAp.xml │ ├── a1wEbBLYSr97Y9iy6IjhVmtmAB8d.xml │ ├── a1wEbBLYSr97Y9iy6IjhVmtmAB8p.xml │ ├── cAr5y2aUD_uzZoa79wjU92ngelYd.xml │ ├── cAr5y2aUD_uzZoa79wjU92ngelYp.xml │ ├── dC3pg55e9cxfAawVpfuDMDqMMhod.xml │ └── dC3pg55e9cxfAawVpfuDMDqMMhop.xml │ ├── GYhuXvkvc_toHlvsIC3ej8-cxMo │ ├── 95L5s24rXV_gC1ORPh9qF76N0hId.xml │ ├── 95L5s24rXV_gC1ORPh9qF76N0hIp.xml │ ├── 9rg_d8GKlz_h98ZO5c7QV1sXy5Id.xml │ ├── 9rg_d8GKlz_h98ZO5c7QV1sXy5Ip.xml │ ├── AZhn0EvqMayofAod6rGP9O9o8kUd.xml │ ├── AZhn0EvqMayofAod6rGP9O9o8kUp.xml │ ├── B_SolSRpqRtDYyHyZwe642ZOSxod.xml │ ├── B_SolSRpqRtDYyHyZwe642ZOSxop.xml │ ├── Jl99FVupKXh-Z-GZji-wIGetyTUd.xml │ ├── Jl99FVupKXh-Z-GZji-wIGetyTUp.xml │ ├── QdmGVSTTYn5Hrp34m6D3JbR4kMAd.xml │ ├── QdmGVSTTYn5Hrp34m6D3JbR4kMAp.xml │ ├── UHx_1ErnU-aNKzMyMtezIjohz2od.xml │ ├── UHx_1ErnU-aNKzMyMtezIjohz2op.xml │ ├── _JRdCVUZjQt8AzzZoyykmTbeeyAd.xml │ ├── _JRdCVUZjQt8AzzZoyykmTbeeyAp.xml │ ├── fn58CDow2wTl9VzkEQyarDu73W8d.xml │ ├── fn58CDow2wTl9VzkEQyarDu73W8p.xml │ ├── sS3QaEOBmGqEtvFM2e6S3RSg_g4d.xml │ └── sS3QaEOBmGqEtvFM2e6S3RSg_g4p.xml │ ├── NjSPEMsIuLUyIpr2u1Js5bVPsOs │ ├── 2kj09UetkV_lru3gvSPXnY6-nM4d.xml │ ├── 2kj09UetkV_lru3gvSPXnY6-nM4p.xml │ ├── KKyDJtbdIBOlaeHmIZd5VX6vqx8d.xml │ ├── KKyDJtbdIBOlaeHmIZd5VX6vqx8p.xml │ ├── QWNDYJD5mGW1bWYvPx9DtKnxzw4d.xml │ ├── QWNDYJD5mGW1bWYvPx9DtKnxzw4p.xml │ ├── R1RggVhA72agIvELiuhWPRS8F0Id.xml │ ├── R1RggVhA72agIvELiuhWPRS8F0Ip.xml │ ├── aEHSZBIY-yve10yGis12Zr5DLZod.xml │ ├── aEHSZBIY-yve10yGis12Zr5DLZop.xml │ ├── j4xwF_j8iFTVayUMfxLgMnTbencd.xml │ ├── j4xwF_j8iFTVayUMfxLgMnTbencp.xml │ ├── r8LR4nLmg9ai3oHrW1r_-KocQzkd.xml │ └── r8LR4nLmg9ai3oHrW1r_-KocQzkp.xml │ ├── Project.xml │ ├── R2LO8P2Zbg1ILdgG-1c4vG_Wib0 │ ├── 48gVHGOgRIH-t0YRsPaYBxCcc_Qd.xml │ ├── 48gVHGOgRIH-t0YRsPaYBxCcc_Qp.xml │ ├── Hjo6EJW7oTwPmFUFDGcr2jjk5Agd.xml │ ├── Hjo6EJW7oTwPmFUFDGcr2jjk5Agp.xml │ ├── Xl0h2QWrcE80vBkX03eoSbM7wHAd.xml │ ├── Xl0h2QWrcE80vBkX03eoSbM7wHAp.xml │ ├── cC1Ks3SPcLx-AmRzeUcd4qf6wJsd.xml │ ├── cC1Ks3SPcLx-AmRzeUcd4qf6wJsp.xml │ ├── jVu6Uzo0JQJe8BGM8x7SXmYpeAod.xml │ ├── jVu6Uzo0JQJe8BGM8x7SXmYpeAop.xml │ ├── po80N2UeA7ebkor5MgBpZsWSWyMd.xml │ └── po80N2UeA7ebkor5MgBpZsWSWyMp.xml │ ├── RXflAy3pACHzCD7yIkUuEygfg1s │ ├── 17BjUOUgDfp53PEoH_nJ9OBVmWUd.xml │ ├── 17BjUOUgDfp53PEoH_nJ9OBVmWUp.xml │ ├── 5P1fXm9VayF8661skCJJmB5chBsd.xml │ ├── 5P1fXm9VayF8661skCJJmB5chBsp.xml │ ├── AvxMQHjra5mM0pEKTS2-mzpBaLgd.xml │ ├── AvxMQHjra5mM0pEKTS2-mzpBaLgp.xml │ ├── CgaVguYATtl8unF1J87mli_26Tsd.xml │ ├── CgaVguYATtl8unF1J87mli_26Tsp.xml │ ├── DF85gCw6_IvF_q0OCzXcUQjboa4d.xml │ ├── DF85gCw6_IvF_q0OCzXcUQjboa4p.xml │ ├── DHpCrBqdVM4fzY_ZU0PQ0F5M9mEd.xml │ ├── DHpCrBqdVM4fzY_ZU0PQ0F5M9mEp.xml │ ├── EGQ5yy9OzfmOGVvgEbzGAlVE96kd.xml │ ├── EGQ5yy9OzfmOGVvgEbzGAlVE96kp.xml │ ├── GqjAjtV_SrTmBc5k4_xUtuXqANEd.xml │ ├── GqjAjtV_SrTmBc5k4_xUtuXqANEp.xml │ ├── USJlhG8yFxxuF7KUQwg9XOO0VWgd.xml │ ├── USJlhG8yFxxuF7KUQwg9XOO0VWgp.xml │ ├── drhjbs5xRj0W9Oi9J_n_1pb6V6Md.xml │ ├── drhjbs5xRj0W9Oi9J_n_1pb6V6Mp.xml │ ├── k14nUb69YmCf9TYERd7zdPHFK84d.xml │ ├── k14nUb69YmCf9TYERd7zdPHFK84p.xml │ ├── lelKXq17l0G18pBorCrP0PksoGMd.xml │ ├── lelKXq17l0G18pBorCrP0PksoGMp.xml │ ├── lraFuBzmNIxFZz6WaUDlZnFswgkd.xml │ ├── lraFuBzmNIxFZz6WaUDlZnFswgkp.xml │ ├── ooS2Qo8z01Y-lgOYDy-PoYiVMVcd.xml │ ├── ooS2Qo8z01Y-lgOYDy-PoYiVMVcp.xml │ ├── qHhrTD5RXhqhuqXZUh89JyAPMcUd.xml │ ├── qHhrTD5RXhqhuqXZUh89JyAPMcUp.xml │ ├── uXpL0uCdpj2fUs39TRJWZDce6kQd.xml │ ├── uXpL0uCdpj2fUs39TRJWZDce6kQp.xml │ ├── wBB4Z_3sUTUE1l2LY7Z6MeQ2ziod.xml │ ├── wBB4Z_3sUTUE1l2LY7Z6MeQ2ziop.xml │ ├── x3fCl9jqUrx1UeUZt0x485PJZqMd.xml │ ├── x3fCl9jqUrx1UeUZt0x485PJZqMp.xml │ ├── yT6zhEpVD5qqn6DNmRGqwDPfS8Qd.xml │ └── yT6zhEpVD5qqn6DNmRGqwDPfS8Qp.xml │ ├── _b0JvmqmYKEl4-VBUTKR8SoEhho │ ├── -1vW8xrsnQxWfOvE6vUTuEbKUMwd.xml │ ├── -1vW8xrsnQxWfOvE6vUTuEbKUMwp.xml │ ├── 1AYxkZtBdvRWc0yvwlSKm2zy7R0d.xml │ ├── 1AYxkZtBdvRWc0yvwlSKm2zy7R0p.xml │ ├── 60hupk46QjZd16I0H42OD2AToxId.xml │ ├── 60hupk46QjZd16I0H42OD2AToxIp.xml │ ├── 8vpro_KsoBiET5Tk9RvaXHbQVqQd.xml │ ├── 8vpro_KsoBiET5Tk9RvaXHbQVqQp.xml │ ├── 98O4uPxxJyahuz5g-7VUxDAuiEEd.xml │ ├── 98O4uPxxJyahuz5g-7VUxDAuiEEp.xml │ ├── 9RHefG-Uq-FFuBlwDvtun4_hm6Qd.xml │ ├── 9RHefG-Uq-FFuBlwDvtun4_hm6Qp.xml │ ├── J0FhAWZPxkQ7tkyZMZQYneMwtU0d.xml │ ├── J0FhAWZPxkQ7tkyZMZQYneMwtU0p.xml │ ├── K2n2FIzJ4FdbHrKPDxPqoAs5NY4d.xml │ ├── K2n2FIzJ4FdbHrKPDxPqoAs5NY4p.xml │ ├── MIqJnEeNWjiDLOzfSUfTIMSJMD0d.xml │ ├── MIqJnEeNWjiDLOzfSUfTIMSJMD0p.xml │ ├── Tye9194_gMwE3Dg203m_PqoZs4Yd.xml │ ├── Tye9194_gMwE3Dg203m_PqoZs4Yp.xml │ ├── dVLNHaOZMVTX0WqA7MTGux8DNnEd.xml │ └── dVLNHaOZMVTX0WqA7MTGux8DNnEp.xml │ ├── fjRQtWiSIy7hIlj-Kmk87M7s21k │ ├── NjSPEMsIuLUyIpr2u1Js5bVPsOsd.xml │ └── NjSPEMsIuLUyIpr2u1Js5bVPsOsp.xml │ ├── qaw0eS1zuuY1ar9TdPn1GMfrjbQ │ ├── 4tVY-WlTWDa4gXU8ank0XRaQx4Ed.xml │ ├── 4tVY-WlTWDa4gXU8ank0XRaQx4Ep.xml │ ├── QMJD9OLFzxcTTbPOoh-ahQ4zTRUd.xml │ ├── QMJD9OLFzxcTTbPOoh-ahQ4zTRUp.xml │ ├── R2LO8P2Zbg1ILdgG-1c4vG_Wib0d.xml │ ├── R2LO8P2Zbg1ILdgG-1c4vG_Wib0p.xml │ ├── _b0JvmqmYKEl4-VBUTKR8SoEhhod.xml │ ├── _b0JvmqmYKEl4-VBUTKR8SoEhhop.xml │ ├── x6YBo3AC068nxlSoks3tG0HmdRMd.xml │ ├── x6YBo3AC068nxlSoks3tG0HmdRMp.xml │ ├── y-R7dUYbT9R7UyLrmIHQe6Rpm88d.xml │ └── y-R7dUYbT9R7UyLrmIHQe6Rpm88p.xml │ ├── root │ ├── 6xhH2l9GP9loT6TdFn_Mo65sDHgp.xml │ ├── EEtUlUb-dLAdf0KpMVivaUlztwAp.xml │ ├── GiiBklLgTxteCEmomM8RCvWT0nQd.xml │ ├── GiiBklLgTxteCEmomM8RCvWT0nQp.xml │ ├── fjRQtWiSIy7hIlj-Kmk87M7s21kp.xml │ └── qaw0eS1zuuY1ar9TdPn1GMfrjbQp.xml │ ├── rootp.xml │ ├── uuid-3382df5f-7492-4b1f-b2c4-f1baafacb596.xml │ ├── vFAGFz-ENhDeNdT_Cw8Mj6H_XtU │ ├── 8IrpNYZSm2-FLnoehau-Xh0njcod.xml │ ├── 8IrpNYZSm2-FLnoehau-Xh0njcop.xml │ ├── Cr89HC1I8XW0EFYqvDG4zfXlj_4d.xml │ ├── Cr89HC1I8XW0EFYqvDG4zfXlj_4p.xml │ ├── d76Lr4MeVzp62_BpvX9HApnPijUd.xml │ ├── d76Lr4MeVzp62_BpvX9HApnPijUp.xml │ ├── k9euKWDPGt7dGreIFQImc86COSMd.xml │ ├── k9euKWDPGt7dGreIFQImc86COSMp.xml │ ├── uI-Fl15f3Lw9XB6CkVF9OxiKUh4d.xml │ └── uI-Fl15f3Lw9XB6CkVF9OxiKUh4p.xml │ ├── x6YBo3AC068nxlSoks3tG0HmdRM │ ├── 4MEOBGxw4P1Cv2T6s8QP1XJ_yiUd.xml │ ├── 4MEOBGxw4P1Cv2T6s8QP1XJ_yiUp.xml │ ├── 9naIJcEUzFWMVmAwz6g7hcZtEN4d.xml │ ├── 9naIJcEUzFWMVmAwz6g7hcZtEN4p.xml │ ├── GN8WLzCAPoKXTGJM9QnIg9vPeQUd.xml │ ├── GN8WLzCAPoKXTGJM9QnIg9vPeQUp.xml │ ├── RXflAy3pACHzCD7yIkUuEygfg1sd.xml │ ├── RXflAy3pACHzCD7yIkUuEygfg1sp.xml │ ├── WiJihHRgV5L0uEapY3hF6WwGvIod.xml │ ├── WiJihHRgV5L0uEapY3hF6WwGvIop.xml │ ├── ZHFkrmLX3uc3wC2MiHtIGIDx9Z4d.xml │ ├── ZHFkrmLX3uc3wC2MiHtIGIDx9Z4p.xml │ ├── hdJ4blPlIHDD2QqR7uHUUwxmBNId.xml │ ├── hdJ4blPlIHDD2QqR7uHUUwxmBNIp.xml │ ├── nA_3Hbs9RmQsLpDyuRgLhNVJFYAd.xml │ ├── nA_3Hbs9RmQsLpDyuRgLhNVJFYAp.xml │ ├── qg6tnbw3aTtY8t397QvrztGUMFYd.xml │ ├── qg6tnbw3aTtY8t397QvrztGUMFYp.xml │ ├── uCspqMr391X_wkUg5I1u9EiY4Kcd.xml │ ├── uCspqMr391X_wkUg5I1u9EiY4Kcp.xml │ ├── vFAGFz-ENhDeNdT_Cw8Mj6H_XtUd.xml │ ├── vFAGFz-ENhDeNdT_Cw8Mj6H_XtUp.xml │ ├── vLvJ1TdkR6jr16dBgdfnCsiKcg4d.xml │ ├── vLvJ1TdkR6jr16dBgdfnCsiKcg4p.xml │ ├── wvradNgRnfDwBiN58or04KO8sq8d.xml │ └── wvradNgRnfDwBiN58or04KO8sq8p.xml │ └── y-R7dUYbT9R7UyLrmIHQe6Rpm88 │ ├── 2Ebj5qfAo1C4sXGz5lrIzkXzReUd.xml │ ├── 2Ebj5qfAo1C4sXGz5lrIzkXzReUp.xml │ ├── iDAF_PLht8zTIg8Kzwuq4r65aTcd.xml │ └── iDAF_PLht8zTIg8Kzwuq4r65aTcp.xml └── example2-urCobot-gazebo ├── Initialize ├── BlockIcons │ ├── MotionPlannerIcon.png │ ├── ObjDetect.PNG │ ├── RobotToSLComm.png │ ├── SLToRobotComm.png │ └── TaskManagerIcon.PNG ├── Buses │ ├── loadJointTrajectoryBus.m │ ├── loadMotionPlannerCollisionObjectBus.m │ ├── loadMotionPlannerCommandBus.m │ ├── loadMotionPlannerResponseBus.m │ ├── loadMotionPlannerTaskBus.m │ ├── loadObjectDetectorResponseBus.m │ ├── loadRobotCommandBus.m │ ├── loadRobotFeedbackBus.m │ └── loadUserCommandBus.m ├── ConnectToRobotROS.m ├── Enums │ ├── GripperTypeEnum.m │ ├── ObjectTypesID.m │ ├── PickAndPlaceModes.m │ ├── TargetEnvs.m │ └── enumCmd.m ├── LaunchGazeboAndSetupCollisionEnv.m ├── LoadBuses.m ├── RequestIP.m ├── RequestRobotIP.m ├── ResetObjectsGazebo.m ├── exampleHelperGenerateCollisionEnviornmentInPlanner.m ├── generateAndTransferLaunchScriptForCamera.m ├── generateAndTransferLaunchScriptForUR5e.m ├── generateAndTransferLaunchScriptForUR5eSimGazebo.m ├── getGripperType.m ├── getRBTFromUR.m ├── initializeParametersForBinPickingSimulationSL.m ├── loadPickAndPlaceParametersSL.m ├── loadRobotParameters.m ├── openMainScript.m ├── selectDetectorMATFile.m └── urHandleClass.m ├── IntelligentBinPickingExampleWithSimulink.prj ├── IntellingentBinPickingWithSimulinkForUR5eStartScript.mlx ├── MotionPlanning ├── ContopptrajSO.m ├── InterpSO.m ├── MotionPlannerCHOMPSO.m ├── MotionPlannerRRTSO.m ├── exampleHelperAddGripper.m ├── exampleHelperApproximateCollisionBoxSpheresBinPicking.m ├── exampleHelperAttachPartAtEndEffector.m ├── exampleHelperCHOMPMotionPlanner.m ├── exampleHelperSelectPartForMEXPlanner.m ├── exampleHelperTrajectoryInterpolation.m └── generateMEXForPlanner.m ├── Perception ├── DetectObjectsAndGetPoseFromROS.mlx ├── PerceptionAndLocalizationSO.m └── findObjectPoses.m ├── README.md ├── RobotConnectivity ├── FollowTrajectorySO.m ├── GetConfigURSO.m ├── MotionStatusUR.m ├── SendJointConfigSO.m └── exampleHelperHandBackControl.m ├── SECURITY.md ├── SimulinkModel └── IntelligentBinPicking.slx ├── license.txt └── resources └── project ├── 3I6REvjCBznshaOd3td3ujDMHB8 ├── 72FMA4t6WKTqC3jCKmUcrd3Lmxwd.xml ├── 72FMA4t6WKTqC3jCKmUcrd3Lmxwp.xml ├── 9NVciEnquan_EOvx_Mrx0BD_kZkd.xml ├── 9NVciEnquan_EOvx_Mrx0BD_kZkp.xml ├── E5CvdCIVpumfzbioGg9c0d1bT9Id.xml ├── E5CvdCIVpumfzbioGg9c0d1bT9Ip.xml ├── M1-Ml-E4kLMYpXizn9CPsBsNVCgd.xml ├── M1-Ml-E4kLMYpXizn9CPsBsNVCgp.xml ├── VJ8G72eQFLnoVjv50V4bMR3QyRUd.xml ├── VJ8G72eQFLnoVjv50V4bMR3QyRUp.xml ├── fH2gjQCkZt9rqGa2sHEFZyiuhDcd.xml └── fH2gjQCkZt9rqGa2sHEFZyiuhDcp.xml ├── 4tVY-WlTWDa4gXU8ank0XRaQx4E ├── -S-dx8eEpsEj5AZacnD0effgMtYd.xml ├── -S-dx8eEpsEj5AZacnD0effgMtYp.xml ├── 3I6REvjCBznshaOd3td3ujDMHB8d.xml ├── 3I6REvjCBznshaOd3td3ujDMHB8p.xml ├── 4X8AiNODcS1Bdm1qYD_6YEpoHggd.xml ├── 4X8AiNODcS1Bdm1qYD_6YEpoHggp.xml ├── 94hU-P0mSHac9JytmkWqSh7ZbgId.xml ├── 94hU-P0mSHac9JytmkWqSh7ZbgIp.xml ├── 9AeAT34K02z3yYF438H-n7dbZ2Yd.xml ├── 9AeAT34K02z3yYF438H-n7dbZ2Yp.xml ├── 9HR2GI6fd5qMmM2GZCNu4GaPFB4d.xml ├── 9HR2GI6fd5qMmM2GZCNu4GaPFB4p.xml ├── CoLefsBX2gcpzAF5QL90JYq-UEkd.xml ├── CoLefsBX2gcpzAF5QL90JYq-UEkp.xml ├── GYhuXvkvc_toHlvsIC3ej8-cxMod.xml ├── GYhuXvkvc_toHlvsIC3ej8-cxMop.xml ├── LgSQDCctBWZLAxatRRvlc1f_g7kd.xml ├── LgSQDCctBWZLAxatRRvlc1f_g7kp.xml ├── O_q3M0vaq2nhVP3lFcFV-A03joQd.xml ├── O_q3M0vaq2nhVP3lFcFV-A03joQp.xml ├── YJd7oBp7LmHgynUFeMS9-cDCMakd.xml ├── YJd7oBp7LmHgynUFeMS9-cDCMakp.xml ├── Z2e0ukGRLFqr08Wpph9SBNXeD-Ud.xml ├── Z2e0ukGRLFqr08Wpph9SBNXeD-Up.xml ├── ZgGT-82gTxPcTtgeji3OECnXLHMd.xml ├── ZgGT-82gTxPcTtgeji3OECnXLHMp.xml ├── aO1NTZhvMpku1PG0KUUfzqlJbXsd.xml ├── aO1NTZhvMpku1PG0KUUfzqlJbXsp.xml ├── b-iRK73CyPQc-UXTyT_Xu6XMCz8d.xml ├── b-iRK73CyPQc-UXTyT_Xu6XMCz8p.xml ├── bmQP4SVhmaVTOF6mlR4qi2FSc8wd.xml ├── bmQP4SVhmaVTOF6mlR4qi2FSc8wp.xml ├── d68hoL8yeM6ESbLboMbJkXkFRSUd.xml ├── d68hoL8yeM6ESbLboMbJkXkFRSUp.xml ├── nR5V4dqigP-HbAgBdFwIkycMemkd.xml ├── nR5V4dqigP-HbAgBdFwIkycMemkp.xml ├── utWQ_YvGKF9SVRv0TUJXCocqE-gd.xml ├── utWQ_YvGKF9SVRv0TUJXCocqE-gp.xml ├── ySO4icXONGTupHhJrai38fLNZ7Ed.xml ├── ySO4icXONGTupHhJrai38fLNZ7Ep.xml ├── zMHw1dzfRaLUwXGSV_bNmgEYcYQd.xml ├── zMHw1dzfRaLUwXGSV_bNmgEYcYQp.xml ├── z_NGk4f6-633A0LsJP5P6aJe_L8d.xml └── z_NGk4f6-633A0LsJP5P6aJe_L8p.xml ├── 6xhH2l9GP9loT6TdFn_Mo65sDHg ├── P8PSrqcBHMbGhqD2r1d9oc0h3TUd.xml └── P8PSrqcBHMbGhqD2r1d9oc0h3TUp.xml ├── 9AeAT34K02z3yYF438H-n7dbZ2Y ├── 7aJdnpcDAzJuOU2lMgNctXm4C0cd.xml ├── 7aJdnpcDAzJuOU2lMgNctXm4C0cp.xml ├── 8_YuVD_QYl0zxYfUQaMr0jNcxvQd.xml ├── 8_YuVD_QYl0zxYfUQaMr0jNcxvQp.xml ├── L3dZVJi9Y8bCGFx-AwgUtXGd408d.xml ├── L3dZVJi9Y8bCGFx-AwgUtXGd408p.xml ├── UnqjQos_yA4qZkdUcHpWxHHKhc4d.xml ├── UnqjQos_yA4qZkdUcHpWxHHKhc4p.xml ├── vOxF6Fkq-jFP2BxW2kfoVrPmmgsd.xml └── vOxF6Fkq-jFP2BxW2kfoVrPmmgsp.xml ├── EEtUlUb-dLAdf0KpMVivaUlztwA ├── 0BrY5HozrEZ55RiaP-X1u_upb1gd.xml ├── 0BrY5HozrEZ55RiaP-X1u_upb1gp.xml ├── 3WEzPfkGqy8NYXhfc4QcpqSIEhod.xml ├── 3WEzPfkGqy8NYXhfc4QcpqSIEhop.xml ├── eDPCyeJ49j9WiY3EY6IPSaFGceMd.xml ├── eDPCyeJ49j9WiY3EY6IPSaFGceMp.xml ├── miZ7D3nqr9u_fZJIiHSiUmDzG_Md.xml ├── miZ7D3nqr9u_fZJIiHSiUmDzG_Mp.xml ├── wJ5t39_Y7OnpgAcJHxrEy6fIQD0d.xml ├── wJ5t39_Y7OnpgAcJHxrEy6fIQD0p.xml ├── yIrVD994uMKEnTiaEr0Eq_gp99Md.xml ├── yIrVD994uMKEnTiaEr0Eq_gp99Mp.xml ├── yPyJQquLtpxWUVZ5_cHG_Qdo3LId.xml ├── yPyJQquLtpxWUVZ5_cHG_Qdo3LIp.xml ├── zap8XYWEVo-PLpaPy_n53JVWH4wd.xml └── zap8XYWEVo-PLpaPy_n53JVWH4wp.xml ├── GYhuXvkvc_toHlvsIC3ej8-cxMo ├── 95L5s24rXV_gC1ORPh9qF76N0hId.xml ├── 95L5s24rXV_gC1ORPh9qF76N0hIp.xml ├── 9rg_d8GKlz_h98ZO5c7QV1sXy5Id.xml ├── 9rg_d8GKlz_h98ZO5c7QV1sXy5Ip.xml ├── AZhn0EvqMayofAod6rGP9O9o8kUd.xml ├── AZhn0EvqMayofAod6rGP9O9o8kUp.xml ├── B_SolSRpqRtDYyHyZwe642ZOSxod.xml ├── B_SolSRpqRtDYyHyZwe642ZOSxop.xml ├── Jl99FVupKXh-Z-GZji-wIGetyTUd.xml ├── Jl99FVupKXh-Z-GZji-wIGetyTUp.xml ├── QdmGVSTTYn5Hrp34m6D3JbR4kMAd.xml ├── QdmGVSTTYn5Hrp34m6D3JbR4kMAp.xml ├── UHx_1ErnU-aNKzMyMtezIjohz2od.xml ├── UHx_1ErnU-aNKzMyMtezIjohz2op.xml ├── _JRdCVUZjQt8AzzZoyykmTbeeyAd.xml ├── _JRdCVUZjQt8AzzZoyykmTbeeyAp.xml ├── fn58CDow2wTl9VzkEQyarDu73W8d.xml ├── fn58CDow2wTl9VzkEQyarDu73W8p.xml ├── sS3QaEOBmGqEtvFM2e6S3RSg_g4d.xml └── sS3QaEOBmGqEtvFM2e6S3RSg_g4p.xml ├── KAXfQgCar2Yb8zOxgvf9hdmLP1E ├── 6FdpRQYvw01ybAJgWenC9zhPNvQd.xml └── 6FdpRQYvw01ybAJgWenC9zhPNvQp.xml ├── NjSPEMsIuLUyIpr2u1Js5bVPsOs ├── 2kj09UetkV_lru3gvSPXnY6-nM4d.xml ├── 2kj09UetkV_lru3gvSPXnY6-nM4p.xml ├── KKyDJtbdIBOlaeHmIZd5VX6vqx8d.xml ├── KKyDJtbdIBOlaeHmIZd5VX6vqx8p.xml ├── QWNDYJD5mGW1bWYvPx9DtKnxzw4d.xml ├── QWNDYJD5mGW1bWYvPx9DtKnxzw4p.xml ├── R1RggVhA72agIvELiuhWPRS8F0Id.xml ├── R1RggVhA72agIvELiuhWPRS8F0Ip.xml ├── aEHSZBIY-yve10yGis12Zr5DLZod.xml ├── aEHSZBIY-yve10yGis12Zr5DLZop.xml ├── j4xwF_j8iFTVayUMfxLgMnTbencd.xml ├── j4xwF_j8iFTVayUMfxLgMnTbencp.xml ├── r8LR4nLmg9ai3oHrW1r_-KocQzkd.xml └── r8LR4nLmg9ai3oHrW1r_-KocQzkp.xml ├── Project.xml ├── R2LO8P2Zbg1ILdgG-1c4vG_Wib0 ├── 48gVHGOgRIH-t0YRsPaYBxCcc_Qd.xml ├── 48gVHGOgRIH-t0YRsPaYBxCcc_Qp.xml ├── Df5ejGPuDGmahbTv7HkOfYALa8Id.xml ├── Df5ejGPuDGmahbTv7HkOfYALa8Ip.xml ├── DlSYnVR9zqSFotWZlWDlkOShbRwd.xml ├── DlSYnVR9zqSFotWZlWDlkOShbRwp.xml ├── Hjo6EJW7oTwPmFUFDGcr2jjk5Agd.xml ├── Hjo6EJW7oTwPmFUFDGcr2jjk5Agp.xml ├── dTCsAOiY09OKt1eLVaCJBXK2U1wd.xml ├── dTCsAOiY09OKt1eLVaCJBXK2U1wp.xml ├── jVu6Uzo0JQJe8BGM8x7SXmYpeAod.xml └── jVu6Uzo0JQJe8BGM8x7SXmYpeAop.xml ├── _b0JvmqmYKEl4-VBUTKR8SoEhho ├── 1AYxkZtBdvRWc0yvwlSKm2zy7R0d.xml ├── 1AYxkZtBdvRWc0yvwlSKm2zy7R0p.xml ├── 60hupk46QjZd16I0H42OD2AToxId.xml ├── 60hupk46QjZd16I0H42OD2AToxIp.xml ├── 8vpro_KsoBiET5Tk9RvaXHbQVqQd.xml ├── 8vpro_KsoBiET5Tk9RvaXHbQVqQp.xml ├── 9RHefG-Uq-FFuBlwDvtun4_hm6Qd.xml ├── 9RHefG-Uq-FFuBlwDvtun4_hm6Qp.xml ├── J0FhAWZPxkQ7tkyZMZQYneMwtU0d.xml ├── J0FhAWZPxkQ7tkyZMZQYneMwtU0p.xml ├── MIqJnEeNWjiDLOzfSUfTIMSJMD0d.xml ├── MIqJnEeNWjiDLOzfSUfTIMSJMD0p.xml ├── MoZhZEXV1V71dezcVDp0zxn3TgAd.xml ├── MoZhZEXV1V71dezcVDp0zxn3TgAp.xml ├── Ykgcb8YciP9cyxiJ-9Bf_U8scKkd.xml ├── Ykgcb8YciP9cyxiJ-9Bf_U8scKkp.xml ├── dVLNHaOZMVTX0WqA7MTGux8DNnEd.xml ├── dVLNHaOZMVTX0WqA7MTGux8DNnEp.xml ├── qVLOEK2bfQUAmLKssQlwt6iEW9od.xml ├── qVLOEK2bfQUAmLKssQlwt6iEW9op.xml ├── uMtn5RB9k5WYUQ7HyGqNkfvH4Nsd.xml ├── uMtn5RB9k5WYUQ7HyGqNkfvH4Nsp.xml ├── z5ek2SN5TIl21WXN3LW2Z9ba6cUd.xml └── z5ek2SN5TIl21WXN3LW2Z9ba6cUp.xml ├── fjRQtWiSIy7hIlj-Kmk87M7s21k ├── NjSPEMsIuLUyIpr2u1Js5bVPsOsd.xml └── NjSPEMsIuLUyIpr2u1Js5bVPsOsp.xml ├── qaw0eS1zuuY1ar9TdPn1GMfrjbQ ├── 2uRqUwgzsMPtKV1vY4JvGEQwdJId.xml ├── 2uRqUwgzsMPtKV1vY4JvGEQwdJIp.xml ├── 4tVY-WlTWDa4gXU8ank0XRaQx4Ed.xml ├── 4tVY-WlTWDa4gXU8ank0XRaQx4Ep.xml ├── QMJD9OLFzxcTTbPOoh-ahQ4zTRUd.xml ├── QMJD9OLFzxcTTbPOoh-ahQ4zTRUp.xml ├── R2LO8P2Zbg1ILdgG-1c4vG_Wib0d.xml ├── R2LO8P2Zbg1ILdgG-1c4vG_Wib0p.xml ├── _b0JvmqmYKEl4-VBUTKR8SoEhhod.xml ├── _b0JvmqmYKEl4-VBUTKR8SoEhhop.xml ├── rh0jHbNfmojECiiHH7BQHmZTsWkd.xml ├── rh0jHbNfmojECiiHH7BQHmZTsWkp.xml ├── x6YBo3AC068nxlSoks3tG0HmdRMd.xml ├── x6YBo3AC068nxlSoks3tG0HmdRMp.xml ├── y-R7dUYbT9R7UyLrmIHQe6Rpm88d.xml ├── y-R7dUYbT9R7UyLrmIHQe6Rpm88p.xml ├── zurx3jE8Xg-4mzLN6oWhCwORBoQd.xml └── zurx3jE8Xg-4mzLN6oWhCwORBoQp.xml ├── root ├── 6x1BhZX_fLnKpcwqra0qFwv1jIgp.xml ├── 6xhH2l9GP9loT6TdFn_Mo65sDHgp.xml ├── EEtUlUb-dLAdf0KpMVivaUlztwAp.xml ├── GiiBklLgTxteCEmomM8RCvWT0nQd.xml ├── GiiBklLgTxteCEmomM8RCvWT0nQp.xml ├── KAXfQgCar2Yb8zOxgvf9hdmLP1Ep.xml ├── NmGqIpAwUJcXFyLjFAGnU9uyN5Yp.xml ├── fjRQtWiSIy7hIlj-Kmk87M7s21kp.xml └── qaw0eS1zuuY1ar9TdPn1GMfrjbQp.xml ├── rootp.xml ├── uuid-b15bf6d4-ff3a-445f-b9d2-6c14f19d3bdc.xml ├── x6YBo3AC068nxlSoks3tG0HmdRM ├── 9naIJcEUzFWMVmAwz6g7hcZtEN4d.xml ├── 9naIJcEUzFWMVmAwz6g7hcZtEN4p.xml ├── WLg6H7jMr2_zWPIoXgRNkGlCIVcd.xml ├── WLg6H7jMr2_zWPIoXgRNkGlCIVcp.xml ├── nA_3Hbs9RmQsLpDyuRgLhNVJFYAd.xml ├── nA_3Hbs9RmQsLpDyuRgLhNVJFYAp.xml ├── pnOgJh1GRORBDWYy8HZlWExjkHAd.xml └── pnOgJh1GRORBDWYy8HZlWExjkHAp.xml └── y-R7dUYbT9R7UyLrmIHQe6Rpm88 ├── 2Ebj5qfAo1C4sXGz5lrIzkXzReUd.xml ├── 2Ebj5qfAo1C4sXGz5lrIzkXzReUp.xml ├── iDAF_PLht8zTIg8Kzwuq4r65aTcd.xml └── iDAF_PLht8zTIg8Kzwuq4r65aTcp.xml /example1-sim3D/IBPExample.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mathworks-robotics/intelligent-bin-picking-example-with-simulink/16592d5954b2d59bff7200b74d98db59a774acdd/example1-sim3D/IBPExample.gif -------------------------------------------------------------------------------- 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| Vacuum(0) 7 | TwoFinger(1) 8 | end 9 | 10 | end 11 | -------------------------------------------------------------------------------- /example1-sim3D/Initialize/Enums/ObjectTypesID.m: -------------------------------------------------------------------------------- 1 | classdef ObjectTypesID < Simulink.IntEnumType 2 | %UNTITLED Summary of this class goes here 3 | % Detailed explanation goes here 4 | 5 | enumeration 6 | Invalid(-1) 7 | % Make sure to start with one because we use the enum to index 8 | % MATLAB arrays 9 | Unknown (0) 10 | I (1) 11 | L (2) 12 | T (3) 13 | X (4) 14 | end 15 | 16 | end -------------------------------------------------------------------------------- /example1-sim3D/Initialize/Enums/PickAndPlaceModes.m: -------------------------------------------------------------------------------- 1 | classdef PickAndPlaceModes < Simulink.IntEnumType 2 | %UNTITLED Summary of this class goes here 3 | % Detailed explanation goes here 4 | 5 | enumeration 6 | PickSelected(0) 7 | PickAll(1) 8 | end 9 | 10 | end 11 | 12 | -------------------------------------------------------------------------------- /example1-sim3D/Initialize/Enums/TargetEnvs.m: -------------------------------------------------------------------------------- 1 | classdef TargetEnvs < Simulink.IntEnumType 2 | %TargetEnvs Enum for the targets for pick and place 3 | % Targets currently supported are Gazebo, URSim, Hardware 4 | 5 | enumeration 6 | Gazebo(0) 7 | URSim(1) 8 | Hardware(2) 9 | Sim3d(3) 10 | end 11 | 12 | end 13 | 14 | -------------------------------------------------------------------------------- /example1-sim3D/Initialize/Enums/enumCmd.m: -------------------------------------------------------------------------------- 1 | classdef enumCmd < int32 2 | enumeration 3 | undefined (0) 4 | 5 | reboot_arm (1) 6 | emergency_stop (2) 7 | clear_faults (3) 8 | stop_action (4) 9 | pause_action (5) 10 | resume_action (6) 11 | 12 | precomputed_joint_trj (101) 13 | 14 | joint_reach (200) 15 | 16 | cartesian_reach (300) 17 | 18 | tool_reach (400) 19 | tool_speed (401) 20 | activate_vacuum(500) 21 | deactivate_vacuum(501) 22 | 23 | send_to_home(600) 24 | end 25 | end 26 | -------------------------------------------------------------------------------- /example1-sim3D/Initialize/RequestRobotIP.m: -------------------------------------------------------------------------------- 1 | % Copyright 2023 The MathWorks, Inc. 2 | 3 | prompt = {'Enter IP address of Robot:'}; 4 | dlgtitle = 'Robot IP Address'; 5 | dims = [1 50]; 6 | if exist('robotAddress', 'var') 7 | definput = {robotAddress}; 8 | else 9 | definput = {'192.168.1.10'}; 10 | end 11 | answer = inputdlg(prompt,dlgtitle,dims,definput); 12 | if ~isempty(answer) 13 | robotAddress = answer{1}; 14 | else 15 | robotAddress = definput{1}; 16 | end 17 | 18 | set_param([gcs, '/robotAddress Display'], ... 19 | 'MaskDisplay', 'color(''blue''); try ipad = evalin(''base'', ''robotAddress''); catch ipad = ''192.162.1.10''; end; disp(ipad)'); -------------------------------------------------------------------------------- /example1-sim3D/Initialize/generateAndTransferLaunchScriptForCamera.m: -------------------------------------------------------------------------------- 1 | function generateAndTransferLaunchScriptForCamera(device,WorkSpaceFolder) 2 | %This function is for internal use only and may be removed in the future. 3 | % generateAndTransferLaunchScriptForCamera create the launch script to launch 4 | % the required ROS drivers for the IntelRealSense D415. After that, it copies this script 5 | % to the ROS machine provided and launches the script automatically. 6 | 7 | %Copyright 2023 The MathWorks, Inc. 8 | 9 | %Copyright 2023 The MathWorks, Inc. 10 | fid=fopen(fullfile(tempdir,"launchURBinPickingCamera.sh"),"w+"); 11 | fprintf(fid,"#!/bin/sh\n"); 12 | fprintf(fid,"export SVGA_VGPU10=0\n"); 13 | fprintf(fid,"export ROS_IP=%s\n",device.DeviceAddress); 14 | fprintf(fid,"export ROS_MASTER_URI=http://$ROS_IP:11311\n"); 15 | 16 | fprintf(fid,"gnome-terminal --title=\42Intel RealSense Camera\42 -- /bin/bash -c 'source %s/setup.bash; source %s/devel/setup.bash; roslaunch realsense2_camera demo_pointcloud.launch'",device.ROSFolder,WorkSpaceFolder); 17 | 18 | fclose(fid); 19 | 20 | % Copy file into ROS device 21 | putFile(device,fullfile(tempdir,'launchURBinPickingCamera.sh'),'~/') 22 | 23 | % Make the shell script executable 24 | system(device,'chmod a+x ~/launchURBinPickingCamera.sh'); 25 | end -------------------------------------------------------------------------------- /example1-sim3D/Initialize/generateAndTransferLaunchScriptForUR5e.m: -------------------------------------------------------------------------------- 1 | function generateAndTransferLaunchScriptForUR5e(device,WorkSpaceFolder,robotIP) 2 | %This function is for internal use only and may be removed in the future. 3 | % generateAndTransferLaunchScriptForUR5e create the launch script to launch 4 | % the required ROS drivers for the UR5e. After that, it copies this script 5 | % to the ROS machine provided and launches the script automatically. 6 | 7 | %Copyright 2023 The MathWorks, Inc. 8 | 9 | % Open a file to write set of commands to launch interface with UR5e 10 | fid=fopen(fullfile(tempdir,"launchURBinPicking.sh"),"w+"); 11 | fprintf(fid,"#!/bin/sh\n"); 12 | fprintf(fid,"export SVGA_VGPU10=0\n"); 13 | fprintf(fid,"export ROS_IP=%s\n",device.DeviceAddress); 14 | fprintf(fid,"export ROS_MASTER_URI=http://$ROS_IP:11311\n"); 15 | fprintf(fid,"gnome-terminal --title=\42UR5 Robot\42 -- /bin/bash -c 'source %s/setup.bash; source %s/devel/setup.bash; roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=%s'",device.ROSFolder,WorkSpaceFolder,robotIP); 16 | fclose(fid); 17 | 18 | % Copy file into ROS device 19 | putFile(device,fullfile(tempdir,'launchURBinPicking.sh'),'~/') 20 | 21 | % Make the shell script executable 22 | system(device,'chmod a+x ~/launchURBinPicking.sh'); 23 | end 24 | -------------------------------------------------------------------------------- /example1-sim3D/Initialize/generateAndTransferLaunchScriptForUR5eSimGazebo.m: -------------------------------------------------------------------------------- 1 | function generateAndTransferLaunchScriptForUR5eSimGazebo(device,WorkSpaceFolder) 2 | %This function is for internal use only and may be removed in the future. 3 | % generateAndTransferLaunchScriptForUR5eSimGazebo create the launch script to launch 4 | % the required ROS drivers for the UR5e. After that, it copies this script 5 | % to the ROS machine provided and launches the script automatically. 6 | 7 | %Copyright 2023 The MathWorks, Inc. 8 | 9 | % Open a file to write a set of commands to launch interface with UR5e 10 | fid=fopen(fullfile(tempdir,"launchURBinPicking.sh"),"w+"); 11 | fprintf(fid,"#!/bin/sh\n"); 12 | fprintf(fid,"export SVGA_VGPU10=0\n"); 13 | fprintf(fid,"export ROS_IP=%s\n",device.DeviceAddress); 14 | fprintf(fid,"export ROS_MASTER_URI=http://$ROS_IP:11311\n"); 15 | fprintf(fid,"export IGN_IP=127.0.0.1\n"); 16 | fprintf(fid,"export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/home/user/src/GazeboPlugin/export\n"); 17 | fprintf(fid,"gnome-terminal --title=\42UR5 Robot\42 -- /bin/bash -c 'source %s/setup.bash; source %s/devel/setup.bash; roslaunch ur_bin_picking ur_bin_picking.launch'",device.ROSFolder,WorkSpaceFolder); 18 | fclose(fid); 19 | 20 | % Copy file into ROS device 21 | putFile(device,fullfile(tempdir,'launchURBinPicking.sh'),'~/') 22 | 23 | % Make the shell script executable 24 | system(device,'chmod a+x ~/launchURBinPicking.sh'); 25 | end 26 | -------------------------------------------------------------------------------- /example1-sim3D/Initialize/getGripperType.m: -------------------------------------------------------------------------------- 1 | 2 | gripperlist = {'Vacuum','TwoFinger'}; 3 | [gripperIndx,isGripperSelected] = listdlg('ListString',gripperlist,'ListSize',[220,60],'SelectionMode','single', ... 4 | 'PromptString','Select the Gripper Type','Name','Gripper Type'); 5 | if isGripperSelected 6 | gripperType = GripperTypeEnum(gripperlist{gripperIndx}); 7 | else 8 | error("Gripper Type not selected. Click on 'Setup for Hardware' button and choose a Gripper Type"); 9 | end 10 | -------------------------------------------------------------------------------- /example1-sim3D/Initialize/loadPickAndPlaceParametersSL.m: -------------------------------------------------------------------------------- 1 | %loadPickAndPlaceParametersSL - Load pick and place parameters for Pick and 2 | % Place Demo Version SL 3 | % Copyright 2023 The MathWorks, Inc. 4 | 5 | disp('************PickAndPlaceV3::Initializing parameters***************'); 6 | 7 | %% Load gen 3 parameters (joint limits, numJoints) 8 | fprintf('Loading Robot Model and Parameters...') 9 | rbt = loadrobot('universalUR5e','DataFormat','row'); 10 | gripperType = GripperTypeEnum.Vacuum; % Gazebo only support Vacuum gripper as of now 11 | ur5e = exampleHelperAddGripper(rbt,gripperType); 12 | %default IP address of the ROS Device 13 | ROSDeviceAddress = '0.0.0.0'; 14 | %default IP address of the Robot 15 | robotAddress = '192.168.1.10'; 16 | %default gripper 17 | gripperType = GripperTypeEnum.Vacuum; 18 | robotParams = loadRobotParameters(); 19 | fprintf('OK\n'); 20 | 21 | %% Load all communication buses 22 | LoadBuses(); 23 | 24 | %% Define max errors for motion planner tasks 25 | fprintf('Loading Planner Tasks Maximum Errors...\n'); 26 | % Maximum erros allowed for SE3 Tasks 27 | posTargetError = 0.01; 28 | disp("posTargetError: " + posTargetError); 29 | fprintf('OK\n'); 30 | 31 | %% Define component sample times 32 | fprintf('Loading Model Simulation Parameters...'); 33 | TaskPlannerSampleTime = 0.1; % 0.1 34 | RigidBodyTreeVisualizerSampleTime = 0.1; 35 | fprintf('OK\n'); 36 | 37 | %% Define Canonical point cloud model of the objects 38 | fprintf('Loading Object model point cloud...'); 39 | loadObjectModelPointClouds; 40 | fprintf('OK\n'); 41 | 42 | %% 43 | disp('**********PickAndPlace::Parameter Initialization finished**********'); -------------------------------------------------------------------------------- /example1-sim3D/Initialize/loadRobotParameters.m: -------------------------------------------------------------------------------- 1 | function robotParams = loadRobotParameters() 2 | %JointPosLimits.Min 3 | %JointPosLimits.Max 4 | %JointVelLimits.Min 5 | %JointVelLimits.Max 6 | %JointAccLimits.Min 7 | %JointAccLimits.Max 8 | %JointEffortLimits.Min 9 | %JointEffortLimits.Max 10 | %NumJoints 11 | %TooltipName 12 | %RGBCameraResolution = [720 1280 3]; 13 | %DepthCameraResolution = [270 480]; 14 | 15 | % For UR5e 16 | robotParams = struct(); 17 | 18 | robotParams.JointPosLimits.Min = ... 19 | [-6.2831;-6.2831;-3.1415;-6.2831;-6.2831;-6.2831]; % rad 174.5 means inf 20 | 21 | robotParams.JointPosLimits.Max = ... 22 | [6.2831;6.2831;3.1415;6.2831;6.2831;6.2831]; % rad 174.53 means inf 23 | 24 | robotParams.JointVelLimits.Min = ... 25 | [-0.8727;-0.8727;-0.8727;-0.8727;-0.8727;-0.8727;-0.8727]; % rad/s 26 | 27 | robotParams.JointVelLimits.Max = ... 28 | [ 0.8727; 0.8727; 0.8727; 0.8727; 0.8727; 0.8727; 0.8727]; % rad/s 29 | 30 | robotParams.JointAccLimits.Min = ... 31 | [-1.0000;-1.0000;-1.0000;-1.0000;-10.0000;-10.0000;-10.0000]; % rad/s^2 32 | 33 | robotParams.JointAccLimits.Max = ... 34 | [ 1.0000; 1.0000; 1.0000; 1.0000; 10.0000; 10.0000; 10.0000]; % rad/s^2 35 | 36 | % Num joints 37 | robotParams.NumJoints = numel(robotParams.JointPosLimits.Min); 38 | 39 | % Tooltip name 40 | robotParams.TooltipName = 'tcp'; 41 | 42 | % Camera sensor 43 | robotParams.RGBCameraResolution = [720 1280 3]; 44 | robotParams.DepthCameraResolution = [270 480]; 45 | 46 | end -------------------------------------------------------------------------------- /example1-sim3D/Initialize/openMainScript.m: -------------------------------------------------------------------------------- 1 | open('IntellingentBinPickingWithSimulinkForUR5e.mlx'); -------------------------------------------------------------------------------- /example1-sim3D/Initialize/selectDetectorMATFile.m: -------------------------------------------------------------------------------- 1 | [detectorFile,detectorPath] = uigetfile('*.mat'); 2 | detectorFilePath = [detectorPath,detectorFile]; 3 | blkHandle = 'IntelligentBinPicking/Object Detector/Deep Learning Object Detector'; 4 | set_param(blkHandle,'DetectorFilePath',detectorFilePath); 5 | blkHandle = 'IntelligentBinPicking/Object Detector/Deep Learning Object Detector'; 6 | set_param(blkHandle,'DetectorFilePath',detectorFilePath); -------------------------------------------------------------------------------- /example1-sim3D/Initialize/urHandleClass.m: -------------------------------------------------------------------------------- 1 | classdef urHandleClass < handle 2 | % This is a helper class to handle the various Serial, UDP and TCP 3 | % objects using Map (name-value pair arguments) 4 | 5 | % Copyright 2021 The MathWorks, Inc. 6 | 7 | methods(Static) 8 | 9 | function URNodeMapObj = manageURNodeMap(key,value,action) 10 | % action - 'add' : adds the key,value pair to the map 11 | % 'get' : returns the object from Map based on key 12 | % 'remove' : remove object from Map based on key 13 | 14 | % Initialize the persistent variable if it's empty by creating 15 | % the container Map 16 | persistent URNodeMap; 17 | if isempty(URNodeMap) 18 | URNodeMap = containers.Map; 19 | end 20 | 21 | URNodeMapObj =[]; 22 | switch action 23 | case 'add' 24 | URNodeMap(key) = value; 25 | case 'get' 26 | if URNodeMap.isKey(key) 27 | URNodeMapObj = URNodeMap(key); 28 | end 29 | case 'remove' 30 | if URNodeMap.isKey(key) 31 | remove(URNodeMap,key); 32 | end 33 | end 34 | end 35 | 36 | end 37 | end -------------------------------------------------------------------------------- /example1-sim3D/IntelligentBinPickingExampleWithSimulink.prj: -------------------------------------------------------------------------------- 1 | 2 | 3 | -------------------------------------------------------------------------------- /example1-sim3D/MotionPlanning/exampleHelperApproximateCollisionBoxSpheresBinPicking.m: -------------------------------------------------------------------------------- 1 | function sph=exampleHelperApproximateCollisionBoxSpheresBinPicking(box,rho) 2 | %exampleHelperApproximateCollisionBoxSpheres Approximate collision box with collection of spheres 3 | 4 | % This function is for internal use only, and maybe removed in the future. 5 | 6 | % Copyright 2022 The MathWorks, Inc. 7 | %#codegen 8 | rhoby2=rho/2; 9 | x=-box.X/2+rhoby2:rho:box.X/2-rhoby2; 10 | y=-box.Y/2+rhoby2:rho:box.Y/2-rhoby2; 11 | z=-box.Z/2+rhoby2:rho:box.Z/2-rhoby2; 12 | if(isempty(x)) 13 | x=box.X; 14 | end 15 | if(isempty(y)) 16 | y=box.Y; 17 | end 18 | if(isempty(z)) 19 | z=box.Z; 20 | end 21 | [x_,y_,z_]=meshgrid(x,y,z); 22 | points=[x_(:),y_(:),z_(:)]; 23 | centers=transform(se3(box.Pose),points); 24 | sph=[repmat(rhoby2,1,size(centers,1));centers']; 25 | end -------------------------------------------------------------------------------- /example1-sim3D/MotionPlanning/exampleHelperSelectPartForMEXPlanner.m: -------------------------------------------------------------------------------- 1 | function [refPose,partID] = exampleHelperSelectPartForMEXPlanner(partGT,binCenterPosition) 2 | %This function is for internal use only and may be removed in the future. 3 | % exampleHelperSelectPartForMEXPlanner selects the the closest object 4 | % to the center of the bin for the requested pick and place cycle and it gives 5 | % reference pose and part index as an output. 6 | 7 | %Copyright 2023 The MathWorks, Inc. 8 | 9 | % Select the part which is closest to the center 10 | % Find the euclidean distance from bin center 11 | dist = zeros(1,size(partGT,1)); 12 | for i=1:size(partGT,1) 13 | dist(i) = pdist([partGT(i,1:2);binCenterPosition(1:2)]); 14 | end 15 | 16 | % Find the index of the part which is closest to the bin center point 17 | [~,I] = min(dist); 18 | 19 | % Assign the output 20 | refPose = zeros(1, 3); 21 | refPose = [partGT(I,1) partGT(I,2) partGT(I,3)]; 22 | partID = I; 23 | end 24 | 25 | -------------------------------------------------------------------------------- /example1-sim3D/MotionPlanning/exampleHelperTrajectoryInterpolation.m: -------------------------------------------------------------------------------- 1 | function [q_interp, qd_interp, qdd_interp, tSample] = exampleHelperTrajectoryInterpolation(pieceWisePolynomial,trajectorySampleTime,vellimits,accellimits) 2 | %This function is for internal use only and may be removed in the future. 3 | % exampleHelperTrajectoryInterpolation computes the trajectory and it's 4 | % interpolation for the smooth motion which also satisfies the given velocity 5 | % acceleration limits using contopptraj and interp1 6 | 7 | %Copyright 2023 The MathWorks, Inc. 8 | 9 | % Find joint's position, velocity, acceleration, and time array using 10 | % contopptraj within the desired acceleration and velocity limits 11 | [q,qd,qdd,t] = contopptraj(pieceWisePolynomial,vellimits,accellimits,NumSamples=50); 12 | 13 | % Interpolate the trajectory for a given sample time 14 | tSample = t(1):trajectorySampleTime:t(end); 15 | q_interp = interp1(t,q',tSample,'pchip'); 16 | qd_interp = interp1(t,qd',tSample,'pchip'); 17 | qdd_interp = interp1(t,qdd',tSample,'pchip'); 18 | 19 | end -------------------------------------------------------------------------------- /example1-sim3D/MotionPlanning/generateMEXForPlanner.m: -------------------------------------------------------------------------------- 1 | 2 | % Commands for MEXing exampleHelperCHOMPMotionPlanner function 3 | bl = coder.typeof(1); 4 | bw = coder.typeof(1); 5 | bh = coder.typeof(1); 6 | bcp = coder.typeof([1, 1,2]); 7 | br = coder.typeof(1); 8 | no = coder.typeof(1); 9 | tf = coder.typeof(uint8(1)); 10 | cnfgs = coder.typeof(1, [3,6], [1 0]); 11 | obs = coder.typeof(1, [20, 4], [1, 0]); 12 | objYaw = coder.typeof(1); 13 | GripperType = coder.typeof(uint8(1)); 14 | codegen exampleHelperCHOMPMotionPlanner.m -args {tf, bl, bw, bh, bcp, br, no, obs, cnfgs, GripperType, objYaw} 15 | %#codegen -------------------------------------------------------------------------------- /example1-sim3D/Perception/align2ndAxis.m: -------------------------------------------------------------------------------- 1 | function coeff_aligned = align2ndAxis(ptCloud, coeff, center) 2 | ptCloud_aligned = pctransform(ptCloud, rigid3d(eye(3), -center)); 3 | ptCloud_aligned = pctransform(ptCloud_aligned, rigid3d(coeff, [0 0 0])); 4 | 5 | points_y = ptCloud_aligned.Location(:, 2); 6 | posy = points_y > 0; 7 | 8 | moments_pos = sum(points_y(posy) .^ 2); 9 | moments_neg = sum(points_y(~posy) .^ 2); 10 | 11 | coeff_rot = coeff; 12 | coeff_rot(:, 2) = -coeff(:, 2); 13 | coeff_rot(:, 3) = -coeff(:, 3); 14 | 15 | if (moments_pos > moments_neg) 16 | coeff_aligned = coeff; 17 | else 18 | coeff_aligned = coeff_rot; 19 | end 20 | end -------------------------------------------------------------------------------- /example1-sim3D/Perception/align3rdAxis.m: -------------------------------------------------------------------------------- 1 | function coeff_aligned = align3rdAxis(ptCloud, coeff, center) 2 | ptCloud_aligned = pctransform(ptCloud, rigid3d(eye(3), -center)); 3 | ptCloud_aligned = pctransform(ptCloud_aligned, rigid3d(coeff, [0 0 0])); 4 | 5 | points_z = ptCloud_aligned.Location(:, 3); 6 | posy = points_z > 0; 7 | 8 | moments_pos = sum(points_z(posy) .^ 2); 9 | moments_neg = sum(points_z(~posy) .^ 2); 10 | 11 | coeff_rot = coeff; 12 | coeff_rot(:, 1) = -coeff(:, 1); 13 | coeff_rot(:, 3) = -coeff(:, 3); 14 | 15 | if (moments_pos > moments_neg) 16 | coeff_aligned = coeff; 17 | else 18 | coeff_aligned = coeff_rot; 19 | end 20 | end -------------------------------------------------------------------------------- /example1-sim3D/Perception/generateParam.mat: 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rangesearch(pt_sorted(:, 1:2), pt_sorted(:, 1:2), partial_downsample_size/4); %find neighbor by xy plane 15 | %visible_flags = true(height(m.Location), 1); 16 | for j = 1:numel(idx_nn) 17 | for k = 2:numel(idx_nn{j}) 18 | p_n = pt_sorted(idx_nn{j}(k), :); 19 | if pt_sorted(j, 3) - p_n(3) > partial_downsample_size/4 20 | visible_flags(idx_nn{j}(k)) = false; 21 | end 22 | end 23 | end 24 | m_tr = pointCloud(pt_sorted(visible_flags, :)); 25 | 26 | m_partial = pctransform(m_tr, rigid3d(tform)); 27 | partialCloud = pcdownsample(m_partial, "gridAverage", partial_downsample_size); 28 | end 29 | -------------------------------------------------------------------------------- /example1-sim3D/Perception/makeUVWfromCoeff.m: -------------------------------------------------------------------------------- 1 | function [U,V,W] = makeUVWfromCoeff(coeff) 2 | visual_fitting = 0.05; 3 | % 1st principal axis 4 | U1 = coeff(1, 1) * visual_fitting; 5 | V1 = coeff(2, 1) * visual_fitting; 6 | W1 = coeff(3, 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Please see 5 | [MathWorks Vulnerability Disclosure Policy for Security Researchers](https://www.mathworks.com/company/aboutus/policies_statements/vulnerability-disclosure-policy.html) 6 | for additional information. -------------------------------------------------------------------------------- /example1-sim3D/SimulinkModel/IntelligentBinPicking.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mathworks-robotics/intelligent-bin-picking-example-with-simulink/16592d5954b2d59bff7200b74d98db59a774acdd/example1-sim3D/SimulinkModel/IntelligentBinPicking.slx -------------------------------------------------------------------------------- /example1-sim3D/license.txt: -------------------------------------------------------------------------------- 1 | Copyright (c) 2024, The MathWorks, Inc. 2 | All rights reserved. 3 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 4 | 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 5 | 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 6 | 3. In all cases, the software is, and all modifications and derivatives of the software shall be, licensed to you solely for use in conjunction with MathWorks products and service offerings. 7 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /example1-sim3D/resources/project/3I6REvjCBznshaOd3td3ujDMHB8/72FMA4t6WKTqC3jCKmUcrd3Lmxwd.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /example1-sim3D/resources/project/3I6REvjCBznshaOd3td3ujDMHB8/72FMA4t6WKTqC3jCKmUcrd3Lmxwp.xml: 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https://raw.githubusercontent.com/mathworks-robotics/intelligent-bin-picking-example-with-simulink/16592d5954b2d59bff7200b74d98db59a774acdd/example2-urCobot-gazebo/Initialize/BlockIcons/TaskManagerIcon.PNG -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/Enums/GripperTypeEnum.m: -------------------------------------------------------------------------------- 1 | classdef GripperTypeEnum < Simulink.IntEnumType 2 | %TargetEnvs Enum for the targets for pick and place 3 | % Targets currently supported are Gazebo, URSim, Hardware 4 | 5 | enumeration 6 | Vaccum(0) 7 | TwoFinger(1) 8 | end 9 | 10 | end 11 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/Enums/ObjectTypesID.m: -------------------------------------------------------------------------------- 1 | classdef ObjectTypesID < Simulink.IntEnumType 2 | %UNTITLED Summary of this class goes here 3 | % Detailed explanation goes here 4 | 5 | enumeration 6 | Invalid(-1) 7 | % Make sure to start with one because we use the enum to index 8 | % MATLAB arrays 9 | Unknown (0) 10 | Duster (1) 11 | % L (2) 12 | % T (3) 13 | % X (4) 14 | end 15 | 16 | end -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/Enums/PickAndPlaceModes.m: -------------------------------------------------------------------------------- 1 | classdef PickAndPlaceModes < Simulink.IntEnumType 2 | %UNTITLED Summary of this class goes here 3 | % Detailed explanation goes here 4 | 5 | enumeration 6 | PickSelected(0) 7 | PickAll(1) 8 | end 9 | 10 | end 11 | 12 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/Enums/TargetEnvs.m: -------------------------------------------------------------------------------- 1 | classdef TargetEnvs < Simulink.IntEnumType 2 | %TargetEnvs Enum for the targets for pick and place 3 | % Targets currently supported are Gazebo, URSim, Hardware 4 | 5 | enumeration 6 | Gazebo(0) 7 | URSim(1) 8 | Hardware(2) 9 | end 10 | 11 | end 12 | 13 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/Enums/enumCmd.m: -------------------------------------------------------------------------------- 1 | classdef enumCmd < int32 2 | enumeration 3 | undefined (0) 4 | 5 | reboot_arm (1) 6 | emergency_stop (2) 7 | clear_faults (3) 8 | stop_action (4) 9 | pause_action (5) 10 | resume_action (6) 11 | 12 | precomputed_joint_trj (101) 13 | 14 | joint_reach (200) 15 | 16 | cartesian_reach (300) 17 | 18 | tool_reach (400) 19 | tool_speed (401) 20 | activate_vacuum(500) 21 | deactivate_vacuum(501) 22 | 23 | send_to_home(600) 24 | end 25 | end 26 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/RequestRobotIP.m: -------------------------------------------------------------------------------- 1 | % Copyright 2023 The MathWorks, Inc. 2 | 3 | prompt = {'Enter IP address of Robot:'}; 4 | dlgtitle = 'Robot IP Address'; 5 | dims = [1 50]; 6 | if exist('robotAddress', 'var') 7 | definput = {robotAddress}; 8 | else 9 | definput = {'192.168.1.10'}; 10 | end 11 | answer = inputdlg(prompt,dlgtitle,dims,definput); 12 | if ~isempty(answer) 13 | robotAddress = answer{1}; 14 | else 15 | robotAddress = definput{1}; 16 | end 17 | 18 | set_param([gcs, '/robotAddress Display'], ... 19 | 'MaskDisplay', 'color(''blue''); try ipad = evalin(''base'', ''robotAddress''); catch ipad = ''192.162.1.10''; end; disp(ipad)'); -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/ResetObjectsGazebo.m: -------------------------------------------------------------------------------- 1 | %%Reset objects 2 | % create mesh 3 | % Copyright 2023 The MathWorks, Inc. 4 | 5 | px1 = -0.20:0.12:0.24; 6 | py1 = -0.12:0.11:0.12; 7 | 8 | py1 = py1(randperm(length(py1)))+0.48; 9 | px1 = px1(randperm(length(px1))); 10 | 11 | temp = cell(length(px1),length(py1)); 12 | 13 | for i = 1:length(px1) 14 | for j = 1:length(py1) 15 | temp(i,j) = {[px1(i), py1(j)]}; 16 | end 17 | end 18 | 19 | newPose = reshape(temp,[1,length(px1)*length(py1)]); 20 | 21 | % get the list of the world models 22 | modelList = gzmodel("list"); 23 | 24 | % list of the target objects (naming starts with part1, part2 etc.) 25 | partList = modelList(contains(modelList,"part")); 26 | 27 | 28 | ii=randperm(length(newPose)); 29 | b=newPose(ii); 30 | partGT = zeros(length(partList), 4); 31 | % spawn the world 32 | for i=1:length(partList) 33 | partGT(i, 1:2) = cell2mat(b(i)); 34 | partGT(i, 3) = 0.8; 35 | partGT(i, 4) = rand*pi*0.8; 36 | gzlink('set',partList(i),'link','Position',[partGT(i, 2) partGT(i, 1) 0.8],'Orientation',eul2quat([partGT(i, 4),0,0])); 37 | end 38 | 39 | %Reset collision environment 40 | binLength = 0.395; % Along X axis 41 | binWidth = 0.585; % Along Y axis 42 | binHeight = 0.11; 43 | binCenterPosition = [0.48 0 -0.038]; 44 | binRotation = 0; 45 | 46 | numOfParts = size(partGT,1); % Number of parts 47 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/generateAndTransferLaunchScriptForCamera.m: -------------------------------------------------------------------------------- 1 | function generateAndTransferLaunchScriptForCamera(device,WorkSpaceFolder) 2 | %This function is for internal use only and may be removed in the future. 3 | % generateAndTransferLaunchScriptForCamera create the launch script to launch 4 | % the required ROS drivers for the IntelRealSense D415. After that, it copies this script 5 | % to the ROS machine provided and launches the script automatically. 6 | 7 | %Copyright 2023 The MathWorks, Inc. 8 | 9 | %Copyright 2023 The MathWorks, Inc. 10 | fid=fopen(fullfile(tempdir,"launchURBinPickingCamera.sh"),"w+"); 11 | fprintf(fid,"#!/bin/sh\n"); 12 | fprintf(fid,"export SVGA_VGPU10=0\n"); 13 | fprintf(fid,"export ROS_IP=%s\n",device.DeviceAddress); 14 | fprintf(fid,"export ROS_MASTER_URI=http://$ROS_IP:11311\n"); 15 | 16 | fprintf(fid,"gnome-terminal --title=\42Intel RealSense Camera\42 -- /bin/bash -c 'source %s/setup.bash; source %s/devel/setup.bash; roslaunch realsense2_camera demo_pointcloud.launch'",device.ROSFolder,WorkSpaceFolder); 17 | 18 | fclose(fid); 19 | 20 | % Copy file into ROS device 21 | putFile(device,fullfile(tempdir,'launchURBinPickingCamera.sh'),'~/') 22 | 23 | % Make the shell script executable 24 | system(device,'chmod a+x ~/launchURBinPickingCamera.sh'); 25 | end -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/generateAndTransferLaunchScriptForUR5e.m: -------------------------------------------------------------------------------- 1 | function generateAndTransferLaunchScriptForUR5e(device,WorkSpaceFolder,robotIP) 2 | %This function is for internal use only and may be removed in the future. 3 | % generateAndTransferLaunchScriptForUR5e create the launch script to launch 4 | % the required ROS drivers for the UR5e. After that, it copies this script 5 | % to the ROS machine provided and launches the script automatically. 6 | 7 | %Copyright 2023 The MathWorks, Inc. 8 | 9 | % Open a file to write set of commands to launch interface with UR5e 10 | fid=fopen(fullfile(tempdir,"launchURBinPicking.sh"),"w+"); 11 | fprintf(fid,"#!/bin/sh\n"); 12 | fprintf(fid,"export SVGA_VGPU10=0\n"); 13 | fprintf(fid,"export ROS_IP=%s\n",device.DeviceAddress); 14 | fprintf(fid,"export ROS_MASTER_URI=http://$ROS_IP:11311\n"); 15 | fprintf(fid,"gnome-terminal --title=\42UR5 Robot\42 -- /bin/bash -c 'source %s/setup.bash; source %s/devel/setup.bash; roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=%s'",device.ROSFolder,WorkSpaceFolder,robotIP); 16 | fclose(fid); 17 | 18 | % Copy file into ROS device 19 | putFile(device,fullfile(tempdir,'launchURBinPicking.sh'),'~/') 20 | 21 | % Make the shell script executable 22 | system(device,'chmod a+x ~/launchURBinPicking.sh'); 23 | end 24 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/generateAndTransferLaunchScriptForUR5eSimGazebo.m: -------------------------------------------------------------------------------- 1 | function generateAndTransferLaunchScriptForUR5eSimGazebo(device,WorkSpaceFolder) 2 | %This function is for internal use only and may be removed in the future. 3 | % generateAndTransferLaunchScriptForUR5eSimGazebo create the launch script to launch 4 | % the required ROS drivers for the UR5e. After that, it copies this script 5 | % to the ROS machine provided and launches the script automatically. 6 | 7 | %Copyright 2023 The MathWorks, Inc. 8 | 9 | % Open a file to write a set of commands to launch interface with UR5e 10 | fid=fopen(fullfile(tempdir,"launchURBinPicking.sh"),"w+"); 11 | fprintf(fid,"#!/bin/sh\n"); 12 | fprintf(fid,"export SVGA_VGPU10=0\n"); 13 | fprintf(fid,"export ROS_IP=%s\n",device.DeviceAddress); 14 | fprintf(fid,"export ROS_MASTER_URI=http://$ROS_IP:11311\n"); 15 | fprintf(fid,"export IGN_IP=127.0.0.1\n"); 16 | fprintf(fid,"export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/home/user/src/GazeboPlugin/export\n"); 17 | fprintf(fid,"gnome-terminal --title=\42UR5 Robot\42 -- /bin/bash -c 'source %s/setup.bash; source %s/devel/setup.bash; roslaunch ur_bin_picking ur_bin_picking.launch'",device.ROSFolder,WorkSpaceFolder); 18 | fclose(fid); 19 | 20 | % Copy file into ROS device 21 | putFile(device,fullfile(tempdir,'launchURBinPicking.sh'),'~/') 22 | 23 | % Make the shell script executable 24 | system(device,'chmod a+x ~/launchURBinPicking.sh'); 25 | end 26 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/getGripperType.m: -------------------------------------------------------------------------------- 1 | 2 | gripperlist = {'Vaccum','TwoFinger'}; 3 | [gripperIndx,isGripperSelected] = listdlg('ListString',gripperlist,'ListSize',[220,60],'SelectionMode','single', ... 4 | 'PromptString','Select the Gripper Type','Name','Gripper Type'); 5 | if isGripperSelected 6 | gripperType = GripperTypeEnum(gripperlist{gripperIndx}); 7 | else 8 | error("Gripper Type not selected. Click on 'Setup for Hardware' button and choose a Gripper Type"); 9 | end 10 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/getRBTFromUR.m: -------------------------------------------------------------------------------- 1 | function tree = getRBTFromUR(ipaddress) 2 | %GETRBTFROMUR Summary of this function goes here 3 | % Detailed explanation goes here 4 | ur = urHandleClass.manageURNodeMap(ipaddress,[],'get'); 5 | if ~isempty(ur) 6 | tree = ur.RigidBodyTree; 7 | else 8 | rbt = loadrobot('universalUR5e','DataFormat','row'); 9 | ur5e = exampleHelperAddGripper(rbt); 10 | ur = universalrobot(ipaddress,'RigidBodyTree',ur5e); 11 | tree = ur.RigidBodyTree; 12 | urHandleClass.manageURNodeMap(ipaddress,ur,'add'); 13 | end 14 | end 15 | 16 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/loadPickAndPlaceParametersSL.m: -------------------------------------------------------------------------------- 1 | %loadPickAndPlaceParametersSL - Load pick and place parameters for Pick and 2 | % Place Demo Version SL 3 | % Copyright 2023 The MathWorks, Inc. 4 | 5 | disp('************PickAndPlaceV3::Initializing parameters***************'); 6 | 7 | %% Load gen 3 parameters (joint limits, numJoints) 8 | % fprintf('Loading Robot Model and Parameters...') 9 | %default IP address of the ROS Device 10 | ROSDeviceAddress = '0.0.0.0'; 11 | %default IP address of the Robot 12 | robotAddress = '192.168.1.10'; 13 | %default gripper 14 | gripperType = GripperTypeEnum.Vaccum; 15 | robotParams = loadRobotParameters(); 16 | fprintf('OK\n'); 17 | 18 | %% Load all communication buses 19 | LoadBuses(); 20 | 21 | %% Define max errors for motion planner tasks 22 | fprintf('Loading Planner Tasks Maximum Errors...\n'); 23 | % Maximum erros allowed for SE3 Tasks 24 | posTargetError = 0.01; 25 | disp("posTargetError: " + posTargetError); 26 | fprintf('OK\n'); 27 | 28 | %% Define component sample times 29 | fprintf('Loading Model Simulation Parameters...'); 30 | TaskPlannerSampleTime = 0.1; % 0.1 31 | RigidBodyTreeVisualizerSampleTime = 0.1; 32 | fprintf('OK\n'); 33 | 34 | %% 35 | disp('**********PickAndPlace::Parameter Initialization finished**********'); -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/loadRobotParameters.m: -------------------------------------------------------------------------------- 1 | function robotParams = loadRobotParameters() 2 | %JointPosLimits.Min 3 | %JointPosLimits.Max 4 | %JointVelLimits.Min 5 | %JointVelLimits.Max 6 | %JointAccLimits.Min 7 | %JointAccLimits.Max 8 | %JointEffortLimits.Min 9 | %JointEffortLimits.Max 10 | %NumJoints 11 | %TooltipName 12 | %RGBCameraResolution = [720 1280 3]; 13 | %DepthCameraResolution = [270 480]; 14 | 15 | % For UR5e 16 | robotParams = struct(); 17 | 18 | robotParams.JointPosLimits.Min = ... 19 | [-6.2831;-6.2831;-3.1415;-6.2831;-6.2831;-6.2831]; % rad 174.5 means inf 20 | 21 | robotParams.JointPosLimits.Max = ... 22 | [6.2831;6.2831;3.1415;6.2831;6.2831;6.2831]; % rad 174.53 means inf 23 | 24 | robotParams.JointVelLimits.Min = ... 25 | [-0.8727;-0.8727;-0.8727;-0.8727;-0.8727;-0.8727;-0.8727]; % rad/s 26 | 27 | robotParams.JointVelLimits.Max = ... 28 | [ 0.8727; 0.8727; 0.8727; 0.8727; 0.8727; 0.8727; 0.8727]; % rad/s 29 | 30 | robotParams.JointAccLimits.Min = ... 31 | [-1.0000;-1.0000;-1.0000;-1.0000;-10.0000;-10.0000;-10.0000]; % rad/s^2 32 | 33 | robotParams.JointAccLimits.Max = ... 34 | [ 1.0000; 1.0000; 1.0000; 1.0000; 10.0000; 10.0000; 10.0000]; % rad/s^2 35 | 36 | % Num joints 37 | robotParams.NumJoints = numel(robotParams.JointPosLimits.Min); 38 | 39 | % Tooltip name 40 | robotParams.TooltipName = 'tcp'; 41 | 42 | % Camera sensor 43 | robotParams.RGBCameraResolution = [720 1280 3]; 44 | robotParams.DepthCameraResolution = [270 480]; 45 | 46 | end -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/openMainScript.m: -------------------------------------------------------------------------------- 1 | open('IntellingentBinPickingWithSimulinkForUR5eStartScript.mlx'); -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/selectDetectorMATFile.m: -------------------------------------------------------------------------------- 1 | [detectorFile,detectorPath] = uigetfile('*.mat'); 2 | detectorFilePath = [detectorPath,detectorFile]; 3 | blkHandle = 'IntelligentBinPicking/Object Detector/Object Detector/Gazebo/Deep Learning Object Detector'; 4 | set_param(blkHandle,'DetectorFilePath',detectorFilePath); 5 | blkHandle = 'IntelligentBinPicking/Object Detector/Object Detector/URSim_Hardware/Deep Learning Object Detector'; 6 | set_param(blkHandle,'DetectorFilePath',detectorFilePath); -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Initialize/urHandleClass.m: -------------------------------------------------------------------------------- 1 | classdef urHandleClass < handle 2 | % This is a helper class to handle the various Serial, UDP and TCP 3 | % objects using Map (name-value pair arguments) 4 | 5 | % Copyright 2021 The MathWorks, Inc. 6 | 7 | methods(Static) 8 | 9 | function URNodeMapObj = manageURNodeMap(key,value,action) 10 | % action - 'add' : adds the key,value pair to the map 11 | % 'get' : returns the object from Map based on key 12 | % 'remove' : remove object from Map based on key 13 | 14 | % Initialize the persistent variable if it's empty by creating 15 | % the container Map 16 | persistent URNodeMap; 17 | if isempty(URNodeMap) 18 | URNodeMap = containers.Map; 19 | end 20 | 21 | URNodeMapObj =[]; 22 | switch action 23 | case 'add' 24 | URNodeMap(key) = value; 25 | case 'get' 26 | if URNodeMap.isKey(key) 27 | URNodeMapObj = URNodeMap(key); 28 | end 29 | case 'remove' 30 | if URNodeMap.isKey(key) 31 | remove(URNodeMap,key); 32 | end 33 | end 34 | end 35 | 36 | end 37 | end -------------------------------------------------------------------------------- /example2-urCobot-gazebo/IntelligentBinPickingExampleWithSimulink.prj: -------------------------------------------------------------------------------- 1 | 2 | 3 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/IntellingentBinPickingWithSimulinkForUR5eStartScript.mlx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mathworks-robotics/intelligent-bin-picking-example-with-simulink/16592d5954b2d59bff7200b74d98db59a774acdd/example2-urCobot-gazebo/IntellingentBinPickingWithSimulinkForUR5eStartScript.mlx -------------------------------------------------------------------------------- /example2-urCobot-gazebo/MotionPlanning/exampleHelperApproximateCollisionBoxSpheresBinPicking.m: -------------------------------------------------------------------------------- 1 | function sph=exampleHelperApproximateCollisionBoxSpheresBinPicking(box,rho) 2 | %exampleHelperApproximateCollisionBoxSpheres Approximate collision box with collection of spheres 3 | 4 | % This function is for internal use only, and maybe removed in the future. 5 | 6 | % Copyright 2022 The MathWorks, Inc. 7 | %#codegen 8 | rhoby2=rho/2; 9 | x=-box.X/2+rhoby2:rho:box.X/2-rhoby2; 10 | y=-box.Y/2+rhoby2:rho:box.Y/2-rhoby2; 11 | z=-box.Z/2+rhoby2:rho:box.Z/2-rhoby2; 12 | if(isempty(x)) 13 | x=box.X; 14 | end 15 | if(isempty(y)) 16 | y=box.Y; 17 | end 18 | if(isempty(z)) 19 | z=box.Z; 20 | end 21 | [x_,y_,z_]=meshgrid(x,y,z); 22 | points=[x_(:),y_(:),z_(:)]; 23 | centers=transform(se3(box.Pose),points); 24 | sph=[repmat(rhoby2,1,size(centers,1));centers']; 25 | end -------------------------------------------------------------------------------- /example2-urCobot-gazebo/MotionPlanning/exampleHelperSelectPartForMEXPlanner.m: -------------------------------------------------------------------------------- 1 | function [refPose,partID] = exampleHelperSelectPartForMEXPlanner(partGT,binCenterPosition) 2 | %This function is for internal use only and may be removed in the future. 3 | % exampleHelperSelectPartForMEXPlanner selects the the closest object 4 | % to the center of the bin for the requested pick and place cycle and it gives 5 | % reference pose and part index as an output. 6 | 7 | %Copyright 2023 The MathWorks, Inc. 8 | 9 | % Select the part which is closest to the center 10 | % Find the euclidean distance from bin center 11 | dist = zeros(1,size(partGT,1)); 12 | for i=1:size(partGT,1) 13 | dist(i) = pdist([partGT(i,1:2);binCenterPosition(1:2)]); 14 | end 15 | 16 | % Find the index of the part which is closest to the bin center point 17 | [~,I] = min(dist); 18 | 19 | % Assign the output 20 | refPose = zeros(1, 3); 21 | refPose = [partGT(I,1) partGT(I,2) partGT(I,3)]; 22 | partID = I; 23 | end 24 | 25 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/MotionPlanning/exampleHelperTrajectoryInterpolation.m: -------------------------------------------------------------------------------- 1 | function [q_interp, qd_interp, qdd_interp, tSample] = exampleHelperTrajectoryInterpolation(pieceWisePolynomial,trajectorySampleTime,vellimits,accellimits) 2 | %This function is for internal use only and may be removed in the future. 3 | % exampleHelperTrajectoryInterpolation computes the trajectory and it's 4 | % interpolation for the smooth motion which also satisfies the given velocity 5 | % acceleration limits using contopptraj and interp1 6 | 7 | %Copyright 2023 The MathWorks, Inc. 8 | 9 | % Find joint's position, velocity, acceleration, and time array using 10 | % contopptraj within the desired acceleration and velocity limits 11 | [q,qd,qdd,t] = contopptraj(pieceWisePolynomial,vellimits,accellimits,NumSamples=50); 12 | 13 | % Interpolate the trajectory for a given sample time 14 | tSample = t(1):trajectorySampleTime:t(end); 15 | q_interp = interp1(t,q',tSample,'pchip'); 16 | qd_interp = interp1(t,qd',tSample,'pchip'); 17 | qdd_interp = interp1(t,qdd',tSample,'pchip'); 18 | 19 | end -------------------------------------------------------------------------------- /example2-urCobot-gazebo/MotionPlanning/generateMEXForPlanner.m: -------------------------------------------------------------------------------- 1 | 2 | % Commands for MEXing exampleHelperCHOMPMotionPlanner function 3 | bl = coder.typeof(1); 4 | bw = coder.typeof(1); 5 | bh = coder.typeof(1); 6 | bcp = coder.typeof([1, 1,2]); 7 | br = coder.typeof(1); 8 | no = coder.typeof(1); 9 | tf = coder.typeof(uint8(1)); 10 | cnfgs = coder.typeof(1, [3,6], [1 0]); 11 | obs = coder.typeof(1, [20, 4], [1, 0]); 12 | objYaw = coder.typeof(1); 13 | GripperType = coder.typeof(uint8(1)); 14 | disp("Creating MEX for exampleHelperCHOMPMotionPlanner function. This might take few minutes.") 15 | codegen exampleHelperCHOMPMotionPlanner.m -args {tf, bl, bw, bh, bcp, br, no, obs, cnfgs, GripperType, objYaw} 16 | disp("MEX creation complete.") 17 | 18 | %#codegen -------------------------------------------------------------------------------- /example2-urCobot-gazebo/Perception/DetectObjectsAndGetPoseFromROS.mlx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mathworks-robotics/intelligent-bin-picking-example-with-simulink/16592d5954b2d59bff7200b74d98db59a774acdd/example2-urCobot-gazebo/Perception/DetectObjectsAndGetPoseFromROS.mlx -------------------------------------------------------------------------------- /example2-urCobot-gazebo/RobotConnectivity/exampleHelperHandBackControl.m: -------------------------------------------------------------------------------- 1 | function exampleHelperHandBackControl() 2 | % Hand Back the control to PolyScope 3 | client = rossvcclient('/ur_hardware_interface/hand_back_control'); 4 | call(client); 5 | pause(0.5); 6 | end -------------------------------------------------------------------------------- /example2-urCobot-gazebo/SECURITY.md: -------------------------------------------------------------------------------- 1 | # Reporting Security Vulnerabilities 2 | 3 | If you believe you have discovered a security vulnerability, please report it to 4 | [security@mathworks.com](mailto:security@mathworks.com). Please see 5 | [MathWorks Vulnerability Disclosure Policy for Security Researchers](https://www.mathworks.com/company/aboutus/policies_statements/vulnerability-disclosure-policy.html) 6 | for additional information. -------------------------------------------------------------------------------- /example2-urCobot-gazebo/SimulinkModel/IntelligentBinPicking.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mathworks-robotics/intelligent-bin-picking-example-with-simulink/16592d5954b2d59bff7200b74d98db59a774acdd/example2-urCobot-gazebo/SimulinkModel/IntelligentBinPicking.slx -------------------------------------------------------------------------------- /example2-urCobot-gazebo/license.txt: -------------------------------------------------------------------------------- 1 | Copyright (c) 2023, The MathWorks, Inc. 2 | All rights reserved. 3 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 4 | 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 5 | 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 6 | 3. In all cases, the software is, and all modifications and derivatives of the software shall be, licensed to you solely for use in conjunction with MathWorks products and service offerings. 7 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/resources/project/3I6REvjCBznshaOd3td3ujDMHB8/72FMA4t6WKTqC3jCKmUcrd3Lmxwd.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/resources/project/3I6REvjCBznshaOd3td3ujDMHB8/72FMA4t6WKTqC3jCKmUcrd3Lmxwp.xml: 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/example2-urCobot-gazebo/resources/project/x6YBo3AC068nxlSoks3tG0HmdRM/WLg6H7jMr2_zWPIoXgRNkGlCIVcd.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/resources/project/x6YBo3AC068nxlSoks3tG0HmdRM/WLg6H7jMr2_zWPIoXgRNkGlCIVcp.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/resources/project/x6YBo3AC068nxlSoks3tG0HmdRM/nA_3Hbs9RmQsLpDyuRgLhNVJFYAd.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/resources/project/x6YBo3AC068nxlSoks3tG0HmdRM/nA_3Hbs9RmQsLpDyuRgLhNVJFYAp.xml: 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-------------------------------------------------------------------------------- /example2-urCobot-gazebo/resources/project/y-R7dUYbT9R7UyLrmIHQe6Rpm88/2Ebj5qfAo1C4sXGz5lrIzkXzReUp.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/resources/project/y-R7dUYbT9R7UyLrmIHQe6Rpm88/iDAF_PLht8zTIg8Kzwuq4r65aTcd.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /example2-urCobot-gazebo/resources/project/y-R7dUYbT9R7UyLrmIHQe6Rpm88/iDAF_PLht8zTIg8Kzwuq4r65aTcp.xml: -------------------------------------------------------------------------------- 1 | 2 | --------------------------------------------------------------------------------