├── 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 ├── 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