Commit Example

BinPickingApplicationWithUR5eHardware.prj

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+<?xml version="1.0" encoding="UTF-8"?>
+<MATLABProject xmlns="http://www.mathworks.com/MATLABProjectFile"/>

Initialize/initializeParametersForBinPickingHardware.m

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+%% This script contains the parameters used in the project modules' perception, motion planning, and integration.
+% This script runs at the time of project initialization. Change this
+% parameters accordingly if you are using any different setup.
+
+%   Copyright 2023 The MathWorks, Inc.
+
+%% Perception parameters
+
+% YOLOv4 parameters
+yoyloScoreTh = 0.8;% YOLO score threshold. if 0, all detection are accepted
+gridDownsample = 0.001;% Measured point downsample gridsize
+PlanrThickness = 0.02;
+normalvector = [0 0 1];
+maxPlaneTilt = 5; % in degrees
+
+
+%% Motion planning parameters
+
+% home position
+homePosition = deg2rad([-15+180 -126 113 -80 -91 76]);
+
+% Bin and part dimensions
+binLength = 0.38; % Along X axis
+binWidth = 0.57; % Along Y axis
+binHeight = 0.11;
+binCenterPosition = [0.48 0 -0.09+0.11/2];
+binRotation = 0;
+
+% cuboid object dimensions
+partheight = 0.0508;
+partWidth = 0.0508;
+
+
+% Transformation matrix: From camera to the world reference frame
+rotationFromRobotToCam = eul2rotm([pi/2, pi, pi],"ZYZ");
+posDepthCam = [0.54 -0.018 0.63];
+
+
+% Set max acceleration and velocity limits for motion planning with
+% hardware
+maxqd = pi/2; %rad / s
+maxqdd = deg2rad(100); % rad / s2
+
+vellimits = repmat([-maxqd; maxqd],1,6);
+accellimits  = repmat([-maxqdd; maxqdd],1,6);
+
+
+% Position threshold for IK
+poseThr = 1e-3;
+
+
+%% Open introductory script
+open("SmartBinPickingWithUR5eStartScript.mlx");