Added R2019b files

Author: sea-bass

matlab/compareTaskVsJointTraj.m

@@ -13,7 +13,7 @@
 grid on
 view([45 45]);
 % Define IK solver
-ik = robotics.InverseKinematics('RigidBodyTree',gen3);
+ik = inverseKinematics('RigidBodyTree',gen3);
 ikWeights = [1 1 1 1 1 1];
 % Use a small sample time for this example, so the difference between joint
 % and task space is clear due to evaluation of IK in task space trajectory.
@@ -28,7 +28,7 @@
 ikInitGuess(ikInitGuess > pi) = ikInitGuess(ikInitGuess > pi) - 2*pi;
 ikInitGuess(ikInitGuess < -pi) = ikInitGuess(ikInitGuess < -pi) + 2*pi;
 
-disp('Running task space trajectory generation and following...')
+disp('Running task space trajectory generation and evaluation...')
 tic;
 
 % Trajectory generation
@@ -63,8 +63,8 @@
 for idx = 1:numWaypoints
     tgtPose = trvec2tform(waypoints(:,idx)');
     [config,info] = ik(eeName,tgtPose,ikWeights,ikInitGuess);
-    ikInitGuess = config;   
-    jointWaypoints(:,idx) = config';
+    cfgDiff = config - ikInitGuess;
+    jointWaypoints(:,idx) = config';    
 end
 
 % Trajectory Generation

matlab/manipTrajCartesian.m

@@ -10,7 +10,7 @@
 createWaypointData;
 
 % Define IK
-ik = robotics.InverseKinematics('RigidBodyTree',gen3);
+ik = inverseKinematics('RigidBodyTree',gen3);
 ikWeights = [1 1 1 1 1 1];
 ikInitGuess = gen3.homeConfiguration;
 

matlab/manipTrajJoint.m

@@ -11,7 +11,7 @@
 createWaypointData;
 
 % Define IK
-ik = robotics.InverseKinematics('RigidBodyTree',gen3);
+ik = inverseKinematics('RigidBodyTree',gen3);
 ikWeights = [1 1 1 1 1 1];
 ikInitGuess = jointAnglesHome';
 ikInitGuess(ikInitGuess > pi) = ikInitGuess(ikInitGuess > pi) - 2*pi;
@@ -41,8 +41,6 @@
         tgtPose =  trvec2tform(waypoints(:,idx)');
     end
     [config,info] = ik(eeName,tgtPose,ikWeights,ikInitGuess);
-    ikInitGuess = config;
-    
     jointWaypoints(:,idx) = config';
 end
 

matlab/manipTrajLinearRotation.m

@@ -11,7 +11,7 @@
 createWaypointData;
 
 % Define IK
-ik = robotics.InverseKinematics('RigidBodyTree',gen3);
+ik = inverseKinematics('RigidBodyTree',gen3);
 ikWeights = [1 1 1 1 1 1];
 ikInitGuess = gen3.homeConfiguration;
 

matlab/manipTrajTransform.m

@@ -11,7 +11,7 @@
 createWaypointData;
 
 % Define IK
-ik = robotics.InverseKinematics('RigidBodyTree',gen3);
+ik = inverseKinematics('RigidBodyTree',gen3);
 ikWeights = [1 1 1 1 1 1];
 ikInitGuess = gen3.homeConfiguration;
 

matlab/manipTrajTransformTimeScaling.m

@@ -11,7 +11,7 @@
 createWaypointData;
 
 % Define IK
-ik = robotics.InverseKinematics('RigidBodyTree',gen3);
+ik = inverseKinematics('RigidBodyTree',gen3);
 ikWeights = [1 1 1 1 1 1];
 ikInitGuess = gen3.homeConfiguration;
 

utilities/gen3.mat

@@ -3,18 +3,27 @@
 %
 % Copyright 2019 The MathWorks, Inc.
 
-    % Gen3 URDF
-    addpath(genpath('gen3_description'))
-    gen3 = importrobot('JACO3_URDF_V11.urdf');
+    % Load the URDF file
+    %
+    % NOTE: This requires you to have the kortex_description folder on 
+    % your path, which you can download from 
+    % https://github.com/Kinovarobotics/ros_kortex.git
+    %
+    % Then, you have to convert the gen3.xacro file to a URDF file using
+    % the following commands in a ROS enabled terminal:
+    %  $ cd PATH/TO/ros_kortex/kortex_description/robots
+    %  $ rosrun xacro xacro --inorder -o gen3.urdf gen3.xacro
+    addpath(genpath('kortex_description'))
+    gen3 = importrobot('gen3.urdf');
 
     % Add a "dummy" gripper link
     gripperLength = 0.1; % Gripper length in meters
-    gripperBody = robotics.RigidBody('Gripper');
-    gripperJoint = robotics.Joint('GripperLink','fixed');
+    gripperBody = rigidBody('Gripper');
+    gripperJoint = rigidBodyJoint('GripperLink','fixed');
     T = rotm2tform([0 1 0;0 0 1;1 0 0]) * trvec2tform([gripperLength 0 0]);
     setFixedTransform(gripperJoint,T); % Move and orient the gripper
     gripperBody.Joint = gripperJoint;
-    addBody(gen3,gripperBody,'EndEffector_Link');
+    addBody(gen3,gripperBody,'end_effector_link');
     % Add a "dummy" mesh
     addVisual(gen3.Bodies{9},'Mesh','cylinder.stl', ... 
               trvec2tform([-0.1 0 0]) * axang2tform([0 1 0 pi/2]));