Cuboid Scenario Simulation

Scenarios with static meshes, robot platforms, sensors

Create and simulate low-fidelity scenarios using the robotScenario object and sensor models such as GPS and lidar to test your robotics algorithms.

Functions

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Fixed-Rate Execution

`rateControl`	Execute loop at fixed frequency
`statistics`	Statistics of past execution periods
`waitfor`	Pause code execution to achieve desired execution rate
`reset`	Reset `Rate` object

Robotics Cuboid Scenario and Tools

`robotScenario`	Generate robot simulation scenario (Since R2022a)
`robotPlatform`	Create robot platform in scenario (Since R2022a)
`robotSensor`	Sensor for robot scenario (Since R2022a)
`extendedObjectMesh`	Mesh representation of extended object (Since R2022a)
`pointCloud`	Object for storing 3-D point cloud (Since R2022a)

Sensor Models

`gpsSensor`	GPS receiver simulation model (Since R2022a)
`insSensor`	Inertial navigation system and GNSS/GPS simulation model (Since R2022a)
`robotLidarPointCloudGenerator`	Generate point cloud from meshes (Since R2022a)
`createCustomRobotSensorTemplate`	Create sample implementation for robot custom sensor interface (Since R2022b)
`robotics.SensorAdaptor`	Custom robot sensor interface (Since R2022b)

Transformation Trees

`transformTree`	Define coordinate frames and relative transformations (Since R2022a)
`getGraph`	Graph object representing tree structure (Since R2022a)
`getTransform`	Get relative transform between frames (Since R2022a)
`info`	List all frame names and stored timestamps (Since R2022a)
`removeTransform`	Remove frame transform relative to its parent (Since R2022a)
`show`	Show transform tree (Since R2022a)
`updateTransform`	Update frame transform relative to its parent (Since R2022a)

Topics

Execute Code at a Fixed-Rate
By executing code at constant intervals, you can accurately time and schedule tasks.

Featured Examples

Simulate Ultrasonic Sensors Mounted on Mobile Robots

Focuses on creating and mounting an ultrasonic sensor on a mobile robot in a robotScenario. The ultrasonicDetectionGenerator from the Automated Driving Toolbox™ cannot be used directly with robotScenario. We will be implementing a custom sensor adaptor for the ultrasonicDetectionGenerator that makes it compatible with robotScenario. The sensor will be used to position a mobile robot correctly at a charging station.

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Perform Path Planning Simulation with Mobile Robot

Create a scenario to simulate a mobile robot navigating a room. The example demonstrates how to create a scenario, model a robot platform from a rigid body tree object, obtain a binary occupancy grid map from the scenario, and plan a path for the mobile robot to follow using the mobileRobotPRM path planning algorithm.

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Perform Pick and Place with Collision-Object-Based Obstacle Avoidance in Robot Scenario

In this example, you create a scenario to simulate a manipulator performing pick-and-place operations with obstacle avoidance in a collision-object-based environment. This example demonstrates how to create a scene with collision-object-based static meshes, add a manipulator using the rigid body tree representation, plan manipulator motion with manipulatorRRT, and simulate the pick-and-place workflow in the scenario.

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