Bin Picking

Overview

Bin picking involves grasping objects from cluttered bins - a challenging manipulation task.

Scene Generation

Clutter Simulation

scene = ClutteredScene()
scene.AddObjects(object_mesh, num_objects=20)

Grasp Selection

Model-Based

1. Segment point cloud
2. Estimate object poses
3. Sample grasp candidates
4. Evaluate grasp quality

Contact Mechanics

Static friction balance:

\[f_n \geq 0$$ $$|f_t| \leq \mu f_n\]

Task-Level Programming

State Machines

Sequential task execution.

Behavior Trees

Hierarchical, reactive task composition.

LLM Planning

Use language models for task decomposition.

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