diff --git a/simplified_api/README.md b/simplified_api/README.md
index 782fd96..f48b910 100644
--- a/simplified_api/README.md
+++ b/simplified_api/README.md
@@ -19,14 +19,17 @@ This software has been tested on **Ubuntu 16.04 (64-bit)** and **Windows 10**
## Download instructions
-You can download the latest firmware package for the Gen3 from [here](https://artifactory.kinovaapps.com/artifactory/generic-local-public/kortex/gen3/2.0.0/Gen3-2.0.0.swu).
-
-You can download the latest Gen3 release notes from [here](https://artifactory.kinovaapps.com/artifactory/generic-local-public/kortex/gen3/2.0.0/RN-001_KINOVA_Gen3_Ultra_lightweight_robot-Release_Notes_EN_R04.pdf).
-
## Installation Instructions
-You can access the latest release of the MATLAB adaptor [here](https://artifactory.kinovaapps.com/artifactory/generic-local-public/kortex/matlab/simplified_API/2.0.0/matlab_simplified_api_2.0.0.zip) on the Kinova Artifactory.
+You can access the latest release of the MATLAB adaptor [here](https://artifactory.kinovaapps.com/artifactory/webapp/#/artifacts/browse/tree/General/generic-local-public/kortex/matlab/simplified_api/) on the Kinova Artifactory.
-Uncompress the MATLAB adaptor folders from the downloaded archive.
+### Windows Operating System
+From the Kinova Artifactory:
+* Expand `kortex/matlab/simplified_api` to see the release folders
+* Right-click on the desired release folder
+* Select `Download` in the context menu
+* Choose the desired Archive Type
+* Click on `Download`
+* Extract the MATLAB adaptor folders from the downloaded archive.
## Build instructions
@@ -48,11 +51,8 @@ sudo apt install build-essential pkg-config
```
### How to build
-- Open MATLAB and navigate to the `mex-wrapper` folder.
-- Add the current folder and all of its subfolders to the MATLAB path.
-- Run the script `compileKortexMex.m` and wait until its completion.
-You are now ready to use the KORTEX™ MEX (MATLAB executable) interface.
+Refer to the dedicated page for [Setup](documentation/setup.md)
## Usage
@@ -62,11 +62,13 @@ There are two ways to interact with the robot via MATLAB.
2. Using the MATLAB System object `kortex` (which itself uses the KORTEX™ API MEX interface)
The KORTEX™ API MEX interface is the best option for controlling the arm via a MATLAB script.
-The `kortex` System object on the other hand is intended for dynamical simulations of the robot as part of a system in [Simulink](https://www.mathworks.com/help/simulink/define-new-system-objects.html).
+The `kortex` System object on the other hand is intended for dynamical simulations of the robot as part of a system in [Simulink](https://www.mathworks.com/help/simulink/define-new-system-objects.html).
For more information on both options:
* [MEX interface](documentation/mex_interface.md)
* [System object](documentation/system_object.md)
+In addtion, MATLAB Code Generation support for generating a ROS2 node and deploying the `kortex` System Object node directly on a NVidia Jetson Xavier platform is available. For more information, refer to the [ROS2 Code Generation on Jetson Target](documentation/setup.md#ROS2-Code-Generation-on-Jetson-Target) section in the Setup page.
+For more information on MATLAB code generation, see this [Mathworks documentation page](https://www.mathworks.com/help/mpc/code-generation.html).
diff --git a/simplified_api/documentation/data_structure.md b/simplified_api/documentation/data_structure.md
index 23636ed..83f97cf 100644
--- a/simplified_api/documentation/data_structure.md
+++ b/simplified_api/documentation/data_structure.md
@@ -114,6 +114,22 @@ This is a data structure returned by most of the functions of the MEX interface.
| uint32_t | code | A general [error code](#error-code-list) associated with this error. Most users will not need to work with this value because it does not tell much and is used internally in the Kortex API. |
| uint32_t | sub_code | An [error sub code](#sub-error-code-list) that gives more information about the error. Most users will prefer to use this value instead of the general code.
+
+## MotorFeedback
+
+| Type | Name | Description |
+|:-----:|:----:|:-----------:|
+| uint32_t | motor_id | MessageId |
+| uint32_t | status_flags | Status flags |
+| uint32_t | jitter_comm | Jitter from the communication (in microsecond) |
+| double | position | Position of the gripper motor (in Percentage 0-100%) |
+| double | velocity | Velocity of the gripper motor (in Percentage 0-100%) |
+| double | force | Force of the gripper motor |
+| double | current_motor | Electric current of the gripper motor (in mA) |
+| double | voltage | Voltage of the gripper motor (in V) |
+| double | temperature_core | temparature of the core (in Celsius) |
+| double | temperature_motor | temparature of the gripper motor (in Celsius) |
+
## GripperFeedback
@@ -126,13 +142,7 @@ This is a data structure returned by most of the functions of the MEX interface.
| uint32_t | warning_bank_a | Warning bank A (see `GripperConfig.SafetyIdentifier`) |
| uint32_t | warning_bank_b | Warning bank B (see `GripperConfig.SafetyIdentifier`) |
| uint32_t | motor_count | Motor count on the gripper. |
-| uint32_t\[GRIPPER_MAX_MOTOR_COUNT\] | motor_id | Motor ID |
-| double\[GRIPPER_MAX_MOTOR_COUNT\] | motor_position | Position of the gripper fingers in percentage (0-100%) |
-| double\[GRIPPER_MAX_MOTOR_COUNT\] | motor_velocity | Velocity of the gripper fingers in percentage (0-100%) |
-| double\[GRIPPER_MAX_MOTOR_COUNT\] | motor_current_motor | Current comsumed by the gripper motor (mA) |
-| double\[GRIPPER_MAX_MOTOR_COUNT\] | motor_voltage | Motor Voltage (V) |
-| double\[GRIPPER_MAX_MOTOR_COUNT\] | motor_temperature_motor | Motor temperature. (degrees Celsius) |
-
+| [MotorFeedback](#motorfeedback)\[GRIPPER_MAX_MOTOR_COUNT\] | motor | Feedback of all gripper motors |
## InterconnectFeedback
@@ -158,6 +168,16 @@ This is a data structure returned by most of the functions of the MEX interface.
| double | difference_count_b | |
| [GripperFeedback](#gripperfeedback) | gripper_feedback | Feedback data from gripper (if attached) |
+
+## DistortionCoefficients
+
+| Type | Name | Description |
+|:-----:|:----:|:-----------:|
+| double | k1 | First radial distortion coefficient |
+| double | k2 | Second radial distortion coefficient |
+| double | k3 | Third radial distortion coefficient |
+| double | p1 | First tangential distortion coefficient |
+| double | p2 | Second tangential distortion coefficient |
## IntrinsicParameters
@@ -170,11 +190,7 @@ This is a data structure returned by most of the functions of the MEX interface.
| double | principal_point_y | Vertical coordinate of the principal point of the image, as a pixel offset from the top edge |
| double | focal_length_x | Focal length of the image plane, as a multiple of pixel width |
| double | focal_length_y | Focal length of the image plane, as a multiple of pixel height |
-| double | k1 | First radial distortion coefficient |
-| double | k2 | Second radial distortion coefficient |
-| double | k3 | Third radial distortion coefficient |
-| double | p1 | First tangential distortion coefficient |
-| double | p2 | Second tangential distortion coefficient |
+| [DistortionCoefficients](#distortioncoefficients) | distortion_coeffs | Distortion Coefficients |
diff --git a/simplified_api/documentation/images/Build&Run.PNG b/simplified_api/documentation/images/Build&Run.PNG
new file mode 100644
index 0000000..02ad536
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diff --git a/simplified_api/documentation/images/JetsonParameters.PNG b/simplified_api/documentation/images/JetsonParameters.PNG
new file mode 100644
index 0000000..5fb4123
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diff --git a/simplified_api/documentation/images/Run.png b/simplified_api/documentation/images/Run.png
new file mode 100644
index 0000000..8a87e1a
Binary files /dev/null and b/simplified_api/documentation/images/Run.png differ
diff --git a/simplified_api/documentation/images/kortexConfig.PNG b/simplified_api/documentation/images/kortexConfig.PNG
new file mode 100644
index 0000000..5665fd5
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diff --git a/simplified_api/documentation/mex_interface.md b/simplified_api/documentation/mex_interface.md
index 40da944..9e73041 100644
--- a/simplified_api/documentation/mex_interface.md
+++ b/simplified_api/documentation/mex_interface.md
@@ -43,9 +43,8 @@ This function initializes the KORTEX™ API that operates underneath the MEX int
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
-| uint32_t | An handle to the API. this handle will be needed by most of the function of this MEX interface.|
+| uint32_t | An error code (`0` for success or non-zero for failure). |
+| uint32_t | An handle to the API. This handle will be needed by most of the function of this MEX interface.|
| uint32_t | The device ID of the vision module attached to the robot. |
#### DestroyRobotApisWrapper
@@ -61,8 +60,7 @@ This function closes the connection with the KORTEX™ API cleanly.
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
#### SetAdmittance
@@ -79,8 +77,7 @@ Set the robot into admittance mode.
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
#### SetServoingMode
Set the robot servoing mode.
@@ -96,8 +93,7 @@ Set the robot servoing mode.
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success(true) or not(false). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
---
@@ -116,8 +112,7 @@ Apply the emergency stop on the robot. The robot should stop moving and go to th
| C++ Type | Description |
|:--------------:|:-------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
#### ClearFaults
Try to clear the faults on the robot. If the robot is in a fault state, you should see a red LED on the robot's base.
@@ -132,8 +127,7 @@ Try to clear the faults on the robot. If the robot is in a fault state, you shou
| C++ Type | Description |
|:--------------:|:-------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
#### Reboot
@@ -149,8 +143,7 @@ Reboot the robot. Warning: the robot may fall slowly for a short time because du
| C++ Type | Description |
|:--------------:|:-------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
#### StopAction
@@ -166,8 +159,7 @@ Stop the current trajectory.
| C++ Type | Description |
|:--------------:|:-------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
#### PauseAction
Pause the current trajectory.
@@ -182,8 +174,7 @@ Pause the current trajectory.
| C++ Type | Description |
|:--------------:|:-------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
#### ResumeAction
Resume the current trajectory.
@@ -198,8 +189,7 @@ Resume the current trajectory.
| C++ Type | Description |
|:--------------:|:-------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
---
@@ -219,8 +209,7 @@ Returns the joint count of the robot.
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
| uint32_t | The joint count. |
@@ -237,8 +226,7 @@ Returns the status of the robot.
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
| int32_t | Status of the robot. This value is described [here](data_structure.md#movementstatus). |
@@ -255,8 +243,7 @@ It returns the feedback data from the base, the joints and tool.
| C++ Type | Description |
|:-------------:|:-------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
| [BaseFeedback](data_structure.md#basefeedback) | Feedback data for the base. |
| [ActuatorsFeedback](data_structure.md#actuatorsfeedback) | Feedback data for each joint. |
| [InterconnectFeedback](data_structure.md#interconnectfeedback) | Feedback data for the interface module, including gripper. |
@@ -275,7 +262,7 @@ Move the robot to a specific Cartesian pose. The orientation is represented with
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
| uint32_t | API Handle. |
| int32_t | The [CartesianConstraintType](data_structure.md#cartesianconstrainttype) applied on the movement. |
-| double\[2\] | Speed limitation that will be applied on the trajectory if the constraint has been set to CARTESIAN_CONSTRAINT_SPEED. The first value is the translation velocity and the second value is not used for now. |
+| double\[2\] | Speed limitation that will be applied on the trajectory if the constraint has been set to CARTESIAN_CONSTRAINT_SPEED. The first value is the translation velocity and the second value is the orientation velocity. |
| double | Not supported for now. |
| double\[3\] | Translation (X, Y, Z) in meters. |
| double\[3\] | Orientation. (X(gamma), Y(beta), Z(alpha)) in degrees. (**Tait-Bryan, extrinsic ZYX**) |
@@ -284,8 +271,7 @@ Move the robot to a specific Cartesian pose. The orientation is represented with
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
#### ReachJointAngles
Move the robot to a specific joint pose.
@@ -305,8 +291,7 @@ Move the robot to a specific joint pose.
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
#### SendJointSpeedCommand
Move the robot using a speed command.
@@ -324,8 +309,7 @@ Move the robot using a speed command.
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
#### SendToolCommand
Move the robot tool. For now, our gripper is considered as one tool so only one command (first index) is needed to move the tool.
@@ -344,8 +328,7 @@ Move the robot tool. For now, our gripper is considered as one tool so only one
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
#### PlayPreComputedTrajectory
@@ -366,8 +349,7 @@ Send a Precomputed Joint Trajectory to the robot. A Precomputed Joint Trajectory
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
---
@@ -392,8 +374,7 @@ Configure one of the sensors (either 2D or 3D) of the vision module.
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
#### SetOptionValue
Configure a specific option out of the options available on the vision module.
@@ -411,8 +392,7 @@ Configure a specific option out of the options available on the vision module.
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
#### InitVision
Initialize the vision module API.
@@ -427,8 +407,7 @@ Initialize the vision module API.
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
#### GetSensorSettings
Get the configuration of a specific sensor(2D or 3D) of the vision module.
@@ -444,8 +423,7 @@ Get the configuration of a specific sensor(2D or 3D) of the vision module.
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
| uint32_t | The resolution of the sensor. See [Resolution](data_structure.md#resolution). |
| uint32_t | The frame rate of the sensor. See [FrameRate](data_structure.md#framerate). |
| uint32_t | The bit rate of the sensor. See [BitRate](data_structure.md#bitrate). |
@@ -465,8 +443,7 @@ Get the value of a specific option from a specific sensor (eitrher 2D or 3D) of
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
| uint32_t | The resolution of the sensor. This value is described [here](data_structure.md#resolution). |
| uint32_t | The frame rate of the sensor. This value is described [here](data_structure.md#framerate). |
| uint32_t | The bit rate of the sensor. This value is described [here](data_structure.md#bitrate). |
@@ -525,8 +502,7 @@ Returns the last error that occurred in the API.
| C++ Type | Description |
|:--------------:|:-------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
| uint32_t | The error code of the last error triggered by the Kortex API. |
#### GetErrorName
@@ -543,8 +519,7 @@ Returns a string that describe the error code provided as an input.
| C++ Type | Description |
|:-------------:|:----------------------------------------------------------------------------------------------------------------:|
-| bool | A flag that tells if the operation was a success (`true`) or not (`false`). |
-| [ErrorStructMatrix](data_structure.md#errorstructmatrix) | A data structure that contains the error code if the operation was not a success. |
+| uint32_t | An error code (`0` for success or non-zero for failure). |
| char * | The name that describe the error code. |
diff --git a/simplified_api/documentation/precomputed_joint_trajectories.md b/simplified_api/documentation/precomputed_joint_trajectories.md
index 0cb00c1..0994625 100644
--- a/simplified_api/documentation/precomputed_joint_trajectories.md
+++ b/simplified_api/documentation/precomputed_joint_trajectories.md
@@ -7,7 +7,7 @@ The Precomputed Joint Trajectories is the way to send the arm through joint-spac
### kObjTrajectoryFeeder object
-The kObjTrajectoryFeeder object in the example Simulink model (`mex-wrapper/example_model.slx`) reads a Precomputed Joint Trajectory (computed offline with a motion planner) from a CSV file(`mex-wrapper/testpoints.csv`) and sends it to the kortex System Object. You will most likely create your own object to send your trajectories to the kortex System object.
+The kObjTrajectoryFeeder object in the [example Simulink model](../mex-wrapper/example_model.slx) reads a Precomputed Joint Trajectory (computed offline with a motion planner) from a [CSV file](../mex-wrapper/testpoints.csv) and sends it to the kortex System Object. You will most likely create your own object to send your trajectories to the kortex System object.
### Structure of the input arrays
diff --git a/simplified_api/documentation/setup.md b/simplified_api/documentation/setup.md
new file mode 100644
index 0000000..82f9f4f
--- /dev/null
+++ b/simplified_api/documentation/setup.md
@@ -0,0 +1,40 @@
+# Kortex System Object Setup Guide
+
+## Overview
+
+## Matlab Setup
+
+1. Open the `mex-wrapper` sub-folder in Matlab
+2. Add the `matlab_api` folder and its sub-folders to the Matlab path
+3. Open the `example_model.slx` Simulink model
+
+## Interpreted Execution
+
+1. Run `compileKortexMex.m`
+2. Edit both `kortex` and `kObjTrajectoryFeeder` Simulink objects with Kinova Robot information
+3. In Simulink, click on `Run` in the Simulate tab
+
+ 
+
+## ROS2 Code Generation on Jetson Target
+
+1. Edit the `rosTargetPreferences.m` file with Jetson parameters
+
+ 
+
+2. Run `configKortexModelROS2.m`
+3. Edit both `kortex` and `kObjTrajectoryFeeder` Simulink objects with Kinova Robot information
+
+ 
+
+4. Open the Robot tab in Simulink
+5. Select the ROS2 framework
+6. Click on `Build & Run`
+
+ 
+
+The `Build & Run` will additionally do the following:
+
+1. Transfer the generated ROS2 package directly on the Jetson target
+2. Compile on the Jetson target (using Colcon tools)
+3. Run the compiled ROS2 package on the Jetson Target
diff --git a/simplified_api/documentation/system_object.md b/simplified_api/documentation/system_object.md
index fae6141..8c1a8ce 100644
--- a/simplified_api/documentation/system_object.md
+++ b/simplified_api/documentation/system_object.md
@@ -142,3 +142,222 @@ The configuration data of the vision system. This consists of several fields whi
#### is_moving
A Boolean flag that tells if the robot is moving (`true`) or not (`false`).
+
+### Functions
+
+#### SendCmd_Reboot
+This function performs a software reboot on the gen3 robot.
+**WARNING** Make sure the robot is in a secure position because all the joints will stop servoing and the robot will fall.
+
+##### Function Inputs
+No input
+
+##### Function Outputs
+| Name | Type | Description |
+|:--------:|:------:|---------------------------------------------------------------------|
+| isOk | bool | A flag that indicates if the function has been executed correctly. |
+
+#### GetExtrinsic
+This function returns the extrinsic parameters of the camera.
+
+##### Function Inputs
+No input
+
+##### Function Outputs
+| Name | Type | Description |
+|:---------:|:------------------:|---------------------------------------------------------------------|
+| isOk | bool | A flag that indicates if the function has been executed correctly. |
+| extrinsic | Bus_ExtrinsicParam | A struct that contains all the cameras's extrinsic parameters. |
+
+#### GetIntrinsic
+This function returns the intrinsic parameters of the camera.
+
+##### Function Inputs
+| Name | Type | Description |
+|:---------:|:------------------:|--------------------------------------------------------------------------|
+| sensor | uint32 | ID of the target sensor that the intrinsic parameters will be read from. |
+
+##### Function Outputs
+| Name | Type | Description |
+|:---------:|:------------------:|---------------------------------------------------------------------|
+| isOk | bool | A flag that indicates if the function has been executed correctly. |
+| intrinsic | Bus_IntrinsicParam | A struct that contains all the cameras's extrinsic parameters. |
+
+#### GetMovementStatus
+This function returns the current movement status of the gen3 robot.
+
+##### Function Inputs
+No input
+
+##### Function Outputs
+| Name | Type | Description |
+|:--------:|:-------|-----------------------------------------------------------------------------------------------------------|
+| isOk | bool | A flag that indicates if the function has been executed correctly. |
+| status | uint32 | Current movement status. Based on C enum MovementStatus from [kortex_wrapper_data.h](../mex-wrapper/include/kortex_wrapper_data.h). |
+
+#### GetOptionValue
+This function returns the value of an option on a specific sensor.
+
+##### Function Inputs
+| Name | Type | Description |
+|:---------:|:-------:|-----------------------------------------------------------------------------------------------------------|
+| sensor | uint32 | Target sensor. Based on C enum **Sensor** from [kortex_wrapper_data.h](../mex-wrapper/include/kortex_wrapper_data.h). |
+| option | uint32 | Target option. Based on C enum **Option** from [kortex_wrapper_data.h](../mex-wrapper/include/kortex_wrapper_data.h). |
+
+##### Function Outputs
+| Name | Type | Description |
+|:---------:|:------------------:|-----------------------------------------------------------------------------------------------------------|
+| isOk | bool | A flag that indicates if the function has been executed correctly. |
+| value | uint32 | Value of the targeted option. |
+
+#### GetSensorSettings
+This function returns the configured settings of a specific sensor.
+
+##### Function Inputs
+| Name | Type | Description |
+|:---------:|:-------:|-----------------------------------------------------------------------------------------------------------|
+| sensor | uint32 | Target sensor. Based on C enum **Sensor** from [kortex_wrapper_data.h](../mex-wrapper/include/kortex_wrapper_data.h). |
+
+##### Function Outputs
+| Name | Type | Description |
+|:----------:|:------:|-----------------------------------------------------------------------------------------------------------|
+| isOk | bool | A flag that indicates if the function has been executed correctly. |
+| resolution | uint32 | Resolution of the targeted sensor. Based on the C enum **Sensor** from [kortex_wrapper_data.h](../mex-wrapper/include/kortex_wrapper_data.h). |
+| frame_rate | uint32 | Frame rate of the targeted sensor. Resolution of the targeted sensor. Based on C enum **Sensor** from [kortex_wrapper_data.h](../mex-wrapper/include/kortex_wrapper_data.h). |
+| bit_rate | uint32 | Bit rate of the targeted sensor. Resolution of the targeted sensor. Based on C enum **Sensor** from [kortex_wrapper_data.h](../mex-wrapper/include/kortex_wrapper_data.h). |
+
+#### GetSensorSettings
+This function returns the configured settings of a specific sensor.
+
+##### Function Inputs
+| Name | Type | Description |
+|:---------:|:-------:|-----------------------------------------------------------------------------------------------------------|
+| sensor | uint32 | Target sensor. Based on C enum **Sensor** from [kortex_wrapper_data.h](../mex-wrapper/include/kortex_wrapper_data.h). |
+
+##### Function Outputs
+| Name | Type | Description |
+|:----------:|:------:|-----------------------------------------------------------------------------------------------------------|
+| isOk | bool | A flag that indicates if the function has been executed correctly. |
+ |
+| resolution | uint32 | Resolution of the targeted sensor. Based on the C enum **Sensor** from [kortex_wrapper_data.h](../mex-wrapper/include/kortex_wrapper_data.h). |
+| frame_rate | uint32 | Frame rate of the targeted sensor. Resolution of the targeted sensor. Based on C enum **Sensor** from [kortex_wrapper_data.h](../mex-wrapper/include/kortex_wrapper_data.h). |
+| bit_rate | uint32 | Bit rate of the targeted sensor. Resolution of the targeted sensor. Based on C enum **Sensor** from [kortex_wrapper_data.h](../mex-wrapper/include/kortex_wrapper_data.h). |
+
+#### DoSensorFocusAction
+Execute a focus action on the camera. You can find a C++ example [here](https://github.com/Kinovarobotics/kortex/blob/master/api_cpp/examples/500-Vision/03_vision_sensor_focus_action.cpp) that explains how to use this function.
+
+##### Function Inputs
+| Name | Type | Description |
+|:-------------:|:-------:|-----------------------------------------------------------------------------------------------------------|
+| sensor | uint32 | Target sensor. Based on C enum **Sensor** from [kortex_wrapper_data.h](../mex-wrapper/include/kortex_wrapper_data.h). |
+| focus_action | uint32 | Target sensor. Based on C enum **FocusAction** from [kortex_wrapper_data.h](../mex-wrapper/include/kortex_wrapper_data.h). |
+
+##### Function Outputs
+| Name | Type | Description |
+|:----------:|:------:|-----------------------------------------------------------------------------------------------------------|
+| isOk | bool | A flag that indicates if the function has been executed correctly. |
+ |
+
+#### SendCartesianPose
+Send a Cartesian pose to the robot. The orientation is represented with Euler angles and the convention used is the **Tait-Bryan, extrinsic ZYX**.
+
+##### Function Inputs
+| Name | Type | Description |
+|:----------------:|:----------------------------:|-----------------------------------------------------------------------------------------------------------|
+| cartesian_cmd | double[6] | Cartesian command. [X, Y, Z, THETA_X, THETA_Y, THETA_Z] Translation in meters and orientation in degrees.|
+| constraint_type | enum CartesianConstraintType | Type of constraint. Based on [CartesianConstraintType](data_structure.md). |
+| speeds | double[2] | Translation and orientation speed. [TRANSLATION_SPEED, ORIENTATION_SPEED]. Translation in m / s and orientation in °/s|
+| duration | uint32 | Not supported for now. |
+
+##### Function Outputs
+| Name | Type | Description |
+|:----------:|:------:|-----------------------------------------------------------------------------------------------------------|
+| isOk | bool | A flag that indicates if the function has been executed correctly. |
+
+#### SendJointAngles
+Send a joint pose to the robot. All angles are in degrees.
+
+##### Function Inputs
+| Name | Type | Description |
+|:---------------:|:------------------------:|-----------------------------------------------------------------------------------------------------------|
+| joint_cmd | double[ACTUATOR_COUNT] | Joint command, in degrees, where ACTUATOR_COUNT is the actual actuator count. The first index is the nearest joint to the base and the last index is the nearest joint to the gripper. |
+| constraintType | enum JointConstraintType | Type of constraint. Based on [CartesianConstraintType](data_structure.md). |
+| speed | double | Speed limitation, in degrees / second, that will be applied on the trajectory if the constraint has been set to JOINT_CONSTRAINT_SPEED.|
+| duration | uint32 | Time limitation, in second, that will be applied on the trajectory if the constraint has been set to JOINT_CONSTRAINT_DURATION. |
+
+##### Function Outputs
+| Name | Type | Description |
+|:----------:|:------:|-----------------------------------------------------------------------------------------------------------|
+| isOk | bool | A flag that indicates if the function has been executed correctly. |
+
+#### SendPreComputedTrajectory
+Send a Precomputed Joint Trajectory to the robot. A Precomputed Joint Trajectory is a set of (timestamp, angular position, angular velocity, angular acceleration) for each joint at each increment of the trajectory. Together, this represents a trajectory. For more information on the Precomputed Joint Trajectories, you can read [the documentation on Precomputed Joint Trajectories](./precomputed_joint_trajectories.md).
+
+##### Function Inputs
+| Name | Type | Description |
+|:--------------:|:------------------------:|-----------------------------------------------------------------------------------------------------------|
+| position | double[ACTUATOR_COUNT][] | A matrix that contains a list of angular positions (degrees) for each joint at each increment. |
+| velocity | double[ACTUATOR_COUNT][] | A matrix that contains a list of angular velocities (degrees / second) for each joint at each increment. |
+| acceleration | double[ACTUATOR_COUNT][] | A matrix that contains a list of angular accelerations (degrees / second ^ squared) for each joint at each increment. |
+| timestamp_sec | double[ACTUATOR_COUNT][] | A matrix that contains a list of timestamps for each joint at each increment. |
+
+##### Function Outputs
+| Name | Type | Description |
+|:----------:|:------:|-----------------------------------------------------------------------------------------------------------|
+| isOk | bool | A flag that indicates if the function has been executed correctly. |
+
+#### SendRefreshFeedback
+It returns the feedback data from the base, the joints and tool.
+
+##### Function Inputs
+No input
+
+##### Function Outputs
+| Name | Type | Description |
+|:--------------------:|:------------------:|-----------------------------------------------------------------------------------------------------------|
+| isOk | bool | A flag that indicates if the function has been executed correctly. |
+| baseFeedback | Bus_BaseFeedback | Feedback data from the Base. See [BaseFeedBack](data_structure.md#basefeedback). |
+| jointsFeedback | Bus_JointsFeedback | Feedback data from each joint. See [ActuatorsFeedback](data_structure.md#actuatorsfeedback). |
+| interconnectFeedback | Bus_ToolFeedback | Feedback data from the Base. See [InterconnectFeedBack](data_structure.md#interconnectfeedback). |
+
+#### SendToolCommand
+A command to control the gripper movement
+
+##### Function Inputs
+| Name | Type | Description |
+|:--------------:|:------------------------:|-----------------------------------------------------------------------------------------------------------|
+| tool_cmd_mode | uint32 | Command mode. Based on [ToolMode](data_structure.md). |
+| duration | double | Duration constraint. If not 0, allows to set a limit (in seconds) to the tool_cmd. |
+| tool_cmd | double[TOOL_COUNT] | Gripper movement values for each tool. (Most of the time you only have 1 tool.) In position, admissible values for each finger is between 0 and 1.0, where 0 is fully open and 1.0 is fully closed. In speed, admissible values for each finger is between -1.0 and 1.0, where 1.0 corresponds to maximum opening speed and -1.0 corresponds to maximum closing speed.|
+
+##### Function Outputs
+| Name | Type | Description |
+|:--------------------:|:------------------:|-----------------------------------------------------------------------------------------------------------|
+| isOk | bool | A flag that indicates if the function has been executed correctly. |
+
+
+#### SetAdmittance
+Activate the admittance mode.
+
+##### Function Inputs
+| Name | Type | Description |
+|:---------------:|:------:|-----------------------------------------------------------------------------------------------------------|
+| admittanceMode | uint32 | Admittance mode. Based on [AdmittanceMode](data_structure.md). |
+
+##### Function Outputs
+| Name | Type | Description |
+|:--------------------:|:------------------:|-----------------------------------------------------------------------------------------------------------|
+| isOk | bool | A flag that indicates if the function has been executed correctly. |
+
+#### SetServoingMode
+Set the robot's servoing mode.
+
+##### Function Inputs
+| Name | Type | Description |
+|:---------------:|:------:|-----------------------------------------------------------------------------------------------------------|
+| servoingMode | uint32 | Servoing mode. Based on [ServoingMode](data_structure.md). |
+
+##### Function Outputs
+| Name | Type | Description |
+|:--------------------:|:------------------:|-----------------------------------------------------------------------------------------------------------|
+| isOk | bool | A flag that indicates if the function has been executed correctly. |