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Pick and place using Robotics System Toolbox

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I would like to do a simple pick and place simulation using the Robotics System Toolbox. Mathworks has an example on how to do pick and place using stateflow. However I can't figure out how they are actually picking things up.
I can model a world using the primitive collisionCylinder, collisionBox classes. Does anybody know if there is a way to attach a collision mesh to a robot?
The situation: I would like to move the colored cylinders on the left onto the disks on the right. For my application I am generating the cartesian trajectory and joint configurations myself.

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