robot_grasp

This repository saves some code of JCAR Compedtition. The competition includes simulation part and 
physical part. branch v2 is the simulation environment I build. Thank Jianbo Zhang to build 
3D model files. This branch includes classification and cooridinate transform code of physical part.

Simulation part

We improve the official kinova model, here are the details.

Physical part

environment

classify

raw image from kinect

grayscale

classification with decision tree

coordinate transformation

then transfrom the goal point in the captured image into space point in the robot base cooriedinator.
python version: transform.py
C++ version: transform.cpp