Superquadrics based grasping

Real time superquadric representation of objects and grasping

Documentation about superquadric fitting can be found at: [superquadric_fitting] (https://github.com/jontromanab/sq_grasp/tree/master/sq_fitting)

Documentation about finding antipodal grasping on superquadrics can be found at: [superquadric_fitting] (https://github.com/jontromanab/sq_grasp/tree/master/sq_grasping)

For Execution of grasps please refer to this package: [grasp_execution] (https://github.com/jontromanab/grasp_execution)

If you like this package or want to use it in your own project, please cite this arXiv paper:

@ARTICLE{2017arXiv171002121M,
   author = {{Makhal}, A. and {Thomas}, F. and {Perez Gracia}, A.},
    title = "{Grasping Unknown Objects in Clutter by Superquadric Representation}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1710.02121},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics},
     year = 2017,
    month = oct,
   adsurl = {http://adsabs.harvard.edu/abs/2017arXiv171002121M},
  adsnote = {Provided by the SAO/NASA Astrophysics Data System}
}