superquadrics based grasping
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Superquadrics based grasping

Real time superquadric representation of objects and grasping


Documentation about superquadric fitting can be found at: [superquadric_fitting] (

Documentation about finding antipodal grasping on superquadrics can be found at: [superquadric_fitting] (

For Execution of grasps please refer to this package: [grasp_execution] (

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

   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 = {},
  adsnote = {Provided by the SAO/NASA Astrophysics Data System}