Release 0.3

New features:

• default values for all parameters of the algorithms are set in the classes constructor;
• new user-friendly methods for setting the parameters are available.

Release 0.2

New features:

• multiple superquadric model estimation;
• grasping pose computation with multiple-superquadric models

are provided as new methods in:

• SuperquadricLibModel;
• SuperquadricLibGrasp.

New executables:

• Superquadric-Pipeline-Single is an example of single-superquadric model estimation and grasping pose computation;
• Superquadric-Pipeline-Multiple is an example of multi-superquadric model estimation and grasping pose computation.

Missing:

• default parameters
• more practical parameter setting by the user

Release 0.1

This is the very first release.
This release provides:

• SuperquadricLibModel: a library for superquadric reconstruction from object point clouds;
• SuperquadricLibGrasp: a library for computing grasping candidates for generic robots using superquadric object models;
• SuperquadricLibVis: a library for visualizing superquadrics, grasping poses, point clouds and planes.
• Superquadric-Pipeline: an executable using the three libraries.

Relevant features:

• Only three dependencies: Ipopt,Eigen3 and VTK;
• Faster computation of grasping poses w.r.t the implementation of superquadric-grasp;
• High-level interface.

Limitations:

• SuperquadricLibModel currently is capable of estimating a single superquadric fitting the object point cloud;
• SuperquadricLibGrasp does not compute the cost associated to each grasping candidates;
• SuperquadricLibVis does not show any other information about grasping candidates but the name of the relative hand.