Collect experiments on the superquadric grasping demo

• Experiment-1 description
• Use case & documentation

The module experiment-1 implements a wrapper code for performing the superquadric modeling and grasping pipeline described in [1]. This wrapper code communicates with existing modules developed in robotology repo and its structure can be summarized as follow:

1. The wrapper code asks the object property collector for the 2D bounding box information of the object.
2. Given that, lbpExtract module provides the 2D blob of the object.
3. The wrapper code sends the 2D blob of the object to the Structure From Motion module for getting the relative 3D point cloud.
4. The 3D point cloud is then sent to the superquadric-model for computing the superquadric modeling the object.
5. The wrapper code sends the estimated superquadric to the superquadric-grasp module, which computes suitable poses.
6. Finally, the superquadric-grasp is asked to perform the grasping task.

A detailed description of the developed code is available also in [2].

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Information about how to compile, launch and interact with the module is provided in the experiment-1 folder.

The online documentation of this module is available here.

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[1] G. Vezzani, U. Pattacini and L. Natale, "A grasping approach based on superquadric models", IEEE-RAS International Conference on Robotics and Automation 2017, pp 1579-1586.

[2] G. Vezzani and L. Natale, "Real-time Pipeline for Object Modeling and Grasping Pose Selection via Superquadric Functions", Frontiers in Robotics and AI 4, 59.