Homework 3 Problem 4

Grasp Planning in Python.
Write a function to check force closure for a two-finger grasp in Python using a soft fingercontact model with static friction µ > 0 and torsional friction γ > 0.Your function should take as input:

1. A 3 row, 2 column numpy array, where each column is a 3D contact point.
2. A 3 row, 2 column numpy array, where each column is a 3D surface normal.
3. The number of facets to use to approximate the friction cone (int).
4. The friction coefficient µ (float).
5. The coefficient of torsional friction γ (float).Your function must return 1 if the grasp is in force closure and 0 otherwise.

Your function should be named force_closure. Any other function names will lead to a point deduction.