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:
A 3 row, 2 column numpy array, where each column is a 3D contact point.
A 3 row, 2 column numpy array, where each column is a 3D surface normal.
The number of facets to use to approximate the friction cone (int).
The friction coeﬃcient µ (ﬂoat).
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.
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