Algorithm 1 Maximum curvature or surface uniformity threshold

Input: Tangents, Object Contour, Eccentricity

1:  Calculates the points of the tangent line of 2 times the radius of the length of the gripper with the grasping point in the center.

2:  Calculates the percentage of the line that is touching the contour of the object.

3:  if eccentricity is below a roundness threshold then

4:      a low uniformity threshold is set.

5:  else

6:      a high uniformity threshold is set.

7:  end if

8:  if no points of the line are inside the contour then

9:      if the percentage of the line is above the uniformity threshold then

10:          Output: valid grasping point.

11:      else

12:          Output: invalid grasping point.

13:      end if

14:  else

15:      Output: invalid grasping point.

16:  end if