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List of relevant constraints in static grasp.
| Constraint | Magnitude | Interpretation |
|---|---|---|
| ∑ F | [0, 0, mg]T | Sum of forces equal and opposite to gravity force, i.e., no net force |
| ∑ M | 0 | Sum of moments equals zero, i.e., no net moment |
| FiT | ≤μ · FiN | Tangential force at the i-th finger cannot exceed normal force |
