I am getting into robot manipulation using parallel grippers, and am learning about it, and programming grasping different objects. I have the 3D model of the objects I wish to grasp. The next step is to actually generate antipodal grasps on the object. I was wondering if there is a tool where I can specify / annotate the grasp location on the 3D object. Then, using this I should be able to pick up the object in simulation.
Any help would be appreciated.