1. A method for planning a robot grasp, the method comprising: measuring interaction forces imposed on an object by an environment while a task is demonstrated by a human user using the object to obtain a disturbance distribution dataset, wherein demonstrating the task comprises the user demonstrating the task with an actual object in an actual environment, wherein the object comprises one or more sensors that measure the forces, or comprises the user demonstrating the task with a virtual object in a virtual environment, wherein the virtual object is controlled in the virtual environment by the user with a haptic device; a computer modeling a task requirement based upon the disturbance distribution dataset; the computer identifying multiple robot grasp types stored in computer memory that can be used to satisfy the task requirement; the computer calculating a grasp wrench space for each identified robot grasp type; the computer calculating a grasp quality of each robot grasp type; and the computer selecting the robot grasp type that has the highest grasp quality.