1. A method to provide grasp point selection for robotic grippers, the method comprising: obtaining a three-dimensional image of an object to be grasped by a robotic gripper; determining two or more sets of candidate grasp points on two or more surfaces of the object based on the three-dimensional image; exerting a local force on each of the candidate grasp points in the two or more sets of candidate grasp points such that a local deformation is caused at or near each candidate grasp point; and selecting a set of grasp points from the two or more sets of candidate grasp points based on a response of a surface area at or near each candidate grasp point to the exerted force.