Run test_sliding.m to for examples.

The contact mode enumeration method used in this code is decribed in the paper Efficient Contact Mode Enumeration in 3D. If you use this code in your research work, please cite:

@inproceedings{huang2020efficient, title={Efficient Contact Mode Enumeration in 3D}, author={Huang, Eric and Cheng, Xianyi and Mason, Matthew T}, booktitle={Workshop on the Algorithmic Foundations of Robotics}, year={2020} }