<p>Grasp detection is an open problem with new state of the art solutions appearing every month or so. As far as I know PCL has no ready to use solution for that. So, you'd better google for publications with newest solutions in this area.
Here are the articles I found useful for me:</p>

<ul>
<li><a href="http://wiki.ros.org/agile_grasp" rel="nofollow">agile_grasp</a> ROS node and "<a href="http://arxiv.org/pdf/1501.03100.pdf" rel="nofollow">Using Geometry to Detect Grasps</a>." </li>
<li><a href="http://arxiv.org/abs/1412.3128" rel="nofollow">Real-Time Grasp Detection Using Convolutional Neural Networks</a></li>
<li><a href="http://pr.cs.cornell.edu/deepgrasping/" rel="nofollow">Deep Learning for Detecting Robotic Grasps</a></li>
<li><a href="http://www.cs.columbia.edu/~cmatei/graspit/" rel="nofollow">GraspIt!</a></li>
</ul>

<p>Hope this helps.</p>
Finding the best grasp position or point?
<p>I have a point cloud data, where the detected objects are bounded by the bounding box. We were planning to suck(grasp) it from the top plane of the object. How do I go about determining the co-ordinates for grasping on any surface using PCL? I am new to programming, any help extended here is appreciated.</p>

<p>Thanks!</p>