Fig. 4: Translation of soft objects.

In this experiment, the efficacy of our translation strategy was assessed using a deformable object positioned at multiple initial locations. a Initial setup for three sequential tests with object: Lighter colors indicate initial positions and darker colors show target positions. Objects are manually reset to new initial positions after each translation. b The object’s trajectory in the XY-plane and surface adjustments in roll, pitch, and height are controlled by the transfer strategy.