Fig. 2

Test objects. Small (left) and large (right) object with a base of \({8}\,\hbox {cm} \times {8}\,\hbox {cm} \times {8}\,\hbox {cm}\) and grasping surfaces of \({5}\,\hbox {cm} \times {5}\,\hbox {cm} \times {5}\,\hbox {cm}\) or \({8}\,\hbox {cm} \times {8}\,\hbox {cm} \times {8}\,\hbox {cm}\), respectively. A weight of 502 g can be embedded in the base body