Imagine a pizza maker working with a ball of dough. She might use a spatula to lift the dough onto a cutting board then use a rolling pin to flatten it into a circle. Easy, right? Not if this pizza maker is a robot. For a robot, working with a deformable object like dough is tricky because the shape of dough can change in many ways, which are difficult to represent with an equation. Plus, creating a new shape out of that dough requires multiple steps and the use of…
