Table 2: Experimental results for different targets.

Shape Target ID Dimension Gasping
Cylindrical C1 8.5 cm (radius) Success
Cylindrical C2 3 cm (radius) Success
Cylindrical C3 1.5 cm (radius) Success
Cylindrical C4 0.75 cm (radius) Failure
Prismatic P1 13 cm (thickness) Success
Prismatic P2 5 cm (thickness) Success
Prismatic P3 2 cm (thickness) Success
Prismatic P4 0.2 cm (thickness) Success
Mixed M P2 + C2 Success