Acknowledgements
The authors thank Francesco Banterle and Thomas Alderighi for their help and especially Marco Callieri for helping with models assembling and 3D scanning. The bunny model is courtesy of the Stanford 3D Scanning Repository. The hand, the botijo, the 3holes, and the drill models are courtesy of the AIM@SHAPE Shape Repository. The skull is courtesy of Turbo Squid. The research was partially funded by the EU H2020 Programme EMOTIVE: EMOTIve Virtual cultural Experiences through personalized storytelling H2020-SC6-CULT-COOP-08-2016 (grant no. 727188), by the European Research Council (ERC) MATERIALIZABLE: Intelligent fabrication-oriented Computational Design and Modeling (grant no. 715767), by the European H2020 Programme SOMA: Soft Manipulation (grant no. 645599), by the EU H2020 programme (Marie Sklodowska-Curie grant no. 754411) and by the Italian PRIN project DSURF (grant no. 2015B8TRFM). Part of the hardware resources used for this research were donated by the NVIDIA Corporation.