Can the Transolver model be applied to the scenario of a robotic arm gripper grasping deformable objects?

[BearSmith2024]

Based on the training of the Transolver model for the BiW (Body-in-White) crash scenario, can the Transolver model also be applied to the dynamic process of a robotic arm gripper grasping deformable objects? The spatial pose of the gripper varies, and the goal is to predict the effectiveness of the grasp—including object deformation and whether the gripper holds the object securely without slippage—under different gripper poses.