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applying stickers on 3d surfaces

Hi do you have an idea how can I achieve in RoboDK following?

The gipper is a soft mat of a known shape (half cylinder f.e.) and there is a sticker on it .

By rolling motion I want to transfer the sticked from soft gripper onto the 3d surface of decorated object.

The basic challenge is, I think, that there is a path on decorated object and a path on gripper and those paths needs to be matching. 

any ideas how?
Here is an example on how to do it on a flat surface : Curved Tool (

Doing it on a 3D surface might require some adjustments on the ellipse diameters.

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