We demonstrate the continuous translational invariance of the energy of a capillary surface in contact with reconfigurable solid boundaries. We present a theoretical approach to find the energy-invariant equilibria of spherical capillary surfaces in contact with solid boundaries of arbitrary shape and examine the implications of dynamic frictional forces upon a reconfiguration of the boundaries. Experimentally, we realize our ideas by manipulating the position of a droplet in a wedge geometry using lubricant-impregnated solid surfaces, which eliminate the contact-angle hysteresis and provide a test bed for quantifying dissipative losses out of equilibrium. Our experiments show that dissipative energy losses for an otherwise energy-invariant reconfiguration are relatively small, provided that the actuation time scale is longer than the typical relaxation time scale of the capillary surface. We discuss the wider applicability of our ideas as a pathway for liquid manipulation at no potential energy cost in low-pinning, low-friction situations.