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Object response after release

In constructed tests, a hand can have the correct pose, but a lid can stay closed. The desired response opens the lid and keeps it open after release.

Object response after releaseIn constructed tests, a hand can have the correct pose, but a lid can stay closed. The desired response opens the lid and keeps it open after release. BEFORE CONTACT / TURN AFTER RELEASE Pose only World response Closed Move near the jar Turn pose correct Closed object unchanged Closed before contact Open Lid open Open Open after release
Figure 8. The same hand turn can keep a jar unchanged or open its lid and keep it open after release. The second row gives desired behavior. The two traces are constructed tests, not measured results or a guarantee for any model. Author-created diagram. Open full-size SVG