i have a problem where the robots arm gets stuck holding the door when they pick it up. this leads them to walk around while their hand is hanging onto the door making it go to them but since the door is semi fixed in place i swings into a position that is a straight line to the robot hand that is connected to it. doesnt matter if you detach the arm for the arm will try to position itself to the handle regardless if it is on the opposite side of the door. its hard to describe so i did my best.