2/9 Sampling-based Contact-rich Motion Control

This lecture made me realize something. Derek made a comment about how he thought the character lifted his leg too high when he was sitting in the chair, relaxing, and crossing his legs. I didn't really think it was unnatural though. This made me realize that, so far, we haven't seen anything that takes into account flexibility. How does motion differ between, say, a ballerina, and a regular guy? I'm not saying high kicks or something - that different is obvious - but just basic actions. Like crossing your legs, for example. I'd be willing to bet a dancer would lift her leg higher than most people, because it really doesn't take that much effort when you're flexible. In fact, it feels natural. I think this might be interesting to explore for my project, though I'm not sure how I could create a concrete project out of this. I do think it's interesting that none of the research we have seen has explored this, though.