Do the low-level skills to interact with articulated objects consider post-contact actions?

[HanzhiC]

Thanks for this great project!
I wonder if the presented low-level skills consider the post-contact actions, i.e., the interaction trajectories, during execution? Since I notice the Sec. A.8.2 says that when executing the OpenFurniture skill, the drawer will be opened if the gripper is close enough to the handle. This seems to omit the execution of the pos-contact actions.