- Sharing a drink or passing a tool to another person is frequently done in our daily lives. However, a second thought is rarely given about how the object should be handed; instead we pay attention to other factors (e.g., the company). This interaction (handing a tool to someone) is interesting, since it may give insight to how motor intentions are predicted. Research has demonstrated that individuals exhibit an end-state comfort effect when manipulating objects, and it is of interest to determine how this is applied to a joint-action paradigm. The purpose of this experiment was to determine if participants would anticipate the confederate's postural requirements and pass tools in a manner that allowed the confederate to have beginning state comfort and thus facilitate the motion sequence as a whole. That is, would the participant incur the cost of the movement by adopting an awkward posture to facilitate the use of the tool by the confederate? The results demonstrated that participants allowed the confederate to adopt a comfortable beginning state comfort on 100% of the trials for all the tools. However, the participants did not sacrifice end-state comfort, demonstrating that the participants were able to plan ahead to both maximize their own end-state comfort and the beginning state comfort of the confederate.