Figure 2.

Shape of the cost function $V(x)$ for a motion with simultaneous planar rotations of the segments. The parameters ${\theta }_1$ and ${\varphi }_1$ are fixed near their true values and ${\theta }_2$ and ${\varphi }_2$ are allowed to vary. From left to right, we see how the geometry changes as $w_{\omega }$ increases while $w_a=1$ is constant. As $w_{\omega }$ increases, new local minima appear near the locations at ${\varphi }_2+\pi$ from the previously existing local minima. These new local minima correspond to the wrong sign pairing $(\pm j_1,\mp j_2)$.