Hand tracking recorder grab around object

Im using the hand grab pose recorder to grab some objects and I want to use just 1 pose to grab an object around his pivot. I try the Cylinder surface script (like the mug in the hand tracking example scene) but it always grab the object on the same side. When i grab the mug i can see the hand grabbing it in different rotations (grabbing it from the top of the mug) but when I do this with my table (the object Im using) this "rotation" doesnt seems to occur.

What am I doing wrong?