Alternatives to tweening (Bollards)

Hi guys! Basically my question is what would you do to make these bollards move? Ideally I want them to open when something is touched and keep open until it ends. I also want it to stay open if someone else starts touching it. Then if no one is they close. I thought maybe tweens but they don’t really have the flexibility that I need. Any ideas on other methods?

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I was maybe thinking something to do with physics but idk how it could work tbh? I have done it previously with gates so they swing open/closed freely

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