diff --git a/src/factory_sim/config/config.yaml b/src/factory_sim/config/config.yaml
index fc7d3c107..30f59ae70 100644
--- a/src/factory_sim/config/config.yaml
+++ b/src/factory_sim/config/config.yaml
@@ -96,6 +96,7 @@ ros2_control:
   controllers_active_at_startup:
     - "joint_trajectory_admittance_controller"
     - "joint_state_broadcaster"
+    - "force_torque_sensor_broadcaster"
     - "tool_attach_controller"
     - "suction_cup_controller"
   # Load but do not start these controllers so they can be activated later if needed.
diff --git a/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml b/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml
index d6d3a08cf..5c6d1600b 100644
--- a/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml
+++ b/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml
@@ -5,6 +5,8 @@ controller_manager:
       type: joint_state_broadcaster/JointStateBroadcaster
     joint_trajectory_admittance_controller:
       type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController
+    force_torque_sensor_broadcaster:
+      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
     # A controller to enable/disable the tool attachment interface at the robot flange.
     # In sim, this is modeled as a weld constraint in Mujoco.
     # In a real robot, this controller would activate a mechanism to attach/detach the tool at the robot flange.
@@ -48,17 +50,32 @@ joint_state_broadcaster:
       - position
       - velocity
 
+force_torque_sensor_broadcaster:
+  ros__parameters:
+    # Hardware interface name. Matches the MuJoCo <site> name; MujocoSystem
+    # exposes "<site>/force.{x,y,z}" and "<site>/torque.{x,y,z}" state interfaces.
+    sensor_name: wrist_ft_sensor
+    state_interface_names:
+      - force.x
+      - force.y
+      - force.z
+      - torque.x
+      - torque.y
+      - torque.z
+    # The frame the sensor reading is published in.
+    frame_id: tool0
+
 joint_trajectory_admittance_controller:
   ros__parameters:
     # Joint group to control.
     planning_group_name: manipulator
-    # Specifies the frame/link name of the force torque sensor. Must exist in the robot description.
-    sensor_frame: link_6
-    # Specifies the frame/link name of the end-effector frame. Must exist in the robot description.
-    ee_frame: grasp_link
+    # Specifies the frame/link names of the force torque sensor(s). Must exist in the robot description.
+    sensor_frames: [tool0]
+    # Specifies the frame/link names of the end-effector frame(s). Must exist in the robot description.
+    ee_frames: [grasp_link]
     # The name of the force/torque ros2_control hardware interface which will be used in the admittance calculation.
     # If empty, the controller will run without admittance.
-    ft_sensor_name: ""
+    ft_sensor_name: wrist_ft_sensor
     # Joint accelerations to use for immediate stops (e.g. when cancelling a running trajectory).
     # Chosen to match MoveIt configs.
     stop_accelerations: [30.0, 30.0, 30.0, 30.0, 30.0, 30.0]
@@ -81,7 +98,7 @@ joint_trajectory_admittance_controller:
     # provide the gravity vector in the base frame.
     gravity_vector: [0.0, 0.0, -9.8]
     # Default maximum joint-space deviation accepted along the trajectory, if not specified in the goal message.
-    default_path_tolerance: 0.6
+    default_path_tolerance: 0.65
     # Default maximum joint-space deviation accepted at the trajectory end-point, if not specified in the goal message.
     default_goal_tolerance: 0.05
     # Default maximum absolute force torque readings allowed from the force torque sensor along each Cartesian space
diff --git a/src/factory_sim/description/bracket_collision_geometry_0.xml b/src/factory_sim/description/bracket_collision_geometry_0.xml
new file mode 100644
index 000000000..1809bfc36
--- /dev/null
+++ b/src/factory_sim/description/bracket_collision_geometry_0.xml
@@ -0,0 +1,553 @@
+<mujoco model="bracket_collision_geometry_0">
+  <!-- Using these properties to prevent trampoline behavior 
+  when the bracket lands flat on table or flat on another bracket part -->
+  <!-- condim="6" -->
+  <!-- friction="2.0 0.1 0.1" -->
+  <!-- margin="0.005" -->
+  <!-- solref="0.02 2.0" -->
+  <!-- solimp="0.95 0.999 0.01 0.5 2" -->
+  <!-- -->
+  <!-- damping="0.0001" -->
+  <!-- which were experimentally checked. There may be a better way to do it. -->
+
+  <!-- 5 Box collision primitives -->
+  <!-- starting from the left (pointy end) -->
+  <!-- top cheek -->
+  <body name="bracket-0-0" pos="-0.42 0.5 0.35">
+    <joint type="free" damping="0.0001" />
+    <geom
+      type="box"
+      size="0.0530875 0.025 0.00762"
+      pos="0.072240 -0.045944 0.00762"
+      euler="0 0 0.4593"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- bottom cheek -->
+    <geom
+      type="box"
+      size="0.0422435 0.0218295 0.00762"
+      pos="0.054467 -0.100271 0.00762"
+      euler="0 0 -0.7275"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- middle upper box -->
+    <geom
+      type="box"
+      size="0.01565 0.0145 0.00762"
+      pos="0.13365 -0.055718 0.00762"
+      euler="0 0 0"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- middle lower box-->
+    <geom
+      type="box"
+      size="0.024469 0.010 0.00762"
+      pos="0.108831 -0.085 0.00762"
+      euler="0 0 0"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- middle rear box -->
+    <geom
+      type="box"
+      size="0.017113 0.029 0.00762"
+      pos="0.166413 -0.070218 0.00762"
+      euler="0 0 0"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- top butt -->
+    <geom
+      type="box"
+      size="0.027879 0.025 0.00762"
+      pos="0.136622 -0.025 0.00762"
+      euler="0 0 0"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- bottom butt -->
+    <geom
+      type="box"
+      size="0.048879 0.025 0.00762"
+      pos="0.120751 -0.120 0.00762"
+      euler="0 0 0"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+
+    <!-- 3 Cylinder collision primitives -->
+    <!-- size="radius half_length" and default axis along Z -->
+    <!-- pointy side -->
+    <geom
+      type="cylinder"
+      size="0.025 0.00762"
+      pos="0.024654 -0.069478 0.00762"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- butts side -->
+    <geom
+      type="cylinder"
+      size="0.025 0.00762"
+      pos="0.1645 -0.025 0.00762"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="cylinder"
+      size="0.025 0.00762"
+      pos="0.16963 -0.120 0.00762"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+
+    <!-- Holes in part used for placement, approximated by boxes -->
+    <!-- 10 boxes centered at C=(0.076362, -0.079826, 0)-->
+    <geom
+      type="box"
+      pos="0.076362 -0.066326 0.00762"
+      euler="0 0 0.00"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.068518 -0.068839 0.00762"
+      euler="0 0 0.62"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.063594 -0.075441 0.00762"
+      euler="0 0 1.24"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.063423 -0.083676 0.00762"
+      euler="0 0 1.86"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.068068 -0.090478 0.00762"
+      euler="0 0 2.48"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.075801 -0.093314 0.00762"
+      euler="0 0 3.10"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.083742 -0.091130 0.00762"
+      euler="0 0 3.72"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.088937 -0.084738 0.00762"
+      euler="0 0 4.34"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.089450 -0.076517 0.00762"
+      euler="0 0 4.96"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.085092 -0.069528 0.00762"
+      euler="0 0 5.58"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+
+    <!-- 10 boxes centered at C=(0.110, -0.067, 0) -->
+    <geom
+      type="box"
+      pos="0.110000 -0.053500 0.00762"
+      euler="0 0 0.00"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.102156 -0.056013 0.00762"
+      euler="0 0 0.62"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.097232 -0.062615 0.00762"
+      euler="0 0 1.24"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.097061 -0.070850 0.00762"
+      euler="0 0 1.86"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.101706 -0.077652 0.00762"
+      euler="0 0 2.48"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.109439 -0.080488 0.00762"
+      euler="0 0 3.10"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.117380 -0.078304 0.00762"
+      euler="0 0 3.72"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.122575 -0.071912 0.00762"
+      euler="0 0 4.34"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.123088 -0.063691 0.00762"
+      euler="0 0 4.96"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.118730 -0.056702 0.00762"
+      euler="0 0 5.58"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+
+    <!-- 10 boxes centered at C=(0.1413, -0.082661, 0) -->
+    <geom
+      type="box"
+      pos="0.141300 -0.069161 0.00762"
+      euler="0 0 0.00"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.133456 -0.071674 0.00762"
+      euler="0 0 0.62"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.128532 -0.078276 0.00762"
+      euler="0 0 1.24"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.128361 -0.086511 0.00762"
+      euler="0 0 1.86"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.133006 -0.093313 0.00762"
+      euler="0 0 2.48"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.140739 -0.096149 0.00762"
+      euler="0 0 3.10"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.148680 -0.093965 0.00762"
+      euler="0 0 3.72"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.153875 -0.087573 0.00762"
+      euler="0 0 4.34"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.154388 -0.079352 0.00762"
+      euler="0 0 4.96"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.150030 -0.072363 0.00762"
+      euler="0 0 5.58"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+
+    <geom
+      contype="0"
+      conaffinity="0"
+      type="mesh"
+      mesh="bracket"
+      material="sheet_metal"
+    />
+    <site name="bracket_part_pose-0-0" />
+  </body>
+</mujoco>
diff --git a/src/factory_sim/description/bracket_collision_geometry_1.xml b/src/factory_sim/description/bracket_collision_geometry_1.xml
new file mode 100644
index 000000000..e85d60022
--- /dev/null
+++ b/src/factory_sim/description/bracket_collision_geometry_1.xml
@@ -0,0 +1,553 @@
+<mujoco model="bracket_collision_geometry_1">
+  <!-- Using these properties to prevent trampoline behavior 
+  when the bracket lands flat on table or flat on another bracket part -->
+  <!-- condim="6" -->
+  <!-- friction="2.0 0.1 0.1" -->
+  <!-- margin="0.005" -->
+  <!-- solref="0.02 2.0" -->
+  <!-- solimp="0.95 0.999 0.01 0.5 2" -->
+  <!-- -->
+  <!-- damping="0.0001" -->
+  <!-- which were experimentally checked. There may be a better way to do it. -->
+
+  <!-- 5 Box collision primitives -->
+  <!-- starting from the left (pointy end) -->
+  <!-- top cheek -->
+  <body name="bracket-0-1" pos="-0.42 0.56 0.40">
+    <joint type="free" damping="0.0001" />
+    <geom
+      type="box"
+      size="0.0530875 0.025 0.00762"
+      pos="0.072240 -0.045944 0.00762"
+      euler="0 0 0.4593"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- bottom cheek -->
+    <geom
+      type="box"
+      size="0.0422435 0.0218295 0.00762"
+      pos="0.054467 -0.100271 0.00762"
+      euler="0 0 -0.7275"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- middle upper box -->
+    <geom
+      type="box"
+      size="0.01565 0.0145 0.00762"
+      pos="0.13365 -0.055718 0.00762"
+      euler="0 0 0"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- middle lower box-->
+    <geom
+      type="box"
+      size="0.024469 0.010 0.00762"
+      pos="0.108831 -0.085 0.00762"
+      euler="0 0 0"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- middle rear box -->
+    <geom
+      type="box"
+      size="0.017113 0.029 0.00762"
+      pos="0.166413 -0.070218 0.00762"
+      euler="0 0 0"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- top butt -->
+    <geom
+      type="box"
+      size="0.027879 0.025 0.00762"
+      pos="0.136622 -0.025 0.00762"
+      euler="0 0 0"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- bottom butt -->
+    <geom
+      type="box"
+      size="0.048879 0.025 0.00762"
+      pos="0.120751 -0.120 0.00762"
+      euler="0 0 0"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+
+    <!-- 3 Cylinder collision primitives -->
+    <!-- size="radius half_length" and default axis along Z -->
+    <!-- pointy side -->
+    <geom
+      type="cylinder"
+      size="0.025 0.00762"
+      pos="0.024654 -0.069478 0.00762"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- butts side -->
+    <geom
+      type="cylinder"
+      size="0.025 0.00762"
+      pos="0.1645 -0.025 0.00762"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="cylinder"
+      size="0.025 0.00762"
+      pos="0.16963 -0.120 0.00762"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+
+    <!-- Holes in part used for placement, approximated by boxes -->
+    <!-- 10 boxes centered at C=(0.076362, -0.079826, 0)-->
+    <geom
+      type="box"
+      pos="0.076362 -0.066326 0.00762"
+      euler="0 0 0.00"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.068518 -0.068839 0.00762"
+      euler="0 0 0.62"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.063594 -0.075441 0.00762"
+      euler="0 0 1.24"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.063423 -0.083676 0.00762"
+      euler="0 0 1.86"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.068068 -0.090478 0.00762"
+      euler="0 0 2.48"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.075801 -0.093314 0.00762"
+      euler="0 0 3.10"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.083742 -0.091130 0.00762"
+      euler="0 0 3.72"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.088937 -0.084738 0.00762"
+      euler="0 0 4.34"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.089450 -0.076517 0.00762"
+      euler="0 0 4.96"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.085092 -0.069528 0.00762"
+      euler="0 0 5.58"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+
+    <!-- 10 boxes centered at C=(0.110, -0.067, 0) -->
+    <geom
+      type="box"
+      pos="0.110000 -0.053500 0.00762"
+      euler="0 0 0.00"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.102156 -0.056013 0.00762"
+      euler="0 0 0.62"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.097232 -0.062615 0.00762"
+      euler="0 0 1.24"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.097061 -0.070850 0.00762"
+      euler="0 0 1.86"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.101706 -0.077652 0.00762"
+      euler="0 0 2.48"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.109439 -0.080488 0.00762"
+      euler="0 0 3.10"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.117380 -0.078304 0.00762"
+      euler="0 0 3.72"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.122575 -0.071912 0.00762"
+      euler="0 0 4.34"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.123088 -0.063691 0.00762"
+      euler="0 0 4.96"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.118730 -0.056702 0.00762"
+      euler="0 0 5.58"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+
+    <!-- 10 boxes centered at C=(0.1413, -0.082661, 0) -->
+    <geom
+      type="box"
+      pos="0.141300 -0.069161 0.00762"
+      euler="0 0 0.00"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.133456 -0.071674 0.00762"
+      euler="0 0 0.62"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.128532 -0.078276 0.00762"
+      euler="0 0 1.24"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.128361 -0.086511 0.00762"
+      euler="0 0 1.86"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.133006 -0.093313 0.00762"
+      euler="0 0 2.48"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.140739 -0.096149 0.00762"
+      euler="0 0 3.10"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.148680 -0.093965 0.00762"
+      euler="0 0 3.72"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.153875 -0.087573 0.00762"
+      euler="0 0 4.34"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.154388 -0.079352 0.00762"
+      euler="0 0 4.96"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.150030 -0.072363 0.00762"
+      euler="0 0 5.58"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+
+    <geom
+      contype="0"
+      conaffinity="0"
+      type="mesh"
+      mesh="bracket"
+      material="sheet_metal"
+    />
+    <site name="bracket_part_pose-0-1" />
+  </body>
+</mujoco>
diff --git a/src/factory_sim/description/bracket_collision_geometry_2.xml b/src/factory_sim/description/bracket_collision_geometry_2.xml
new file mode 100644
index 000000000..28b6b7470
--- /dev/null
+++ b/src/factory_sim/description/bracket_collision_geometry_2.xml
@@ -0,0 +1,553 @@
+<mujoco model="bracket_collision_geometry_2">
+  <!-- Using these properties to prevent trampoline behavior 
+  when the bracket lands flat on table or flat on another bracket part -->
+  <!-- condim="6" -->
+  <!-- friction="2.0 0.1 0.1" -->
+  <!-- margin="0.005" -->
+  <!-- solref="0.02 2.0" -->
+  <!-- solimp="0.95 0.999 0.01 0.5 2" -->
+  <!-- -->
+  <!-- damping="0.0001" -->
+  <!-- which were experimentally checked. There may be a better way to do it. -->
+
+  <!-- 5 Box collision primitives -->
+  <!-- starting from the left (pointy end) -->
+  <!-- top cheek -->
+  <body name="bracket-0-2" pos="-0.42 0.62 0.45">
+    <joint type="free" damping="0.0001" />
+    <geom
+      type="box"
+      size="0.0530875 0.025 0.00762"
+      pos="0.072240 -0.045944 0.00762"
+      euler="0 0 0.4593"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- bottom cheek -->
+    <geom
+      type="box"
+      size="0.0422435 0.0218295 0.00762"
+      pos="0.054467 -0.100271 0.00762"
+      euler="0 0 -0.7275"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- middle upper box -->
+    <geom
+      type="box"
+      size="0.01565 0.0145 0.00762"
+      pos="0.13365 -0.055718 0.00762"
+      euler="0 0 0"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- middle lower box-->
+    <geom
+      type="box"
+      size="0.024469 0.010 0.00762"
+      pos="0.108831 -0.085 0.00762"
+      euler="0 0 0"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- middle rear box -->
+    <geom
+      type="box"
+      size="0.017113 0.029 0.00762"
+      pos="0.166413 -0.070218 0.00762"
+      euler="0 0 0"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- top butt -->
+    <geom
+      type="box"
+      size="0.027879 0.025 0.00762"
+      pos="0.136622 -0.025 0.00762"
+      euler="0 0 0"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- bottom butt -->
+    <geom
+      type="box"
+      size="0.048879 0.025 0.00762"
+      pos="0.120751 -0.120 0.00762"
+      euler="0 0 0"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+
+    <!-- 3 Cylinder collision primitives -->
+    <!-- size="radius half_length" and default axis along Z -->
+    <!-- pointy side -->
+    <geom
+      type="cylinder"
+      size="0.025 0.00762"
+      pos="0.024654 -0.069478 0.00762"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <!-- butts side -->
+    <geom
+      type="cylinder"
+      size="0.025 0.00762"
+      pos="0.1645 -0.025 0.00762"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="cylinder"
+      size="0.025 0.00762"
+      pos="0.16963 -0.120 0.00762"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+
+    <!-- Holes in part used for placement, approximated by boxes -->
+    <!-- 10 boxes centered at C=(0.076362, -0.079826, 0)-->
+    <geom
+      type="box"
+      pos="0.076362 -0.066326 0.00762"
+      euler="0 0 0.00"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.068518 -0.068839 0.00762"
+      euler="0 0 0.62"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.063594 -0.075441 0.00762"
+      euler="0 0 1.24"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.063423 -0.083676 0.00762"
+      euler="0 0 1.86"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.068068 -0.090478 0.00762"
+      euler="0 0 2.48"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.075801 -0.093314 0.00762"
+      euler="0 0 3.10"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.083742 -0.091130 0.00762"
+      euler="0 0 3.72"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.088937 -0.084738 0.00762"
+      euler="0 0 4.34"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.089450 -0.076517 0.00762"
+      euler="0 0 4.96"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.085092 -0.069528 0.00762"
+      euler="0 0 5.58"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+
+    <!-- 10 boxes centered at C=(0.110, -0.067, 0) -->
+    <geom
+      type="box"
+      pos="0.110000 -0.053500 0.00762"
+      euler="0 0 0.00"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.102156 -0.056013 0.00762"
+      euler="0 0 0.62"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.097232 -0.062615 0.00762"
+      euler="0 0 1.24"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.097061 -0.070850 0.00762"
+      euler="0 0 1.86"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.101706 -0.077652 0.00762"
+      euler="0 0 2.48"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.109439 -0.080488 0.00762"
+      euler="0 0 3.10"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.117380 -0.078304 0.00762"
+      euler="0 0 3.72"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.122575 -0.071912 0.00762"
+      euler="0 0 4.34"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.123088 -0.063691 0.00762"
+      euler="0 0 4.96"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.118730 -0.056702 0.00762"
+      euler="0 0 5.58"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+
+    <!-- 10 boxes centered at C=(0.1413, -0.082661, 0) -->
+    <geom
+      type="box"
+      pos="0.141300 -0.069161 0.00762"
+      euler="0 0 0.00"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.133456 -0.071674 0.00762"
+      euler="0 0 0.62"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.128532 -0.078276 0.00762"
+      euler="0 0 1.24"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.128361 -0.086511 0.00762"
+      euler="0 0 1.86"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.133006 -0.093313 0.00762"
+      euler="0 0 2.48"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.140739 -0.096149 0.00762"
+      euler="0 0 3.10"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.148680 -0.093965 0.00762"
+      euler="0 0 3.72"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.153875 -0.087573 0.00762"
+      euler="0 0 4.34"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.154388 -0.079352 0.00762"
+      euler="0 0 4.96"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+    <geom
+      type="box"
+      pos="0.150030 -0.072363 0.00762"
+      euler="0 0 5.58"
+      size=".0075 .0075 .007"
+      rgba="0 .8 0 1"
+      group="3"
+      condim="6"
+      friction="2.0 0.1 0.1"
+      margin="0.005"
+      solref="0.02 2.0"
+      solimp="0.95 0.999 0.01 0.5 2"
+    />
+
+    <geom
+      contype="0"
+      conaffinity="0"
+      type="mesh"
+      mesh="bracket"
+      material="sheet_metal"
+    />
+    <site name="bracket_part_pose-0-2" />
+  </body>
+</mujoco>
diff --git a/src/factory_sim/description/scene.xml b/src/factory_sim/description/scene.xml
index 8a75412ab..a8f1a3661 100644
--- a/src/factory_sim/description/scene.xml
+++ b/src/factory_sim/description/scene.xml
@@ -4,6 +4,8 @@
     <flag multiccd="enable" override="enable" />
   </option>
 
+  <size memory="64M" />
+
   <asset>
     <!-- Define textures and materials -->
     <texture name="wood" type="cube" file="assets/wood.png" />
@@ -234,13 +236,17 @@
       </body>
     </body>
 
-    <!-- Bracket parts in left bin -->
-    <!-- 3 1 -->
-    <replicate count="3" sep="-" offset="0 0.06 0.05" euler="0.0 0.0 0.0">
-      <replicate count="1" sep="-" offset="0 0 .18" euler="0.0 0.0 0.0">
-        <include file="bracket_collision_geometry.xml" />
-      </replicate>
-    </replicate>
+    <!-- Bracket parts in left bin.
+         Three explicit bodies instead of <replicate count="3">: with replicate +
+         <keyframe>, MuJoCo 3.2.7 silently corrupts the first replica's freejoint
+         qpos to (0,0,0,1,0,0,0) on key load, dropping bracket-0-0 under the
+         pedestal on "Reset MuJoCo Sim". MuJoCo 3.3.5 surfaces the same bug as
+         "Keyframe 'default' has invalid qpos size, got 48, should be 13".
+         Explicit bodies preserve every keyframe row, so all three brackets reset
+         in their bin. Refs PickNikRobotics/moveit_pro#18180. -->
+    <include file="bracket_collision_geometry_0.xml" />
+    <include file="bracket_collision_geometry_1.xml" />
+    <include file="bracket_collision_geometry_2.xml" />
     <!--  -->
     <!-- ASSEMBLY SCENARIO -->
     <!--  -->
@@ -413,21 +419,29 @@
   <!-- Add welds for suction gripping of parts -->
   <include file="box-welds.xml" />
 
+  <!-- Wrist force/torque sensor on the suction tool's flange interface site.
+       MujocoSystem auto-registers these as ros2_control state interfaces named
+       "wrist_ft_sensor/{force,torque}.{x,y,z}". -->
+  <sensor>
+    <force site="wrist_ft_sensor" />
+    <torque site="wrist_ft_sensor" />
+  </sensor>
+
   <keyframe>
-    <!-- qpos layout: -->
+    <!-- qpos layout, in compile order: -->
     <!-- robot [joint_1..joint_6] (6) -->
-    <!-- shelf freejoint [x y z qw qx qy qz] (7) -->
-    <!-- bracket-0 freejoint (7), bracket-1 freejoint (7), bracket-2 freejoint (7) -->
+    <!-- bracket-0 freejoint [x y z qw qx qy qz] (7), bracket-1 (7), bracket-2 (7) -->
+    <!-- shelf freejoint (7) -->
     <!-- suction_tool (gripper_base) freejoint (7) -->
     <!-- inspection_tool freejoint (7) -->
     <key
       name="default"
       qpos="
         0 0 0 0 0 0
-        0.25 -0.4 0.2301 1 0 0 0
         -0.42 0.5 0.35 1 0 0 0
         -0.42 0.56 0.40 1 0 0 0
         -0.42 0.62 0.45 1 0 0 0
+        0.25 -0.4 0.2301 1 0 0 0
         0.25 0.08 0.3 0 1 0 0
         0.25 -0.08 0.3 0 1 0 0"
       ctrl="0 0 0 0 0 0"
diff --git a/src/factory_sim/description/suction_tool.xml b/src/factory_sim/description/suction_tool.xml
index 04b27afe3..1146b7d49 100644
--- a/src/factory_sim/description/suction_tool.xml
+++ b/src/factory_sim/description/suction_tool.xml
@@ -14,6 +14,11 @@
         armature="0"
       />
       <site name="suction_gripper_attach_site" pos="0 0 0" euler="0 0 0" />
+      <!-- F/T sensor site at the tool-flange interface. When the suction tool is
+           welded to tool0 (tool_attachment_one), MuJoCo reports the weld
+           constraint force at this site, which is the wrist-to-tool reaction
+           force needed for admittance control. -->
+      <site name="wrist_ft_sensor" pos="0 0 0" euler="0 0 0" />
 
       <geom type="cylinder" size="0.03 0.02" pos="0 0 0.02" rgba=".1 .1 .1 1" />
       <body name="suction_cylinder" gravcomp="1" pos="0 0 0.04">
diff --git a/src/factory_sim/objectives/pick_up_tool_from_holder.xml b/src/factory_sim/objectives/pick_up_tool_from_holder.xml
index dbe2b9b65..4463f20d3 100644
--- a/src/factory_sim/objectives/pick_up_tool_from_holder.xml
+++ b/src/factory_sim/objectives/pick_up_tool_from_holder.xml
@@ -26,6 +26,12 @@
         trajectory_monitoring="false"
       />
       <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
+      <Action
+        ID="SetupMTCIgnoreCollisionsBetweenObjects"
+        allow_collision="true"
+        task="{mtc_task}"
+        object_names="link_5;link_6;suction_gripper"
+      />
       <Action
         ID="SetupMTCPlanToPose"
         acceleration_scale_factor="0.5"
@@ -52,7 +58,7 @@
         axis_x="0.000000"
         axis_y="0.000000"
         axis_z="1.000000"
-        ignore_environment_collisions="false"
+        ignore_environment_collisions="true"
         planning_group_name="manipulator"
         velocity_scale="0.5"
         task="{mtc_task}"
diff --git a/src/factory_sim/objectives/place_tool_in_tool_holder.xml b/src/factory_sim/objectives/place_tool_in_tool_holder.xml
index e66ae9b70..67b69165b 100644
--- a/src/factory_sim/objectives/place_tool_in_tool_holder.xml
+++ b/src/factory_sim/objectives/place_tool_in_tool_holder.xml
@@ -77,7 +77,12 @@
         timeout="10"
       />
       <Action ID="DetachURDF" urdf_name="{tool_name}" />
-      <SubTree ID="Retract" _collapsed="true" distance="0.35" />
+      <SubTree
+        ID="Retract"
+        _collapsed="true"
+        distance="0.35"
+        ignore_environment_collisions="true"
+      />
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
diff --git a/src/factory_sim/objectives/retract.xml b/src/factory_sim/objectives/retract.xml
index 2b332672e..8eed459e3 100644
--- a/src/factory_sim/objectives/retract.xml
+++ b/src/factory_sim/objectives/retract.xml
@@ -24,7 +24,7 @@
         acceleration_scale="0.5"
         axis_x="0.000000"
         axis_y="0.000000"
-        ignore_environment_collisions="false"
+        ignore_environment_collisions="{ignore_environment_collisions}"
         planning_group_name="manipulator"
         velocity_scale="0.5"
         task="{mtc_task}"
@@ -44,6 +44,7 @@
         <Metadata subcategory="Motion - Execute" />
       </MetadataFields>
       <input_port name="distance" default="0.1" />
+      <input_port name="ignore_environment_collisions" default="false" />
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/factory_sim/objectives/vacuum_pick_bracket_part_subtree.xml b/src/factory_sim/objectives/vacuum_pick_bracket_part_subtree.xml
index 044a4d878..236adf775 100644
--- a/src/factory_sim/objectives/vacuum_pick_bracket_part_subtree.xml
+++ b/src/factory_sim/objectives/vacuum_pick_bracket_part_subtree.xml
@@ -1,9 +1,8 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Vacuum Pick Bracket Part Subtree">
-  <!--//////////-->
   <BehaviorTree
     ID="Vacuum Pick Bracket Part Subtree"
-    _description="Picks the bracket part using vacuum gripper.&#10;The pick and approach poses specific to the bracket part are hardcoded into this subtree."
+    _description="Picks the bracket part using vacuum gripper.&#10;Approaches via MTC, then descends with admittance-based move-to-touch so the suction cup seats on the bracket under force feedback (instead of an open-loop push)."
   >
     <Control ID="Sequence" name="">
       <SubTree ID="Activate Vacuum" _collapsed="true" />
@@ -20,14 +19,17 @@
         output_pose="{approach_pose}"
         translation_xyz="0;0;0.15"
         quaternion_xyzw="-0.0; -1.0; -0.0; -0.0"
-        name="Create approach pose before straight pick"
+        name="Create approach pose above bracket"
       />
+      <!-- MTC: plan and execute the long approach to a hover pose above the
+           bracket. No admittance for this phase — JTAC tracks the trajectory
+           rigidly. -->
       <Action
         ID="InitializeMTCTask"
         task="{mtc_task}"
         trajectory_monitoring="false"
         controller_names="joint_trajectory_admittance_controller"
-        task_id="pick_part"
+        task_id="approach_part"
         timeout="-1.000000"
       />
       <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
@@ -53,28 +55,89 @@
         trajectory_sampling_rate="100"
         velocity_scale_factor="1.000000"
       />
-      <Action
-        ID="SetupMTCMoveAlongFrameAxis"
-        acceleration_scale="0.5"
-        axis_frame="tool0"
-        axis_x="0.000000"
-        axis_y="0.000000"
-        axis_z="1.000000"
-        hand_frame="tool0"
-        ignore_environment_collisions="false"
-        max_distance="0.055"
-        min_distance="0.055"
-        planning_group_name="manipulator"
-        task="{mtc_task}"
-        velocity_scale="1.000000"
-        name="This move is done to push the vacuum gripper into the part a little to get it to collide. This causes the mujoco weld to activate. An improvement would be to detect the force on the gripper and stop"
-      />
       <Action ID="PlanMTCTask" solution="{mtc_solution}" task="{mtc_task}" />
       <SubTree
         ID="Execute MTC Solution"
         solution="{mtc_solution}"
         goal_duration_tolerance="-1.0"
       />
+      <!-- Move-to-touch: descend along grasp_link +Z under admittance until
+           the suction cup contacts the bracket. The 7 cm overshoot guarantees
+           contact within the planned path; admittance back-drives the
+           trajectory once the FT sensor reads the contact reaction. -->
+      <!-- Touch target: 7 cm below the current cup pose along grasp_link +Z. -->
+      <Action
+        ID="CreateStampedPose"
+        reference_frame="grasp_link"
+        stamped_pose="{touch_target_pose}"
+        position_xyz="0;0;0.07"
+      />
+      <Action
+        ID="VisualizePose"
+        marker_lifetime="0.000000"
+        marker_name="touch_target"
+        marker_size="0.050000"
+        pose="{touch_target_pose}"
+      />
+      <!-- Clear the path vector — this subtree runs once per Repeat iteration
+           in the parent BT, and AddPoseStampedToVector appends. Without the
+           reset, iteration N+ sends a path with stale waypoints to
+           PlanCartesianPath, which rejects it ("waypoint closer than
+           2*blending_radius to neighbors"). -->
+      <Action
+        ID="ResetPoseStampedVector"
+        vector="{touch_path}"
+      />
+      <Action
+        ID="AddPoseStampedToVector"
+        input="{touch_target_pose}"
+        vector="{touch_path}"
+      />
+      <Action
+        ID="PlanCartesianPath"
+        acceleration_scale_factor="0.200000"
+        blending_radius="0.020000"
+        debug_solution="{touch_debug_solution}"
+        ik_cartesian_space_density="0.010000"
+        ik_joint_space_density="0.100000"
+        joint_trajectory_msg="{touch_trajectory_msg}"
+        path="{touch_path}"
+        planning_group_name="manipulator"
+        position_only="true"
+        tip_links="grasp_link"
+        trajectory_sampling_rate="100"
+        velocity_scale_factor="0.100000"
+      />
+      <!-- Tare the wrist FTS so admittance reads zero at the start of the descent. -->
+      <Action
+        ID="CallTriggerService"
+        service_name="/joint_trajectory_admittance_controller/zero_fts/tool0"
+      />
+      <!-- Enable z-only admittance for the touch.
+           NOTE: SetAdmittanceParameters reads BT XML attributes as parameter
+           overrides, so do not add a `name=` attribute here — it would be
+           interpreted as a missing parameter name and abort. -->
+      <Action
+        ID="SetAdmittanceParameters"
+        admittance_parameters_msg="{admittance_parameters_msg}"
+        config_file_name="vacuum_touch_admittance_params.yaml"
+      />
+      <!-- Descend with admittance enabled — back-drives the trajectory once
+           the FTS reads contact reaction. -->
+      <Action
+        ID="ExecuteTrajectory"
+        absolute_force_torque_threshold="1000;1000;1000;1000;1000;1000"
+        admittance_parameters_msg="{admittance_parameters_msg}"
+        goal_position_tolerance="0.100000"
+        joint_trajectory_msg="{touch_trajectory_msg}"
+        path_position_tolerance="0.250000"
+      />
+      <!-- Restore plain JTAC tracking before downstream MTC motions. -->
+      <Action
+        ID="SetAdmittanceParameters"
+        admittance_parameters_msg="{admittance_parameters_msg}"
+        config_file_name="vacuum_touch_admittance_disable.yaml"
+      />
       <Action
         ID="AddURDF"
         urdf_name="{part_name}"
diff --git a/src/factory_sim/objectives/vacuum_touch_admittance_disable.yaml b/src/factory_sim/objectives/vacuum_touch_admittance_disable.yaml
new file mode 100644
index 000000000..96657a6c4
--- /dev/null
+++ b/src/factory_sim/objectives/vacuum_touch_admittance_disable.yaml
@@ -0,0 +1,54 @@
+SetAdmittanceParameters:
+  controller_name: ""
+  end_effector_frame: "grasp_link"
+  control_frame: "grasp_link"
+  admittance:
+    # All axes off — restores plain trajectory tracking after the touch so
+    # downstream MTC motions in the subtree run without admittance offsets.
+    selected_axes:
+      x: False
+      y: False
+      z: False
+      rx: False
+      ry: False
+      rz: False
+    mass_position:
+      x: 0.1
+      y: 0.1
+      z: 0.1
+      min: 0.001
+      max: 100.0
+    mass_rotation:
+      x: 0.1
+      y: 0.1
+      z: 0.1
+      min: 0.001
+      max: 100.0
+    stiffness_position:
+      x: 180.0
+      y: 180.0
+      z: 180.0
+      min: 0.0
+      max: 1000.0
+    stiffness_rotation:
+      x: 180.0
+      y: 180.0
+      z: 180.0
+      min: 0.0
+      max: 1000.0
+    damping_ratio_position:
+      x: 100.0
+      y: 100.0
+      z: 100.0
+      min: 0.0
+      max: 100.0
+    damping_ratio_rotation:
+      x: 100.0
+      y: 100.0
+      z: 100.0
+      min: 0.0
+      max: 100.0
+    joint_damping:
+      value: 1.0
+      min: 0.0
+      max: 100.0
diff --git a/src/factory_sim/objectives/vacuum_touch_admittance_params.yaml b/src/factory_sim/objectives/vacuum_touch_admittance_params.yaml
new file mode 100644
index 000000000..3244214a0
--- /dev/null
+++ b/src/factory_sim/objectives/vacuum_touch_admittance_params.yaml
@@ -0,0 +1,55 @@
+SetAdmittanceParameters:
+  controller_name: ""
+  end_effector_frame: "grasp_link"
+  control_frame: "grasp_link"
+  admittance:
+    # Compliant only along the cup-approach axis (grasp_link +Z). All other
+    # axes are stiff so the cup tracks the planned x/y/yaw exactly while
+    # admittance handles the touch.
+    selected_axes:
+      x: False
+      y: False
+      z: True
+      rx: False
+      ry: False
+      rz: False
+    mass_position:  # kg
+      x: 0.1
+      y: 0.1
+      z: 0.1
+      min: 0.001
+      max: 100.0
+    mass_rotation:  # kg*m^2
+      x: 0.1
+      y: 0.1
+      z: 0.1
+      min: 0.001
+      max: 100.0
+    stiffness_position:  # N/m
+      x: 180.0
+      y: 180.0
+      z: 180.0
+      min: 0.0
+      max: 1000.0
+    stiffness_rotation:  # N*m/rad
+      x: 180.0
+      y: 180.0
+      z: 180.0
+      min: 0.0
+      max: 1000.0
+    damping_ratio_position:  # unitless
+      x: 100.0
+      y: 100.0
+      z: 100.0
+      min: 0.0
+      max: 100.0
+    damping_ratio_rotation:  # unitless
+      x: 100.0
+      y: 100.0
+      z: 100.0
+      min: 0.0
+      max: 100.0
+    joint_damping:  # 1/s
+      value: 1.0
+      min: 0.0
+      max: 100.0