Hi, We have a number of experiments to simulate a peg in hole task by a robot arm, and our hole is decomposed to 30 convex mesh files., as shown in this image To reduce reality gap between our simulations and our real hardware, we want to optimize some of the parameters in the xml description by some data obtained from real hardware. So far the following parameters seemed relevant to us: option/impratio option/cone size/nconmax body/geom/friction (for the peg's tip geom) However, many more parameters that are noted in Mujoco's xml refrence and modeling seemed promissing for reducing such reality gap for which we wanted to ask for your guidance about which ones could play more role. Thanks.