diff --git a/src/openarm_mujoco/v2/launch.py b/src/openarm_mujoco/v2/launch.py
index ff0f378..fd62ba0 100644
--- a/src/openarm_mujoco/v2/launch.py
+++ b/src/openarm_mujoco/v2/launch.py
@@ -95,7 +95,8 @@ def main() -> int:
             "cell_right_wall_col",
             "cell_front_wall_col",
             "cell_roof_col",
-            "cell_rail_col",
+            "cell_rail_col1",
+            "cell_rail_col2",
         ]
 
         for name in wall_names:
diff --git a/v2/assets/visual/cell/cell.obj b/v2/assets/visual/cell/cell.obj
index fef50d9..3cfefc5 100644
--- a/v2/assets/visual/cell/cell.obj
+++ b/v2/assets/visual/cell/cell.obj
@@ -1,23 +1,48 @@
-# Copyright 2026 Enactic, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
 # WaveFront *.obj file (generated by Autodesk ATF)
 
 mtllib OpenEvalCell_onepiece.mtl
 
 g Body1
 
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@@ -2594,20 +2674,66 @@ vt 55.000000 -10.625000 0.000000
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@@ -2622,6 +2748,28 @@ vn 0.000000 1.000000 0.000000
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@@ -4137,2073 +4285,2125 @@ vn 0.000000 0.000000 1.000000
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 usemtl Paint_-_Metal_Flake_(Black)
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+f 1042/1600/1600 719/1606/1606 718/1607/1607
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+f 1033/1601/1601 718/1607/1607 717/1608/1608
+f 1033/1601/1601 717/1608/1608 1024/1602/1602
+f 1024/1602/1602 717/1608/1608 716/1609/1609
+f 1024/1602/1602 716/1609/1609 1015/1603/1603
+f 1015/1603/1603 716/1609/1609 715/1610/1610
+f 1015/1603/1603 715/1610/1610 1006/1551/1551
+f 1006/1551/1551 715/1610/1610 714/1553/1553
+# 1060 vertices
+# 1610 texture params
+# 1610 normals
+# 2116 facets
 
 # 1 groups
diff --git a/v2/cell.xml b/v2/cell.xml
index 21d116b..5616ace 100644
--- a/v2/cell.xml
+++ b/v2/cell.xml
@@ -21,6 +21,13 @@ limitations under the License.
     <default class="visual">
       <geom contype="0" conaffinity="0" group="2" />
     </default>
+    <default class="cell_collision">
+      <geom material="collision_material" condim="3" contype="1" conaffinity="1" priority="1" group="4" solref="0.005 1" friction="1 0.005 0.001" />
+      <equality solimp="0.99 0.999 1e-05" solref="0.005 1" />
+    </default>
+    <default class="cell_visual">
+      <geom contype="0" conaffinity="0" group="1" />
+    </default>
     <default class="lifter">
       <joint limited="true" type="slide" damping="50" />
     </default>
@@ -48,7 +55,7 @@ limitations under the License.
     <material name="cell_matte_offwhite" rgba="0.95 0.94 0.90 1"      reflectance="0.05" shininess="0.1"/>
     <mesh name="cell_mesh"    file="visual/cell/cell.obj"   scale="0.01  0.01  0.01"/>
     <mesh name="sheet_mesh"   file="visual/cell/sheet.obj"  scale="0.01  0.01  0.01"/>
-    <mesh name="body_link0_5" file="visual/cell/cover.obj"  scale="0.001 0.001 0.001"/>
+    <!-- <mesh name="body_link0_5" file="visual/cell/cover.obj"  scale="0.001 0.001 0.001"/> -->
     <model name="bimanual" file="openarm_bimanual.xml"/>
   </asset>
 
@@ -60,17 +67,20 @@ limitations under the License.
   <worldbody>
 
     <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
+
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
 
-    <geom name="cell_vis" type="mesh" mesh="cell_mesh"  pos="0 0.550 0"      euler="0 0 -1.5708" material="cell_matte_black"    contype="0" conaffinity="0"/>
-    <geom name="sheet"    type="mesh" mesh="sheet_mesh" pos="0.4225 0 1.005" euler="0 0 -1.5708" material="cell_matte_offwhite" contype="0" conaffinity="0"/>
+    <geom name="cell_vis" type="mesh" mesh="cell_mesh"  pos="0 0.550 0"      euler="0 0 -1.5708" material="cell_matte_black"    class="cell_visual"/>
+    <geom name="sheet"    type="mesh" mesh="sheet_mesh" pos="0.4225 0 1.005" euler="0 0 -1.5708" material="cell_matte_offwhite" class="cell_visual"/>
 
-    <geom name="cell_table_col"      type="box" pos="0.41 0 1.00"    size="0.41 0.55 0.005" rgba="0 0 0 0" contype="1" conaffinity="1" friction="1 0.005 0.0001"/>
-    <geom name="cell_left_wall_col"  type="box" pos="0.43 0.52 1.42" size="0.43 0.03 0.42"  rgba="0 0 0 0" contype="1" conaffinity="1"/>
-    <geom name="cell_right_wall_col" type="box" pos="0.43 -0.52 1.42" size="0.43 0.03 0.42" rgba="0 0 0 0" contype="1" conaffinity="1"/>
-    <geom name="cell_front_wall_col" type="box" pos="0.85 0 1.42"    size="0.03 0.49 0.42"  rgba="0 0 0 0" contype="1" conaffinity="1"/>
-    <geom name="cell_roof_col"       type="box" pos="0.41 0 1.82"    size="0.41 0.55 0.005" rgba="0 0 0 0" contype="1" conaffinity="1"/>
-    <geom name="cell_rail_col"       type="box" pos="0.058 0 1.55"   size="0.003 0.03 0.3"  rgba="0 0 0 0" contype="1" conaffinity="1"/>
+    <geom name="cell_table_col"      type="box" pos="0.41 0 1.00"    size="0.41 0.55 0.005" class="cell_collision"/>
+    <geom name="cell_left_wall_col"  type="box" pos="0.43 0.52 1.42" size="0.43 0.03 0.42"  class="cell_collision"/>
+    <geom name="cell_right_wall_col" type="box" pos="0.43 -0.52 1.42" size="0.43 0.03 0.42" class="cell_collision"/>
+    <geom name="cell_front_wall_col" type="box" pos="0.85 0 1.42"    size="0.03 0.49 0.42"  class="cell_collision"/>
+    <geom name="cell_roof_col"       type="box" pos="0.41 0 1.82"    size="0.41 0.55 0.005" class="cell_collision"/>
+    <geom name="cell_rail_col1"       type="box" pos="0.03 0 1.525"   size="0.03 0.03 0.3"  class="cell_collision"/>
+    <geom name="cell_rail_col2"       type="box" pos="0.0915 0 1.535"   size="0.0315 0.039 0.29"  class="cell_collision"/>
+    <!-- <geom name="cell_rail_col"       type="box" pos="0.058 0 1.55"   size="0.003 0.03 0.3"  class="cell_collision"/> -->
 
     <camera name="camera_ceiling" pos="0.245 0 1.8" xyaxes="0 -1 0 1 0 0"    fovy="66" resolution="960 600"/>
     <!-- need to adjust x after lifter link is adjusted -->
@@ -78,8 +88,9 @@ limitations under the License.
     <camera name="camera_head_right"    pos="0.223 0.0315 1.45"  xyaxes="0 -1 0 0.882948 0 0.469472" fovy="52" resolution="1280 720"/>
 
     <!-- lifter body: arms attach here and slide vertically -->
-    <body name="openarm_lifter_link" pos="0.15 0 1.345">
-      <geom name="body_link0_vis_5" pos="0 0 -0.085" type="mesh" mesh="body_link0_5" material="cell_matte_black" class="visual"/>
+    <body name="openarm_lifter_link" pos="0.185 0 1.34">
+      <geom name="body_lifter" type="box" pos="-0.01575 0 0"   size="0.04575 0.031 0.061"  material="cell_matte_black" class="cell_visual"/>
+      <geom name="body_lifter_col" type="box" pos="-0.01575 0 0"   size="0.04575 0.031 0.061"  class="cell_collision"/>
       <inertial pos="0 0 0" mass="5.0" diaginertia="0.1 0.1 0.1"/>
       <joint name="openarm_lifter_joint" class="lifter" axis="0 0 1" range="0 0.3"/>
       <attach model="bimanual" prefix=""/>