private void OnTriggerExit(Collider other)
    {
        compoundObstacleHandler = gameObject.GetComponentInParent <CollisionOnCompoundObstacle>();
        if (visualizeCollisions)
        {
            rend.material.color = originalColor;
        }

        if (other.gameObject.CompareTag("targetObject"))
        {
            if (compoundObstacleHandler != null) //compound obstacle
            {
                compoundObstacleHandler.DecreaseCollisionsWithGraspedObject();
                if (compoundObstacleHandler.GetCollisionsWithGripper() == 0 &&
                    compoundObstacleHandler.GetCollisionsWithGraspedObject() == 0 &&
                    gripperCollisionCount == 0)
                {
                    experimentLogger.SetColliding(false);
                }
            }
            else  // simple obstacle
            {
                graspedObjectIsCollidingWithObstacle = false;
                if (gripperCollisionCount == 0)
                {
                    experimentLogger.SetColliding(false);
                }
            }
        }
        else if (other.gameObject.CompareTag("gripper"))
        {
            if (compoundObstacleHandler != null) //compound obstacle
            {
                compoundObstacleHandler.DecreaseCollisionsWithGripper();
                if (compoundObstacleHandler.GetCollisionsWithGripper() == 0 &&
                    compoundObstacleHandler.GetCollisionsWithGraspedObject() == 0 &&
                    gripperCollisionCount == 0)
                {
                    experimentLogger.SetColliding(false);
                }
            }
            else
            {
                gripperCollisionCount--;
                if (gripperCollisionCount == 0 &&
                    !graspedObjectIsCollidingWithObstacle)
                {
                    experimentLogger.SetColliding(false);
                }
            }
        }
    }
    void OnTriggerEnter(Collider other)
    {
        compoundObstacleHandler = gameObject.GetComponentInParent <CollisionOnCompoundObstacle>();
        experimentLogger        = experimentController.GetComponent <ExperimentDataLogger>();

        if (other.gameObject.CompareTag("targetObject"))                           //Collision with grasped object
        {
            if (compoundObstacleHandler != null)                                   //compound obstacle
            {
                if (compoundObstacleHandler.GetCollisionsWithGraspedObject() == 0) // only the first enter causes a collision count
                {
                    UpdateGlobalErrorCount(other.name);
                }
                experimentLogger.SetColliding(true);
                compoundObstacleHandler.IncreaseCollisionsWithGraspedObject();
            }
            else   // simple obstacle
            {
                graspedObjectIsCollidingWithObstacle = true;
                UpdateGlobalErrorCount(other.name);
                experimentLogger.SetColliding(true);
            }
            if (visualizeCollisions)
            {
                rend.material.color = Color.red;
            }
        }
        else if (other.gameObject.CompareTag("gripper"))                     //Collision with robot
        {
            if (compoundObstacleHandler != null)                             //compound obstacle
            {
                if (compoundObstacleHandler.GetCollisionsWithGripper() == 0) // only the first enter causes a collision count
                {
                    if (experimentLogger.IsGrabbed())
                    {
                        UpdateGripperCollisionCount(other.name);
                    }
                }
                experimentLogger.SetColliding(true);
                compoundObstacleHandler.IncreaseCollisionsWithGripper();
            }
            else      //simple obstacle
            {
                {
                    if (gripperCollisionCount == 0)
                    {
                        if (experimentLogger.IsGrabbed())
                        {
                            UpdateGripperCollisionCount(other.name);    //causes counting collision
                        }
                    }
                    gripperCollisionCount++;
                    experimentLogger.SetColliding(true);    //causes haptic feedback
                }
            }
        }
    }