[Error] [carb.gym.plugin] *** Could not create contact graph to compute collision filters! Are contacts specified properly?

Hi! I am trying to load a different object in the example project ShadowHand and getting this error. But it’s OK if I load cube or egg(by the way, I will also encounter this problem when I try to load pen as object now). I guess it’s because my object is too complicated to load (but I’m not sure). Could anyone give me some suggestion?
Thanks in advance!

Follows are some logs:
JointSpec type free not yet supported!
JointSpec type free not yet supported!
JointSpec type free not yet supported!
[Error] [carb.gym.plugin] *** Could not create contact graph to compute collision filters! Are contacts specified properly?

JointSpec type free not yet supported!
JointSpec type free not yet supported!
[Error] [carb.gym.plugin] *** Could not create contact graph to compute collision filters! Are contacts specified properly?