--- scene.xml	2024-07-24 11:38:17.000000000 -0700
+++ mjx_scene.xml	2024-09-25 10:13:59.000000000 -0700
@@ -1,7 +1,13 @@
 <mujoco model="aloha_scene">
   <compiler meshdir="assets" texturedir="assets"/>
 
-  <include file="aloha.xml"/>
+  <include file="mjx_aloha.xml"/>
+
+  <custom>
+    <numeric data="12" name="max_contact_points"/>
+  </custom>
+
+  <option iterations="8" ls_iterations="8" timestep="0.005"/>
 
   <statistic center="0 -0.1 0.2" extent="0.6" meansize="0.05"/>
 
@@ -40,17 +46,17 @@
 
   <default>
     <default class="frame">
-      <geom group="1" type="mesh" material="black"/>
+      <geom group="1" type="mesh" material="black" contype="0" conaffinity="0"/>
     </default>
   </default>
 
   <worldbody>
     <light pos="0 0.1 2.5"/>
-    <geom name="floor" size="2 2 0.05" type="plane" material="groundplane" pos="0 0 -.75"/>
+    <geom name="floor" size="2 2 0.05" type="plane" material="groundplane" pos="0 0 -.75" contype="0" conaffinity="0"/>
     <site name="worldref" pos="0 0 -0.75"/>
     <geom mesh="tabletop" material="table" class="visual" pos="0 0 -0.75" quat="1 0 0 1"/>
     <geom mesh="tablelegs" material="table" class="visual" pos="0 0 -0.75" quat="1 0 0 1"/>
-    <geom name="table" pos="0 0 -0.1009" size="0.61 0.37 0.1" type="box" class="collision"/>
+    <geom name="table" pos="0 0 0.0008" size="0.61 0.37 0.1" type="plane" class="collision" contype="1" conaffinity="1"/>
     <camera name="overhead_cam" focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"
             pos="0 -0.303794 1.02524" mode="fixed" quat="0.976332 0.216277 0 0"/>
     <camera name="worms_eye_cam" focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"