diff --git a/cfg/active_grasp.rviz b/cfg/active_grasp.rviz
index 8386a8e..16f7276 100644
--- a/cfg/active_grasp.rviz
+++ b/cfg/active_grasp.rviz
@@ -69,7 +69,7 @@ Visualization Manager:
         {}
       Update Interval: 0
       Value: false
-    - Alpha: 0.20000000298023224
+    - Alpha: 1
       Class: rviz/RobotModel
       Collision Enabled: false
       Enabled: true
@@ -427,7 +427,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 0.8019989132881165
+      Distance: 1.261960744857788
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -486,4 +486,4 @@ Window Geometry:
     collapsed: true
   Width: 1095
   X: 1260
-  Y: 123
+  Y: 86
diff --git a/cfg/active_grasp.yaml b/cfg/active_grasp.yaml
index dfe9b55..471a5d1 100644
--- a/cfg/active_grasp.yaml
+++ b/cfg/active_grasp.yaml
@@ -2,7 +2,7 @@ bt_sim:
   gui: True
   gripper_force: 10
   # scene: random
-  scene: $(find active_grasp)/cfg/sim/challenging_scene_1.yaml
+  scene: $(find active_grasp)/cfg/sim/challenging_scene_2.yaml
 
 hw:
   roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
diff --git a/scripts/run.py b/scripts/run.py
index 2e6fbfd..f2fc7a4 100755
--- a/scripts/run.py
+++ b/scripts/run.py
@@ -46,7 +46,7 @@ def main():
 def create_parser():
     parser = argparse.ArgumentParser()
     parser.add_argument("policy", type=str, choices=registry.keys())
-    parser.add_argument("--runs", type=int, default=1)
+    parser.add_argument("--runs", type=int, default=5)
     parser.add_argument("--wait-for-input", action="store_true")
     parser.add_argument("--logdir", type=Path, default="logs")
     parser.add_argument("--seed", type=int, default=1)