diff --git a/scripts/run_server.py b/scripts/run_server.py
index f09b1dc..b340b97 100644
--- a/scripts/run_server.py
+++ b/scripts/run_server.py
@@ -26,8 +26,8 @@ def parse_args():
     parser.add_argument('--to_jit', action='store_false', help='Whether to use JIT compilation')
     parser.add_argument('--use_fori_loop', action='store_true', help='Whether to use fori loop')
     parser.add_argument('--log_level', type=str, default='INFO', help='Logging level')
-    parser.add_argument('--collision_eps', type=float, required=False, default=0.3)
-    parser.add_argument('--collision_alpha', type=float, required=False, default=0.4)
+    parser.add_argument('--collision_eps', type=float, required=False, default=0.1)
+    parser.add_argument('--collision_alpha', type=float, required=False, default=0.5)
    
     return parser.parse_args()
 
diff --git a/vivarium/controllers/config.py b/vivarium/controllers/config.py
index 3a558bb..5943517 100644
--- a/vivarium/controllers/config.py
+++ b/vivarium/controllers/config.py
@@ -65,7 +65,7 @@ class ObjectConfig(Config):
     mass_orientation = param.Number(mass_orientation)
     diameter = param.Number(5.)
     color = param.Color('red')
-    friction = param.Number(10.)
+    friction = param.Number(0.1)
     exists = param.Boolean(True)
 
     def __init__(self, **params):
@@ -83,8 +83,8 @@ class SimulatorConfig(Config):
     neighbor_radius = param.Number(100., bounds=(0, None))
     to_jit = param.Boolean(True)
     use_fori_loop = param.Boolean(False)
-    collision_eps = param.Number(0.003)
-    collision_alpha = param.Number(0.7)
+    collision_eps = param.Number(0.1)
+    collision_alpha = param.Number(0.5)
 
     def __init__(self, **params):
         super().__init__(**params)
diff --git a/vivarium/simulator/grpc_server/converters.py b/vivarium/simulator/grpc_server/converters.py
index 10801fc..11c2683 100644
--- a/vivarium/simulator/grpc_server/converters.py
+++ b/vivarium/simulator/grpc_server/converters.py
@@ -13,18 +13,18 @@ def proto_to_state(state):
 
 
 def proto_to_simulator_state(simulator_state):
-    return SimulatorState(idx=proto_to_ndarray(simulator_state.idx),
-                          box_size=proto_to_ndarray(simulator_state.box_size),
-                          n_agents=proto_to_ndarray(simulator_state.n_agents),
-                          n_objects=proto_to_ndarray(simulator_state.n_objects),
-                          num_steps_lax=proto_to_ndarray(simulator_state.num_steps_lax),
-                          dt=proto_to_ndarray(simulator_state.dt),
-                          freq=proto_to_ndarray(simulator_state.freq),
-                          neighbor_radius=proto_to_ndarray(simulator_state.neighbor_radius),
-                          to_jit=proto_to_ndarray(simulator_state.to_jit),
-                          use_fori_loop=proto_to_ndarray(simulator_state.use_fori_loop),
-                          collision_eps=proto_to_ndarray(simulator_state.collision_eps),
-                          collision_alpha=proto_to_ndarray(simulator_state.collision_alpha)
+    return SimulatorState(idx=proto_to_ndarray(simulator_state.idx).astype(int),
+                          box_size=proto_to_ndarray(simulator_state.box_size).astype(float),
+                          n_agents=proto_to_ndarray(simulator_state.n_agents).astype(int),
+                          n_objects=proto_to_ndarray(simulator_state.n_objects).astype(int),
+                          num_steps_lax=proto_to_ndarray(simulator_state.num_steps_lax).astype(int),
+                          dt=proto_to_ndarray(simulator_state.dt).astype(float),
+                          freq=proto_to_ndarray(simulator_state.freq).astype(float),
+                          neighbor_radius=proto_to_ndarray(simulator_state.neighbor_radius).astype(float),
+                          to_jit=proto_to_ndarray(simulator_state.to_jit).astype(int),
+                          use_fori_loop=proto_to_ndarray(simulator_state.use_fori_loop).astype(int),
+                          collision_eps=proto_to_ndarray(simulator_state.collision_eps).astype(float),
+                          collision_alpha=proto_to_ndarray(simulator_state.collision_alpha).astype(float)
                           )