diff --git a/stanford_tidybot/LICENSE b/stanford_tidybot/LICENSE
index 3391f94..39e2755 100644
--- a/stanford_tidybot/LICENSE
+++ b/stanford_tidybot/LICENSE
@@ -1,4 +1,4 @@
-# License for Robotiq-2f85
+# License for Robotiq 2F-85
 
 Copyright (c) 2013, ROS-Industrial
 All rights reserved.
@@ -24,7 +24,7 @@ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
-# License for Gen3
+# License for Kinova Gen3
 
 Copyright (c) 2018, Kinova inc.
 
@@ -42,7 +42,7 @@ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS”
 
 MIT License
 
-Copyright (c) 2023 Interactive Perception and Robot Learning Lab
+Copyright (c) 2024 Stanford Interactive Perception and Robot Learning Lab
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
diff --git a/stanford_tidybot/README.md b/stanford_tidybot/README.md
index 1c27a88..e367472 100644
--- a/stanford_tidybot/README.md
+++ b/stanford_tidybot/README.md
@@ -15,12 +15,12 @@ This package contains a simplified robot description (MJCF) of the [Stanford Tid
 ## MJCF Model
 
 * The mobile base MJCF was created from a CAD model of the base.
-* The Gen3 is taken from Menagerie. See [gen3](../kinova_gen3/).
-* The Robotiq is taken from Menagerie. See [robotiq](../robotiq_2f85/).
+* The Kinova Gen3 MJCF is taken from Menagerie. See [kinova_gen3](../kinova_gen3/).
+* The Robotiq 2F-85 MJCF is taken from Menagerie. See [robotiq_2f85](../robotiq_2f85/).
 
 ## License
 
-The TidyBot base is released under an MIT License. The Gen3 and Robotiq MJCFs retain
+The TidyBot base is released under an MIT License. The Kinova Gen3 and Robotiq 2F-85 MJCFs retain
 their original licenses. For more information, see the [LICENSE](LICENSE) file.
 
 ## Publications
diff --git a/stanford_tidybot/scene.xml b/stanford_tidybot/scene.xml
index 1491df5..e9e8e08 100644
--- a/stanford_tidybot/scene.xml
+++ b/stanford_tidybot/scene.xml
@@ -1,7 +1,7 @@
 <mujoco model="tidybot scene">
   <include file="tidybot.xml"/>
 
-  <statistic center="0 0 0.55" extent="1.0" meansize="0.05"/>
+  <statistic center="0 0 0.525" extent="1.1" meansize="0.05"/>
 
   <visual>
     <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0"/>
diff --git a/stanford_tidybot/tidybot.png b/stanford_tidybot/tidybot.png
index d69bab4..9c1b7b3 100644
Binary files a/stanford_tidybot/tidybot.png and b/stanford_tidybot/tidybot.png differ