diff --git a/src/moveit_interface.cpp b/src/moveit_interface.cpp
index dca3ca0..147b7ff 100644
--- a/src/moveit_interface.cpp
+++ b/src/moveit_interface.cpp
@@ -45,6 +45,8 @@ class MoveitInterface : public rclcpp::Node
       move_group_ = std::make_shared<moveit::planning_interface::MoveGroupInterface>(std::shared_ptr<rclcpp::Node>(shared_this), PLANNING_GROUP);
       move_group_->setStartStateToCurrentState();
       planning_scene_interface_ = std::make_shared<moveit::planning_interface::PlanningSceneInterface>();
+      move_group_->setMaxVelocityScalingFactor(0.5);
+      move_group_->setMaxAccelerationScalingFactor(0.5);
 
       // Connection to Rviz
       visual_tools_ = std::make_shared<moveit_visual_tools::MoveItVisualTools>(std::shared_ptr<rclcpp::Node>(shared_this), "panda_link0", "move_group", move_group_->getRobotModel());
@@ -121,33 +123,55 @@ class MoveitInterface : public rclcpp::Node
     //Just for the IML experiment
     void box_callback(const std_msgs::msg::Empty::SharedPtr /*msg*/)
     {
-      moveit_msgs::msg::CollisionObject visual_object;
+      /*moveit_msgs::msg::CollisionObject visual_object;
       visual_object.header.frame_id = move_group_->getPlanningFrame();
 
-      visual_object.id = "box1";
+      visual_object.id = "obstacle";
 
       shape_msgs::msg::SolidPrimitive primitive;
       primitive.type = primitive.BOX;
       primitive.dimensions.resize(3);
       primitive.dimensions[primitive.BOX_X] = 0.2;
       primitive.dimensions[primitive.BOX_Y] = 0.2;
-      primitive.dimensions[primitive.BOX_Z] = 0.4;
+      primitive.dimensions[primitive.BOX_Z] = 0.05;
 
       geometry_msgs::msg::Pose box_pose;
       box_pose.orientation.w = 1.0;
       box_pose.position.x = 0.5;
       box_pose.position.y = 0.0;
-      box_pose.position.z = 0.2;
+      box_pose.position.z = 0.0;
 
       visual_object.primitives.push_back(primitive);
       visual_object.primitive_poses.push_back(box_pose);
       visual_object.operation = visual_object.ADD;
+      */
+      moveit_msgs::msg::CollisionObject table_object;
+      table_object.header.frame_id = move_group_->getPlanningFrame();
+
+      table_object.id = "table";
+
+      shape_msgs::msg::SolidPrimitive primitive2;
+      primitive2.type = primitive2.BOX;
+      primitive2.dimensions.resize(3);
+      primitive2.dimensions[primitive2.BOX_X] = 0.8;
+      primitive2.dimensions[primitive2.BOX_Y] = 1.4;
+      primitive2.dimensions[primitive2.BOX_Z] = 0.02;
+
+      geometry_msgs::msg::Pose table_pose;
+      table_pose.orientation.w = 1.0;
+      table_pose.position.x = 0.5;
+      table_pose.position.y = 0.0;
+      table_pose.position.z = -0.02;
+
+      table_object.primitives.push_back(primitive2);
+      table_object.primitive_poses.push_back(table_pose);
+      table_object.operation = table_object.ADD;
 
       std::vector<moveit_msgs::msg::CollisionObject> visual_objects;
-      visual_objects.push_back(visual_object);
+      // visual_objects.push_back(visual_object);
+      visual_objects.push_back(table_object);
 
       planning_scene_interface_->addCollisionObjects(visual_objects);
-
     }
 
     rclcpp::Publisher<moveit_msgs::msg::RobotTrajectory>::SharedPtr publisher_;
@@ -177,4 +201,4 @@ int main(int argc, char * argv[])
   rclcpp::spin(std::make_shared<MoveitInterface>());
   rclcpp::shutdown();
   return 0;
-}
\ No newline at end of file
+}