diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index ea2bbdbd..403af039 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -54,7 +54,7 @@ using Milliseconds = std::chrono::duration<double, std::milli>;
 
 //------------------------------------------- global -----------------------------------------------
 
-const int maxgeom = 5000;            // preallocated geom array in mjvScene
+const int maxgeom = 20000;           // preallocated geom array in mjvScene
 const double zoom_increment = 0.02;  // ratio of one click-wheel zoom increment to vertical extent
 
 // section ids