diff --git a/mjx/mujoco/mjx/_src/collision_convex.py b/mjx/mujoco/mjx/_src/collision_convex.py
index 0d60c4c973..6a0cc74367 100644
--- a/mjx/mujoco/mjx/_src/collision_convex.py
+++ b/mjx/mujoco/mjx/_src/collision_convex.py
@@ -153,7 +153,7 @@ def plane_convex(plane: GeomInfo, convex: ConvexInfo) -> Collision:
 
   frame = jp.stack([math.make_frame(n)] * 4, axis=0)
   unique = jp.tril(idx == idx[:, None]).sum(axis=1) == 1
-  dist = jp.where(unique, -support[idx], 1)
+  dist = jp.where(unique, -support[idx], jp.abs(support[idx]).max())
   pos = pos - 0.5 * dist[:, None] * n
   return dist, pos, frame
 
@@ -214,7 +214,7 @@ def get_support(faces, normal):
   d *= sign
 
   spt = sphere_pos + n * sphere.size[0]
-  dist = jp.where(has_separating_axis, 1.0, d - sphere.size[0])
+  dist = d - sphere.size[0]
   pos = (pt + spt) * 0.5
 
   # Go back to world frame.
@@ -280,9 +280,8 @@ def get_support(face, normal):
   # Create variables for the face contact.
   pos = (cap_pts_clipped + face_pts) * 0.5
   contact_normal = -jp.stack([normal] * 2, 0)
-  face_penetration = jp.where(
-      mask & has_support, jp.dot(face_pts - cap_pts_clipped, normal), -1
-  )
+  face_dist = jp.dot(face_pts - cap_pts_clipped, normal)
+  face_penetration = jp.where(mask & has_support, face_dist, jp.minimum(face_dist, 0))
 
   # Pick a potential shallow edge contact.
   def get_edge_axis(edge):
@@ -316,7 +315,7 @@ def get_edge_axis(edge):
   edge_face_normals = edge_face_normal[e_idx]
   edge_voronoi_front = ((edge_face_normals @ edge_axis) < 0).all()
   shallow = ~degenerate_edge_dir & edge_voronoi_front
-  edge_penetration = jp.where(shallow, cap.size[0] - edge_dist, -1)
+  edge_penetration = cap.size[0] - edge_dist
 
   # Determine edge contact position.
   edge_pos = (
@@ -327,7 +326,8 @@ def get_edge_axis(edge):
   ) & ~degenerate_edge_dir
   min_face_penetration = face_penetration.min()
   has_edge_contact = (
-      (edge_penetration > 0)
+      shallow
+      & (edge_penetration > 0)
       # prefer edge contact if the edge is smaller than face penetration
       & jp.where(
           min_face_penetration > 0,
@@ -351,7 +351,9 @@ def get_edge_axis(edge):
   n = n @ convex.mat.T
 
   dist = -jp.where(
-      has_edge_contact, jp.array([edge_penetration, -1]), face_penetration
+      has_edge_contact,
+      jp.array([edge_penetration, -edge_penetration]),
+      face_penetration,
   )
   return dist, pos, n
 
@@ -577,7 +579,7 @@ def _create_contact_manifold(
   penetration_dir = jp.take(poly_incident, best, axis=0) - contact_pts
   penetration = penetration_dir.dot(-clipping_norm)
 
-  dist = jp.where(mask_pts, -penetration, jp.ones_like(penetration))
+  dist = jp.where(mask_pts, -penetration, jp.abs(penetration))
   pos = contact_pts
   normal = -jp.stack([sep_axis] * 4, 0)
   return dist, pos, normal
@@ -677,7 +679,7 @@ def get_support(axis, is_degenerate):
   idx = dist.argmin()
   dist = jp.where(
       is_edge_contact,
-      jp.array([dist[idx], 1, 1, 1]),
+      jp.array([dist[idx], jp.abs(dist[idx]), jp.abs(dist[idx]), jp.abs(dist[idx])]),
       dist,
   )
   pos = jp.where(is_edge_contact, jp.tile(pos[idx], (4, 1)), pos)
@@ -806,7 +808,7 @@ def get_support(axis):
       incident_face_norm,
       -best_axis,
   )
-  dist = jp.where(is_face_separating, 1.0, dist)
+  dist = jp.where(is_face_separating, jp.abs(dist), dist)
 
   # Handle edge separating axes by checking all edge pairs.
   a_idx = jp.tile(jp.arange(edges_a.shape[0]), reps=edges_b.shape[0])
@@ -856,7 +858,7 @@ def get_normals(a_dir, a_pt, b_dir):
   normal = jp.where(is_edge_contact, edge_axes[best_edge_idx], normal)
   dist = jp.where(
       is_edge_contact,
-      jp.array([best_edge_dist, 1, 1, 1]),
+      jp.array([best_edge_dist, jp.abs(best_edge_dist), jp.abs(best_edge_dist), jp.abs(best_edge_dist)]),
       dist,
   )
   a_closest, b_closest = math.closest_segment_to_segment_points(
@@ -1060,7 +1062,7 @@ def hfield_sphere(
 
   # zero out non-unique contacts
   unique = jp.tril(idx == idx[:, None]).sum(axis=1) == 1
-  dist = jp.where(unique, dist, 1)
+  dist = jp.where(unique, dist, jp.max(dist))
 
   # back to world frame, _hfield_collision returns collision in hfield frame
   pos = jax.vmap(lambda p: h.mat @ p + h.pos)(pos)
@@ -1084,7 +1086,7 @@ def hfield_capsule(
 
   # zero out non-unique contacts
   unique = jp.tril(idx == idx[:, None]).sum(axis=1) == 1
-  dist = jp.where(unique, dist, 1)
+  dist = jp.where(unique, dist, jp.max(dist))
 
   # back to world frame, _hfield_collision returns collision in hfield frame
   pos = jax.vmap(lambda p: h.mat @ p + h.pos)(pos)
@@ -1108,7 +1110,7 @@ def hfield_convex(
 
   # zero out non-unique contacts
   unique = jp.tril(idx == idx[:, None]).sum(axis=1) == 1
-  dist = jp.where(unique, dist, 1)
+  dist = jp.where(unique, dist, jp.max(dist))
 
   # back to world frame, _hfield_collision returns collision in hfield frame
   pos = jax.vmap(lambda p: h.mat @ p + h.pos)(pos)