diff --git a/launch/active_grasp.rviz b/launch/active_grasp.rviz
index 1514465..bdd1b40 100644
--- a/launch/active_grasp.rviz
+++ b/launch/active_grasp.rviz
@@ -4,9 +4,10 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
+        - /Markers1/Namespaces1
         - /TF1/Frames1
-      Splitter Ratio: 0.5
-    Tree Height: 755
+      Splitter Ratio: 0.49705880880355835
+    Tree Height: 814
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -19,6 +20,7 @@ Panels:
   - Class: rviz/Views
     Expanded:
       - /Current View1
+      - /Current View1/Focal Point1
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
@@ -75,14 +77,14 @@ Visualization Manager:
       Transport Hint: raw
       Unreliable: false
       Value: false
-    - Alpha: 0.20000000298023224
+    - Alpha: 0.05000000074505806
       Autocompute Intensity Bounds: false
       Autocompute Value Bounds:
         Max Value: 10
         Min Value: -10
         Value: true
       Axis: Z
-      Channel Name: intensity
+      Channel Name: distance
       Class: rviz/PointCloud2
       Color: 255; 255; 255
       Color Transformer: Intensity
@@ -114,6 +116,7 @@ Visualization Manager:
         best_grasp: true
         grasps: true
         path: true
+        rays: true
         views: true
         workspace: true
       Queue Size: 100
@@ -366,7 +369,7 @@ Visualization Manager:
       Color: 255; 255; 255
       Color Transformer: RGB8
       Decay Time: 0
-      Enabled: true
+      Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
@@ -381,8 +384,8 @@ Visualization Manager:
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: true
-    - Alpha: 1
+      Value: false
+    - Alpha: 0.20000000298023224
       Autocompute Intensity Bounds: false
       Autocompute Value Bounds:
         Max Value: 10
@@ -399,8 +402,8 @@ Visualization Manager:
       Max Color: 138; 226; 52
       Max Intensity: 1
       Min Color: 239; 41; 41
-      Min Intensity: 0
-      Name: Quality
+      Min Intensity: 0.800000011920929
+      Name: GraspQuality
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
@@ -422,7 +425,7 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        camera_optical_frame:
+        camera_depth_optical_frame:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -527,8 +530,6 @@ Visualization Manager:
         All Enabled: false
         camera_depth_optical_frame:
           Value: true
-        camera_optical_frame:
-          Value: true
         panda_hand:
           Value: true
         panda_leftfinger:
@@ -577,8 +578,6 @@ Visualization Manager:
                             panda_hand:
                               camera_depth_optical_frame:
                                 {}
-                              camera_optical_frame:
-                                {}
                               panda_leftfinger:
                                 {}
                               panda_rightfinger:
@@ -615,7 +614,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.4805835485458374
+      Distance: 1.710027813911438
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -623,17 +622,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.2569250166416168
-        Y: 0.09482234716415405
-        Z: 0.4617196023464203
-      Focal Shape Fixed Size: true
+        X: 0.17848753929138184
+        Y: 0.3464738428592682
+        Z: 0.36626341938972473
+      Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.31479594111442566
+      Pitch: 0.25500035285949707
       Target Frame: <Fixed Frame>
-      Yaw: 5.353035926818848
+      Yaw: 5.125002384185791
     Saved: ~
 Window Geometry:
   ColorImage:
@@ -642,14 +641,14 @@ Window Geometry:
     collapsed: false
   Displays:
     collapsed: false
-  Height: 969
+  Height: 965
   Hide Left Dock: false
   Hide Right Dock: false
   MotionPlanning:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
@@ -658,6 +657,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1436
-  X: 911
-  Y: 73
+  Width: 1379
+  X: 824
+  Y: 205