diff --git a/scripts/bt_sim_node.py b/scripts/bt_sim_node.py
index 768b115..f151406 100755
--- a/scripts/bt_sim_node.py
+++ b/scripts/bt_sim_node.py
@@ -4,12 +4,14 @@ from actionlib import SimpleActionServer
 import control_msgs.msg as control_msgs
 from controller_manager_msgs.srv import *
 import cv_bridge
+from franka_msgs.msg import FrankaState, ErrorRecoveryAction
 from franka_gripper.msg import *
 from geometry_msgs.msg import Twist
 import numpy as np
 import rospy
 from sensor_msgs.msg import JointState, Image, CameraInfo
 from scipy import interpolate
+from std_msgs.msg import Header
 from threading import Thread
 
 from active_grasp.bbox import to_bbox_msg
@@ -31,11 +33,12 @@ class BtSimNode:
     def init_plugins(self):
         self.plugins = [
             PhysicsPlugin(self.sim),
-            JointStatePlugin(self.sim.arm, self.sim.gripper),
+            RobotStatePlugin(self.sim.arm, self.sim.gripper),
             MoveActionPlugin(self.sim.gripper),
             GraspActionPlugin(self.sim.gripper),
             GripperActionPlugin(),
             CameraPlugin(self.sim.camera),
+            MockActionsPlugin(),
         ]
         self.controllers = {
             "cartesian_velocity_controller": CartesianVelocityControllerPlugin(
@@ -131,24 +134,41 @@ class PhysicsPlugin(Plugin):
         self.sim.step()
 
 
-class JointStatePlugin(Plugin):
+class RobotStatePlugin(Plugin):
     def __init__(self, arm, gripper, rate=30):
         super().__init__(rate)
         self.arm = arm
         self.gripper = gripper
-        self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
+        self.arm_state_pub = rospy.Publisher(
+            "/franka_state_controller/franka_states", FrankaState, queue_size=10
+        )
+        self.gripper_state_pub = rospy.Publisher(
+            "/franka_gripper/joint_states", JointState, queue_size=10
+        )
+        self.joint_states_pub = rospy.Publisher(
+            "joint_states", JointState, queue_size=10
+        )
 
     def update(self):
-        q, _ = self.arm.get_state()
+        q, dq = self.arm.get_state()
         width = self.gripper.read()
-        msg = JointState()
-        msg.header.stamp = rospy.Time.now()
+        header = Header(stamp=rospy.Time.now())
+
+        msg = FrankaState(header=header, q=q, dq=dq)
+        self.arm_state_pub.publish(msg)
+
+        msg = JointState(header=header)
+        msg.name = ["panda_finger_joint1", "panda_finger_joint2"]
+        msg.position = [0.5 * width, 0.5 * width]
+        self.gripper_state_pub.publish(msg)
+
+        msg = JointState(header=header)
         msg.name = ["panda_joint{}".format(i) for i in range(1, 8)] + [
             "panda_finger_joint1",
             "panda_finger_joint2",
         ]
         msg.position = np.r_[q, 0.5 * width, 0.5 * width]
-        self.pub.publish(msg)
+        self.joint_states_pub.publish(msg)
 
 
 class CartesianVelocityControllerPlugin(Plugin):
@@ -322,6 +342,33 @@ class CameraPlugin(Plugin):
         self.depth_pub.publish(msg)
 
 
+class MockActionsPlugin(Plugin):
+    def __init__(self):
+        super().__init__(1)
+        self.init_recovery_action_server()
+        self.init_homing_action_server()
+
+    def init_homing_action_server(self):
+        self.homing_as = SimpleActionServer(
+            "/franka_gripper/homing", HomingAction, auto_start=False
+        )
+        self.homing_as.register_goal_callback(self.action_goal_cb)
+        self.homing_as.start()
+
+    def init_recovery_action_server(self):
+        self.recovery_as = SimpleActionServer(
+            "/franka_control/error_recovery", ErrorRecoveryAction, auto_start=False
+        )
+        self.recovery_as.register_goal_callback(self.action_goal_cb)
+        self.recovery_as.start()
+
+    def action_goal_cb(self):
+        pass
+
+    def update(self):
+        pass
+
+
 def main():
     rospy.init_node("bt_sim")
     server = BtSimNode()
diff --git a/src/active_grasp/policy.py b/src/active_grasp/policy.py
index 91a126c..0632523 100644
--- a/src/active_grasp/policy.py
+++ b/src/active_grasp/policy.py
@@ -112,8 +112,16 @@ class SingleViewPolicy(Policy):
             self.views.append(x)
             self.tsdf.integrate(img, self.intrinsic, x.inv() * self.T_base_task)
             tsdf_grid, voxel_size = self.tsdf.get_grid(), self.tsdf.voxel_size
-            self.vis.scene_cloud(self.task_frame, self.tsdf.get_scene_cloud())
-            self.vis.map_cloud(self.task_frame, self.tsdf.get_map_cloud())
+
+            scene_cloud = self.tsdf.get_scene_cloud()
+            self.vis.scene_cloud(self.task_frame, np.asarray(scene_cloud.points))
+
+            map_cloud = self.tsdf.get_map_cloud()
+            self.vis.map_cloud(
+                self.task_frame,
+                np.asarray(map_cloud.points),
+                np.expand_dims(np.asarray(map_cloud.colors)[:, 0], 1),
+            )
 
             out = self.vgn.predict(tsdf_grid)
             self.vis.quality(self.task_frame, voxel_size, out.qual, 0.5)
@@ -142,8 +150,16 @@ class MultiViewPolicy(Policy):
 
         with Timer("tsdf_integration"):
             self.tsdf.integrate(img, self.intrinsic, x.inv() * self.T_base_task)
-        self.vis.scene_cloud(self.task_frame, self.tsdf.get_scene_cloud())
-        self.vis.map_cloud(self.task_frame, self.tsdf.get_map_cloud())
+
+        scene_cloud = self.tsdf.get_scene_cloud()
+        self.vis.scene_cloud(self.task_frame, np.asarray(scene_cloud.points))
+
+        map_cloud = self.tsdf.get_map_cloud()
+        self.vis.map_cloud(
+            self.task_frame,
+            np.asarray(map_cloud.points),
+            np.expand_dims(np.asarray(map_cloud.colors)[:, 0], 1),
+        )
 
         with Timer("grasp_prediction"):
             tsdf_grid = self.tsdf.get_grid()