diff --git a/cfg/active_grasp.rviz b/cfg/active_grasp.rviz
index e76879b..9bed28d 100644
--- a/cfg/active_grasp.rviz
+++ b/cfg/active_grasp.rviz
@@ -5,8 +5,9 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /TF1/Frames1
+        - /Markers1/Namespaces1
       Splitter Ratio: 0.6881287693977356
-    Tree Height: 217
+    Tree Height: 224
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -52,46 +53,10 @@ Visualization Manager:
       Reference Frame: <Fixed Frame>
       Value: true
     - Class: rviz/TF
-      Enabled: true
+      Enabled: false
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        camera_depth_optical_frame:
-          Value: true
-        panda_EE:
-          Value: false
-        panda_K:
-          Value: false
-        panda_NE:
-          Value: false
-        panda_hand:
-          Value: false
-        panda_leftfinger:
-          Value: false
-        panda_link0:
-          Value: false
-        panda_link1:
-          Value: false
-        panda_link2:
-          Value: false
-        panda_link3:
-          Value: false
-        panda_link4:
-          Value: false
-        panda_link5:
-          Value: false
-        panda_link6:
-          Value: false
-        panda_link7:
-          Value: false
-        panda_link8:
-          Value: false
-        panda_rightfinger:
-          Value: false
-        task:
-          Value: false
-        world:
-          Value: false
       Marker Alpha: 1
       Marker Scale: 0.30000001192092896
       Name: TF
@@ -99,30 +64,10 @@ Visualization Manager:
       Show Axes: true
       Show Names: false
       Tree:
-        world:
-          panda_link0:
-            panda_link1:
-              panda_link2:
-                panda_link3:
-                  panda_link4:
-                    panda_link5:
-                      panda_link6:
-                        panda_link7:
-                          camera_depth_optical_frame:
-                            {}
-                          panda_link8:
-                            panda_NE:
-                              panda_EE:
-                                panda_K:
-                                  {}
-                            panda_hand:
-                              panda_leftfinger:
-                                {}
-                              panda_rightfinger:
-                                {}
+        {}
       Update Interval: 0
-      Value: true
-    - Alpha: 1
+      Value: false
+    - Alpha: 0.20000000298023224
       Class: rviz/RobotModel
       Collision Enabled: false
       Enabled: true
@@ -344,7 +289,7 @@ Visualization Manager:
       Max Value: 1
       Median window: 5
       Min Value: 0
-      Name: ColorImage
+      Name: Image
       Normalize Range: true
       Queue Size: 2
       Transport Hint: raw
@@ -539,8 +484,6 @@ Visualization Manager:
         Target Frame: <Fixed Frame>
         Yaw: 1.0399999618530273
 Window Geometry:
-  ColorImage:
-    collapsed: false
   DepthImage:
     collapsed: false
   Displays:
@@ -548,13 +491,15 @@ Window Geometry:
   Height: 960
   Hide Left Dock: false
   Hide Right Dock: true
+  Image:
+    collapsed: false
   InfraImage:
     collapsed: false
   MotionPlanning:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000029400000366fc0200000015fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003d0000015c000000c900fffffffa000000000100000002fb000000100044006900730070006c0061007900730100000000000001f30000015600fffffffb000000140043006f006c006f00720049006d0061006700650000000000ffffffff0000000000000000fb000000140043006f006c006f00720049006d00610067006501000001e4000001bf0000000000000000fb00000014004400650070007400680049006d006100670065000000029a000001090000001600fffffffb000000140043006f006c006f00720049006d00610067006501000001d2000001920000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a004400650070007400680000000166000000b50000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067000000015b000001af0000017d00fffffffb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c00460069006c0074006500720065006400200043006c006f00750064000000029a000001050000000000000000fb0000000a0049006d00610067006501000002d7000000c80000000000000000fb0000000a0049006d00610067006500000001bc0000008a0000000000000000fb0000000a0049006d006100670065000000021c000000ee0000000000000000fb0000000c00430061006d00650072006100000002db000000c80000000000000000fb000000140043006f006c006f00720049006d006100670065010000019f000002040000001600ffffff000000010000017b00000366fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000366000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000002fb000000140049006e0066007200610049006d0061006700650200000371000001280000033b00000237fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000056300000039fc0100000002fb0000000800540069006d0065000000000000000563000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000004e60000036600000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
diff --git a/cfg/hw/T_base_tag.txt b/cfg/hw/T_base_tag.txt
index e5055df..3aae3dd 100644
--- a/cfg/hw/T_base_tag.txt
+++ b/cfg/hw/T_base_tag.txt
@@ -1,4 +1,4 @@
-9.998979853190785860e-01 1.338047579286792167e-02 4.998181909874715480e-03 3.216251487106734364e-01
--1.341414276126873424e-02 9.998871470166096342e-01 6.764170678302552919e-03 -1.756941528330971392e-01
--4.907110028114804005e-03 -6.830526959274958038e-03 9.999646314608484632e-01 -3.868988796629513338e-02
+9.988132416105248712e-01 -4.436147888855850735e-02 -2.010391937646777843e-02 3.888990423782812678e-01
+4.445135767602544780e-02 9.990033571245667821e-01 4.045893548226569235e-03 -1.957674877513267131e-01
+1.990440112722792476e-02 -4.934738561008635525e-03 9.997897094744979674e-01 1.942989171479588273e-01
 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 1.000000000000000000e+00
diff --git a/cfg/hw/scene01.yaml b/cfg/hw/scene01.yaml
index a0d12b5..8551942 100644
--- a/cfg/hw/scene01.yaml
+++ b/cfg/hw/scene01.yaml
@@ -1,4 +1,4 @@
 target:
-  min: [0.1, 0.1, 0.0]
-  max: [0.2, 0.2, 0.1]
-q0: [0.0, -0.79, 0.0, -2.356, 0.0, 1.57, 0.79]
+  min: [0.16, 0.14, 0.0]
+  max: [0.26, 0.26, 0.09]
+q0: [0.0179, -1.409, -0.021, -2.30, -0.049, 1.471, 0.783]