diff --git a/cfg/active_grasp.rviz b/cfg/active_grasp.rviz
index 9bed28d..ef0b466 100644
--- a/cfg/active_grasp.rviz
+++ b/cfg/active_grasp.rviz
@@ -7,7 +7,7 @@ Panels:
         - /TF1/Frames1
         - /Markers1/Namespaces1
       Splitter Ratio: 0.6881287693977356
-    Tree Height: 224
+    Tree Height: 349
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -26,7 +26,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: PointCloud
+    SyncSource: ""
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -77,70 +77,6 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        camera_depth_optical_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        panda_hand:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_leftfinger:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link0:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link4:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link5:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link6:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link7:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_link8:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_rightfinger:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
       Name: RobotModel
       Robot Description: robot_description
       TF Prefix: ""
@@ -202,7 +138,7 @@ Visualization Manager:
         Goal State Color: 250; 128; 0
         Interactive Marker Size: 0
         Joint Violation Color: 255; 0; 255
-        Planning Group: ""
+        Planning Group: hand
         Query Goal State: true
         Query Start State: false
         Show Workspace: false
@@ -289,7 +225,7 @@ Visualization Manager:
       Max Value: 1
       Median window: 5
       Min Value: 0
-      Name: Image
+      Name: ColorImage
       Normalize Range: true
       Queue Size: 2
       Transport Hint: raw
@@ -324,7 +260,7 @@ Visualization Manager:
       Marker Topic: visualization_marker_array
       Name: Markers
       Namespaces:
-        bbox: true
+        {}
       Queue Size: 100
       Value: true
     - Alpha: 1
@@ -385,7 +321,7 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: false
-    - Alpha: 1
+    - Alpha: 0.20000000298023224
       Autocompute Intensity Bounds: false
       Autocompute Value Bounds:
         Max Value: 10
@@ -397,12 +333,12 @@ Visualization Manager:
       Color: 255; 255; 255
       Color Transformer: Intensity
       Decay Time: 0
-      Enabled: false
+      Enabled: true
       Invert Rainbow: false
       Max Color: 0; 255; 0
       Max Intensity: 1
       Min Color: 255; 0; 0
-      Min Intensity: 0.5
+      Min Intensity: 0.800000011920929
       Name: GraspQuality
       Position Transformer: XYZ
       Queue Size: 10
@@ -414,7 +350,7 @@ Visualization Manager:
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: false
-      Value: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -484,6 +420,8 @@ Visualization Manager:
         Target Frame: <Fixed Frame>
         Yaw: 1.0399999618530273
 Window Geometry:
+  ColorImage:
+    collapsed: false
   DepthImage:
     collapsed: false
   Displays:
@@ -491,15 +429,13 @@ 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: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time: