diff --git a/cfg/active_grasp.rviz b/cfg/active_grasp.rviz
index 23666d4..9cb5b4d 100644
--- a/cfg/active_grasp.rviz
+++ b/cfg/active_grasp.rviz
@@ -6,7 +6,7 @@ Panels:
       Expanded:
         - /TF1/Frames1
       Splitter Ratio: 0.6881287693977356
-    Tree Height: 286
+    Tree Height: 217
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -25,7 +25,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: DepthImage
+    SyncSource: PointCloud
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -56,16 +56,8 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        camera_color_frame:
-          Value: false
-        camera_color_optical_frame:
-          Value: false
-        camera_depth_frame:
-          Value: false
         camera_depth_optical_frame:
           Value: true
-        camera_link:
-          Value: false
         panda_EE:
           Value: false
         panda_K:
@@ -96,10 +88,6 @@ Visualization Manager:
           Value: false
         panda_rightfinger:
           Value: false
-        tag_0:
-          Value: false
-        task:
-          Value: false
         world:
           Value: false
       Marker Alpha: 1
@@ -372,6 +360,18 @@ Visualization Manager:
       Transport Hint: raw
       Unreliable: false
       Value: false
+    - Class: rviz/Image
+      Enabled: false
+      Image Topic: /camera/infra1/image_rect_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: InfraImage
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: false
     - Class: rviz/MarkerArray
       Enabled: true
       Marker Topic: visualization_marker_array
@@ -496,7 +496,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.2000000476837158
+      Distance: 1.399999976158142
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -526,11 +526,13 @@ Window Geometry:
   Height: 960
   Hide Left Dock: false
   Hide Right Dock: true
+  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: