diff --git a/stretch_demos/rviz/grasp_object.rviz b/stretch_demos/rviz/grasp_object.rviz
index 41d1c31..66f6851 100644
--- a/stretch_demos/rviz/grasp_object.rviz
+++ b/stretch_demos/rviz/grasp_object.rviz
@@ -533,6 +533,7 @@ Visualization Manager:
         RobotModel: true
         Surface Marker: true
         TF: true
+        Temp: true
         VOI Marker: true
         Value: true
       Zoom Factor: 1
@@ -600,6 +601,34 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: Temp
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /temp/point_cloud2
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -628,7 +657,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 5.505923271179199
+      Distance: 5.555291175842285
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -644,9 +673,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6747954487800598
+      Pitch: 0.29479464888572693
       Target Frame: <Fixed Frame>
-      Yaw: 0.6954066753387451
+      Yaw: 0.5554063320159912
     Saved: ~
 Window Geometry:
   Camera: