diff --git a/stretch_demos/rviz/grasp_object.rviz b/stretch_demos/rviz/grasp_object.rviz
index 83cef6b..344ad72 100644
--- a/stretch_demos/rviz/grasp_object.rviz
+++ b/stretch_demos/rviz/grasp_object.rviz
@@ -24,7 +24,7 @@ Panels:
   - Class: rviz/Time
     Name: Time
     SyncMode: 0
-    SyncSource: Camera
+    SyncSource: PointCloud2
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -536,13 +536,13 @@ Visualization Manager:
         Value: true
       Zoom Factor: 1
     - Class: rviz/Marker
-      Enabled: true
+      Enabled: false
       Marker Topic: /grasp_object/voi_marker
       Name: VOI Marker
       Namespaces:
-        "": true
+        {}
       Queue Size: 100
-      Value: true
+      Value: false
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -555,7 +555,7 @@ Visualization Manager:
       Color: 255; 255; 255
       Color Transformer: Intensity
       Decay Time: 0
-      Enabled: true
+      Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
@@ -570,6 +570,34 @@ Visualization Manager:
       Unreliable: false
       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: PointCloud2
+      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:
@@ -599,7 +627,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 5.667474269866943
+      Distance: 3.1273300647735596
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -615,9 +643,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6397964358329773
+      Pitch: 0.3797966539859772
       Target Frame: <Fixed Frame>
-      Yaw: 0.9854052066802979
+      Yaw: 1.1304060220718384
     Saved: ~
 Window Geometry:
   Camera: