diff --git a/Mira/mira_moveit/launch/moveit.rviz b/Mira/mira_moveit/launch/moveit.rviz
index e5a17b6..5cd58f0 100644
--- a/Mira/mira_moveit/launch/moveit.rviz
+++ b/Mira/mira_moveit/launch/moveit.rviz
@@ -1,14 +1,13 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 84
+    Help Height: 0
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /MotionPlanning1
         - /MotionPlanning1/Planned Path1
-        - /MotionPlanning1/Planned Path1/Links1
       Splitter Ratio: 0.5
-    Tree Height: 215
+    Tree Height: 261
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -185,24 +184,24 @@ Visualization Manager:
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
-      Field of View: 0.75
+      Field of View: 0.7853981852531433
       Focal Point:
-        X: -0.10000000149011612
-        Y: 0.25
-        Z: 0.30000001192092896
+        X: -0.09999990463256836
+        Y: 0.24999988079071045
+        Z: 0.30000007152557373
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.1249999925494194
+      Pitch: 0.12499994784593582
       Target Frame: base
       Yaw: 2.0417633056640625
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 848
+  Height: 919
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -211,7 +210,7 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000168000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001ab000001880000017d00ffffff00000312000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f30000033dfc0200000007fb000000100044006900730070006c006100790073010000003d00000142000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000003d000000dc000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001850000004f0000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001da000001a00000017d00ffffff000003120000033d00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
   Width: 1291