diff --git a/launch/moveit_scene.rviz b/launch/moveit_scene.rviz
index d10732cc8ecd378442ec2ea533bde0792b7118a6..b9e16ad768ea7635194cb03e69f282db21312540 100644
--- a/launch/moveit_scene.rviz
+++ b/launch/moveit_scene.rviz
@@ -52,86 +52,10 @@ Visualization Manager:
       Color Enabled: false
       Enabled: true
       Interrupt Display: false
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        panda_hand:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        panda_hand_coarse:
-          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
-        panda_tool:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
+      Links: ~
       Loop Animation: false
       Name: Trajectory
       Robot Alpha: 0.5
-      Robot Color: 150; 50; 150
-      Robot Description: robot_description
       Show Robot Collision: false
       Show Robot Visual: true
       Show Trail: false
@@ -147,88 +71,12 @@ Visualization Manager:
       Robot Description: robot_description
       Scene Geometry:
         Scene Alpha: 0.9
-        Scene Color: 50; 230; 50
-        Scene Display Time: 0.2
         Show Scene Geometry: true
         Voxel Coloring: Z-Axis
         Voxel Rendering: Occupied Voxels
       Scene Robot:
         Attached Body Color: 150; 50; 150
-        Links:
-          All Links Enabled: true
-          Expand Joint Details: false
-          Expand Link Details: false
-          Expand Tree: false
-          Link Tree Style: Links in Alphabetic Order
-          panda_hand:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          panda_hand_coarse:
-            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
-          panda_tool:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
+        Links: ~
         Robot Alpha: 1
         Show Robot Collision: false
         Show Robot Visual: true
@@ -250,22 +98,22 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2
+      Distance: 2.0
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
+        Stereo Eye Separation: 0.06
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Field of View: 0.75
       Focal Point:
-        X: -0.10000000149011612
+        X: -0.1
         Y: 0.25
-        Z: 0.30000001192092896
+        Z: 0.30
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
+      Focal Shape Size: 0.05
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.009999999776482582
+      Near Clip Distance: 0.01
       Pitch: 0.5
       Target Frame: panda_link0
       Yaw: -0.6232355833053589