diff --git a/launch/moveit.rviz b/launch/moveit.rviz
index 246020cfcd0d6f93967dc4c9d3b54841eb8ce630..76165072ec0309cc8160eb429b65d1d364f9c5f1 100644
--- a/launch/moveit.rviz
+++ b/launch/moveit.rviz
@@ -6,7 +6,7 @@ Panels:
       Expanded:
         - /MotionPlanning1
       Splitter Ratio: 0.7425600290298462
-    Tree Height: 703
+    Tree Height: 633
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -14,6 +14,8 @@ Panels:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
+  - Class: rviz_visual_tools/RvizVisualToolsGui
+    Name: RvizVisualToolsGui
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -288,7 +290,7 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1406
+  Height: 1404
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -297,9 +299,11 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000002a200000528fc0200000007fb000000100044006900730070006c006100790073010000003b0000034e000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c0069006400650072010000038f0000003f0000003f00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000003d40000018f0000018300ffffff000007580000052800000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000002a200000526fc0200000008fb000000100044006900730070006c006100790073010000003b00000308000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000003490000003f0000003f00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000038e0000018e0000018300fffffffb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006901000005220000003f0000003f00ffffff000002560000052600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  RvizVisualToolsGui:
+    collapsed: false
   Views:
     collapsed: false
-  Width: 2560
+  Width: 1278
   X: 0
   Y: 18