diff --git a/rvizconfig/baxter/baxter_visualization.rviz b/rvizconfig/baxter/baxter_visualization.rviz
index 46136700..76fe8063 100644
--- a/rvizconfig/baxter/baxter_visualization.rviz
+++ b/rvizconfig/baxter/baxter_visualization.rviz
@@ -710,10 +710,10 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: true
-  Height: 1023
+  Height: 2130
   Hide Left Dock: true
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001cf00000361fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d00000361000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002d8000000c80000000000000000000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000039f0000003efc0100000002fb0000000800540069006d006501000000000000039f000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000039f0000036100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001cf00000361fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d00000361000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002d8000000c80000000000000000000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000780000007b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -722,6 +722,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 927
-  X: 993
-  Y: 27
+  Width: 1920
+  X: 3840
+  Y: 0
diff --git a/rvizconfig/baxter/baxter_vr_display_visualization.rviz b/rvizconfig/baxter/baxter_vr_display_visualization.rviz
index cdb8b1d0..9a399bad 100644
--- a/rvizconfig/baxter/baxter_vr_display_visualization.rviz
+++ b/rvizconfig/baxter/baxter_vr_display_visualization.rviz
@@ -9,7 +9,7 @@ Panels:
         - /Camera1/KodakSphere1
         - /TF1/Frames1
       Splitter Ratio: 0.4283154010772705
-    Tree Height: 363
+    Tree Height: 1833
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -308,7 +308,7 @@ Visualization Manager:
           Transport Hint: raw
           Unreliable: false
           Value: false
-      Enabled: true
+      Enabled: false
       Name: Visualization
     - Class: rviz/TF
       Enabled: false
@@ -326,7 +326,7 @@ Visualization Manager:
       Value: false
   Enabled: true
   Global Options:
-    Background Color: 255; 255; 255
+    Background Color: 0; 0; 0
     Default Light: true
     Fixed Frame: base
     Frame Rate: 30
@@ -370,17 +370,17 @@ Visualization Manager:
       Pitch: 1.1247962713241577
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.1335575580596924
+      Yaw: 3.0185558795928955
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: true
-  Height: 1025
+  Height: 2130
   Hide Left Dock: true
   Hide Right Dock: true
   KodakRGBImage:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   RealsenseRGBImage:
     collapsed: false
   RvizLeftImage:
@@ -395,6 +395,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 927
-  X: 67
-  Y: 27
+  Width: 1920
+  X: 1920
+  Y: 0