diff --git a/rvizconfig/baxter/baxter_visualization.rviz b/rvizconfig/baxter/baxter_visualization.rviz
index 76fe8063..f658ff7e 100644
--- a/rvizconfig/baxter/baxter_visualization.rviz
+++ b/rvizconfig/baxter/baxter_visualization.rviz
@@ -694,26 +694,26 @@ Visualization Manager:
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.38634979724884033
-        Y: -0.020552203059196472
-        Z: 0.18725356459617615
+        X: 0.3903782367706299
+        Y: 0.005807499401271343
+        Z: 0.18839794397354126
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.2703964710235596
+      Pitch: 1.240396499633789
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.115403652191162
+      Yaw: 3.115403175354004
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: true
-  Height: 2130
+  Height: 1052
   Hide Left Dock: true
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001cf00000361fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d00000361000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002d8000000c80000000000000000000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000780000007b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001cf00000361fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d00000361000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002d8000000c80000000000000000000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003c00000003efc0100000002fb0000000800540069006d00650000000000000003c0000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003c0000003e900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -722,6 +722,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1920
-  X: 3840
+  Width: 960
+  X: 2880
   Y: 0
diff --git a/rvizconfig/baxter/baxter_vr_display_visualization.rviz b/rvizconfig/baxter/baxter_vr_display_visualization.rviz
index 9a399bad..39f92208 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: 1833
+    Tree Height: 363
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -234,11 +234,7 @@ Visualization Manager:
           Value: true
           Visibility:
             Camera:
-              KodakRGBImage: true
-              KodakSphere: true
-              RealsenseCameraInfo: true
-              RealsensePointCloud2: true
-              RealsenseRGBImage: true
+              "": true
               Value: true
             Grid: true
             RobotModel: true
@@ -265,11 +261,7 @@ Visualization Manager:
           Value: true
           Visibility:
             Camera:
-              KodakRGBImage: true
-              KodakSphere: true
-              RealsenseCameraInfo: true
-              RealsensePointCloud2: true
-              RealsenseRGBImage: true
+              "": true
               Value: true
             Grid: true
             RobotModel: true
@@ -352,7 +344,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2.5390398502349854
+      Distance: 2.8134632110595703
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -375,12 +367,12 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: true
-  Height: 2130
+  Height: 1052
   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 +387,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1920
+  Width: 960
   X: 1920
   Y: 0