diff --git a/rviz/teleop.rviz b/rviz/teleop.rviz
index 93b622c..f81799b 100644
--- a/rviz/teleop.rviz
+++ b/rviz/teleop.rviz
@@ -5,11 +5,12 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
+        - /Grid1
+        - /Grid1/Offset1
         - /TF1/Frames1
         - /Marker1
-        - /Marker1/Status1
       Splitter Ratio: 0.795775
-    Tree Height: 365
+    Tree Height: 345
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -35,7 +36,7 @@ Panels:
     Property Tree Widget:
       Expanded: ~
       Splitter Ratio: 0.5
-    Tree Height: 337
+    Tree Height: 359
 Visualization Manager:
   Class: ""
   Displays:
@@ -50,7 +51,7 @@ Visualization Manager:
       Name: Grid
       Normal Cell Count: 0
       Offset:
-        X: 1
+        X: 0.6325
         Y: 0
         Z: -0.13
       Plane: XY
@@ -131,11 +132,21 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        left_lower_elbow_highspeed_collision:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         left_lower_forearm:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
+        left_lower_forearm_highspeed_collision:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         left_lower_shoulder:
           Alpha: 1
           Show Axes: false
@@ -175,6 +186,11 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        left_wrist_highspeed_collision:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         pedestal:
           Alpha: 1
           Show Axes: false
@@ -217,11 +233,21 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        right_lower_elbow_highspeed_collision:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         right_lower_forearm:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
+        right_lower_forearm_highspeed_collision:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         right_lower_shoulder:
           Alpha: 1
           Show Axes: false
@@ -261,6 +287,11 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        right_wrist_highspeed_collision:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         screen:
           Alpha: 1
           Show Axes: false
@@ -471,17 +502,17 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 0.726721
+      Distance: 0.363444
       Focal Point:
-        X: 0.815489
-        Y: -0.00938846
-        Z: 0.00267689
+        X: 0.320264
+        Y: -0.013108
+        Z: 0.00774274
       Name: Current View
       Near Clip Distance: 0.01
-      Pitch: 0.889797
+      Pitch: 0.304797
       Target Frame: base
       Value: Orbit (rviz)
-      Yaw: 3.14286
+      Yaw: 3.13782
     Saved: ~
 Window Geometry:
   Camera Left:
@@ -493,7 +524,7 @@ Window Geometry:
   Height: 1056
   Hide Left Dock: true
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000173000001fcfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000206000001fc000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000100044006900730070006c006100790073000000029500000129000000dd00ffffff000000010000010f000001fcfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000206000001fc000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000074f00000214fc0100000003fb0000001600430061006d0065007200610020004c0065006600740100000000000003c30000008500fffffffb0000001800430061006d00650072006100200052006900670068007401000003c9000003860000008d00fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065000000000000000780000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000074f000001e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000173000001e8fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000021a000001e8000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000100044006900730070006c006100790073000000029500000129000000dd00ffffff000000010000010f000001e5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000021d000001e5000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000074f00000217fc0100000003fb0000001600430061006d0065007200610020004c0065006600740100000000000003c30000008500fffffffb0000001800430061006d00650072006100200052006900670068007401000003c9000003860000008d00fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065000000000000000780000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000063a000001e500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -503,5 +534,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1871
-  X: 41
-  Y: -4
+  X: 42
+  Y: 24