diff --git a/README.md b/README.md
index 8da4c17..471f612 100644
--- a/README.md
+++ b/README.md
@@ -1,15 +1,14 @@
-# ROS2 integration for OpenArm robots
+# ROS2 packages for OpenArm robots
 
 - openarm_grip_description: urdf with gripper actuator
 - openarm_moveit_config: motion planning with [moveit2](https://github.com/moveit/moveit2)
 
-
-
 https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef
 
 Tested with:
-- [x] Jazzy Jalisco
-- [ ] Humble Hawksbill
+- [x] Rolling
+- [x] Jazzy
+- [x] Humble
 
 ## License
 
diff --git a/openarm_moveit_config/config/moveit.rviz b/openarm_moveit_config/config/moveit.rviz
index 15d9915..302f581 100644
--- a/openarm_moveit_config/config/moveit.rviz
+++ b/openarm_moveit_config/config/moveit.rviz
@@ -19,6 +19,11 @@ Visualization Manager:
         Loop Animation: true
         State Display Time: 0.05 s
         Trajectory Topic: display_planned_path
+      Planning Request:
+        Interactive Marker Size: 0.1
+        Planning Group: openarm_arm
+        Query Goal State: true
+        Query Start State: true
       Planning Scene Topic: monitored_planning_scene
       Robot Description: robot_description
       Scene Geometry: