diff --git a/robots/moonshot_panda/moonshot_panda.urdf.xacro b/robots/moonshot_panda/moonshot_panda.urdf.xacro
index d98255b..bd69300 100644
--- a/robots/moonshot_panda/moonshot_panda.urdf.xacro
+++ b/robots/moonshot_panda/moonshot_panda.urdf.xacro
@@ -61,16 +61,36 @@
   <xacro:arg name="multi_arm" default="true" />
 
   <link name="base">
-    <visual name="base_platform_visual_left">
+    <visual name="base_platform_visual_left_top">
         <geometry>
-            <mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformL.dae" />
+            <mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformL_top.dae" />
         </geometry>
     </visual>
-    <visual name="base_platform_visual_right">
+    <visual name="base_platform_visual_right_top">
         <geometry>
-            <mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformR.dae" />
+            <mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformR_top.dae" />
         </geometry>
     </visual>
+    <visual name="base_platform_visual_left_base">
+        <geometry>
+            <mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformL_base.dae" />
+        </geometry>
+    </visual>
+    <visual name="base_platform_visual_right_base">
+        <geometry>
+            <mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformR_base.dae" />
+        </geometry>
+    </visual>
+    <collision name="base_platform_visual_left_collision">
+        <geometry>
+            <mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformL_base_Convex.stl" />
+        </geometry>
+    </collision>
+    <collision name="base_platform_visual_right_collision">
+        <geometry>
+            <mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformR_base_Convex.stl" />
+        </geometry>
+    </collision>
   </link>
 
   <!-- The multi robot setup configures 'multi_arm' by default to true s.t. it uses the async threading approach for the hardware interface -->
diff --git a/scripts/visualize_franka.sh b/scripts/visualize_franka.sh
index 373a8db..15c5a64 100755
--- a/scripts/visualize_franka.sh
+++ b/scripts/visualize_franka.sh
@@ -9,6 +9,8 @@ echo
 
 sudo docker run -it -u $(id -u) \
     --privileged \
+    --network host \
+    --env="QT_X11_NO_MITSHM=1" \
     -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=${DISPLAY} \
     -v $(pwd):/workspaces/src/moonshot_franka_description \
     -w /workspaces/src/moonshot_franka_description \