diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
index 87fdc8e980b..73e5af6eb9b 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>630</width>
-    <height>424</height>
+    <width>576</width>
+    <height>389</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -369,6 +369,9 @@
               <property name="spacing">
                <number>4</number>
               </property>
+              <property name="bottomMargin">
+               <number>4</number>
+              </property>
               <item>
                <widget class="QPushButton" name="plan_button">
                 <property name="text">
@@ -419,6 +422,13 @@
                 </property>
                </widget>
               </item>
+              <item>
+               <widget class="QPushButton" name="clear_octomap_button">
+                <property name="text">
+                 <string>Clear octomap</string>
+                </property>
+               </widget>
+              </item>
              </layout>
             </widget>
            </item>
@@ -427,7 +437,7 @@
              <property name="title">
               <string>Query</string>
              </property>
-             <layout class="QGridLayout" name="gridLayout_6">
+             <layout class="QVBoxLayout" name="verticalLayout_6">
               <property name="leftMargin">
                <number>4</number>
               </property>
@@ -437,7 +447,7 @@
               <property name="bottomMargin">
                <number>4</number>
               </property>
-              <item row="1" column="0">
+              <item>
                <layout class="QVBoxLayout" name="verticalLayout_planning_group">
                 <item>
                  <widget class="QLabel" name="label_planning_group">
@@ -451,7 +461,7 @@
                 </item>
                </layout>
               </item>
-              <item row="2" column="0">
+              <item>
                <layout class="QVBoxLayout" name="verticalLayout_start_state">
                 <item>
                  <widget class="QLabel" name="label_start_state">
@@ -465,7 +475,7 @@
                 </item>
                </layout>
               </item>
-              <item row="3" column="0">
+              <item>
                <layout class="QVBoxLayout" name="verticalLayout_goal_state">
                 <item>
                  <widget class="QLabel" name="label_goal_state">
@@ -479,26 +489,6 @@
                 </item>
                </layout>
               </item>
-              <item row="4" column="0">
-               <widget class="QPushButton" name="clear_octomap_button">
-                <property name="text">
-                 <string>Clear octomap</string>
-                </property>
-               </widget>
-              </item>
-              <item row="5" column="0">
-               <spacer name="verticalSpacer">
-                <property name="orientation">
-                 <enum>Qt::Vertical</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>20</width>
-                  <height>40</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
              </layout>
             </widget>
            </item>
@@ -560,6 +550,9 @@
           <property name="spacing">
            <number>2</number>
           </property>
+          <property name="bottomMargin">
+           <number>4</number>
+          </property>
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout_3">
             <property name="spacing">
@@ -946,13 +939,13 @@
           <item>
            <widget class="QPushButton" name="publish_current_scene_button">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+             <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
             <property name="text">
-             <string>&amp;Publish Scene</string>
+             <string>&amp;Publish</string>
             </property>
            </widget>
           </item>
@@ -1191,108 +1184,103 @@
          <property name="title">
           <string>Change Object Pose and Scale</string>
          </property>
-         <layout class="QVBoxLayout" name="verticalLayout_6">
-          <item>
-           <layout class="QHBoxLayout" name="horizontalLayout_6">
-            <item>
-             <widget class="QLabel" name="label_4">
-              <property name="text">
-               <string>Position (XYZ): </string>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QDoubleSpinBox" name="object_x">
-              <property name="minimum">
-               <double>-1000.000000000000000</double>
-              </property>
-              <property name="maximum">
-               <double>1000.000000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>0.100000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QDoubleSpinBox" name="object_y">
-              <property name="minimum">
-               <double>-1000.000000000000000</double>
-              </property>
-              <property name="maximum">
-               <double>1000.000000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>0.100000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QDoubleSpinBox" name="object_z">
-              <property name="minimum">
-               <double>-1000.000000000000000</double>
-              </property>
-              <property name="maximum">
-               <double>1000.000000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>0.100000000000000</double>
-              </property>
-             </widget>
-            </item>
-           </layout>
+         <layout class="QGridLayout" name="gridLayout">
+          <property name="verticalSpacing">
+           <number>6</number>
+          </property>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_4">
+            <property name="text">
+             <string>Position: </string>
+            </property>
+           </widget>
           </item>
-          <item>
-           <layout class="QHBoxLayout" name="horizontalLayout_4">
-            <item>
-             <widget class="QLabel" name="label_13">
-              <property name="text">
-               <string>Rotation (RPY):</string>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QDoubleSpinBox" name="object_rx">
-              <property name="minimum">
-               <double>-3.140000000000000</double>
-              </property>
-              <property name="maximum">
-               <double>3.140000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>0.100000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QDoubleSpinBox" name="object_ry">
-              <property name="minimum">
-               <double>-3.140000000000000</double>
-              </property>
-              <property name="maximum">
-               <double>3.140000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>0.100000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QDoubleSpinBox" name="object_rz">
-              <property name="minimum">
-               <double>-3.140000000000000</double>
-              </property>
-              <property name="maximum">
-               <double>3.140000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>0.100000000000000</double>
-              </property>
-             </widget>
-            </item>
-           </layout>
+          <item row="1" column="2">
+           <widget class="QDoubleSpinBox" name="object_y">
+            <property name="minimum">
+             <double>-999.990000000000009</double>
+            </property>
+            <property name="maximum">
+             <double>999.990000000000009</double>
+            </property>
+            <property name="singleStep">
+             <double>0.100000000000000</double>
+            </property>
+           </widget>
           </item>
-          <item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_13">
+            <property name="text">
+             <string>Rotation:</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QDoubleSpinBox" name="object_x">
+            <property name="minimum">
+             <double>-999.990000000000009</double>
+            </property>
+            <property name="maximum">
+             <double>999.990000000000009</double>
+            </property>
+            <property name="singleStep">
+             <double>0.100000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="3">
+           <widget class="QDoubleSpinBox" name="object_z">
+            <property name="minimum">
+             <double>-999.990000000000009</double>
+            </property>
+            <property name="maximum">
+             <double>999.990000000000009</double>
+            </property>
+            <property name="singleStep">
+             <double>0.100000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="3">
+           <widget class="QDoubleSpinBox" name="object_rz">
+            <property name="minimum">
+             <double>-3.140000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>3.140000000000000</double>
+            </property>
+            <property name="singleStep">
+             <double>0.100000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QDoubleSpinBox" name="object_ry">
+            <property name="minimum">
+             <double>-3.140000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>3.140000000000000</double>
+            </property>
+            <property name="singleStep">
+             <double>0.100000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QDoubleSpinBox" name="object_rx">
+            <property name="minimum">
+             <double>-3.140000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>3.140000000000000</double>
+            </property>
+            <property name="singleStep">
+             <double>0.100000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0" colspan="4">
            <layout class="QHBoxLayout" name="horizontalLayout_5">
             <item>
              <widget class="QLabel" name="label">