diff --git a/include/gpd/layer.h b/include/gpd/layer.h
deleted file mode 100644
index 9daca5a..0000000
--- a/include/gpd/layer.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#ifndef LAYER_H_
-#define LAYER_H_
-
-
-class Layer
-{
-  public:
-
-    virtual ~Layer() { };
-
-    virtual void forward();
-
-
-  private:
-
-    std::vector<Eigen::MatrixXd> weights_;
-    std::vector<Eigen::MatrixXd> inputs_;
-    std::vector<Eigen::MatrixXd> outputs_;
-};
-
-
-#endif /* LAYER_H_ */
diff --git a/include/gpd/net.h b/include/gpd/net.h
deleted file mode 100644
index eb6d1ae..0000000
--- a/include/gpd/net.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#ifndef NET_H_
-#define NET_H_
-
-
-class Net
-{
-  private:
-
-    std::vector<Layer> layers_;
-};
-
-
-#endif /* NET_H */
diff --git a/launch/classify_candidates_file_15_channels.launch b/launch/classify_candidates_file_15_channels.launch
index 96359e3..fb54b63 100644
--- a/launch/classify_candidates_file_15_channels.launch
+++ b/launch/classify_candidates_file_15_channels.launch
@@ -41,7 +41,7 @@
     <rosparam param="camera_position"> [0, 0, 0] </rosparam> <!-- The position of the camera -->
 
     <!-- General parameters -->
-    <param name="num_samples" value="4000" /> <!-- The number of samples to draw from the point cloud -->
+    <param name="num_samples" value="5" /> <!-- The number of samples to draw from the point cloud -->
     <param name="num_threads" value="4" /> <!-- The number of CPU threads to be used -->
     
     <!-- Parameters for local grasp candidate search -->
diff --git a/src/gpd/grasp_detector.cpp b/src/gpd/grasp_detector.cpp
index 3366314..f72f673 100644
--- a/src/gpd/grasp_detector.cpp
+++ b/src/gpd/grasp_detector.cpp
@@ -139,7 +139,9 @@ std::vector<Grasp> GraspDetector::detectGrasps(const CloudCamera& cloud_cam)
 
     if (plot_filtered_grasps_)
     {
-      plotter.plotFingers(candidates, cloud_cam.getCloudProcessed(), "Filtered Grasps");
+      const HandSearch::Parameters& params = candidates_generator_->getHandSearchParams();
+      plotter.plotFingers3D(candidates, cloud_cam.getCloudOriginal(), "Valid Grasps", params.hand_outer_diameter_,
+        params.finger_width_, params.hand_depth_, params.hand_height_);
     }
   }
 
@@ -150,7 +152,9 @@ std::vector<Grasp> GraspDetector::detectGrasps(const CloudCamera& cloud_cam)
 
     if (plot_filtered_grasps_)
     {
-      plotter.plotFingers(candidates, cloud_cam.getCloudProcessed(), "Filtered Grasps");
+      const HandSearch::Parameters& params = candidates_generator_->getHandSearchParams();
+      plotter.plotFingers3D(candidates, cloud_cam.getCloudOriginal(), "Valid Grasps", params.hand_outer_diameter_,
+        params.finger_width_, params.hand_depth_, params.hand_height_);
     }
   }
 
@@ -179,7 +183,9 @@ std::vector<Grasp> GraspDetector::detectGrasps(const CloudCamera& cloud_cam)
 
     if (plot_clusters_)
     {
-      plotter.plotFingers(clustered_grasps, cloud_cam.getCloudOriginal(), "Clustered Grasps (Original Point Cloud)");
+      const HandSearch::Parameters& params = candidates_generator_->getHandSearchParams();
+      plotter.plotFingers3D(clustered_grasps, cloud_cam.getCloudOriginal(), "Valid Grasps", params.hand_outer_diameter_,
+        params.finger_width_, params.hand_depth_, params.hand_height_);
     }
   }
   else
@@ -211,7 +217,9 @@ std::vector<Grasp> GraspDetector::detectGrasps(const CloudCamera& cloud_cam)
 
   if (plot_selected_grasps_)
   {
-    plotter.plotFingers(selected_grasps, cloud_cam.getCloudOriginal(), "Selected Grasps (Original Point Cloud)");
+    const HandSearch::Parameters& params = candidates_generator_->getHandSearchParams();
+    plotter.plotFingers3D(selected_grasps, cloud_cam.getCloudOriginal(), "Valid Grasps", params.hand_outer_diameter_,
+      params.finger_width_, params.hand_depth_, params.hand_height_);
   }
 
   return selected_grasps;
@@ -312,7 +320,9 @@ std::vector<Grasp> GraspDetector::classifyGraspCandidates(const CloudCamera& clo
   if (plot_valid_grasps_)
   {
     Plot plotter;
-    plotter.plotFingers(valid_grasps, cloud_cam.getCloudOriginal(), "Valid Grasps");
+    const HandSearch::Parameters& params = candidates_generator_->getHandSearchParams();
+    plotter.plotFingers3D(valid_grasps, cloud_cam.getCloudOriginal(), "Valid Grasps", params.hand_outer_diameter_,
+      params.finger_width_, params.hand_depth_, params.hand_height_);
   }
 
   return valid_grasps;