diff --git a/hydra_visualizer/config/visualizer_config.yaml b/hydra_visualizer/config/visualizer_config.yaml
index 376fa3e1..65ce11d8 100644
--- a/hydra_visualizer/config/visualizer_config.yaml
+++ b/hydra_visualizer/config/visualizer_config.yaml
@@ -1,4 +1,23 @@
 ---
+plugins:
+  mesh:
+    type: MeshPlugin
+    coloring:
+      type: SemanticMeshColoring
+  places_basis_points:
+    type: BasisPointPlugin
+    show_voxblox_connections: false
+    draw_basis_points: true
+    basis_point_scale: 0.1
+    places_node_scale: 0.1
+  khronos_objects:
+    type: KhronosObjectPlugin
+    dynamic_color_mode: CONSTANT  # ID, SEMANTIC, CONSTANT
+  places_traversability:
+    type: TraversabilityPlugin
+  agent_poses:
+    type: PosePlugin
+    num_to_skip: 0
 renderer:
   layer_z_step: 5.5  # unit separation between layers
   collapse_layers: false  # whether or not to apply offsets to each of the layers
diff --git a/hydra_visualizer/config/visualizer_plugins.yaml b/hydra_visualizer/config/visualizer_plugins.yaml
deleted file mode 100644
index 5980d443..00000000
--- a/hydra_visualizer/config/visualizer_plugins.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
----
-plugins:
-  mesh:
-    type: MeshPlugin
-    coloring:
-      type: SemanticMeshColoring
-  places_basis_points:
-    type: BasisPointPlugin
-    show_voxblox_connections: false
-    draw_basis_points: true
-    basis_point_scale: 0.1
-    places_node_scale: 0.1
-  khronos_objects:
-    type: KhronosObjectPlugin
-    dynamic_color_mode: CONSTANT  # ID, SEMANTIC, CONSTANT
-  places_traversability:
-    type: TraversabilityPlugin
-  agent_poses:
-    type: PosePlugin
-    num_to_skip: 0
-# dynamic reconfigure settings
-places_basis_points:
-  graph:
-    visualize: true
diff --git a/hydra_visualizer/include/hydra_visualizer/plugins/basis_point_plugin.h b/hydra_visualizer/include/hydra_visualizer/plugins/basis_point_plugin.h
index 29c0fffa..f5c5b0da 100644
--- a/hydra_visualizer/include/hydra_visualizer/plugins/basis_point_plugin.h
+++ b/hydra_visualizer/include/hydra_visualizer/plugins/basis_point_plugin.h
@@ -70,6 +70,8 @@ class BasisPointPlugin : public VisualizerPlugin {
 
   void reset(const std_msgs::msg::Header& header) override;
 
+  YAML::Node dumpConfig() const override;
+
  protected:
   void fillMarkers(const std_msgs::msg::Header& header,
                    const spark_dsg::DynamicSceneGraph& graph,
diff --git a/hydra_visualizer/include/hydra_visualizer/plugins/footprint_plugin.h b/hydra_visualizer/include/hydra_visualizer/plugins/footprint_plugin.h
index d50964e9..6097b579 100644
--- a/hydra_visualizer/include/hydra_visualizer/plugins/footprint_plugin.h
+++ b/hydra_visualizer/include/hydra_visualizer/plugins/footprint_plugin.h
@@ -66,6 +66,8 @@ class FootprintPlugin : public VisualizerPlugin {
 
   void reset(const std_msgs::msg::Header& header) override;
 
+  YAML::Node dumpConfig() const override;
+
  protected:
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub_;
   MarkerTracker tracker_;
diff --git a/hydra_visualizer/include/hydra_visualizer/plugins/khronos_object_plugin.h b/hydra_visualizer/include/hydra_visualizer/plugins/khronos_object_plugin.h
index f959fa9f..80b5aa91 100644
--- a/hydra_visualizer/include/hydra_visualizer/plugins/khronos_object_plugin.h
+++ b/hydra_visualizer/include/hydra_visualizer/plugins/khronos_object_plugin.h
@@ -135,6 +135,8 @@ class KhronosObjectPlugin : public VisualizerPlugin {
             const spark_dsg::DynamicSceneGraph& graph) override;
   void reset(const std_msgs::msg::Header& header) override;
 
+  YAML::Node dumpConfig() const override;
+
  protected:
   // Helper functions.
   void drawDynamicObjects(const Config& config,
diff --git a/hydra_visualizer/include/hydra_visualizer/plugins/layer_plugin.h b/hydra_visualizer/include/hydra_visualizer/plugins/layer_plugin.h
index 1898fc0f..bd96d9ef 100644
--- a/hydra_visualizer/include/hydra_visualizer/plugins/layer_plugin.h
+++ b/hydra_visualizer/include/hydra_visualizer/plugins/layer_plugin.h
@@ -59,6 +59,8 @@ struct LayerPlugin {
 
   virtual void clearChangeFlag() { has_change_ = false; }
 
+  virtual YAML::Node dumpConfig() const { return YAML::Node(); }
+
  protected:
   bool has_change_ = false;
 };
diff --git a/hydra_visualizer/include/hydra_visualizer/plugins/mesh_plugin.h b/hydra_visualizer/include/hydra_visualizer/plugins/mesh_plugin.h
index a68f0607..6f2b4357 100644
--- a/hydra_visualizer/include/hydra_visualizer/plugins/mesh_plugin.h
+++ b/hydra_visualizer/include/hydra_visualizer/plugins/mesh_plugin.h
@@ -63,6 +63,8 @@ class MeshPlugin : public VisualizerPlugin {
 
   void reset(const std_msgs::msg::Header& header) override;
 
+  YAML::Node dumpConfig() const override;
+
  protected:
   config::DynamicConfig<Config> config_;
 
diff --git a/hydra_visualizer/include/hydra_visualizer/plugins/mesh_point_plugin.h b/hydra_visualizer/include/hydra_visualizer/plugins/mesh_point_plugin.h
index ad98ea1e..f21d8e4b 100644
--- a/hydra_visualizer/include/hydra_visualizer/plugins/mesh_point_plugin.h
+++ b/hydra_visualizer/include/hydra_visualizer/plugins/mesh_point_plugin.h
@@ -67,6 +67,8 @@ class MeshPointPlugin : public LayerPlugin {
             visualization_msgs::msg::MarkerArray& msg,
             MarkerTracker& tracker) override;
 
+  YAML::Node dumpConfig() const override;
+
  private:
   std::string ns_;
   config::DynamicConfig<Config> config_;
diff --git a/hydra_visualizer/include/hydra_visualizer/plugins/places_freespace_plugin.h b/hydra_visualizer/include/hydra_visualizer/plugins/places_freespace_plugin.h
index 0ecaac34..dc0bc3f4 100644
--- a/hydra_visualizer/include/hydra_visualizer/plugins/places_freespace_plugin.h
+++ b/hydra_visualizer/include/hydra_visualizer/plugins/places_freespace_plugin.h
@@ -64,6 +64,8 @@ class PlacesFreespacePlugin : public VisualizerPlugin {
 
   void reset(const std_msgs::msg::Header& header) override;
 
+  YAML::Node dumpConfig() const override;
+
  protected:
   void fillMarkers(const std_msgs::msg::Header& header,
                    const spark_dsg::DynamicSceneGraph& graph,
diff --git a/hydra_visualizer/include/hydra_visualizer/plugins/pose_plugin.h b/hydra_visualizer/include/hydra_visualizer/plugins/pose_plugin.h
index 4439de25..367ef644 100644
--- a/hydra_visualizer/include/hydra_visualizer/plugins/pose_plugin.h
+++ b/hydra_visualizer/include/hydra_visualizer/plugins/pose_plugin.h
@@ -60,6 +60,8 @@ class PosePlugin : public VisualizerPlugin {
 
   void reset(const std_msgs::msg::Header& header) override;
 
+  YAML::Node dumpConfig() const override;
+
  protected:
   size_t num_received_;
   rclcpp::Publisher<geometry_msgs::msg::PoseArray>::SharedPtr pub_;
diff --git a/hydra_visualizer/include/hydra_visualizer/plugins/region_growing_boundary_plugin.h b/hydra_visualizer/include/hydra_visualizer/plugins/region_growing_boundary_plugin.h
index aed858bf..97ba5ec4 100644
--- a/hydra_visualizer/include/hydra_visualizer/plugins/region_growing_boundary_plugin.h
+++ b/hydra_visualizer/include/hydra_visualizer/plugins/region_growing_boundary_plugin.h
@@ -43,8 +43,14 @@ namespace hydra {
 class RegionGrowingBoundaryPlugin : public LayerPlugin {
  public:
   struct Config {
-    //! line width of the boundary markers
+    //! Use node color instead of boundary type
+    bool use_node_color = false;
+    //! Line width of the boundary markers
     float line_width = 0.07f;
+    //! Alpha of polygon fill
+    float fill_alpha = 0.5f;
+    //! Fill boundaries
+    bool fill_boundaries = false;
     //! Colors representing each traversability state.
     std::vector<spark_dsg::Color> colors{spark_dsg::Color::gray(),    // Unknown
                                          spark_dsg::Color::blue(),    // Traversable
@@ -63,6 +69,8 @@ class RegionGrowingBoundaryPlugin : public LayerPlugin {
                     visualization_msgs::msg::MarkerArray& msg,
                     MarkerTracker& tracker) override;
 
+  YAML::Node dumpConfig() const override;
+
  protected:
   const std::string ns_;
   config::DynamicConfig<Config> config_;
diff --git a/hydra_visualizer/include/hydra_visualizer/plugins/traversability_plugin.h b/hydra_visualizer/include/hydra_visualizer/plugins/traversability_plugin.h
index 40201d78..ac020ea4 100644
--- a/hydra_visualizer/include/hydra_visualizer/plugins/traversability_plugin.h
+++ b/hydra_visualizer/include/hydra_visualizer/plugins/traversability_plugin.h
@@ -75,6 +75,8 @@ class TraversabilityPlugin : public VisualizerPlugin {
 
   void reset(const std_msgs::msg::Header& header) override;
 
+  YAML::Node dumpConfig() const override;
+
  protected:
   void fillMarkers(const std_msgs::msg::Header& header,
                    const spark_dsg::DynamicSceneGraph& graph,
diff --git a/hydra_visualizer/include/hydra_visualizer/plugins/visualizer_plugin.h b/hydra_visualizer/include/hydra_visualizer/plugins/visualizer_plugin.h
index a47fcef4..bfedfdc0 100644
--- a/hydra_visualizer/include/hydra_visualizer/plugins/visualizer_plugin.h
+++ b/hydra_visualizer/include/hydra_visualizer/plugins/visualizer_plugin.h
@@ -34,6 +34,7 @@
  * -------------------------------------------------------------------------- */
 #pragma once
 #include <spark_dsg/dynamic_scene_graph.h>
+#include <yaml-cpp/node/node.h>
 
 #include <std_msgs/msg/header.hpp>
 
@@ -57,6 +58,8 @@ class VisualizerPlugin {
 
   virtual void clearChangeFlag() { has_change_ = false; }
 
+  virtual YAML::Node dumpConfig() const { return YAML::Node(); }
+
   const std::string name;
 
  protected:
diff --git a/hydra_visualizer/include/hydra_visualizer/scene_graph_renderer.h b/hydra_visualizer/include/hydra_visualizer/scene_graph_renderer.h
index f56424e2..0887cc42 100644
--- a/hydra_visualizer/include/hydra_visualizer/scene_graph_renderer.h
+++ b/hydra_visualizer/include/hydra_visualizer/scene_graph_renderer.h
@@ -106,6 +106,8 @@ class SceneGraphRenderer {
 
   virtual void clearChangeFlag();
 
+  YAML::Node dumpConfig() const;
+
  protected:
   virtual void setConfigs(const spark_dsg::DynamicSceneGraph& graph) const;
 
@@ -138,7 +140,13 @@ class SceneGraphRenderer {
   mutable std::atomic<bool> has_change_;
   mutable std::map<spark_dsg::LayerKey, visualizer::LayerInfo> layer_infos_;
   mutable std::map<spark_dsg::LayerKey, std::unique_ptr<LayerConfigWrapper>> layers_;
-  mutable std::map<std::string, std::unique_ptr<EdgeConfigWrapper>> interlayer_edges_;
+
+  struct EdgeConfigInfo {
+    spark_dsg::LayerKey parent;
+    spark_dsg::LayerKey child;
+    std::unique_ptr<EdgeConfigWrapper> config;
+  };
+  mutable std::map<std::string, EdgeConfigInfo> interlayer_edges_;
 };
 
 void declare_config(SceneGraphRenderer::LayerPluginsConfig& config);
diff --git a/hydra_visualizer/include/hydra_visualizer/visualizer_node.h b/hydra_visualizer/include/hydra_visualizer/visualizer_node.h
index bce207b0..e95a584a 100644
--- a/hydra_visualizer/include/hydra_visualizer/visualizer_node.h
+++ b/hydra_visualizer/include/hydra_visualizer/visualizer_node.h
@@ -38,6 +38,7 @@
 #include <config_utilities_ros/ros_dynamic_config_server.h>
 #include <ianvs/node_handle.h>
 
+#include <std_msgs/msg/string.hpp>
 #include <std_srvs/srv/empty.hpp>
 
 #include "hydra_visualizer/io/graph_wrapper.h"
@@ -76,6 +77,8 @@ class DsgVisualizer {
  private:
   void spinOnce(bool force = false);
 
+  void saveConfigs(const std::filesystem::path& output);
+
   ianvs::NodeHandle nh_;
   rclcpp::TimerBase::SharedPtr loop_timer_;
 
@@ -85,6 +88,7 @@ class DsgVisualizer {
   const config::RosDynamicConfigServer server_;
   rclcpp::Service<std_srvs::srv::Empty>::SharedPtr redraw_service_;
   rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reset_service_;
+  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr save_sub_;
 };
 
 void declare_config(DsgVisualizer::Config& config);
diff --git a/hydra_visualizer/launch/static_visualizer.launch.yaml b/hydra_visualizer/launch/static_visualizer.launch.yaml
index e15d0a37..e4d8600d 100644
--- a/hydra_visualizer/launch/static_visualizer.launch.yaml
+++ b/hydra_visualizer/launch/static_visualizer.launch.yaml
@@ -5,9 +5,8 @@ launch:
   - arg: {name: scene_graph, default: '', description: filepath for scene graph to show}
   - arg: {name: visualizer_frame, default: map, description: frame_id for visualizations}
   - arg: {name: visualizer_ns, default: hydra_dsg_visualizer, description: visualizer namespace}
-  - arg: {name: visualizer_config_path, default: $(find-pkg-share hydra_visualizer)/config/visualizer_config.yaml}
-  - arg: {name: visualizer_plugins_path, default: $(find-pkg-share hydra_visualizer)/config/visualizer_plugins.yaml}
-  - arg: {name: external_plugins_path, default: $(find-pkg-share hydra_visualizer)/config/external_plugins.yaml}
+  - arg: {name: visualizer_config, default: $(find-pkg-share hydra_visualizer)/config/visualizer_config.yaml}
+  - arg: {name: external_plugins, default: $(find-pkg-share hydra_visualizer)/config/external_plugins.yaml}
   # visualizer node and control for launching
   - node:
       pkg: hydra_visualizer
@@ -16,9 +15,8 @@ launch:
       launch-prefix: $(if $(var debug) 'gdbserver localhost:3000')
       on_exit: shutdown
       args: >
-        --config-utilities-file $(var visualizer_config_path)
-        --config-utilities-file $(var visualizer_plugins_path)
-        --config-utilities-file $(var external_plugins_path)
+        --config-utilities-file $(var visualizer_config)
+        --config-utilities-file $(var external_plugins)
         --config-utilities-yaml {glog_level: 0, glog_verbosity: $(var verbosity)}
         --config-utilities-yaml {graph: {type: GraphFromFile, frame_id: $(var visualizer_frame), filepath: $(var scene_graph)}}
   # rviz node and control for launching
diff --git a/hydra_visualizer/launch/streaming_visualizer.launch.yaml b/hydra_visualizer/launch/streaming_visualizer.launch.yaml
index 8d55c5c1..c588c74e 100644
--- a/hydra_visualizer/launch/streaming_visualizer.launch.yaml
+++ b/hydra_visualizer/launch/streaming_visualizer.launch.yaml
@@ -6,7 +6,6 @@ launch:
   # visualizer configuration
   - arg: {name: visualizer_ns, default: hydra_visualizer}
   - arg: {name: visualizer_config_path, default: $(find-pkg-share hydra_visualizer)/config/visualizer_config.yaml}
-  - arg: {name: visualizer_plugins_path, default: $(find-pkg-share hydra_visualizer)/config/visualizer_plugins.yaml}
   - arg: {name: external_plugins_path, default: $(find-pkg-share hydra_visualizer)/config/external_plugins.yaml}
   # communication
   - arg: {name: use_zmq, default: 'false', description: use zmq to receive scene graphs}
@@ -23,7 +22,6 @@ launch:
       on_exit: shutdown
       args: >
         --config-utilities-file $(var visualizer_config_path)
-        --config-utilities-file $(var visualizer_plugins_path)
         --config-utilities-file $(var external_plugins_path)
         --config-utilities-yaml {glog_level: 0, glog_verbosity: $(var verbosity)}
         --config-utilities-yaml {graph: {type: $(if $(var use_zmq) GraphFromZmq GraphFromRos), url: $(var zmq_url), frame_id: $(var visualizer_frame)}}
diff --git a/hydra_visualizer/rviz/static_visualizer.rviz b/hydra_visualizer/rviz/static_visualizer.rviz
index d9c68da0..5943b24a 100644
--- a/hydra_visualizer/rviz/static_visualizer.rviz
+++ b/hydra_visualizer/rviz/static_visualizer.rviz
@@ -9,7 +9,7 @@ Panels:
         - /Mesh1/Topic1
         - /Scene Graph1/Topic1
       Splitter Ratio: 0.5
-    Tree Height: 555
+    Tree Height: 1065
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -72,7 +72,26 @@ Visualization Manager:
       Enabled: true
       Name: Scene Graph
       Namespaces:
-        {}
+        interlayer_edges_3[2]_2: true
+        interlayer_edges_3[2]_4: true
+        interlayer_edges_4_3: true
+        layer2_bounding_boxes: true
+        layer2_nodes: true
+        layer2_text: true
+        layer2p97_edges: true
+        layer2p97_nodes: true
+        layer2p97_text: true
+        layer3_edges: true
+        layer3_nodes: true
+        layer3p1_edges: true
+        layer3p1_nodes: true
+        layer3p1_polygon_boundaries: true
+        layer3p2_edges: true
+        layer3p2_nodes: true
+        layer3p2_region_growing_boundaries: true
+        layer4_edges: true
+        layer4_nodes: true
+        layer4_text: true
       Topic:
         Depth: 5
         Durability Policy: Transient Local
@@ -126,16 +145,16 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 31.058483123779297
+      Distance: 108.03848266601562
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -6.118514060974121
-        Y: -0.15275907516479492
-        Z: 1.9664970636367798
+        X: 4.692053318023682
+        Y: 5.916086196899414
+        Z: -5.913562774658203
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
@@ -149,10 +168,10 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 846
+  Height: 1356
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000004b2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000004b2000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006ac0000003efc0100000002fb0000000800540069006d00650100000000000006ac0000025300fffffffb0000000800540069006d0065010000000000000450000000000000000000000550000004b200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -161,6 +180,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1200
-  X: 60
-  Y: 60
+  Width: 1708
+  X: 1724
+  Y: 76
diff --git a/hydra_visualizer/src/plugins/basis_point_plugin.cpp b/hydra_visualizer/src/plugins/basis_point_plugin.cpp
index 1ec5cbec..ff0f1e84 100644
--- a/hydra_visualizer/src/plugins/basis_point_plugin.cpp
+++ b/hydra_visualizer/src/plugins/basis_point_plugin.cpp
@@ -36,6 +36,7 @@
 
 #include <config_utilities/config_utilities.h>
 #include <config_utilities/factory.h>
+#include <config_utilities/parsing/yaml.h>
 #include <config_utilities/printing.h>
 #include <config_utilities/validation.h>
 #include <glog/logging.h>
@@ -244,4 +245,10 @@ void BasisPointPlugin::drawBasisPoints(const Config& config,
   tracker_.add(marker, msg);
 }
 
+YAML::Node BasisPointPlugin::dumpConfig() const {
+  auto root = config::toYaml(config_.get());
+  root["type"] = "BasisPointPlugin";
+  return root;
+}
+
 }  // namespace hydra
diff --git a/hydra_visualizer/src/plugins/footprint_plugin.cpp b/hydra_visualizer/src/plugins/footprint_plugin.cpp
index 84284e59..6268ca79 100644
--- a/hydra_visualizer/src/plugins/footprint_plugin.cpp
+++ b/hydra_visualizer/src/plugins/footprint_plugin.cpp
@@ -36,6 +36,7 @@
 
 #include <config_utilities/config.h>
 #include <config_utilities/factory.h>
+#include <config_utilities/parsing/yaml.h>
 #include <config_utilities/validation.h>
 #include <glog/logging.h>
 #include <spark_dsg/node_attributes.h>
@@ -56,7 +57,6 @@ static const auto registration_ =
                                    std::string>("FootprintPlugin");
 }
 
-using spark_dsg::DsgLayers;
 using spark_dsg::DynamicSceneGraph;
 using spark_dsg::LayerId;
 using spark_dsg::PlaceNodeAttributes;
@@ -174,4 +174,10 @@ void FootprintPlugin::reset(const std_msgs::msg::Header& header) {
   }
 }
 
+YAML::Node FootprintPlugin::dumpConfig() const {
+  auto root = config::toYaml(config);
+  root["type"] = "FootprintPlugin";
+  return root;
+}
+
 }  // namespace hydra
diff --git a/hydra_visualizer/src/plugins/khronos_object_plugin.cpp b/hydra_visualizer/src/plugins/khronos_object_plugin.cpp
index bdddb067..57d9deb9 100644
--- a/hydra_visualizer/src/plugins/khronos_object_plugin.cpp
+++ b/hydra_visualizer/src/plugins/khronos_object_plugin.cpp
@@ -75,6 +75,7 @@
 
 #include <config_utilities/config.h>
 #include <config_utilities/factory.h>
+#include <config_utilities/parsing/yaml.h>
 #include <config_utilities/types/enum.h>
 #include <config_utilities/validation.h>
 #include <spark_dsg/colormaps.h>
@@ -313,4 +314,10 @@ Color KhronosObjectPlugin::getDynamicColor(const Config& config,
   }
 }
 
+YAML::Node KhronosObjectPlugin::dumpConfig() const {
+  auto root = config::toYaml(config_.get());
+  root["type"] = "KhronosObjectPlugin";
+  return root;
+}
+
 }  // namespace hydra
diff --git a/hydra_visualizer/src/plugins/mesh_plugin.cpp b/hydra_visualizer/src/plugins/mesh_plugin.cpp
index 7d4ff981..322b097b 100644
--- a/hydra_visualizer/src/plugins/mesh_plugin.cpp
+++ b/hydra_visualizer/src/plugins/mesh_plugin.cpp
@@ -35,6 +35,7 @@
 #include "hydra_visualizer/plugins/mesh_plugin.h"
 
 #include <config_utilities/config.h>
+#include <config_utilities/parsing/yaml.h>
 #include <config_utilities/validation.h>
 #include <glog/logging.h>
 
@@ -97,4 +98,10 @@ std::string MeshPlugin::getMsgNamespace() const {
   return "robot0/dsg_mesh";
 }
 
+YAML::Node MeshPlugin::dumpConfig() const {
+  auto root = config::toYaml(config_.get());
+  root["type"] = "MeshPlugin";
+  return root;
+}
+
 }  // namespace hydra
diff --git a/hydra_visualizer/src/plugins/mesh_point_plugin.cpp b/hydra_visualizer/src/plugins/mesh_point_plugin.cpp
index 974ad2ca..4f8b2ad8 100644
--- a/hydra_visualizer/src/plugins/mesh_point_plugin.cpp
+++ b/hydra_visualizer/src/plugins/mesh_point_plugin.cpp
@@ -1,6 +1,7 @@
 #include "hydra_visualizer/plugins/mesh_point_plugin.h"
 
 #include <config_utilities/config.h>
+#include <config_utilities/parsing/yaml.h>
 
 #include "hydra_visualizer/color/colormap_utilities.h"
 
@@ -131,4 +132,10 @@ void MeshPointPlugin::draw(const std_msgs::msg::Header& header,
   tracker.add(marker, msg);
 }
 
+YAML::Node MeshPointPlugin::dumpConfig() const {
+  auto root = config::toYaml(config_.get());
+  root["type"] = "MeshPointPlugin";
+  return root;
+}
+
 }  // namespace hydra
diff --git a/hydra_visualizer/src/plugins/places_freespace_plugin.cpp b/hydra_visualizer/src/plugins/places_freespace_plugin.cpp
index 626a6141..95b3502d 100644
--- a/hydra_visualizer/src/plugins/places_freespace_plugin.cpp
+++ b/hydra_visualizer/src/plugins/places_freespace_plugin.cpp
@@ -34,7 +34,8 @@
  * -------------------------------------------------------------------------- */
 #include "hydra_visualizer/plugins/places_freespace_plugin.h"
 
-#include <config_utilities/config_utilities.h>
+#include <config_utilities/config.h>
+#include <config_utilities/parsing/yaml.h>
 #include <config_utilities/printing.h>
 #include <config_utilities/validation.h>
 #include <glog/logging.h>
@@ -62,8 +63,6 @@ using spark_dsg::DsgLayers;
 using spark_dsg::DynamicSceneGraph;
 using spark_dsg::PlaceNodeAttributes;
 using spark_dsg::SceneGraphLayer;
-using spark_dsg::SceneGraphNode;
-using spark_dsg::SemanticNodeAttributes;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 
@@ -157,4 +156,10 @@ void PlacesFreespacePlugin::drawSpheres(const Config& config,
   }
 }
 
+YAML::Node PlacesFreespacePlugin::dumpConfig() const {
+  auto root = config::toYaml(config_.get());
+  root["type"] = "PlacesFreespacePlugin";
+  return root;
+}
+
 }  // namespace hydra
diff --git a/hydra_visualizer/src/plugins/pose_plugin.cpp b/hydra_visualizer/src/plugins/pose_plugin.cpp
index 11d85b0e..83f41c02 100644
--- a/hydra_visualizer/src/plugins/pose_plugin.cpp
+++ b/hydra_visualizer/src/plugins/pose_plugin.cpp
@@ -36,6 +36,7 @@
 
 #include <config_utilities/config.h>
 #include <config_utilities/factory.h>
+#include <config_utilities/parsing/yaml.h>
 #include <config_utilities/validation.h>
 #include <glog/logging.h>
 #include <spark_dsg/node_attributes.h>
@@ -124,4 +125,10 @@ void PosePlugin::reset(const std_msgs::msg::Header& header) {
   pub_->publish(msg);
 }
 
+YAML::Node PosePlugin::dumpConfig() const {
+  auto root = config::toYaml(config);
+  root["type"] = "PosePlugin";
+  return root;
+}
+
 }  // namespace hydra
diff --git a/hydra_visualizer/src/plugins/region_growing_boundary_plugin.cpp b/hydra_visualizer/src/plugins/region_growing_boundary_plugin.cpp
index 8dab32ee..a992a10f 100644
--- a/hydra_visualizer/src/plugins/region_growing_boundary_plugin.cpp
+++ b/hydra_visualizer/src/plugins/region_growing_boundary_plugin.cpp
@@ -35,12 +35,14 @@
 #include "hydra_visualizer/plugins/region_growing_boundary_plugin.h"
 
 #include <config_utilities/config.h>
+#include <config_utilities/parsing/yaml.h>
 #include <config_utilities/validation.h>
 #include <spark_dsg/node_attributes.h>
 
 #include <tf2_eigen/tf2_eigen.hpp>
 
 #include "hydra_visualizer/color/color_parsing.h"
+#include "hydra_visualizer/utils/polygon_utilities.h"
 
 namespace hydra {
 namespace {
@@ -52,8 +54,9 @@ static const auto registration_ =
                                    std::string>("RegionGrowingBoundaryPlugin");
 
 std_msgs::msg::ColorRGBA makeBoundaryColor(const std::vector<spark_dsg::Color>& colors,
-                                           spark_dsg::TraversabilityState state) {
-  return visualizer::makeColorMsg(colors.at(static_cast<size_t>(state)));
+                                           spark_dsg::TraversabilityState state,
+                                           float alpha) {
+  return visualizer::makeColorMsg(colors.at(static_cast<size_t>(state)), alpha);
 }
 
 }  // namespace
@@ -63,16 +66,21 @@ using visualization_msgs::msg::Marker;
 void declare_config(RegionGrowingBoundaryPlugin::Config& config) {
   using namespace config;
   name("RegionGrowingBoundaryPlugin::Config");
+  field(config.use_node_color, "use_node_color");
   field(config.colors, "colors");
   field(config.line_width, "line_width");
+  field(config.fill_alpha, "fill_alpha");
+  field(config.fill_boundaries, "fill_boundaries");
   checkCondition(config.colors.size() == 4, "colors.size() must be 4");
   check(config.line_width, GT, 0.0f, "line_width");
+  checkInRange(config.fill_alpha, 0.0f, 1.0f, "fill_alpha", false);
 }
 
 RegionGrowingBoundaryPlugin::RegionGrowingBoundaryPlugin(const Config& config,
                                                          const std::string& ns)
     : ns_(ns),
-      config_(ns + "_mesh_point_plugin", config, [this]() { has_change_ = true; }) {}
+      config_(ns + "_region_growing_plugin", config, [this]() { has_change_ = true; }) {
+}
 
 void RegionGrowingBoundaryPlugin::draw(const std_msgs::msg::Header& header,
                                        const visualizer::LayerInfo& info,
@@ -92,33 +100,73 @@ void RegionGrowingBoundaryPlugin::draw(const std_msgs::msg::Header& header,
   marker.scale.x = config.line_width;
   marker.scale.y = config.line_width;
   marker.scale.z = config.line_width;
+
+  Marker fill_marker;
+  fill_marker.header = header;
+  fill_marker.ns = ns_ + "_region_growing_polygons";
+  fill_marker.id = 0;
+  fill_marker.type = Marker::TRIANGLE_LIST;
+  fill_marker.action = Marker::ADD;
+  fill_marker.pose.orientation.w = 1.0;
+  fill_marker.color.a = config.fill_alpha;
+  fill_marker.scale.x = 1.0;
+  fill_marker.scale.y = 1.0;
+  fill_marker.scale.z = 1.0;
+
   for (const auto& [node_id, node] : layer.nodes()) {
     if (info.filter && !info.filter(*node)) {
       continue;
     }
 
     auto attrs = node->tryAttributes<spark_dsg::TravNodeAttributes>();
-    if (!attrs) {
+    if (!attrs || attrs->radii.empty()) {
       continue;
     }
 
+    Eigen::MatrixXd points(3, attrs->radii.size());
+    const auto color =
+        visualizer::makeColorMsg(info.node_color(*node), info.config.nodes.alpha);
     for (size_t i = 1; i <= attrs->radii.size(); ++i) {
       const auto start_idx = i - 1;
       const auto end_idx = i % attrs->radii.size();
       auto start = attrs->getBoundaryPoint(start_idx);
       start.z() += info.z_offset;
+      points.col(start_idx) = start;
+
       tf2::convert(start, marker.points.emplace_back());
       auto end = attrs->getBoundaryPoint(end_idx);
       end.z() += info.z_offset;
       tf2::convert(end, marker.points.emplace_back());
-      marker.colors.emplace_back(
-          makeBoundaryColor(config.colors, attrs->states[start_idx]));
-      marker.colors.emplace_back(
-          makeBoundaryColor(config.colors, attrs->states[end_idx]));
+      if (config.use_node_color) {
+        marker.colors.emplace_back(color);
+        marker.colors.emplace_back(color);
+      } else {
+        const auto start_color = makeBoundaryColor(
+            config.colors, attrs->states[start_idx], info.config.nodes.alpha);
+        const auto end_color = makeBoundaryColor(
+            config.colors, attrs->states[end_idx], info.config.nodes.alpha);
+        marker.colors.emplace_back(start_color);
+        marker.colors.emplace_back(end_color);
+      }
+    }
+
+    if (config.fill_boundaries) {
+      auto mesh_color = color;
+      mesh_color.a = config.fill_alpha;
+      makeFilledPolygon(points, mesh_color, fill_marker);
     }
   }
 
   tracker.add(marker, msg);
+  if (config.fill_boundaries) {
+    tracker.add(fill_marker, msg);
+  }
+}
+
+YAML::Node RegionGrowingBoundaryPlugin::dumpConfig() const {
+  auto root = config::toYaml(config_.get());
+  root["type"] = "RegionGrowingBoundaryPlugin";
+  return root;
 }
 
 }  // namespace hydra
diff --git a/hydra_visualizer/src/plugins/traversability_plugin.cpp b/hydra_visualizer/src/plugins/traversability_plugin.cpp
index 150f187d..4ba4e61f 100644
--- a/hydra_visualizer/src/plugins/traversability_plugin.cpp
+++ b/hydra_visualizer/src/plugins/traversability_plugin.cpp
@@ -35,6 +35,7 @@
 #include "hydra_visualizer/plugins/traversability_plugin.h"
 
 #include <config_utilities/config_utilities.h>
+#include <config_utilities/parsing/yaml.h>
 #include <config_utilities/printing.h>
 #include <config_utilities/validation.h>
 #include <glog/logging.h>
@@ -236,4 +237,10 @@ void TraversabilityPlugin::addBoundaryPoint(const Config& config,
   }
 }
 
+YAML::Node TraversabilityPlugin::dumpConfig() const {
+  auto root = config::toYaml(config_.get());
+  root["type"] = "TraversabilityPlugin";
+  return root;
+}
+
 }  // namespace hydra
diff --git a/hydra_visualizer/src/scene_graph_renderer.cpp b/hydra_visualizer/src/scene_graph_renderer.cpp
index f4456b7b..8bc4073f 100644
--- a/hydra_visualizer/src/scene_graph_renderer.cpp
+++ b/hydra_visualizer/src/scene_graph_renderer.cpp
@@ -35,13 +35,13 @@
 #include "hydra_visualizer/scene_graph_renderer.h"
 
 #include <config_utilities/config.h>
+#include <config_utilities/parsing/yaml.h>
 #include <config_utilities/types/collections.h>
 #include <config_utilities/validation.h>
 #include <glog/logging.h>
 #include <spark_dsg/node_attributes.h>
 #include <spark_dsg/printing.h>
 
-#include <std_msgs/msg/string.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 
 #include "hydra_visualizer/color/colormap_utilities.h"
@@ -175,9 +175,32 @@ void SceneGraphRenderer::reset(const std_msgs::msg::Header& header) {
   }
 }
 
-bool SceneGraphRenderer::hasChange() const { return has_change_; }
+bool SceneGraphRenderer::hasChange() const {
+  if (has_change_) {
+    return true;
+  }
+
+  for (const auto& [key, plugins] : layer_plugins_) {
+    for (const auto& plugin : plugins) {
+      if (plugin && plugin->hasChange()) {
+        return true;
+      }
+    }
+  }
+
+  return false;
+}
 
-void SceneGraphRenderer::clearChangeFlag() { has_change_ = false; }
+void SceneGraphRenderer::clearChangeFlag() {
+  has_change_ = false;
+  for (const auto& [key, plugins] : layer_plugins_) {
+    for (const auto& plugin : plugins) {
+      if (plugin) {
+        plugin->clearChangeFlag();
+      }
+    }
+  }
+}
 
 void SceneGraphRenderer::draw(const std_msgs::msg::Header& header,
                               const DynamicSceneGraph& graph) const {
@@ -204,6 +227,44 @@ void SceneGraphRenderer::draw(const std_msgs::msg::Header& header,
   }
 }
 
+YAML::Node SceneGraphRenderer::dumpConfig() const {
+  YAML::Node layers(YAML::NodeType::Map);
+  for (const auto& [key, wrapper] : layers_) {
+    layers[LayerKeySelector{key}.str()] = config::toYaml(wrapper->get());
+  }
+
+  YAML::Node layer_plugins(YAML::NodeType::Sequence);
+  for (const auto& [key, plugins] : layer_plugins_) {
+    YAML::Node plugin_configs(YAML::NodeType::Sequence);
+    for (const auto& plugin : plugins) {
+      if (!plugin) {
+        continue;
+      }
+
+      plugin_configs.push_back(plugin->dumpConfig());
+    }
+
+    YAML::Node layer_info;
+    layer_info["layer"] = LayerKeySelector{key}.str();
+    layer_info["plugins"] = plugin_configs;
+    layer_plugins.push_back(layer_info);
+  }
+
+  YAML::Node interlayer_edge_configs(YAML::NodeType::Sequence);
+  for (const auto& [_, info] : interlayer_edges_) {
+    YAML::Node this_config = config::toYaml(info.config->get());
+    this_config["from"] = LayerKeySelector{info.parent}.str();
+    this_config["to"] = LayerKeySelector{info.child}.str();
+    interlayer_edge_configs.push_back(this_config);
+  }
+
+  YAML::Node root = config::toYaml(graph_config_.get());
+  root["layers"] = layers;
+  root["layer_plugins"] = layer_plugins;
+  root["interlayer_edges"] = interlayer_edge_configs;
+  return root;
+}
+
 InterlayerEdgeConfig SceneGraphRenderer::getInterlayerEdgeConfig(LayerKey parent,
                                                                  LayerKey child) const {
   const auto name = keyToLayerName(parent) + "_to_" + keyToLayerName(child);
@@ -228,10 +289,12 @@ InterlayerEdgeConfig SceneGraphRenderer::getInterlayerEdgeConfig(LayerKey parent
     const auto ns = "scene_graph_interlayer_" + name;
     auto wrapper = std::make_unique<EdgeConfigWrapper>(ns, config);
     wrapper->setCallback([this]() { has_change_ = true; });
-    iter = interlayer_edges_.emplace(name, std::move(wrapper)).first;
+    iter = interlayer_edges_
+               .emplace(name, EdgeConfigInfo{parent, child, std::move(wrapper)})
+               .first;
   }
 
-  return iter->second->get();
+  return iter->second.config->get();
 }
 
 void SceneGraphRenderer::drawInterlayerEdges(const std_msgs::msg::Header& header,
diff --git a/hydra_visualizer/src/visualizer_node.cpp b/hydra_visualizer/src/visualizer_node.cpp
index bed30aa7..15a54ed5 100644
--- a/hydra_visualizer/src/visualizer_node.cpp
+++ b/hydra_visualizer/src/visualizer_node.cpp
@@ -39,8 +39,12 @@
 #include <config_utilities/validation.h>
 #include <glog/logging.h>
 
+#include <fstream>
+
 namespace hydra {
 
+using std_msgs::msg::String;
+
 void declare_config(DsgVisualizer::Config& config) {
   using namespace config;
   name("HydraVisualizerConfig");
@@ -67,6 +71,8 @@ DsgVisualizer::DsgVisualizer(const Config& config, ianvs::NodeHandle nh)
       "reset",
       [this](const std_srvs::srv::Empty::Request::SharedPtr&,
              std_srvs::srv::Empty::Response::SharedPtr) { reset(); });
+  save_sub_ = nh_.create_subscription<String>(
+      "save_config", 1, [this](const String& msg) { saveConfigs(msg.data); });
 }
 
 void DsgVisualizer::start() {
@@ -141,4 +147,23 @@ void DsgVisualizer::spinOnce(bool force) {
   }
 }
 
+void DsgVisualizer::saveConfigs(const std::filesystem::path& output) {
+  YAML::Node plugins(YAML::NodeType::Map);
+  for (const auto& plugin : plugins_) {
+    if (!plugin) {
+      continue;
+    }
+
+    plugins[plugin->name] = plugin->dumpConfig();
+  }
+
+  YAML::Node root;
+  root["renderer"] = renderer_->dumpConfig();
+  root["plugins"] = plugins;
+
+  std::ofstream fout(output);
+  fout << root;
+  LOG(INFO) << "Saved config to " << output;
+}
+
 }  // namespace hydra