diff --git a/projectaria_tools/tools/viewer_mps/rerun_viewer_mps.py b/projectaria_tools/tools/viewer_mps/rerun_viewer_mps.py
index b0e4dd6ba..5369ec72d 100644
--- a/projectaria_tools/tools/viewer_mps/rerun_viewer_mps.py
+++ b/projectaria_tools/tools/viewer_mps/rerun_viewer_mps.py
@@ -851,13 +851,7 @@ def log_mps_to_rerun(
         else:
             camera_calibration = rgb_linear_camera_calibration
     else:  # No rectification
-        if should_rotate_image:
-            raise NotImplementedError(
-                "Showing upright-rotated image without rectification is not currently supported.\n"
-                "Please use --no_rotate_image_upright and --no_rectify_image together."
-            )
-        else:
-            camera_calibration = rgb_camera_calibration
+        camera_calibration = rgb_camera_calibration
 
     def post_process_image(img):
         if should_rectify_image:
diff --git a/projectaria_tools/tools/viewer_mps/viewer_mps.py b/projectaria_tools/tools/viewer_mps/viewer_mps.py
index c6cfb295c..dad6e3813 100644
--- a/projectaria_tools/tools/viewer_mps/viewer_mps.py
+++ b/projectaria_tools/tools/viewer_mps/viewer_mps.py
@@ -91,6 +91,8 @@ def parse_args():
     )
     # User can choose to run the viewer in the web browser
     parser.add_argument("--web", action="store_true", help="Run viewer in web browser")
+    parser.add_argument("--web_port", type=int, default=0, help="Web server port")
+    parser.add_argument("--ws_port", type=int, default=0, help="WebSocket server port")
 
     return parser.parse_args()
 
@@ -167,7 +169,7 @@ def main() -> None:
 
     # Run the viewer in the web browser or desktop app
     if args.web:
-        rr.serve_web()
+        rr.serve_web(web_port=args.web_port, ws_port=args.ws_port)
     else:
         rr.spawn()
 
diff --git a/website/docs-research-tools/projectariatools/tools/pythonviz.mdx b/website/docs-research-tools/projectariatools/tools/pythonviz.mdx
index f5bf53edd..8895c09b9 100644
--- a/website/docs-research-tools/projectariatools/tools/pythonviz.mdx
+++ b/website/docs-research-tools/projectariatools/tools/pythonviz.mdx
@@ -145,7 +145,9 @@ viewer_mps \
 ```bash
 viewer_mps \
   --vrs recording.vrs \
-  --web
+  --web \
+  --web_port 9090 \
+  --ws_port 9877
 ```
 
 #### Multiple Trajectories and Point Clouds