Panels: - Class: rviz/Displays Help Height: 84 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /MotionPlanning1 - /MotionPlanning1/Scene Geometry1 - /MarkerArray1 Splitter Ratio: 0.5 Tree Height: 370 - Class: rviz/Help Name: Help - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 Preferences: PromptSaveOnExit: true Toolbars: toolButtonStyle: 2 Visualization Manager: Class: "" Displays: - Alpha: 0.5 Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 Enabled: true Line Style: Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 Offset: X: 0 Y: 0 Z: 0 Plane: XY Plane Cell Count: 10 Reference Frame: Value: true - Acceleration_Scaling_Factor: 0.1 Class: moveit_rviz_plugin/MotionPlanning Enabled: true JointsTab_Use_Radians: true Move Group Namespace: "" MoveIt_Allow_Approximate_IK: false MoveIt_Allow_External_Program: false MoveIt_Allow_Replanning: false MoveIt_Allow_Sensor_Positioning: false MoveIt_Planning_Attempts: 10 MoveIt_Planning_Time: 5 MoveIt_Use_Cartesian_Path: false MoveIt_Use_Constraint_Aware_IK: false MoveIt_Workspace: Center: X: 0 Y: 0 Z: 0 Size: X: 2 Y: 2 Z: 2 Name: MotionPlanning Planned Path: Color Enabled: false Interrupt Display: false Links: All Links Enabled: true Expand Joint Details: false Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true ee_link: Alpha: 1 Show Axes: false Show Trail: false link1: Alpha: 1 Show Axes: false Show Trail: false Value: true link2: Alpha: 1 Show Axes: false Show Trail: false Value: true link3: Alpha: 1 Show Axes: false Show Trail: false Value: true link4: Alpha: 1 Show Axes: false Show Trail: false Value: true link5: Alpha: 1 Show Axes: false Show Trail: false Value: true link6: Alpha: 1 Show Axes: false Show Trail: false Value: true tool_link: Alpha: 1 Show Axes: false Show Trail: false world_link: Alpha: 1 Show Axes: false Show Trail: false Loop Animation: true Robot Alpha: 0.5 Robot Color: 150; 50; 150 Show Robot Collision: false Show Robot Visual: false Show Trail: false State Display Time: 0.05 s Trail Step Size: 1 Trajectory Topic: move_group/display_planned_path Use Sim Time: false Planning Metrics: Payload: 1 Show Joint Torques: false Show Manipulability: false Show Manipulability Index: false Show Weight Limit: false TextHeight: 0.07999999821186066 Planning Request: Colliding Link Color: 255; 0; 0 Goal State Alpha: 1 Goal State Color: 250; 128; 0 Interactive Marker Size: 0 Joint Violation Color: 255; 0; 255 Planning Group: manipulator Query Goal State: false Query Start State: false Show Workspace: false Start State Alpha: 1 Start State Color: 0; 255; 0 Planning Scene Topic: /move_group/monitored_planning_scene Robot Description: robot_description Scene Geometry: Scene Alpha: 1 Scene Color: 50; 230; 50 Scene Display Time: 0.009999999776482582 Show Scene Geometry: true Voxel Coloring: Z-Axis Voxel Rendering: Occupied Voxels Scene Robot: Attached Body Color: 150; 50; 150 Links: All Links Enabled: true Expand Joint Details: false Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true ee_link: Alpha: 1 Show Axes: false Show Trail: false link1: Alpha: 1 Show Axes: false Show Trail: false Value: true link2: Alpha: 1 Show Axes: false Show Trail: false Value: true link3: Alpha: 1 Show Axes: false Show Trail: false Value: true link4: Alpha: 1 Show Axes: false Show Trail: false Value: true link5: Alpha: 1 Show Axes: false Show Trail: false Value: true link6: Alpha: 1 Show Axes: false Show Trail: false Value: true tool_link: Alpha: 1 Show Axes: false Show Trail: false world_link: Alpha: 1 Show Axes: false Show Trail: false Robot Alpha: 0.5 Show Robot Collision: true Show Robot Visual: true Value: true Velocity_Scaling_Factor: 0.1 - Class: rviz/TF Enabled: true Filter (blacklist): "" Filter (whitelist): "" Frame Timeout: 15 Frames: All Enabled: false base_link: Value: false ee_link: Value: false link1: Value: false link2: Value: false link3: Value: false link4: Value: false link5: Value: false link6: Value: false tool_link: Value: true world_link: Value: false Marker Alpha: 1 Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: world_link: base_link: link1: link2: link3: link4: link5: link6: ee_link: tool_link: {} Update Interval: 0 Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /rviz_visual_tools Name: MarkerArray Namespaces: Path: true Text: true point0 1.260560 -0.018740 1.496050: true point0 1.334610 -0.019910 1.496050: true point1 1.260620 0.020340 1.496050: true point1 1.334480 0.021110 1.496050: true Queue Size: 100 Value: true Enabled: true Global Options: Background Color: 48; 48; 48 Default Light: true Fixed Frame: world_link Frame Rate: 30 Name: root Tools: - Class: rviz/Interact Hide Inactive Objects: true - Class: rviz/MoveCamera - Class: rviz/Select Value: true Views: Current: Class: rviz/Orbit Distance: 1.7586157321929932 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Field of View: 0.75 Focal Point: X: -1.0072178840637207 Y: -0.5438960790634155 Z: 1.3512202501296997 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Pitch: 0.7449998259544373 Target Frame: world_link Yaw: 4.566797256469727 Saved: ~ Window Geometry: Displays: collapsed: false Height: 1018 Help: collapsed: false Hide Left Dock: false Hide Right Dock: false MotionPlanning: collapsed: false MotionPlanning - Trajectory Slider: collapsed: false QMainWindow State: 000000ff00000000fd0000000100000000000001f3000003a0fc0200000007fb000000100044006900730070006c006100790073010000003d00000203000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000246000001970000017d00ffffff00000587000003a000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: collapsed: false Width: 1920 X: 0 Y: 28