moveit.rviz 10 KB

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  1. Panels:
  2. - Class: rviz/Displays
  3. Help Height: 84
  4. Name: Displays
  5. Property Tree Widget:
  6. Expanded:
  7. - /Global Options1
  8. - /Grid1
  9. - /MotionPlanning1
  10. - /MotionPlanning1/Scene Geometry1
  11. - /MotionPlanning1/Planning Request1
  12. - /RobotModel1
  13. - /RobotModel1/Links1
  14. - /MarkerArray1
  15. - /MarkerArray1/Status1
  16. Splitter Ratio: 0.5
  17. Tree Height: 356
  18. - Class: rviz/Help
  19. Name: Help
  20. - Class: rviz/Views
  21. Expanded:
  22. - /Current View1
  23. Name: Views
  24. Splitter Ratio: 0.5
  25. Preferences:
  26. PromptSaveOnExit: true
  27. Toolbars:
  28. toolButtonStyle: 2
  29. Visualization Manager:
  30. Class: ""
  31. Displays:
  32. - Alpha: 0.5
  33. Cell Size: 1
  34. Class: rviz/Grid
  35. Color: 160; 160; 164
  36. Enabled: true
  37. Line Style:
  38. Line Width: 0.029999999329447746
  39. Value: Lines
  40. Name: Grid
  41. Normal Cell Count: 0
  42. Offset:
  43. X: 0
  44. Y: 0
  45. Z: 0
  46. Plane: XY
  47. Plane Cell Count: 10
  48. Reference Frame: world
  49. Value: true
  50. - Acceleration_Scaling_Factor: 0.1
  51. Class: moveit_rviz_plugin/MotionPlanning
  52. Enabled: true
  53. JointsTab_Use_Radians: true
  54. Move Group Namespace: ""
  55. MoveIt_Allow_Approximate_IK: false
  56. MoveIt_Allow_External_Program: false
  57. MoveIt_Allow_Replanning: false
  58. MoveIt_Allow_Sensor_Positioning: false
  59. MoveIt_Planning_Attempts: 10
  60. MoveIt_Planning_Time: 5
  61. MoveIt_Use_Cartesian_Path: false
  62. MoveIt_Use_Constraint_Aware_IK: false
  63. MoveIt_Workspace:
  64. Center:
  65. X: 0
  66. Y: 0
  67. Z: 0
  68. Size:
  69. X: 2
  70. Y: 2
  71. Z: 2
  72. Name: MotionPlanning
  73. Planned Path:
  74. Color Enabled: false
  75. Interrupt Display: false
  76. Links:
  77. All Links Enabled: true
  78. Expand Joint Details: false
  79. Expand Link Details: false
  80. Expand Tree: false
  81. Link Tree Style: Links in Alphabetic Order
  82. Link_1:
  83. Alpha: 1
  84. Show Axes: false
  85. Show Trail: false
  86. Value: true
  87. Link_2:
  88. Alpha: 1
  89. Show Axes: false
  90. Show Trail: false
  91. Value: true
  92. Link_3:
  93. Alpha: 1
  94. Show Axes: false
  95. Show Trail: false
  96. Value: true
  97. Link_4:
  98. Alpha: 1
  99. Show Axes: false
  100. Show Trail: false
  101. Value: true
  102. Link_5:
  103. Alpha: 1
  104. Show Axes: false
  105. Show Trail: false
  106. Value: true
  107. Link_6:
  108. Alpha: 1
  109. Show Axes: false
  110. Show Trail: false
  111. Value: true
  112. Link_7:
  113. Alpha: 1
  114. Show Axes: false
  115. Show Trail: false
  116. Value: true
  117. base_link:
  118. Alpha: 1
  119. Show Axes: false
  120. Show Trail: false
  121. Value: true
  122. end_link_now:
  123. Alpha: 1
  124. Show Axes: false
  125. Show Trail: false
  126. world:
  127. Alpha: 1
  128. Show Axes: false
  129. Show Trail: false
  130. Loop Animation: true
  131. Robot Alpha: 0.5
  132. Robot Color: 150; 50; 150
  133. Show Robot Collision: false
  134. Show Robot Visual: false
  135. Show Trail: false
  136. State Display Time: 0.05 s
  137. Trail Step Size: 1
  138. Trajectory Topic: move_group/display_planned_path
  139. Use Sim Time: false
  140. Planning Metrics:
  141. Payload: 1
  142. Show Joint Torques: false
  143. Show Manipulability: false
  144. Show Manipulability Index: false
  145. Show Weight Limit: false
  146. TextHeight: 0.07999999821186066
  147. Planning Request:
  148. Colliding Link Color: 255; 0; 0
  149. Goal State Alpha: 1
  150. Goal State Color: 250; 128; 0
  151. Interactive Marker Size: 0
  152. Joint Violation Color: 255; 0; 255
  153. Planning Group: manipulator
  154. Query Goal State: false
  155. Query Start State: false
  156. Show Workspace: false
  157. Start State Alpha: 1
  158. Start State Color: 0; 255; 0
  159. Planning Scene Topic: move_group/monitored_planning_scene
  160. Robot Description: robot_description
  161. Scene Geometry:
  162. Scene Alpha: 1
  163. Scene Color: 50; 230; 50
  164. Scene Display Time: 0.009999999776482582
  165. Show Scene Geometry: true
  166. Voxel Coloring: Z-Axis
  167. Voxel Rendering: Occupied Voxels
  168. Scene Robot:
  169. Attached Body Color: 150; 50; 150
  170. Links:
  171. All Links Enabled: true
  172. Expand Joint Details: false
  173. Expand Link Details: false
  174. Expand Tree: false
  175. Link Tree Style: Links in Alphabetic Order
  176. Link_1:
  177. Alpha: 1
  178. Show Axes: false
  179. Show Trail: false
  180. Value: true
  181. Link_2:
  182. Alpha: 1
  183. Show Axes: false
  184. Show Trail: false
  185. Value: true
  186. Link_3:
  187. Alpha: 1
  188. Show Axes: false
  189. Show Trail: false
  190. Value: true
  191. Link_4:
  192. Alpha: 1
  193. Show Axes: false
  194. Show Trail: false
  195. Value: true
  196. Link_5:
  197. Alpha: 1
  198. Show Axes: false
  199. Show Trail: false
  200. Value: true
  201. Link_6:
  202. Alpha: 1
  203. Show Axes: false
  204. Show Trail: false
  205. Value: true
  206. Link_7:
  207. Alpha: 1
  208. Show Axes: false
  209. Show Trail: false
  210. Value: true
  211. base_link:
  212. Alpha: 1
  213. Show Axes: false
  214. Show Trail: false
  215. Value: true
  216. end_link_now:
  217. Alpha: 1
  218. Show Axes: false
  219. Show Trail: false
  220. world:
  221. Alpha: 1
  222. Show Axes: false
  223. Show Trail: false
  224. Robot Alpha: 0.5
  225. Show Robot Collision: false
  226. Show Robot Visual: false
  227. Value: true
  228. Velocity_Scaling_Factor: 0.1
  229. - Alpha: 1
  230. Class: rviz/RobotModel
  231. Collision Enabled: false
  232. Enabled: true
  233. Links:
  234. All Links Enabled: true
  235. Expand Joint Details: false
  236. Expand Link Details: false
  237. Expand Tree: false
  238. Link Tree Style: Links in Alphabetic Order
  239. Link_1:
  240. Alpha: 1
  241. Show Axes: false
  242. Show Trail: false
  243. Value: true
  244. Link_2:
  245. Alpha: 1
  246. Show Axes: false
  247. Show Trail: false
  248. Value: true
  249. Link_3:
  250. Alpha: 1
  251. Show Axes: false
  252. Show Trail: false
  253. Value: true
  254. Link_4:
  255. Alpha: 1
  256. Show Axes: false
  257. Show Trail: false
  258. Value: true
  259. Link_5:
  260. Alpha: 1
  261. Show Axes: false
  262. Show Trail: false
  263. Value: true
  264. Link_6:
  265. Alpha: 1
  266. Show Axes: false
  267. Show Trail: false
  268. Value: true
  269. Link_7:
  270. Alpha: 1
  271. Show Axes: false
  272. Show Trail: false
  273. Value: true
  274. base_link:
  275. Alpha: 1
  276. Show Axes: false
  277. Show Trail: false
  278. Value: true
  279. end_link_now:
  280. Alpha: 1
  281. Show Axes: false
  282. Show Trail: false
  283. world:
  284. Alpha: 1
  285. Show Axes: false
  286. Show Trail: false
  287. Name: RobotModel
  288. Robot Description: robot_description
  289. TF Prefix: ""
  290. Update Interval: 0
  291. Value: true
  292. Visual Enabled: true
  293. - Class: rviz/MarkerArray
  294. Enabled: true
  295. Marker Topic: rviz_visual_tools
  296. Name: MarkerArray
  297. Namespaces:
  298. Path: true
  299. Text: true
  300. point0 0.072094 -0.030473 0.455566: true
  301. point0 0.073125 0.041527 0.449824: true
  302. point1 0.109523 0.042320 0.457250: true
  303. Queue Size: 100
  304. Value: true
  305. - Alpha: 1
  306. Class: rviz/Axes
  307. Enabled: true
  308. Length: 0.054999999701976776
  309. Name: Axes
  310. Radius: 0.009999999776482582
  311. Reference Frame: end_link_now
  312. Show Trail: false
  313. Value: true
  314. - Class: rviz/TF
  315. Enabled: false
  316. Filter (blacklist): ""
  317. Filter (whitelist): ""
  318. Frame Timeout: 15
  319. Frames:
  320. All Enabled: true
  321. Marker Alpha: 1
  322. Marker Scale: 1
  323. Name: TF
  324. Show Arrows: true
  325. Show Axes: true
  326. Show Names: true
  327. Tree:
  328. {}
  329. Update Interval: 0
  330. Value: false
  331. Enabled: true
  332. Global Options:
  333. Background Color: 48; 48; 48
  334. Default Light: true
  335. Fixed Frame: world
  336. Frame Rate: 30
  337. Name: root
  338. Tools:
  339. - Class: rviz/Interact
  340. Hide Inactive Objects: true
  341. - Class: rviz/MoveCamera
  342. - Class: rviz/Select
  343. Value: true
  344. Views:
  345. Current:
  346. Class: rviz/Orbit
  347. Distance: 2.6588308811187744
  348. Enable Stereo Rendering:
  349. Stereo Eye Separation: 0.05999999865889549
  350. Stereo Focal Distance: 1
  351. Swap Stereo Eyes: false
  352. Value: false
  353. Field of View: 0.75
  354. Focal Point:
  355. X: -0.715438961982727
  356. Y: -0.06119576096534729
  357. Z: 1.1657675504684448
  358. Focal Shape Fixed Size: true
  359. Focal Shape Size: 0.05000000074505806
  360. Invert Z Axis: false
  361. Name: Current View
  362. Near Clip Distance: 0.009999999776482582
  363. Pitch: 0.4800015091896057
  364. Target Frame: world
  365. Yaw: 3.261983871459961
  366. Saved: ~
  367. Window Geometry:
  368. Displays:
  369. collapsed: false
  370. Height: 1018
  371. Help:
  372. collapsed: false
  373. Hide Left Dock: false
  374. Hide Right Dock: false
  375. MotionPlanning:
  376. collapsed: false
  377. MotionPlanning - Trajectory Slider:
  378. collapsed: false
  379. QMainWindow State: 000000ff00000000fd0000000100000000000001f3000003a0fc0200000007fb000000100044006900730070006c006100790073010000003d000001f5000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000238000001a50000017d00ffffff00000587000003a000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  380. Views:
  381. collapsed: false
  382. Width: 1920
  383. X: 0
  384. Y: 28