Panels:
  - Class: rviz/Displays
    Help Height: 70
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /TF1/Frames1
        - /Markers1/Namespaces1
        - /PointCloud21
        - /Marker1
      Splitter Ratio: 0.6852940917015076
    Tree Height: 226
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Name: Time
    SyncMode: 0
    SyncSource: Image
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: <Fixed Frame>
      Value: true
    - Class: rviz/TF
      Enabled: false
      Filter (blacklist): ""
      Filter (whitelist): ""
      Frame Timeout: 15
      Frames:
        All Enabled: false
      Marker Alpha: 1
      Marker Scale: 0.30000001192092896
      Name: TF
      Show Arrows: false
      Show Axes: true
      Show Names: false
      Tree:
        {}
      Update Interval: 0
      Value: false
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        camera_depth_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        panda_hand:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_hand_sc:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_hand_tcp:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        panda_leftfinger:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link0_sc:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link1_sc:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link2_sc:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link3_sc:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link4:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link4_sc:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link5:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link5_sc:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link6:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link6_sc:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link7:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link7_sc:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        panda_link8:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        panda_rightfinger:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: moveit_rviz_plugin/PlanningScene
      Enabled: false
      Move Group Namespace: ""
      Name: PlanningScene
      Planning Scene Topic: move_group/monitored_planning_scene
      Robot Description: robot_description
      Scene Geometry:
        Scene Alpha: 0.8999999761581421
        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
        Robot Alpha: 1
        Show Robot Collision: false
        Show Robot Visual: false
      Value: false
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: RGB8
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: PointCloud
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.0020000000949949026
      Style: Spheres
      Topic: /camera/depth/color/points
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: visualization_marker_array
      Name: Markers
      Namespaces:
        bbox: true
        grasp: true
        path: true
        views: true
      Queue Size: 100
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: SceneCloud
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Spheres
      Topic: /scene_cloud
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Alpha: 0.20000000298023224
      Autocompute Intensity Bounds: false
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: distance
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 1
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: MapCloud
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.007499999832361937
      Style: Boxes
      Topic: /map_cloud
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Alpha: 0.20000000298023224
      Autocompute Intensity Bounds: false
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 0; 255; 0
      Max Intensity: 1
      Min Color: 255; 0; 0
      Min Intensity: 0.800000011920929
      Name: GraspQuality
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.007499999832361937
      Style: Boxes
      Topic: /quality
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: false
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /camera/color/image_rect_raw
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 114; 159; 207
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Points
      Topic: /debug_pcd
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: false
      Value: true
    - Class: rviz/Marker
      Enabled: true
      Marker Topic: /grasp_markers
      Name: Marker
      Namespaces:
        {}
      Queue Size: 100
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: panda_link0
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 1.2382971048355103
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Field of View: 0.7853981852531433
      Focal Point:
        X: 0.27311334013938904
        Y: -0.15430450439453125
        Z: 0.29310858249664307
      Focal Shape Fixed Size: false
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.4653984010219574
      Target Frame: <Fixed Frame>
      Yaw: 1.5403975248336792
    Saved:
      - Class: rviz/Orbit
        Distance: 1.2000000476837158
        Enable Stereo Rendering:
          Stereo Eye Separation: 0.05999999865889549
          Stereo Focal Distance: 1
          Swap Stereo Eyes: false
          Value: false
        Field of View: 0.7799999713897705
        Focal Point:
          X: 0.44999998807907104
          Y: 0
          Z: 0.4000000059604645
        Focal Shape Fixed Size: false
        Focal Shape Size: 0.05000000074505806
        Invert Z Axis: false
        Name: Panda
        Near Clip Distance: 0.009999999776482582
        Pitch: 0.25999999046325684
        Target Frame: <Fixed Frame>
        Yaw: 1.0399999618530273
Window Geometry:
  Displays:
    collapsed: false
  Height: 778
  Hide Left Dock: false
  Hide Right Dock: true
  Image:
    collapsed: false
  QMainWindow State: 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
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1095
  X: 1273
  Y: 53