Panels: - Class: rviz/Displays Help Height: 0 Name: Displays Property Tree Widget: Expanded: ~ Splitter Ratio: 0.501006007194519 Tree Height: 448 - 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 - /Current View1/Focal Point1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: DepthImage 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 - Class: rviz/TF Enabled: true Frame Timeout: 15 Frames: All Enabled: false camera_depth_optical_frame: Value: true panda_hand: Value: true panda_leftfinger: Value: false panda_link0: Value: true panda_link1: Value: false panda_link2: Value: false panda_link3: Value: false panda_link4: Value: false panda_link5: Value: false panda_link6: Value: false panda_link7: Value: false panda_link8: Value: false panda_rightfinger: Value: false task: Value: true world: Value: false Marker Alpha: 1 Marker Scale: 0.30000001192092896 Name: TF Show Arrows: false Show Axes: true Show Names: false Tree: world: panda_link0: panda_link1: panda_link2: panda_link3: panda_link4: panda_link5: panda_link6: panda_link7: panda_link8: panda_hand: camera_depth_optical_frame: {} panda_leftfinger: {} panda_rightfinger: {} task: {} Update Interval: 0 Value: true - 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_leftfinger: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link0: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link1: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link2: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link3: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link4: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link5: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link6: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link7: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link8: Alpha: 1 Show Axes: false Show Trail: false Value: true 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 - Acceleration_Scaling_Factor: 0.1 Class: moveit_rviz_plugin/MotionPlanning Enabled: false 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_Warehouse_Host: 127.0.0.1 MoveIt_Warehouse_Port: 33829 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 Loop Animation: false Robot Alpha: 0.5 Robot Color: 150; 50; 150 Show Robot Collision: false Show Robot Visual: true Show Trail: false State Display Time: 0.05 s Trail Step Size: 1 Trajectory Topic: /move_group/display_planned_path 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: hand Query Goal State: true 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: 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: true Value: false Velocity_Scaling_Factor: 0.1 - Class: moveit_rviz_plugin/PlanningScene Enabled: true 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 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_leftfinger: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link0: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link1: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link2: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link3: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link4: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link5: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link6: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link7: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_link8: Alpha: 1 Show Axes: false Show Trail: false Value: true panda_rightfinger: Alpha: 1 Show Axes: false Show Trail: false Value: true Robot Alpha: 1 Show Robot Collision: false Show Robot Visual: false Value: true - Class: rviz/Image Enabled: false Image Topic: /camera/color/image_raw Max Value: 1 Median window: 5 Min Value: 0 Name: ColorImage Normalize Range: true Queue Size: 2 Transport Hint: raw Unreliable: 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: false 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: false - Class: rviz/Image Enabled: true Image Topic: /camera/depth/image_rect_raw Max Value: 1 Median window: 5 Min Value: 0 Name: DepthImage Normalize Range: true Queue Size: 2 Transport Hint: raw Unreliable: false Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: visualization_marker_array Name: Markers Namespaces: bbox: true grasp: true path: true roi: 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: true 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: true - 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: 1 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: false Invert Rainbow: false Max Color: 0; 255; 0 Max Intensity: 1 Min Color: 255; 0; 0 Min Intensity: 0.5 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: false 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: 1.3765044212341309 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: 0.325906902551651 Y: 0.0038837254978716373 Z: 0.38982900977134705 Focal Shape Fixed Size: false Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Pitch: 0.24499565362930298 Target Frame: Yaw: 5.461853504180908 Saved: ~ Window Geometry: ColorImage: collapsed: false DepthImage: collapsed: false Displays: collapsed: false Height: 837 Hide Left Dock: false Hide Right Dock: true MotionPlanning: collapsed: false MotionPlanning - Trajectory Slider: collapsed: false QMainWindow State: 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 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: false Width: 1098 X: 822 Y: 27