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cell_routine.rviz
cell_routine.rviz 14.58 KiB
Panels:
- Class: rviz/Displays
Help Height: 84
Name: Displays
Property Tree Widget:
Expanded:
- /Motion Planning Tasks1
Splitter Ratio: 0.5393258333206177
Tree Height: 533
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: moveit_task_constructor/Motion Planning Tasks
Global Settings:
Task View Settings:
Show Computation Times: true
Task Expansion: All Expanded
Name: Motion Planning Tasks
Tasks View:
property_splitter:
- 540
- 0
solution_sorting:
column: 1
order: 0
solutions_splitter:
- 306
- 98
solutions_view_columns:
- 38
- 52
- 0
tasks_view_columns:
- 226
- 38
- 38
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /rviz_visual_tools
Name: MarkerArray
Namespaces:
Axis: true
Cuboid: true
Queue Size: 100
Value: true
- Class: moveit_rviz_plugin/Trajectory
Color Enabled: false
Enabled: true
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_1:
Alpha: 1
Show Axes: false
Show Trail: false Value: true
base_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link8:
Alpha: 1
Show Axes: false
Show Trail: false
panda_1_rightfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_tool_center_point:
Alpha: 1
Show Axes: false
Show Trail: false
panda_2_hand: Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_hand_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link8:
Alpha: 1
Show Axes: false
Show Trail: false
panda_2_rightfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_tool_center_point:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
Show Trail: false
Loop Animation: false
Name: Trajectory
Robot Alpha: 0.5
Robot Color: 150; 50; 150 Robot Description: robot_description
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: /display_planned_path
Use Sim Time: false
Value: true
- Attached Body Color: 150; 50; 150
Class: moveit_rviz_plugin/RobotState
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
base_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link6: Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_link8:
Alpha: 1
Show Axes: false
Show Trail: false
panda_1_rightfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_1_tool_center_point:
Alpha: 1
Show Axes: false
Show Trail: false
panda_2_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_hand_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_link7:
Alpha: 1
Show Axes: false Show Trail: false
Value: true
panda_2_link8:
Alpha: 1
Show Axes: false
Show Trail: false
panda_2_rightfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_2_tool_center_point:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
Show Trail: false
Name: RobotState
Robot Alpha: 1
Robot Description: robot_description
Robot State Topic: /display_robot_state
Show All Links: true
Show Highlights: true
Value: true
Visual Enabled: true
- 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: 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: 0.20000000298023224
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: true - Class: moveit_task_constructor/Motion Planning Tasks
Enabled: true
Interrupt Display: false
Loop Animation: false
Markers:
All at once?: false
Value: true
Name: Motion Planning Tasks
Robot:
Fixed Robot 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
Use Fixed Robot Color: false
Value: ""
Robot Description: robot_description
Scene:
Attached Body Color: 150; 50; 150
Scene Alpha: 0.8999999761581421
Scene Color: 50; 230; 50
Value: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Show Trail: false
State Display Time: 0.05 s
Task Solution Topic: /cell_routine/solution # change to nodes name
Tasks:
Cartesian Path: 1
Trail Step Size: 1
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: world
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/XYOrbit
Distance: 1.3878222703933716
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: 0.30880630016326904
Y: -0.1259305477142334
Z: 1.3560062370743253e-6
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.264797568321228
Target Frame: world Yaw: 4.939944744110107
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 768
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
Motion Planning Tasks:
collapsed: false
Motion Planning Tasks - Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd000000020000000000000177000002a6fc020000000ffb000000100044006900730070006c006100790073010000003d000002a6000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000026d000000b5000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c0069006400650072010000026f000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000294000002410000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c0073004700750069000000027d0000004b0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032d000001fb0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb000000120020002d00200053006c00690064006500720000000000ffffffff0000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067000000013d000001a600000000000000000000000100000198000002a6fc0200000002fb0000002a004d006f00740069006f006e00200050006c0061006e006e0069006e00670020005400610073006b0073010000003d00000254000000e600fffffffb0000003c004d006f00740069006f006e00200050006c0061006e006e0069006e00670020005400610073006b00730020002d00200053006c006900640065007201000002970000004c0000004100ffffff0000033a000002a600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1621
X: 249
Y: 25