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execution.h
plan_visualizer.rviz 8.11 KiB
Panels:
[]
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
- Acceleration_Scaling_Factor: 1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true
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
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
panda_rightfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
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: 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: panda_arm
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: 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
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
panda_rightfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: false
Value: true
Velocity_Scaling_Factor: 1
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_visual_tools/KeyTool
Value: true
Views:
Current:
Class: rviz/XYOrbit
Distance: 2.9803097248077393
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 1.0864897966384888
Y: 0.3387787342071533
Z: 2.2351798634190345e-7
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.270203560590744
Target Frame: panda_link0
Value: XYOrbit (rviz)
Yaw: 0.42677485942840576
Saved: ~
Window Geometry:
Height: 1404
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd00000002000000000000013b000004e1fc0200000003fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000080000003640000017200fffffffb0000000800480065006c00700100000334000000e10000000000000000fb0000000a00560069006500770073000000003b000004e1000000000000000000000003000004fe0000003ffc0100000001fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000000000004fe0000010000ffffff000004fe000004e100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Width: 1278
X: 0
Y: 18