diff --git a/launch/moveit.rviz b/launch/moveit.rviz
index 82d21c70c3b7a021bf2ff2a4cf6602e1feef29be..96bee70ed3d9fba058bcaf52929e38cc76401f15 100644
--- a/launch/moveit.rviz
+++ b/launch/moveit.rviz
@@ -6,7 +6,7 @@ Panels:
Expanded:
- /MotionPlanning1
Splitter Ratio: 0.5
- Tree Height: 226
+ Tree Height: 468
- Class: rviz/Help
Name: Help
- Class: rviz/Views
@@ -14,6 +14,10 @@ Panels:
- /Current View1
Name: Views
Splitter Ratio: 0.5
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
@@ -23,7 +27,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
- Line Width: 0.03
+ Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
@@ -35,31 +39,126 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- - Class: moveit_rviz_plugin/MotionPlanning
+ - Acceleration_Scaling_Factor: 0.1
+ 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_Planning_Attempts: 10
+ MoveIt_Planning_Time: 5
+ MoveIt_Use_Cartesian_Path: false
+ MoveIt_Use_Constraint_Aware_IK: false
+ MoveIt_Workspace:
+ Center:
+ X: 0
+ Y: 0
+ Z: 0
+ Size:
+ X: 2
+ Y: 2
+ Z: 2
Name: MotionPlanning
Planned Path:
- Links: ~
- Loop Animation: true
+ 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_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_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
+ Loop Animation: false
Robot Alpha: 0.5
+ Robot Color: 150; 50; 150
Show Robot Collision: false
- Show Robot Visual: true
+ Show Robot Visual: false
Show Trail: false
State Display Time: 0.05 s
+ Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
+ Use Sim Time: false
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
- Query Goal State: true
+ Planning Group: hand
+ Query Goal State: false
Query Start State: false
Show Workspace: false
Start State Alpha: 1
@@ -68,19 +167,94 @@ Visualization Manager:
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
+ 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: ~
- Robot Alpha: 0.5
- Show Scene Robot: true
+ 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_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_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: true
Value: true
+ Velocity_Scaling_Factor: 0.1
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
@@ -91,41 +265,41 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 2.0
+ Distance: 2.1170897483825684
Enable Stereo Rendering:
- Stereo Eye Separation: 0.06
+ Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.75
Focal Point:
- X: -0.1
- Y: 0.25
- Z: 0.30
+ X: -0.03587188199162483
+ Y: 0.11581680178642273
+ Z: 0.06132292002439499
Focal Shape Fixed Size: true
- Focal Shape Size: 0.05
+ Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
- Near Clip Distance: 0.01
+ Near Clip Distance: 0.009999999776482582
Pitch: 0.5
Target Frame: panda_link0
Yaw: -0.6232355833053589
Saved: ~
Window Geometry:
Displays:
- collapsed: false
- Height: 848
+ collapsed: true
+ Height: 1376
Help:
collapsed: false
- Hide Left Dock: false
+ Hide Left Dock: true
Hide Right Dock: false
MotionPlanning:
- collapsed: false
+ collapsed: true
MotionPlanning - Trajectory Slider:
collapsed: false
- QMainWindow State: 000000ff00000000fd0000000100000000000001f0000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000173000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b60000017d0000017d00ffffff00000315000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd0000000100000000000001f300000506fc0200000007fb000000100044006900730070006c006100790073000000003d00000265000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000002a80000029b0000017d00ffffff000009b80000050600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
- Width: 1291
- X: 454
- Y: 25
+ Width: 2488
+ X: 72
+ Y: 27