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