338 lines
11 KiB
YAML
338 lines
11 KiB
YAML
Panels:
|
|
- Class: rviz_common/Displays
|
|
Help Height: 0
|
|
Name: Displays
|
|
Property Tree Widget:
|
|
Expanded:
|
|
- /Global Options1
|
|
- /MotionPlanning1
|
|
Splitter Ratio: 0.6278260946273804
|
|
Tree Height: 412
|
|
- Class: rviz_common/Selection
|
|
Name: Selection
|
|
- Class: rviz_common/Tool Properties
|
|
Expanded:
|
|
- /2D Goal Pose1
|
|
- /Publish Point1
|
|
Name: Tool Properties
|
|
Splitter Ratio: 0.5886790156364441
|
|
- Class: rviz_common/Views
|
|
Expanded:
|
|
- /Current View1
|
|
- /Current View1/Focal Point1
|
|
Name: Views
|
|
Splitter Ratio: 0.5
|
|
- Class: rviz_common/Time
|
|
Experimental: false
|
|
Name: Time
|
|
SyncMode: 0
|
|
SyncSource: ""
|
|
Visualization Manager:
|
|
Class: ""
|
|
Displays:
|
|
- 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_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
|
|
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
|
|
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: 0.25
|
|
Robot Color: 150; 50; 150
|
|
Show Robot Collision: false
|
|
Show Robot Visual: true
|
|
Show Trail: false
|
|
State Display Time: 0.1s
|
|
Trail Step Size: 1
|
|
Trajectory Topic: /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: 0.5
|
|
Goal State Color: 250; 128; 0
|
|
Interactive Marker Size: 0.10000000149011612
|
|
Joint Violation Color: 255; 0; 255
|
|
Planning Group: arm
|
|
Query Goal State: true
|
|
Query Start State: false
|
|
Show Workspace: false
|
|
Start State Alpha: 0.5
|
|
Start State Color: 0; 255; 0
|
|
Planning Scene Topic: 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
|
|
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
|
|
panda_rightfinger:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
world:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Robot Alpha: 1
|
|
Show Robot Collision: false
|
|
Show Robot Visual: true
|
|
Value: true
|
|
Velocity_Scaling_Factor: 1
|
|
Enabled: true
|
|
Global Options:
|
|
Background Color: 48; 48; 48
|
|
Fixed Frame: panda_link0
|
|
Frame Rate: 30
|
|
Name: root
|
|
Tools:
|
|
- Class: rviz_default_plugins/Interact
|
|
Hide Inactive Objects: true
|
|
- Class: rviz_default_plugins/MoveCamera
|
|
- Class: rviz_default_plugins/Select
|
|
- Class: rviz_default_plugins/FocusCamera
|
|
- Class: rviz_default_plugins/Measure
|
|
Line color: 128; 128; 0
|
|
- Class: rviz_default_plugins/SetInitialPose
|
|
Covariance x: 0.25
|
|
Covariance y: 0.25
|
|
Covariance yaw: 0.06853891909122467
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /initialpose
|
|
- Class: rviz_default_plugins/SetGoal
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /goal_pose
|
|
- Class: rviz_default_plugins/PublishPoint
|
|
Single click: true
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /clicked_point
|
|
Transformation:
|
|
Current:
|
|
Class: rviz_default_plugins/TF
|
|
Value: true
|
|
Views:
|
|
Current:
|
|
Class: rviz_default_plugins/Orbit
|
|
Distance: 1.5
|
|
Enable Stereo Rendering:
|
|
Stereo Eye Separation: 0.05999999865889549
|
|
Stereo Focal Distance: 1
|
|
Swap Stereo Eyes: false
|
|
Value: false
|
|
Focal Point:
|
|
X: 0.3333333432674408
|
|
Y: 0
|
|
Z: 0.5
|
|
Focal Shape Fixed Size: false
|
|
Focal Shape Size: 0.05000000074505806
|
|
Invert Z Axis: false
|
|
Name: Current View
|
|
Near Clip Distance: 0.009999999776482582
|
|
Pitch: 0.39269909262657166
|
|
Target Frame: <Fixed Frame>
|
|
Value: Orbit (rviz)
|
|
Yaw: 0.7853981852531433
|
|
Saved: ~
|
|
Window Geometry:
|
|
Displays:
|
|
collapsed: false
|
|
Height: 720
|
|
Hide Left Dock: false
|
|
Hide Right Dock: true
|
|
MotionPlanning:
|
|
collapsed: false
|
|
MotionPlanning - Trajectory Slider:
|
|
collapsed: false
|
|
QMainWindow State: 000000ff00000000fd000000040000000000000247000003b0fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000046000001eb000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000005201000003fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000232000001c4000001b9010000030000000100000110000003b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000046000003b0000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000048fc0100000002fb0000000800540069006d0065000000000000000780000002d701000003fb0000000800540069006d0065010000000000000450000000000000000000000538000003b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
|
Selection:
|
|
collapsed: false
|
|
Time:
|
|
collapsed: false
|
|
Tool Properties:
|
|
collapsed: false
|
|
Views:
|
|
collapsed: true
|
|
Width: 1280
|
|
X: 0
|
|
Y: 0
|