Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /WholeBodyTrajectory1/Target1
      Splitter Ratio: 0.577903687953949
    Tree Height: 618
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Name: Time
    SyncMode: 0
    SyncSource: ""
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 0.5
      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: 20
      Reference Frame: map
      Value: true
    - Center Of Mass:
        Alpha: 1
        CoM Style: Real
        Color: 255; 85; 0
        Enable: true
        Head Length: 0.07999999821186066
        Head Radius: 0.03999999910593033
        Radius: 0.03999999910593033
        Shaft Length: 0.4000000059604645
        Shaft Radius: 0.019999999552965164
      Center Of Pressure:
        Alpha: 1
        Color: 204; 41; 204
        Enable: true
        Radius: 0.03999999910593033
        Use Contact Status: true
      Centroidal Momentum Pivot:
        Alpha: 1
        Color: 200; 41; 10
        Enable: true
        Radius: 0.03999999910593033
      Class: whole_body_state_rviz_plugin/WholeBodyState
      Contact Forces:
        Alpha: 1
        Color: 85; 0; 255
        Enable: true
        Head Length: 0.07999999821186066
        Head Radius: 0.03999999910593033
        Locate At Center of Pressure: false
        Shaft Length: 0.800000011920929
        Shaft Radius: 0.019999999552965164
        Use Contact Status: true
      Enabled: true
      Friction Cone:
        Alpha: 0.5
        Color: 255; 0; 127
        Enable: true
        Length: 0.20000000298023224
        Locate At Center of Pressure: false
        Use Contact Status: true
      Instantaneous Capture Point:
        Alpha: 1
        Color: 10; 41; 10
        Enable: true
        Radius: 0.03999999910593033
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        borinot__base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        flying_arm_2__ee:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        flying_arm_2__link1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        flying_arm_2__link2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: WholeBodyState
      Queue Size: 10
      Robot:
        Enable: true
        Robot Alpha: 1
        Robot Collision: false
        Robot Description: robot_description
        Robot Visual: true
      Support Region:
        Enable: true
        Force Threshold: 1
        Line Alpha: 1
        Line Color: 85; 0; 255
        Line Radius: 0.004999999888241291
        Mesh Alpha: 0.20000000298023224
        Mesh Color: 85; 0; 255
        Use Contact Status: true
      Topic: /whole_body_state
      Unreliable: false
      Value: true
      Zero Moment Point:
        Alpha: 1
        Color: 204; 41; 204
        Enable: true
        Radius: 0.03999999910593033
        Use Contact Status: true
    - Center of Mass:
        Alpha: 1
        Axes Scale: 1
        Enable: true
        Line Color: 0; 85; 255
        Line Style: Billboards
        Line Width: 0.009999999776482582
      Class: whole_body_state_rviz_plugin/WholeBodyTrajectory
      Enabled: true
      End-Effector:
        Alpha: 1
        Axes Scale: 1
        Enable: true
        Line Color: 255; 0; 127
        Line Style: Billboards
        Line Width: 0.009999999776482582
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        borinot__base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        flying_arm_2__ee:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        flying_arm_2__link1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        flying_arm_2__link2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: WholeBodyTrajectory
      Queue Size: 10
      Target:
        Enable: true
        Force Alpha: 0.20000000298023224
        Force Color: 85; 0; 255
        Force Head Length: 0.07999999821186066
        Force Head Radius: 0.03999999910593033
        Force Shaft Length: 0.800000011920929
        Force Shaft Radius: 0.019999999552965164
        Robot Alpha: 0.20000000298023224
        Robot Collision: false
        Robot Description: robot_description
        Robot Visual: true
      Topic: /whole_body_trajectory
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 255; 255; 255
    Default Light: true
    Fixed Frame: map
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 3.0098767280578613
      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
        Y: 0
        Z: 0
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.345398485660553
      Target Frame: <Fixed Frame>
      Yaw: 5.728566646575928
    Saved: ~
Window Geometry:
  Displays:
    collapsed: true
  Height: 846
  Hide Left Dock: true
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd00000004000000000000016300000307fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000280000001e0fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002c00000307000000e300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002c000002c7000000c600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003ffc0100000002fb0000000800540069006d006500000000000000064f0000038800fffffffb0000000800540069006d006501000000000000045000000000000000000000064f0000030700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1615
  X: 60
  Y: 60
