Panels:
  - Class: rviz_common/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /TF1/Frames1
        - /TF1/Tree1
        - /Landmark1
        - /Landmark1/Landmarks1
      Splitter Ratio: 0.727011501789093
    Tree Height: 853
  - 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
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz_common/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
  - Class: TrajectorySlider
    Name: TrajectorySlider
  - Class: TrajectorySlider
    Name: TrajectorySlider
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz_default_plugins/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
    - Alpha: 1
      Class: rviz_default_plugins/RobotModel
      Collision Enabled: false
      Description File: ""
      Description Source: Topic
      Description Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /panda/robot_description
      Enabled: 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
        panda_rightfinger:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Mass Properties:
        Inertia: false
        Mass: false
      Name: panda
      TF Prefix: panda
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Alpha: 1
      Class: rviz_default_plugins/RobotModel
      Collision Enabled: false
      Description File: ""
      Description Source: Topic
      Description Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /box/robot_description
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Mass Properties:
        Inertia: false
        Mass: false
      Name: box
      TF Prefix: box
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Alpha: 1
      Class: rviz_default_plugins/RobotModel
      Collision Enabled: false
      Description File: ""
      Description Source: Topic
      Description Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /ground/robot_description
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Mass Properties:
        Inertia: false
        Mass: false
      Name: ground
      TF Prefix: ground
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: rviz_default_plugins/TF
      Enabled: true
      Filter (blacklist): ""
      Filter (whitelist): ""
      Frame Timeout: 15000000512
      Frames:
        All Enabled: false
        box/base_link:
          Value: false
        box/handle:
          Value: true
        box/root_joint:
          Value: false
        ground/base_link:
          Value: false
        panda/gripper:
          Value: true
        panda/panda_finger_joint1:
          Value: false
        panda/panda_finger_joint2:
          Value: false
        panda/panda_hand:
          Value: false
        panda/panda_hand_joint:
          Value: false
        panda/panda_hand_tcp:
          Value: false
        panda/panda_hand_tcp_joint:
          Value: false
        panda/panda_joint1:
          Value: false
        panda/panda_joint2:
          Value: false
        panda/panda_joint3:
          Value: false
        panda/panda_joint4:
          Value: false
        panda/panda_joint5:
          Value: false
        panda/panda_joint6:
          Value: false
        panda/panda_joint7:
          Value: false
        panda/panda_joint8:
          Value: false
        panda/panda_leftfinger:
          Value: false
        panda/panda_link0:
          Value: false
        panda/panda_link1:
          Value: false
        panda/panda_link2:
          Value: false
        panda/panda_link3:
          Value: false
        panda/panda_link4:
          Value: false
        panda/panda_link5:
          Value: false
        panda/panda_link6:
          Value: false
        panda/panda_link7:
          Value: false
        panda/panda_link8:
          Value: false
        panda/panda_rightfinger:
          Value: false
        world:
          Value: false
      Marker Scale: 1
      Name: TF
      Show Arrows: false
      Show Axes: true
      Show Names: false
      Tree:
        world:
          box/base_link:
            {}
          box/handle:
            {}
          box/root_joint:
            {}
          ground/base_link:
            {}
          panda/gripper:
            {}
          panda/panda_finger_joint1:
            {}
          panda/panda_finger_joint2:
            {}
          panda/panda_hand:
            {}
          panda/panda_hand_joint:
            {}
          panda/panda_hand_tcp:
            {}
          panda/panda_hand_tcp_joint:
            {}
          panda/panda_joint1:
            {}
          panda/panda_joint2:
            {}
          panda/panda_joint3:
            {}
          panda/panda_joint4:
            {}
          panda/panda_joint5:
            {}
          panda/panda_joint6:
            {}
          panda/panda_joint7:
            {}
          panda/panda_joint8:
            {}
          panda/panda_leftfinger:
            {}
          panda/panda_link0:
            {}
          panda/panda_link1:
            {}
          panda/panda_link2:
            {}
          panda/panda_link3:
            {}
          panda/panda_link4:
            {}
          panda/panda_link5:
            {}
          panda/panda_link6:
            {}
          panda/panda_link7:
            {}
          panda/panda_link8:
            {}
          panda/panda_rightfinger:
            {}
      Update Interval: 0
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: Trajectory
      Color: 25; 255; 0
      Enabled: true
      Head Diameter: 0.30000001192092896
      Head Length: 0.20000000298023224
      Length: 0.30000001192092896
      Line Style: Lines
      Line Width: 0.029999999329447746
      Name: Trajectory
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Radius: 0.029999999329447746
      Shaft Diameter: 0.10000000149011612
      Shaft Length: 0.10000000149011612
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /hpp_path
      Value: true
    - Class: Landmark
      Enable Transparency: true
      Enabled: true
      Interactive Markers Namespace: /hpp_landmark_server
      Landmarks:
        {}
      Name: Landmark
      Show Axes: true
      Show Descriptions: true
      Show Visual Aids: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: world
    Frame Rate: 300
  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
    - Class: Landmark
  Transformation:
    Current:
      Class: rviz_default_plugins/TF
  Value: true
  Views:
    Current:
      Class: rviz_default_plugins/Orbit
      Distance: 2.6504337787628174
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.1967567354440689
        Y: -0.10809687525033951
        Z: 0.0706091970205307
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.7804096937179565
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 2.0635249614715576
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  HPP Trajectory Control:
    collapsed: false
  Height: 1011
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd00000004000000000000015e00000395fc0200000009fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000395000000cc00fffffffb0000001200530065006c0065006300740069006f006e00000002eb000000ed0000005d00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000020005400720061006a006500630074006f007200790053006c0069006400650072000000024400000194000001b100ffffff00000001000001c300000395fc0200000005fb0000002c0048005000500020005400720061006a006500630074006f0072007900200043006f006e00740072006f006c010000003f00000395000001b100fffffffb00000020005400720061006a006500630074006f007200790053006c0069006400650072000000003f000001c6000001b100fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002b4000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073e000001b1fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073e0000005cfc0100000002fb0000000800540069006d006500000000000000073e0000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000004110000039500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  QMainWindow State: 000000ff00000000fd00000004000000000000015e00000395fc0200000009fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000395000000cc00fffffffb0000001200530065006c0065006300740069006f006e00000002eb000000ed0000005d00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000020005400720061006a006500630074006f007200790053006c0069006400650072000000024400000194000001b100ffffff00000001000001c300000395fc0200000005fb0000002c0048005000500020005400720061006a006500630074006f0072007900200043006f006e00740072006f006c010000003f00000395000001b100fffffffb00000020005400720061006a006500630074006f007200790053006c0069006400650072000000003f000001c6000001b100fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002b4000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073e000001b1fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073e0000005cfc0100000002fb0000000800540069006d006500000000000000073e0000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000004110000039500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  TrajectorySlider:
    collapsed: false
  Views:
    collapsed: false
  Width: 1854
  X: 66
  Y: 32
