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openarm_ros2/openarm_bimanual_moveit_config/config/moveit.rviz
thomason 07bbb4b297
Moveit2 support for OpenArm v1 (#52) 
Co-authored-by: Yue Yin <yue_yin@reazon.jp>
Co-authored-by: magdelinekuan <magdeline_kuan@reazon.jp>
2025-08-03 16:01:00 +09:00

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Panels:
- Class: rviz_common/Displays
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
Splitter Ratio: 0.5
Tree Height: 254
- Class: rviz_common/Help
Name: Help
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
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
- 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:
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
openarm_body_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_hand_tcp:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_left_left_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link8:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_left_right_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_hand_tcp:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_right_left_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link8:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_right_right_finger:
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: 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: 20; 93; 250
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: upper_body
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: monitored_planning_scene
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:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
openarm_body_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_hand_tcp:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_left_left_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link8:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_left_right_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_hand_tcp:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_right_left_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link8:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_right_right_finger:
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: true
Value: true
Velocity_Scaling_Factor: 0.1
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: world
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
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 1.3624029159545898
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.05883333832025528
Y: 0.2625991404056549
Z: 0.3334124982357025
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.31999996304512024
Target Frame: world
Value: Orbit (rviz_default_plugins)
Yaw: 0.16200032830238342
Saved: ~
Window Geometry:
Displays:
collapsed: false
Width: 1280
Height: 720
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd00000001000000000000036a000006f0fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007000fffffffb000000100044006900730070006c0061007900730100000069000001ec0000017800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002610000036f0000028e00fffffffb0000000800480065006c0070000000029a0000006e000000cf00fffffffb0000000a0056006900650077007301000005dc0000017d0000012300ffffff0000096a000006f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
X: 0
Y: 64
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