fcd1a10291
* Rename openarm_bimanual_teleop to openarm_bimanual_bringup * Update package descriptions * Add quickstart link * Add note to source overlay * Add test installation step * Add poses and update default rviz config * Fix rev1 to match hardware * Align rev3 with hardware joint limits * Match hardware joint limits * Complete with more poses * Update README.md with moveit2 video * Add new READMEs in openarm_bringup and openarm_bimanual_moveit_config * Add octomap note
549 lines
15 KiB
YAML
549 lines
15 KiB
YAML
Panels:
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- Class: rviz_common/Displays
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Help Height: 70
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /MotionPlanning1
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- /MotionPlanning1/Planning Request1
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Splitter Ratio: 0.5
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Tree Height: 160
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- Class: rviz_common/Help
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Name: Help
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Acceleration_Scaling_Factor: 0.1
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Class: moveit_rviz_plugin/MotionPlanning
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Enabled: true
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Move Group Namespace: ""
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MoveIt_Allow_Approximate_IK: false
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MoveIt_Allow_External_Program: false
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MoveIt_Allow_Replanning: false
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MoveIt_Allow_Sensor_Positioning: false
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MoveIt_Planning_Attempts: 10
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MoveIt_Planning_Time: 5
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MoveIt_Use_Cartesian_Path: false
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MoveIt_Use_Constraint_Aware_IK: false
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MoveIt_Workspace:
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Center:
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X: 0
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Y: 0
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Z: 0
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Size:
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X: 2
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Y: 2
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Z: 2
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Name: MotionPlanning
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Planned Path:
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Color Enabled: false
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Interrupt Display: false
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_accel_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_accel_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_bottom_screw_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_color_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_color_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_depth_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_depth_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_gyro_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_gyro_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_infra1_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_infra1_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_infra2_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_infra2_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_dummy_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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left_gripper_center:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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left_link1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link7:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link8:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link_left_jaw:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link_right_jaw:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pedestal_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_dummy_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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right_gripper_center:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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right_link1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link7:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link8:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link_left_jaw:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link_right_jaw:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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world:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Loop Animation: true
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Robot Alpha: 0.5
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Robot Color: 150; 50; 150
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Show Robot Collision: false
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Show Robot Visual: true
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Show Trail: false
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State Display Time: 0.05 s
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Trail Step Size: 1
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Trajectory Topic: display_planned_path
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Use Sim Time: false
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Planning Metrics:
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Payload: 1
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Show Joint Torques: false
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Show Manipulability: false
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Show Manipulability Index: false
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Show Weight Limit: false
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TextHeight: 0.07999999821186066
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Planning Request:
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Colliding Link Color: 255; 0; 0
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Goal State Alpha: 1
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Goal State Color: 250; 128; 0
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Interactive Marker Size: 0.15000000596046448
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Joint Violation Color: 255; 0; 255
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Planning Group: upper_body
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Query Goal State: true
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Query Start State: false
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Show Workspace: false
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Start State Alpha: 1
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Start State Color: 0; 255; 0
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Planning Scene Topic: monitored_planning_scene
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Robot Description: robot_description
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Scene Geometry:
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Scene Alpha: 1
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Scene Color: 50; 230; 50
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Scene Display Time: 0.009999999776482582
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Show Scene Geometry: true
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Voxel Coloring: Z-Axis
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Voxel Rendering: Occupied Voxels
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Scene Robot:
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Attached Body Color: 150; 50; 150
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_accel_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_accel_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_bottom_screw_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_color_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_color_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_depth_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_depth_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_gyro_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_gyro_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_infra1_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_infra1_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_infra2_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_infra2_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_dummy_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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left_gripper_center:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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left_link1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link7:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link8:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link_left_jaw:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_link_right_jaw:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pedestal_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_dummy_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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right_gripper_center:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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right_link1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link7:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link8:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link_left_jaw:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_link_right_jaw:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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world:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Robot Alpha: 0.5
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Show Robot Collision: false
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Show Robot Visual: true
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Value: true
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Velocity_Scaling_Factor: 0.1
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: world
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/Interact
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Hide Inactive Objects: true
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 3.150280475616455
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: -0.10000000149011612
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Y: 0.25
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Z: 0.30000001192092896
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.5
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Target Frame: world
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Value: Orbit (rviz_default_plugins)
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Yaw: -0.6230000257492065
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 975
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Help:
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collapsed: false
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Hide Left Dock: false
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Hide Right Dock: false
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MotionPlanning:
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collapsed: false
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MotionPlanning - Trajectory Slider:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000017d00fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Views:
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collapsed: false
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Width: 1200
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X: 120
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Y: 27
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