add launch arguments for gazebo
Added gazebo gui argument and arguments to start without controllers
This commit is contained in:
parent
ed6d163e5b
commit
dc628f1387
2 changed files with 134 additions and 169 deletions
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@ -6,9 +6,8 @@ Panels:
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Expanded:
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- /Global Options1
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- /TF1/Frames1
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- /MarkerArray2
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Splitter Ratio: 0.49496981501579285
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Tree Height: 981
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Tree Height: 985
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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@ -76,62 +75,37 @@ Visualization Manager:
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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:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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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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base_link_inertia:
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Value: true
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ee_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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flange:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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forearm_link:
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fork0_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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ft_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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inner_rgbd_camera:
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fork1_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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outer_rgbd_camera:
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fork2_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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schunk_grasp_point:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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schunk_gripper_base_link:
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main0_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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schunk_l_finger_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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schunk_r_finger_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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shoulder_link:
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main1_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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@ -140,77 +114,37 @@ Visualization Manager:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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upper_arm_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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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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wrist_1_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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wrist_2_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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wrist_3_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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Robot Alpha: 1
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Show Robot Collision: false
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Show Robot Visual: true
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Show Robot Visual: false
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Value: true
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- Class: rviz_default_plugins/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: false
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base:
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Value: false
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base_link:
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Value: false
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base_link_inertia:
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Value: false
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flange:
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Value: false
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forearm_link:
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Value: false
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ft_frame:
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Value: false
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inner_rgbd_camera:
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Value: false
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outer_rgbd_camera:
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Value: false
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schunk_grasp_point:
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ee_link:
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Value: true
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schunk_gripper_base_link:
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fork0_link:
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Value: true
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schunk_l_finger_link:
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fork1_link:
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Value: true
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schunk_r_finger_link:
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fork2_link:
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Value: true
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main0_link:
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Value: true
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main1_link:
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Value: true
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shoulder_link:
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Value: false
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tool0:
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Value: false
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upper_arm_link:
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Value: false
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world:
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Value: false
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wrist_1_link:
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Value: false
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wrist_2_link:
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Value: false
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wrist_3_link:
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Value: false
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Marker Scale: 0.4000000059604645
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Name: TF
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Show Arrows: true
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@ -219,30 +153,14 @@ Visualization Manager:
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Tree:
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world:
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base_link:
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base:
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{}
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base_link_inertia:
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shoulder_link:
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upper_arm_link:
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forearm_link:
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wrist_1_link:
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wrist_2_link:
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wrist_3_link:
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flange:
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tool0:
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inner_rgbd_camera:
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{}
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schunk_grasp_point:
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{}
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schunk_gripper_base_link:
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schunk_l_finger_link:
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{}
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schunk_r_finger_link:
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{}
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ft_frame:
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{}
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outer_rgbd_camera:
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{}
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fork0_link:
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main0_link:
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fork1_link:
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main1_link:
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fork2_link:
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ee_link:
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tool0:
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{}
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Update Interval: 0
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Value: true
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- Class: moveit_rviz_plugin/Trajectory
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@ -255,62 +173,37 @@ Visualization Manager:
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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:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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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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base_link_inertia:
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Value: true
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ee_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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flange:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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forearm_link:
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fork0_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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ft_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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inner_rgbd_camera:
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fork1_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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outer_rgbd_camera:
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fork2_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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schunk_grasp_point:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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schunk_gripper_base_link:
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main0_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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schunk_l_finger_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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schunk_r_finger_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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shoulder_link:
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main1_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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@ -319,30 +212,10 @@ Visualization Manager:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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upper_arm_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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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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wrist_1_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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wrist_2_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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wrist_3_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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Loop Animation: false
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Name: Trajectory
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Robot Alpha: 0.5
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@ -368,6 +241,84 @@ Visualization Manager:
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Reliability Policy: Reliable
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Value: workspace
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Value: true
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- Class: rviz_default_plugins/InteractiveMarkers
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Enable Transparency: true
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Enabled: true
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Interactive Markers Namespace: /motion_controller_handle
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Name: InteractiveMarkers
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Show Axes: false
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Show Descriptions: true
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Show Visual Aids: false
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Value: true
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- Alpha: 1
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Class: rviz_default_plugins/RobotModel
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Collision Enabled: false
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Description File: ""
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Description Source: Topic
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Description Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /robot_description
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Enabled: true
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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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Value: true
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ee_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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fork0_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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fork1_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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fork2_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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main0_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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main1_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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tool0:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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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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Mass Properties:
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Inertia: false
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Mass: false
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Name: RobotModel
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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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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@ -414,7 +365,7 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 6.619869709014893
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Distance: 2.528358221054077
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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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@ -429,10 +380,10 @@ Visualization Manager:
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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: 0.5753980875015259
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Pitch: 0.5803980827331543
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 1.1453965902328491
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Yaw: 1.0903966426849365
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Saved: ~
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Window Geometry:
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Displays:
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@ -440,7 +391,7 @@ Window Geometry:
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Height: 1385
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 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QMainWindow State: 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Selection:
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collapsed: false
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Tool Properties:
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@ -450,5 +401,5 @@ Window Geometry:
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Views:
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collapsed: false
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Width: 2307
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X: 436
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Y: 66
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X: 507
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Y: 315
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@ -1,4 +1,4 @@
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from launch import LaunchDescription
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from launch import LaunchDescription, condition
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from launch.actions import (
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DeclareLaunchArgument,
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IncludeLaunchDescription,
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@ -141,6 +141,16 @@ def generate_launch_description():
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default_value="gazebo",
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description="Choose your harware_interface")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_controllers",
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default_value="true",
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description="Launch controllers?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("gazebo_gui",
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default_value="false",
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description="Launch gazebo with gui?")
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)
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# Initialize Arguments
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rbs_robot_type = LaunchConfiguration("rbs_robot_type")
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# General arguments
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@ -163,7 +173,8 @@ def generate_launch_description():
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sim_gazebo = LaunchConfiguration("sim_gazebo")
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hardware = LaunchConfiguration("hardware")
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env_manager = LaunchConfiguration("env_manager")
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launch_controllers = LaunchConfiguration("launch_controllers")
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gazebo_gui = LaunchConfiguration("gazebo_gui")
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initial_joint_controllers_file_path = PathJoinSubstitution(
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[FindPackageShare(description_package), "config", controllers_file]
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@ -241,7 +252,8 @@ def generate_launch_description():
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'initial_joint_controller': initial_joint_controller,
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'controllers_file': controllers_file,
|
||||
"cartesian_controllers": cartesian_controllers
|
||||
}.items())
|
||||
}.items(),
|
||||
condition=IfCondition(launch_controllers))
|
||||
|
||||
simulation = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource([
|
||||
|
|
@ -253,8 +265,10 @@ def generate_launch_description():
|
|||
]),
|
||||
launch_arguments={
|
||||
'sim_gazebo': sim_gazebo,
|
||||
'gazebo_gui': gazebo_gui,
|
||||
'rbs_robot_type': rbs_robot_type,
|
||||
'env_manager': env_manager
|
||||
'env_manager': env_manager,
|
||||
'debugger': "false"
|
||||
}.items(),
|
||||
condition=IfCondition(launch_simulation))
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue