Panels:
  - Class: rviz_common/Displays
    Help Height: 87
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /TF1
        - /TF1/Frames1
      Splitter Ratio: 0.49496981501579285
    Tree Height: 778
  - 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
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
    - Class: rviz_default_plugins/MarkerArray
      Enabled: true
      Name: MarkerArray
      Namespaces:
        {}
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /display_contacts
      Value: true
    - Class: moveit_rviz_plugin/PlanningScene
      Enabled: true
      Move Group Namespace: ""
      Name: PlanningScene
      Planning Scene Topic: /monitored_planning_scene
      Robot Description: robot_description
      Scene Geometry:
        Scene Alpha: 0.8999999761581421
        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
          base:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          base_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          base_link_inertia:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          box1_place:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          box2_place:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          box3_place:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          box4_place:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          box5_place:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          box6_place:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          flange:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          forearm_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          ft_frame:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          inner_rgbd_camera:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          outer_rgbd_camera:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          robotiq_85_base_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          robotiq_85_left_finger_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          robotiq_85_left_finger_tip_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          robotiq_85_left_inner_knuckle_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          robotiq_85_left_knuckle_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          robotiq_85_right_finger_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          robotiq_85_right_finger_tip_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          robotiq_85_right_inner_knuckle_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          robotiq_85_right_knuckle_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          robotiq_grasp_point:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          shoulder_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          tool0:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          upper_arm_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          world:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          wrist_1_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          wrist_2_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          wrist_3_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
        Robot Alpha: 1
        Show Robot Collision: false
        Show Robot Visual: true
      Value: true
    - Class: rviz_default_plugins/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: false
        base:
          Value: false
        base_link:
          Value: false
        base_link_inertia:
          Value: false
        box1:
          Value: false
        box1_place:
          Value: false
        box2:
          Value: false
        box2_place:
          Value: false
        box3:
          Value: false
        box3_place:
          Value: false
        box4:
          Value: false
        box4_place:
          Value: false
        box5:
          Value: false
        box5_place:
          Value: false
        box6:
          Value: false
        box6_place:
          Value: false
        flange:
          Value: false
        forearm_link:
          Value: false
        fork_gt:
          Value: true
        ft_frame:
          Value: false
        inner_rgbd_camera:
          Value: false
        outer_rgbd_camera:
          Value: false
        robotiq_85_base_link:
          Value: false
        robotiq_85_left_finger_link:
          Value: false
        robotiq_85_left_finger_tip_link:
          Value: false
        robotiq_85_left_inner_knuckle_link:
          Value: false
        robotiq_85_left_knuckle_link:
          Value: false
        robotiq_85_right_finger_link:
          Value: false
        robotiq_85_right_finger_tip_link:
          Value: false
        robotiq_85_right_inner_knuckle_link:
          Value: false
        robotiq_85_right_knuckle_link:
          Value: false
        robotiq_grasp_point:
          Value: false
        shoulder_link:
          Value: false
        tool0:
          Value: false
        upper_arm_link:
          Value: false
        world:
          Value: false
        wrist_1_link:
          Value: false
        wrist_2_link:
          Value: false
        wrist_3_link:
          Value: false
      Marker Scale: 0.4000000059604645
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: false
      Tree:
        world:
          base_link:
            base:
              {}
            base_link_inertia:
              shoulder_link:
                upper_arm_link:
                  forearm_link:
                    wrist_1_link:
                      wrist_2_link:
                        wrist_3_link:
                          flange:
                            tool0:
                              inner_rgbd_camera:
                                {}
                              robotiq_85_base_link:
                                robotiq_85_left_inner_knuckle_link:
                                  {}
                                robotiq_85_left_knuckle_link:
                                  robotiq_85_left_finger_link:
                                    robotiq_85_left_finger_tip_link:
                                      {}
                                robotiq_85_right_inner_knuckle_link:
                                  {}
                                robotiq_85_right_knuckle_link:
                                  robotiq_85_right_finger_link:
                                    robotiq_85_right_finger_tip_link:
                                      {}
                                robotiq_grasp_point:
                                  {}
                          ft_frame:
                            {}
          box1:
            {}
          box1_place:
            {}
          box2:
            {}
          box2_place:
            {}
          box3:
            {}
          box3_place:
            {}
          box4:
            {}
          box4_place:
            {}
          box5:
            {}
          box5_place:
            {}
          box6:
            {}
          box6_place:
            {}
          fork_gt:
            {}
          outer_rgbd_camera:
            {}
      Update Interval: 0
      Value: true
    - Class: moveit_rviz_plugin/Trajectory
      Color Enabled: false
      Enabled: true
      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
        base:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link_inertia:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        box1_place:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        box2_place:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        box3_place:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        box4_place:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        box5_place:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        box6_place:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        flange:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        forearm_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        ft_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        inner_rgbd_camera:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        outer_rgbd_camera:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        robotiq_85_base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        robotiq_85_left_finger_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        robotiq_85_left_finger_tip_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        robotiq_85_left_inner_knuckle_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        robotiq_85_left_knuckle_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        robotiq_85_right_finger_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        robotiq_85_right_finger_tip_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        robotiq_85_right_inner_knuckle_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        robotiq_85_right_knuckle_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        robotiq_grasp_point:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        shoulder_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        tool0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        upper_arm_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        world:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        wrist_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wrist_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wrist_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Loop Animation: false
      Name: Trajectory
      Robot Alpha: 0.5
      Robot Color: 150; 50; 150
      Robot Description: robot_description
      Show Robot Collision: false
      Show Robot Visual: true
      Show Trail: false
      State Display Time: 3x
      Trail Step Size: 1
      Trajectory Topic: /display_planned_path
      Use Sim Time: false
      Value: true
  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
    - 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
  Transformation:
    Current:
      Class: rviz_default_plugins/TF
  Value: true
  Views:
    Current:
      Class: rviz_default_plugins/Orbit
      Distance: 6.619869709014893
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.2489434778690338
        Y: -0.013962505385279655
        Z: 0.13800443708896637
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.4353981614112854
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 2.2503976821899414
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1016
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 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
  Selection:
    collapsed: false
  Tool Properties:
    collapsed: false
  Trajectory - Trajectory Slider:
    collapsed: false
  Views:
    collapsed: false
  Width: 1850
  X: 70
  Y: 27