Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Footstep1
        - /Heigtmap1
      Splitter Ratio: 0.5
    Tree Height: 1099
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: CloseList
  - Class: jsk_rviz_plugin/RobotCommandInterfaceAction
    Name: RobotCommandInterfaceAction
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.03
        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/InteractiveMarkers
      Enable Transparency: true
      Enabled: true
      Name: InteractiveMarkers
      Show Axes: false
      Show Descriptions: true
      Show Visual Aids: false
      Update Topic: /footstep_marker/update
      Value: true
    - Alpha: 1
      Class: jsk_rviz_plugin/Footstep
      Enabled: true
      Name: Footstep
      Show Name: true
      Topic: /footstep_from_marker
      Use Group Coloring: false
      Value: true
      Width: 0.15
      depth: 0.3
      height: 0.01
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 1
        Min Value: -2
        Value: false
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 0; 255; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 0; 255; 0
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: CloseList
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.01
      Style: Flat Squares
      Topic: /footstep_planner/close_list
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 0; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: OpenList
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.01
      Style: Flat Squares
      Topic: /footstep_planner/open_list
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 0.5
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 1.86793
        Min Value: -0.461512
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 141; 141; 0
      Color Transformer: AxisColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: model
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.01
      Style: Flat Squares
      Topic: /accumulated_heightmap_pointcloud_static/output
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Background Alpha: 0.8
      Background Color: 0; 0; 0
      Class: jsk_rviz_plugin/OverlayText
      Enabled: true
      Foreground Alpha: 0.8
      Foreground Color: 25; 255; 240
      Name: PlanningText
      Overtake Color Properties: false
      Overtake Position Properties: false
      Topic: /footstep_planner/text
      Value: true
      font: DejaVu Sans Mono
      height: 128
      left: 0
      line width: 2
      text size: 12
      top: 0
      width: 128
    - Class: rviz/InteractiveMarkers
      Enable Transparency: true
      Enabled: false
      Name: urdf_marker
      Show Axes: false
      Show Descriptions: true
      Show Visual Aids: false
      Update Topic: /urdf_model_marker/update
      Value: false
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        BODY:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        CHEST_LINK0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        CHEST_LINK1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        CHEST_LINK2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        HEAD_LINK0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        HEAD_LINK1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LARM_LINK0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LARM_LINK1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LARM_LINK2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LARM_LINK3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LARM_LINK4:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LARM_LINK5:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LARM_LINK6:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LARM_LINK7:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LLEG_LINK0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LLEG_LINK1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LLEG_LINK2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LLEG_LINK3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LLEG_LINK4:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LLEG_LINK5:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        L_thk_finger1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        L_thk_finger2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        L_thk_palm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Link Tree Style: Links in Alphabetic Order
        RARM_LINK0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RARM_LINK1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RARM_LINK2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RARM_LINK3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RARM_LINK4:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RARM_LINK5:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RARM_LINK6:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RARM_LINK7:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RLEG_LINK0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RLEG_LINK1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RLEG_LINK2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RLEG_LINK3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RLEG_LINK4:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RLEG_LINK5:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        R_thk_finger1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        R_thk_finger2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        R_thk_palm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        accel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        center_bottom_led_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        center_top_led_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        fisheye:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        gyro:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        head:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        head_end_coords:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        head_hokuyo_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        head_root:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        hokuyo_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        larm_end_coords:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_camera_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_camera_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left_led_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        lfsensor:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        lhsensor:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        lleg_end_coords:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        mag:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        motor:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rarm_end_coords:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rfsensor:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rhsensor:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_camera_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_camera_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_led_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rleg_end_coords:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        spindle:
          Alpha: 1
          Show Axes: false
          Show Trail: false
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: jsk_rviz_plugin/TFTrajectory
      Enabled: true
      Name: TFTrajectory
      Value: true
      color: 25; 255; 240
      duration: 10
      frame: BODY
      line_width: 0.01
    - Alpha: 0.7
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: false
      Name: Map
      Topic: /map
      Value: false
    - Class: rviz/TF
      Enabled: false
      Frame Timeout: 15
      Frames:
        All Enabled: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        {}
      Update Interval: 0
      Value: false
    - Background Alpha: 0.8
      Background Color: 0; 0; 0
      Class: jsk_rviz_plugin/OverlayText
      Enabled: true
      Foreground Alpha: 0.8
      Foreground Color: 255; 255; 255
      Name: ControllerHelp
      Overtake Color Properties: true
      Overtake Position Properties: true
      Topic: /joy/usage
      Value: true
      font: DejaVu Sans Mono
      height: 200
      left: 10
      line width: 2
      text size: 12
      top: 900
      width: 500
    - Class: jsk_rviz_plugin/OverlayImage
      Enabled: true
      Name: Heigtmap
      Topic: /heightmap_visualization/accumulated/colorize_heightmap/output
      Value: true
      alpha: 0.8
      height: 128
      left: 0
      top: 750
      width: 128
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.01
      Style: Flat Squares
      Topic: /footstep_planner/obstacle_model
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: odom
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
    - Class: jsk_rviz_plugin/CloseAll
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 8.05609
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.870522
        Y: -0.862869
        Z: -0.75133
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 1.3198
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 3.34594
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1524
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd000000040000000000000224000004dafc0200000008fb0000001200530065006c0065006300740069006f006e00000000410000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000041000004da000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000551fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004100000551000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000500000000b5fc0100000002fc0000000000000500000002f600fffffffa000000000200000002fb000000360052006f0062006f00740043006f006d006d0061006e00640049006e00740065007200660061006300650041006300740069006f006e0100000000ffffffff0000004100fffffffb0000000800540069006d0065010000052c0000003e0000003b00fffffffb0000000800540069006d0065010000000000000450000000000000000000000500000004da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  RobotCommandInterfaceAction:
    collapsed: false
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1280
  X: -6
  Y: 24
