Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /RobotState1
      Splitter Ratio: 0.5
    Tree Height: 540
  - 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: ""
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
    - Attached Body Color: 150; 50; 150
      Class: moveit_rviz_plugin/RobotState
      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: RobotState
      Robot Alpha: 1
      Robot Description: robot_description
      Robot State Topic: /robot_state
      Show All Links: true
      Show Highlights: true
      Value: true
      Visual Enabled: 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
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 2.98168
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.265861
        Y: -0.254355
        Z: 0.927105
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.775398
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 1.1154
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 846
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd00000004000000000000013c000002abfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000002ab000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002abfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000041000002ab000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000036e000002ab00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1200
  X: 310
  Y: 223
