Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
      Splitter Ratio: 0.5
    Tree Height: 555
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/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
    - Alpha: 0.699999988079071
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        ARM:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        All Links Enabled: true
        ELBOW:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        FOREARM:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Link Tree Style: Links in Alphabetic Order
        SHOULDER:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        WRIST_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        WRIST_2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        arm_base:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        arm_base_inertia:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base:
          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: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        ARM:
          Value: true
        All Enabled: true
        ELBOW:
          Value: true
        FOREARM:
          Value: true
        SHOULDER:
          Value: true
        WRIST_1:
          Value: true
        WRIST_2:
          Value: true
        arm_base:
          Value: true
        arm_base_inertia:
          Value: true
        base:
          Value: true
        command:
          Value: true
        world:
          Value: true
      Marker Alpha: 1
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        world:
          base:
            arm_base:
              SHOULDER:
                ARM:
                  ELBOW:
                    FOREARM:
                      WRIST_1:
                        WRIST_2:
                          {}
              arm_base_inertia:
                {}
          command:
            {}
      Update Interval: 0
      Value: true
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: /mobile_manipulator/optimizedStateTrajectory
      Name: MarkerArray
      Namespaces:
        Base Trajectory: true
        EE Trajectory: true
      Queue Size: 100
      Value: true
    - Alpha: 1
      Arrow Length: 0.30000001192092896
      Axes Length: 0.10000000149011612
      Axes Radius: 0.009999999776482582
      Class: rviz/PoseArray
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.07000000029802322
      Head Radius: 0.029999999329447746
      Name: PoseArray
      Queue Size: 10
      Shaft Length: 0.23000000417232513
      Shaft Radius: 0.009999999776482582
      Shape: Axes
      Topic: /mobile_manipulator/optimizedPoseTrajectory
      Unreliable: false
      Value: true
    - Class: rviz/InteractiveMarkers
      Enable Transparency: true
      Enabled: true
      Name: InteractiveMarkers
      Show Axes: false
      Show Descriptions: true
      Show Visual Aids: false
      Update Topic: /simple_marker/update
      Value: true
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: /distance_markers
      Name: MarkerArray
      Namespaces:
        1 - 4: true
        1 - 6: true
      Queue Size: 100
      Value: true
  Enabled: true
  Global Options:
    Background Color: 186; 189; 182
    Default Light: true
    Fixed Frame: world
    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
      Theta std deviation: 0.2617993950843811
      Topic: /initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - 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: 5.996953964233398
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Field of View: 0.7853981852531433
      Focal Point:
        X: 0
        Y: 0
        Z: 0
      Focal Shape Fixed Size: false
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.4003985524177551
      Target Frame: <Fixed Frame>
      Yaw: 0.44039851427078247
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 846
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024400fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1200
  X: 720
  Y: 280