Panels:
  - Class: rviz_common/Displays
    Help Height: 138
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /TF1
        - /TF1/Tree1
        - /RobotModel1
        - /PlanningScene1
        - /PlanningScene1/Scene Geometry1
        - /RobotState1
        - /RobotState1/Links1
      Splitter Ratio: 0.5
    Tree Height: 275
  - 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/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: false
        Gripper1_device_link:
          Value: false
        Gripper1_first_link:
          Value: true
        Gripper1_fourth_link:
          Value: false
        Gripper1_main_link:
          Value: false
        Gripper1_second_link:
          Value: false
        Gripper1_socketTypeGenericSbsFootprint:
          Value: false
        Gripper1_socketTypeHEPAModule:
          Value: false
        Gripper1_third_link:
          Value: false
        Plate1:
          Value: false
        Plate1_A1:
          Value: false
        Plate1_A10:
          Value: false
        Plate1_A11:
          Value: false
        Plate1_A12:
          Value: false
        Plate1_A2:
          Value: false
        Plate1_A3:
          Value: false
        Plate1_A4:
          Value: false
        Plate1_A5:
          Value: false
        Plate1_A6:
          Value: false
        Plate1_A7:
          Value: false
        Plate1_A8:
          Value: false
        Plate1_A9:
          Value: false
        Plate1_B1:
          Value: false
        Plate1_B10:
          Value: false
        Plate1_B11:
          Value: false
        Plate1_B12:
          Value: false
        Plate1_B2:
          Value: false
        Plate1_B3:
          Value: false
        Plate1_B4:
          Value: false
        Plate1_B5:
          Value: false
        Plate1_B6:
          Value: false
        Plate1_B7:
          Value: false
        Plate1_B8:
          Value: false
        Plate1_B9:
          Value: false
        Plate1_C1:
          Value: false
        Plate1_C10:
          Value: false
        Plate1_C11:
          Value: false
        Plate1_C12:
          Value: false
        Plate1_C2:
          Value: false
        Plate1_C3:
          Value: false
        Plate1_C4:
          Value: false
        Plate1_C5:
          Value: false
        Plate1_C6:
          Value: false
        Plate1_C7:
          Value: false
        Plate1_C8:
          Value: false
        Plate1_C9:
          Value: false
        Plate1_D1:
          Value: false
        Plate1_D10:
          Value: false
        Plate1_D11:
          Value: false
        Plate1_D12:
          Value: false
        Plate1_D2:
          Value: false
        Plate1_D3:
          Value: false
        Plate1_D4:
          Value: false
        Plate1_D5:
          Value: false
        Plate1_D6:
          Value: false
        Plate1_D7:
          Value: false
        Plate1_D8:
          Value: false
        Plate1_D9:
          Value: false
        Plate1_E1:
          Value: false
        Plate1_E10:
          Value: false
        Plate1_E11:
          Value: false
        Plate1_E12:
          Value: false
        Plate1_E2:
          Value: false
        Plate1_E3:
          Value: false
        Plate1_E4:
          Value: false
        Plate1_E5:
          Value: false
        Plate1_E6:
          Value: false
        Plate1_E7:
          Value: false
        Plate1_E8:
          Value: false
        Plate1_E9:
          Value: false
        Plate1_F1:
          Value: false
        Plate1_F10:
          Value: false
        Plate1_F11:
          Value: false
        Plate1_F12:
          Value: false
        Plate1_F2:
          Value: false
        Plate1_F3:
          Value: false
        Plate1_F4:
          Value: false
        Plate1_F5:
          Value: false
        Plate1_F6:
          Value: false
        Plate1_F7:
          Value: false
        Plate1_F8:
          Value: false
        Plate1_F9:
          Value: false
        Plate1_G1:
          Value: false
        Plate1_G10:
          Value: false
        Plate1_G11:
          Value: false
        Plate1_G12:
          Value: false
        Plate1_G2:
          Value: false
        Plate1_G3:
          Value: false
        Plate1_G4:
          Value: false
        Plate1_G5:
          Value: false
        Plate1_G6:
          Value: false
        Plate1_G7:
          Value: false
        Plate1_G8:
          Value: false
        Plate1_G9:
          Value: false
        Plate1_H1:
          Value: false
        Plate1_H10:
          Value: false
        Plate1_H11:
          Value: false
        Plate1_H12:
          Value: false
        Plate1_H2:
          Value: false
        Plate1_H3:
          Value: false
        Plate1_H4:
          Value: false
        Plate1_H5:
          Value: false
        Plate1_H6:
          Value: false
        Plate1_H7:
          Value: false
        Plate1_H8:
          Value: false
        Plate1_H9:
          Value: false
        world:
          Value: false
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        world:
          Gripper1_device_link:
            Gripper1_main_link:
              Gripper1_first_link:
                Gripper1_second_link:
                  Gripper1_fourth_link:
                    {}
                  Gripper1_third_link:
                    {}
                Plate1_C6:
                  {}
              Gripper1_socketTypeGenericSbsFootprint:
                {}
              Gripper1_socketTypeHEPAModule:
                {}
            Plate1:
              Plate1_A1:
                {}
              Plate1_A10:
                {}
              Plate1_A11:
                {}
              Plate1_A12:
                {}
              Plate1_A2:
                {}
              Plate1_A3:
                {}
              Plate1_A4:
                {}
              Plate1_A5:
                {}
              Plate1_A6:
                {}
              Plate1_A7:
                {}
              Plate1_A8:
                {}
              Plate1_A9:
                {}
              Plate1_B1:
                {}
              Plate1_B10:
                {}
              Plate1_B11:
                {}
              Plate1_B12:
                {}
              Plate1_B2:
                {}
              Plate1_B3:
                {}
              Plate1_B4:
                {}
              Plate1_B5:
                {}
              Plate1_B6:
                {}
              Plate1_B7:
                {}
              Plate1_B8:
                {}
              Plate1_B9:
                {}
              Plate1_C1:
                {}
              Plate1_C10:
                {}
              Plate1_C11:
                {}
              Plate1_C12:
                {}
              Plate1_C2:
                {}
              Plate1_C3:
                {}
              Plate1_C4:
                {}
              Plate1_C7:
                {}
              Plate1_C8:
                {}
              Plate1_C9:
                {}
              Plate1_D1:
                {}
              Plate1_D10:
                {}
              Plate1_D11:
                {}
              Plate1_D12:
                {}
              Plate1_D2:
                {}
              Plate1_D3:
                {}
              Plate1_D4:
                {}
              Plate1_D5:
                {}
              Plate1_D6:
                {}
              Plate1_D7:
                {}
              Plate1_D8:
                {}
              Plate1_D9:
                {}
              Plate1_E1:
                {}
              Plate1_E10:
                {}
              Plate1_E11:
                {}
              Plate1_E12:
                {}
              Plate1_E2:
                {}
              Plate1_E3:
                {}
              Plate1_E4:
                {}
              Plate1_E5:
                {}
              Plate1_E6:
                {}
              Plate1_E7:
                {}
              Plate1_E8:
                {}
              Plate1_E9:
                {}
              Plate1_F1:
                {}
              Plate1_F10:
                {}
              Plate1_F11:
                {}
              Plate1_F12:
                {}
              Plate1_F2:
                {}
              Plate1_F3:
                {}
              Plate1_F4:
                {}
              Plate1_F5:
                {}
              Plate1_F6:
                {}
              Plate1_F7:
                {}
              Plate1_F8:
                {}
              Plate1_F9:
                {}
              Plate1_G1:
                {}
              Plate1_G10:
                {}
              Plate1_G11:
                {}
              Plate1_G12:
                {}
              Plate1_G2:
                {}
              Plate1_G3:
                {}
              Plate1_G4:
                {}
              Plate1_G5:
                {}
              Plate1_G6:
                {}
              Plate1_G7:
                {}
              Plate1_G8:
                {}
              Plate1_G9:
                {}
              Plate1_H1:
                {}
              Plate1_H10:
                {}
              Plate1_H11:
                {}
              Plate1_H12:
                {}
              Plate1_H2:
                {}
              Plate1_H3:
                {}
              Plate1_H4:
                {}
              Plate1_H5:
                {}
              Plate1_H6:
                {}
              Plate1_H7:
                {}
              Plate1_H8:
                {}
              Plate1_H9:
                {}
            Plate1_C5:
              {}
      Update Interval: 0
      Value: true
    - Alpha: 1
      Class: rviz_default_plugins/RobotModel
      Collision Enabled: false
      Description File: ""
      Description Source: Topic
      Description Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /robot_description
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Gripper1_device_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        Gripper1_first_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Gripper1_fourth_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Gripper1_main_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Gripper1_second_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Gripper1_socketTypeGenericSbsFootprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        Gripper1_socketTypeHEPAModule:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        Gripper1_third_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Link Tree Style: Links in Alphabetic Order
        world:
          Alpha: 1
          Show Axes: false
          Show Trail: false
      Mass Properties:
        Inertia: false
        Mass: false
      Name: RobotModel
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: moveit_rviz_plugin/PlanningScene
      Enabled: false
      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
          Gripper1_device_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          Gripper1_first_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          Gripper1_fourth_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          Gripper1_main_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          Gripper1_second_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          Gripper1_socketTypeGenericSbsFootprint:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          Gripper1_socketTypeHEPAModule:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          Gripper1_third_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          Link Tree Style: Links in Alphabetic Order
          world:
            Alpha: 1
            Show Axes: false
            Show Trail: false
        Robot Alpha: 1
        Show Robot Collision: false
        Show Robot Visual: false
      Value: false
    - Attached Body Color: 150; 50; 150
      Class: moveit_rviz_plugin/RobotState
      Collision Enabled: false
      Enabled: false
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Gripper1_device_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        Gripper1_first_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Gripper1_fourth_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Gripper1_main_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Gripper1_second_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Gripper1_socketTypeGenericSbsFootprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        Gripper1_socketTypeHEPAModule:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        Gripper1_third_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Link Tree Style: Links in Alphabetic Order
        world:
          Alpha: 1
          Show Axes: false
          Show Trail: false
      Name: RobotState
      Robot Alpha: 1
      Robot Description: robot_description
      Robot State Topic: display_robot_state
      Show All Links: true
      Show Highlights: true
      Value: false
      Visual Enabled: true
    - Acceleration_Scaling_Factor: 0.1
      Class: moveit_rviz_plugin/MotionPlanning
      Enabled: true
      Move Group Namespace: ""
      MoveIt_Allow_Approximate_IK: false
      MoveIt_Allow_External_Program: false
      MoveIt_Allow_Replanning: false
      MoveIt_Allow_Sensor_Positioning: false
      MoveIt_Planning_Attempts: 10
      MoveIt_Planning_Time: 5
      MoveIt_Use_Cartesian_Path: false
      MoveIt_Use_Constraint_Aware_IK: false
      MoveIt_Workspace:
        Center:
          X: 0
          Y: 0
          Z: 0
        Size:
          X: 2
          Y: 2
          Z: 2
      Name: MotionPlanning
      Planned Path:
        Color Enabled: false
        Interrupt Display: false
        Links:
          All Links Enabled: true
          Expand Joint Details: false
          Expand Link Details: false
          Expand Tree: false
          Gripper1_device_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          Gripper1_first_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          Gripper1_fourth_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          Gripper1_main_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          Gripper1_second_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          Gripper1_socketTypeGenericSbsFootprint:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          Gripper1_socketTypeHEPAModule:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          Gripper1_third_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          Link Tree Style: Links in Alphabetic Order
          world:
            Alpha: 1
            Show Axes: false
            Show Trail: false
        Loop Animation: false
        Robot Alpha: 0.5
        Robot Color: 150; 50; 150
        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
      Planning Metrics:
        Payload: 1
        Show Joint Torques: false
        Show Manipulability: false
        Show Manipulability Index: false
        Show Weight Limit: false
        TextHeight: 0.07999999821186066
      Planning Request:
        Colliding Link Color: 255; 0; 0
        Goal State Alpha: 1
        Goal State Color: 250; 128; 0
        Interactive Marker Size: 0
        Joint Violation Color: 255; 0; 255
        Planning Group: ""
        Query Goal State: true
        Query Start State: false
        Show Workspace: false
        Start State Alpha: 1
        Start State Color: 0; 255; 0
      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
          Gripper1_device_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          Gripper1_first_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          Gripper1_fourth_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          Gripper1_main_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          Gripper1_second_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          Gripper1_socketTypeGenericSbsFootprint:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          Gripper1_socketTypeHEPAModule:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          Gripper1_third_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          Link Tree Style: Links in Alphabetic Order
          world:
            Alpha: 1
            Show Axes: false
            Show Trail: false
        Robot Alpha: 1
        Show Robot Collision: false
        Show Robot Visual: true
      Value: true
      Velocity_Scaling_Factor: 0.1
  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: 1.49553644657135
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 1.2573390007019043
        Y: 1.1951926946640015
        Z: 0.23975235223770142
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.5797955989837646
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 6.250748634338379
    Saved: ~
Window Geometry:
  "":
    collapsed: false
  " - Trajectory Slider":
    collapsed: false
  Displays:
    collapsed: false
  Height: 1656
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd0000000400000000000003a3000005dcfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e0000020b0000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffbffffffff0100000285000003c5000002b700ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000627000005dc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 2518
  X: 125
  Y: 145