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stephanie-engschornakjhenningkayserAndyZeAndyZe
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MoveIt Task Constructor Tutorial (#300)
* Initial commit for MTC Tutorial * add updated source code for MTC tutorial package * Updates to tutorial code and added tutorial text explaining the code * Typo fixes, formatting fixes, and clarifications Co-authored-by: Henning Kayser <[email protected]> * Added a reference to the concepts section of the MTC example page * Apply suggestions from code review Co-authored-by: AndyZe <[email protected]> * Add comment about grasp_frame_transform * Add note that the SerialContainer is optional * Disabled clang-format on intentionally-shortened lines for better viewing without needing to scroll * Updates .repos * Add hints about several non-intuitive features * Update panda controllers filenames * Formatting fix Co-authored-by: Joe Schornak <[email protected]> Co-authored-by: Henning Kayser <[email protected]> Co-authored-by: AndyZe <[email protected]> Co-authored-by: AndyZe <[email protected]>
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‎CMakeLists.txt‎

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@@ -10,6 +10,7 @@ find_package(Boost REQUIRED system filesystem date_time thread)
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find_package(ament_cmake REQUIRED)
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find_package(control_msgs REQUIRED)
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find_package(moveit_core REQUIRED)
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find_package(moveit_task_constructor_core REQUIRED)
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find_package(moveit_ros_planning REQUIRED)
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find_package(moveit_ros_planning_interface REQUIRED)
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find_package(moveit_ros_perception REQUIRED)
@@ -50,11 +51,13 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
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Boost
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control_msgs
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moveit_servo
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moveit_task_constructor_core
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)
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include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
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add_subdirectory(doc/tutorials/quickstart_in_rviz)
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add_subdirectory(doc/tutorials/pick_and_place_with_moveit_task_constructor)
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# add_subdirectory(doc/examples/controller_configuration)
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# add_subdirectory(doc/examples/interactivity)
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# add_subdirectory(doc/examples/kinematics)

‎_static/videos/mtc.webm‎

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‎conf.py‎

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+ "melodic-devel"
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+ "/%s",
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"",
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),
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"moveit_resources_codedir": (
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"https://github.com/"
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+ html_context["github_user"]
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+ "/moveit_resources/tree/ros2"
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+ "/%s",
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"",
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), # TODO(dlu): use ros_distro when noetic-devel branch is available
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# NEED DOCS.ROS.ORG equivalent for foxy
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"ros_documentation": (

‎doc/examples/moveit_task_constructor/moveit_task_constructor_tutorial.rst‎

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@@ -63,6 +63,8 @@ shown in the right-most window. Selecting one of those solutions will start its
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.. image:: mtc_show_stages.gif
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:width: 700px
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.. _moveit_task_constructor_concepts:
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Basic Concepts
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--------------
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‎doc/tutorials/pick_and_place_with_moveit_task_constructor/CMakeLists.txt‎

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add_executable(mtc_tutorial src/main.cpp)
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target_compile_options(mtc_tutorial PUBLIC -g -O0)
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ament_target_dependencies(mtc_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS})
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add_executable(minimal_mtc_tutorial src/minimal.cpp)
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target_compile_options(minimal_mtc_tutorial PUBLIC -g -O0)
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ament_target_dependencies(minimal_mtc_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS})
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install(TARGETS mtc_tutorial minimal_mtc_tutorial
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY launch
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DESTINATION share/${PROJECT_NAME}
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)

‎doc/tutorials/pick_and_place_with_moveit_task_constructor/first_launch.png‎

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‎doc/tutorials/pick_and_place_with_moveit_task_constructor/first_stages.png‎

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‎doc/tutorials/pick_and_place_with_moveit_task_constructor/launch/mtc.rviz‎

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Panels:
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- Class: rviz_common/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /Motion Planning Tasks1
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- /PlanningScene1
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Splitter Ratio: 0.5
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Tree Height: 439
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /2D Goal Pose1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: moveit_task_constructor/Motion Planning Tasks
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Global Settings:
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Task View Settings:
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Show Computation Times: true
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Task Expansion: All Expanded
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Name: Motion Planning Tasks
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Tasks View:
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property_splitter:
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- 197
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- 121
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solution_sorting:
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column: 0
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order: 1
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solutions_splitter:
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- 397
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- 198
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solutions_view_columns: ~
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tasks_view_columns:
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- 295
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- 26
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- 26
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- 48
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: moveit_task_constructor/Motion Planning Tasks
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Enabled: true
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Interrupt Display: false
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Loop Animation: false
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Markers:
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All at once?: false
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Value: true
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Name: Motion Planning Tasks
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Robot:
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Fixed Robot Color: 150; 50; 150
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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panda_hand:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_leftfinger:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link0:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link7:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link8:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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panda_rightfinger:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Robot Alpha: 0.5
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Show Robot Collision: false
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Show Robot Visual: true
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Use Fixed Robot Color: false
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Value: ""
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Robot Description: robot_description
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Scene:
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Attached Body Color: 150; 50; 150
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Scene Alpha: 0.8999999761581421
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Scene Color: 50; 230; 50
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Value: true
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Voxel Coloring: Z-Axis
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Voxel Rendering: Occupied Voxels
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Show Trail: false
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State Display Time: 0.05 s
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Task Solution Topic: /solution
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Tasks:
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Cartesian Path: 0
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Trail Step Size: 1
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Value: true
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- Class: moveit_rviz_plugin/PlanningScene
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Enabled: true
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Move Group Namespace: ""
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Name: PlanningScene
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Planning Scene Topic: /monitored_planning_scene
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Robot Description: robot_description
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Scene Geometry:
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Scene Alpha: 0.8999999761581421
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Scene Color: 50; 230; 50
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Scene Display Time: 0.009999999776482582
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Show Scene Geometry: true
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Voxel Coloring: Z-Axis
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Voxel Rendering: Occupied Voxels
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Scene Robot:
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Attached Body Color: 150; 50; 150
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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panda_hand:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_leftfinger:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link0:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link7:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link8:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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panda_rightfinger:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Robot Alpha: 1
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Show Robot Collision: false
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Show Robot Visual: true
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: panda_link0
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/Interact
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Hide Inactive Objects: true
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /initialpose
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- Class: rviz_default_plugins/SetGoal
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /goal_pose
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /clicked_point
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 3.8008623123168945
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.645397961139679
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 0.7453980445861816
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1043
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Hide Left Dock: false
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Hide Right Dock: false
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Motion Planning Tasks:
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collapsed: false
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Motion Planning Tasks - Slider:
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collapsed: false
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QMainWindow State: 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Selection:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1920
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X: 0
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Y: 0

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