Panels:
  - Class: rviz_common/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /Odometry1
        - /LaserScan1/Topic1
        - /GripperCam1
        - /RobotModel1
      Splitter Ratio: 0.5
    Tree Height: 836
  - 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
  - Class: rviz_common/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: PointCloud
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:
        A:
          Value: true
        All Enabled: true
        B:
          Value: true
        C:
          Value: true
        Image1:
          Value: true
        Image2:
          Value: true
        Image3:
          Value: true
        P:
          Value: true
        PlaceBox:
          Value: true
        SpotArm:
          Value: true
        T1:
          Value: true
        T2:
          Value: true
        T3:
          Value: true
        Velodyne_Puck:
          Value: true
        accelerometer:
          Value: true
        base_footprint:
          Value: true
        base_link:
          Value: true
        cap screw:
          Value: true
        cap screw(1):
          Value: true
        cap screw(10):
          Value: true
        cap screw(11):
          Value: true
        cap screw(12):
          Value: true
        cap screw(13):
          Value: true
        cap screw(14):
          Value: true
        cap screw(15):
          Value: true
        cap screw(16):
          Value: true
        cap screw(17):
          Value: true
        cap screw(18):
          Value: true
        cap screw(19):
          Value: true
        cap screw(2):
          Value: true
        cap screw(3):
          Value: true
        cap screw(4):
          Value: true
        cap screw(5):
          Value: true
        cap screw(6):
          Value: true
        cap screw(7):
          Value: true
        cap screw(8):
          Value: true
        cap screw(9):
          Value: true
        front:
          Value: true
        front left forearm:
          Value: true
        front left shoulder:
          Value: true
        front left touch sensor:
          Value: true
        front left upperarm:
          Value: true
        front right forearm:
          Value: true
        front right shoulder:
          Value: true
        front right touch sensor:
          Value: true
        front right upperarm:
          Value: true
        gps:
          Value: true
        gripper_centre:
          Value: true
        gripper_left_finger_link:
          Value: true
        gripper_right_finger_link:
          Value: true
        gyro:
          Value: true
        inertial unit:
          Value: true
        kinect color:
          Value: true
        kinect range:
          Value: true
        left bottom led:
          Value: true
        left flank camera:
          Value: true
        left flank depth:
          Value: true
        left head camera:
          Value: true
        left head depth:
          Value: true
        left middle down led:
          Value: true
        left middle up led:
          Value: true
        left top led:
          Value: true
        odom:
          Value: true
        rear camera:
          Value: true
        rear depth:
          Value: true
        rear left forearm:
          Value: true
        rear left shoulder:
          Value: true
        rear left touch sensor:
          Value: true
        rear left upperarm:
          Value: true
        rear right forearm:
          Value: true
        rear right shoulder:
          Value: true
        rear right touch sensor:
          Value: true
        rear right upperarm:
          Value: true
        right bottom led:
          Value: true
        right flank camera:
          Value: true
        right flank depth:
          Value: true
        right head camera:
          Value: true
        right head depth:
          Value: true
        right middle down led:
          Value: true
        right middle up led:
          Value: true
        right top led:
          Value: true
        solid:
          Value: true
        solid_0:
          Value: true
        solid_1:
          Value: true
        solid_2:
          Value: true
        solid_3:
          Value: true
        spotarm_link1:
          Value: true
        spotarm_link2:
          Value: true
        spotarm_link3:
          Value: true
        spotarm_link4:
          Value: true
        spotarm_link5:
          Value: true
        spotarm_link6:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: false
      Tree:
        odom:
          A:
            {}
          B:
            {}
          C:
            {}
          Image1:
            {}
          Image2:
            {}
          Image3:
            {}
          P:
            {}
          PlaceBox:
            {}
          T1:
            {}
          T2:
            {}
          T3:
            {}
          base_link:
            SpotArm:
              spotarm_link1:
                spotarm_link2:
                  spotarm_link3:
                    spotarm_link4:
                      spotarm_link5:
                        spotarm_link6:
                          front:
                            cap screw:
                              {}
                            cap screw(1):
                              {}
                            cap screw(10):
                              {}
                            cap screw(11):
                              {}
                            cap screw(12):
                              {}
                            cap screw(13):
                              {}
                            cap screw(14):
                              {}
                            cap screw(15):
                              {}
                            cap screw(16):
                              {}
                            cap screw(17):
                              {}
                            cap screw(18):
                              {}
                            cap screw(19):
                              {}
                            cap screw(2):
                              {}
                            cap screw(3):
                              {}
                            cap screw(4):
                              {}
                            cap screw(5):
                              {}
                            cap screw(6):
                              {}
                            cap screw(7):
                              {}
                            cap screw(8):
                              {}
                            cap screw(9):
                              {}
                            gripper_centre:
                              {}
                            gripper_left_finger_link:
                              {}
                            gripper_right_finger_link:
                              {}
            Velodyne_Puck:
              {}
            accelerometer:
              {}
            base_footprint:
              {}
            front left shoulder:
              front left upperarm:
                front left forearm:
                  front left touch sensor:
                    {}
                solid_3:
                  {}
            front right shoulder:
              front right upperarm:
                front right forearm:
                  front right touch sensor:
                    {}
                solid_2:
                  {}
            gps:
              {}
            gyro:
              {}
            inertial unit:
              {}
            left bottom led:
              {}
            left flank camera:
              {}
            left flank depth:
              {}
            left head camera:
              {}
            left head depth:
              {}
            left middle down led:
              {}
            left middle up led:
              {}
            left top led:
              {}
            rear camera:
              {}
            rear depth:
              {}
            rear left shoulder:
              rear left upperarm:
                rear left forearm:
                  rear left touch sensor:
                    {}
                solid_1:
                  {}
            rear right shoulder:
              rear right upperarm:
                rear right forearm:
                  rear right touch sensor:
                    {}
                solid_0:
                  {}
            right bottom led:
              {}
            right flank camera:
              {}
            right flank depth:
              {}
            right head camera:
              {}
            right head depth:
              {}
            right middle down led:
              {}
            right middle up led:
              {}
            right top led:
              {}
            solid:
              kinect color:
                {}
              kinect range:
                {}
      Update Interval: 0
      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_default_plugins/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: PointCloud
      Position Transformer: XYZ
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /Spot/Velodyne_Puck/point_cloud
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Angle Tolerance: 0.10000000149011612
      Class: rviz_default_plugins/Odometry
      Covariance:
        Orientation:
          Alpha: 0.5
          Color: 255; 255; 127
          Color Style: Unique
          Frame: Local
          Offset: 1
          Scale: 1
          Value: true
        Position:
          Alpha: 0.30000001192092896
          Color: 204; 51; 204
          Scale: 1
          Value: true
        Value: true
      Enabled: true
      Keep: 100
      Name: Odometry
      Position Tolerance: 0.10000000149011612
      Shape:
        Alpha: 1
        Axes Length: 1
        Axes Radius: 0.10000000149011612
        Color: 255; 25; 0
        Head Length: 0.30000001192092896
        Head Radius: 0.10000000149011612
        Shaft Length: 1
        Shaft Radius: 0.05000000074505806
        Value: Arrow
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /Spot/odometry
      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_default_plugins/LaserScan
      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: LaserScan
      Position Transformer: XYZ
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Best Effort
        Value: /scan
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz_default_plugins/Image
      Enabled: false
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: GripperCam
      Normalize Range: true
      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: Reliable
        Value: /SpotArm/gripper_camera/image_color
      Value: false
    - 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
        Link Tree Style: Links in Alphabetic Order
        SpotArm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Velodyne_Puck:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        accelerometer:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        cap screw:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(1):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(10):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(11):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(12):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(13):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(14):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(15):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(16):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(17):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(18):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(19):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(2):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(3):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(4):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(5):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(6):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(7):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(8):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cap screw(9):
          Alpha: 1
          Show Axes: false
          Show Trail: false
        front:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front left forearm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front left shoulder:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front left touch sensor:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        front left upperarm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front right forearm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front right shoulder:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front right touch sensor:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        front right upperarm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gps:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        gripper_centre:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_left_finger_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_right_finger_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gyro:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        inertial unit:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        kinect color:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        kinect range:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left bottom led:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left flank camera:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left flank depth:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left head camera:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left head depth:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left middle down led:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left middle up led:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        left top led:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rear camera:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rear depth:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rear left forearm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        rear left shoulder:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        rear left touch sensor:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rear left upperarm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        rear right forearm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        rear right shoulder:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        rear right touch sensor:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rear right upperarm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right bottom led:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right flank camera:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right flank depth:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right head camera:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right head depth:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right middle down led:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right middle up led:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right top led:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        solid:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        solid_0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        solid_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        solid_2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        solid_3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        spotarm_link1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        spotarm_link2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        spotarm_link3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        spotarm_link4:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        spotarm_link5:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        spotarm_link6:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Mass Properties:
        Inertia: false
        Mass: false
      Name: RobotModel
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: base_footprint
    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: 19.86827278137207
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: -1.9956724643707275
        Y: -0.7808008790016174
        Z: 0.5836658477783203
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.7247973084449768
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 3.1554017066955566
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  GripperCam:
    collapsed: false
  Height: 1136
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd000000040000000000000244000003d0fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e000003d0000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000341000000cd0000000000000000fb00000014004700720069007000700065007200430061006d0000000341000000cd0000000000000000fb00000014004700720069007000700065007200430061006d0000000341000000cd0000002800ffffff000000010000010f000003d0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003e000003d0000000a600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000024600fffffffb0000000800540069006d0065010000000000000450000000000000000000000421000003d000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1920
  X: 0
  Y: 27