anels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Grid1/Offset1
        - /Sonar_Left1
        - /Sonar_Right1
        - /Image1
        - /Imu1
      Splitter Ratio: 0.476667
    Tree Height: 517
  - 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: true
    Name: Time
    SyncMode: 2
    SyncSource: Image
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 0.1
      Class: rviz/Grid
      Color: 141; 141; 141
      Enabled: true
      Line Style:
        Line Width: 0.03
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0.5
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 36
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        CameraBottom_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        CameraBottom_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        CameraTop_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        CameraTop_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ChestButton_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Head:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        HeadTouchFront_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        HeadTouchMiddle_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        HeadTouchRear_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ImuTorsoAccelerometer_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        ImuTorsoGyrometer_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LAnklePitch:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LBicep:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LElbow:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LFinger11_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger12_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger13_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger21_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger22_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFinger23_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFootBumperLeft_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LFootBumperRight_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LForeArm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LFsrFL_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LFsrFR_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LFsrRL_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LFsrRR_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LHandTouchBack_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LHandTouchLeft_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LHandTouchRight_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LHip:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LInfraRed_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LPelvis:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LShoulder:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LSonar_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        LThigh:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LThumb1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LThumb2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        LTibia:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        Link Tree Style: Links in Alphabetic Order
        Neck:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RAnklePitch:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RBicep:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RElbow:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        RFinger11_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger12_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger13_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger21_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger22_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFinger23_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFootBumperLeft_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        RFootBumperRight_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        RForeArm:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RFsrFL_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        RFsrFR_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        RFsrRL_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        RFsrRR_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        RHandTouchBack_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        RHandTouchLeft_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        RHandTouchRight_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        RHip:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RInfraRed_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        RPelvis:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RShoulder:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RSonar_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        RThigh:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RThumb1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RThumb2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        RTibia:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        gaze:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        l_ankle:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        l_gripper:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        l_sole:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        l_wrist:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_ankle:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        r_gripper:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        r_sole:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        r_wrist:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        torso:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 1500
      Frames:
        All Enabled: false
        CameraBottom_frame:
          Value: true
        CameraBottom_optical_frame:
          Value: true
        CameraTop_frame:
          Value: true
        CameraTop_optical_frame:
          Value: true
        ChestButton_frame:
          Value: true
        Head:
          Value: true
        HeadTouchFront_frame:
          Value: true
        HeadTouchMiddle_frame:
          Value: true
        HeadTouchRear_frame:
          Value: true
        ImuTorsoAccelerometer_frame:
          Value: true
        ImuTorsoGyrometer_frame:
          Value: true
        LAnklePitch:
          Value: true
        LBicep:
          Value: true
        LElbow:
          Value: true
        LFootBumperLeft_frame:
          Value: true
        LFootBumperRight_frame:
          Value: true
        LForeArm:
          Value: true
        LFsrFL_frame:
          Value: true
        LFsrFR_frame:
          Value: true
        LFsrRL_frame:
          Value: true
        LFsrRR_frame:
          Value: true
        LHandTouchBack_frame:
          Value: true
        LHandTouchLeft_frame:
          Value: true
        LHandTouchRight_frame:
          Value: true
        LHip:
          Value: true
        LInfraRed_frame:
          Value: true
        LPelvis:
          Value: true
        LShoulder:
          Value: true
        LSonar_frame:
          Value: true
        LThigh:
          Value: true
        LTibia:
          Value: true
        Neck:
          Value: true
        RAnklePitch:
          Value: true
        RBicep:
          Value: true
        RElbow:
          Value: true
        RFootBumperLeft_frame:
          Value: true
        RFootBumperRight_frame:
          Value: true
        RForeArm:
          Value: true
        RFsrFL_frame:
          Value: true
        RFsrFR_frame:
          Value: true
        RFsrRL_frame:
          Value: true
        RFsrRR_frame:
          Value: true
        RHandTouchBack_frame:
          Value: true
        RHandTouchLeft_frame:
          Value: true
        RHandTouchRight_frame:
          Value: true
        RHip:
          Value: true
        RInfraRed_frame:
          Value: true
        RPelvis:
          Value: true
        RShoulder:
          Value: true
        RSonar_frame:
          Value: true
        RThigh:
          Value: true
        RTibia:
          Value: true
        base_footprint:
          Value: true
        base_link:
          Value: true
        gaze:
          Value: true
        l_ankle:
          Value: true
        l_gripper:
          Value: true
        l_sole:
          Value: true
        l_wrist:
          Value: true
        odom:
          Value: true
        r_ankle:
          Value: true
        r_gripper:
          Value: true
        r_sole:
          Value: true
        r_wrist:
          Value: true
        torso:
          Value: true
      Marker Scale: 0.1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        odom:
          base_link:
            base_footprint:
              {}
            torso:
              ChestButton_frame:
                {}
              ImuTorsoAccelerometer_frame:
                {}
              ImuTorsoGyrometer_frame:
                {}
              LPelvis:
                LHip:
                  LThigh:
                    LTibia:
                      LAnklePitch:
                        l_ankle:
                          LFootBumperLeft_frame:
                            {}
                          LFootBumperRight_frame:
                            {}
                          LFsrFL_frame:
                            {}
                          LFsrFR_frame:
                            {}
                          LFsrRL_frame:
                            {}
                          LFsrRR_frame:
                            {}
                          l_sole:
                            {}
              LShoulder:
                LBicep:
                  LElbow:
                    LForeArm:
                      l_wrist:
                        LHandTouchBack_frame:
                          {}
                        LHandTouchLeft_frame:
                          {}
                        LHandTouchRight_frame:
                          {}
                        l_gripper:
                          {}
              LSonar_frame:
                {}
              Neck:
                Head:
                  CameraBottom_frame:
                    CameraBottom_optical_frame:
                      {}
                  CameraTop_frame:
                    CameraTop_optical_frame:
                      {}
                  HeadTouchFront_frame:
                    {}
                  HeadTouchMiddle_frame:
                    {}
                  HeadTouchRear_frame:
                    {}
                  LInfraRed_frame:
                    {}
                  RInfraRed_frame:
                    {}
                  gaze:
                    {}
              RPelvis:
                RHip:
                  RThigh:
                    RTibia:
                      RAnklePitch:
                        r_ankle:
                          RFootBumperLeft_frame:
                            {}
                          RFootBumperRight_frame:
                            {}
                          RFsrFL_frame:
                            {}
                          RFsrFR_frame:
                            {}
                          RFsrRL_frame:
                            {}
                          RFsrRR_frame:
                            {}
                          r_sole:
                            {}
              RShoulder:
                RBicep:
                  RElbow:
                    RForeArm:
                      r_wrist:
                        RHandTouchBack_frame:
                          {}
                        RHandTouchLeft_frame:
                          {}
                        RHandTouchRight_frame:
                          {}
                        r_gripper:
                          {}
              RSonar_frame:
                {}
      Update Interval: 0
      Value: true
    - Alpha: 0.5
      Buffer Length: 1
      Class: rviz/Range
      Color: 255; 255; 255
      Enabled: true
      Name: Sonar_Left
      Queue Size: 100
      Topic: /nao_robot/sonar/left
      Value: true
    - Alpha: 0.5
      Buffer Length: 1
      Class: rviz/Range
      Color: 255; 255; 255
      Enabled: true
      Name: Sonar_Right
      Queue Size: 100
      Topic: /nao_robot/sonar/right
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /nao_robot/camera/front/image_raw
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Value: true
    - Alpha: 0.2
      Class: rviz_plugin_tutorials/Imu
      Color: 204; 51; 204
      Enabled: true
      History Length: 1
      Name: Imu
      Topic: /nao_robot/imu/torso
      Value: true
  Enabled: true
  Global Options:
    Background Color: 170; 170; 170
    Fixed Frame: base_footprint
    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/XYOrbit
      Distance: 1.29287
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.411995
        Y: 0.032867
        Z: -1.41923e-06
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.129797
      Target Frame: <Fixed Frame>
      Value: XYOrbit (rviz)
      Yaw: 6.23044
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1059
  Hide Left Dock: false
  Hide Right Dock: true
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd0000000400000000000002830000038ffc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003600000290000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002cc000000f90000001600fffffffb0000000c00430061006d00650072006101000003af000000160000000000000000fb0000000a0049006d00610067006501000001ea000001db0000000000000000000000010000010f0000038ffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000360000038f0000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e000002c700fffffffb0000000800540069006d00650100000000000004500000000000000000000004f50000038f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1918
  X: 1920
Y: 24