Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /Grid1
        - /Grid1/Offset1
        - /TF1
        - /TF1/Frames1
      Splitter Ratio: 0.5
    Tree Height: 359
  - 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: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.03
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: odom
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: false
        Aruco_0_frame:
          Value: true
        Aruco_1_frame:
          Value: true
        Aruco_2_frame:
          Value: true
        CameraBottom_frame:
          Value: false
        CameraBottom_optical_frame:
          Value: false
        CameraTop_frame:
          Value: false
        CameraTop_optical_frame:
          Value: false
        ChestButton_frame:
          Value: false
        Head:
          Value: false
        HeadTouchFront_frame:
          Value: false
        HeadTouchMiddle_frame:
          Value: false
        HeadTouchRear_frame:
          Value: false
        ImuTorsoAccelerometer_frame:
          Value: false
        ImuTorsoGyrometer_frame:
          Value: false
        LAnklePitch:
          Value: false
        LBicep:
          Value: false
        LElbow:
          Value: false
        LFinger11_link:
          Value: false
        LFinger12_link:
          Value: false
        LFinger13_link:
          Value: false
        LFinger21_link:
          Value: false
        LFinger22_link:
          Value: false
        LFinger23_link:
          Value: false
        LFootBumperLeft_frame:
          Value: false
        LFootBumperRight_frame:
          Value: false
        LForeArm:
          Value: false
        LFsrFL_frame:
          Value: false
        LFsrFR_frame:
          Value: false
        LFsrRL_frame:
          Value: false
        LFsrRR_frame:
          Value: false
        LHandTouchBack_frame:
          Value: false
        LHandTouchLeft_frame:
          Value: false
        LHandTouchRight_frame:
          Value: false
        LHip:
          Value: false
        LInfraRed_frame:
          Value: false
        LPelvis:
          Value: false
        LShoulder:
          Value: false
        LSonar_frame:
          Value: false
        LThigh:
          Value: false
        LThumb1_link:
          Value: false
        LThumb2_link:
          Value: false
        LTibia:
          Value: false
        MicroFrontCenter_frame:
          Value: false
        MicroRearCenter_frame:
          Value: false
        MicroSurroundLeft_frame:
          Value: false
        MicroSurroundRight_frame:
          Value: false
        Neck:
          Value: false
        RAnklePitch:
          Value: false
        RBicep:
          Value: false
        RElbow:
          Value: false
        RFinger11_link:
          Value: false
        RFinger12_link:
          Value: false
        RFinger13_link:
          Value: false
        RFinger21_link:
          Value: false
        RFinger22_link:
          Value: false
        RFinger23_link:
          Value: false
        RFootBumperLeft_frame:
          Value: false
        RFootBumperRight_frame:
          Value: false
        RForeArm:
          Value: false
        RFsrFL_frame:
          Value: false
        RFsrFR_frame:
          Value: false
        RFsrRL_frame:
          Value: false
        RFsrRR_frame:
          Value: false
        RHandTouchBack_frame:
          Value: false
        RHandTouchLeft_frame:
          Value: false
        RHandTouchRight_frame:
          Value: false
        RHip:
          Value: false
        RInfraRed_frame:
          Value: false
        RPelvis:
          Value: false
        RShoulder:
          Value: false
        RSonar_frame:
          Value: false
        RThigh:
          Value: false
        RThumb1_link:
          Value: false
        RThumb2_link:
          Value: false
        RTibia:
          Value: false
        base_footprint:
          Value: false
        base_link:
          Value: false
        gaze:
          Value: false
        l_ankle:
          Value: false
        l_gripper:
          Value: false
        l_sole:
          Value: false
        l_wrist:
          Value: false
        odom:
          Value: false
        r_ankle:
          Value: false
        r_gripper:
          Value: false
        r_sole:
          Value: false
        r_wrist:
          Value: false
        torso:
          Value: false
      Marker Scale: 0.1
      Name: TF
      Show Arrows: true
      Show Axes: false
      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:
                        LFinger11_link:
                          LFinger12_link:
                            LFinger13_link:
                              {}
                        LFinger21_link:
                          LFinger22_link:
                            LFinger23_link:
                              {}
                        LHandTouchBack_frame:
                          {}
                        LHandTouchLeft_frame:
                          {}
                        LHandTouchRight_frame:
                          {}
                        LThumb1_link:
                          LThumb2_link:
                            {}
                        l_gripper:
                          {}
              LSonar_frame:
                {}
              Neck:
                Head:
                  CameraBottom_frame:
                    CameraBottom_optical_frame:
                      {}
                  CameraTop_frame:
                    CameraTop_optical_frame:
                      Aruco_0_frame:
                        {}
                      Aruco_1_frame:
                        {}
                      Aruco_2_frame:
                        {}
                  HeadTouchFront_frame:
                    {}
                  HeadTouchMiddle_frame:
                    {}
                  HeadTouchRear_frame:
                    {}
                  LInfraRed_frame:
                    {}
                  MicroFrontCenter_frame:
                    {}
                  MicroRearCenter_frame:
                    {}
                  MicroSurroundLeft_frame:
                    {}
                  MicroSurroundRight_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:
                        RFinger11_link:
                          RFinger12_link:
                            RFinger13_link:
                              {}
                        RFinger21_link:
                          RFinger22_link:
                            RFinger23_link:
                              {}
                        RHandTouchBack_frame:
                          {}
                        RHandTouchLeft_frame:
                          {}
                        RHandTouchRight_frame:
                          {}
                        RThumb1_link:
                          RThumb2_link:
                            {}
                        r_gripper:
                          {}
              RSonar_frame:
                {}
      Update Interval: 0
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: torso
    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/Orbit
      Distance: 1.25714
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0
        Y: 0
        Z: 0
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.280398
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 6.11041
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 663
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000279fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000000000000279000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002f80000027900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 760
  X: 1015
  Y: 14