Create moveit package for two arms and take controller from earlier work in planner (#5)

catkin_ws/src/twins_moveit_config/.setup_assistant

+moveit_setup_assistant_config:
+  URDF:
+    package: twins_utils
+    relative_path: urdf/twins.xacro
+    xacro_args: ""
+  SRDF:
+    relative_path: config/twins.srdf
+  CONFIG:
+    author_name: Jayant Khatkar
+    author_email: none@none.none
+    generated_timestamp: 1611067421
\ No newline at end of file

catkin_ws/src/twins_moveit_config/CMakeLists.txt

+cmake_minimum_required(VERSION 3.1.3)
+project(twins_moveit_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

catkin_ws/src/twins_moveit_config/config/chomp_planning.yaml

+planning_time_limit: 10.0
+max_iterations: 200
+max_iterations_after_collision_free: 5
+smoothness_cost_weight: 0.1
+obstacle_cost_weight: 1.0
+learning_rate: 0.01
+smoothness_cost_velocity: 0.0
+smoothness_cost_acceleration: 1.0
+smoothness_cost_jerk: 0.0
+ridge_factor: 0.01
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+joint_update_limit: 0.1
+collision_clearence: 0.2
+collision_threshold: 0.07
+use_stochastic_descent: true
+enable_failure_recovery: true
+max_recovery_attempts: 5
\ No newline at end of file

catkin_ws/src/twins_moveit_config/config/fake_controllers.yaml

+controller_list:
+  - name: fake_r1_controller
+    joints:
+      - robot1_shoulder_pan_joint
+      - robot1_shoulder_lift_joint
+      - robot1_elbow_joint
+      - robot1_wrist_1_joint
+      - robot1_wrist_2_joint
+      - robot1_wrist_3_joint
+  - name: fake_r2_controller
+    joints:
+      - robot2_shoulder_pan_joint
+      - robot2_shoulder_lift_joint
+      - robot2_elbow_joint
+      - robot2_wrist_1_joint
+      - robot2_wrist_2_joint
+      - robot2_wrist_3_joint
+initial:  # Define initial robot poses.
+  - group: r1
+    pose: home
+  - group: r2
+    pose: home
\ No newline at end of file

catkin_ws/src/twins_moveit_config/config/joint_limits.yaml

+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  robot1_elbow_joint:
+    has_velocity_limits: true
+    max_velocity: 3.14
+    has_acceleration_limits: false
+    max_acceleration: 0
+  robot1_shoulder_lift_joint:
+    has_velocity_limits: true
+    max_velocity: 3.14
+    has_acceleration_limits: false
+    max_acceleration: 0
+  robot1_shoulder_pan_joint:
+    has_velocity_limits: true
+    max_velocity: 3.14
+    has_acceleration_limits: false
+    max_acceleration: 0
+  robot1_wrist_1_joint:
+    has_velocity_limits: true
+    max_velocity: 6.28
+    has_acceleration_limits: false
+    max_acceleration: 0
+  robot1_wrist_2_joint:
+    has_velocity_limits: true
+    max_velocity: 6.28
+    has_acceleration_limits: false
+    max_acceleration: 0
+  robot1_wrist_3_joint:
+    has_velocity_limits: true
+    max_velocity: 6.28
+    has_acceleration_limits: false
+    max_acceleration: 0
+  robot2_elbow_joint:
+    has_velocity_limits: true
+    max_velocity: 3.14
+    has_acceleration_limits: false
+    max_acceleration: 0
+  robot2_shoulder_lift_joint:
+    has_velocity_limits: true
+    max_velocity: 3.14
+    has_acceleration_limits: false
+    max_acceleration: 0
+  robot2_shoulder_pan_joint:
+    has_velocity_limits: true
+    max_velocity: 3.14
+    has_acceleration_limits: false
+    max_acceleration: 0
+  robot2_wrist_1_joint:
+    has_velocity_limits: true
+    max_velocity: 6.28
+    has_acceleration_limits: false
+    max_acceleration: 0
+  robot2_wrist_2_joint:
+    has_velocity_limits: true
+    max_velocity: 6.28
+    has_acceleration_limits: false
+    max_acceleration: 0
+  robot2_wrist_3_joint:
+    has_velocity_limits: true
+    max_velocity: 6.28
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file

catkin_ws/src/twins_moveit_config/config/kinematics.yaml

+r1:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+r2:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
\ No newline at end of file

catkin_ws/src/twins_moveit_config/config/ompl_planning.yaml

+planner_configs:
+  SBL:
+    type: geometric::SBL
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  EST:
+    type: geometric::EST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LBKPIECE:
+    type: geometric::LBKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  BKPIECE:
+    type: geometric::BKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  KPIECE:
+    type: geometric::KPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  RRT:
+    type: geometric::RRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+  RRTConnect:
+    type: geometric::RRTConnect
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  RRTstar:
+    type: geometric::RRTstar
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+  TRRT:
+    type: geometric::TRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    max_states_failed: 10  # when to start increasing temp. default: 10
+    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+    init_temperature: 10e-6  # initial temperature. default: 10e-6
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
+  PRM:
+    type: geometric::PRM
+    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+  PRMstar:
+    type: geometric::PRMstar
+  FMT:
+    type: geometric::FMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1
+    nearest_k: 1  # use Knearest strategy. default: 1
+    cache_cc: 1  # use collision checking cache. default: 1
+    heuristics: 0  # activate cost to go heuristics. default: 0
+    extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  BFMT:
+    type: geometric::BFMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0
+    nearest_k: 1  # use the Knearest strategy. default: 1
+    balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
+    optimality: 1  # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
+    heuristics: 1  # activates cost to go heuristics. default: 1
+    cache_cc: 1  # use the collision checking cache. default: 1
+    extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  PDST:
+    type: geometric::PDST
+  STRIDE:
+    type: geometric::STRIDE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    use_projected_distance: 0  # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
+    degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
+    max_degree: 18  # max degree of a node in the GNAT. default: 12
+    min_degree: 12  # min degree of a node in the GNAT. default: 12
+    max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6
+    estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0
+    min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2
+  BiTRRT:
+    type: geometric::BiTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1
+    init_temperature: 100  # initial temperature. default: 100
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
+  LBTRRT:
+    type: geometric::LBTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    epsilon: 0.4  # optimality approximation factor. default: 0.4
+  BiEST:
+    type: geometric::BiEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ProjEST:
+    type: geometric::ProjEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LazyPRM:
+    type: geometric::LazyPRM
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  LazyPRMstar:
+    type: geometric::LazyPRMstar
+  SPARS:
+    type: geometric::SPARS
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 1000  # maximum consecutive failure limit. default: 1000
+  SPARStwo:
+    type: geometric::SPARStwo
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 5000  # maximum consecutive failure limit. default: 5000
+r1:
+  default_planner_config: RRTConnect
+  planner_configs:
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
+r2:
+  default_planner_config: RRTConnect
+  planner_configs:
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo

catkin_ws/src/twins_moveit_config/config/ros_controllers.yaml

+# Simulation settings for using moveit_sim_controllers
+moveit_sim_hw_interface:
+  joint_model_group: r1
+  joint_model_group_pose: home
+# Settings for ros_control_boilerplate control loop
+generic_hw_control_loop:
+  loop_hz: 300
+  cycle_time_error_threshold: 0.01
+# Settings for ros_control hardware interface
+hardware_interface:
+  joints:
+    - robot1_shoulder_pan_joint
+    - robot1_shoulder_lift_joint
+    - robot1_elbow_joint
+    - robot1_wrist_1_joint
+    - robot1_wrist_2_joint
+    - robot1_wrist_3_joint
+    - robot2_shoulder_pan_joint
+    - robot2_shoulder_lift_joint
+    - robot2_elbow_joint
+    - robot2_wrist_1_joint
+    - robot2_wrist_2_joint
+    - robot2_wrist_3_joint
+  sim_control_mode: 1  # 0: position, 1: velocity
+# Publish all joint states
+# Creates the /joint_states topic necessary in ROS
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+controller_list:
+  []
\ No newline at end of file

catkin_ws/src/twins_moveit_config/config/sensors_3d.yaml

+# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
+sensors:
+  - {}
\ No newline at end of file

catkin_ws/src/twins_moveit_config/config/twins.srdf

+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="twins">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="r1">
+        <chain base_link="robot1_base" tip_link="robot1_ee_link" />
+    </group>
+    <group name="r2">
+        <chain base_link="robot2_base" tip_link="robot2_ee_link" />
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="home" group="r1">
+        <joint name="robot1_elbow_joint" value="0.785398" />
+        <joint name="robot1_shoulder_lift_joint" value="-1.5708" />
+        <joint name="robot1_shoulder_pan_joint" value="-1.5708" />
+        <joint name="robot1_wrist_1_joint" value="-0.785398" />
+        <joint name="robot1_wrist_2_joint" value="-1.5707" />
+        <joint name="robot1_wrist_3_joint" value="-0.785398" />
+    </group_state>
+    <group_state name="home" group="r2">
+        <joint name="robot2_elbow_joint" value="0.785398" />
+        <joint name="robot2_shoulder_lift_joint" value="-1.5708" />
+        <joint name="robot2_shoulder_pan_joint" value="-1.5708" />
+        <joint name="robot2_wrist_1_joint" value="-0.785398" />
+        <joint name="robot2_wrist_2_joint" value="-1.5707" />
+        <joint name="robot2_wrist_3_joint" value="-0.785398" />
+    </group_state>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="robot1_base_link" link2="robot1_shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="robot1_base_link" link2="robot2_base_link" reason="Adjacent" />
+    <disable_collisions link1="robot1_base_link" link2="robot2_ee_link" reason="Never" />
+    <disable_collisions link1="robot1_base_link" link2="robot2_forearm_link" reason="Never" />
+    <disable_collisions link1="robot1_base_link" link2="robot2_shoulder_link" reason="Never" />
+    <disable_collisions link1="robot1_base_link" link2="robot2_upper_arm_link" reason="Never" />
+    <disable_collisions link1="robot1_base_link" link2="robot2_wrist_1_link" reason="Never" />
+    <disable_collisions link1="robot1_base_link" link2="robot2_wrist_2_link" reason="Never" />
+    <disable_collisions link1="robot1_base_link" link2="robot2_wrist_3_link" reason="Never" />
+    <disable_collisions link1="robot1_ee_link" link2="robot1_wrist_1_link" reason="Never" />
+    <disable_collisions link1="robot1_ee_link" link2="robot1_wrist_2_link" reason="Never" />
+    <disable_collisions link1="robot1_ee_link" link2="robot1_wrist_3_link" reason="Adjacent" />
+    <disable_collisions link1="robot1_ee_link" link2="robot2_base_link" reason="Never" />
+    <disable_collisions link1="robot1_ee_link" link2="robot2_ee_link" reason="Never" />
+    <disable_collisions link1="robot1_ee_link" link2="robot2_forearm_link" reason="Never" />
+    <disable_collisions link1="robot1_ee_link" link2="robot2_shoulder_link" reason="Never" />
+    <disable_collisions link1="robot1_ee_link" link2="robot2_upper_arm_link" reason="Never" />
+    <disable_collisions link1="robot1_ee_link" link2="robot2_wrist_1_link" reason="Never" />
+    <disable_collisions link1="robot1_ee_link" link2="robot2_wrist_2_link" reason="Never" />
+    <disable_collisions link1="robot1_ee_link" link2="robot2_wrist_3_link" reason="Never" />
+    <disable_collisions link1="robot1_forearm_link" link2="robot1_upper_arm_link" reason="Adjacent" />
+    <disable_collisions link1="robot1_forearm_link" link2="robot1_wrist_1_link" reason="Adjacent" />
+    <disable_collisions link1="robot1_forearm_link" link2="robot1_wrist_2_link" reason="Never" />
+    <disable_collisions link1="robot1_forearm_link" link2="robot2_base_link" reason="Never" />
+    <disable_collisions link1="robot1_forearm_link" link2="robot2_ee_link" reason="Never" />
+    <disable_collisions link1="robot1_forearm_link" link2="robot2_forearm_link" reason="Never" />
+    <disable_collisions link1="robot1_forearm_link" link2="robot2_shoulder_link" reason="Never" />
+    <disable_collisions link1="robot1_forearm_link" link2="robot2_upper_arm_link" reason="Never" />
+    <disable_collisions link1="robot1_forearm_link" link2="robot2_wrist_1_link" reason="Never" />
+    <disable_collisions link1="robot1_forearm_link" link2="robot2_wrist_2_link" reason="Never" />
+    <disable_collisions link1="robot1_forearm_link" link2="robot2_wrist_3_link" reason="Never" />
+    <disable_collisions link1="robot1_shoulder_link" link2="robot1_upper_arm_link" reason="Adjacent" />
+    <disable_collisions link1="robot1_shoulder_link" link2="robot2_base_link" reason="Never" />
+    <disable_collisions link1="robot1_shoulder_link" link2="robot2_ee_link" reason="Never" />
+    <disable_collisions link1="robot1_shoulder_link" link2="robot2_forearm_link" reason="Never" />
+    <disable_collisions link1="robot1_shoulder_link" link2="robot2_shoulder_link" reason="Never" />
+    <disable_collisions link1="robot1_shoulder_link" link2="robot2_upper_arm_link" reason="Never" />
+    <disable_collisions link1="robot1_shoulder_link" link2="robot2_wrist_1_link" reason="Never" />
+    <disable_collisions link1="robot1_shoulder_link" link2="robot2_wrist_2_link" reason="Never" />
+    <disable_collisions link1="robot1_shoulder_link" link2="robot2_wrist_3_link" reason="Never" />
+    <disable_collisions link1="robot1_upper_arm_link" link2="robot2_base_link" reason="Never" />
+    <disable_collisions link1="robot1_upper_arm_link" link2="robot2_ee_link" reason="Never" />
+    <disable_collisions link1="robot1_upper_arm_link" link2="robot2_forearm_link" reason="Never" />
+    <disable_collisions link1="robot1_upper_arm_link" link2="robot2_shoulder_link" reason="Never" />
+    <disable_collisions link1="robot1_upper_arm_link" link2="robot2_upper_arm_link" reason="Never" />
+    <disable_collisions link1="robot1_upper_arm_link" link2="robot2_wrist_1_link" reason="Never" />
+    <disable_collisions link1="robot1_upper_arm_link" link2="robot2_wrist_2_link" reason="Never" />
+    <disable_collisions link1="robot1_upper_arm_link" link2="robot2_wrist_3_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_1_link" link2="robot1_wrist_2_link" reason="Adjacent" />
+    <disable_collisions link1="robot1_wrist_1_link" link2="robot1_wrist_3_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_1_link" link2="robot2_base_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_1_link" link2="robot2_ee_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_1_link" link2="robot2_forearm_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_1_link" link2="robot2_shoulder_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_1_link" link2="robot2_upper_arm_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_1_link" link2="robot2_wrist_1_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_1_link" link2="robot2_wrist_2_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_1_link" link2="robot2_wrist_3_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_2_link" link2="robot1_wrist_3_link" reason="Adjacent" />
+    <disable_collisions link1="robot1_wrist_2_link" link2="robot2_base_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_2_link" link2="robot2_ee_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_2_link" link2="robot2_forearm_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_2_link" link2="robot2_shoulder_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_2_link" link2="robot2_upper_arm_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_2_link" link2="robot2_wrist_1_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_2_link" link2="robot2_wrist_2_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_2_link" link2="robot2_wrist_3_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_3_link" link2="robot2_base_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_3_link" link2="robot2_ee_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_3_link" link2="robot2_forearm_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_3_link" link2="robot2_shoulder_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_3_link" link2="robot2_upper_arm_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_3_link" link2="robot2_wrist_1_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_3_link" link2="robot2_wrist_2_link" reason="Never" />
+    <disable_collisions link1="robot1_wrist_3_link" link2="robot2_wrist_3_link" reason="Never" />
+    <disable_collisions link1="robot2_base_link" link2="robot2_shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="robot2_ee_link" link2="robot2_wrist_1_link" reason="Never" />
+    <disable_collisions link1="robot2_ee_link" link2="robot2_wrist_2_link" reason="Never" />
+    <disable_collisions link1="robot2_ee_link" link2="robot2_wrist_3_link" reason="Adjacent" />
+    <disable_collisions link1="robot2_forearm_link" link2="robot2_upper_arm_link" reason="Adjacent" />
+    <disable_collisions link1="robot2_forearm_link" link2="robot2_wrist_1_link" reason="Adjacent" />
+    <disable_collisions link1="robot2_forearm_link" link2="robot2_wrist_2_link" reason="Never" />
+    <disable_collisions link1="robot2_shoulder_link" link2="robot2_upper_arm_link" reason="Adjacent" />
+    <disable_collisions link1="robot2_wrist_1_link" link2="robot2_wrist_2_link" reason="Adjacent" />
+    <disable_collisions link1="robot2_wrist_1_link" link2="robot2_wrist_3_link" reason="Never" />
+    <disable_collisions link1="robot2_wrist_2_link" link2="robot2_wrist_3_link" reason="Adjacent" />
+</robot>

catkin_ws/src/twins_moveit_config/launch/chomp_planning_pipeline.launch.xml

+<launch>
+   <!-- CHOMP Plugin for MoveIt! -->
+   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+   <arg name="start_state_max_bounds_error" value="0.1" />
+   <!-- The request adapters (plugins) used when planning.
+        ORDER MATTERS -->
+   <arg name="planning_adapters"
+        value="default_planner_request_adapters/AddTimeParameterization
+               default_planner_request_adapters/FixWorkspaceBounds
+               default_planner_request_adapters/FixStartStateBounds
+               default_planner_request_adapters/FixStartStateCollision
+               default_planner_request_adapters/FixStartStatePathConstraints"
+               />
+
+   <param name="planning_plugin" value="$(arg planning_plugin)" />
+   <param name="request_adapters" value="$(arg planning_adapters)" />
+   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+   <rosparam command="load" file="$(find twins_moveit_config)/config/chomp_planning.yaml" />
+</launch>

catkin_ws/src/twins_moveit_config/launch/default_warehouse_db.launch

+<launch>
+
+  <arg name="reset" default="false"/>
+  <!-- If not specified, we'll use a default database location -->
+  <arg name="moveit_warehouse_database_path" default="$(find twins_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(find twins_moveit_config)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
+  </include>
+
+  <!-- If we want to reset the database, run this node -->
+  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>

catkin_ws/src/twins_moveit_config/launch/demo.launch

+<launch>
+
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find twins_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
+
+  <!--
+  By default, hide joint_state_publisher's GUI
+
+  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
+  The latter one maintains and publishes the current joint configuration of the simulated robot.
+  It also provides a GUI to move the simulated robot around "manually".
+  This corresponds to moving around the real robot without the use of MoveIt.
+  -->
+  <arg name="use_gui" default="false" />
+  <arg name="use_rviz" default="true" />
+
+  <!-- If needed, broadcast static tf for robot root -->
+
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+  </node>
+  <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
+    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(find twins_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find twins_moveit_config)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
+    <arg name="rviz_config" value="$(find twins_moveit_config)/launch/moveit.rviz"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find twins_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>

catkin_ws/src/twins_moveit_config/launch/demo_gazebo.launch

+<launch>
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find twins_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we won't load or override the robot_description -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!--
+  By default, hide joint_state_publisher's GUI
+
+  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
+  The latter one maintains and publishes the current joint configuration of the simulated robot.
+  It also provides a GUI to move the simulated robot around "manually".
+  This corresponds to moving around the real robot without the use of MoveIt.
+  -->
+  <arg name="use_gui" default="false" />
+
+  <!-- Gazebo specific options -->
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="paused" default="false"/>
+  <!-- By default, use the urdf location provided from the package -->
+  <arg name="urdf_path" default="$(find twins_utils)/urdf/twins.xacro"/>
+
+  <!-- launch the gazebo simulator and spawn the robot -->
+  <include file="$(find twins_moveit_config)/launch/gazebo.launch" >
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+    <arg name="urdf_path" value="$(arg urdf_path)"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    <rosparam param="source_list">[/joint_states]</rosparam>
+  </node>
+  <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
+    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    <rosparam param="source_list">[/joint_states]</rosparam>
+  </node>
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(find twins_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="false"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
+  </include>  
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find twins_moveit_config)/launch/moveit_rviz.launch">
+    <arg name="rviz_config" value="$(find twins_moveit_config)/launch/moveit.rviz"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find twins_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>

catkin_ws/src/twins_moveit_config/launch/fake_moveit_controller_manager.launch.xml

+<launch>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find twins_moveit_config)/config/fake_controllers.yaml"/>
+
+</launch>

catkin_ws/src/twins_moveit_config/launch/gazebo.launch

+<?xml version="1.0"?>
+<launch>
+  <arg name="paused" default="false"/>
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="urdf_path" default="$(find twins_utils)/urdf/twins.xacro"/>
+
+  <!-- startup simulated world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="worlds/empty.world"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <!-- send robot urdf to param server -->
+  <param name="robot_description" textfile="$(arg urdf_path)" />
+
+  <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
+    respawn="false" output="screen" />
+
+  <include file="$(find twins_moveit_config)/launch/ros_controllers.launch"/>
+
+</launch>

catkin_ws/src/twins_moveit_config/launch/joystick_control.launch

+<launch>
+  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+  <arg name="dev" default="/dev/input/js0" />
+
+  <!-- Launch joy node -->
+  <node pkg="joy" type="joy_node" name="joy">
+    <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
+    <param name="deadzone" value="0.2" />
+    <param name="autorepeat_rate" value="40" />
+    <param name="coalesce_interval" value="0.025" />
+  </node>
+
+  <!-- Launch python interface -->
+  <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
+
+</launch>

catkin_ws/src/twins_moveit_config/launch/move_group.launch

+<launch>
+
+  <!-- GDB Debug Option -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix"
+           value="gdb -x $(find twins_moveit_config)/launch/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(arg debug)" />
+  <arg unless="$(arg info)" name="command_args" value="" />
+  <arg     if="$(arg info)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="pipeline" default="ompl" />
+  <arg name="allow_trajectory_execution" default="true"/>
+  <arg name="fake_execution" default="false"/>
+  <arg name="max_safe_path_cost" default="1"/>
+  <arg name="jiggle_fraction" default="0.05" />
+  <arg name="publish_monitored_planning_scene" default="true"/>
+
+  <arg name="capabilities" default=""/>
+  <arg name="disable_capabilities" default=""/>
+  <!-- load these non-default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="capabilities" value="
+                a_package/AwsomeMotionPlanningCapability
+                another_package/GraspPlanningPipeline
+                " />
+  -->
+
+  <!-- inhibit these default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="disable_capabilities" value="
+                move_group/MoveGroupKinematicsService
+                move_group/ClearOctomapService
+                " />
+  -->
+
+  <arg name="load_robot_description" default="true" />
+  <!-- load URDF, SRDF and joint_limits configuration -->
+  <include file="$(find twins_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="$(arg load_robot_description)" />
+  </include>
+
+  <!-- Planning Functionality -->
+  <include ns="move_group" file="$(find twins_moveit_config)/launch/planning_pipeline.launch.xml">
+    <arg name="pipeline" value="$(arg pipeline)" />
+  </include>
+
+  <!-- Trajectory Execution Functionality -->
+  <include ns="move_group" file="$(find twins_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_manage_controllers" value="true" />
+    <arg name="moveit_controller_manager" value="twins" unless="$(arg fake_execution)"/>
+    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+  </include>
+
+  <!-- Sensors Functionality -->
+  <include ns="move_group" file="$(find twins_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="twins" />
+  </include>
+
+  <!-- Start the actual move_group node/action server -->
+  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
+    <!-- Set the display variable, in case OpenGL code is used internally -->
+    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
+
+    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
+    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+    <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+    <param name="capabilities" value="$(arg capabilities)"/>
+    <param name="disable_capabilities" value="$(arg disable_capabilities)"/>
+
+
+    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
+  </node>
+
+</launch>

catkin_ws/src/twins_moveit_config/launch/moveit.rviz

+Panels:
+  - Class: rviz/Displays
+    Help Height: 84
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+      Splitter Ratio: 0.74256
+    Tree Height: 664
+  - Class: rviz/Help
+    Name: Help
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+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: <Fixed Frame>
+      Value: true
+    - Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      MoveIt_Goal_Tolerance: 0
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Constraint_Aware_IK: true
+      MoveIt_Warehouse_Host: 127.0.0.1
+      MoveIt_Warehouse_Port: 33829
+      Name: MotionPlanning
+      Planned Path:
+        Links:
+          base_bellow_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_footprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          double_stereo_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_ir_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_rgb_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_prosilica_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_plate_frame:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_tilt_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          laser_tilt_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          sensor_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          torso_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Loop Animation: true
+        Robot Alpha: 0.5
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trajectory Topic: move_group/display_planned_path
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+      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: left_arm
+        Query Goal State: true
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: move_group/monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 1
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.2
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          base_bellow_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_footprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          double_stereo_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_ir_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_rgb_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_prosilica_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_plate_frame:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_tilt_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          laser_tilt_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          sensor_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          torso_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Robot Alpha: 0.5
+        Show Scene Robot: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 2.9965
+      Focal Point:
+        X: 0.113567
+        Y: 0.10592
+        Z: 2.23518e-07
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.509797
+      Target Frame: /world
+      Value: XYOrbit (rviz)
+      Yaw: 5.65995
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1337
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Motion Planning:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 1828
+  X: 459
+  Y: -243

catkin_ws/src/twins_moveit_config/launch/moveit_rviz.launch

+<launch>
+
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <arg name="rviz_config" default="" />
+  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
+  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+        args="$(arg command_args)" output="screen">
+  </node>
+
+</launch>