content: robot_config_path = "pr2_robot_client_config_for_urdf_viz.toml"
  
  [control_modes_config]
  move_base_mode = "base"
  
  [control_modes_config.joints_pose_sender_config]
  
  [[control_modes_config.ik_mode_teleop_configs]]
  solver_name = "r_arm_with_torso_ik_solver"
  joint_trajectory_client_name = "r_arm_with_torso_collision_checked"
  
  [control_modes_config.ik_mode_teleop_configs.config]
  mode = "right arm i k"
  
  [[control_modes_config.ik_mode_teleop_configs]]
  solver_name = "l_arm_with_torso_ik_solver"
  joint_trajectory_client_name = "l_arm_with_torso_collision_checked"
  
  [control_modes_config.ik_mode_teleop_configs.config]
  mode = "left arm i k"
  
  [[control_modes_config.joy_joint_teleop_configs]]
  client_name = "r_arm_with_torso_collision_checked"
  
  [control_modes_config.joy_joint_teleop_configs.config]
  mode = "right arm"
  
  [[control_modes_config.joy_joint_teleop_configs]]
  client_name = "l_arm_with_torso_collision_checked"
  
  [control_modes_config.joy_joint_teleop_configs.config]
  mode = "left arm"
  
  [[control_modes_config.joy_joint_teleop_configs]]
  client_name = "torso"
  
  [control_modes_config.joy_joint_teleop_configs.config]
  mode = "torso"
  joint_step = 0.05
  