content: [[urdf_viz_clients_configs]]
  name = "l_arm"
  joint_names = [
      "l_shoulder_yaw",
      "l_shoulder_pitch",
      "l_shoulder_roll",
      "l_elbow_pitch",
      "l_wrist_yaw",
      "l_wrist_pitch",
  ]
  wrap_with_joint_position_limiter = true
  # If joint_position_limits is not specified, limits will be got from URDF.
  # The following values are the same as if getting limits from URDF.
  joint_position_limits = [
      { lower = -3.0, upper = 3.0 },
      { lower = -2.0, upper = 1.5 },
      { lower = -1.5, upper = 2.0 },
      { lower = -2.0, upper = 1.5 },
      { lower = -3.0, upper = 3.0 },
      { lower = -2.0, upper = 2.0 },
  ]
  
  [[urdf_viz_clients_configs]]
  name = "r_arm"
  joint_names = [
      "r_shoulder_yaw",
      "r_shoulder_pitch",
      "r_shoulder_roll",
      "r_elbow_pitch",
      "r_wrist_yaw",
      "r_wrist_pitch",
  ]
  wrap_with_joint_position_limiter = true
  # If joint_position_limits is not specified, limits will be got from URDF.
  # The following values are the same as if getting limits from URDF.
  joint_position_limits = [
      { lower = -3.0, upper = 3.0 },
      { lower = -2.0, upper = 1.5 },
      { lower = -1.5, upper = 2.0 },
      { lower = -2.0, upper = 1.5 },
      { lower = -3.0, upper = 3.0 },
      { lower = -2.0, upper = 2.0 },
  ]
  
  [openrr_clients_config]
  urdf_path = "../../openrr-planner/sample.urdf"
  self_collision_check_pairs = [
      "l_gripper_linear1:r_gripper_linear1",
      "l_gripper_linear1:r_gripper_linear2",
      "l_gripper_linear2:r_gripper_linear1",
      "l_gripper_linear2:r_gripper_linear2",
      "r_wrist_yaw:l_wrist_yaw",
      "r_wrist_pitch:l_wrist_pitch",
  ]
  
  # Client config for left arm
  [[openrr_clients_config.collision_avoidance_clients_configs]]
  name = "l_arm_collision_avoidance"
  client_name = "l_arm"
  
  [[openrr_clients_config.collision_check_clients_configs]]
  name = "l_arm_collision_checked"
  client_name = "l_arm"
  
  [[openrr_clients_config.ik_clients_configs]]
  name = "l_arm_ik"
  client_name = "l_arm_collision_checked"
  solver_name = "l_arm_ik_solver"
  
  [[openrr_clients_config.joints_poses]]
  pose_name = "zero"
  client_name = "l_arm_collision_checked"
  positions = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  
  [openrr_clients_config.ik_solvers_configs.l_arm_ik_solver]
  ik_target = "l_tool_fixed"
  
  # Client config for right arm
  [[openrr_clients_config.collision_avoidance_clients_configs]]
  name = "r_arm_collision_avoidance"
  client_name = "r_arm"
  
  [[openrr_clients_config.collision_check_clients_configs]]
  name = "r_arm_collision_checked"
  client_name = "r_arm"
  
  [[openrr_clients_config.ik_clients_configs]]
  name = "r_arm_ik"
  client_name = "r_arm_collision_checked"
  solver_name = "r_arm_ik_solver"
  
  [[openrr_clients_config.joints_poses]]
  pose_name = "zero"
  client_name = "r_arm_collision_checked"
  positions = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  
  [openrr_clients_config.ik_solvers_configs.r_arm_ik_solver]
  ik_target = "r_tool_fixed"
  