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",
  ]
  
  [[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",
  ]
  
  [speak_configs."print"]
  type = "Print"
  
  [speak_configs."audio"]
  type = "Audio"
  
  [speak_configs."command"]
  type = "Command"
  
  [speak_configs."audio".args.map]
  sine = "../audio/sine.mp3"
  "サイン" = "../audio/sine.mp3"
  
  [openrr_clients_config]
  urdf_path = "../../openrr-planner/sample.urdf"
  self_collision_check_pairs = [
      "l_shoulder_yaw:l_gripper_linear1",
      "r_shoulder_yaw:r_gripper_linear1",
  ]
  
  [[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"
  
  [[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"
  