content: [[urdf_viz_clients_configs]]
  name = "l_arm"
  joint_names = [
      "l_shoulder_pan_joint",
      "l_shoulder_lift_joint",
      "l_upper_arm_roll_joint",
      "l_elbow_flex_joint",
      "l_forearm_roll_joint",
      "l_wrist_flex_joint",
      "l_wrist_roll_joint",
  ]
  
  [[urdf_viz_clients_configs]]
  name = "r_arm"
  joint_names = [
      "r_shoulder_pan_joint",
      "r_shoulder_lift_joint",
      "r_upper_arm_roll_joint",
      "r_elbow_flex_joint",
      "r_forearm_roll_joint",
      "r_wrist_flex_joint",
      "r_wrist_roll_joint",
  ]
  
  [[urdf_viz_clients_configs]]
  name = "torso"
  joint_names = ["torso_lift_joint"]
  
  [openrr_clients_config]
  urdf_path = "$(rospack find pr2_description)/robots/pr2.urdf.xacro"
  self_collision_check_pairs = [
      "l_shoulder_pan_joint:r_shoulder_pan_joint",
      "l_shoulder_lift_joint:r_shoulder_lift_joint",
      "l_upper_arm_roll_joint:r_upper_arm_roll_joint",
      "l_elbow_flex_joint:r_elbow_flex_joint",
      "l_forearm_roll_joint:r_forearm_roll_joint",
      "l_wrist_flex_joint:r_wrist_flex_joint",
      "l_wrist_roll_joint:r_wrist_roll_joint",
  ]
  
  [[openrr_clients_config.joint_trajectory_clients_container_configs]]
  name = "l_arm_with_torso"
  clients_names = ["torso", "l_arm"]
  
  [[openrr_clients_config.joint_trajectory_clients_container_configs]]
  name = "r_arm_with_torso"
  clients_names = ["torso", "r_arm"]
  
  [[openrr_clients_config.collision_check_clients_configs]]
  client_name = "l_arm_with_torso"
  name = "l_arm_with_torso_collision_checked"
  
  [[openrr_clients_config.collision_check_clients_configs]]
  client_name = "r_arm_with_torso"
  name = "r_arm_with_torso_collision_checked"
  
  [[openrr_clients_config.ik_clients_configs]]
  name = "l_arm_with_torso_ik"
  client_name = "l_arm_with_torso_collision_checked"
  solver_name = "l_arm_with_torso_ik_solver"
  
  [[openrr_clients_config.ik_clients_configs]]
  name = "r_arm_with_torso_ik"
  client_name = "r_arm_with_torso_collision_checked"
  solver_name = "r_arm_with_torso_ik_solver"
  
  [openrr_clients_config.ik_solvers_configs.l_arm_with_torso_ik_solver]
  ik_target = "l_gripper_palm_joint"
  allowable_position_error_m = 0.01
  
  [openrr_clients_config.ik_solvers_configs.r_arm_with_torso_ik_solver]
  ik_target = "r_gripper_palm_joint"
  allowable_position_error_m = 0.01
  
  [[openrr_clients_config.joints_poses]]
  pose_name = "ready"
  client_name = "l_arm"
  positions = [0.0, 0.0, 0.0, -0.7, 0.0, -0.2, 0.0]
  
  [[openrr_clients_config.joints_poses]]
  pose_name = "ready"
  client_name = "r_arm"
  positions = [0.0, 0.0, 0.0, -0.7, 0.0, -0.2, 0.0]
  
  [[openrr_clients_config.joints_poses]]
  pose_name = "ready"
  client_name = "torso"
  positions = [0.05]
  