content: move_base = "plugin1"
  
  [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 = "arm_collision_checked"
  client_name = "arm"
  
  [[openrr_clients_config.ik_clients_configs]]
  name = "arm_ik"
  client_name = "arm_collision_checked"
  solver_name = "arm_ik_solver"
  
  [[openrr_clients_config.joints_poses]]
  pose_name = "zero"
  client_name = "arm_collision_checked"
  positions = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  
  [openrr_clients_config.ik_solvers_configs.arm_ik_solver]
  ik_target = "l_tool_fixed"
  
  [plugins.plugin1]
  # Path to the plugin. If no extension is specified, the default extension
  # for `cdylib` on the current OS will be selected.
  # (linux: `.so`, macos: `.dylib`, windows: `.dll`)
  path = "../../target/debug/libopenrr_plugin_example"
  
  [[plugins.plugin1.instances]]
  name = "arm"
  type = "JointTrajectoryClient"
  args = """
  {
      "joint_names": [
          "l_shoulder_yaw",
          "l_shoulder_pitch",
          "l_shoulder_roll",
          "l_elbow_pitch",
          "l_wrist_yaw",
          "l_wrist_pitch"
      ]
  }
  """
  
  [[plugins.plugin1.instances]]
  name = "plugin1"
  type = "MoveBase"
  
  [[plugins.plugin1.instances]]
  # If the instances are of different types, the names of the instances will not conflict.
  name = "plugin1"
  type = "Navigation"
  
  [plugins.arci_ros2]
  path = "../../target/debug/libarci_ros2"
  
  [[plugins.arci_ros2.instances]]
  name = "arci_ros2"
  type = "MoveBase"
  args = """
  topic = "/cmd_vel"
  """
  