content: [[ros_clients_configs]]
  name = "arm"
  joint_names = [
      "shoulder_pan_joint",
      "shoulder_lift_joint",
      "elbow_joint",
      "wrist_1_joint",
      "wrist_2_joint",
      "wrist_3_joint",
  ]
  complete_allowable_errors = [0.02, 0.02, 0.02, 0.02, 0.02, 0.02]
  controller_name = "arm_controller"
  
  [openrr_clients_config]
  urdf_path = "$(rospack find ur_description)/urdf/ur10_robot.urdf.xacro"
  self_collision_check_pairs = [
      "shoulder_pan_joint:elbow_joint",
      "shoulder_pan_joint:wrist_1_joint",
      "shoulder_pan_joint:wrist_2_joint",
      "shoulder_pan_joint:wrist_3_joint",
      "shoulder_lift_joint:elbow_joint",
      "shoulder_lift_joint:wrist_1_joint",
      "shoulder_lift_joint:wrist_2_joint",
      "shoulder_lift_joint:wrist_3_joint",
      "elbow_joint:wrist_1_joint",
      "elbow_joint:wrist_2_joint",
      "elbow_joint:wrist_3_joint",
  ]
  
  [[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.ik_solvers_configs.arm_ik_solver]
  ik_target = "ee_fixed_joint"
  
  [[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.joints_poses]]
  pose_name = "ready"
  client_name = "arm_collision_checked"
  positions = [0.0, -0.7, 1.4, -0.7, 1.57, -3.14]
  