content: robot_config_path = "sample_robot_client_config_for_urdf_viz.toml"
  gamepad = "ros-joy-gamepad"
  
  [ros_joy_gamepad_config]
  axis_map = { '0' = "LeftStickX", '1' = "LeftStickY", '2' = "RightStickX", '3' = "RightStickY", '4' = "DPadX", '5' = "DPadY" }
  button_map = { '0' = "North", '1' = "East", '2' = "South", '3' = "West", '4' = "LeftTrigger", '5' = "RightTrigger", '6' = "LeftTrigger2", '7' = "RightTrigger2" }
  topic_name = "joy"
  
  [control_modes_config]
  move_base_mode = "base"
  
  [control_modes_config.joints_pose_sender_config]
  
  [[control_modes_config.ik_mode_teleop_configs]]
  solver_name = "l_arm_ik_solver"
  joint_trajectory_client_name = "l_arm"
  
  [control_modes_config.ik_mode_teleop_configs.config]
  mode = "left i k"
  
  [[control_modes_config.ik_mode_teleop_configs]]
  solver_name = "r_arm_ik_solver"
  joint_trajectory_client_name = "r_arm"
  
  [control_modes_config.ik_mode_teleop_configs.config]
  mode = "right i k"
  
  [[control_modes_config.joy_joint_teleop_configs]]
  client_name = "l_arm_collision_checked"
  
  [control_modes_config.joy_joint_teleop_configs.config]
  mode = "l_arm"
  
  [[control_modes_config.joy_joint_teleop_configs]]
  client_name = "r_arm_collision_checked"
  
  [control_modes_config.joy_joint_teleop_configs.config]
  mode = "r_arm"
  