# Copyright 2025 Reazon Holdings, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

left_arm:
  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
  kinematics_solver_search_resolution: 0.0050000000000000001
  kinematics_solver_timeout: 0.0050000000000000001
left_side:
  kinematics_solver: cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin
  kinematics_solver_search_resolution: 0.0050000000000000001
  kinematics_solver_timeout: 0.0050000000000000001
right_arm:
  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
  kinematics_solver_search_resolution: 0.0050000000000000001
  kinematics_solver_timeout: 0.0050000000000000001
right_side:
  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
  kinematics_solver_search_resolution: 0.0050000000000000001
  kinematics_solver_timeout: 0.0050000000000000001
upper_body:
  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
  kinematics_solver_search_resolution: 0.0050000000000000001
  kinematics_solver_timeout: 0.0050000000000000001
