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