diff --git a/config/kinematics.yaml b/config/kinematics.yaml
index 23ab216..9bbfb6d 100644
--- a/config/kinematics.yaml
+++ b/config/kinematics.yaml
@@ -1,4 +1,6 @@
-panda_arm:
+panda_arm: &arm_config
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.05
\ No newline at end of file
+  kinematics_solver_timeout: 0.05
+
+manipulator: *arm_config