diff --git a/share/kinematics/trunkAndRightArmKinematics.ini b/share/kinematics/trunkAndRightArmKinematics.ini
new file mode 100644
index 0000000..500bf49
--- /dev/null
+++ b/share/kinematics/trunkAndRightArmKinematics.ini
@@ -0,0 +1,13 @@
+/// trunkAndRightArmKinematics.ini
+
+numLinks 8
+
+link_0 (offset   0.0) (D 0.1932   ) (A 0.0   ) (alpha -90.0)
+link_1 (offset -90.0) (D -0.34692 ) (A 0.305 ) (alpha -180.0)
+link_2 (offset   0.0) (D 0.0    ) (A 0.0     ) (alpha  90.0) (mass 0       ) (cog 0 0 0) (inertia 0 0 0)
+link_3 (offset -90.0) (D 0.0    ) (A 0.0     ) (alpha  90.0) (mass 0       ) (cog 0 0 0) (inertia 0 0 0)
+link_4 (offset -90.0) (D 0.32901) (A 0.0     ) (alpha  90.0) (mass 1.750625) (cog 0 0 0) (inertia 0 0 0)
+link_5 (offset   0.0) (D 0.0    ) (A 0.0     ) (alpha -90.0) (mass 0       ) (cog 0 0 0) (inertia 0 0 0)
+link_6 (offset   0.0) (D 0.202  ) (A 0.0     ) (alpha  90.0) (mass 2.396   ) (cog 0 0 0) (inertia 0 0 0)
+link_7 (offset  90.0) (D 0.0    ) (A 0.187496) (alpha -90.0) (mass 0.300   ) (cog 0 0 0) (inertia 0 0 0)
+