MoveIt! Setup Assistant/Advanced

Adding an arm as a serial chain

 * Now also add the left_arm as a group with the appropriate set of joints but this time we will add it as a serial chain.
 * Click on the Add Group button.
 * Enter Group Name as left_arm
 * Choose kdl_kinematics_plugin/KDLKinematicsPlugin as the kinematics solver.
 * Let Kin. Search Resolution and Kin. Search Timeout stay at their default values.
 * Click on the Save and Add Chain button.
 * Clck on Expand All to see the full list of links and chains.
 * Find and select the torso_lift_link. This is the root or base link of the chain that we would like to add. Click on the Choose Selected button next to the Base Link to choose this link as the base link.
 * Now, find and select the l_wrist_roll_link. This is the tip of the chain that we would like to add. Click on the Choose Selected button next to the Tip Link to choose this link as the tip link.
 * Click the Save button to finish adding the left arm as a group.