diff --git a/src/ur_robotiq_description/config/ur_robotiq_calibration.yaml b/src/ur_robotiq_description/config/ur_robotiq_calibration.yaml
new file mode 100644
index 0000000..526dffb
--- /dev/null
+++ b/src/ur_robotiq_description/config/ur_robotiq_calibration.yaml
@@ -0,0 +1,44 @@
+kinematics:
+  shoulder:
+    x: 0
+    y: 0
+    z: 0.1519161231793138
+    roll: -0
+    pitch: 0
+    yaw: -8.3688888041777445e-08
+  upper_arm:
+    x: -9.8255319984929057e-05
+    y: 0
+    z: 0
+    roll: 1.5713473529266058
+    pitch: 0
+    yaw: 4.5372573280303068e-06
+  forearm:
+    x: -0.24361145101605494
+    y: 0
+    z: 0
+    roll: 3.138959939545904
+    pitch: 3.141417818890341
+    yaw: 3.1415861917625292
+  wrist_1:
+    x: -0.21328351386382516
+    y: -0.00058695912107010507
+    z: 0.13086135281159214
+    roll: 0.0044853210843803608
+    pitch: 0.00071590512460444685
+    yaw: -2.0286176909971606e-06
+  wrist_2:
+    x: 9.0086536104922084e-05
+    y: -0.085314349728116412
+    z: -6.1195228207677147e-05
+    roll: 1.5715136178239859
+    pitch: 0
+    yaw: 1.3915445690113049e-06
+  wrist_3:
+    x: -0.00014076969524819022
+    y: 0.092309359181826575
+    z: -0.00011628039579221433
+    roll: 1.5695366459205147
+    pitch: 3.1415926535897931
+    yaw: 3.1415925648453848
+  hash: calib_2535041911463403862
\ No newline at end of file