joint1:
  kinematic_offset:
    x: 0.0
    y: 0.0
    z: 0.0
    roll: 0
    pitch: 0
    yaw: 0

joint2:
  kinematic_offset:
    x: 0.0
    y: 0.0
    z: 0.0
    roll: 1.57079632679
    pitch: 0
    yaw: 0

joint3:
  kinematic_offset:
    x: 0.0
    y: 0.0
    z: 0.0
    roll: 0
    pitch: 0
    yaw: 0

joint4:
  kinematic_offset:
    x: -0.0
    y: 0.0
    z: 0.0
    roll: 0
    pitch: 0
    yaw: 0

joint5:
  kinematic_offset:
    x: 0.0
    y: -0.0
    z: 0.0
    roll: 0
    pitch: 0
    yaw: 0

joint6:
  kinematic_offset:
    x: 0.0
    y: 0.0
    z: 0.0
    roll: 0
    pitch: 0
    yaw: 0

joint7:
  kinematic_offset:
    x: -0.0
    y: 0.0
    z: 0.0
    roll: 0
    pitch: 0
    yaw: 0

joint8:
  kinematic_offset:
    x: 0.0
    y: -0.0
    z: 0.0
    roll: 0
    pitch: 0
    yaw: 0