joint1:
  kinematic:
    x: 0.0
    y: 0.0
    z: 0.0625
    roll: 0
    pitch: 0
    yaw: 0

joint2:
  kinematic:
    x: -0.0301
    y: 0.0
    z: 0.06
    roll: 0
    pitch: 0
    yaw: 0

joint3:
  kinematic:
    x: 0.0301
    y: 0.0
    z: 0.06625
    roll: 0
    pitch: 0
    yaw: 0

joint4:
  kinematic:
    x: -0.0
    y: 0.0315
    z: 0.15375
    roll: 0
    pitch: 0
    yaw: 0

joint5:
  kinematic:
    x: 0.0
    y: -0.0315
    z: 0.0955
    roll: 0
    pitch: 0
    yaw: 0

joint6:
  kinematic:
    x: 0.0375
    y: 0.0
    z: 0.1205
    roll: 0
    pitch: 0
    yaw: 0

# joint7:
#   kinematic:
#     x: -0.0375
#     y: 0.0205
#     z: 0.0
#     roll: 0
#     pitch: 0
#     yaw: 0

joint7:
  kinematic:
    x: -0.0375
    y: 0.0
    z: 0.0
    roll: 0
    pitch: 0
    yaw: 0

# joint8:
#   kinematic:
#     x: 1e-06
#     y: -0.098
#     z: 0.114501
#     roll: 0
#     pitch: 0
#     yaw: 0

joint8:
  kinematic:
    x: 1e-06
    y: 0.0205
    z: 0.0
    roll: 0
    pitch: 0
    yaw: 0