kinematics:
  joint1:
    x: 0
    y: 0
    z: 0.267
    roll: 0
    pitch: 0
    yaw: 0
  joint2:
    x: 0
    y: 0
    z: 0
    roll: -1.5708
    pitch: 0
    yaw: 0
  joint3:
    x: 0.0535
    y: -0.2845
    z: 0
    roll: 0
    pitch: 0
    yaw: 0
  joint4:
    x: 0.0775
    y: 0.3425
    z: 0
    roll: -1.5708
    pitch: 0
    yaw: 0
  joint5:
    x: 0
    y: 0
    z: 0
    roll: 1.5708
    pitch: 0
    yaw: 0
  joint6:
    x: 0.076
    y: 0.097
    z: 0
    roll: -1.5708
    pitch: 0
    yaw: 0