Vizzy Denavit–Hartenberg parameters

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Head center
Link alpha R theta D
0 Pi/2 0 0 0 virtual link
1 Pi/2 0 0 0 M0 → M1
2 Pi/2 0 0 -370 M1 → M2
3 Pi 132.21 0 0 M2 → M3
Left eye
Link alpha R theta D
1 Pi/2 0 0 0 virtual link
1 Pi/2 0 0 0 M0 → M1
2 Pi/2 0 0 -370 M1 → M2
3 Pi 132.21 0 0 M2 → M3
4 -Pi/2 0 111 0 M3 → M5
Right eye
Link alpha R theta D
0 Pi/2 0 0 0 virtual link
1 Pi/2 0 0 0 M0 → M1
2 Pi/2 0 0 -370 M1 → M2
3 Pi 132.21 0 0 M2 → M3
4 -Pi/2 0 -111 0 M3 → M4
Right arm
Link alpha R theta D
0 Pi/2 0 0 0 virtual link
1 -Pi/2 0 0 -0.0805 M0 → M0R
2 -Pi/2 0 0 0.212 M0R → M1R
3 Pi/2 0 0 0.10256 M1R → M2R
4 -Pi/2 0 0 0 M2R → M3R
5 -Pi/2 0 0 0.16296 M3R → M4R
6 Pi/2 0 0 0 M4R → M5R
7 Pi/2 0 0 0.18925 M5R → M6R
8 Pi/2 0 0 0 M6R → M7R
9 -Pi/2 -0.1 0 0 M7R → End-effector
Left arm
Link alpha R theta D
0 Pi/2 0 0 0 virtual link
1 Pi/2 0 0 0.0805 M0 → M0L
2 -Pi/2 0 0 -0.212 M0L → M1L
3 Pi/2 0 0 0.10256 M1L → M2L
4 -Pi/2 0 0 0 M2L → M3L
5 -Pi/2 0 0 -0.16296 M3L → M4L
6 Pi/2 0 0 0 M4L → M5L
7 Pi/2 0 0 -0.18925 M5L → M6L
8 Pi/2 0 0 0 M6L → M7L
9 -Pi/2 -0.1 0 0 M7L → End-effector
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