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
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