openarm_description/config/hand/openarm_hand/kinematics_link.yaml

# hand:
#   kinematic:
#     x: 0.0
#     y: -0.0205
#     z: -0.5585
#     roll: 0.0
#     pitch: 0.0
#     yaw: 0.0

hand:
  kinematic:
    x: 0.0
    y: 0.00
    z: -0.6585
    roll: 0.0
    pitch: 0.0
    yaw: 0.0

# left_finger:
#   kinematic:
#     x: 0.0
#     y: 0.0775
#     z: -0.673001
#     roll: 0.0
#     pitch: 0.0
#     yaw: 0.0

# left_finger:
#   kinematic:
#     x: 0.0
#     y: 0.053
#     z: -0.673001
#     roll: 0.0
#     pitch: 0.0
#     yaw: 0.0

# right_finger:
#   kinematic:
#     x: 0.0
#     y: 0.143
#     z: -0.673001
#     roll: 0.0
#     pitch: 0.0
#     yaw: 0.0

left_finger:
  kinematic:
    x: 0.0
    y: -0.05
    z: -0.673001
    roll: 0.0
    pitch: 0.0
    yaw: 0.0

right_finger:
  kinematic:
    x: 0.0
    y: 0.05
    z: -0.673001
    roll: 0.0
    pitch: 0.0
    yaw: 0.0