hand:
  origin:
    x: 0.0
    y: 0.002
    z: 0.03
    roll: 0
    pitch: 0
    yaw: 0
  mass: 0.35
  inertia:
    xx: 0.0002473
    yy: 1.763e-05
    zz: 0.0002521
    xy: 1e-06
    xz: 1e-06
    yz: 1e-06

left_finger:
  origin:
    x: 0.0064528
    y: 0.017020
    z: 0.0219685
    roll: 0
    pitch: 0
    yaw: 0
  mass: 0.03602545343277134
  inertia:
    xx: 2.3749999999999997e-06
    yy: 2.3749999999999997e-06
    zz: 7.5e-07
    xy: 1e-06
    xz: 1e-06
    yz: 1e-06

right_finger:
  origin:
    x: 0.0064528
    y: -0.017020
    z: 0.0219685
    roll: 0
    pitch: 0
    yaw: 0
  mass: 0.03602545343277134
  inertia:
    xx: 2.3749999999999997e-06
    yy: 2.3749999999999997e-06
    zz: 7.5e-07
    xy: 1e-06
    xz: 1e-06
    yz: 1e-06

# left_finger: &finger
#   origin:
#     x: 00064528
#     y: 0.017020
#     z: 0.0219685
#     roll: 0
#     pitch: 0
#     yaw: 0
#   mass: 0.03602545343277134
#   inertia:
#     xx: 2.3749999999999997e-06
#     yy: 2.3749999999999997e-06
#     zz: 7.5e-07
#     xy: 0
#     xz: 0
#     yz: 0
# right_finger: *finger