function [org] = calc_finger_pos(angles,trans,translate)
{
  org = [0,0,0];
  org = org + [0,0,trans];

  org = [0,0,translate(1)] + org;
  org = org * rotx(angles(1));

  org = [0,0,translate(2)] + org;
  org = org * rotx(angles(2));

  org = [0,0,translate(3)] + org;
  org = org * rotx(angles(3));
}