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_metacarpal: _transformRelativeToHand: e00: 0.98956037 e01: -0.08078238 e02: 0.11935089 e03: -0.04546293 e10: -0.11676035 e11: -0.93483317 e12: 0.33534232 e13: -0.0026135445 e20: 0.0844834 e21: -0.3457769 e22: -0.93450594 e23: -0.023798777 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9376864, y: -0.33685818, z: -0.085270405} _up: {x: 0.3434215, y: 0.93579996, z: 0.079628} _forward: {x: 0.05297265, y: -0.10394979, z: 0.9931707} _proximal: _transformRelativeToHand: e00: 0.951338 e01: -0.30488488 e02: -0.044746757 e03: -0.09494295 e10: -0.30756488 e11: -0.9484169 e12: -0.07687718 e13: 0.003224343 e20: -0.018999843 e21: 0.086898595 e22: -0.99603665 e23: -0.028023109 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.8996812, y: 0.4198884, z: 0.11945195} _up: {x: -0.43563977, y: 0.8811928, z: 0.18362296} _forward: {x: -0.028158939, y: -0.21724005, z: 0.9757126} _proximalNoMetacarpal: _transformRelativeToHand: e00: 0.951338 e01: -0.30488488 e02: -0.044746757 e03: -0.09494295 e10: -0.30756488 e11: 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e01: 0.46415266 e02: 0.11870914 e03: -0.12584892 e10: 0.46755946 e11: -0.8839615 e12: -0.0009608912 e13: -0.0018611699 e20: 0.10448833 e21: 0.056347024 e22: -0.9929288 e23: -0.016735572 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9999997, y: 0.0004068747, z: 0.0007814343} _up: {x: -0.0006144862, y: 0.9577311, z: 0.28766403} _forward: {x: -0.0006314045, y: -0.2876643, z: 0.9577311} _distal: _transformRelativeToHand: e00: 0.78615654 e01: 0.60642 e02: 0.11921726 e03: -0.14549355 e10: 0.6111419 e11: -0.79151195 e12: -0.0038969354 e13: -0.012325019 e20: 0.0919987 e21: 0.07592226 e22: -0.9928608 e23: -0.019074377 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9999956, y: 0.0028350027, z: -0.00091968494} _up: {x: -0.0026371863, y: 0.985415, z: 0.17014821} _forward: {x: 0.0013886914, y: -0.17014512, z: 0.98541796} _little: _hasMetacarpalInfo: 1 _metacarpal: _transformRelativeToHand: e00: 0.9793499 e01: 0.032130156 e02: 0.19960369 e03: -0.04546275 e10: 0.038487583 e11: -0.99886537 e12: -0.028051142 e13: 0.0026135445 e20: 0.19847599 e21: 0.035154145 e22: -0.97947514 e23: -0.023798779 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.98531044, y: 0.030651787, z: 0.16800044} _up: {x: -0.034529507, y: 0.99919945, z: 0.020208493} _forward: {x: -0.16724646, y: -0.025712624, z: 0.9855798} _proximal: _transformRelativeToHand: e00: 0.9592857 e01: 0.13773768 e02: 0.2465756 e03: -0.09443234 e10: 0.15711637 e11: -0.98571754 e12: -0.060626585 e13: 0.0006893426 e20: 0.23470336 e21: 0.09689927 e22: -0.9672253 e23: -0.033723027 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.99829125, y: 0.034478314, z: 0.04717944} _up: {x: -0.039766975, y: 0.99243075, z: 0.11618761} _forward: {x: -0.042816415, y: -0.117865264, z: 0.99210614} _proximalNoMetacarpal: _transformRelativeToHand: e00: 0.9592857 e01: 0.13773768 e02: 0.2465756 e03: -0.09443234 e10: 0.15711637 e11: -0.98571754 e12: -0.060626585 e13: 0.0006893426 e20: 0.23470336 e21: 0.09689927 e22: -0.9672253 e23: -0.033723027 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 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0.20897199, z: 0.9779215} _handDescriptorOpenRight: _index: _hasMetacarpalInfo: 1 _metacarpal: _transformRelativeToHand: e00: 0.9903858 e01: -0.076951824 e02: -0.1149549 e03: -0.047893442 e10: -0.08440988 e11: -0.9945327 e12: -0.061478775 e13: -0.005368804 e20: -0.10959535 e21: 0.070591055 e22: -0.99146646 e23: 0.017750578 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9873396, y: 0.062972605, z: 0.14558528} _up: {x: -0.07258795, y: 0.9954516, z: 0.061701585} _forward: {x: -0.14103763, y: -0.07148799, z: 0.9874197} _proximal: _transformRelativeToHand: e00: 0.9184629 e01: -0.2945203 e02: -0.26397708 e03: -0.10003515 e10: -0.33285728 e11: -0.93609565 e12: -0.11371405 e13: -0.0009251101 e20: -0.2136165 e21: 0.19230881 e22: -0.9578023 e23: 0.023520589 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9869652, y: 0.065793596, z: 0.14686964} _up: {x: -0.09926124, y: 0.9672169, z: 0.23374896} _forward: {x: -0.12667564, y: -0.24528068, z: 0.9611404} _proximalNoMetacarpal: _transformRelativeToHand: e00: 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e20: 0.056222774 e21: -0.035099432 e22: -0.99780095 e23: -0.013168417 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9999922, y: -0.0014635421, z: 0.0035470764} _up: {x: -0.00006123665, y: 0.9182013, z: 0.3961137} _forward: {x: -0.0038366406, y: -0.3961108, z: 0.91819423} _distal: _transformRelativeToHand: e00: 0.81562877 e01: -0.5751449 e02: 0.06290979 e03: -0.14334239 e10: -0.5763229 e11: -0.81722176 e12: 0.0007152416 e13: 0.02133803 e20: 0.051000003 e21: -0.03683979 e22: -0.9980187 e23: -0.014426806 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9999738, y: -0.0033441472, z: 0.0064284564} _up: {x: 0.0035460114, y: 0.9994921, z: -0.031661376} _forward: {x: -0.00631941, y: 0.031683333, z: 0.99947774} _little: _hasMetacarpalInfo: 1 _metacarpal: _transformRelativeToHand: e00: 0.9869949 e01: -0.120556146 e02: 0.10633695 e03: -0.04546275 e10: -0.12461421 e11: -0.99167776 e12: 0.032357134 e13: -0.0026135447 e20: 0.10155126 e21: -0.045187395 e22: -0.9938036 e23: -0.02379868 e30: 0 e31: 0 e32: 0 e33: 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e12: 0 e13: 0 e20: 0 e21: 0 e22: 0 e23: 0 e30: 0 e31: 0 e32: 0 e33: 0 _right: {x: 0, y: 0, z: 0} _up: {x: 0, y: 0, z: 0} _forward: {x: 0, y: 0, z: 0} _proximal: _transformRelativeToHand: e00: 0.7509153 e01: 0.53951 e02: -0.3808615 e03: -0.033674214 e10: -0.3286924 e11: -0.19487822 e12: -0.92411244 e13: 0.009363875 e20: -0.5727894 e21: 0.81911635 e22: 0.030995775 e23: 0.017643292 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: -0.04269646, y: 0.9290003, z: 0.3676077} _up: {x: -0.801483, y: 0.18782637, z: -0.56775546} _forward: {x: -0.5964916, y: -0.31887245, z: 0.7365583} _proximalNoMetacarpal: _transformRelativeToHand: e00: 0.7509153 e01: 0.53951 e02: -0.3808615 e03: -0.033674214 e10: -0.3286924 e11: -0.19487822 e12: -0.92411244 e13: 0.009363875 e20: -0.5727894 e21: 0.81911635 e22: 0.030995775 e23: 0.017643292 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: -0.04269646, y: 0.9290003, z: 0.3676077} _up: {x: -0.801483, y: 0.18782637, z: -0.56775546} _forward: {x: -0.5964916, y: -0.31887245, z: 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-0.1681628 e03: -0.047893476 e10: -0.006493233 e11: -0.9989542 e12: 0.045264646 e13: 0.0053686798 e20: -0.16862172 e21: -0.04352361 e22: -0.98471975 e23: 0.017750584 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.978899, y: -0.047453806, z: -0.19876009} _up: {x: 0.042642117, y: 0.9986864, z: -0.028421944} _forward: {x: 0.19984771, y: 0.019346654, z: 0.979636} _proximal: _transformRelativeToHand: e00: 0.9340887 e01: 0.14919442 e02: -0.32437524 e03: -0.09978637 e10: 0.19333364 e11: -0.97514653 e12: 0.10822139 e13: 0.0057108104 e20: -0.30016723 e21: -0.16380101 e22: -0.93971777 e23: 0.026628282 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9848046, y: -0.062658384, z: -0.16196944} _up: {x: 0.09206943, y: 0.9791629, z: 0.18100715} _forward: {x: 0.14725284, y: -0.1931691, z: 0.9700527} _proximalNoMetacarpal: _transformRelativeToHand: e00: 0.9340887 e01: 0.14919442 e02: -0.32437524 e03: -0.09978637 e10: 0.19333364 e11: -0.97514653 e12: 0.10822139 e13: 0.0057108104 e20: -0.30016723 e21: -0.16380101 e22: -0.93971777 e23: 0.026628282 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9289831, y: -0.11244236, z: -0.35263002} _up: {x: 0.16805409, y: 0.97700936, z: 0.1311917} _forward: {x: 0.32977128, y: -0.18113576, z: 0.9265209} _intermediate: _transformRelativeToHand: e00: 0.9144608 e01: 0.23305212 e02: -0.3308297 e03: -0.12559453 e10: 0.28344387 e11: -0.95235634 e12: 0.11259457 e13: 0.00036865473 e20: -0.2888272 e21: -0.19673494 e22: -0.93694973 e23: 0.034921378 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.99996567, y: -0.00568086, z: -0.0060144025} _up: {x: 0.006213653, y: 0.9956818, z: 0.09262234} _forward: {x: 0.005462259, y: -0.09265652, z: 0.995683} _distal: _transformRelativeToHand: e00: 0.7857599 e01: 0.52305126 e02: -0.33014956 e03: -0.14378488 e10: 0.5860862 e11: -0.8002142 e12: 0.12712461 e13: -0.0052692443 e20: -0.1976976 e21: -0.29338548 e22: -0.9353294 e23: 0.040666882 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.99989295, y: -0.013998032, z: 0.004272348} _up: {x: 0.011746733, y: 0.941706, z: 0.3362319} _forward: {x: -0.008729816, y: -0.33614564, z: 0.9417696} _middle: _hasMetacarpalInfo: 1 _metacarpal: _transformRelativeToHand: e00: 0.9982497 e01: 0.008992898 e02: -0.058454465 e03: -0.04774504 e10: 0.010323432 e11: -0.99969363 e12: 0.02249992 e13: 0.004397914 e20: -0.05823413 e21: -0.023063986 e22: -0.9980366 e23: 0.0029802287 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9956851, y: -0.023260312, z: -0.08983635} _up: {x: 0.022923846, y: 0.99972594, z: -0.004775638} _forward: {x: 0.089922845, y: 0.0026956052, z: 0.9959451} _proximal: _transformRelativeToHand: e00: 0.98947346 e01: 0.042441007 e02: -0.13835199 e03: -0.102913655 e10: 0.05579168 e11: -0.99399894 e12: 0.09409383 e13: 0.0038276613 e20: -0.1335282 e21: -0.10082223 e22: -0.98590326 e23: 0.006198421 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9941717, y: -0.07257032, z: -0.07972516} _up: {x: 0.075778484, y: 0.99640113, z: 0.03797654} _forward: {x: 0.07668227, y: -0.043796647, z: 0.9960933} _proximalNoMetacarpal: _transformRelativeToHand: e00: 0.98947346 e01: 0.042441007 e02: -0.13835199 e03: -0.102913655 e10: 0.05579168 e11: -0.99399894 e12: 0.09409383 e13: 0.0038276613 e20: -0.1335282 e21: -0.10082223 e22: -0.98590326 e23: 0.006198421 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.98104924, y: -0.09589008, z: -0.16836806} _up: {x: 0.101707816, y: 0.99446785, z: 0.026256435} _forward: {x: 0.16491894, y: -0.04288323, z: 0.9853745} _intermediate: _transformRelativeToHand: e00: 0.87292254 e01: 0.46592984 e02: -0.144623 e03: -0.130745 e10: 0.48095977 e11: -0.8715736 e12: 0.095064715 e13: 0.0022581816 e20: -0.08175606 e21: -0.15254195 e22: -0.9849097 e23: 0.00995463 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9999793, y: -0.0013313718, z: -0.0062834965} _up: {x: 0.0039196047, y: 0.9014972, z: 0.4327672} _forward: {x: 0.0050883014, y: -0.43278292, z: 0.90148383} _distal: _transformRelativeToHand: e00: 0.7581213 e01: 0.63579667 e02: -0.14496523 e03: -0.14952445 e10: 0.65103436 e11: -0.7507133 e12: 0.11217891 e13: -0.008088738 e20: -0.037504327 e21: -0.17942251 e22: -0.98305714 e23: 0.011713197 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9998518, y: -0.015358327, z: 0.007781085} _up: {x: 0.01339786, y: 0.97790766, z: 0.20860721} _forward: {x: -0.010813042, y: -0.20847191, z: 0.97796863} _ring: _hasMetacarpalInfo: 1 _metacarpal: _transformRelativeToHand: e00: 0.9980263 e01: 0.013940062 e02: 0.06123126 e03: -0.04644293 e10: 0.014838243 e11: -0.9997889 e12: -0.014238532 e13: 0.0040010214 e20: 0.061019897 e21: 0.015118993 e22: -0.99802226 e23: -0.010417592 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.99945796, y: 0.015035839, z: 0.029300416} _up: {x: -0.015082764, y: 0.9998857, z: 0.0013805813} _forward: {x: -0.029276207, y: -0.0018217345, z: 0.99956965} _proximal: _transformRelativeToHand: e00: 0.9742751 e01: 0.19208017 e02: 0.11786971 e03: -0.10037196 e10: 0.19351159 e11: -0.9810981 e12: -0.00071292 e13: 0.0031992048 e20: 0.11550478 e21: 0.023503732 e22: -0.9930291 e23: 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0.9577311, z: 0.28766403} _forward: {x: -0.0006314045, y: -0.2876643, z: 0.9577311} _distal: _transformRelativeToHand: e00: 0.78615654 e01: 0.60642 e02: 0.11921726 e03: -0.14549355 e10: 0.6111419 e11: -0.79151195 e12: -0.0038969354 e13: -0.012325019 e20: 0.0919987 e21: 0.07592226 e22: -0.9928608 e23: -0.019074377 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9999956, y: 0.0028350027, z: -0.00091968494} _up: {x: -0.0026371863, y: 0.985415, z: 0.17014821} _forward: {x: 0.0013886914, y: -0.17014512, z: 0.98541796} _little: _hasMetacarpalInfo: 1 _metacarpal: _transformRelativeToHand: e00: 0.9793499 e01: 0.032130156 e02: 0.19960369 e03: -0.04546275 e10: 0.038487583 e11: -0.99886537 e12: -0.028051142 e13: 0.0026135445 e20: 0.19847599 e21: 0.035154145 e22: -0.97947514 e23: -0.023798779 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.98531044, y: 0.030651787, z: 0.16800044} _up: {x: -0.034529507, y: 0.99919945, z: 0.020208493} _forward: {x: -0.16724646, y: -0.025712624, z: 0.9855798} _proximal: _transformRelativeToHand: e00: 0.9592857 e01: 0.13773768 e02: 0.2465756 e03: -0.09443234 e10: 0.15711637 e11: -0.98571754 e12: -0.060626585 e13: 0.0006893426 e20: 0.23470336 e21: 0.09689927 e22: -0.9672253 e23: -0.033723027 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.99829125, y: 0.034478314, z: 0.04717944} _up: {x: -0.039766975, y: 0.99243075, z: 0.11618761} _forward: {x: -0.042816415, y: -0.117865264, z: 0.99210614} _proximalNoMetacarpal: _transformRelativeToHand: e00: 0.9592857 e01: 0.13773768 e02: 0.2465756 e03: -0.09443234 e10: 0.15711637 e11: -0.98571754 e12: -0.060626585 e13: 0.0006893426 e20: 0.23470336 e21: 0.09689927 e22: -0.9672253 e23: -0.033723027 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9745456, y: 0.06383702, z: 0.21490924} _up: {x: -0.092882924, y: 0.9874299, z: 0.12788682} _forward: {x: -0.20404385, y: -0.14459297, z: 0.9682247} _intermediate: _transformRelativeToHand: e00: 0.9342705 e01: 0.2621701 e02: 0.24167302 e03: -0.116186276 e10: 0.28386593 e11: -0.9570364 e12: 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