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_transformRelativeToHand: e00: -0.16439447 e01: 0.88679415 e02: -0.43193835 e03: -0.092488855 e10: 0.07583327 e11: 0.44796255 e12: 0.8908305 e13: -0.037952144 e20: 0.98347557 e21: 0.11369236 e22: -0.14089115 e23: 0.02218777 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 1.0000001, y: -0.0000046994533, z: 0.0000056418967} _up: {x: -0.0000032446178, y: 0.39232317, z: 0.9198275} _forward: {x: -0.000006442232, y: -0.9198275, z: 0.3923232} _handDescriptorRight: _index: _hasMetacarpalInfo: 1 _metacarpal: _transformRelativeToHand: e00: 0.9838229 e01: 0.11538902 e02: -0.13703328 e03: -0.054024614 e10: 0.10803201 e11: -0.9923362 e12: -0.05998785 e13: -0.0060564466 e20: -0.14290495 e21: 0.044213437 e22: -0.9887485 e23: 0.020022884 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9788986, y: 0.047454357, z: 0.19875988} _up: {x: -0.042642154, y: 0.99868596, z: -0.028424464} _forward: {x: -0.19984758, y: 0.019349143, z: 0.97963583} _proximal: _transformRelativeToHand: e00: 0.99859834 e01: -0.052481215 e02: 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_up: {x: 0.001369681, y: 0.71104825, z: 0.7031419} _forward: {x: -0.0026471976, y: -0.7031378, z: 0.7110489} _little: _hasMetacarpalInfo: 1 _metacarpal: _transformRelativeToHand: e00: 0.9726475 e01: 0.0715238 e02: 0.2210014 e03: -0.04862342 e10: 0.061784703 e11: -0.9968034 e12: 0.050679725 e13: -0.0027690015 e20: 0.22391921 e21: -0.035638977 e22: -0.9739571 e23: -0.026522964 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.98531145, y: -0.030651936, z: -0.16800049} _up: {x: 0.03452911, y: 0.9992006, z: 0.020205261} _forward: {x: 0.16724649, y: -0.02570932, z: 0.9855798} _proximal: _transformRelativeToHand: e00: 0.99108696 e01: 0.08420467 e02: 0.10323132 e03: -0.1034837 e10: 0.07650779 e11: -0.99414027 e12: 0.07638395 e13: -0.006254384 e20: 0.10905782 e21: -0.06780511 e22: -0.9917213 e23: -0.03915274 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9925769, y: -0.033412237, z: 0.11693833} _up: {x: 0.034265798, y: 0.9993987, z: -0.005295916} _forward: {x: -0.116691075, y: 0.009263614, z: 0.99312496} 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_up: {x: -0.00061461894, y: 0.95773107, z: 0.28766418} _forward: {x: -0.00063101965, y: -0.2876645, z: 0.95773095} _distal: _transformRelativeToHand: e00: 0.84579825 e01: 0.5226531 e02: 0.10704611 e03: -0.17537497 e10: 0.5269988 e11: -0.8497313 e12: -0.015132448 e13: -0.0042011077 e20: 0.08305146 e21: 0.06921221 e22: -0.99413896 e23: -0.02356929 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.99999547, y: 0.002835432, z: -0.00092009926} _up: {x: -0.002637554, y: 0.9854149, z: 0.1701486} _forward: {x: 0.0013891369, y: -0.17014551, z: 0.985418} _little: _hasMetacarpalInfo: 1 _metacarpal: _transformRelativeToHand: e00: 0.9726466 e01: -0.071520485 e02: 0.22100525 e03: -0.048623264 e10: -0.06178118 e11: -0.9968023 e12: -0.050679762 e13: 0.0027686672 e20: 0.22392319 e21: 0.03563954 e22: -0.9739549 e23: -0.026522635 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9853094, y: 0.030651474, z: 0.16800532} _up: {x: -0.03452944, y: 0.99919945, z: 0.02020926} _forward: {x: -0.16725138, y: -0.025713509, z: 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e11: -0.97904027 e12: -0.08273072 e13: 0.0043505826 e20: 0.20520383 e21: 0.12107569 e22: -0.9712013 e23: -0.046569496 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9999862, y: -0.0022335346, z: -0.004786282} _up: {x: 0.0028377408, y: 0.99148285, z: 0.13020733} _forward: {x: 0.004454692, y: -0.13021906, z: 0.9914752} _distal: _transformRelativeToHand: e00: 0.8689006 e01: 0.44103077 e02: 0.22472987 e03: -0.15670149 e10: 0.46508634 e11: -0.8828253 e12: -0.065681785 e13: 0.00028646135 e20: 0.16942953 e21: 0.16158977 e22: -0.972205 e23: -0.05105095 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9998531, y: -0.016601115, z: 0.004210432} _up: {x: 0.014642647, y: 0.9561139, z: 0.29262888} _forward: {x: -0.008883609, y: -0.29252446, z: 0.95621693} _thumb: _hasMetacarpalInfo: 0 _metacarpal: _transformRelativeToHand: e00: 0 e01: 0 e02: 0 e03: 0 e10: 0 e11: 0 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: 0.76899683 e01: -0.5475855 e02: -0.3298393 e03: -0.042795867 e10: 0.2735261 e11: -0.18449906 e12: 0.9440042 e13: -0.01472201 e20: -0.577778 e21: -0.8161559 e22: 0.0078997025 e23: 0.02978248 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: -0.031762302, y: -0.91061246, z: -0.41203928} _up: {x: 0.78423405, y: 0.2328733, z: -0.5751064} _forward: {x: 0.6196518, y: -0.34140193, z: 0.7067366} _proximalNoMetacarpal: _transformRelativeToHand: e00: 0.76899683 e01: -0.5475855 e02: -0.3298393 e03: -0.042795867 e10: 0.2735261 e11: -0.18449906 e12: 0.9440042 e13: -0.01472201 e20: -0.577778 e21: -0.8161559 e22: 0.0078997025 e23: 0.02978248 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: -0.031762302, y: -0.91061246, z: -0.41203928} _up: {x: 0.78423405, y: 0.2328733, z: -0.5751064} _forward: {x: 0.6196518, y: -0.34140193, z: 0.7067366} _intermediate: _transformRelativeToHand: e00: 0.79666084 e01: -0.51832134 e02: -0.3109252 e03: -0.06407782 e10: 0.23317869 e11: -0.21103533 e12: 0.9492587 e13: -0.022291748 e20: -0.5576372 e21: -0.8287384 e22: -0.04726211 e23: 0.045772616 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.99828583, y: 0.03369401, z: 0.04785336} _up: {x: -0.03480224, y: 0.9991404, z: 0.022515537} _forward: {x: -0.047053665, y: -0.024142314, z: 0.9986006} _distal: _transformRelativeToHand: e00: 0.6707584 e01: -0.6733595 e02: -0.31091827 e03: -0.090430304 e10: 0.1839253 e11: -0.2550988 e12: 0.94926095 e13: -0.030005228 e20: -0.7185087 e21: -0.6939105 e22: -0.04726187 e23: 0.06421859 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 1.0000001, y: -0.0000041411545, z: 0.0000059255576} _up: {x: 0.000005275711, y: 0.9779217, z: -0.20897248} _forward: {x: -0.000004834405, y: 0.20897245, z: 0.9779216} _handDescriptorClosedRight: _index: _hasMetacarpalInfo: 1 _metacarpal: _transformRelativeToHand: e00: 0.9838229 e01: 0.11538902 e02: -0.13703328 e03: -0.054024614 e10: 0.10803201 e11: -0.9923362 e12: -0.05998785 e13: -0.0060564466 e20: -0.14290495 e21: 0.044213437 e22: 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_metacarpal: _transformRelativeToHand: e00: 0.9952064 e01: 0.09310424 e02: -0.029934077 e03: -0.05391816 e10: 0.09233747 e11: -0.99538827 e12: -0.026050972 e13: -0.005003079 e20: -0.032221403 e21: 0.023162063 e22: -0.9992135 e23: 0.0017453032 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.99568594, y: 0.02326092, z: 0.08983637} _up: {x: -0.02292433, y: 0.9997271, z: -0.0047768494} _forward: {x: -0.08992277, y: 0.0026968082, z: 0.99594504} _proximal: _transformRelativeToHand: e00: 0.9931003 e01: 0.057244565 e02: -0.10234799 e03: -0.11596005 e10: 0.04638583 e11: -0.99333763 e12: -0.1054962 e13: -0.010759832 e20: -0.10770519 e21: 0.10002067 e22: -0.98914 e23: 0.003753983 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.99417156, y: 0.07256992, z: 0.07972712} _up: {x: -0.07577799, y: 0.99640006, z: 0.037974916} _forward: {x: -0.07668433, y: -0.04379517, z: 0.99609315} _proximalNoMetacarpal: _transformRelativeToHand: e00: 0.9931003 e01: 0.057244565 e02: -0.10234799 e03: -0.11596005 e10: 0.04638583 e11: -0.99333763 e12: -0.1054962 e13: -0.010759832 e20: -0.10770519 e21: 0.10002067 e22: -0.98914 e23: 0.003753983 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9810498, y: 0.09589046, z: 0.16836995} _up: {x: -0.10170769, y: 0.99446785, z: 0.026253663} _forward: {x: -0.16492099, y: -0.04288069, z: 0.98537415} _intermediate: _transformRelativeToHand: e00: 0.91951585 e01: -0.37777835 e02: -0.10850962 e03: -0.15473181 e10: -0.3886244 e11: -0.9151501 e12: -0.107108444 e13: -0.012570273 e20: -0.058839362 e21: 0.1406573 e22: -0.98830956 e23: 0.007959201 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9999794, y: 0.0013318334, z: 0.006283374} _up: {x: -0.0039199963, y: 0.90149534, z: 0.4327712} _forward: {x: -0.0050880797, y: -0.43278703, z: 0.9014818} _distal: _transformRelativeToHand: e00: 0.8216784 e01: -0.55979085 e02: -0.1071403 e03: -0.18200943 e10: -0.56968206 e11: -0.81243104 e12: -0.12417236 e13: -0.001041653 e20: -0.017533628 e21: 0.16306558 e22: -0.98646057 e23: 0.009704412 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.99985194, y: 0.015358819, z: -0.0077817715} _up: {x: -0.013398279, y: 0.977909, z: 0.20860088} _forward: {x: 0.010813699, y: -0.20846567, z: 0.9779699} _ring: _hasMetacarpalInfo: 1 _metacarpal: _transformRelativeToHand: e00: 0.9923552 e01: 0.08918571 e02: 0.08530685 e03: -0.05238837 e10: 0.08754601 e11: -0.9959011 e12: 0.022779476 e13: -0.004513627 e20: 0.086988606 e21: -0.015137047 e22: -0.99609524 e23: -0.011751126 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9994583, y: -0.015035751, z: -0.029301068} _up: {x: 0.015082602, y: 0.9998863, z: 0.0013784243} _forward: {x: 0.029276952, y: -0.0018196137, z: 0.9995696} _proximal: _transformRelativeToHand: e00: 0.98567027 e01: -0.08965857 e02: 0.14288418 e03: -0.11287573 e10: -0.0927525 e11: -0.9955755 e12: 0.015126408 e13: -0.009849995 e20: 0.14089559 e21: -0.02816247 e22: -0.98962474 e23: -0.01705328 e30: 0 e31: 0 e32: 0 e33: 1 _right: {x: 0.9982922, y: 0.012658795, z: -0.05703007} _up: {x: -0.002274659, y: 0.9839226, z: 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