{
    "open": {
        "right_thumb_CMC_FE": 1.5,
        "right_thumb_CMC_AA": -0.2,
        "right_thumb_MCP_FE": 0.0,
        "right_thumb_MCP_AA": 0.0,
        "right_thumb_IP": 0.0,
        "right_index_MCP_FE": 0.0,
        "right_index_MCP_AA": 0.0,
        "right_index_PIP": 0.0,
        "right_index_DIP": 0.0,
        "right_middle_MCP_FE": 0.0,
        "right_middle_MCP_AA": 0.0,
        "right_middle_PIP": 0.0,
        "right_middle_DIP": 0.0,
        "right_ring_MCP_FE": 0.0,
        "right_ring_MCP_AA": 0.0,
        "right_ring_PIP": 0.0,
        "right_ring_DIP": 0.0,
        "right_pinky_CMC": 0.0,
        "right_pinky_MCP_FE": 0.0,
        "right_pinky_MCP_AA": 0.0,
        "right_pinky_PIP": 0.0,
        "right_pinky_DIP": 0.0
    },
    "close": {
        "right_thumb_CMC_FE": 1.5,
        "right_thumb_CMC_AA": -0.2,
        "right_thumb_MCP_FE": 1.3,
        "right_thumb_MCP_AA": 0.0,
        "right_thumb_IP": 1.5,
        "right_index_MCP_FE": 1.5,
        "right_index_MCP_AA": 0.0,
        "right_index_PIP": 1.5,
        "right_index_DIP": 1.3,
        "right_middle_MCP_FE": 1.5,
        "right_middle_MCP_AA": 0.0,
        "right_middle_PIP": 1.5,
        "right_middle_DIP": 1.3,
        "right_ring_MCP_FE": 1.5,
        "right_ring_MCP_AA": 0.0,
        "right_ring_PIP": 1.5,
        "right_ring_DIP": 1.3,
        "right_pinky_CMC": 0.0,
        "right_pinky_MCP_FE": 1.5,
        "right_pinky_MCP_AA": 0.0,
        "right_pinky_PIP": 1.5,
        "right_pinky_DIP": 1.3
    },
    "fingertip": [
        0.0,
        0.0,
        0.14
    ],
    "sweep_volume": {
        "extents": [
            0.07,
            0.055,
            0.04
        ],
        "offset": [
            0.0,
            0.0,
            0.13
        ],
        "extents2": [
            0.04,
            0.055,
            0.03
        ],
        "offset2": [
            0.0,
            0.0,
            0.11
        ]
    },
    "links": [
        "world",
        "right_hand_C_MC",
        "right_thumb_CMC_VL",
        "right_thumb_MC",
        "right_thumb_MCP_VL",
        "right_thumb_PP",
        "right_thumb_DP",
        "right_thumb_elastomer",
        "right_thumb_fingertip",
        "right_index_MCP_VL",
        "right_index_PP",
        "right_index_MP",
        "right_index_DP",
        "right_index_elastomer",
        "right_index_fingertip",
        "right_middle_MCP_VL",
        "right_middle_PP",
        "right_middle_MP",
        "right_middle_DP",
        "right_middle_elastomer",
        "right_middle_fingertip",
        "right_ring_MCP_VL",
        "right_ring_PP",
        "right_ring_MP",
        "right_ring_DP",
        "right_ring_elastomer",
        "right_ring_fingertip",
        "right_pinky_MC",
        "right_pinky_MCP_VL",
        "right_pinky_PP",
        "right_pinky_MP",
        "right_pinky_DP",
        "right_pinky_elastomer",
        "right_pinky_fingertip"
    ],
    "standoff": [
        0.0,
        0.005
    ],
    "bbox": [
        [-0.12065732, -0.04615228, -0.00631555],
        [ 0.0628942,   0.04367957,  0.17017567]
    ],
    "symmetric": false,
    "type": "revolute_3f"
}