{"right_hand_link": [], "right_hand_ee_link": [], "right_hand_back_link": [], "right_hand_thumb_bend_link": [], "right_hand_thumb_rota_link1": [], "right_hand_thumb_rotaback_link1": [], "right_hand_thumb_rota_link2": [[0.036529, 0.00017, 0.007408]], "right_hand_thumb_rotaback_link2": [], "right_hand_thumb_rota_tip": [], "right_hand_index_bend_link": [], "right_hand_index_rota_link1": [], "right_hand_index_rotaback_link1": [], "right_hand_index_rota_link2": [[-4.8e-05, -0.006987, -0.0294]], "right_hand_index_rotaback_link2": [], "right_hand_index_rota_tip": [], "right_hand_mid_link1": [], "right_hand_midback_link1": [], "right_hand_mid_link2": [[0.000196, -0.006907, -0.030214]], "right_hand_midback_link2": [], "right_hand_mid_tip": [], "right_hand_ring_link1": [], "right_hand_ringback_link1": [], "right_hand_ring_link2": [[0.000259, -0.007202, -0.028425]], "right_hand_ringback_link2": [], "right_hand_ring_tip": [], "right_hand_pinky_link1": [], "right_hand_pinkyback_link1": [], "right_hand_pinky_link2": [[0.001983, -0.006651, -0.031217]], "right_hand_pinkyback_link2": [], "right_hand_pinky_tip": []}