finger1_BaseJoint   finger3_BaseJoint   finger2_BaseJoint   brick_translate_y_joint finger1_MidJoint    finger3_MidJoint    finger2_MidJoint    brick_translate_z_joint brick_revolute_x_joint
-0.277611	0.947974	0.281503	0.00731802	-0.0613293	-1.21373	0.201025	-0.0197339	-0.454859
-0.269673	0.910182	0.405141	0.0309428	-0.0593174	-1.40873	0.287732	-0.0284596	-0.533185
-0.133853	0.941109	0.4007	0.030101	0.0186572	-1.46184	0.289061	-0.0298918	-0.505579
0.00196145	0.971331	0.396288	0.0292945	0.0966332	-1.5149	0.290285	-0.0313847	-0.477094
0.132659	1.03136	0.357395	0.0222541	0.169267	-1.54556	0.273119	-0.0313523	-0.421529
0.185826	1.11105	0.265292	0.00655931	0.194396	-1.5272	0.22557	-0.0283626	-0.311532
0.190299	1.15236	0.172821	-0.00714246	0.191832	-1.50221	0.174626	-0.0247317	-0.178606
0.19477	1.15522	0.0880207	-0.0170786	0.189278	-1.48771	0.125161	-0.0210321	-0.0325206
0.116951	1.11109	0.00472986	-0.0236464	0.140194	-1.46735	0.0751527	-0.0166597	0.128985
0.116951	1.11109	0.00472986	-0.0236464	0.140194	-1.46735	0.0751527	-0.0166597	0.128985
-0.0253097	1.1223	-0.0670218	-0.017091	0.27584	-1.71845	0.204993	-0.0261754	0.312237
-0.166354	0.865046	-0.142261	-0.00568356	0.356888	-1.7954	0.271537	-0.0346336	0.625051
-0.240174	0.587686	-0.204645	0.00157876	0.417172	-1.6061	0.285589	-0.0336073	0.829699
-0.2854	0.348528	-0.261236	0.0070414	0.472251	-1.3306	0.287115	-0.0291123	0.983925
-0.314024	0.13511	-0.310518	0.0111027	0.524778	-1.01456	0.284874	-0.0234165	1.09853
-0.333547	-0.0650533	-0.350138	0.0138037	0.57474	-0.677123	0.282752	-0.0180523	1.17622
-0.333547	-0.0650533	-0.350138	0.0138037	0.57474	-0.677123	0.282752	-0.0180523	1.17622
-0.489193	-0.0308421	-0.398642	0.00476261	0.518795	-0.719448	0.307468	-0.0297853	1.39221
-0.628134	0.0461484	-0.389456	-0.0092609	0.467926	-0.726971	0.36116	-0.0368821	1.58054
-0.766611	0.15684	-0.312372	-0.0284347	0.415596	-0.701647	0.449222	-0.0414238	1.75159
-0.743176	0.120924	-0.140453	-0.0237236	0.443066	-0.692901	0.53058	-0.0401788	1.71713
-0.669704	0.0494368	-0.0189003	-0.0124995	0.491331	-0.693819	0.569463	-0.0370902	1.6157
-0.595167	-0.00887763	0.102651	-0.00309783	0.538204	-0.686012	0.608345	-0.0331663	1.50639
-0.47047	-0.0652458	0.0663562	0.00764218	0.589488	-0.665343	0.547076	-0.0254742	1.33271
-0.47047	-0.0652458	0.0663562	0.00764218	0.589488	-0.665343	0.547076	-0.0254742	1.33271
-0.515986	-0.115995	-0.0186288	0.00567815	0.598861	-0.867366	0.640571	-0.0255934	1.41113
-0.545602	-0.0320728	-0.109774	0.00426735	0.59672	-1.00281	0.739614	-0.0247586	1.48568
-0.570529	0.0518471	-0.205571	0.00299411	0.596439	-1.13826	0.83514	-0.0230506	1.56072
-0.588776	0.148169	-0.305076	0.00204971	0.597088	-1.26628	0.927501	-0.0204856	1.6347
-0.599897	0.256905	-0.407805	0.00154208	0.598957	-1.38684	1.01677	-0.0170986	1.707
-0.605025	0.365649	-0.514435	0.00145489	0.603402	-1.5074	1.10218	-0.0128832	1.77885
-0.57084	0.64812	-0.535754	0.00400668	0.579418	-1.39006	1.16196	-0.0119789	1.76396
-0.57084	0.64812	-0.535754	0.00400668	0.579418	-1.39006	1.16196	-0.0119789	1.76396
-0.594883	0.60271	-0.57248	-0.000818635	0.532276	-1.33086	1.0868	-0.0110231	1.87635
-0.604265	0.549921	-0.591056	-0.00475384	0.487929	-1.25025	1.00044	-0.00939497	1.96936
-0.603516	0.492773	-0.595965	-0.00783172	0.446332	-1.15783	0.910094	-0.00747789	2.04672
-0.59592	0.432979	-0.590804	-0.0102075	0.406849	-1.05849	0.818756	-0.00548634	2.11188
-0.583638	0.371516	-0.578022	-0.0120287	0.368871	-0.954745	0.727655	-0.0035396	2.16722
-0.568117	0.308971	-0.559255	-0.0134133	0.331915	-0.847959	0.63731	-0.00170859	2.21431
-0.550369	0.245715	-0.535623	-0.0144532	0.295613	-0.738961	0.547945	-3.91581e-05	2.25418
-0.531127	0.181992	-0.507908	-0.0152193	0.259681	-0.628283	0.459655	0.00143686	2.28755
