0: thumb_cmc_roll
1: thumb_cmc_yaw
2: index_mcp_roll
3: middle_mcp_roll
4: ring_mcp_roll
5: pinky_mcp_roll
6: thumb_mcp
7: index_mcp_pitch
8: middle_mcp_pitch
9: ring_mcp_pitch
10: pinky_mcp_pitch
11: index_pip
12: middle_pip
13: ring_pip
14: pinky_pip
15: thumb_ip
16: index_dip
17: middle_dip
18: ring_dip
19: pinky_dip
