>   It's simple. There's a good way described in the documentation.
> Using your left hand, point your thumb towards the positive axis around
> which you want to rotate; your other fingers will tell you the direction
> of the rotation (when rotating by a positive angle).
>
Yeah, I remember reading that, but then I couldn't remember, "How was it
that I was supposed to hold my thumb?"  ;-)  I generally just think, "Oops!
The other direction."  Although it does make things more difficult when
rotating around more than one axis at a time...

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