Try something like this.


union{
  UpperArm
  union{
    ForeArm
    union{
      Palm
      union{
        UpperFingers
        union{
          LowerFingers
          union{
            FingerTips
            rotate FingersTips
            translate FingersTips
          }
          rotate LowerFingers
          translate LowerFingers
        }
        rotate UpperFingers
        translate UpperFingers
      }
      rotate Palm
      translate Palm
    }
    rotate ForeArm
    translate ForeArm
  }
  rotate UpperArm
  translate UpperArm
}

-tgq

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