17. The processor-implemented method of claim 16 , wherein: the at least two adjacent finger segments of the model are in the specified relative position when respective longitudinal axes of the at least two adjacent finger segments of the model are substantially parallel, within a specified angular threshold.
16. The processor-implemented method of claim 15 , wherein: the deciding to enforce collision constraints comprises determining that the at least two adjacent finger segments of the model are in a specified relative position.