Problem with transforming Finger Coordinates into the Hand’s Frame of Reference on Java

[gondsieg]

Hi, im trying to use "Transforming Finger Coordinates into the Hand’s Frame of Reference" without success.
[Developer Documentation for HFoF transform]
I'm trying to use it to then get the coordinates data of the fingers with respect to the position of the palm.
I am quite new to Java and apparently I am using the indications badly, but I can not carry it out, maybe because of the location of some line of code or maybe by mistake in the name of variables. I really do not know, please help me.
Here is my code...
Really thanks!

@Override
public void onFrame(Controller controller) {

    // Get the most recent frame and report some basic information
    Frame frame = controller.frame();
    System.out.println("Frame id: " + frame.id());

    //Get hands
    for(Hand hand : frame.hands()) {            
        DateFormat dateFormat = new SimpleDateFormat("HH:mm:ss:SS");
        String currentTime = dateFormat.format(System.currentTimeMillis());
        String handType = hand.isLeft() ? "Mano izquierda" : "Mano derecha";

        //ToBasis
        for(int h = 0; h < frame.hands().count(); h++){
            Hand leapHand = frame.hands().get(h);

            Vector handXBasis =  leapHand.palmNormal().cross(leapHand.direction()).normalized();
            Vector handYBasis = leapHand.palmNormal().opposite();
            Vector handZBasis = leapHand.direction().opposite();
            Vector handOrigin =  leapHand.palmPosition();
            Matrix handTransform = new Matrix(handXBasis, handYBasis, handZBasis, handOrigin);
            handTransform = handTransform.rigidInverse();

            for( int f = 0; f < leapHand.fingers().count(); f++ ){
                Finger leapFinger = leapHand.fingers().get(f);
                Vector transformedPosition = handTransform.transformPoint(leapFinger.tipPosition());
                Vector transformedDirection = handTransform.transformDirection(leapFinger.direction());
                // Do something with the transformed fingers                
                WTF
            }
        }
        
        System.out.println("  " + handType 
                                + ", Posicion palma: " + hand.palmPosition());
        
        
        // Get fingers
        for (Finger finger : hand.fingers()) {
            System.out.println("    " + finger.type() + ", id: " + finger.id()
                             + ", longitud: " + finger.length()
                             + "mm, ancho: " + finger.width() + "mm");
            
            //Get Bones
            for(Bone.Type boneType : Bone.Type.values()) {
                Bone bone = finger.bone(boneType);
                System.out.append("      " + bone.type()
                                   + " Centro Hueso: " + bone.center());                    
            }
        }