vr hand get all bent out of shape

I tried looking at all my keyframe. not sure where to begin fixing this problem. I made a grab animation for when I grab the puppet. But when I grab and pick up after a couple of time then the finger start to get all werid. the finger start to pop out of place. I been trying to find out what causing this problem on my own. But can not figure out what it is.
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On an old Mm stream they showed how to fix this kind of problem. https://youtu.be/SRAIVIYu6V4?t=2128
Basically, keyframe the fingers while not grabbing. So that it's always controlled by a keyframe, essentially.
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