<commit_before>{
  "General": [
    {
      "allow_mirror": true,
      "description": "crane",
      "joints": {
        "l_arm_elx": 1.6182986497879028,
        "l_arm_ely": 2.5643422603607178,
        "l_arm_lwy": 1,
        "l_arm_mwx": 0.8601630926132202,
        "l_arm_shx": 0.7965372800827026,
        "l_arm_shz": -0.773799479007721,
        "l_arm_uwy": 0.7271268367767334
      },
      "name": "crane",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "arm down thumb in",
      "joints": {
        "l_arm_elx": 0.5717237591743469,
        "l_arm_ely": 2.388169050216675,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.08584332466125488,
        "l_arm_shx": -1.072134256362915,
        "l_arm_shz": 0.15671302378177643,
        "l_arm_uwy": 0.8696688413619995
      },
      "name": "arm down thumb in",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "handsdown both",
      "joints": {
        "l_arm_elx": 0.5006033182144165,
        "l_arm_ely": 2.100071907043457,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.006528913974761963,
        "l_arm_shx": -1.3302499055862427,
        "l_arm_shz": 0.2700333595275879,
        "l_arm_uwy": 0.024209260940551758,
        "r_arm_elx": -0.5008605718612671,
        "r_arm_ely": 2.0998172760009766,
        "r_arm_mwx": 0.0005802512168884277,
        "r_arm_shx": 1.3302150964736938,
        "r_arm_shz": 0.27055978775024414,
        "r_arm_uwy": 0.02374020218849182
      },
      "name": "handsdown both",
      "nominal_handedness": "none"
    },
    {
      "allow_mirror": true,
      "description": "handdown",
      "joints": {
        "l_arm_elx": 0.5006033182144165,
        "l_arm_ely": 2.100167989730835,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.006528913974761963,
        "l_arm_shx": -1.3301540613174438,
        "l_arm_shz": 0.2700333595275879,
        "l_arm_uwy": 0.024209260940551758
      },
      "name": "handdown",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "handsdown incl back",
      "joints": {
        "back_bkx": 0.0002659455349203199,
        "back_bky": 0.0007907520630396903,
        "back_bkz": 0.0039426530711352825,
        "l_arm_elx": 0.4996761083602905,
        "l_arm_ely": 2.1026859283447266,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.014013349078595638,
        "l_arm_shx": -1.3297230005264282,
        "l_arm_shz": 0.2692919969558716,
        "l_arm_uwy": 0.01859891414642334,
        "r_arm_elx": -0.494953453540802,
        "r_arm_ely": 2.1011929512023926,
        "r_arm_mwx": -0.00019657611846923828,
        "r_arm_shx": 1.3310223817825317,
        "r_arm_shz": 0.2759742736816406,
        "r_arm_uwy": 0.01871834695339203
      },
      "name": "handsdown incl back",
      "nominal_handedness": "none"
    },
    {
      "allow_mirror": true,
      "description": "debris - prereach",
      "joints": {
        "l_arm_elx": 1.572343349456787,
        "l_arm_ely": 1.7639384269714355,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.8167610764503479,
        "l_arm_shx": -1.001606822013855,
        "l_arm_shz": 0.7853426933288574,
        "l_arm_uwy": 0.7702436447143555
      },
      "name": "debris - prereach",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "debris - extract",
      "joints": {
        "back_bkx": 0.007136213593184948,
        "back_bky": 0.007643775083124638,
        "back_bkz": 0.035616662353277206,
        "l_arm_elx": 1.5721516609191895,
        "l_arm_ely": 1.7639384269714355,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.8167610764503479,
        "l_arm_shx": -1.0015109777450562,
        "l_arm_shz": 0.7853426933288574,
        "l_arm_uwy": 0.7702436447143555
      },
      "name": "debris - extract",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "debris - drop pose",
      "joints": {
        "back_bkx": 0.007176973856985569,
        "back_bky": 0.006824231240898371,
        "back_bkz": 0.2622271776199341,
        "l_arm_elx": 0.37440019845962524,
        "l_arm_ely": 1.2284832000732422,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.14343935251235962,
        "l_arm_shx": -0.1664501428604126,
        "l_arm_shz": 0.7568683624267578,
        "l_arm_uwy": 0.025208234786987305
      },
      "name": "debris - drop pose",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "handdown thumb in",
      "joints": {
        "l_arm_elx": 0.31513822078704834,
        "l_arm_ely": 3.1058847904205322,
        "l_arm_lwy": 0,
        "l_arm_mwx": -0.012162923812866211,
        "l_arm_shx": -1.2109779119491577,
        "l_arm_shz": -0.12205731868743896,
        "l_arm_uwy": 0.0289762020111084
      },
      "name": "handdown thumb in",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "arm up pregrasp",
      "joints": {
        "l_arm_elx": 1.5715787410736084,
        "l_arm_ely": 1.5707950592041016,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.7862088084220886,
        "l_arm_shx": 0.0,
        "l_arm_shz": 0.767944870877505,
        "l_arm_uwy": 0.0
      },
      "name": "arm up pregrasp",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "safe nominal",
      "joints": {
        "back_bkx": 0.00012852025975007564,
        "back_bky": 0.0004949619178660214,
        "back_bkz": 5.0203751015942544e-05,
        "l_arm_elx": 0.49981027841567993,
        "l_arm_ely": 2.0999765396118164,
        "l_arm_lwy": 0.0,
        "l_arm_mwx": 0.0,
        "l_arm_shx": -1.3241328001022339,
        "l_arm_shz": 0.2690238952636719,
        "l_arm_uwy": 0.0,
        "r_arm_elx": -0.5001758933067322,
        "r_arm_ely": 2.103093147277832,
        "r_arm_lwy": 0.0,
        "r_arm_mwx": 0.0,
        "r_arm_shx": 1.3303475379943848,
        "r_arm_shz": -0.2682519555091858,
        "r_arm_uwy": 0.0
      },
      "name": "safe nominal",
      "nominal_handedness": "none"
    },
    {
      "allow_mirror": true,
      "description": "hands-forward",
      "joints": {
        "l_arm_elx": 1.5674762725830078,
        "l_arm_ely": 0.3562425374984741,
        "l_arm_lwy": 0.0009588301763869822,
        "l_arm_mwx": 0.7864048480987549,
        "l_arm_shx": -1.307056188583374,
        "l_arm_shz": -1.0384538173675537,
        "l_arm_uwy": 0.08743689954280853
      },
      "name": "hands-forward",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "sitting with lean back, seat height 55cm",
      "joints": {
        "l_arm_elx": 2.2722370624542236,
        "l_arm_ely": 0.36549726128578186,
        "l_arm_lwy": 0.0004052989825140685,
        "l_arm_mwx": 0.7940353155136108,
        "l_arm_shx": -1.3077927827835083,
        "l_arm_shz": -1.4827206134796143,
        "l_arm_uwy": 0.08833818137645721
      },
      "name": "sitting",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "safe arm pose to enter car",
      "joints": {
        "l_arm_elx": 1.8495821952819824,
        "l_arm_ely": 3.073181629180908,
        "l_arm_lwy": 0.06462918221950531,
        "l_arm_mwx": 1.0717439651489258,
        "l_arm_shx": 1.2634254693984985,
        "l_arm_shz": 0.43667125701904297,
        "l_arm_uwy": 0.03604685515165329
      },
      "name": "car entry arm",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "arm up pregrasp waypoint",
      "joints": {
        "r_arm_elx": -1.5503730199999999,
        "r_arm_ely": 2.70490899,
        "r_arm_lwy": 0.0,
        "r_arm_mwx": 0.0,
        "r_arm_shx": 0.0,
        "r_arm_shz": -0.51443523,
        "r_arm_uwy": 0.0
      },
      "name": "arm up pregrasp waypoint",
      "nominal_handedness": "right"
    }
  ],
  "door": [
    {
      "allow_mirror": true,
      "description": "narrow walking profile",
      "joints": {
        "back_bkx": -0.0012335698120296001,
        "back_bky": -0.010241607204079628,
        "back_bkz": 6.361957639455795e-05,
        "l_arm_elx": 0.04901176691055298,
        "l_arm_ely": 2.09968900680542,
        "l_arm_lwy": 0.0,
        "l_arm_mwx": -0.001135408878326416,
        "l_arm_shx": -1.3347748517990112,
        "l_arm_shz": 0.2725708484649658,
        "l_arm_uwy": 0.1728922724723816,
        "r_arm_elx": -0.04314535856246948,
        "r_arm_ely": 2.0999293327331543,
        "r_arm_lwy": 0.0,
        "r_arm_mwx": 0.00019365549087524414,
        "r_arm_shx": 1.3254579305648804,
        "r_arm_shz": -0.2694024443626404,
        "r_arm_uwy": 0.17152655124664307
      },
      "name": "narrow walking profile",
      "nominal_handedness": "none"
    },
    {
      "allow_mirror": true,
      "description": "door handle pre-reach",
      "joints": {
        "r_arm_elx": -2.031704501456846,
        "r_arm_ely": 2.606527343257825,
        "r_arm_lwy": 0.0,
        "r_arm_mwx": 0.3996406679595866,
        "r_arm_shx": 1.047473562242328,
        "r_arm_shz": -0.6965054370803534,
        "r_arm_uwy": 1.313004251330258
      },
      "name": "door handle pre-reach",
      "nominal_handedness": "right"
    },
    {
      "allow_mirror": true,
      "description": "hand up tuck",
      "joints": {
        "l_arm_elx": 2.2760796546936035,
        "l_arm_ely": 0.3644244372844696,
        "l_arm_lwy": 0.0,
        "l_arm_mwx": 0.784614622592926,
        "l_arm_shx": -1.3069056272506714,
        "l_arm_shz": -1.4836206436157227,
        "l_arm_uwy": 0.08796451985836029
      },
      "name": "hand up tuck",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "hand up tuck both",
      "joints": {
        "l_arm_elx": 2.2760796546936035,
        "l_arm_ely": 0.3644244372844696,
        "l_arm_lwy": 1.734723475976807e-18,
        "l_arm_mwx": 0.784614622592926,
        "l_arm_shx": -1.3069056272506714,
        "l_arm_shz": -1.4836206436157227,
        "l_arm_uwy": 0.08796451985836029,
        "r_arm_elx": -2.2760796546936035,
        "r_arm_ely": 0.3644244372844696,
        "r_arm_lwy": 0.0,
        "r_arm_mwx": -0.784614622592926,
        "r_arm_shx": 1.3069056272506714,
        "r_arm_shz": 1.4836206436157227,
        "r_arm_uwy": 0.08796451985836029
      },
      "name": "hand up tuck both",
      "nominal_handedness": "none"
    },
    {
      "allow_mirror": true,
      "description": "door-touch nom",
      "joints": {
        "l_arm_elx": 1.712615966796875,
        "l_arm_ely": 1.5258442163467407,
        "l_arm_lwy": -1.5227203369140625,
        "l_arm_mwx": -0.9824485182762146,
        "l_arm_shx": -1.255802035331726,
        "l_arm_shz": 0.19136977195739746,
        "l_arm_uwy": -1.7891645431518555
      },
      "name": "door-touch nom",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "post-push",
      "joints": {
        "back_bkx": 0.0,
        "back_bky": 0.0,
        "back_bkz": -8.470329472543003e-22,
        "l_arm_elx": 0.9613706469535828,
        "l_arm_ely": 0.7742084860801697,
        "l_arm_lwy": -1.3942848443984985,
        "l_arm_mwx": 1.2658132314682007,
        "l_arm_shx": -0.8563313484191895,
        "l_arm_shz": -1.4041873216629028,
        "l_arm_uwy": -2.0321204662323,
        "r_arm_elx": -1.6610057353973389,
        "r_arm_ely": 2.516777515411377,
        "r_arm_lwy": 1.8273311853408813,
        "r_arm_mwx": 0.762302815914154,
        "r_arm_shx": 0.811505138874054,
        "r_arm_shz": -0.24651595950126648,
        "r_arm_uwy": 1.7213726043701172
      },
      "name": "post-push",
      "nominal_handedness": "none"
    },
    {
      "allow_mirror": true,
      "description": "high touch",
      "joints": {
        "l_arm_elx": 2.2759687900543213,
        "l_arm_ely": 1.5707963705062866,
        "l_arm_lwy": 0.0,
        "l_arm_mwx": -0.39923325181007385,
        "l_arm_shx": 0.0,
        "l_arm_shz": -0.31166988611221313,
        "l_arm_uwy": 0.0
      },
      "name": "high touch",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "pre-reach both",
      "joints": {
        "back_bkx": 0.0,
        "back_bky": 0.0,
        "back_bkz": 0.0,
        "l_arm_elx": 2.0209803581237793,
        "l_arm_ely": 3.0596115589141846,
        "l_arm_lwy": 8.326672684688674e-17,
        "l_arm_mwx": 1.0576800107955933,
        "l_arm_shx": -0.459369033575058,
        "l_arm_shz": 0.6029572486877441,
        "l_arm_uwy": -1.156224012374878,
        "r_arm_elx": -2.0209803581237793,
        "r_arm_ely": 3.0596115589141846,
        "r_arm_lwy": 0.7819115519523621,
        "r_arm_mwx": 1.038118600845337,
        "r_arm_shx": 0.459369033575058,
        "r_arm_shz": -0.6029572486877441,
        "r_arm_uwy": 1.949746012687683
      },
      "name": "pre-reach both",
      "nominal_handedness": "none"
    },
    {
      "allow_mirror": true,
      "description": "pre-smash",
      "joints": {
        "l_arm_elx": 2.1818318367004395,
        "l_arm_ely": 0.17592903971672058,
        "l_arm_lwy": 0.0,
        "l_arm_mwx": 0.3842903971672058,
        "l_arm_shx": -0.9707543849945068,
        "l_arm_shz": -1.3964413404464722,
        "l_arm_uwy": 1.3010426069826053e-18
      },
      "name": "pre-smash",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "smash",
      "joints": {
        "l_arm_elx": 0.501868486404419,
        "l_arm_ely": 0.17592903971672058,
        "l_arm_lwy": 0.0,
        "l_arm_mwx": 9.62964972193618e-35,
        "l_arm_shx": -0.496372789144516,
        "l_arm_shz": -1.3964413404464722,
        "l_arm_uwy": 2.7755575615628914e-17
      },
      "name": "smash",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "pre-reach non-grasping",
      "joints": {
        "l_arm_elx": 2.0209803581237793,
        "l_arm_ely": 3.0596115589141846,
        "l_arm_lwy": 8.315830662963819e-17,
        "l_arm_mwx": 1.0576800107955933,
        "l_arm_shx": -0.459369033575058,
        "l_arm_shz": 0.6029572486877441,
        "l_arm_uwy": -1.156224012374878
      },
      "name": "pre-reach non-grasping",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "pre-reach grasping",
      "joints": {
        "r_arm_elx": -2.3266680240631104,
        "r_arm_ely": 2.7806777954101562,
        "r_arm_lwy": 2.248668909072876,
        "r_arm_mwx": 0.6631243228912354,
        "r_arm_shx": 0.867233395576477,
        "r_arm_shz": -0.7219979763031006,
        "r_arm_uwy": 0.5879825353622437
      },
      "name": "<NAME>",
      "nominal_handedness": "right"
    }
  ],
  "drill": [
    {
      "allow_mirror": true,
      "description": "drill down",
      "joints": {
        "back_bkx": 0.0,
        "back_bky": 0.0,
        "back_bkz": 0.0,
        "l_arm_elx": 0.5,
        "l_arm_ely": 2.0999999046325684,
        "l_arm_lwy": 0,
        "l_arm_mwx": 1.1102230246251565e-16,
        "l_arm_shx": -1.1027015447616577,
        "l_arm_shz": 0.27000001072883606,
        "l_arm_uwy": 0.0
      },
      "name": "<NAME>",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "drill raise for cutting",
      "joints": {
        "back_bkx": 0.0,
        "back_bky": 0.0,
        "back_bkz": 0.0,
        "l_arm_elx": 1.6365846395492554,
        "l_arm_ely": 2.546053647994995,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.8582467436790466,
        "l_arm_shx": -1.2967355251312256,
        "l_arm_shz": 0.5850000381469727,
        "l_arm_uwy": 0.10304810106754303
      },
      "name": "drill raise for cutting",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "pointer down",
      "joints": {
        "l_arm_lwy": 0,
        "r_arm_elx": -0.5,
        "r_arm_ely": 2.0999999046325684,
        "r_arm_mwx": -1.1102230246251565e-16,
        "r_arm_shx": 1.3300000429153442,
        "r_arm_shz": 0.27000001072883606,
        "r_arm_uwy": 0.0
      },
      "name": "pointer down",
      "nominal_handedness": "right"
    },
    {
      "allow_mirror": true,
      "description": "drill raise power on",
      "joints": {
        "l_arm_elx": 1.9557924270629883,
        "l_arm_ely": 1.7382441759109497,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.22407197952270508,
        "l_arm_shx": 0.009102821350097656,
        "l_arm_shz": -0.26963281631469727,
        "l_arm_uwy": 0.024385511875152588
      },
      "name": "drill raise power on",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "pointer raise power on",
      "joints": {
        "l_arm_lwy": 0,
        "r_arm_elx": -1.979742169380188,
        "r_arm_ely": 1.8336384296417236,
        "r_arm_mwx": -0.5188412666320801,
        "r_arm_shx": 1.2585715055465698,
        "r_arm_shz": -0.5391398668289185,
        "r_arm_uwy": 2.5829949378967285
      },
      "name": "pointer raise power on",
      "nominal_handedness": "right"
    },
    {
      "allow_mirror": true,
      "description": "both raise power on [old]",
      "joints": {
        "l_arm_elx": 1.9557924270629883,
        "l_arm_ely": 1.7382441759109497,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.0,
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      "nominal_handedness": "none"
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        "r_arm_shz": -0.7084315419197083,
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      "name": "both raise power on",
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      "name": "drill cut nominal",
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      "name": "drill wall lower 2",
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      "name": "drill raise inspect",
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    {
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      "description": "new: drill raise for press",
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      "name": "new: drill raise for press",
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      "name": "new: hand raise for grasp",
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        "l_arm_shz": -0.3633900582790375,
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      "name": "new: drill raise for press 2",
      "nominal_handedness": "left"
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      "allow_mirror": true,
      "description": "new: walk with drill",
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      "allow_mirror": true,
      "description": "seated driving posture with one leg out",
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        "base_x": 3.469446951953614e-18,
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        "base_yaw": 3.5161132263117876e-18,
        "base_z": 0.85,
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        "l_arm_shz": 0.2302439957857132,
        "l_arm_uwy": 0.03015216626226902,
        "l_leg_akx": -0.10822825878858566,
        "l_leg_aky": -0.6214812994003296,
        "l_leg_hpx": 0.13221760094165802,
        "l_leg_hpy": -1.1280860900878906,
        "l_leg_hpz": 0.8028176426887512,
        "l_leg_kny": 1.953692078590393,
        "r_arm_elx": -2.1682701110839844,
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        "r_arm_lwy": 0.06231790408492088,
        "r_arm_mwx": -1.053605079650879,
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        "r_arm_shz": -0.50395667552948,
        "r_arm_uwy": 0.022913863882422447,
        "r_leg_akx": -0.007946690544486046,
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        "r_leg_hpz": -0.7495511174201965,
        "r_leg_kny": 1.6416246891021729
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      "name": "seated_one_leg_out",
      "nominal_handedness": "none"
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    {
      "allow_mirror": true,
      "description": "booster seat driving",
      "joints": {
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        "back_bkz": 0.663224995136261,
        "l_arm_elx": 0.9329785704612732,
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        "l_arm_shz": 0.28054240345954895,
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        "l_leg_aky": -0.8400600552558899,
        "l_leg_hpx": -0.018313508480787277,
        "l_leg_hpy": -1.2893694639205933,
        "l_leg_hpz": 0.7866779565811157,
        "l_leg_kny": 1.6468943357467651,
        "r_arm_elx": -1.4321911334991455,
        "r_arm_ely": 2.029010772705078,
        "r_arm_lwy": -1.3478538990020752,
        "r_arm_mwx": -0.9894310832023621,
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        "r_arm_shz": 1.567418098449707,
        "r_arm_uwy": 1.6880873441696167,
        "r_leg_akx": -0.057012662291526794,
        "r_leg_aky": 0.17408940196037292,
        "r_leg_hpx": 0.07672861218452454,
        "r_leg_hpy": -0.8562104105949402,
        "r_leg_hpz": -0.7232310175895691,
        "r_leg_kny": 0.8019347786903381
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      "name": "booster seat driving",
      "nominal_handedness": "none"
    },
    {
      "allow_mirror": true,
      "description": "booster seat standing",
      "joints": {
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        "back_bky": 0.33407682180404663,
        "back_bkz": 0.6247579455375671,
        "l_arm_elx": 0.7889227867126465,
        "l_arm_ely": 2.3794496059417725,
        "l_arm_lwy": 0.03829842060804367,
        "l_arm_mwx": 1.4653600454330444,
        "l_arm_shx": 0.572551429271698,
        "l_arm_shz": 0.558502733707428,
        "l_arm_uwy": -0.24724338948726654,
        "l_leg_akx": 0.029107002541422844,
        "l_leg_aky": -0.3823615312576294,
        "l_leg_hpx": -0.022596212103962898,
        "l_leg_hpy": -1.1574971675872803,
        "l_leg_hpz": 0.8021281957626343,
        "l_leg_kny": 1.5310174226760864,
        "r_arm_elx": -0.22491948306560516,
        "r_arm_ely": 2.044369697570801,
        "r_arm_lwy": 0.006969357840716839,
        "r_arm_mwx": 0.010806549340486526,
        "r_arm_shx": -0.2038201242685318,
        "r_arm_shz": 0.8955273628234863,
        "r_arm_uwy": 0.09156680852174759,
        "r_leg_akx": -0.06067529320716858,
        "r_leg_aky": 0.18043674528598785,
        "r_leg_hpx": 0.07876058667898178,
        "r_leg_hpy": -0.8545539975166321,
        "r_leg_hpz": -0.7282400131225586,
        "r_leg_kny": 0.7986007332801819
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      "name": "booster seat standing",
      "nominal_handedness": "none"
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  ],
  "table clearing": [
    {
      "allow_mirror": true,
      "description": "pre drop 1",
      "joints": {
        "l_arm_elx": 0.7594979405403137,
        "l_arm_ely": 2.635584831237793,
        "l_arm_lwy": 0,
        "l_arm_mwx": 1.1780999898910522,<commit_msg>Add stored  poses for car<commit_after>{
  "General": [
    {
      "allow_mirror": true,
      "description": "crane",
      "joints": {
        "l_arm_elx": 1.6182986497879028,
        "l_arm_ely": 2.5643422603607178,
        "l_arm_lwy": 1,
        "l_arm_mwx": 0.8601630926132202,
        "l_arm_shx": 0.7965372800827026,
        "l_arm_shz": -0.773799479007721,
        "l_arm_uwy": 0.7271268367767334
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      "name": "crane",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "arm down thumb in",
      "joints": {
        "l_arm_elx": 0.5717237591743469,
        "l_arm_ely": 2.388169050216675,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.08584332466125488,
        "l_arm_shx": -1.072134256362915,
        "l_arm_shz": 0.15671302378177643,
        "l_arm_uwy": 0.8696688413619995
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      "name": "arm down thumb in",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "handsdown both",
      "joints": {
        "l_arm_elx": 0.5006033182144165,
        "l_arm_ely": 2.100071907043457,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.006528913974761963,
        "l_arm_shx": -1.3302499055862427,
        "l_arm_shz": 0.2700333595275879,
        "l_arm_uwy": 0.024209260940551758,
        "r_arm_elx": -0.5008605718612671,
        "r_arm_ely": 2.0998172760009766,
        "r_arm_mwx": 0.0005802512168884277,
        "r_arm_shx": 1.3302150964736938,
        "r_arm_shz": 0.27055978775024414,
        "r_arm_uwy": 0.02374020218849182
      },
      "name": "handsdown both",
      "nominal_handedness": "none"
    },
    {
      "allow_mirror": true,
      "description": "handdown",
      "joints": {
        "l_arm_elx": 0.5006033182144165,
        "l_arm_ely": 2.100167989730835,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.006528913974761963,
        "l_arm_shx": -1.3301540613174438,
        "l_arm_shz": 0.2700333595275879,
        "l_arm_uwy": 0.024209260940551758
      },
      "name": "handdown",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "handsdown incl back",
      "joints": {
        "back_bkx": 0.0002659455349203199,
        "back_bky": 0.0007907520630396903,
        "back_bkz": 0.0039426530711352825,
        "l_arm_elx": 0.4996761083602905,
        "l_arm_ely": 2.1026859283447266,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.014013349078595638,
        "l_arm_shx": -1.3297230005264282,
        "l_arm_shz": 0.2692919969558716,
        "l_arm_uwy": 0.01859891414642334,
        "r_arm_elx": -0.494953453540802,
        "r_arm_ely": 2.1011929512023926,
        "r_arm_mwx": -0.00019657611846923828,
        "r_arm_shx": 1.3310223817825317,
        "r_arm_shz": 0.2759742736816406,
        "r_arm_uwy": 0.01871834695339203
      },
      "name": "handsdown incl back",
      "nominal_handedness": "none"
    },
    {
      "allow_mirror": true,
      "description": "debris - prereach",
      "joints": {
        "l_arm_elx": 1.572343349456787,
        "l_arm_ely": 1.7639384269714355,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.8167610764503479,
        "l_arm_shx": -1.001606822013855,
        "l_arm_shz": 0.7853426933288574,
        "l_arm_uwy": 0.7702436447143555
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      "name": "debris - prereach",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "debris - extract",
      "joints": {
        "back_bkx": 0.007136213593184948,
        "back_bky": 0.007643775083124638,
        "back_bkz": 0.035616662353277206,
        "l_arm_elx": 1.5721516609191895,
        "l_arm_ely": 1.7639384269714355,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.8167610764503479,
        "l_arm_shx": -1.0015109777450562,
        "l_arm_shz": 0.7853426933288574,
        "l_arm_uwy": 0.7702436447143555
      },
      "name": "debris - extract",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "debris - drop pose",
      "joints": {
        "back_bkx": 0.007176973856985569,
        "back_bky": 0.006824231240898371,
        "back_bkz": 0.2622271776199341,
        "l_arm_elx": 0.37440019845962524,
        "l_arm_ely": 1.2284832000732422,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.14343935251235962,
        "l_arm_shx": -0.1664501428604126,
        "l_arm_shz": 0.7568683624267578,
        "l_arm_uwy": 0.025208234786987305
      },
      "name": "debris - drop pose",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "handdown thumb in",
      "joints": {
        "l_arm_elx": 0.31513822078704834,
        "l_arm_ely": 3.1058847904205322,
        "l_arm_lwy": 0,
        "l_arm_mwx": -0.012162923812866211,
        "l_arm_shx": -1.2109779119491577,
        "l_arm_shz": -0.12205731868743896,
        "l_arm_uwy": 0.0289762020111084
      },
      "name": "handdown thumb in",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "arm up pregrasp",
      "joints": {
        "l_arm_elx": 1.5715787410736084,
        "l_arm_ely": 1.5707950592041016,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.7862088084220886,
        "l_arm_shx": 0.0,
        "l_arm_shz": 0.767944870877505,
        "l_arm_uwy": 0.0
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      "name": "arm up pregrasp",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
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        "back_bkz": 5.0203751015942544e-05,
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        "l_arm_mwx": 0.0,
        "l_arm_shx": -1.3241328001022339,
        "l_arm_shz": 0.2690238952636719,
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      "name": "safe nominal",
      "nominal_handedness": "none"
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    {
      "allow_mirror": true,
      "description": "hands-forward",
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        "l_arm_ely": 0.3562425374984741,
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      "name": "hands-forward",
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    {
      "allow_mirror": true,
      "description": "sitting with lean back, seat height 55cm",
      "joints": {
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        "l_arm_lwy": 0.0004052989825140685,
        "l_arm_mwx": 0.7940353155136108,
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        "l_arm_shz": -1.4827206134796143,
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      "name": "sitting",
      "nominal_handedness": "left"
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    {
      "allow_mirror": true,
      "description": "safe arm pose to enter car",
      "joints": {
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        "l_arm_shz": 0.43667125701904297,
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      "name": "car entry arm",
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      "description": "arm up pregrasp waypoint",
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        "r_arm_mwx": 0.0,
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        "back_bkz": 6.361957639455795e-05,
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      "name": "narrow walking profile",
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        "l_arm_mwx": 0.784614622592926,
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        "l_arm_lwy": 1.734723475976807e-18,
        "l_arm_mwx": 0.784614622592926,
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      "name": "hand up tuck both",
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      "allow_mirror": true,
      "description": "door-touch nom",
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      "name": "door-touch nom",
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        "back_bky": 0.0,
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      "name": "post-push",
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        "l_arm_mwx": -0.39923325181007385,
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        "l_arm_shz": -0.31166988611221313,
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      "name": "high touch",
      "nominal_handedness": "left"
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        "back_bky": 0.0,
        "back_bkz": 0.0,
        "l_arm_elx": 2.0209803581237793,
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        "l_arm_lwy": 8.326672684688674e-17,
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        "r_arm_elx": -2.0209803581237793,
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        "r_arm_shz": -0.6029572486877441,
        "r_arm_uwy": 1.949746012687683
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      "name": "pre-reach both",
      "nominal_handedness": "none"
    },
    {
      "allow_mirror": true,
      "description": "pre-smash",
      "joints": {
        "l_arm_elx": 2.1818318367004395,
        "l_arm_ely": 0.17592903971672058,
        "l_arm_lwy": 0.0,
        "l_arm_mwx": 0.3842903971672058,
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        "l_arm_shz": -1.3964413404464722,
        "l_arm_uwy": 1.3010426069826053e-18
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      "name": "pre-smash",
      "nominal_handedness": "left"
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    {
      "allow_mirror": true,
      "description": "smash",
      "joints": {
        "l_arm_elx": 0.501868486404419,
        "l_arm_ely": 0.17592903971672058,
        "l_arm_lwy": 0.0,
        "l_arm_mwx": 9.62964972193618e-35,
        "l_arm_shx": -0.496372789144516,
        "l_arm_shz": -1.3964413404464722,
        "l_arm_uwy": 2.7755575615628914e-17
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      "name": "smash",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "pre-reach non-grasping",
      "joints": {
        "l_arm_elx": 2.0209803581237793,
        "l_arm_ely": 3.0596115589141846,
        "l_arm_lwy": 8.315830662963819e-17,
        "l_arm_mwx": 1.0576800107955933,
        "l_arm_shx": -0.459369033575058,
        "l_arm_shz": 0.6029572486877441,
        "l_arm_uwy": -1.156224012374878
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      "name": "pre-reach non-grasping",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "pre-reach grasping",
      "joints": {
        "r_arm_elx": -2.3266680240631104,
        "r_arm_ely": 2.7806777954101562,
        "r_arm_lwy": 2.248668909072876,
        "r_arm_mwx": 0.6631243228912354,
        "r_arm_shx": 0.867233395576477,
        "r_arm_shz": -0.7219979763031006,
        "r_arm_uwy": 0.5879825353622437
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      "name": "pre-reach grasping",
      "nominal_handedness": "right"
    }
  ],
  "drill": [
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      "allow_mirror": true,
      "description": "drill down",
      "joints": {
        "back_bkx": 0.0,
        "back_bky": 0.0,
        "back_bkz": 0.0,
        "l_arm_elx": 0.5,
        "l_arm_ely": 2.0999999046325684,
        "l_arm_lwy": 0,
        "l_arm_mwx": 1.1102230246251565e-16,
        "l_arm_shx": -1.1027015447616577,
        "l_arm_shz": 0.27000001072883606,
        "l_arm_uwy": 0.0
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      "name": "drill down",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "drill raise for cutting",
      "joints": {
        "back_bkx": 0.0,
        "back_bky": 0.0,
        "back_bkz": 0.0,
        "l_arm_elx": 1.6365846395492554,
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        "l_arm_mwx": 0.8582467436790466,
        "l_arm_shx": -1.2967355251312256,
        "l_arm_shz": 0.5850000381469727,
        "l_arm_uwy": 0.10304810106754303
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      "name": "drill raise for cutting",
      "nominal_handedness": "left"
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    {
      "allow_mirror": true,
      "description": "pointer down",
      "joints": {
        "l_arm_lwy": 0,
        "r_arm_elx": -0.5,
        "r_arm_ely": 2.0999999046325684,
        "r_arm_mwx": -1.1102230246251565e-16,
        "r_arm_shx": 1.3300000429153442,
        "r_arm_shz": 0.27000001072883606,
        "r_arm_uwy": 0.0
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      "name": "pointer down",
      "nominal_handedness": "right"
    },
    {
      "allow_mirror": true,
      "description": "drill raise power on",
      "joints": {
        "l_arm_elx": 1.9557924270629883,
        "l_arm_ely": 1.7382441759109497,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.22407197952270508,
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        "l_arm_shz": -0.26963281631469727,
        "l_arm_uwy": 0.024385511875152588
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      "name": "drill raise power on",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "pointer raise power on",
      "joints": {
        "l_arm_lwy": 0,
        "r_arm_elx": -1.979742169380188,
        "r_arm_ely": 1.8336384296417236,
        "r_arm_mwx": -0.5188412666320801,
        "r_arm_shx": 1.2585715055465698,
        "r_arm_shz": -0.5391398668289185,
        "r_arm_uwy": 2.5829949378967285
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      "name": "pointer raise power on",
      "nominal_handedness": "right"
    },
    {
      "allow_mirror": true,
      "description": "both raise power on [old]",
      "joints": {
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        "l_arm_ely": 1.7382441759109497,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.0,
        "l_arm_shx": 0.009102821350097656,
        "l_arm_shz": -0.26963281631469727,
        "l_arm_uwy": 0.024385511875152588,
        "r_arm_elx": -1.979742169380188,
        "r_arm_ely": 1.8336384296417236,
        "r_arm_mwx": -0.5188412666320801,
        "r_arm_shx": 1.2585715055465698,
        "r_arm_shz": -0.5391398668289185,
        "r_arm_uwy": 2.5829949378967285
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      "name": "both raise power on [old]",
      "nominal_handedness": "none"
    },
    {
      "allow_mirror": true,
      "description": "both raise power on",
      "joints": {
        "l_arm_elx": 1.9557924270629883,
        "l_arm_ely": 1.7382441759109497,
        "l_arm_lwy": 0,
        "l_arm_mwx": 0.0,
        "l_arm_shx": 0.009102821350097656,
        "l_arm_shz": -0.26963281631469727,
        "l_arm_uwy": 0.024385511875152588,
        "r_arm_elx": -1.774211049079895,
        "r_arm_ely": 1.9917680025100708,
        "r_arm_mwx": -0.1625777930021286,
        "r_arm_shx": 0.9204887747764587,
        "r_arm_shz": -0.7084315419197083,
        "r_arm_uwy": 2.54154634475708
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      "name": "both raise power on",
      "nominal_handedness": "none"
    },
    {
      "allow_mirror": true,
      "description": "drill cut nominal",
      "joints": {
        "l_arm_elx": 2.007846580414491,
        "l_arm_ely": 1.571614163242364,
        "l_arm_lwy": 1.014978776110329,
        "l_arm_mwx": 0.03712253933398259,
        "l_arm_shx": -0.6086113746930052,
        "l_arm_shz": -1.148592754432082,
        "l_arm_uwy": 1.099745376108387
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      "name": "drill cut nominal",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "drill tuck for walk",
      "joints": {
        "r_arm_elx": -2.06873482,
        "r_arm_ely": 2.13313961,
        "r_arm_lwy": -0.18396020000000002,
        "r_arm_mwx": -0.8990279999999999,
        "r_arm_shx": 1.3383216000000002,
        "r_arm_shz": -0.26232204400000003,
        "r_arm_uwy": 1.3549499999999997
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      "name": "drill tuck for walk",
      "nominal_handedness": "right"
    },
    {
      "allow_mirror": true,
      "description": "drill wall prep",
      "joints": {
        "r_arm_elx": -2.047516107559204,
        "r_arm_ely": 2.146918296813965,
        "r_arm_lwy": -0.7550668716430664,
        "r_arm_mwx": -0.38795939087867737,
        "r_arm_shx": 0.4074179232120514,
        "r_arm_shz": 0.5899945497512817,
        "r_arm_uwy": -0.10947520285844803
      },
      "name": "drill wall prep",
      "nominal_handedness": "right"
    },
    {
      "allow_mirror": true,
      "description": "drill wall lower 1",
      "joints": {
        "back_bkx": 0.0,
        "back_bky": 0.0,
        "back_bkz": 0.0,
        "r_arm_elx": -1.51738636,
        "r_arm_ely": 2.5761038,
        "r_arm_lwy": 1.0918928000000006,
        "r_arm_mwx": -0.38795939087867737,
        "r_arm_shx": 0.6408864000000001,
        "r_arm_shz": 0.5899945497512817,
        "r_arm_uwy": 0.0
      },
      "name": "drill wall lower 1",
      "nominal_handedness": "right"
    },
    {
      "allow_mirror": true,
      "description": "drill wall lower 2",
      "joints": {
        "back_bkx": 0.0,
        "back_bky": 0.0,
        "back_bkz": 0.0,
        "r_arm_elx": -0.8647217299999999,
        "r_arm_ely": 2.9530945999999996,
        "r_arm_lwy": 0.0,
        "r_arm_mwx": -0.15865200000000002,
        "r_arm_shx": 0.5183640000000003,
        "r_arm_shz": -0.622820338,
        "r_arm_uwy": 0.0
      },
      "name": "drill wall lower 2",
      "nominal_handedness": "right"
    },
    {
      "allow_mirror": true,
      "description": "drill wall lower 3",
      "joints": {
        "back_bkx": 0.0,
        "back_bky": 0.0,
        "back_bkz": 0.0,
        "r_arm_elx": -0.04947999000000003,
        "r_arm_ely": 3.02535117,
        "r_arm_lwy": -1.5666288,
        "r_arm_mwx": 0.21506160000000007,
        "r_arm_shx": 0.5183640122413635,
        "r_arm_shz": -0.08325099600000008,
        "r_arm_uwy": 0.0
      },
      "name": "drill wall lower 3",
      "nominal_handedness": "right"
    },
    {
      "allow_mirror": true,
      "description": "drill raise inspect",
      "joints": {
        "r_arm_elx": -2.23131193,
        "r_arm_ely": 1.24092805,
        "r_arm_lwy": -0.17209180000000002,
        "r_arm_mwx": 0.11634480000000003,
        "r_arm_shx": 0.06911520000000015,
        "r_arm_shz": 0.715500126,
        "r_arm_uwy": -0.4516499999999999
      },
      "name": "drill raise inspect",
      "nominal_handedness": "right"
    },
    {
      "allow_mirror": true,
      "description": "new: drill raise for press",
      "joints": {
        "l_arm_elx": 2.1950902938842773,
        "l_arm_ely": 1.0697721242904663,
        "l_arm_lwy": -0.3630537688732147,
        "l_arm_mwx": -0.29536378383636475,
        "l_arm_shx": 0.49463510513305664,
        "l_arm_shz": -0.18175899982452393,
        "l_arm_uwy": -0.5969356298446655
      },
      "name": "new: drill raise for press",
      "nominal_handedness": "left"
    },
    {
      "allow_mirror": true,
      "description": "new: thumb raise for press",
      "joints": {
        "r_arm_elx": -1.8811005353927612,
        "r_arm_ely": 1.162081241607666,
        "r_arm_lwy": -0.0879969447851181,
        "r_arm_mwx": -0.3726710081100464,
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