{
    "left_targets" : [ ["left_forearm_joint", "left_forearm_joint"], ["left_hand_joint", "LeftWrist"] ],
    "right_targets" : [ ["right_forearm_joint", "right_forearm_joint"], ["right_hand_joint", "RightWrist"] ],
    
    "left_arm_joints": [ "left_shoulder_1_joint", "left_arm_joint", "left_forearm_joint", "left_hand_joint"],
    "right_arm_joints": [ "right_shoulder_1_joint", "right_arm_joint", "right_forearm_joint", "right_hand_joint"],

    "left_poses" : ["left_handsbyside", "left_handsbehindback", "left_handsonwaist", "left_handsonmidchest", "left_handsonchest"],
    "right_poses" : ["right_handsbyside", "right_handsbehindback", "right_handsonwaist", "right_handsonmidchest", "right_handsonchest"],
    
    "left_handsonhead" : {
        "left_shoulder_1_joint" : [  -0.699875371092 , 0.0627698157366 , -0.695151034128 , 0.151655711798 ],
        "left_arm_joint" : [  -0.381584693419 , 0.15840079747 , -0.729809058169 , 0.544684356048 ],
        "left_forearm_joint" : [  0.0820499674939 , -0.239596208956 , -0.750130614187 , 0.610872753647 ],
        "left_hand_joint" : [  0.971758468353 , -0.0322322126832 , 0.163235609206 , 0.16733409556 ]
        },
    "right_handsonhead" : {
        "right_shoulder_1_joint" : [  -0.0629668147934 , -0.699653807228 , 0.152059717413 , 0.695267986179 ],
        "right_arm_joint" : [  -0.159533112611 , -0.130181805067 , -0.745920862579 , 0.633406623252 ],
        "right_forearm_joint" : [  -0.156465996124 , -0.499182852425 , -0.602381579819 , 0.602885813564 ],
        "right_hand_joint" : [  0.986727367992 , 0.0443580772835 , 0.112957186555 , 0.107898731419 ]
    },
    "left_handsbehindback" :
    {
        "left_shoulder_1_joint" : [  -0.590007277761 , 0.0887314481798 , -0.789283639864 , 0.145084382815 ],
        "left_arm_joint" : [  0.439036112704 , 0.392203611624 , -0.0125349360868 , 0.808249029785 ],
        "left_forearm_joint" : [  0.0344165424585 , 0.439191308927 , -0.641351865966 , 0.628167397904 ],
        "left_hand_joint" : [  -0.399460281163 , -0.0767844257678 , 0.212152017493 , 0.888553407065 ]
    },
    "right_handsbehindback" :
    {
        "right_shoulder_1_joint" : [  -0.088731484863 , -0.590007299723 , 0.145084427222 , 0.78928361116 ],
        "right_arm_joint" : [  0.438129774081 , 0.383538339694 , -0.0254321689863 , 0.812584671175 ],
        "right_forearm_joint" : [  0.0361997489819 , 0.442721419597 , -0.64140378744 , 0.625530578198 ],
        "right_hand_joint" : [  -0.353136736298 , 0.129035368201 , 0.232506163834 , 0.896986735136 ]
    },
    "left_handsbehindhead":
    {
        "left_shoulder_1_joint" : [  -0.682858980823 , 0.0732102657445 , -0.709215665027 , 0.15923884507 ],
        "left_arm_joint" : [  -0.362096011317 , -0.199027253829 , -0.577268235461 , 0.70429824304 ],
        "left_forearm_joint" : [  -0.107774903899 , -0.522139178141 , -0.764585711768 , 0.362165622471 ],
        "left_hand_joint" : [  -0.756550314228 , 0.0299767009733 , 0.112976832672 , 0.643404425474 ]
    },
    "right_handsbehindhead" :
    {
        "right_shoulder_1_joint" : [  -0.0732091088336 , -0.682860128447 , 0.159237681005 , 0.709214940839 ],
        "right_arm_joint" : [  -0.295308413481 , -0.223771253539 , -0.58853673288 , 0.718570720993 ],
        "right_forearm_joint" : [  -0.116698238209 , -0.554549798019 , -0.74106619321 , 0.360106845252 ],
        "right_hand_joint" : [  -0.730761725423 , 0.00371562368368 , 0.0312848125684 , 0.681905239238 ]
    },
    "left_handsbyside" :
    {
        "left_shoulder_1_joint" : [  -0.593739813262 , 0.0792326819498 , -0.789581521757 , 0.133252530028 ],
        "left_arm_joint" : [  0.216365008326 , 0.498054446922 , -0.166816797622 , 0.822982446413 ],
        "left_forearm_joint" : [  0.016926022389 , -0.006382073364 , -0.383 ,  0.924 ],
        "left_hand_joint" : [  -0.701647643915 , 0.0237368634892 , -0.0447262300782 , 0.710722667039 ]
    },
    "right_handsbyside" :
    {
        "right_shoulder_1_joint" : [  -0.0875713464329 , -0.591330111453 , 0.143959241695 , 0.78862899725 ],
        "right_arm_joint" : [  0.221475898462 , 0.491163116439 , -0.172015593785 , 0.824692582085 ],
        "right_forearm_joint" : [  0.0218374345319 , 0.0130238578904 , -0.383 ,  0.924 ],
        "right_hand_joint" : [  -0.784803034048 , -0.0126382074747 , -0.0185911098287 , 0.619337423459 ]
    },
    "left_handsonchest" :
    {
        "left_shoulder_1_joint" : [  -0.590007277761 , 0.0887314481798 , -0.789283639864 , 0.145084382815 ],
        "left_arm_joint" : [  0.0682498585462 , 0.347055928248 , -0.526420178836 , 0.773159708463 ],
        "left_forearm_joint" : [  0.0749723229794 , 0.0362946311933 , -0.93504971097 , 0.344592351261 ],
        "left_hand_joint" : [  -0.96901143287 , 0.0964544559042 , 0.0727283755299 , 0.215462210832 ]
    },
    "right_handsonchest" :
    {
        "right_shoulder_1_joint" : [  -0.088731484863 , -0.590007299723 , 0.145084427222 , 0.78928361116 ],
        "right_arm_joint" : [  -0.0376790158322 , 0.402006362574 , -0.503305318428 , 0.763973122995 ],
        "right_forearm_joint" : [  0.166229799009 , 0.0237640832988 , -0.914099096637 , 0.369087745385 ],
        "right_hand_joint" : [  -0.963537536333 , 0.129647878911 , 0.0604193071338 , 0.226133480265 ]
    },
    "left_handsonwaist" :
    {
        "left_shoulder_1_joint" : [  -0.6431932751 , 0.0715930150164 , -0.749133232506 , 0.141337365984 ],
        "left_arm_joint" : [  0.225908915318 , 0.268556658496 , 0.0253827796877 , 0.936054591171 ],
        "left_forearm_joint" : [  0.0497855628771 , 0.463004556821 , -0.673091898284 , 0.574539358579 ],
        "left_hand_joint" : [  -0.432199700309 , 0.114677735818 , -0.0345770036302 , 0.89378793166 ]
    },
    "right_handsonwaist" :
    {
        "right_shoulder_1_joint" : [  -0.0715930734623 , -0.64319251905 , 0.141334821785 , 0.749134356055 ],
        "right_arm_joint" : [  0.210823092696 , 0.252423526448 , 0.0450266763643 , 0.943296658161 ],
        "right_forearm_joint" : [  0.0539110196559 , 0.492122251591 , -0.696237132976 , 0.519772205985 ],
        "right_hand_joint" : [  -0.418615631835 , 0.00932077669305 , 0.0446092900923 , 0.90701934221 ]
    },
    "left_handsonmidchest" :
    {
        "left_shoulder_1_joint" : [  -0.590007277761 , 0.0887314481798 , -0.789283639864 , 0.145084382815 ],
        "left_arm_joint" : [  0.0682498585462 , 0.347055928248 , -0.526420178836 , 0.773159708463 ],
        "left_forearm_joint" : [  0.365175249535 , 0.150036389986 , -0.687321917103 , 0.609692300326 ],
        "left_hand_joint" : [  -0.96901143287 , 0.0964544559042 , 0.0727283755299 , 0.215462210832 ]
    },
    "right_handsonmidchest" :
    {
        "right_shoulder_1_joint" : [  -0.088731484863 , -0.590007299723 , 0.145084427222 , 0.78928361116 ],
        "right_arm_joint" : [  -0.0376790158322 , 0.402006362574 , -0.503305318428 , 0.763973122995 ],
        "right_forearm_joint" : [  0.401736186825 , 0.295338747523 , -0.636412223422 , 0.588525736298 ],
        "right_hand_joint" : [  -0.963537536333 , 0.129647878911 , 0.0604193071338 , 0.226133480265 ]
    }
}