joint_name: 
  - elbow_joint
  - shoulder_lift_joint
  - shoulder_pan_joint
  - wrist_1_joint
  - wrist_2_joint
  - wrist_3_joint
position_o1_p1: [2.154145065938131, -1.5517404836467286, 0.6738400459289551, -2.1084052524962367, -1.5036080519305628, -0.8869016806231897]
position_o2_p1: [2.346004311238424, -1.590860506097311, 0.9769291877746582, -2.352734705010885, -1.55949575105776, -0.5947793165790003]
position_o1_p2: [2.1918113867389124, -1.5682314199260254, -1.259373966847555, -2.204315801660055, -1.5561125914203089, 0.27964258193969727]
position_o2_p2: [2.371570412312643, -1.5935026607909144, -1.634777847920553, -2.3636356792845667, -1.6063035170184534, -0.12111026445497686]
position_middle_retracted: [2.0691707769977015, -2.074343343774313, -0.12929994264711553, -1.5670240682414551, -1.5805133024798792, -0.12228328386415654]
position_middle_extended: [1.131401840840475, -1.2488787931254883, -0.12189227739442998, -1.5673118394664307, -1.5804889837848108, -0.12228328386415654]