[POSITION0] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION1] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10

[POSITION2] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10

[POSITION3] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10

[POSITION4] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION5] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION6] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION7] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION8] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION9] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION10] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION11] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION12] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION13] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION14] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION15] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION16] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION17] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION18] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION19] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION20] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION20] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION21] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 
[POSITION22] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00
[POSITION23] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 

[POSITION24] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00  
[POSITION25] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00  
[POSITION26] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00  
[POSITION27] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00  

[POSITION28] 
jointPositions 40 25 0 0 0 0
jointVelocities 10 10 10 10 10 10
timing 2.00  
[POSITION29] 
jointPositions 40 25 35 -40 17 0
jointVelocities 10 10 10 10 10 10
timing 2.00  
[POSITION30] 
jointPositions 40 25 35 -40 17 -14
jointVelocities 10 10 10 10 10 10
timing 2.00  
[POSITION31] 
jointPositions 40 25 0 0 0 0
jointVelocities 10 10 10 10 10 10
timing 2.00

[POSITION32] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00 

[POSITION33] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00  
[POSITION34] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00  
[POSITION35] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00  
[POSITION36] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00  
[POSITION37] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00  

//greeting+home
[POSITION38] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00  
[POSITION39] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00  
[POSITION40] 
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00  
[POSITION41]
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00  
[POSITION42]
jointPositions 0 8 0 0 0 -8
jointVelocities 10 10 10 10 10 10
timing 2.00  

[DIMENSIONS]
numberOfPoses 43
numberOfJoints 6
