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uint8 COMPACT_HERMAN = 0
uint8 RESET_4_AND_6 = 1
uint8 BASE_FRONT = 2
uint8 BASE_LEFT = 3
uint8 BASE_RIGHT = 4
uint8 BASED = 5
uint8 SPECTRO_APPROACH = 6
uint8 SAMPLE_STORAGE = 7
uint8 ROCK_STORAGE = 8
# pose number
uint8 pose_id