openrr_apps_robot_command send_joints l_arm_with_torso_ik -j 0=0.05 1=0.0 2=0.0 3=0.0 4=-0.7 5=0.0 6=-0.2 7=0.0
openrr_apps_robot_command move_ik l_arm_with_torso_ik --x=0.7 --y=0.28 --z=1.05

openrr_apps_robot_command send_joints l_arm_with_torso_ik -j 0=0.05 1=0.0 2=0.0 3=0.0 4=-0.7 5=0.0 6=-0.2 7=0.0
openrr_apps_robot_command move_ik l_arm_with_torso_ik -i --x=0.7 --y=0.28 --z=1.05

openrr_apps_robot_command send_joints l_arm_with_torso_ik -j 0=0.05 1=0.0 2=0.0 3=0.0 4=-0.7 5=0.0 6=-0.2 7=0.0
openrr_apps_robot_command move_ik l_arm_with_torso_ik -l -y=0.1
