{
  "start_gripper": "epick",
  "poses": {
    "safe_sample_transport": [79.72, -69.5, -81.91, -117.92, -268.05, -157.15],
    "safe_tool_exchange": [152.33, -110.63, -100.17, -59.12, -270.43, -207.7]
  },
  "tasks": [
    {
      "task_type": "moveto",
      "target": "safe_sample_transport",
      "planning_type": "joint"
    },
    {
      "task_type": "moveto",
      "target": "safe_tool_exchange",
      "planning_type": "joint"
    }
  ]
}