--joints
-- nr joint contract/left/raise extend/right/lower
-- 0 = neck 2 1
-- 1 = chest 2 1
-- 2 = lumbar 2 1
-- 3 = abs 1 2
-- 4 = right pec 2 1
-- 5 = right shoulder 2 1
-- 6 = right elbow 2 1
-- 7 = left pec 2 1
-- 8 = left shoulder 2 1
-- 9 = left elbow 2 1
-- 10 = right wrist 2 1
-- 11 = left wrist 2 1
-- 12 = right glute 1 2
-- 13 = left glute 1 2
-- 14 = right hip 1 2
-- 15 = left hip 1 2
-- 16 = right knee 2 1
-- 17 = left knee 2 1
-- 18 = right ankle 1 2
-- 19 = left ankle 1 2
-- states
-- 1 = see above
-- 2 = see above
-- 3 = hold
-- 4 = relax