def METHOD_NAME(self):
    self._open_yaml()
    while True:
        input_val = self._get_input()
        if input_val == "1":
            self.execute_grasp("open_hand")
        elif input_val == "2":
            self.execute_grasp("pre_grasp")
        elif input_val == "3":
            self.execute_grasp("grasp_soft")
        elif input_val == "4":
            self.execute_grasp("grasp_hard")
        if hex(ord(input_val)) == '0x1b':
            sys.exit(0)