def METHOD_NAME(self, grasp):
    rospy.loginfo(f"Grasp {grasp} started.")
    open_dict = dict(zip(self.grasp_yaml['joint_names'], self.grasp_yaml['grasps']['open_hand']))
    grasp_dict = dict(zip(self.grasp_yaml['joint_names'], self.grasp_yaml['grasps'][grasp]))
    self.hand_commander.move_to_joint_value_target_unsafe(open_dict, 5.0, True)
    self.hand_commander.move_to_joint_value_target_unsafe(grasp_dict, 5.0, True)
    rospy.sleep(2.0)
    rospy.loginfo(f"Grasp {grasp} completed.")