def METHOD_NAME():
    grasps = []
    # power grasp for vertical objects
    power_grasp = mk_grasp(
        joints={
            'FFJ1': 1.0, 'FFJ2': 1.0, 'FFJ3': 1.4, 'FFJ4': 0.0,
            'MFJ1': 1.0, 'MFJ2': 1.0, 'MFJ3': 1.4, 'MFJ4': 0.0,
            'RFJ1': 1.0, 'RFJ2': 1.0, 'RFJ3': 1.4, 'RFJ4': 0.0,
            'LFJ1': 1.0, 'LFJ2': 1.0, 'LFJ3': 1.4, 'LFJ4': 0.0, 'LFJ5': 0.0,
            'THJ1': 1.0365, 'THJ2': 0.6772, 'THJ3': 0.1849, 'THJ4': 1.2196, 'THJ5': 0.0579,
        },
        pre_joints={'THJ4': 1.2296, 'THJ5': -0.4779},
    )
    power_grasp.grasp_pose.pose.position.x = 0.02
    power_grasp.grasp_pose.pose.position.y = -0.085
    power_grasp.grasp_pose.pose.position.z = 0.333
    # This will make the object vertical if it's a mesh from db. The meshes from the clusterer would
    # need a different orientation, but we opt fro the db mesh to look good
    # as it's quite more obvious when it's wrong
    power_grasp.grasp_pose.pose.orientation.x = 0.0
    power_grasp.grasp_pose.pose.orientation.y = 0.707106781
    power_grasp.grasp_pose.pose.orientation.z = 0.0
    power_grasp.grasp_pose.pose.orientation.w = 0.707106781
    grasps.append(power_grasp)
    # pinch grasp when horizontal
    pinch_grasp = mk_grasp(
        joints={
            'FFJ1': 0.02558, 'FFJ2': 0.35155, 'FFJ3': 1.50130, 'FFJ4': -0.01443,
            'MFJ1': 0.01234, 'MFJ2': 0.43822, 'MFJ3': 1.54195, 'MFJ4': 0.27695,
            'RFJ1': -0.00147, 'RFJ2': -0.00384, 'RFJ3': -0.01043, 'RFJ4': 0.01223,
            'LFJ1': -0.01030, 'LFJ2': 0.03253, 'LFJ3': -0.00054, 'LFJ4': -0.00175, 'LFJ5': 0.01373,
            'THJ1': -0.00082, 'THJ2': 0.0347, 'THJ3': 0.12548, 'THJ4': 1.13063, 'THJ5': 0.48021
        },
        pre_joints={
            'THJ1': 0.01, 'THJ2': 0.008, 'THJ3': 0.125, 'THJ4': 1.22, 'THJ5': -0.2,
            'FFJ3': 0.8, 'MFJ3': 0.8}
    )
    pinch_grasp.grasp_pose.pose.position.x = 0.02
    pinch_grasp.grasp_pose.pose.position.y = -0.085
    pinch_grasp.grasp_pose.pose.position.z = 0.333
    pinch_grasp.grasp_pose.pose.orientation.x = -0.5
    pinch_grasp.grasp_pose.pose.orientation.y = 0.5
    pinch_grasp.grasp_pose.pose.orientation.z = -0.5
    pinch_grasp.grasp_pose.pose.orientation.w = 0.5
    grasps.append(pinch_grasp)
    return grasps