def METHOD_NAME(self):
    """
    Runs the hand through different predefined position in a given order.
    """
    start = [0.00, 0.00, 0.00, 0.00,
             0.00, 0.00, 0.00, 0.00,
             0.00, 0.00, 0.00, 0.00,
             0.00, 0.00, 0.00, 0.00, 0.00,
             0.00, 0.00, 0.00, 0.00, 0.00,
             0.00, 0.00]
    fist = [3.14, 1.57, 0.00,
            3.14, 1.57, 0.00,
            3.14, 1.57, 0.00,
            3.4, 1.57, 0.00, 0.00,
            1.33, 0.00, 1.15, 0.26,
            0.00, 0.00]
    victory = [0.00, 0.00, -0.35,
               0.00, 0.00, 0.35,
               3.14, 1.57, -0.17,
               3.14, 1.57, -0.17, 0.00,
               1.05, 0.00, 0.87, 0.61,
               0.00, 0.00]
    wave_1 = [-0.35]
    wave_2 = [0.09]
    start_pose = dict(zip(self.keys_prefixed, start))
    fist_pose = dict(zip(self.keys_prefixed, fist))
    victory_pose = dict(zip(self.keys_prefixed, victory))
    wave_1_pose = dict(zip(self.keys_prefixed[-1:], wave_1))
    wave_2_pose = dict(zip(self.keys_prefixed[-1:], wave_2))
    # publish each pose and sleep for time 'sleep_time' between each command
    self.publish_pose(start_pose)
    time.sleep(self.sleep_time)
    self.publish_pose(fist_pose)
    time.sleep(self.sleep_time)
    self.publish_pose(start_pose)
    time.sleep(self.sleep_time)
    self.publish_pose(victory_pose)
    time.sleep(self.sleep_time)
    self.publish_pose(start_pose)
    time.sleep(self.sleep_time)
    for _ in range(4):
        self.publish_pose(wave_1_pose)
        time.sleep(self.sleep_time / 2)
        self.publish_pose(wave_2_pose)
        time.sleep(self.sleep_time / 2)