Adjust all joints to a custom pose, then move to the described entity and put it in the specified container.
###Human:
generate CIL (high level robotic commands) for the prompt Adjust all joints to a custom pose, then move to the described entity and put it in the specified container.

###assistant:
P:entity1; P:container; P:custom_pose1; Mp:#custom_pose1; Mo:#entity1; G:1; Mz:#container; G:0;