Legend:
W = Arm rotate up
S = Arm rotate down
D = Arm rotate right
A = Arm rotate left
Q = Arm twist left
E = Arm twist right
T = Forearm rotate up
G = Forearm rotate down
F = Forearm rotate left
H = Forearm rotate right
Y = Forearm twist right
R = Forearm twist left
U = Wrist rotate up
J = Wrist rotate down
I = Claw open
K = Claw close