{
  "schema_version": "robobuddy.openarm.program.v1",
  "expected_scene_revision": "REPLACE_WITH_CURRENT_SCENE_REVISION",
  "segments": [
    {
      "label": "Observe initial support",
      "duration_seconds": 0.2
    },
    {
      "label": "Approach",
      "duration_seconds": 4,
      "tool": {
        "side": "left",
        "position_m": [
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    },
    {
      "label": "Close",
      "duration_seconds": 3,
      "targets_rad": {
        "openarm_left_finger_joint1": 0.08
      }
    },
    {
      "label": "Lift",
      "duration_seconds": 4,
      "tool": {
        "side": "left",
        "position_m": [
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        "quaternion_wxyz": [
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    },
    {
      "label": "Carry",
      "duration_seconds": 4,
      "tool": {
        "side": "left",
        "position_m": [
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        "quaternion_wxyz": [
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    },
    {
      "label": "Lower",
      "duration_seconds": 4,
      "tool": {
        "side": "left",
        "position_m": [
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        "quaternion_wxyz": [
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          0
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      }
    },
    {
      "label": "Release",
      "duration_seconds": 3,
      "targets_rad": {
        "openarm_left_finger_joint1": 0.65
      }
    },
    {
      "label": "Retreat",
      "duration_seconds": 4,
      "tool": {
        "side": "left",
        "position_m": [
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        "quaternion_wxyz": [
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      }
    },
    {
      "label": "Verify observed transfer",
      "duration_seconds": 0.5,
      "wait_for": {
        "type": "authored_task_complete",
        "timeout_seconds": 1,
        "dwell_seconds": 0.2
      }
    }
  ]
}