program_id: repeated_cube_pick_place
instruction: Move the cube between the two target positions three times.
targets:
  drop_pose:
    kind: cyclic_pose
    values:
      - position: [-0.40, 0.48, 0.10]
        quaternion_xyzw: [0.0, 0.0, 0.0, 1.0]
      - position: [-0.42, -0.08, 0.10]
        quaternion_xyzw: [0.0, 0.0, 0.0, 1.0]
program:
  kind: repeat
  count: 3
  body:
    kind: sequence
    items:
      - kind: segment
        name: pick_cube
        instruction: Grasp and lift the cube.
        steps:
          kind: invoke
          call:
            kind: pick
            object: cube
      - kind: segment
        name: place_cube
        instruction: Place the cube at the next target position and release it.
        steps:
          kind: invoke
          call:
            kind: place
            object: cube
            at:
              kind: target_ref
              target: drop_pose