Task: place blue cube on the target visited immediately after video button press. Video: cube first placed at middle-left target (106,110); arm presses gray button around frames 261–273; next cube placement is lower-left target (92,138), frames 430–540. Thus desired target is (92,138) in current front view. Target world via pixel ray z=0: [0.138,-0.121,0]. Cube initially near [-0.135,-0.008,0.02]; top depth ~0.04. Plan: grasp cube, lift, carry to lower-left target, release, withdraw.