| 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. | |