The arms switch roles during tube grasp­ing, approach, and inser­tion, coor­di­nat­ing manip­u­la­tion and obser­va­tion around the cur­rent goal.

Grasp­ing, han­dover, and place­ment form a con­tin­u­ous sequence, with both wrist cam­eras show­ing the same object inter­ac­tion.

View­point changes reveal object rela­tion­ships and con­nect grasp­ing, local align­ment, and stack­ing.