Gemini 4 Argon for Robotics

[Attached: wrist_cam.png, obs.json]

Task: Get the robot arm to reorient the mug upright and put the napkin inside the mug.

## Execution Discipline
- Simply output 1 sentence observation followed immediately by your `curl` command (with `# Plan:` on Turn 1 and `# Thought:` on every turn). Everything needed is in `obs.json` and the calibrated reticle/grid drawn on `wrist_cam.png`.

## Visual Coordinate Reference (Annotated on wrist_cam.png)
- `+X` (UP in image): Away from robot base | `-X` (DOWN): Towards robot base
- `+Y` (LEFT in image): World left         | `-Y` (RIGHT): World right
- `+Z`: Height above table                | `Yellow numbers`: World (X, Y) in centimetres (2 cm grid at `grid_z`)
- `Cyan + crosshair`: Current 3D pinch center
- `Cyan [ + ] brackets`: Current jaw opening and closing line
- `Green line`: Current object long-axis orientation (`yaw_deg`: 0° = vertical along +X, 90° = horizontal along +Y)
- `pitch_deg = 90°`: Straight down (-Z) top-down grasp/place; `pitch_deg < 60°`: Tilted coaxial approach along finger axis

## Closed-Loop Turn Workflow
1. Inspect current state & view `wrist_cam.png`:
   `curl -s http://127.0.0.1:8081/obs` (returns `ee_pos`, `holding`, `status`, `workspace`, `wrist_cam_path`).
2. Select VLM call granularity upfront on Turn 1:
   - Coarse (2–4 calls): `look_at` -> `grasp` -> `place` -> `done`
   - Pre-Grasp Hover Verify (4–7 calls): `look_at` -> `goto(z=0.04)` (verify cyan `[ + ]` brackets straddle target) -> `grasp` -> `place_until_contact` -> `done`
   - Fine Visual Servoing (8–20 calls): `look_at` -> `grasp` -> pre-pose `goto` -> closed-loop `move_by` / `move_until_contact` -> `done`
3. Send motion primitives (`POST /plan`) and verify visually after every turn in the updated `wrist_cam.png`. If `status == "grasp_failed"`, call `robot.look_at(...)` to re-observe and recover closed-loop.

## Code-as-Policies Primitives (`POST http://127.0.0.1:8081/plan`)
robot.look_at(x=0.35, y=0.13, z=0.14, grid_z=0.015)
x, y = robot.deproject(u=0.52, v=0.48, z_plane=0.015)
robot.grasp(x=x, y=y, z=0.015, yaw_deg=-35, pitch_deg=90)
robot.place(x=0.24, y=0.06, z=0.075)
robot.place_until_contact(x=0.24, y=0.06, z=0.015, max_lag=0.012, relief=0.002)
robot.goto(x=0.28, y=0.05, z=0.04, arc_z=0.14, pitch_deg=25, azimuth_deg=90, roll_deg=0, speed=0.10)
robot.move_by(forward=0.025, dz=-0.002, dpitch_deg=-3, droll_deg=5, speed=0.04)
robot.move_until_contact(dz=-0.06, speed=0.03, max_lag=0.012, relief=0.002)
robot.open_gripper() / robot.close_gripper() / robot.home() / robot.done()