@Su1eyman11 tries reasoning plus inverse kinematics with no learned motion policy: Jev as System 1, Astra as fallback, IK for motion, fruit into a tray.

Agent experiment with video. A dual-arm simulation uses Jev as System 1 and Astra as the fallback. Motion uses IK. The task is to place all the fruit inside the tray. For people trying decision models with inverse kinematics and no learned motion policy.