  This report describes our approach for Phase 3 of the Real Robot Challenge.
To solve cuboid manipulation tasks of varying difficulty, we decompose each
task into the following primitives: moving the fingers to the cuboid to grasp
it, turning it on the table to minimize orientation error, and re-positioning
it to the goal position. We use model-based trajectory optimization and control
to plan and execute these primitives. These grasping, turning, and
re-positioning primitives are sequenced with a state-machine that determines
which primitive to execute given the current object state and goal. Our method
shows robust performance over multiple runs with randomized initial and goal
positions. With this approach, our team placed second in the challenge, under
the anonymous name "sombertortoise" on the leaderboard. Example runs of our
method solving each of the four levels can be seen in this video
(https://www.youtube.com/watch?v=I65Kwu9PGmg&list=PLt9QxrtaftrHGXcp4Oh8-s_OnQnBnLtei&index=1).
