Execution

Pen pickup dry-run

2026-05-30 09:15 UTC · 6m 03s

Completed

Reasoning Cycles

  • Rejected top-down grasp due to occlusion
  • Chose side approach with lower wrist rotation
  • Generated pre-grasp pause for camera confirmation

Tool Calls

  • vision.segment_scene
  • planner.solve_ik
  • execution.render_preview

Tool Results

  • 3 pen candidates
  • IK solved for candidate B
  • Preview attached to source artifact

Policy Decisions

  • Dry-run allowed
  • Operator approval required before live robot execution