| phase watch -> repair if latch(oracle.source_grasped) | |
| phase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02) | |
| phase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01) | |
| phase repair: a_exec[6] := [-1.0] | |