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    "pad_measurement": "Euclidean distance between upstream left_pad1/right_pad1 geom centers; not calibrated inner jaw gap",
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    "scope": "Pinned reference geometry, inertias, collision proxies and coupled gripper. Authored native servos, privileged state and synthetic commands. No serial-specific calibration, measured hardware response, task policy or physical qualification.",
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      "integrator": "implicitfast",
      "contact_cone": "elliptic",
      "impratio": 10,
      "mount": "upstream attachment_site, gripper namespace, no added adapter mass",
      "tcp": "upstream gripper/pinch; not a measured physical TCP"
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          "range": [
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          "velocity_address": 7
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        {
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        {
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        {
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}
