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    "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
    "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
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      "monitor_min_probe_motion_m": 0.003,
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    "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
    "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
    "schema": "dvidia.piper-probe-stop/v1",
    "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
    "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
    "timer_admission_s": 0.6,
    "variants": [
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      "timer"
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  "evidence": "Independent reconstruction from every post-physics 1 ms native row; continuous 100 ms grip, not a caller passed flag.",
  "force_ceiling_n": 10.0,
  "force_ceiling_scope": "Arbitrary synthetic admission ceiling; not a measured damage limit or force controller.",
  "learned_policy": false,
  "physical_robot_ready": false,
  "planned_attempts": 24,
  "runtime": {
    "executable_sha256": "2bf9f73bce307190aa9298edd1ba8f7e86500126df8d845cf6d2bedb05968d59",
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    "numpy": "2.5.3",
    "python": "3.12.9",
    "system": "Darwin"
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  "scope": "Authored short-lift/hold controllers with privileged native simulator state. No full placement, learned policy, camera tracking, calibrated physical sensing or hardware qualification.",
  "selection": "No parameter selection after these development attempts. Each scene runs once per variant; deterministic cells are not independent hardware trials or a held-out learning test.",
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}