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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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          "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.",
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