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A timer can report a grip before the object has followed the gripper. This experimental source adds a bounded PiPER test-lift controller and a native evidence receipt bound to the run, grasp, commands, object pose, source, assets and declared calibration. It checks the hold continuously and retains invalidated and failed attempts.
In 24 frozen CPU simulation attempts, the evidence gate admitted 6/12 scenes with 0 false initial qualifications; the timer admitted 12/12 with 8 false initial qualifications. Both ended with 2/12 qualified holds. All 480,000 native rows and 24,000 commands are retained and independently reconstructed. This improves the admission evidence on the finite roster, not final hold success. Both are authored closed-loop policies; this is not an isolated classifier ablation, learned policy, full transport or hardware result.
Validation: 35 probe/receipt/harness tests, 11 feasibility tests, 7 publisher tests, 6 archive tests; independent frozen-record readback; 76 research-site tests and real local browser verification. The original audit is preserved and a separately guarded verifier refuses optimized Python. No credentials, footage, weights, meshes or simulator binaries are included. The existing preview package version and stable main are unchanged.