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Control-Ownership Mechanism (Lease)

To prevent conflicts when multiple clients simultaneously send motion or state-modification commands to the robotic arm, clients use an exclusive Lease-based control-ownership mechanism. In simple terms, only one client at a time may hold control ownership and perform control operations on the robotic arm.

Control ownership exists as a lease that the server allocates and maintains. Clients use RPC interfaces to acquire, renew, and release it.