IJF SOR 18.104.22.168. To hug directly the opponent for a throw (bear hug). Precision: To attack with a bear hug the athlete must have a minimum of one grip before making the attack.
It is not valid to grip simultaneously or to make a second grip consecutively. Only touching the judogi or the opponent’s hands in order to avoid grips, is not considered as kumi-kata, gripping is necessary.