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Some explanation of Gravely copyhold and the Trice issue
Uncle Robert died in July 1661, leaving his Brampton house and estate to Sam.
The fallout from Uncle Robert's will gets quite confusing,. Sam records various events and legal processes - extending for weeks and months after Robert's death - without giving an explanation for the benefit of readers 3 centuries later!
Some good clarification is given by Arthur Bryant in his Pepys biography (part 1 of 3) 'Samuel Pepys, The Man in the Making' (1933), Chapter VIII. However, even Bryant doesn't properly explain what the Graveley copyhold is about. The Graveley court case is separate from the Trice matter.
It seems that a part of Sam's inheritance from Uncle Robert included some property at Graveley. However, to prove his right, he had to have 'the Graveley copyholds'. Without these, the property went to the heir-at-law, his Uncle Thomas (his father's older brother). There was a court case that considered this and concluded the right was to Thomas. Sam accepted this.
The Trices were a separate issue. Uncle Robert's wife had been previously married, and had had two sons by that marriage - Jasper and Thomas Trice. When she married Robert, Robert had promised to give her two sons