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An Atlanta judge decided that Usher Raymond will retain primary custody of his 2 sons, Naviyd, 4, and Usher V, 5, with ex-wife Tameka Foster Raymond, reports TMZ.

RELATED: 911 Call Released In Usher’s Son’s Drowning Accident, Ex-Wife Seeks Emergency Custody Hearing [AUDIO]

Judge John J. Goger made the decision at the conclusion of an emergency hearing called after Usher V nearly drowned in a pool at the singer’s home on Wednesday.

As previously reported by NewsOne, Usher’s 5-year-old namesake attempted to retrieve a toy trapped in a pool drain on August 6th when his arm got stuck. Adults on the scene, including Usher’s Aunt Rena Oden, attempted to rescue him, but were unsuccessful. Fortunately, two male employees were able to free the child, who received CPR before being rushed to an Atlanta hospital.

Hear the devastating 911 call below:

During the hearing, Foster Raymond once again accused Usher of being an absentee father who left their children in the care of third parties for up to 85 percent of the time. These accusations were rebutted by Usher’s legal council. And when Foster Raymond claimed that Usher’s home was complete “chaos,” the singer countered that the accident could have happened to anyone.

In the end, the judge dismissed Foster Raymond’s petition for primary custody, which didn’t surprise many observers. But the sweet hug that the former spouses shared did.

See the unexpected moment below:

Though Judge Goger said that he was “impressed” with Oden’s qualifications as a caregiver, he also warned Usher that he “would be well-advised to keep [his] former spouse informed about [his] whereabouts and who is taking care of the kids.”

As previously reported by NewsOne, Usher’s 11-year-old step-son Kile Glover, son of Foster Raymond and ex-husband Ryan Glover, was declared brain dead by doctors on July 8, 2012 following a jet-ski accident on Atlanta’s Lake Lanier. He died from his injuries on July 21,2012.