Coral: actual tissue boundary; gold: tensile branches; blue: rigid lever and attachment mounts; violet: point mass. The fixed tissue end and hinge are authored fixtures. Orbit the camera by dragging.
Ready. Numerical controls work without starting 3D.
Controls preserve pose, velocity, tissue and activation. A mass change records an external energy event; effort affects the next accepted step. Only converged steps advance time. Reset restores the same state. Playback stops after 24 accepted steps or a failed solve.
The synthetic route moment arm reverses at some larger angles. This is an authored coupling test, not an anatomical lifting path. The nonlinear work defect is reported independently of the exact angular algebra.
Reproducible pulse, time-step and matched solver receipts