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      "Prescribed guides are authored frictionless support constraints, not measured anatomical tendon wrapping."
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    "bone": 0,
    "soft": 0,
    "tendon": 0
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  "angleDifferenceRad": 0.000022666428061313137,
  "maximumCoordinateDifferenceM": 0.00012457331207020757,
  "limits": [
    "One increment retains the exact 32-point old state, activation and velocity. This is a same-old-state integration comparison, not a self-consistent 256-point trajectory.",
    "Material parameters, 460 displacement/joint coordinates, Newton algorithm, contact law and all acceptance gates are unchanged.",
    "256-point integration and corner determinant queries are finite samples, not determinant positivity, quadrature, mesh, full nodal or timestep convergence certificates.",
    "Compression, finite-radius tendon, coplanar contact and continuous-motion gaps remain open."
  ]
}