@helix3/helix-cli 0.1.10-helix3.49 → 0.1.11-helix3.50

package/dist/gesture/capture.d.ts

@@ -1,5 +1,6 @@
 import { type BrowserKey } from '../screenshot/captureScreenshots';
 import { type HarnessConfig } from './harnessPage';
+import { type InspectAttachSpec } from './inspect';
 export declare const VIEW_NAMES: readonly ["front", "back", "right", "left", "three-quarter"];
 export type ViewName = typeof VIEW_NAMES[number];
 export declare const MAX_VIEWS = 2;
@@ -20,6 +21,8 @@ export type CaptureGestureOptions = {
     /** One moment instead of a sequence: seconds, or a percentage of duration like '60%'. Views go side by
      *  side at roughly 1.8x the cell size, for inspecting a specific detail rather than comparing over time. */
     at?: number | string;
+    /** Render a prop attached while the clip plays — same spec as inspect's, resolved against the world's presets. */
+    attach?: InspectAttachSpec;
     cellHeight?: number;
     timeoutMs?: number;
     browser?: BrowserKey;
@@ -36,6 +39,12 @@ export type CaptureGestureResult = {
     /** True when both views look down the same axis, so neither reveals depth — worth telling the caller. */
     sharedAxis: boolean;
     warnings: string[];
+    /** What was attached, when a prop was requested. */
+    attachment: {
+        prop: string;
+        socket: string;
+        preset: string | null;
+    } | null;
 };
 export declare function captureGesture(opts: CaptureGestureOptions): Promise<CaptureGestureResult>;
 type ClipShape = {

package/dist/gesture/capture.js

@@ -55,6 +55,7 @@ const node_path_1 = require("node:path");
 const captureScreenshots_1 = require("../screenshot/captureScreenshots");
 const staticServe_1 = require("../screenshot/staticServe");
 const harnessPage_1 = require("./harnessPage");
+const inspect_1 = require("./inspect");
 const worldRuntime_1 = require("./worldRuntime");
 const paths_1 = require("../paths");
 /** 0/25/50/75/100 % of the clip — enough to read a gesture's arc without a sheet per frame. */
@@ -113,6 +114,19 @@ async function captureGesture(opts) {
         (0, node_fs_1.copyFileSync)((0, node_path_1.join)(vendorDir(), 'capture-body.glb'), (0, node_path_1.join)(stage, 'capture-body.glb'));
         (0, node_fs_1.copyFileSync)((0, node_path_1.join)(vendorDir(), 'capture-face.glb'), (0, node_path_1.join)(stage, 'capture-face.glb'));
         (0, node_fs_1.copyFileSync)(opts.clip, (0, node_path_1.join)(stage, 'clip.json'));
+        // Prop attaches resolve presets NODE-side (the world's own runtime), so a stale system fails here with
+        // install guidance instead of as a bare page error. The prop is COPIED into the stage — the static
+        // server's traversal guard is string-compare, so serving from an arbitrary path is off the table.
+        let attach = null;
+        if (opts.attach !== undefined) {
+            const runtime = await (0, worldRuntime_1.loadGestureRuntime)(opts.worldDir);
+            if (runtime.SocketService === null || runtime.defaultSockets === null) {
+                throw new Error('the installed humanoid-character does not export SocketService/DEFAULT_SOCKETS — it predates attachment tooling.\n'
+                    + '  Rerun the install and rebuild: MCP: install_world_packages · CLI: helix install.');
+            }
+            attach = (0, inspect_1.resolveAttachSpec)(opts.attach, runtime.heldItemPresets);
+            (0, node_fs_1.copyFileSync)(opts.attach.prop, (0, node_path_1.join)(stage, 'prop.glb'));
+        }
         // The page needs concrete seconds, not fractions, so the clip is parsed here rather than in-page.
         const source = JSON.parse((0, node_fs_1.readFileSync)((0, node_path_1.join)(stage, 'clip.json'), 'utf8'));
         const duration = readDuration(source, opts.clip);
@@ -121,7 +135,7 @@ async function captureGesture(opts) {
         const times = moment
             ? [parseMoment(opts.at, duration)]
             : Array.from({ length: frames }, (_, i) => Math.round((i / (frames - 1)) * duration * 1000) / 1000);
-        const config = { ...arrangeGrid(times, chosen, moment, side), cellW, cellH };
+        const config = { ...arrangeGrid(times, chosen, moment, side), cellW, cellH, ...(attach !== null && { attach }) };
         (0, node_fs_1.writeFileSync)((0, node_path_1.join)(stage, 'index.html'), (0, harnessPage_1.harnessPage)(config));
         const playwright = await Promise.resolve().then(() => __importStar(require('playwright')));
         server = await (0, staticServe_1.startStaticServer)(stage);
@@ -167,6 +181,9 @@ async function captureGesture(opts) {
             moment,
             sharedAxis: sharesAxis(chosen),
             warnings: state.warnings ?? [],
+            attachment: attach !== null && opts.attach !== undefined
+                ? { prop: opts.attach.prop, socket: attach.socket, preset: opts.attach.preset ?? null }
+                : null,
         };
     }
     finally {

package/dist/gesture/capture.js.map

@@ -1 +1 @@
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package/dist/gesture/harnessPage.d.ts

@@ -12,6 +12,12 @@ export interface HarnessConfig {
     rowLabels: string[];
     cellW: number;
     cellH: number;
+    /** Attach /prop.glb to this socket with RESOLVED offsets (capture resolves presets node-side). */
+    attach?: {
+        socket: string;
+        position: [number, number, number];
+        rotationEulerDeg: [number, number, number];
+    };
 }
 export declare const READY_FLAG = "__helixGestureCapture";
 export declare function harnessPage(config: HarnessConfig): string;

package/dist/gesture/harnessPage.js

@@ -35,7 +35,7 @@ function harnessPage(config) {
 <script type="module">
 import * as THREE from 'three';
 import { GLTFLoader } from 'three/examples/jsm/loaders/GLTFLoader.js';
-import { compileGesture, GesturePlayer } from '/helix_modules/humanoid-character/index.js';
+import { compileGesture, GesturePlayer${config.attach !== undefined ? ', SocketService, DEFAULT_SOCKETS' : ''} } from '/helix_modules/humanoid-character/index.js';
 
 const CONFIG = ${JSON.stringify(config)};
 const FLAG = ${JSON.stringify(exports.READY_FLAG)};
@@ -56,7 +56,13 @@ try {
     root.traverse((n) => { if (n.isBone === true) bind.set(n, n.quaternion.clone()); });
     parts.push({ root, bind, player: new GesturePlayer(root) });
   }
-
+${config.attach !== undefined ? `
+  // Body carries the full skeleton; sockets build in bind pose — before anything poses the rig. The prop
+  // rides its bone from here on, so the union-bbox framing below covers it at every sampled time for free.
+  const sockets = new SocketService(parts[0].root, DEFAULT_SOCKETS);
+  const prop = (await loader.loadAsync('/prop.glb')).scene;
+  sockets.attach(CONFIG.attach.socket, prop, 'capture', { position: CONFIG.attach.position, rotationEulerDeg: CONFIG.attach.rotationEulerDeg });
+` : ''}
   const scene = new THREE.Scene();
   scene.background = new THREE.Color(0xf4f4f6);
   for (const p of parts) scene.add(p.root);

package/dist/gesture/harnessPage.js.map

@@ -1 +1 @@
-{"version":3,"file":"harnessPage.js","sourceRoot":"","sources":["../../src/gesture/harnessPage.ts"],"names":[],"mappings":";AAAA,wGAAwG;AACxG,sGAAsG;AACtG,EAAE;AACF,4GAA4G;AAC5G,4GAA4G;AAC5G,qFAAqF;AACrF,EAAE;AACF,yGAAyG;AACzG,4GAA4G;AAC5G,wGAAwG;;;AAqBxG,kCAkIC;AApIY,QAAA,UAAU,GAAG,uBAAuB,CAAC;AAElD,SAAgB,WAAW,CAAC,MAAqB;IAC/C,OAAO;;;;;;;;;;;;;;;;;;;;;;;iBAuBQ,IAAI,CAAC,SAAS,CAAC,MAAM,CAAC;eACxB,IAAI,CAAC,SAAS,CAAC,kBAAU,CAAC;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAwGxC,CAAC;AACF,CAAC"}
+{"version":3,"file":"harnessPage.js","sourceRoot":"","sources":["../../src/gesture/harnessPage.ts"],"names":[],"mappings":";AAAA,wGAAwG;AACxG,sGAAsG;AACtG,EAAE;AACF,4GAA4G;AAC5G,4GAA4G;AAC5G,qFAAqF;AACrF,EAAE;AACF,yGAAyG;AACzG,4GAA4G;AAC5G,wGAAwG;;;AAuBxG,kCAwIC;AA1IY,QAAA,UAAU,GAAG,uBAAuB,CAAC;AAElD,SAAgB,WAAW,CAAC,MAAqB;IAC/C,OAAO;;;;;;;;;;;;;;;;;;;;;wCAqB+B,MAAM,CAAC,MAAM,KAAK,SAAS,CAAC,CAAC,CAAC,kCAAkC,CAAC,CAAC,CAAC,EAAE;;iBAE5F,IAAI,CAAC,SAAS,CAAC,MAAM,CAAC;eACxB,IAAI,CAAC,SAAS,CAAC,kBAAU,CAAC;;;;;;;;;;;;;;;;;;EAkBvC,MAAM,CAAC,MAAM,KAAK,SAAS,CAAC,CAAC,CAAC;;;;;;CAM/B,CAAC,CAAC,CAAC,EAAE;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAsFL,CAAC;AACF,CAAC"}

package/dist/gesture/inspect.d.ts

@@ -1,3 +1,4 @@
+import { type HeldItemPresetLike, type PoseDescriptionLike } from './worldRuntime';
 import { type BoneAxisReference } from './axisReference';
 export declare const DEFAULT_BONES: string[];
 export interface InspectOptions {
@@ -15,6 +16,19 @@ export interface InspectOptions {
     probe?: string | null;
     /** Custom character GLB; default is the embedded canonical skeleton. */
     rig?: string | null;
+    /** Measure a prop attachment alongside the pose readback (grip-frame bbox, unit verdict, posed placement). */
+    attach?: InspectAttachSpec | null;
+}
+export interface InspectAttachSpec {
+    /** Prop GLB path. */
+    prop: string;
+    /** Explicit socket; defaults to the preset's, then hand_r.grip. */
+    socket?: string | null;
+    /** HELD_ITEM_PRESETS key contributing default socket/offsets. */
+    preset?: string | null;
+    /** Socket-local offsets (m / deg, XYZ). Explicit values override the preset's. */
+    position?: [number, number, number] | null;
+    rotationEulerDeg?: [number, number, number] | null;
 }
 export interface BoneReadback {
     pos?: number[];
@@ -61,6 +75,53 @@ export interface AxisRangeRow {
         z: [number, number];
     };
 }
+export interface AttachmentReadback {
+    prop: string;
+    socket: string;
+    preset: string | null;
+    position: number[];
+    rotationEulerDeg: number[];
+    bbox: {
+        min: number[];
+        max: number[];
+    };
+    span: number;
+    unitVerdict: string;
+    gripFrame: {
+        min: number[];
+        max: number[];
+        reads: string;
+    };
+}
+export interface AttachmentPlacement {
+    center: number[];
+    dir: number[];
+    reads: string;
+}
+/** One authored ik goal: target → resolved joint eulers → canonical landing → this-rig landing. */
+export interface IkGoalReadback {
+    key: number;
+    t: number;
+    hand: string;
+    goal: {
+        position: number[];
+        palm: string | null;
+        elbow: string | null;
+    };
+    resolved: Record<string, number[]>;
+    canonical: {
+        position: number[];
+        palm: number[];
+        errM: number;
+        reads: string;
+    } | null;
+    rig: {
+        position: number[];
+        errM: number;
+    } | null;
+    warnings: string[];
+    reads: string;
+}
 export interface InspectResult {
     clip: string;
     duration: number;
@@ -70,6 +131,8 @@ export interface InspectResult {
     frames: {
         t: number;
         bones: Record<string, BoneReadback>;
+        attachment?: AttachmentPlacement;
+        hands?: PoseDescriptionLike;
     }[];
     motion: Record<string, MotionReadback> | null;
     axes: {
@@ -79,13 +142,31 @@ export interface InspectResult {
             rows: AxisRow[];
         }[];
     } | null;
+    /** Per-goal ik readback (automatic when the clip has `ik` keys and the system supports them); null otherwise. */
+    ik: {
+        goals: IkGoalReadback[];
+        note?: string;
+    } | null;
     /** Axis-table rows for the bones this clip actually keys — the context a warning needs, not all 15 groups. */
     keyedAxisRows: AxisRangeRow[];
+    /** Prop measurement when `attach` was requested; null otherwise. */
+    attachment: AttachmentReadback | null;
 }
 /** Exported for tests: these two produce the human-facing readback, and are duck-typed on .x/.y/.z so
  *  they need no three. A sign error here silently misleads every measurement an agent takes. */
 /** Coarse compass for a unit vector — never a precise angle, because conformed rigs differ by ~20° at the extremities. */
 export declare function compass(v: any): string;
+/** Exported for tests: resolves the attach spec exactly as AttachmentService.attach would. */
+export declare function resolveAttachSpec(spec: InspectAttachSpec, presets: Readonly<Record<string, HeldItemPresetLike>> | null): {
+    socket: string;
+    position: [number, number, number];
+    rotationEulerDeg: [number, number, number];
+};
+/** Exported for tests. The runtime rejection wording creators actually hit, plus the too-small suspicion. */
+export declare function unitVerdictFor(span: number): string;
+/** Exported for tests — duck-typed on .x/.y/.z like compass. English for the socket-frame bbox; the grip
+ *  frame IS the semantic held-item frame (+z out, +y up). */
+export declare function gripFrameReads(sMin: any, sMax: any): string;
 export interface Refs {
     head: number | null;
     shoulder: number;

package/dist/gesture/inspect.js

@@ -1,7 +1,43 @@
 "use strict";
+var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    var desc = Object.getOwnPropertyDescriptor(m, k);
+    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
+      desc = { enumerable: true, get: function() { return m[k]; } };
+    }
+    Object.defineProperty(o, k2, desc);
+}) : (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    o[k2] = m[k];
+}));
+var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
+    Object.defineProperty(o, "default", { enumerable: true, value: v });
+}) : function(o, v) {
+    o["default"] = v;
+});
+var __importStar = (this && this.__importStar) || (function () {
+    var ownKeys = function(o) {
+        ownKeys = Object.getOwnPropertyNames || function (o) {
+            var ar = [];
+            for (var k in o) if (Object.prototype.hasOwnProperty.call(o, k)) ar[ar.length] = k;
+            return ar;
+        };
+        return ownKeys(o);
+    };
+    return function (mod) {
+        if (mod && mod.__esModule) return mod;
+        var result = {};
+        if (mod != null) for (var k = ownKeys(mod), i = 0; i < k.length; i++) if (k[i] !== "default") __createBinding(result, mod, k[i]);
+        __setModuleDefault(result, mod);
+        return result;
+    };
+})();
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.DEFAULT_BONES = void 0;
 exports.compass = compass;
+exports.resolveAttachSpec = resolveAttachSpec;
+exports.unitVerdictFor = unitVerdictFor;
+exports.gripFrameReads = gripFrameReads;
 exports.describePose = describePose;
 exports.inspectGesture = inspectGesture;
 exports.formatInspect = formatInspect;
@@ -94,6 +130,150 @@ function facingNow(ctx, frame) {
     const fingers = frame.fingersLocal.clone().applyQuaternion(q);
     return { palm: vec(palm), fingers: vec(fingers), reads: `palm faces ${compass(palm)}, fingers point ${compass(fingers)}` };
 }
+// ---- Attachment measurement --------------------------------------------------------------------------
+// Mirrors AttachmentService.attach: explicit offsets override the preset's, the socket falls back to the
+// preset's own, and the span gate is the runtime's DEFAULT_MAX_PROP_SPAN_M rejection — keep them equal.
+const MAX_PROP_SPAN_M = 2;
+/** Exported for tests: resolves the attach spec exactly as AttachmentService.attach would. */
+function resolveAttachSpec(spec, presets) {
+    let preset = null;
+    if (spec.preset != null) {
+        if (presets === null) {
+            throw new Error('the installed humanoid-character does not export HELD_ITEM_PRESETS — it predates attachments (added in 0.2.14).\n'
+                + '  Any existing ^0.2 pin already allows it — no helix.json edit needed, just rerun the install and rebuild:\n'
+                + '  MCP: install_world_packages · CLI: helix install (via npx: `npx @hypersoniclabs/helix-cli install` — bare `helix` is an unrelated npm package).');
+        }
+        preset = presets[spec.preset] ?? null;
+        if (preset === null)
+            throw new Error(`--preset: unknown preset '${spec.preset}' (known: ${Object.keys(presets).join(', ')})`);
+    }
+    return {
+        socket: spec.socket ?? preset?.socket ?? 'hand_r.grip',
+        position: spec.position ?? preset?.position ?? [0, 0, 0],
+        rotationEulerDeg: spec.rotationEulerDeg ?? preset?.rotationEulerDeg ?? [0, 0, 0],
+    };
+}
+/** Exported for tests. The runtime rejection wording creators actually hit, plus the too-small suspicion. */
+function unitVerdictFor(span) {
+    if (span > MAX_PROP_SPAN_M) {
+        return `runtime REJECTS this prop: spans ${round(span, 2)} m (limit ${MAX_PROP_SPAN_M} m) — almost always a cm/mm unit slip; author props in meters`;
+    }
+    return span < 0.01 ? `suspiciously small: ${round(span, 3)} m max span — double unit conversion?` : `meters OK (${round(span, 2)} m max span)`;
+}
+/** Exported for tests — duck-typed on .x/.y/.z like compass. English for the socket-frame bbox; the grip
+ *  frame IS the semantic held-item frame (+z out, +y up). */
+function gripFrameReads(sMin, sMax) {
+    const parts = [];
+    if (sMax.z > 0.005)
+        parts.push(`extends ${round(sMax.z, 2)}m out along +z`);
+    if (sMin.z < -0.005)
+        parts.push(`${round(-sMin.z, 2)}m behind the grip point`);
+    if (sMax.y > 0.005)
+        parts.push(`${round(sMax.y, 2)}m above it`);
+    if (sMin.y < -0.005)
+        parts.push(`${round(-sMin.y, 2)}m below`);
+    const inside = sMin.x <= 0 && sMax.x >= 0 && sMin.y <= 0 && sMax.y >= 0 && sMin.z <= 0 && sMax.z >= 0;
+    if (inside)
+        parts.push('grip origin is inside the prop volume');
+    else {
+        const clamp = (v, lo, hi) => Math.min(Math.max(v, lo), hi);
+        const dist = Math.hypot(clamp(0, sMin.x, sMax.x), clamp(0, sMin.y, sMax.y), clamp(0, sMin.z, sMax.z));
+        parts.push(`grip origin is OUTSIDE the prop volume (nearest point ${round(dist, 3)}m away — is the grip modeled at the origin?)`);
+    }
+    return parts.join(', ');
+}
+/** Node-side GLB reads carry no geometry objects, so the bbox comes from POSITION accessor min/max per
+ *  primitive — the same conservative corner-transform bound Box3.setFromObject computes in the browser. */
+async function propCorners(three, glbPath) {
+    const { NodeIO } = await Promise.resolve().then(() => __importStar(require('@gltf-transform/core')));
+    const { ALL_EXTENSIONS } = await Promise.resolve().then(() => __importStar(require('@gltf-transform/extensions')));
+    let doc;
+    try {
+        doc = await new NodeIO().registerExtensions(ALL_EXTENSIONS).read(glbPath);
+    }
+    catch (err) {
+        throw new Error(`--attach: ${glbPath} is not a readable .glb/.gltf — ${err instanceof Error ? err.message : String(err)}`);
+    }
+    const scene = doc.getRoot().listScenes()[0];
+    if (scene === undefined)
+        throw new Error(`--attach: prop GLB has no scenes: ${glbPath}`);
+    const corners = [];
+    const visit = (node, parent) => {
+        const local = new three.Matrix4().compose(new three.Vector3().fromArray(node.getTranslation()), new three.Quaternion().fromArray(node.getRotation()), new three.Vector3().fromArray(node.getScale()));
+        const world = new three.Matrix4().multiplyMatrices(parent, local);
+        const mesh = node.getMesh();
+        if (mesh !== null) {
+            for (const prim of mesh.listPrimitives()) {
+                const pos = prim.getAttribute('POSITION');
+                const pMin = pos?.getMin([]);
+                const pMax = pos?.getMax([]);
+                if (pMin == null || pMax == null)
+                    continue;
+                for (let i = 0; i < 8; i++) {
+                    corners.push(new three.Vector3((i & 1) === 0 ? pMin[0] : pMax[0], (i & 2) === 0 ? pMin[1] : pMax[1], (i & 4) === 0 ? pMin[2] : pMax[2]).applyMatrix4(world));
+                }
+            }
+        }
+        for (const child of node.listChildren())
+            visit(child, world);
+    };
+    for (const node of scene.listChildren())
+        visit(node, new three.Matrix4());
+    if (corners.length === 0)
+        throw new Error(`--attach: prop GLB has no mesh geometry: ${glbPath}`);
+    return corners;
+}
+function boxOf(three, points) {
+    const min = new three.Vector3(Infinity, Infinity, Infinity);
+    const max = new three.Vector3(-Infinity, -Infinity, -Infinity);
+    for (const p of points) {
+        min.min(p);
+        max.max(p);
+    }
+    return { min, max };
+}
+async function measureAttachment(runtime, ctx, spec) {
+    if (runtime.SocketService === null || runtime.defaultSockets === null) {
+        throw new Error('the installed humanoid-character does not export SocketService/DEFAULT_SOCKETS — it predates attachment tooling.\n'
+            + '  Rerun the install and rebuild: MCP: install_world_packages · CLI: helix install.');
+    }
+    const resolved = resolveAttachSpec(spec, runtime.heldItemPresets);
+    const { three } = ctx;
+    let sockets;
+    try {
+        sockets = new runtime.SocketService(ctx.rig.root, runtime.defaultSockets); // bind pose — the same construction-time constraint as Character
+    }
+    catch (err) {
+        throw new Error(`--attach: socket construction failed on this rig: ${err instanceof Error ? err.message : String(err)}`);
+    }
+    if (sockets.has(resolved.socket) !== true) {
+        throw new Error(`--socket: '${resolved.socket}' is not defined (defined: ${sockets.list().join(', ')})`);
+    }
+    const corners = await propCorners(three, spec.prop);
+    const local = boxOf(three, corners);
+    const size = local.max.clone().sub(local.min);
+    const span = Math.max(size.x, size.y, size.z);
+    const offsetQ = new three.Quaternion().setFromEuler(new three.Euler(...resolved.rotationEulerDeg.map((d) => (d * Math.PI) / 180), 'XYZ'));
+    const offsetP = new three.Vector3().fromArray(resolved.position);
+    const inSocket = boxOf(three, corners.map((c) => c.clone().applyQuaternion(offsetQ).add(offsetP)));
+    return {
+        report: {
+            prop: spec.prop, socket: resolved.socket, preset: spec.preset ?? null,
+            position: resolved.position, rotationEulerDeg: resolved.rotationEulerDeg,
+            bbox: { min: vec(local.min), max: vec(local.max) }, span: round(span, 3), unitVerdict: unitVerdictFor(span),
+            gripFrame: { min: vec(inSocket.min), max: vec(inSocket.max), reads: gripFrameReads(inSocket.min, inSocket.max) },
+        },
+        socket: resolved.socket, sockets, offsetQ, center: inSocket.min.clone().add(inSocket.max).multiplyScalar(0.5),
+    };
+}
+/** Posed placement of the prop: where its volume center lands and where its +z points, right now. */
+function attachmentPlacement(three, attach, ref) {
+    const pose = { position: new three.Vector3(), quaternion: new three.Quaternion() };
+    attach.sockets.getWorldTransform(attach.socket, pose);
+    const center = attach.center.clone().applyQuaternion(pose.quaternion).add(pose.position);
+    const dir = new three.Vector3(0, 0, 1).applyQuaternion(pose.quaternion.clone().multiply(attach.offsetQ));
+    return { center: vec(center), dir: vec(dir), reads: describePose(`prop@${attach.socket}`, center, dir, ref) };
+}
 /** Plain-English readback so an agent with no eyes can still tell a good pose from a broken one. */
 function describePose(name, pos, dir, ref) {
     const parts = [];
@@ -149,17 +329,87 @@ async function inspectGesture(opts) {
         throw new Error(`${opts.clip} is not valid JSON: ${err.message}`);
     }
     const runtime = await (0, worldRuntime_1.loadGestureRuntime)(opts.worldDir);
+    // The gate MUST fire before compiling: a pre-0.2.15 system silently ignores an `ik` field (or fails
+    // blaming keys[].bones), so the clip would inspect WRONG rather than error.
+    if ((0, worldRuntime_1.clipUsesIk)(source) && runtime.describePose === null)
+        throw new Error(worldRuntime_1.IK_UNSUPPORTED_MESSAGE);
     const { three } = runtime;
     const compiled = runtime.compileGesture(source);
     const rig = opts.rig ? await (0, rig_1.glbRig)(three, opts.rig) : (0, rig_1.canonicalRig)(three);
     // The player captures the bind pose at construction — must happen before anything poses the rig.
     const ctx = { three, rig, player: new runtime.GesturePlayer(rig.root) };
+    // Sockets are built in bind pose too, so the attachment must be measured before anything poses the rig.
+    const attach = opts.attach != null ? await measureAttachment(runtime, ctx, opts.attach) : null;
     const bones = opts.bones ?? exports.DEFAULT_BONES;
     const times = (opts.times ?? []).length > 0 || opts.motion === true || opts.axes === true ? (opts.times ?? []) : ['0'];
     const handFrames = new Map();
     for (const name of bones)
         if (/^hand_(l|r)$/.test(name))
             handFrames.set(name, handFrame(ctx, name));
+    // ---- ik report: goal → resolved eulers → canonical landing → this-rig landing ----------------------
+    // Two skeletons can be in play: describePose runs on the system's EMBEDDED canonical snapshot; poseAt runs
+    // the requested rig. With --rig their disagreement is conform drift, not a solver bug — show both.
+    const eulerDegAt = (bone, t) => {
+        const track = compiled.gesture.tracks.find((tr) => tr.bone === bone);
+        if (track === undefined)
+            return null;
+        const i = track.times.findIndex((time) => Math.abs(time - t) < 1e-6);
+        if (i === -1)
+            return null;
+        const e = new three.Euler().setFromQuaternion(track.quats[i], 'ZYX');
+        return [e.x, e.y, e.z].map((r) => round((r * 180) / Math.PI, 1));
+    };
+    let ik = null;
+    if (runtime.describePose !== null) {
+        const keys = Array.isArray(source.keys) ? source.keys : [];
+        const goals = [];
+        const clipWarnings = compiled.warnings ?? [];
+        for (let ki = 0; ki < keys.length; ki++) {
+            const ikGoals = keys[ki]?.ik;
+            if (typeof ikGoals !== 'object' || ikGoals === null)
+                continue;
+            const t = keys[ki].t ?? 0;
+            const described = runtime.describePose(compiled.gesture, t);
+            poseAt(ctx, compiled.gesture, t);
+            for (const side of ['l', 'r']) {
+                const goal = ikGoals[`hand_${side}`];
+                if (goal === undefined || !Array.isArray(goal.position))
+                    continue;
+                const hand = side === 'l' ? described.leftHand : described.rightHand;
+                const bone = rig.find(`hand_${side}`);
+                const rigPos = bone !== null ? worldOf(three, bone) : null;
+                const dist = (p) => round(Math.hypot(p[0] - goal.position[0], p[1] - goal.position[1], p[2] - goal.position[2]), 3);
+                const canonicalErr = hand !== null ? dist(hand.position) : null;
+                const rigErr = rigPos !== null ? dist([rigPos.x, rigPos.y, rigPos.z]) : null;
+                const resolved = {};
+                for (const emitted of [`upperarm_${side}`, `lowerarm_${side}`, ...(goal.palm !== undefined ? [`hand_${side}`] : [])]) {
+                    const e = eulerDegAt(emitted, t);
+                    if (e !== null)
+                        resolved[emitted] = e;
+                }
+                const bucket = clipWarnings.filter((w) => w.startsWith(`keys[${ki}].ik`));
+                goals.push({
+                    key: ki, t, hand: `hand_${side}`,
+                    goal: { position: goal.position, palm: goal.palm ?? null, elbow: goal.elbow ?? null },
+                    resolved,
+                    canonical: hand !== null && canonicalErr !== null ? { position: hand.position, palm: hand.palm, errM: canonicalErr, reads: hand.text } : null,
+                    rig: rigPos !== null && rigErr !== null ? { position: vec(rigPos), errM: rigErr } : null,
+                    warnings: bucket,
+                    reads: `keys[${ki}] ${side === 'l' ? 'left' : 'right'} hand → [${goal.position.join(', ')}]`
+                        + `${goal.palm !== undefined ? ` palm ${goal.palm}` : ''}${goal.elbow !== undefined ? ` elbow ${goal.elbow}` : ''}`
+                        + `${canonicalErr !== null ? ` — canonical lands ${round(canonicalErr * 100, 1)} cm off` : ''}`
+                        + `${rigErr !== null && canonicalErr !== null ? `, this rig ${round(rigErr * 100, 1)} cm off (Δ = conform drift)` : ''}`
+                        + `${bucket.length > 0 ? ` — ${bucket.length} warning(s)` : ''}`,
+                });
+            }
+        }
+        if (goals.length > 0) {
+            ik = { goals };
+            // describePose measures against REST — an additive clip layers over live locomotion instead.
+            if (source.compose === 'additive')
+                ik.note = 'additive clip: landings are measured against rest, not the locomotion it will layer onto';
+        }
+    }
     // ---- static frames --------------------------------------------------------------------------------
     const frames = [];
     for (const spec of times) {
@@ -183,7 +433,16 @@ async function inspectGesture(opts) {
                 entry.facing = facingNow(ctx, handFrames.get(name));
             out[name] = entry;
         }
-        frames.push({ t: seconds, bones: out });
+        const frame = { t: seconds, bones: out };
+        if (attach !== null)
+            frame.attachment = attachmentPlacement(three, attach, ref);
+        // Canonical-skeleton landmark inverse (0.2.15+) — null per hand when the clip never keys that arm.
+        if (runtime.describePose !== null) {
+            const described = runtime.describePose(compiled.gesture, seconds);
+            if (described.rightHand !== null || described.leftHand !== null)
+                frame.hands = described;
+        }
+        frames.push(frame);
     }
     // ---- --motion: what the clip DOES over time -------------------------------------------------------
     // A static frame cannot show this. Tracks each bone's TIP, so wrist/finger rotation is visible.
@@ -294,14 +553,39 @@ async function inspectGesture(opts) {
         frames,
         motion,
         axes,
+        ik,
         keyedAxisRows: relevantAxisRows(runtime.axisTable, source),
+        attachment: attach !== null ? attach.report : null,
     };
 }
 /** Human-readable report. `--json` returns the InspectResult instead. */
 function formatInspect(r, opts = {}) {
     const out = [`${r.clip} (${r.duration}s) — rig ${r.rig}`];
-    if (r.warnings.length > 0)
-        out.push(`warnings:\n  ${r.warnings.join('\n  ')}`);
+    // ik-attributed warnings print bucketed under their goal below — keep the top block for the rest.
+    const topWarnings = r.ik !== null ? r.warnings.filter((w) => !/^keys\[\d+\]\.ik/.test(w)) : r.warnings;
+    if (topWarnings.length > 0)
+        out.push(`warnings:\n  ${topWarnings.join('\n  ')}`);
+    if (r.ik !== null) {
+        out.push(`\nik goals${r.ik.note !== undefined ? ` (${r.ik.note})` : ''}:`);
+        for (const g of r.ik.goals) {
+            out.push(`  ${g.reads}`);
+            if (g.canonical !== null)
+                out.push(`      canonical: ${g.canonical.reads}`);
+            for (const [bone, e] of Object.entries(g.resolved))
+                out.push(`      resolved ${bone}: [${e.join(', ')}]°`);
+            for (const w of g.warnings)
+                out.push(`      ! ${w}`);
+        }
+    }
+    if (r.attachment != null) {
+        const a = r.attachment;
+        const range = (min, max) => AXIS_NAMES.map((k, i) => `${k} ${min[i]}…${max[i]}`).join(' · ');
+        out.push(`\nattachment: ${a.prop.split(/[\\/]/).pop()} → ${a.socket}${a.preset !== null ? ` (preset ${a.preset})` : ''}`);
+        out.push(`  offsets: position ${JSON.stringify(a.position)} m · rotation ${JSON.stringify(a.rotationEulerDeg)} deg`);
+        out.push(`  prop bbox (m): ${range(a.bbox.min, a.bbox.max)} — ${a.unitVerdict}`);
+        out.push(`  grip frame (m): ${range(a.gripFrame.min, a.gripFrame.max)}`);
+        out.push(`  ${a.gripFrame.reads}`);
+    }
     for (const f of r.frames) {
         out.push(`\nt=${f.t}s`);
         for (const [name, b] of Object.entries(f.bones)) {
@@ -311,6 +595,15 @@ function formatInspect(r, opts = {}) {
             if (b.facing != null)
                 out.push(`      ${b.facing.unavailable !== undefined ? `facing unavailable — ${b.facing.unavailable}` : b.facing.reads}`);
         }
+        if (f.hands !== undefined) {
+            for (const h of [f.hands.rightHand, f.hands.leftHand])
+                if (h !== null && h !== undefined)
+                    out.push(`  hands: ${h.text}`);
+        }
+        if (f.attachment !== undefined) {
+            out.push(`  ${f.attachment.reads}`);
+            out.push(`      center=${JSON.stringify(f.attachment.center)} dir=${JSON.stringify(f.attachment.dir)}`);
+        }
     }
     if (r.motion !== null) {
         out.push(`\nmotion over ${opts.motionWindow ? `t=${opts.motionWindow[0]}..${opts.motionWindow[1]}` : 'the whole clip'}`);