forgecad 0.10.2 → 0.10.3

package/dist-cli/{forgecad_geometry-7TVSNVUB.js → forgecad_geometry-2IMYCUWW.js}

@@ -31,13 +31,6 @@ function geometry_chamfer_edges(handle, spec_json) {
   }
   return ret[0] >>> 0;
 }
-function geometry_clone(handle) {
-  const ret = wasm.geometry_clone(handle);
-  if (ret[2]) {
-    throw takeFromExternrefTable0(ret[1]);
-  }
-  return ret[0] >>> 0;
-}
 function geometry_create_box(width, depth, height) {
   const ret = wasm.geometry_create_box(width, depth, height);
   return ret >>> 0;
@@ -889,7 +882,6 @@ export {
   geometry_boolean,
   geometry_capabilities,
   geometry_chamfer_edges,
-  geometry_clone,
   geometry_create_box,
   geometry_create_cylinder,
   geometry_create_empty,

package/dist-skill/CONTEXT.md

@@ -141,12 +141,12 @@ lib, Line2D, linearPattern, linearPattern2d, loadFont, loft, Loft, mirrorCopy
 mock, ngon, NurbsCurve3D, NurbsSurface, offsetSolid, param, Param, path
 Point2D, Points, polygon, polygonVertices, port, Product, ProductPanelBuilder, ProductRibbonBuilder
 ProductSkin, ProductSkinBuilder, ProductStationBuilder, ProductSurfaceBuilder, ProductSurfaceRef, projectToPlane, queueMicrotask, rect
-Rectangle2D, robotExport, roundedRect, Route3D, scene, Sculpt, sdf, SdfShape
-selectEdge, selectEdges, self, setActiveBackend, setImmediate, setInterval, setTimeout, Shape
-ShapeGroup, sheetMetal, SheetMetalPart, sheetStock, Sim, Sketch, sketchToDxf, sketchToSvg
-slot, SolvedAssembly, spec, sphere, spline2d, stroke, Surface, SurfaceBody
-SurfaceMembers, sweep, text2d, textWidth, torus, toShape, Transform, union
-union2d, variableSweep, verify, Viewport, window, Wood
+Rectangle2D, roundedRect, Route3D, scene, Sculpt, sdf, SdfShape, selectEdge
+selectEdges, self, setActiveBackend, setImmediate, setInterval, setTimeout, Shape, ShapeGroup
+sheetMetal, SheetMetalPart, sheetStock, Sim, Sketch, sketchToDxf, sketchToSvg, slot
+SolvedAssembly, spec, sphere, spline2d, stroke, Surface, SurfaceBody, SurfaceMembers
+sweep, text2d, textWidth, torus, toShape, Transform, union, union2d
+variableSweep, verify, Viewport, window, Wood
 ```
 
 `showLabels` is also a runtime global, but it is not part of the top-level collision check. Avoid reusing it unless you intentionally want a local value with that name.
@@ -176,6 +176,10 @@ union2d, variableSweep, verify, Viewport, window, Wood
 - [SurfacePattern](#surfacepattern)
 - [Pattern2D](#pattern2d)
 - [Pattern2DBuilder](#pattern2dbuilder)
+- [Sheet](#sheet)
+- [CurveNetBuilder](#curvenetbuilder)
+- [MatchEdgeBuilder](#matchedgebuilder)
+- [BridgeBuilder](#bridgebuilder)
 - [ShapeRef](#shaperef)
 - [ANCHOR3D_NAMES](#anchor3d-names)
 - [verify](#verify)
@@ -860,7 +864,7 @@ Supports transforms (translate, rotate, scale, mirror, transform, rotateAround,
 
 Returns a new Shape with the specified material properties merged on top of any previously set properties. All properties are optional — omitted keys retain their current value. Material properties survive transforms and boolean operations.
 
-Use `.color()` to set the base diffuse color; `.material()` controls how that color behaves under light (metalness, roughness, clearcoat) and can add emissive glow independent of lighting. Emissive glow pairs naturally with the `postProcessing.bloom` effect in [`scene()`](/docs/viewport#scene).
+Use `.color()` to set the base diffuse color; `.material()` controls how that color behaves under light (metalness, roughness, clearcoat) and can add emissive glow independent of lighting.
 
 ```js
 box(50, 50, 50).material({ metalness: 0.9, roughness: 0.1 }); // polished metal
@@ -1485,6 +1489,71 @@ const bracket = group(
 | `depth?` | `number` | Thread groove depth in millimeters. Default: 0.8. |
 | `underScale?` | `number` | Relative height of the under-crossing thread. Default: 0.15. |
 
+### `Sheet`
+
+A parametric open surface value (control grid + knots + analytic differential geometry).
+
+**Properties:**
+
+| Property | Type | Description |
+|----------|------|-------------|
+| `surface` | `BSplineSurface` | — |
+
+**Methods:**
+
+#### `get frontEdge(): SheetEdge` — Edge naming follows parameter direction (documented): front=v0, rear=v1, left=u0, right=u1.
+
+#### `thicken(wall: number, options?: { resolution?: number; }): Shape` — Offset the sheet along its analytic normals into a watertight solid shell of the given wall thickness. Throws if the wall would self-intersect on a concave region (no silent degenerate solid).
+
+#### `matchEdge(edge: SheetEdge): MatchEdgeBuilder` — Per-edge continuity match against a neighbor (returns a NEW Sheet).
+
+**`SheetEdge`**
+- `fixed: "u" | "v"` — Which parameter is held fixed along this edge.
+- `value: 0 | 1` — The fixed value (0 or 1).
+- Also: `sheet: Sheet`.
+
+- `get rearEdge(): SheetEdge`
+- `get leftEdge(): SheetEdge`
+- `get rightEdge(): SheetEdge`
+- `pointAt(u: number, v: number): Vec3`
+- `normalAt(u: number, v: number): Vec3`
+- `curvatureAt(u: number, v: number): SurfaceCurvature`
+
+### `CurveNetBuilder`
+
+#### `toSheet(): Sheet` — Build (once) and return the Sheet.
+
+- `lengthwise(...curves: CurveInput[]): this`
+- `crosswise(...curves: CurveInput[]): this`
+- `alongRails(railA: CurveInput, railB: CurveInput): this`
+- `sections(...curves: CurveInput[]): this`
+- `cage(grid: Vec3[][]): this`
+- `degree(u: number, v: number): this`
+- `get frontEdge(): SheetEdge`
+- `get rearEdge(): SheetEdge`
+- `get leftEdge(): SheetEdge`
+- `get rightEdge(): SheetEdge`
+- `get surface(): BSplineSurface`
+- `pointAt(u: number, v: number): Vec3`
+- `normalAt(u: number, v: number): Vec3`
+- `curvatureAt(u: number, v: number): SurfaceCurvature`
+- `thicken(wall: number, options?: { resolution?: number; }): Shape`
+- `matchEdge(edge: SheetEdge): MatchEdgeBuilder`
+
+### `MatchEdgeBuilder`
+
+- `toG0(neighbor: SheetEdge): Sheet`
+- `toG1(neighbor: SheetEdge): Sheet`
+- `toG2(neighbor: SheetEdge): Sheet`
+
+### `BridgeBuilder`
+
+#### `bulge(a: number, b: number): this` — Tune the influence of each side (Rhino-style bulge).
+
+- `g0(): Sheet`
+- `g1(): Sheet`
+- `g2(): Sheet`
+
 ### `ShapeRef`
 
 A first-class reference path over a shape's semantic faces and face relationships.
@@ -3025,7 +3094,11 @@ const outlet = route.port("outlet");
 
 #### `pointAt(u: number, v: number): Vec3` — Evaluate the surface at parameters (u, v) ∈ [0, 1]². Uses tensor product evaluation: evaluate basis functions in U and V independently.
 
-#### `normalAt(u: number, v: number): Vec3` — Evaluate the surface normal at (u, v) via cross product of partial derivatives.
+#### `normalAt(u: number, v: number): Vec3` — Evaluate the surface unit normal at (u, v) from analytic first derivatives.
+
+Uses Algorithm A2.3 basis-function derivatives with the rational quotient rule, so the normal is exact (no finite-difference epsilon, no error near the boundary). Constant chain-rule factors from the parameter remap scale Su and Sv positively and cancel under normalization, so they are omitted.
+
+#### `derivativesAt(u: number, v: number): { S: Vec3; Su: Vec3; Sv: Vec3; }` — Analytic first partial derivatives S_u, S_v (rational quotient rule).
 
 #### `tessellate(resU?: number, resV?: number): { positions: Vec3[]; normals: Vec3[]; indices: number[]; }` — Tessellate the surface into a triangle mesh. Returns positions, normals, and triangle indices.
 
@@ -3764,16 +3837,19 @@ Members (full entries under [Curves & Surfacing](#curves-surfacing)): `Curve.Ble
 - `Trim(shape: Shape, tool: Shape | SurfacePlaneOp): Shape`
 - `Split(shape: Shape, tool: Shape | SurfacePlaneOp): [ Shape, Shape ]`
 - `Match(shape: Shape, options: { edge: "u0" | "u1" | "v0" | "v1"; target: EdgeRef; continuity?: SurfaceContinuity; }): Shape`
+- `Net(): CurveNet` — Begin a curve-network (Gordon) surface — the class-A keystone. Chain `.lengthwise(...)/.crosswise(...)` (or `.alongRails(a,b).sections(...)`, or `.cage(grid)`), then `.thicken(wall)` to get a solid Shape. Returns a fluent [`Sheet`](/docs/core#sheet) builder with analytic point/normal/curvature queries and named edges.
 
 ### `Blend`
 
 - `Edge(options: BlendEdgeOptions): Shape`
 - `Surface(options: BlendSurfaceOptions): Shape`
+- `Bridge(edgeA: SheetEdge, edgeB: SheetEdge): BridgeBuilder` — Build a transition strip between two `Surface.Net` sheet edges. Chain `.bulge(a, b)` then `.g0()/.g1()/.g2()` for the continuity order. Returns a [`Sheet`](/docs/core#sheet); verify the seam with `Analysis.EdgeMatch`.
 
 ### `Analysis`
 
 - `EdgeContinuity(shape: Shape, options?: EdgeContinuityThresholds): EdgeContinuityReport`
 - `SurfaceContinuity(shape: Shape, options?: EdgeContinuityThresholds): EdgeContinuityReport`
+- `EdgeMatch(edgeA: SheetEdge, edgeB: SheetEdge, options?: { samples?: number; }): ContinuityReport` — Measure G0/G1/G2 agreement between two `Surface.Net` sheet edges: worst position gap, cross-boundary tangent angle (0 = G1), and normal-curvature mismatch (0 = G2). The reflection/fairness check for matched panel seams.
 - `CurvatureComb(input: NurbsCurve3D | EdgeRef, options?: { samples?: number; }): CurvatureSample[]`
 - `SurfaceHealth(shape: Shape, options?: { tinyEdgeThreshold?: number; sliverThreshold?: number; }): SurfaceHealthReport`
 - `BRepValidity(shape: Shape, options?: BRepValidityOptions): BRepValidityReport` — Validate B-rep/shell/solid structure and return closedness, manifoldness, orientation, and issue diagnostics.
@@ -4226,7 +4302,7 @@ return mech.solve({ theta: 45 });
 
 #### `withSimulation(options: SimAssemblySimulationOptions): Assembly` — Attach the root simulation contract for this assembly.
 
-Use this after adding physical parts and joints. Robot-body profiles require `rootPart`; asset profiles can describe one-part or multi-part physical assets. URDF/SDF exporters and `forgecad check simready` read this contract directly, so model files no longer need a separate `robotExport(...)` side effect.
+Use this after adding physical parts and joints. Robot-body profiles require `rootPart`; asset profiles can describe one-part or multi-part physical assets. URDF/SDF/MJCF/USD exporters and `forgecad check simready` read this contract directly from the returned assembly.
 
 `SimAssemblySimulationOptions`: `{ profile: SimProfileDef, rootPart?: string, controllers?: SimControllerDef[] }`
 
@@ -4498,70 +4574,6 @@ bom(tubeLen, "rectangular steel tube", {
 | `notes?` | `string` | Free-form notes |
 | `grain?` | `string` | Wood grain direction, e.g. "long", "cross" |
 
-#### `robotExport(options: RobotExportOptions): CollectedRobotExport` — Compatibility shim for SDF/URDF robot package metadata.
-
-Prefer returning `assembly(...).withSimulation(...)` with `Sim.body(...)`, `Sim.drive.*(...)`, and `Sim.controller.*(...)` metadata. The CLI commands `forgecad export sdf` and `forgecad export urdf` now read that assembly simulation contract directly.
-
-`robotExport()` remains available for one compatibility window. It converts the legacy descriptor into the same internal simulation model used by source-authored `Sim` metadata and produces a robot package with:
-
-- Mesh-based inertia tensors (full 6-component, not bounding-box approximations)
-- Separate collision meshes
-- Joint limits, effort/velocity/damping/friction metadata from assembly joints
-
-**Collision mesh modes** (set per-link via `links["PartName"].collision`):
-
-| Mode | Description | Default |
-|------|-------------|---------|
-| `'convex'` | Convex hull (separate `_collision.stl`) | Yes |
-| `'box'` | AABB primitive — fastest physics | |
-| `'visual'` | Same mesh as visual — exact but slow | |
-| `'none'` | No collision geometry | |
-
-**Unit conventions:**
-
-- Revolute `velocity` is in degrees/second in Forge; exporters convert to rad/s.
-- Prismatic distances are in mm in Forge; exported in meters.
-- `massKg` is preferred; `densityKgM3` is used when mass is unknown.
-- Compatibility coupling metadata, when present, maps only the primary term (largest ratio) to `<mimic>` — SDF/URDF support single-leader mimic only. Dropped terms emit a warning.
-
-**Legacy example**
-
-```ts
-robotExport({
-  assembly: rover, // assembly() with parts + revolute wheel joints
-  modelName: "Scout",
-  links: { Chassis: { massKg: 10 }, "Left Wheel": { massKg: 0.8 } },
-  plugins: {
-    diffDrive: {
-      leftJoints: ["leftWheel"], rightJoints: ["rightWheel"],
-      wheelSeparationMm: 280, wheelRadiusMm: 60,
-    },
-  },
-  world: { generateDemoWorld: true },
-});
-```
-
-**Preferred CLI usage**
-
-```bash
-forgecad export sdf model.forge.js   # SDF package (Gazebo/Ignition)
-forgecad export urdf model.forge.js  # URDF package (ROS/PyBullet/MuJoCo)
-```
-
-**`RobotExportOptions`**: `assembly: Assembly`, `modelName?: string`, `state?: JointState`, `static?: boolean`, `selfCollide?: boolean`, `allowAutoDisable?: boolean`, `links?: Record<string, RobotLinkExportOptions>`, `joints?: Record<string, RobotJointExportOptions>`, `plugins?: { diffDrive?: RobotDiffDrivePluginOptions; jointStatePublisher?: RobotJointStatePublisherOptions; }`, `world?: RobotWorldOptions`
-
-`RobotLinkExportOptions`: `{ massKg?: number, densityKgM3?: number, collision?: "visual" | "convex" | "box" | "none" }`
-
-`RobotJointExportOptions`: `{ effort?: number, velocity?: number, damping?: number, friction?: number }`
-
-**`RobotDiffDrivePluginOptions`**: `leftJoints: string[]`, `rightJoints: string[]`, `wheelSeparationMm: number`, `wheelRadiusMm: number`, `topic?: string`, `odomTopic?: string`, `tfTopic?: string`, `frameId?: string`, `odomFrameId?: string`, `maxLinearVelocity?: number`, `maxAngularVelocity?: number`, `linearAcceleration?: number`, `angularAcceleration?: number`
-
-`RobotJointStatePublisherOptions`: `{ enabled?: boolean, joints?: string[], topic?: string, updateRate?: number }`
-
-`RobotWorldOptions`: `{ name?: string, generateDemoWorld?: boolean, spawnPose?: RobotPose6, keyboardTeleop?: RobotWorldKeyboardTeleopOptions }`
-
-`RobotWorldKeyboardTeleopOptions`: `{ enabled?: boolean, linearStep?: number, angularStep?: number }`
-
 #### `dim()` — Add a dimension annotation between two points, or along an entity.
 
 Overloads:

package/dist-skill/SKILL.md

@@ -65,7 +65,7 @@ Smooth curves, Hermite splines, lofted and swept solids. For straps, inlays, gua
 
 ### 5. Assemblies and Mechanisms (for joints or kinematics)
 
-Assembly graph, joint types, couplings, validation, robot export.
+Assembly graph, joint types, couplings, validation, and simulation export.
 
 - `{{SKILL_DIR}}/docs/generated/assembly.md`
 

package/dist-skill/docs/CLI.md

@@ -265,7 +265,7 @@ forgecad render section model.forge.js --output out/section.svg --plane XZ --off
 
 ### Cross-cutting flags
 
-These flags work across run / render / capture / inspect commands:
+These flags work across script-backed run, render, export, capture, inspect, and check commands that evaluate `.forge.js` files. Use `--param Key=Value` for parameter overrides; repeat it for multiple parameters.
 
 | Option | Description |
 |--------|-------------|
@@ -306,39 +306,41 @@ Export to every format you need.
 
 ```bash
 # Sheet material
-forgecad cut-list shelf.forge.js
+forgecad cut-list shelf.forge.js --param Material=plywood
 forgecad export cutting-layout shelf.forge.js --sheet-width 420 --sheet-height 594 --kerf 3
 forgecad export cutting-layout shelf.forge.js --output out/layout.dxf
 
 # 3D printing
 forgecad check print bracket.forge.js
-forgecad export stl bracket.forge.js
+forgecad export stl bracket.forge.js --param Width=42
 forgecad export 3mf bracket.forge.js --quality high
 
 # CAD interchange
-forgecad export step bracket.forge.js
+forgecad export step bracket.forge.js --param Width=42
 
 # Technical drawings
 forgecad export report bracket.forge.js --output out/report.pdf
 
 # Robot simulation
 forgecad export sdf rover.forge.js --output out/forge_scout
-forgecad export mjcf rover.forge.js --output out/forge_scout_mjcf
+forgecad export mjcf rover.forge.js --param Wheelbase=180 --output out/forge_scout_mjcf
 forgecad export usd rover.forge.js --output out/forge_scout_usd
 ```
 
+Script-backed exports accept repeatable `--param Key=Value` overrides before the model is evaluated. The MuJoCo/MJX package export command is `export mjcf`.
+
 <details>
 <summary>Export flags</summary>
 
 | Option | Description |
 |--------|-------------|
+| `--param <Key=Value>` | Override a parameter value (Key=Value). Repeatable. |
+| `-p <Key=Value>` | Shorthand for --param |
 | `--joint <JointName=Value>` | Override a Motion tab joint value (JointName=Value). Repeatable. |
 | `--output <path>` | Output SVG path for a single input |
 | `--backend <occt\|truck>` | Exact BREP exporter: occt (default) or truck (native analytic kernel) |
 | `--quality <default\|live\|high>` | Forge quality preset |
 | `-o <path>` | Shorthand for --output |
-| `--param <Key=Value>` | Override a parameter value (Key=Value). Repeatable. |
-| `-p <Key=Value>` | Shorthand for --param |
 | `--format <json\|webgpu-brick>` | Implicit artifact format |
 | `-q <live\|default\|high>` | Shorthand for --quality |
 | `--workgroup-size <x>x<y>x<z>` | WebGPU compute workgroup size |

package/dist-skill/docs/generated/assembly.md

@@ -356,7 +356,7 @@ return mech.solve({ theta: 45 });
 
 #### `withSimulation(options: SimAssemblySimulationOptions): Assembly` — Attach the root simulation contract for this assembly.
 
-Use this after adding physical parts and joints. Robot-body profiles require `rootPart`; asset profiles can describe one-part or multi-part physical assets. URDF/SDF exporters and `forgecad check simready` read this contract directly, so model files no longer need a separate `robotExport(...)` side effect.
+Use this after adding physical parts and joints. Robot-body profiles require `rootPart`; asset profiles can describe one-part or multi-part physical assets. URDF/SDF/MJCF/USD exporters and `forgecad check simready` read this contract directly from the returned assembly.
 
 `SimAssemblySimulationOptions`: `{ profile: SimProfileDef, rootPart?: string, controllers?: SimControllerDef[] }`
 

package/dist-skill/docs/generated/core.md

@@ -24,6 +24,10 @@ skill-order: 100
 - [SurfacePattern](#surfacepattern)
 - [Pattern2D](#pattern2d)
 - [Pattern2DBuilder](#pattern2dbuilder)
+- [Sheet](#sheet)
+- [CurveNetBuilder](#curvenetbuilder)
+- [MatchEdgeBuilder](#matchedgebuilder)
+- [BridgeBuilder](#bridgebuilder)
 - [ShapeRef](#shaperef)
 - [ANCHOR3D_NAMES](#anchor3d-names)
 - [verify](#verify)
@@ -708,7 +712,7 @@ Supports transforms (translate, rotate, scale, mirror, transform, rotateAround,
 
 Returns a new Shape with the specified material properties merged on top of any previously set properties. All properties are optional — omitted keys retain their current value. Material properties survive transforms and boolean operations.
 
-Use `.color()` to set the base diffuse color; `.material()` controls how that color behaves under light (metalness, roughness, clearcoat) and can add emissive glow independent of lighting. Emissive glow pairs naturally with the `postProcessing.bloom` effect in [`scene()`](/docs/viewport#scene).
+Use `.color()` to set the base diffuse color; `.material()` controls how that color behaves under light (metalness, roughness, clearcoat) and can add emissive glow independent of lighting.
 
 ```js
 box(50, 50, 50).material({ metalness: 0.9, roughness: 0.1 }); // polished metal
@@ -1333,6 +1337,71 @@ const bracket = group(
 | `depth?` | `number` | Thread groove depth in millimeters. Default: 0.8. |
 | `underScale?` | `number` | Relative height of the under-crossing thread. Default: 0.15. |
 
+### `Sheet`
+
+A parametric open surface value (control grid + knots + analytic differential geometry).
+
+**Properties:**
+
+| Property | Type | Description |
+|----------|------|-------------|
+| `surface` | `BSplineSurface` | — |
+
+**Methods:**
+
+#### `get frontEdge(): SheetEdge` — Edge naming follows parameter direction (documented): front=v0, rear=v1, left=u0, right=u1.
+
+#### `thicken(wall: number, options?: { resolution?: number; }): Shape` — Offset the sheet along its analytic normals into a watertight solid shell of the given wall thickness. Throws if the wall would self-intersect on a concave region (no silent degenerate solid).
+
+#### `matchEdge(edge: SheetEdge): MatchEdgeBuilder` — Per-edge continuity match against a neighbor (returns a NEW Sheet).
+
+**`SheetEdge`**
+- `fixed: "u" | "v"` — Which parameter is held fixed along this edge.
+- `value: 0 | 1` — The fixed value (0 or 1).
+- Also: `sheet: Sheet`.
+
+- `get rearEdge(): SheetEdge`
+- `get leftEdge(): SheetEdge`
+- `get rightEdge(): SheetEdge`
+- `pointAt(u: number, v: number): Vec3`
+- `normalAt(u: number, v: number): Vec3`
+- `curvatureAt(u: number, v: number): SurfaceCurvature`
+
+### `CurveNetBuilder`
+
+#### `toSheet(): Sheet` — Build (once) and return the Sheet.
+
+- `lengthwise(...curves: CurveInput[]): this`
+- `crosswise(...curves: CurveInput[]): this`
+- `alongRails(railA: CurveInput, railB: CurveInput): this`
+- `sections(...curves: CurveInput[]): this`
+- `cage(grid: Vec3[][]): this`
+- `degree(u: number, v: number): this`
+- `get frontEdge(): SheetEdge`
+- `get rearEdge(): SheetEdge`
+- `get leftEdge(): SheetEdge`
+- `get rightEdge(): SheetEdge`
+- `get surface(): BSplineSurface`
+- `pointAt(u: number, v: number): Vec3`
+- `normalAt(u: number, v: number): Vec3`
+- `curvatureAt(u: number, v: number): SurfaceCurvature`
+- `thicken(wall: number, options?: { resolution?: number; }): Shape`
+- `matchEdge(edge: SheetEdge): MatchEdgeBuilder`
+
+### `MatchEdgeBuilder`
+
+- `toG0(neighbor: SheetEdge): Sheet`
+- `toG1(neighbor: SheetEdge): Sheet`
+- `toG2(neighbor: SheetEdge): Sheet`
+
+### `BridgeBuilder`
+
+#### `bulge(a: number, b: number): this` — Tune the influence of each side (Rhino-style bulge).
+
+- `g0(): Sheet`
+- `g1(): Sheet`
+- `g2(): Sheet`
+
 ### `ShapeRef`
 
 A first-class reference path over a shape's semantic faces and face relationships.

package/dist-skill/docs/generated/curves.md

@@ -426,7 +426,11 @@ const outlet = route.port("outlet");
 
 #### `pointAt(u: number, v: number): Vec3` — Evaluate the surface at parameters (u, v) ∈ [0, 1]². Uses tensor product evaluation: evaluate basis functions in U and V independently.
 
-#### `normalAt(u: number, v: number): Vec3` — Evaluate the surface normal at (u, v) via cross product of partial derivatives.
+#### `normalAt(u: number, v: number): Vec3` — Evaluate the surface unit normal at (u, v) from analytic first derivatives.
+
+Uses Algorithm A2.3 basis-function derivatives with the rational quotient rule, so the normal is exact (no finite-difference epsilon, no error near the boundary). Constant chain-rule factors from the parameter remap scale Su and Sv positively and cancel under normalization, so they are omitted.
+
+#### `derivativesAt(u: number, v: number): { S: Vec3; Su: Vec3; Sv: Vec3; }` — Analytic first partial derivatives S_u, S_v (rational quotient rule).
 
 #### `tessellate(resU?: number, resV?: number): { positions: Vec3[]; normals: Vec3[]; indices: number[]; }` — Tessellate the surface into a triangle mesh. Returns positions, normals, and triangle indices.
 
@@ -1165,16 +1169,19 @@ Members (full entries under [Curves & Surfacing](#curves-surfacing)): `Curve.Ble
 - `Trim(shape: Shape, tool: Shape | SurfacePlaneOp): Shape`
 - `Split(shape: Shape, tool: Shape | SurfacePlaneOp): [ Shape, Shape ]`
 - `Match(shape: Shape, options: { edge: "u0" | "u1" | "v0" | "v1"; target: EdgeRef; continuity?: SurfaceContinuity; }): Shape`
+- `Net(): CurveNet` — Begin a curve-network (Gordon) surface — the class-A keystone. Chain `.lengthwise(...)/.crosswise(...)` (or `.alongRails(a,b).sections(...)`, or `.cage(grid)`), then `.thicken(wall)` to get a solid Shape. Returns a fluent [`Sheet`](/docs/core#sheet) builder with analytic point/normal/curvature queries and named edges.
 
 ### `Blend`
 
 - `Edge(options: BlendEdgeOptions): Shape`
 - `Surface(options: BlendSurfaceOptions): Shape`
+- `Bridge(edgeA: SheetEdge, edgeB: SheetEdge): BridgeBuilder` — Build a transition strip between two `Surface.Net` sheet edges. Chain `.bulge(a, b)` then `.g0()/.g1()/.g2()` for the continuity order. Returns a [`Sheet`](/docs/core#sheet); verify the seam with `Analysis.EdgeMatch`.
 
 ### `Analysis`
 
 - `EdgeContinuity(shape: Shape, options?: EdgeContinuityThresholds): EdgeContinuityReport`
 - `SurfaceContinuity(shape: Shape, options?: EdgeContinuityThresholds): EdgeContinuityReport`
+- `EdgeMatch(edgeA: SheetEdge, edgeB: SheetEdge, options?: { samples?: number; }): ContinuityReport` — Measure G0/G1/G2 agreement between two `Surface.Net` sheet edges: worst position gap, cross-boundary tangent angle (0 = G1), and normal-curvature mismatch (0 = G2). The reflection/fairness check for matched panel seams.
 - `CurvatureComb(input: NurbsCurve3D | EdgeRef, options?: { samples?: number; }): CurvatureSample[]`
 - `SurfaceHealth(shape: Shape, options?: { tinyEdgeThreshold?: number; sliverThreshold?: number; }): SurfaceHealthReport`
 - `BRepValidity(shape: Shape, options?: BRepValidityOptions): BRepValidityReport` — Validate B-rep/shell/solid structure and return closedness, manifoldness, orientation, and issue diagnostics.

package/dist-skill/docs/generated/output.md

@@ -58,70 +58,6 @@ bom(tubeLen, "rectangular steel tube", {
 | `notes?` | `string` | Free-form notes |
 | `grain?` | `string` | Wood grain direction, e.g. "long", "cross" |
 
-#### `robotExport(options: RobotExportOptions): CollectedRobotExport` — Compatibility shim for SDF/URDF robot package metadata.
-
-Prefer returning `assembly(...).withSimulation(...)` with `Sim.body(...)`, `Sim.drive.*(...)`, and `Sim.controller.*(...)` metadata. The CLI commands `forgecad export sdf` and `forgecad export urdf` now read that assembly simulation contract directly.
-
-`robotExport()` remains available for one compatibility window. It converts the legacy descriptor into the same internal simulation model used by source-authored `Sim` metadata and produces a robot package with:
-
-- Mesh-based inertia tensors (full 6-component, not bounding-box approximations)
-- Separate collision meshes
-- Joint limits, effort/velocity/damping/friction metadata from assembly joints
-
-**Collision mesh modes** (set per-link via `links["PartName"].collision`):
-
-| Mode | Description | Default |
-|------|-------------|---------|
-| `'convex'` | Convex hull (separate `_collision.stl`) | Yes |
-| `'box'` | AABB primitive — fastest physics | |
-| `'visual'` | Same mesh as visual — exact but slow | |
-| `'none'` | No collision geometry | |
-
-**Unit conventions:**
-
-- Revolute `velocity` is in degrees/second in Forge; exporters convert to rad/s.
-- Prismatic distances are in mm in Forge; exported in meters.
-- `massKg` is preferred; `densityKgM3` is used when mass is unknown.
-- Compatibility coupling metadata, when present, maps only the primary term (largest ratio) to `<mimic>` — SDF/URDF support single-leader mimic only. Dropped terms emit a warning.
-
-**Legacy example**
-
-```ts
-robotExport({
-  assembly: rover, // assembly() with parts + revolute wheel joints
-  modelName: "Scout",
-  links: { Chassis: { massKg: 10 }, "Left Wheel": { massKg: 0.8 } },
-  plugins: {
-    diffDrive: {
-      leftJoints: ["leftWheel"], rightJoints: ["rightWheel"],
-      wheelSeparationMm: 280, wheelRadiusMm: 60,
-    },
-  },
-  world: { generateDemoWorld: true },
-});
-```
-
-**Preferred CLI usage**
-
-```bash
-forgecad export sdf model.forge.js   # SDF package (Gazebo/Ignition)
-forgecad export urdf model.forge.js  # URDF package (ROS/PyBullet/MuJoCo)
-```
-
-**`RobotExportOptions`**: `assembly: Assembly`, `modelName?: string`, `state?: JointState`, `static?: boolean`, `selfCollide?: boolean`, `allowAutoDisable?: boolean`, `links?: Record<string, RobotLinkExportOptions>`, `joints?: Record<string, RobotJointExportOptions>`, `plugins?: { diffDrive?: RobotDiffDrivePluginOptions; jointStatePublisher?: RobotJointStatePublisherOptions; }`, `world?: RobotWorldOptions`
-
-`RobotLinkExportOptions`: `{ massKg?: number, densityKgM3?: number, collision?: "visual" | "convex" | "box" | "none" }`
-
-`RobotJointExportOptions`: `{ effort?: number, velocity?: number, damping?: number, friction?: number }`
-
-**`RobotDiffDrivePluginOptions`**: `leftJoints: string[]`, `rightJoints: string[]`, `wheelSeparationMm: number`, `wheelRadiusMm: number`, `topic?: string`, `odomTopic?: string`, `tfTopic?: string`, `frameId?: string`, `odomFrameId?: string`, `maxLinearVelocity?: number`, `maxAngularVelocity?: number`, `linearAcceleration?: number`, `angularAcceleration?: number`
-
-`RobotJointStatePublisherOptions`: `{ enabled?: boolean, joints?: string[], topic?: string, updateRate?: number }`
-
-`RobotWorldOptions`: `{ name?: string, generateDemoWorld?: boolean, spawnPose?: RobotPose6, keyboardTeleop?: RobotWorldKeyboardTeleopOptions }`
-
-`RobotWorldKeyboardTeleopOptions`: `{ enabled?: boolean, linearStep?: number, angularStep?: number }`
-
 #### `dim()` — Add a dimension annotation between two points, or along an entity.
 
 Overloads:

package/dist-skill/docs/generated/runtime-names.md

@@ -24,12 +24,12 @@ lib, Line2D, linearPattern, linearPattern2d, loadFont, loft, Loft, mirrorCopy
 mock, ngon, NurbsCurve3D, NurbsSurface, offsetSolid, param, Param, path
 Point2D, Points, polygon, polygonVertices, port, Product, ProductPanelBuilder, ProductRibbonBuilder
 ProductSkin, ProductSkinBuilder, ProductStationBuilder, ProductSurfaceBuilder, ProductSurfaceRef, projectToPlane, queueMicrotask, rect
-Rectangle2D, robotExport, roundedRect, Route3D, scene, Sculpt, sdf, SdfShape
-selectEdge, selectEdges, self, setActiveBackend, setImmediate, setInterval, setTimeout, Shape
-ShapeGroup, sheetMetal, SheetMetalPart, sheetStock, Sim, Sketch, sketchToDxf, sketchToSvg
-slot, SolvedAssembly, spec, sphere, spline2d, stroke, Surface, SurfaceBody
-SurfaceMembers, sweep, text2d, textWidth, torus, toShape, Transform, union
-union2d, variableSweep, verify, Viewport, window, Wood
+Rectangle2D, roundedRect, Route3D, scene, Sculpt, sdf, SdfShape, selectEdge
+selectEdges, self, setActiveBackend, setImmediate, setInterval, setTimeout, Shape, ShapeGroup
+sheetMetal, SheetMetalPart, sheetStock, Sim, Sketch, sketchToDxf, sketchToSvg, slot
+SolvedAssembly, spec, sphere, spline2d, stroke, Surface, SurfaceBody, SurfaceMembers
+sweep, text2d, textWidth, torus, toShape, Transform, union, union2d
+variableSweep, verify, Viewport, window, Wood
 ```
 
 `showLabels` is also a runtime global, but it is not part of the top-level collision check. Avoid reusing it unless you intentionally want a local value with that name.

package/dist-skill/docs/generated/viewport.md

@@ -79,7 +79,7 @@ return b;
 
 #### `scene(options: SceneOptions): void` — Configure the scene environment for the current script execution.
 
-Controls camera, named render views, guided journeys, lighting, background, fog, environment maps, post-processing, capture defaults, and the joint-control helper overlay (`jointOverlay` — axis arrows and arc indicators, renderer-only). Multiple `scene()` calls merge per-key — later values win — so configuration can be split across calls.
+Controls camera, named render views, guided journeys, lighting, background, fog, environment maps, capture defaults, and the joint-control helper overlay (`jointOverlay` — axis arrows and arc indicators, renderer-only). Multiple `scene()` calls merge per-key — later values win — so configuration can be split across calls.
 
 Two behavioral cliffs:
 
@@ -90,7 +90,7 @@ Named views are repeatable cameras checked in with the model code. Canonical sha
 
 Journeys are ordered `steps`, each focusing a returned object by name/tree path with an optional caption and camera. In the viewer they are opt-in (an Explore control; the camera does not move until started). Inspect resolved targets with `forgecad run --journeys`.
 
-Post-processing (`bloom`, `vignette`, `grain`) is browser-only; the CLI applies camera, lights, background, fog, and `toneMappingExposure` but skips shader effects.
+Post-processing is disabled for now while the browser EffectComposer flicker path is being rebuilt. Existing scripts that pass `postProcessing` continue running, but the option is not part of the active scene API.
 
 All numeric values accept `param()` expressions.
 
@@ -109,7 +109,6 @@ scene({
     { type: 'directional', position: [50, -30, 200], color: '#ffd60a', intensity: 1.2 },
   ],
   fog: { color: '#000814', near: 100, far: 450 },
-  postProcessing: { bloom: { intensity: param('bloom', 1.5, 0, 4) } },
   jointOverlay: { axisColor: '#13dfff', arcColor: '#ff7a1a' },
 });
 ```
@@ -120,7 +119,7 @@ scene({
 |--------|------|-------------|
 | `capture?` | `SceneCaptureConfig` | Default capture parameters for `forgecad capture` — CLI flags override these. |
 
-Also: `background?: string | SceneBackgroundGradient`, `camera?: SceneCameraConfig`, `views?: Record<string, SceneViewInputConfig>`, `journeys?: Record<string, SceneJourneyConfig>`, `lights?: SceneLightConfig[]`, `environment?: SceneEnvironmentConfig`, `fog?: SceneFogConfig`, `postProcessing?: ScenePostProcessingConfig`, `ground?: SceneGroundConfig`.
+Also: `background?: string | SceneBackgroundGradient`, `camera?: SceneCameraConfig`, `views?: Record<string, SceneViewInputConfig>`, `journeys?: Record<string, SceneJourneyConfig>`, `lights?: SceneLightConfig[]`, `environment?: SceneEnvironmentConfig`, `fog?: SceneFogConfig`, `ground?: SceneGroundConfig`.
 
 `SceneBackgroundGradient`: `{ top: string, bottom: string }`
 
@@ -174,14 +173,6 @@ Also: `type: SceneLightType`, `color?: string`, `intensity?: number`, `position?
 - `density?: number` — Exponential fog density (if set, uses FogExp2 instead of linear Fog)
 - Also: `color?: string`.
 
-`ScenePostProcessingConfig`: `{ bloom?: SceneBloomConfig, vignette?: SceneVignetteConfig, grain?: SceneGrainConfig, toneMappingExposure?: number }`
-
-`SceneBloomConfig`: `{ intensity?: number, threshold?: number, radius?: number }`
-
-`SceneVignetteConfig`: `{ darkness?: number, offset?: number }`
-
-`SceneGrainConfig`: `{ intensity?: number }`
-
 **`SceneGroundConfig`**
 
 | Option | Type | Description |

package/dist-skill/docs/guides/inspection-bundles.md

@@ -5,7 +5,7 @@ skill-order: 2
 
 # Inspection Bundles — Evidence Contract
 
-`forgecad inspect <family> <mode>` writes a deterministic bundle: evidence PNGs under `evidence/<type>/` plus a root `manifest.json`. **The manifest is the authoritative contract** — take file paths, encodings, per-view ranges, thresholds, tolerances, and identity maps from it; never hard-code bundle layout or infer object identity from object order. The PNGs are a visual index for locating findings, not standalone artifacts. Command tree, flags, and `--focus`/`--hide` filtering live in `docs/permanent/CLI.md` and `forgecad inspect evidence`; the inspection workflow lives in the `forgecad-render-inspect` skill. Model-authored `scene()` background, lights, fog, and exposure are ignored for inspection captures so evidence stays stable; named scene views remain available via `--view`.
+`forgecad inspect <family> <mode>` writes a deterministic bundle: evidence PNGs under `evidence/<type>/` plus a root `manifest.json`. **The manifest is the authoritative contract** — take file paths, encodings, per-view ranges, thresholds, tolerances, and identity maps from it; never hard-code bundle layout or infer object identity from object order. The PNGs are a visual index for locating findings, not standalone artifacts. Command tree, flags, and `--focus`/`--hide` filtering live in `docs/skill/CLI.md` and `forgecad inspect evidence`; the inspection workflow lives in the `forgecad-render-inspect` skill. Model-authored `scene()` background, lights, fog, and exposure are ignored for inspection captures so evidence stays stable; named scene views remain available via `--view`.
 
 Manifest evidence keys are evidence-oriented and stable for bundle readers: e.g. `fit interference` writes `manifest.evidence.collisions`, `physical components` writes `manifest.evidence.connectivity`.
 

package/dist-skill/library/README.md

@@ -11,13 +11,12 @@ The installed skill names are namespaced to avoid collisions with a user's exist
 - `forgecad-3d-reconstruction`
 - `forgecad-blockout-model`
 - `forgecad-component-model`
-- `forgecad-high-level-spec`
 - `forgecad-image-replicator`
-- `forgecad-lld`
 - `forgecad-make-a-model`
 - `forgecad-model-grader`
-- `forgecad-prepare-prompt`
+- `forgecad-mujoco-verify`
 - `forgecad-project`
 - `forgecad-reconstruction-benchmark`
 - `forgecad-render-inspect`
+- `forgecad-spec-by-walking-through-it`
 - `forgecad-visual-spec`

package/dist-skill/library/forgecad-blockout-model/SKILL.md

@@ -11,7 +11,7 @@ A blockout is a spatial planning artifact: 3-7 simple masses that answer where p
 | Need | Skill |
 |------|-------|
 | High-level 3D idea using simple masses | `forgecad-blockout-model` |
-| Written concept or architecture before CAD | `forgecad-high-level-spec` |
+| Written concept or architecture before CAD | `forgecad-spec-by-walking-through-it` |
 | Accurate, detailed, parametric ForgeCAD model | `forgecad-make-a-model` |
 
 ## Method