forgecad 0.9.14 → 0.9.16

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

@@ -59,18 +59,24 @@ offsetBand(thickness: number): Sketch
 addSpurTeethBetween(options: DriveWheelSpurTeethRegionOptions): this
 ```
 
+`DriveWheelSpurTeethRegionOptions`: `{ name?: string, teethOnFullCircle: number, toothCount: number, firstTooth?: number, faceWidth?: number }`
+
 #### `addSolidArcBetween()` — Add a constant-radius solid arc region such as a dwell, stop, or pusher.
 
 ```ts
 addSolidArcBetween(options: DriveWheelSolidArcRegionOptions): this
 ```
 
+**`DriveWheelSolidArcRegionOptions`**: `name?: string`, `fromAngleDeg: number`, `toAngleDeg: number`, `innerRadius?: number`, `outerRadius: number`, `faceWidth?: number`, `segments?: number`
+
 #### `addShapeRegion()` — Add a fully custom region shape while preserving region metadata.
 
 ```ts
 addShapeRegion(name: string, shape: Shape, options?: DriveWheelShapeRegionOptions): this
 ```
 
+`DriveWheelShapeRegionOptions`: `{ fromAngleDeg?: number, toAngleDeg?: number, innerRadius?: number, outerRadius?: number }`
+
 #### `build()` — Build the final wheel shape with a bore connector and region metadata.
 
 ```ts
@@ -87,7 +93,7 @@ Pre-built parametric parts available in user scripts as `lib.*`.
 
 Every key in this object becomes a method or namespace on the `lib` object exposed to `.forge.js` scripts. The catalog includes:
 
-**Fasteners and hardware patterns:** `bolt`, `nut`, `washer`, `fastenerSet`, `boltedServiceCover`, `datumEnclosureAssembly`, `snapLatchCoverAssembly`, `pinnedLeverAssembly`, `retainedShaftAssembly`, `capturedLinearSlide`, `capturedCartridgeGuideAssembly`, `livingHingeCoverAssembly`, `knuckledHingeAssembly`, `clevisPinJointAssembly`, `seatedBearingAssembly`, `cableGlandAnchorAssembly`, `hoseBarbPortAssembly`, `routedTubeClipAssembly`, `pcbTerminalBlockAssembly`, `thumbScrewClampAssembly`, `fastenerHole`, `boltHole`, `counterbore`, `hexNut`, `holePattern`
+**Fasteners and hardware patterns:** `bolt`, `nut`, `washer`, `fastenerSet`, `fastenerHole`, `boltHole`, `counterbore`, `hexNut`, `holePattern`
 
 **Structure:** `tube`, `pipe`, `bracket`, `pipeRoute`, `elbow`, `tSlotProfile`, `tSlotExtrusion`, `profile2020BSlot6Profile`, `profile2020BSlot6`
 
@@ -121,24 +127,8 @@ Sizes outside the supported ranges will throw at runtime with a descriptive erro
 - `nut(diameter: number, options?: { pitch?: number; height?: number; acrossFlats?: number; segments?: number; }): Shape` — ISO-style hex nut with a threaded bore. **Details** Constructed from the intersection of three rotated slabs with a cylindrical bore subtracted. The nut is centered at the origin, height along Z. Default proportions follow ISO 4032 loosely: height ≈ 0.8×diameter, across-flats ≈ 1.6×diameter. The bore is a clearance bore (not modelled with helical threads) for rendering efficiency. For standard M-size nuts pre-configured for a complete joint, use { **Example** ```ts const n = lib.nut(5); // M5 nut ```
 - `washer(size: MetricSize, options?: { standard?: WasherStandard; segments?: number; }): Shape` — ISO metric flat washer (DIN 125-A). **Details** Returns a flat ring centered at the origin, thickness along Z. Dimensions are taken from { **Example** ```ts const w = lib.washer('M5'); // DIN 125-A M5 washer ```
 - `fastenerSet(size: MetricSize, boltLength: number, options?: FastenerSetOptions): FastenerSetResult` — Complete ISO metric fastener set — bolt, nut, optional washers, and matching hole cutters. **Details** Returns all geometry for one bolted joint: the bolt, nut, up to two washers, a clearance-hole cutter, and a tap-drill cutter. All shapes are returned **un-positioned** (each on the Z-axis). Place them with `.translate()`. Sizes outside M4–M10 are supported for the washer (M2–M10); unsupported combinations will throw. **Example** ```ts const hw = lib.fastenerSet('M5', 20); const topPlate = box(60, 40, 8).translate(0, 0, 12) .subtract(hw.clearanceHole.translate(15, 10, 12)); const botPlate = box(60, 40, 8) .subtract(hw.clearanceHole.translate(15, 10, 0)); return [ { name: 'Top Plate', shape: topPlate }, { name: 'Bot Plate', shape: botPlate }, { name: 'Bolt', shape: hw.bolt.translate(15, 10, 20) }, { name: 'Nut', shape: hw.nut.translate(15, 10, -4) }, ]; ```
-- `boltedServiceCover(options: BoltedServiceCoverOptions): BoltedServiceCoverResult` — Bolted service-cover interface with real seats, aligned holes, gasket, fused pull tabs, and installed screws. **Details** This is a higher-level mechanical pattern for the common "removable service cover" failure mode. It creates the parent ledge, cover, gasket, and screws from one shared bolt pattern so agents do not place decorative screw heads or floating pull tabs by eye. Coordinate convention: the parent frame sits from `z=0` to `parentThickness`, the gasket sits on the ledge, the cover sits above the gasket, and screw shafts run downward through the cover into the parent. All parts are centered on the XY origin. **Example** ```ts const cover = lib.boltedServiceCover({ width: 90, depth: 56, screwSize: 'M4', ledgeWidth: 10, boltInset: [6, 6], }); verify.equal('four retained cover screws', cover.screws.length, 4); return cover.parts; ```
-- `datumEnclosureAssembly(options: DatumEnclosureAssemblyOptions): DatumEnclosureAssemblyResult` — Datum-driven enclosure tray with shared wall, ledge, standoff, cover, gasket, port, and screw geometry. **Details** This pattern is for electronics boxes, thermostat backplates, service-stack housings, camera housings, and small fixtures where generated models often place panels, ribs, bosses, ports, and covers by eye. The tray, internal ledges, standoffs, ribs, service port, gasket, cover holes, and installed screws all come from one datum system. This keeps screw axes, boss locations, wall thickness, and service openings aligned instead of relying on independent magic numbers. Coordinate convention: X/Y are the enclosure footprint, Z is up. The base tray starts at `z=0` and rises to `height`; the gasket and cover sit above the top ledge with small explicit face clearances. **Example** ```ts const enclosure = lib.datumEnclosureAssembly({ width: 96, depth: 64, height: 18, }); verify.notColliding('cover clears enclosure gasket', enclosure.cover, enclosure.gasket); verify.inRange('cover stack has small seating clearance', enclosure.dims.faceClearance, 0.01, 0.08); return enclosure.parts; ```
-- `snapLatchCoverAssembly(options: SnapLatchCoverAssemblyOptions): SnapLatchCoverAssemblyResult` — Snap-retained cover with a receiver frame, latch windows, underside catch lands, and fused snap hooks. **Details** This pattern is for covers, cartridges, clasps, and small housings where agents often add decorative tabs without a catch. The receiver has a real service opening plus two clearance latch windows. The cover is one fused part with two flexible-looking snap fingers that pass through the windows and barb under the receiver underside. Nothing intersects in the final assembly; the hook geometry sits close enough to the catch lands to prove retention intent. Coordinate convention: the receiver frame sits from `z=0` to `parentThickness`; the cover is seated just above the receiver on +Z. Two snap hooks sit on the +/-Y ledges and tuck under the receiver. **Example** ```ts const snapCover = lib.snapLatchCoverAssembly({ width: 72, depth: 44, }); verify.notColliding('snap hooks clear receiver windows', snapCover.cover, snapCover.parent); verify.inRange('snap cover has small seating clearance', snapCover.dims.faceClearance, 0.01, 0.08); return snapCover.parts; ```
-- `pinnedLeverAssembly(options: PinnedLeverAssemblyOptions): PinnedLeverAssemblyResult` — Retained pinned lever stack with a fused hub/arm/grip, low stop land, pivot pin, bore cutters, and thrust washers. **Details** This pattern is for the common handle/lever failure mode where a visual arm, hub, washer, and pin are placed near each other but never form a credible mechanism. The lever body is one fused part, the pin runs through aligned bores, washers sit on both sides of the lever, and the support includes a bearing land plus an optional low stop land beside the lever path. Coordinate convention: pivot axis is +Z at the XY origin. The support starts at `z=0`, the lower washer sits on top of the support, the lever sits on the lower washer, the upper washer sits on the lever, and the retained pin spans the full stack. **Example** ```ts const lever = lib.pinnedLeverAssembly({ armLength: 54, armWidth: 10, pinDiameter: 5, }); verify.equal('lever stack has five retained parts', lever.parts.length, 5); return lever.parts; ```
-- `retainedShaftAssembly(options: RetainedShaftAssemblyOptions): RetainedShaftAssemblyResult` — Retained shaft, washer, knob, and support-cheek stack for trunnions, pivots, and adjustable clamps. **Details** This pattern replaces the common "pin, washers, and knob are near each other" visual shortcut with a mechanically accountable shaft stack. The two support cheeks get matching clearance bores, the through shaft spans the whole stack, washers and knobs share the same axis, and retaining heads keep the knobs from reading as loose floating cylinders. Coordinate convention: the shaft axis is +X through the world origin. Support cheeks are centered at `x = +/- supportSpacing / 2`. The supports are bored for clearance, so collision inspection should report no support/shaft overlap while the connectivity audit still sees one retained stack. **Example** ```ts const trunnion = lib.retainedShaftAssembly({ supportSpacing: 96, shaftDiameter: 8, supportHeight: 42, }); verify.equal('retained shaft stack has seven parts', trunnion.parts.length, 7); return trunnion.parts; ```
-- `capturedLinearSlide(options: CapturedLinearSlideOptions): CapturedLinearSlideResult` — Captured linear slide with a U-channel rail, return lips, end stops, and a carriage posed inside the guide. **Details** This pattern is for drawer-slide, quick-release plate, and guided-carriage models where agents often place rail details and a moving block near each other without a capture relationship. The rail is one fused part with side walls, inward lips, and end stops; the carriage is wider than the lip throat but narrower than the inner rail width, so it is mechanically captured while retaining explicit clearance. Coordinate convention: rail length is along X, width is along Y, and Z is up. The rail base starts at `z=0`; the carriage sits above the base and below the return lips. `travel=0` places the carriage at the negative-X end of travel, and `travel=maxTravel` places it at the positive-X end. **Example** ```ts const slide = lib.capturedLinearSlide({ length: 160, carriageLength: 52, travel: 42, }); verify.greaterThan('carriage is captured by return lips', slide.dims.carriageWidth, slide.dims.throatWidth); return slide.parts; ```
-- `capturedCartridgeGuideAssembly(options: CapturedCartridgeGuideAssemblyOptions): CapturedCartridgeGuideAssemblyResult` — Captured removable cartridge guide with return lips, rear stop, wide cartridge flange, and pull tab. **Details** This pattern is for pump cartridges, filter cassettes, skeg cassettes, battery cartridges, and slide-in service modules where generated models often place a tray and a loose block near each other. The guide is one fused part with side walls, inward return lips, and a rear stop. The cartridge has a wide lower flange captured under the lips and a narrower body that passes through the throat, so the model has a real retention contract without manual coordinate tuning. Coordinate convention: insertion travel is along +X. The open entry is at −X, the rear stop is at +X, the guide base starts at `z=0`, and `insertion=0` places the cartridge at the front travel limit. **Example** ```ts const cassette = lib.capturedCartridgeGuideAssembly({ length: 150, cartridgeLength: 72, }); verify.notColliding('cartridge clears guide rails', cassette.cartridge, cassette.guide); verify.greaterThan('cartridge flange is captured by lips', cassette.dims.cartridgeWidth, cassette.dims.throatWidth); return cassette.parts; ```
-- `livingHingeCoverAssembly(options: LivingHingeCoverAssemblyOptions): LivingHingeCoverAssemblyResult` — One-piece molded living-hinge cover strip with a fixed leaf, thin flexible web, cover leaf, pull lip, snap barb, and catch land. **Details** This pattern is for small polypropylene-style lids, battery doors, sample covers, blister latches, and molded service flaps where generated models often draw a decorative hinge strip between two disconnected plates. It returns one fused molded part in its as-molded flat state: fixed mounting leaf, thin hinge web, moving cover leaf, pull lip, raised snap barb, and catch land. The flexible web is intentionally much thinner than the rigid leaves and shares material with both leaves. Coordinate convention: X is hinge length/part width, Y runs from fixed leaf through hinge web to cover leaf, and Z is thickness. The hinge web is centered on `y=0`; the fixed leaf lies at −Y and the cover leaf at +Y. **Example** ```ts const livingCover = lib.livingHingeCoverAssembly({ width: 64, coverDepth: 42, }); verify.greaterThan('living hinge is much thinner than rigid leaves', livingCover.dims.flexRatio, 3); return livingCover.parts; ```
-- `knuckledHingeAssembly(options: KnuckledHingeAssemblyOptions): KnuckledHingeAssemblyResult` — Alternating knuckle hinge with two fused leaves and a retained pin. **Details** This pattern replaces hand-placed hinge barrels and pin ghosts with a mechanically accountable hinge. The fixed leaf owns every other knuckle, the moving leaf owns the alternating knuckles, all knuckles share one bore size, and the retained pin spans the full stack with heads outside the barrels. Coordinate convention: the hinge pin axis is +X through the world origin. The fixed leaf extends toward +Y. The moving leaf extends toward -Y and rotates about +X by `openAngleDeg`. **Example** ```ts const hinge = lib.knuckledHingeAssembly({ length: 70, leafLength: 28, openAngleDeg: 45, }); verify.equal('hinge has two leaves and one retained pin', hinge.parts.length, 3); return hinge.parts; ```
-- `clevisPinJointAssembly(options?: ClevisPinJointAssemblyOptions): ClevisPinJointAssemblyResult` — Clevis-style pin joint with bored yoke ears, a center link eye, and a retained pin. **Details** This pattern is for crank links, damper rod ends, pump crossheads, capo/cam pivots, and small mechanism joints where agents often place an eyelet and a pin near a bracket without modeling the captured load path. The clevis is one fused part with two bored ears and a rear bridge, the center link has a real eye and arm, and the retained pin spans the full stack with heads outside the ears. Coordinate convention: the pin axis is +Y through the world origin. The center link arm extends toward +X. The clevis bridge sits behind the eye on -X, leaving the link eye clear inside the yoke. **Example** ```ts const clevis = lib.clevisPinJointAssembly({ pinDiameter: 4, linkArmLength: 38, }); verify.equal('clevis joint has three retained parts', clevis.parts.length, 3); return clevis.parts; ```
-- `seatedBearingAssembly(options: SeatedBearingAssemblyOptions): SeatedBearingAssemblyResult` — Seated radial-bearing support with a real counterbore, shoulder, through shaft, and retaining collars. **Details** This pattern is for purchased bearings, rollers, burr-cartridge shafts, and small spindle supports where agents often place a ring and a shaft near a block without modelling the pocket that locates the bearing. The housing includes a through-bore and a larger counterbore that leaves a shoulder for the bearing outer race. The shaft is smaller than the bearing bore and carries collars outside the housing, so collision checks can distinguish intended clearance from impossible overlap. Coordinate convention: the shaft axis is +Z through the world origin. The housing block starts at `z=0`, the raised boss is on top of the block, the bearing is seated from the top counterbore, and the shaft extends above and below the housing. **Example** ```ts const bearingStack = lib.seatedBearingAssembly({ bearingOuterDiameter: 22, bearingInnerDiameter: 8, bearingWidth: 7, }); verify.greaterThan('housing has wall around bearing pocket', bearingStack.dims.bossOuterDiameter - bearingStack.dims.pocketDiameter, 4); return bearingStack.parts; ```
-- `cableGlandAnchorAssembly(options: CableGlandAnchorAssemblyOptions): CableGlandAnchorAssemblyResult` — Cable, wire, or tube gland anchor with a real panel hole, hollow gland body, compression nut, and routed cable. **Details** This pattern is for pumps, filters, electronics boxes, vents, monitors, and fixtures where generated models often leave hoses or cables terminating in space. It creates the receiving panel hole, a hollow gland body with a panel-side flange seated in a shallow pocket, a hollow compression nut, and a cable/tube that runs through the gland bore with explicit clearance. Coordinate convention: the cable axis is +X through the world origin. The panel is centered around `x=0` with thickness along X; the flange sits on the +X side of the panel and the compression nut sits on the −X side. The cable spans the full anchor. **Example** ```ts const anchor = lib.cableGlandAnchorAssembly({ cableDiameter: 6, panelThickness: 3, }); verify.notColliding('cable clears gland bore', anchor.cable, anchor.gland); verify.clearanceBetween('gland flange is seated at panel pocket', anchor.gland, anchor.panel, 0.01, 0.2); return anchor.parts; ```
-- `hoseBarbPortAssembly(options: HoseBarbPortAssemblyOptions): HoseBarbPortAssemblyResult` — Hose-barb pump/filter port with a bored receiver, shoulder, barb ridges, installed hose, and clamp band. **Details** This pattern is for pump heads, filters, vents, lab cartridges, and fluid fittings where generated models often leave tubes ending near a block. The receiver has a real through-port and raised boss, the fitting is hollow with a shoulder and multiple barb ridges, and the hose is modeled as an installed tube over the barb envelope with a clamp band. The hose bore is sized for the deformed installed hose, so collision checks distinguish the retained interface from impossible solid overlap. Coordinate convention: the fluid axis is +X through the world origin. The receiver block is centered around `x=0`; the raised boss and hose are on the +X side. **Example** ```ts const hosePort = lib.hoseBarbPortAssembly({ hoseInnerDiameter: 6, hoseOuterDiameter: 10, }); verify.notColliding('hose clears barb peaks', hosePort.hose, hosePort.fitting); verify.inRange('fitting shoulder seats near boss face', hosePort.dims.faceClearance, 0.01, 0.08); return hosePort.parts; ```
-- `routedTubeClipAssembly(options: RoutedTubeClipAssemblyOptions): RoutedTubeClipAssemblyResult` — Routed tube or cable retained by saddle clips with real bores, screw holes, and installed screws. **Details** This pattern is for hoses, wires, pump tubes, sensor leads, and appliance cable runs where generated models often draw a cylinder near a wall without clips or strain relief. The base panel has receiving screw envelopes, each saddle clip has a real through-bore around the tube and vertical screw clearances, and the installed screws share those positions. Coordinate convention: the routed tube runs along +X through the world origin. The base panel starts at `z=0`; clips sit on top of the panel, and the tube passes through their bores. **Example** ```ts const route = lib.routedTubeClipAssembly({ tubeDiameter: 6, clipCount: 3, }); verify.notColliding('tube clears clip bores', route.tube, union(...route.clips)); verify.notColliding('clip screws clear retained stack', union(...route.screws), union(route.panel, ...route.clips)); return route.parts; ```
-- `pcbTerminalBlockAssembly(options?: PcbTerminalBlockAssemblyOptions): PcbTerminalBlockAssemblyResult` — PCB terminal-block stack with a backplate, standoffs, mounting screws, pin holes, and a seated terminal block. **Details** This pattern is for thermostat backplates, appliance control panels, sensor boards, and small electronics where generated models often place a terminal block, screw heads, and holes as independent decorations. The PCB mounting holes, fused standoffs, installed screws, terminal pins, and PCB pin clearances all come from one shared datum system so the purchased block is mechanically seated and the board is actually mounted. Coordinate convention: X/Y are the board footprint, Z is up. The backplate starts at `z=0`, standoffs rise from the plate, the PCB rests on the standoffs, and the terminal block sits on top of the PCB near the front edge. **Example** ```ts const terminalStack = lib.pcbTerminalBlockAssembly({ terminalCount: 5, screwSize: 'M3', }); verify.notColliding('terminal pins clear PCB holes', terminalStack.terminalBlock, terminalStack.pcb); verify.notColliding('mounting screws clear PCB and standoff holes', union(...terminalStack.screws), union(terminalStack.pcb, terminalStack.backplate)); return terminalStack.parts; ```
-- `thumbScrewClampAssembly(options?: ThumbScrewClampAssemblyOptions): ThumbScrewClampAssemblyResult` — Thumb-screw clamp with a C-frame, threaded boss, captive pressure pad, knob, and clamped workpiece. **Details** This pattern is for bench clamps, monitor-arm desk clamps, small vise screws, capo pressure screws, fixture hold-downs, and service brackets where generated models often place a loose screw, knob, or pressure pad near a bracket. The helper creates a one-piece clamp frame with a fixed anvil pad, a bored threaded support and boss, an installed screw with a captive pressure pad and hand knob, and a representative clamped workpiece seated between the pads. Coordinate convention: the clamp screw runs along +X. The fixed anvil is on the -X side, the threaded support and knob are on the +X side, and Z is up from the base bridge. **Example** ```ts const clamp = lib.thumbScrewClampAssembly({ screwSize: 'M6', workpieceThickness: 20, }); verify.notColliding('thumb screw clears threaded boss', clamp.clampScrew, clamp.frame); verify.clearanceBetween('pressure pad is seated on workpiece', clamp.clampScrew, clamp.workpiece, -0.01, 0.05); return clamp.parts; ```
-- `pipeRoute(points: [ number, number, number ][], radius: number, options?: { bendRadius?: number; wall?: number; segments?: number; }): Shape` — Route a pipe (solid or hollow) through 3D waypoints with smooth bends. Each interior waypoint gets a torus-section bend. Straight segments connect them. Returns a single unioned Shape.
-- `elbow(pipeRadius: number, bendRadius: number, angle?: number | { ... }, options?: { ... }): Shape` — Pipe elbow — a curved pipe section (torus arc) for connecting two pipe directions. By default creates a bend in the XZ plane: incoming along +Z, outgoing rotated by `angle`. The bend starts at the origin, curving away from it.
+- `pipeRoute(points: [ number, number, number ][], radius: number, options?: { bendRadius?: number; wall?: number; segments?: number; }): Shape` — Route a pipe (solid or hollow) through 3D waypoints with smooth bends. This is a convenience recipe over `Curve.Route.fromPolyline()` and [`sweep()`](/docs/curves#sweep). Use `Curve.Route` directly when you need route metadata, named ports, or custom swept profiles.
+- `elbow(pipeRadius: number, bendRadius: number, angle?: number | { ... }, options?: { ... }): Shape` — Pipe elbow — a curved pipe section for connecting two pipe directions. This is a convenience recipe over `Curve.Arc()` and [`sweep()`](/docs/curves#sweep). Use `Curve.Route.fromPolyline()` directly when you need named route ports, segment metadata, or multi-bend pipe runs.
 - `beltDrive(options: BeltDriveOptions): BeltDriveResult` — Create a flat open-belt body around two pulley pitch circles. The belt is generated as a tangent loop in the XY plane and extruded along +Z by `beltWidth`. The result includes the solid belt, the 2D belt profile, a thin pitch-path sketch for visualization, total belt length, tangent spans, and wrap metadata for each pulley. For more than two pulleys, the API intentionally asks for route intent before geometry is created. Use `route: "outer"` for the future outside-envelope mode, or an ordered route for future serpentine/idler layouts. ```ts const drive = lib.beltDrive({ pulleys: [ { name: "motor", center: [0, 0], pitchRadius: 12 }, { name: "output", center: [80, 0], pitchRadius: 28 }, ], beltWidth: 8, beltThickness: 2, }); return drive.belt; ```
 - `tangentLoop2d(circles: TangentCircle2D[], options?: TangentLoop2DOptions): TangentLoop2D` — Build a closed 2D route made from common tangent spans and pulley wrap arcs. Use this when you need reusable belt/chain route geometry before creating a solid body. The first implementation supports two circles. `mode: "open"` uses external tangents; `mode: "crossed"` uses internal tangents. ```ts const route = lib.tangentLoop2d([ { center: [0, 0], radius: 12 }, { center: [80, 0], radius: 28 }, ]); const belt = route.offsetBand(2).extrude(8); ```
 - `tSlotProfile(options?: TSlotProfileOptions): Sketch` — Build a 2D T-slot cross-section sketch. Default parameters describe a 20x20 B-type profile with slot 6. Use this when you want a drawing-ready profile sketch before extrusion.

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

@@ -68,7 +68,7 @@ Call `robotExport()` alongside your assembly definition. The CLI commands `forge
 
 - Mesh-based inertia tensors (full 6-component, not bounding-box approximations)
 - Separate collision meshes (convex hull by default — ~50–80% smaller)
-- Joint mimic elements derived from `addJointCoupling` / `addGearCoupling`
+- Joint limits, effort/velocity/damping/friction metadata from assembly joints
 
 **Collision mesh modes** (set per-link via `links["PartName"].collision`):
 
@@ -84,7 +84,7 @@ Call `robotExport()` alongside your assembly definition. The CLI commands `forge
 - 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.
-- Couplings with multiple terms: only the primary term (largest ratio) maps to `<mimic>` — SDF/URDF support single-leader mimic only. Dropped terms emit a warning.
+- 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.
 
 ```ts
 const rover = assembly("Scout")
@@ -140,9 +140,9 @@ robotExport(options: RobotExportOptions): CollectedRobotExport
 
 **`CollectedRobotExport`**: `modelName: string`, `assembly: AssemblyDefinition`, `state: JointState`, `static: boolean`, `selfCollide: boolean`, `allowAutoDisable: boolean`, `links: Record<string, RobotLinkExportOptions>`, `joints: Record<string, RobotJointExportOptions>`, `plugins: { diffDrive?: RobotDiffDrivePluginOptions; jointStatePublisher?: RobotJointStatePublisherOptions; }`, `world: RobotWorldOptions | null`
 
-`AssemblyDefinition`: `{ name: string, parts: AssemblyPartDef[], joints: AssemblyJointDef[], jointCouplings: AssemblyJointCouplingDef[] }`
+**`AssemblyDefinition`**: `name: string`, `parts: AssemblyPartDef[]`, `joints: AssemblyJointDef[]`, `jointCouplings: AssemblyJointCouplingDef[]`, `kinematics: AssemblyKinematicGraphDef`, `frames: AssemblyFrameDef[]`, `frameJoints: AssemblyFrameJointDef[]`, `frameEdges: AssemblyFrameEdgeDef[]`
 
-`AssemblyPartDef`: `{ name: string, part: AssemblyPart, base: Transform, metadata?: PartMetadata }`
+**`AssemblyPartDef`**: `name: string`, `part: AssemblyPart`, `base: Transform`, `metadata?: PartMetadata`, `mates: AssemblyPartMateInput[]`, `bindToFrame?: string`
 
 **`PartMetadata`**
 
@@ -151,6 +151,11 @@ robotExport(options: RobotExportOptions): CollectedRobotExport
 | `tags?` | `string \| readonly string[]` | Viewport organization tags applied to scene objects produced from this part. |
 | `material?`, `process?`, `tolerance?`, `qty?`, `notes?`, `densityKgM3?`, `massKg?` | | — |
 
+**`AssemblyPartMateInput`**
+- `connector: string` — Name of a connector declared on the part (via `withConnectors()`).
+- `toLink: string` — Name of the link this connector's origin is pinned to.
+- `aimLink?: string` — Optional second link to orient toward. When set, the part is rotated so the connector's **axis** aims from `toLink` toward `aimLink`, posing an oriented bone instead of only translating it. For full pose without relying on a connector axis, declare a second mate (two connectors → two links).
+
 **`AssemblyJointDef`**: `name: string`, `type: JointType`, `parent: string`, `child: string`, `frame: Transform`, `axis: Vec3`, `min?: number`, `max?: number`, `defaultValue: number`, `unit?: string`, `effort?: number`, `velocity?: number`, `damping?: number`, `friction?: number`, `connectorRefs?: JointConnectorRefs`
 
 `JointConnectorRefs`: `{ parent: string, child: string, parentAlign?: PortAlign, childAlign?: PortAlign }`
@@ -159,6 +164,26 @@ robotExport(options: RobotExportOptions): CollectedRobotExport
 
 `JointCouplingTermRecord`: `{ joint: string, ratio: number }`
 
+**`AssemblyKinematicGraphDef`**: `links: AssemblyLinkDef[]`, `edges: AssemblyEdgeBetweenLinksDef[]`, `angles: AssemblyAngleBetweenLinksDef[]`, `derivedLinks: AssemblyDerivedLinkDef[]`
+
+`AssemblyLinkDef`: `{ name: string, at: Vec3, fixed: boolean, metadata?: Record<string, unknown> }`
+
+**`AssemblyEdgeBetweenLinksDef`**: `name: string`, `a: string`, `b: string`, `length: number | null`, `min?: number`, `max?: number`, `visualOnly: boolean`, `control?: AssemblyKinematicControlOptions`, `metadata?: Record<string, unknown>`
+
+`AssemblyKinematicControlOptions`: `{ min?: number, max?: number, default?: number, unit?: string }`
+
+**`AssemblyAngleBetweenLinksDef`**: `name: string`, `a?: string`, `b: string`, `c: string`, `reference?: AssemblyAngleReferenceDef`, `target?: number`, `min?: number`, `max?: number`, `control?: AssemblyKinematicControlOptions`, `metadata?: Record<string, unknown>`
+
+`AssemblyAngleReferenceDef`: `{ kind: "worldDirection", direction: Vec3 }`
+
+`AssemblyDerivedLinkDef`: `{ name: string, fromLink: string, referenceLink: string, distance: number, direction: AssemblyDerivedLinkDirection }`
+
+`AssemblyFrameDef`: `{ name: string, origin: Vec3, axis: Vec3, up: Vec3, fixed: boolean, metadata?: Record<string, unknown> }`
+
+**`AssemblyFrameJointDef`**: `name: string`, `type: AssemblyFrameJointType`, `parent: string`, `child: string`, `rest: Transform`, `min?: number`, `max?: number`, `defaultValue: number`, `unit?: string`, `control: boolean`, `metadata?: Record<string, unknown>`
+
+`AssemblyFrameEdgeDef`: `{ name: string, a: string, b: string, metadata?: Record<string, unknown> }`
+
 #### `dim()` — Add a dimension annotation between two points.
 
 Dimension annotations are purely visual callouts rendered in the viewport and report export. They do not affect geometry or constrain the model.

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

@@ -0,0 +1,40 @@
+---
+skill-group: core
+skill-order: 2
+---
+
+# Runtime Names
+
+Generated by `scripts/gen-api-docs.mjs` from `src/forge/script-runtime/runScript.ts`. Do not edit by hand.
+
+ForgeCAD injects API functions, classes, namespaces, and sandbox guard names into every `.forge.js` script. Top-level lexical declarations using these names collide with the injected runtime bindings when the script runs.
+
+Agents should avoid declaring these names with top-level `const`, `let`, destructured imports, or `class` declarations. Use project-specific local names such as `wheelLib`, `axleSlotSketch`, `driveJointConfig`, or `labelTextSketch` instead.
+
+These collision-reserved names are case-sensitive:
+
+```text
+activateBackend, Analysis, arcSlot, assembly, Assembly, assemblyInstructions, assemblyPreview, Blend
+bom, bomToCsv, boolParam, box, cameraTrajectory, Carrier, chamfer, chamferTrackedEdge
+choiceParam, circle, circle2d, Circle2D, circularLayout, circularPattern, circularPattern2d, coalesceEdges
+combine, COMMON_KERFS, compareWith, composeChain, connector, console, constrainedSketch, Constraint
+Counterbore, Curve, Curve3D, cutPlane, cylinder, degrees, difference, difference2d
+dim, dimLine, draft, ellipse, explodeView, faceProfile, fillet, filletCorners
+filletTrackedEdge, fingerJoint, flatPanel, flatPart, formatInstructions, Function, gcode, GCodeBuilder
+getActiveBackend, global, globalThis, group, highlight, Import, ImportedAssembly, importMesh
+importStep, importSvgSketch, initKernel, intersection, intersection2d, intersectWithPlane, joint, jointsView
+laserKit, lib, line, Line2D, linearPattern, linearPattern2d, listParam, loadFont
+loft, Loft, lookupKerf, mirrorCopy, mock, ngon, NurbsCurve3D, nurbsSurface
+NurbsSurface, offsetSolid, param, Param, path, point, Point2D, Points
+polygon, polygonVertices, port, Product, ProductHandleBuilder, ProductHandleFeature, ProductPanelBuilder, ProductRibbonBuilder
+ProductSkin, ProductSkinBuilder, ProductSpoutBuilder, ProductStationBuilder, ProductSurfaceBuilder, ProductSurfaceRef, projectToPlane, queueMicrotask
+radians, rect, Rectangle2D, Ribs, robotExport, roundedRect, Route3D, scene
+Sculpt, sdf, SdfShape, selectEdge, selectEdges, self, setActiveBackend, setImmediate
+setInterval, setTimeout, Shape, ShapeGroup, sheetMetal, SheetMetalPart, sheetStock, Sketch
+sketchToDxf, sketchToSvg, slot, Slot, SolvedAssembly, spec, sphere, spline2d
+star, stroke, Surface, SurfaceBody, SurfaceMembers, surfacePatch, sweep, tabSlot
+text2d, textWidth, torus, toShape, Transform, union, union2d, variableSweep
+verify, viewConfig, 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/sdf.md

@@ -101,12 +101,33 @@ color(value: string | undefined): SdfShape
 material(props: ShapeMaterialProps): SdfShape
 ```
 
+**`ShapeMaterialProps`**
+
+| Option | Type | Description |
+|--------|------|-------------|
+| `metalness?` | `number` | Metalness factor (0 = dielectric, 1 = metal). Default: 0.05 |
+| `roughness?` | `number` | Roughness factor (0 = mirror, 1 = fully diffuse). Default: 0.35 |
+| `emissive?` | `string` | Emissive glow color (hex string, e.g. "#ff6b35"). |
+| `emissiveIntensity?` | `number` | Emissive intensity multiplier. Default: 1 |
+| `opacity?` | `number` | Opacity (0 = fully transparent, 1 = fully opaque). Default: 1 |
+| `wireframe?` | `boolean` | Render as wireframe. Default: false |
+| `clearcoat?` | `number` | Clearcoat intensity (0–1). Default: 0.1 |
+| `clearcoatRoughness?` | `number` | Clearcoat roughness (0–1). Default: 0.4 |
+| `transmission?` | `number` | Glass/translucency transmission factor (0–1). Renderer support depends on target. |
+| `ior?` | `number` | Index of refraction for transmissive materials. Typical glass is ~1.45. |
+| `thickness?` | `number` | Approximate transmissive volume thickness in model units. |
+| `specularIntensity?` | `number` | Specular highlight intensity (0–1). |
+| `specularColor?` | `string` | Specular highlight tint. |
+| `reflectivity?` | `number` | Reflection strength for supported renderers (0–1). |
+
 #### `bounds()` — Set explicit preview/meshing bounds for this implicit leaf.
 
 ```ts
 bounds(bounds: SdfBounds | [ Vec3, Vec3 ]): SdfShape
 ```
 
+`SdfBounds`: `{ min: Vec3, max: Vec3 }`
+
 #### `at()` — Sculpt-style alias for translate().
 
 ```ts
@@ -203,6 +224,12 @@ fillWith(pattern: SdfShape): SdfShape
 fillWithGyroid(options: TpmsOptions): SdfShape
 ```
 
+**`TpmsOptions`**
+- `thickness?: number` — Dimensionless field threshold kept for compatibility. Prefer `wallThickness` for approximate millimeter units.
+- `wallThickness?: number` — Approximate physical wall thickness in millimeters.
+- `tpmsThicknessMode?: TpmsThicknessMode` — Override TPMS thickness interpretation. Defaults to metric when `wallThickness` is used, field-threshold when `thickness` is used.
+- Also: `cellSize: number`
+
 #### `fillWithSchwarzP()` — Keep only the Schwarz-P lattice inside this shape.
 
 ```ts
@@ -353,6 +380,10 @@ shape.surfaceDisplace((u, v) => -Math.sin(u * 2) * 0.3)
 surfaceDisplace(pattern: SurfacePattern | ((u: number, v: number) => number), options?: SurfaceDisplaceOptions): SdfShape
 ```
 
+**`SurfaceDisplaceOptions`**
+- `uv?: "auto" | "sphere" | "cylinder" | "torus" | "triplanar"` — Override auto-detected UV mode. Default: 'auto' (detects from SDF tree).
+- `triplanarSharpness?: number` — Triplanar blend sharpness — higher = crisper transitions. Default: 4. Only used in triplanar mode.
+
 #### `onion()` — Create concentric onion layers.
 
 ```ts

package/dist-skill/docs/generated/sheet-metal.md

@@ -284,6 +284,10 @@ const part = sheetMetal({ panel: { width: 100, height: 60 }, thickness: 1.5, ben
 flange(edge: SheetMetalEdge, options: SheetMetalFlangeOptions): SheetMetalPart
 ```
 
+**`SheetMetalFlangeOptions`**
+- `length: number` — Flange leg length in mm, measured from the outside of the bend to the tip.
+- `angleDeg?: number` — Bend angle in degrees (default: `90`). Only `90°` is supported in v1. Values other than 90 will be rejected at build time.
+
 #### `cutout()` — Subtract a 2D sketch cutout from a planar region of the sheet metal part.
 
 `region` must be `'panel'` or one of `'flange-top'`, `'flange-right'`, `'flange-bottom'`, `'flange-left'` (only available once the corresponding flange has been added). Cutouts inside bend regions are **not** supported in v1.
@@ -303,6 +307,11 @@ const part = sheetMetal({ panel: { width: 180, height: 110 }, thickness: 1.5, be
 cutout(region: SheetMetalPlanarRegionName, sketch: Sketch, options?: SheetMetalCutoutOptions): SheetMetalPart
 ```
 
+**`SheetMetalCutoutOptions`**
+- `u?: number` — Horizontal offset within the region, measured from the region centre (mm). Default: `0`.
+- `v?: number` — Vertical offset within the region, measured from the region centre (mm). Default: `0`.
+- `selfAnchor?: Anchor` — Anchor point on the sketch that aligns to `(u, v)`. Use `'center'` for most cases. For asymmetric profiles, verify orientation by placing one test cutout before committing to the final position. Default: `'center'`.
+
 #### `regionNames()` — Return all semantic region names currently available on this part.
 
 The returned list always includes `'panel'`. For every flange that has been added, the list also includes the corresponding `'flange-<edge>'` and `'bend-<edge>'` entries.

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

@@ -500,7 +500,6 @@ addRegularPolygon(sk: ConstrainedSketchBuilder, options: RegularPolygonOptions):
 | `startAngle?` | `number` | Angle (in degrees) of vertex[0] measured from the +X axis (CCW positive). Default: 0 (rightmost vertex). |
 | `blockRotation?` | `boolean` | Prevent 180° rotation (ensures first edge maintains its initial direction). Default: false. |
 
-
 **`ConstrainedRegularPolygon`** extends ConstrainedPolygon
 - `center: PointId` — Center point. Use `sk.fix(poly.center, x, y)` to pin location, or `sk.coincident(poly.center, other)` to align with other geometry.
 
@@ -740,7 +739,7 @@ region(seed: [ number, number ]): Sketch
 extrude(height: number, opts?: { twist?: number; divisions?: number; scaleTop?: number | [ number, number ]; }): Shape
 ```
 
-#### `revolve()` — Revolve this 2D sketch around the Y axis to create a 3D solid of revolution.
+#### `revolve()` — Revolve this 2D sketch around the world Z axis. Sketch X is radius; sketch Y becomes world Z height.
 
 ```ts
 revolve(degrees?: number, segments?: number): Shape
@@ -771,6 +770,22 @@ Use this when a 2D profile should be oriented onto a 3D face before extrusion or
 onFace(parentOrFace: Shape | { toShape(): Shape; } | { _bbox(): { min: number[]; max: number[]; }; } | FaceRef, faceOrOpts?: "front" | "back" | "left" | "right" | "top" | "bottom" | string | FaceRef | { u?: number; v?: number; protrude?: number; selfAnchor?: Anchor; }, opts?: { u?: number; v?: number; protrude?: number; selfAnchor?: Anchor; }): Sketch
 ```
 
+**`FaceRef`**
+
+| Option | Type | Description |
+|--------|------|-------------|
+| `normal` | `[ number, number, number ]` | Normal direction of the face |
+| `center` | `[ number, number, number ]` | Center point of the face |
+| `query?` | `FaceQueryRef` | Compiler-owned face query when available. |
+| `planar?` | `boolean` | True when the face can host a 2D sketch placement frame |
+| `uAxis?` | `[ number, number, number ]` | Face-local horizontal axis for planar faces |
+| `vAxis?` | `[ number, number, number ]` | Face-local vertical axis for planar faces |
+| `surface?` | `FaceSurface` | Analytic surface family when the backend can identify one. |
+| `descendant?` | `FaceDescendantMetadata` | Shared descendant-resolution metadata when this face is a semantic region/set. |
+| `name` | | — |
+
+**`FaceDescendantMetadata`**: `kind: "single" | "face-set"`, `semantic: FaceDescendantSemantic`, `memberCount: number`, `memberNames: string[]`, `coplanar: boolean`
+
 **Labels**
 
 #### `labelEdge()` — Label the single boundary edge (for circles, single-loop profiles). Returns a new sketch.
@@ -1069,6 +1084,16 @@ regularPolygon(options: RegularPolygonOptions): ConstrainedRegularPolygon
 groupRect(options: GroupRectOptions): ConstrainedGroupRect
 ```
 
+**`GroupRectOptions`**
+
+| Option | Type | Description |
+|--------|------|-------------|
+| `x?` | `number` | Bottom-left x coordinate (world). Default: 0. |
+| `y?` | `number` | Bottom-left y coordinate (world). Default: 0. |
+| `width` | `number` | Width (along x in local coords). Required. |
+| `height` | `number` | Height (along y in local coords). Required. |
+| `allowRotation?` | `boolean` | Allow the solver to rotate this rectangle. Default: false. |
+
 **Geometric Constraints**
 
 #### `horizontal()` — Constrain a line to be horizontal (parallel to the X axis).
@@ -1412,6 +1437,23 @@ result.withUpdatedConstraint('cst-5', 120); // update a dimension without rebuil
 solve(options?: SolveOptions): ConstraintSketch | Sketch
 ```
 
+**`SolveOptions`**
+
+| Option | Type | Description |
+|--------|------|-------------|
+| `iterations?` | `number` | Maximum number of LM outer iterations per restart. |
+| `tolerance?` | `number` | Infinity-norm residual tolerance for declaring convergence. |
+| `restarts?` | `number` | Number of deterministic restart seeds used by the global solver. |
+| `warmStartIterations?` | `number` | Optional projector iterations used only for initialisation, not as the main solver. |
+| `maxScaledStep?` | `number` | Maximum LM step length in scaled variable space. Larger = bolder, smaller = safer. |
+| `skipRedundancyCheck?` | `boolean` | Skip redundancy detection (safe when topology is unchanged and previous DOF >= 0). |
+| `presolveConstraintId?` | `string` | Run the targeted presolve hook for this constraint before the main solve. |
+| `fallbackRestarts?` | `number` | When set and the first solve exceeds tolerance*5, retry with this many restarts. |
+| `progressive?` | `boolean` | Add constraints progressively with short LM solves, all in one WASM call. |
+| `timeBudgetMs?` | `number` | Wall-clock time budget in ms for the entire solve. 0 = no limit. |
+| `debugConstructiveTranscript?` | `boolean` | Capture a readable constructive transcript in `constraintMeta.debug`. |
+| `debugSvgSnapshots?` | `boolean` | Capture SVG snapshots for constructive steps in `constraintMeta.debug`. |
+
 #### `solveConstraintsOnly()` — Run the solver without building a full `ConstraintSketch`.
 
 Lighter than `solve()` — skips profile and DOF analysis. Useful for lightweight constraint validation or progress monitoring mid-construction.

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

@@ -9,7 +9,7 @@ Cut planes, exploded views, joint animations, and scene configuration.
 
 ## Contents
 
-- [Viewport & Runtime](#viewport-runtime) — `Viewport.label`, `scene`, `viewConfig`, `explodeView`, `jointsView`, `compareWith`, `cutPlane`, `mock`, `showLabels`, `highlight`
+- [Viewport & Runtime](#viewport-runtime) — `Viewport.label`, `scene`, `viewConfig`, `explodeView`, `compareWith`, `cutPlane`, `mock`, `showLabels`, `highlight`
 - [RouteBuilder](#routebuilder)
 - [route](#route)
 
@@ -196,7 +196,7 @@ scene(options: SceneOptions): void
 
 #### `viewConfig()` — Configure viewport helper visuals for the current script execution.
 
-Controls renderer-only overlays that appear in the viewport but are not part of the geometry. Currently supports the joint overlay that renders axis arrows and arc indicators when `jointsView` is active. Multiple calls merge — later values override earlier ones per key.
+Controls renderer-only overlays that appear in the viewport but are not part of the geometry. Currently supports the joint overlay that renders axis arrows and arc indicators when joint controls are active. Multiple calls merge — later values override earlier ones per key.
 
 This does **not** trigger a geometry recompute; it only affects the visual helpers drawn on top of the 3D scene.
 
@@ -253,91 +253,6 @@ explodeView(options?: ExplodeViewOptions): void
 - `direction?: ExplodeDirection` — Direction mode for this node
 - `axisLock?: ExplodeAxis` — Optional axis lock after direction is resolved
 
-#### `jointsView()` — Register viewport-only mechanism controls that animate returned objects without re-running the script.
-
-Defines joints (revolute or prismatic), optional gear/rack couplings, and named animations. The viewport resolves transforms through the joint chain at display time — the script geometry is computed only once at rest pose.
-
-**Critical:** Solve the assembly at **rest pose** (all animated joints = 0). The viewport applies `jointsView` transforms on top of the returned scene. If geometry is already solved at non-zero angles, animation will double-rotate everything.
-
-```js
-// BAD — double rotation
-const solved = mech.solve({ shoulder: 45, elbow: 30 });
-jointsView({ joints: [{ name: 'shoulder', ... }] });
-return solved;
-
-// GOOD — rest pose, jointsView controls all posing
-const solved = mech.solve({ shoulder: 0, elbow: 0 });
-jointsView({
-  joints: [
-    { name: 'shoulder', child: 'Upper Arm', default: 45, ... },
-    { name: 'elbow', child: 'Forearm', parent: 'Upper Arm', default: 30, ... },
-  ],
-});
-return solved;
-```
-
-**Pivot coordinates** are world-space positions of each joint origin at rest pose. For `addRevolute('shoulder', 'Base', 'Link', { frame: Transform.identity().translate(0, 0, 20) })` where "Base" is at world origin, the pivot is `[0, 0, 20]`.
-
-**Fixed attachments** that must follow a parent during animation need a zero-angle revolute joint in the chain:
-
-```js
-{ name: 'EE_Follow', child: 'End Effector', parent: 'Last Link',
-  type: 'revolute', axis: [0, 0, 1], pivot: [linkLength, 0, 0],
-  min: 0, max: 0, default: 0 }
-```
-
-Animation values are interpolated linearly between keyframes. ForgeCAD does **not** auto-wrap revolute values across `-180/180`. Keep keyframe values continuous — a `-180 -> 171` jump spins the part the long way around. Use `-180 -> -189` instead. Author high-speed multi-turn joints as accumulating angles (`0, 360, 720, ...`) with `continuous: true`.
-
-**Tick-based keyframes:** Omit `at` from all keyframes to auto-distribute by tick weight:
-
-```js
-keyframes: [
-  { ticks: 3, values: { Shoulder: 20 } },  // slow segment (3x weight)
-  { ticks: 1, values: { Shoulder: -10 } }, // fast segment (1x weight)
-  { values: { Shoulder: 20 } },            // last keyframe; ticks ignored
-]
-// positions: 0, 0.75, 1.0
-```
-
-Mixing explicit `at` and omitted `at` in the same animation is not allowed.
-
-```js
-jointsView({
-  joints: [{
-    name: 'Shoulder', child: 'Upper Arm', parent: 'Base',
-    type: 'revolute', axis: [0, -1, 0], pivot: [0, 0, 46],
-    min: -30, max: 110, default: 15,
-  }],
-  animations: [{
-    name: 'Walk Cycle', duration: 1.6, loop: true,
-    keyframes: [
-      { values: { Shoulder: 20 } },
-      { values: { Shoulder: -10 } },
-      { values: { Shoulder: 20 } },
-    ],
-  }],
-});
-```
-
-```ts
-jointsView(options?: JointsViewOptions): void
-```
-
-**`JointsViewOptions`**: `enabled?: boolean`, `joints?: JointViewInput[]`, `couplings?: JointViewCouplingInput[]`, `animations?: JointViewAnimationInput[]`, `defaultAnimation?: string`
-
-**`JointViewInput`**: `name: string`, `child: string`, `parent?: string`, `type?: JointViewType`, `axis?: JointViewAxis`, `pivot?: [ number, number, number ]`, `min?: number`, `max?: number`, `default?: number`, `unit?: string`, `hidden?: boolean`
-
-`JointViewCouplingInput`: `{ joint: string, terms: JointViewCouplingTermInput[], offset?: number }`
-
-`JointViewCouplingTermInput`: `{ joint: string, ratio?: number }`
-
-`JointViewAnimationInput`: `{ name: string, duration?: number, loop?: boolean, continuous?: boolean, keyframes: JointViewAnimationKeyframeInput[] }`
-
-**`JointViewAnimationKeyframeInput`**
-- `at?: number` — Timeline position [0, 1]. If omitted from ALL keyframes, positions are auto-computed from tick weights.
-- `ticks?: number` — Relative weight of the segment from this keyframe to the next (default 1). Only used in tick-based mode (when `at` is omitted). Last keyframe's ticks value is ignored.
-- Also: `values: Record<string, number>`
-
 #### `compareWith()` — Declare a reference model for comparison inspection.
 
 `compareWith()` lets a model carry its own comparison target for inspection workflows. `forgecad inspect compare overlay model.forge.js` uses this reference to render the same Difference Only comparison overlay as the live viewport. Amber marks candidate mismatch evidence, cyan marks reference mismatch evidence, and faint model context keeps the overlay readable. When the CLI can resolve the referenced file, the manifest also includes the same geometric score produced by `forgecad compare 3d`.

package/dist-skill/docs/guides/coordinate-system.md

@@ -7,39 +7,43 @@ skill-order: 1
 
 ForgeCAD uses a **Z-up** right-handed coordinate system.
 
+For objects with a clear facing direction, model the front/face/nose/camera side toward **-Y**. The rear/back side is **+Y**. In code, a forward/fore direction vector is `[0, -1, 0]`.
+
 ## Axes
 
 | Axis | Direction       | Positive |
 |------|-----------------|----------|
 | X    | Left / Right    | Right    |
-| Y    | Forward / Back  | Forward  |
+| Y    | Front / Back    | Back     |
 | Z    | Up / Down       | Up       |
 
 ## Standard Views
 
+The camera position direction says where the camera sits relative to the model. A front view camera sits at `-Y` and looks toward `+Y`, so it sees the model's `-Y` front face.
+
 | View   | Camera position direction | Sees plane |
-|--------|--------------------------|------------|
-| Front  | −Y                       | XZ         |
-| Back   | +Y                       | XZ         |
+|--------|---------------------------|------------|
+| Front  | -Y                        | XZ         |
+| Back   | +Y                        | XZ         |
 | Right  | +X                       | YZ         |
-| Left   | −X                       | YZ         |
+| Left   | -X                       | YZ         |
 | Top    | +Z                       | XY         |
-| Bottom | −Z                       | XY         |
+| Bottom | -Z                       | XY         |
 
 ## GizmoViewcube Face Mapping
 
-Three.js BoxGeometry material indices vs ForgeCAD labels (Z-up remapping):
+Renderer/view-cube internals may have their own material ordering. Map any view-cube labels to the ForgeCAD directions below:
 
-| Index | Three.js direction | ForgeCAD label |
-|-------|--------------------|----------------|
-| 0     | +X                 | Right          |
-| 1     | −X                 | Left           |
-| 2     | +Y                 | Front          |
-| 3     | −Y                 | Back           |
-| 4     | +Z                 | Top            |
-| 5     | −Z                 | Bottom         |
+| Direction | ForgeCAD label |
+|-----------|----------------|
+| +X        | Right          |
+| -X        | Left           |
+| +Y        | Back           |
+| -Y        | Front          |
+| +Z        | Top            |
+| -Z        | Bottom         |
 
-Default drei labels are Y-up; ForgeCAD passes `faces={['Right','Left','Front','Back','Top','Bottom']}`.
+The face/anchor API is the source of truth: `front` resolves to the minimum-Y side and `back` resolves to the maximum-Y side.
 
 ## Grid
 

package/dist-skill/docs/guides/geometry-conventions.md

@@ -21,7 +21,7 @@ Three.js is Y-up; ForgeCAD is Z-up. Fix applied at camera level (`camera.up = (0
 
 ## Revolution Axis
 
-`CrossSection.revolve()` revolves around Y. Profile X = radial distance, Profile Y = height (becomes Z after revolution). Profile must be at X > 0.
+`Sketch.revolve()` produces a world Z-axis solid of revolution. Profile X = radial distance from the Z axis, Profile Y = world Z height after revolution. Profile should stay at X > 0 unless intentionally touching the axis.
 
 ## Boolean Winding (3D)
 
@@ -47,6 +47,6 @@ Prefer `composeChain(...)` over manual `.mul(...).mul(...)` in kinematics code t
 |---|---|---|---|
 | Winding | Any point order | CCW | `polygon()`, `path().close()` |
 | Up axis | Z-up | Y-up (Three.js) | `camera.up`, gizmo labels |
-| Revolution | "revolve this profile" | Profile in X-Y, X>0 | Documented only |
+| Revolution | "revolve this profile" | Profile X = radius, Profile Y = world Z height | Documented and regression-tested |
 | Face normals | Doesn't think about it | Outward-pointing | Manifold constructors |
 | Transform order | Left-to-right chain | Post-multiply | Native match |

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

@@ -60,7 +60,7 @@ stable; named scene views are still available through `--view`.
 The command tree is intentionally job-shaped:
 
 ```text
-inspect visual image|cutaway|depth|normals|objects
+inspect visual image|cutaway|depth|normals|rig|objects
 inspect surface zebra|roughness
 inspect physical components|floating|gaps
 inspect fit interference
@@ -101,6 +101,7 @@ Use targeted evidence commands for expensive analyses:
 ```bash
 forgecad inspect visual depth model.forge.js --camera iso
 forgecad inspect visual normals model.forge.js --camera iso
+forgecad inspect visual rig model.forge.js --camera iso
 forgecad inspect surface zebra model.forge.js --camera iso
 forgecad inspect surface roughness model.forge.js --camera iso
 forgecad inspect visual objects model.forge.js --camera iso

package/dist-skill/docs/guides/joint-design.md

@@ -7,6 +7,30 @@ skill-order: 5
 
 How to build mechanical joints — clevis-tongue hinges, ball-and-socket, dovetails — that actually rotate without binding and stop where they should.
 
+## Frame-Aware Connectors First
+
+If a part must rotate, slide, or point in a specific physical direction, define connectors and use `assembly().connect()`. A connector is a small coordinate frame on the part:
+
+- `origin` is the pivot, pin center, socket center, or contact point.
+- `axis` is the hinge line or slide direction.
+- `up` is the secondary direction that fixes the part's zero-angle twist.
+
+For a hip -> knee -> wheel chain, the upper leg should be a real part with a hip connector and a knee connector. The hip connector frame defines how the upper leg sits on the hip drum at rest; the knee connector frame defines where the next part attaches. `connect()` aligns those frames and derives the joint axis.
+
+Do not treat `up` as optional on hinges, wheels, levers, or keyed sliders. If `up` is omitted, ForgeCAD chooses a deterministic perpendicular vector, which keeps the model stable but may not match the intended mechanical rest pose.
+
+Use `link()`, `edgeBetweenLinks()`, and `addAngleBetweenLinks()` for solved point skeletons and closed-loop relationships. A link is a point, not a bone frame. `addPart(..., { mate: { connector, toLink } })` only moves a connector origin onto a solved link point; it does not rotate the part to aim along an edge.
+
+## Mirrored Revolute Axes
+
+Revolute joint values are physical values signed by the right-hand rule around the joint axis. If a bilateral mechanism mirrors a hinge axis, the same numeric joint value does not mean "same pose" on both sides.
+
+Example: a right ankle hinge with `axis: [1, 0, 0]` and a left ankle hinge with `axis: [-1, 0, 0]` are exact geometric mirrors at rest. But `+20` degrees around those two axes rotates the feet in opposite fore/aft senses. The mirrored pose uses `RightAnkle: 20` and `LeftAnkle: -20`.
+
+When you expose physical joint limits directly, mirror revolute limits as `[min, max] -> [-max, -min]`. Prismatic joints do not have this angle-handedness flip because their scalar value translates along the mirrored axis.
+
+For bilateral robots, legs, grippers, and suspension mechanisms, prefer a side-neutral control layer when possible: solve mirrored link positions with `link()`, `edgeBetweenLinks()`, and `addAngleBetweenLinks()`, then attach real parts to the solved skeleton. If you use connector-frame joints directly, make the sign mapping explicit in defaults, keyframes, and verification.
+
 ## The Cavity Rule
 
 Every mechanical joint has a **cavity** in one part and a **tenon** in the other. The cavity must be a real empty volume — not a gap implied by the absence of two separate solids.