Read-only view of currently registered filters.

Adjust an orientation so the local positive X axis points forward. If the transformed X-axis has a negative world X component, rotate the

Apply a relative transform to a reference frame. T_src_new = T_ref_new * T_rel Args: ref_mat: New reference frame transform in

Apply a 6D twist to a pose and return the new pose. Args: current_pos: Current position ``[x, y, z]``. current_quat_xyzw: Cu

Remove all registered filters. Returns self for chaining.

Remove authored xform ops under an already-canonicalized asset root.

Compute the relative pose from ``pose2`` to ``pose1``. Args: pose1_pos, pose1_quat_wxyz: First pose, with quaternion in wxyz order.

Compute the transform from ``ref_mat`` to ``source_mat``. T_rel = T_ref^{-1} * T_src Args: source_mat: Source frame transform i

Compute a 6D twist from the current pose to the target pose. Args: current_tf: Current 4x4 transform matrix.

Convenience wrapper for one-off curation calls.

Download GLB files for the given UIDs. Returns a mapping of UID → absolute file path on the server host. The caller is responsible for e

Generate an adaptive safe path between two SE(3) transforms. The end point is clamped above ``min_z`` to avoid direct table intersection

Generate a fixed-step interpolated path with a lower Z bound. This helper is retained as a simple fixed-step variant; new code should pr

Liveness probe — returns 200 when the server is up and the retriever is ready.