同步KDL工程源码到云仓库

.gitignore

@@ -0,0 +1,8 @@
+node_modules/
+dist/
+coverage/
+kdl-wasm/build*/
+kdl_install/
+work/working1/
+git.txt
+*.log

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "orocos_kinematics_dynamics"]
+	path = orocos_kinematics_dynamics
+	url = https://github.com/orocos/orocos_kinematics_dynamics.git

kdl-wasm/CMakeLists.txt

@@ -0,0 +1,76 @@
+cmake_minimum_required(VERSION 3.16)
+
+project(kdl_wasm_wrapper LANGUAGES CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+set(KDL_SOURCE_DIR "" CACHE PATH "Path to the Orocos KDL source tree")
+if(KDL_SOURCE_DIR AND NOT EXISTS "${KDL_SOURCE_DIR}")
+  message(FATAL_ERROR "KDL_SOURCE_DIR does not exist: ${KDL_SOURCE_DIR}")
+endif()
+
+set(EIGEN3_INCLUDE_DIR "" CACHE PATH "Path to the Eigen3 include directory")
+if(KDL_SOURCE_DIR AND NOT EIGEN3_INCLUDE_DIR)
+  find_path(EIGEN3_INCLUDE_DIR Eigen/Core PATH_SUFFIXES eigen3)
+endif()
+if(KDL_SOURCE_DIR AND NOT EIGEN3_INCLUDE_DIR AND EXISTS "/usr/include/eigen3/Eigen/Core")
+  set(EIGEN3_INCLUDE_DIR "/usr/include/eigen3" CACHE PATH "Path to the Eigen3 include directory" FORCE)
+endif()
+if(KDL_SOURCE_DIR AND NOT EIGEN3_INCLUDE_DIR)
+  message(FATAL_ERROR "Eigen3 include directory was not found")
+endif()
+
+set(KDL_WASM_SOURCES
+  bindings/kdl_c_api.cpp
+)
+
+if(KDL_SOURCE_DIR)
+  list(APPEND KDL_WASM_SOURCES
+    "${KDL_SOURCE_DIR}/src/chain.cpp"
+    "${KDL_SOURCE_DIR}/src/chainfksolverpos_recursive.cpp"
+    "${KDL_SOURCE_DIR}/src/chainjnttojacsolver.cpp"
+    "${KDL_SOURCE_DIR}/src/frames.cpp"
+    "${KDL_SOURCE_DIR}/src/jacobian.cpp"
+    "${KDL_SOURCE_DIR}/src/jntarray.cpp"
+    "${KDL_SOURCE_DIR}/src/joint.cpp"
+    "${KDL_SOURCE_DIR}/src/rigidbodyinertia.cpp"
+    "${KDL_SOURCE_DIR}/src/rotationalinertia.cpp"
+    "${KDL_SOURCE_DIR}/src/segment.cpp"
+    "${KDL_SOURCE_DIR}/src/utilities/utility.cxx"
+  )
+endif()
+
+if(EMSCRIPTEN)
+  add_executable(kdl ${KDL_WASM_SOURCES})
+  target_compile_options(kdl PRIVATE "-fexceptions")
+  if(KDL_SOURCE_DIR)
+    target_include_directories(kdl PRIVATE "${KDL_SOURCE_DIR}/src" "${EIGEN3_INCLUDE_DIR}")
+    target_compile_definitions(kdl PRIVATE KDL_WASM_HAS_OROCOS_KDL=1)
+  endif()
+  set_target_properties(kdl PROPERTIES OUTPUT_NAME "kdl" SUFFIX ".js")
+  target_link_options(kdl PRIVATE
+    "--no-entry"
+    "-sMODULARIZE=1"
+    "-sEXPORT_ES6=1"
+    "-sEXPORT_NAME=createKdlModule"
+    "-sENVIRONMENT=web,worker,node"
+    "-sALLOW_MEMORY_GROWTH=1"
+    "-fexceptions"
+    "-sDISABLE_EXCEPTION_CATCHING=0"
+    "-sEXPORTED_RUNTIME_METHODS=ccall,cwrap,UTF8ToString,stringToUTF8,lengthBytesUTF8,HEAPF64"
+    "-sEXPORTED_FUNCTIONS=['_malloc','_free','_kdl_init','_kdl_create_robot','_kdl_destroy_robot','_kdl_get_robot_info','_kdl_fk','_kdl_fk_all_links','_kdl_jacobian','_kdl_ik','_kdl_plan_movej','_kdl_plan_movel','_kdl_plan_movec','_kdl_plan_path','_kdl_sample_trap','_kdl_last_error']"
+  )
+  add_custom_command(TARGET kdl POST_BUILD
+    COMMAND ${CMAKE_COMMAND} -E copy_if_different
+      "${CMAKE_CURRENT_SOURCE_DIR}/bindings/kdl.d.ts"
+      "${CMAKE_CURRENT_BINARY_DIR}/kdl.d.ts"
+  )
+else()
+  add_library(kdl SHARED ${KDL_WASM_SOURCES})
+  if(KDL_SOURCE_DIR)
+    target_include_directories(kdl PRIVATE "${KDL_SOURCE_DIR}/src" "${EIGEN3_INCLUDE_DIR}")
+    target_compile_definitions(kdl PRIVATE KDL_WASM_HAS_OROCOS_KDL=1)
+  endif()
+endif()

kdl-wasm/bindings/kdl.d.ts

@@ -0,0 +1,26 @@
+export interface KdlModule {
+  ccall: (
+    ident: string,
+    returnType: string | null,
+    argTypes: Array<string | null>,
+    args: unknown[]
+  ) => unknown;
+  cwrap: (
+    ident: string,
+    returnType: string | null,
+    argTypes: Array<string | null>
+  ) => (...args: unknown[]) => unknown;
+  UTF8ToString: (ptr: number) => string;
+  stringToUTF8: (value: string, outPtr: number, maxBytesToWrite: number) => void;
+  lengthBytesUTF8: (value: string) => number;
+  _malloc: (size: number) => number;
+  _free: (ptr: number) => void;
+}
+
+export interface KdlModuleFactoryOptions {
+  locateFile?: (path: string, prefix: string) => string;
+  print?: (text: string) => void;
+  printErr?: (text: string) => void;
+}
+
+export default function createKdlModule(options?: KdlModuleFactoryOptions): Promise<KdlModule>;

kdl-wasm/bindings/kdl_c_api.cpp

@@ -0,0 +1,731 @@
+#include <algorithm>
+#include <cctype>
+#include <cmath>
+#include <cstring>
+#include <map>
+#include <memory>
+#include <sstream>
+#include <stdexcept>
+#include <string>
+#include <utility>
+#include <vector>
+
+#ifdef __EMSCRIPTEN__
+#include <emscripten/emscripten.h>
+#else
+#define EMSCRIPTEN_KEEPALIVE
+#endif
+
+#ifdef KDL_WASM_HAS_OROCOS_KDL
+#include "chain.hpp"
+#include "chainfksolverpos_recursive.hpp"
+#include "chainjnttojacsolver.hpp"
+#include "jntarray.hpp"
+#include "segment.hpp"
+#endif
+
+namespace {
+
+std::string last_error =
+    R"({"code":"KDL_OK","message":"No error","diagnostics":[]})";
+int next_robot_handle = 1;
+
+struct JsonValue {
+  enum class Kind { Null, Bool, Number, String, Array, Object };
+
+  Kind kind = Kind::Null;
+  bool bool_value = false;
+  double number_value = 0.0;
+  std::string string_value;
+  std::vector<JsonValue> array_value;
+  std::map<std::string, JsonValue> object_value;
+
+  const JsonValue* get(const std::string& key) const {
+    if (kind != Kind::Object) {
+      return nullptr;
+    }
+    const auto it = object_value.find(key);
+    return it == object_value.end() ? nullptr : &it->second;
+  }
+};
+
+class JsonParser {
+ public:
+  explicit JsonParser(const std::string& input) : input_(input) {}
+
+  JsonValue parse() {
+    JsonValue value = parse_value();
+    skip_ws();
+    if (pos_ != input_.size()) {
+      throw std::runtime_error("Unexpected trailing JSON content");
+    }
+    return value;
+  }
+
+ private:
+  const std::string& input_;
+  std::size_t pos_ = 0;
+
+  JsonValue parse_value() {
+    skip_ws();
+    if (pos_ >= input_.size()) {
+      throw std::runtime_error("Unexpected end of JSON");
+    }
+    const char ch = input_[pos_];
+    if (ch == '{') {
+      return parse_object();
+    }
+    if (ch == '[') {
+      return parse_array();
+    }
+    if (ch == '"') {
+      JsonValue value;
+      value.kind = JsonValue::Kind::String;
+      value.string_value = parse_string();
+      return value;
+    }
+    if (ch == 't' || ch == 'f') {
+      return parse_bool();
+    }
+    if (ch == 'n') {
+      expect_literal("null");
+      return {};
+    }
+    return parse_number();
+  }
+
+  JsonValue parse_object() {
+    consume('{');
+    JsonValue value;
+    value.kind = JsonValue::Kind::Object;
+    skip_ws();
+    if (match('}')) {
+      return value;
+    }
+
+    while (true) {
+      skip_ws();
+      const std::string key = parse_string();
+      skip_ws();
+      consume(':');
+      value.object_value.emplace(key, parse_value());
+      skip_ws();
+      if (match('}')) {
+        return value;
+      }
+      consume(',');
+    }
+  }
+
+  JsonValue parse_array() {
+    consume('[');
+    JsonValue value;
+    value.kind = JsonValue::Kind::Array;
+    skip_ws();
+    if (match(']')) {
+      return value;
+    }
+
+    while (true) {
+      value.array_value.push_back(parse_value());
+      skip_ws();
+      if (match(']')) {
+        return value;
+      }
+      consume(',');
+    }
+  }
+
+  std::string parse_string() {
+    consume('"');
+    std::string out;
+    while (pos_ < input_.size()) {
+      const char ch = input_[pos_++];
+      if (ch == '"') {
+        return out;
+      }
+      if (ch != '\\') {
+        out.push_back(ch);
+        continue;
+      }
+      if (pos_ >= input_.size()) {
+        throw std::runtime_error("Invalid JSON string escape");
+      }
+      const char escaped = input_[pos_++];
+      switch (escaped) {
+        case '"':
+        case '\\':
+        case '/':
+          out.push_back(escaped);
+          break;
+        case 'b':
+          out.push_back('\b');
+          break;
+        case 'f':
+          out.push_back('\f');
+          break;
+        case 'n':
+          out.push_back('\n');
+          break;
+        case 'r':
+          out.push_back('\r');
+          break;
+        case 't':
+          out.push_back('\t');
+          break;
+        case 'u':
+          if (pos_ + 4 > input_.size()) {
+            throw std::runtime_error("Invalid JSON unicode escape");
+          }
+          out.push_back('?');
+          pos_ += 4;
+          break;
+        default:
+          throw std::runtime_error("Invalid JSON string escape");
+      }
+    }
+    throw std::runtime_error("Unterminated JSON string");
+  }
+
+  JsonValue parse_bool() {
+    JsonValue value;
+    value.kind = JsonValue::Kind::Bool;
+    if (starts_with("true")) {
+      value.bool_value = true;
+      pos_ += 4;
+      return value;
+    }
+    if (starts_with("false")) {
+      value.bool_value = false;
+      pos_ += 5;
+      return value;
+    }
+    throw std::runtime_error("Invalid JSON boolean");
+  }
+
+  JsonValue parse_number() {
+    const std::size_t start = pos_;
+    if (input_[pos_] == '-') {
+      pos_ += 1;
+    }
+    while (pos_ < input_.size() && std::isdigit(static_cast<unsigned char>(input_[pos_]))) {
+      pos_ += 1;
+    }
+    if (pos_ < input_.size() && input_[pos_] == '.') {
+      pos_ += 1;
+      while (pos_ < input_.size() && std::isdigit(static_cast<unsigned char>(input_[pos_]))) {
+        pos_ += 1;
+      }
+    }
+    if (pos_ < input_.size() && (input_[pos_] == 'e' || input_[pos_] == 'E')) {
+      pos_ += 1;
+      if (pos_ < input_.size() && (input_[pos_] == '+' || input_[pos_] == '-')) {
+        pos_ += 1;
+      }
+      while (pos_ < input_.size() && std::isdigit(static_cast<unsigned char>(input_[pos_]))) {
+        pos_ += 1;
+      }
+    }
+    if (start == pos_) {
+      throw std::runtime_error("Expected JSON number");
+    }
+    JsonValue value;
+    value.kind = JsonValue::Kind::Number;
+    value.number_value = std::stod(input_.substr(start, pos_ - start));
+    return value;
+  }
+
+  void expect_literal(const char* literal) {
+    if (!starts_with(literal)) {
+      throw std::runtime_error(std::string("Expected JSON literal ") + literal);
+    }
+    pos_ += std::strlen(literal);
+  }
+
+  bool starts_with(const char* literal) const {
+    const std::size_t len = std::strlen(literal);
+    return input_.compare(pos_, len, literal) == 0;
+  }
+
+  void skip_ws() {
+    while (pos_ < input_.size() && std::isspace(static_cast<unsigned char>(input_[pos_]))) {
+      pos_ += 1;
+    }
+  }
+
+  bool match(char expected) {
+    if (pos_ < input_.size() && input_[pos_] == expected) {
+      pos_ += 1;
+      return true;
+    }
+    return false;
+  }
+
+  void consume(char expected) {
+    if (!match(expected)) {
+      throw std::runtime_error(std::string("Expected JSON character ") + expected);
+    }
+  }
+};
+
+struct NativeJoint {
+  std::string name;
+  std::string type;
+  std::string child;
+  double xyz[3] = {0.0, 0.0, 0.0};
+  double rpy[3] = {0.0, 0.0, 0.0};
+  double axis[3] = {1.0, 0.0, 0.0};
+  bool active = false;
+};
+
+struct RobotRecord {
+  std::string model_json;
+  std::string robot_id;
+  std::string name;
+  std::string base_link;
+  std::string tip_link;
+  std::vector<std::string> active_joint_names;
+  std::vector<NativeJoint> joints;
+#ifdef KDL_WASM_HAS_OROCOS_KDL
+  KDL::Chain chain;
+  std::unique_ptr<KDL::ChainFkSolverPos_recursive> fk_solver;
+  std::unique_ptr<KDL::ChainJntToJacSolver> jac_solver;
+#endif
+};
+
+std::map<int, RobotRecord> robots;
+
+void set_last_error(const char* code, const char* message) {
+  last_error = std::string("{\"code\":\"") + code + "\",\"message\":\"" +
+               message + "\",\"diagnostics\":[{\"severity\":\"error\",\"code\":\"" +
+               code + "\",\"message\":\"" + message + "\"}]}";
+}
+
+void clear_last_error() {
+  last_error = R"({"code":"KDL_OK","message":"No error","diagnostics":[]})";
+}
+
+int write_json(const std::string& json, char* out_json, int out_len) {
+  if (out_json == nullptr || out_len <= 0) {
+    set_last_error("KDL_BUFFER_TOO_SMALL", "Output buffer is not writable");
+    return -1;
+  }
+
+  const int required = static_cast<int>(json.size()) + 1;
+  if (out_len < required) {
+    set_last_error("KDL_BUFFER_TOO_SMALL", "Output buffer is too small");
+    return -1;
+  }
+
+  std::memcpy(out_json, json.c_str(), static_cast<std::size_t>(required));
+  return 0;
+}
+
+int not_implemented(const char* function_name) {
+  set_last_error("KDL_NOT_IMPLEMENTED", function_name);
+  return -1;
+}
+
+std::string json_escape(const std::string& value) {
+  std::string escaped;
+  for (const char ch : value) {
+    if (ch == '"' || ch == '\\') {
+      escaped.push_back('\\');
+    }
+    escaped.push_back(ch);
+  }
+  return escaped;
+}
+
+const JsonValue& required_object_property(const JsonValue& object, const std::string& key) {
+  const JsonValue* value = object.get(key);
+  if (!value) {
+    throw std::runtime_error("Missing model property: " + key);
+  }
+  return *value;
+}
+
+std::string string_property(const JsonValue& object, const std::string& key) {
+  const JsonValue& value = required_object_property(object, key);
+  if (value.kind != JsonValue::Kind::String) {
+    throw std::runtime_error("Expected string model property: " + key);
+  }
+  return value.string_value;
+}
+
+std::vector<std::string> string_array_property(const JsonValue& object, const std::string& key) {
+  const JsonValue& value = required_object_property(object, key);
+  if (value.kind != JsonValue::Kind::Array) {
+    throw std::runtime_error("Expected string array model property: " + key);
+  }
+
+  std::vector<std::string> out;
+  out.reserve(value.array_value.size());
+  for (const JsonValue& item : value.array_value) {
+    if (item.kind != JsonValue::Kind::String) {
+      throw std::runtime_error("Expected string item in model property: " + key);
+    }
+    out.push_back(item.string_value);
+  }
+  return out;
+}
+
+void copy_number_triple(const JsonValue& object, const std::string& key, double out[3]) {
+  const JsonValue& value = required_object_property(object, key);
+  if (value.kind != JsonValue::Kind::Array || value.array_value.size() != 3) {
+    throw std::runtime_error("Expected numeric triple model property: " + key);
+  }
+  for (std::size_t index = 0; index < 3; index += 1) {
+    if (value.array_value[index].kind != JsonValue::Kind::Number) {
+      throw std::runtime_error("Expected numeric triple model property: " + key);
+    }
+    out[index] = value.array_value[index].number_value;
+  }
+}
+
+std::vector<NativeJoint> parse_joints(const JsonValue& model,
+                                      const std::vector<std::string>& active_joint_names) {
+  const JsonValue& joints_value = required_object_property(model, "joints");
+  if (joints_value.kind != JsonValue::Kind::Array) {
+    throw std::runtime_error("Expected joints array");
+  }
+
+  std::vector<NativeJoint> joints;
+  joints.reserve(joints_value.array_value.size());
+  for (const JsonValue& joint_value : joints_value.array_value) {
+    if (joint_value.kind != JsonValue::Kind::Object) {
+      throw std::runtime_error("Expected joint object");
+    }
+    NativeJoint joint;
+    joint.name = string_property(joint_value, "name");
+    joint.type = string_property(joint_value, "type");
+    joint.child = string_property(joint_value, "child");
+
+    const JsonValue& origin = required_object_property(joint_value, "origin");
+    if (origin.kind != JsonValue::Kind::Object) {
+      throw std::runtime_error("Expected joint origin object");
+    }
+    copy_number_triple(origin, "xyz", joint.xyz);
+    copy_number_triple(origin, "rpy", joint.rpy);
+    copy_number_triple(joint_value, "axis", joint.axis);
+    joint.active = std::find(active_joint_names.begin(), active_joint_names.end(), joint.name) !=
+                   active_joint_names.end();
+    joints.push_back(joint);
+  }
+  return joints;
+}
+
+#ifdef KDL_WASM_HAS_OROCOS_KDL
+KDL::Frame frame_from_xyz_rpy(const double xyz[3], const double rpy[3]) {
+  return KDL::Frame(
+      KDL::Rotation::RPY(rpy[0], rpy[1], rpy[2]),
+      KDL::Vector(xyz[0], xyz[1], xyz[2]));
+}
+
+KDL::Joint kdl_joint_from_model(const NativeJoint& joint) {
+  if (joint.type == "fixed") {
+    return KDL::Joint(joint.name, KDL::Joint::Fixed);
+  }
+  const KDL::Vector axis(joint.axis[0], joint.axis[1], joint.axis[2]);
+  if (joint.type == "revolute" || joint.type == "continuous") {
+    return KDL::Joint(joint.name, KDL::Vector(0.0, 0.0, 0.0), axis, KDL::Joint::RotAxis);
+  }
+  if (joint.type == "prismatic") {
+    return KDL::Joint(joint.name, KDL::Vector(0.0, 0.0, 0.0), axis, KDL::Joint::TransAxis);
+  }
+  throw std::runtime_error("Unsupported KDL joint type: " + joint.type);
+}
+
+void build_kdl_chain(RobotRecord& record) {
+  record.chain = KDL::Chain();
+  for (const NativeJoint& joint : record.joints) {
+    const KDL::Frame origin = frame_from_xyz_rpy(joint.xyz, joint.rpy);
+    if (joint.xyz[0] != 0.0 || joint.xyz[1] != 0.0 || joint.xyz[2] != 0.0 ||
+        joint.rpy[0] != 0.0 || joint.rpy[1] != 0.0 || joint.rpy[2] != 0.0) {
+      record.chain.addSegment(KDL::Segment(joint.name + "_origin", KDL::Joint(KDL::Joint::Fixed), origin));
+    }
+    record.chain.addSegment(KDL::Segment(joint.child, kdl_joint_from_model(joint), KDL::Frame::Identity()));
+  }
+  record.fk_solver = std::make_unique<KDL::ChainFkSolverPos_recursive>(record.chain);
+  record.jac_solver = std::make_unique<KDL::ChainJntToJacSolver>(record.chain);
+}
+
+KDL::JntArray jnt_array_from_input(const RobotRecord& record, const double* joints, int n) {
+  if (joints == nullptr) {
+    throw std::runtime_error("Joint input is required");
+  }
+  if (n != static_cast<int>(record.active_joint_names.size())) {
+    throw std::runtime_error("Joint vector dimension does not match robot DOF");
+  }
+  KDL::JntArray q(static_cast<unsigned int>(n));
+  for (int index = 0; index < n; index += 1) {
+    q(static_cast<unsigned int>(index)) = joints[index];
+  }
+  return q;
+}
+
+void write_pose7(const KDL::Frame& frame, double* out_pose7) {
+  if (out_pose7 == nullptr) {
+    throw std::runtime_error("Output pose buffer is required");
+  }
+  out_pose7[0] = frame.p.x();
+  out_pose7[1] = frame.p.y();
+  out_pose7[2] = frame.p.z();
+  frame.M.GetQuaternion(out_pose7[3], out_pose7[4], out_pose7[5], out_pose7[6]);
+}
+#endif
+
+RobotRecord parse_robot_record(const char* model_json) {
+  if (model_json == nullptr) {
+    throw std::runtime_error("Robot model JSON is required");
+  }
+
+  RobotRecord record;
+  record.model_json = model_json;
+  const JsonValue model = JsonParser(record.model_json).parse();
+  if (model.kind != JsonValue::Kind::Object) {
+    throw std::runtime_error("Robot model must be a JSON object");
+  }
+
+  record.robot_id = string_property(model, "robotId");
+  record.name = string_property(model, "name");
+  record.base_link = string_property(model, "baseLink");
+  record.tip_link = string_property(model, "tipLink");
+  record.active_joint_names = string_array_property(model, "activeJointNames");
+  record.joints = parse_joints(model, record.active_joint_names);
+
+  return record;
+}
+
+std::map<int, RobotRecord>::iterator find_robot(int robot_handle) {
+  const auto it = robots.find(robot_handle);
+  if (it == robots.end()) {
+    set_last_error("KDL_INVALID_HANDLE", "RobotHandle does not exist");
+  }
+  return it;
+}
+
+}  // namespace
+
+extern "C" {
+
+EMSCRIPTEN_KEEPALIVE
+int kdl_init(const char* options_json) {
+  (void)options_json;
+  robots.clear();
+  next_robot_handle = 1;
+  clear_last_error();
+  return 0;
+}
+
+EMSCRIPTEN_KEEPALIVE
+int kdl_create_robot(const char* model_json) {
+  try {
+    RobotRecord record = parse_robot_record(model_json);
+    const int handle = next_robot_handle++;
+    auto [it, inserted] = robots.emplace(handle, std::move(record));
+    (void)inserted;
+#ifdef KDL_WASM_HAS_OROCOS_KDL
+    build_kdl_chain(it->second);
+#endif
+    clear_last_error();
+    return handle;
+  } catch (const std::exception& error) {
+    set_last_error("KDL_INVALID_MODEL", error.what());
+    return -1;
+  }
+}
+
+EMSCRIPTEN_KEEPALIVE
+int kdl_destroy_robot(int robot_handle) {
+  if (robots.erase(robot_handle) == 0) {
+    set_last_error("KDL_INVALID_HANDLE", "RobotHandle does not exist");
+    return -1;
+  }
+  clear_last_error();
+  return 0;
+}
+
+EMSCRIPTEN_KEEPALIVE
+int kdl_get_robot_info(int robot_handle, char* out_json, int out_len) {
+  const auto it = find_robot(robot_handle);
+  if (it == robots.end()) {
+    return -1;
+  }
+  const RobotRecord& record = it->second;
+
+  std::ostringstream json;
+  json << "{\"handle\":" << robot_handle << ",\"robotId\":\"" << json_escape(record.robot_id)
+       << "\",\"name\":\"" << json_escape(record.name) << "\",\"baseLink\":\""
+       << json_escape(record.base_link) << "\",\"tipLink\":\"" << json_escape(record.tip_link)
+       << "\",\"dof\":" << record.active_joint_names.size() << ",\"jointNames\":[";
+  for (std::size_t index = 0; index < record.active_joint_names.size(); index += 1) {
+    if (index > 0) {
+      json << ",";
+    }
+    json << "\"" << json_escape(record.active_joint_names[index]) << "\"";
+  }
+  json << "],\"limits\":[],\"nativeState\":\""
+#ifdef KDL_WASM_HAS_OROCOS_KDL
+       << "kdl_chain"
+#else
+       << "model_cached"
+#endif
+       << "\"}";
+  const int result = write_json(json.str(), out_json, out_len);
+  if (result == 0) {
+    clear_last_error();
+  }
+  return result;
+}
+
+EMSCRIPTEN_KEEPALIVE
+int kdl_fk(int robot_handle, const double* joints, int n, double* out_pose7) {
+#ifdef KDL_WASM_HAS_OROCOS_KDL
+  try {
+    const auto it = find_robot(robot_handle);
+    if (it == robots.end()) {
+      return -1;
+    }
+    RobotRecord& record = it->second;
+    const KDL::JntArray q = jnt_array_from_input(record, joints, n);
+    KDL::Frame frame;
+    const int result = record.fk_solver->JntToCart(q, frame);
+    if (result != 0) {
+      set_last_error("KDL_FK_FAILED", "Native KDL FK solver failed");
+      return -1;
+    }
+    write_pose7(frame, out_pose7);
+    clear_last_error();
+    return 0;
+  } catch (const std::exception& error) {
+    set_last_error("KDL_FK_FAILED", error.what());
+    return -1;
+  }
+#else
+  (void)robot_handle;
+  (void)joints;
+  (void)n;
+  (void)out_pose7;
+  return not_implemented("kdl_fk requires KDL_SOURCE_DIR");
+#endif
+}
+
+EMSCRIPTEN_KEEPALIVE
+int kdl_fk_all_links(int robot_handle, const double* joints, int n, char* out_json,
+                     int out_len) {
+  (void)robot_handle;
+  (void)joints;
+  (void)n;
+  (void)out_json;
+  (void)out_len;
+  return not_implemented("kdl_fk_all_links is pending native link-pose serialization");
+}
+
+EMSCRIPTEN_KEEPALIVE
+int kdl_jacobian(int robot_handle, const double* joints, int n, double* out_matrix) {
+#ifdef KDL_WASM_HAS_OROCOS_KDL
+  try {
+    const auto it = find_robot(robot_handle);
+    if (it == robots.end()) {
+      return -1;
+    }
+    RobotRecord& record = it->second;
+    if (out_matrix == nullptr) {
+      throw std::runtime_error("Output Jacobian buffer is required");
+    }
+    const KDL::JntArray q = jnt_array_from_input(record, joints, n);
+    KDL::Jacobian jac(static_cast<unsigned int>(n));
+    const int result = record.jac_solver->JntToJac(q, jac);
+    if (result != 0) {
+      set_last_error("KDL_JACOBIAN_FAILED", "Native KDL Jacobian solver failed");
+      return -1;
+    }
+    for (int col = 0; col < n; col += 1) {
+      for (int row = 0; row < 6; row += 1) {
+        out_matrix[row * n + col] = jac(static_cast<unsigned int>(row), static_cast<unsigned int>(col));
+      }
+    }
+    clear_last_error();
+    return 0;
+  } catch (const std::exception& error) {
+    set_last_error("KDL_JACOBIAN_FAILED", error.what());
+    return -1;
+  }
+#else
+  (void)robot_handle;
+  (void)joints;
+  (void)n;
+  (void)out_matrix;
+  return not_implemented("kdl_jacobian requires KDL_SOURCE_DIR");
+#endif
+}
+
+EMSCRIPTEN_KEEPALIVE
+int kdl_ik(int robot_handle, const double* seed, int n, const double* target_pose7,
+           const char* options_json, double* out_joints) {
+  (void)robot_handle;
+  (void)seed;
+  (void)n;
+  (void)target_pose7;
+  (void)options_json;
+  (void)out_joints;
+  return not_implemented("kdl_ik is pending native IK binding");
+}
+
+EMSCRIPTEN_KEEPALIVE
+int kdl_plan_movej(int robot_handle, const char* request_json, char* out_json,
+                   int out_len) {
+  (void)robot_handle;
+  (void)request_json;
+  (void)out_json;
+  (void)out_len;
+  return not_implemented("kdl_plan_movej is pending KW-008 native binding");
+}
+
+EMSCRIPTEN_KEEPALIVE
+int kdl_plan_movel(int robot_handle, const char* request_json, char* out_json,
+                   int out_len) {
+  (void)robot_handle;
+  (void)request_json;
+  (void)out_json;
+  (void)out_len;
+  return not_implemented("kdl_plan_movel is pending KW-009 native binding");
+}
+
+EMSCRIPTEN_KEEPALIVE
+int kdl_plan_movec(int robot_handle, const char* request_json, char* out_json,
+                   int out_len) {
+  (void)robot_handle;
+  (void)request_json;
+  (void)out_json;
+  (void)out_len;
+  return not_implemented("kdl_plan_movec is pending KW-010 native binding");
+}
+
+EMSCRIPTEN_KEEPALIVE
+int kdl_plan_path(int robot_handle, const char* request_json, char* out_json,
+                  int out_len) {
+  (void)robot_handle;
+  (void)request_json;
+  (void)out_json;
+  (void)out_len;
+  return not_implemented("kdl_plan_path is pending KW-011 native binding");
+}
+
+EMSCRIPTEN_KEEPALIVE
+int kdl_sample_trap(double length, const char* options_json, char* out_json,
+                    int out_len) {
+  (void)length;
+  (void)options_json;
+  (void)out_json;
+  (void)out_len;
+  return not_implemented("kdl_sample_trap is pending KW-007 native binding");
+}
+
+EMSCRIPTEN_KEEPALIVE
+int kdl_last_error(char* out_json, int out_len) {
+  return write_json(last_error, out_json, out_len);
+}
+
+}

kdl-wasm/web/src/grl/ast/ast.ts

@@ -0,0 +1,239 @@
+import type { GrlSourceRange, GrlToken } from "../lexer/index.js";
+
+export type GrlAstNodeKind =
+  | "Program"
+  | "LanguageDeclaration"
+  | "ModuleDeclaration"
+  | "ImportDeclaration"
+  | "DataDeclaration"
+  | "TargetDeclaration"
+  | "PathDeclaration"
+  | "PathDefaultsBlock"
+  | "PathSourceBlock"
+  | "PathPoint"
+  | "PathEvent"
+  | "OperationDeclaration"
+  | "OperationProcessBlock"
+  | "OperationActionBlock"
+  | "ProcedureDeclaration"
+  | "FunctionDeclaration"
+  | "RawTopLevelDeclaration"
+  | "IdentifierExpression"
+  | "NumberLiteral"
+  | "StringLiteral"
+  | "BooleanLiteral"
+  | "ArrayExpression"
+  | "CallExpression"
+  | "ObjectExpression"
+  | "OffsetExpression";
+
+export interface GrlAstNode {
+  kind: GrlAstNodeKind;
+  range: GrlSourceRange;
+}
+
+export interface GrlLanguageDeclaration extends GrlAstNode {
+  kind: "LanguageDeclaration";
+  language: "grl";
+  version: string;
+}
+
+export interface GrlImportDeclaration extends GrlAstNode {
+  kind: "ImportDeclaration";
+  moduleName: string;
+}
+
+export type GrlDeclarationStorage = "persistent" | "const" | "var";
+
+export interface GrlDataDeclaration extends GrlAstNode {
+  kind: "DataDeclaration";
+  storage: GrlDeclarationStorage;
+  typeName: string;
+  name: string;
+  initializer: GrlExpression;
+}
+
+export interface GrlTargetDeclaration extends GrlAstNode {
+  kind: "TargetDeclaration";
+  name: string;
+  target: GrlExpression;
+}
+
+export interface GrlPathProperty {
+  key: string;
+  value: GrlExpression;
+  range: GrlSourceRange;
+}
+
+export interface GrlPathDefaultsBlock extends GrlAstNode {
+  kind: "PathDefaultsBlock";
+  properties: GrlPathProperty[];
+}
+
+export interface GrlPathSourceBlock extends GrlAstNode {
+  kind: "PathSourceBlock";
+  properties: GrlPathProperty[];
+}
+
+export interface GrlPathPoint extends GrlAstNode {
+  kind: "PathPoint";
+  id: string;
+  motionTokens: GrlToken[];
+}
+
+export interface GrlPathEvent extends GrlAstNode {
+  kind: "PathEvent";
+  timing: "before" | "after" | "at";
+  pointId: string;
+  distance?: GrlNumberLiteral;
+  actionTokens: GrlToken[];
+}
+
+export type GrlPathItem =
+  | GrlPathDefaultsBlock
+  | GrlPathSourceBlock
+  | GrlPathPoint
+  | GrlPathEvent;
+
+export interface GrlPathDeclaration extends GrlAstNode {
+  kind: "PathDeclaration";
+  name: string;
+  items: GrlPathItem[];
+}
+
+export interface GrlOperationProcessBlock extends GrlAstNode {
+  kind: "OperationProcessBlock";
+  properties: GrlPathProperty[];
+}
+
+export interface GrlOperationActionBlock extends GrlAstNode {
+  kind: "OperationActionBlock";
+  actionKind: "start_action" | "end_action";
+  actionTokens: GrlToken[];
+}
+
+export type GrlOperationItem = GrlOperationProcessBlock | GrlOperationActionBlock;
+
+export interface GrlOperationDeclaration extends GrlAstNode {
+  kind: "OperationDeclaration";
+  name: string;
+  operationKind: string;
+  pathName: string;
+  items: GrlOperationItem[];
+}
+
+export interface GrlProcedureDeclaration extends GrlAstNode {
+  kind: "ProcedureDeclaration";
+  name: string;
+  params: GrlToken[];
+  bodyTokens: GrlToken[];
+}
+
+export interface GrlFunctionDeclaration extends GrlAstNode {
+  kind: "FunctionDeclaration";
+  returnType: string;
+  name: string;
+  params: GrlToken[];
+  bodyTokens: GrlToken[];
+}
+
+export interface GrlRawTopLevelDeclaration extends GrlAstNode {
+  kind: "RawTopLevelDeclaration";
+  declarationType: string;
+  tokens: GrlToken[];
+}
+
+export type GrlTopLevelDeclaration =
+  | GrlImportDeclaration
+  | GrlDataDeclaration
+  | GrlTargetDeclaration
+  | GrlPathDeclaration
+  | GrlOperationDeclaration
+  | GrlProcedureDeclaration
+  | GrlFunctionDeclaration
+  | GrlRawTopLevelDeclaration;
+
+export interface GrlModuleDeclaration extends GrlAstNode {
+  kind: "ModuleDeclaration";
+  name: string;
+  declarations: GrlTopLevelDeclaration[];
+}
+
+export interface GrlProgram extends GrlAstNode {
+  kind: "Program";
+  language?: GrlLanguageDeclaration;
+  module: GrlModuleDeclaration;
+}
+
+export interface GrlIdentifierExpression extends GrlAstNode {
+  kind: "IdentifierExpression";
+  name: string;
+}
+
+export interface GrlNumberLiteral extends GrlAstNode {
+  kind: "NumberLiteral";
+  value: number;
+  raw: string;
+  unit?: {
+    raw: string;
+    kind: string;
+    siUnit: string;
+    normalizedValue: number;
+  };
+}
+
+export interface GrlStringLiteral extends GrlAstNode {
+  kind: "StringLiteral";
+  value: string;
+}
+
+export interface GrlBooleanLiteral extends GrlAstNode {
+  kind: "BooleanLiteral";
+  value: boolean;
+}
+
+export interface GrlArrayExpression extends GrlAstNode {
+  kind: "ArrayExpression";
+  elements: GrlExpression[];
+}
+
+export interface GrlCallExpression extends GrlAstNode {
+  kind: "CallExpression";
+  callee: string;
+  args: GrlExpression[];
+}
+
+export interface GrlObjectProperty {
+  key: string;
+  value: GrlExpression;
+  range: GrlSourceRange;
+}
+
+export interface GrlObjectExpression extends GrlAstNode {
+  kind: "ObjectExpression";
+  typeName: string;
+  properties: GrlObjectProperty[];
+}
+
+export interface GrlOffsetAxis {
+  axis: "x" | "y" | "z";
+  value: GrlNumberLiteral;
+}
+
+export interface GrlOffsetExpression extends GrlAstNode {
+  kind: "OffsetExpression";
+  base: GrlExpression;
+  mode: "frame" | "tool";
+  frameName?: string;
+  axes: GrlOffsetAxis[];
+}
+
+export type GrlExpression =
+  | GrlIdentifierExpression
+  | GrlNumberLiteral
+  | GrlStringLiteral
+  | GrlBooleanLiteral
+  | GrlArrayExpression
+  | GrlCallExpression
+  | GrlObjectExpression
+  | GrlOffsetExpression;

kdl-wasm/web/src/grl/ast/index.ts

@@ -0,0 +1,37 @@
+export type {
+  GrlAstNode,
+  GrlAstNodeKind,
+  GrlArrayExpression,
+  GrlBooleanLiteral,
+  GrlCallExpression,
+  GrlDataDeclaration,
+  GrlDeclarationStorage,
+  GrlExpression,
+  GrlFunctionDeclaration,
+  GrlIdentifierExpression,
+  GrlImportDeclaration,
+  GrlLanguageDeclaration,
+  GrlModuleDeclaration,
+  GrlNumberLiteral,
+  GrlObjectExpression,
+  GrlObjectProperty,
+  GrlOffsetAxis,
+  GrlOffsetExpression,
+  GrlOperationActionBlock,
+  GrlOperationDeclaration,
+  GrlOperationItem,
+  GrlOperationProcessBlock,
+  GrlPathDeclaration,
+  GrlPathDefaultsBlock,
+  GrlPathEvent,
+  GrlPathItem,
+  GrlPathPoint,
+  GrlPathProperty,
+  GrlPathSourceBlock,
+  GrlProcedureDeclaration,
+  GrlProgram,
+  GrlRawTopLevelDeclaration,
+  GrlStringLiteral,
+  GrlTargetDeclaration,
+  GrlTopLevelDeclaration
+} from "./ast.js";

kdl-wasm/web/src/grl/generator/generator.ts

@@ -0,0 +1,210 @@
+export type GrlGeneratorStyle = "expanded" | "compact";
+
+export interface GeneratedTargetSpec {
+  name: string;
+  kind: "joint" | "pose";
+  values: number[];
+}
+
+export interface GeneratedPathPointSpec {
+  id?: string;
+  motion: "movej" | "movel" | "movec";
+  target: string;
+  via?: string;
+  speed?: string;
+  zone?: string;
+}
+
+export interface GeneratedPathSpec {
+  name: string;
+  source?: Record<string, string | number | boolean>;
+  defaults: {
+    speed: string;
+    zone: string;
+  };
+  points: GeneratedPathPointSpec[];
+}
+
+export interface GeneratedOperationSpec {
+  name: string;
+  kind: string;
+  path: string;
+  startAction?: string;
+  endAction?: string;
+}
+
+export interface GrlProgramGenerationSpec {
+  moduleName: string;
+  speeds?: Record<string, string>;
+  zones?: Record<string, string>;
+  targets: GeneratedTargetSpec[];
+  path: GeneratedPathSpec;
+  operation: GeneratedOperationSpec;
+}
+
+export interface GeneratedGrlProgram {
+  text: string;
+  stableIds: {
+    targets: string[];
+    points: string[];
+    path: string;
+    operation: string;
+  };
+}
+
+export function generateGrlProgram(spec: GrlProgramGenerationSpec, style: GrlGeneratorStyle = "expanded"): GeneratedGrlProgram {
+  const normalized = normalizeSpec(spec);
+  const text = style === "compact" ? renderCompact(normalized) : renderExpanded(normalized);
+  return {
+    text,
+    stableIds: {
+      targets: normalized.targets.map((target) => target.name),
+      points: normalized.path.points.map((point) => point.id!),
+      path: normalized.path.name,
+      operation: normalized.operation.name
+    }
+  };
+}
+
+function normalizeSpec(spec: GrlProgramGenerationSpec): GrlProgramGenerationSpec {
+  return {
+    ...spec,
+    speeds: sortRecord(spec.speeds ?? {}),
+    zones: sortRecord(spec.zones ?? {}),
+    targets: [...spec.targets].sort((left, right) => left.name.localeCompare(right.name)),
+    path: {
+      ...spec.path,
+      ...(spec.path.source ? { source: sortRecord(spec.path.source) } : {}),
+      points: spec.path.points.map((point, index) => ({
+        ...point,
+        id: point.id ?? `p${String(index).padStart(2, "0")}`
+      }))
+    }
+  };
+}
+
+function renderExpanded(spec: GrlProgramGenerationSpec): string {
+  const lines: string[] = [`language grl 0.1`, `module ${spec.moduleName}`];
+  for (const [name, expression] of Object.entries(spec.speeds ?? {})) {
+    lines.push(`  const speed ${name} = ${expression}`);
+  }
+  for (const [name, expression] of Object.entries(spec.zones ?? {})) {
+    lines.push(`  const zone ${name} = ${expression}`);
+  }
+  for (const target of spec.targets) {
+    lines.push(...renderTargetExpanded(target));
+  }
+  lines.push(`  path ${spec.path.name} {`);
+  if (spec.path.source && Object.keys(spec.path.source).length > 0) {
+    lines.push(`    source {`);
+    for (const [key, value] of Object.entries(spec.path.source)) {
+      lines.push(`      ${key}: ${formatSourceLiteral(key, value)}`);
+    }
+    lines.push(`    }`);
+  }
+  lines.push(`    defaults {`);
+  lines.push(`      speed: ${spec.path.defaults.speed}`);
+  lines.push(`      zone: ${spec.path.defaults.zone}`);
+  lines.push(`    }`);
+  for (const point of spec.path.points) {
+    lines.push(`    ${renderPoint(point)}`);
+  }
+  lines.push(`  }`);
+  lines.push(...renderOperationExpanded(spec.operation));
+  lines.push(`  proc main()`);
+  lines.push(`    run_operation ${spec.operation.name}`);
+  lines.push(`  end`);
+  lines.push(`end`);
+  return lines.join("\n");
+}
+
+function renderCompact(spec: GrlProgramGenerationSpec): string {
+  const lines: string[] = [`language grl 0.1`, `module ${spec.moduleName}`];
+  for (const [name, expression] of Object.entries(spec.speeds ?? {})) {
+    lines.push(`  const speed ${name} = ${expression}`);
+  }
+  for (const [name, expression] of Object.entries(spec.zones ?? {})) {
+    lines.push(`  const zone ${name} = ${expression}`);
+  }
+  for (const target of spec.targets) {
+    lines.push(`  ${renderTargetCompact(target)}`);
+  }
+  const source = spec.path.source && Object.keys(spec.path.source).length > 0
+    ? ` source { ${Object.entries(spec.path.source).map(([key, value]) => `${key}: ${formatSourceLiteral(key, value)}`).join(" ")} }`
+    : "";
+  lines.push(`  path ${spec.path.name} {${source} defaults { speed: ${spec.path.defaults.speed} zone: ${spec.path.defaults.zone} } ${spec.path.points.map(renderPoint).join(" ")} }`);
+  lines.push(`  operation ${spec.operation.name} { kind: ${spec.operation.kind} path: ${spec.operation.path}${spec.operation.startAction ? ` start_action: ${spec.operation.startAction}` : ""}${spec.operation.endAction ? ` end_action: ${spec.operation.endAction}` : ""} }`);
+  lines.push(`  proc main()`);
+  lines.push(`    run_operation ${spec.operation.name}`);
+  lines.push(`  end`);
+  lines.push(`end`);
+  return lines.join("\n");
+}
+
+function renderTargetExpanded(target: GeneratedTargetSpec): string[] {
+  if (target.kind === "joint") {
+    return [
+      `  target ${target.name} = joint_target {`,
+      `    joints: [${target.values.map((value) => `${value} deg`).join(", ")}]`,
+      `  }`
+    ];
+  }
+  return [
+    `  target ${target.name} = pose_target {`,
+    `    pose: pose(${target.values.map((value, index) => `${value} ${index < 3 ? "mm" : "deg"}`).join(", ")})`,
+    `  }`
+  ];
+}
+
+function renderTargetCompact(target: GeneratedTargetSpec): string {
+  if (target.kind === "joint") {
+    return `target ${target.name} = joint_target { joints: [${target.values.map((value) => `${value} deg`).join(", ")}] }`;
+  }
+  return `target ${target.name} = pose_target { pose: pose(${target.values.map((value, index) => `${value} ${index < 3 ? "mm" : "deg"}`).join(", ")}) }`;
+}
+
+function renderPoint(point: GeneratedPathPointSpec): string {
+  const params = [
+    `point ${point.id} ${point.motion}`,
+    point.motion === "movec" ? `via ${point.via}` : undefined,
+    point.motion === "movec" ? `target ${point.target}` : point.target,
+    point.speed ? `speed ${point.speed}` : undefined,
+    point.zone ? `zone ${point.zone}` : undefined
+  ].filter(Boolean);
+  return params.join(" ");
+}
+
+function renderOperationExpanded(operation: GeneratedOperationSpec): string[] {
+  const lines = [`  operation ${operation.name} {`, `    kind: ${operation.kind}`, `    path: ${operation.path}`];
+  if (operation.startAction) {
+    lines.push(`    start_action:`);
+    lines.push(`      ${operation.startAction}`);
+  }
+  if (operation.endAction) {
+    lines.push(`    end_action:`);
+    lines.push(`      ${operation.endAction}`);
+  }
+  lines.push(`  }`);
+  return lines;
+}
+
+function sortRecord<T>(record: Record<string, T>): Record<string, T> {
+  return Object.fromEntries(Object.entries(record).sort(([left], [right]) => left.localeCompare(right)));
+}
+
+function formatLiteral(value: string | number | boolean): string {
+  if (typeof value === "string") {
+    return /^[A-Za-z_][A-Za-z0-9_]*$/.test(value) ? value : JSON.stringify(value);
+  }
+  return String(value);
+}
+
+function formatSourceLiteral(key: string, value: string | number | boolean): string {
+  if (typeof value !== "string") {
+    return String(value);
+  }
+  if (key === "type" && /^[A-Za-z_][A-Za-z0-9_]*$/.test(value)) {
+    return value;
+  }
+  return JSON.stringify(value);
+}

kdl-wasm/web/src/grl/generator/index.ts

@@ -0,0 +1,10 @@
+export {
+  generateGrlProgram,
+  type GeneratedGrlProgram,
+  type GeneratedOperationSpec,
+  type GeneratedPathPointSpec,
+  type GeneratedPathSpec,
+  type GeneratedTargetSpec,
+  type GrlGeneratorStyle,
+  type GrlProgramGenerationSpec
+} from "./generator.js";

kdl-wasm/web/src/grl/ir/index.ts

@@ -0,0 +1,61 @@
+export type {
+  CompiledMotionRequest,
+  CompiledOperation,
+  CompiledPath,
+  AlarmInstruction,
+  BreakInstruction,
+  CallInstruction,
+  CatchInstruction,
+  ContinueInstruction,
+  ControlExpression,
+  ControlFlowInstruction,
+  ExceptionFlowInstruction,
+  ExceptionInstruction,
+  ExecutableBranch,
+  ExecutableControlInstruction,
+  ExecutableForInstruction,
+  ExecutableIfInstruction,
+  ExecutableInstruction,
+  ExecutableProcedure,
+  ExecutableSwitchCase,
+  ExecutableSwitchInstruction,
+  ExecutableWhileInstruction,
+  FinallyInstruction,
+  ForInstruction,
+  FunctionSignature,
+  IfBranch,
+  IfInstruction,
+  IoDomain,
+  IoFlowInstruction,
+  IoReference,
+  IoWriteInstruction,
+  JumpInstruction,
+  KdlBridgeRequests,
+  LabelInstruction,
+  MotionInstruction,
+  MotionKind,
+  OperationActionInstruction,
+  OperationExecutionStep,
+  PathEventInstruction,
+  ProcedureFlowInstruction,
+  ProcedureSignature,
+  ProcFunctionAnalysis,
+  PulseInstruction,
+  RaiseInstruction,
+  RawProcedureStatement,
+  ReturnInstruction,
+  RoutineParameter,
+  RoutineParameterDirection,
+  SemanticProgramIr,
+  SemanticSourceMapEntry,
+  SemanticSymbol,
+  SemanticSymbolKind,
+  TryInstruction,
+  UnsupportedRuntimeInstruction,
+  RunOperationInstruction,
+  RunPathInstruction,
+  SwitchCaseInstruction,
+  SwitchInstruction,
+  WhileInstruction,
+  WaitInstruction
+} from "./motion.js";

kdl-wasm/web/src/grl/ir/motion.ts

@@ -0,0 +1,428 @@
+import type {
+  JointTarget,
+  MoveCRequest,
+  MoveJRequest,
+  MoveLRequest,
+  MotionDiagnostic,
+  MotionSourceMap,
+  PathEventRequest,
+  PathPlanRequest,
+  Pose,
+  PoseTarget,
+  SpeedSpec,
+  ZoneSpec
+} from "../../kdl/types.js";
+
+export type MotionKind = "MOVEJ" | "MOVEL" | "MOVEC";
+
+export interface MotionInstruction {
+  id?: string;
+  kind: MotionKind;
+  target?: JointTarget | PoseTarget;
+  via?: PoseTarget;
+  speed: SpeedSpec;
+  zone: ZoneSpec;
+  tool?: Pose;
+  frame?: Pose;
+  sourceMap?: MotionSourceMap;
+  pathId?: string;
+  pointId?: string;
+  source?: Record<string, unknown>;
+}
+
+export type CompiledMotionRequest = MoveJRequest | MoveLRequest | MoveCRequest;
+
+export interface PathEventInstruction {
+  id?: string;
+  timing: PathEventRequest["timing"];
+  pointId: string;
+  distance?: number;
+  kind: string;
+  sourceMap?: MotionSourceMap;
+  data?: Record<string, unknown>;
+}
+
+export interface CompiledPath {
+  pathId: string;
+  request: PathPlanRequest;
+  motions: MotionInstruction[];
+  events: PathEventInstruction[];
+}
+
+export interface RunPathInstruction {
+  kind: "RUN_PATH";
+  pathId: string;
+  sourceMap?: MotionSourceMap;
+}
+
+export interface OperationActionInstruction {
+  kind: "ACTION";
+  actionKind: "start_action" | "end_action";
+  operationId: string;
+  statement: string;
+  tokens?: unknown[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface CompiledOperation {
+  operationId: string;
+  kind: string;
+  pathId: string;
+  process: Record<string, unknown>;
+  startActions: OperationActionInstruction[];
+  endActions: OperationActionInstruction[];
+}
+
+export interface RunOperationInstruction {
+  kind: "RUN_OPERATION";
+  operationId: string;
+  sourceMap?: MotionSourceMap;
+}
+
+export type OperationExecutionStep =
+  | OperationActionInstruction
+  | RunPathInstruction;
+
+export type IoDomain = "di" | "do" | "ai" | "ao" | "gi" | "go" | "ri" | "ro" | "alias";
+
+export interface IoReference {
+  domain: IoDomain;
+  index?: number;
+  alias?: string;
+  raw: string;
+}
+
+export interface IoWriteInstruction {
+  kind: "IO_WRITE";
+  target: IoReference;
+  value: boolean | number | string;
+  sourceMap?: MotionSourceMap;
+}
+
+export interface WaitInstruction {
+  kind: "WAIT";
+  condition: string;
+  timeout?: number;
+  onTimeout?: {
+    kind: "alarm" | "call";
+    value: string;
+  };
+  sourceMap?: MotionSourceMap;
+}
+
+export interface PulseInstruction {
+  kind: "PULSE";
+  target: IoReference;
+  duration: number;
+  trace: Array<{
+    time: number;
+    action: "set" | "reset";
+    target: IoReference;
+    value: boolean;
+  }>;
+  sourceMap?: MotionSourceMap;
+}
+
+export type IoFlowInstruction = IoWriteInstruction | WaitInstruction | PulseInstruction;
+
+export interface ControlExpression {
+  text: string;
+  tokens?: unknown[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface RawProcedureStatement {
+  kind: "RAW_STATEMENT";
+  text: string;
+  tokens?: unknown[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface IfBranch {
+  branchKind: "if" | "elseif" | "else";
+  condition?: ControlExpression;
+  body: ProcedureFlowInstruction[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface IfInstruction {
+  kind: "IF";
+  branches: IfBranch[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface WhileInstruction {
+  kind: "WHILE";
+  condition: ControlExpression;
+  body: ProcedureFlowInstruction[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface ForInstruction {
+  kind: "FOR";
+  iterator: string;
+  from: ControlExpression;
+  to: ControlExpression;
+  step?: ControlExpression;
+  body: ProcedureFlowInstruction[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface SwitchCaseInstruction {
+  caseKind: "case" | "default";
+  value?: string | number | boolean;
+  raw?: string;
+  body: ProcedureFlowInstruction[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface SwitchInstruction {
+  kind: "SWITCH";
+  expression: ControlExpression;
+  cases: SwitchCaseInstruction[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface BreakInstruction {
+  kind: "BREAK";
+  sourceMap?: MotionSourceMap;
+}
+
+export interface ContinueInstruction {
+  kind: "CONTINUE";
+  sourceMap?: MotionSourceMap;
+}
+
+export interface LabelInstruction {
+  kind: "LABEL";
+  name: string;
+  scopePath: string[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface JumpInstruction {
+  kind: "JUMP";
+  label: string;
+  scopePath: string[];
+  sourceMap?: MotionSourceMap;
+}
+
+export type ControlFlowInstruction =
+  | IfInstruction
+  | WhileInstruction
+  | ForInstruction
+  | SwitchInstruction
+  | BreakInstruction
+  | ContinueInstruction
+  | LabelInstruction
+  | JumpInstruction;
+
+export type ProcedureFlowInstruction = ControlFlowInstruction | RawProcedureStatement;
+
+export type RoutineParameterDirection = "in" | "out" | "inout";
+
+export interface RoutineParameter {
+  name: string;
+  typeName: string;
+  direction: RoutineParameterDirection;
+  sourceMap?: MotionSourceMap;
+}
+
+export interface ProcedureSignature {
+  kind: "PROC_SIGNATURE";
+  name: string;
+  parameters: RoutineParameter[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface FunctionSignature {
+  kind: "FUNC_SIGNATURE";
+  name: string;
+  returnType: string;
+  parameters: RoutineParameter[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface CallInstruction {
+  kind: "CALL";
+  target: string;
+  args: ControlExpression[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface ReturnInstruction {
+  kind: "RETURN";
+  value?: ControlExpression;
+  sourceMap?: MotionSourceMap;
+}
+
+export interface ProcFunctionAnalysis {
+  procedures: ProcedureSignature[];
+  functions: FunctionSignature[];
+  calls: CallInstruction[];
+  returns: ReturnInstruction[];
+  diagnostics: MotionDiagnostic[];
+}
+
+export interface AlarmInstruction {
+  kind: "ALARM";
+  alarmId: string;
+  message?: string;
+  severity?: string;
+  sourceMap?: MotionSourceMap;
+}
+
+export interface RaiseInstruction {
+  kind: "RAISE";
+  alarmId: string;
+  sourceMap?: MotionSourceMap;
+}
+
+export interface CatchInstruction {
+  alarmId?: string;
+  body: ExceptionFlowInstruction[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface FinallyInstruction {
+  body: ExceptionFlowInstruction[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface TryInstruction {
+  kind: "TRY";
+  body: ExceptionFlowInstruction[];
+  catches: CatchInstruction[];
+  finally?: FinallyInstruction;
+  sourceMap?: MotionSourceMap;
+}
+
+export interface UnsupportedRuntimeInstruction {
+  kind: "UNSUPPORTED_RUNTIME";
+  feature: "trap" | "interrupt" | "task";
+  message: string;
+  sourceMap?: MotionSourceMap;
+}
+
+export type ExceptionInstruction =
+  | AlarmInstruction
+  | RaiseInstruction
+  | TryInstruction
+  | UnsupportedRuntimeInstruction;
+
+export type ExceptionFlowInstruction = ExceptionInstruction | RawProcedureStatement;
+
+export type SemanticSymbolKind =
+  | "data"
+  | "target"
+  | "path"
+  | "operation"
+  | "procedure"
+  | "function"
+  | "raw";
+
+export interface SemanticSymbol {
+  kind: SemanticSymbolKind;
+  name: string;
+  typeName?: string;
+  sourceMap?: MotionSourceMap;
+}
+
+export interface SemanticSourceMapEntry {
+  kind: string;
+  id: string;
+  sourceMap: MotionSourceMap;
+  pathId?: string;
+  pointId?: string;
+  operationId?: string;
+  procedureId?: string;
+}
+
+export interface ExecutableBranch {
+  branchKind: "if" | "elseif" | "else";
+  condition?: ControlExpression;
+  body: ExecutableInstruction[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface ExecutableIfInstruction {
+  kind: "EXEC_IF";
+  branches: ExecutableBranch[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface ExecutableWhileInstruction {
+  kind: "EXEC_WHILE";
+  condition: ControlExpression;
+  body: ExecutableInstruction[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface ExecutableForInstruction {
+  kind: "EXEC_FOR";
+  iterator: string;
+  from: ControlExpression;
+  to: ControlExpression;
+  step?: ControlExpression;
+  body: ExecutableInstruction[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface ExecutableSwitchCase {
+  caseKind: "case" | "default";
+  value?: string | number | boolean;
+  raw?: string;
+  body: ExecutableInstruction[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface ExecutableSwitchInstruction {
+  kind: "EXEC_SWITCH";
+  expression: ControlExpression;
+  cases: ExecutableSwitchCase[];
+  sourceMap?: MotionSourceMap;
+}
+
+export type ExecutableControlInstruction =
+  | ExecutableIfInstruction
+  | ExecutableWhileInstruction
+  | ExecutableForInstruction
+  | ExecutableSwitchInstruction;
+
+export type ExecutableInstruction =
+  | MotionInstruction
+  | IoFlowInstruction
+  | RunPathInstruction
+  | RunOperationInstruction
+  | CallInstruction
+  | ReturnInstruction
+  | BreakInstruction
+  | ContinueInstruction
+  | AlarmInstruction
+  | RaiseInstruction
+  | UnsupportedRuntimeInstruction
+  | ExecutableControlInstruction
+  | RawProcedureStatement;
+
+export interface ExecutableProcedure {
+  name: string;
+  instructions: ExecutableInstruction[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface KdlBridgeRequests {
+  motionRequests: CompiledMotionRequest[];
+  pathRequests: PathPlanRequest[];
+}
+
+export interface SemanticProgramIr {
+  moduleName: string;
+  symbols: SemanticSymbol[];
+  semanticChecks: string[];
+  procedures: ExecutableProcedure[];
+  paths: CompiledPath[];
+  operations: CompiledOperation[];
+  diagnostics: MotionDiagnostic[];
+  sourceMap: SemanticSourceMapEntry[];
+  kdlBridge: KdlBridgeRequests;
+}

kdl-wasm/web/src/grl/lexer/index.ts

@@ -0,0 +1,15 @@
+export { GRL_KEYWORDS, isGrlKeyword, type GrlKeyword } from "./keywords.js";
+export { lexGrl, type GrlLexerOptions } from "./lexer.js";
+export { isGrlUnitLiteral, normalizeUnitLiteral, normalizeUnitValue, type UnitKind } from "./units.js";
+export type {
+  GrlCommentToken,
+  GrlEofToken,
+  GrlIdentifierToken,
+  GrlKeywordToken,
+  GrlNumberToken,
+  GrlSourcePosition,
+  GrlSourceRange,
+  GrlStringToken,
+  GrlToken,
+  GrlTokenKind
+} from "./tokens.js";

kdl-wasm/web/src/grl/lexer/keywords.ts

@@ -0,0 +1,95 @@
+export const GRL_KEYWORDS = [
+  "language",
+  "module",
+  "import",
+  "end",
+  "persistent",
+  "const",
+  "var",
+  "robot",
+  "tool",
+  "frame",
+  "load",
+  "target",
+  "speed",
+  "zone",
+  "path",
+  "operation",
+  "process",
+  "proc",
+  "func",
+  "return",
+  "call",
+  "if",
+  "elseif",
+  "else",
+  "switch",
+  "case",
+  "default",
+  "while",
+  "for",
+  "to",
+  "step",
+  "break",
+  "continue",
+  "label",
+  "jump",
+  "movej",
+  "movel",
+  "movec",
+  "run_path",
+  "run_operation",
+  "set_tool",
+  "set_frame",
+  "set_speed",
+  "set_zone",
+  "wait",
+  "pulse",
+  "timer",
+  "io",
+  "true",
+  "false",
+  "all",
+  "any",
+  "rising",
+  "falling",
+  "changed",
+  "trap",
+  "interrupt",
+  "enable",
+  "disable",
+  "raise",
+  "alarm",
+  "try",
+  "catch",
+  "finally",
+  "task",
+  "sync",
+  "post_hint",
+  "source",
+  "defaults",
+  "point",
+  "event",
+  "before",
+  "after",
+  "at",
+  "joint_target",
+  "pose_target",
+  "pose",
+  "poseq",
+  "joints",
+  "robot_config",
+  "ext_axis",
+  "fine",
+  "continuous",
+  "cnt",
+  "z"
+] as const;
+
+export type GrlKeyword = (typeof GRL_KEYWORDS)[number];
+
+const KEYWORD_SET = new Set<string>(GRL_KEYWORDS);
+
+export function isGrlKeyword(value: string): value is GrlKeyword {
+  return KEYWORD_SET.has(value);
+}

kdl-wasm/web/src/grl/lexer/lexer.ts

@@ -0,0 +1,429 @@
+import { isGrlKeyword } from "./keywords.js";
+import { isGrlUnitLiteral, normalizeUnitLiteral } from "./units.js";
+import type {
+  GrlCommentToken,
+  GrlEofToken,
+  GrlIdentifierToken,
+  GrlKeywordToken,
+  GrlNumberToken,
+  GrlOperatorToken,
+  GrlPunctuationToken,
+  GrlSourcePosition,
+  GrlToken
+} from "./tokens.js";
+
+export interface GrlLexerOptions {
+  preserveComments?: boolean;
+}
+
+interface ScannerState {
+  index: number;
+  line: number;
+  column: number;
+}
+
+const TWO_CHAR_OPERATORS = new Set(["==", "!=", "<=", ">=", "&&", "||", "->", ":="]);
+const PUNCTUATION = new Set(["(", ")", "{", "}", "[", "]", ",", ":", ";", "."]);
+const OPERATORS = new Set(["+", "-", "*", "/", "=", "<", ">", "!"]);
+
+export function lexGrl(source: string, options: GrlLexerOptions = {}): GrlToken[] {
+  const scanner = new GrlScanner(source, options);
+  return scanner.scanTokens();
+}
+
+class GrlScanner {
+  private index = 0;
+  private line = 1;
+  private column = 1;
+  private readonly tokens: GrlToken[] = [];
+  private readonly preserveComments: boolean;
+
+  constructor(
+    private readonly source: string,
+    options: GrlLexerOptions
+  ) {
+    this.preserveComments = options.preserveComments ?? true;
+  }
+
+  scanTokens(): GrlToken[] {
+    while (!this.isAtEnd()) {
+      const char = this.peek();
+
+      if (this.isWhitespace(char)) {
+        this.advance();
+        continue;
+      }
+
+      if (char === "/" && this.peek(1) === "/") {
+        this.scanLineComment();
+        continue;
+      }
+
+      if (char === "/" && this.peek(1) === "*") {
+        this.scanBlockComment();
+        continue;
+      }
+
+      if (char === "\"") {
+        this.scanString();
+        continue;
+      }
+
+      if (this.isIdentifierStart(char)) {
+        this.scanIdentifierOrKeyword();
+        continue;
+      }
+
+      if (this.isNumberStart(char)) {
+        this.scanNumber();
+        continue;
+      }
+
+      this.scanPunctuationOrOperator();
+    }
+
+    const start = this.position();
+    const token: GrlEofToken = {
+      kind: "eof",
+      raw: "",
+      value: "",
+      range: { start, end: start }
+    };
+    this.tokens.push(token);
+    return this.tokens;
+  }
+
+  private scanLineComment(): void {
+    const start = this.position();
+    this.advance();
+    this.advance();
+
+    const contentStart = this.index;
+    while (!this.isAtEnd() && this.peek() !== "\n") {
+      this.advance();
+    }
+
+    if (this.preserveComments) {
+      const value = this.source.slice(contentStart, this.index);
+      const token: GrlCommentToken = {
+        kind: "comment",
+        style: "line",
+        raw: this.source.slice(start.offset, this.index),
+        value,
+        range: { start, end: this.position() }
+      };
+      this.tokens.push(token);
+    }
+  }
+
+  private scanBlockComment(): void {
+    const start = this.position();
+    this.advance();
+    this.advance();
+
+    const contentStart = this.index;
+    while (!this.isAtEnd()) {
+      if (this.peek() === "*" && this.peek(1) === "/") {
+        const value = this.source.slice(contentStart, this.index);
+        this.advance();
+        this.advance();
+
+        if (this.preserveComments) {
+          const token: GrlCommentToken = {
+            kind: "comment",
+            style: "block",
+            raw: this.source.slice(start.offset, this.index),
+            value,
+            range: { start, end: this.position() }
+          };
+          this.tokens.push(token);
+        }
+        return;
+      }
+
+      this.advance();
+    }
+
+    throw this.error(start, "Unterminated block comment");
+  }
+
+  private scanString(): void {
+    const start = this.position();
+    this.advance();
+    let value = "";
+
+    while (!this.isAtEnd()) {
+      const char = this.peek();
+      if (char === "\"") {
+        this.advance();
+        const token: GrlToken = {
+          kind: "string",
+          raw: this.source.slice(start.offset, this.index),
+          value,
+          range: { start, end: this.position() }
+        };
+        this.tokens.push(token);
+        return;
+      }
+
+      if (char === "\\") {
+        this.advance();
+        value += this.readEscapedCharacter(start);
+        continue;
+      }
+
+      value += this.advance();
+    }
+
+    throw this.error(start, "Unterminated string literal");
+  }
+
+  private readEscapedCharacter(start: GrlSourcePosition): string {
+    if (this.isAtEnd()) {
+      throw this.error(start, "Unterminated string escape");
+    }
+
+    const escaped = this.advance();
+    switch (escaped) {
+      case "n":
+        return "\n";
+      case "r":
+        return "\r";
+      case "t":
+        return "\t";
+      case "\\":
+      case "\"":
+        return escaped;
+      default:
+        return escaped;
+    }
+  }
+
+  private scanIdentifierOrKeyword(): void {
+    const start = this.position();
+
+    while (!this.isAtEnd() && this.isIdentifierPart(this.peek())) {
+      this.advance();
+    }
+
+    const raw = this.source.slice(start.offset, this.index);
+    if (isGrlKeyword(raw)) {
+      const token: GrlKeywordToken = {
+        kind: "keyword",
+        raw,
+        value: raw,
+        range: { start, end: this.position() }
+      };
+      this.tokens.push(token);
+      return;
+    }
+
+    const token: GrlIdentifierToken = {
+      kind: "identifier",
+      raw,
+      value: raw,
+      range: { start, end: this.position() }
+    };
+    this.tokens.push(token);
+  }
+
+  private scanNumber(): void {
+    const start = this.position();
+
+    if (this.peek() === ".") {
+      this.advance();
+    }
+
+    while (!this.isAtEnd() && this.isDigit(this.peek())) {
+      this.advance();
+    }
+
+    if (this.peek() === "." && this.isDigit(this.peek(1))) {
+      this.advance();
+      while (!this.isAtEnd() && this.isDigit(this.peek())) {
+        this.advance();
+      }
+    }
+
+    if ((this.peek() === "e" || this.peek() === "E") && this.isExponentStart()) {
+      this.advance();
+      if (this.peek() === "+" || this.peek() === "-") {
+        this.advance();
+      }
+      while (!this.isAtEnd() && this.isDigit(this.peek())) {
+        this.advance();
+      }
+    }
+
+    const numericEnd = this.position();
+    const numericRaw = this.source.slice(start.offset, numericEnd.offset);
+    const value = Number(numericRaw);
+    if (!Number.isFinite(value)) {
+      throw this.error(start, `Invalid number literal: ${numericRaw}`);
+    }
+
+    const unit = this.tryScanUnitAfterNumber();
+    const token: GrlNumberToken = {
+      kind: "number",
+      raw: this.source.slice(start.offset, this.index),
+      value,
+      range: { start, end: this.position() },
+      ...(unit
+        ? {
+            unit: {
+              raw: unit.literal,
+              kind: unit.kind,
+              siUnit: unit.siUnit,
+              normalizedValue: value * unit.factor
+            }
+          }
+        : {})
+    };
+    this.tokens.push(token);
+  }
+
+  private tryScanUnitAfterNumber(): ReturnType<typeof normalizeUnitLiteral> | undefined {
+    const state = this.save();
+
+    while (!this.isAtEnd() && (this.peek() === " " || this.peek() === "\t")) {
+      this.advance();
+    }
+
+    const unitStart = this.index;
+
+    if (this.peek() === "%") {
+      this.advance();
+    } else {
+      while (!this.isAtEnd() && /[A-Za-z0-9/^]/.test(this.peek())) {
+        this.advance();
+      }
+    }
+
+    const literal = this.source.slice(unitStart, this.index);
+    if (!literal || !isGrlUnitLiteral(literal)) {
+      this.restore(state);
+      return undefined;
+    }
+
+    return normalizeUnitLiteral(literal);
+  }
+
+  private scanPunctuationOrOperator(): void {
+    const start = this.position();
+    const two = `${this.peek()}${this.peek(1)}`;
+
+    if (TWO_CHAR_OPERATORS.has(two)) {
+      this.advance();
+      this.advance();
+      const token: GrlOperatorToken = {
+        kind: "operator",
+        raw: two,
+        value: two,
+        range: { start, end: this.position() }
+      };
+      this.tokens.push(token);
+      return;
+    }
+
+    const char = this.advance();
+    if (PUNCTUATION.has(char)) {
+      const token: GrlPunctuationToken = {
+        kind: "punctuation",
+        raw: char,
+        value: char,
+        range: { start, end: this.position() }
+      };
+      this.tokens.push(token);
+      return;
+    }
+
+    if (OPERATORS.has(char)) {
+      const token: GrlOperatorToken = {
+        kind: "operator",
+        raw: char,
+        value: char,
+        range: { start, end: this.position() }
+      };
+      this.tokens.push(token);
+      return;
+    }
+
+    throw this.error(start, `Unexpected character: ${char}`);
+  }
+
+  private isExponentStart(): boolean {
+    const next = this.peek(1);
+    if (this.isDigit(next)) {
+      return true;
+    }
+    return (next === "+" || next === "-") && this.isDigit(this.peek(2));
+  }
+
+  private isNumberStart(char: string): boolean {
+    return this.isDigit(char) || (char === "." && this.isDigit(this.peek(1)));
+  }
+
+  private isIdentifierStart(char: string): boolean {
+    return /[A-Za-z_]/.test(char);
+  }
+
+  private isIdentifierPart(char: string): boolean {
+    return /[A-Za-z0-9_]/.test(char);
+  }
+
+  private isDigit(char: string): boolean {
+    return /[0-9]/.test(char);
+  }
+
+  private isWhitespace(char: string): boolean {
+    return char === " " || char === "\t" || char === "\r" || char === "\n";
+  }
+
+  private advance(): string {
+    const char = this.source[this.index] ?? "";
+    this.index += 1;
+
+    if (char === "\n") {
+      this.line += 1;
+      this.column = 1;
+    } else {
+      this.column += 1;
+    }
+
+    return char;
+  }
+
+  private peek(distance = 0): string {
+    return this.source[this.index + distance] ?? "";
+  }
+
+  private isAtEnd(): boolean {
+    return this.index >= this.source.length;
+  }
+
+  private position(): GrlSourcePosition {
+    return {
+      offset: this.index,
+      line: this.line,
+      column: this.column
+    };
+  }
+
+  private save(): ScannerState {
+    return {
+      index: this.index,
+      line: this.line,
+      column: this.column
+    };
+  }
+
+  private restore(state: ScannerState): void {
+    this.index = state.index;
+    this.line = state.line;
+    this.column = state.column;
+  }
+
+  private error(position: GrlSourcePosition, message: string): Error {
+    return new Error(`${message} at ${position.line}:${position.column}`);
+  }
+}

kdl-wasm/web/src/grl/lexer/tokens.ts

@@ -0,0 +1,86 @@
+import type { GrlKeyword } from "./keywords.js";
+import type { UnitKind } from "./units.js";
+
+export type GrlTokenKind =
+  | "keyword"
+  | "identifier"
+  | "number"
+  | "string"
+  | "comment"
+  | "punctuation"
+  | "operator"
+  | "eof";
+
+export interface GrlSourcePosition {
+  offset: number;
+  line: number;
+  column: number;
+}
+
+export interface GrlSourceRange {
+  start: GrlSourcePosition;
+  end: GrlSourcePosition;
+}
+
+export interface GrlBaseToken {
+  kind: GrlTokenKind;
+  raw: string;
+  range: GrlSourceRange;
+}
+
+export interface GrlKeywordToken extends GrlBaseToken {
+  kind: "keyword";
+  value: GrlKeyword;
+}
+
+export interface GrlIdentifierToken extends GrlBaseToken {
+  kind: "identifier";
+  value: string;
+}
+
+export interface GrlNumberToken extends GrlBaseToken {
+  kind: "number";
+  value: number;
+  unit?: {
+    raw: string;
+    kind: UnitKind;
+    siUnit: string;
+    normalizedValue: number;
+  };
+}
+
+export interface GrlStringToken extends GrlBaseToken {
+  kind: "string";
+  value: string;
+}
+
+export interface GrlCommentToken extends GrlBaseToken {
+  kind: "comment";
+  style: "line" | "block";
+  value: string;
+}
+
+export interface GrlPunctuationToken extends GrlBaseToken {
+  kind: "punctuation";
+  value: string;
+}
+
+export interface GrlOperatorToken extends GrlBaseToken {
+  kind: "operator";
+  value: string;
+}
+
+export interface GrlEofToken extends GrlBaseToken {
+  kind: "eof";
+  value: "";
+}
+
+export type GrlToken =
+  | GrlKeywordToken
+  | GrlIdentifierToken
+  | GrlNumberToken
+  | GrlStringToken
+  | GrlCommentToken
+  | GrlPunctuationToken
+  | GrlOperatorToken
+  | GrlEofToken;

kdl-wasm/web/src/grl/lexer/units.ts

@@ -0,0 +1,59 @@
+export type UnitKind =
+  | "length"
+  | "angle"
+  | "time"
+  | "mass"
+  | "linear_velocity"
+  | "angular_velocity"
+  | "linear_acceleration"
+  | "angular_acceleration"
+  | "percent";
+
+export interface UnitDefinition {
+  literal: string;
+  kind: UnitKind;
+  siUnit: string;
+  factor: number;
+}
+
+const UNIT_DEFINITIONS: UnitDefinition[] = [
+  { literal: "m", kind: "length", siUnit: "m", factor: 1 },
+  { literal: "mm", kind: "length", siUnit: "m", factor: 0.001 },
+  { literal: "rad", kind: "angle", siUnit: "rad", factor: 1 },
+  { literal: "deg", kind: "angle", siUnit: "rad", factor: Math.PI / 180 },
+  { literal: "s", kind: "time", siUnit: "s", factor: 1 },
+  { literal: "ms", kind: "time", siUnit: "s", factor: 0.001 },
+  { literal: "kg", kind: "mass", siUnit: "kg", factor: 1 },
+  { literal: "m/s", kind: "linear_velocity", siUnit: "m/s", factor: 1 },
+  { literal: "mm/s", kind: "linear_velocity", siUnit: "m/s", factor: 0.001 },
+  { literal: "rad/s", kind: "angular_velocity", siUnit: "rad/s", factor: 1 },
+  { literal: "deg/s", kind: "angular_velocity", siUnit: "rad/s", factor: Math.PI / 180 },
+  { literal: "m/s2", kind: "linear_acceleration", siUnit: "m/s2", factor: 1 },
+  { literal: "m/s^2", kind: "linear_acceleration", siUnit: "m/s2", factor: 1 },
+  { literal: "mm/s2", kind: "linear_acceleration", siUnit: "m/s2", factor: 0.001 },
+  { literal: "mm/s^2", kind: "linear_acceleration", siUnit: "m/s2", factor: 0.001 },
+  { literal: "rad/s2", kind: "angular_acceleration", siUnit: "rad/s2", factor: 1 },
+  { literal: "rad/s^2", kind: "angular_acceleration", siUnit: "rad/s2", factor: 1 },
+  { literal: "deg/s2", kind: "angular_acceleration", siUnit: "rad/s2", factor: Math.PI / 180 },
+  { literal: "deg/s^2", kind: "angular_acceleration", siUnit: "rad/s2", factor: Math.PI / 180 },
+  { literal: "%", kind: "percent", siUnit: "ratio", factor: 0.01 }
+];
+
+const UNITS = new Map(UNIT_DEFINITIONS.map((definition) => [definition.literal, definition]));
+
+export function normalizeUnitLiteral(literal: string): UnitDefinition {
+  const definition = UNITS.get(literal);
+  if (!definition) {
+    throw new Error(`Unknown GRL unit: ${literal}`);
+  }
+  return definition;
+}
+
+export function isGrlUnitLiteral(literal: string): boolean {
+  return UNITS.has(literal);
+}
+
+export function normalizeUnitValue(value: number, unitLiteral: string): number {
+  const unit = normalizeUnitLiteral(unitLiteral);
+  return value * unit.factor;
+}

kdl-wasm/web/src/grl/parser/errors.ts

@@ -0,0 +1,11 @@
+import type { GrlToken } from "../lexer/index.js";
+
+export class GrlParseError extends Error {
+  constructor(
+    message: string,
+    readonly token: GrlToken
+  ) {
+    super(`${message} at ${token.range.start.line}:${token.range.start.column}`);
+    this.name = "GrlParseError";
+  }
+}

kdl-wasm/web/src/grl/parser/expressionParser.ts

@@ -0,0 +1,351 @@
+import type {
+  GrlArrayExpression,
+  GrlBooleanLiteral,
+  GrlCallExpression,
+  GrlExpression,
+  GrlIdentifierExpression,
+  GrlNumberLiteral,
+  GrlObjectExpression,
+  GrlObjectProperty,
+  GrlOffsetAxis,
+  GrlOffsetExpression,
+  GrlStringLiteral
+} from "../ast/index.js";
+import type { GrlToken } from "../lexer/index.js";
+import { GrlParseError } from "./errors.js";
+
+export function parseGrlExpression(tokens: GrlToken[]): GrlExpression {
+  const parser = new GrlExpressionParser(tokens);
+  return parser.parse();
+}
+
+class GrlExpressionParser {
+  private current = 0;
+
+  constructor(private readonly tokens: GrlToken[]) {}
+
+  parse(): GrlExpression {
+    const expression = this.parseOffsetExpression();
+    if (!this.isAtEnd()) {
+      throw new GrlParseError("Unexpected token after expression", this.peek());
+    }
+    return expression;
+  }
+
+  private parseOffsetExpression(): GrlExpression {
+    const base = this.parsePrimary();
+    if (this.matchKeyword("offset")) {
+      return this.finishOffsetExpression(base, "frame");
+    }
+    if (this.matchKeyword("offset_in")) {
+      if (this.matchKeyword("tool")) {
+        return this.finishOffsetExpression(base, "tool");
+      }
+      this.consumeKeyword("frame", "Expected tool or frame after offset_in");
+      const frameName = this.consumeIdentifierLike("Expected frame name after offset_in frame");
+      return this.finishOffsetExpression(base, "frame", frameName.raw);
+    }
+    return base;
+  }
+
+  private finishOffsetExpression(
+    base: GrlExpression,
+    mode: "frame" | "tool",
+    frameName?: string
+  ): GrlOffsetExpression {
+    const axes: GrlOffsetAxis[] = [];
+    while (!this.isAtEnd()) {
+      const axis = this.consumeAxis();
+      const valueExpression = this.parsePrimary();
+      if (valueExpression.kind !== "NumberLiteral") {
+        throw new GrlParseError(`Expected length value after offset ${axis}`, valueExpression.range ? this.previous() : this.peek());
+      }
+      const value = valueExpression;
+      axes.push({ axis, value });
+    }
+
+    if (axes.length === 0) {
+      throw new GrlParseError("Expected at least one offset axis", this.peek());
+    }
+
+    return {
+      kind: "OffsetExpression",
+      base,
+      mode,
+      ...(frameName ? { frameName } : {}),
+      axes,
+      range: {
+        start: base.range.start,
+        end: axes.at(-1)?.value.range.end ?? base.range.end
+      }
+    };
+  }
+
+  private parsePrimary(): GrlExpression {
+    const token = this.peek();
+
+    if (token.kind === "operator" && token.raw === "-") {
+      return this.parseNegativeNumber();
+    }
+
+    if (token.kind === "number") {
+      this.advance();
+      return numberLiteralFromToken(token);
+    }
+
+    if (token.kind === "string") {
+      this.advance();
+      const literal: GrlStringLiteral = {
+        kind: "StringLiteral",
+        value: token.value,
+        range: token.range
+      };
+      return literal;
+    }
+
+    if (token.kind === "keyword" && (token.raw === "true" || token.raw === "false")) {
+      this.advance();
+      const literal: GrlBooleanLiteral = {
+        kind: "BooleanLiteral",
+        value: token.raw === "true",
+        range: token.range
+      };
+      return literal;
+    }
+
+    if (token.kind === "punctuation" && token.raw === "[") {
+      return this.parseArrayExpression();
+    }
+
+    if (token.kind === "punctuation" && token.raw === "(") {
+      this.advance();
+      const expression = this.parseOffsetExpression();
+      this.consumePunctuation(")", "Expected ) after expression");
+      return expression;
+    }
+
+    if (token.kind === "identifier" || token.kind === "keyword") {
+      const name = this.advance();
+      if (this.matchPunctuation("(")) {
+        return this.finishCallExpression(name);
+      }
+      if (this.matchPunctuation("{")) {
+        return this.finishObjectExpression(name);
+      }
+      const expression: GrlIdentifierExpression = {
+        kind: "IdentifierExpression",
+        name: name.raw,
+        range: name.range
+      };
+      return expression;
+    }
+
+    throw new GrlParseError("Expected expression", token);
+  }
+
+  private parseArrayExpression(): GrlArrayExpression {
+    const start = this.consumePunctuation("[", "Expected [");
+    const elements: GrlExpression[] = [];
+    while (!this.checkPunctuation("]") && !this.isAtEnd()) {
+      elements.push(this.parseOffsetExpression());
+      this.matchPunctuation(",");
+    }
+    const end = this.consumePunctuation("]", "Expected ] after array expression");
+
+    return {
+      kind: "ArrayExpression",
+      elements,
+      range: {
+        start: start.range.start,
+        end: end.range.end
+      }
+    };
+  }
+
+  private parseNegativeNumber(): GrlNumberLiteral {
+    const minus = this.advance();
+    const number = this.consumeNumberLiteral("Expected number after -");
+    return {
+      ...number,
+      value: -number.value,
+      raw: `${minus.raw}${number.raw}`,
+      ...(number.unit
+        ? {
+            unit: {
+              ...number.unit,
+              normalizedValue: -number.unit.normalizedValue
+            }
+          }
+        : {}),
+      range: {
+        start: minus.range.start,
+        end: number.range.end
+      }
+    };
+  }
+
+  private finishCallExpression(callee: GrlToken): GrlCallExpression {
+    const args: GrlExpression[] = [];
+    while (!this.checkPunctuation(")") && !this.isAtEnd()) {
+      args.push(this.parseOffsetExpression());
+      this.matchPunctuation(",");
+    }
+    const end = this.consumePunctuation(")", "Expected ) after call expression");
+
+    return {
+      kind: "CallExpression",
+      callee: callee.raw,
+      args,
+      range: {
+        start: callee.range.start,
+        end: end.range.end
+      }
+    };
+  }
+
+  private finishObjectExpression(typeName: GrlToken): GrlObjectExpression {
+    const properties: GrlObjectProperty[] = [];
+    while (!this.checkPunctuation("}") && !this.isAtEnd()) {
+      const key = this.consumeIdentifierLike("Expected object property name");
+      this.consumePunctuation(":", "Expected : after object property name");
+      const value = this.parseOffsetExpression();
+      properties.push({
+        key: key.raw,
+        value,
+        range: {
+          start: key.range.start,
+          end: value.range.end
+        }
+      });
+      this.matchPunctuation(",");
+    }
+    const end = this.consumePunctuation("}", "Expected } after object expression");
+
+    return {
+      kind: "ObjectExpression",
+      typeName: typeName.raw,
+      properties,
+      range: {
+        start: typeName.range.start,
+        end: end.range.end
+      }
+    };
+  }
+
+  private consumeAxis(): "x" | "y" | "z" {
+    const token = this.consumeIdentifierLike("Expected offset axis");
+    if (token.raw === "x" || token.raw === "y" || token.raw === "z") {
+      return token.raw;
+    }
+    throw new GrlParseError("Expected offset axis x, y, or z", token);
+  }
+
+  private consumeNumberLiteral(message: string): GrlNumberLiteral {
+    const token = this.consume("number", message);
+    if (token.kind !== "number") {
+      throw new GrlParseError(message, token);
+    }
+    return numberLiteralFromToken(token);
+  }
+
+  private consumeIdentifierLike(message: string): GrlToken {
+    const token = this.peek();
+    if (token.kind === "identifier" || token.kind === "keyword") {
+      return this.advance();
+    }
+    throw new GrlParseError(message, token);
+  }
+
+  private consume(kind: GrlToken["kind"], message: string): GrlToken {
+    if (this.check(kind)) {
+      return this.advance();
+    }
+    throw new GrlParseError(message, this.peek());
+  }
+
+  private consumeKeyword(keyword: string, message: string): GrlToken {
+    if (this.checkKeyword(keyword)) {
+      return this.advance();
+    }
+    throw new GrlParseError(message, this.peek());
+  }
+
+  private consumePunctuation(value: string, message: string): GrlToken {
+    if (this.checkPunctuation(value)) {
+      return this.advance();
+    }
+    throw new GrlParseError(message, this.peek());
+  }
+
+  private matchKeyword(keyword: string): boolean {
+    if (this.checkKeyword(keyword)) {
+      this.advance();
+      return true;
+    }
+    return false;
+  }
+
+  private matchPunctuation(value: string): boolean {
+    if (this.checkPunctuation(value)) {
+      this.advance();
+      return true;
+    }
+    return false;
+  }
+
+  private check(kind: GrlToken["kind"]): boolean {
+    return !this.isAtEnd() && this.peek().kind === kind;
+  }
+
+  private checkKeyword(keyword: string): boolean {
+    const token = this.peek();
+    return (token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword;
+  }
+
+  private checkPunctuation(value: string): boolean {
+    const token = this.peek();
+    return token.kind === "punctuation" && token.raw === value;
+  }
+
+  private advance(): GrlToken {
+    if (!this.isAtEnd()) {
+      this.current += 1;
+    }
+    return this.previous();
+  }
+
+  private isAtEnd(): boolean {
+    return this.current >= this.tokens.length;
+  }
+
+  private peek(): GrlToken {
+    return this.tokens[this.current] ?? this.tokens[this.tokens.length - 1]!;
+  }
+
+  private previous(): GrlToken {
+    return this.tokens[this.current - 1] ?? this.tokens[0]!;
+  }
+}
+
+function numberLiteralFromToken(token: GrlToken): GrlNumberLiteral {
+  if (token.kind !== "number") {
+    throw new GrlParseError("Expected number literal", token);
+  }
+
+  return {
+    kind: "NumberLiteral",
+    value: token.value,
+    raw: token.raw,
+    ...(token.unit
+      ? {
+          unit: {
+            raw: token.unit.raw,
+            kind: token.unit.kind,
+            siUnit: token.unit.siUnit,
+            normalizedValue: token.unit.normalizedValue
+          }
+        }
+      : {}),
+    range: token.range
+  };
+}

kdl-wasm/web/src/grl/parser/index.ts

@@ -0,0 +1,3 @@
+export { GrlParseError } from "./errors.js";
+export { parseGrl } from "./parser.js";
+export { parseGrlExpression } from "./expressionParser.js";

kdl-wasm/web/src/grl/parser/parser.ts

@@ -0,0 +1,859 @@
+import { lexGrl, type GrlToken } from "../lexer/index.js";
+import type {
+  GrlDataDeclaration,
+  GrlDeclarationStorage,
+  GrlFunctionDeclaration,
+  GrlImportDeclaration,
+  GrlLanguageDeclaration,
+  GrlModuleDeclaration,
+  GrlOperationActionBlock,
+  GrlOperationDeclaration,
+  GrlOperationItem,
+  GrlOperationProcessBlock,
+  GrlPathDeclaration,
+  GrlPathDefaultsBlock,
+  GrlPathEvent,
+  GrlPathItem,
+  GrlPathPoint,
+  GrlPathProperty,
+  GrlPathSourceBlock,
+  GrlProcedureDeclaration,
+  GrlProgram,
+  GrlRawTopLevelDeclaration,
+  GrlTargetDeclaration,
+  GrlTopLevelDeclaration
+} from "../ast/index.js";
+import { GrlParseError } from "./errors.js";
+import { parseGrlExpression } from "./expressionParser.js";
+
+const RAW_TOP_LEVEL_KEYWORDS = new Set([
+  "trap",
+  "task",
+  "post_hint"
+]);
+
+export function parseGrl(source: string): GrlProgram {
+  const tokens = lexGrl(source).filter((token) => token.kind !== "comment");
+  return new GrlParser(tokens).parseProgram();
+}
+
+class GrlParser {
+  private current = 0;
+
+  constructor(private readonly tokens: GrlToken[]) {}
+
+  parseProgram(): GrlProgram {
+    const first = this.peek();
+    const language = this.matchKeyword("language") ? this.finishLanguageDeclaration(this.previous()) : undefined;
+    const module = this.parseModuleDeclaration();
+    const eof = this.consume("eof", "Expected end of file after module declaration");
+
+    return {
+      kind: "Program",
+      ...(language ? { language } : {}),
+      module,
+      range: {
+        start: (language?.range ?? module.range).start,
+        end: eof.range.end
+      }
+    };
+  }
+
+  private finishLanguageDeclaration(languageToken: GrlToken): GrlLanguageDeclaration {
+    const languageName = this.consumeIdentifierLike("Expected language name after language");
+    if (languageName.raw !== "grl") {
+      throw new GrlParseError("Only language grl is supported", languageName);
+    }
+
+    const version = this.consume("number", "Expected GRL language version");
+    return {
+      kind: "LanguageDeclaration",
+      language: "grl",
+      version: version.raw,
+      range: {
+        start: languageToken.range.start,
+        end: version.range.end
+      }
+    };
+  }
+
+  private parseModuleDeclaration(): GrlModuleDeclaration {
+    const moduleToken = this.consumeKeyword("module", "Expected module declaration");
+    const name = this.consume("identifier", "Expected module name");
+    const declarations: GrlTopLevelDeclaration[] = [];
+
+    while (!this.checkKeyword("end") && !this.isAtEnd()) {
+      declarations.push(this.parseTopLevelDeclaration());
+    }
+
+    const end = this.consumeKeyword("end", "Expected end after module declaration");
+    return {
+      kind: "ModuleDeclaration",
+      name: name.raw,
+      declarations,
+      range: {
+        start: moduleToken.range.start,
+        end: end.range.end
+      }
+    };
+  }
+
+  private parseTopLevelDeclaration(): GrlTopLevelDeclaration {
+    if (this.matchKeyword("import")) {
+      return this.finishImportDeclaration(this.previous());
+    }
+
+    if (this.matchKeyword("proc")) {
+      return this.finishProcedureDeclaration(this.previous());
+    }
+
+    if (this.matchKeyword("func")) {
+      return this.finishFunctionDeclaration(this.previous());
+    }
+
+    if (this.checkDataDeclarationStart()) {
+      return this.parseDataDeclaration();
+    }
+
+    if (this.matchKeyword("target")) {
+      return this.finishTargetDeclaration(this.previous());
+    }
+
+    if (this.matchKeyword("path")) {
+      return this.finishPathDeclaration(this.previous());
+    }
+
+    if (this.matchKeyword("operation")) {
+      return this.finishOperationDeclaration(this.previous());
+    }
+
+    const token = this.peek();
+    if (token.kind === "keyword" && RAW_TOP_LEVEL_KEYWORDS.has(token.raw)) {
+      return this.parseRawTopLevelDeclaration();
+    }
+
+    throw new GrlParseError("Expected top-level declaration", token);
+  }
+
+  private finishImportDeclaration(importToken: GrlToken): GrlImportDeclaration {
+    const moduleName = this.consume("identifier", "Expected imported module name");
+    return {
+      kind: "ImportDeclaration",
+      moduleName: moduleName.raw,
+      range: {
+        start: importToken.range.start,
+        end: moduleName.range.end
+      }
+    };
+  }
+
+  private parseDataDeclaration(): GrlDataDeclaration {
+    const storageToken = this.advance();
+    const storage = storageToken.raw as GrlDeclarationStorage;
+    const typeName = this.consumeIdentifierLike("Expected type name in data declaration");
+    const name = this.consume("identifier", "Expected variable name in data declaration");
+    this.consumeOperator("=", "Expected = in data declaration");
+    const initializerTokens = this.collectFlatExpressionTokens();
+    const initializer = parseGrlExpression(initializerTokens);
+
+    return {
+      kind: "DataDeclaration",
+      storage,
+      typeName: typeName.raw,
+      name: name.raw,
+      initializer,
+      range: {
+        start: storageToken.range.start,
+        end: initializer.range.end
+      }
+    };
+  }
+
+  private finishTargetDeclaration(targetToken: GrlToken): GrlTargetDeclaration {
+    const name = this.consume("identifier", "Expected target name");
+    this.consumeOperator("=", "Expected = in target declaration");
+    const targetTokens = this.collectFlatExpressionTokens();
+    const target = parseGrlExpression(targetTokens);
+
+    return {
+      kind: "TargetDeclaration",
+      name: name.raw,
+      target,
+      range: {
+        start: targetToken.range.start,
+        end: target.range.end
+      }
+    };
+  }
+
+  private finishPathDeclaration(pathToken: GrlToken): GrlPathDeclaration {
+    const name = this.consume("identifier", "Expected path name");
+    this.consumePunctuation("{", "Expected { after path name");
+    const items: GrlPathItem[] = [];
+
+    while (!this.checkPunctuation("}") && !this.isAtEnd()) {
+      if (this.matchKeyword("defaults")) {
+        items.push(this.finishPathDefaultsBlock(this.previous()));
+        continue;
+      }
+      if (this.matchKeyword("source")) {
+        items.push(this.finishPathSourceBlock(this.previous()));
+        continue;
+      }
+      if (this.matchKeyword("point")) {
+        items.push(this.finishPathPoint(this.previous()));
+        continue;
+      }
+      if (this.matchKeyword("event")) {
+        items.push(this.finishPathEvent(this.previous()));
+        continue;
+      }
+      throw new GrlParseError("Expected path item", this.peek());
+    }
+
+    const end = this.consumePunctuation("}", "Expected } after path declaration");
+    return {
+      kind: "PathDeclaration",
+      name: name.raw,
+      items,
+      range: {
+        start: pathToken.range.start,
+        end: end.range.end
+      }
+    };
+  }
+
+  private finishPathDefaultsBlock(start: GrlToken): GrlPathDefaultsBlock {
+    const { properties, end } = this.parsePathPropertyBlock("defaults");
+    return {
+      kind: "PathDefaultsBlock",
+      properties,
+      range: {
+        start: start.range.start,
+        end: end.range.end
+      }
+    };
+  }
+
+  private finishPathSourceBlock(start: GrlToken): GrlPathSourceBlock {
+    const { properties, end } = this.parsePathPropertyBlock("source");
+    return {
+      kind: "PathSourceBlock",
+      properties,
+      range: {
+        start: start.range.start,
+        end: end.range.end
+      }
+    };
+  }
+
+  private parsePathPropertyBlock(blockName: string): { properties: GrlPathProperty[]; end: GrlToken } {
+    this.consumePunctuation("{", `Expected { after path ${blockName}`);
+    const properties: GrlPathProperty[] = [];
+
+    while (!this.checkPunctuation("}") && !this.isAtEnd()) {
+      const key = this.consumeIdentifierLike(`Expected ${blockName} property name`);
+      this.consumePunctuation(":", `Expected : after ${blockName} property name`);
+      const valueTokens = this.collectPathPropertyValueTokens();
+      const value = parseGrlExpression(valueTokens);
+      properties.push({
+        key: key.raw,
+        value,
+        range: {
+          start: key.range.start,
+          end: value.range.end
+        }
+      });
+      this.matchPunctuation(",");
+    }
+
+    const end = this.consumePunctuation("}", `Expected } after path ${blockName}`);
+    return { properties, end };
+  }
+
+  private finishPathPoint(start: GrlToken): GrlPathPoint {
+    const id = this.consume("identifier", "Expected path point id");
+    const motionTokens = this.collectPathMotionTokens();
+    if (motionTokens.length === 0) {
+      throw new GrlParseError("Expected path point motion statement", this.peek());
+    }
+    return {
+      kind: "PathPoint",
+      id: id.raw,
+      motionTokens,
+      range: {
+        start: start.range.start,
+        end: motionTokens.at(-1)?.range.end ?? id.range.end
+      }
+    };
+  }
+
+  private finishPathEvent(start: GrlToken): GrlPathEvent {
+    const timing = this.consumeIdentifierLike("Expected before, after, or at after event");
+    if (timing.raw !== "before" && timing.raw !== "after" && timing.raw !== "at") {
+      throw new GrlParseError("Expected before, after, or at after event", timing);
+    }
+    const point = this.consume("identifier", "Expected event point id");
+    let distance: GrlPathEvent["distance"];
+    if (timing.raw === "at") {
+      this.consumeIdentifierValue("distance", "Expected distance in event at");
+      const distanceToken = this.peek();
+      const distanceTokens = this.collectSignedNumberTokens();
+      const distanceExpression = parseGrlExpression(distanceTokens);
+      if (distanceExpression.kind !== "NumberLiteral") {
+        throw new GrlParseError("Expected numeric event distance", distanceToken);
+      }
+      distance = distanceExpression;
+    }
+    const actionTokens = this.collectPathEventActionTokens();
+    if (actionTokens.length === 0) {
+      throw new GrlParseError("Expected path event action", this.peek());
+    }
+
+    return {
+      kind: "PathEvent",
+      timing: timing.raw,
+      pointId: point.raw,
+      ...(distance ? { distance } : {}),
+      actionTokens,
+      range: {
+        start: start.range.start,
+        end: actionTokens.at(-1)?.range.end ?? point.range.end
+      }
+    };
+  }
+
+  private finishOperationDeclaration(operationToken: GrlToken): GrlOperationDeclaration {
+    const name = this.consume("identifier", "Expected operation name");
+    this.consumePunctuation("{", "Expected { after operation name");
+    let operationKind: string | undefined;
+    let pathName: string | undefined;
+    const items: GrlOperationItem[] = [];
+
+    while (!this.checkPunctuation("}") && !this.isAtEnd()) {
+      if (this.matchIdentifierValue("kind")) {
+        this.consumePunctuation(":", "Expected : after operation kind");
+        operationKind = this.consumeIdentifierLike("Expected operation kind").raw;
+        this.matchPunctuation(",");
+        continue;
+      }
+      if (this.matchIdentifierValue("path")) {
+        this.consumePunctuation(":", "Expected : after operation path");
+        pathName = this.consumeIdentifierLike("Expected operation path name").raw;
+        this.matchPunctuation(",");
+        continue;
+      }
+      if (this.matchIdentifierValue("process")) {
+        items.push(this.finishOperationProcessBlock(this.previous()));
+        continue;
+      }
+      if (this.matchIdentifierValue("start_action")) {
+        items.push(this.finishOperationActionBlock(this.previous(), "start_action"));
+        continue;
+      }
+      if (this.matchIdentifierValue("end_action")) {
+        items.push(this.finishOperationActionBlock(this.previous(), "end_action"));
+        continue;
+      }
+      throw new GrlParseError("Expected operation item", this.peek());
+    }
+
+    const end = this.consumePunctuation("}", "Expected } after operation declaration");
+    if (!operationKind) {
+      throw new GrlParseError("Operation requires kind", end);
+    }
+    if (!pathName) {
+      throw new GrlParseError("Operation requires path", end);
+    }
+
+    return {
+      kind: "OperationDeclaration",
+      name: name.raw,
+      operationKind,
+      pathName,
+      items,
+      range: {
+        start: operationToken.range.start,
+        end: end.range.end
+      }
+    };
+  }
+
+  private finishOperationProcessBlock(start: GrlToken): GrlOperationProcessBlock {
+    const { properties, end } = this.parsePathPropertyBlock("process");
+    return {
+      kind: "OperationProcessBlock",
+      properties,
+      range: {
+        start: start.range.start,
+        end: end.range.end
+      }
+    };
+  }
+
+  private finishOperationActionBlock(
+    start: GrlToken,
+    actionKind: "start_action" | "end_action"
+  ): GrlOperationActionBlock {
+    this.consumePunctuation(":", `Expected : after ${actionKind}`);
+    const actionTokens = this.collectOperationActionTokens();
+    if (actionTokens.length === 0) {
+      throw new GrlParseError(`Expected ${actionKind} action`, this.peek());
+    }
+    return {
+      kind: "OperationActionBlock",
+      actionKind,
+      actionTokens,
+      range: {
+        start: start.range.start,
+        end: actionTokens.at(-1)?.range.end ?? start.range.end
+      }
+    };
+  }
+
+  private finishProcedureDeclaration(procToken: GrlToken): GrlProcedureDeclaration {
+    const name = this.consume("identifier", "Expected procedure name");
+    this.consumePunctuation("(", "Expected ( after procedure name");
+
+    const params: GrlToken[] = [];
+    while (!this.checkPunctuation(")") && !this.isAtEnd()) {
+      params.push(this.advance());
+    }
+    this.consumePunctuation(")", "Expected ) after procedure parameters");
+
+    const bodyTokens: GrlToken[] = [];
+    let nestedBlocks = 0;
+    while (!this.isAtEnd()) {
+      if (this.checkKeyword("end") && nestedBlocks === 0) {
+        break;
+      }
+
+      const token = this.advance();
+      bodyTokens.push(token);
+
+      if (token.kind === "keyword" && token.raw === "end" && nestedBlocks > 0) {
+        nestedBlocks -= 1;
+      } else if (token.kind === "keyword" && ["if", "while", "for", "switch", "try"].includes(token.raw)) {
+        nestedBlocks += 1;
+      }
+    }
+
+    const end = this.consumeKeyword("end", "Expected end after procedure declaration");
+
+    return {
+      kind: "ProcedureDeclaration",
+      name: name.raw,
+      params,
+      bodyTokens,
+      range: {
+        start: procToken.range.start,
+        end: end.range.end
+      }
+    };
+  }
+
+  private finishFunctionDeclaration(funcToken: GrlToken): GrlFunctionDeclaration {
+    const returnType = this.consumeIdentifierLike("Expected function return type");
+    const name = this.consume("identifier", "Expected function name");
+    this.consumePunctuation("(", "Expected ( after function name");
+
+    const params: GrlToken[] = [];
+    while (!this.checkPunctuation(")") && !this.isAtEnd()) {
+      params.push(this.advance());
+    }
+    this.consumePunctuation(")", "Expected ) after function parameters");
+
+    const bodyTokens: GrlToken[] = [];
+    let nestedBlocks = 0;
+    while (!this.isAtEnd()) {
+      if (this.checkKeyword("end") && nestedBlocks === 0) {
+        break;
+      }
+
+      const token = this.advance();
+      bodyTokens.push(token);
+
+      if (token.kind === "keyword" && token.raw === "end" && nestedBlocks > 0) {
+        nestedBlocks -= 1;
+      } else if (token.kind === "keyword" && ["if", "while", "for", "switch", "try"].includes(token.raw)) {
+        nestedBlocks += 1;
+      }
+    }
+
+    const end = this.consumeKeyword("end", "Expected end after function declaration");
+
+    return {
+      kind: "FunctionDeclaration",
+      returnType: returnType.raw,
+      name: name.raw,
+      params,
+      bodyTokens,
+      range: {
+        start: funcToken.range.start,
+        end: end.range.end
+      }
+    };
+  }
+
+  private parseRawTopLevelDeclaration(): GrlRawTopLevelDeclaration {
+    const first = this.advance();
+    const tokens: GrlToken[] = [first];
+
+    if (["path", "operation"].includes(first.raw)) {
+      this.collectBalancedBlock(tokens);
+    } else if (["trap", "task"].includes(first.raw)) {
+      this.collectUntilMatchingEnd(tokens);
+    } else {
+      this.collectFlatDeclaration(tokens);
+    }
+
+    return {
+      kind: "RawTopLevelDeclaration",
+      declarationType: first.raw,
+      tokens,
+      range: {
+        start: first.range.start,
+        end: tokens.at(-1)?.range.end ?? first.range.end
+      }
+    };
+  }
+
+  private collectBalancedBlock(tokens: GrlToken[]): void {
+    let braceDepth = 0;
+    while (!this.isAtEnd()) {
+      const token = this.advance();
+      tokens.push(token);
+      if (token.kind === "punctuation" && token.raw === "{") {
+        braceDepth += 1;
+      } else if (token.kind === "punctuation" && token.raw === "}") {
+        braceDepth -= 1;
+        if (braceDepth === 0) {
+          return;
+        }
+      }
+    }
+  }
+
+  private collectUntilMatchingEnd(tokens: GrlToken[]): void {
+    let nestedBlocks = 0;
+    while (!this.isAtEnd()) {
+      const token = this.advance();
+      tokens.push(token);
+      if (token.kind === "keyword" && token.raw === "end") {
+        if (nestedBlocks === 0) {
+          return;
+        }
+        nestedBlocks -= 1;
+      } else if (token.kind === "keyword" && ["if", "while", "for", "switch", "try"].includes(token.raw)) {
+        nestedBlocks += 1;
+      }
+    }
+  }
+
+  private collectFlatDeclaration(tokens: GrlToken[]): void {
+    while (!this.isAtEnd()) {
+      if (this.checkKeyword("end") || this.startsTopLevelDeclaration(this.peek())) {
+        return;
+      }
+      tokens.push(this.advance());
+    }
+  }
+
+  private collectFlatExpressionTokens(): GrlToken[] {
+    const tokens: GrlToken[] = [];
+    let braceDepth = 0;
+    let bracketDepth = 0;
+    let parenDepth = 0;
+
+    while (!this.isAtEnd()) {
+      if (
+        braceDepth === 0 &&
+        bracketDepth === 0 &&
+        parenDepth === 0 &&
+        (this.checkKeyword("end") || this.startsTopLevelDeclaration(this.peek()) || this.startsNextDataDeclaration())
+      ) {
+        break;
+      }
+
+      const token = this.advance();
+      tokens.push(token);
+
+      if (token.kind === "punctuation") {
+        if (token.raw === "{") {
+          braceDepth += 1;
+        } else if (token.raw === "}") {
+          braceDepth -= 1;
+        } else if (token.raw === "[") {
+          bracketDepth += 1;
+        } else if (token.raw === "]") {
+          bracketDepth -= 1;
+        } else if (token.raw === "(") {
+          parenDepth += 1;
+        } else if (token.raw === ")") {
+          parenDepth -= 1;
+        }
+      }
+    }
+
+    if (tokens.length === 0) {
+      throw new GrlParseError("Expected expression", this.peek());
+    }
+    return tokens;
+  }
+
+  private collectPathPropertyValueTokens(): GrlToken[] {
+    return this.collectUntil((token, depth) =>
+      depth.brace === 0 &&
+      depth.bracket === 0 &&
+      depth.paren === 0 &&
+      ((token.kind === "punctuation" && (token.raw === "," || token.raw === "}")) ||
+        this.isPathItemStart(token) ||
+        this.isPathPropertyStart())
+    );
+  }
+
+  private collectPathMotionTokens(): GrlToken[] {
+    return this.collectUntil((token, depth) =>
+      depth.brace === 0 &&
+      depth.bracket === 0 &&
+      depth.paren === 0 &&
+      ((token.kind === "punctuation" && token.raw === "}") || this.isPathItemStart(token))
+    );
+  }
+
+  private collectPathEventActionTokens(): GrlToken[] {
+    return this.collectUntil((token, depth) =>
+      depth.brace === 0 &&
+      depth.bracket === 0 &&
+      depth.paren === 0 &&
+      ((token.kind === "punctuation" && token.raw === "}") || this.isPathItemStart(token))
+    );
+  }
+
+  private collectOperationActionTokens(): GrlToken[] {
+    return this.collectUntil((token, depth) =>
+      depth.brace === 0 &&
+      depth.bracket === 0 &&
+      depth.paren === 0 &&
+      ((token.kind === "punctuation" && token.raw === "}") || this.isOperationItemStart(token))
+    );
+  }
+
+  private collectSignedNumberTokens(): GrlToken[] {
+    const tokens: GrlToken[] = [];
+    if (this.peek().kind === "operator" && this.peek().raw === "-") {
+      tokens.push(this.advance());
+    }
+    tokens.push(this.consume("number", "Expected numeric value"));
+    return tokens;
+  }
+
+  private collectUntil(
+    shouldStop: (
+      token: GrlToken,
+      depth: { brace: number; bracket: number; paren: number }
+    ) => boolean
+  ): GrlToken[] {
+    const tokens: GrlToken[] = [];
+    const depth = { brace: 0, bracket: 0, paren: 0 };
+
+    while (!this.isAtEnd() && !shouldStop(this.peek(), depth)) {
+      const token = this.advance();
+      tokens.push(token);
+
+      if (token.kind === "punctuation") {
+        if (token.raw === "{") {
+          depth.brace += 1;
+        } else if (token.raw === "}") {
+          depth.brace -= 1;
+        } else if (token.raw === "[") {
+          depth.bracket += 1;
+        } else if (token.raw === "]") {
+          depth.bracket -= 1;
+        } else if (token.raw === "(") {
+          depth.paren += 1;
+        } else if (token.raw === ")") {
+          depth.paren -= 1;
+        }
+      }
+    }
+
+    if (tokens.length === 0) {
+      throw new GrlParseError("Expected expression", this.peek());
+    }
+    return tokens;
+  }
+
+  private isPathItemStart(token: GrlToken): boolean {
+    return (
+      token.kind === "keyword" &&
+      (token.raw === "defaults" || token.raw === "source" || token.raw === "point" || token.raw === "event")
+    );
+  }
+
+  private isOperationItemStart(token: GrlToken): boolean {
+    return (
+      ((token.kind === "keyword" || token.kind === "identifier") &&
+        (token.raw === "kind" || token.raw === "path" || token.raw === "process")) ||
+      ((token.kind === "identifier" || token.kind === "keyword") &&
+        (token.raw === "start_action" || token.raw === "end_action"))
+    );
+  }
+
+  private isPathPropertyStart(): boolean {
+    const token = this.peek();
+    const next = this.peek(1);
+    return (
+      (token.kind === "keyword" || token.kind === "identifier") &&
+      next.kind === "punctuation" &&
+      next.raw === ":"
+    );
+  }
+
+  private startsNextDataDeclaration(): boolean {
+    const current = this.peek();
+    const next = this.peekNext();
+    const following = this.peek(2);
+
+    if (current.kind !== "identifier" && current.kind !== "keyword") {
+      return false;
+    }
+    if (next.kind !== "identifier" && next.kind !== "keyword") {
+      return false;
+    }
+    return following.kind === "operator" && following.raw === "=";
+  }
+
+  private startsTopLevelDeclaration(token: GrlToken): boolean {
+    if (token.kind !== "keyword") {
+      return false;
+    }
+    if (token.raw === "target") {
+      const name = this.peek(1);
+      const equals = this.peek(2);
+      return name.kind === "identifier" && equals.kind === "operator" && equals.raw === "=";
+    }
+
+    return (
+      token.raw === "import" ||
+      token.raw === "proc" ||
+      token.raw === "path" ||
+      token.raw === "operation" ||
+      token.raw === "persistent" ||
+      token.raw === "const" ||
+      token.raw === "var" ||
+      RAW_TOP_LEVEL_KEYWORDS.has(token.raw)
+    );
+  }
+
+  private checkDataDeclarationStart(): boolean {
+    return this.checkKeyword("persistent") || this.checkKeyword("const") || this.checkKeyword("var");
+  }
+
+  private consumeIdentifierLike(message: string): GrlToken {
+    const token = this.peek();
+    if (token.kind === "identifier" || token.kind === "keyword") {
+      return this.advance();
+    }
+    throw new GrlParseError(message, token);
+  }
+
+  private consume(kind: GrlToken["kind"], message: string): GrlToken {
+    if (this.check(kind)) {
+      return this.advance();
+    }
+    throw new GrlParseError(message, this.peek());
+  }
+
+  private consumeKeyword(keyword: string, message: string): GrlToken {
+    if (this.checkKeyword(keyword)) {
+      return this.advance();
+    }
+    throw new GrlParseError(message, this.peek());
+  }
+
+  private consumeIdentifierValue(value: string, message: string): GrlToken {
+    const token = this.peek();
+    if ((token.kind === "keyword" || token.kind === "identifier") && token.raw === value) {
+      return this.advance();
+    }
+    throw new GrlParseError(message, token);
+  }
+
+  private consumePunctuation(value: string, message: string): GrlToken {
+    if (this.checkPunctuation(value)) {
+      return this.advance();
+    }
+    throw new GrlParseError(message, this.peek());
+  }
+
+  private consumeOperator(value: string, message: string): GrlToken {
+    const token = this.peek();
+    if (token.kind === "operator" && token.raw === value) {
+      return this.advance();
+    }
+    throw new GrlParseError(message, token);
+  }
+
+  private matchKeyword(keyword: string): boolean {
+    if (this.checkKeyword(keyword)) {
+      this.advance();
+      return true;
+    }
+    return false;
+  }
+
+  private matchIdentifierValue(value: string): boolean {
+    const token = this.peek();
+    if ((token.kind === "keyword" || token.kind === "identifier") && token.raw === value) {
+      this.advance();
+      return true;
+    }
+    return false;
+  }
+
+  private matchPunctuation(value: string): boolean {
+    if (this.checkPunctuation(value)) {
+      this.advance();
+      return true;
+    }
+    return false;
+  }
+
+  private check(kind: GrlToken["kind"]): boolean {
+    return this.peek().kind === kind;
+  }
+
+  private checkKeyword(keyword: string): boolean {
+    const token = this.peek();
+    return token.kind === "keyword" && token.raw === keyword;
+  }
+
+  private checkPunctuation(value: string): boolean {
+    const token = this.peek();
+    return token.kind === "punctuation" && token.raw === value;
+  }
+
+  private advance(): GrlToken {
+    if (!this.isAtEnd()) {
+      this.current += 1;
+    }
+    return this.previous();
+  }
+
+  private isAtEnd(): boolean {
+    return this.peek().kind === "eof";
+  }
+
+  private peek(distance = 0): GrlToken {
+    return this.tokens[this.current + distance] ?? this.tokens[this.tokens.length - 1]!;
+  }
+
+  private peekNext(): GrlToken {
+    return this.peek(1);
+  }
+
+  private previous(): GrlToken {
+    return this.tokens[this.current - 1] ?? this.tokens[0]!;
+  }
+}

kdl-wasm/web/src/grl/post/index.ts

@@ -0,0 +1,8 @@
+export {
+  postProcessAllBrands,
+  postProcessBrand,
+  type MultiBrandPostResult,
+  type PostBrand,
+  type PostIssue,
+  type PostResult
+} from "./postProcessor.js";

kdl-wasm/web/src/grl/post/postProcessor.ts

@@ -0,0 +1,232 @@
+import type { MotionDiagnostic, SpeedSpec, ZoneSpec } from "../../kdl/types.js";
+import type {
+  ExecutableInstruction,
+  MotionInstruction,
+  SemanticProgramIr
+} from "../ir/index.js";
+
+export type PostBrand = "abb" | "fanuc" | "kuka";
+
+export interface PostIssue {
+  severity: MotionDiagnostic["severity"];
+  code: string;
+  message: string;
+  brand?: PostBrand;
+}
+
+export interface PostResult {
+  brand: PostBrand;
+  filename: string;
+  text: string;
+  report: PostIssue[];
+}
+
+export interface MultiBrandPostResult {
+  outputs: Record<PostBrand, PostResult>;
+  report: PostIssue[];
+}
+
+export function postProcessAllBrands(ir: SemanticProgramIr): MultiBrandPostResult {
+  const abb = postProcessBrand(ir, "abb");
+  const fanuc = postProcessBrand(ir, "fanuc");
+  const kuka = postProcessBrand(ir, "kuka");
+  return {
+    outputs: { abb, fanuc, kuka },
+    report: [...abb.report, ...fanuc.report, ...kuka.report]
+  };
+}
+
+export function postProcessBrand(ir: SemanticProgramIr, brand: PostBrand): PostResult {
+  const report: PostIssue[] = collectBrandHintIssues(ir, brand);
+  const text = renderBrandProgram(ir, brand, report);
+  return {
+    brand,
+    filename: filenameFor(ir.moduleName, brand),
+    text,
+    report
+  };
+}
+
+function renderBrandProgram(ir: SemanticProgramIr, brand: PostBrand, report: PostIssue[]): string {
+  switch (brand) {
+    case "abb":
+      return renderAbb(ir, report);
+    case "fanuc":
+      return renderFanuc(ir, report);
+    case "kuka":
+      return renderKuka(ir, report);
+  }
+}
+
+function renderAbb(ir: SemanticProgramIr, report: PostIssue[]): string {
+  const lines = [`MODULE ${ir.moduleName}`, "  PROC main()"];
+  for (const instruction of mainInstructions(ir)) {
+    lines.push(`    ${renderAbbInstruction(instruction, report)}`);
+  }
+  lines.push("  ENDPROC", "ENDMODULE");
+  return lines.join("\n");
+}
+
+function renderFanuc(ir: SemanticProgramIr, report: PostIssue[]): string {
+  const lines = ["/PROG MAIN", "/MN"];
+  mainInstructions(ir).forEach((instruction, index) => {
+    lines.push(`  ${index + 1}: ${renderFanucInstruction(instruction, report)} ;`);
+  });
+  lines.push("/END");
+  return lines.join("\n");
+}
+
+function renderKuka(ir: SemanticProgramIr, report: PostIssue[]): string {
+  const lines = ["DEF Main()"];
+  for (const instruction of mainInstructions(ir)) {
+    lines.push(`  ${renderKukaInstruction(instruction, report)}`);
+  }
+  lines.push("END");
+  return lines.join("\n");
+}
+
+function renderAbbInstruction(instruction: ExecutableInstruction, report: PostIssue[]): string {
+  if (isMotion(instruction)) {
+    const target = motionTargetName(instruction);
+    const zone = abbZone(instruction.zone);
+    const speed = abbSpeed(instruction.speed);
+    if (instruction.kind === "MOVEJ") return `MoveJ ${target},${speed},${zone},tool0;`;
+    if (instruction.kind === "MOVEL") return `MoveL ${target},${speed},${zone},tool0;`;
+    return `MoveC ${motionViaName(instruction)},${target},${speed},${zone},tool0;`;
+  }
+  if (instruction.kind === "IO_WRITE") return `SetDO ${instruction.target.raw},${formatValue(instruction.value)};`;
+  if (instruction.kind === "WAIT") return `WaitUntil ${instruction.condition};`;
+  if (instruction.kind === "PULSE") return `PulseDO ${instruction.target.raw},${instruction.duration.toFixed(3)};`;
+  return unsupportedLine("abb", instruction.kind, report);
+}
+
+function renderFanucInstruction(instruction: ExecutableInstruction, report: PostIssue[]): string {
+  if (isMotion(instruction)) {
+    const target = motionTargetName(instruction);
+    const speed = fanucSpeed(instruction.speed);
+    const zone = fanucZone(instruction.zone);
+    if (instruction.kind === "MOVEJ") return `J ${target} ${speed} ${zone}`;
+    if (instruction.kind === "MOVEL") return `L ${target} ${speed} ${zone}`;
+    return `C ${motionViaName(instruction)} ${target} ${speed} ${zone}`;
+  }
+  if (instruction.kind === "IO_WRITE") return `${fanucIo(instruction.target.raw)}=${formatValue(instruction.value)}`;
+  if (instruction.kind === "WAIT") return `WAIT (${instruction.condition})`;
+  if (instruction.kind === "PULSE") return `PULSE ${fanucIo(instruction.target.raw)} ${Math.round(instruction.duration * 1000)}ms`;
+  return unsupportedLine("fanuc", instruction.kind, report);
+}
+
+function renderKukaInstruction(instruction: ExecutableInstruction, report: PostIssue[]): string {
+  if (isMotion(instruction)) {
+    const target = motionTargetName(instruction);
+    const speed = kukaSpeed(instruction.speed);
+    const zone = kukaZone(instruction.zone);
+    if (instruction.kind === "MOVEJ") return `PTP ${target} ${speed}${zone}`;
+    if (instruction.kind === "MOVEL") return `LIN ${target} ${speed}${zone}`;
+    return `CIRC ${motionViaName(instruction)}, ${target} ${speed}${zone}`;
+  }
+  if (instruction.kind === "IO_WRITE") return `${kukaIo(instruction.target.raw)} = ${formatValue(instruction.value)}`;
+  if (instruction.kind === "WAIT") return `WAIT FOR ${instruction.condition}`;
+  if (instruction.kind === "PULSE") return `PULSE ${kukaIo(instruction.target.raw)} ${instruction.duration.toFixed(3)}`;
+  return unsupportedLine("kuka", instruction.kind, report);
+}
+
+function mainInstructions(ir: SemanticProgramIr): ExecutableInstruction[] {
+  return ir.procedures.find((procedure) => procedure.name === "main")?.instructions ?? [];
+}
+
+function isMotion(instruction: ExecutableInstruction): instruction is MotionInstruction {
+  return instruction.kind === "MOVEJ" || instruction.kind === "MOVEL" || instruction.kind === "MOVEC";
+}
+
+function motionTargetName(instruction: MotionInstruction): string {
+  const target = instruction.target;
+  if (target && "id" in target && target.id) {
+    return target.id;
+  }
+  return instruction.pointId ?? instruction.id ?? "p_auto";
+}
+
+function motionViaName(instruction: MotionInstruction): string {
+  const via = instruction.via;
+  if (via && "id" in via && via.id) {
+    return via.id;
+  }
+  return "via_auto";
+}
+
+function abbSpeed(speed: SpeedSpec): string {
+  if (speed.kind === "joint_percent") return `v${Math.round(speed.value * 100)}`;
+  if (speed.kind === "linear") return `v${Math.round(speed.velocity * 1000)}`;
+  return "v100";
+}
+
+function fanucSpeed(speed: SpeedSpec): string {
+  if (speed.kind === "joint_percent") return `${Math.round(speed.value * 100)}%`;
+  if (speed.kind === "linear") return `${Math.round(speed.velocity * 1000)}mm/sec`;
+  return "100mm/sec";
+}
+
+function kukaSpeed(speed: SpeedSpec): string {
+  if (speed.kind === "joint_percent") return `Vel=${Math.round(speed.value * 100)}%`;
+  if (speed.kind === "linear") return `Vel=${speed.velocity.toFixed(3)}m/s`;
+  return "Vel=0.100m/s";
+}
+
+function abbZone(zone: ZoneSpec): string {
+  if (zone.kind === "fine") return "fine";
+  if (zone.kind === "distance") return `z${Math.round(zone.value * 1000)}`;
+  if (zone.kind === "cnt") return `z${Math.round(zone.value * 100)}`;
+  return "z10";
+}
+
+function fanucZone(zone: ZoneSpec): string {
+  if (zone.kind === "fine") return "FINE";
+  if (zone.kind === "cnt") return `CNT${Math.round(zone.value * 100)}`;
+  if (zone.kind === "distance") return `CNT${Math.max(1, Math.round(zone.value * 1000))}`;
+  return "CNT10";
+}
+
+function kukaZone(zone: ZoneSpec): string {
+  return zone.kind === "fine" ? "" : " C_DIS";
+}
+
+function fanucIo(raw: string): string {
+  return raw.replace("io.do", "DO").replace("io.di", "DI").replace("[", "[").replace("]", "]");
+}
+
+function kukaIo(raw: string): string {
+  return raw.replace("io.do", "$OUT").replace("io.di", "$IN");
+}
+
+function formatValue(value: boolean | number | string): string {
+  if (typeof value === "boolean") return value ? "TRUE" : "FALSE";
+  return String(value);
+}
+
+function unsupportedLine(brand: PostBrand, kind: string, report: PostIssue[]): string {
+  report.push({
+    severity: "warning",
+    code: "GRL_POST_UNSUPPORTED",
+    message: `${kind} is not supported by ${brand} prototype postprocessor`,
+    brand
+  });
+  return `! unsupported ${kind}`;
+}
+
+function collectBrandHintIssues(ir: SemanticProgramIr, brand: PostBrand): PostIssue[] {
+  return ir.symbols
+    .filter((symbol) => symbol.kind === "raw" && symbol.typeName === "post_hint")
+    .filter((symbol) => !symbol.name.includes(brand))
+    .map((symbol) => ({
+      severity: "info" as const,
+      code: "GRL_POST_HINT_IGNORED",
+      message: `post_hint ${symbol.name} ignored for ${brand}`,
+      brand
+    }));
+}
+
+function filenameFor(moduleName: string, brand: PostBrand): string {
+  if (brand === "abb") return `${moduleName}.mod`;
+  if (brand === "fanuc") return `${moduleName}.ls`;
+  return `${moduleName}.src`;
+}

kdl-wasm/web/src/grl/semantic/compileControlFlow.ts

@@ -0,0 +1,576 @@
+import { KdlStructuredError } from "../../kdl/rpc.js";
+import type { MotionSourceMap } from "../../kdl/types.js";
+import type { GrlProcedureDeclaration } from "../ast/index.js";
+import type {
+  ControlExpression,
+  ControlFlowInstruction,
+  ForInstruction,
+  IfInstruction,
+  JumpInstruction,
+  LabelInstruction,
+  ProcedureFlowInstruction,
+  RawProcedureStatement,
+  SwitchCaseInstruction,
+  SwitchInstruction,
+  WhileInstruction
+} from "../ir/index.js";
+import type { GrlToken } from "../lexer/index.js";
+
+type StopKeyword = "elseif" | "else" | "case" | "default" | "end";
+
+interface ParseContext {
+  scopePath: string[];
+  loopDepth: number;
+  switchDepth: number;
+}
+
+export function parseProcedureControlFlow(procedure: GrlProcedureDeclaration): ProcedureFlowInstruction[] {
+  return parseControlFlowStatements(procedure.bodyTokens);
+}
+
+export function parseControlFlowStatements(tokens: GrlToken[]): ProcedureFlowInstruction[] {
+  const parser = new ControlFlowParser(tokens);
+  const flow = parser.parseRoot();
+  validateJumps(flow);
+  return flow;
+}
+
+class ControlFlowParser {
+  private current = 0;
+
+  constructor(private readonly tokens: GrlToken[]) {}
+
+  parseRoot(): ProcedureFlowInstruction[] {
+    return this.parseBlock(new Set(), {
+      scopePath: [],
+      loopDepth: 0,
+      switchDepth: 0
+    });
+  }
+
+  private parseBlock(stopKeywords: Set<StopKeyword>, context: ParseContext): ProcedureFlowInstruction[] {
+    const instructions: ProcedureFlowInstruction[] = [];
+    while (!this.isAtEnd()) {
+      if (this.isStopKeyword(stopKeywords)) {
+        break;
+      }
+
+      if (this.matchKeyword("if")) {
+        instructions.push(this.finishIf(this.previous(), context));
+        continue;
+      }
+      if (this.matchKeyword("while")) {
+        instructions.push(this.finishWhile(this.previous(), context));
+        continue;
+      }
+      if (this.matchKeyword("for")) {
+        instructions.push(this.finishFor(this.previous(), context));
+        continue;
+      }
+      if (this.matchKeyword("switch")) {
+        instructions.push(this.finishSwitch(this.previous(), context));
+        continue;
+      }
+      if (this.matchKeyword("break")) {
+        instructions.push(this.finishBreak(this.previous(), context));
+        continue;
+      }
+      if (this.matchKeyword("continue")) {
+        instructions.push(this.finishContinue(this.previous(), context));
+        continue;
+      }
+      if (this.matchKeyword("label")) {
+        instructions.push(this.finishLabel(this.previous(), context));
+        continue;
+      }
+      if (this.matchKeyword("jump")) {
+        instructions.push(this.finishJump(this.previous(), context));
+        continue;
+      }
+      if (this.checkKeyword("end")) {
+        throw controlError("GRL_CONTROL_UNEXPECTED_END", "Unexpected end in procedure body", this.peek());
+      }
+
+      instructions.push(this.finishRawStatement());
+    }
+    return instructions;
+  }
+
+  private finishIf(start: GrlToken, context: ParseContext): IfInstruction {
+    const condition = this.parseBooleanLineExpression(start);
+    const branches: IfInstruction["branches"] = [
+      {
+        branchKind: "if",
+        condition,
+        body: this.parseBlock(new Set(["elseif", "else", "end"]), {
+          ...context,
+          scopePath: [...context.scopePath, scopeId(start, "if")]
+        }),
+        sourceMap: tokenSourceMap(start)
+      }
+    ];
+
+    while (this.matchKeyword("elseif")) {
+      const branchStart = this.previous();
+      const branchCondition = this.parseBooleanLineExpression(branchStart);
+      branches.push({
+        branchKind: "elseif",
+        condition: branchCondition,
+        body: this.parseBlock(new Set(["elseif", "else", "end"]), {
+          ...context,
+          scopePath: [...context.scopePath, scopeId(branchStart, `elseif${branches.length}`)]
+        }),
+        sourceMap: tokenSourceMap(branchStart)
+      });
+    }
+
+    if (this.matchKeyword("else")) {
+      const branchStart = this.previous();
+      branches.push({
+        branchKind: "else",
+        body: this.parseBlock(new Set(["end"]), {
+          ...context,
+          scopePath: [...context.scopePath, scopeId(branchStart, "else")]
+        }),
+        sourceMap: tokenSourceMap(branchStart)
+      });
+    }
+
+    this.consumeKeyword("end", "Expected end after if block");
+    return {
+      kind: "IF",
+      branches,
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private finishWhile(start: GrlToken, context: ParseContext): WhileInstruction {
+    const condition = this.parseBooleanLineExpression(start);
+    const body = this.parseBlock(new Set(["end"]), {
+      scopePath: [...context.scopePath, scopeId(start, "while")],
+      loopDepth: context.loopDepth + 1,
+      switchDepth: context.switchDepth
+    });
+    this.consumeKeyword("end", "Expected end after while block");
+    return {
+      kind: "WHILE",
+      condition,
+      body,
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private finishFor(start: GrlToken, context: ParseContext): ForInstruction {
+    const iterator = this.consumeIdentifier("Expected loop variable after for");
+    if (!this.matchOperator("=") && !this.matchOperator(":=")) {
+      throw controlError("GRL_FOR_ASSIGNMENT_EXPECTED", "Expected = after for loop variable", this.peek());
+    }
+
+    const from = this.parseLineExpressionUntil(start, ["to"]);
+    this.consumeKeyword("to", "Expected to in for loop");
+    const to = this.parseLineExpressionUntil(start, ["step"]);
+    const step = this.matchKeyword("step") ? this.parseLineExpressionUntil(start, []) : undefined;
+    const body = this.parseBlock(new Set(["end"]), {
+      scopePath: [...context.scopePath, scopeId(start, "for")],
+      loopDepth: context.loopDepth + 1,
+      switchDepth: context.switchDepth
+    });
+    this.consumeKeyword("end", "Expected end after for block");
+
+    return {
+      kind: "FOR",
+      iterator: iterator.raw,
+      from,
+      to,
+      ...(step ? { step } : {}),
+      body,
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private finishSwitch(start: GrlToken, context: ParseContext): SwitchInstruction {
+    const expression = this.parseLineExpressionUntil(start, []);
+    const cases: SwitchCaseInstruction[] = [];
+    const seenCases = new Set<string>();
+    let seenDefault = false;
+
+    while (!this.isAtEnd() && !this.checkKeyword("end")) {
+      if (this.matchKeyword("case")) {
+        const caseStart = this.previous();
+        const valueTokens = this.collectLineExpressionTokens(caseStart, []);
+        if (valueTokens.length === 0) {
+          throw controlError("GRL_SWITCH_CASE_VALUE_MISSING", "Expected case value", caseStart);
+        }
+        const constant = parseCaseConstant(valueTokens);
+        const key = `${typeof constant.value}:${String(constant.value)}`;
+        if (seenCases.has(key)) {
+          throw controlError("GRL_SWITCH_CASE_DUPLICATE", `Duplicate switch case ${constant.raw}`, caseStart);
+        }
+        seenCases.add(key);
+        cases.push({
+          caseKind: "case",
+          value: constant.value,
+          raw: constant.raw,
+          body: this.parseBlock(new Set(["case", "default", "end"]), {
+            scopePath: [...context.scopePath, scopeId(caseStart, `case:${constant.raw}`)],
+            loopDepth: context.loopDepth,
+            switchDepth: context.switchDepth + 1
+          }),
+          sourceMap: tokenSourceMap(caseStart)
+        });
+        continue;
+      }
+
+      if (this.matchKeyword("default")) {
+        const defaultStart = this.previous();
+        if (seenDefault) {
+          throw controlError("GRL_SWITCH_DEFAULT_DUPLICATE", "Duplicate switch default case", defaultStart);
+        }
+        seenDefault = true;
+        cases.push({
+          caseKind: "default",
+          body: this.parseBlock(new Set(["case", "default", "end"]), {
+            scopePath: [...context.scopePath, scopeId(defaultStart, "default")],
+            loopDepth: context.loopDepth,
+            switchDepth: context.switchDepth + 1
+          }),
+          sourceMap: tokenSourceMap(defaultStart)
+        });
+        continue;
+      }
+
+      throw controlError("GRL_SWITCH_CASE_EXPECTED", "Expected case, default, or end in switch", this.peek());
+    }
+
+    this.consumeKeyword("end", "Expected end after switch block");
+    return {
+      kind: "SWITCH",
+      expression,
+      cases,
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private finishBreak(start: GrlToken, context: ParseContext): ControlFlowInstruction {
+    if (context.loopDepth === 0 && context.switchDepth === 0) {
+      throw controlError("GRL_BREAK_OUTSIDE_FLOW", "break is only valid inside loop or switch", start);
+    }
+    return {
+      kind: "BREAK",
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private finishContinue(start: GrlToken, context: ParseContext): ControlFlowInstruction {
+    if (context.loopDepth === 0) {
+      throw controlError("GRL_CONTINUE_OUTSIDE_LOOP", "continue is only valid inside loop", start);
+    }
+    return {
+      kind: "CONTINUE",
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private finishLabel(start: GrlToken, context: ParseContext): LabelInstruction {
+    const label = this.consumeIdentifier("Expected label name");
+    return {
+      kind: "LABEL",
+      name: label.raw,
+      scopePath: [...context.scopePath],
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private finishJump(start: GrlToken, context: ParseContext): JumpInstruction {
+    const label = this.consumeIdentifier("Expected label name after jump");
+    return {
+      kind: "JUMP",
+      label: label.raw,
+      scopePath: [...context.scopePath],
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private finishRawStatement(): RawProcedureStatement {
+    const start = this.peek();
+    const tokens = this.collectLineExpressionTokens(start, []);
+    if (tokens.length === 0) {
+      const token = this.advance();
+      return {
+        kind: "RAW_STATEMENT",
+        text: token.raw,
+        tokens: [token],
+        sourceMap: tokenSourceMap(token)
+      };
+    }
+    return {
+      kind: "RAW_STATEMENT",
+      text: stringifyTokens(tokens),
+      tokens,
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private parseBooleanLineExpression(start: GrlToken): ControlExpression {
+    const expression = this.parseLineExpressionUntil(start, []);
+    if (!isBooleanCondition(expression.tokens as GrlToken[])) {
+      throw controlError("GRL_CONTROL_CONDITION_NOT_BOOL", "Control condition must be boolean", start);
+    }
+    return expression;
+  }
+
+  private parseLineExpressionUntil(start: GrlToken, stopKeywords: string[]): ControlExpression {
+    const tokens = this.collectLineExpressionTokens(start, stopKeywords);
+    if (tokens.length === 0) {
+      throw controlError("GRL_CONTROL_EXPRESSION_MISSING", "Expected control expression", start);
+    }
+    return {
+      text: stringifyTokens(tokens),
+      tokens,
+      sourceMap: tokenSourceMap(tokens[0]!)
+    };
+  }
+
+  private collectLineExpressionTokens(start: GrlToken, stopKeywords: string[]): GrlToken[] {
+    const tokens: GrlToken[] = [];
+    let parenDepth = 0;
+    let bracketDepth = 0;
+    let braceDepth = 0;
+
+    while (!this.isAtEnd()) {
+      const token = this.peek();
+      if (token.range.start.line !== start.range.start.line) {
+        break;
+      }
+      if (
+        parenDepth === 0 &&
+        bracketDepth === 0 &&
+        braceDepth === 0 &&
+        (token.kind === "keyword" || token.kind === "identifier") &&
+        stopKeywords.includes(token.raw)
+      ) {
+        break;
+      }
+
+      const consumed = this.advance();
+      tokens.push(consumed);
+      if (consumed.kind === "punctuation") {
+        if (consumed.raw === "(") parenDepth += 1;
+        if (consumed.raw === ")") parenDepth = Math.max(0, parenDepth - 1);
+        if (consumed.raw === "[") bracketDepth += 1;
+        if (consumed.raw === "]") bracketDepth = Math.max(0, bracketDepth - 1);
+        if (consumed.raw === "{") braceDepth += 1;
+        if (consumed.raw === "}") braceDepth = Math.max(0, braceDepth - 1);
+      }
+    }
+    return tokens;
+  }
+
+  private isStopKeyword(stopKeywords: Set<StopKeyword>): boolean {
+    if (stopKeywords.size === 0) {
+      return false;
+    }
+    const token = this.peek();
+    return (token.kind === "keyword" || token.kind === "identifier") && stopKeywords.has(token.raw as StopKeyword);
+  }
+
+  private matchKeyword(keyword: string): boolean {
+    if (this.checkKeyword(keyword)) {
+      this.advance();
+      return true;
+    }
+    return false;
+  }
+
+  private checkKeyword(keyword: string): boolean {
+    const token = this.peek();
+    return (token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword;
+  }
+
+  private consumeKeyword(keyword: string, message: string): GrlToken {
+    if (this.checkKeyword(keyword)) {
+      return this.advance();
+    }
+    throw controlError("GRL_KEYWORD_EXPECTED", message, this.peek());
+  }
+
+  private consumeIdentifier(message: string): GrlToken {
+    const token = this.peek();
+    if (token.kind === "identifier" || token.kind === "keyword") {
+      return this.advance();
+    }
+    throw controlError("GRL_IDENTIFIER_EXPECTED", message, token);
+  }
+
+  private matchOperator(operator: string): boolean {
+    const token = this.peek();
+    if (token.kind === "operator" && token.raw === operator) {
+      this.advance();
+      return true;
+    }
+    return false;
+  }
+
+  private advance(): GrlToken {
+    this.current += 1;
+    return this.previous();
+  }
+
+  private previous(): GrlToken {
+    return this.tokens[this.current - 1]!;
+  }
+
+  private peek(): GrlToken {
+    return this.tokens[this.current]!;
+  }
+
+  private isAtEnd(): boolean {
+    return this.current >= this.tokens.length;
+  }
+}
+
+function validateJumps(flow: ProcedureFlowInstruction[]): void {
+  const labels = new Map<string, LabelInstruction>();
+  const jumps: JumpInstruction[] = [];
+
+  visitFlow(flow, (instruction) => {
+    if (instruction.kind === "LABEL") {
+      if (labels.has(instruction.name)) {
+        throw controlError("GRL_LABEL_DUPLICATE", `Duplicate label ${instruction.name}`, undefined, instruction.sourceMap);
+      }
+      labels.set(instruction.name, instruction);
+    } else if (instruction.kind === "JUMP") {
+      jumps.push(instruction);
+    }
+  });
+
+  for (const jump of jumps) {
+    const label = labels.get(jump.label);
+    if (!label) {
+      throw controlError("GRL_LABEL_NOT_FOUND", `Unknown label ${jump.label}`, undefined, jump.sourceMap);
+    }
+    if (!isPrefix(label.scopePath, jump.scopePath)) {
+      throw controlError(
+        "GRL_JUMP_INTO_BLOCK",
+        `jump ${jump.label} cannot enter a nested or sibling block`,
+        undefined,
+        jump.sourceMap
+      );
+    }
+  }
+}
+
+function visitFlow(flow: ProcedureFlowInstruction[], visit: (instruction: ProcedureFlowInstruction) => void): void {
+  for (const instruction of flow) {
+    visit(instruction);
+    if (instruction.kind === "IF") {
+      for (const branch of instruction.branches) {
+        visitFlow(branch.body, visit);
+      }
+    } else if (instruction.kind === "WHILE" || instruction.kind === "FOR") {
+      visitFlow(instruction.body, visit);
+    } else if (instruction.kind === "SWITCH") {
+      for (const switchCase of instruction.cases) {
+        visitFlow(switchCase.body, visit);
+      }
+    }
+  }
+}
+
+function isPrefix(prefix: string[], value: string[]): boolean {
+  return prefix.length <= value.length && prefix.every((part, index) => value[index] === part);
+}
+
+function isBooleanCondition(tokens: GrlToken[]): boolean {
+  if (tokens.length === 0) {
+    return false;
+  }
+  if (tokens.length === 1) {
+    const [token] = tokens;
+    if (!token) return false;
+    if (token.kind === "number" || token.kind === "string") {
+      return false;
+    }
+    return token.kind === "identifier" || token.kind === "keyword";
+  }
+  if (tokens.length === 2 && tokens[0]?.raw === "-" && tokens[1]?.kind === "number") {
+    return false;
+  }
+  if (tokens.some((token) => token.kind === "operator" && ["==", "!=", "<", ">", "<=", ">=", "&&", "||", "!"].includes(token.raw))) {
+    return true;
+  }
+  if (tokens.some((token) => token.kind === "keyword" && (token.raw === "true" || token.raw === "false"))) {
+    return true;
+  }
+  const first = tokens[0];
+  return Boolean(
+    first &&
+      (first.kind === "keyword" || first.kind === "identifier") &&
+      ["all", "any", "rising", "falling", "changed"].includes(first.raw)
+  );
+}
+
+function parseCaseConstant(tokens: GrlToken[]): { value: string | number | boolean; raw: string } {
+  if (tokens.length === 2 && tokens[0]?.kind === "operator" && tokens[0].raw === "-" && tokens[1]?.kind === "number") {
+    const value = -(tokens[1].unit?.normalizedValue ?? tokens[1].value);
+    return { value, raw: stringifyTokens(tokens) };
+  }
+
+  if (tokens.length !== 1) {
+    throw controlError("GRL_SWITCH_CASE_NOT_CONSTANT", "switch case must be a constant expression", tokens[0]);
+  }
+
+  const token = tokens[0]!;
+  if (token.kind === "number") {
+    return { value: token.unit?.normalizedValue ?? token.value, raw: token.raw };
+  }
+  if (token.kind === "string") {
+    return { value: token.value, raw: token.raw };
+  }
+  if (token.kind === "keyword" && (token.raw === "true" || token.raw === "false")) {
+    return { value: token.raw === "true", raw: token.raw };
+  }
+  if (token.kind === "identifier" || token.kind === "keyword") {
+    return { value: token.raw, raw: token.raw };
+  }
+
+  throw controlError("GRL_SWITCH_CASE_NOT_CONSTANT", "switch case must be a constant expression", token);
+}
+
+function stringifyTokens(tokens: GrlToken[]): string {
+  return tokens.map((token) => token.raw).join(" ");
+}
+
+function scopeId(token: GrlToken, kind: string): string {
+  return `${kind}@${token.range.start.line}:${token.range.start.column}`;
+}
+
+function tokenSourceMap(token: GrlToken): MotionSourceMap {
+  return {
+    line: token.range.start.line,
+    column: token.range.start.column
+  };
+}
+
+function controlError(
+  code: string,
+  message: string,
+  token?: GrlToken,
+  sourceMap?: MotionSourceMap
+): KdlStructuredError {
+  const map = sourceMap ?? (token ? tokenSourceMap(token) : undefined);
+  return new KdlStructuredError(
+    code,
+    message,
+    map
+      ? [
+          {
+            severity: "error",
+            code,
+            message,
+            sourceMap: map
+          }
+        ]
+      : undefined
+  );
+}

kdl-wasm/web/src/grl/semantic/compileData.ts

@@ -0,0 +1,296 @@
+import { rpyToQuaternion } from "../../math/poseMath.js";
+import type { JointTarget, OffsetSpec, Pose, PoseTarget, SpeedSpec, ZoneSpec } from "../../kdl/types.js";
+import { KdlStructuredError } from "../../kdl/rpc.js";
+import type {
+  GrlArrayExpression,
+  GrlCallExpression,
+  GrlDataDeclaration,
+  GrlExpression,
+  GrlNumberLiteral,
+  GrlObjectExpression,
+  GrlOffsetExpression,
+  GrlTargetDeclaration
+} from "../ast/index.js";
+
+export type CompiledGrlDataValue =
+  | Pose
+  | JointTarget
+  | PoseTarget
+  | SpeedSpec
+  | ZoneSpec
+  | OffsetSpec
+  | Record<string, unknown>
+  | string
+  | number
+  | boolean
+  | number[];
+
+export interface CompiledGrlDataDeclaration {
+  name: string;
+  storage: GrlDataDeclaration["storage"];
+  typeName: string;
+  value: CompiledGrlDataValue;
+}
+
+export interface CompiledGrlTargetDeclaration {
+  name: string;
+  target: JointTarget | PoseTarget;
+}
+
+export function compileGrlDataDeclaration(declaration: GrlDataDeclaration): CompiledGrlDataDeclaration {
+  return {
+    name: declaration.name,
+    storage: declaration.storage,
+    typeName: declaration.typeName,
+    value: compileByType(declaration.typeName, declaration.initializer)
+  };
+}
+
+export function compileGrlTargetDeclaration(declaration: GrlTargetDeclaration): CompiledGrlTargetDeclaration {
+  const target = compileTargetExpression(declaration.target);
+  return {
+    name: declaration.name,
+    target: {
+      ...target,
+      id: target.id ?? declaration.name
+    }
+  };
+}
+
+export function compileTargetExpression(expression: GrlExpression): JointTarget | PoseTarget {
+  if (isObjectExpression(expression, "joint_target")) {
+    return {
+      joints: compileNumberArray(requiredProperty(expression, "joints"))
+    };
+  }
+
+  if (isObjectExpression(expression, "pose_target")) {
+    const pose = compilePoseExpression(requiredProperty(expression, "pose"));
+    const configExpression = findProperty(expression, "config");
+    const config = configExpression ? compileRobotConfig(configExpression) : undefined;
+    return {
+      pose,
+      ...(config ? { config } : {}),
+      ...(findIdentifierName(expression, "tool") ? { tool: { id: findIdentifierName(expression, "tool") } as unknown as Pose } : {}),
+      ...(findIdentifierName(expression, "frame") ? { frame: { id: findIdentifierName(expression, "frame") } as unknown as Pose } : {})
+    };
+  }
+
+  throw compileError("GRL_UNSUPPORTED_TARGET", "Expected joint_target or pose_target expression");
+}
+
+export function compileSpeedExpression(expression: GrlExpression): SpeedSpec {
+  if (!isCallExpression(expression)) {
+    throw compileError("GRL_INVALID_SPEED", "Speed expression must be a call");
+  }
+
+  const first = expression.args[0];
+  if (!first || first.kind !== "NumberLiteral") {
+    throw compileError("GRL_INVALID_SPEED", "Speed expression requires a numeric value");
+  }
+
+  if (expression.callee === "joint") {
+    if (first.unit?.kind === "percent") {
+      return { kind: "joint_percent", value: first.unit.normalizedValue };
+    }
+    return { kind: "joint_abs", velocity: normalizedNumber(first) };
+  }
+
+  if (expression.callee === "linear") {
+    return { kind: "linear", velocity: normalizedNumber(first), ...compileAcceleration(expression) };
+  }
+
+  if (expression.callee === "angular") {
+    return { kind: "linear", velocity: 0, angularVelocity: normalizedNumber(first), ...compileAcceleration(expression) };
+  }
+
+  throw compileError("GRL_INVALID_SPEED", `Unsupported speed expression: ${expression.callee}`);
+}
+
+export function compileZoneExpression(expression: GrlExpression): ZoneSpec {
+  if (expression.kind === "IdentifierExpression") {
+    if (expression.name === "fine") {
+      return { kind: "fine" };
+    }
+    if (expression.name === "continuous") {
+      return { kind: "continuous" };
+    }
+  }
+
+  if (isCallExpression(expression) && expression.callee === "z") {
+    const first = expression.args[0];
+    if (!first || first.kind !== "NumberLiteral") {
+      throw compileError("GRL_INVALID_ZONE", "z(...) requires a distance");
+    }
+    return { kind: "distance", value: normalizedNumber(first) };
+  }
+
+  if (isCallExpression(expression) && expression.callee === "cnt") {
+    const first = expression.args[0];
+    if (!first || first.kind !== "NumberLiteral") {
+      throw compileError("GRL_INVALID_ZONE", "cnt(...) requires a percent value");
+    }
+    return { kind: "cnt", value: normalizedNumber(first) };
+  }
+
+  throw compileError("GRL_INVALID_ZONE", "Unsupported zone expression");
+}
+
+export function compileOffsetExpression(expression: GrlOffsetExpression): OffsetSpec {
+  const xyz: [number, number, number] = [0, 0, 0];
+  for (const axis of expression.axes) {
+    const index = axis.axis === "x" ? 0 : axis.axis === "y" ? 1 : 2;
+    xyz[index] = normalizedNumber(axis.value);
+  }
+
+  return {
+    mode: expression.mode,
+    ...(expression.frameName ? { frameId: expression.frameName } : {}),
+    xyz
+  };
+}
+
+function compileByType(typeName: string, expression: GrlExpression): CompiledGrlDataValue {
+  if (typeName === "speed") {
+    return compileSpeedExpression(expression);
+  }
+  if (typeName === "zone") {
+    return compileZoneExpression(expression);
+  }
+  if (typeName === "pose") {
+    return compilePoseExpression(expression);
+  }
+  if (typeName === "pose_target" || typeName === "joint_target") {
+    return compileTargetExpression(expression);
+  }
+  if (expression.kind === "OffsetExpression") {
+    return compileOffsetExpression(expression);
+  }
+  if (typeName === "tool" && isObjectExpression(expression, "tool")) {
+    return {
+      tcp: compilePoseExpression(requiredProperty(expression, "tcp")),
+      ...(findProperty(expression, "mass") ? { mass: normalizedNumber(findProperty(expression, "mass") as GrlNumberLiteral) } : {}),
+      ...(findProperty(expression, "cog") ? { cog: compileNumberArray(findProperty(expression, "cog")!) } : {})
+    };
+  }
+  if (typeName === "frame" && isObjectExpression(expression, "frame")) {
+    return {
+      origin: compilePoseExpression(requiredProperty(expression, "origin"))
+    };
+  }
+  if (expression.kind === "NumberLiteral") {
+    return normalizedNumber(expression);
+  }
+  if (expression.kind === "StringLiteral" || expression.kind === "BooleanLiteral") {
+    return expression.value;
+  }
+  if (expression.kind === "ArrayExpression") {
+    return compileNumberArray(expression);
+  }
+
+  return { kind: expression.kind };
+}
+
+function compilePoseExpression(expression: GrlExpression): Pose {
+  if (!isCallExpression(expression) || (expression.callee !== "pose" && expression.callee !== "poseq")) {
+    throw compileError("GRL_INVALID_POSE", "Expected pose(...) or poseq(...) expression");
+  }
+
+  const values = expression.args.map((arg) => {
+    if (arg.kind !== "NumberLiteral") {
+      throw compileError("GRL_INVALID_POSE", "Pose arguments must be numeric");
+    }
+    return normalizedNumber(arg);
+  });
+
+  if (expression.callee === "pose") {
+    if (values.length !== 6) {
+      throw compileError("GRL_INVALID_POSE", "pose(...) requires 6 arguments");
+    }
+    return {
+      position: [values[0]!, values[1]!, values[2]!],
+      quaternion: rpyToQuaternion([values[3]!, values[4]!, values[5]!])
+    };
+  }
+
+  if (values.length !== 7) {
+    throw compileError("GRL_INVALID_POSE", "poseq(...) requires 7 arguments");
+  }
+  return {
+    position: [values[0]!, values[1]!, values[2]!],
+    quaternion: [values[3]!, values[4]!, values[5]!, values[6]!]
+  };
+}
+
+function compileRobotConfig(expression: GrlExpression) {
+  if (!isCallExpression(expression) || expression.callee !== "robot_config") {
+    throw compileError("GRL_INVALID_CONFIG", "Expected robot_config(...)");
+  }
+  const values = expression.args.map((arg) => {
+    if (arg.kind !== "NumberLiteral") {
+      throw compileError("GRL_INVALID_CONFIG", "robot_config arguments must be numeric");
+    }
+    return arg.value as -1 | 0 | 1;
+  });
+  return {
+    ...(values[0] !== undefined ? { shoulder: values[0] } : {}),
+    ...(values[1] !== undefined ? { elbow: values[1] } : {}),
+    ...(values[2] !== undefined ? { wrist: values[2] } : {})
+  };
+}
+
+function compileNumberArray(expression: GrlExpression): number[] {
+  if (expression.kind !== "ArrayExpression") {
+    throw compileError("GRL_INVALID_ARRAY", "Expected numeric array");
+  }
+  return expression.elements.map((element) => {
+    if (element.kind !== "NumberLiteral") {
+      throw compileError("GRL_INVALID_ARRAY", "Array elements must be numeric");
+    }
+    return normalizedNumber(element);
+  });
+}
+
+function compileAcceleration(expression: GrlCallExpression): { acceleration?: number } {
+  for (let index = 1; index < expression.args.length; index += 1) {
+    const marker = expression.args[index];
+    const value = expression.args[index + 1];
+    if (marker?.kind === "IdentifierExpression" && marker.name === "acc" && value?.kind === "NumberLiteral") {
+      return { acceleration: normalizedNumber(value) };
+    }
+  }
+  return {};
+}
+
+function normalizedNumber(expression: GrlNumberLiteral): number {
+  return expression.unit?.normalizedValue ?? expression.value;
+}
+
+function requiredProperty(expression: GrlObjectExpression, key: string): GrlExpression {
+  const property = findProperty(expression, key);
+  if (!property) {
+    throw compileError("GRL_MISSING_PROPERTY", `${expression.typeName} is missing ${key}`);
+  }
+  return property;
+}
+
+function findProperty(expression: GrlObjectExpression, key: string): GrlExpression | undefined {
+  return expression.properties.find((property) => property.key === key)?.value;
+}
+
+function findIdentifierName(expression: GrlObjectExpression, key: string): string | undefined {
+  const value = findProperty(expression, key);
+  return value?.kind === "IdentifierExpression" ? value.name : undefined;
+}
+
+function isObjectExpression(expression: GrlExpression, typeName: string): expression is GrlObjectExpression {
+  return expression.kind === "ObjectExpression" && expression.typeName === typeName;
+}
+
+function isCallExpression(expression: GrlExpression): expression is GrlCallExpression {
+  return expression.kind === "CallExpression";
+}
+
+function compileError(code: string, message: string): KdlStructuredError {
+  return new KdlStructuredError(code, message);
+}

kdl-wasm/web/src/grl/semantic/compileException.ts

@@ -0,0 +1,321 @@
+import { KdlStructuredError } from "../../kdl/rpc.js";
+import type { MotionDiagnostic, MotionSourceMap } from "../../kdl/types.js";
+import type { GrlProcedureDeclaration, GrlRawTopLevelDeclaration, GrlTopLevelDeclaration } from "../ast/index.js";
+import type {
+  AlarmInstruction,
+  ExceptionFlowInstruction,
+  RaiseInstruction,
+  RawProcedureStatement,
+  TryInstruction,
+  UnsupportedRuntimeInstruction
+} from "../ir/index.js";
+import type { GrlToken } from "../lexer/index.js";
+
+type StopKeyword = "catch" | "finally" | "end";
+
+export interface ExceptionAnalysis {
+  procedures: Record<string, ExceptionFlowInstruction[]>;
+  unsupported: UnsupportedRuntimeInstruction[];
+  diagnostics: MotionDiagnostic[];
+}
+
+export function analyzeExceptionSemantics(declarations: GrlTopLevelDeclaration[]): ExceptionAnalysis {
+  const diagnostics: MotionDiagnostic[] = [];
+  const procedures: Record<string, ExceptionFlowInstruction[]> = {};
+  const unsupported: UnsupportedRuntimeInstruction[] = [];
+
+  for (const declaration of declarations) {
+    if (declaration.kind === "ProcedureDeclaration") {
+      procedures[declaration.name] = parseProcedureExceptionFlow(declaration);
+      continue;
+    }
+    if (declaration.kind === "RawTopLevelDeclaration") {
+      const instruction = compileUnsupportedTopLevel(declaration);
+      if (instruction) {
+        unsupported.push(instruction);
+        diagnostics.push(diagnostic("warning", "GRL_P1_UNIMPLEMENTED", instruction.message, instruction.sourceMap));
+      }
+    }
+  }
+
+  return { procedures, unsupported, diagnostics };
+}
+
+export function parseProcedureExceptionFlow(procedure: GrlProcedureDeclaration): ExceptionFlowInstruction[] {
+  return parseExceptionFlowStatements(procedure.bodyTokens);
+}
+
+export function parseExceptionFlowStatements(tokens: GrlToken[]): ExceptionFlowInstruction[] {
+  return new ExceptionFlowParser(tokens).parseRoot();
+}
+
+class ExceptionFlowParser {
+  private current = 0;
+
+  constructor(private readonly tokens: GrlToken[]) {}
+
+  parseRoot(): ExceptionFlowInstruction[] {
+    return this.parseBlock(new Set());
+  }
+
+  private parseBlock(stopKeywords: Set<StopKeyword>): ExceptionFlowInstruction[] {
+    const instructions: ExceptionFlowInstruction[] = [];
+    while (!this.isAtEnd()) {
+      if (this.isStopKeyword(stopKeywords)) {
+        break;
+      }
+      if (this.matchKeyword("alarm")) {
+        instructions.push(this.finishAlarm(this.previous()));
+        continue;
+      }
+      if (this.matchKeyword("raise")) {
+        instructions.push(this.finishRaise(this.previous()));
+        continue;
+      }
+      if (this.matchKeyword("try")) {
+        instructions.push(this.finishTry(this.previous()));
+        continue;
+      }
+      if (this.matchKeyword("enable") || this.matchKeyword("disable")) {
+        instructions.push(this.finishUnsupportedInterrupt(this.previous()));
+        continue;
+      }
+      instructions.push(this.finishRawStatement());
+    }
+    return instructions;
+  }
+
+  private finishAlarm(start: GrlToken): AlarmInstruction {
+    const tokens = this.collectLineTokens(start);
+    const id = tokens[0];
+    if (!id || !isIdentifierLike(id)) {
+      throw exceptionError("GRL_ALARM_ID_MISSING", "alarm requires an alarm id", tokenSourceMap(start));
+    }
+    const message = tokens.find((token) => token.kind === "string");
+    const severityIndex = tokens.findIndex((token) => token.raw === "severity");
+    const severity = severityIndex >= 0 ? tokens[severityIndex + 1] : undefined;
+    return {
+      kind: "ALARM",
+      alarmId: id.raw,
+      ...(message?.kind === "string" ? { message: message.value } : {}),
+      ...(severity && isIdentifierLike(severity) ? { severity: severity.raw } : {}),
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private finishRaise(start: GrlToken): RaiseInstruction {
+    const tokens = this.collectLineTokens(start);
+    const id = tokens[0];
+    if (!id || !isIdentifierLike(id)) {
+      throw exceptionError("GRL_RAISE_ID_MISSING", "raise requires an alarm id", tokenSourceMap(start));
+    }
+    return {
+      kind: "RAISE",
+      alarmId: id.raw,
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private finishTry(start: GrlToken): TryInstruction {
+    const body = this.parseBlock(new Set(["catch", "finally", "end"]));
+    const catches: TryInstruction["catches"] = [];
+    let finallyBlock: TryInstruction["finally"];
+
+    while (this.matchKeyword("catch")) {
+      const catchStart = this.previous();
+      const header = this.collectLineTokens(catchStart);
+      const alarmId = header[0] && isIdentifierLike(header[0]) ? header[0].raw : undefined;
+      catches.push({
+        ...(alarmId ? { alarmId } : {}),
+        body: this.parseBlock(new Set(["catch", "finally", "end"])),
+        sourceMap: tokenSourceMap(catchStart)
+      });
+    }
+
+    if (this.matchKeyword("finally")) {
+      const finallyStart = this.previous();
+      finallyBlock = {
+        body: this.parseBlock(new Set(["end"])),
+        sourceMap: tokenSourceMap(finallyStart)
+      };
+    }
+
+    this.consumeKeyword("end", "Expected end after try block");
+    if (catches.length === 0 && !finallyBlock) {
+      throw exceptionError("GRL_TRY_HANDLER_MISSING", "try requires catch or finally", tokenSourceMap(start));
+    }
+
+    return {
+      kind: "TRY",
+      body,
+      catches,
+      ...(finallyBlock ? { finally: finallyBlock } : {}),
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private finishUnsupportedInterrupt(start: GrlToken): UnsupportedRuntimeInstruction {
+    const tokens = this.collectLineTokens(start);
+    const hasInterrupt = tokens.some((token) => token.raw === "interrupt");
+    return {
+      kind: "UNSUPPORTED_RUNTIME",
+      feature: "interrupt",
+      message: hasInterrupt
+        ? `${start.raw} interrupt is parsed but not executable in P0`
+        : `${start.raw} is parsed but not executable in P0`,
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private finishRawStatement(): RawProcedureStatement {
+    const start = this.peek();
+    const tokens = this.collectLineTokens(start);
+    if (tokens.length === 0) {
+      const token = this.advance();
+      return {
+        kind: "RAW_STATEMENT",
+        text: token.raw,
+        tokens: [token],
+        sourceMap: tokenSourceMap(token)
+      };
+    }
+    return {
+      kind: "RAW_STATEMENT",
+      text: stringifyTokens(tokens),
+      tokens,
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private collectLineTokens(start: GrlToken): GrlToken[] {
+    const tokens: GrlToken[] = [];
+    let parenDepth = 0;
+    let bracketDepth = 0;
+    let braceDepth = 0;
+    while (!this.isAtEnd()) {
+      const token = this.peek();
+      if (token.range.start.line !== start.range.start.line) {
+        break;
+      }
+      const consumed = this.advance();
+      tokens.push(consumed);
+      if (consumed.kind === "punctuation") {
+        if (consumed.raw === "(") parenDepth += 1;
+        if (consumed.raw === ")") parenDepth = Math.max(0, parenDepth - 1);
+        if (consumed.raw === "[") bracketDepth += 1;
+        if (consumed.raw === "]") bracketDepth = Math.max(0, bracketDepth - 1);
+        if (consumed.raw === "{") braceDepth += 1;
+        if (consumed.raw === "}") braceDepth = Math.max(0, braceDepth - 1);
+      }
+      if (parenDepth === 0 && bracketDepth === 0 && braceDepth === 0) {
+        continue;
+      }
+    }
+    return tokens;
+  }
+
+  private isStopKeyword(stopKeywords: Set<StopKeyword>): boolean {
+    if (stopKeywords.size === 0) {
+      return false;
+    }
+    const token = this.peek();
+    return (token.kind === "keyword" || token.kind === "identifier") && stopKeywords.has(token.raw as StopKeyword);
+  }
+
+  private matchKeyword(keyword: string): boolean {
+    if (this.checkKeyword(keyword)) {
+      this.advance();
+      return true;
+    }
+    return false;
+  }
+
+  private checkKeyword(keyword: string): boolean {
+    const token = this.peek();
+    return (token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword;
+  }
+
+  private consumeKeyword(keyword: string, message: string): GrlToken {
+    if (this.checkKeyword(keyword)) {
+      return this.advance();
+    }
+    throw exceptionError("GRL_KEYWORD_EXPECTED", message, tokenSourceMap(this.peek()));
+  }
+
+  private advance(): GrlToken {
+    this.current += 1;
+    return this.previous();
+  }
+
+  private previous(): GrlToken {
+    return this.tokens[this.current - 1]!;
+  }
+
+  private peek(): GrlToken {
+    return this.tokens[this.current]!;
+  }
+
+  private isAtEnd(): boolean {
+    return this.current >= this.tokens.length;
+  }
+}
+
+function compileUnsupportedTopLevel(declaration: GrlRawTopLevelDeclaration): UnsupportedRuntimeInstruction | undefined {
+  if (declaration.declarationType === "trap") {
+    return {
+      kind: "UNSUPPORTED_RUNTIME",
+      feature: "trap",
+      message: `trap ${declaration.tokens[1]?.raw ?? ""}`.trim() + " is parsed but not executable in P0",
+      sourceMap: rangeSourceMap(declaration.range.start)
+    };
+  }
+  if (declaration.declarationType === "task") {
+    return {
+      kind: "UNSUPPORTED_RUNTIME",
+      feature: "task",
+      message: `task ${declaration.tokens[1]?.raw ?? ""}`.trim() + " is parsed but not executable in P0",
+      sourceMap: rangeSourceMap(declaration.range.start)
+    };
+  }
+  return undefined;
+}
+
+function isIdentifierLike(token: GrlToken): boolean {
+  return token.kind === "identifier" || token.kind === "keyword";
+}
+
+function stringifyTokens(tokens: GrlToken[]): string {
+  return tokens.map((token) => token.raw).join(" ");
+}
+
+function tokenSourceMap(token: GrlToken): MotionSourceMap {
+  return {
+    line: token.range.start.line,
+    column: token.range.start.column
+  };
+}
+
+function rangeSourceMap(position: { line: number; column: number }): MotionSourceMap {
+  return {
+    line: position.line,
+    column: position.column
+  };
+}
+
+function diagnostic(
+  severity: MotionDiagnostic["severity"],
+  code: string,
+  message: string,
+  sourceMap?: MotionSourceMap
+): MotionDiagnostic {
+  return {
+    severity,
+    code,
+    message,
+    ...(sourceMap ? { sourceMap } : {})
+  };
+}
+
+function exceptionError(code: string, message: string, sourceMap: MotionSourceMap): KdlStructuredError {
+  return new KdlStructuredError(code, message, [diagnostic("error", code, message, sourceMap)]);
+}

kdl-wasm/web/src/grl/semantic/compileIo.ts

@@ -0,0 +1,380 @@
+import { KdlStructuredError } from "../../kdl/rpc.js";
+import type { MotionSourceMap } from "../../kdl/types.js";
+import type {
+  IoFlowInstruction,
+  IoReference,
+  IoWriteInstruction,
+  OperationActionInstruction,
+  PathEventInstruction,
+  PulseInstruction,
+  WaitInstruction
+} from "../ir/index.js";
+import { lexGrl, type GrlToken } from "../lexer/index.js";
+
+export interface IoMap {
+  aliases?: Record<string, IoReference>;
+  allowedRanges?: Partial<Record<IoReference["domain"], { min: number; max: number }>>;
+}
+
+export function parseIoFlowStatements(tokens: GrlToken[], ioMap: IoMap = {}): IoFlowInstruction[] {
+  const parser = new IoStatementParser(tokens, ioMap);
+  return parser.parseAll();
+}
+
+export function compilePathEventIo(event: PathEventInstruction, ioMap: IoMap = {}): IoFlowInstruction[] {
+  const tokens = event.data?.tokens;
+  if (Array.isArray(tokens)) {
+    return parseIoFlowStatements(tokens as GrlToken[], ioMap);
+  }
+  const statement = event.data?.statement;
+  if (typeof statement !== "string") {
+    return [];
+  }
+  return compileStatementString(statement, event.sourceMap, ioMap);
+}
+
+export function compileOperationActionIo(
+  action: OperationActionInstruction,
+  ioMap: IoMap = {}
+): IoFlowInstruction[] {
+  if (Array.isArray(action.tokens)) {
+    return parseIoFlowStatements(action.tokens as GrlToken[], ioMap);
+  }
+  return compileStatementString(action.statement, action.sourceMap, ioMap);
+}
+
+class IoStatementParser {
+  private current = 0;
+
+  constructor(
+    private readonly tokens: GrlToken[],
+    private readonly ioMap: IoMap
+  ) {}
+
+  parseAll(): IoFlowInstruction[] {
+    const instructions: IoFlowInstruction[] = [];
+    while (!this.isAtEnd()) {
+      if (this.checkKeyword("wait")) {
+        instructions.push(this.finishWait(this.advance()));
+        continue;
+      }
+      if (this.checkKeyword("pulse")) {
+        instructions.push(this.finishPulse(this.advance()));
+        continue;
+      }
+      if (this.checkIoStart()) {
+        instructions.push(this.finishIoWrite(this.peek()));
+        continue;
+      }
+      this.advance();
+    }
+    return instructions;
+  }
+
+  private finishIoWrite(start: GrlToken): IoWriteInstruction {
+    const target = this.parseIoReference();
+    this.consumeOperator("=", "Expected = in IO assignment");
+    const value = this.parseValue();
+    return {
+      kind: "IO_WRITE",
+      target,
+      value,
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private finishWait(start: GrlToken): WaitInstruction {
+    const conditionTokens = this.collectUntilKeyword(["timeout", "on_timeout"]);
+    if (conditionTokens.length === 0) {
+      throw ioError("GRL_WAIT_CONDITION_MISSING", "wait requires a condition");
+    }
+
+    let timeout: number | undefined;
+    let onTimeout: WaitInstruction["onTimeout"];
+    if (this.matchKeyword("timeout")) {
+      timeout = this.parseDuration();
+    }
+    if (this.matchKeyword("on_timeout")) {
+      const kind = this.consumeIdentifier("Expected on_timeout action").raw;
+      if (kind === "alarm") {
+        const message = this.consumeString("Expected alarm message");
+        onTimeout = { kind: "alarm", value: message.value };
+      } else if (kind === "call") {
+        onTimeout = { kind: "call", value: this.collectRest().map((token) => token.raw).join(" ") };
+      } else {
+        throw ioError("GRL_WAIT_TIMEOUT_ACTION_INVALID", `Unsupported on_timeout action ${kind}`);
+      }
+    }
+
+    return {
+      kind: "WAIT",
+      condition: conditionTokens.map((token) => token.raw).join(" "),
+      ...(timeout !== undefined ? { timeout } : {}),
+      ...(onTimeout ? { onTimeout } : {}),
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private finishPulse(start: GrlToken): PulseInstruction {
+    const target = this.parseIoReference();
+    this.consumeKeyword("duration", "Expected duration in pulse");
+    const duration = this.parseDuration();
+    return {
+      kind: "PULSE",
+      target,
+      duration,
+      trace: [
+        { time: 0, action: "set", target, value: true },
+        { time: duration, action: "reset", target, value: false }
+      ],
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
+  private parseIoReference(): IoReference {
+    const io = this.consumeKeyword("io", "Expected io reference");
+    this.consumePunctuation(".", "Expected . after io");
+    const domain = this.consumeIdentifier("Expected IO domain").raw as IoReference["domain"];
+    if (!["di", "do", "ai", "ao", "gi", "go", "ri", "ro", "alias"].includes(domain)) {
+      throw ioError("GRL_IO_DOMAIN_INVALID", `Unsupported IO domain ${domain}`);
+    }
+
+    if (domain === "alias") {
+      this.consumePunctuation(".", "Expected . after io.alias");
+      const alias = this.consumeIdentifier("Expected IO alias").raw;
+      const mapped = this.ioMap.aliases?.[alias];
+      return mapped ?? { domain, alias, raw: `io.alias.${alias}` };
+    }
+
+    this.consumePunctuation("[", "Expected [ after IO domain");
+    const indexToken = this.consumeNumber("Expected IO index");
+    this.consumePunctuation("]", "Expected ] after IO index");
+    const index = indexToken.value;
+    this.validateIoIndex(domain, index, io);
+    return {
+      domain,
+      index,
+      raw: `io.${domain}[${index}]`
+    };
+  }
+
+  private validateIoIndex(domain: IoReference["domain"], index: number, token: GrlToken): void {
+    if (!Number.isInteger(index) || index < 0) {
+      throw ioError("GRL_IO_INDEX_INVALID", `Invalid IO index ${index}`);
+    }
+    const range = this.ioMap.allowedRanges?.[domain];
+    if (range && (index < range.min || index > range.max)) {
+      throw new KdlStructuredError(
+        "GRL_IO_ADDRESS_NOT_FOUND",
+        `IO address io.${domain}[${index}] is outside [${range.min}, ${range.max}]`,
+        [
+          {
+            severity: "error",
+            code: "GRL_IO_ADDRESS_NOT_FOUND",
+            message: `IO address io.${domain}[${index}] is outside [${range.min}, ${range.max}]`,
+            sourceMap: tokenSourceMap(token)
+          }
+        ]
+      );
+    }
+  }
+
+  private parseValue(): boolean | number | string {
+    const token = this.advance();
+    if (token.kind === "keyword" && (token.raw === "true" || token.raw === "false")) {
+      return token.raw === "true";
+    }
+    if (token.kind === "number") {
+      return normalizedNumber(token);
+    }
+    if (token.kind === "string") {
+      return token.value;
+    }
+    if (token.kind === "identifier" || token.kind === "keyword") {
+      return token.raw;
+    }
+    throw ioError("GRL_IO_VALUE_INVALID", "Unsupported IO assignment value");
+  }
+
+  private parseDuration(): number {
+    const token = this.consumeNumber("Expected duration");
+    return normalizedNumber(token);
+  }
+
+  private collectUntilKeyword(keywords: string[]): GrlToken[] {
+    const tokens: GrlToken[] = [];
+    let parenDepth = 0;
+    while (!this.isAtEnd()) {
+      const token = this.peek();
+      if (parenDepth === 0) {
+        if ((token.kind === "keyword" || token.kind === "identifier") && keywords.includes(token.raw)) {
+          break;
+        }
+        if (tokens.length > 0 && this.isCurrentStatementStartAfter(tokens)) {
+          break;
+        }
+      }
+      const consumed = this.advance();
+      tokens.push(consumed);
+      if (consumed.kind === "punctuation" && consumed.raw === "(") {
+        parenDepth += 1;
+      } else if (consumed.kind === "punctuation" && consumed.raw === ")") {
+        parenDepth = Math.max(0, parenDepth - 1);
+      }
+    }
+    return tokens;
+  }
+
+  private collectRest(): GrlToken[] {
+    const tokens: GrlToken[] = [];
+    while (!this.isAtEnd()) {
+      if (tokens.length > 0 && this.isCurrentStatementStartAfter(tokens)) {
+        break;
+      }
+      tokens.push(this.advance());
+    }
+    return tokens;
+  }
+
+  private checkIoStart(): boolean {
+    return this.isIoStartAtCurrent();
+  }
+
+  private isCurrentStatementStartAfter(tokens: GrlToken[]): boolean {
+    const token = this.peek();
+    if (this.isKeywordLike(token, "wait") || this.isKeywordLike(token, "pulse")) {
+      return true;
+    }
+    if (!this.isIoStartAtCurrent()) {
+      return false;
+    }
+    const previous = tokens.at(-1);
+    return previous ? token.range.start.line > previous.range.end.line : true;
+  }
+
+  private isIoStartAtCurrent(): boolean {
+    return this.peek().raw === "io" && this.maybePeek(1)?.raw === ".";
+  }
+
+  private isKeywordLike(token: GrlToken, keyword: string): boolean {
+    return (token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword;
+  }
+
+  private matchKeyword(keyword: string): boolean {
+    const token = this.peek();
+    if ((token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword) {
+      this.advance();
+      return true;
+    }
+    return false;
+  }
+
+  private checkKeyword(keyword: string): boolean {
+    const token = this.peek();
+    return (token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword;
+  }
+
+  private consumeKeyword(keyword: string, message: string): GrlToken {
+    if (this.checkKeyword(keyword)) {
+      return this.advance();
+    }
+    throw ioError("GRL_KEYWORD_EXPECTED", message);
+  }
+
+  private consumeIdentifier(message: string): GrlToken {
+    const token = this.peek();
+    if (token.kind === "identifier" || token.kind === "keyword") {
+      return this.advance();
+    }
+    throw ioError("GRL_IDENTIFIER_EXPECTED", message);
+  }
+
+  private consumePunctuation(value: string, message: string): GrlToken {
+    const token = this.peek();
+    if (token.kind === "punctuation" && token.raw === value) {
+      return this.advance();
+    }
+    throw ioError("GRL_PUNCTUATION_EXPECTED", message);
+  }
+
+  private consumeOperator(value: string, message: string): GrlToken {
+    const token = this.peek();
+    if (token.kind === "operator" && token.raw === value) {
+      return this.advance();
+    }
+    throw ioError("GRL_OPERATOR_EXPECTED", message);
+  }
+
+  private consume(kind: GrlToken["kind"], message: string): GrlToken {
+    if (this.peek().kind === kind) {
+      return this.advance();
+    }
+    throw ioError("GRL_TOKEN_EXPECTED", message);
+  }
+
+  private consumeNumber(message: string): Extract<GrlToken, { kind: "number" }> {
+    const token = this.peek();
+    if (token.kind === "number") {
+      return this.advance() as Extract<GrlToken, { kind: "number" }>;
+    }
+    throw ioError("GRL_TOKEN_EXPECTED", message);
+  }
+
+  private consumeString(message: string): Extract<GrlToken, { kind: "string" }> {
+    const token = this.peek();
+    if (token.kind === "string") {
+      return this.advance() as Extract<GrlToken, { kind: "string" }>;
+    }
+    throw ioError("GRL_TOKEN_EXPECTED", message);
+  }
+
+  private advance(): GrlToken {
+    this.current += 1;
+    return this.previous();
+  }
+
+  private previous(): GrlToken {
+    return this.tokens[this.current - 1]!;
+  }
+
+  private peek(): GrlToken {
+    return this.tokens[this.current]!;
+  }
+
+  private maybePeek(distance = 0): GrlToken | undefined {
+    return this.tokens[this.current + distance];
+  }
+
+  private isAtEnd(): boolean {
+    return this.current >= this.tokens.length;
+  }
+}
+
+function compileStatementString(
+  statement: string,
+  _sourceMap: MotionSourceMap | undefined,
+  ioMap: IoMap
+): IoFlowInstruction[] {
+  const tokens = lexGrl(statement, { preserveComments: false }).filter(
+    (token) => token.kind !== "eof" && token.kind !== "comment"
+  );
+  return parseIoFlowStatements(tokens, ioMap);
+}
+
+function normalizedNumber(token: GrlToken): number {
+  if (token.kind !== "number") {
+    throw ioError("GRL_NUMBER_EXPECTED", "Expected number");
+  }
+  return token.unit?.normalizedValue ?? token.value;
+}
+
+function tokenSourceMap(token: GrlToken): MotionSourceMap {
+  return {
+    line: token.range.start.line,
+    column: token.range.start.column
+  };
+}
+
+function ioError(code: string, message: string): KdlStructuredError {
+  return new KdlStructuredError(code, message);
+}

kdl-wasm/web/src/grl/semantic/compileMotion.ts

@@ -0,0 +1,978 @@
+import { KdlStructuredError } from "../../kdl/rpc.js";
+import { applyOffset } from "../../kdl/poseApi.js";
+import type {
+  JointTarget,
+  JsonObject,
+  MoveCRequest,
+  MoveJRequest,
+  MoveLRequest,
+  MotionSegmentRequest,
+  PathEventRequest,
+  PathPlanRequest,
+  Pose,
+  PoseTarget,
+  SpeedSpec,
+  ZoneSpec
+} from "../../kdl/types.js";
+import type {
+  CompiledOperation,
+  CompiledPath,
+  MotionInstruction,
+  OperationActionInstruction,
+  OperationExecutionStep,
+  PathEventInstruction,
+  RunOperationInstruction,
+  RunPathInstruction
+} from "../ir/index.js";
+import { parseGrlExpression } from "../parser/index.js";
+import type {
+  GrlExpression,
+  GrlOperationActionBlock,
+  GrlOperationDeclaration,
+  GrlOperationProcessBlock,
+  GrlPathDeclaration,
+  GrlPathDefaultsBlock,
+  GrlPathEvent,
+  GrlPathPoint,
+  GrlPathProperty,
+  GrlPathSourceBlock,
+  GrlProcedureDeclaration
+} from "../ast/index.js";
+import type { GrlToken } from "../lexer/index.js";
+import {
+  compileOffsetExpression,
+  compileGrlDataDeclaration,
+  compileGrlTargetDeclaration,
+  compileSpeedExpression,
+  compileTargetExpression,
+  compileZoneExpression,
+  type CompiledGrlDataValue
+} from "./compileData.js";
+import type { GrlDataDeclaration, GrlTargetDeclaration } from "../ast/index.js";
+
+export interface GrlMotionContext {
+  targets: Map<string, JointTarget | PoseTarget>;
+  speeds: Map<string, SpeedSpec>;
+  zones: Map<string, ZoneSpec>;
+  tools: Map<string, Pose>;
+  frames: Map<string, Pose>;
+  currentSpeed?: SpeedSpec;
+  currentZone?: ZoneSpec;
+  currentTool?: Pose;
+  currentFrame?: Pose;
+}
+
+export interface MotionRequestOptions {
+  startJoints: number[];
+  sampleTime: number;
+}
+
+interface PathDefaults {
+  speed?: SpeedSpec;
+  zone?: ZoneSpec;
+  tool?: Pose;
+  frame?: Pose;
+}
+
+export interface PathCompileOptions extends MotionRequestOptions {
+  speedOverride?: number;
+  stopOnError?: boolean;
+}
+
+export function buildMotionContext(declarations: Array<GrlDataDeclaration | GrlTargetDeclaration>): GrlMotionContext {
+  const context: GrlMotionContext = {
+    targets: new Map(),
+    speeds: new Map(),
+    zones: new Map(),
+    tools: new Map(),
+    frames: new Map()
+  };
+
+  for (const declaration of declarations) {
+    if (declaration.kind === "TargetDeclaration") {
+      const compiled = compileGrlTargetDeclaration(declaration);
+      context.targets.set(compiled.name, compiled.target);
+      continue;
+    }
+
+    const compiled = compileGrlDataDeclaration(declaration);
+    addCompiledData(context, compiled.name, compiled.typeName, compiled.value);
+  }
+
+  return context;
+}
+
+export function parseProcedureMotionInstructions(
+  procedure: GrlProcedureDeclaration,
+  context: GrlMotionContext
+): MotionInstruction[] {
+  const parser = new MotionStatementParser(procedure.bodyTokens, context);
+  return parser.parseAll();
+}
+
+export function parseProcedureRunPathStatements(procedure: GrlProcedureDeclaration): RunPathInstruction[] {
+  const parser = new RunPathStatementParser(procedure.bodyTokens);
+  return parser.parseAll();
+}
+
+export function parseProcedureRunOperationStatements(procedure: GrlProcedureDeclaration): RunOperationInstruction[] {
+  const parser = new RunOperationStatementParser(procedure.bodyTokens);
+  return parser.parseAll();
+}
+
+export function compilePathToPlanRequest(
+  path: GrlPathDeclaration,
+  context: GrlMotionContext,
+  options: PathCompileOptions
+): CompiledPath {
+  const defaults = compilePathDefaults(path.items.find((item): item is GrlPathDefaultsBlock => item.kind === "PathDefaultsBlock"), context);
+  const source = compilePathSource(path.items.find((item): item is GrlPathSourceBlock => item.kind === "PathSourceBlock"));
+  const points = path.items.filter((item): item is GrlPathPoint => item.kind === "PathPoint");
+  const events = path.items.filter((item): item is GrlPathEvent => item.kind === "PathEvent");
+
+  if (points.length === 0) {
+    throw motionError("GRL_PATH_EMPTY", `Path ${path.name} must contain at least one point`);
+  }
+
+  const pointIds = new Set<string>();
+  const motions: MotionInstruction[] = [];
+  const segments: MotionSegmentRequest[] = [];
+
+  for (const point of points) {
+    if (pointIds.has(point.id)) {
+      throw motionError("GRL_PATH_POINT_DUPLICATE", `Path ${path.name} contains duplicate point ${point.id}`);
+    }
+    pointIds.add(point.id);
+
+    const pointContext = cloneMotionContext(context);
+    applyPathDefaults(pointContext, defaults);
+    const [motion] = new MotionStatementParser(point.motionTokens, pointContext).parseAll();
+    if (!motion) {
+      throw motionError("GRL_PATH_POINT_MOTION_MISSING", `Path point ${point.id} has no motion`);
+    }
+
+    const instruction: MotionInstruction = {
+      ...motion,
+      id: point.id,
+      pathId: path.name,
+      pointId: point.id,
+      ...(source ? { source } : {})
+    };
+    motions.push(instruction);
+    segments.push(motionToSegment(instruction, path.name, source));
+  }
+
+  const compiledEvents = events.map((event, index) => compilePathEvent(event, index, pointIds));
+  const request: PathPlanRequest = {
+    pathId: path.name,
+    startJoints: options.startJoints,
+    segments,
+    ...(compiledEvents.length > 0 ? { events: compiledEvents } : {}),
+    sampleTime: options.sampleTime,
+    ...(options.speedOverride !== undefined ? { speedOverride: options.speedOverride } : {}),
+    ...(options.stopOnError !== undefined ? { stopOnError: options.stopOnError } : {}),
+    ...(source ? { source } : {})
+  };
+
+  return {
+    pathId: path.name,
+    request,
+    motions,
+    events: compiledEvents
+  };
+}
+
+export function compileOperation(
+  operation: GrlOperationDeclaration,
+  paths: Map<string, GrlPathDeclaration>
+): CompiledOperation {
+  if (!paths.has(operation.pathName)) {
+    throw motionError(
+      "GRL_OPERATION_PATH_NOT_FOUND",
+      `Operation ${operation.name} references unknown path ${operation.pathName}`
+    );
+  }
+
+  const processBlock = operation.items.find(
+    (item): item is GrlOperationProcessBlock => item.kind === "OperationProcessBlock"
+  );
+  const actionBlocks = operation.items.filter(
+    (item): item is GrlOperationActionBlock => item.kind === "OperationActionBlock"
+  );
+
+  return {
+    operationId: operation.name,
+    kind: operation.operationKind,
+    pathId: operation.pathName,
+    process: processBlock ? compileProcessBlock(processBlock) : {},
+    startActions: actionBlocks
+      .filter((item) => item.actionKind === "start_action")
+      .map((item) => compileOperationAction(operation.name, item)),
+    endActions: actionBlocks
+      .filter((item) => item.actionKind === "end_action")
+      .map((item) => compileOperationAction(operation.name, item))
+  };
+}
+
+export function expandRunOperation(
+  run: RunOperationInstruction,
+  operations: Map<string, CompiledOperation>
+): OperationExecutionStep[] {
+  const operation = operations.get(run.operationId);
+  if (!operation) {
+    throw motionError("GRL_OPERATION_NOT_FOUND", `Unknown operation ${run.operationId}`);
+  }
+  return [
+    ...operation.startActions,
+    {
+      kind: "RUN_PATH",
+      pathId: operation.pathId,
+      ...(run.sourceMap ? { sourceMap: run.sourceMap } : {})
+    },
+    ...operation.endActions
+  ];
+}
+
+export function compileMotionToKdlRequest(
+  instruction: MotionInstruction,
+  options: MotionRequestOptions
+): MoveJRequest | MoveLRequest | MoveCRequest {
+  if (instruction.kind === "MOVEJ") {
+    if (!instruction.target) {
+      throw motionError("GRL_MOTION_TARGET_MISSING", "MOVEJ requires target");
+    }
+    return {
+      startJoints: options.startJoints,
+      target: instruction.target,
+      speed: instruction.speed,
+      zone: instruction.zone,
+      ...(instruction.tool ? { tool: instruction.tool } : {}),
+      ...(instruction.frame ? { frame: instruction.frame } : {}),
+      sampleTime: options.sampleTime,
+      ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {})
+    };
+  }
+
+  if (instruction.kind === "MOVEL") {
+    if (!instruction.target || !isPoseTarget(instruction.target)) {
+      throw motionError("GRL_MOTION_TARGET_TYPE", "MOVEL requires PoseTarget");
+    }
+    return {
+      startJoints: options.startJoints,
+      target: instruction.target,
+      speed: instruction.speed,
+      zone: instruction.zone,
+      ...(instruction.tool ? { tool: instruction.tool } : {}),
+      ...(instruction.frame ? { frame: instruction.frame } : {}),
+      sampleTime: options.sampleTime,
+      ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {})
+    };
+  }
+
+  if (!instruction.via || !instruction.target || !isPoseTarget(instruction.target)) {
+    throw motionError("GRL_MOTION_TARGET_TYPE", "MOVEC requires via and target PoseTarget");
+  }
+
+  return {
+    startJoints: options.startJoints,
+    via: instruction.via,
+    target: instruction.target,
+    speed: instruction.speed,
+    zone: instruction.zone,
+    ...(instruction.tool ? { tool: instruction.tool } : {}),
+    ...(instruction.frame ? { frame: instruction.frame } : {}),
+    sampleTime: options.sampleTime,
+    ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {})
+  };
+}
+
+function motionToSegment(
+  instruction: MotionInstruction,
+  pathId: string,
+  source?: Record<string, unknown>
+): MotionSegmentRequest {
+  if (instruction.kind === "MOVEJ") {
+    if (!instruction.target) {
+      throw motionError("GRL_MOTION_TARGET_MISSING", "MOVEJ requires target");
+    }
+    const targetId = targetIdOf(instruction.target);
+    return {
+      id: instruction.pointId ?? instruction.id ?? `${pathId}_${instruction.kind.toLowerCase()}`,
+      motion: "MOVEJ",
+      target: instruction.target,
+      ...(targetId ? { targetId } : {}),
+      speed: instruction.speed,
+      zone: instruction.zone,
+      ...(instruction.tool ? { tool: instruction.tool } : {}),
+      ...(instruction.frame ? { frame: instruction.frame } : {}),
+      ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {}),
+      ...(source ? { source } : {})
+    };
+  }
+
+  if (instruction.kind === "MOVEL") {
+    if (!instruction.target || !isPoseTarget(instruction.target)) {
+      throw motionError("GRL_MOTION_TARGET_TYPE", "MOVEL requires PoseTarget");
+    }
+    const targetId = targetIdOf(instruction.target);
+    return {
+      id: instruction.pointId ?? instruction.id ?? `${pathId}_${instruction.kind.toLowerCase()}`,
+      motion: "MOVEL",
+      target: instruction.target,
+      ...(targetId ? { targetId } : {}),
+      speed: instruction.speed,
+      zone: instruction.zone,
+      ...(instruction.tool ? { tool: instruction.tool } : {}),
+      ...(instruction.frame ? { frame: instruction.frame } : {}),
+      ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {}),
+      ...(source ? { source } : {})
+    };
+  }
+
+  if (!instruction.via || !instruction.target || !isPoseTarget(instruction.target)) {
+    throw motionError("GRL_MOTION_TARGET_TYPE", "MOVEC requires via and target PoseTarget");
+  }
+  const targetId = targetIdOf(instruction.target);
+  return {
+    id: instruction.pointId ?? instruction.id ?? `${pathId}_${instruction.kind.toLowerCase()}`,
+    motion: "MOVEC",
+    via: instruction.via,
+    target: instruction.target,
+    ...(targetId ? { targetId } : {}),
+    speed: instruction.speed,
+    zone: instruction.zone,
+    ...(instruction.tool ? { tool: instruction.tool } : {}),
+    ...(instruction.frame ? { frame: instruction.frame } : {}),
+    ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {}),
+    ...(source ? { source } : {})
+  };
+}
+
+function addCompiledData(
+  context: GrlMotionContext,
+  name: string,
+  typeName: string,
+  value: CompiledGrlDataValue
+): void {
+  if (typeName === "speed") {
+    context.speeds.set(name, value as SpeedSpec);
+  } else if (typeName === "zone") {
+    context.zones.set(name, value as ZoneSpec);
+  } else if (typeName === "tool") {
+    context.tools.set(name, (value as { tcp: Pose }).tcp);
+  } else if (typeName === "frame") {
+    context.frames.set(name, (value as { origin: Pose }).origin);
+  }
+}
+
+class MotionStatementParser {
+  private current = 0;
+
+  constructor(
+    private readonly tokens: GrlToken[],
+    private readonly context: GrlMotionContext
+  ) {}
+
+  parseAll(): MotionInstruction[] {
+    const instructions: MotionInstruction[] = [];
+    while (!this.isAtEnd()) {
+      if (this.matchKeyword("set_tool")) {
+        this.context.currentTool = this.resolveNamedPose(this.consumeIdentifier("Expected tool name"), "tool");
+        continue;
+      }
+      if (this.matchKeyword("set_frame")) {
+        this.context.currentFrame = this.resolveNamedPose(this.consumeIdentifier("Expected frame name"), "frame");
+        continue;
+      }
+      if (this.matchKeyword("set_speed")) {
+        this.context.currentSpeed = this.parseSpeedArgument();
+        continue;
+      }
+      if (this.matchKeyword("set_zone")) {
+        this.context.currentZone = this.parseZoneArgument();
+        continue;
+      }
+      if (this.matchKeyword("movej")) {
+        instructions.push(this.finishMoveJ(this.previous()));
+        continue;
+      }
+      if (this.matchKeyword("movel")) {
+        instructions.push(this.finishMoveL(this.previous()));
+        continue;
+      }
+      if (this.matchKeyword("movec")) {
+        instructions.push(this.finishMoveC(this.previous()));
+        continue;
+      }
+      this.advance();
+    }
+    return instructions;
+  }
+
+  private finishMoveJ(start: GrlToken): MotionInstruction {
+    const target = this.parseTargetArgument();
+    const params = this.parseMotionParams();
+    return this.withDefaults({
+      kind: "MOVEJ",
+      target,
+      ...params,
+      sourceMap: tokenSourceMap(start)
+    });
+  }
+
+  private finishMoveL(start: GrlToken): MotionInstruction {
+    const target = this.parseTargetArgument();
+    if (!isPoseTarget(target)) {
+      throw motionError("GRL_MOTION_TARGET_TYPE", "MOVEL requires PoseTarget");
+    }
+    const params = this.parseMotionParams();
+    return this.withDefaults({
+      kind: "MOVEL",
+      target,
+      ...params,
+      sourceMap: tokenSourceMap(start)
+    });
+  }
+
+  private finishMoveC(start: GrlToken): MotionInstruction {
+    this.consumeKeyword("via", "Expected via in MOVEC");
+    const via = this.parseTargetArgument();
+    if (!isPoseTarget(via)) {
+      throw motionError("GRL_MOTION_TARGET_TYPE", "MOVEC via requires PoseTarget");
+    }
+    this.consumeKeyword("target", "Expected target in MOVEC");
+    const target = this.parseTargetArgument();
+    if (!isPoseTarget(target)) {
+      throw motionError("GRL_MOTION_TARGET_TYPE", "MOVEC target requires PoseTarget");
+    }
+    const params = this.parseMotionParams();
+    return this.withDefaults({
+      kind: "MOVEC",
+      via,
+      target,
+      ...params,
+      sourceMap: tokenSourceMap(start)
+    });
+  }
+
+  private parseMotionParams(): Partial<MotionInstruction> {
+    const params: Partial<MotionInstruction> = {};
+    while (!this.isAtEnd() && !this.isMotionStart(this.peek())) {
+      if (this.matchKeyword("speed")) {
+        params.speed = this.parseSpeedArgument();
+      } else if (this.matchKeyword("zone")) {
+        params.zone = this.parseZoneArgument();
+      } else if (this.matchKeyword("tool")) {
+        params.tool = this.resolveNamedPose(this.consumeIdentifier("Expected tool name"), "tool");
+      } else if (this.matchKeyword("frame")) {
+        params.frame = this.resolveNamedPose(this.consumeIdentifier("Expected frame name"), "frame");
+      } else {
+        break;
+      }
+    }
+    return params;
+  }
+
+  private parseTargetArgument(): JointTarget | PoseTarget {
+    const expressionTokens = this.collectExpressionUntilParamKeyword();
+    const expression = parseGrlExpression(expressionTokens);
+    return this.resolveTargetExpression(expression);
+  }
+
+  private parseSpeedArgument(): SpeedSpec {
+    const token = this.peek();
+    if ((token.kind === "identifier" || token.kind === "keyword") && this.context.speeds.has(token.raw)) {
+      this.advance();
+      return this.context.speeds.get(token.raw)!;
+    }
+    return compileSpeedExpression(parseGrlExpression(this.collectExpressionUntilParamKeyword()));
+  }
+
+  private parseZoneArgument(): ZoneSpec {
+    const token = this.peek();
+    if ((token.kind === "identifier" || token.kind === "keyword") && this.context.zones.has(token.raw)) {
+      this.advance();
+      return this.context.zones.get(token.raw)!;
+    }
+    return compileZoneExpression(parseGrlExpression(this.collectExpressionUntilParamKeyword()));
+  }
+
+  private resolveTargetExpression(expression: GrlExpression): JointTarget | PoseTarget {
+    if (expression.kind === "OffsetExpression") {
+      const base = this.resolveTargetExpression(expression.base);
+      if (!isPoseTarget(base)) {
+        throw motionError("GRL_MOTION_TARGET_TYPE", "offset target requires PoseTarget");
+      }
+      return applyOffset(base, compileOffsetExpression(expression));
+    }
+    if (expression.kind === "IdentifierExpression") {
+      const target = this.context.targets.get(expression.name);
+      if (!target) {
+        throw motionError("GRL_TARGET_NOT_FOUND", `Unknown target ${expression.name}`);
+      }
+      return target;
+    }
+    return compileTargetExpression(expression);
+  }
+
+  private withDefaults(instruction: Partial<MotionInstruction> & Pick<MotionInstruction, "kind">): MotionInstruction {
+    const speed = instruction.speed ?? this.context.currentSpeed;
+    const zone = instruction.zone ?? this.context.currentZone;
+    if (!speed) {
+      throw motionError("GRL_SPEED_UNRESOLVED", `${instruction.kind} has no speed`);
+    }
+    if (!zone) {
+      throw motionError("GRL_ZONE_UNRESOLVED", `${instruction.kind} has no zone`);
+    }
+    return {
+      kind: instruction.kind,
+      ...(instruction.target ? { target: instruction.target } : {}),
+      ...(instruction.via ? { via: instruction.via } : {}),
+      speed,
+      zone,
+      ...(instruction.tool ?? this.context.currentTool ? { tool: instruction.tool ?? this.context.currentTool } : {}),
+      ...(instruction.frame ?? this.context.currentFrame ? { frame: instruction.frame ?? this.context.currentFrame } : {}),
+      ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {})
+    };
+  }
+
+  private resolveNamedPose(name: string, kind: "tool" | "frame"): Pose {
+    const source = kind === "tool" ? this.context.tools : this.context.frames;
+    const pose = source.get(name);
+    if (!pose) {
+      throw motionError(kind === "tool" ? "GRL_TOOL_NOT_FOUND" : "GRL_FRAME_NOT_FOUND", `Unknown ${kind} ${name}`);
+    }
+    return pose;
+  }
+
+  private collectExpressionUntilParamKeyword(): GrlToken[] {
+    const tokens: GrlToken[] = [];
+    let parenDepth = 0;
+    let bracketDepth = 0;
+    let braceDepth = 0;
+    const startLine = this.peek().range.start.line;
+
+    while (!this.isAtEnd()) {
+      const token = this.peek();
+      if (tokens.length > 0 && token.range.start.line > startLine && this.isStatementStart(token)) {
+        break;
+      }
+      if (
+        parenDepth === 0 &&
+        bracketDepth === 0 &&
+        braceDepth === 0 &&
+        this.isExpressionTerminator(token)
+      ) {
+        break;
+      }
+
+      const consumed = this.advance();
+      tokens.push(consumed);
+      if (consumed.kind === "punctuation") {
+        if (consumed.raw === "(") parenDepth += 1;
+        if (consumed.raw === ")") parenDepth -= 1;
+        if (consumed.raw === "[") bracketDepth += 1;
+        if (consumed.raw === "]") bracketDepth -= 1;
+        if (consumed.raw === "{") braceDepth += 1;
+        if (consumed.raw === "}") braceDepth -= 1;
+      }
+    }
+
+    if (tokens.length === 0) {
+      throw motionError("GRL_EXPRESSION_MISSING", "Expected motion expression");
+    }
+    return tokens;
+  }
+
+  private isExpressionTerminator(token: GrlToken): boolean {
+    return (
+      this.isMotionStart(token) ||
+      ((token.kind === "keyword" || token.kind === "identifier") &&
+        ["speed", "zone", "tool", "frame", "via", "target"].includes(token.raw))
+    );
+  }
+
+  private isMotionStart(token: GrlToken): boolean {
+    return (
+      (token.kind === "keyword" || token.kind === "identifier") &&
+      ["movej", "movel", "movec", "set_tool", "set_frame", "set_speed", "set_zone"].includes(token.raw)
+    );
+  }
+
+  private isStatementStart(token: GrlToken): boolean {
+    return (
+      (token.kind === "keyword" || token.kind === "identifier") &&
+      [
+        "movej",
+        "movel",
+        "movec",
+        "set_tool",
+        "set_frame",
+        "set_speed",
+        "set_zone",
+        "io",
+        "wait",
+        "pulse",
+        "run_path",
+        "run_operation",
+        "if",
+        "elseif",
+        "else",
+        "while",
+        "for",
+        "switch",
+        "case",
+        "default",
+        "break",
+        "continue",
+        "label",
+        "jump",
+        "call",
+        "return",
+        "alarm",
+        "raise",
+        "try",
+        "catch",
+        "finally",
+        "enable",
+        "disable",
+        "end"
+      ].includes(token.raw)
+    );
+  }
+
+  private consumeIdentifier(message: string): string {
+    const token = this.peek();
+    if (token.kind === "identifier" || token.kind === "keyword") {
+      this.advance();
+      return token.raw;
+    }
+    throw motionError("GRL_IDENTIFIER_EXPECTED", message);
+  }
+
+  private consumeKeyword(keyword: string, message: string): void {
+    if (!this.matchKeyword(keyword)) {
+      throw motionError("GRL_KEYWORD_EXPECTED", message);
+    }
+  }
+
+  private matchKeyword(keyword: string): boolean {
+    const token = this.peek();
+    if ((token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword) {
+      this.advance();
+      return true;
+    }
+    return false;
+  }
+
+  private advance(): GrlToken {
+    this.current += 1;
+    return this.previous();
+  }
+
+  private previous(): GrlToken {
+    return this.tokens[this.current - 1]!;
+  }
+
+  private peek(): GrlToken {
+    return this.tokens[this.current]!;
+  }
+
+  private isAtEnd(): boolean {
+    return this.current >= this.tokens.length;
+  }
+}
+
+class RunPathStatementParser {
+  private current = 0;
+
+  constructor(private readonly tokens: GrlToken[]) {}
+
+  parseAll(): RunPathInstruction[] {
+    const instructions: RunPathInstruction[] = [];
+    while (!this.isAtEnd()) {
+      if (this.matchKeyword("run_path")) {
+        const start = this.previous();
+        const path = this.consumeIdentifier("Expected path name after run_path");
+        instructions.push({
+          kind: "RUN_PATH",
+          pathId: path.raw,
+          sourceMap: tokenSourceMap(start)
+        });
+        continue;
+      }
+      this.advance();
+    }
+    return instructions;
+  }
+
+  private consumeIdentifier(message: string): GrlToken {
+    const token = this.peek();
+    if (token.kind === "identifier" || token.kind === "keyword") {
+      return this.advance();
+    }
+    throw motionError("GRL_IDENTIFIER_EXPECTED", message);
+  }
+
+  private matchKeyword(keyword: string): boolean {
+    const token = this.peek();
+    if ((token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword) {
+      this.advance();
+      return true;
+    }
+    return false;
+  }
+
+  private advance(): GrlToken {
+    this.current += 1;
+    return this.previous();
+  }
+
+  private previous(): GrlToken {
+    return this.tokens[this.current - 1]!;
+  }
+
+  private peek(): GrlToken {
+    return this.tokens[this.current]!;
+  }
+
+  private isAtEnd(): boolean {
+    return this.current >= this.tokens.length;
+  }
+}
+
+class RunOperationStatementParser {
+  private current = 0;
+
+  constructor(private readonly tokens: GrlToken[]) {}
+
+  parseAll(): RunOperationInstruction[] {
+    const instructions: RunOperationInstruction[] = [];
+    while (!this.isAtEnd()) {
+      if (this.matchKeyword("run_operation")) {
+        const start = this.previous();
+        const operation = this.consumeIdentifier("Expected operation name after run_operation");
+        instructions.push({
+          kind: "RUN_OPERATION",
+          operationId: operation.raw,
+          sourceMap: tokenSourceMap(start)
+        });
+        continue;
+      }
+      this.advance();
+    }
+    return instructions;
+  }
+
+  private consumeIdentifier(message: string): GrlToken {
+    const token = this.peek();
+    if (token.kind === "identifier" || token.kind === "keyword") {
+      return this.advance();
+    }
+    throw motionError("GRL_IDENTIFIER_EXPECTED", message);
+  }
+
+  private matchKeyword(keyword: string): boolean {
+    const token = this.peek();
+    if ((token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword) {
+      this.advance();
+      return true;
+    }
+    return false;
+  }
+
+  private advance(): GrlToken {
+    this.current += 1;
+    return this.previous();
+  }
+
+  private previous(): GrlToken {
+    return this.tokens[this.current - 1]!;
+  }
+
+  private peek(): GrlToken {
+    return this.tokens[this.current]!;
+  }
+
+  private isAtEnd(): boolean {
+    return this.current >= this.tokens.length;
+  }
+}
+
+function compileProcessBlock(block: GrlOperationProcessBlock): Record<string, unknown> {
+  return Object.fromEntries(block.properties.map((property) => [property.key, compileLiteralValue(property.value)]));
+}
+
+function compileOperationAction(
+  operationId: string,
+  block: GrlOperationActionBlock
+): OperationActionInstruction {
+  const first = block.actionTokens[0] ?? block.actionTokens[block.actionTokens.length - 1]!;
+  return {
+    kind: "ACTION",
+    actionKind: block.actionKind,
+    operationId,
+    statement: block.actionTokens.map((token) => token.raw).join(" "),
+    tokens: block.actionTokens,
+    sourceMap: tokenSourceMap(first)
+  };
+}
+
+function compilePathDefaults(block: GrlPathDefaultsBlock | undefined, context: GrlMotionContext): PathDefaults {
+  const defaults: PathDefaults = {};
+  if (!block) {
+    return defaults;
+  }
+
+  for (const property of block.properties) {
+    if (property.key === "speed") {
+      defaults.speed = resolveSpeed(property.value, context);
+    } else if (property.key === "zone") {
+      defaults.zone = resolveZone(property.value, context);
+    } else if (property.key === "tool") {
+      defaults.tool = resolveNamedPoseFromExpression(property.value, context, "tool");
+    } else if (property.key === "frame") {
+      defaults.frame = resolveNamedPoseFromExpression(property.value, context, "frame");
+    }
+  }
+  return defaults;
+}
+
+function compilePathSource(block: GrlPathSourceBlock | undefined): JsonObject | undefined {
+  if (!block) {
+    return undefined;
+  }
+  return Object.fromEntries(block.properties.map((property) => [property.key, compileLiteralValue(property.value)]));
+}
+
+function compilePathEvent(
+  event: GrlPathEvent,
+  index: number,
+  pointIds: Set<string>
+): PathEventInstruction & PathEventRequest {
+  if (!pointIds.has(event.pointId)) {
+    throw motionError("GRL_PATH_EVENT_POINT_NOT_FOUND", `Path event references unknown point ${event.pointId}`);
+  }
+
+  return {
+    id: `event_${index}`,
+    timing: event.timing,
+    pointId: event.pointId,
+    ...(event.distance ? { distance: normalizedNumber(event.distance) } : {}),
+    kind: event.actionTokens[0]?.raw ?? "statement",
+    sourceMap: tokenSourceMap(event.actionTokens[0] ?? event.actionTokens[event.actionTokens.length - 1]!),
+    data: {
+      statement: event.actionTokens.map((token) => token.raw).join(" "),
+      tokens: event.actionTokens
+    }
+  };
+}
+
+function cloneMotionContext(context: GrlMotionContext): GrlMotionContext {
+  return {
+    targets: context.targets,
+    speeds: context.speeds,
+    zones: context.zones,
+    tools: context.tools,
+    frames: context.frames,
+    ...(context.currentSpeed ? { currentSpeed: context.currentSpeed } : {}),
+    ...(context.currentZone ? { currentZone: context.currentZone } : {}),
+    ...(context.currentTool ? { currentTool: context.currentTool } : {}),
+    ...(context.currentFrame ? { currentFrame: context.currentFrame } : {})
+  };
+}
+
+function applyPathDefaults(context: GrlMotionContext, defaults: PathDefaults): void {
+  if (defaults.speed) {
+    context.currentSpeed = defaults.speed;
+  }
+  if (defaults.zone) {
+    context.currentZone = defaults.zone;
+  }
+  if (defaults.tool) {
+    context.currentTool = defaults.tool;
+  }
+  if (defaults.frame) {
+    context.currentFrame = defaults.frame;
+  }
+}
+
+function resolveSpeed(expression: GrlExpression, context: GrlMotionContext): SpeedSpec {
+  if (expression.kind === "IdentifierExpression" && context.speeds.has(expression.name)) {
+    return context.speeds.get(expression.name)!;
+  }
+  return compileSpeedExpression(expression);
+}
+
+function resolveZone(expression: GrlExpression, context: GrlMotionContext): ZoneSpec {
+  if (expression.kind === "IdentifierExpression" && context.zones.has(expression.name)) {
+    return context.zones.get(expression.name)!;
+  }
+  return compileZoneExpression(expression);
+}
+
+function resolveNamedPoseFromExpression(
+  expression: GrlExpression,
+  context: GrlMotionContext,
+  kind: "tool" | "frame"
+): Pose {
+  if (expression.kind !== "IdentifierExpression") {
+    throw motionError(kind === "tool" ? "GRL_TOOL_NOT_FOUND" : "GRL_FRAME_NOT_FOUND", `Path ${kind} must reference a named ${kind}`);
+  }
+  const source = kind === "tool" ? context.tools : context.frames;
+  const pose = source.get(expression.name);
+  if (!pose) {
+    throw motionError(kind === "tool" ? "GRL_TOOL_NOT_FOUND" : "GRL_FRAME_NOT_FOUND", `Unknown ${kind} ${expression.name}`);
+  }
+  return pose;
+}
+
+function compileLiteralValue(expression: GrlExpression): unknown {
+  if (expression.kind === "NumberLiteral") {
+    return normalizedNumber(expression);
+  }
+  if (expression.kind === "StringLiteral" || expression.kind === "BooleanLiteral") {
+    return expression.value;
+  }
+  if (expression.kind === "IdentifierExpression") {
+    return expression.name;
+  }
+  if (expression.kind === "ArrayExpression") {
+    return expression.elements.map(compileLiteralValue);
+  }
+  if (expression.kind === "ObjectExpression") {
+    return Object.fromEntries(expression.properties.map((property) => [property.key, compileLiteralValue(property.value)]));
+  }
+  if (expression.kind === "CallExpression") {
+    return {
+      callee: expression.callee,
+      args: expression.args.map(compileLiteralValue)
+    };
+  }
+  return {
+    kind: expression.kind
+  };
+}
+
+function tokenSourceMap(token: GrlToken) {
+  return {
+    line: token.range.start.line,
+    column: token.range.start.column
+  };
+}
+
+function isPoseTarget(target: JointTarget | PoseTarget): target is PoseTarget {
+  return "pose" in target;
+}
+
+function targetIdOf(target: JointTarget | PoseTarget): string | undefined {
+  return target.id;
+}
+
+function normalizedNumber(expression: { value: number; unit?: { normalizedValue: number } }): number {
+  return expression.unit?.normalizedValue ?? expression.value;
+}
+
+function motionError(code: string, message: string): KdlStructuredError {
+  return new KdlStructuredError(code, message);
+}

kdl-wasm/web/src/grl/semantic/compileProcFunction.ts

@@ -0,0 +1,647 @@
+import { KdlStructuredError } from "../../kdl/rpc.js";
+import type { MotionDiagnostic, MotionSourceMap } from "../../kdl/types.js";
+import type {
+  GrlDataDeclaration,
+  GrlFunctionDeclaration,
+  GrlProcedureDeclaration,
+  GrlTargetDeclaration,
+  GrlTopLevelDeclaration
+} from "../ast/index.js";
+import type {
+  CallInstruction,
+  ControlExpression,
+  FunctionSignature,
+  ProcedureFlowInstruction,
+  ProcedureSignature,
+  ProcFunctionAnalysis,
+  ReturnInstruction,
+  RoutineParameter,
+  RoutineParameterDirection
+} from "../ir/index.js";
+import type { GrlToken } from "../lexer/index.js";
+import { parseControlFlowStatements } from "./compileControlFlow.js";
+
+type RoutineDeclaration = GrlProcedureDeclaration | GrlFunctionDeclaration;
+type RoutineSignature = ProcedureSignature | FunctionSignature;
+type RoutineKind = "proc" | "func";
+type InferredType = string | "unknown";
+
+interface AnalysisContext {
+  routineName: string;
+  routineKind: RoutineKind;
+  returnType?: string;
+  parameters: RoutineParameter[];
+  symbols: Map<string, string>;
+  outerNames: Set<string>;
+  signatures: Map<string, RoutineSignature>;
+  diagnostics: MotionDiagnostic[];
+  calls: CallInstruction[];
+  returns: ReturnInstruction[];
+}
+
+interface FlowResult {
+  normalExits: Set<string>[];
+  returnExits: Set<string>[];
+}
+
+export function analyzeProcFunctionSemantics(declarations: GrlTopLevelDeclaration[]): ProcFunctionAnalysis {
+  const procedures = declarations.filter(
+    (decl): decl is GrlProcedureDeclaration => decl.kind === "ProcedureDeclaration"
+  );
+  const functions = declarations.filter(
+    (decl): decl is GrlFunctionDeclaration => decl.kind === "FunctionDeclaration"
+  );
+  const globalNames = collectGlobalNames(declarations);
+  const diagnostics: MotionDiagnostic[] = [];
+  const signatures = new Map<string, RoutineSignature>();
+  const procedureSignatures = procedures.map((procedure) => compileProcedureSignature(procedure, globalNames, diagnostics));
+  const functionSignatures = functions.map((func) => compileFunctionSignature(func, globalNames, diagnostics));
+
+  for (const signature of [...procedureSignatures, ...functionSignatures]) {
+    if (signatures.has(signature.name)) {
+      throw routineError("GRL_ROUTINE_DUPLICATE", `Duplicate routine ${signature.name}`, signature.sourceMap);
+    }
+    signatures.set(signature.name, signature);
+  }
+
+  const calls: CallInstruction[] = [];
+  const returns: ReturnInstruction[] = [];
+  for (const procedure of procedures) {
+    analyzeRoutineBody(procedure, "proc", undefined, signatures, globalNames, diagnostics, calls, returns);
+  }
+  for (const func of functions) {
+    analyzeRoutineBody(func, "func", func.returnType, signatures, globalNames, diagnostics, calls, returns);
+  }
+
+  return {
+    procedures: procedureSignatures,
+    functions: functionSignatures,
+    calls,
+    returns,
+    diagnostics
+  };
+}
+
+export function compileProcedureSignature(
+  procedure: GrlProcedureDeclaration,
+  globalNames: Set<string> = new Set(),
+  diagnostics: MotionDiagnostic[] = []
+): ProcedureSignature {
+  return {
+    kind: "PROC_SIGNATURE",
+    name: procedure.name,
+    parameters: parseRoutineParameters(procedure.params, procedure.name, globalNames, diagnostics),
+    sourceMap: rangeSourceMap(procedure.range.start)
+  };
+}
+
+export function compileFunctionSignature(
+  func: GrlFunctionDeclaration,
+  globalNames: Set<string> = new Set(),
+  diagnostics: MotionDiagnostic[] = []
+): FunctionSignature {
+  return {
+    kind: "FUNC_SIGNATURE",
+    name: func.name,
+    returnType: func.returnType,
+    parameters: parseRoutineParameters(func.params, func.name, globalNames, diagnostics),
+    sourceMap: rangeSourceMap(func.range.start)
+  };
+}
+
+function analyzeRoutineBody(
+  declaration: RoutineDeclaration,
+  routineKind: RoutineKind,
+  returnType: string | undefined,
+  signatures: Map<string, RoutineSignature>,
+  globalNames: Set<string>,
+  diagnostics: MotionDiagnostic[],
+  calls: CallInstruction[],
+  returns: ReturnInstruction[]
+): void {
+  const signature = signatures.get(declaration.name);
+  if (!signature) {
+    throw routineError("GRL_ROUTINE_NOT_FOUND", `Missing routine signature ${declaration.name}`);
+  }
+
+  const symbols = new Map(signature.parameters.map((parameter) => [parameter.name, parameter.typeName]));
+  const context: AnalysisContext = {
+    routineName: declaration.name,
+    routineKind,
+    ...(returnType ? { returnType } : {}),
+    parameters: signature.parameters,
+    symbols,
+    outerNames: globalNames,
+    signatures,
+    diagnostics,
+    calls,
+    returns
+  };
+  const flow = parseControlFlowStatements(declaration.bodyTokens);
+  const result = analyzeFlow(flow, new Set(), context);
+  const outParameters = signature.parameters.filter((parameter) => parameter.direction === "out");
+
+  for (const exit of [...result.normalExits, ...result.returnExits]) {
+    for (const parameter of outParameters) {
+      if (!exit.has(parameter.name)) {
+        throw routineError(
+          "GRL_OUT_PARAM_NOT_ASSIGNED",
+          `out parameter ${parameter.name} is not assigned on all normal return paths`,
+          parameter.sourceMap
+        );
+      }
+    }
+  }
+
+  if (routineKind === "func" && returnType !== "void" && result.normalExits.length > 0) {
+    throw routineError("GRL_FUNC_MISSING_RETURN", `Function ${declaration.name} does not return on all normal paths`, rangeSourceMap(declaration.range.start));
+  }
+}
+
+function analyzeFlow(flow: ProcedureFlowInstruction[], incoming: Set<string>, context: AnalysisContext): FlowResult {
+  let normalStates: Set<string>[] = [new Set(incoming)];
+  const returnStates: Set<string>[] = [];
+
+  for (const instruction of flow) {
+    const nextNormalStates: Set<string>[] = [];
+    for (const state of normalStates) {
+      const result = analyzeInstruction(instruction, state, context);
+      nextNormalStates.push(...result.normalExits);
+      returnStates.push(...result.returnExits);
+    }
+    normalStates = nextNormalStates;
+    if (normalStates.length === 0) {
+      break;
+    }
+  }
+
+  return {
+    normalExits: normalStates,
+    returnExits: returnStates
+  };
+}
+
+function analyzeInstruction(
+  instruction: ProcedureFlowInstruction,
+  incoming: Set<string>,
+  context: AnalysisContext
+): FlowResult {
+  if (instruction.kind === "RAW_STATEMENT") {
+    return analyzeRawStatement(instruction.tokens as GrlToken[] | undefined, incoming, context);
+  }
+
+  if (instruction.kind === "IF") {
+    const normalExits: Set<string>[] = [];
+    const returnExits: Set<string>[] = [];
+    for (const branch of instruction.branches) {
+      const result = analyzeFlow(branch.body, new Set(incoming), context);
+      normalExits.push(...result.normalExits);
+      returnExits.push(...result.returnExits);
+    }
+    if (!instruction.branches.some((branch) => branch.branchKind === "else")) {
+      normalExits.push(new Set(incoming));
+    }
+    return { normalExits, returnExits };
+  }
+
+  if (instruction.kind === "WHILE" || instruction.kind === "FOR") {
+    const body = analyzeFlow(instruction.body, new Set(incoming), context);
+    return {
+      normalExits: [new Set(incoming), ...body.normalExits],
+      returnExits: body.returnExits
+    };
+  }
+
+  if (instruction.kind === "SWITCH") {
+    const normalExits: Set<string>[] = [];
+    const returnExits: Set<string>[] = [];
+    for (const switchCase of instruction.cases) {
+      const result = analyzeFlow(switchCase.body, new Set(incoming), context);
+      normalExits.push(...result.normalExits);
+      returnExits.push(...result.returnExits);
+    }
+    if (!instruction.cases.some((switchCase) => switchCase.caseKind === "default")) {
+      normalExits.push(new Set(incoming));
+    }
+    return { normalExits, returnExits };
+  }
+
+  return {
+    normalExits: [new Set(incoming)],
+    returnExits: []
+  };
+}
+
+function analyzeRawStatement(
+  tokens: GrlToken[] | undefined,
+  incoming: Set<string>,
+  context: AnalysisContext
+): FlowResult {
+  if (!tokens || tokens.length === 0) {
+    return { normalExits: [new Set(incoming)], returnExits: [] };
+  }
+
+  checkFunctionSideEffects(tokens, context);
+  const assigned = new Set(incoming);
+  const declaration = parseLocalDeclaration(tokens);
+  if (declaration) {
+    if (context.symbols.has(declaration.name) || context.outerNames.has(declaration.name)) {
+      context.diagnostics.push(diagnostic("warning", "GRL_NAME_SHADOWS_OUTER_SCOPE", `Local ${declaration.name} shadows an outer name`, declaration.sourceMap));
+    }
+    context.symbols.set(declaration.name, declaration.typeName);
+    assigned.add(declaration.name);
+    return { normalExits: [assigned], returnExits: [] };
+  }
+
+  const assignment = parseAssignment(tokens);
+  if (assignment) {
+    assigned.add(assignment.name);
+  }
+
+  const call = parseCallStatement(tokens);
+  if (call) {
+    validateCall(call, context);
+    applyCallAssignments(call, assigned, context);
+    context.calls.push(call);
+    if (call.target === context.routineName) {
+      context.diagnostics.push(diagnostic("warning", "GRL_RECURSIVE_CALL", `Routine ${context.routineName} calls itself`, call.sourceMap));
+    }
+    return { normalExits: [assigned], returnExits: [] };
+  }
+
+  const returnInstruction = parseReturnStatement(tokens);
+  if (returnInstruction) {
+    validateReturn(returnInstruction, context);
+    context.returns.push(returnInstruction);
+    return { normalExits: [], returnExits: [assigned] };
+  }
+
+  return { normalExits: [assigned], returnExits: [] };
+}
+
+function parseRoutineParameters(
+  tokens: GrlToken[],
+  routineName: string,
+  globalNames: Set<string>,
+  diagnostics: MotionDiagnostic[]
+): RoutineParameter[] {
+  const parameters: RoutineParameter[] = [];
+  const seen = new Set<string>();
+  for (const group of splitTopLevel(tokens, ",")) {
+    if (group.length === 0) {
+      continue;
+    }
+    let offset = 0;
+    let direction: RoutineParameterDirection = "in";
+    const first = group[0]!;
+    if (isDirection(first)) {
+      direction = first.raw as RoutineParameterDirection;
+      offset = 1;
+    }
+    const typeName = group[offset];
+    const name = group[offset + 1];
+    if (!typeName || !name || !isIdentifierLike(typeName) || !isIdentifierLike(name)) {
+      throw routineError("GRL_PARAMETER_INVALID", `Invalid parameter list for ${routineName}`, tokenSourceMap(first));
+    }
+    if (seen.has(name.raw)) {
+      throw routineError("GRL_PARAMETER_DUPLICATE", `Duplicate parameter ${name.raw}`, tokenSourceMap(name));
+    }
+    seen.add(name.raw);
+    if (globalNames.has(name.raw)) {
+      diagnostics.push(diagnostic("warning", "GRL_NAME_SHADOWS_OUTER_SCOPE", `Parameter ${name.raw} shadows an outer name`, tokenSourceMap(name)));
+    }
+    parameters.push({
+      name: name.raw,
+      typeName: typeName.raw,
+      direction,
+      sourceMap: tokenSourceMap(name)
+    });
+  }
+  return parameters;
+}
+
+function parseLocalDeclaration(tokens: GrlToken[]): { name: string; typeName: string; sourceMap: MotionSourceMap } | undefined {
+  const storage = tokens[0];
+  if (!storage || !["var", "const", "persistent"].includes(storage.raw)) {
+    return undefined;
+  }
+  const typeName = tokens[1];
+  const name = tokens[2];
+  if (!typeName || !name || !isIdentifierLike(typeName) || !isIdentifierLike(name)) {
+    return undefined;
+  }
+  return {
+    name: name.raw,
+    typeName: typeName.raw,
+    sourceMap: tokenSourceMap(name)
+  };
+}
+
+function parseAssignment(tokens: GrlToken[]): { name: string; sourceMap: MotionSourceMap } | undefined {
+  const name = tokens[0];
+  const operator = tokens[1];
+  if (!name || !operator || !isIdentifierLike(name) || operator.kind !== "operator" || (operator.raw !== "=" && operator.raw !== ":=")) {
+    return undefined;
+  }
+  return {
+    name: name.raw,
+    sourceMap: tokenSourceMap(name)
+  };
+}
+
+function parseCallStatement(tokens: GrlToken[]): CallInstruction | undefined {
+  const start = tokens[0];
+  const target = tokens[1];
+  if (!start || start.raw !== "call" || !target || !isIdentifierLike(target)) {
+    return undefined;
+  }
+  const argTokens = tokens.slice(2);
+  const args = parseCallArgs(argTokens);
+  return {
+    kind: "CALL",
+    target: target.raw,
+    args,
+    sourceMap: tokenSourceMap(start)
+  };
+}
+
+function parseReturnStatement(tokens: GrlToken[]): ReturnInstruction | undefined {
+  const start = tokens[0];
+  if (!start || start.raw !== "return") {
+    return undefined;
+  }
+  const valueTokens = tokens.slice(1);
+  return {
+    kind: "RETURN",
+    ...(valueTokens.length > 0 ? { value: expressionFromTokens(valueTokens) } : {}),
+    sourceMap: tokenSourceMap(start)
+  };
+}
+
+function parseCallArgs(tokens: GrlToken[]): ControlExpression[] {
+  if (tokens[0]?.raw === "(" && tokens.at(-1)?.raw === ")") {
+    return splitTopLevel(tokens.slice(1, -1), ",").filter((group) => group.length > 0).map(expressionFromTokens);
+  }
+  return splitTopLevel(tokens, ",").filter((group) => group.length > 0).map(expressionFromTokens);
+}
+
+function validateCall(call: CallInstruction, context: AnalysisContext): void {
+  const signature = context.signatures.get(call.target);
+  if (!signature) {
+    throw routineError("GRL_CALL_TARGET_NOT_FOUND", `Unknown call target ${call.target}`, call.sourceMap);
+  }
+  if (call.args.length !== signature.parameters.length) {
+    throw routineError("GRL_CALL_ARITY_MISMATCH", `Call ${call.target} expects ${signature.parameters.length} arguments`, call.sourceMap);
+  }
+  if (context.routineKind === "func" && signature.kind === "PROC_SIGNATURE") {
+    throw routineError("GRL_FUNC_SIDE_EFFECT", `Function ${context.routineName} cannot call procedure ${call.target}`, call.sourceMap);
+  }
+
+  for (let index = 0; index < signature.parameters.length; index += 1) {
+    const parameter = signature.parameters[index]!;
+    const arg = call.args[index]!;
+    const argTokens = arg.tokens as GrlToken[] | undefined;
+    if ((parameter.direction === "out" || parameter.direction === "inout") && (!argTokens || !isLValueExpression(argTokens))) {
+      throw routineError("GRL_ARGUMENT_NOT_LVALUE", `${parameter.direction} argument ${parameter.name} must be a writable lvalue`, arg.sourceMap);
+    }
+    const actualType = inferExpressionType(argTokens ?? [], context);
+    if (!isTypeCompatible(parameter.typeName, actualType)) {
+      throw routineError("GRL_CALL_ARGUMENT_TYPE", `Argument ${index + 1} for ${call.target} is not compatible with ${parameter.typeName}`, arg.sourceMap);
+    }
+  }
+}
+
+function applyCallAssignments(call: CallInstruction, assigned: Set<string>, context: AnalysisContext): void {
+  const signature = context.signatures.get(call.target);
+  if (!signature) {
+    return;
+  }
+  for (let index = 0; index < signature.parameters.length; index += 1) {
+    const parameter = signature.parameters[index]!;
+    if (parameter.direction !== "out" && parameter.direction !== "inout") {
+      continue;
+    }
+    const argTokens = call.args[index]?.tokens as GrlToken[] | undefined;
+    const target = argTokens?.[0];
+    if (target && isIdentifierLike(target)) {
+      assigned.add(target.raw);
+    }
+  }
+}
+
+function validateReturn(returnInstruction: ReturnInstruction, context: AnalysisContext): void {
+  if (context.routineKind === "proc") {
+    if (returnInstruction.value) {
+      throw routineError("GRL_RETURN_VALUE_IN_PROC", "proc return cannot include a value", returnInstruction.sourceMap);
+    }
+    return;
+  }
+
+  if (context.returnType === "void") {
+    if (returnInstruction.value) {
+      throw routineError("GRL_RETURN_TYPE_MISMATCH", "void function cannot return a value", returnInstruction.sourceMap);
+    }
+    return;
+  }
+
+  if (!returnInstruction.value) {
+    throw routineError("GRL_RETURN_VALUE_MISSING", `Function ${context.routineName} must return ${context.returnType}`, returnInstruction.sourceMap);
+  }
+
+  const actualType = inferExpressionType(returnInstruction.value.tokens as GrlToken[] | undefined ?? [], context);
+  if (!isTypeCompatible(context.returnType ?? "unknown", actualType)) {
+    throw routineError("GRL_RETURN_TYPE_MISMATCH", `Return value is not compatible with ${context.returnType}`, returnInstruction.value.sourceMap);
+  }
+}
+
+function checkFunctionSideEffects(tokens: GrlToken[], context: AnalysisContext): void {
+  if (context.routineKind !== "func") {
+    return;
+  }
+  const first = tokens[0];
+  if (!first) {
+    return;
+  }
+  if (["movej", "movel", "movec", "wait", "pulse", "run_path", "run_operation"].includes(first.raw)) {
+    throw routineError("GRL_FUNC_SIDE_EFFECT", `Function ${context.routineName} cannot execute ${first.raw}`, tokenSourceMap(first));
+  }
+}
+
+function inferExpressionType(tokens: GrlToken[], context: AnalysisContext): InferredType {
+  if (tokens.length === 0) {
+    return "unknown";
+  }
+  if (tokens.some((token) => token.kind === "operator" && ["==", "!=", "<", ">", "<=", ">=", "&&", "||", "!"].includes(token.raw))) {
+    return "bool";
+  }
+  if (tokens.length === 1) {
+    return inferSingleTokenType(tokens[0]!, context);
+  }
+  if (tokens[0] && isIdentifierLike(tokens[0]) && tokens[1]?.raw === "(") {
+    const signature = context.signatures.get(tokens[0].raw);
+    if (signature?.kind === "FUNC_SIGNATURE") {
+      return signature.returnType;
+    }
+  }
+  const operandTypes = tokens
+    .filter((token) => token.kind !== "operator" && token.kind !== "punctuation")
+    .map((token) => inferSingleTokenType(token, context))
+    .filter((type) => type !== "unknown");
+  if (operandTypes.length > 0 && operandTypes.every((type) => ["int", "real"].includes(type))) {
+    return operandTypes.includes("real") ? "real" : "int";
+  }
+  return "unknown";
+}
+
+function inferSingleTokenType(token: GrlToken, context: AnalysisContext): InferredType {
+  if (token.kind === "number") {
+    if (token.unit?.kind === "time") return "time";
+    if (token.unit?.kind === "length") return "length";
+    if (token.unit?.kind === "angle") return "angle";
+    if (token.unit?.kind === "percent") return "percent";
+    return Number.isInteger(token.value) ? "int" : "real";
+  }
+  if (token.kind === "string") {
+    return "string";
+  }
+  if (token.kind === "keyword" && (token.raw === "true" || token.raw === "false")) {
+    return "bool";
+  }
+  if (isIdentifierLike(token)) {
+    return context.symbols.get(token.raw) ?? "unknown";
+  }
+  return "unknown";
+}
+
+function isTypeCompatible(expected: string, actual: InferredType): boolean {
+  if (expected === "unknown" || actual === "unknown") {
+    return true;
+  }
+  if (expected === actual) {
+    return true;
+  }
+  return expected === "real" && actual === "int";
+}
+
+function isLValueExpression(tokens: GrlToken[]): boolean {
+  const first = tokens[0];
+  if (!first || !isIdentifierLike(first) || ["true", "false"].includes(first.raw)) {
+    return false;
+  }
+  return !tokens.some((token) => token.kind === "operator");
+}
+
+function expressionFromTokens(tokens: GrlToken[]): ControlExpression {
+  return {
+    text: stringifyTokens(tokens),
+    tokens,
+    ...(tokens[0] ? { sourceMap: tokenSourceMap(tokens[0]) } : {})
+  };
+}
+
+function splitTopLevel(tokens: GrlToken[], separator: string): GrlToken[][] {
+  const groups: GrlToken[][] = [];
+  let current: GrlToken[] = [];
+  let parenDepth = 0;
+  let bracketDepth = 0;
+  let braceDepth = 0;
+
+  for (const token of tokens) {
+    if (
+      token.kind === "punctuation" &&
+      token.raw === separator &&
+      parenDepth === 0 &&
+      bracketDepth === 0 &&
+      braceDepth === 0
+    ) {
+      groups.push(current);
+      current = [];
+      continue;
+    }
+    current.push(token);
+    if (token.kind === "punctuation") {
+      if (token.raw === "(") parenDepth += 1;
+      if (token.raw === ")") parenDepth = Math.max(0, parenDepth - 1);
+      if (token.raw === "[") bracketDepth += 1;
+      if (token.raw === "]") bracketDepth = Math.max(0, bracketDepth - 1);
+      if (token.raw === "{") braceDepth += 1;
+      if (token.raw === "}") braceDepth = Math.max(0, braceDepth - 1);
+    }
+  }
+  groups.push(current);
+  return groups;
+}
+
+function collectGlobalNames(declarations: GrlTopLevelDeclaration[]): Set<string> {
+  const names = new Set<string>();
+  for (const declaration of declarations) {
+    if (
+      declaration.kind === "DataDeclaration" ||
+      declaration.kind === "TargetDeclaration" ||
+      declaration.kind === "PathDeclaration" ||
+      declaration.kind === "OperationDeclaration" ||
+      declaration.kind === "ProcedureDeclaration" ||
+      declaration.kind === "FunctionDeclaration"
+    ) {
+      names.add(declaration.name);
+    }
+  }
+  return names;
+}
+
+function isDirection(token: GrlToken | undefined): boolean {
+  return Boolean(token && (token.raw === "in" || token.raw === "out" || token.raw === "inout"));
+}
+
+function isIdentifierLike(token: GrlToken): boolean {
+  return token.kind === "identifier" || token.kind === "keyword";
+}
+
+function stringifyTokens(tokens: GrlToken[]): string {
+  return tokens.map((token) => token.raw).join(" ");
+}
+
+function tokenSourceMap(token: GrlToken): MotionSourceMap {
+  return {
+    line: token.range.start.line,
+    column: token.range.start.column
+  };
+}
+
+function rangeSourceMap(position: { line: number; column: number }): MotionSourceMap {
+  return {
+    line: position.line,
+    column: position.column
+  };
+}
+
+function diagnostic(
+  severity: MotionDiagnostic["severity"],
+  code: string,
+  message: string,
+  sourceMap?: MotionSourceMap
+): MotionDiagnostic {
+  return {
+    severity,
+    code,
+    message,
+    ...(sourceMap ? { sourceMap } : {})
+  };
+}
+
+function routineError(code: string, message: string, sourceMap?: MotionSourceMap): KdlStructuredError {
+  return new KdlStructuredError(
+    code,
+    message,
+    sourceMap
+      ? [
+          {
+            severity: "error",
+            code,
+            message,
+            sourceMap
+          }
+        ]
+      : undefined
+  );
+}

kdl-wasm/web/src/grl/semantic/compileSemantic.ts

@@ -0,0 +1,549 @@
+import type { MotionDiagnostic, MotionSourceMap } from "../../kdl/types.js";
+import type {
+  GrlDataDeclaration,
+  GrlFunctionDeclaration,
+  GrlOperationDeclaration,
+  GrlPathDeclaration,
+  GrlProcedureDeclaration,
+  GrlProgram,
+  GrlRawTopLevelDeclaration,
+  GrlTargetDeclaration,
+  GrlTopLevelDeclaration
+} from "../ast/index.js";
+import type {
+  AlarmInstruction,
+  BreakInstruction,
+  CallInstruction,
+  ContinueInstruction,
+  ControlFlowInstruction,
+  ExecutableBranch,
+  ExecutableInstruction,
+  ExecutableProcedure,
+  ExecutableSwitchCase,
+  IoFlowInstruction,
+  ProcedureFlowInstruction,
+  RawProcedureStatement,
+  ReturnInstruction,
+  SemanticProgramIr,
+  SemanticSourceMapEntry,
+  SemanticSymbol,
+  UnsupportedRuntimeInstruction
+} from "../ir/index.js";
+import {
+  analyzeExceptionSemantics,
+  parseExceptionFlowStatements
+} from "./compileException.js";
+import { analyzeProcFunctionSemantics } from "./compileProcFunction.js";
+import {
+  buildMotionContext,
+  compileMotionToKdlRequest,
+  compileOperation,
+  compilePathToPlanRequest,
+  parseProcedureMotionInstructions,
+  parseProcedureRunOperationStatements,
+  parseProcedureRunPathStatements
+} from "./compileMotion.js";
+import {
+  parseControlFlowStatements
+} from "./compileControlFlow.js";
+import { parseIoFlowStatements } from "./compileIo.js";
+
+export interface SemanticCompileOptions {
+  startJoints: number[];
+  sampleTime: number;
+}
+
+const SEMANTIC_CHECKS = [
+  "language/module/proc",
+  "const/var/persistent symbols",
+  "tool/frame/speed/zone",
+  "joint_target/pose_target",
+  "movej/movel/movec",
+  "path/point/event/run_path",
+  "operation/run_operation",
+  "io/wait/pulse",
+  "if/elseif/else/while/for/switch",
+  "call/return/break/continue",
+  "proc parameter directions",
+  "func returns and side effects",
+  "alarm/raise/try/catch",
+  "source map propagation",
+  "KDL motion request bridge",
+  "KDL path request bridge",
+  "duplicate symbol diagnostics",
+  "missing reference diagnostics",
+  "P1 unsupported diagnostics",
+  "operation action expansion",
+  "path event expansion",
+  "raw statement preservation"
+] as const;
+
+export function compileSemanticProgram(program: GrlProgram, options: SemanticCompileOptions): SemanticProgramIr {
+  const declarations = program.module.declarations;
+  const diagnostics: MotionDiagnostic[] = [];
+  const sourceMap: SemanticSourceMapEntry[] = [];
+  const symbols = buildSemanticSymbols(declarations, diagnostics);
+  const motionContext = buildMotionContext(
+    declarations.filter(
+      (decl): decl is GrlDataDeclaration | GrlTargetDeclaration =>
+        decl.kind === "DataDeclaration" || decl.kind === "TargetDeclaration"
+    )
+  );
+  const paths = declarations
+    .filter((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration")
+    .map((path) => compilePathToPlanRequest(path, motionContext, options));
+  const pathDeclarations = new Map(
+    declarations
+      .filter((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration")
+      .map((path) => [path.name, path])
+  );
+  const operations = declarations
+    .filter((decl): decl is GrlOperationDeclaration => decl.kind === "OperationDeclaration")
+    .map((operation) => compileOperation(operation, pathDeclarations));
+  const procFunction = analyzeProcFunctionSemantics(declarations);
+  const exceptionAnalysis = analyzeExceptionSemantics(declarations);
+  diagnostics.push(...procFunction.diagnostics, ...exceptionAnalysis.diagnostics);
+  const procedures = declarations
+    .filter((decl): decl is GrlProcedureDeclaration => decl.kind === "ProcedureDeclaration")
+    .map((procedure) => compileExecutableProcedure(procedure, motionContext, diagnostics));
+
+  for (const path of paths) {
+    collectPathSourceMaps(path, sourceMap);
+  }
+  for (const operation of operations) {
+    collectOperationSourceMaps(operation, sourceMap);
+  }
+  for (const procedure of procedures) {
+    collectExecutableSourceMaps(procedure.instructions, sourceMap, { procedureId: procedure.name });
+  }
+
+  return {
+    moduleName: program.module.name,
+    symbols,
+    semanticChecks: [...SEMANTIC_CHECKS],
+    procedures,
+    paths,
+    operations,
+    diagnostics,
+    sourceMap,
+    kdlBridge: {
+      motionRequests: procedures.flatMap((procedure) =>
+        procedure.instructions.flatMap((instruction) =>
+          instruction.kind === "MOVEJ" || instruction.kind === "MOVEL" || instruction.kind === "MOVEC"
+            ? [compileMotionToKdlRequest(instruction, options)]
+            : []
+        )
+      ),
+      pathRequests: paths.map((path) => path.request)
+    }
+  };
+}
+
+function compileExecutableProcedure(
+  procedure: GrlProcedureDeclaration,
+  motionContext: ReturnType<typeof buildMotionContext>,
+  diagnostics: MotionDiagnostic[]
+): ExecutableProcedure {
+  const motion = parseProcedureMotionInstructions(procedure, cloneMotionContextForSemantic(motionContext));
+  const io = parseIoFlowStatements(procedure.bodyTokens);
+  const runPaths = parseProcedureRunPathStatements(procedure);
+  const runOperations = parseProcedureRunOperationStatements(procedure);
+  const controls = parseControlFlowStatements(procedure.bodyTokens);
+  const exceptions = parseExceptionFlowStatements(procedure.bodyTokens);
+  const nestedControlLines = collectNestedControlLines(controls);
+  const topLevelMotion = motion.filter((instruction) => !isNestedInstruction(instruction, nestedControlLines));
+  const topLevelIo = io.filter((instruction) => !isNestedInstruction(instruction, nestedControlLines));
+  const topLevelRunPaths = runPaths.filter((instruction) => !isNestedInstruction(instruction, nestedControlLines));
+  const topLevelRunOperations = runOperations.filter((instruction) => !isNestedInstruction(instruction, nestedControlLines));
+  const topLevelExceptions = exceptions.filter(
+    (instruction): instruction is AlarmInstruction | UnsupportedRuntimeInstruction =>
+      (instruction.kind === "ALARM" || instruction.kind === "UNSUPPORTED_RUNTIME") &&
+      !isNestedInstruction(instruction, nestedControlLines)
+  );
+  const topLevelStructuredLines = new Set([
+    ...topLevelMotion,
+    ...topLevelIo,
+    ...topLevelRunPaths,
+    ...topLevelRunOperations,
+    ...topLevelExceptions
+  ].map((instruction) => instruction.sourceMap?.line).filter((line): line is number => line !== undefined));
+  const instructions = mergeExecutableInstructions(
+    procedure.bodyTokens,
+    [
+      ...topLevelMotion,
+      ...topLevelIo,
+      ...topLevelRunPaths,
+      ...topLevelRunOperations,
+      ...topLevelExceptions,
+      ...flattenControlInstructions(controls, topLevelStructuredLines),
+      ...extractRawCallsAndReturns(controls, topLevelStructuredLines)
+    ],
+    diagnostics
+  );
+
+  return {
+    name: procedure.name,
+    instructions,
+    sourceMap: rangeSourceMap(procedure.range.start)
+  };
+}
+
+function mergeExecutableInstructions(
+  tokens: GrlProcedureDeclaration["bodyTokens"],
+  instructions: ExecutableInstruction[],
+  diagnostics: MotionDiagnostic[]
+): ExecutableInstruction[] {
+  const sorted = [...instructions].sort((left, right) => sourceOrder(left.sourceMap, right.sourceMap));
+  const seen = new Set<string>();
+  const merged: ExecutableInstruction[] = [];
+  for (const instruction of sorted) {
+    const key = instructionKey(instruction);
+    if (key && seen.has(key)) {
+      continue;
+    }
+    if (key) {
+      seen.add(key);
+    }
+    merged.push(instruction);
+  }
+  for (const token of tokens) {
+    if (["catch", "finally", "end"].includes(token.raw)) {
+      continue;
+    }
+    if (!merged.some((instruction) => instruction.sourceMap?.line === token.range.start.line)) {
+      diagnostics.push(diagnostic("info", "GRL_RAW_STATEMENT_PRESERVED", `Statement ${token.raw} preserved as raw IR`, tokenSourceMap(token)));
+    }
+  }
+  return merged;
+}
+
+function flattenControlInstructions(instructions: ProcedureFlowInstruction[], excludedRawLines = new Set<number>()): ExecutableInstruction[] {
+  return instructions.flatMap((instruction): ExecutableInstruction[] => {
+    if (instruction.kind === "RAW_STATEMENT") {
+      return rawStatementToExecutable(instruction, excludedRawLines);
+    }
+    if (instruction.kind === "IF") {
+      return [
+        {
+          kind: "EXEC_IF",
+          branches: instruction.branches.map((branch): ExecutableBranch => ({
+            branchKind: branch.branchKind,
+            ...(branch.condition ? { condition: branch.condition } : {}),
+            body: flattenProcedureFlow(branch.body),
+            ...(branch.sourceMap ? { sourceMap: branch.sourceMap } : {})
+          })),
+          ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {})
+        }
+      ];
+    }
+    if (instruction.kind === "WHILE") {
+      return [
+        {
+          kind: "EXEC_WHILE",
+          condition: instruction.condition,
+          body: flattenProcedureFlow(instruction.body),
+          ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {})
+        }
+      ];
+    }
+    if (instruction.kind === "FOR") {
+      return [
+        {
+          kind: "EXEC_FOR",
+          iterator: instruction.iterator,
+          from: instruction.from,
+          to: instruction.to,
+          ...(instruction.step ? { step: instruction.step } : {}),
+          body: flattenProcedureFlow(instruction.body),
+          ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {})
+        }
+      ];
+    }
+    if (instruction.kind === "SWITCH") {
+      return [
+        {
+          kind: "EXEC_SWITCH",
+          expression: instruction.expression,
+          cases: instruction.cases.map((switchCase): ExecutableSwitchCase => ({
+            caseKind: switchCase.caseKind,
+            ...(switchCase.value !== undefined ? { value: switchCase.value } : {}),
+            ...(switchCase.raw ? { raw: switchCase.raw } : {}),
+            body: flattenProcedureFlow(switchCase.body),
+            ...(switchCase.sourceMap ? { sourceMap: switchCase.sourceMap } : {})
+          })),
+          ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {})
+        }
+      ];
+    }
+    if (instruction.kind === "BREAK" || instruction.kind === "CONTINUE") {
+      return [instruction as BreakInstruction | ContinueInstruction];
+    }
+    return [];
+  });
+}
+
+function flattenProcedureFlow(instructions: ProcedureFlowInstruction[]): ExecutableInstruction[] {
+  const controls = instructions.filter((instruction): instruction is ControlFlowInstruction => instruction.kind !== "RAW_STATEMENT");
+  const raw = instructions.filter((instruction): instruction is RawProcedureStatement => instruction.kind === "RAW_STATEMENT");
+  return [...flattenControlInstructions(controls), ...extractRawCallsAndReturns(raw)];
+}
+
+function extractRawCallsAndReturns(
+  instructions: Array<ControlFlowInstruction | RawProcedureStatement>,
+  excludedRawLines = new Set<number>()
+): ExecutableInstruction[] {
+  const extracted: ExecutableInstruction[] = [];
+  for (const instruction of instructions) {
+    if (instruction.kind !== "RAW_STATEMENT") {
+      continue;
+    }
+    extracted.push(...rawStatementToExecutable(instruction, excludedRawLines));
+  }
+  return extracted;
+}
+
+function rawStatementToExecutable(
+  instruction: RawProcedureStatement,
+  excludedRawLines = new Set<number>()
+): ExecutableInstruction[] {
+    if (instruction.sourceMap?.line && excludedRawLines.has(instruction.sourceMap.line)) {
+      return [];
+    }
+    const tokens = instruction.tokens as { raw: string }[] | undefined;
+    const first = tokens?.[0]?.raw;
+    const second = tokens?.[1]?.raw;
+    if (first && ["set_tool", "set_frame", "set_speed", "set_zone"].includes(first)) {
+      return [];
+    }
+    const typedTokens = instruction.tokens as GrlProcedureDeclaration["bodyTokens"] | undefined;
+    if (typedTokens && (first === "io" || first === "wait" || first === "pulse")) {
+      return parseIoFlowStatements(typedTokens);
+    }
+    if (typedTokens && (first === "alarm" || first === "raise" || first === "enable" || first === "disable")) {
+      return parseExceptionFlowStatements(typedTokens).filter(
+        (item): item is AlarmInstruction | UnsupportedRuntimeInstruction => item.kind === "ALARM" || item.kind === "UNSUPPORTED_RUNTIME"
+      );
+    }
+    if (first === "call" && second) {
+      return [{
+        kind: "CALL" as const,
+        target: second,
+        args: [],
+        ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {})
+      }];
+    }
+    if (first === "return") {
+      return [{
+        kind: "RETURN" as const,
+        ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {})
+      }];
+    }
+    return [instruction];
+}
+
+function collectNestedControlLines(instructions: ProcedureFlowInstruction[]): Set<number> {
+  const lines = new Set<number>();
+  for (const instruction of instructions) {
+    if (instruction.kind === "RAW_STATEMENT") {
+      continue;
+    }
+    if (instruction.kind === "IF") {
+      for (const branch of instruction.branches) {
+        collectFlowLines(branch.body, lines);
+      }
+    } else if (instruction.kind === "WHILE" || instruction.kind === "FOR") {
+      collectFlowLines(instruction.body, lines);
+    } else if (instruction.kind === "SWITCH") {
+      for (const switchCase of instruction.cases) {
+        collectFlowLines(switchCase.body, lines);
+      }
+    }
+  }
+  return lines;
+}
+
+function collectFlowLines(instructions: ProcedureFlowInstruction[], lines: Set<number>): void {
+  for (const instruction of instructions) {
+    if (instruction.sourceMap?.line) {
+      lines.add(instruction.sourceMap.line);
+    }
+    if (instruction.kind === "IF") {
+      for (const branch of instruction.branches) {
+        collectFlowLines(branch.body, lines);
+      }
+    } else if (instruction.kind === "WHILE" || instruction.kind === "FOR") {
+      collectFlowLines(instruction.body, lines);
+    } else if (instruction.kind === "SWITCH") {
+      for (const switchCase of instruction.cases) {
+        collectFlowLines(switchCase.body, lines);
+      }
+    }
+  }
+}
+
+function isNestedInstruction(instruction: { sourceMap?: MotionSourceMap }, nestedLines: Set<number>): boolean {
+  return Boolean(instruction.sourceMap?.line && nestedLines.has(instruction.sourceMap.line));
+}
+
+function buildSemanticSymbols(declarations: GrlTopLevelDeclaration[], diagnostics: MotionDiagnostic[]): SemanticSymbol[] {
+  const symbols: SemanticSymbol[] = [];
+  const seen = new Map<string, SemanticSymbol>();
+  for (const declaration of declarations) {
+    const symbol = symbolFromDeclaration(declaration);
+    if (!symbol) {
+      continue;
+    }
+    const previous = seen.get(symbol.name);
+    if (previous) {
+      diagnostics.push(diagnostic("error", "GRL_SYMBOL_DUPLICATE", `Duplicate symbol ${symbol.name}`, symbol.sourceMap));
+    }
+    seen.set(symbol.name, symbol);
+    symbols.push(symbol);
+  }
+  return symbols;
+}
+
+function symbolFromDeclaration(declaration: GrlTopLevelDeclaration): SemanticSymbol | undefined {
+  if (declaration.kind === "DataDeclaration") {
+    return { kind: "data", name: declaration.name, typeName: declaration.typeName, sourceMap: rangeSourceMap(declaration.range.start) };
+  }
+  if (declaration.kind === "TargetDeclaration") {
+    return { kind: "target", name: declaration.name, sourceMap: rangeSourceMap(declaration.range.start) };
+  }
+  if (declaration.kind === "PathDeclaration") {
+    return { kind: "path", name: declaration.name, sourceMap: rangeSourceMap(declaration.range.start) };
+  }
+  if (declaration.kind === "OperationDeclaration") {
+    return { kind: "operation", name: declaration.name, sourceMap: rangeSourceMap(declaration.range.start) };
+  }
+  if (declaration.kind === "ProcedureDeclaration") {
+    return { kind: "procedure", name: declaration.name, sourceMap: rangeSourceMap(declaration.range.start) };
+  }
+  if (declaration.kind === "FunctionDeclaration") {
+    return { kind: "function", name: declaration.name, typeName: declaration.returnType, sourceMap: rangeSourceMap(declaration.range.start) };
+  }
+  if (declaration.kind === "RawTopLevelDeclaration") {
+    const name = declaration.tokens[1]?.raw ?? declaration.declarationType;
+    return { kind: "raw", name, typeName: declaration.declarationType, sourceMap: rangeSourceMap(declaration.range.start) };
+  }
+  return undefined;
+}
+
+function collectPathSourceMaps(path: SemanticProgramIr["paths"][number], sourceMap: SemanticSourceMapEntry[]): void {
+  for (const segment of path.request.segments) {
+    if (segment.sourceMap) {
+      sourceMap.push({
+        kind: "path_point",
+        id: segment.id ?? `${path.pathId}:${segment.motion}`,
+        pathId: path.pathId,
+        ...(segment.id ? { pointId: segment.id } : {}),
+        sourceMap: segment.sourceMap
+      });
+    }
+  }
+  for (const event of path.events) {
+    if (event.sourceMap) {
+      sourceMap.push({
+        kind: "path_event",
+        id: event.id ?? `${path.pathId}:event`,
+        pathId: path.pathId,
+        pointId: event.pointId,
+        sourceMap: event.sourceMap
+      });
+    }
+  }
+}
+
+function collectOperationSourceMaps(operation: SemanticProgramIr["operations"][number], sourceMap: SemanticSourceMapEntry[]): void {
+  for (const action of [...operation.startActions, ...operation.endActions]) {
+    if (action.sourceMap) {
+      sourceMap.push({
+        kind: "operation_action",
+        id: `${operation.operationId}:${action.actionKind}`,
+        operationId: operation.operationId,
+        sourceMap: action.sourceMap
+      });
+    }
+  }
+}
+
+function collectExecutableSourceMaps(
+  instructions: ExecutableInstruction[],
+  sourceMap: SemanticSourceMapEntry[],
+  context: { procedureId: string }
+): void {
+  for (const instruction of instructions) {
+    if (instruction.sourceMap) {
+      sourceMap.push({
+        kind: instruction.kind,
+        id: `${context.procedureId}:${instruction.kind}:${instruction.sourceMap.line ?? 0}:${instruction.sourceMap.column ?? 0}`,
+        procedureId: context.procedureId,
+        sourceMap: instruction.sourceMap
+      });
+    }
+    if (instruction.kind === "EXEC_IF") {
+      for (const branch of instruction.branches) {
+        collectExecutableSourceMaps(branch.body, sourceMap, context);
+      }
+    } else if (instruction.kind === "EXEC_WHILE" || instruction.kind === "EXEC_FOR") {
+      collectExecutableSourceMaps(instruction.body, sourceMap, context);
+    } else if (instruction.kind === "EXEC_SWITCH") {
+      for (const switchCase of instruction.cases) {
+        collectExecutableSourceMaps(switchCase.body, sourceMap, context);
+      }
+    }
+  }
+}
+
+function cloneMotionContextForSemantic(context: ReturnType<typeof buildMotionContext>): ReturnType<typeof buildMotionContext> {
+  return {
+    targets: context.targets,
+    speeds: context.speeds,
+    zones: context.zones,
+    tools: context.tools,
+    frames: context.frames,
+    ...(context.currentSpeed ? { currentSpeed: context.currentSpeed } : {}),
+    ...(context.currentZone ? { currentZone: context.currentZone } : {}),
+    ...(context.currentTool ? { currentTool: context.currentTool } : {}),
+    ...(context.currentFrame ? { currentFrame: context.currentFrame } : {})
+  };
+}
+
+function sourceOrder(left: MotionSourceMap | undefined, right: MotionSourceMap | undefined): number {
+  return (left?.line ?? Number.MAX_SAFE_INTEGER) - (right?.line ?? Number.MAX_SAFE_INTEGER) ||
+    (left?.column ?? Number.MAX_SAFE_INTEGER) - (right?.column ?? Number.MAX_SAFE_INTEGER);
+}
+
+function instructionKey(instruction: ExecutableInstruction): string | undefined {
+  const line = instruction.sourceMap?.line;
+  const column = instruction.sourceMap?.column;
+  return line ? `${instruction.kind}:${line}:${column ?? 0}` : undefined;
+}
+
+function tokenSourceMap(token: GrlProcedureDeclaration["bodyTokens"][number]): MotionSourceMap {
+  return {
+    line: token.range.start.line,
+    column: token.range.start.column
+  };
+}
+
+function rangeSourceMap(position: { line: number; column: number }): MotionSourceMap {
+  return {
+    line: position.line,
+    column: position.column
+  };
+}
+
+function diagnostic(
+  severity: MotionDiagnostic["severity"],
+  code: string,
+  message: string,
+  sourceMap?: MotionSourceMap
+): MotionDiagnostic {
+  return {
+    severity,
+    code,
+    message,
+    ...(sourceMap ? { sourceMap } : {})
+  };
+}

kdl-wasm/web/src/grl/semantic/index.ts

@@ -0,0 +1,49 @@
+export {
+  compileGrlDataDeclaration,
+  compileGrlTargetDeclaration,
+  compileOffsetExpression,
+  compileSpeedExpression,
+  compileTargetExpression,
+  compileZoneExpression,
+  type CompiledGrlDataDeclaration,
+  type CompiledGrlDataValue,
+  type CompiledGrlTargetDeclaration
+} from "./compileData.js";
+export {
+  buildMotionContext,
+  compileOperation,
+  compilePathToPlanRequest,
+  compileMotionToKdlRequest,
+  expandRunOperation,
+  parseProcedureMotionInstructions,
+  parseProcedureRunOperationStatements,
+  parseProcedureRunPathStatements,
+  type GrlMotionContext,
+  type PathCompileOptions,
+  type MotionRequestOptions
+} from "./compileMotion.js";
+export {
+  compileOperationActionIo,
+  compilePathEventIo,
+  parseIoFlowStatements,
+  type IoMap
+} from "./compileIo.js";
+export {
+  parseControlFlowStatements,
+  parseProcedureControlFlow
+} from "./compileControlFlow.js";
+export {
+  analyzeProcFunctionSemantics,
+  compileFunctionSignature,
+  compileProcedureSignature
+} from "./compileProcFunction.js";
+export {
+  analyzeExceptionSemantics,
+  parseExceptionFlowStatements,
+  parseProcedureExceptionFlow,
+  type ExceptionAnalysis
+} from "./compileException.js";
+export {
+  compileSemanticProgram,
+  type SemanticCompileOptions
+} from "./compileSemantic.js";

kdl-wasm/web/src/kdl/kdl.worker.ts

@@ -0,0 +1,16 @@
+import { createDefaultNativeKdlModuleLoader } from "./nativeModule.js";
+import { createKdlWorkerRuntime } from "./runtime.js";
+import { dispatchKdlRpcRequest } from "./workerRpc.js";
+import type { KdlRpcRequest } from "./rpc.js";
+
+const runtime = createKdlWorkerRuntime(createDefaultNativeKdlModuleLoader());
+const workerScope = globalThis as unknown as {
+  onmessage: ((event: MessageEvent<KdlRpcRequest<unknown[]>>) => void) | null;
+  postMessage: (message: unknown, transfer?: Transferable[]) => void;
+};
+
+workerScope.onmessage = (event) => {
+  void dispatchKdlRpcRequest(runtime, event.data).then((response) => {
+    workerScope.postMessage(response);
+  });
+};

kdl-wasm/web/src/kdl/kdlClient.ts

@@ -0,0 +1,318 @@
+import {
+  KdlStructuredError,
+  rpcErrorToException,
+  type KdlRpcRequest,
+  type KdlRpcResponse
+} from "./rpc.js";
+import type {
+  CycleTimeResult,
+  JointLimits,
+  FkOptions,
+  FkResult,
+  IkOptions,
+  IkResult,
+  JacobianOptions,
+  JacobianResult,
+  KdlApiMethod,
+  KdlInitOptions,
+  KdlRuntimeInfo,
+  KdlWasmApi,
+  LinkPoseResult,
+  LimitCheckResult,
+  MoveCRequest,
+  MoveJRequest,
+  MoveLRequest,
+  NormalizedRobotModel,
+  OffsetSpec,
+  PathPlanRequest,
+  PathPlanResult,
+  PathValidationResult,
+  Pose,
+  PoseLike,
+  PoseNormalizeOptions,
+  PoseTarget,
+  ReachabilityResult,
+  RobotHandle,
+  RobotInfo,
+  SingularityResult,
+  TrapProfileOptions,
+  TrapProfileResult,
+  TrapSample,
+  TrajectoryResult,
+  UrdfLoadOptions
+} from "./types.js";
+
+export interface KdlWorkerLike {
+  postMessage(message: KdlRpcRequest<unknown[]>, transfer?: Transferable[]): void;
+  terminate?: () => void;
+  addEventListener(type: "message", listener: (event: MessageEvent<KdlRpcResponse>) => void): void;
+  addEventListener(type: "error", listener: (event: ErrorEvent) => void): void;
+  removeEventListener(type: "message", listener: (event: MessageEvent<KdlRpcResponse>) => void): void;
+  removeEventListener(type: "error", listener: (event: ErrorEvent) => void): void;
+}
+
+interface PendingCall {
+  method: KdlApiMethod;
+  resolve: (value: unknown) => void;
+  reject: (reason?: unknown) => void;
+}
+
+export class KdlWorkerClient
+  implements
+    Pick<
+      KdlWasmApi,
+      | "init"
+      | "dispose"
+      | "loadRobotFromUrdf"
+      | "createRobotFromModel"
+      | "destroyRobot"
+      | "getRobotInfo"
+      | "getJointLimits"
+      | "normalizePose"
+      | "composePose"
+      | "inversePose"
+      | "applyToolAndFrame"
+      | "applyOffset"
+      | "makeTrapProfile"
+      | "sampleTrapProfile"
+      | "fk"
+      | "fkPose7"
+      | "fkAllLinks"
+      | "ik"
+      | "ikBatch"
+      | "jacobian"
+      | "checkSingularity"
+      | "checkJointLimits"
+      | "checkVelocityLimits"
+      | "checkReachability"
+      | "checkReachabilityBatch"
+      | "planMoveJ"
+      | "planMoveL"
+      | "planMoveC"
+      | "planPath"
+      | "validatePath"
+      | "estimateCycleTime"
+      | "resampleTrajectory"
+    >
+{
+  private nextId = 1;
+  private worker: KdlWorkerLike | undefined;
+  private readonly pending = new Map<number, PendingCall>();
+  private readonly handleMessage = (event: MessageEvent<KdlRpcResponse>) => {
+    this.acceptResponse(event.data);
+  };
+  private readonly handleError = (event: ErrorEvent) => {
+    this.failWorker(event.error instanceof Error ? event.error : new Error(event.message));
+  };
+
+  constructor(private readonly createWorker: () => KdlWorkerLike) {}
+
+  async init(options?: KdlInitOptions): Promise<KdlRuntimeInfo> {
+    return this.call("init", options) as Promise<KdlRuntimeInfo>;
+  }
+
+  async dispose(): Promise<void> {
+    if (!this.worker) {
+      return;
+    }
+
+    try {
+      await this.call("dispose");
+    } finally {
+      this.detachWorker();
+    }
+  }
+
+  async loadRobotFromUrdf(urdfXml: string, options: UrdfLoadOptions): Promise<RobotHandle> {
+    return this.call("loadRobotFromUrdf", urdfXml, options) as Promise<RobotHandle>;
+  }
+
+  async createRobotFromModel(model: NormalizedRobotModel): Promise<RobotHandle> {
+    return this.call("createRobotFromModel", model) as Promise<RobotHandle>;
+  }
+
+  async destroyRobot(handle: RobotHandle): Promise<void> {
+    await this.call("destroyRobot", handle);
+  }
+
+  async getRobotInfo(handle: RobotHandle): Promise<RobotInfo> {
+    return this.call("getRobotInfo", handle) as Promise<RobotInfo>;
+  }
+
+  async getJointLimits(handle: RobotHandle): Promise<JointLimits[]> {
+    return this.call("getJointLimits", handle) as Promise<JointLimits[]>;
+  }
+
+  async normalizePose(input: PoseLike, options?: PoseNormalizeOptions): Promise<Pose> {
+    return this.call("normalizePose", input, options) as Promise<Pose>;
+  }
+
+  async composePose(a: Pose, b: Pose): Promise<Pose> {
+    return this.call("composePose", a, b) as Promise<Pose>;
+  }
+
+  async inversePose(pose: Pose): Promise<Pose> {
+    return this.call("inversePose", pose) as Promise<Pose>;
+  }
+
+  async applyToolAndFrame(target: PoseTarget, tool: Pose, frame: Pose): Promise<Pose> {
+    return this.call("applyToolAndFrame", target, tool, frame) as Promise<Pose>;
+  }
+
+  async applyOffset(target: PoseTarget, offset: OffsetSpec): Promise<PoseTarget> {
+    return this.call("applyOffset", target, offset) as Promise<PoseTarget>;
+  }
+
+  async makeTrapProfile(length: number, options: TrapProfileOptions): Promise<TrapProfileResult> {
+    return this.call("makeTrapProfile", length, options) as Promise<TrapProfileResult>;
+  }
+
+  async sampleTrapProfile(length: number, options: TrapProfileOptions): Promise<TrapSample[]> {
+    return this.call("sampleTrapProfile", length, options) as Promise<TrapSample[]>;
+  }
+
+  async fk(handle: RobotHandle, joints: Float64Array, options?: FkOptions): Promise<FkResult> {
+    return this.call("fk", handle, joints, options) as Promise<FkResult>;
+  }
+
+  async fkPose7(handle: RobotHandle, joints: Float64Array, out?: Float64Array, options?: FkOptions): Promise<Float64Array> {
+    return this.call("fkPose7", handle, joints, out, options) as Promise<Float64Array>;
+  }
+
+  async fkAllLinks(handle: RobotHandle, joints: Float64Array, options?: FkOptions): Promise<LinkPoseResult> {
+    return this.call("fkAllLinks", handle, joints, options) as Promise<LinkPoseResult>;
+  }
+
+  async ik(handle: RobotHandle, seed: Float64Array, target: Pose, options?: IkOptions): Promise<IkResult> {
+    return this.call("ik", handle, seed, target, options) as Promise<IkResult>;
+  }
+
+  async ikBatch(handle: RobotHandle, seeds: Float64Array[], targets: Pose[], options?: IkOptions): Promise<IkResult[]> {
+    return this.call("ikBatch", handle, seeds, targets, options) as Promise<IkResult[]>;
+  }
+
+  async jacobian(handle: RobotHandle, joints: Float64Array, options?: JacobianOptions): Promise<JacobianResult> {
+    return this.call("jacobian", handle, joints, options) as Promise<JacobianResult>;
+  }
+
+  async checkSingularity(handle: RobotHandle, joints: Float64Array): Promise<SingularityResult> {
+    return this.call("checkSingularity", handle, joints) as Promise<SingularityResult>;
+  }
+
+  async checkJointLimits(handle: RobotHandle, joints: Float64Array): Promise<LimitCheckResult> {
+    return this.call("checkJointLimits", handle, joints) as Promise<LimitCheckResult>;
+  }
+
+  async checkVelocityLimits(handle: RobotHandle, trajectory: TrajectoryResult): Promise<LimitCheckResult> {
+    return this.call("checkVelocityLimits", handle, trajectory) as Promise<LimitCheckResult>;
+  }
+
+  async checkReachability(handle: RobotHandle, target: PoseTarget, options?: IkOptions): Promise<ReachabilityResult> {
+    return this.call("checkReachability", handle, target, options) as Promise<ReachabilityResult>;
+  }
+
+  async checkReachabilityBatch(
+    handle: RobotHandle,
+    targets: PoseTarget[],
+    options?: IkOptions
+  ): Promise<ReachabilityResult[]> {
+    return this.call("checkReachabilityBatch", handle, targets, options) as Promise<ReachabilityResult[]>;
+  }
+
+  async planMoveJ(handle: RobotHandle, request: MoveJRequest): Promise<TrajectoryResult> {
+    return this.call("planMoveJ", handle, request) as Promise<TrajectoryResult>;
+  }
+
+  async planMoveL(handle: RobotHandle, request: MoveLRequest): Promise<TrajectoryResult> {
+    return this.call("planMoveL", handle, request) as Promise<TrajectoryResult>;
+  }
+
+  async planMoveC(handle: RobotHandle, request: MoveCRequest): Promise<TrajectoryResult> {
+    return this.call("planMoveC", handle, request) as Promise<TrajectoryResult>;
+  }
+
+  async planPath(handle: RobotHandle, request: PathPlanRequest): Promise<PathPlanResult> {
+    return this.call("planPath", handle, request) as Promise<PathPlanResult>;
+  }
+
+  async validatePath(handle: RobotHandle, request: PathPlanRequest): Promise<PathValidationResult> {
+    return this.call("validatePath", handle, request) as Promise<PathValidationResult>;
+  }
+
+  async estimateCycleTime(input: TrajectoryResult | PathPlanResult): Promise<CycleTimeResult> {
+    return this.call("estimateCycleTime", input) as Promise<CycleTimeResult>;
+  }
+
+  async resampleTrajectory(trajectory: TrajectoryResult, sampleTime: number): Promise<TrajectoryResult> {
+    return this.call("resampleTrajectory", trajectory, sampleTime) as Promise<TrajectoryResult>;
+  }
+
+  async call(method: KdlApiMethod, ...args: unknown[]): Promise<unknown> {
+    const worker = this.ensureWorker();
+    const id = this.nextId++;
+    const request: KdlRpcRequest<unknown[]> = {
+      id,
+      method,
+      payload: args
+    };
+
+    return new Promise((resolve, reject) => {
+      this.pending.set(id, { method, resolve, reject });
+      worker.postMessage(request);
+    });
+  }
+
+  private ensureWorker(): KdlWorkerLike {
+    if (this.worker) {
+      return this.worker;
+    }
+
+    const worker = this.createWorker();
+    worker.addEventListener("message", this.handleMessage);
+    worker.addEventListener("error", this.handleError);
+    this.worker = worker;
+    return worker;
+  }
+
+  private acceptResponse(response: KdlRpcResponse): void {
+    const pending = this.pending.get(response.id);
+    if (!pending) {
+      return;
+    }
+
+    this.pending.delete(response.id);
+
+    if (response.ok) {
+      pending.resolve(response.result);
+    } else {
+      pending.reject(
+        rpcErrorToException(
+          response.error ?? {
+            code: "KDL_RPC_MISSING_ERROR",
+            message: `KDL worker returned a failed response for ${pending.method} without error details`
+          }
+        )
+      );
+    }
+  }
+
+  private failWorker(error: Error): void {
+    const structured = new KdlStructuredError("KDL_WORKER_CRASHED", error.message);
+    for (const pending of this.pending.values()) {
+      pending.reject(structured);
+    }
+    this.pending.clear();
+    this.detachWorker();
+  }
+
+  private detachWorker(): void {
+    if (!this.worker) {
+      return;
+    }
+
+    this.worker.removeEventListener("message", this.handleMessage);
+    this.worker.removeEventListener("error", this.handleError);
+    this.worker.terminate?.();
+    this.worker = undefined;
+  }
+}

kdl-wasm/web/src/kdl/nativeAbi.ts

@@ -0,0 +1,118 @@
+import { KdlStructuredError } from "./rpc.js";
+import type { KdlError } from "./types.js";
+import type { NativeKdlModule } from "./nativeModule.js";
+
+export const KDL_C_ABI_EXPORTS = [
+  "kdl_init",
+  "kdl_create_robot",
+  "kdl_destroy_robot",
+  "kdl_get_robot_info",
+  "kdl_fk",
+  "kdl_fk_all_links",
+  "kdl_jacobian",
+  "kdl_ik",
+  "kdl_plan_movej",
+  "kdl_plan_movel",
+  "kdl_plan_movec",
+  "kdl_plan_path",
+  "kdl_sample_trap",
+  "kdl_last_error"
+] as const;
+
+export type KdlCAbiExport = (typeof KDL_C_ABI_EXPORTS)[number];
+
+export class KdlNativeAbi {
+  constructor(private readonly module: NativeKdlModule) {
+    this.assertRuntimeMethods();
+  }
+
+  assertExports(names: readonly KdlCAbiExport[] = KDL_C_ABI_EXPORTS): void {
+    for (const name of names) {
+      try {
+        if (typeof this.module.cwrap?.(name, "number", []) === "function") {
+          continue;
+        }
+      } catch {
+        // Normalized below.
+      }
+      {
+        throw new KdlStructuredError("KDL_C_ABI_EXPORT_MISSING", `Missing C ABI export: ${name}`);
+      }
+    }
+  }
+
+  callNumber(ident: KdlCAbiExport, argTypes: Array<string | null>, args: unknown[]): number {
+    return Number(this.module.ccall(ident, "number", argTypes, args));
+  }
+
+  checkReturnCode(returnCode: number): void {
+    if (returnCode >= 0) {
+      return;
+    }
+
+    const error = this.lastError();
+    throw new KdlStructuredError(error.code, error.message, error.diagnostics);
+  }
+
+  readJsonCall<T>(ident: KdlCAbiExport, argTypes: Array<string | null>, args: unknown[], bytes = 16_384): T {
+    const ptr = this.malloc(bytes);
+    try {
+      const returnCode = this.callNumber(ident, [...argTypes, "number", "number"], [...args, ptr, bytes]);
+      this.checkReturnCode(returnCode);
+      return JSON.parse(this.module.UTF8ToString?.(ptr) ?? "") as T;
+    } finally {
+      this.free(ptr);
+    }
+  }
+
+  lastError(bytes = 16_384): KdlError {
+    const ptr = this.malloc(bytes);
+    try {
+      const returnCode = this.callNumber("kdl_last_error", ["number", "number"], [ptr, bytes]);
+      if (returnCode < 0) {
+        return {
+          code: "KDL_LAST_ERROR_FAILED",
+          message: "kdl_last_error failed",
+          diagnostics: [
+            {
+              severity: "error",
+              code: "KDL_LAST_ERROR_FAILED",
+              message: "kdl_last_error failed"
+            }
+          ]
+        };
+      }
+      return JSON.parse(this.module.UTF8ToString?.(ptr) ?? "") as KdlError;
+    } finally {
+      this.free(ptr);
+    }
+  }
+
+  private assertRuntimeMethods(): void {
+    const missing = [
+      ["cwrap", this.module.cwrap],
+      ["UTF8ToString", this.module.UTF8ToString],
+      ["_malloc", this.module._malloc],
+      ["_free", this.module._free]
+    ].flatMap(([name, value]) => (typeof value === "function" ? [] : [name as string]));
+
+    if (missing.length > 0) {
+      throw new KdlStructuredError(
+        "KDL_C_ABI_RUNTIME_MISSING",
+        `KDL native module is missing runtime methods: ${missing.join(", ")}`
+      );
+    }
+  }
+
+  private malloc(bytes: number): number {
+    const ptr = this.module._malloc?.(bytes);
+    if (!ptr) {
+      throw new KdlStructuredError("KDL_WASM_ALLOC_FAILED", `Failed to allocate ${bytes} bytes`);
+    }
+    return ptr;
+  }
+
+  private free(ptr: number): void {
+    this.module._free?.(ptr);
+  }
+}

kdl-wasm/web/src/kdl/nativeModule.ts

@@ -0,0 +1,58 @@
+import type { KdlInitOptions } from "./types.js";
+
+export interface NativeKdlModule {
+  ccall: (
+    ident: string,
+    returnType: string | null,
+    argTypes: Array<string | null>,
+    args: unknown[]
+  ) => unknown;
+  cwrap?: (
+    ident: string,
+    returnType: string | null,
+    argTypes: Array<string | null>
+  ) => (...args: unknown[]) => unknown;
+  UTF8ToString?: (ptr: number) => string;
+  stringToUTF8?: (value: string, outPtr: number, maxBytesToWrite: number) => void;
+  lengthBytesUTF8?: (value: string) => number;
+  _malloc?: (size: number) => number;
+  _free?: (ptr: number) => void;
+  HEAPF64?: Float64Array;
+}
+
+export type NativeKdlModuleLoader = (options: KdlInitOptions) => Promise<NativeKdlModule>;
+
+interface NativeKdlModuleFactoryOptions {
+  locateFile?: (path: string, prefix: string) => string;
+  print?: (text: string) => void;
+  printErr?: (text: string) => void;
+}
+
+type NativeKdlModuleFactory = (
+  options?: NativeKdlModuleFactoryOptions
+) => Promise<NativeKdlModule>;
+
+export function createDefaultNativeKdlModuleLoader(defaultWrapperUrl?: string): NativeKdlModuleLoader {
+  return async (options) => {
+    const wrapperUrl =
+      options.wrapperUrl ?? defaultWrapperUrl ?? new URL("../../../build-wasm/kdl.js", import.meta.url).href;
+    const imported = (await import(/* @vite-ignore */ wrapperUrl)) as {
+      default?: NativeKdlModuleFactory;
+      createKdlModule?: NativeKdlModuleFactory;
+    };
+    const factory = imported.default ?? imported.createKdlModule;
+
+    if (typeof factory !== "function") {
+      throw new Error(`KDL WASM wrapper did not export a module factory: ${wrapperUrl}`);
+    }
+
+    return factory({
+      locateFile: (path, prefix) => {
+        if (path.endsWith(".wasm") && options.wasmUrl) {
+          return options.wasmUrl;
+        }
+        return new URL(path, prefix || wrapperUrl).href;
+      }
+    });
+  };
+}

kdl-wasm/web/src/kdl/performanceBaseline.ts

@@ -0,0 +1,256 @@
+import { KdlWorkerRuntime } from "./runtime.js";
+import type { PerformanceBaselineResult, PerformanceMetric, Pose, TrajectoryResult } from "./types.js";
+
+const SIX_AXIS_URDF = `
+<robot name="performance_6_axis">
+  <link name="base_link"/>
+  <link name="link_1"/>
+  <link name="link_2"/>
+  <link name="link_3"/>
+  <link name="link_4"/>
+  <link name="link_5"/>
+  <link name="tool0"/>
+  <joint name="joint_1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0.1" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5" acceleration="5"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.2 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5" acceleration="5"/>
+  </joint>
+  <joint name="joint_3" type="revolute">
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.2 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5" acceleration="5"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_3"/>
+    <child link="link_4"/>
+    <origin xyz="0.1 0 0.1" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5" acceleration="5"/>
+  </joint>
+  <joint name="joint_5" type="revolute">
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0.1 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5" acceleration="5"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_5"/>
+    <child link="tool0"/>
+    <origin xyz="0.1 0 0" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5" acceleration="5"/>
+  </joint>
+</robot>
+`;
+
+const PLANAR_URDF = `
+<robot name="performance_planar">
+  <link name="base_link"/>
+  <link name="link_1"/>
+  <link name="tool0"/>
+  <joint name="joint_1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5" acceleration="5"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_1"/>
+    <child link="tool0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1" velocity="1" acceleration="2"/>
+  </joint>
+</robot>
+`;
+
+export interface PerformanceBaselineOptions {
+  fkIterations?: number;
+  ikIterations?: number;
+  reachabilityTargets?: number;
+  sampleTime?: number;
+  trajectorySeconds?: number;
+}
+
+export async function runPerformanceBaseline(
+  options: PerformanceBaselineOptions = {}
+): Promise<PerformanceBaselineResult> {
+  const fkIterations = options.fkIterations ?? 1_000;
+  const ikIterations = options.ikIterations ?? 200;
+  const reachabilityTargets = options.reachabilityTargets ?? 1_000;
+  const sampleTime = options.sampleTime ?? 0.004;
+  const trajectorySeconds = options.trajectorySeconds ?? 10;
+  const runtime = new KdlWorkerRuntime();
+  const metrics: PerformanceMetric[] = [];
+
+  const initStart = performance.now();
+  await runtime.init({ wasmBuild: "performance-baseline" });
+  const sixAxisHandle = await runtime.loadRobotFromUrdf(SIX_AXIS_URDF, {
+    robotId: "performance_6_axis",
+    baseLink: "base_link",
+    tipLink: "tool0"
+  });
+  metrics.push(singleMetric("robot_init_6_axis", performance.now() - initStart, 1_000));
+
+  const fkInput = new Float64Array([0.1, -0.2, 0.15, 0.05, -0.1, 0.2]);
+  const fkOutput = new Float64Array(7);
+  metrics.push(await repeatedMetric("fk_pose7_typed_array", fkIterations, 1, () => {
+    return runtime.fkPose7(sixAxisHandle, fkInput, fkOutput);
+  }));
+
+  const planarHandle = await runtime.loadRobotFromUrdf(PLANAR_URDF, {
+    robotId: "performance_planar",
+    baseLink: "base_link",
+    tipLink: "tool0"
+  });
+
+  const ikTargets = makeTargets(ikIterations, 0.15, 0.65);
+  metrics.push(await repeatedMetric("ik_planar_average", ikIterations, 10, (index) => {
+    return runtime.ik(planarHandle, new Float64Array([0, 0.2]), ikTargets[index]!, {
+      positionTolerance: 1e-9
+    });
+  }));
+
+  const reachability = makePoseTargets(reachabilityTargets, 0.05, 0.95);
+  const reachabilityStart = performance.now();
+  const reachabilityResult = await runtime.checkReachabilityBatch(planarHandle, reachability);
+  const reachabilityMs = performance.now() - reachabilityStart;
+  metrics.push({
+    name: "reachability_batch_1000",
+    iterations: 1,
+    totalMs: reachabilityMs,
+    averageMs: reachabilityMs,
+    thresholdMs: 500,
+    points: reachabilityTargets,
+    ok: reachabilityMs <= 500 && reachabilityResult.length === reachabilityTargets
+  });
+
+  const trajectoryStart = performance.now();
+  const trajectory = await runtime.planMoveJ(planarHandle, {
+    startJoints: [0, 0],
+    target: {
+      id: "ten_second_goal",
+      joints: [0, 1]
+    },
+    speed: {
+      kind: "joint_abs",
+      velocity: 1 / trajectorySeconds,
+      acceleration: 1
+    },
+    zone: {
+      kind: "fine"
+    },
+    sampleTime
+  });
+  const trajectoryMs = performance.now() - trajectoryStart;
+  metrics.push(trajectoryMetric("trajectory_10s_4ms", trajectory, trajectoryMs, 500));
+
+  await runtime.dispose();
+  return {
+    ok: metrics.every((metric) => metric.ok),
+    metrics,
+    diagnostics: metrics.flatMap((metric) =>
+      metric.ok
+        ? []
+        : [
+            {
+              severity: "warning" as const,
+              code: "KDL_PERFORMANCE_BASELINE_MISS",
+              message: `${metric.name} exceeded ${metric.thresholdMs ?? "unbounded"} ms`,
+              data: {
+                metric
+              }
+            }
+          ]
+    )
+  };
+}
+
+function singleMetric(name: string, totalMs: number, thresholdMs: number): PerformanceMetric {
+  return {
+    name,
+    iterations: 1,
+    totalMs,
+    averageMs: totalMs,
+    thresholdMs,
+    ok: totalMs <= thresholdMs
+  };
+}
+
+async function repeatedMetric(
+  name: string,
+  iterations: number,
+  thresholdMs: number,
+  fn: (index: number) => unknown | Promise<unknown>
+): Promise<PerformanceMetric> {
+  let maxMs = 0;
+  const start = performance.now();
+  for (let index = 0; index < iterations; index += 1) {
+    const before = performance.now();
+    await fn(index);
+    maxMs = Math.max(maxMs, performance.now() - before);
+  }
+  const totalMs = performance.now() - start;
+  const averageMs = totalMs / iterations;
+  return {
+    name,
+    iterations,
+    totalMs,
+    averageMs,
+    maxMs,
+    thresholdMs,
+    ok: averageMs <= thresholdMs
+  };
+}
+
+function trajectoryMetric(
+  name: string,
+  trajectory: TrajectoryResult,
+  totalMs: number,
+  thresholdMs: number
+): PerformanceMetric {
+  const points = trajectory.points.length;
+  return {
+    name,
+    iterations: 1,
+    totalMs,
+    averageMs: totalMs,
+    thresholdMs,
+    points,
+    ok: trajectory.ok && points >= 2_500 && totalMs <= thresholdMs
+  };
+}
+
+function makeTargets(count: number, minRadius: number, maxRadius: number): Pose[] {
+  return Array.from({ length: count }, (_, index) => {
+    const ratio = count <= 1 ? 0 : index / (count - 1);
+    const angle = ratio * Math.PI * 2;
+    const radius = minRadius + (maxRadius - minRadius) * ((index % 97) / 96);
+    return pose(Math.cos(angle) * radius, Math.sin(angle) * radius);
+  });
+}
+
+function makePoseTargets(count: number, minRadius: number, maxRadius: number) {
+  return makeTargets(count, minRadius, maxRadius).map((poseValue, index) => ({
+    id: `target_${index}`,
+    pose: poseValue
+  }));
+}
+
+function pose(x: number, y: number): Pose {
+  return {
+    position: [x, y, 0],
+    quaternion: [0, 0, 0, 1]
+  };
+}

kdl-wasm/web/src/kdl/poseApi.ts

@@ -0,0 +1,99 @@
+import { KdlStructuredError } from "./rpc.js";
+import {
+  composePose as composePoseMath,
+  inversePose as inversePoseMath,
+  normalizeQuaternion,
+  rpyToQuaternion
+} from "../math/poseMath.js";
+import type { OffsetSpec, Pose, PoseLike, PoseTarget } from "./types.js";
+
+export function normalizePose(input: PoseLike): Pose {
+  if (!input || typeof input !== "object") {
+    throw new KdlStructuredError("KDL_INVALID_POSE", "Pose input must be an object");
+  }
+
+  if ("position" in input && "quaternion" in input) {
+    return {
+      position: validateVector3(input.position, "position"),
+      quaternion: normalizeQuaternion(validateVector4(input.quaternion, "quaternion"))
+    };
+  }
+
+  if ("xyz" in input && "rpy" in input) {
+    return {
+      position: validateVector3(input.xyz, "xyz"),
+      quaternion: rpyToQuaternion(validateVector3(input.rpy, "rpy"))
+    };
+  }
+
+  if ("xyz" in input && "quat" in input) {
+    return {
+      position: validateVector3(input.xyz, "xyz"),
+      quaternion: normalizeQuaternion(validateVector4(input.quat, "quat"))
+    };
+  }
+
+  throw new KdlStructuredError("KDL_INVALID_POSE", "Pose input must contain position/quaternion, xyz/rpy, or xyz/quat");
+}
+
+export function composePose(a: Pose, b: Pose): Pose {
+  return composePoseMath(normalizePose(a), normalizePose(b));
+}
+
+export function inversePose(pose: Pose): Pose {
+  return inversePoseMath(normalizePose(pose));
+}
+
+export function applyToolAndFrame(target: PoseTarget, tool: Pose, frame: Pose): Pose {
+  return composePose(composePose(normalizePose(frame), normalizePose(target.pose)), normalizePose(tool));
+}
+
+export function applyOffset(target: PoseTarget, offset: OffsetSpec): PoseTarget {
+  const offsetPose = offsetToPose(offset);
+  const pose = offset.mode === "tool" ? composePose(target.pose, offsetPose) : composePose(offsetPose, target.pose);
+
+  return {
+    ...target,
+    pose
+  };
+}
+
+function offsetToPose(offset: OffsetSpec): Pose {
+  const xyz: [number, number, number] = offset.xyz ? validateVector3(offset.xyz, "offset.xyz") : [0, 0, 0];
+  if (offset.rpy && offset.quaternion) {
+    throw new KdlStructuredError("KDL_INVALID_OFFSET", "Offset cannot specify both rpy and quaternion");
+  }
+
+  if (offset.rpy) {
+    return {
+      position: xyz,
+      quaternion: rpyToQuaternion(validateVector3(offset.rpy, "offset.rpy"))
+    };
+  }
+
+  if (offset.quaternion) {
+    return {
+      position: xyz,
+      quaternion: normalizeQuaternion(validateVector4(offset.quaternion, "offset.quaternion"))
+    };
+  }
+
+  return {
+    position: xyz,
+    quaternion: [0, 0, 0, 1]
+  };
+}
+
+function validateVector3(value: unknown, field: string): [number, number, number] {
+  if (!Array.isArray(value) || value.length !== 3 || value.some((entry) => !Number.isFinite(entry))) {
+    throw new KdlStructuredError("KDL_INVALID_POSE", `${field} must contain 3 finite numbers`);
+  }
+  return [value[0]!, value[1]!, value[2]!];
+}
+
+function validateVector4(value: unknown, field: string): [number, number, number, number] {
+  if (!Array.isArray(value) || value.length !== 4 || value.some((entry) => !Number.isFinite(entry))) {
+    throw new KdlStructuredError("KDL_INVALID_POSE", `${field} must contain 4 finite numbers`);
+  }
+  return [value[0]!, value[1]!, value[2]!, value[3]!];
+}

kdl-wasm/web/src/kdl/rpc.ts

@@ -0,0 +1,78 @@
+import type { KdlApiMethod, KdlError, KdlWasmApi, MotionDiagnostic } from "./types.js";
+
+export interface KdlRpcRequest<T = unknown> {
+  id: number;
+  method: KdlApiMethod;
+  payload: T;
+}
+
+export interface KdlRpcErrorPayload {
+  code: string;
+  message: string;
+  diagnostics?: MotionDiagnostic[];
+}
+
+export interface KdlRpcResponse<T = unknown> {
+  id: number;
+  ok: boolean;
+  result?: T;
+  error?: KdlRpcErrorPayload;
+}
+
+export class KdlStructuredError extends Error implements KdlError {
+  readonly code: string;
+  readonly diagnostics: MotionDiagnostic[];
+
+  constructor(code: string, message: string, diagnostics?: MotionDiagnostic[]) {
+    super(message);
+    this.name = "KdlStructuredError";
+    this.code = code;
+    this.diagnostics = diagnostics ?? [
+      {
+        severity: "error",
+        code,
+        message
+      }
+    ];
+  }
+}
+
+export type KdlRuntimeHandlers = Partial<{
+  [Method in keyof KdlWasmApi]: (...args: unknown[]) => Promise<unknown> | unknown;
+}>;
+
+export function createRpcError(
+  code: string,
+  message: string,
+  diagnostics?: MotionDiagnostic[]
+): KdlRpcErrorPayload {
+  return {
+    code,
+    message,
+    diagnostics:
+      diagnostics ??
+      [
+        {
+          severity: "error",
+          code,
+          message
+        }
+      ]
+  };
+}
+
+export function normalizeThrownError(error: unknown): KdlRpcErrorPayload {
+  if (error instanceof KdlStructuredError) {
+    return createRpcError(error.code, error.message, error.diagnostics);
+  }
+
+  if (error instanceof Error) {
+    return createRpcError("KDL_WORKER_ERROR", error.message);
+  }
+
+  return createRpcError("KDL_WORKER_ERROR", String(error));
+}
+
+export function rpcErrorToException(error: KdlRpcErrorPayload): KdlStructuredError {
+  return new KdlStructuredError(error.code, error.message, error.diagnostics);
+}

kdl-wasm/web/src/kdl/runtime.ts

@@ -0,0 +1,329 @@
+import { KdlStructuredError, type KdlRuntimeHandlers } from "./rpc.js";
+import type { NativeKdlModule, NativeKdlModuleLoader } from "./nativeModule.js";
+import {
+  applyOffset as applyOffsetToTarget,
+  applyToolAndFrame as applyToolAndFrameToTarget,
+  composePose as composeRuntimePose,
+  inversePose as inverseRuntimePose,
+  normalizePose as normalizeRuntimePose
+} from "./poseApi.js";
+import {
+  makeTrapProfile as makeRuntimeTrapProfile,
+  sampleTrapProfile as sampleRuntimeTrapProfile
+} from "./trapProfile.js";
+import {
+  estimateCycleTime as estimateRuntimeCycleTime,
+  resampleTrajectory as resampleRuntimeTrajectory
+} from "./trajectoryUtils.js";
+import { loadRobotFromUrdfModel } from "../robot/urdfParser.js";
+import { RobotModelRegistry } from "../robot/normalizedRobotModel.js";
+import type {
+  FkOptions,
+  IkOptions,
+  JacobianOptions,
+  KdlInitOptions,
+  KdlRuntimeInfo,
+  MoveCRequest,
+  MoveJRequest,
+  MoveLRequest,
+  NormalizedRobotModel,
+  OffsetSpec,
+  PathPlanRequest,
+  PathPlanResult,
+  Pose,
+  PoseLike,
+  PoseNormalizeOptions,
+  PoseTarget,
+  RobotHandle,
+  TrapProfileOptions,
+  TrajectoryResult,
+  UrdfLoadOptions
+} from "./types.js";
+
+export class KdlWorkerRuntime {
+  private initialized = false;
+  private nativeModule: NativeKdlModule | undefined;
+  private readonly robots = new RobotModelRegistry();
+
+  constructor(private readonly loadNativeModule?: NativeKdlModuleLoader) {}
+
+  async init(options?: KdlInitOptions): Promise<KdlRuntimeInfo> {
+    if (this.loadNativeModule) {
+      await this.initNativeModule(options ?? {});
+    }
+
+    this.initialized = true;
+
+    return {
+      version: "0.1.0",
+      wasmBuild: options?.wasmBuild ?? (this.nativeModule ? "wasm" : "stub"),
+      supportsThreads: options?.useThreads ?? false,
+      supportsWasmFs: false
+    };
+  }
+
+  async dispose(): Promise<void> {
+    this.initialized = false;
+    this.nativeModule = undefined;
+  }
+
+  assertInitialized(method: string): void {
+    if (!this.initialized) {
+      throw new KdlStructuredError(
+        "KDL_NOT_INITIALIZED",
+        `KDL runtime must be initialized before calling ${method}`
+      );
+    }
+  }
+
+  async loadRobotFromUrdf(urdfXml: string, options: UrdfLoadOptions): Promise<RobotHandle> {
+    this.assertInitialized("loadRobotFromUrdf");
+    const model = loadRobotFromUrdfModel(urdfXml, options);
+    return this.createRobotFromModel(model);
+  }
+
+  async createRobotFromModel(model: NormalizedRobotModel): Promise<RobotHandle> {
+    this.assertInitialized("createRobotFromModel");
+    return this.robots.create(model);
+  }
+
+  async destroyRobot(handle: RobotHandle): Promise<void> {
+    this.assertInitialized("destroyRobot");
+    this.robots.destroy(handle);
+  }
+
+  async getRobotInfo(handle: RobotHandle) {
+    this.assertInitialized("getRobotInfo");
+    return this.robots.getInfo(handle);
+  }
+
+  async getJointLimits(handle: RobotHandle) {
+    this.assertInitialized("getJointLimits");
+    return this.robots.getJointLimits(handle);
+  }
+
+  async normalizePose(input: PoseLike, _options?: PoseNormalizeOptions) {
+    this.assertInitialized("normalizePose");
+    return normalizeRuntimePose(input);
+  }
+
+  async composePose(a: Pose, b: Pose) {
+    this.assertInitialized("composePose");
+    return composeRuntimePose(a, b);
+  }
+
+  async inversePose(pose: Pose) {
+    this.assertInitialized("inversePose");
+    return inverseRuntimePose(pose);
+  }
+
+  async applyToolAndFrame(target: PoseTarget, tool: Pose, frame: Pose) {
+    this.assertInitialized("applyToolAndFrame");
+    return applyToolAndFrameToTarget(target, tool, frame);
+  }
+
+  async applyOffset(target: PoseTarget, offset: OffsetSpec) {
+    this.assertInitialized("applyOffset");
+    return applyOffsetToTarget(target, offset);
+  }
+
+  async makeTrapProfile(length: number, options: TrapProfileOptions) {
+    this.assertInitialized("makeTrapProfile");
+    return makeRuntimeTrapProfile(length, options);
+  }
+
+  async sampleTrapProfile(length: number, options: TrapProfileOptions) {
+    this.assertInitialized("sampleTrapProfile");
+    return sampleRuntimeTrapProfile(length, options);
+  }
+
+  async fk(handle: RobotHandle, joints: Float64Array | number[], options?: FkOptions) {
+    this.assertInitialized("fk");
+    return this.robots.fk(handle, joints, options);
+  }
+
+  async fkPose7(handle: RobotHandle, joints: Float64Array | number[], out?: Float64Array, options?: FkOptions) {
+    this.assertInitialized("fkPose7");
+    return this.robots.fkPose7(handle, joints, out, options);
+  }
+
+  async fkAllLinks(handle: RobotHandle, joints: Float64Array | number[], options?: FkOptions) {
+    this.assertInitialized("fkAllLinks");
+    return this.robots.fkAllLinks(handle, joints, options);
+  }
+
+  async ik(handle: RobotHandle, seed: Float64Array | number[], target: Pose, options?: IkOptions) {
+    this.assertInitialized("ik");
+    return this.robots.ik(handle, seed, target, options);
+  }
+
+  async ikBatch(
+    handle: RobotHandle,
+    seeds: Array<Float64Array | number[]>,
+    targets: Pose[],
+    options?: IkOptions
+  ) {
+    this.assertInitialized("ikBatch");
+    return this.robots.ikBatch(handle, seeds, targets, options);
+  }
+
+  async jacobian(handle: RobotHandle, joints: Float64Array | number[], options?: JacobianOptions) {
+    this.assertInitialized("jacobian");
+    return this.robots.jacobian(handle, joints, options);
+  }
+
+  async checkSingularity(handle: RobotHandle, joints: Float64Array | number[]) {
+    this.assertInitialized("checkSingularity");
+    return this.robots.checkSingularity(handle, joints);
+  }
+
+  async checkJointLimits(handle: RobotHandle, joints: Float64Array | number[]) {
+    this.assertInitialized("checkJointLimits");
+    return this.robots.checkJointLimits(handle, joints);
+  }
+
+  async checkVelocityLimits(handle: RobotHandle, trajectory: TrajectoryResult) {
+    this.assertInitialized("checkVelocityLimits");
+    return this.robots.checkVelocityLimits(handle, trajectory);
+  }
+
+  async checkReachability(handle: RobotHandle, target: PoseTarget, options?: IkOptions) {
+    this.assertInitialized("checkReachability");
+    return this.robots.checkReachability(handle, target, options);
+  }
+
+  async checkReachabilityBatch(handle: RobotHandle, targets: PoseTarget[], options?: IkOptions) {
+    this.assertInitialized("checkReachabilityBatch");
+    return this.robots.checkReachabilityBatch(handle, targets, options);
+  }
+
+  async planMoveJ(handle: RobotHandle, request: MoveJRequest) {
+    this.assertInitialized("planMoveJ");
+    return this.robots.planMoveJ(handle, request);
+  }
+
+  async planMoveL(handle: RobotHandle, request: MoveLRequest) {
+    this.assertInitialized("planMoveL");
+    return this.robots.planMoveL(handle, request);
+  }
+
+  async planMoveC(handle: RobotHandle, request: MoveCRequest) {
+    this.assertInitialized("planMoveC");
+    return this.robots.planMoveC(handle, request);
+  }
+
+  async planPath(handle: RobotHandle, request: PathPlanRequest) {
+    this.assertInitialized("planPath");
+    return this.robots.planPath(handle, request);
+  }
+
+  async validatePath(handle: RobotHandle, request: PathPlanRequest) {
+    this.assertInitialized("validatePath");
+    return this.robots.validatePath(handle, request);
+  }
+
+  async estimateCycleTime(input: TrajectoryResult | PathPlanResult) {
+    this.assertInitialized("estimateCycleTime");
+    return estimateRuntimeCycleTime(input);
+  }
+
+  async resampleTrajectory(trajectory: TrajectoryResult, sampleTime: number) {
+    this.assertInitialized("resampleTrajectory");
+    return resampleRuntimeTrajectory(trajectory, sampleTime);
+  }
+
+  private async initNativeModule(options: KdlInitOptions): Promise<void> {
+    try {
+      const nativeModule = await this.loadNativeModule?.(options);
+      if (!nativeModule) {
+        throw new Error("No KDL native module was returned");
+      }
+
+      const result = nativeModule.ccall("kdl_init", "number", ["string"], [JSON.stringify(options)]);
+      if (Number(result) !== 0) {
+        throw new Error(`kdl_init returned ${String(result)}`);
+      }
+
+      this.nativeModule = nativeModule;
+    } catch (error) {
+      const message = error instanceof Error ? error.message : String(error);
+      throw new KdlStructuredError(
+        "KDL_WASM_INIT_FAILED",
+        `Failed to initialize KDL WASM runtime: ${message}`
+      );
+    }
+  }
+}
+
+export function createKdlWorkerRuntime(loadNativeModule?: NativeKdlModuleLoader): KdlRuntimeHandlers {
+  const runtime = new KdlWorkerRuntime(loadNativeModule);
+
+  return {
+    init: (options?: unknown) => runtime.init(options as KdlInitOptions | undefined),
+    dispose: () => runtime.dispose(),
+    loadRobotFromUrdf: (urdfXml: unknown, options: unknown) =>
+      runtime.loadRobotFromUrdf(urdfXml as string, options as UrdfLoadOptions),
+    createRobotFromModel: (model: unknown) => runtime.createRobotFromModel(model as NormalizedRobotModel),
+    destroyRobot: (handle: unknown) => runtime.destroyRobot(handle as RobotHandle),
+    getRobotInfo: (handle: unknown) => runtime.getRobotInfo(handle as RobotHandle),
+    getJointLimits: (handle: unknown) => runtime.getJointLimits(handle as RobotHandle),
+    normalizePose: (input: unknown, options: unknown) =>
+      runtime.normalizePose(input as PoseLike, options as PoseNormalizeOptions | undefined),
+    composePose: (a: unknown, b: unknown) => runtime.composePose(a as Pose, b as Pose),
+    inversePose: (pose: unknown) => runtime.inversePose(pose as Pose),
+    applyToolAndFrame: (target: unknown, tool: unknown, frame: unknown) =>
+      runtime.applyToolAndFrame(target as PoseTarget, tool as Pose, frame as Pose),
+    applyOffset: (target: unknown, offset: unknown) =>
+      runtime.applyOffset(target as PoseTarget, offset as OffsetSpec),
+    makeTrapProfile: (length: unknown, options: unknown) =>
+      runtime.makeTrapProfile(length as number, options as TrapProfileOptions),
+    sampleTrapProfile: (length: unknown, options: unknown) =>
+      runtime.sampleTrapProfile(length as number, options as TrapProfileOptions),
+    fk: (handle: unknown, joints: unknown, options: unknown) =>
+      runtime.fk(handle as RobotHandle, joints as Float64Array | number[], options as FkOptions | undefined),
+    fkPose7: (handle: unknown, joints: unknown, out: unknown, options: unknown) =>
+      runtime.fkPose7(
+        handle as RobotHandle,
+        joints as Float64Array | number[],
+        out as Float64Array | undefined,
+        options as FkOptions | undefined
+      ),
+    fkAllLinks: (handle: unknown, joints: unknown, options: unknown) =>
+      runtime.fkAllLinks(handle as RobotHandle, joints as Float64Array | number[], options as FkOptions | undefined),
+    ik: (handle: unknown, seed: unknown, target: unknown, options: unknown) =>
+      runtime.ik(handle as RobotHandle, seed as Float64Array | number[], target as Pose, options as IkOptions | undefined),
+    ikBatch: (handle: unknown, seeds: unknown, targets: unknown, options: unknown) =>
+      runtime.ikBatch(
+        handle as RobotHandle,
+        seeds as Array<Float64Array | number[]>,
+        targets as Pose[],
+        options as IkOptions | undefined
+      ),
+    jacobian: (handle: unknown, joints: unknown, options: unknown) =>
+      runtime.jacobian(handle as RobotHandle, joints as Float64Array | number[], options as JacobianOptions | undefined),
+    checkSingularity: (handle: unknown, joints: unknown) =>
+      runtime.checkSingularity(handle as RobotHandle, joints as Float64Array | number[]),
+    checkJointLimits: (handle: unknown, joints: unknown) =>
+      runtime.checkJointLimits(handle as RobotHandle, joints as Float64Array | number[]),
+    checkVelocityLimits: (handle: unknown, trajectory: unknown) =>
+      runtime.checkVelocityLimits(handle as RobotHandle, trajectory as TrajectoryResult),
+    checkReachability: (handle: unknown, target: unknown, options: unknown) =>
+      runtime.checkReachability(handle as RobotHandle, target as PoseTarget, options as IkOptions | undefined),
+    checkReachabilityBatch: (handle: unknown, targets: unknown, options: unknown) =>
+      runtime.checkReachabilityBatch(handle as RobotHandle, targets as PoseTarget[], options as IkOptions | undefined),
+    planMoveJ: (handle: unknown, request: unknown) =>
+      runtime.planMoveJ(handle as RobotHandle, request as MoveJRequest),
+    planMoveL: (handle: unknown, request: unknown) =>
+      runtime.planMoveL(handle as RobotHandle, request as MoveLRequest),
+    planMoveC: (handle: unknown, request: unknown) =>
+      runtime.planMoveC(handle as RobotHandle, request as MoveCRequest),
+    planPath: (handle: unknown, request: unknown) =>
+      runtime.planPath(handle as RobotHandle, request as PathPlanRequest),
+    validatePath: (handle: unknown, request: unknown) =>
+      runtime.validatePath(handle as RobotHandle, request as PathPlanRequest),
+    estimateCycleTime: (input: unknown) =>
+      runtime.estimateCycleTime(input as TrajectoryResult | PathPlanResult),
+    resampleTrajectory: (trajectory: unknown, sampleTime: unknown) =>
+      runtime.resampleTrajectory(trajectory as TrajectoryResult, sampleTime as number)
+  };
+}

kdl-wasm/web/src/kdl/trajectoryUtils.ts

@@ -0,0 +1,163 @@
+import { KdlStructuredError } from "./rpc.js";
+import type {
+  CycleTimeResult,
+  MotionDiagnostic,
+  PathPlanResult,
+  Pose,
+  TrajectoryPoint,
+  TrajectoryResult
+} from "./types.js";
+
+export function estimateCycleTime(input: TrajectoryResult | PathPlanResult): CycleTimeResult {
+  const diagnostics: MotionDiagnostic[] = input.diagnostics ?? [];
+  if (isPathPlanResult(input)) {
+    const segmentTimes = input.segments.map((segment) =>
+      cycleTimeSegment(segment.motion, segment.duration, segment.points[0]?.segmentId)
+    );
+    return {
+      ok: input.ok,
+      motionTime: input.duration,
+      totalTime: input.duration,
+      segmentTimes,
+      diagnostics
+    };
+  }
+
+  return {
+    ok: input.ok,
+    motionTime: input.duration,
+    totalTime: input.duration,
+    segmentTimes: [cycleTimeSegment(input.motion, input.duration, input.points[0]?.segmentId)],
+    diagnostics
+  };
+}
+
+function cycleTimeSegment(
+  motion: TrajectoryResult["motion"],
+  duration: number,
+  segmentId?: string
+): CycleTimeResult["segmentTimes"][number] {
+  return {
+    motion,
+    duration,
+    ...(segmentId ? { segmentId } : {})
+  };
+}
+
+export function resampleTrajectory(trajectory: TrajectoryResult, sampleTime: number): TrajectoryResult {
+  if (!Number.isFinite(sampleTime) || sampleTime <= 0) {
+    throw new KdlStructuredError("KDL_INVALID_SAMPLE_TIME", "sampleTime must be a finite positive number");
+  }
+  if (trajectory.points.length === 0) {
+    return {
+      ...trajectory,
+      sampleTime,
+      diagnostics: [
+        ...trajectory.diagnostics,
+        {
+          severity: "warning",
+          code: "KDL_RESAMPLE_EMPTY_TRAJECTORY",
+          message: "Cannot resample a trajectory without points"
+        }
+      ]
+    };
+  }
+
+  const duration = trajectory.duration;
+  const times = duration === 0 ? [0] : sampleTimes(duration, sampleTime);
+  const points = times.map((time, index) => {
+    const source = interpolatePoint(trajectory.points, time);
+    const previous = index > 0 ? times[index - 1]! : time;
+    return {
+      ...source,
+      index,
+      time,
+      dt: index === 0 ? 0 : time - previous
+    };
+  });
+
+  return {
+    ...trajectory,
+    sampleTime,
+    points,
+    diagnostics: [
+      ...trajectory.diagnostics,
+      {
+        severity: "info",
+        code: "KDL_TRAJECTORY_RESAMPLED",
+        message: `Trajectory was resampled to ${sampleTime}s`
+      }
+    ]
+  };
+}
+
+function isPathPlanResult(input: TrajectoryResult | PathPlanResult): input is PathPlanResult {
+  return "segments" in input;
+}
+
+function sampleTimes(duration: number, sampleTime: number): number[] {
+  const times: number[] = [0];
+  for (let time = sampleTime; time < duration - 1e-12; time += sampleTime) {
+    times.push(time);
+  }
+  times.push(duration);
+  return times;
+}
+
+function interpolatePoint(points: TrajectoryPoint[], time: number): TrajectoryPoint {
+  if (time <= points[0]!.time) {
+    return {
+      ...points[0]!,
+      joints: [...points[0]!.joints],
+      jointVelocity: [...points[0]!.jointVelocity],
+      jointAcceleration: [...points[0]!.jointAcceleration]
+    };
+  }
+  const last = points.at(-1)!;
+  if (time >= last.time) {
+    return {
+      ...last,
+      joints: [...last.joints],
+      jointVelocity: [...last.jointVelocity],
+      jointAcceleration: [...last.jointAcceleration]
+    };
+  }
+
+  const nextIndex = points.findIndex((point) => point.time >= time);
+  const next = points[nextIndex]!;
+  const prev = points[nextIndex - 1]!;
+  const ratio = (time - prev.time) / (next.time - prev.time);
+  return {
+    ...next,
+    time,
+    s: lerp(prev.s, next.s, ratio),
+    sd: lerp(prev.sd, next.sd, ratio),
+    sdd: lerp(prev.sdd, next.sdd, ratio),
+    joints: lerpArray(prev.joints, next.joints, ratio),
+    jointVelocity: lerpArray(prev.jointVelocity, next.jointVelocity, ratio),
+    jointAcceleration: lerpArray(prev.jointAcceleration, next.jointAcceleration, ratio),
+    flange: lerpPose(prev.flange, next.flange, ratio),
+    tcp: lerpPose(prev.tcp, next.tcp, ratio),
+    diagnostics: []
+  };
+}
+
+function lerp(a: number, b: number, ratio: number): number {
+  return a + (b - a) * ratio;
+}
+
+function lerpArray(a: number[], b: number[], ratio: number): number[] {
+  const length = Math.max(a.length, b.length);
+  return Array.from({ length }, (_, index) => lerp(a[index] ?? 0, b[index] ?? 0, ratio));
+}
+
+function lerpPose(a: Pose, b: Pose, ratio: number): Pose {
+  return {
+    position: [
+      lerp(a.position[0], b.position[0], ratio),
+      lerp(a.position[1], b.position[1], ratio),
+      lerp(a.position[2], b.position[2], ratio)
+    ],
+    quaternion: ratio < 0.5 ? a.quaternion : b.quaternion
+  };
+}

kdl-wasm/web/src/kdl/trapProfile.ts

@@ -0,0 +1,222 @@
+import { KdlStructuredError } from "./rpc.js";
+import type { MotionDiagnostic, TrapProfileOptions, TrapProfileResult, TrapSample } from "./types.js";
+
+export function makeTrapProfile(length: number, options: TrapProfileOptions): TrapProfileResult {
+  validateTrapInputs(length, options);
+
+  if (length === 0) {
+    return {
+      ok: true,
+      type: "triangle",
+      length,
+      duration: 0,
+      tAccel: 0,
+      tConst: 0,
+      tDecel: 0,
+      vPeak: 0,
+      samples: [
+        {
+          index: 0,
+          time: 0,
+          s: 0,
+          sd: 0,
+          sdd: 0
+        }
+      ],
+      diagnostics: [
+        {
+          severity: "info",
+          code: "KDL_TRAP_ZERO_LENGTH",
+          message: "Trap profile length is zero"
+        }
+      ]
+    };
+  }
+
+  const startVelocity = options.startVelocity ?? 0;
+  const endVelocity = options.endVelocity ?? 0;
+  const maxVelocity = options.maxVelocity;
+  const maxAcceleration = options.maxAcceleration;
+  const dAccelToMax = distanceForVelocityChange(startVelocity, maxVelocity, maxAcceleration);
+  const dDecelFromMax = distanceForVelocityChange(endVelocity, maxVelocity, maxAcceleration);
+  const diagnostics: MotionDiagnostic[] = [];
+  let type: TrapProfileResult["type"] = "trapezoid";
+  let vPeak = maxVelocity;
+  let tConst = 0;
+
+  if (dAccelToMax + dDecelFromMax <= length) {
+    tConst = (length - dAccelToMax - dDecelFromMax) / maxVelocity;
+  } else {
+    type = "triangle";
+    vPeak = Math.sqrt(Math.max(0, maxAcceleration * length + (startVelocity ** 2 + endVelocity ** 2) / 2));
+    if (vPeak + 1e-12 < Math.max(startVelocity, endVelocity)) {
+      throw new KdlStructuredError(
+        "KDL_INVALID_TRAP_PROFILE",
+        "Profile length is too short for the requested startVelocity/endVelocity"
+      );
+    }
+    tConst = 0;
+    diagnostics.push({
+      severity: "info",
+      code: "KDL_TRAP_TRIANGLE_PROFILE",
+      message: "Trap profile length is too short to reach maxVelocity; using triangle profile"
+    });
+  }
+
+  const tAccel = Math.max(0, (vPeak - startVelocity) / maxAcceleration);
+  const tDecel = Math.max(0, (vPeak - endVelocity) / maxAcceleration);
+  const duration = tAccel + tConst + tDecel;
+  const samples = sampleProfile({
+    length,
+    sampleTime: options.sampleTime,
+    startVelocity,
+    endVelocity,
+    maxAcceleration,
+    tAccel,
+    tConst,
+    tDecel,
+    vPeak,
+    duration
+  });
+
+  return {
+    ok: true,
+    type,
+    length,
+    duration,
+    tAccel,
+    tConst,
+    tDecel,
+    vPeak,
+    samples,
+    diagnostics
+  };
+}
+
+export function sampleTrapProfile(length: number, options: TrapProfileOptions): TrapSample[] {
+  return makeTrapProfile(length, options).samples;
+}
+
+interface ProfileSegments {
+  length: number;
+  sampleTime: number;
+  startVelocity: number;
+  endVelocity: number;
+  maxAcceleration: number;
+  tAccel: number;
+  tConst: number;
+  tDecel: number;
+  vPeak: number;
+  duration: number;
+}
+
+function validateTrapInputs(length: number, options: TrapProfileOptions): void {
+  if (!Number.isFinite(length) || length < 0) {
+    throw new KdlStructuredError("KDL_INVALID_TRAP_PROFILE", "Trap profile length must be a finite non-negative number");
+  }
+  if (!Number.isFinite(options.maxVelocity) || options.maxVelocity <= 0) {
+    throw new KdlStructuredError("KDL_INVALID_TRAP_PROFILE", "maxVelocity must be a finite positive number");
+  }
+  if (!Number.isFinite(options.maxAcceleration) || options.maxAcceleration <= 0) {
+    throw new KdlStructuredError("KDL_INVALID_TRAP_PROFILE", "maxAcceleration must be a finite positive number");
+  }
+  if (!Number.isFinite(options.sampleTime) || options.sampleTime <= 0) {
+    throw new KdlStructuredError("KDL_INVALID_TRAP_PROFILE", "sampleTime must be a finite positive number");
+  }
+
+  const startVelocity = options.startVelocity ?? 0;
+  const endVelocity = options.endVelocity ?? 0;
+  if (length === 0 && (startVelocity > 0 || endVelocity > 0)) {
+    throw new KdlStructuredError(
+      "KDL_INVALID_TRAP_PROFILE",
+      "Zero-length trap profile requires zero startVelocity and endVelocity"
+    );
+  }
+  if (!Number.isFinite(startVelocity) || startVelocity < 0 || startVelocity > options.maxVelocity) {
+    throw new KdlStructuredError(
+      "KDL_INVALID_TRAP_PROFILE",
+      "startVelocity must be finite, non-negative, and no greater than maxVelocity"
+    );
+  }
+  if (!Number.isFinite(endVelocity) || endVelocity < 0 || endVelocity > options.maxVelocity) {
+    throw new KdlStructuredError(
+      "KDL_INVALID_TRAP_PROFILE",
+      "endVelocity must be finite, non-negative, and no greater than maxVelocity"
+    );
+  }
+}
+
+function distanceForVelocityChange(fromVelocity: number, toVelocity: number, acceleration: number): number {
+  return Math.max(0, (toVelocity ** 2 - fromVelocity ** 2) / (2 * acceleration));
+}
+
+function sampleProfile(profile: ProfileSegments): TrapSample[] {
+  if (profile.duration === 0) {
+    return [
+      {
+        index: 0,
+        time: 0,
+        s: 0,
+        sd: 0,
+        sdd: 0
+      }
+    ];
+  }
+
+  const times: number[] = [0];
+  for (let time = profile.sampleTime; time < profile.duration - 1e-12; time += profile.sampleTime) {
+    times.push(time);
+  }
+  times.push(profile.duration);
+
+  return times.map((time, index) => {
+    const sample = sampleAtTime(profile, time);
+    return {
+      index,
+      time,
+      s: index === 0 ? 0 : index === times.length - 1 ? 1 : clamp01(sample.distance / profile.length),
+      sd: sample.velocity / profile.length,
+      sdd: sample.acceleration / profile.length
+    };
+  });
+}
+
+function sampleAtTime(profile: ProfileSegments, time: number): {
+  distance: number;
+  velocity: number;
+  acceleration: number;
+} {
+  const accelDistance =
+    profile.startVelocity * profile.tAccel + 0.5 * profile.maxAcceleration * profile.tAccel ** 2;
+  const constDistance = profile.vPeak * profile.tConst;
+  const accelEnd = profile.tAccel;
+  const constEnd = profile.tAccel + profile.tConst;
+
+  if (time <= accelEnd) {
+    return {
+      distance: profile.startVelocity * time + 0.5 * profile.maxAcceleration * time ** 2,
+      velocity: profile.startVelocity + profile.maxAcceleration * time,
+      acceleration: profile.maxAcceleration
+    };
+  }
+
+  if (time <= constEnd) {
+    const localTime = time - profile.tAccel;
+    return {
+      distance: accelDistance + profile.vPeak * localTime,
+      velocity: profile.vPeak,
+      acceleration: 0
+    };
+  }
+
+  const localTime = Math.min(time - constEnd, profile.tDecel);
+  return {
+    distance: accelDistance + constDistance + profile.vPeak * localTime - 0.5 * profile.maxAcceleration * localTime ** 2,
+    velocity: Math.max(profile.endVelocity, profile.vPeak - profile.maxAcceleration * localTime),
+    acceleration: -profile.maxAcceleration
+  };
+}
+
+function clamp01(value: number): number {
+  return Math.min(1, Math.max(0, value));
+}

kdl-wasm/web/src/kdl/types.ts

@@ -0,0 +1,494 @@
+export type RobotHandle = number;
+
+export interface MotionSourceMap {
+  file?: string;
+  line?: number;
+  column?: number;
+  module?: string;
+}
+
+export interface MotionDiagnostic {
+  severity: "info" | "warning" | "error";
+  code: string;
+  message: string;
+  time?: number;
+  pointIndex?: number;
+  segmentId?: string;
+  targetId?: string;
+  sourceMap?: MotionSourceMap;
+  data?: Record<string, unknown>;
+}
+
+export interface KdlError {
+  code: string;
+  message: string;
+  diagnostics: MotionDiagnostic[];
+}
+
+export interface KdlInitOptions {
+  wrapperUrl?: string;
+  wasmUrl?: string;
+  useThreads?: boolean;
+  wasmBuild?: string;
+}
+
+export interface KdlRuntimeInfo {
+  version: string;
+  kdlVersion?: string;
+  wasmBuild: string;
+  supportsThreads: boolean;
+  supportsWasmFs: boolean;
+}
+
+export interface Pose {
+  position: [number, number, number];
+  quaternion: [number, number, number, number];
+}
+
+export type PoseLike =
+  | Pose
+  | { xyz: [number, number, number]; rpy: [number, number, number] }
+  | { xyz: [number, number, number]; quat: [number, number, number, number] };
+
+export interface RobotConfiguration {
+  shoulder?: -1 | 0 | 1;
+  elbow?: -1 | 0 | 1;
+  wrist?: -1 | 0 | 1;
+  turnNumbers?: number[];
+}
+
+export interface PoseTarget {
+  id?: string;
+  pose: Pose;
+  config?: RobotConfiguration;
+  tool?: Pose;
+  frame?: Pose;
+  extAxis?: number[];
+  sourceMap?: MotionSourceMap;
+}
+
+export interface JointTarget {
+  id?: string;
+  joints: number[];
+  extAxis?: number[];
+  sourceMap?: MotionSourceMap;
+}
+
+export type SpeedSpec =
+  | { kind: "joint_percent"; value: number }
+  | { kind: "joint_abs"; velocity: number; acceleration?: number }
+  | { kind: "linear"; velocity: number; acceleration?: number; angularVelocity?: number };
+
+export type ZoneSpec =
+  | { kind: "fine" }
+  | { kind: "distance"; value: number }
+  | { kind: "cnt"; value: number }
+  | { kind: "continuous" };
+
+export interface JointLimits {
+  name: string;
+  lower: number;
+  upper: number;
+  velocity: number;
+  acceleration: number;
+  jerk?: number;
+}
+
+export interface RobotInfo {
+  handle: RobotHandle;
+  robotId: string;
+  name: string;
+  baseLink: string;
+  tipLink: string;
+  dof: number;
+  jointNames: string[];
+  limits: JointLimits[];
+}
+
+export type JointType = "revolute" | "continuous" | "prismatic" | "fixed";
+
+export interface LinkModel {
+  name: string;
+}
+
+export interface JointModel {
+  name: string;
+  type: JointType;
+  parent: string;
+  child: string;
+  origin: {
+    xyz: [number, number, number];
+    rpy: [number, number, number];
+  };
+  axis: [number, number, number];
+  limit?: JointLimits;
+}
+
+export interface NormalizedRobotModel {
+  robotId: string;
+  baseLink: string;
+  tipLink: string;
+  name: string;
+  links: LinkModel[];
+  joints: JointModel[];
+  activeJointNames: string[];
+  limits: JointLimits[];
+  source: {
+    type: "urdf";
+    urdfHash: string;
+  };
+}
+
+export type JsonObject = Record<string, unknown>;
+export interface JointLimitOverride {
+  name: string;
+  lower?: number;
+  upper?: number;
+  velocity?: number;
+  acceleration?: number;
+  jerk?: number;
+}
+
+export interface UrdfLoadOptions {
+  robotId: string;
+  baseLink: string;
+  tipLink: string;
+  tool?: Pose;
+  base?: Pose;
+  jointOrder?: string[];
+  overrideLimits?: JointLimitOverride[];
+}
+export type PoseNormalizeOptions = JsonObject;
+export interface OffsetSpec {
+  mode: "frame" | "tool" | "world";
+  frameId?: string;
+  xyz?: [number, number, number];
+  rpy?: [number, number, number];
+  quaternion?: [number, number, number, number];
+}
+export interface FkOptions {
+  tool?: Pose;
+  frame?: Pose;
+  includeFlange?: boolean;
+}
+
+export interface FkResult {
+  ok: boolean;
+  flange: Pose;
+  tcp: Pose;
+  joints: number[];
+  diagnostics: MotionDiagnostic[];
+}
+
+export type Pose7Array = Float64Array | [number, number, number, number, number, number, number] | number[];
+
+export interface LinkPoseResult {
+  ok: boolean;
+  linkPoses: Array<{ link: string; pose: Pose }>;
+  diagnostics: MotionDiagnostic[];
+}
+export type JacobianOptions = JsonObject;
+export interface JacobianResult {
+  ok: boolean;
+  rows: number;
+  cols: number;
+  data: Float64Array | number[];
+  diagnostics: MotionDiagnostic[];
+}
+export interface IkOptions {
+  tool?: Pose;
+  frame?: Pose;
+  qMin?: number[];
+  qMax?: number[];
+  maxIterations?: number;
+  positionTolerance?: number;
+  orientationTolerance?: number;
+  seeds?: number[][];
+  preferredConfig?: RobotConfiguration;
+  allowApproximate?: boolean;
+}
+
+export interface IkResult {
+  ok: boolean;
+  joints?: number[];
+  iterations: number;
+  residualPosition?: number;
+  residualOrientation?: number;
+  configuration?: RobotConfiguration;
+  reason?: "unreachable" | "joint_limit" | "singularity" | "max_iteration" | "invalid_model";
+  diagnostics: MotionDiagnostic[];
+}
+export interface LimitCheckResult {
+  ok: boolean;
+  diagnostics: MotionDiagnostic[];
+  maxJointVelocityRatio?: number;
+  maxJointAccelerationRatio?: number;
+}
+
+export interface SingularityResult {
+  ok: boolean;
+  nearSingularity: boolean;
+  manipulability?: number;
+  conditionNumber?: number;
+  diagnostics: MotionDiagnostic[];
+}
+
+export interface ReachabilityResult {
+  ok: boolean;
+  reachable: boolean;
+  targetId?: string;
+  joints?: number[];
+  residualPosition?: number;
+  residualOrientation?: number;
+  nearestPose?: Pose;
+  diagnostics: MotionDiagnostic[];
+}
+export interface TrapProfileOptions {
+  maxVelocity: number;
+  maxAcceleration: number;
+  sampleTime: number;
+  startVelocity?: number;
+  endVelocity?: number;
+}
+
+export interface TrapSample {
+  index: number;
+  time: number;
+  s: number;
+  sd: number;
+  sdd: number;
+}
+
+export interface TrapProfileResult {
+  ok: boolean;
+  type: "trapezoid" | "triangle";
+  length: number;
+  duration: number;
+  tAccel: number;
+  tConst: number;
+  tDecel: number;
+  vPeak: number;
+  samples: TrapSample[];
+  diagnostics: MotionDiagnostic[];
+}
+export interface MoveJRequest {
+  startJoints: number[];
+  target: JointTarget | PoseTarget;
+  speed: SpeedSpec;
+  zone: ZoneSpec;
+  tool?: Pose;
+  frame?: Pose;
+  sampleTime: number;
+  speedOverride?: number;
+  sourceMap?: MotionSourceMap;
+}
+
+export interface MoveLRequest {
+  startJoints: number[];
+  target: PoseTarget;
+  speed: SpeedSpec;
+  zone: ZoneSpec;
+  tool?: Pose;
+  frame?: Pose;
+  sampleTime: number;
+  orientationMode?: "fixed" | "slerp" | "tool_z_lock";
+  ik?: IkOptions;
+  speedOverride?: number;
+  sourceMap?: MotionSourceMap;
+}
+
+export interface MoveCRequest {
+  startJoints: number[];
+  via: PoseTarget;
+  target: PoseTarget;
+  speed: SpeedSpec;
+  zone: ZoneSpec;
+  tool?: Pose;
+  frame?: Pose;
+  sampleTime: number;
+  orientationMode?: "fixed" | "slerp";
+  arcMode?: "via" | "center" | "radius";
+  circleDirection?: "short" | "long" | "cw" | "ccw";
+  ik?: IkOptions;
+  speedOverride?: number;
+  sourceMap?: MotionSourceMap;
+}
+export type MotionKind = "MOVEJ" | "MOVEL" | "MOVEC";
+
+export interface TrajectoryEvent {
+  id?: string;
+  time: number;
+  pointIndex: number;
+  kind: string;
+  sourceMap?: MotionSourceMap;
+  data?: JsonObject;
+}
+
+export interface TrajectoryPoint {
+  index: number;
+  time: number;
+  dt: number;
+  s: number;
+  sd: number;
+  sdd: number;
+  joints: number[];
+  jointVelocity: number[];
+  jointAcceleration: number[];
+  flange: Pose;
+  tcp: Pose;
+  tcpVelocity?: [number, number, number, number, number, number];
+  tcpAcceleration?: [number, number, number, number, number, number];
+  motion: MotionKind;
+  segmentId?: string;
+  targetId?: string;
+  sourceMap?: MotionSourceMap;
+  diagnostics: MotionDiagnostic[];
+}
+
+export interface TrajectoryResult {
+  ok: boolean;
+  motion: MotionKind;
+  duration: number;
+  sampleTime: number;
+  points: TrajectoryPoint[];
+  events: TrajectoryEvent[];
+  diagnostics: MotionDiagnostic[];
+  meta?: JsonObject;
+}
+export interface MotionSegmentRequest {
+  id: string;
+  motion: MotionKind;
+  target?: JointTarget | PoseTarget;
+  via?: PoseTarget;
+  targetId?: string;
+  speed: SpeedSpec;
+  zone: ZoneSpec;
+  tool?: Pose;
+  frame?: Pose;
+  sourceMap?: MotionSourceMap;
+  source?: JsonObject;
+}
+
+export interface PathEventRequest {
+  id?: string;
+  timing: "before" | "after" | "at";
+  pointId: string;
+  distance?: number;
+  kind: string;
+  sourceMap?: MotionSourceMap;
+  data?: JsonObject;
+}
+
+export interface PathPlanRequest {
+  pathId?: string;
+  startJoints: number[];
+  segments: MotionSegmentRequest[];
+  events?: PathEventRequest[];
+  sampleTime: number;
+  speedOverride?: number;
+  stopOnError?: boolean;
+  source?: JsonObject;
+}
+
+export interface PathPlanResult {
+  ok: boolean;
+  duration: number;
+  segments: TrajectoryResult[];
+  points: TrajectoryPoint[];
+  diagnostics: MotionDiagnostic[];
+}
+
+export interface SegmentValidationReport {
+  segmentId: string;
+  ok: boolean;
+  motion: MotionKind;
+  duration?: number;
+  maxJointVelocityRatio?: number;
+  maxJointAccelerationRatio?: number;
+  maxCartesianError?: number;
+  diagnostics: MotionDiagnostic[];
+}
+
+export interface PathValidationResult {
+  ok: boolean;
+  reachable: boolean;
+  cycleTime?: number;
+  segmentReports: SegmentValidationReport[];
+  diagnostics: MotionDiagnostic[];
+}
+export interface CycleTimeSegment {
+  segmentId?: string;
+  motion: MotionKind;
+  duration: number;
+}
+
+export interface CycleTimeResult {
+  ok: boolean;
+  motionTime: number;
+  waitTime?: number;
+  ioTime?: number;
+  totalTime: number;
+  segmentTimes: CycleTimeSegment[];
+  diagnostics: MotionDiagnostic[];
+}
+
+export interface PerformanceMetric {
+  name: string;
+  iterations: number;
+  totalMs: number;
+  averageMs: number;
+  thresholdMs?: number;
+  maxMs?: number;
+  points?: number;
+  ok: boolean;
+}
+
+export interface PerformanceBaselineResult {
+  ok: boolean;
+  metrics: PerformanceMetric[];
+  diagnostics: MotionDiagnostic[];
+}
+
+export interface KdlWasmApi {
+  init(options?: KdlInitOptions): Promise<KdlRuntimeInfo>;
+  dispose(): Promise<void>;
+
+  loadRobotFromUrdf(urdfXml: string, options: UrdfLoadOptions): Promise<RobotHandle>;
+  createRobotFromModel(model: NormalizedRobotModel): Promise<RobotHandle>;
+  destroyRobot(handle: RobotHandle): Promise<void>;
+  getRobotInfo(handle: RobotHandle): Promise<RobotInfo>;
+  getJointLimits(handle: RobotHandle): Promise<JointLimits[]>;
+
+  normalizePose(input: PoseLike, options?: PoseNormalizeOptions): Promise<Pose>;
+  composePose(a: Pose, b: Pose): Promise<Pose>;
+  inversePose(pose: Pose): Promise<Pose>;
+  applyToolAndFrame(target: PoseTarget, tool: Pose, frame: Pose): Promise<Pose>;
+  applyOffset(target: PoseTarget, offset: OffsetSpec): Promise<PoseTarget>;
+
+  fk(handle: RobotHandle, joints: Float64Array, options?: FkOptions): Promise<FkResult>;
+  fkPose7(handle: RobotHandle, joints: Float64Array, out?: Float64Array, options?: FkOptions): Promise<Float64Array>;
+  fkAllLinks(handle: RobotHandle, joints: Float64Array, options?: FkOptions): Promise<LinkPoseResult>;
+  jacobian(handle: RobotHandle, joints: Float64Array, options?: JacobianOptions): Promise<JacobianResult>;
+  ik(handle: RobotHandle, seed: Float64Array, target: Pose, options?: IkOptions): Promise<IkResult>;
+  ikBatch(handle: RobotHandle, seeds: Float64Array[], targets: Pose[], options?: IkOptions): Promise<IkResult[]>;
+
+  checkJointLimits(handle: RobotHandle, joints: Float64Array): Promise<LimitCheckResult>;
+  checkVelocityLimits(handle: RobotHandle, trajectory: TrajectoryResult): Promise<LimitCheckResult>;
+  checkSingularity(handle: RobotHandle, joints: Float64Array): Promise<SingularityResult>;
+  checkReachability(handle: RobotHandle, target: PoseTarget, options?: IkOptions): Promise<ReachabilityResult>;
+  checkReachabilityBatch(handle: RobotHandle, targets: PoseTarget[], options?: IkOptions): Promise<ReachabilityResult[]>;
+
+  makeTrapProfile(length: number, options: TrapProfileOptions): Promise<TrapProfileResult>;
+  sampleTrapProfile(length: number, options: TrapProfileOptions): Promise<TrapSample[]>;
+
+  planMoveJ(handle: RobotHandle, request: MoveJRequest): Promise<TrajectoryResult>;
+  planMoveL(handle: RobotHandle, request: MoveLRequest): Promise<TrajectoryResult>;
+  planMoveC(handle: RobotHandle, request: MoveCRequest): Promise<TrajectoryResult>;
+
+  planPath(handle: RobotHandle, request: PathPlanRequest): Promise<PathPlanResult>;
+  validatePath(handle: RobotHandle, request: PathPlanRequest): Promise<PathValidationResult>;
+  estimateCycleTime(input: TrajectoryResult | PathPlanResult): Promise<CycleTimeResult>;
+  resampleTrajectory(trajectory: TrajectoryResult, sampleTime: number): Promise<TrajectoryResult>;
+}
+
+export type KdlApiMethod = keyof KdlWasmApi;

kdl-wasm/web/src/kdl/workerRpc.ts

@@ -0,0 +1,49 @@
+import {
+  createRpcError,
+  normalizeThrownError,
+  type KdlRpcRequest,
+  type KdlRpcResponse,
+  type KdlRuntimeHandlers
+} from "./rpc.js";
+
+export async function dispatchKdlRpcRequest(
+  runtime: KdlRuntimeHandlers,
+  request: KdlRpcRequest<unknown[]>
+): Promise<KdlRpcResponse> {
+  if (!Number.isInteger(request.id)) {
+    return {
+      id: Number.isFinite(request.id) ? request.id : -1,
+      ok: false,
+      error: createRpcError("KDL_RPC_INVALID_ID", "RPC request id must be an integer")
+    };
+  }
+
+  const handler = runtime[request.method];
+  if (typeof handler !== "function") {
+    return {
+      id: request.id,
+      ok: false,
+      error: createRpcError(
+        "KDL_METHOD_NOT_IMPLEMENTED",
+        `${String(request.method)} is not implemented by the KDL worker runtime`
+      )
+    };
+  }
+
+  const args = Array.isArray(request.payload) ? request.payload : [request.payload];
+
+  try {
+    const result = await handler(...args);
+    return {
+      id: request.id,
+      ok: true,
+      result
+    };
+  } catch (error) {
+    return {
+      id: request.id,
+      ok: false,
+      error: normalizeThrownError(error)
+    };
+  }
+}

kdl-wasm/web/src/math/poseMath.ts

@@ -0,0 +1,238 @@
+import type { Pose } from "../kdl/types.js";
+
+export type Mat4 = [
+  number,
+  number,
+  number,
+  number,
+  number,
+  number,
+  number,
+  number,
+  number,
+  number,
+  number,
+  number,
+  number,
+  number,
+  number,
+  number
+];
+
+export function identityMat4(): Mat4 {
+  return [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1];
+}
+
+export function multiplyMat4(a: Mat4, b: Mat4): Mat4 {
+  const out = new Array<number>(16).fill(0) as Mat4;
+  for (let row = 0; row < 4; row += 1) {
+    for (let col = 0; col < 4; col += 1) {
+      out[row * 4 + col] =
+        a[row * 4 + 0]! * b[col + 0]! +
+        a[row * 4 + 1]! * b[col + 4]! +
+        a[row * 4 + 2]! * b[col + 8]! +
+        a[row * 4 + 3]! * b[col + 12]!;
+    }
+  }
+  return out;
+}
+
+export function translationMat4(xyz: [number, number, number]): Mat4 {
+  const [x, y, z] = xyz;
+  return [1, 0, 0, x, 0, 1, 0, y, 0, 0, 1, z, 0, 0, 0, 1];
+}
+
+export function rotationFromRpyMat4(rpy: [number, number, number]): Mat4 {
+  const [roll, pitch, yaw] = rpy;
+  const cr = Math.cos(roll);
+  const sr = Math.sin(roll);
+  const cp = Math.cos(pitch);
+  const sp = Math.sin(pitch);
+  const cy = Math.cos(yaw);
+  const sy = Math.sin(yaw);
+
+  return [
+    cy * cp,
+    cy * sp * sr - sy * cr,
+    cy * sp * cr + sy * sr,
+    0,
+    sy * cp,
+    sy * sp * sr + cy * cr,
+    sy * sp * cr - cy * sr,
+    0,
+    -sp,
+    cp * sr,
+    cp * cr,
+    0,
+    0,
+    0,
+    0,
+    1
+  ];
+}
+
+export function axisAngleMat4(axis: [number, number, number], angle: number): Mat4 {
+  const [nx, ny, nz] = normalizeVector(axis);
+  const c = Math.cos(angle);
+  const s = Math.sin(angle);
+  const t = 1 - c;
+
+  return [
+    t * nx * nx + c,
+    t * nx * ny - s * nz,
+    t * nx * nz + s * ny,
+    0,
+    t * nx * ny + s * nz,
+    t * ny * ny + c,
+    t * ny * nz - s * nx,
+    0,
+    t * nx * nz - s * ny,
+    t * ny * nz + s * nx,
+    t * nz * nz + c,
+    0,
+    0,
+    0,
+    0,
+    1
+  ];
+}
+
+export function mat4ToPose(matrix: Mat4): Pose {
+  return {
+    position: [matrix[3], matrix[7], matrix[11]],
+    quaternion: normalizeQuaternion(rotationMat4ToQuaternion(matrix))
+  };
+}
+
+export function poseToMat4(pose: Pose): Mat4 {
+  const [x, y, z, w] = normalizeQuaternion(pose.quaternion);
+  const xx = x * x;
+  const yy = y * y;
+  const zz = z * z;
+  const xy = x * y;
+  const xz = x * z;
+  const yz = y * z;
+  const wx = w * x;
+  const wy = w * y;
+  const wz = w * z;
+  const [px, py, pz] = pose.position;
+
+  return [
+    1 - 2 * (yy + zz),
+    2 * (xy - wz),
+    2 * (xz + wy),
+    px,
+    2 * (xy + wz),
+    1 - 2 * (xx + zz),
+    2 * (yz - wx),
+    py,
+    2 * (xz - wy),
+    2 * (yz + wx),
+    1 - 2 * (xx + yy),
+    pz,
+    0,
+    0,
+    0,
+    1
+  ];
+}
+
+export function composePose(a: Pose, b: Pose): Pose {
+  return mat4ToPose(multiplyMat4(poseToMat4(a), poseToMat4(b)));
+}
+
+export function inversePose(pose: Pose): Pose {
+  const matrix = poseToMat4(pose);
+  const r00 = matrix[0];
+  const r01 = matrix[1];
+  const r02 = matrix[2];
+  const tx = matrix[3];
+  const r10 = matrix[4];
+  const r11 = matrix[5];
+  const r12 = matrix[6];
+  const ty = matrix[7];
+  const r20 = matrix[8];
+  const r21 = matrix[9];
+  const r22 = matrix[10];
+  const tz = matrix[11];
+
+  return mat4ToPose([
+    r00,
+    r10,
+    r20,
+    -(r00 * tx + r10 * ty + r20 * tz),
+    r01,
+    r11,
+    r21,
+    -(r01 * tx + r11 * ty + r21 * tz),
+    r02,
+    r12,
+    r22,
+    -(r02 * tx + r12 * ty + r22 * tz),
+    0,
+    0,
+    0,
+    1
+  ]);
+}
+
+export function rpyToQuaternion(rpy: [number, number, number]): [number, number, number, number] {
+  return normalizeQuaternion(rotationMat4ToQuaternion(rotationFromRpyMat4(rpy)));
+}
+
+export function normalizeQuaternion(input: [number, number, number, number]): [number, number, number, number] {
+  const [x, y, z, w] = input;
+  const length = Math.hypot(x, y, z, w);
+  if (length === 0) {
+    return [0, 0, 0, 1];
+  }
+  return [x / length, y / length, z / length, w / length];
+}
+
+export function jointMotionMat4(type: string, axis: [number, number, number], value: number): Mat4 {
+  if (type === "revolute" || type === "continuous") {
+    return axisAngleMat4(axis, value);
+  }
+  if (type === "prismatic") {
+    const [x, y, z] = normalizeVector(axis);
+    return translationMat4([x * value, y * value, z * value]);
+  }
+  return identityMat4();
+}
+
+function rotationMat4ToQuaternion(matrix: Mat4): [number, number, number, number] {
+  const m00 = matrix[0];
+  const m01 = matrix[1];
+  const m02 = matrix[2];
+  const m10 = matrix[4];
+  const m11 = matrix[5];
+  const m12 = matrix[6];
+  const m20 = matrix[8];
+  const m21 = matrix[9];
+  const m22 = matrix[10];
+  const trace = m00 + m11 + m22;
+
+  if (trace > 0) {
+    const s = Math.sqrt(trace + 1) * 2;
+    return [(m21 - m12) / s, (m02 - m20) / s, (m10 - m01) / s, 0.25 * s];
+  }
+  if (m00 > m11 && m00 > m22) {
+    const s = Math.sqrt(1 + m00 - m11 - m22) * 2;
+    return [0.25 * s, (m01 + m10) / s, (m02 + m20) / s, (m21 - m12) / s];
+  }
+  if (m11 > m22) {
+    const s = Math.sqrt(1 + m11 - m00 - m22) * 2;
+    return [(m01 + m10) / s, 0.25 * s, (m12 + m21) / s, (m02 - m20) / s];
+  }
+  const s = Math.sqrt(1 + m22 - m00 - m11) * 2;
+  return [(m02 + m20) / s, (m12 + m21) / s, 0.25 * s, (m10 - m01) / s];
+}
+
+function normalizeVector(axis: [number, number, number]): [number, number, number] {
+  const [x, y, z] = axis;
+  const length = Math.hypot(x, y, z);
+  if (length === 0) {
+    return [1, 0, 0];
+  }
+  return [x / length, y / length, z / length];
+}

kdl-wasm/web/src/robot/index.ts

@@ -0,0 +1,2 @@
+export { RobotModelRegistry, validateNormalizedRobotModel, type RobotRegistryRecord } from "./normalizedRobotModel.js";
+export { loadRobotFromUrdfModel } from "./urdfParser.js";

kdl-wasm/web/src/robot/urdfParser.ts

@@ -0,0 +1,277 @@
+import { createHash } from "node:crypto";
+import { XMLParser } from "fast-xml-parser";
+import { KdlStructuredError } from "../kdl/rpc.js";
+import type {
+  JointLimitOverride,
+  JointLimits,
+  JointModel,
+  JointType,
+  LinkModel,
+  NormalizedRobotModel,
+  UrdfLoadOptions
+} from "../kdl/types.js";
+
+type XmlNode = Record<string, unknown>;
+
+const SUPPORTED_JOINT_TYPES = new Set<JointType>(["revolute", "continuous", "prismatic", "fixed"]);
+
+export function loadRobotFromUrdfModel(urdfXml: string, options: UrdfLoadOptions): NormalizedRobotModel {
+  const robot = parseUrdfRoot(urdfXml);
+  const robotName = stringAttr(robot["@_name"]) ?? options.robotId;
+  const links = asArray<XmlNode>(robot.link).map(parseLink);
+  const joints = asArray<XmlNode>(robot.joint).map(parseJoint);
+
+  const linkNames = new Set(links.map((link) => link.name));
+  if (!linkNames.has(options.baseLink)) {
+    throw invalidModel(`URDF baseLink does not exist: ${options.baseLink}`);
+  }
+  if (!linkNames.has(options.tipLink)) {
+    throw invalidModel(`URDF tipLink does not exist: ${options.tipLink}`);
+  }
+
+  const chain = buildChain(joints, options.baseLink, options.tipLink);
+  const activeJointNames = resolveActiveJointOrder(chain, options.jointOrder);
+  const limits = activeJointNames.map((name) => {
+    const joint = joints.find((candidate) => candidate.name === name);
+    if (!joint) {
+      throw invalidModel(`Joint order references an unknown joint: ${name}`);
+    }
+    return limitForJoint(joint, options.overrideLimits ?? []);
+  });
+
+  return {
+    robotId: options.robotId,
+    name: robotName,
+    baseLink: options.baseLink,
+    tipLink: options.tipLink,
+    links,
+    joints,
+    activeJointNames,
+    limits,
+    source: {
+      type: "urdf",
+      urdfHash: createHash("sha256").update(urdfXml).digest("hex")
+    }
+  };
+}
+
+function parseUrdfRoot(urdfXml: string): XmlNode {
+  const parser = new XMLParser({
+    ignoreAttributes: false,
+    attributeNamePrefix: "@_",
+    trimValues: true,
+    parseAttributeValue: false,
+    parseTagValue: false,
+    allowBooleanAttributes: true
+  });
+  const parsed = parser.parse(urdfXml) as XmlNode;
+  const robot = parsed.robot;
+
+  if (!isObject(robot)) {
+    throw invalidModel("URDF document must contain a robot root element");
+  }
+
+  return robot;
+}
+
+function parseLink(node: XmlNode): LinkModel {
+  const name = stringAttr(node["@_name"]);
+  if (!name) {
+    throw invalidModel("URDF link is missing name");
+  }
+  return { name };
+}
+
+function parseJoint(node: XmlNode): JointModel {
+  const name = stringAttr(node["@_name"]);
+  const type = stringAttr(node["@_type"]);
+  if (!name || !type) {
+    throw invalidModel("URDF joint is missing name or type");
+  }
+  if (!SUPPORTED_JOINT_TYPES.has(type as JointType)) {
+    throw invalidModel(`Unsupported joint type for ${name}: ${type}`);
+  }
+
+  const parent = parseLinkRef(node.parent, "parent", name);
+  const child = parseLinkRef(node.child, "child", name);
+  const originNode = isObject(node.origin) ? node.origin : {};
+  const axisNode = isObject(node.axis) ? node.axis : {};
+  const jointType = type as JointType;
+
+  return {
+    name,
+    type: jointType,
+    parent,
+    child,
+    origin: {
+      xyz: parseTriple(stringAttr(originNode["@_xyz"]), [0, 0, 0], `joint ${name} origin xyz`),
+      rpy: parseTriple(stringAttr(originNode["@_rpy"]), [0, 0, 0], `joint ${name} origin rpy`)
+    },
+    axis: parseTriple(stringAttr(axisNode["@_xyz"]), [1, 0, 0], `joint ${name} axis xyz`),
+    ...(jointType === "fixed" ? {} : { limit: parseJointLimit(node.limit, name, jointType) })
+  };
+}
+
+function parseJointLimit(node: unknown, jointName: string, jointType: JointType): JointLimits {
+  const limitNode = isObject(node) ? node : {};
+  const continuous = jointType === "continuous";
+  const lower = continuous ? -Infinity : numberAttr(limitNode["@_lower"], `joint ${jointName} lower limit`);
+  const upper = continuous ? Infinity : numberAttr(limitNode["@_upper"], `joint ${jointName} upper limit`);
+
+  return {
+    name: jointName,
+    lower,
+    upper,
+    velocity: optionalNumberAttr(limitNode["@_velocity"], `joint ${jointName} velocity limit`) ?? Infinity,
+    acceleration: optionalNumberAttr(limitNode["@_acceleration"], `joint ${jointName} acceleration limit`) ?? Infinity,
+    ...optionalJerk(limitNode, jointName)
+  };
+}
+
+function parseLinkRef(node: unknown, field: "parent" | "child", jointName: string): string {
+  if (!isObject(node)) {
+    throw invalidModel(`URDF joint ${jointName} is missing ${field}`);
+  }
+  const link = stringAttr(node["@_link"]);
+  if (!link) {
+    throw invalidModel(`URDF joint ${jointName} ${field} is missing link`);
+  }
+  return link;
+}
+
+function buildChain(joints: JointModel[], baseLink: string, tipLink: string): JointModel[] {
+  const byParent = new Map<string, JointModel[]>();
+  for (const joint of joints) {
+    const children = byParent.get(joint.parent) ?? [];
+    children.push(joint);
+    byParent.set(joint.parent, children);
+  }
+
+  const queue: Array<{ link: string; chain: JointModel[] }> = [{ link: baseLink, chain: [] }];
+  const visited = new Set<string>([baseLink]);
+
+  while (queue.length > 0) {
+    const current = queue.shift();
+    if (!current) {
+      break;
+    }
+    if (current.link === tipLink) {
+      return current.chain;
+    }
+
+    for (const joint of byParent.get(current.link) ?? []) {
+      if (visited.has(joint.child)) {
+        continue;
+      }
+      visited.add(joint.child);
+      queue.push({ link: joint.child, chain: [...current.chain, joint] });
+    }
+  }
+
+  throw invalidModel(`URDF baseLink ${baseLink} is not connected to tipLink ${tipLink}`);
+}
+
+function resolveActiveJointOrder(chain: JointModel[], jointOrder?: string[]): string[] {
+  const defaultOrder = chain
+    .filter((joint) => joint.type !== "fixed")
+    .map((joint) => joint.name);
+
+  if (!jointOrder || jointOrder.length === 0) {
+    return defaultOrder;
+  }
+
+  const chainActive = new Set(defaultOrder);
+  for (const jointName of jointOrder) {
+    if (!chainActive.has(jointName)) {
+      throw invalidModel(`jointOrder contains a joint outside the base-tip chain: ${jointName}`);
+    }
+  }
+
+  if (jointOrder.length !== defaultOrder.length) {
+    throw invalidModel("jointOrder must contain every active joint in the base-tip chain exactly once");
+  }
+
+  return [...jointOrder];
+}
+
+function limitForJoint(joint: JointModel, overrides: JointLimitOverride[]): JointLimits {
+  const base = joint.limit;
+  if (!base) {
+    throw invalidModel(`Active joint ${joint.name} is missing limits`);
+  }
+  const override = overrides.find((candidate) => candidate.name === joint.name);
+  if (!override) {
+    return base;
+  }
+
+  return {
+    name: joint.name,
+    lower: override.lower ?? base.lower,
+    upper: override.upper ?? base.upper,
+    velocity: override.velocity ?? base.velocity,
+    acceleration: override.acceleration ?? base.acceleration,
+    ...mergedOptionalJerk(override, base)
+  };
+}
+
+function optionalJerk(limitNode: XmlNode, jointName: string): Pick<JointLimits, "jerk"> | Record<string, never> {
+  const jerk = optionalNumberAttr(limitNode["@_jerk"], `joint ${jointName} jerk limit`);
+  return jerk === undefined ? {} : { jerk };
+}
+
+function mergedOptionalJerk(
+  override: JointLimitOverride,
+  base: JointLimits
+): Pick<JointLimits, "jerk"> | Record<string, never> {
+  const jerk = override.jerk ?? base.jerk;
+  return jerk === undefined ? {} : { jerk };
+}
+
+function parseTriple(value: string | undefined, fallback: [number, number, number], context: string): [number, number, number] {
+  if (!value) {
+    return fallback;
+  }
+  const parts = value.trim().split(/\s+/).map((part) => Number(part));
+  if (parts.length !== 3 || parts.some((part) => !Number.isFinite(part))) {
+    throw invalidModel(`Invalid ${context}: ${value}`);
+  }
+  return [parts[0] ?? 0, parts[1] ?? 0, parts[2] ?? 0];
+}
+
+function numberAttr(value: unknown, context: string): number {
+  const numberValue = optionalNumberAttr(value, context);
+  if (numberValue === undefined) {
+    throw invalidModel(`Missing ${context}`);
+  }
+  return numberValue;
+}
+
+function optionalNumberAttr(value: unknown, context: string): number | undefined {
+  if (value === undefined || value === null || value === "") {
+    return undefined;
+  }
+  const numberValue = Number(value);
+  if (!Number.isFinite(numberValue)) {
+    throw invalidModel(`Invalid ${context}: ${String(value)}`);
+  }
+  return numberValue;
+}
+
+function stringAttr(value: unknown): string | undefined {
+  return typeof value === "string" && value.length > 0 ? value : undefined;
+}
+
+function asArray<T>(value: unknown): T[] {
+  if (value === undefined || value === null) {
+    return [];
+  }
+  return Array.isArray(value) ? (value as T[]) : [value as T];
+}
+
+function isObject(value: unknown): value is XmlNode {
+  return typeof value === "object" && value !== null && !Array.isArray(value);
+}
+
+function invalidModel(message: string): KdlStructuredError {
+  return new KdlStructuredError("KDL_INVALID_MODEL", message);
+}

kdl-wasm/web/tests/grl/controlFlow.test.ts

@@ -0,0 +1,197 @@
+import { describe, expect, it } from "vitest";
+import type { GrlProcedureDeclaration } from "../../src/grl/ast/index.js";
+import { parseGrl } from "../../src/grl/parser/index.js";
+import { parseProcedureControlFlow } from "../../src/grl/semantic/index.js";
+
+function procedure(source: string): GrlProcedureDeclaration {
+  return parseGrl(source).module.declarations.find(
+    (decl): decl is GrlProcedureDeclaration => decl.kind === "ProcedureDeclaration"
+  )!;
+}
+
+describe("GRL control-flow compilation", () => {
+  it("compiles if, elseif, else, while, for, switch, labels, and jumps", () => {
+    const proc = procedure(`language grl 0.1
+module Main
+  proc main()
+    label retry
+    if ready == true
+      wait io.di[1] == true
+    elseif fault == true
+      jump recovery
+    else
+      jump retry
+    end
+    while all(io.di[1] == true, io.di[2] == false)
+      continue
+    end
+    for i = 1 to 3 step 1
+      movej home
+    end
+    switch mode
+      case 1
+        break
+      case 2
+        jump done
+      default
+        jump recovery
+    end
+    label recovery
+    label done
+  end
+end
+`);
+
+    const flow = parseProcedureControlFlow(proc);
+
+    expect(flow).toEqual([
+      expect.objectContaining({ kind: "LABEL", name: "retry", scopePath: [] }),
+      expect.objectContaining({
+        kind: "IF",
+        branches: [
+          expect.objectContaining({
+            branchKind: "if",
+            condition: expect.objectContaining({ text: "ready == true" }),
+            body: [expect.objectContaining({ kind: "RAW_STATEMENT", text: "wait io . di [ 1 ] == true" })]
+          }),
+          expect.objectContaining({
+            branchKind: "elseif",
+            condition: expect.objectContaining({ text: "fault == true" }),
+            body: [expect.objectContaining({ kind: "JUMP", label: "recovery" })]
+          }),
+          expect.objectContaining({
+            branchKind: "else",
+            body: [expect.objectContaining({ kind: "JUMP", label: "retry" })]
+          })
+        ]
+      }),
+      expect.objectContaining({
+        kind: "WHILE",
+        condition: expect.objectContaining({
+          text: "all ( io . di [ 1 ] == true , io . di [ 2 ] == false )"
+        }),
+        body: [expect.objectContaining({ kind: "CONTINUE" })]
+      }),
+      expect.objectContaining({
+        kind: "FOR",
+        iterator: "i",
+        from: expect.objectContaining({ text: "1" }),
+        to: expect.objectContaining({ text: "3" }),
+        step: expect.objectContaining({ text: "1" }),
+        body: [expect.objectContaining({ kind: "RAW_STATEMENT", text: "movej home" })]
+      }),
+      expect.objectContaining({
+        kind: "SWITCH",
+        expression: expect.objectContaining({ text: "mode" }),
+        cases: [
+          expect.objectContaining({ caseKind: "case", value: 1, body: [expect.objectContaining({ kind: "BREAK" })] }),
+          expect.objectContaining({ caseKind: "case", value: 2, body: [expect.objectContaining({ kind: "JUMP", label: "done" })] }),
+          expect.objectContaining({ caseKind: "default", body: [expect.objectContaining({ kind: "JUMP", label: "recovery" })] })
+        ]
+      }),
+      expect.objectContaining({ kind: "LABEL", name: "recovery", scopePath: [] }),
+      expect.objectContaining({ kind: "LABEL", name: "done", scopePath: [] })
+    ]);
+  });
+
+  it("reports non-boolean control conditions", () => {
+    const proc = procedure(`language grl 0.1
+module Main
+  proc main()
+    if 1
+    end
+  end
+end
+`);
+
+    expect(() => parseProcedureControlFlow(proc)).toThrowError(
+      expect.objectContaining({ code: "GRL_CONTROL_CONDITION_NOT_BOOL" })
+    );
+  });
+
+  it("reports break and continue outside valid blocks", () => {
+    const breakProc = procedure(`language grl 0.1
+module Main
+  proc main()
+    break
+  end
+end
+`);
+    const continueProc = procedure(`language grl 0.1
+module Main
+  proc main()
+    switch mode
+      case 1
+        continue
+    end
+  end
+end
+`);
+
+    expect(() => parseProcedureControlFlow(breakProc)).toThrowError(
+      expect.objectContaining({ code: "GRL_BREAK_OUTSIDE_FLOW" })
+    );
+    expect(() => parseProcedureControlFlow(continueProc)).toThrowError(
+      expect.objectContaining({ code: "GRL_CONTINUE_OUTSIDE_LOOP" })
+    );
+  });
+
+  it("reports duplicate or non-constant switch cases", () => {
+    const duplicateProc = procedure(`language grl 0.1
+module Main
+  proc main()
+    switch mode
+      case 1
+        break
+      case 1
+        break
+    end
+  end
+end
+`);
+    const nonConstantProc = procedure(`language grl 0.1
+module Main
+  proc main()
+    switch mode
+      case mode + 1
+        break
+    end
+  end
+end
+`);
+
+    expect(() => parseProcedureControlFlow(duplicateProc)).toThrowError(
+      expect.objectContaining({ code: "GRL_SWITCH_CASE_DUPLICATE" })
+    );
+    expect(() => parseProcedureControlFlow(nonConstantProc)).toThrowError(
+      expect.objectContaining({ code: "GRL_SWITCH_CASE_NOT_CONSTANT" })
+    );
+  });
+
+  it("reports labels that cannot be reached by jump", () => {
+    const intoBlockProc = procedure(`language grl 0.1
+module Main
+  proc main()
+    jump inner
+    if ready == true
+      label inner
+    end
+  end
+end
+`);
+    const missingLabelProc = procedure(`language grl 0.1
+module Main
+  proc main()
+    jump missing
+  end
+end
+`);
+
+    expect(() => parseProcedureControlFlow(intoBlockProc)).toThrowError(
+      expect.objectContaining({ code: "GRL_JUMP_INTO_BLOCK" })
+    );
+    expect(() => parseProcedureControlFlow(missingLabelProc)).toThrowError(
+      expect.objectContaining({ code: "GRL_LABEL_NOT_FOUND" })
+    );
+  });
+});

kdl-wasm/web/tests/grl/dataDeclarations.test.ts

@@ -0,0 +1,151 @@
+import { describe, expect, it } from "vitest";
+import type { GrlDataDeclaration, GrlTargetDeclaration } from "../../src/grl/ast/index.js";
+import { parseGrl } from "../../src/grl/parser/index.js";
+import {
+  compileGrlDataDeclaration,
+  compileGrlTargetDeclaration,
+  compileOffsetExpression
+} from "../../src/grl/semantic/index.js";
+
+function dataDeclarations(source: string): GrlDataDeclaration[] {
+  return parseGrl(source).module.declarations.filter(
+    (declaration): declaration is GrlDataDeclaration => declaration.kind === "DataDeclaration"
+  );
+}
+
+function targetDeclarations(source: string): GrlTargetDeclaration[] {
+  return parseGrl(source).module.declarations.filter(
+    (declaration): declaration is GrlTargetDeclaration => declaration.kind === "TargetDeclaration"
+  );
+}
+
+describe("GRL data declarations and target compilation", () => {
+  it("compiles tool and frame declarations into shared structures", () => {
+    const [toolDecl, frameDecl] = dataDeclarations(`language grl 0.1
+module Main
+  persistent tool gripper = tool {
+    tcp: pose(0 mm, 0 mm, 180 mm, 0 deg, 0 deg, 0 deg),
+    mass: 2.5 kg,
+    cog: [0 mm, 0 mm, 80 mm]
+  }
+  persistent frame fixture = frame {
+    origin: pose(800 mm, 0 mm, 200 mm, 0 deg, 0 deg, 0 deg)
+  }
+end
+`);
+
+    expect(toolDecl).toMatchObject({
+      storage: "persistent",
+      typeName: "tool",
+      name: "gripper",
+      initializer: { kind: "ObjectExpression", typeName: "tool" }
+    });
+    expect(compileGrlDataDeclaration(toolDecl!)).toMatchObject({
+      name: "gripper",
+      value: {
+        tcp: {
+          position: [0, 0, 0.18],
+          quaternion: [0, 0, 0, 1]
+        },
+        mass: 2.5,
+        cog: [0, 0, 0.08]
+      }
+    });
+    expect(compileGrlDataDeclaration(frameDecl!)).toMatchObject({
+      name: "fixture",
+      value: {
+        origin: {
+          position: [0.8, 0, 0.2],
+          quaternion: [0, 0, 0, 1]
+        }
+      }
+    });
+  });
+
+  it("compiles speed and zone declarations", () => {
+    const declarations = dataDeclarations(`language grl 0.1
+module Main
+  const speed v_joint = joint(80 %)
+  const speed v_pick = linear(300 mm/s)
+  const speed v_slow = linear(100 mm/s, acc 500 mm/s2)
+  const zone z_fine = fine
+  const zone z10 = z(10 mm)
+  const zone z_cnt = cnt(30)
+  const zone z_cont = continuous
+end
+`);
+    const compiled = declarations.map(compileGrlDataDeclaration);
+
+    expect(compiled).toMatchObject([
+      { name: "v_joint", value: { kind: "joint_percent", value: 0.8 } },
+      { name: "v_pick", value: { kind: "linear", velocity: 0.3 } },
+      { name: "v_slow", value: { kind: "linear", velocity: 0.1, acceleration: 0.5 } },
+      { name: "z_fine", value: { kind: "fine" } },
+      { name: "z10", value: { kind: "distance", value: 0.01 } },
+      { name: "z_cnt", value: { kind: "cnt", value: 30 } },
+      { name: "z_cont", value: { kind: "continuous" } }
+    ]);
+  });
+
+  it("compiles joint_target and pose_target declarations", () => {
+    const [home, pick] = targetDeclarations(`language grl 0.1
+module Main
+  target home = joint_target {
+    joints: [0 deg, -30 deg, 60 deg, 0 deg, 60 deg, 0 deg]
+  }
+  target pick = pose_target {
+    pose: pose(500 mm, 120 mm, 300 mm, 180 deg, 0 deg, 90 deg),
+    config: robot_config(0, 0, 1),
+    tool: gripper,
+    frame: fixture
+  }
+end
+`);
+
+    expect(compileGrlTargetDeclaration(home!)).toMatchObject({
+      name: "home",
+      target: {
+        joints: [0, -Math.PI / 6, Math.PI / 3, 0, Math.PI / 3, 0]
+      }
+    });
+
+    const compiledPick = compileGrlTargetDeclaration(pick!);
+    expect(compiledPick.name).toBe("pick");
+    expect("pose" in compiledPick.target).toBe(true);
+    if ("pose" in compiledPick.target) {
+      expect(compiledPick.target.pose.position).toEqual([0.5, 0.12, 0.3]);
+      expect(compiledPick.target.config).toEqual({ shoulder: 0, elbow: 0, wrist: 1 });
+    }
+  });
+
+  it("parses and compiles offset expressions", () => {
+    const [declFrame, declTool] = dataDeclarations(`language grl 0.1
+module Main
+  var pose_target p2 = pick offset x 20 mm y -10 mm z 50 mm
+  var pose_target p3 = pick offset_in tool z -50 mm
+end
+`);
+
+    expect(declFrame?.initializer).toMatchObject({
+      kind: "OffsetExpression",
+      mode: "frame",
+      axes: [
+        { axis: "x" },
+        { axis: "y" },
+        { axis: "z" }
+      ]
+    });
+    if (declFrame?.initializer.kind === "OffsetExpression") {
+      expect(compileOffsetExpression(declFrame.initializer)).toEqual({
+        mode: "frame",
+        xyz: [0.02, -0.01, 0.05]
+      });
+    }
+    if (declTool?.initializer.kind === "OffsetExpression") {
+      expect(compileOffsetExpression(declTool.initializer)).toEqual({
+        mode: "tool",
+        xyz: [0, 0, -0.05]
+      });
+    }
+  });
+});

kdl-wasm/web/tests/grl/exceptionCompile.test.ts

@@ -0,0 +1,125 @@
+import { describe, expect, it } from "vitest";
+import type { GrlProcedureDeclaration, GrlRawTopLevelDeclaration } from "../../src/grl/ast/index.js";
+import { parseGrl } from "../../src/grl/parser/index.js";
+import {
+  analyzeExceptionSemantics,
+  parseProcedureExceptionFlow
+} from "../../src/grl/semantic/index.js";
+
+const PROGRAM = `language grl 0.1
+module Main
+  trap recover_trap()
+    raise E_STOP
+  end
+  task background cycle 10 ms
+    call monitor()
+  end
+  proc main()
+    alarm E_STOP "Emergency stop" severity fatal
+    try
+      raise E_STOP
+    catch E_STOP
+      alarm RECOVER "Recovering" severity warning
+    finally
+      alarm CLEANUP "Cleanup"
+    end
+    enable interrupt guard
+    disable interrupt guard
+  end
+end
+`;
+
+function declarations() {
+  return parseGrl(PROGRAM).module.declarations;
+}
+
+describe("GRL alarm, raise, try/catch, interrupt, and task semantics", () => {
+  it("keeps trap and task as parsed raw declarations for P1 diagnostics", () => {
+    const raw = declarations().filter(
+      (decl): decl is GrlRawTopLevelDeclaration => decl.kind === "RawTopLevelDeclaration"
+    );
+
+    expect(raw[0]?.declarationType).toBe("trap");
+    expect(raw[0]?.tokens[0]).toMatchObject({ raw: "trap" });
+    expect(raw[0]?.tokens[1]).toMatchObject({ raw: "recover_trap" });
+    expect(raw[1]?.declarationType).toBe("task");
+    expect(raw[1]?.tokens[0]).toMatchObject({ raw: "task" });
+    expect(raw[1]?.tokens[1]).toMatchObject({ raw: "background" });
+  });
+
+  it("compiles alarm, raise, try/catch/finally, and interrupt diagnostics from procedure body", () => {
+    const procedure = declarations().find(
+      (decl): decl is GrlProcedureDeclaration => decl.kind === "ProcedureDeclaration"
+    )!;
+
+    expect(parseProcedureExceptionFlow(procedure)).toEqual([
+      expect.objectContaining({
+        kind: "ALARM",
+        alarmId: "E_STOP",
+        message: "Emergency stop",
+        severity: "fatal"
+      }),
+      expect.objectContaining({
+        kind: "TRY",
+        body: [expect.objectContaining({ kind: "RAISE", alarmId: "E_STOP" })],
+        catches: [
+          expect.objectContaining({
+            alarmId: "E_STOP",
+            body: [
+              expect.objectContaining({
+                kind: "ALARM",
+                alarmId: "RECOVER",
+                message: "Recovering",
+                severity: "warning"
+              })
+            ]
+          })
+        ],
+        finally: expect.objectContaining({
+          body: [expect.objectContaining({ kind: "ALARM", alarmId: "CLEANUP", message: "Cleanup" })]
+        })
+      }),
+      expect.objectContaining({ kind: "UNSUPPORTED_RUNTIME", feature: "interrupt" }),
+      expect.objectContaining({ kind: "UNSUPPORTED_RUNTIME", feature: "interrupt" })
+    ]);
+  });
+
+  it("reports P1 trap/task semantics as explicit unsupported diagnostics", () => {
+    const analysis = analyzeExceptionSemantics(declarations());
+
+    expect(analysis.unsupported).toEqual([
+      expect.objectContaining({ kind: "UNSUPPORTED_RUNTIME", feature: "trap" }),
+      expect.objectContaining({ kind: "UNSUPPORTED_RUNTIME", feature: "task" })
+    ]);
+    expect(analysis.diagnostics).toEqual([
+      expect.objectContaining({ severity: "warning", code: "GRL_P1_UNIMPLEMENTED" }),
+      expect.objectContaining({ severity: "warning", code: "GRL_P1_UNIMPLEMENTED" })
+    ]);
+  });
+
+  it("reports missing alarm ids and try blocks without handlers", () => {
+    const missingAlarmId = parseGrl(`language grl 0.1
+module Main
+  proc main()
+    alarm
+  end
+end
+`).module.declarations.find((decl): decl is GrlProcedureDeclaration => decl.kind === "ProcedureDeclaration")!;
+    const tryWithoutHandler = parseGrl(`language grl 0.1
+module Main
+  proc main()
+    try
+      raise E_STOP
+    end
+  end
+end
+`).module.declarations.find((decl): decl is GrlProcedureDeclaration => decl.kind === "ProcedureDeclaration")!;
+
+    expect(() => parseProcedureExceptionFlow(missingAlarmId)).toThrowError(
+      expect.objectContaining({ code: "GRL_ALARM_ID_MISSING" })
+    );
+    expect(() => parseProcedureExceptionFlow(tryWithoutHandler)).toThrowError(
+      expect.objectContaining({ code: "GRL_TRY_HANDLER_MISSING" })
+    );
+  });
+});

kdl-wasm/web/tests/grl/generator/roundtrip.test.ts

@@ -0,0 +1,149 @@
+import { describe, expect, it } from "vitest";
+import { generateGrlProgram, type GrlProgramGenerationSpec } from "../../../src/grl/generator/index.js";
+import { postProcessAllBrands } from "../../../src/grl/post/index.js";
+import type { GrlOperationDeclaration, GrlPathDeclaration, GrlTargetDeclaration } from "../../../src/grl/ast/index.js";
+import { parseGrl } from "../../../src/grl/parser/index.js";
+import { compileSemanticProgram } from "../../../src/grl/semantic/index.js";
+
+const SPEC: GrlProgramGenerationSpec = {
+  moduleName: "GeneratedCell",
+  speeds: {
+    v_linear: "linear(200 mm/s)",
+    v_joint: "joint(50 %)"
+  },
+  zones: {
+    z10: "z(10 mm)",
+    zf: "fine"
+  },
+  targets: [
+    { name: "pick", kind: "pose", values: [500, 0, 0, 0, 0, 0] },
+    { name: "home", kind: "joint", values: [0] },
+    { name: "place", kind: "pose", values: [600, 0, 0, 0, 0, 0] }
+  ],
+  path: {
+    name: "generated_path",
+    source: {
+      type: "cad_curve",
+      id: "edge_001",
+      sample_distance: 5
+    },
+    defaults: {
+      speed: "v_linear",
+      zone: "z10"
+    },
+    points: [
+      { motion: "movej", target: "home", speed: "v_joint", zone: "zf" },
+      { motion: "movel", target: "pick" },
+      { id: "place_point", motion: "movel", target: "place", zone: "zf" }
+    ]
+  },
+  operation: {
+    name: "generated_op",
+    kind: "handling",
+    path: "generated_path",
+    startAction: "io.do[1] = true",
+    endAction: "io.do[1] = false"
+  }
+};
+
+describe("GRL generator and roundtrip", () => {
+  it("generates stable expanded GRL with target/path/operation first", () => {
+    const first = generateGrlProgram(SPEC, "expanded");
+    const second = generateGrlProgram(SPEC, "expanded");
+
+    expect(first).toEqual(second);
+    expect(first.stableIds).toEqual({
+      targets: ["home", "pick", "place"],
+      points: ["p00", "p01", "place_point"],
+      path: "generated_path",
+      operation: "generated_op"
+    });
+    expect(first.text).toBe(`language grl 0.1
+module GeneratedCell
+  const speed v_joint = joint(50 %)
+  const speed v_linear = linear(200 mm/s)
+  const zone z10 = z(10 mm)
+  const zone zf = fine
+  target home = joint_target {
+    joints: [0 deg]
+  }
+  target pick = pose_target {
+    pose: pose(500 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg)
+  }
+  target place = pose_target {
+    pose: pose(600 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg)
+  }
+  path generated_path {
+    source {
+      id: "edge_001"
+      sample_distance: 5
+      type: cad_curve
+    }
+    defaults {
+      speed: v_linear
+      zone: z10
+    }
+    point p00 movej home speed v_joint zone zf
+    point p01 movel pick
+    point place_point movel place zone zf
+  }
+  operation generated_op {
+    kind: handling
+    path: generated_path
+    start_action:
+      io.do[1] = true
+    end_action:
+      io.do[1] = false
+  }
+  proc main()
+    run_operation generated_op
+  end
+end`);
+  });
+
+  it("supports compact output that remains parseable", () => {
+    const compact = generateGrlProgram(SPEC, "compact");
+
+    expect(compact.text).toContain("path generated_path { source { id: \"edge_001\"");
+    expect(parseGrl(compact.text).module.name).toBe("GeneratedCell");
+  });
+
+  it("roundtrips through parser, semantic IR, and postprocessors", () => {
+    const generated = generateGrlProgram(SPEC, "expanded");
+    const ast = parseGrl(generated.text);
+    const declarations = ast.module.declarations;
+    const targets = declarations.filter((decl): decl is GrlTargetDeclaration => decl.kind === "TargetDeclaration");
+    const path = declarations.find((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration")!;
+    const operation = declarations.find((decl): decl is GrlOperationDeclaration => decl.kind === "OperationDeclaration")!;
+    const ir = compileSemanticProgram(ast, {
+      startJoints: [0],
+      sampleTime: 0.004
+    });
+    const post = postProcessAllBrands(ir);
+
+    expect(targets.map((target) => target.name)).toEqual(["home", "pick", "place"]);
+    expect(path.items).toEqual(
+      expect.arrayContaining([
+        expect.objectContaining({ kind: "PathSourceBlock" }),
+        expect.objectContaining({ kind: "PathDefaultsBlock" }),
+        expect.objectContaining({ kind: "PathPoint", id: "p00" }),
+        expect.objectContaining({ kind: "PathPoint", id: "p01" }),
+        expect.objectContaining({ kind: "PathPoint", id: "place_point" })
+      ])
+    );
+    expect(operation).toMatchObject({
+      name: "generated_op",
+      operationKind: "handling",
+      pathName: "generated_path"
+    });
+    expect(ir.symbols).toEqual(
+      expect.arrayContaining([
+        expect.objectContaining({ kind: "path", name: "generated_path" }),
+        expect.objectContaining({ kind: "operation", name: "generated_op" })
+      ])
+    );
+    expect(post.outputs.abb.text).toContain("MODULE GeneratedCell");
+    expect(post.outputs.fanuc.text).toContain("/PROG MAIN");
+    expect(post.outputs.kuka.text).toContain("DEF Main()");
+  });
+});

kdl-wasm/web/tests/grl/ioCompile.test.ts

@@ -0,0 +1,205 @@
+import { describe, expect, it } from "vitest";
+import type {
+  GrlDataDeclaration,
+  GrlOperationDeclaration,
+  GrlPathDeclaration,
+  GrlProcedureDeclaration,
+  GrlTargetDeclaration
+} from "../../src/grl/ast/index.js";
+import type { PathEventInstruction } from "../../src/grl/ir/index.js";
+import { parseGrl } from "../../src/grl/parser/index.js";
+import {
+  buildMotionContext,
+  compileOperation,
+  compileOperationActionIo,
+  compilePathEventIo,
+  compilePathToPlanRequest,
+  parseIoFlowStatements,
+  type IoMap
+} from "../../src/grl/semantic/index.js";
+
+const PROGRAM = `language grl 0.1
+module Main
+  const speed v = joint(50 %)
+  const zone zf = fine
+  target home = joint_target { joints: [0 deg] }
+  path io_path {
+    defaults { speed: v, zone: zf }
+    point p0 movej home
+    event at p0 distance 0 mm pulse io.do[20] duration 100 ms
+  }
+  operation io_op {
+    kind: handling
+    path: io_path
+    start_action:
+      wait io.di[4] == true timeout 500 ms on_timeout alarm "part missing"
+    end_action:
+      pulse io.do[5] duration 250 ms
+  }
+  proc main()
+    io.do[1] = true
+    io.go[2] = 16
+    io.alias.grip_close = false
+    wait all(io.di[1] == true, io.di[2] == false) timeout 2 s on_timeout alarm "Clamp close timeout"
+    wait any(rising(io.di[3]), falling(io.di[4]), changed(io.ai[1]))
+    wait io.di[5] == true timeout 1 s on_timeout call recover
+    pulse io.do[3] duration 200 ms
+  end
+end
+`;
+
+const IO_MAP: IoMap = {
+  aliases: {
+    grip_close: { domain: "do", index: 6, raw: "io.do[6]" }
+  },
+  allowedRanges: {
+    ai: { min: 1, max: 8 },
+    di: { min: 1, max: 16 },
+    do: { min: 1, max: 32 },
+    go: { min: 1, max: 4 }
+  }
+};
+
+function declarations() {
+  return parseGrl(PROGRAM).module.declarations;
+}
+
+function motionContext(decls = declarations()) {
+  return buildMotionContext(
+    decls.filter(
+      (decl): decl is GrlDataDeclaration | GrlTargetDeclaration =>
+        decl.kind === "DataDeclaration" || decl.kind === "TargetDeclaration"
+    )
+  );
+}
+
+function pathsByName(paths: GrlPathDeclaration[]) {
+  return new Map(paths.map((path) => [path.name, path]));
+}
+
+describe("GRL IO, wait, and pulse compilation", () => {
+  it("compiles procedure IO writes, wait conditions, timeout actions, and pulse traces", () => {
+    const procedure = declarations().find(
+      (decl): decl is GrlProcedureDeclaration => decl.kind === "ProcedureDeclaration"
+    )!;
+
+    const instructions = parseIoFlowStatements(procedure.bodyTokens, IO_MAP);
+
+    expect(instructions).toHaveLength(7);
+    expect(instructions[0]).toMatchObject({
+      kind: "IO_WRITE",
+      target: { domain: "do", index: 1, raw: "io.do[1]" },
+      value: true
+    });
+    expect(instructions[1]).toMatchObject({
+      kind: "IO_WRITE",
+      target: { domain: "go", index: 2, raw: "io.go[2]" },
+      value: 16
+    });
+    expect(instructions[2]).toMatchObject({
+      kind: "IO_WRITE",
+      target: { domain: "do", index: 6, raw: "io.do[6]" },
+      value: false
+    });
+    expect(instructions[3]).toMatchObject({
+      kind: "WAIT",
+      condition: "all ( io . di [ 1 ] == true , io . di [ 2 ] == false )",
+      timeout: 2,
+      onTimeout: { kind: "alarm", value: "Clamp close timeout" }
+    });
+    expect(instructions[4]).toMatchObject({
+      kind: "WAIT",
+      condition: "any ( rising ( io . di [ 3 ] ) , falling ( io . di [ 4 ] ) , changed ( io . ai [ 1 ] ) )"
+    });
+    expect(instructions[5]).toMatchObject({
+      kind: "WAIT",
+      condition: "io . di [ 5 ] == true",
+      timeout: 1,
+      onTimeout: { kind: "call", value: "recover" }
+    });
+    expect(instructions[6]).toMatchObject({
+      kind: "PULSE",
+      target: { domain: "do", index: 3, raw: "io.do[3]" },
+      duration: 0.2,
+      trace: [
+        { time: 0, action: "set", target: { domain: "do", index: 3 }, value: true },
+        { time: 0.2, action: "reset", target: { domain: "do", index: 3 }, value: false }
+      ]
+    });
+  });
+
+  it("validates IO addresses against configured ranges", () => {
+    const procedure = parseGrl(`language grl 0.1
+module Main
+  proc main()
+    io.do[99] = true
+  end
+end
+`).module.declarations.find((decl): decl is GrlProcedureDeclaration => decl.kind === "ProcedureDeclaration")!;
+
+    expect(() =>
+      parseIoFlowStatements(procedure.bodyTokens, { allowedRanges: { do: { min: 1, max: 16 } } })
+    ).toThrowError(expect.objectContaining({ code: "GRL_IO_ADDRESS_NOT_FOUND" }));
+  });
+
+  it("expands path event IO metadata into pulse IR without entering KDL motion segments", () => {
+    const decls = declarations();
+    const path = decls.find((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration")!;
+    const compiled = compilePathToPlanRequest(path, motionContext(decls), {
+      startJoints: [0],
+      sampleTime: 0.004
+    });
+
+    expect(compiled.request.segments).toHaveLength(1);
+    expect(compiled.request.events).toHaveLength(1);
+    expect(compilePathEventIo(compiled.events[0]!, IO_MAP)).toEqual([
+      expect.objectContaining({
+        kind: "PULSE",
+        target: { domain: "do", index: 20, raw: "io.do[20]" },
+        duration: 0.1
+      })
+    ]);
+  });
+
+  it("expands operation action metadata into wait and pulse IR with preserved units", () => {
+    const decls = declarations();
+    const operation = decls.find(
+      (decl): decl is GrlOperationDeclaration => decl.kind === "OperationDeclaration"
+    )!;
+    const paths = decls.filter((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration");
+    const compiled = compileOperation(operation, pathsByName(paths));
+
+    expect(compileOperationActionIo(compiled.startActions[0]!, IO_MAP)).toEqual([
+      expect.objectContaining({
+        kind: "WAIT",
+        condition: "io . di [ 4 ] == true",
+        timeout: 0.5,
+        onTimeout: { kind: "alarm", value: "part missing" }
+      })
+    ]);
+    expect(compileOperationActionIo(compiled.endActions[0]!, IO_MAP)).toEqual([
+      expect.objectContaining({
+        kind: "PULSE",
+        target: { domain: "do", index: 5, raw: "io.do[5]" },
+        duration: 0.25
+      })
+    ]);
+  });
+
+  it("lexes statement fallback metadata so unit literals and booleans remain typed", () => {
+    const event: PathEventInstruction = {
+      timing: "at",
+      pointId: "p0",
+      kind: "pulse",
+      data: { statement: "pulse io.do[7] duration 125 ms" }
+    };
+
+    expect(compilePathEventIo(event, IO_MAP)).toEqual([
+      expect.objectContaining({
+        kind: "PULSE",
+        target: { domain: "do", index: 7, raw: "io.do[7]" },
+        duration: 0.125
+      })
+    ]);
+  });
+});

kdl-wasm/web/tests/grl/lexer.test.ts

@@ -0,0 +1,94 @@
+import { describe, expect, it } from "vitest";
+import { GRL_KEYWORDS, lexGrl, normalizeUnitLiteral, normalizeUnitValue } from "../../src/grl/lexer/index.js";
+import type { GrlNumberToken } from "../../src/grl/lexer/index.js";
+
+function numbers(source: string): GrlNumberToken[] {
+  return lexGrl(source).filter((token): token is GrlNumberToken => token.kind === "number");
+}
+
+describe("GRL lexer", () => {
+  it("recognizes comments, keywords, identifiers, and source positions", () => {
+    const tokens = lexGrl(`// generated\nlanguage grl 0.1\nmodule Main\n  proc main()\n  end\nend\n`);
+
+    expect(tokens[0]).toMatchObject({
+      kind: "comment",
+      style: "line",
+      value: " generated",
+      range: {
+        start: { line: 1, column: 1 },
+        end: { line: 1, column: 13 }
+      }
+    });
+    expect(tokens.filter((token) => token.kind === "keyword").map((token) => token.raw)).toEqual([
+      "language",
+      "module",
+      "proc",
+      "end",
+      "end"
+    ]);
+    expect(tokens.find((token) => token.raw === "Main")).toMatchObject({
+      kind: "identifier",
+      range: {
+        start: { line: 3, column: 8 }
+      }
+    });
+    expect(tokens.at(-1)).toMatchObject({ kind: "eof" });
+  });
+
+  it("normalizes numeric literals with GRL units into SI values", () => {
+    const found = numbers("100 mm 0.25 m 180 deg 3.14159 rad 300 mm/s 50 % 200 ms 2.5 kg 500 mm/s2");
+
+    expect(found.map((token) => token.unit?.raw)).toEqual([
+      "mm",
+      "m",
+      "deg",
+      "rad",
+      "mm/s",
+      "%",
+      "ms",
+      "kg",
+      "mm/s2"
+    ]);
+    expect(found[0]?.unit?.normalizedValue).toBeCloseTo(0.1);
+    expect(found[1]?.unit?.normalizedValue).toBeCloseTo(0.25);
+    expect(found[2]?.unit?.normalizedValue).toBeCloseTo(Math.PI);
+    expect(found[3]?.unit?.normalizedValue).toBeCloseTo(3.14159);
+    expect(found[4]?.unit?.normalizedValue).toBeCloseTo(0.3);
+    expect(found[5]?.unit?.normalizedValue).toBeCloseTo(0.5);
+    expect(found[6]?.unit?.normalizedValue).toBeCloseTo(0.2);
+    expect(found[7]?.unit?.normalizedValue).toBeCloseTo(2.5);
+    expect(found[8]?.unit?.normalizedValue).toBeCloseTo(0.5);
+  });
+
+  it("keeps unit raw text on number tokens", () => {
+    const [token] = numbers("linear(300 mm/s)");
+
+    expect(token).toMatchObject({
+      kind: "number",
+      raw: "300 mm/s",
+      value: 300,
+      unit: {
+        raw: "mm/s",
+        kind: "linear_velocity",
+        siUnit: "m/s"
+      }
+    });
+  });
+
+  it("exposes the full reserved keyword set from the specification", () => {
+    expect(GRL_KEYWORDS).toContain("movej");
+    expect(GRL_KEYWORDS).toContain("run_operation");
+    expect(GRL_KEYWORDS).toContain("post_hint");
+    expect(GRL_KEYWORDS).toContain("continuous");
+    expect(GRL_KEYWORDS).toHaveLength(85);
+  });
+
+  it("provides direct unit helpers for parser and semantic layers", () => {
+    expect(normalizeUnitLiteral("deg/s")).toMatchObject({
+      kind: "angular_velocity",
+      siUnit: "rad/s"
+    });
+    expect(normalizeUnitValue(90, "deg/s")).toBeCloseTo(Math.PI / 2);
+    expect(() => normalizeUnitLiteral("inch")).toThrow("Unknown GRL unit");
+  });
+});

kdl-wasm/web/tests/grl/motionCompile.test.ts

@@ -0,0 +1,124 @@
+import { describe, expect, it } from "vitest";
+import type { GrlDataDeclaration, GrlProcedureDeclaration, GrlTargetDeclaration } from "../../src/grl/ast/index.js";
+import { parseGrl } from "../../src/grl/parser/index.js";
+import {
+  buildMotionContext,
+  compileMotionToKdlRequest,
+  parseProcedureMotionInstructions
+} from "../../src/grl/semantic/index.js";
+
+const PROGRAM = `language grl 0.1
+module Main
+  persistent tool gripper = tool {
+    tcp: pose(0 mm, 0 mm, 100 mm, 0 deg, 0 deg, 0 deg),
+    mass: 1 kg
+  }
+  persistent frame fixture = frame {
+    origin: pose(800 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg)
+  }
+  const speed v_joint = joint(60 %)
+  const speed v_linear = linear(300 mm/s)
+  const zone z10 = z(10 mm)
+  target home = joint_target {
+    joints: [0 deg, 0 deg]
+  }
+  target pick = pose_target {
+    pose: pose(500 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg),
+    tool: gripper,
+    frame: fixture
+  }
+  target mid = pose_target {
+    pose: pose(550 mm, 50 mm, 0 mm, 0 deg, 0 deg, 0 deg)
+  }
+  target arc_end = pose_target {
+    pose: pose(600 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg)
+  }
+  proc main()
+    set_tool gripper
+    set_frame fixture
+    set_speed v_linear
+    set_zone z10
+    movej home speed v_joint zone fine
+    movel pick
+    movec via mid target arc_end speed linear(150 mm/s) zone fine
+  end
+end
+`;
+
+function declarations() {
+  return parseGrl(PROGRAM).module.declarations;
+}
+
+describe("GRL motion instruction compilation", () => {
+  it("parses movej, movel, and movec from procedure body tokens", () => {
+    const decls = declarations();
+    const context = buildMotionContext(
+      decls.filter(
+        (decl): decl is GrlDataDeclaration | GrlTargetDeclaration =>
+          decl.kind === "DataDeclaration" || decl.kind === "TargetDeclaration"
+      )
+    );
+    const procedure = decls.find((decl): decl is GrlProcedureDeclaration => decl.kind === "ProcedureDeclaration")!;
+    const instructions = parseProcedureMotionInstructions(procedure, context);
+
+    expect(instructions.map((instruction) => instruction.kind)).toEqual(["MOVEJ", "MOVEL", "MOVEC"]);
+    expect(instructions[0]).toMatchObject({
+      kind: "MOVEJ",
+      speed: { kind: "joint_percent", value: 0.6 },
+      zone: { kind: "fine" },
+      target: { joints: [0, 0] },
+      sourceMap: { line: 32 }
+    });
+    expect(instructions[1]).toMatchObject({
+      kind: "MOVEL",
+      speed: { kind: "linear", velocity: 0.3 },
+      zone: { kind: "distance", value: 0.01 }
+    });
+    expect(instructions[1]?.tool?.position).toEqual([0, 0, 0.1]);
+    expect(instructions[1]?.frame?.position).toEqual([0.8, 0, 0]);
+    expect(instructions[2]).toMatchObject({
+      kind: "MOVEC",
+      speed: { kind: "linear", velocity: 0.15 },
+      zone: { kind: "fine" }
+    });
+  });
+
+  it("compiles motion instructions to KDL request shapes", () => {
+    const decls = declarations();
+    const context = buildMotionContext(
+      decls.filter(
+        (decl): decl is GrlDataDeclaration | GrlTargetDeclaration =>
+          decl.kind === "DataDeclaration" || decl.kind === "TargetDeclaration"
+      )
+    );
+    const procedure = decls.find((decl): decl is GrlProcedureDeclaration => decl.kind === "ProcedureDeclaration")!;
+    const [movej, movel, movec] = parseProcedureMotionInstructions(procedure, context);
+
+    expect(compileMotionToKdlRequest(movej!, { startJoints: [0, 0], sampleTime: 0.004 })).toMatchObject({
+      startJoints: [0, 0],
+      target: { joints: [0, 0] },
+      speed: { kind: "joint_percent", value: 0.6 },
+      zone: { kind: "fine" },
+      sampleTime: 0.004
+    });
+
+    expect(compileMotionToKdlRequest(movel!, { startJoints: [0, 0], sampleTime: 0.004 })).toMatchObject({
+      startJoints: [0, 0],
+      target: { pose: { position: [0.5, 0, 0] } },
+      speed: { kind: "linear", velocity: 0.3 },
+      zone: { kind: "distance", value: 0.01 },
+      tool: { position: [0, 0, 0.1] },
+      frame: { position: [0.8, 0, 0] },
+      sampleTime: 0.004
+    });
+
+    expect(compileMotionToKdlRequest(movec!, { startJoints: [0, 0], sampleTime: 0.004 })).toMatchObject({
+      startJoints: [0, 0],
+      via: { pose: { position: [0.55, 0.05, 0] } },
+      target: { pose: { position: [0.6, 0, 0] } },
+      speed: { kind: "linear", velocity: 0.15 },
+      zone: { kind: "fine" },
+      sampleTime: 0.004
+    });
+  });
+});

kdl-wasm/web/tests/grl/operationCompile.test.ts

@@ -0,0 +1,153 @@
+import { describe, expect, it } from "vitest";
+import type {
+  GrlOperationDeclaration,
+  GrlPathDeclaration,
+  GrlProcedureDeclaration
+} from "../../src/grl/ast/index.js";
+import { parseGrl } from "../../src/grl/parser/index.js";
+import {
+  compileOperation,
+  expandRunOperation,
+  parseProcedureRunOperationStatements
+} from "../../src/grl/semantic/index.js";
+
+const PROGRAM = `language grl 0.1
+module Main
+  const speed v = joint(50 %)
+  const zone zf = fine
+  target home = joint_target { joints: [0 deg] }
+  path weld_path {
+    defaults { speed: v, zone: zf }
+    point p0 movej home
+  }
+  operation weld_op_01 {
+    kind: arc_welding
+    path: weld_path
+    process {
+      weld_id: "WELD_1"
+      voltage: 24.0
+      current: 180.0
+      weave: none
+    }
+    start_action:
+      io.do[20] = true
+    end_action:
+      io.do[20] = false
+  }
+  proc main()
+    run_operation weld_op_01
+  end
+end
+`;
+
+function declarations() {
+  return parseGrl(PROGRAM).module.declarations;
+}
+
+function pathsByName(paths: GrlPathDeclaration[]) {
+  return new Map(paths.map((path) => [path.name, path]));
+}
+
+describe("GRL operation compilation", () => {
+  it("parses operation kind, path, process, and action blocks", () => {
+    const operation = declarations().find(
+      (decl): decl is GrlOperationDeclaration => decl.kind === "OperationDeclaration"
+    )!;
+
+    expect(operation).toMatchObject({
+      kind: "OperationDeclaration",
+      name: "weld_op_01",
+      operationKind: "arc_welding",
+      pathName: "weld_path",
+      items: [
+        { kind: "OperationProcessBlock" },
+        { kind: "OperationActionBlock", actionKind: "start_action" },
+        { kind: "OperationActionBlock", actionKind: "end_action" }
+      ]
+    });
+  });
+
+  it("compiles operation process metadata and action statements", () => {
+    const decls = declarations();
+    const operation = decls.find((decl): decl is GrlOperationDeclaration => decl.kind === "OperationDeclaration")!;
+    const paths = decls.filter((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration");
+    const compiled = compileOperation(operation, pathsByName(paths));
+
+    expect(compiled).toMatchObject({
+      operationId: "weld_op_01",
+      kind: "arc_welding",
+      pathId: "weld_path",
+      process: {
+        weld_id: "WELD_1",
+        voltage: 24,
+        current: 180,
+        weave: "none"
+      },
+      startActions: [
+        {
+          kind: "ACTION",
+          actionKind: "start_action",
+          operationId: "weld_op_01",
+          statement: "io . do [ 20 ] = true"
+        }
+      ],
+      endActions: [
+        {
+          kind: "ACTION",
+          actionKind: "end_action",
+          operationId: "weld_op_01",
+          statement: "io . do [ 20 ] = false"
+        }
+      ]
+    });
+  });
+
+  it("extracts run_operation and expands to start action, path, and end action", () => {
+    const decls = declarations();
+    const procedure = decls.find((decl): decl is GrlProcedureDeclaration => decl.kind === "ProcedureDeclaration")!;
+    const operation = decls.find((decl): decl is GrlOperationDeclaration => decl.kind === "OperationDeclaration")!;
+    const paths = decls.filter((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration");
+    const compiled = compileOperation(operation, pathsByName(paths));
+    const [run] = parseProcedureRunOperationStatements(procedure);
+
+    expect(run).toEqual({
+      kind: "RUN_OPERATION",
+      operationId: "weld_op_01",
+      sourceMap: {
+        line: 25,
+        column: 5
+      }
+    });
+    expect(expandRunOperation(run!, new Map([[compiled.operationId, compiled]]))).toEqual([
+      expect.objectContaining({ kind: "ACTION", actionKind: "start_action" }),
+      {
+        kind: "RUN_PATH",
+        pathId: "weld_path",
+        sourceMap: {
+          line: 25,
+          column: 5
+        }
+      },
+      expect.objectContaining({ kind: "ACTION", actionKind: "end_action" })
+    ]);
+  });
+
+  it("reports operations that reference missing paths and missing run_operation targets", () => {
+    const missingPathOperation = parseGrl(`language grl 0.1
+module Main
+  operation bad_op {
+    kind: handling
+    path: missing_path
+  }
+end
+`).module.declarations.find((decl): decl is GrlOperationDeclaration => decl.kind === "OperationDeclaration")!;
+
+    expect(() => compileOperation(missingPathOperation, new Map())).toThrowError(
+      expect.objectContaining({ code: "GRL_OPERATION_PATH_NOT_FOUND" })
+    );
+
+    expect(() =>
+      expandRunOperation({ kind: "RUN_OPERATION", operationId: "missing_op" }, new Map())
+    ).toThrowError(expect.objectContaining({ code: "GRL_OPERATION_NOT_FOUND" }));
+  });
+});

kdl-wasm/web/tests/grl/parser.test.ts

@@ -0,0 +1,103 @@
+import { describe, expect, it } from "vitest";
+import { GrlParseError, parseGrl } from "../../src/grl/parser/index.js";
+
+describe("GRL parser", () => {
+  it("parses the minimal language/module/proc skeleton with source ranges", () => {
+    const ast = parseGrl(`language grl 0.1
+
+module Main
+  proc main()
+    // body comment should not affect parser
+  end
+end
+`);
+
+    expect(ast).toMatchObject({
+      kind: "Program",
+      language: {
+        kind: "LanguageDeclaration",
+        language: "grl",
+        version: "0.1",
+        range: {
+          start: { line: 1, column: 1 },
+          end: { line: 1, column: 17 }
+        }
+      },
+      module: {
+        kind: "ModuleDeclaration",
+        name: "Main",
+        declarations: [
+          {
+            kind: "ProcedureDeclaration",
+            name: "main",
+            params: []
+          }
+        ]
+      }
+    });
+    expect(ast.module.range.start).toMatchObject({ line: 3, column: 1 });
+    expect(ast.module.range.end).toMatchObject({ line: 7, column: 4 });
+  });
+
+  it("parses imports, data declarations, targets, and procedure body tokens", () => {
+    const ast = parseGrl(`language grl 0.1
+module Main
+  import CommonTools
+  const speed v_pick = linear(300 mm/s)
+  target home = joint_target {
+    joints: [0 deg, 0 deg]
+  }
+  proc main()
+    movej home
+  end
+end
+`);
+
+    expect(ast.module.declarations.map((decl) => decl.kind)).toEqual([
+      "ImportDeclaration",
+      "DataDeclaration",
+      "TargetDeclaration",
+      "ProcedureDeclaration"
+    ]);
+    expect(ast.module.declarations[0]).toMatchObject({
+      kind: "ImportDeclaration",
+      moduleName: "CommonTools"
+    });
+    expect(ast.module.declarations[1]).toMatchObject({
+      kind: "DataDeclaration",
+      storage: "const",
+      typeName: "speed",
+      name: "v_pick",
+      initializer: {
+        kind: "CallExpression",
+        callee: "linear"
+      }
+    });
+    expect(ast.module.declarations[2]).toMatchObject({
+      kind: "TargetDeclaration",
+      name: "home",
+      target: {
+        kind: "ObjectExpression",
+        typeName: "joint_target"
+      }
+    });
+    expect(ast.module.declarations[3]).toMatchObject({
+      kind: "ProcedureDeclaration",
+      bodyTokens: [
+        {
+          kind: "keyword",
+          raw: "movej"
+        },
+        {
+          kind: "identifier",
+          raw: "home"
+        }
+      ]
+    });
+  });
+
+  it("reports stable line and column on invalid syntax", () => {
+    expect(() => parseGrl("language grl\nmodule Main\nend\n")).toThrow(GrlParseError);
+    expect(() => parseGrl("language grl\nmodule Main\nend\n")).toThrow("Expected GRL language version at 2:1");
+  });
+});

kdl-wasm/web/tests/grl/pathCompile.test.ts

@@ -0,0 +1,251 @@
+import { describe, expect, it } from "vitest";
+import type {
+  GrlDataDeclaration,
+  GrlPathDeclaration,
+  GrlProcedureDeclaration,
+  GrlTargetDeclaration
+} from "../../src/grl/ast/index.js";
+import { parseGrl } from "../../src/grl/parser/index.js";
+import {
+  buildMotionContext,
+  compilePathToPlanRequest,
+  parseProcedureRunPathStatements
+} from "../../src/grl/semantic/index.js";
+
+const PROGRAM = `language grl 0.1
+module Main
+  persistent tool gripper = tool {
+    tcp: pose(0 mm, 0 mm, 100 mm, 0 deg, 0 deg, 0 deg)
+  }
+  persistent frame fixture = frame {
+    origin: pose(800 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg)
+  }
+  const speed v_joint = joint(60 %)
+  const speed v_linear = linear(300 mm/s)
+  const zone z10 = z(10 mm)
+  target home = joint_target {
+    joints: [0 deg, 0 deg]
+  }
+  target pick = pose_target {
+    pose: pose(500 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg)
+  }
+  target mid = pose_target {
+    pose: pose(550 mm, 50 mm, 0 mm, 0 deg, 0 deg, 0 deg)
+  }
+  target arc_end = pose_target {
+    pose: pose(600 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg)
+  }
+  path pick_path {
+    source {
+      type: cad_curve
+      id: "edge_032"
+      sample_distance: 5 mm
+    }
+    defaults {
+      tool: gripper,
+      frame: fixture,
+      speed: v_linear,
+      zone: z10
+    }
+    point approach movej home speed v_joint zone fine
+    point p1 movel pick offset z 100 mm
+    point p2 movec via mid target arc_end speed linear(150 mm/s) zone fine
+    event before p1 io.do[10] = true
+    event after p2 io.do[10] = false
+    event at p1 distance -20 mm pulse io.do[20] duration 100 ms
+  }
+  proc main()
+    run_path pick_path
+  end
+end
+`;
+
+function declarations() {
+  return parseGrl(PROGRAM).module.declarations;
+}
+
+function motionContext(decls = declarations()) {
+  return buildMotionContext(
+    decls.filter(
+      (decl): decl is GrlDataDeclaration | GrlTargetDeclaration =>
+        decl.kind === "DataDeclaration" || decl.kind === "TargetDeclaration"
+    )
+  );
+}
+
+describe("GRL path compilation", () => {
+  it("parses path defaults, source metadata, points, and events as AST nodes", () => {
+    const path = declarations().find((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration")!;
+
+    expect(path).toMatchObject({
+      kind: "PathDeclaration",
+      name: "pick_path",
+      items: [
+        { kind: "PathSourceBlock" },
+        { kind: "PathDefaultsBlock" },
+        { kind: "PathPoint", id: "approach" },
+        { kind: "PathPoint", id: "p1" },
+        { kind: "PathPoint", id: "p2" },
+        { kind: "PathEvent", timing: "before", pointId: "p1" },
+        { kind: "PathEvent", timing: "after", pointId: "p2" },
+        { kind: "PathEvent", timing: "at", pointId: "p1" }
+      ]
+    });
+    expect(path.items[0]).toMatchObject({
+      properties: [
+        { key: "type", value: { kind: "IdentifierExpression", name: "cad_curve" } },
+        { key: "id", value: { kind: "StringLiteral", value: "edge_032" } },
+        { key: "sample_distance", value: { kind: "NumberLiteral" } }
+      ]
+    });
+  });
+
+  it("compiles a path to PathPlanRequest with defaults, source map, source metadata, and events", () => {
+    const decls = declarations();
+    const path = decls.find((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration")!;
+    const compiled = compilePathToPlanRequest(path, motionContext(decls), {
+      startJoints: [0, 0],
+      sampleTime: 0.004
+    });
+
+    expect(compiled.pathId).toBe("pick_path");
+    expect(compiled.request).toMatchObject({
+      pathId: "pick_path",
+      startJoints: [0, 0],
+      sampleTime: 0.004,
+      source: {
+        type: "cad_curve",
+        id: "edge_032",
+        sample_distance: 0.005
+      },
+      segments: [
+        {
+          id: "approach",
+          motion: "MOVEJ",
+          targetId: "home",
+          speed: { kind: "joint_percent", value: 0.6 },
+          zone: { kind: "fine" }
+        },
+        {
+          id: "p1",
+          motion: "MOVEL",
+          targetId: "pick",
+          speed: { kind: "linear", velocity: 0.3 },
+          zone: { kind: "distance", value: 0.01 },
+          tool: { position: [0, 0, 0.1] },
+          frame: { position: [0.8, 0, 0] },
+          sourceMap: { line: 37 }
+        },
+        {
+          id: "p2",
+          motion: "MOVEC",
+          targetId: "arc_end",
+          speed: { kind: "linear", velocity: 0.15 },
+          zone: { kind: "fine" }
+        }
+      ],
+      events: [
+        {
+          timing: "before",
+          pointId: "p1",
+          kind: "io",
+          data: { statement: "io . do [ 10 ] = true" }
+        },
+        {
+          timing: "after",
+          pointId: "p2",
+          kind: "io"
+        },
+        {
+          timing: "at",
+          pointId: "p1",
+          distance: -0.02,
+          kind: "pulse"
+        }
+      ]
+    });
+    expect(compiled.request.segments[1]?.target).toMatchObject({
+      pose: {
+        position: [0.5, 0, 0.1]
+      }
+    });
+  });
+
+  it("extracts run_path statements from procedure body tokens", () => {
+    const procedure = declarations().find((decl): decl is GrlProcedureDeclaration => decl.kind === "ProcedureDeclaration")!;
+
+    expect(parseProcedureRunPathStatements(procedure)).toEqual([
+      {
+        kind: "RUN_PATH",
+        pathId: "pick_path",
+        sourceMap: {
+          line: 44,
+          column: 5
+        }
+      }
+    ]);
+  });
+
+  it("reports empty paths and duplicate point names", () => {
+    const emptyPath = parseGrl(`language grl 0.1
+module Main
+  path empty_path {
+  }
+end
+`).module.declarations.find((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration")!;
+
+    expect(() =>
+      compilePathToPlanRequest(emptyPath, motionContext([]), { startJoints: [], sampleTime: 0.004 })
+    ).toThrowError(expect.objectContaining({ code: "GRL_PATH_EMPTY" }));
+
+    const duplicatePath = parseGrl(`language grl 0.1
+module Main
+  const speed v = joint(50 %)
+  const zone zf = fine
+  target home = joint_target { joints: [0 deg] }
+  path dup_path {
+    defaults { speed: v, zone: zf }
+    point p movej home
+    point p movej home
+  }
+end
+`).module.declarations.find((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration")!;
+    const duplicateContext = motionContext(parseGrl(`language grl 0.1
+module Main
+  const speed v = joint(50 %)
+  const zone zf = fine
+  target home = joint_target { joints: [0 deg] }
+end
+`).module.declarations);
+
+    expect(() =>
+      compilePathToPlanRequest(duplicatePath, duplicateContext, { startJoints: [0], sampleTime: 0.004 })
+    ).toThrowError(expect.objectContaining({ code: "GRL_PATH_POINT_DUPLICATE" }));
+  });
+
+  it("reports events that reference missing points", () => {
+    const path = parseGrl(`language grl 0.1
+module Main
+  const speed v = joint(50 %)
+  const zone zf = fine
+  target home = joint_target { joints: [0 deg] }
+  path bad_event {
+    defaults { speed: v, zone: zf }
+    point p movej home
+    event after missing io.do[1] = true
+  }
+end
+`).module.declarations.find((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration")!;
+    const context = motionContext(parseGrl(`language grl 0.1
+module Main
+  const speed v = joint(50 %)
+  const zone zf = fine
+  target home = joint_target { joints: [0 deg] }
+end
+`).module.declarations);
+
+    expect(() =>
+      compilePathToPlanRequest(path, context, { startJoints: [0], sampleTime: 0.004 })
+    ).toThrowError(expect.objectContaining({ code: "GRL_PATH_EVENT_POINT_NOT_FOUND" }));
+  });
+});

kdl-wasm/web/tests/grl/procFunction.test.ts

@@ -0,0 +1,201 @@
+import { describe, expect, it } from "vitest";
+import type { GrlFunctionDeclaration, GrlProcedureDeclaration } from "../../src/grl/ast/index.js";
+import { parseGrl } from "../../src/grl/parser/index.js";
+import { analyzeProcFunctionSemantics } from "../../src/grl/semantic/index.js";
+
+function declarations(source: string) {
+  return parseGrl(source).module.declarations;
+}
+
+describe("GRL proc, func, call, return, and scope semantics", () => {
+  it("parses function declarations and analyzes proc/func signatures, calls, returns, and warnings", () => {
+    const decls = declarations(`language grl 0.1
+module Main
+  var int global_count = 0
+  proc read_sensor(out bool ok)
+    ok = true
+  end
+  proc main(in bool start, out bool done, inout int count)
+    call read_sensor(done)
+    call helper(count)
+    call self_check()
+    return
+  end
+  proc self_check()
+    call self_check()
+  end
+  func int helper(inout int value)
+    var int global_count = 1
+    return value
+  end
+end
+`);
+    const func = decls.find((decl): decl is GrlFunctionDeclaration => decl.kind === "FunctionDeclaration")!;
+
+    expect(func).toMatchObject({
+      kind: "FunctionDeclaration",
+      returnType: "int",
+      name: "helper",
+      bodyTokens: [
+        { raw: "var" },
+        { raw: "int" },
+        { raw: "global_count" },
+        { raw: "=" },
+        { raw: "1" },
+        { raw: "return" },
+        { raw: "value" }
+      ]
+    });
+
+    const analysis = analyzeProcFunctionSemantics(decls);
+
+    expect(analysis.procedures).toEqual([
+      expect.objectContaining({
+        name: "read_sensor",
+        parameters: [expect.objectContaining({ name: "ok", typeName: "bool", direction: "out" })]
+      }),
+      expect.objectContaining({
+        name: "main",
+        parameters: [
+          expect.objectContaining({ name: "start", typeName: "bool", direction: "in" }),
+          expect.objectContaining({ name: "done", typeName: "bool", direction: "out" }),
+          expect.objectContaining({ name: "count", typeName: "int", direction: "inout" })
+        ]
+      }),
+      expect.objectContaining({ name: "self_check", parameters: [] })
+    ]);
+    expect(analysis.functions).toEqual([
+      expect.objectContaining({
+        name: "helper",
+        returnType: "int",
+        parameters: [expect.objectContaining({ name: "value", typeName: "int", direction: "inout" })]
+      })
+    ]);
+    expect(analysis.calls).toEqual([
+      expect.objectContaining({ kind: "CALL", target: "read_sensor", args: [expect.objectContaining({ text: "done" })] }),
+      expect.objectContaining({ kind: "CALL", target: "helper", args: [expect.objectContaining({ text: "count" })] }),
+      expect.objectContaining({ kind: "CALL", target: "self_check", args: [] }),
+      expect.objectContaining({ kind: "CALL", target: "self_check", args: [] })
+    ]);
+    expect(analysis.returns).toEqual([
+      expect.objectContaining({ kind: "RETURN" }),
+      expect.objectContaining({ kind: "RETURN", value: expect.objectContaining({ text: "value" }) })
+    ]);
+    expect(analysis.diagnostics).toEqual([
+      expect.objectContaining({ severity: "warning", code: "GRL_RECURSIVE_CALL" }),
+      expect.objectContaining({ severity: "warning", code: "GRL_NAME_SHADOWS_OUTER_SCOPE" })
+    ]);
+  });
+
+  it("reports out parameters that are not assigned on all normal return paths", () => {
+    const decls = declarations(`language grl 0.1
+module Main
+  proc main(out bool done)
+    if ready == true
+      done = true
+    end
+    return
+  end
+end
+`);
+
+    expect(() => analyzeProcFunctionSemantics(decls)).toThrowError(
+      expect.objectContaining({ code: "GRL_OUT_PARAM_NOT_ASSIGNED" })
+    );
+  });
+
+  it("reports out and inout call arguments that are not lvalues", () => {
+    const decls = declarations(`language grl 0.1
+module Main
+  proc set_done(out bool done)
+    done = true
+  end
+  proc main()
+    call set_done(true)
+  end
+end
+`);
+
+    expect(() => analyzeProcFunctionSemantics(decls)).toThrowError(
+      expect.objectContaining({ code: "GRL_ARGUMENT_NOT_LVALUE" })
+    );
+  });
+
+  it("reports missing or incompatible function returns", () => {
+    const missingReturn = declarations(`language grl 0.1
+module Main
+  func int bad(in bool ready)
+    if ready == true
+      return 1
+    end
+  end
+end
+`);
+    const wrongReturn = declarations(`language grl 0.1
+module Main
+  func bool bad()
+    return 1
+  end
+end
+`);
+
+    expect(() => analyzeProcFunctionSemantics(missingReturn)).toThrowError(
+      expect.objectContaining({ code: "GRL_FUNC_MISSING_RETURN" })
+    );
+    expect(() => analyzeProcFunctionSemantics(wrongReturn)).toThrowError(
+      expect.objectContaining({ code: "GRL_RETURN_TYPE_MISMATCH" })
+    );
+  });
+
+  it("reports illegal function side effects and procedure return values", () => {
+    const functionSideEffect = declarations(`language grl 0.1
+module Main
+  func bool bad()
+    wait io.di[1] == true
+    return true
+  end
+end
+`);
+    const procedureReturnValue = declarations(`language grl 0.1
+module Main
+  proc main()
+    return true
+  end
+end
+`);
+
+    expect(() => analyzeProcFunctionSemantics(functionSideEffect)).toThrowError(
+      expect.objectContaining({ code: "GRL_FUNC_SIDE_EFFECT" })
+    );
+    expect(() => analyzeProcFunctionSemantics(procedureReturnValue)).toThrowError(
+      expect.objectContaining({ code: "GRL_RETURN_VALUE_IN_PROC" })
+    );
+  });
+
+  it("reports call target and argument type errors", () => {
+    const missingCall = declarations(`language grl 0.1
+module Main
+  proc main()
+    call missing()
+  end
+end
+`);
+    const typeMismatch = declarations(`language grl 0.1
+module Main
+  proc expects_int(in int value)
+    return
+  end
+  proc main()
+    call expects_int("bad")
+  end
+end
+`);
+
+    expect(() => analyzeProcFunctionSemantics(missingCall)).toThrowError(
+      expect.objectContaining({ code: "GRL_CALL_TARGET_NOT_FOUND" })
+    );
+    expect(() => analyzeProcFunctionSemantics(typeMismatch)).toThrowError(
+      expect.objectContaining({ code: "GRL_CALL_ARGUMENT_TYPE" })
+    );
+  });
+});

kdl-wasm/web/tests/grl/semanticIr.test.ts

@@ -0,0 +1,148 @@
+import { describe, expect, it } from "vitest";
+import { parseGrl } from "../../src/grl/parser/index.js";
+import { compileSemanticProgram } from "../../src/grl/semantic/index.js";
+
+const PROGRAM = `language grl 0.1
+module Main
+  const speed vj = joint(50 %)
+  const speed vl = linear(200 mm/s)
+  const zone zf = fine
+  target home = joint_target { joints: [0 deg] }
+  target pick = pose_target { pose: pose(500 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg) }
+  path pick_path {
+    defaults { speed: vl, zone: zf }
+    point p0 movej home speed vj zone fine
+    point p1 movel pick
+    event before p1 io.do[1] = true
+  }
+  operation pick_op {
+    kind: handling
+    path: pick_path
+    start_action:
+      io.do[2] = true
+    end_action:
+      io.do[2] = false
+  }
+  proc set_done(out bool done)
+    done = true
+  end
+  proc main(out bool done)
+    set_speed vl
+    set_zone zf
+    movej home speed vj zone fine
+    io.do[3] = true
+    wait io.di[1] == true timeout 1 s
+    if done == false
+      pulse io.do[4] duration 100 ms
+    else
+      alarm DONE "Already done"
+    end
+    call set_done(done)
+    run_path pick_path
+    run_operation pick_op
+    return
+  end
+end
+`;
+
+describe("GRL semantic analyzer, executable IR, and source map", () => {
+  it("compiles a complete program into unified executable IR and KDL bridge requests", () => {
+    const ir = compileSemanticProgram(parseGrl(PROGRAM), {
+      startJoints: [0],
+      sampleTime: 0.004
+    });
+
+    expect(ir.moduleName).toBe("Main");
+    expect(ir.semanticChecks).toHaveLength(22);
+    expect(ir.symbols).toEqual([
+      expect.objectContaining({ kind: "data", name: "vj", typeName: "speed" }),
+      expect.objectContaining({ kind: "data", name: "vl", typeName: "speed" }),
+      expect.objectContaining({ kind: "data", name: "zf", typeName: "zone" }),
+      expect.objectContaining({ kind: "target", name: "home" }),
+      expect.objectContaining({ kind: "target", name: "pick" }),
+      expect.objectContaining({ kind: "path", name: "pick_path" }),
+      expect.objectContaining({ kind: "operation", name: "pick_op" }),
+      expect.objectContaining({ kind: "procedure", name: "set_done" }),
+      expect.objectContaining({ kind: "procedure", name: "main" })
+    ]);
+    expect(ir.paths).toHaveLength(1);
+    expect(ir.operations).toHaveLength(1);
+    expect(ir.kdlBridge.pathRequests).toEqual([
+      expect.objectContaining({
+        pathId: "pick_path",
+        segments: [
+          expect.objectContaining({ id: "p0", motion: "MOVEJ" }),
+          expect.objectContaining({ id: "p1", motion: "MOVEL" })
+        ]
+      })
+    ]);
+    expect(ir.kdlBridge.motionRequests).toEqual([
+      expect.objectContaining({
+        startJoints: [0],
+        speed: { kind: "joint_percent", value: 0.5 },
+        zone: { kind: "fine" },
+        sampleTime: 0.004
+      })
+    ]);
+
+    const main = ir.procedures.find((procedure) => procedure.name === "main")!;
+    expect(main.instructions).toEqual([
+      expect.objectContaining({ kind: "MOVEJ" }),
+      expect.objectContaining({ kind: "IO_WRITE", target: expect.objectContaining({ domain: "do", index: 3 }) }),
+      expect.objectContaining({ kind: "WAIT", timeout: 1 }),
+      expect.objectContaining({
+        kind: "EXEC_IF",
+        branches: [
+          expect.objectContaining({
+            branchKind: "if",
+            body: expect.arrayContaining([expect.objectContaining({ kind: "PULSE", duration: 0.1 })])
+          }),
+          expect.objectContaining({
+            branchKind: "else",
+            body: expect.arrayContaining([expect.objectContaining({ kind: "ALARM", alarmId: "DONE" })])
+          })
+        ]
+      }),
+      expect.objectContaining({ kind: "CALL", target: "set_done" }),
+      expect.objectContaining({ kind: "RUN_PATH", pathId: "pick_path" }),
+      expect.objectContaining({ kind: "RUN_OPERATION", operationId: "pick_op" }),
+      expect.objectContaining({ kind: "RETURN" })
+    ]);
+  });
+
+  it("exposes source map entries for GRL procedure lines, path points, and operation actions", () => {
+    const ir = compileSemanticProgram(parseGrl(PROGRAM), {
+      startJoints: [0],
+      sampleTime: 0.004
+    });
+
+    expect(ir.sourceMap).toEqual(
+      expect.arrayContaining([
+        expect.objectContaining({ kind: "path_point", pathId: "pick_path", pointId: "p0" }),
+        expect.objectContaining({ kind: "path_point", pathId: "pick_path", pointId: "p1" }),
+        expect.objectContaining({ kind: "operation_action", operationId: "pick_op" }),
+        expect.objectContaining({ kind: "MOVEJ", procedureId: "main", sourceMap: expect.objectContaining({ line: 28 }) }),
+        expect.objectContaining({ kind: "EXEC_IF", procedureId: "main" }),
+        expect.objectContaining({ kind: "RUN_OPERATION", procedureId: "main" })
+      ])
+    );
+  });
+
+  it("reports duplicate symbols through semantic diagnostics", () => {
+    const ir = compileSemanticProgram(parseGrl(`language grl 0.1
+module Main
+  const speed v = joint(10 %)
+  const speed v = joint(20 %)
+  proc main()
+  end
+end
+`), {
+      startJoints: [],
+      sampleTime: 0.004
+    });
+
+    expect(ir.diagnostics).toEqual([
+      expect.objectContaining({ severity: "error", code: "GRL_SYMBOL_DUPLICATE" })
+    ]);
+  });
+});

kdl-wasm/web/tests/kdl/cAbi.test.ts

@@ -0,0 +1,224 @@
+import { access } from "node:fs/promises";
+import { fileURLToPath } from "node:url";
+import { describe, expect, it } from "vitest";
+import { KDL_C_ABI_EXPORTS, KdlNativeAbi } from "../../src/kdl/nativeAbi.js";
+import type { NativeKdlModule } from "../../src/kdl/nativeModule.js";
+import { loadRobotFromUrdfModel } from "../../src/robot/urdfParser.js";
+
+const BUILD_DIR = new URL("../../../build-wasm/", import.meta.url);
+const WRAPPER_URL = new URL("kdl.js", BUILD_DIR);
+
+type NativeFactory = (options?: {
+  locateFile?: (path: string, prefix: string) => string;
+}) => Promise<NativeKdlModule>;
+
+async function loadNativeModule(): Promise<NativeKdlModule> {
+  await access(fileURLToPath(WRAPPER_URL));
+  const imported = (await import(/* @vite-ignore */ WRAPPER_URL.href)) as {
+    default?: NativeFactory;
+    createKdlModule?: NativeFactory;
+  };
+  const factory = imported.default ?? imported.createKdlModule;
+  if (!factory) {
+    throw new Error("kdl.js did not export createKdlModule");
+  }
+  return factory({
+    locateFile: (path) => fileURLToPath(new URL(path, BUILD_DIR))
+  });
+}
+
+const NATIVE_SOLVER_URDF = `
+<robot name="native_solver">
+  <link name="base_link"/>
+  <link name="link_1"/>
+  <link name="tool0"/>
+  <joint name="joint_1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.141592653589793" upper="3.141592653589793" velocity="2" acceleration="4"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_1"/>
+    <child link="tool0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1" velocity="0.5" acceleration="1"/>
+  </joint>
+</robot>
+`;
+
+function writeFloat64Array(native: NativeKdlModule, values: number[]): number {
+  const bytes = values.length * Float64Array.BYTES_PER_ELEMENT;
+  const ptr = native._malloc?.(bytes);
+  if (!ptr) {
+    throw new Error(`Failed to allocate ${bytes} bytes`);
+  }
+  native.HEAPF64?.set(values, ptr / Float64Array.BYTES_PER_ELEMENT);
+  return ptr;
+}
+
+function readFloat64Array(native: NativeKdlModule, ptr: number, length: number): number[] {
+  return Array.from(native.HEAPF64?.subarray(
+    ptr / Float64Array.BYTES_PER_ELEMENT,
+    ptr / Float64Array.BYTES_PER_ELEMENT + length
+  ) ?? []);
+}
+
+describe("KDL C ABI", () => {
+  it("exports the stable P0 ABI names", async () => {
+    const abi = new KdlNativeAbi(await loadNativeModule());
+
+    expect(() => abi.assertExports()).not.toThrow();
+    expect(KDL_C_ABI_EXPORTS).toEqual([
+      "kdl_init",
+      "kdl_create_robot",
+      "kdl_destroy_robot",
+      "kdl_get_robot_info",
+      "kdl_fk",
+      "kdl_fk_all_links",
+      "kdl_jacobian",
+      "kdl_ik",
+      "kdl_plan_movej",
+      "kdl_plan_movel",
+      "kdl_plan_movec",
+      "kdl_plan_path",
+      "kdl_sample_trap",
+      "kdl_last_error"
+    ]);
+  });
+
+  it("initializes, caches model handles, returns JSON info, and destroys handles", async () => {
+    const abi = new KdlNativeAbi(await loadNativeModule());
+    const model = loadRobotFromUrdfModel(NATIVE_SOLVER_URDF, {
+      robotId: "abi",
+      baseLink: "base_link",
+      tipLink: "tool0"
+    });
+
+    expect(abi.callNumber("kdl_init", ["string"], ["{}"])).toBe(0);
+    const handle = abi.callNumber("kdl_create_robot", ["string"], [JSON.stringify(model)]);
+    expect(handle).toBeGreaterThan(0);
+
+    const info = abi.readJsonCall<{ handle: number; nativeState: string; dof: number }>(
+      "kdl_get_robot_info",
+      ["number"],
+      [handle]
+    );
+    expect(info).toMatchObject({
+      handle,
+      dof: 2,
+      nativeState: "kdl_chain"
+    });
+
+    expect(abi.callNumber("kdl_destroy_robot", ["number"], [handle])).toBe(0);
+  });
+
+  it("constructs a native KDL chain and returns real FK and Jacobian data", async () => {
+    const native = await loadNativeModule();
+    const abi = new KdlNativeAbi(native);
+    const model = loadRobotFromUrdfModel(NATIVE_SOLVER_URDF, {
+      robotId: "native",
+      baseLink: "base_link",
+      tipLink: "tool0"
+    });
+
+    expect(abi.callNumber("kdl_init", ["string"], ["{}"])).toBe(0);
+    const handle = abi.callNumber("kdl_create_robot", ["string"], [JSON.stringify(model)]);
+    expect(handle).toBeGreaterThan(0);
+    expect(abi.readJsonCall("kdl_get_robot_info", ["number"], [handle])).toMatchObject({
+      handle,
+      dof: 2,
+      jointNames: ["joint_1", "joint_2"],
+      nativeState: "kdl_chain"
+    });
+
+    const joints = writeFloat64Array(native, [Math.PI / 2, 0.4]);
+    const pose = native._malloc?.(7 * Float64Array.BYTES_PER_ELEMENT);
+    const jacobian = native._malloc?.(12 * Float64Array.BYTES_PER_ELEMENT);
+    expect(pose).toBeTruthy();
+    expect(jacobian).toBeTruthy();
+
+    try {
+      expect(abi.callNumber("kdl_fk", ["number", "number", "number", "number"], [handle, joints, 2, pose])).toBe(0);
+      const pose7 = readFloat64Array(native, pose!, 7);
+      expect(pose7[0]).toBeCloseTo(0);
+      expect(pose7[1]).toBeCloseTo(0.4);
+      expect(pose7[2]).toBeCloseTo(0);
+      expect(pose7[5]).toBeCloseTo(Math.SQRT1_2);
+      expect(pose7[6]).toBeCloseTo(Math.SQRT1_2);
+
+      expect(abi.callNumber("kdl_jacobian", ["number", "number", "number", "number"], [handle, joints, 2, jacobian])).toBe(0);
+      const jac = readFloat64Array(native, jacobian!, 12);
+      expect(jac[0]).toBeCloseTo(-0.4, 4);
+      expect(jac[1]).toBeCloseTo(0, 4);
+      expect(jac[2]).toBeCloseTo(0, 4);
+      expect(jac[3]).toBeCloseTo(1, 4);
+      expect(jac[10]).toBeCloseTo(1, 4);
+    } finally {
+      native._free?.(joints);
+      if (pose) {
+        native._free?.(pose);
+      }
+      if (jacobian) {
+        native._free?.(jacobian);
+      }
+      abi.callNumber("kdl_destroy_robot", ["number"], [handle]);
+    }
+  });
+
+  it("normalizes C ABI failures through kdl_last_error", async () => {
+    const abi = new KdlNativeAbi(await loadNativeModule());
+
+    expect(abi.callNumber("kdl_init", ["string"], ["{}"])).toBe(0);
+    const returnCode = abi.callNumber("kdl_ik", ["number", "number", "number", "number", "string", "number"], [1, 0, 0, 0, "{}", 0]);
+
+    expect(returnCode).toBe(-1);
+    expect(abi.lastError()).toMatchObject({
+      code: "KDL_NOT_IMPLEMENTED",
+      diagnostics: [
+        {
+          severity: "error",
+          code: "KDL_NOT_IMPLEMENTED"
+        }
+      ]
+    });
+    expect(() => abi.checkReturnCode(returnCode)).toThrowError(
+      expect.objectContaining({
+        code: "KDL_NOT_IMPLEMENTED"
+      })
+    );
+  });
+
+  it("reports JSON output buffer errors without raw strings", async () => {
+    const native = await loadNativeModule();
+    const abi = new KdlNativeAbi(native);
+    const model = loadRobotFromUrdfModel(NATIVE_SOLVER_URDF, {
+      robotId: "abi",
+      baseLink: "base_link",
+      tipLink: "tool0"
+    });
+
+    expect(abi.callNumber("kdl_init", ["string"], ["{}"])).toBe(0);
+    const handle = abi.callNumber("kdl_create_robot", ["string"], [JSON.stringify(model)]);
+    const ptr = native._malloc?.(4);
+    expect(ptr).toBeTruthy();
+
+    try {
+      const returnCode = abi.callNumber("kdl_get_robot_info", ["number", "number", "number"], [handle, ptr, 4]);
+      expect(returnCode).toBe(-1);
+      expect(abi.lastError()).toMatchObject({
+        code: "KDL_BUFFER_TOO_SMALL",
+        diagnostics: [
+          {
+            severity: "error",
+            code: "KDL_BUFFER_TOO_SMALL"
+          }
+        ]
+      });
+    } finally {
+      if (ptr) {
+        native._free?.(ptr);
+      }
+    }
+  });
+});

kdl-wasm/web/tests/kdl/checks.test.ts

@@ -0,0 +1,178 @@
+import { describe, expect, it } from "vitest";
+import { createKdlWorkerRuntime } from "../../src/kdl/runtime.js";
+import { dispatchKdlRpcRequest } from "../../src/kdl/workerRpc.js";
+import type { JacobianResult, PoseTarget, ReachabilityResult } from "../../src/kdl/types.js";
+
+const PLANAR_URDF = `
+<robot name="planar_checks">
+  <link name="base_link"/>
+  <link name="link_1"/>
+  <link name="tool0"/>
+  <joint name="joint_1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.141592653589793" upper="3.141592653589793" velocity="2" acceleration="4"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_1"/>
+    <child link="tool0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1" velocity="0.5" acceleration="1"/>
+  </joint>
+</robot>
+`;
+
+async function createRobot() {
+  const runtime = createKdlWorkerRuntime();
+  await dispatchKdlRpcRequest(runtime, { id: 1, method: "init", payload: [{}] });
+  const response = await dispatchKdlRpcRequest(runtime, {
+    id: 2,
+    method: "loadRobotFromUrdf",
+    payload: [
+      PLANAR_URDF,
+      {
+        robotId: "checks",
+        baseLink: "base_link",
+        tipLink: "tool0"
+      }
+    ]
+  });
+  expect(response.ok).toBe(true);
+  return { runtime, handle: response.result as number };
+}
+
+function poseTarget(id: string, x: number, y: number): PoseTarget {
+  return {
+    id,
+    pose: {
+      position: [x, y, 0],
+      quaternion: [0, 0, 0, 1]
+    }
+  };
+}
+
+describe("Jacobian, singularity, limits, and reachability checks", () => {
+  it("computes a 6xdof Jacobian with expected linear components", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 3,
+      method: "jacobian",
+      payload: [handle, [Math.PI / 2, 0.4]]
+    });
+
+    expect(response.ok).toBe(true);
+    const jacobian = response.result as JacobianResult;
+    expect(jacobian.rows).toBe(6);
+    expect(jacobian.cols).toBe(2);
+    expect(jacobian.data).toHaveLength(12);
+    expect(jacobian.data[0]).toBeCloseTo(-0.4, 4);
+    expect(jacobian.data[1]).toBeCloseTo(0, 4);
+    expect(jacobian.data[2]).toBeCloseTo(0, 4);
+    expect(jacobian.data[3]).toBeCloseTo(1, 4);
+  });
+
+  it("reports singularity warning for collapsed planar reach", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 4,
+      method: "checkSingularity",
+      payload: [handle, [0, 0]]
+    });
+
+    expect(response.result).toMatchObject({
+      ok: true,
+      nearSingularity: true,
+      diagnostics: [
+        {
+          severity: "warning",
+          code: "KDL_SINGULARITY"
+        }
+      ]
+    });
+  });
+
+  it("checks joint and velocity limits with structured diagnostics", async () => {
+    const { runtime, handle } = await createRobot();
+    const jointResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 5,
+      method: "checkJointLimits",
+      payload: [handle, [0, 2]]
+    });
+    expect(jointResponse.result).toMatchObject({
+      ok: false,
+      diagnostics: [
+        {
+          severity: "error",
+          code: "KDL_JOINT_LIMIT"
+        }
+      ]
+    });
+
+    const velocityResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 6,
+      method: "checkVelocityLimits",
+      payload: [
+        handle,
+        {
+          points: [
+            {
+              jointVelocity: [1, 0.75],
+              jointAcceleration: [1, 1.5]
+            }
+          ]
+        }
+      ]
+    });
+    expect(velocityResponse.result).toMatchObject({
+      ok: false,
+      maxJointVelocityRatio: 1.5,
+      maxJointAccelerationRatio: 1.5,
+      diagnostics: [
+        {
+          severity: "error",
+          code: "KDL_VELOCITY_LIMIT",
+          pointIndex: 0
+        },
+        {
+          severity: "error",
+          code: "KDL_ACCEL_LIMIT",
+          pointIndex: 0
+        }
+      ]
+    });
+  });
+
+  it("checks reachability and preserves batch order", async () => {
+    const { runtime, handle } = await createRobot();
+    const reachable = await dispatchKdlRpcRequest(runtime, {
+      id: 7,
+      method: "checkReachability",
+      payload: [handle, poseTarget("ok", 0, 0.3), { positionTolerance: 1e-9 }]
+    });
+    expect(reachable.result).toMatchObject({
+      ok: true,
+      reachable: true,
+      targetId: "ok",
+      joints: [Math.PI / 2, 0.3]
+    });
+
+    const batch = await dispatchKdlRpcRequest(runtime, {
+      id: 8,
+      method: "checkReachabilityBatch",
+      payload: [handle, [poseTarget("a", 0.2, 0), poseTarget("b", 2, 0)], {}]
+    });
+    const results = batch.result as ReachabilityResult[];
+    expect(results.map((result) => result.targetId)).toEqual(["a", "b"]);
+    expect(results[0]?.reachable).toBe(true);
+    expect(results[1]).toMatchObject({
+      reachable: false,
+      diagnostics: [
+        {
+          severity: "error",
+          code: "KDL_JOINT_LIMIT"
+        }
+      ]
+    });
+  });
+});

kdl-wasm/web/tests/kdl/fk.test.ts

@@ -0,0 +1,198 @@
+import { describe, expect, it } from "vitest";
+import { createKdlWorkerRuntime } from "../../src/kdl/runtime.js";
+import { dispatchKdlRpcRequest } from "../../src/kdl/workerRpc.js";
+
+const SIMPLE_URDF = `
+<robot name="simple_fk">
+  <link name="base_link"/>
+  <link name="link_1"/>
+  <link name="link_2"/>
+  <link name="tool0"/>
+  <joint name="joint_1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0.1" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5" acceleration="5"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0.2" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="0.4" velocity="0.3" acceleration="1.2"/>
+  </joint>
+  <joint name="tool_fixed" type="fixed">
+    <parent link="link_2"/>
+    <child link="tool0"/>
+    <origin xyz="0 0 0.05" rpy="0 0 0"/>
+  </joint>
+</robot>
+`;
+
+async function createRuntimeRobot() {
+  const runtime = createKdlWorkerRuntime();
+  await dispatchKdlRpcRequest(runtime, { id: 1, method: "init", payload: [{}] });
+  const response = await dispatchKdlRpcRequest(runtime, {
+    id: 2,
+    method: "loadRobotFromUrdf",
+    payload: [
+      SIMPLE_URDF,
+      {
+        robotId: "fk",
+        baseLink: "base_link",
+        tipLink: "tool0"
+      }
+    ]
+  });
+  expect(response.ok).toBe(true);
+  return { runtime, handle: response.result as number };
+}
+
+describe("FK and fkAllLinks", () => {
+  it("computes flange and tcp poses for the zero joint state", async () => {
+    const { runtime, handle } = await createRuntimeRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 3,
+      method: "fk",
+      payload: [handle, [0, 0]]
+    });
+
+    expect(response.ok).toBe(true);
+    const result = response.result as {
+      ok: boolean;
+      joints: number[];
+      diagnostics: unknown[];
+      flange: { position: number[]; quaternion: number[] };
+      tcp: { position: number[]; quaternion: number[] };
+    };
+    expect(result.ok).toBe(true);
+    expect(result.joints).toEqual([0, 0]);
+    expect(result.diagnostics).toEqual([]);
+    expect(result.flange.position[0]).toBeCloseTo(0);
+    expect(result.flange.position[1]).toBeCloseTo(0);
+    expect(result.flange.position[2]).toBeCloseTo(0.35);
+    expect(result.flange.quaternion).toEqual([0, 0, 0, 1]);
+    expect(result.tcp.position[0]).toBeCloseTo(0);
+    expect(result.tcp.position[1]).toBeCloseTo(0);
+    expect(result.tcp.position[2]).toBeCloseTo(0.35);
+    expect(result.tcp.quaternion).toEqual([0, 0, 0, 1]);
+  });
+
+  it("applies revolute and prismatic joint motion in chain order", async () => {
+    const { runtime, handle } = await createRuntimeRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 3,
+      method: "fk",
+      payload: [handle, [Math.PI / 2, 0.2]]
+    });
+
+    expect(response.ok).toBe(true);
+    const result = response.result as { flange: { position: number[]; quaternion: number[] } };
+    expect(result.flange.position[0]).toBeCloseTo(0);
+    expect(result.flange.position[1]).toBeCloseTo(0.2);
+    expect(result.flange.position[2]).toBeCloseTo(0.35);
+    expect(result.flange.quaternion[2]).toBeCloseTo(Math.SQRT1_2);
+    expect(result.flange.quaternion[3]).toBeCloseTo(Math.SQRT1_2);
+  });
+
+  it("returns link poses in base-to-tip order", async () => {
+    const { runtime, handle } = await createRuntimeRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 4,
+      method: "fkAllLinks",
+      payload: [handle, [0, 0.1]]
+    });
+
+    expect(response.ok).toBe(true);
+    const result = response.result as {
+      linkPoses: Array<{ link: string; pose: { position: number[] } }>;
+    };
+    expect(result.linkPoses.map((entry) => entry.link)).toEqual(["base_link", "link_1", "link_2", "tool0"]);
+    expect(result.linkPoses[0]?.pose.position).toEqual([0, 0, 0]);
+    expect(result.linkPoses[3]?.pose.position[0]).toBeCloseTo(0.1);
+    expect(result.linkPoses[3]?.pose.position[2]).toBeCloseTo(0.35);
+  });
+
+  it("applies tool offset to tcp without changing flange", async () => {
+    const { runtime, handle } = await createRuntimeRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 5,
+      method: "fk",
+      payload: [
+        handle,
+        [0, 0],
+        {
+          tool: {
+            position: [0, 0, 0.1],
+            quaternion: [0, 0, 0, 1]
+          }
+        }
+      ]
+    });
+
+    expect(response.ok).toBe(true);
+    const result = response.result as {
+      flange: { position: number[] };
+      tcp: { position: number[] };
+    };
+    expect(result.flange.position[2]).toBeCloseTo(0.35);
+    expect(result.tcp.position[2]).toBeCloseTo(0.45);
+  });
+
+  it("writes tcp pose into a reusable Float64Array", async () => {
+    const { runtime, handle } = await createRuntimeRobot();
+    const out = new Float64Array(7);
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 51,
+      method: "fkPose7",
+      payload: [handle, new Float64Array([Math.PI / 2, 0.2]), out]
+    });
+
+    expect(response.ok).toBe(true);
+    expect(response.result).toBe(out);
+    expect(out[0]).toBeCloseTo(0);
+    expect(out[1]).toBeCloseTo(0.2);
+    expect(out[2]).toBeCloseTo(0.35);
+    expect(out[5]).toBeCloseTo(Math.SQRT1_2);
+    expect(out[6]).toBeCloseTo(Math.SQRT1_2);
+  });
+
+  it("returns a structured error for undersized fkPose7 output buffers", async () => {
+    const { runtime, handle } = await createRuntimeRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 52,
+      method: "fkPose7",
+      payload: [handle, [0, 0], new Float64Array(6)]
+    });
+
+    expect(response).toMatchObject({
+      ok: false,
+      error: {
+        code: "KDL_OUTPUT_DIMENSION_MISMATCH"
+      }
+    });
+  });
+
+  it("returns a structured dimension diagnostic", async () => {
+    const { runtime, handle } = await createRuntimeRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 6,
+      method: "fk",
+      payload: [handle, [0]]
+    });
+
+    expect(response).toMatchObject({
+      ok: false,
+      error: {
+        code: "KDL_JOINT_DIMENSION_MISMATCH",
+        diagnostics: [
+          {
+            severity: "error",
+            code: "KDL_JOINT_DIMENSION_MISMATCH"
+          }
+        ]
+      }
+    });
+  });
+});

kdl-wasm/web/tests/kdl/ik.test.ts

@@ -0,0 +1,166 @@
+import { describe, expect, it } from "vitest";
+import { createKdlWorkerRuntime } from "../../src/kdl/runtime.js";
+import { dispatchKdlRpcRequest } from "../../src/kdl/workerRpc.js";
+import type { IkResult, Pose } from "../../src/kdl/types.js";
+
+const PLANAR_URDF = `
+<robot name="planar_ik">
+  <link name="base_link"/>
+  <link name="link_1"/>
+  <link name="tool0"/>
+  <joint name="joint_1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5" acceleration="5"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_1"/>
+    <child link="tool0"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1" velocity="0.3" acceleration="1.2"/>
+  </joint>
+</robot>
+`;
+
+const UNSUPPORTED_URDF = `
+<robot name="unsupported_ik">
+  <link name="base_link"/>
+  <link name="link_1"/>
+  <link name="tool0"/>
+  <joint name="joint_1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.14" upper="3.14" velocity="2.5" acceleration="5"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_1"/>
+    <child link="tool0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.14" upper="3.14" velocity="2.5" acceleration="5"/>
+  </joint>
+</robot>
+`;
+
+function pose(x: number, y: number, z = 0): Pose {
+  return {
+    position: [x, y, z],
+    quaternion: [0, 0, 0, 1]
+  };
+}
+
+async function createRobot(urdf = PLANAR_URDF) {
+  const runtime = createKdlWorkerRuntime();
+  await dispatchKdlRpcRequest(runtime, { id: 1, method: "init", payload: [{}] });
+  const response = await dispatchKdlRpcRequest(runtime, {
+    id: 2,
+    method: "loadRobotFromUrdf",
+    payload: [
+      urdf,
+      {
+        robotId: "ik",
+        baseLink: "base_link",
+        tipLink: "tool0"
+      }
+    ]
+  });
+  expect(response.ok).toBe(true);
+  return { runtime, handle: response.result as number };
+}
+
+describe("IK and ikBatch", () => {
+  it("solves a reachable planar target and FK back-substitution is within tolerance", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 3,
+      method: "ik",
+      payload: [handle, [0, 0], pose(0, 0.4), { positionTolerance: 1e-9 }]
+    });
+
+    expect(response.ok).toBe(true);
+    const result = response.result as IkResult;
+    expect(result.ok).toBe(true);
+    expect(result.joints?.[0]).toBeCloseTo(Math.PI / 2);
+    expect(result.joints?.[1]).toBeCloseTo(0.4);
+    expect(result.residualPosition).toBeLessThan(1e-9);
+
+    const fk = await dispatchKdlRpcRequest(runtime, {
+      id: 4,
+      method: "fk",
+      payload: [handle, result.joints]
+    });
+    const fkResult = fk.result as { tcp: { position: number[] } };
+    expect(fkResult.tcp.position[0]).toBeCloseTo(0);
+    expect(fkResult.tcp.position[1]).toBeCloseTo(0.4);
+  });
+
+  it("keeps ikBatch results in input order", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 5,
+      method: "ikBatch",
+      payload: [
+        handle,
+        [
+          [0, 0],
+          [0, 0]
+        ],
+        [pose(0.2, 0), pose(0, 0.3)],
+        {}
+      ]
+    });
+
+    expect(response.ok).toBe(true);
+    const results = response.result as IkResult[];
+    expect(results).toHaveLength(2);
+    expect(results[0]?.joints?.[0]).toBeCloseTo(0);
+    expect(results[0]?.joints?.[1]).toBeCloseTo(0.2);
+    expect(results[1]?.joints?.[0]).toBeCloseTo(Math.PI / 2);
+    expect(results[1]?.joints?.[1]).toBeCloseTo(0.3);
+  });
+
+  it("returns joint_limit reason when the candidate exceeds limits", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 6,
+      method: "ik",
+      payload: [handle, [0, 0], pose(2, 0), {}]
+    });
+
+    expect(response.ok).toBe(true);
+    expect(response.result).toMatchObject({
+      ok: false,
+      reason: "joint_limit",
+      diagnostics: [
+        {
+          severity: "error",
+          code: "KDL_JOINT_LIMIT"
+        }
+      ]
+    });
+  });
+
+  it("returns invalid_model reason for unsupported IK chains", async () => {
+    const { runtime, handle } = await createRobot(UNSUPPORTED_URDF);
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 7,
+      method: "ik",
+      payload: [handle, [0, 0], pose(0.2, 0), {}]
+    });
+
+    expect(response.ok).toBe(true);
+    expect(response.result).toMatchObject({
+      ok: false,
+      reason: "invalid_model",
+      diagnostics: [
+        {
+          severity: "error",
+          code: "KDL_IK_UNSUPPORTED_MODEL"
+        }
+      ]
+    });
+  });
+});

kdl-wasm/web/tests/kdl/path.test.ts

@@ -0,0 +1,167 @@
+import { describe, expect, it } from "vitest";
+import { createKdlWorkerRuntime } from "../../src/kdl/runtime.js";
+import { dispatchKdlRpcRequest } from "../../src/kdl/workerRpc.js";
+import type { PathPlanRequest, PathPlanResult, PathValidationResult } from "../../src/kdl/types.js";
+
+const PLANAR_URDF = `
+<robot name="path_planar">
+  <link name="base_link"/>
+  <link name="link_1"/>
+  <link name="tool0"/>
+  <joint name="joint_1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.141592653589793" upper="3.141592653589793" velocity="2" acceleration="10"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_1"/>
+    <child link="tool0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1" velocity="1" acceleration="10"/>
+  </joint>
+</robot>
+`;
+
+async function createRobot() {
+  const runtime = createKdlWorkerRuntime();
+  await dispatchKdlRpcRequest(runtime, { id: 1, method: "init", payload: [{}] });
+  const response = await dispatchKdlRpcRequest(runtime, {
+    id: 2,
+    method: "loadRobotFromUrdf",
+    payload: [
+      PLANAR_URDF,
+      {
+        robotId: "path",
+        baseLink: "base_link",
+        tipLink: "tool0"
+      }
+    ]
+  });
+  expect(response.ok).toBe(true);
+  return { runtime, handle: response.result as number };
+}
+
+function pathRequest(overrides: Partial<PathPlanRequest> = {}): PathPlanRequest {
+  return {
+    startJoints: [0, 0],
+    sampleTime: 0.05,
+    segments: [
+      {
+        id: "move-home",
+        motion: "MOVEJ",
+        target: {
+          id: "joint_goal",
+          joints: [Math.PI / 2, 0.2]
+        },
+        speed: { kind: "joint_abs", velocity: 1, acceleration: 4 },
+        zone: { kind: "fine" },
+        sourceMap: { line: 10, column: 5 }
+      },
+      {
+        id: "line-out",
+        motion: "MOVEL",
+        target: {
+          id: "line_goal",
+          pose: {
+            position: [0, 0.4, 0],
+            quaternion: [0, 0, 0, 1]
+          }
+        },
+        speed: { kind: "linear", velocity: 0.2, acceleration: 1 },
+        zone: { kind: "fine" },
+        sourceMap: { line: 11, column: 5 }
+      }
+    ],
+    ...overrides
+  };
+}
+
+describe("planPath and validatePath", () => {
+  it("plans multiple motion segments and merges points with segment metadata", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 3,
+      method: "planPath",
+      payload: [handle, pathRequest()]
+    });
+
+    expect(response.ok).toBe(true);
+    const result = response.result as PathPlanResult;
+    expect(result.ok).toBe(true);
+    expect(result.segments).toHaveLength(2);
+    expect(result.points.length).toBeGreaterThan(result.segments[0]!.points.length);
+    expect(result.points[0]).toMatchObject({
+      index: 0,
+      time: 0,
+      segmentId: "move-home",
+      targetId: "joint_goal",
+      sourceMap: { line: 10 }
+    });
+    expect(result.points.at(-1)).toMatchObject({
+      segmentId: "line-out",
+      targetId: "line_goal",
+      sourceMap: { line: 11 }
+    });
+    expect(result.points.at(-1)?.tcp.position[0]).toBeCloseTo(0, 5);
+    expect(result.points.at(-1)?.tcp.position[1]).toBeCloseTo(0.4, 5);
+    expect(result.duration).toBeCloseTo(result.segments[0]!.duration + result.segments[1]!.duration);
+    for (let index = 1; index < result.points.length; index += 1) {
+      expect(result.points[index]!.time).toBeGreaterThan(result.points[index - 1]!.time);
+      expect(result.points[index]!.index).toBe(index);
+    }
+  });
+
+  it("validates a path and returns per-segment reports", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 4,
+      method: "validatePath",
+      payload: [handle, pathRequest()]
+    });
+
+    expect(response.ok).toBe(true);
+    const result = response.result as PathValidationResult;
+    expect(result.ok).toBe(true);
+    expect(result.reachable).toBe(true);
+    expect(result.cycleTime).toBeGreaterThan(0);
+    expect(result.segmentReports.map((report) => report.segmentId)).toEqual(["move-home", "line-out"]);
+    expect(result.segmentReports[0]).toMatchObject({
+      ok: true,
+      motion: "MOVEJ"
+    });
+    expect(result.segmentReports[1]).toMatchObject({
+      ok: true,
+      motion: "MOVEL",
+      maxCartesianError: 0
+    });
+  });
+
+  it("returns KDL_PATH_EMPTY for empty path requests", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 5,
+      method: "planPath",
+      payload: [
+        handle,
+        pathRequest({
+          segments: []
+        })
+      ]
+    });
+
+    expect(response.ok).toBe(true);
+    expect(response.result).toMatchObject({
+      ok: false,
+      duration: 0,
+      segments: [],
+      points: [],
+      diagnostics: [
+        {
+          severity: "error",
+          code: "KDL_PATH_EMPTY"
+        }
+      ]
+    });
+  });
+});

kdl-wasm/web/tests/kdl/performance.test.ts

@@ -0,0 +1,23 @@
+import { describe, expect, it } from "vitest";
+import { runPerformanceBaseline } from "../../src/kdl/performanceBaseline.js";
+
+describe("KDL performance baseline", () => {
+  it("records TypedArray and batch baseline metrics", async () => {
+    const result = await runPerformanceBaseline();
+    const metrics = Object.fromEntries(result.metrics.map((metric) => [metric.name, metric]));
+
+    expect(result.ok).toBe(true);
+    expect(result.diagnostics).toEqual([]);
+    expect(metrics.robot_init_6_axis?.totalMs).toBeLessThanOrEqual(1_000);
+    expect(metrics.fk_pose7_typed_array?.averageMs).toBeLessThanOrEqual(1);
+    expect(metrics.ik_planar_average?.averageMs).toBeLessThanOrEqual(10);
+    expect(metrics.reachability_batch_1000).toMatchObject({
+      points: 1_000,
+      ok: true
+    });
+    expect(metrics.trajectory_10s_4ms).toMatchObject({
+      ok: true
+    });
+    expect(metrics.trajectory_10s_4ms?.points).toBeGreaterThanOrEqual(2_500);
+  });
+});

kdl-wasm/web/tests/kdl/planMoveC.test.ts

@@ -0,0 +1,193 @@
+import { describe, expect, it } from "vitest";
+import { createKdlWorkerRuntime } from "../../src/kdl/runtime.js";
+import { dispatchKdlRpcRequest } from "../../src/kdl/workerRpc.js";
+import type { MoveCRequest, TrajectoryResult } from "../../src/kdl/types.js";
+
+const PLANAR_URDF = `
+<robot name="movec_planar">
+  <link name="base_link"/>
+  <link name="link_1"/>
+  <link name="tool0"/>
+  <joint name="joint_1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.141592653589793" upper="3.141592653589793" velocity="4" acceleration="20"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_1"/>
+    <child link="tool0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1" velocity="2" acceleration="20"/>
+  </joint>
+</robot>
+`;
+
+async function createRobot() {
+  const runtime = createKdlWorkerRuntime();
+  await dispatchKdlRpcRequest(runtime, { id: 1, method: "init", payload: [{}] });
+  const response = await dispatchKdlRpcRequest(runtime, {
+    id: 2,
+    method: "loadRobotFromUrdf",
+    payload: [
+      PLANAR_URDF,
+      {
+        robotId: "movec",
+        baseLink: "base_link",
+        tipLink: "tool0"
+      }
+    ]
+  });
+  expect(response.ok).toBe(true);
+  return { runtime, handle: response.result as number };
+}
+
+function request(overrides: Partial<MoveCRequest>): MoveCRequest {
+  return {
+    startJoints: [0, 0.5],
+    via: {
+      id: "via",
+      pose: {
+        position: [0.5, 0.5, 0],
+        quaternion: [0, 0, 0, 1]
+      }
+    },
+    target: {
+      id: "arc_goal",
+      pose: {
+        position: [0, 0.5, 0],
+        quaternion: [0, 0, 0, 1]
+      }
+    },
+    speed: {
+      kind: "linear",
+      velocity: 0.25,
+      acceleration: 1
+    },
+    zone: {
+      kind: "fine"
+    },
+    sampleTime: 0.05,
+    ...overrides
+  };
+}
+
+describe("planMoveC", () => {
+  it("plans a circular TCP arc with circle metadata", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 3,
+      method: "planMoveC",
+      payload: [handle, request({})]
+    });
+
+    expect(response.ok).toBe(true);
+    const trajectory = response.result as TrajectoryResult;
+    expect(trajectory.ok).toBe(true);
+    expect(trajectory.motion).toBe("MOVEC");
+    expect(trajectory.points.length).toBeGreaterThan(2);
+    expect(trajectory.points[0]).toMatchObject({
+      index: 0,
+      time: 0,
+      s: 0,
+      motion: "MOVEC",
+      targetId: "arc_goal"
+    });
+    expect(trajectory.points.at(-1)?.s).toBe(1);
+    expect(trajectory.points.at(-1)?.tcp.position[0]).toBeCloseTo(0, 5);
+    expect(trajectory.points.at(-1)?.tcp.position[1]).toBeCloseTo(0.5, 5);
+
+    const circle = trajectory.meta?.circle as {
+      center: number[];
+      radius: number;
+      angle: number;
+      length: number;
+      direction: "cw" | "ccw";
+      maxArcError: number;
+    };
+    expect(circle.center[0]).toBeCloseTo(0.25);
+    expect(circle.center[1]).toBeCloseTo(0.25);
+    expect(circle.radius).toBeCloseTo(Math.SQRT1_2 / 2);
+    expect(circle.angle).toBeCloseTo(Math.PI);
+    expect(circle.length).toBeCloseTo((Math.SQRT1_2 / 2) * Math.PI);
+    expect(circle.direction).toBe("ccw");
+    expect(circle.maxArcError).toBeLessThan(1e-6);
+  });
+
+  it("returns KDL_ARC_DEGENERATE for collinear points", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 4,
+      method: "planMoveC",
+      payload: [
+        handle,
+        request({
+          via: {
+            id: "line_mid",
+            pose: {
+              position: [0.25, 0, 0],
+              quaternion: [0, 0, 0, 1]
+            }
+          },
+          target: {
+            id: "line_end",
+            pose: {
+              position: [0.75, 0, 0],
+              quaternion: [0, 0, 0, 1]
+            }
+          }
+        })
+      ]
+    });
+
+    expect(response.ok).toBe(true);
+    expect(response.result).toMatchObject({
+      ok: false,
+      motion: "MOVEC",
+      points: [],
+      diagnostics: [
+        {
+          severity: "error",
+          code: "KDL_ARC_DEGENERATE"
+        }
+      ]
+    });
+  });
+
+  it("reports zone approximation and joint-speed approximation warnings", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 5,
+      method: "planMoveC",
+      payload: [
+        handle,
+        request({
+          speed: {
+            kind: "joint_abs",
+            velocity: 0.25,
+            acceleration: 1
+          },
+          zone: {
+            kind: "distance",
+            value: 0.01
+          }
+        })
+      ]
+    });
+
+    const trajectory = response.result as TrajectoryResult;
+    expect(trajectory.ok).toBe(true);
+    expect(trajectory.diagnostics).toContainEqual(
+      expect.objectContaining({
+        severity: "warning",
+        code: "KDL_MOVEC_JOINT_SPEED_APPROX"
+      })
+    );
+    expect(trajectory.diagnostics).toContainEqual(
+      expect.objectContaining({
+        severity: "warning",
+        code: "KDL_ZONE_APPROX_FINE"
+      })
+    );
+  });
+});

kdl-wasm/web/tests/kdl/planMoveJ.test.ts

@@ -0,0 +1,192 @@
+import { describe, expect, it } from "vitest";
+import { createKdlWorkerRuntime } from "../../src/kdl/runtime.js";
+import { dispatchKdlRpcRequest } from "../../src/kdl/workerRpc.js";
+import type { MoveJRequest, PoseTarget, TrajectoryResult } from "../../src/kdl/types.js";
+
+const PLANAR_URDF = `
+<robot name="movej_planar">
+  <link name="base_link"/>
+  <link name="link_1"/>
+  <link name="tool0"/>
+  <joint name="joint_1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.141592653589793" upper="3.141592653589793" velocity="1" acceleration="2"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_1"/>
+    <child link="tool0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1" velocity="0.5" acceleration="1"/>
+  </joint>
+</robot>
+`;
+
+async function createRobot() {
+  const runtime = createKdlWorkerRuntime();
+  await dispatchKdlRpcRequest(runtime, { id: 1, method: "init", payload: [{}] });
+  const response = await dispatchKdlRpcRequest(runtime, {
+    id: 2,
+    method: "loadRobotFromUrdf",
+    payload: [
+      PLANAR_URDF,
+      {
+        robotId: "movej",
+        baseLink: "base_link",
+        tipLink: "tool0"
+      }
+    ]
+  });
+  expect(response.ok).toBe(true);
+  return { runtime, handle: response.result as number };
+}
+
+function baseRequest(overrides: Partial<MoveJRequest>): MoveJRequest {
+  return {
+    startJoints: [0, 0],
+    target: {
+      id: "joint_goal",
+      joints: [0.5, 0.25]
+    },
+    speed: {
+      kind: "joint_abs",
+      velocity: 0.5,
+      acceleration: 1
+    },
+    zone: {
+      kind: "fine"
+    },
+    sampleTime: 0.1,
+    ...overrides
+  };
+}
+
+describe("planMoveJ", () => {
+  it("plans a synchronized joint trajectory to a joint target", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 3,
+      method: "planMoveJ",
+      payload: [handle, baseRequest({})]
+    });
+
+    expect(response.ok).toBe(true);
+    const trajectory = response.result as TrajectoryResult;
+    expect(trajectory.ok).toBe(true);
+    expect(trajectory.motion).toBe("MOVEJ");
+    expect(trajectory.points.length).toBeGreaterThan(2);
+    expect(trajectory.points[0]).toMatchObject({
+      index: 0,
+      time: 0,
+      s: 0,
+      joints: [0, 0],
+      motion: "MOVEJ",
+      targetId: "joint_goal"
+    });
+    expect(trajectory.points.at(-1)?.s).toBe(1);
+    expect(trajectory.points.at(-1)?.joints[0]).toBeCloseTo(0.5);
+    expect(trajectory.points.at(-1)?.joints[1]).toBeCloseTo(0.25);
+    expect(trajectory.points.at(-1)?.jointVelocity[0]).toBeCloseTo(0);
+    expect(trajectory.points.at(-1)?.tcp.position[0]).toBeCloseTo(0.25 * Math.cos(0.5));
+    expect(trajectory.points.at(-1)?.tcp.position[1]).toBeCloseTo(0.25 * Math.sin(0.5));
+    expect(trajectory.meta).toMatchObject({
+      targetType: "joint",
+      qStart: [0, 0],
+      qEnd: [0.5, 0.25]
+    });
+  });
+
+  it("uses IK for pose targets and warns when zone is approximated as fine", async () => {
+    const { runtime, handle } = await createRobot();
+    const target: PoseTarget = {
+      id: "pose_goal",
+      pose: {
+        position: [0, 0.3, 0],
+        quaternion: [0, 0, 0, 1]
+      }
+    };
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 4,
+      method: "planMoveJ",
+      payload: [
+        handle,
+        baseRequest({
+          target,
+          zone: { kind: "distance", value: 0.01 }
+        })
+      ]
+    });
+
+    const trajectory = response.result as TrajectoryResult;
+    expect(trajectory.ok).toBe(true);
+    expect(trajectory.points.at(-1)?.joints[0]).toBeCloseTo(Math.PI / 2);
+    expect(trajectory.points.at(-1)?.joints[1]).toBeCloseTo(0.3);
+    expect(trajectory.diagnostics).toContainEqual(
+      expect.objectContaining({
+        severity: "warning",
+        code: "KDL_ZONE_APPROX_FINE"
+      })
+    );
+    expect(trajectory.meta).toMatchObject({
+      targetType: "pose"
+    });
+  });
+
+  it("returns a failed trajectory result for endpoint joint limit violations", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 5,
+      method: "planMoveJ",
+      payload: [
+        handle,
+        baseRequest({
+          target: {
+            id: "bad_goal",
+            joints: [0, 2]
+          }
+        })
+      ]
+    });
+
+    expect(response.ok).toBe(true);
+    expect(response.result).toMatchObject({
+      ok: false,
+      motion: "MOVEJ",
+      points: [],
+      diagnostics: [
+        {
+          severity: "error",
+          code: "KDL_JOINT_LIMIT"
+        }
+      ]
+    });
+  });
+
+  it("keeps velocity and acceleration within joint limits", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 6,
+      method: "planMoveJ",
+      payload: [
+        handle,
+        baseRequest({
+          speed: { kind: "joint_percent", value: 1 },
+          target: {
+            id: "limit_goal",
+            joints: [1, 0.5]
+          }
+        })
+      ]
+    });
+
+    const trajectory = response.result as TrajectoryResult;
+    expect(trajectory.ok).toBe(true);
+    for (const point of trajectory.points) {
+      expect(Math.abs(point.jointVelocity[0]!)).toBeLessThanOrEqual(1 + 1e-9);
+      expect(Math.abs(point.jointVelocity[1]!)).toBeLessThanOrEqual(0.5 + 1e-9);
+      expect(Math.abs(point.jointAcceleration[0]!)).toBeLessThanOrEqual(2 + 1e-9);
+      expect(Math.abs(point.jointAcceleration[1]!)).toBeLessThanOrEqual(1 + 1e-9);
+    }
+  });
+});

kdl-wasm/web/tests/kdl/planMoveL.test.ts

@@ -0,0 +1,175 @@
+import { describe, expect, it } from "vitest";
+import { createKdlWorkerRuntime } from "../../src/kdl/runtime.js";
+import { dispatchKdlRpcRequest } from "../../src/kdl/workerRpc.js";
+import type { MoveLRequest, TrajectoryResult } from "../../src/kdl/types.js";
+
+const PLANAR_URDF = `
+<robot name="movel_planar">
+  <link name="base_link"/>
+  <link name="link_1"/>
+  <link name="tool0"/>
+  <joint name="joint_1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.141592653589793" upper="3.141592653589793" velocity="2" acceleration="10"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_1"/>
+    <child link="tool0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1" velocity="1" acceleration="10"/>
+  </joint>
+</robot>
+`;
+
+async function createRobot() {
+  const runtime = createKdlWorkerRuntime();
+  await dispatchKdlRpcRequest(runtime, { id: 1, method: "init", payload: [{}] });
+  const response = await dispatchKdlRpcRequest(runtime, {
+    id: 2,
+    method: "loadRobotFromUrdf",
+    payload: [
+      PLANAR_URDF,
+      {
+        robotId: "movel",
+        baseLink: "base_link",
+        tipLink: "tool0"
+      }
+    ]
+  });
+  expect(response.ok).toBe(true);
+  return { runtime, handle: response.result as number };
+}
+
+function request(overrides: Partial<MoveLRequest>): MoveLRequest {
+  return {
+    startJoints: [Math.PI / 2, 0.2],
+    target: {
+      id: "line_goal",
+      pose: {
+        position: [0, 0.6, 0],
+        quaternion: [0, 0, 0, 1]
+      }
+    },
+    speed: {
+      kind: "linear",
+      velocity: 0.2,
+      acceleration: 1
+    },
+    zone: {
+      kind: "fine"
+    },
+    sampleTime: 0.05,
+    ...overrides
+  };
+}
+
+describe("planMoveL", () => {
+  it("plans a TCP straight-line trajectory with continuous IK seeds", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 3,
+      method: "planMoveL",
+      payload: [handle, request({})]
+    });
+
+    expect(response.ok).toBe(true);
+    const trajectory = response.result as TrajectoryResult;
+    expect(trajectory.ok).toBe(true);
+    expect(trajectory.motion).toBe("MOVEL");
+    expect(trajectory.points.length).toBeGreaterThan(2);
+    expect(trajectory.points[0]).toMatchObject({
+      index: 0,
+      time: 0,
+      s: 0,
+      motion: "MOVEL",
+      targetId: "line_goal"
+    });
+    expect(trajectory.points.at(-1)?.s).toBe(1);
+    expect(trajectory.points.at(-1)?.tcp.position[0]).toBeCloseTo(0, 6);
+    expect(trajectory.points.at(-1)?.tcp.position[1]).toBeCloseTo(0.6, 6);
+    expect(trajectory.meta).toMatchObject({
+      targetId: "line_goal",
+      orientationMode: "fixed"
+    });
+    expect(trajectory.meta?.length as number).toBeCloseTo(0.4);
+
+    for (const point of trajectory.points) {
+      expect(point.tcp.position[0]).toBeCloseTo(0, 5);
+      expect(point.tcp.position[2]).toBeCloseTo(0, 5);
+      expect(point.tcp.position[1]).toBeGreaterThanOrEqual(0.2 - 1e-9);
+      expect(point.tcp.position[1]).toBeLessThanOrEqual(0.6 + 1e-9);
+    }
+  });
+
+  it("returns a failed trajectory when a sampled pose is unreachable", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 4,
+      method: "planMoveL",
+      payload: [
+        handle,
+        request({
+          target: {
+            id: "far_goal",
+            pose: {
+              position: [0, 2, 0],
+              quaternion: [0, 0, 0, 1]
+            }
+          }
+        })
+      ]
+    });
+
+    const trajectory = response.result as TrajectoryResult;
+    expect(trajectory.ok).toBe(false);
+    expect(trajectory.motion).toBe("MOVEL");
+    expect(trajectory.diagnostics).toContainEqual(
+      expect.objectContaining({
+        severity: "error",
+        code: "KDL_JOINT_LIMIT"
+      })
+    );
+    expect(trajectory.meta).toMatchObject({
+      targetId: "far_goal"
+    });
+  });
+
+  it("reports zone approximation and joint-speed approximation warnings", async () => {
+    const { runtime, handle } = await createRobot();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 5,
+      method: "planMoveL",
+      payload: [
+        handle,
+        request({
+          speed: {
+            kind: "joint_abs",
+            velocity: 0.2,
+            acceleration: 1
+          },
+          zone: {
+            kind: "distance",
+            value: 0.01
+          }
+        })
+      ]
+    });
+
+    const trajectory = response.result as TrajectoryResult;
+    expect(trajectory.ok).toBe(true);
+    expect(trajectory.diagnostics).toContainEqual(
+      expect.objectContaining({
+        severity: "warning",
+        code: "KDL_MOVEL_JOINT_SPEED_APPROX"
+      })
+    );
+    expect(trajectory.diagnostics).toContainEqual(
+      expect.objectContaining({
+        severity: "warning",
+        code: "KDL_ZONE_APPROX_FINE"
+      })
+    );
+  });
+});

kdl-wasm/web/tests/kdl/poseApi.test.ts

@@ -0,0 +1,152 @@
+import { describe, expect, it } from "vitest";
+import { createKdlWorkerRuntime } from "../../src/kdl/runtime.js";
+import { dispatchKdlRpcRequest } from "../../src/kdl/workerRpc.js";
+import type { Pose, PoseTarget } from "../../src/kdl/types.js";
+
+async function createRuntime() {
+  const runtime = createKdlWorkerRuntime();
+  await dispatchKdlRpcRequest(runtime, { id: 1, method: "init", payload: [{}] });
+  return runtime;
+}
+
+function pose(x: number, y: number, z: number): Pose {
+  return {
+    position: [x, y, z],
+    quaternion: [0, 0, 0, 1]
+  };
+}
+
+describe("pose transform and offset API", () => {
+  it("normalizes pose inputs from rpy and quaternion forms", async () => {
+    const runtime = await createRuntime();
+    const rpyResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 2,
+      method: "normalizePose",
+      payload: [{ xyz: [1, 2, 3], rpy: [0, 0, Math.PI / 2] }]
+    });
+    const quatResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 3,
+      method: "normalizePose",
+      payload: [{ xyz: [0, 0, 0], quat: [0, 0, 0, 2] }]
+    });
+
+    expect(rpyResponse.ok).toBe(true);
+    expect((rpyResponse.result as Pose).position).toEqual([1, 2, 3]);
+    expect((rpyResponse.result as Pose).quaternion[2]).toBeCloseTo(Math.SQRT1_2);
+    expect((rpyResponse.result as Pose).quaternion[3]).toBeCloseTo(Math.SQRT1_2);
+    expect(quatResponse.result).toMatchObject({
+      position: [0, 0, 0],
+      quaternion: [0, 0, 0, 1]
+    });
+  });
+
+  it("composes poses and computes an inverse pose", async () => {
+    const runtime = await createRuntime();
+    const composeResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 4,
+      method: "composePose",
+      payload: [pose(1, 0, 0), pose(0, 2, 0)]
+    });
+    expect(composeResponse.result).toMatchObject({
+      position: [1, 2, 0],
+      quaternion: [0, 0, 0, 1]
+    });
+
+    const inverseResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 5,
+      method: "inversePose",
+      payload: [pose(1, 2, 3)]
+    });
+    expect(inverseResponse.result).toMatchObject({
+      position: [-1, -2, -3],
+      quaternion: [0, 0, 0, 1]
+    });
+
+    const identityResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 6,
+      method: "composePose",
+      payload: [pose(1, 2, 3), inverseResponse.result]
+    });
+    expect((identityResponse.result as Pose).position[0]).toBeCloseTo(0);
+    expect((identityResponse.result as Pose).position[1]).toBeCloseTo(0);
+    expect((identityResponse.result as Pose).position[2]).toBeCloseTo(0);
+  });
+
+  it("applies frame, target, and tool using the same order as FK", async () => {
+    const runtime = await createRuntime();
+    const target: PoseTarget = {
+      id: "pick",
+      pose: pose(0.5, 0.1, 0.2)
+    };
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 7,
+      method: "applyToolAndFrame",
+      payload: [target, pose(0, 0, 0.18), pose(0.8, 0, 0.2)]
+    });
+
+    const result = response.result as Pose;
+    expect(result.position[0]).toBeCloseTo(1.3);
+    expect(result.position[1]).toBeCloseTo(0.1);
+    expect(result.position[2]).toBeCloseTo(0.58);
+    expect(result.quaternion).toEqual([0, 0, 0, 1]);
+  });
+
+  it("applies offset in frame/world by left composition and tool by right composition", async () => {
+    const runtime = await createRuntime();
+    const target: PoseTarget = {
+      id: "pick",
+      pose: {
+        position: [1, 2, 3],
+        quaternion: [0, 0, Math.SQRT1_2, Math.SQRT1_2]
+      },
+      frame: pose(10, 0, 0)
+    };
+
+    const frameOffset = await dispatchKdlRpcRequest(runtime, {
+      id: 8,
+      method: "applyOffset",
+      payload: [target, { mode: "frame", xyz: [0.1, 0, 0] }]
+    });
+    const worldOffset = await dispatchKdlRpcRequest(runtime, {
+      id: 9,
+      method: "applyOffset",
+      payload: [target, { mode: "world", xyz: [0, 0.2, 0] }]
+    });
+    const toolOffset = await dispatchKdlRpcRequest(runtime, {
+      id: 10,
+      method: "applyOffset",
+      payload: [target, { mode: "tool", xyz: [0.1, 0, 0] }]
+    });
+
+    expect((frameOffset.result as PoseTarget).id).toBe("pick");
+    expect((frameOffset.result as PoseTarget).frame).toEqual(target.frame);
+    expect((frameOffset.result as PoseTarget).pose.position[0]).toBeCloseTo(1.1);
+    expect((frameOffset.result as PoseTarget).pose.position[1]).toBeCloseTo(2);
+    expect((worldOffset.result as PoseTarget).pose.position[0]).toBeCloseTo(1);
+    expect((worldOffset.result as PoseTarget).pose.position[1]).toBeCloseTo(2.2);
+    expect((toolOffset.result as PoseTarget).pose.position[0]).toBeCloseTo(1);
+    expect((toolOffset.result as PoseTarget).pose.position[1]).toBeCloseTo(2.1);
+  });
+
+  it("returns structured diagnostics for invalid pose inputs", async () => {
+    const runtime = await createRuntime();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 11,
+      method: "normalizePose",
+      payload: [{ xyz: [1, 2], rpy: [0, 0, 0] }]
+    });
+
+    expect(response).toMatchObject({
+      ok: false,
+      error: {
+        code: "KDL_INVALID_POSE",
+        diagnostics: [
+          {
+            severity: "error",
+            code: "KDL_INVALID_POSE"
+          }
+        ]
+      }
+    });
+  });
+});

kdl-wasm/web/tests/kdl/rpc.test.ts

@@ -0,0 +1,206 @@
+import { describe, expect, it } from "vitest";
+import { KdlWorkerClient, type KdlWorkerLike } from "../../src/kdl/kdlClient.js";
+import type { NativeKdlModule } from "../../src/kdl/nativeModule.js";
+import { KdlStructuredError, type KdlRpcRequest, type KdlRpcResponse } from "../../src/kdl/rpc.js";
+import { createKdlWorkerRuntime } from "../../src/kdl/runtime.js";
+import { dispatchKdlRpcRequest } from "../../src/kdl/workerRpc.js";
+
+class FakeWorker implements KdlWorkerLike {
+  readonly sent: Array<KdlRpcRequest<unknown[]>> = [];
+  terminated = false;
+  private messageListeners = new Set<(event: MessageEvent<KdlRpcResponse>) => void>();
+  private errorListeners = new Set<(event: ErrorEvent) => void>();
+
+  postMessage(message: KdlRpcRequest<unknown[]>): void {
+    this.sent.push(message);
+  }
+
+  terminate(): void {
+    this.terminated = true;
+  }
+
+  addEventListener(type: "message", listener: (event: MessageEvent<KdlRpcResponse>) => void): void;
+  addEventListener(type: "error", listener: (event: ErrorEvent) => void): void;
+  addEventListener(type: "message" | "error", listener: unknown): void {
+    if (type === "message") {
+      this.messageListeners.add(listener as (event: MessageEvent<KdlRpcResponse>) => void);
+      return;
+    }
+    this.errorListeners.add(listener as (event: ErrorEvent) => void);
+  }
+
+  removeEventListener(type: "message", listener: (event: MessageEvent<KdlRpcResponse>) => void): void;
+  removeEventListener(type: "error", listener: (event: ErrorEvent) => void): void;
+  removeEventListener(type: "message" | "error", listener: unknown): void {
+    if (type === "message") {
+      this.messageListeners.delete(listener as (event: MessageEvent<KdlRpcResponse>) => void);
+      return;
+    }
+    this.errorListeners.delete(listener as (event: ErrorEvent) => void);
+  }
+
+  emitResponse(response: KdlRpcResponse): void {
+    const event = { data: response } as MessageEvent<KdlRpcResponse>;
+    for (const listener of this.messageListeners) {
+      listener(event);
+    }
+  }
+
+  emitError(message: string): void {
+    const event = { message, error: new Error(message) } as ErrorEvent;
+    for (const listener of this.errorListeners) {
+      listener(event);
+    }
+  }
+}
+
+describe("KDL Worker RPC", () => {
+  it("loads the native WASM module during init when a loader is configured", async () => {
+    const calls: unknown[][] = [];
+    const native: NativeKdlModule = {
+      ccall: (...args) => {
+        calls.push(args);
+        return 0;
+      }
+    };
+    const runtime = createKdlWorkerRuntime(async () => native);
+
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 1,
+      method: "init",
+      payload: [{ wasmBuild: "native-test" }]
+    });
+
+    expect(response.ok).toBe(true);
+    expect(response.result).toMatchObject({ wasmBuild: "native-test" });
+    expect(calls).toEqual([["kdl_init", "number", ["string"], ['{"wasmBuild":"native-test"}']]]);
+  });
+
+  it("normalizes native WASM initialization failures", async () => {
+    const runtime = createKdlWorkerRuntime(async () => {
+      throw new Error("cannot load kdl.js");
+    });
+
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 11,
+      method: "init",
+      payload: [{}]
+    });
+
+    expect(response.ok).toBe(false);
+    expect(response.error).toMatchObject({
+      code: "KDL_WASM_INIT_FAILED",
+      diagnostics: [
+        {
+          severity: "error",
+          code: "KDL_WASM_INIT_FAILED"
+        }
+      ]
+    });
+  });
+
+  it("dispatches init and dispose through structured responses", async () => {
+    const runtime = createKdlWorkerRuntime();
+    const initResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 1,
+      method: "init",
+      payload: [{ wasmBuild: "test", useThreads: true }]
+    });
+
+    expect(initResponse.ok).toBe(true);
+    expect(initResponse.result).toMatchObject({
+      version: "0.1.0",
+      wasmBuild: "test",
+      supportsThreads: true
+    });
+
+    const disposeResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 2,
+      method: "dispose",
+      payload: []
+    });
+
+    expect(disposeResponse).toMatchObject({ id: 2, ok: true });
+  });
+
+  it("returns a structured error when an implemented method is called before init", async () => {
+    const response = await dispatchKdlRpcRequest(createKdlWorkerRuntime(), {
+      id: 7,
+      method: "fk",
+      payload: [1, new Float64Array([0])]
+    });
+
+    expect(response.ok).toBe(false);
+    expect(response.error).toMatchObject({
+      code: "KDL_NOT_INITIALIZED",
+      diagnostics: [
+        {
+          severity: "error",
+          code: "KDL_NOT_INITIALIZED"
+        }
+      ]
+    });
+  });
+
+  it("uses unique request ids and resolves responses by id", async () => {
+    const workers: FakeWorker[] = [];
+    const client = new KdlWorkerClient(() => {
+      const worker = new FakeWorker();
+      workers.push(worker);
+      return worker;
+    });
+
+    const first = client.call("init", { wasmBuild: "a" });
+    const second = client.call("dispose");
+
+    expect(workers).toHaveLength(1);
+    expect(workers[0]?.sent.map((request) => request.id)).toEqual([1, 2]);
+
+    workers[0]?.emitResponse({ id: 2, ok: true });
+    workers[0]?.emitResponse({
+      id: 1,
+      ok: true,
+      result: {
+        version: "0.1.0",
+        wasmBuild: "a",
+        supportsThreads: false,
+        supportsWasmFs: false
+      }
+    });
+
+    await expect(second).resolves.toBeUndefined();
+    await expect(first).resolves.toMatchObject({ wasmBuild: "a" });
+  });
+
+  it("rejects pending requests on worker failure and can create a fresh worker", async () => {
+    const workers: FakeWorker[] = [];
+    const client = new KdlWorkerClient(() => {
+      const worker = new FakeWorker();
+      workers.push(worker);
+      return worker;
+    });
+
+    const pending = client.init();
+    workers[0]?.emitError("boom");
+
+    await expect(pending).rejects.toMatchObject({
+      code: "KDL_WORKER_CRASHED"
+    });
+    expect(workers[0]?.terminated).toBe(true);
+
+    const restarted = client.init({ wasmBuild: "restart" });
+    expect(workers).toHaveLength(2);
+    workers[1]?.emitResponse({
+      id: 2,
+      ok: true,
+      result: {
+        version: "0.1.0",
+        wasmBuild: "restart",
+        supportsThreads: false,
+        supportsWasmFs: false
+      }
+    });
+
+    await expect(restarted).resolves.toMatchObject({ wasmBuild: "restart" });
+  });
+});

kdl-wasm/web/tests/kdl/trajectoryUtils.test.ts

@@ -0,0 +1,179 @@
+import { describe, expect, it } from "vitest";
+import { createKdlWorkerRuntime } from "../../src/kdl/runtime.js";
+import { dispatchKdlRpcRequest } from "../../src/kdl/workerRpc.js";
+import type { CycleTimeResult, PathPlanResult, TrajectoryResult } from "../../src/kdl/types.js";
+
+function pose(x: number, y: number, z: number) {
+  return {
+    position: [x, y, z] as [number, number, number],
+    quaternion: [0, 0, 0, 1] as [number, number, number, number]
+  };
+}
+
+function trajectory(overrides: Partial<TrajectoryResult> = {}): TrajectoryResult {
+  return {
+    ok: true,
+    motion: "MOVEJ",
+    duration: 1,
+    sampleTime: 0.5,
+    events: [],
+    diagnostics: [],
+    points: [
+      {
+        index: 0,
+        time: 0,
+        dt: 0,
+        s: 0,
+        sd: 0,
+        sdd: 0,
+        joints: [0, 0],
+        jointVelocity: [0, 0],
+        jointAcceleration: [0, 0],
+        flange: pose(0, 0, 0),
+        tcp: pose(0, 0, 0),
+        motion: "MOVEJ",
+        segmentId: "s1",
+        diagnostics: []
+      },
+      {
+        index: 1,
+        time: 1,
+        dt: 1,
+        s: 1,
+        sd: 0,
+        sdd: 0,
+        joints: [1, 2],
+        jointVelocity: [0, 0],
+        jointAcceleration: [0, 0],
+        flange: pose(1, 0, 0),
+        tcp: pose(1, 2, 0),
+        motion: "MOVEJ",
+        segmentId: "s1",
+        diagnostics: []
+      }
+    ],
+    ...overrides
+  };
+}
+
+async function createRuntime() {
+  const runtime = createKdlWorkerRuntime();
+  await dispatchKdlRpcRequest(runtime, { id: 1, method: "init", payload: [{}] });
+  return runtime;
+}
+
+describe("cycle-time, resample, and diagnostics utilities", () => {
+  it("estimates cycle time for a trajectory and a path plan", async () => {
+    const runtime = await createRuntime();
+    const singleResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 2,
+      method: "estimateCycleTime",
+      payload: [trajectory()]
+    });
+    expect(singleResponse.result).toMatchObject({
+      ok: true,
+      motionTime: 1,
+      totalTime: 1,
+      segmentTimes: [
+        {
+          segmentId: "s1",
+          motion: "MOVEJ",
+          duration: 1
+        }
+      ],
+      diagnostics: []
+    });
+
+    const path: PathPlanResult = {
+      ok: true,
+      duration: 3,
+      segments: [
+        trajectory(),
+        trajectory({
+          motion: "MOVEL",
+          duration: 2,
+          points: trajectory().points.map((point) => ({ ...point, motion: "MOVEL", segmentId: "s2" }))
+        })
+      ],
+      points: [],
+      diagnostics: []
+    };
+    const pathResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 3,
+      method: "estimateCycleTime",
+      payload: [path]
+    });
+    expect(pathResponse.result).toMatchObject({
+      ok: true,
+      motionTime: 3,
+      totalTime: 3,
+      segmentTimes: [
+        { segmentId: "s1", motion: "MOVEJ", duration: 1 },
+        { segmentId: "s2", motion: "MOVEL", duration: 2 }
+      ]
+    });
+  });
+
+  it("resamples a trajectory with stable time and point ordering", async () => {
+    const runtime = await createRuntime();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 4,
+      method: "resampleTrajectory",
+      payload: [trajectory(), 0.25]
+    });
+
+    expect(response.ok).toBe(true);
+    const result = response.result as TrajectoryResult;
+    expect(result.sampleTime).toBe(0.25);
+    expect(result.points.map((point) => point.time)).toEqual([0, 0.25, 0.5, 0.75, 1]);
+    expect(result.points.map((point) => point.index)).toEqual([0, 1, 2, 3, 4]);
+    expect(result.points[2]?.joints).toEqual([0.5, 1]);
+    expect(result.points[2]?.tcp.position).toEqual([0.5, 1, 0]);
+    expect(result.diagnostics).toContainEqual(
+      expect.objectContaining({
+        severity: "info",
+        code: "KDL_TRAJECTORY_RESAMPLED"
+      })
+    );
+  });
+
+  it("keeps structured diagnostics for warning and error cases", async () => {
+    const runtime = await createRuntime();
+    const emptyResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 5,
+      method: "resampleTrajectory",
+      payload: [
+        trajectory({
+          points: []
+        }),
+        0.1
+      ]
+    });
+    expect(emptyResponse.result).toMatchObject({
+      diagnostics: [
+        {
+          severity: "warning",
+          code: "KDL_RESAMPLE_EMPTY_TRAJECTORY"
+        }
+      ]
+    });
+
+    const invalidResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 6,
+      method: "resampleTrajectory",
+      payload: [trajectory(), 0]
+    });
+    expect(invalidResponse).toMatchObject({
+      ok: false,
+      error: {
+        code: "KDL_INVALID_SAMPLE_TIME",
+        diagnostics: [
+          {
+            severity: "error",
+            code: "KDL_INVALID_SAMPLE_TIME"
+          }
+        ]
+      }
+    });
+  });
+});

kdl-wasm/web/tests/kdl/trapProfile.test.ts

@@ -0,0 +1,138 @@
+import { describe, expect, it } from "vitest";
+import { createKdlWorkerRuntime } from "../../src/kdl/runtime.js";
+import { dispatchKdlRpcRequest } from "../../src/kdl/workerRpc.js";
+import type { TrapProfileResult, TrapSample } from "../../src/kdl/types.js";
+
+async function createRuntime() {
+  const runtime = createKdlWorkerRuntime();
+  await dispatchKdlRpcRequest(runtime, { id: 1, method: "init", payload: [{}] });
+  return runtime;
+}
+
+function expectMonotonic(samples: TrapSample[]) {
+  for (let index = 1; index < samples.length; index += 1) {
+    expect(samples[index]!.time).toBeGreaterThan(samples[index - 1]!.time);
+    expect(samples[index]!.s).toBeGreaterThanOrEqual(samples[index - 1]!.s);
+  }
+}
+
+describe("trapezoid velocity profile API", () => {
+  it("creates a trapezoid profile when the path can reach max velocity", async () => {
+    const runtime = await createRuntime();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 2,
+      method: "makeTrapProfile",
+      payload: [
+        2,
+        {
+          maxVelocity: 1,
+          maxAcceleration: 1,
+          sampleTime: 0.25
+        }
+      ]
+    });
+
+    expect(response.ok).toBe(true);
+    const profile = response.result as TrapProfileResult;
+    expect(profile).toMatchObject({
+      ok: true,
+      type: "trapezoid",
+      length: 2,
+      duration: 3,
+      tAccel: 1,
+      tConst: 1,
+      tDecel: 1,
+      vPeak: 1,
+      diagnostics: []
+    });
+    expect(profile.samples[0]).toMatchObject({ index: 0, time: 0, s: 0 });
+    expect(profile.samples.at(-1)).toMatchObject({ time: 3, s: 1 });
+    expect(profile.samples.find((sample) => sample.time === 1)?.s).toBeCloseTo(0.25);
+    expect(profile.samples.find((sample) => sample.time === 1)?.sd).toBeCloseTo(0.5);
+    expectMonotonic(profile.samples);
+  });
+
+  it("falls back to a triangle profile for short paths", async () => {
+    const runtime = await createRuntime();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 3,
+      method: "makeTrapProfile",
+      payload: [
+        0.5,
+        {
+          maxVelocity: 2,
+          maxAcceleration: 1,
+          sampleTime: 0.1
+        }
+      ]
+    });
+
+    expect(response.ok).toBe(true);
+    const profile = response.result as TrapProfileResult;
+    expect(profile.type).toBe("triangle");
+    expect(profile.tConst).toBe(0);
+    expect(profile.vPeak).toBeCloseTo(Math.sqrt(0.5));
+    expect(profile.duration).toBeCloseTo(2 * Math.sqrt(0.5));
+    expect(profile.samples[0]?.s).toBe(0);
+    expect(profile.samples.at(-1)?.s).toBe(1);
+    expect(profile.diagnostics).toMatchObject([
+      {
+        severity: "info",
+        code: "KDL_TRAP_TRIANGLE_PROFILE"
+      }
+    ]);
+    expectMonotonic(profile.samples);
+  });
+
+  it("returns samples from sampleTrapProfile with strict endpoint samples", async () => {
+    const runtime = await createRuntime();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 4,
+      method: "sampleTrapProfile",
+      payload: [
+        1,
+        {
+          maxVelocity: 1,
+          maxAcceleration: 2,
+          sampleTime: 0.2
+        }
+      ]
+    });
+
+    expect(response.ok).toBe(true);
+    const samples = response.result as TrapSample[];
+    expect(samples[0]).toMatchObject({ index: 0, time: 0, s: 0 });
+    expect(samples.at(-1)?.s).toBe(1);
+    expect(samples.at(-1)?.time).toBeCloseTo(1.5);
+    expectMonotonic(samples);
+  });
+
+  it("returns a structured diagnostic for invalid trap profile inputs", async () => {
+    const runtime = await createRuntime();
+    const response = await dispatchKdlRpcRequest(runtime, {
+      id: 5,
+      method: "makeTrapProfile",
+      payload: [
+        1,
+        {
+          maxVelocity: 0,
+          maxAcceleration: 1,
+          sampleTime: 0.01
+        }
+      ]
+    });
+
+    expect(response).toMatchObject({
+      ok: false,
+      error: {
+        code: "KDL_INVALID_TRAP_PROFILE",
+        diagnostics: [
+          {
+            severity: "error",
+            code: "KDL_INVALID_TRAP_PROFILE"
+          }
+        ]
+      }
+    });
+  });
+});

kdl-wasm/web/tests/kdl/urdf.test.ts

@@ -0,0 +1,182 @@
+import { describe, expect, it } from "vitest";
+import { KdlStructuredError } from "../../src/kdl/rpc.js";
+import { createKdlWorkerRuntime } from "../../src/kdl/runtime.js";
+import { dispatchKdlRpcRequest } from "../../src/kdl/workerRpc.js";
+import { loadRobotFromUrdfModel } from "../../src/robot/urdfParser.js";
+
+const SIMPLE_URDF = `
+<robot name="simple6">
+  <link name="base_link"/>
+  <link name="link_1"/>
+  <link name="link_2"/>
+  <link name="tool0"/>
+  <joint name="joint_1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0.1" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.14" upper="3.14" velocity="2.5" acceleration="5"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0.2" rpy="0 0 1.57"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="0.4" velocity="0.3" acceleration="1.2"/>
+  </joint>
+  <joint name="tool_fixed" type="fixed">
+    <parent link="link_2"/>
+    <child link="tool0"/>
+    <origin xyz="0 0 0.05" rpy="0 0 0"/>
+  </joint>
+</robot>
+`;
+
+describe("URDF to NormalizedRobotModel", () => {
+  it("parses links, joints, origins, axes, limits, stable active joint names, and source hash", () => {
+    const model = loadRobotFromUrdfModel(SIMPLE_URDF, {
+      robotId: "r1",
+      baseLink: "base_link",
+      tipLink: "tool0"
+    });
+
+    expect(model).toMatchObject({
+      robotId: "r1",
+      name: "simple6",
+      baseLink: "base_link",
+      tipLink: "tool0",
+      activeJointNames: ["joint_1", "joint_2"],
+      source: { type: "urdf" }
+    });
+    expect(model.source.urdfHash).toHaveLength(64);
+    expect(model.links.map((link) => link.name)).toEqual(["base_link", "link_1", "link_2", "tool0"]);
+    expect(model.joints[0]).toMatchObject({
+      name: "joint_1",
+      type: "revolute",
+      parent: "base_link",
+      child: "link_1",
+      origin: { xyz: [0, 0, 0.1], rpy: [0, 0, 0] },
+      axis: [0, 0, 1]
+    });
+    expect(model.limits).toEqual([
+      { name: "joint_1", lower: -3.14, upper: 3.14, velocity: 2.5, acceleration: 5 },
+      { name: "joint_2", lower: 0, upper: 0.4, velocity: 0.3, acceleration: 1.2 }
+    ]);
+  });
+
+  it("applies joint order and limit overrides", () => {
+    const model = loadRobotFromUrdfModel(SIMPLE_URDF, {
+      robotId: "r1",
+      baseLink: "base_link",
+      tipLink: "tool0",
+      jointOrder: ["joint_2", "joint_1"],
+      overrideLimits: [{ name: "joint_2", velocity: 0.2 }]
+    });
+
+    expect(model.activeJointNames).toEqual(["joint_2", "joint_1"]);
+    expect(model.limits[0]).toMatchObject({ name: "joint_2", velocity: 0.2 });
+  });
+
+  it("returns structured diagnostics for disconnected base and tip links", () => {
+    let thrown: unknown;
+    try {
+      loadRobotFromUrdfModel(SIMPLE_URDF, {
+        robotId: "r1",
+        baseLink: "tool0",
+        tipLink: "base_link"
+      });
+    } catch (error) {
+      thrown = error;
+    }
+
+    expect(thrown).toBeInstanceOf(KdlStructuredError);
+    expect(thrown).toMatchObject({
+      code: "KDL_INVALID_MODEL",
+      diagnostics: [
+        {
+          severity: "error",
+          code: "KDL_INVALID_MODEL"
+        }
+      ]
+    });
+  });
+
+  it("rejects unsupported joint types", () => {
+    const urdf = SIMPLE_URDF.replace('type="prismatic"', 'type="floating"');
+    let thrown: unknown;
+    try {
+      loadRobotFromUrdfModel(urdf, {
+        robotId: "r1",
+        baseLink: "base_link",
+        tipLink: "tool0"
+      });
+    } catch (error) {
+      thrown = error;
+    }
+
+    expect(thrown).toBeInstanceOf(KdlStructuredError);
+    expect(thrown).toMatchObject({
+      code: "KDL_INVALID_MODEL",
+      message: expect.stringContaining("Unsupported joint type")
+    });
+  });
+
+  it("supports RobotHandle lifecycle through the worker runtime", async () => {
+    const runtime = createKdlWorkerRuntime();
+    await dispatchKdlRpcRequest(runtime, { id: 1, method: "init", payload: [{}] });
+    const createResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 2,
+      method: "loadRobotFromUrdf",
+      payload: [
+        SIMPLE_URDF,
+        {
+          robotId: "r1",
+          baseLink: "base_link",
+          tipLink: "tool0"
+        }
+      ]
+    });
+
+    expect(createResponse).toMatchObject({ ok: true, result: 1 });
+
+    const infoResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 3,
+      method: "getRobotInfo",
+      payload: [1]
+    });
+    expect(infoResponse.result).toMatchObject({
+      handle: 1,
+      robotId: "r1",
+      name: "simple6",
+      dof: 2,
+      jointNames: ["joint_1", "joint_2"]
+    });
+
+    const limitsResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 4,
+      method: "getJointLimits",
+      payload: [1]
+    });
+    expect(limitsResponse.result).toEqual([
+      { name: "joint_1", lower: -3.14, upper: 3.14, velocity: 2.5, acceleration: 5 },
+      { name: "joint_2", lower: 0, upper: 0.4, velocity: 0.3, acceleration: 1.2 }
+    ]);
+
+    const destroyResponse = await dispatchKdlRpcRequest(runtime, {
+      id: 5,
+      method: "destroyRobot",
+      payload: [1]
+    });
+    expect(destroyResponse.ok).toBe(true);
+
+    const afterDestroy = await dispatchKdlRpcRequest(runtime, {
+      id: 6,
+      method: "getRobotInfo",
+      payload: [1]
+    });
+    expect(afterDestroy).toMatchObject({
+      ok: false,
+      error: { code: "KDL_INVALID_HANDLE" }
+    });
+  });
+});

kdl-wasm/web/tests/post/postProcessor.test.ts

@@ -0,0 +1,88 @@
+import { describe, expect, it } from "vitest";
+import { postProcessAllBrands } from "../../src/grl/post/index.js";
+import { parseGrl } from "../../src/grl/parser/index.js";
+import { compileSemanticProgram } from "../../src/grl/semantic/index.js";
+
+const PROGRAM = `language grl 0.1
+module PostDemo
+  post_hint abb
+  const speed vj = joint(50 %)
+  const speed vl = linear(200 mm/s)
+  const zone z10 = z(10 mm)
+  target home = joint_target { joints: [0 deg] }
+  target pick = pose_target { pose: pose(500 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg) }
+  target mid = pose_target { pose: pose(550 mm, 50 mm, 0 mm, 0 deg, 0 deg, 0 deg) }
+  target place = pose_target { pose: pose(600 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg) }
+  proc main()
+    set_speed vl
+    set_zone z10
+    movej home speed vj zone fine
+    movel pick speed vl zone z10
+    movec via mid target place speed vl zone fine
+    io.do[1] = true
+    wait io.di[1] == true timeout 1 s
+    pulse io.do[2] duration 100 ms
+    alarm DONE "done"
+  end
+end
+`;
+
+function postAll() {
+  const ir = compileSemanticProgram(parseGrl(PROGRAM), {
+    startJoints: [0],
+    sampleTime: 0.004
+  });
+  return postProcessAllBrands(ir);
+}
+
+describe("GRL multi-brand postprocessor", () => {
+  it("emits stable ABB, FANUC, and KUKA golden text", () => {
+    const result = postAll();
+
+    expect(result.outputs.abb.text).toBe(`MODULE PostDemo
+  PROC main()
+    MoveJ home,v50,fine,tool0;
+    MoveL pick,v200,z10,tool0;
+    MoveC mid,place,v200,fine,tool0;
+    SetDO io.do[1],TRUE;
+    WaitUntil io . di [ 1 ] == true;
+    PulseDO io.do[2],0.100;
+    ! unsupported ALARM
+  ENDPROC
+ENDMODULE`);
+    expect(result.outputs.fanuc.text).toBe(`/PROG MAIN
+/MN
+  1: J home 50% FINE ;
+  2: L pick 200mm/sec CNT10 ;
+  3: C mid place 200mm/sec FINE ;
+  4: DO[1]=TRUE ;
+  5: WAIT (io . di [ 1 ] == true) ;
+  6: PULSE DO[2] 100ms ;
+  7: ! unsupported ALARM ;
+/END`);
+    expect(result.outputs.kuka.text).toBe(`DEF Main()
+  PTP home Vel=50%
+  LIN pick Vel=0.200m/s C_DIS
+  CIRC mid, place Vel=0.200m/s
+  $OUT[1] = TRUE
+  WAIT FOR io . di [ 1 ] == true
+  PULSE $OUT[2] 0.100
+  ! unsupported ALARM
+END`);
+  });
+
+  it("reports unsupported semantics and ignored brand hints", () => {
+    const result = postAll();
+
+    expect(result.outputs.abb.filename).toBe("PostDemo.mod");
+    expect(result.outputs.fanuc.filename).toBe("PostDemo.ls");
+    expect(result.outputs.kuka.filename).toBe("PostDemo.src");
+    expect(result.report).toEqual([
+      expect.objectContaining({ brand: "abb", code: "GRL_POST_UNSUPPORTED", message: expect.stringContaining("ALARM") }),
+      expect.objectContaining({ brand: "fanuc", code: "GRL_POST_HINT_IGNORED" }),
+      expect.objectContaining({ brand: "fanuc", code: "GRL_POST_UNSUPPORTED", message: expect.stringContaining("ALARM") }),
+      expect.objectContaining({ brand: "kuka", code: "GRL_POST_HINT_IGNORED" }),
+      expect.objectContaining({ brand: "kuka", code: "GRL_POST_UNSUPPORTED", message: expect.stringContaining("ALARM") })
+    ]);
+  });
+});

kdl-wasm/web/tsconfig.json

@@ -0,0 +1,16 @@
+{
+  "compilerOptions": {
+    "target": "ES2022",
+    "module": "NodeNext",
+    "moduleResolution": "NodeNext",
+    "strict": true,
+    "noUncheckedIndexedAccess": true,
+    "exactOptionalPropertyTypes": true,
+    "esModuleInterop": true,
+    "forceConsistentCasingInFileNames": true,
+    "skipLibCheck": true,
+    "types": ["node", "vitest/globals"],
+    "lib": ["ES2022", "DOM"]
+  },
+  "include": ["src/**/*.ts", "tests/**/*.ts"]
+}

kdl-wasm/web/vitest.config.ts

@@ -0,0 +1,9 @@
+import { defineConfig } from "vitest/config";
+
+export default defineConfig({
+  test: {
+    environment: "node",
+    include: ["kdl-wasm/web/tests/**/*.test.ts"],
+    globals: true
+  }
+});

package.json

@@ -0,0 +1,18 @@
+{
+  "name": "kdl-work",
+  "version": "0.1.0",
+  "private": true,
+  "type": "module",
+  "scripts": {
+    "test": "vitest run --config kdl-wasm/web/vitest.config.ts",
+    "typecheck": "tsc -p kdl-wasm/web/tsconfig.json --noEmit"
+  },
+  "devDependencies": {
+    "@types/node": "^22.15.30",
+    "typescript": "^5.8.3",
+    "vitest": "^3.2.4"
+  },
+  "dependencies": {
+    "fast-xml-parser": "^5.9.3"
+  }
+}

work/doc/通用机器人项目主要实施步骤.md

@@ -0,0 +1,530 @@
+# 通用机器人项目主要实施步骤
+
+版本：0.1  
+日期：2026-06-27  
+来源：`/home/meswork/kdl_work/work/working1`  
+用途：作为阅读参考，概览项目从 KDL WASM 计算接口到 GRL 编译与后处理的主要实施步骤。
+
+## 1. 实施主线
+
+项目实施分两条主线推进：
+
+1. KDL WASM 计算接口线
+   - 任务编号：`KW-001` 到 `KW-013`
+   - 对标：`KDL_WASM计算接口设计.md`
+   - 目标：提供稳定的 Worker API、机器人模型、运动学、轨迹规划、Path 验证、诊断和性能能力。
+
+2. GRL 编程语法线
+   - 任务编号：`KW-100` 到 `KW-112`
+   - 对标：`通用机器人编程语法规范.md`
+   - 目标：实现 GRL lexer/parser、AST、语义检查、IR、Path/Operation、IO/wait、后处理和自动生成。
+
+两条线的集成点是：GRL 的 `movej/movel/movec/path/operation` 编译为 KDL WASM 的 `MoveJRequest/MoveLRequest/MoveCRequest/PathPlanRequest`，由 KDL WASM 返回轨迹和诊断。
+
+## 2. 推荐工程结构
+
+```text
+/home/meswork/kdl_work/
+  orocos_kinematics_dynamics/
+    orocos_kdl/
+  kdl-wasm/
+    CMakeLists.txt
+    bindings/
+      kdl_c_api.cpp
+      kdl_embind.cpp
+    web/
+      src/
+        kdl/
+          kdlClient.ts
+          kdl.worker.ts
+          rpc.ts
+          types.ts
+        robot/
+          urdfParser.ts
+          normalizedRobotModel.ts
+        grl/
+          lexer/
+          parser/
+          ast/
+          semantic/
+          ir/
+          generator/
+        post/
+          abb/
+          fanuc/
+          kuka/
+      tests/
+        kdl/
+        grl/
+        integration/
+        post/
+```
+
+## 3. 阶段 1：基础工程、Worker RPC 和 GRL 词法骨架
+
+关联任务：`KW-001`、`KW-100`、`KW-101`
+
+目标：
+
+1. 建立 `kdl-wasm` wrapper 工程。
+2. 使用 Emscripten 编译 Orocos KDL，生成 `kdl.js`、`kdl.wasm`、`kdl.d.ts`。
+3. 建立 `KdlRpcRequest/KdlRpcResponse` 和 `KdlWorkerClient`。
+4. KDL WASM 只在 Worker 中运行。
+5. 建立 GRL lexer，支持注释、标识符、字符串、数字、单位和保留关键字。
+6. 建立 GRL parser 和 AST 骨架，支持 `language grl 0.1`、`module`、`import`、顶层声明。
+
+输入：
+
+1. Orocos KDL 源码。
+2. GRL 源文件。
+
+输出：
+
+1. KDL WASM 构建产物。
+2. Worker RPC 基础 API。
+3. GRL Tokens 和 AST。
+
+验收重点：
+
+1. `init()` 返回 `KdlRuntimeInfo`。
+2. Worker 请求有唯一 id。
+3. 错误返回 `{ code, message, diagnostics }`。
+4. GRL 最小文件可解析。
+5. AST 保留 source range、注释位置、单位原文和规范化值。
+
+## 4. 阶段 2：机器人模型、GRL 数据声明和共享类型
+
+关联任务：`KW-002`、`KW-102`
+
+目标：
+
+1. TypeScript 解析 URDF XML。
+2. 检查 link/joint 连通性和单位。
+3. 生成 `NormalizedRobotModel`。
+4. WASM 根据标准模型构造 KDL `Tree/Chain`。
+5. 创建 `RobotHandle` 并缓存求解器。
+6. GRL 支持 `const/var/persistent`、基础类型、机器人类型。
+7. GRL 支持 `tool/frame/load/joint_target/pose_target/pose/poseq/robot_config/ext_axis/speed/zone/offset/offset_in`。
+
+输入：
+
+1. `robot.urdf`
+2. GRL 中的 tool/frame/target/speed/zone 声明。
+
+输出：
+
+1. `NormalizedRobotModel`
+2. `RobotHandle`
+3. `JointTarget`
+4. `PoseTarget`
+5. `SpeedSpec`
+6. `ZoneSpec`
+7. `OffsetSpec`
+
+验收重点：
+
+1. URDF joint 顺序稳定。
+2. base/tip 不连通返回 `KDL_INVALID_MODEL`。
+3. `getRobotInfo/getJointLimits` 正确。
+4. GRL target 能编译为 KDL 共享数据结构。
+5. speed/zone 能编译为 `SpeedSpec/ZoneSpec`。
+
+## 5. 阶段 3：KDL 基础运动学和 GRL 运动指令
+
+关联任务：`KW-003` 到 `KW-006`、`KW-103`
+
+目标：
+
+1. 实现 KDL `fk`、`fkAllLinks`。
+2. 实现 KDL `ik`、`ikBatch`。
+3. 实现 KDL `jacobian`、`checkSingularity`、`checkJointLimits`、`checkReachability`、`checkReachabilityBatch`、`checkVelocityLimits`。
+4. 实现 KDL `normalizePose`、`composePose`、`inversePose`、`applyToolAndFrame`、`applyOffset`。
+5. GRL 支持 `movej/movel/movec` 和 `set_tool/set_frame/set_speed/set_zone`。
+6. GRL 运动指令编译为 `MotionInstruction`，再映射为 KDL request。
+
+输入：
+
+1. `RobotHandle`
+2. `JointTarget`
+3. `PoseTarget`
+4. `tool/frame/speed/zone`
+5. GRL 运动语句。
+
+输出：
+
+1. FK/TCP 位姿。
+2. IK 关节解。
+3. Jacobian 和奇异性诊断。
+4. `MotionInstruction`
+5. `MoveJRequest/MoveLRequest/MoveCRequest`
+
+验收重点：
+
+1. FK 与 golden 数据或原生 KDL 对比在容差内。
+2. IK 后 FK 回代误差小于容差。
+3. `ikBatch` 返回顺序与输入顺序一致。
+4. 奇异点返回 `KDL_SINGULARITY` warning。
+5. `offset`、`offset_in tool`、`offset_in frame` 结果正确。
+6. GRL 编译到 IR 前能解析确定的 tool、frame、speed、zone。
+
+## 6. 阶段 4：梯形速度和三类基础运动轨迹
+
+关联任务：`KW-007` 到 `KW-010`
+
+目标：
+
+1. 实现 `makeTrapProfile` 和 `sampleTrapProfile`。
+2. 实现 `planMoveJ`。
+3. 实现 `planMoveL`。
+4. 实现 `planMoveC`。
+
+MOVEJ 重点：
+
+1. `joint_target` 直接作为 `qEnd`。
+2. `pose_target` 先 IK 得到 `qEnd`。
+3. 各关节同起同停。
+4. 每个采样点 FK 输出 TCP。
+
+MOVEL 重点：
+
+1. 起点由 `startJoints` FK 得到。
+2. 目标点应用 tool/frame/offset。
+3. 生成 TCP 直线采样。
+4. 逐点 IK，seed 使用上一采样点关节。
+
+MOVEC 重点：
+
+1. 起点由当前关节 FK 得到。
+2. via 和 target 应用 tool/frame/offset。
+3. 检查三点重合或近似共线。
+4. 计算圆心、半径、法向、角度、弧长。
+5. `TrajectoryResult.meta.circle` 包含 `CirclePlanMeta`。
+
+输入：
+
+1. `MoveJRequest`
+2. `MoveLRequest`
+3. `MoveCRequest`
+4. `TrapProfileOptions`
+
+输出：
+
+1. `TrapProfileResult`
+2. `TrajectoryResult`
+3. `MotionDiagnostic`
+
+验收重点：
+
+1. 梯形速度曲线长距离为 trapezoid，短距离为 triangle。
+2. 采样首点 `s=0`，末点 `s=1`，`s` 单调递增。
+3. MOVEJ 关节同起同停。
+4. MOVEL TCP 直线误差小于容差。
+5. MOVEC 圆弧元数据正确。
+6. 三点共线返回 `KDL_ARC_DEGENERATE`。
+7. P0 中非 fine zone 返回 `KDL_ZONE_APPROXIMATED`。
+
+## 7. 阶段 5：Path、Operation 和批量路径验证
+
+关联任务：`KW-011`、`KW-104`、`KW-105`
+
+目标：
+
+1. GRL 支持 `path/defaults/source/point/event/run_path`。
+2. GRL 支持 `operation/kind/path/process/start_action/end_action/run_operation`。
+3. Path 编译为 `PathPlanRequest`。
+4. Operation 展开为 start action + path + end action。
+5. KDL 实现 `planPath` 和 `validatePath`。
+
+输入：
+
+1. GRL Path。
+2. GRL Operation。
+3. `MotionSegmentRequest[]`
+4. `PathPlanRequest`
+
+输出：
+
+1. `PathPlanResult`
+2. `PathValidationResult`
+3. Path source map。
+4. Operation 展开结果。
+
+验收重点：
+
+1. 空 Path 报错。
+2. 重复 point 名称报错。
+3. `run_path` 可生成 `PathPlanRequest`。
+4. `planPath` 按 segment 顺序规划。
+5. 上一段终点关节作为下一段起点。
+6. 轨迹点合并后重新编号和更新时间。
+7. 保留 `segmentId/targetId/sourceMap`。
+8. `run_operation` 展开后 KDL 只处理 motion segment。
+
+## 8. 阶段 6：IO、wait、pulse 和流程控制
+
+关联任务：`KW-106`、`KW-107`
+
+目标：
+
+1. 支持 `io.di/do/ai/ao/gi/go/ri/ro`。
+2. 支持 `io.alias.*`。
+3. 支持 IO 赋值。
+4. 支持 `wait` 条件、`timeout`、`on_timeout alarm/call`。
+5. 支持 `all/any/rising/falling/changed`。
+6. 支持 `pulse`。
+7. 支持 `if/elseif/else`、`while`、`for`、`switch/case/default`。
+8. 支持 `break/continue/label/jump`。
+
+输入：
+
+1. IO map。
+2. GRL IO/wait/pulse 语句。
+3. GRL 流程控制语句。
+
+输出：
+
+1. `IoInstruction`
+2. `WaitInstruction`
+3. `BranchInstruction`
+4. pulse IR。
+
+验收重点：
+
+1. IO 地址按 io_map 或允许范围校验。
+2. wait 条件可编译。
+3. pulse trace 必须包含置位和复位事件。
+4. 条件表达式必须为 bool。
+5. `break/continue` 位置合法。
+6. `switch case` 为常量表达式且不重复。
+7. `jump` 不能跳入非法块结构。
+8. IO、wait、pulse 和流程控制不直接进入 KDL。
+
+## 9. 阶段 7：proc、func、异常、报警、中断和多任务语法
+
+关联任务：`KW-108`、`KW-109`
+
+目标：
+
+1. 支持 `proc`、`func`、`call`、`return`。
+2. 支持参数方向 `in/out/inout`。
+3. 实现作用域和名称解析。
+4. 对递归给出 warning 或 error。
+5. 支持 `alarm`、`raise`、`try/catch/finally`。
+6. P1 语法保留 `trap/interrupt/enable/disable/task cycle`。
+
+输入：
+
+1. GRL 子程序和函数。
+2. GRL 异常和中断语法。
+
+输出：
+
+1. `CallInstruction`
+2. `ReturnInstruction`
+3. `AlarmInstruction`
+4. 异常处理 IR。
+5. P1 语法 AST。
+
+验收重点：
+
+1. `out` 参数所有正常返回路径赋值。
+2. `inout/out` 实参必须为左值。
+3. `func` 所有正常返回路径返回兼容类型。
+4. `func` 默认不允许执行运动、wait、pulse、run_path、run_operation。
+5. P0 支持 alarm/raise/try/catch 基础语义。
+6. P1 未实现语义必须在后处理或运行时报明确诊断。
+
+## 10. 阶段 8：语义检查、IR、source map 和 KDL 集成
+
+关联任务：`KW-110`、`KW-012`
+
+目标：
+
+1. 实现 Symbol Table。
+2. 实现 Semantic Analyzer。
+3. 生成 Executable IR。
+4. 保留 source map。
+5. 完成 GRL 到 KDL request 的编译桥接。
+6. KDL 实现 `estimateCycleTime` 和 `resampleTrajectory`。
+7. 建立统一诊断分级：error、warning、info。
+
+必须检查：
+
+1. 标识符重复或未声明。
+2. 类型是否匹配。
+3. 目标点类型是否适合运动指令。
+4. `movec` 是否缺少 via 点。
+5. 圆弧三点是否重合或共线。
+6. 工具、坐标系、速度、过渡是否可解析。
+7. 单位是否正确。
+8. IO 地址是否存在。
+9. 子程序参数数量和类型是否匹配。
+10. `out` 参数是否赋值。
+11. `func` 返回路径是否正确。
+12. `break/continue/jump` 是否合法。
+13. Path 是否为空或点名重复。
+14. Operation 是否引用不存在的 Path。
+15. 目标点是否可达。
+16. 关节是否超限。
+17. 后处理目标品牌是否支持所用语义。
+
+输入：
+
+1. AST。
+2. Symbol Table。
+3. `RobotHandle`。
+4. KDL 检查结果。
+
+输出：
+
+1. Executable IR。
+2. KDL request。
+3. `CycleTimeResult`。
+4. `MotionDiagnostic`。
+
+验收重点：
+
+1. 完整 GRL 示例可编译为 IR。
+2. IR 运动指令可映射到 KDL request。
+3. source map 能定位 GRL 行列、path point、operation。
+4. `estimateCycleTime` 只计算运动时间。
+5. `resampleTrajectory` 时间和点序稳定。
+6. 所有错误返回结构化诊断。
+
+## 11. 阶段 9：三品牌后处理原型
+
+关联任务：`KW-111`
+
+目标：
+
+1. ABB RAPID 后处理。
+2. FANUC LS/TP 风格后处理。
+3. KUKA KRL 后处理。
+4. 支持 `post_hint` 和 `@brand.*`。
+5. 生成后处理转换报告。
+
+输入：
+
+1. Executable IR。
+2. target/tool/frame/speed/zone 数据。
+3. post profile。
+4. brand metadata。
+
+输出：
+
+1. ABB RAPID 程序。
+2. FANUC LS/TP 风格文本。
+3. KUKA KRL 程序。
+4. 转换报告。
+
+验收重点：
+
+1. `movej/movel/movec` 三品牌 golden file 通过。
+2. target/tool/frame/speed/zone 映射正确。
+3. IO/wait 基础映射正确。
+4. `post_hint` 和 `@brand.*` 只影响指定品牌。
+5. 不支持语义进入转换报告，不能静默丢失。
+
+## 12. 阶段 10：自动生成、往返和性能优化
+
+关联任务：`KW-112`、`KW-013`
+
+目标：
+
+1. 自动生成 GRL 时优先生成 target/path/operation。
+2. 点名稳定。
+3. path defaults 和单点 override 稳定。
+4. source metadata 稳定。
+5. 支持 compact/expanded 输出风格。
+6. 生成 GRL 可再解析回等价对象。
+7. KDL 底层导出稳定 C ABI。
+8. 高频 FK/IK 增加 TypedArray 版本。
+9. RobotHandle 缓存 FK、IK、Jacobian solver。
+10. 长路径分块计算或提供进度。
+
+输入：
+
+1. 自动编程对象。
+2. Path/Operation 数据。
+3. KDL 批量计算输入。
+
+输出：
+
+1. 稳定 GRL 文本。
+2. 可回读 AST/IR。
+3. C ABI / Embind API。
+4. TypedArray 批量接口。
+5. 性能报告。
+
+验收重点：
+
+1. 同一输入重复生成结果一致。
+2. 生成文本可 diff。
+3. 生成文本可解析、语义检查并后处理。
+4. 单机器人 6 轴初始化小于 1 秒。
+5. 单次 FK 小于 1 ms。
+6. 单次 IK 平均小于 10 ms。
+7. 1000 个目标点批量可达性检查在可接受交互时间内完成。
+8. 10 秒轨迹按 4 ms 采样约 2500 点可稳定生成和回放。
+
+## 13. 推荐集成顺序
+
+```text
+1. KW-001 + KW-100 + KW-101
+   基础工程、Worker RPC、Lexer/Parser 骨架。
+
+2. KW-002 + KW-102
+   URDF/标准模型和 GRL target/tool/frame/speed/zone。
+
+3. KW-003 到 KW-006 + KW-103
+   运动指令编译到 KDL FK/IK/变换。
+
+4. KW-007 到 KW-010
+   梯形速度、MOVEJ、MOVEL、MOVEC。
+
+5. KW-104 + KW-011
+   Path 编译为 PathPlanRequest，KDL 生成整条路径。
+
+6. KW-105 + KW-011
+   Operation 展开后复用 Path 规划。
+
+7. KW-106 到 KW-110
+   完成 P0 语义检查和 IR。
+
+8. KW-111
+   三品牌后处理原型。
+
+9. KW-112 + KW-013
+   自动生成、往返、性能和批量优化。
+```
+
+## 14. 常用验证命令
+
+实际命令以工程 `package.json` 和 CMake 配置为准。每个阶段至少应提供等效命令：
+
+```bash
+npm run typecheck
+npm run test -- grl
+npm run test -- kdl
+npm run test -- integration
+npm run test -- post
+npm run build
+```
+
+KDL WASM 构建：
+
+```bash
+cd /home/meswork/kdl_work
+emcmake cmake -S kdl-wasm -B kdl-wasm/build-wasm \
+  -DCMAKE_BUILD_TYPE=Release \
+  -DKDL_SOURCE_DIR=/home/meswork/kdl_work/orocos_kinematics_dynamics/orocos_kdl
+cmake --build kdl-wasm/build-wasm -j16
+```
+
+## 15. 阅读建议
+
+1. 先读本文，理解项目主要阶段和集成顺序。
+2. 再读 `通用机器人项目功能与数据流程图.md`，理解功能流和数据流。
+3. 需要接口细节时读 `KDL_WASM计算接口设计.md`。
+4. 需要语言语法和后处理细节时读 `通用机器人编程语法规范.md`。
+5. 需要执行级任务和证据时读 `/home/meswork/kdl_work/work/working1` 下的实施文档。

work/doc/通用机器人项目功能与数据流程图-png/flow-01.mmd

@@ -0,0 +1,58 @@
+flowchart TD
+  A[项目资源] --> A1[robots/robot.urdf]
+  A --> A2[targets/*.json]
+  A --> A3[paths/*.json]
+  A --> A4[operations/*.json]
+  A --> A5[programs/*.grl]
+  A --> A6[io/io_map.json]
+  A --> A7[post/*.profile.json]
+
+  A5 --> B[GRL Lexer]
+  B --> C[GRL Parser]
+  C --> D[GRL AST]
+  D --> E[Symbol Table]
+  E --> F[Semantic Analyzer]
+
+  A1 --> G[URDF Parser]
+  G --> H[NormalizedRobotModel]
+  H --> I[KDL createRobotFromModel]
+  I --> J[RobotHandle]
+
+  F --> K[Executable IR]
+  K --> L{IR 指令类型}
+
+  L -->|MotionInstruction| M[生成 MotionSegmentRequest]
+  L -->|run_path| N[展开 Path points/events]
+  L -->|run_operation| O[展开 start_action + path + end_action]
+  L -->|IO / wait / pulse| P[虚拟控制器 IO Service]
+  L -->|if/for/switch/call/return| Q[虚拟控制器流程执行]
+  L -->|alarm / raise / try/catch| R[虚拟控制器报警与异常处理]
+
+  N --> M
+  O --> N
+
+  M --> S[KdlWorkerClient]
+  S --> T[kdl.worker.ts]
+  T --> U[KDL WASM API]
+
+  U --> U1[planMoveJ]
+  U --> U2[planMoveL]
+  U --> U3[planMoveC]
+  U --> U4[planPath]
+  U --> U5[validatePath]
+
+  U1 --> V[TrajectoryResult]
+  U2 --> V
+  U3 --> V
+  U4 --> W[PathPlanResult]
+  U5 --> X[PathValidationResult]
+
+  V --> Y[Motion Queue / 轨迹回放]
+  W --> Y
+  X --> Z[可达性与诊断报告]
+
+  K --> AA[Post Processor]
+  AA --> AA1[ABB RAPID]
+  AA --> AA2[FANUC LS/TP 风格文本]
+  AA --> AA3[KUKA KRL]
+  AA --> AA4[转换报告]

work/doc/通用机器人项目功能与数据流程图-png/flow-02.mmd

@@ -0,0 +1,42 @@
+flowchart TD
+  A[GRL Source .grl] --> B[Lexer]
+  B --> C[Tokens]
+  C --> D[Parser]
+  D --> E[AST]
+  E --> F[Symbol Table]
+  F --> G[Semantic Analyzer]
+
+  G --> G1[名称解析]
+  G --> G2[类型检查]
+  G --> G3[单位规范化]
+  G --> G4[tool/frame/speed/zone 解析]
+  G --> G5[Path/Operation 引用检查]
+  G --> G6[IO 地址检查]
+  G --> G7[运动目标可达性检查]
+  G --> G8[后处理能力检查]
+
+  G1 --> H[Executable IR]
+  G2 --> H
+  G3 --> H
+  G4 --> H
+  G5 --> H
+  G6 --> H
+  G7 --> H
+  G8 --> H
+
+  H --> I{IR}
+  I -->|MotionInstruction| J[Motion Request Builder]
+  I -->|WaitInstruction| K[Wait Registry]
+  I -->|IoInstruction| L[IO Image]
+  I -->|BranchInstruction| M[Program Counter]
+  I -->|CallInstruction| N[Call Stack]
+  I -->|AlarmInstruction| O[Alarm Queue]
+  I -->|ReturnInstruction| P[Scope/Call Stack]
+
+  J --> Q[KDL WASM]
+  Q --> R[TrajectoryResult / Diagnostics]
+  R --> S[Motion Queue]
+
+  H --> T[Post Processor]
+  T --> U[品牌程序]
+  T --> V[转换报告]

work/doc/通用机器人项目功能与数据流程图-png/flow-03.mmd

@@ -0,0 +1,48 @@
+flowchart TD
+  A[NormalizedRobotModel] --> B[createRobotFromModel]
+  B --> C[RobotHandle]
+  C --> D[KDL Chain / Solvers Cache]
+
+  E[Motion Request] --> F{motion}
+  F -->|MOVEJ| G[planMoveJ]
+  F -->|MOVEL| H[planMoveL]
+  F -->|MOVEC| I[planMoveC]
+  F -->|PATH| J[planPath / validatePath]
+
+  G --> G1[校验 startJoints 和限位]
+  G1 --> G2{target 类型}
+  G2 -->|joint_target| G3[qEnd = target.joints]
+  G2 -->|pose_target| G4[IK 求 qEnd]
+  G3 --> G5[关节差分]
+  G4 --> G5
+  G5 --> G6[梯形速度曲线]
+  G6 --> G7[采样关节位置/速度/加速度]
+  G7 --> G8[FK 输出 TCP]
+  G8 --> R[TrajectoryResult]
+
+  H --> H1[FK 得到起点 TCP]
+  H1 --> H2[applyToolAndFrame / applyOffset]
+  H2 --> H3[直线位置和姿态插补]
+  H3 --> H4[梯形速度曲线]
+  H4 --> H5[逐点 IK]
+  H5 --> H6[限位/速度/奇异性检查]
+  H6 --> R
+
+  I --> I1[FK 得到起点 TCP]
+  I1 --> I2[via/target 位姿变换]
+  I2 --> I3[三点退化检查]
+  I3 --> I4[圆心/半径/法向/弧长]
+  I4 --> I5[圆弧采样]
+  I5 --> I6[逐点 IK]
+  I6 --> I7[圆弧误差和限位检查]
+  I7 --> R
+
+  J --> J1[按 segment 顺序规划]
+  J1 --> J2[上一段终点关节作为下一段起点]
+  J2 --> J3[合并轨迹点和诊断]
+  J3 --> J4[保留 sourceMap]
+  J4 --> P[PathPlanResult / PathValidationResult]
+
+  R --> D1[MotionDiagnostic]
+  P --> D1
+  D1 --> D2[error / warning / info]

work/doc/通用机器人项目功能与数据流程图-png/flow-04.mmd

@@ -0,0 +1,92 @@
+flowchart LR
+  subgraph Project[项目输入数据]
+    A1[robot.urdf]
+    A2[main.grl]
+    A3[targets / paths / operations]
+    A4[io_map.json]
+    A5[post profile]
+  end
+
+  subgraph Compile[TypeScript 编译层]
+    B1[URDF Parser]
+    B2[GRL Lexer/Parser]
+    B3[AST]
+    B4[Symbol Table]
+    B5[Semantic Analyzer]
+    B6[Executable IR]
+    B7[Motion Request Builder]
+  end
+
+  subgraph KDL[KDL Worker / WASM]
+    C1[KdlRpcRequest]
+    C2[RobotHandle]
+    C3[KDL Solvers]
+    C4[FK / IK / Jacobian]
+    C5[Trap Profile]
+    C6[Motion Planner]
+    C7[KdlRpcResponse]
+  end
+
+  subgraph Runtime[虚拟控制器运行层]
+    D1[Program Counter]
+    D2[Call Stack]
+    D3[Scope Stack]
+    D4[Motion Queue]
+    D5[IO Image]
+    D6[Wait Registry]
+    D7[Alarm Queue]
+    D8[Trace Buffer]
+  end
+
+  subgraph Output[输出数据]
+    E1[TrajectoryResult]
+    E2[PathPlanResult]
+    E3[PathValidationResult]
+    E4[MotionDiagnostic]
+    E5[CycleTimeResult]
+    E6[ABB/FANUC/KUKA 程序]
+    E7[转换报告]
+  end
+
+  A1 --> B1
+  B1 -->|NormalizedRobotModel| C1
+  C1 --> C2
+  C2 --> C3
+
+  A2 --> B2
+  A3 --> B5
+  A4 --> B5
+  B2 --> B3
+  B3 --> B4
+  B4 --> B5
+  B5 --> B6
+
+  B6 -->|MotionInstruction| B7
+  B7 -->|MoveJRequest / MoveLRequest / MoveCRequest / PathPlanRequest| C1
+  C1 --> C4
+  C1 --> C5
+  C4 --> C6
+  C5 --> C6
+  C6 --> C7
+
+  C7 --> E1
+  C7 --> E2
+  C7 --> E3
+  C7 --> E4
+  C7 --> E5
+
+  B6 --> D1
+  B6 --> D2
+  B6 --> D3
+  E1 --> D4
+  E2 --> D4
+  B6 -->|IO / wait / pulse| D5
+  B6 -->|wait| D6
+  E4 --> D7
+  D4 --> D8
+  D5 --> D8
+  D6 --> D8
+
+  B6 -->|IR + post profile| A5
+  A5 --> E6
+  A5 --> E7

work/doc/通用机器人项目功能与数据流程图-png/flow-05.mmd

@@ -0,0 +1,16 @@
+flowchart TD
+  A[GRL Parser] -->|语法错误| D[Diagnostic]
+  B[Semantic Analyzer] -->|类型/单位/引用/IO/后处理错误| D
+  C[KDL WASM] -->|IK/限位/奇异/轨迹错误| D
+  E[Post Processor] -->|不支持或近似转换| D
+
+  D --> F{severity}
+  F -->|error| G[阻止编译或进入 alarm/hold]
+  F -->|warning| H[允许继续但写入报告]
+  F -->|info| I[写入 trace 或调试信息]
+
+  D --> J[sourceMap]
+  J --> J1[GRL file/line/column]
+  J --> J2[pathId/pathPointId]
+  J --> J3[operationId]
+  J --> J4[brandSource]

work/doc/通用机器人项目功能与数据流程图.md

@@ -0,0 +1,357 @@
+# 通用机器人项目功能与数据流程图
+
+版本：0.1  
+日期：2026-06-27  
+对标文档：
+
+1. `通用机器人编程语法规范.md`
+2. `KDL_WASM计算接口设计.md`
+
+## 1. 范围说明
+
+本文描述 GRL 通用机器人程序语言和 KDL WASM 计算接口之间的总体功能流程和数据传递流程。
+
+核心边界：
+
+1. GRL 层负责程序文本、语法、语义、IR、Path、Operation、IO、wait、后处理。
+2. KDL WASM 层负责机器人模型、位姿变换、FK、IK、Jacobian、梯形速度、MOVEJ、MOVEL、MOVEC、Path 轨迹和诊断。
+3. KDL WASM 不解析 GRL，不执行流程控制、变量、IO、wait、子程序和异常逻辑。
+4. TypeScript 编译器和虚拟控制器把 GRL/IR 转换为 KDL 可执行的运动请求。
+
+## 2. 总体功能流程图
+
+```mermaid
+flowchart TD
+  A[项目资源] --> A1[robots/robot.urdf]
+  A --> A2[targets/*.json]
+  A --> A3[paths/*.json]
+  A --> A4[operations/*.json]
+  A --> A5[programs/*.grl]
+  A --> A6[io/io_map.json]
+  A --> A7[post/*.profile.json]
+
+  A5 --> B[GRL Lexer]
+  B --> C[GRL Parser]
+  C --> D[GRL AST]
+  D --> E[Symbol Table]
+  E --> F[Semantic Analyzer]
+
+  A1 --> G[URDF Parser]
+  G --> H[NormalizedRobotModel]
+  H --> I[KDL createRobotFromModel]
+  I --> J[RobotHandle]
+
+  F --> K[Executable IR]
+  K --> L{IR 指令类型}
+
+  L -->|MotionInstruction| M[生成 MotionSegmentRequest]
+  L -->|run_path| N[展开 Path points/events]
+  L -->|run_operation| O[展开 start_action + path + end_action]
+  L -->|IO / wait / pulse| P[虚拟控制器 IO Service]
+  L -->|if/for/switch/call/return| Q[虚拟控制器流程执行]
+  L -->|alarm / raise / try/catch| R[虚拟控制器报警与异常处理]
+
+  N --> M
+  O --> N
+
+  M --> S[KdlWorkerClient]
+  S --> T[kdl.worker.ts]
+  T --> U[KDL WASM API]
+
+  U --> U1[planMoveJ]
+  U --> U2[planMoveL]
+  U --> U3[planMoveC]
+  U --> U4[planPath]
+  U --> U5[validatePath]
+
+  U1 --> V[TrajectoryResult]
+  U2 --> V
+  U3 --> V
+  U4 --> W[PathPlanResult]
+  U5 --> X[PathValidationResult]
+
+  V --> Y[Motion Queue / 轨迹回放]
+  W --> Y
+  X --> Z[可达性与诊断报告]
+
+  K --> AA[Post Processor]
+  AA --> AA1[ABB RAPID]
+  AA --> AA2[FANUC LS/TP 风格文本]
+  AA --> AA3[KUKA KRL]
+  AA --> AA4[转换报告]
+```
+
+## 3. GRL 编译与执行流程图
+
+```mermaid
+flowchart TD
+  A[GRL Source .grl] --> B[Lexer]
+  B --> C[Tokens]
+  C --> D[Parser]
+  D --> E[AST]
+  E --> F[Symbol Table]
+  F --> G[Semantic Analyzer]
+
+  G --> G1[名称解析]
+  G --> G2[类型检查]
+  G --> G3[单位规范化]
+  G --> G4[tool/frame/speed/zone 解析]
+  G --> G5[Path/Operation 引用检查]
+  G --> G6[IO 地址检查]
+  G --> G7[运动目标可达性检查]
+  G --> G8[后处理能力检查]
+
+  G1 --> H[Executable IR]
+  G2 --> H
+  G3 --> H
+  G4 --> H
+  G5 --> H
+  G6 --> H
+  G7 --> H
+  G8 --> H
+
+  H --> I{IR}
+  I -->|MotionInstruction| J[Motion Request Builder]
+  I -->|WaitInstruction| K[Wait Registry]
+  I -->|IoInstruction| L[IO Image]
+  I -->|BranchInstruction| M[Program Counter]
+  I -->|CallInstruction| N[Call Stack]
+  I -->|AlarmInstruction| O[Alarm Queue]
+  I -->|ReturnInstruction| P[Scope/Call Stack]
+
+  J --> Q[KDL WASM]
+  Q --> R[TrajectoryResult / Diagnostics]
+  R --> S[Motion Queue]
+
+  H --> T[Post Processor]
+  T --> U[品牌程序]
+  T --> V[转换报告]
+```
+
+## 4. KDL WASM 计算流程图
+
+```mermaid
+flowchart TD
+  A[NormalizedRobotModel] --> B[createRobotFromModel]
+  B --> C[RobotHandle]
+  C --> D[KDL Chain / Solvers Cache]
+
+  E[Motion Request] --> F{motion}
+  F -->|MOVEJ| G[planMoveJ]
+  F -->|MOVEL| H[planMoveL]
+  F -->|MOVEC| I[planMoveC]
+  F -->|PATH| J[planPath / validatePath]
+
+  G --> G1[校验 startJoints 和限位]
+  G1 --> G2{target 类型}
+  G2 -->|joint_target| G3[qEnd = target.joints]
+  G2 -->|pose_target| G4[IK 求 qEnd]
+  G3 --> G5[关节差分]
+  G4 --> G5
+  G5 --> G6[梯形速度曲线]
+  G6 --> G7[采样关节位置/速度/加速度]
+  G7 --> G8[FK 输出 TCP]
+  G8 --> R[TrajectoryResult]
+
+  H --> H1[FK 得到起点 TCP]
+  H1 --> H2[applyToolAndFrame / applyOffset]
+  H2 --> H3[直线位置和姿态插补]
+  H3 --> H4[梯形速度曲线]
+  H4 --> H5[逐点 IK]
+  H5 --> H6[限位/速度/奇异性检查]
+  H6 --> R
+
+  I --> I1[FK 得到起点 TCP]
+  I1 --> I2[via/target 位姿变换]
+  I2 --> I3[三点退化检查]
+  I3 --> I4[圆心/半径/法向/弧长]
+  I4 --> I5[圆弧采样]
+  I5 --> I6[逐点 IK]
+  I6 --> I7[圆弧误差和限位检查]
+  I7 --> R
+
+  J --> J1[按 segment 顺序规划]
+  J1 --> J2[上一段终点关节作为下一段起点]
+  J2 --> J3[合并轨迹点和诊断]
+  J3 --> J4[保留 sourceMap]
+  J4 --> P[PathPlanResult / PathValidationResult]
+
+  R --> D1[MotionDiagnostic]
+  P --> D1
+  D1 --> D2[error / warning / info]
+```
+
+## 5. 数据传递流程图
+
+```mermaid
+flowchart LR
+  subgraph Project[项目输入数据]
+    A1[robot.urdf]
+    A2[main.grl]
+    A3[targets / paths / operations]
+    A4[io_map.json]
+    A5[post profile]
+  end
+
+  subgraph Compile[TypeScript 编译层]
+    B1[URDF Parser]
+    B2[GRL Lexer/Parser]
+    B3[AST]
+    B4[Symbol Table]
+    B5[Semantic Analyzer]
+    B6[Executable IR]
+    B7[Motion Request Builder]
+  end
+
+  subgraph KDL[KDL Worker / WASM]
+    C1[KdlRpcRequest]
+    C2[RobotHandle]
+    C3[KDL Solvers]
+    C4[FK / IK / Jacobian]
+    C5[Trap Profile]
+    C6[Motion Planner]
+    C7[KdlRpcResponse]
+  end
+
+  subgraph Runtime[虚拟控制器运行层]
+    D1[Program Counter]
+    D2[Call Stack]
+    D3[Scope Stack]
+    D4[Motion Queue]
+    D5[IO Image]
+    D6[Wait Registry]
+    D7[Alarm Queue]
+    D8[Trace Buffer]
+  end
+
+  subgraph Output[输出数据]
+    E1[TrajectoryResult]
+    E2[PathPlanResult]
+    E3[PathValidationResult]
+    E4[MotionDiagnostic]
+    E5[CycleTimeResult]
+    E6[ABB/FANUC/KUKA 程序]
+    E7[转换报告]
+  end
+
+  A1 --> B1
+  B1 -->|NormalizedRobotModel| C1
+  C1 --> C2
+  C2 --> C3
+
+  A2 --> B2
+  A3 --> B5
+  A4 --> B5
+  B2 --> B3
+  B3 --> B4
+  B4 --> B5
+  B5 --> B6
+
+  B6 -->|MotionInstruction| B7
+  B7 -->|MoveJRequest / MoveLRequest / MoveCRequest / PathPlanRequest| C1
+  C1 --> C4
+  C1 --> C5
+  C4 --> C6
+  C5 --> C6
+  C6 --> C7
+
+  C7 --> E1
+  C7 --> E2
+  C7 --> E3
+  C7 --> E4
+  C7 --> E5
+
+  B6 --> D1
+  B6 --> D2
+  B6 --> D3
+  E1 --> D4
+  E2 --> D4
+  B6 -->|IO / wait / pulse| D5
+  B6 -->|wait| D6
+  E4 --> D7
+  D4 --> D8
+  D5 --> D8
+  D6 --> D8
+
+  B6 -->|IR + post profile| A5
+  A5 --> E6
+  A5 --> E7
+```
+
+## 6. 关键对象数据流
+
+| 输入对象 | 产生阶段 | 传递到 | 输出对象 |
+| --- | --- | --- | --- |
+| `robot.urdf` | 项目资源 | TypeScript URDF Parser | `NormalizedRobotModel` |
+| `NormalizedRobotModel` | TypeScript 编译层 | `createRobotFromModel` | `RobotHandle` |
+| `tool/frame/target/speed/zone` | GRL Parser + Semantic Analyzer | IR、KDL request builder | `ToolRef`、`FrameRef`、`JointTarget`、`PoseTarget`、`SpeedSpec`、`ZoneSpec` |
+| `movej` | GRL Parser | Semantic Analyzer | `MotionInstruction(joint)` |
+| `movel` | GRL Parser | Semantic Analyzer | `MotionInstruction(linear)` |
+| `movec` | GRL Parser | Semantic Analyzer | `MotionInstruction(circular)` |
+| `path` | GRL Parser | Path compiler | `MotionSegmentRequest[]` |
+| `operation` | GRL Parser | Operation compiler | start action + path + end action |
+| `MotionInstruction` | IR | KDL request builder | `MoveJRequest`、`MoveLRequest`、`MoveCRequest` |
+| `PathPlanRequest` | Path compiler | KDL WASM | `PathPlanResult` |
+| `TrajectoryResult` | KDL WASM | Motion Queue、trace、报告 | 轨迹点、诊断、节拍输入 |
+| `MotionDiagnostic` | GRL 语义检查或 KDL WASM | 编辑器、报警、报告、后处理 | error/warning/info |
+| `Executable IR` | Semantic Analyzer | 虚拟控制器、后处理器 | 执行流、品牌程序 |
+
+## 7. KDL API 与 GRL 语法映射
+
+| GRL 语法 | TypeScript 编译结果 | KDL WASM 函数 |
+| --- | --- | --- |
+| `target home = joint_target` | `JointTarget` | `checkJointLimits` |
+| `target pick = pose_target` | `PoseTarget` | `checkReachability` |
+| `pick offset z 100 mm` | `OffsetSpec` | `applyOffset` |
+| `movej home` | `MoveJRequest` | `planMoveJ` |
+| `movel pick` | `MoveLRequest` | `planMoveL` |
+| `movec via mid target end` | `MoveCRequest` | `planMoveC` |
+| `run_path pick_path` | `PathPlanRequest` | `planPath` |
+| Path 可达性检查 | `PathPlanRequest` | `validatePath` |
+| 节拍估算 | `TrajectoryResult/PathPlanResult` | `estimateCycleTime` |
+
+## 8. 不进入 KDL WASM 的数据流
+
+以下 GRL 语义由 TypeScript 编译层或虚拟控制器执行，不传入 KDL WASM：
+
+| GRL 语义 | 执行位置 | 输出 |
+| --- | --- | --- |
+| `if/elseif/else` | Program Counter / BranchInstruction | 分支后的 IR 执行位置 |
+| `while/for/switch` | Program Counter / BranchInstruction | 循环或选择后的 IR 执行位置 |
+| `proc/func/call/return` | Call Stack / Scope Stack | 调用栈和变量作用域 |
+| `io.do/di/ai/ao` | IO Image / IO Service | IO 事件和 trace |
+| `wait/pulse/timer` | Wait Registry / IO Service | wait 状态、timeout、pulse trace |
+| `alarm/raise/try/catch` | Alarm Queue / Exception Handler | 报警和异常处理结果 |
+| `operation.process` | Operation compiler / 后处理器 | 工艺参数、转换报告 |
+
+## 9. 诊断传递流程
+
+```mermaid
+flowchart TD
+  A[GRL Parser] -->|语法错误| D[Diagnostic]
+  B[Semantic Analyzer] -->|类型/单位/引用/IO/后处理错误| D
+  C[KDL WASM] -->|IK/限位/奇异/轨迹错误| D
+  E[Post Processor] -->|不支持或近似转换| D
+
+  D --> F{severity}
+  F -->|error| G[阻止编译或进入 alarm/hold]
+  F -->|warning| H[允许继续但写入报告]
+  F -->|info| I[写入 trace 或调试信息]
+
+  D --> J[sourceMap]
+  J --> J1[GRL file/line/column]
+  J --> J2[pathId/pathPointId]
+  J --> J3[operationId]
+  J --> J4[brandSource]
+```
+
+## 10. 总结
+
+项目的数据流以 GRL IR 为中枢：
+
+1. GRL 文本、Path、Operation、IO 和品牌扩展先进入 TypeScript 编译层。
+2. 编译层完成语法、语义、单位、source map 和后处理能力检查。
+3. 只有运动相关 IR 被转换为 KDL WASM request。
+4. KDL WASM 返回轨迹、节拍和结构化诊断。
+5. 虚拟控制器消费 IR 和轨迹，后处理器消费 IR 和品牌 profile。
+6. 诊断贯穿 Parser、Semantic Analyzer、KDL WASM 和 Post Processor，并通过 source map 回到 GRL、Path、Operation 或品牌源。