Fix Pull Over pipeline availability and 154D viewer

Send loading status messages to parent frame

PostMessage viewer-ready when WASM is fully loaded

Frontal camera default for policy viewer

Embed live 3D policy viewer in clip cards

Fix quatToMat rotation matrix flattening order

Fix actuator parameters, foot geometry, and IMU velocity to match training

Fix critical anchor body index: torso_link is NPZ[15], xpos[16]

Match training control frequency: 50 Hz with dt=0.005

Add camera tracking and fix angular velocity frame

Fix dark scene: brighter lighting, fix undefined texture warnings

Hardcode physics timestep instead of model.getOptions()

Fix observation vector: 6D rotation, 160 dimensions

Remove HEAPU8 dependency for body name reading

Fix NPZ parser to handle ZIP64 format

Add NPZ debug logging

Fix DecompressionStream format: 'deflate-raw' not 'raw'

Fix NPZ parser Float64Array alignment error

Add interactive WASM policy viewer with ONNX inference