diff --git a/crates/engine/src/commands/layer.rs b/crates/engine/src/commands/layer.rs
index d4cf1d90..078c0d4f 100644
--- a/crates/engine/src/commands/layer.rs
+++ b/crates/engine/src/commands/layer.rs
@@ -743,9 +743,10 @@ fn uniform_parent_pose(m: effectcraft_geom::Mat4, orientation: [f64; 3]) -> Opti
         return Some((orientation, factor));
     }
     let r = (rotation * Mat4::orientation(Vec3::from(orientation))).0;
-    let sy = (-r[2][0]).clamp(-1.0, 1.0);
-    let y = sy.asin();
-    let (x, z) = if (1.0 - sy * sy).sqrt() > 1e-9 { (r[2][1].atan2(r[2][2]), r[1][0].atan2(r[0][0])) } else { ((-r[1][2]).atan2(r[1][1]), 0.0) };
+    // atan2 rather than asin: near ±90 degrees asin loses precision, while cos(y) stays exact.
+    let cy = r[0][0].hypot(r[1][0]);
+    let y = (-r[2][0]).atan2(cy);
+    let (x, z) = if cy > 1e-9 { (r[2][1].atan2(r[2][2]), r[1][0].atan2(r[0][0])) } else { ((-r[1][2]).atan2(r[1][1]), 0.0) };
     Some(([x.to_degrees(), y.to_degrees(), z.to_degrees()], factor))
 }
 
diff --git a/crates/engine/tests/parenting_3d_position.rs b/crates/engine/tests/parenting_3d_position.rs
index 8c06cf8a..6bf0c4ff 100644
--- a/crates/engine/tests/parenting_3d_position.rs
+++ b/crates/engine/tests/parenting_3d_position.rs
@@ -383,6 +383,29 @@ fn parenting_static_orientation_handles_signed_uniform_scale_and_gimbal_order()
     assert!(max_corners < 1e-8 && max_pixels < 2e-5, "static uniform pose must use the existing Euler order including signed scale and gimbal angles");
 }
 
+/// A static Orientation just off gimbal lock (Y within 1e-6 degrees of ±90) keeps its world pose
+/// under a uniform parent. Recovering Euler angles from the matrix must not lose precision there.
+#[test]
+fn parenting_static_orientation_is_exact_just_off_gimbal_lock() {
+    let mut max_corners = 0.0f64;
+    for factor in [120.0, -120.0] {
+        for y in [90.0 - 1e-6, -90.0 + 1e-6] {
+            let (mut s, p, c) = fixture(true, true);
+            set(&mut s, p, "transform/orientation", json!([0.0, 0.0, 0.0]));
+            set(&mut s, p, "transform/rotationX", json!(0.0));
+            set(&mut s, p, "transform/rotationY", json!(0.0));
+            set(&mut s, p, "transform/rotation", json!(42.0));
+            set(&mut s, p, "transform/scale", json!([factor, factor, factor]));
+            set(&mut s, c, "transform/orientation", json!([23.0, y, -37.0]));
+            set(&mut s, c, "transform/scale", json!([200.0, 160.0, 150.0]));
+            let before = world(&s, c, Tick::ZERO);
+            parent(&mut s, c, Some(p), true);
+            max_corners = max_corners.max(displacement(before, world(&s, c, Tick::ZERO)));
+        }
+    }
+    assert!(max_corners < 1e-9, "a static Orientation near gimbal lock must keep its world pose: corners {max_corners}");
+}
+
 #[test]
 fn parenting_animated_orientation_and_nonuniform_parent_keep_authored_pose_boundary() {
     for animated in [true, false] {