It’s a little strange that we expose world space position, but not the other two components. Regardless, I think I have a non-destructive solution to this, since I don’t necessarily want to set world space transform, but local space transform relative to the baked node’s parent. I should be able to do something along the lines of:
for child in mesh.children:
bakedMatrix = child._localMatrix.multiply(mesh._localMatrix);
bakedMatrix.decompose(child.position, child.rotation, child.scale);