docs: remove the pilot sign-off gate between cleanup and extraction (rig-software decision record)

.agents/skills/g6-orientation/SKILL.md

@@ -42,7 +42,7 @@ interface.
 |---|---|
 | **reiserlab/maDisplayTools** | **MATLAB** tools (G4+). Pattern math reference — **web output must match MATLAB exactly** (CI validates, tol 1e-4). Its protocol **runner is G4.1-only and frozen** (decision 2026-10-26); protocol authority = `webDisplayTools/docs/development/v3-spec.md` + conformance fixtures. (Its `docs/development/G4G6_ROADMAP.md` is largely historical now — use the umbrella docs for current G6.) |
 | **reiserlab/LED-Display_pyDisplayTools** (pyDisplayTools) | **Python** tools for the displays (G4 pattern + experiment-folder tools). **Accepted destination** for the Python arena library and the **headless runner** (`arena-run`), a peer of the web runner (decision 2026-10-26). |
-| **reiserlab/rig-nodes** | **Accepted destination, not yet created:** shared ROS 2 infrastructure for every lab rig (`rig_interfaces`, device nodes for FicTrac / Kinefly / BIAS / ScanImage / SiPM, MCAP recording and supervision primitives). Today that code lives in `webDisplayTools/ros2-poc/` on the 2026-10-20 release candidate. Record: `webDisplayTools/docs/development/rig-software-repos-and-runners.md`. |
+| **reiserlab/rig-nodes** | **Accepted destination, not yet created:** shared ROS 2 infrastructure for every lab rig (`rig_interfaces`, device nodes for FicTrac / Kinefly / BIAS / ScanImage / SiPM, MCAP recording and supervision primitives). Today that code lives in `webDisplayTools/rig/` on the 2026-10-20 release candidate. Record: `webDisplayTools/docs/development/rig-software-repos-and-runners.md`. |
 
 ### G6 firmware (what the web connects to over USB)
 | repo | role |
@@ -124,7 +124,7 @@ interface.
   (WebSocket `ws://localhost:8765` ← UDP `:60000`) → browser. `pixi run bridge` + `pixi run
   sim` (start the bridge first). The web runner executes only the `fictrac` and `log` plugins;
   `backlight`/`camera`/`temperature` are declared for MATLAB and **skipped on the web**.
-- **ROS 2 graph (LAB-303, candidate 2026-10-20)** — `ros2-poc/` replaces the bridge with a graph
+- **ROS 2 graph (LAB-303, candidate 2026-10-20)** — `rig/` replaces the bridge with a graph
   (rmw_zenoh, MCAP record, BIAS + ScanImage connectors) behind the SAME WebSocket; the Studio is
   unchanged. Where the pieces will live from here: `rig-software-repos-and-runners.md` (above).
 

.github/workflows/arena-interfaces.yml → .github/workflows/rig-interfaces.yml

@@ -1,30 +1,30 @@
-# Build ros2-poc/interfaces/arena_interfaces (the typed ROS 2 messages of the arena bridge graph,
+# Build rig/interfaces/rig_interfaces (the typed ROS 2 messages of the arena bridge graph,
 # LAB-303) ONCE per platform in CI and publish the result as a conda channel, so a rig PC installs
 # typed messages as a download — no MSVC, no build backend, no MAX_PATH workaround. Decision and
-# the consumer-side manifest edits: ros2-poc/docs/typed-distribution-decision.md; the measurements
-# behind it: ros2-poc/docs/typed-windows.md.
+# the consumer-side manifest edits: rig/docs/typed-distribution-decision.md; the measurements
+# behind it: rig/docs/typed-windows.md.
 #
 # Runs: build-only on a PR that touches the package or this file (proves the three platforms still
-# build); the `arena-interfaces-channel` artifact on every run; the hosted-channel upload only on an
-# `arena-interfaces-v*` tag AND only when the repository variable ARENA_INTERFACES_CHANNEL names a
+# build); the `rig-interfaces-channel` artifact on every run; the hosted-channel upload only on an
+# `rig-interfaces-v*` tag AND only when the repository variable RIG_INTERFACES_CHANNEL names a
 # prefix.dev channel (with the PREFIX_API_KEY secret). Until the lab owns one, the channel artifact
-# is committed into ros2-poc/channel/ by hand (the decision note has the recipe).
-name: arena-interfaces
+# is committed into rig/channel/ by hand (the decision note has the recipe).
+name: rig-interfaces
 
 on:
     pull_request:
         paths:
-            - 'ros2-poc/interfaces/**'
-            - '.github/workflows/arena-interfaces.yml'
+            - 'rig/interfaces/**'
+            - '.github/workflows/rig-interfaces.yml'
     push:
-        tags: ['arena-interfaces-v*']
+        tags: ['rig-interfaces-v*']
     workflow_dispatch:
 
 permissions:
     contents: read
 
 concurrency:
-    group: arena-interfaces-${{ github.event.pull_request.number || github.ref }}
+    group: rig-interfaces-${{ github.event.pull_request.number || github.ref }}
     cancel-in-progress: true
 
 env:
@@ -48,7 +48,7 @@ jobs:
         defaults:
             run:
                 shell: bash
-                working-directory: ros2-poc
+                working-directory: rig
         steps:
             - uses: actions/checkout@v7
               with:
@@ -57,16 +57,16 @@ jobs:
               with:
                   pixi-version: ${{ env.PIXI_VERSION }}
                   run-install: false
-            # MAX_PATH: the runner's checkout (D:\a\webDisplayTools\webDisplayTools\ros2-poc, 45
+            # MAX_PATH: the runner's checkout (D:\a\webDisplayTools\webDisplayTools\rig, 40
             # chars) plus the ~211 chars the rosidl build adds crosses 260. detached-environments
             # moves .pixi (build workspace included) to a 4-char root — the ww18 recipe.
             - name: Windows build root
               if: runner.os == 'Windows'
               run: pixi config set --local detached-environments 'C:\px'
-            - name: pixi build arena_interfaces
+            - name: pixi build rig_interfaces
               run: |
                   rm -rf ../dist
-                  pixi build --path interfaces/arena_interfaces/pixi.toml --output-dir ../dist
+                  pixi build --path interfaces/rig_interfaces/pixi.toml --output-dir ../dist
                   mkdir -p ../dist/${{ matrix.subdir }}
                   mv ../dist/*.conda ../dist/${{ matrix.subdir }}/
                   ls -la ../dist/${{ matrix.subdir }}
@@ -84,7 +84,7 @@ jobs:
                   EOF
             - uses: actions/upload-artifact@v5
               with:
-                  name: arena_interfaces-${{ matrix.subdir }}
+                  name: rig_interfaces-${{ matrix.subdir }}
                   path: dist/${{ matrix.subdir }}/*.conda
                   if-no-files-found: error
                   retention-days: 30
@@ -102,13 +102,13 @@ jobs:
             # dist/<subdir>, so the subdir is restored here from the artifact name).
             - uses: actions/download-artifact@v5
               with:
-                  pattern: arena_interfaces-*
+                  pattern: rig_interfaces-*
                   path: artifacts
             - name: assemble + index the channel
               run: |
                   mkdir -p channel
-                  for d in artifacts/arena_interfaces-*; do
-                      subdir=${d#artifacts/arena_interfaces-}
+                  for d in artifacts/rig_interfaces-*; do
+                      subdir=${d#artifacts/rig_interfaces-}
                       mkdir -p "channel/$subdir"
                       cp "$d"/*.conda "channel/$subdir/"
                   done
@@ -121,20 +121,20 @@ jobs:
                       for name, rec in pk.items():
                           print(rd.parent.name, name, rec["sha256"], [d for d in rec["depends"] if d.startswith("ros2-distro-mutex")])
                   EOF
-            # The deliverable: a complete three-platform channel. Commit it into ros2-poc/channel/
+            # The deliverable: a complete three-platform channel. Commit it into rig/channel/
             # (decision note §"Releasing a new build") or let the step below upload it.
             - uses: actions/upload-artifact@v5
               with:
-                  name: arena-interfaces-channel
+                  name: rig-interfaces-channel
                   path: channel
                   if-no-files-found: error
                   retention-days: 90
             # Hosted channel (prefix.dev), only when the lab has one: set the repository variable
-            # ARENA_INTERFACES_CHANNEL to its name and the secret PREFIX_API_KEY. Tags only, so a
+            # RIG_INTERFACES_CHANNEL to its name and the secret PREFIX_API_KEY. Tags only, so a
             # PR build can never publish.
             - name: upload to the hosted channel
-              if: startsWith(github.ref, 'refs/tags/arena-interfaces-v') && vars.ARENA_INTERFACES_CHANNEL != ''
+              if: startsWith(github.ref, 'refs/tags/rig-interfaces-v') && vars.RIG_INTERFACES_CHANNEL != ''
               env:
                   PREFIX_API_KEY: ${{ secrets.PREFIX_API_KEY }}
-                  ARENA_INTERFACES_CHANNEL: ${{ vars.ARENA_INTERFACES_CHANNEL }}
-              run: pixi exec rattler-build upload prefix --channel "$ARENA_INTERFACES_CHANNEL" channel/*/*.conda
+                  RIG_INTERFACES_CHANNEL: ${{ vars.RIG_INTERFACES_CHANNEL }}
+              run: pixi exec rattler-build upload prefix --channel "$RIG_INTERFACES_CHANNEL" channel/*/*.conda

CLAUDE.md

@@ -108,7 +108,7 @@ When editing web tools, audit all buttons and controls in the modified code sect
 - Web outputs must match MATLAB outputs exactly
 
 **Repository boundaries (decision 2026-10-26):** `docs/development/rig-software-repos-and-runners.md`
-is the record. The browser tools and their rig-side gateway (`ros2-poc/nodes/bridge_node.py`) stay
+is the record. The browser tools and their rig-side gateway (`rig/nodes/bridge_node.py`) stay
 here; the Python arena library + headless runner go to `LED-Display_pyDisplayTools`; shared ROS 2
 infrastructure (interfaces, device nodes, recording, supervision) goes to `rig-nodes`, which does not
 exist yet. Until the extraction session, every file is where the record's inventory says it is today.
@@ -369,17 +369,17 @@ fix flows to every page automatically; two hand-written HTML pages never will.
   colocated < uploaded — every write names its layer, arrival order never decides). The awaits
   before the load are allowlisted in `tests/test-studio-preview-sources.js`.
 - **ROS 2 bridge = the bridge going forward (LAB-303, decided 2026-10-16/17).** Rig PCs run
-  `cd ros2-poc && pixi run rig` (its own pixi workspace: Zenoh router + FicTrac adapter + bridge node
+  `cd rig && pixi run rig` (its own pixi workspace: Zenoh router + FicTrac adapter + bridge node
   + optional `--bias` / `--scanimage` / `--foxglove`). Bridge 3.4 (`pixi run bridge` at the root) is
   the legacy path for course rigs, BUT `fictrac-bridge/bridge.py` is STILL IMPORTED by
-  `ros2-poc/nodes/bridge_node.py` and `mcap_convert.py` (Hub, LogWriter, Pipeline, the pure
+  `rig/nodes/bridge_node.py` and `mcap_convert.py` (Hub, LogWriter, Pipeline, the pure
   encoders): a change there changes ROS acquisition and the conversion of every historical bag.
   **MCAP bag = the record**; the `behavior_v2` JSONL is DERIVED (converter), transitional and
   FicTrac-only — new plugin streams go into the bag, never into a new `behavior_vN`. Bags are
   archived on the group share (later a bucket), never pushed to GitHub, so `--max-bag-mb` (rosbag2
   splitting) is an optional knob, off by default. `mcap_index.reindex` replaces the bag ATOMICALLY
   (`os.replace`); never reintroduce an unlink-then-rename on the record of truth. Row encoders shared
-  by the live writer and the converter live in `ros2-poc/nodes/_rows.py` (NO ROS imports — the
+  by the live writer and the converter live in `rig/nodes/_rows.py` (NO ROS imports — the
   converter must run without a ROS process; `converted == live` depends on ONE encoder).
 - **Connector plugins (LAB-303):** a protocol plugin whose class is `BiasPlugin` → connector `bias`,
   `ScanImagePlugin` → `scanimage` (`connectorPluginNames(exp)` in the Studio). The runner turns their

docs/development/fictrac-columns-in-the-bag.md

@@ -3,15 +3,15 @@
 **Status:** DECIDED (Michael, 2026-10-18): 10 columns, one record per frame, `float64`, one MCAP
 message per frame (no batching; "simpler is better", 2× the JSONL accepted). Nothing in the recorder
 changes with this PR; the implementation is its own PR (§4).
-**Question:** the ROS 2 bridge (`ros2-poc/`, PR #254) records every FicTrac frame twice — the
+**Question:** the ROS 2 bridge (`rig/`, PR #254) records every FicTrac frame twice — the
 25-column record as the adapter received it (`/fictrac/frame`, with the verbatim line) and the
 closed-loop evaluation (`/arena/frame`). Since the bags will be pushed to the GitHub data repo like
 the `.jsonl.gz` is today (Michael, 2026-10-18), bag size matters: which FicTrac columns does the bag
 have to keep so it stays near the size of today's `.jsonl.gz`?
 **Answer in one line:** keep 10 of the 25 columns (the 5 the behavior row has, plus the error score,
 the three lab-frame delta-rotation components and the sequence counter), store them in the ONE
 per-frame `/arena/frame` record and stop recording the raw FicTrac topics by default. Measured on the
-two bench bags with a chunk-only index and zstd 19, one message per frame (`ros2-poc/sizing/columns.py`,
+two bench bags with a chunk-only index and zstd 19, one message per frame (`rig/sizing/columns.py`,
 the reproducible script of the implementation PR #264): **2.41× and 2.68×** the `.jsonl.gz` (today's
 bags: 10.2× and 30.4×; all 25 columns: 4.4× and 5.3×). For a 30 minute run at 50 Hz that is ≈ 5–5.5 MB
 against ≈ 2.3 MB today. Two levers were measured and deliberately not pulled: batching the records
@@ -59,7 +59,7 @@ dashboard derivations), `js/runlog-replay.js` (`COL_X/Y/HD/TS` for `full`-level
 forward / speed / turning / heading, `fc` gaps), `scripts/closed-loop-report.py` (`ms, fc, idx, hd`;
 `f[0]`, `f[16]` on `full` logs), `scripts/runlog-check.py` (counts rows), `scripts/bench-check.py`
 (`ms, idx`), `scripts/telemetry-report.py` / `wedge-scan.py` (skip FicTrac rows),
-`fictrac-bridge/fictrac_sim.py` (writes all 25; col 22 in ns), and in `ros2-poc/`:
+`fictrac-bridge/fictrac_sim.py` (writes all 25; col 22 in ns), and in `rig/`:
 `nodes/bridge_node.py` (`arena_frame_msg`), `nodes/mcap_convert.py` (`frame_line`,
 `fictrac_fields`: the 25 columns are read ONLY for `--level full`), `interfaces/…/FicTracFrame.msg`,
 `interfaces/…/ArenaFrame.msg`. The MATLAB tools do not read these logs.
@@ -169,15 +169,15 @@ so the bag says "untracked" rather than "missing". The JSONL is unaffected (no r
 ## 3. Measured bag sizes
 
 Two real bench runs (Mac, 2026-10-14, simulator-driven FicTrac at 50 Hz, G6 controller, BIAS node;
-`ros2-poc/runlogs/arena-log-20261014-194449-517` = 181 s, typed topics; `…-204300-169` = 164 s,
+`rig/runlogs/arena-log-20261014-194449-517` = 181 s, typed topics; `…-204300-169` = 164 s,
 String fallback), each with its `.jsonl` as exported; `.jsonl.gz` = gzip −9 of that file, which is
 what the Studio commits. Every MCAP variant is written by the pure-Python `mcap` writer the way
 `mcap_index.reindex` writes the final layout: chunk index only (no per-message index), zstd level 19,
 "batched" = one message per topic per wall-clock second holding that second's records. Column sets
 are packed as little-endian structs (≈ typed CDR: `int64` for cols 1/23, `int64` ns for col 22,
 `float64` otherwise); `/arena/frame` is re-packed from its decoded fields in BOTH bags so the typed
 and the String run compare like for like; every other topic (`/arena/browser` echoes, `/bias/*`,
-events, session) is kept byte for byte. Script: `ros2-poc/sizing/columns.py`
+events, session) is kept byte for byte. Script: `rig/sizing/columns.py`
 (`pixi run size-columns -- <bag> <jsonl> --all`), PR #264.
 
 | Variant (chunk-only index, zstd 19) | bag 1 (9 055 frames) | × jsonl.gz | bag 2 (8 199 frames) | × jsonl.gz |
@@ -236,10 +236,10 @@ the pinned `ros-jazzy-rosbag2-storage-mcap` when implementing, or apply the tuni
 
 ## 4. Code change list (not implemented here)
 
-All under `ros2-poc/` on PR #254's branch, its own PR after the pilot starts (plan §3 said the
+All under `rig/` on PR #254's branch, its own PR after the pilot starts (plan §3 said the
 archive publisher is its own PR; this is the recorder half of the same decision).
 
-1. **`interfaces/arena_interfaces/msg/ArenaFrame.msg`** — add `err`, `dr_lab_x/y/z`, `ft_seq`,
+1. **`interfaces/rig_interfaces/msg/ArenaFrame.msg`** — add `err`, `dr_lab_x/y/z`, `ft_seq`,
    `ft_ns`, `flags` (above). One type for the live topic and the bag, one message per frame, as today;
    the recorded copy carries NaN in `turning_dps` / `forward_mms` (live-only, §3 correction).
    The String fallback carries the same fields in its JSON object.
@@ -278,7 +278,7 @@ archive publisher is its own PR; this is the recorder half of the same decision)
    §2 becomes the `ArenaFrame` field reference; `telemetry-logging-reference.md` gets a one-paragraph
    pointer (the JSONL section is unchanged).
 
-Outside `ros2-poc/` nothing changes: `fictrac-bridge/bridge.py`, `js/kinematics.js`, the replay, the
+Outside `rig/` nothing changes: `fictrac-bridge/bridge.py`, `js/kinematics.js`, the replay, the
 dashboard and every script read the JSONL, whose rows are the same five columns as before.
 
 ## 5. Proposed Linear comment on LAB-303 (text only; not applied)