diff --git a/.agents/skills/g6-orientation/SKILL.md b/.agents/skills/g6-orientation/SKILL.md
index ffd8f56d..2fe16e5a 100644
--- a/.agents/skills/g6-orientation/SKILL.md
+++ b/.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** | **Current location (since 2026-10-26)** of the shared ROS 2 infrastructure for every lab rig: `rig_interfaces` (FicTracFrame, ArenaFrame, ConnectorReply), the device adapters + simulators (FicTrac, Kinefly, BIAS, ScanImage; SiPM and the ScanImage frames node follow when their PRs land), the MCAP recorder/indexer/CDR decoder/Foxglove rewriter, the supervision primitives and the Zenoh configs, as the `rig_nodes` + `rig_interfaces` packages (one package-set version, conda channel at a release tag). `CONTRACT.md` there is the graph contract (topics, QoS, envelope, invariants). webDisplayTools' `rig/` installs the set and keeps only the arena gateway, composition and visualization. Record: `webDisplayTools/docs/development/rig-software-repos-and-runners.md`. |
+| **reiserlab/rig-nodes** | **Current location (since 2026-10-26)** of the shared ROS 2 infrastructure for every lab rig: `rig_interfaces` (FicTracFrame, ArenaFrame, ConnectorReply), the device adapters + simulators (FicTrac, Kinefly, BIAS; the 2P imaging code — ScanImage JSON connector, ZMQ frames node, SiPM node, tiff2mcap — is private since 2026-10-28, in reiserlab/scanimage-2026-bergamo `2p-rig-nodes/`), the MCAP recorder/indexer/CDR decoder/Foxglove rewriter, the supervision primitives and the Zenoh configs, as the `rig_nodes` + `rig_interfaces` packages (one package-set version, conda channel at a release tag). `CONTRACT.md` there is the graph contract (topics, QoS, envelope, invariants). webDisplayTools' `rig/` installs the set and keeps only the arena gateway, composition and visualization. Record: `webDisplayTools/docs/development/rig-software-repos-and-runners.md`. |
 
 ### G6 firmware (what the web connects to over USB)
 | repo | role |
@@ -125,7 +125,7 @@ interface.
   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, released 2026-10-20/26)** — `rig/` replaces the bridge with a graph
-  (rmw_zenoh, MCAP record, BIAS + ScanImage connectors) behind the SAME WebSocket; the Studio is
+  (rmw_zenoh, MCAP record, the BIAS connector; the 2P rig adds its private ScanImage/SiPM nodes) behind the SAME WebSocket; the Studio is
   unchanged. Since 2026-10-26 the device nodes, simulators and recording primitives come from the
   installed `rig_nodes` package (reiserlab/rig-nodes); `rig/` keeps the gateway (`bridge_node.py`),
   the composition (`rig.py`) and the arena visualization. Record: `rig-software-repos-and-runners.md`.
diff --git a/CLAUDE.md b/CLAUDE.md
index 24ab1b0d..a86b93ee 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -377,7 +377,8 @@ fix flows to every page automatically; two hand-written HTML pages never will.
   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 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
+  + optional `--bias` / `--foxglove`; the 2P rig's ScanImage and SiPM nodes are private, in
+  reiserlab/scanimage-2026-bergamo `2p-rig-nodes/`). 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
   `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.
diff --git a/arena_studio.html b/arena_studio.html
index ddf4b6b6..3d495c18 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -3426,7 +3426,7 @@ <h2 id="modalTitle">Import error</h2>
 </div>
 
 <footer id="footer">
-  <span class="foot-left">Arena Studio v0.99 | 2026-10-27 15:21 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
+  <span class="foot-left">Arena Studio v0.100 | 2026-10-28 18:40 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
   <!-- Course-repo quick-links: open protocols / logs / patterns in a new tab.
        Hrefs built from the configured repo + bench id (updateGhQuickLinks). -->
   <span id="ghQuickLinks" title="Open the course repo on GitHub (new tab)">
diff --git a/configs/rigs/bergamo_g6_2x10_2p.yaml b/configs/rigs/bergamo_g6_2x10_2p.yaml
index ccd9e242..040437c6 100644
--- a/configs/rigs/bergamo_g6_2x10_2p.yaml
+++ b/configs/rigs/bergamo_g6_2x10_2p.yaml
@@ -5,7 +5,7 @@
 # asserted by Arena Studio before every run and written into the run header
 # (docs/development/controller-settings-strategy.md).
 #
-# Cabling (rig checklist docs/development/2p-line-sync-rig-checklist.md):
+# Cabling (rig checklist, now in reiserlab/scanimage-2026-bergamo procedures/webdisplaytools-2p/2p-line-sync-rig-checklist.md):
 #   Digital IO 1 (J3)  → vDAQ free digital input (D2.1), ScanImage "Aux trigger 1":
 #                        one 5 V pulse per 300 Hz frame transfer, stamped into every TIFF header.
 #   Digital IO 2 (J4)  ← ScanImage line clock (HIGH while pixels are recorded, LOW in the
diff --git a/docs/development/2p-line-sync-rig-checklist.md b/docs/development/2p-line-sync-rig-checklist.md
deleted file mode 100644
index 24342d33..00000000
--- a/docs/development/2p-line-sync-rig-checklist.md
+++ /dev/null
@@ -1,138 +0,0 @@
-# Rig checklist — BETA 2P line-sync panel firmware on the Bergamo (2026-09-23)
-
-> **Superseded (2026-09-29).** The 2P line-sync behaviour is part of the single production panel build from
-> `panel-fw-v1.3.0` on (Triggered: falling edge, free-running, 1 µs BCM base; every other mode unchanged). The
-> BETA image and its catalog/flasher entries this checklist refers to were removed from webDisplayTools; the
-> panel-firmware release notes and `g6_01` spec carry the current procedure. Kept for the rig-run history below.
-
-
-For whoever runs the test at the rig PC. **Nothing needs to be cloned, pulled, or downloaded**: the
-firmware and the protocol are both in the published Arena Studio's own catalogs (merged 2026-09-23).
-No bench test was run on this firmware; the rig's own line clock is the test. Roll-back is one ISP push of
-an image in the same catalog (§ 6).
-
-## 0. What you need open
-
-| What | Where |
-|---|---|
-| Arena Studio (published) | https://reiserlab.github.io/webDisplayTools/arena_studio.html |
-| This checklist | https://github.com/reiserlab/webDisplayTools/blob/main/docs/development/2p-line-sync-rig-checklist.md |
-| ScanImage logging guide (full version; § 3 below is the minimal one) | https://github.com/reiserlab/webDisplayTools/blob/main/docs/development/2p-scanimage-signal-logging.md |
-| Background (why / what changed) | https://github.com/reiserlab/LED-Display_G6_Firmware_Panel/blob/main/panel/bench/2p-line-sync-2026-09-22.md |
-
-The firmware image is the Studio catalog entry **"v0.3.1 — BETA 2P line-sync: active-low EINT + 1 µs BCM
-base + free-running Triggered (9014b5b+ …)"**; the Studio checks its sha256 after fetching. The protocol
-is the library entry **"2P line-sync duty sweep — G6 2×10 on the Bergamo"**. Fallback if the site's
-catalog is unreachable: download
-https://raw.githubusercontent.com/reiserlab/webDisplayTools/main/flasher/firmware/g6-panel-v0.3.1-isp-BETA-eintlow-2p-9014b5b.bin
-(136,352 bytes) and
-https://raw.githubusercontent.com/reiserlab/webDisplayTools/main/protocols/g6_2x10_2p_duty_sweep.yaml
-and use "Load local .bin…" / "Open protocol → local .yaml" instead.
-
-What the firmware changes, in one line each: BCM base time 3 → 1 µs (a full-duty row is ~15 µs and
-fits the ~18 µs line-clock gap; brightness at a given duty is ⅓ of before); panel display mode 2
-(Triggered) free-runs one row per line-clock edge instead of stopping after 20. SPI ingest and the ISP
-path are unchanged.
-
-## 1. Flash all 18 panels (Arena Studio)
-
-1. Connect to the controller (USB). The connect log should show firmware `781efe2b · 2×10`.
-2. Panel firmware panel → **Choose…** → under **Official ISP images** pick the **BETA 2P line-sync** entry
-   (not the default) → **Use**. The Studio fetches it, verifies its sha256, reads the footer
-   (`2p-9014b5bb-d`, CRC `38282271`) and uploads it to the controller SD. It refuses to continue if the
-   SD write CRC does not match — just re-upload.
-3. Tick **verify each**, then flash **all 18 panels** (1–7, 9–17, 19–20). Do not leave a mixed arena.
-4. The verify sweep must read `MATCH 0x38282271` for every panel. If one says MISMATCH, flash that
-   panel once more. Flashing needs the display stopped (the Studio does this itself).
-
-## 2. Two-minute functional check before imaging (this replaces the bench test)
-
-1. Controller ▾ → panel display mode **1** (Persistent). Play any pattern. All panels show it, about
-   ⅓ as bright as you are used to. → the build boots, ingests SPI, scans.
-2. Panel display mode **2** (Triggered). Line-clock BNC on **J4**, J30 shunt installed. Panels go
-   **dark** (no clock yet). Start ScanImage **Focus**: panels light and stay steady. Stop Focus: dark.
-   → the free-running Triggered path works off the real line clock.
-3. If only the top row or two of each panel light in step 2, the controller is in mode 3 (Gated).
-   Set mode 2.
-
-## 3. Setup for the protocol run
-
-| Item | Setting | Wire (Debug ▾ → unlock → Send raw hex) |
-|---|---|---|
-| **session rig** (top bar) | **Bergamo G6 — 2×10 two-photon line-sync (strict)** | — the protocols' `rig:` must match it or the run is refused |
-| panel display mode | 2 (Triggered) — **asserted automatically** by the rig default at connect and by the protocols' `controller:` block before every run; the log shows `panel mode: persistent → triggered (verified …)` | manual fallback `02 1B 02` |
-| Digital IO 1 (BNC **J3**) | out_debug_framescan — HIGH during every SPI frame transfer (applied from the rig at connect) | read back: `01 AD` |
-| Digital IO 2 (BNC **J4**) | in_trigger — the line-clock input (applied from the rig at connect) | read back: `01 AD` |
-| refresh rate | ≤ 300 Hz — **asserted automatically** (rig `limits.max_refresh_hz` + protocol `refresh_policy: line_sync_safe`) | manual fallback `03 16 2C 01` |
-| panel firmware | footer `2p-…` **checked automatically**; run Settings → Controller → **Verify panels** once per session (~20 s) so the run header carries a fleet verify | — |
-| telemetry ring | on (default) | — |
-| pattern | `frame2_h_ccw_200f`, SD index 4 (built-in g6_2x10 set) — or any **Gray_16** pattern on the card | edit the two anchors at the top of the YAML |
-
-Record in ScanImage (vDAQ) alongside Ch2 / Ch3 — **minimal version, everything in the TIFF**:
-
-- **Arena J3 → a FREE vDAQ `D2.x` input on its own cable** (Bergamo: `D2.1`; `D2.0` is the resonant
-  sync), and on the imaging system's **Triggers** tab set **Aux trigger 1** to that port. **Use a FREE digital input.** The resonant scanner sync already occupies one `D2.x` port (on the Bergamo it is `D2.0`) and the acquisition triggers may occupy others — check the Resource Configuration. Never T the arena signal into an existing cable: on 2026-09-23 J3 spliced into the sync cable clamped the sync during every frame transfer, ScanImage lost period lock, and no frames were formed while the display was on.
-  That puts the 300 Hz frame-transfer times into every frame header. The protocol's 2 s `allOff` between
-  steps stops those pulses, so each duty epoch shows up as a block of timestamps with gaps between.
-- **Optional:** photodiode on one panel → rear SMB **AI3 = Channel 4** (keep it under 2 Vpp), Channels
-  window → Save. Only needed to separate real leak light from SiPM recovery at low duty.
-- Nothing triggers ScanImage: start the Grab by hand, then press Run.
-
-The full version (Data Recorder `.h5`, line/frame clock copies, AO marker) and the verification steps are
-in [`2p-scanimage-signal-logging.md`](2p-scanimage-signal-logging.md). Ch3 is the leak you are measuring,
-not a sync signal.
-
-## 4. Run
-
-The Bergamo PC has **no bridge process** (the `pixi run bridge` logger the course rigs use), and none is
-needed: use the **blue ▶ Test experiment** button, not the green ▶ Run experiment. The green button is
-gated on the bridge and will refuse with "Bridge not connected". Test experiment runs the whole sequence
-on the arena exactly the same way; the only differences are that nothing is auto-committed to the course
-repo and the controller telemetry ring is not drained (not needed — the TIFF aux-trigger record is the
-timing source for this test).
-
-1. Studio → **Open protocol** → **Open from Library…** → **"2P line-sync duty sweep — G6 2×10 on the
-   Bergamo"** (~62 s: blank · duty 25 · 64 · 128 · 191 · 255 (rotating) · duty 128 static · blank, with a
-   2 s allOff between steps).
-2. Start the ScanImage **Grab** first, then **▶ Test experiment**.
-3. When it finishes, click **⬇ Save** in the log strip — it downloads the browser run log (`.json` +
-   `.txt`: every condition and command with host timestamps and controller replies). Keep it next to the
-   TIFF; it is the record of which duty ran when, and of the panel-mode / DIO-role commands.
-4. If time allows, roll back (§ 6) and run the same protocol again on the old firmware.
-
-### 4b. The diagnostic runs of the week of 23 Sept (before the Thorlabs email)
-
-Run order, all unidirectional, fill 0.9, Ch2 + Ch3, one Grab per run (plan and predictions:
-`Bergamo_testing/092226_SNR/analysis/PLAN_rig_tests_before_thorlabs_email.md`):
-
-1. **Objective capped**, the duty sweep above, unchanged. Decides optical vs electrical.
-2. **SiPM bias series**: the sweep at the current gain setting, then at two lower gain settings on both
-   modules. Write down what the control is (voltage or gain number) and its value for each file.
-3. **Brightness diagnostics**: protocol **"2P line-sync diagnostics — full-field brightness ramp/steps,
-   1 Hz flash, 10 % sparse, 6 s all-off"** (~52 s, duty 128 throughout except the last flash at 255).
-   It needs four new patterns on the SD card, once: **⛭ Console → Patterns → Add ▾ → From course repo…**
-   → the protocol's folder `g6_2x10_2p_diagnostics_patterns` (four small GS16 files; keep the four
-   existing patterns). The run view's pattern preflight must show all four resolved before you press
-   ▶ Test experiment.
-4. **Arena covered** (cloth over the LEDs, or emitters unplugged) with the panels running, objective
-   uncapped: the duty sweep again. Panel electrical pickup on its own.
-
-Duty 255 stays in these diagnostic protocols on purpose (it is the anomaly under study); for experiments
-keep duty ≤ ~190 in every scan mode.
-
-## 5. What to expect / what would mean trouble
-
-- Expected: no pedestal in the imaged part of the line at any duty; no 300 Hz line in Ch3. Edge
-  columns may keep a small stationary offset that is identical on every line (detector recovery).
-- Pedestal only at duty 255: the ~15 µs row is over the gap margin. Usable range is everything below.
-- Pedestal at all duties, scaling with duty: real light during the imaged line — stop, save everything,
-  send the Ch3 folded waveform against the looped-back line clock.
-- Panels lit with no line clock in mode 2: wrong mode, or wrong firmware on some panels — re-run the
-  verify sweep; Panel firmware → Info (0xE3) shows the SD footer `2p-9014b5bb-d`.
-- **Stop display does not blank on this firmware; All off does.** The protocol ends with allOff.
-
-## 6. Roll-back
-
-Studio → Choose… → official images → **"v0.3.1 — Active-low EINT trigger + ISP indicator (9014b5b)"**
-→ flash all 18 with verify → `MATCH 0x9871E334` everywhere. That is exactly the firmware the arena had
-on 22 Sept 2026.
diff --git a/docs/development/2p-scanimage-signal-logging.md b/docs/development/2p-scanimage-signal-logging.md
deleted file mode 100644
index 6f74b3a8..00000000
--- a/docs/development/2p-scanimage-signal-logging.md
+++ /dev/null
@@ -1,133 +0,0 @@
-# Logging arena sync signals in ScanImage (vDAQ) — where they go and how to check they got there
-
-Companion to `2p-line-sync-rig-checklist.md`. Sources: ScanImage docs and the vDAQ datasheet, linked
-inline; verified against the Rev. A4 datasheet tables (April 2021).
-
-## 0. Minimal version (recommended for the first run) — everything inside the TIFF
-
-Nothing here triggers ScanImage; you start the Grab by hand. Aux triggers only stamp times into frames
-you are already acquiring.
-
-1. **One cable:** arena **J3** (Digital IO 1 = `out_debug_framescan`, a ~0.7 ms pulse per 300 Hz frame
-   transfer) → a **FREE** vDAQ breakout digital input (Bergamo: **`D2.1`**), on its own cable. **Use a FREE digital input.** The resonant scanner sync already occupies one `D2.x` port (on the Bergamo it is `D2.0`) and the acquisition triggers may occupy others — check the Resource Configuration. Never T the arena signal into an existing cable: on 2026-09-23 J3 spliced into the sync cable clamped the sync during every frame transfer, ScanImage lost period lock, and no frames were formed while the display was on.
-2. **One dropdown:** Resource Configuration → imaging system → **Triggers** tab → **Aux trigger 1** = that port
-   (`D2.1`). GUI "Aux trigger 1" lands in header key `auxTrigger0`.
-3. **Protocol:** `g6_2x10_2p_duty_sweep.yaml` already has a 2 s `allOff` between steps. `allOff` disarms
-   the controller's refresh timer, so the J3 pulses stop, and each duty epoch is a block of ~5.5
-   timestamps per frame in `Aux Trigger 1` separated by a ~2 s gap. Epoch order = protocol order.
-4. Ch2 / Ch3 as before. That is all you need to test "pedestal and 300 Hz line vs duty" and to compare
-   the two firmwares.
-5. **Optional, only if a photodiode is at the rig:** photodiode → rear SMB **AI3 = Channel 4** (< 2 Vpp),
-   Channels window → Save. It is the only way to tell a residual at low duty apart from SiPM recovery.
-
-Not needed for this test: recording the line clock (it is generated by the same FPGA as the pixel clock,
-so image columns already are the line-clock phase, and its shape is known from the scope), the frame
-clock, the AO marker, or the Data Recorder. §§ 1–4 below describe those for the full version.
-
-## 1. Three places an external signal can end up
-
-| Route | Hardware input | Sample timing | Where the data lands | Good for |
-|---|---|---|---|---|
-| **Auxiliary trigger** | vDAQ breakout, an **input-capable digital line (D2.x)**, 5 V TTL | edge timestamps, 8 ns resolution, FPGA-timed | **inside the TIFF**: per-frame header keys `auxTrigger0…3` (shown as `Aux Trigger n = [t1 t2 …]`, seconds from acquisition start) | sparse digital events: the arena's 300 Hz frame-transfer pulse, condition-change markers, a frame clock copy |
-| **Data Recorder** | breakout **precision analog inputs AI0–AI11**, ±10 V, 16-bit, 5 GΩ | continuous, 500 Hz – 500 kHz | **separate HDF5 file** (`<basename>_<acq#>.h5`), one dataset per signal, no timestamp dataset | anything continuous or analog: line clock, AO condition marker, photodiode, frame clock copy |
-| **Image channel** | PCIe card rear **SMB high-speed AI 0–3**, 0.5–2 Vpp, 50 Ω, 14-bit, 62.5–125 MS/s | pixel clock, **only during the imaged part of each line** | **inside the TIFF** as an extra channel (Ch1–Ch4 ↔ AI0–AI3) | signals you want mapped onto image pixels: a photodiode showing where in the field light arrives (what Ch3 = AI2 did on 22 Sept) |
-
-Datasheet: [vDAQ Datasheet Rev. A4](https://vidriotechnologies.com/wp-content/uploads/2022/01/vDAQ-Datasheet.pdf)
-— Table 1 (high-speed AI), Table 2 (precision AI), Tables 4–5 (DIO). Digital groups 0 and 1 have
-per-line direction, groups 2 and 3 are group-directed; in ScanImage practice **D2.x are the inputs
-(external triggers), D3.x the outputs (exported clocks)** ([vDAQ Configuration](https://docs.scanimage.org/Configuration/DAQ/vDAQ+Config.html),
-[Stage Scanning](https://docs.scanimage.org/Premium+Features/Stage+Scanning.html) uses "any of the D2.X ports as a digital input").
-Input high ≥ 2.0–2.3 V, so the arena's 5 V outputs and a 3.3 V line clock both register.
-
-## 2. Step by step
-
-### 2a. Export the line clock and frame clock (so they exist on BNCs)
-
-1. ScanImage → **Resource Configuration** → your imaging system (the vDAQ scan system) → **Triggers** tab.
-2. **Line clock out** → pick an output line, e.g. `D3.0`. **Frame clock out** → e.g. `D3.1`.
-   ([Imaging Systems](https://docs.scanimage.org/Configuration/Imaging+Systems.html), [Exported Clocks](https://docs.scanimage.org/Concepts/Triggers/Exported+Clocks.html))
-3. The line clock is HIGH while a line is imaged and LOW during the turnaround (measured 22 Sept:
-   44.8 µs HIGH / 18.4 µs LOW at 15.825 kHz). The frame clock is a 5 V pulse at the start of each raster.
-4. Line clock BNC → **T** → arena **J4** (Digital IO 2, `in_trigger`) **and** a Data Recorder AI (see 2c).
-
-### 2b. Aux triggers → TIFF header
-
-1. Same **Triggers** tab → **Aux trigger 1** → pick a FREE input line (Bergamo: `D2.1`; `D2.0` carries the
-   resonant sync); **Aux trigger 2** → another free line (`D2.2`).
-   ([Auxiliary Trigger](https://docs.scanimage.org/Concepts/Triggers/Auxiliary+Trigger.html))
-2. Wire **arena J3** (Digital IO 1 = `out_debug_framescan`, one ~0.7 ms HIGH pulse per SPI frame transfer,
-   300 Hz) → `D2.1` on its own cable. Optionally the **frame clock** (D3.1 → T → `D2.2`) so every TIFF frame also carries its
-   own clock edge, which lets you align the HDF5 recording to the TIFF (§ 3).
-3. Constraints from the docs page: resonant scanning only (the Bergamo is); **mutually exclusive with
-   I2C recording and photon counting**; hard limit 1000 timestamps per frame, **keep it to ~10** — the
-   J3 pulse gives ~5.5 per 18.2 ms frame, fine; the **line clock (288 per frame) must never go on an aux
-   trigger** — the per-frame header is a fixed ~2001-byte buffer and later keys are silently dropped when
-   it overflows ([scanimage-octo-reader README](https://github.com/horsto/scanimage-octo-reader)).
-   Rising edges are timestamped; a debounce (`DEBOUNCE_TIME_AUX_TRIGGERS` in `Acquisition.m`) rejects very
-   short pulses — 0.7 ms is far above it.
-4. Where it lands: each TIFF page's `ImageDescription` gains
-   `Aux Trigger 1 = [0.3138 0.3316 …];` — seconds on the same FPGA clock as `frameTimestamps_sec`.
-
-### 2c. Data Recorder → HDF5
-
-1. **Resource Configuration** → **+** → add **Data Recorder** (vDAQ) → open its configuration page.
-   ([vDAQ Analog Data Recorder](https://docs.scanimage.org/Basic+Features/Data+Recorder.html))
-2. **+** → add signals: `AI0` line clock copy, `AI1` arena **J27 AO** condition marker (0/0.5/…/3.0 V),
-   `AI2` **J3** frame-transfer envelope copy, `AI3` frame-clock copy, `AI4` photodiode (if you have one).
-   Give each a dataset name (no `/`), optional units.
-3. **Sample Rate** = **500000** (500 kHz, the maximum → 2 µs; ~31 samples per line, ~9 in the 18 µs gap).
-4. Tick **Auto Start** (starts/stops with the Grab), **Duration = Inf**, leave **Use Trigger** off.
-5. **File Directory** = the same folder as the TIFF, **File Basename** = the TIFF basename; the file is
-   `<basename>_<Acquisition #>.h5`. Optional **Compression** (gzip 5).
-6. Where it lands: **not in the TIFF**. One `.h5` per acquisition, one dataset per signal, plain sample
-   arrays at the sample rate. There is **no timestamp dataset**, hence the frame-clock copy in step 2:
-   the first frame-clock edge in the `.h5` is TIFF frame 1.
-
-### 2d. (Optional) photodiode as an image channel
-
-1. Photodiode amplifier → PCIe **rear SMB AI3** (this is Channel 4). Keep the signal **within 0.5–2 Vpp**
-   (attenuate a 5 V amplifier output; overvoltage protection is ±10 V but the ADC clips).
-2. **Channels** window → Channel 4 → **Save** and **Display**.
-3. Result: an image whose pixel values are the light hitting the diode *during the imaged part of each
-   line* — the most direct picture of "is any LED light present while pixels are being formed". The gap
-   flash itself is invisible here (not sampled), which is what the Data Recorder copy is for.
-
-## 3. Verifying it worked (do a 10 s Grab before the real run)
-
-1. **Aux triggers** — read a frame header:
-   - MATLAB: `[header, ~, imgInfo] = scanimage.util.opentif('file_00001.tif');` and look at the per-frame
-     fields, or open the TIFF's `ImageDescription` with `imfinfo` and search for `Aux Trigger`.
-   - Python: `from ScanImageTiffReader import ScanImageTiffReader; r = ScanImageTiffReader(p); print(r.description(100))`
-     ([ScanImage Tiff Reader](https://vidriotech.gitlab.io/scanimage-tiff-reader/)).
-   - Expect `Aux Trigger 1 = [ … 5–6 values … ]` on every frame while the arena is running, `[]` while it
-     is stopped. `[]` on every frame = wrong port or the arena's DIO 1 is not in `out_debug_framescan`
-     (`01 AD` from the Studio prints the roles).
-   - Also check `frameTimestamps_sec` is present on every frame and that the key list is complete
-     (`auxTrigger0…3, I2CData` all present) — a missing tail means the header buffer overflowed.
-2. **Data Recorder** — open the `.h5` (HDFView, `h5py`, or MATLAB `h5read`): one dataset per signal,
-   length ≈ sample rate × grab duration, line-clock dataset toggling at ~15.8 kHz, AO dataset stepping
-   with the protocol, frame-clock dataset with one pulse per 18.18 ms.
-3. **Image channel** — Channel 4 shows the photodiode; with the display off it is flat.
-4. Cross-check: the number of frame-clock edges in the `.h5` equals the number of TIFF pages per channel.
-
-## 4. Recommended hook-up for the duty-sweep run (summary)
-
-| Signal | Source | vDAQ input | Route |
-|---|---|---|---|
-| Line clock | D3.0 (Line clock out) | → arena J4, and AI0 | Data Recorder |
-| Frame clock | D3.1 (Frame clock out) | D2.2 and AI3 | aux trigger 2 + Data Recorder |
-| Frame-transfer envelope | arena J3 (DIO 1) | D2.1 and AI2 | aux trigger 1 + Data Recorder |
-| Condition marker | arena J27 (AO) | AI1 | Data Recorder |
-| Photodiode | amplifier | AI4, and SMB AI3 (Ch4) | Data Recorder + image channel |
-| Leak (what you measure) | SiPM | Ch2 (gated), Ch3 (ungated) | TIFF |
-
-Everything digital is 5 V TTL into 5 V-tolerant vDAQ inputs; the arena's BNC outputs are level-translated
-5 V. Use BNC T-pieces on the two clock lines, not daisy chains through the arena.
-
-## 5. What was missing on 22 Sept and why it mattered
-
-The handover notes "Header aux-trigger fields 0–3 and I2C are empty. No line clock / frame clock / arena
-sync recorded." With §2b–2c in place, the 300 Hz phase is measured directly from `Aux Trigger 1` rather
-than fitted at 300.03 Hz, the condition boundaries come from the AO trace rather than frame-number
-guesses, and the photodiode separates LED light during the imaged line from detector recovery after an
-in-gap flash — the open question the firmware change cannot answer by itself.
diff --git a/docs/development/arena-studio-release-notes.md b/docs/development/arena-studio-release-notes.md
index 2aecfc16..fa0db086 100644
--- a/docs/development/arena-studio-release-notes.md
+++ b/docs/development/arena-studio-release-notes.md
@@ -4,6 +4,17 @@ The Studio's footer used to carry the full changelog inline; it now shows one li
 history lives here. Newest first. (Per-session engineering detail stays in
 `arena-studio-handover.md` and the design docs — this file is the user-facing what-changed list.)
 
+## v0.100 (2026-10-28) · rig/ installs rig-nodes 0.3.0 with the host monitor; okey-cokey rig; imaging code moves to the private 2P repo
+
+<!-- #281 -->
+none (nothing user-visible in the web tools; rig-side only).
+
+<!-- #282 -->
+none (rig-PC ROS graph only; no web tool changes)
+
+<!-- #284 -->
+none (rig-side only)
+
 ## v0.99 (2026-10-27) · rig/ installs the rig-nodes v0.2.1 package set; closed-loop-report applies start_frame; tiff2mcap --runlog
 
 <!-- #274 -->
diff --git a/docs/development/rig-software-repos-and-runners.md b/docs/development/rig-software-repos-and-runners.md
index c0e9724e..37ec574d 100644
--- a/docs/development/rig-software-repos-and-runners.md
+++ b/docs/development/rig-software-repos-and-runners.md
@@ -113,6 +113,43 @@ stay as history.
 | **stays** (arena visualization) | `nodes/viz_node.py`, `tests/test_viz_node.py`, the arena derivation in `nodes/foxglove_json.py`, `foxglove/arena-fictrac.json`, `foxglove/arena-bias.json`, `docs/foxglove-arena-layout.json`, `tools/tiff_run_to_mcap.py`; from okey-cokey: `nodes/stimulus_node.py`, `nodes/stimulus_core.py`, `nodes/dashboard_replay.py`, `tests/test_stimulus.py`, `tests/test_stimulus_live.py`, `foxglove/arena-okey-cokey.json`, `tests/fixtures/protocols-2026-10-14/*` |
 | **stays** (rig-specific config and records) | `README.md`, `WINDOWS-TEST.md`, `SCANIMAGE-DAY.md`, `scanimage-day-2026-10-16.md`, `windows-results-ww18-2026-10-15.md`, `docs/plan-b-explainer*.html`, `docs/build-standalone-explainer.py`, `docs/img/*`; from okey-cokey: `config/bias/okey-cokey-bfs-u3-51s5m.json`, `tools/okey-cokey-start.ps1`, `tools/bias-ufmf.ps1`, the `okey-cokey-*.md` run sheets, `HANDOVER-okey-cokey-2026-10-21.md`, `docs/okey-cokey-foxglove-dashboard-plan.md` |
 
+#### Amendment 2026-10-28: the imaging work is private
+
+Michael's decision, 2026-10-28: everything specific to the 2P imaging experiments leaves the public
+repositories and lives in the private rig repository `reiserlab/scanimage-2026-bergamo`, under
+`2p-rig-nodes/` (a pixi workspace in the rig-nodes layout; package `twop_rig_nodes`). It depends on
+the public `rig_nodes` package, so dependencies still point downward. This overrides the table above
+where they disagree:
+
+- **Moved to `2p-rig-nodes/`:**
+  - the ScanImage JSON connector (`scanimage_node`, `scanimage_cmd`, `si_json_mock`), which was in
+    rig-nodes 0.2.1 / 0.3.0 and is removed for 0.4.0 (rig-nodes #4);
+  - from #261 / #266: the ScanImage ZMQ frames node, its mock and latency report, the read-only SiPM
+    driver / node / command tool and their harnesses;
+  - `tiff_run_to_mcap.py` (#273) with `check_tiff2mcap.py` and its test. `patfile.py`, the G6
+    pattern reader it uses, is arena code and stays here (bound for pyDisplayTools, the row above);
+    the private repository carries a copy;
+  - `tools/led_sweep_si.py`, `tools/led_sweep_quicklook.py`.
+  A `PROVENANCE.md` there gives the source commit of every file. Copied, not rewritten in history:
+  earlier versions stay readable here and in rig-nodes.
+- **Records moved** to that repository's `procedures/webdisplaytools-2p/`: `rig/SCANIMAGE-DAY.md`,
+  `rig/scanimage-day-2026-10-16.md`, `2p-scanimage-signal-logging.md` and the superseded
+  `2p-line-sync-rig-checklist.md`. The Bergamo rows of rig-nodes `SETUP.md` went to
+  `2p-rig-nodes/SETUP.md`.
+- **Stays public, the boundary:**
+  - the generic connector mechanism: the gateway's connector dispatch and `CONNECTOR_TOPICS`
+    (including the `scanimage` entry and, once the gateway half of #261 / #266 lands, the
+    `/sipm/*` and `/scanimage/frame_*` registrations), `mcap_convert`'s connector derivation, the
+    `/<src>/cmd|reply|status` contract, `ConnectorReply`, the runner's `connector_command`;
+  - the Studio's `ScanImagePlugin`, which must skip cleanly when no node answers;
+  - the studio emulator's `--scanimage-cmds` path.
+- **Stays public for now:** the 2P protocols (`protocols/g6_2p_*`, `g6_2x10_2p_*`) with their
+  patterns, and `configs/rigs/bergamo_g6_2x10_2p.yaml`. Most protocols are expected to move to
+  private repositories later.
+- **The arena composition** drops `rig.py --scanimage` / `--si-mock`. On the 2P rig the private
+  workspace runs `pixi run rig -- --no-router …` next to this one. The PR that re-pins `rig/` to
+  rig-nodes 0.4.0 must be the same PR, or a later one, as the one that drops those flags.
+
 ### 3.4 The robot station
 
 `meca_driver`, `meca_description`, `meca_sequencer`, keypoints and routes stay in Isabel's repository;
diff --git a/protocols/g6_2p_color_led_sweep.yaml b/protocols/g6_2p_color_led_sweep.yaml
index 449d02f5..c07f4410 100644
--- a/protocols/g6_2p_color_led_sweep.yaml
+++ b/protocols/g6_2p_color_led_sweep.yaml
@@ -72,7 +72,7 @@ version: 3
 #   to `frames_per_grab` in pre_blank and the file stem per color; nothing else.
 #   ScanImage must record: DO1 (frame-transfer envelope) and the line clock
 #   loop-back on aux inputs or spare AI channels — see
-#   docs/development/2p-scanimage-signal-logging.md §0.
+#   reiserlab/scanimage-2026-bergamo procedures/webdisplaytools-2p/2p-scanimage-signal-logging.md §0.
 #
 # Notes
 #   1. duty: 0 in trialParams means "pattern's stored duty", NOT off. Off is allOff.
diff --git a/protocols/g6_2x10_2p_diagnostics.yaml b/protocols/g6_2x10_2p_diagnostics.yaml
index 5e4c4aaa..0809e7f4 100644
--- a/protocols/g6_2x10_2p_diagnostics.yaml
+++ b/protocols/g6_2x10_2p_diagnostics.yaml
@@ -49,7 +49,7 @@ version: 3
 #      flash kinetics — it is the cleanest mark and needs no extra wiring.
 #   3. The setAnalogOut markers below (0.5–2.5 V per condition, arena J27). Only
 #      recorded if the vDAQ Data Recorder logs an AI (docs/development/
-#      2p-scanimage-signal-logging.md § 2c); host-timed like (1), so they add a
+#      2p-scanimage-signal-logging.md § 2c, in the private 2P rig repo); host-timed like (1), so they add a
 #      cross-check, not precision. A frame-locked AO ("frame_number" role) is not
 #      validated on this controller yet — do not rely on it.
 # ============================================================================
diff --git a/protocols/g6_2x10_2p_duty_sweep.yaml b/protocols/g6_2x10_2p_duty_sweep.yaml
index 2431a227..a67adeac 100644
--- a/protocols/g6_2x10_2p_duty_sweep.yaml
+++ b/protocols/g6_2x10_2p_duty_sweep.yaml
@@ -62,7 +62,7 @@ version: 3
 #   Not needed for this test:  line clock (same FPGA as the pixel clock → image
 #                      columns already ARE its phase; shape known from the scope),
 #                      frame clock, AO marker, Data Recorder .h5. Full version:
-#                      docs/development/2p-scanimage-signal-logging.md. The
+#                      reiserlab/scanimage-2026-bergamo procedures/webdisplaytools-2p/2p-scanimage-signal-logging.md. The
 #                      setAnalogOut steps below are harmless if unrecorded.
 #   Ch3 is NOT a display sync; it is the leak signal you are measuring.
 #
diff --git a/protocols/g6_color_optomotor_smoke.yaml b/protocols/g6_color_optomotor_smoke.yaml
index 576ee64b..afaa8ee8 100644
--- a/protocols/g6_color_optomotor_smoke.yaml
+++ b/protocols/g6_color_optomotor_smoke.yaml
@@ -1,14 +1,16 @@
 version: 3
 
 # ============================================================================
-# SMOKE variant of g6_color_optomotor_test.yaml — same patterns, same trial shape, cut to
-# ~2 minutes: 10 s trials, the four colors clockwise + counterclockwise at duty 100 % only,
-# one repetition, 2 s dark ITIs, camera bracket as in the full protocol. For checking a rig
-# (patterns on the card, direction, BIAS recording) before the full ~18-minute run.
+# SMOKE variant of g6_color_optomotor_test.yaml — same patterns, same CW/CCW pair shape
+# (CW then CCW with no pause, dark between pairs), cut to ~2 minutes: 10 s per rotation,
+# 5 s dark between pairs, the four colors at duty 100 % only, one repetition, camera
+# bracket as in the full protocol. For checking a rig (patterns on the card, direction,
+# BIAS recording) before the full ~16-minute run. 10 s × 80 frames/s = 800 frames, a
+# whole number of 20-frame periods, so the reversal is phase-continuous here too.
 # ============================================================================
 
 experiment_info:
-  name: "Color optomotor SMOKE — 10 s per pattern, duty 100 %, BIAS check"
+  name: "Color optomotor SMOKE — CW/CCW pairs, 10 s per rotation, duty 100 %, BIAS check"
   author: "Reiser Lab"
 
 rig: "./configs/rigs/cshl_g6_2x10.yaml"
@@ -20,9 +22,9 @@ plugins:
       class: "BiasPlugin"
 
 variables:
-  trial_dur: &trial_dur 10        # s — trialParams duration AND its wait (one anchor, never drift)
-  iti_dur: &iti_dur 2             # s — dark between trials
-  pre_dark: &pre_dark 2           # s — dark before the first trial (originals: 300 s adaptation)
+  rot_dur: &rot_dur 10            # s — each rotation (CW, then CCW): trialParams duration AND its wait
+  pause_dur: &pause_dur 5         # s — dark between CW/CCW pairs
+  pre_dark: &pre_dark 2           # s — dark before the first pair (originals: 300 s adaptation)
   fps_cw: &fps_cw 80              # frames/s = 4 Hz temporal frequency at 20 px per period
   fps_ccw: &fps_ccw -80
   duty_100: &duty_100 255         # 100 %
@@ -30,11 +32,10 @@ variables:
 experiment:
   - "cam_start"
   - name: "duty_100_block"
-    trials: ["violet_cw_d100", "violet_ccw_d100", "blue_cw_d100", "blue_ccw_d100",
-             "green_cw_d100", "green_ccw_d100", "yellow_cw_d100", "yellow_ccw_d100"]
+    trials: ["violet_pair_d100", "blue_pair_d100", "green_pair_d100", "yellow_pair_d100"]
     repetitions: 1
-    intertrial: "dark_iti"
-  - "cam_stop"
+    intertrial: "dark_pause"
+  - "cam_stop"                # its own 10 s dark, then stopRecording
 
 conditions:
   # ── camera bracket (one ufmf for the whole run) ─────────────────────────────
@@ -61,7 +62,7 @@ conditions:
       - type: "controller"
         command_name: "allOff"
       - type: "wait"
-        duration: *iti_dur
+        duration: *pause_dur
       - type: "plugin"
         plugin_name: "camera"
         command_name: "getTimestamp"
@@ -69,15 +70,15 @@ conditions:
         plugin_name: "camera"
         command_name: "stopRecording"
 
-  - name: "dark_iti"
+  - name: "dark_pause"
     commands:
       - type: "controller"
         command_name: "allOff"
       - type: "wait"
-        duration: *iti_dur
+        duration: *pause_dur
 
-  # ── duty 100 % ──────────────────────────────────────────────────────────────
-  - name: "violet_cw_d100"
+  # ── duty 100 % ───────────────────────────────────────────────────────────────
+  - name: "violet_pair_d100"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -86,32 +87,28 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_violet"
         pattern_ID: 1
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
-  - name: "violet_ccw_d100"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_violet"
         pattern_ID: 1
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
-  - name: "blue_cw_d100"
+        duration: *rot_dur
+
+  - name: "blue_pair_d100"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -120,32 +117,28 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_blue"
         pattern_ID: 2
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
-  - name: "blue_ccw_d100"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_blue"
         pattern_ID: 2
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
-  - name: "green_cw_d100"
+        duration: *rot_dur
+
+  - name: "green_pair_d100"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -154,32 +147,28 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_green"
         pattern_ID: 3
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
-  - name: "green_ccw_d100"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_green"
         pattern_ID: 3
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
-  - name: "yellow_cw_d100"
+        duration: *rot_dur
+
+  - name: "yellow_pair_d100"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -188,28 +177,23 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_yellow"
         pattern_ID: 4
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
-  - name: "yellow_ccw_d100"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_yellow"
         pattern_ID: 4
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
+        duration: *rot_dur
diff --git a/protocols/g6_color_optomotor_test.yaml b/protocols/g6_color_optomotor_test.yaml
index 6c9891a5..e91ac70b 100644
--- a/protocols/g6_color_optomotor_test.yaml
+++ b/protocols/g6_color_optomotor_test.yaml
@@ -1,32 +1,41 @@
 version: 3
 
 # ============================================================================
-# Color optomotor test — G6 2×10 four-color arena, web runner, BIAS camera.
+# Color optomotor test — G6 2×10 four-color arena, web runner, BIAS camera
+# (okey-cokey / visual motion centering rig: freely walking flies, no FicTrac).
 #
 # Modeled on the G4.1 MATLAB protocols 11 and 13 (Reiser Lab, 2026-04-21): open-loop
-# rotating square-wave gratings, clockwise then counterclockwise, a camera timestamp at
-# the start of every trial, one video for the whole run. What changes here:
+# rotating square-wave gratings, clockwise then counterclockwise, one video for the run.
+# What changes here:
 #   * ONE LED color at a time. The four-color G6 panels put four colors in each 2×2 pixel
 #     cell; each pattern lights only one color's pixels, on the TOP panel row only
 #     (protocols/g6_color_optomotor_test_patterns/, built by
 #     scripts/make-color-optomotor-patterns.js). Bank 0 violet 405 nm, 1 blue 470 nm,
 #     2 green 525 nm, 3 yellow-orange 590 nm.
 #   * ONE spatial period (20 px = 36°), ONE speed (frame_rate 80 → 4 Hz temporal
-#     frequency, the originals' 4 Hz), both directions, 20 s trials.
+#     frequency, the originals' 4 Hz).
 #   * Brightness by the per-trial `duty` override (fw #33, web-only): 25 %, 50 %, 100 %
-#     of 255 — one block per duty, the four colors × two directions inside, 2 repetitions.
-#   * No backlight, no thermometer (not driven by the web runner); the camera plugin
-#     (BiasPlugin) IS driven by the web runner through the bridge's BIAS connector
-#     (Studio v0.95, LAB-303), so startRecording / getTimestamp / stopRecording run.
+#     of 255 — one block per duty, the four colors inside, 2 repetitions.
+#   * No backlight, no thermometer (not driven by the web runner; turn the IR backlight on
+#     by hand). The camera plugin (BiasPlugin) IS driven by the web runner through the
+#     bridge's BIAS connector (Studio v0.95+, LAB-303): startRecording / getTimestamp /
+#     stopRecording run.
 #
-# TIMING: 3 duties × 4 colors × 2 directions × 2 repetitions = 48 trials × 20 s = 16 min
-# of stimulus, plus 48 × iti_dur of dark between trials. To make it 8 min set
-# `repetitions: 1` on each block (24 trials) or trial_dur 10. All knobs are in `variables:`.
+# TRIAL SHAPE (Grace, 2026-10-21): each trial is a CW/CCW PAIR — 15 s clockwise, then
+# 15 s counterclockwise with NO pause between them, then 10 s dark before the next pair
+# (also across block boundaries). The reversal is phase-continuous: 15 s × 80 frames/s =
+# 1200 frames = a whole number of 20-frame periods, so CW ends on frame 0, where CCW
+# starts. The camera timestamp is taken at the start of each pair (in the dark), never
+# between CW and CCW, so its round trip cannot stretch the clockwise half.
 #
-# DIRECTION: frame_rate +80 steps the pattern toward increasing column index (the
-# generator's convention); "cw" below assumes that is clockwise seen from above, as fresh
-# Designer patterns are. Confirm once on the arena (Console → Test) and swap the two
-# anchors if it is reversed.
+# TIMING: 3 duties × 4 colors × 2 repetitions = 24 pairs × 30 s = 12 min of stimulus,
+# plus 24 × 10 s of dark between pairs and the 5 s pre-dark → ~16 min. For ~8 min set
+# `repetitions: 1` on each block. All knobs are in `variables:`; keep rot_dur × 80 a
+# multiple of 20 (rot_dur a multiple of 0.25 s) to keep the reversal phase-continuous.
+#
+# DIRECTION: frame_rate +80 steps the pattern toward increasing column index; on the
+# four-color arena that is clockwise seen from above (confirmed on the smoke run,
+# ww18 2026-10-15). If a rig shows it reversed, swap the fps_cw / fps_ccw values.
 #
 # BEFORE RUNNING: upload the patterns folder from the Console (Patterns → Add ▾), check
 # the SD listing shows the four names with 20 frames; BIAS must be running with its
@@ -36,7 +45,7 @@ version: 3
 # ============================================================================
 
 experiment_info:
-  name: "Color optomotor test — one LED color at a time, top row, duty sweep"
+  name: "Color optomotor test — one LED color at a time, top row, CW/CCW pairs, duty sweep"
   author: "Reiser Lab"
 
 rig: "./configs/rigs/cshl_g6_2x10.yaml"
@@ -48,9 +57,9 @@ plugins:
       class: "BiasPlugin"
 
 variables:
-  trial_dur: &trial_dur 20        # s — trialParams duration AND its wait (one anchor, never drift)
-  iti_dur: &iti_dur 3             # s — dark between trials
-  pre_dark: &pre_dark 5           # s — dark before the first trial (originals: 300 s adaptation)
+  rot_dur: &rot_dur 15            # s — each rotation (CW, then CCW): trialParams duration AND its wait
+  pause_dur: &pause_dur 10        # s — dark between CW/CCW pairs
+  pre_dark: &pre_dark 5           # s — dark before the first pair (originals: 300 s adaptation)
   fps_cw: &fps_cw 80              # frames/s = 4 Hz temporal frequency at 20 px per period
   fps_ccw: &fps_ccw -80
   duty_25: &duty_25 64            # 25 % of 255
@@ -60,21 +69,20 @@ variables:
 experiment:
   - "cam_start"
   - name: "duty_25_block"
-    trials: ["violet_cw_d25", "violet_ccw_d25", "blue_cw_d25", "blue_ccw_d25",
-             "green_cw_d25", "green_ccw_d25", "yellow_cw_d25", "yellow_ccw_d25"]
+    trials: ["violet_pair_d25", "blue_pair_d25", "green_pair_d25", "yellow_pair_d25"]
     repetitions: 2
-    intertrial: "dark_iti"
+    intertrial: "dark_pause"
+  - "dark_pause"              # keep the 10 s pause across the block boundary
   - name: "duty_50_block"
-    trials: ["violet_cw_d50", "violet_ccw_d50", "blue_cw_d50", "blue_ccw_d50",
-             "green_cw_d50", "green_ccw_d50", "yellow_cw_d50", "yellow_ccw_d50"]
+    trials: ["violet_pair_d50", "blue_pair_d50", "green_pair_d50", "yellow_pair_d50"]
     repetitions: 2
-    intertrial: "dark_iti"
+    intertrial: "dark_pause"
+  - "dark_pause"              # keep the 10 s pause across the block boundary
   - name: "duty_100_block"
-    trials: ["violet_cw_d100", "violet_ccw_d100", "blue_cw_d100", "blue_ccw_d100",
-             "green_cw_d100", "green_ccw_d100", "yellow_cw_d100", "yellow_ccw_d100"]
+    trials: ["violet_pair_d100", "blue_pair_d100", "green_pair_d100", "yellow_pair_d100"]
     repetitions: 2
-    intertrial: "dark_iti"
-  - "cam_stop"
+    intertrial: "dark_pause"
+  - "cam_stop"                # its own 10 s dark, then stopRecording
 
 conditions:
   # ── camera bracket (one ufmf for the whole run) ─────────────────────────────
@@ -101,7 +109,7 @@ conditions:
       - type: "controller"
         command_name: "allOff"
       - type: "wait"
-        duration: *iti_dur
+        duration: *pause_dur
       - type: "plugin"
         plugin_name: "camera"
         command_name: "getTimestamp"
@@ -109,15 +117,15 @@ conditions:
         plugin_name: "camera"
         command_name: "stopRecording"
 
-  - name: "dark_iti"
+  - name: "dark_pause"
     commands:
       - type: "controller"
         command_name: "allOff"
       - type: "wait"
-        duration: *iti_dur
+        duration: *pause_dur
 
-  # ── duty 25 % ───────────────────────────────────────────────────────────────
-  - name: "violet_cw_d25"
+  # ── duty 25 % ────────────────────────────────────────────────────────────────
+  - name: "violet_pair_d25"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -126,32 +134,28 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_violet"
         pattern_ID: 1
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_25
       - type: "wait"
-        duration: *trial_dur
-  - name: "violet_ccw_d25"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_violet"
         pattern_ID: 1
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_25
       - type: "wait"
-        duration: *trial_dur
-  - name: "blue_cw_d25"
+        duration: *rot_dur
+
+  - name: "blue_pair_d25"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -160,32 +164,28 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_blue"
         pattern_ID: 2
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_25
       - type: "wait"
-        duration: *trial_dur
-  - name: "blue_ccw_d25"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_blue"
         pattern_ID: 2
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_25
       - type: "wait"
-        duration: *trial_dur
-  - name: "green_cw_d25"
+        duration: *rot_dur
+
+  - name: "green_pair_d25"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -194,32 +194,28 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_green"
         pattern_ID: 3
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_25
       - type: "wait"
-        duration: *trial_dur
-  - name: "green_ccw_d25"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_green"
         pattern_ID: 3
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_25
       - type: "wait"
-        duration: *trial_dur
-  - name: "yellow_cw_d25"
+        duration: *rot_dur
+
+  - name: "yellow_pair_d25"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -228,34 +224,29 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_yellow"
         pattern_ID: 4
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_25
       - type: "wait"
-        duration: *trial_dur
-  - name: "yellow_ccw_d25"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_yellow"
         pattern_ID: 4
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_25
       - type: "wait"
-        duration: *trial_dur
+        duration: *rot_dur
 
-  # ── duty 50 % ───────────────────────────────────────────────────────────────
-  - name: "violet_cw_d50"
+  # ── duty 50 % ────────────────────────────────────────────────────────────────
+  - name: "violet_pair_d50"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -264,32 +255,28 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_violet"
         pattern_ID: 1
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_50
       - type: "wait"
-        duration: *trial_dur
-  - name: "violet_ccw_d50"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_violet"
         pattern_ID: 1
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_50
       - type: "wait"
-        duration: *trial_dur
-  - name: "blue_cw_d50"
+        duration: *rot_dur
+
+  - name: "blue_pair_d50"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -298,32 +285,28 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_blue"
         pattern_ID: 2
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_50
       - type: "wait"
-        duration: *trial_dur
-  - name: "blue_ccw_d50"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_blue"
         pattern_ID: 2
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_50
       - type: "wait"
-        duration: *trial_dur
-  - name: "green_cw_d50"
+        duration: *rot_dur
+
+  - name: "green_pair_d50"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -332,32 +315,28 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_green"
         pattern_ID: 3
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_50
       - type: "wait"
-        duration: *trial_dur
-  - name: "green_ccw_d50"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_green"
         pattern_ID: 3
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_50
       - type: "wait"
-        duration: *trial_dur
-  - name: "yellow_cw_d50"
+        duration: *rot_dur
+
+  - name: "yellow_pair_d50"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -366,34 +345,29 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_yellow"
         pattern_ID: 4
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_50
       - type: "wait"
-        duration: *trial_dur
-  - name: "yellow_ccw_d50"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_yellow"
         pattern_ID: 4
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_50
       - type: "wait"
-        duration: *trial_dur
+        duration: *rot_dur
 
-  # ── duty 100 % ──────────────────────────────────────────────────────────────
-  - name: "violet_cw_d100"
+  # ── duty 100 % ───────────────────────────────────────────────────────────────
+  - name: "violet_pair_d100"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -402,32 +376,28 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_violet"
         pattern_ID: 1
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
-  - name: "violet_ccw_d100"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_violet"
         pattern_ID: 1
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
-  - name: "blue_cw_d100"
+        duration: *rot_dur
+
+  - name: "blue_pair_d100"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -436,32 +406,28 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_blue"
         pattern_ID: 2
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
-  - name: "blue_ccw_d100"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_blue"
         pattern_ID: 2
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
-  - name: "green_cw_d100"
+        duration: *rot_dur
+
+  - name: "green_pair_d100"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -470,32 +436,28 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_green"
         pattern_ID: 3
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
-  - name: "green_ccw_d100"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_green"
         pattern_ID: 3
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
-  - name: "yellow_cw_d100"
+        duration: *rot_dur
+
+  - name: "yellow_pair_d100"
     commands:
       - type: "plugin"
         plugin_name: "camera"
@@ -504,28 +466,23 @@ conditions:
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_yellow"
         pattern_ID: 4
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_cw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
-  - name: "yellow_ccw_d100"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
+        duration: *rot_dur
       - type: "controller"
         command_name: "trialParams"
         pattern: "G6_2x10_toprow_grat20_yellow"
         pattern_ID: 4
-        duration: *trial_dur
+        duration: *rot_dur
         mode: 2
         frame_index: 0
         frame_rate: *fps_ccw
         gain: 0
         duty: *duty_100
       - type: "wait"
-        duration: *trial_dur
+        duration: *rot_dur
diff --git a/releases/2026-10-28.json b/releases/2026-10-28.json
new file mode 100644
index 00000000..45d46fb8
--- /dev/null
+++ b/releases/2026-10-28.json
@@ -0,0 +1,48 @@
+{
+  "schema": 1,
+  "name": "2026-10-28",
+  "kind": "candidate",
+  "rc": 2,
+  "created_at": "2026-10-28T22:40:58Z",
+  "created_at_et": "2026-10-28 18:40 ET",
+  "main_sha": "8d5b952a9c1291c3d7614ed464e8987dce2293cb",
+  "headline": "rig/ installs rig-nodes 0.3.0 with the host monitor; okey-cokey rig; imaging code moves to the private 2P repo",
+  "prs": [
+    {
+      "number": 281,
+      "title": "rig: pin rig-nodes 0.3.0 + re-lock with pixi 0.83 (#280, LAB-338)",
+      "head_sha": "2218d39e6357deac8aac20aee007f5f4cd343c73",
+      "head_ref": "rig/pin-rig-nodes-0.3.0",
+      "url": "https://github.com/reiserlab/webDisplayTools/pull/281"
+    },
+    {
+      "number": 269,
+      "title": "ros2-poc: okey-cokey rig \u2014 CW/CCW pair protocols, camera + G6 Foxglove dashboard, uFMF tools, ww14 run records (LAB-303)",
+      "head_sha": "e9dd994f7479c396ba0a1c985d2e8049ecbdf936",
+      "head_ref": "claude/okey-cokey-rig",
+      "url": "https://github.com/reiserlab/webDisplayTools/pull/269"
+    },
+    {
+      "number": 282,
+      "title": "rig: record the rig-nodes host monitor (/rig/host) in every run's bag",
+      "head_sha": "db51439a581fcf685cda81348c3079a02101b64e",
+      "head_ref": "claude/rig-perf-node-7942b8",
+      "url": "https://github.com/reiserlab/webDisplayTools/pull/282"
+    },
+    {
+      "number": 284,
+      "title": "Imaging boundary: the 2P imaging work moves to the private rig repo; gateway keeps the 2P topics (LAB-303, LAB-319)",
+      "head_sha": "e25914ebbc5f11c2b61ccd04712a18a58f411ebb",
+      "head_ref": "claude/move-imaging-to-rig-repo",
+      "url": "https://github.com/reiserlab/webDisplayTools/pull/284"
+    }
+  ],
+  "versions": {
+    "studio": {
+      "from": "v0.99",
+      "to": "v0.100"
+    }
+  },
+  "hotfix_reason": null,
+  "bridge_changed": false
+}
diff --git a/rig/.gitignore b/rig/.gitignore
index 898bd004..ef315636 100644
--- a/rig/.gitignore
+++ b/rig/.gitignore
@@ -7,6 +7,8 @@ __pycache__/
 runlogs/
 *.jsonl
 *.jsonl.gz
+# ...except the recorded test fixtures (okey_smoke_violet_cw.jsonl.gz was silently ignored before 2026-10-22)
+!tests/fixtures/*.jsonl.gz
 # colcon alternative build of interfaces/rig_interfaces (pixi-build is the primary route)
 interfaces/build/
 interfaces/install/
diff --git a/rig/HANDOVER-okey-cokey-2026-10-21.md b/rig/HANDOVER-okey-cokey-2026-10-21.md
new file mode 100644
index 00000000..c1ef0e8a
--- /dev/null
+++ b/rig/HANDOVER-okey-cokey-2026-10-21.md
@@ -0,0 +1,102 @@
+# Handover: okey-cokey rig, BIAS test + Foxglove dashboard (2026-10-21)
+
+For a Claude Code session running **on the okey-cokey lab PC** (Windows; the room with the G6 2×10
+four-color arena, an overhead BIAS camera, freely walking flies, no FicTrac). Michael's Mac has no
+remote path into the rig PCs, so start the session there: open Claude Code in any folder (the
+checkout does not exist yet) and paste the kickoff prompt below as the first message.
+
+**This PC starts bare** (no Foxglove, no webDisplayTools checkout, maybe no git or pixi). Setup is
+its own checklist, [`okey-cokey-pc-setup.md`](okey-cokey-pc-setup.md), done first. Claude Code
+cannot install itself: a person installs the Claude desktop app (or Git for Windows, then the CLI)
+over Remote Desktop; from there a Claude session can do most of the checklist and asks for the rest.
+Without Claude on the PC, the checklist and the run sheet work by hand too.
+
+Then two jobs, in this order, both on ONE run sheet:
+[`okey-cokey-pc-2026-10-21.md`](okey-cokey-pc-2026-10-21.md).
+
+1. **Test** today's protocol and BIAS on this PC.
+2. **Test the camera + G6 Foxglove dashboard** on the real rig, live and on the run's replay. It was
+   BUILT and tested off-rig on Michael's Mac the same day
+   ([`docs/okey-cokey-foxglove-dashboard-plan.md`](docs/okey-cokey-foxglove-dashboard-plan.md), the
+   status block at the top); nothing of it has met this rig, its camera or a real `.ufmf` from it.
+
+## Kickoff prompt (paste on the lab PC)
+
+```
+Okey-cokey rig work, LAB-303. This PC may be bare (no webDisplayTools checkout, no Foxglove, maybe
+no git or pixi). Start with the setup checklist; read it on GitHub until the repo is cloned:
+https://github.com/reiserlab/webDisplayTools/blob/claude/okey-cokey-rig/rig/okey-cokey-pc-setup.md
+It clones the repo to C:\w on branch claude/okey-cokey-rig. Then read
+C:\w\rig\HANDOVER-okey-cokey-2026-10-21.md and run C:\w\rig\okey-cokey-pc-2026-10-21.md
+in order, keeping C:\w\rig\okey-cokey-pc-results-2026-10-21.md as you go (one row per step:
+pass/fail, timings, sizes, every error verbatim; the setup facts first).
+Ask me (Michael) before every download or install, any admin/UAC step, and anything that needs a
+click: the BIAS GUI, the Chrome serial-port picker, the IR backlight, Foxglove, putting flies in.
+If BIAS is not on this PC, stop and tell me. Rules are in the handover's "Constraints" section.
+Commit fixes and the results file to claude/okey-cokey-rig and push; open no PR.
+```
+
+## Where things stand
+
+- **Branch `claude/okey-cokey-rig`** = release candidate 2026-10-20 rc1 (Studio v0.97, the ROS 2
+  graph, the BIAS connector; on Next) plus:
+  - `claude/okey-cokey-pairs`: `protocols/g6_color_optomotor_test.yaml` + `_smoke.yaml` in **Grace's
+    trial shape (2026-10-21)** — each trial a CW/CCW pair, 15 s CW then 15 s CCW with no gap, then 10 s
+    dark (also across block boundaries). Full run 24 pairs, 16.1 min; smoke 4 pairs (10 s per
+    direction, 5 s dark), 1.7 min. Parsed and flattened with the real modules; `pixi run test --
+    protocol` 106/106.
+  - the dashboard (plan doc status block): `nodes/stimulus_node.py` + `stimulus_core.py` +
+    `arena_display.py` (expected/observed display in the four-color LEDs, arena rate/lag/health from
+    controller telemetry), BIAS rate/drops in `viz_node.py`, `rig.py --no-fictrac --stimulus`, the
+    replay (`fox-json --stimulus`, `tools/ufmf.py`), `foxglove/arena-okey-cokey.json`. Mac: 54/54 +
+    10/10 + harness 54/54.
+- **Not on any Pages tier**: Next serves the candidate *without* the new protocol shape. Serve this
+  checkout locally (`pixi run python .claude\nocache-server.py 8092` from `C:\w`) or open the YAML via Protocol ▾ → Open….
+- **Background reading**: the ww18 results, `windows-results-ww18-2026-10-15.md` (every Windows finding
+  is in its table; most are fixed on this branch).
+- **Settled**: the okey-cokey controller runs telemetry firmware; BIAS is NOT changed now (no live
+  camera in Foxglove — the BIAS window sits beside it; the replay has the camera).
+- **Record in job 1**: which BIAS build (the Atlas10 fork reports drop counters, the Spinnaker build
+  may not: those panels then read "no data", never 0).
+
+## What could go wrong on this rig (look here first)
+
+- **Windows paths and the pattern/protocol lookup**: the stimulus node finds `<pattern>.pat` under
+  the repo's `protocols/` + `patterns/` and the run's protocol by its `protocol_filename` under
+  `protocols/`. A protocol opened from elsewhere (Downloads) still runs, but its patterns' NAMES may
+  not resolve → a gray hatched placeholder and "pattern N" in the health line. Fix with
+  `--stimulus-args "--protocol-dir <dir> --pattern-dir <dir>"`, not code.
+- **The camera's clock**: the replay places camera frames with the run's `getTimestamp` replies.
+  `camera.offset_ms` in the converter's report should be stable; if `camera.error` says no reply
+  had a value > 0, the protocol's first getTimestamp came too early (BIAS reads 0 before its first
+  frame).
+- **uFMF from this camera**: the reader follows BIAS's writer (v4, MONO8, index or scan). A different
+  coding (e.g. RGB) is refused with a clear error: record it.
+- **foxglove_bridge on Windows**: never run on Windows yet (ww18 did not install `viz`). If it fails
+  to start, the rig prints it and the rest runs; record the error verbatim.
+- **Load**: the stimulus node renders 800×160 PNGs at 15 Hz (a few ms each on the Mac). If the
+  bridge's latency numbers (`connector_status`) get worse with it on, record both.
+
+## Constraints
+
+- **Never touch Production or Next**, never merge to `main`, open no PR. Code reaches `main` only
+  through a release candidate, which Michael builds (`docs/development/release-process.md`).
+- **No Studio changes** (`arena_studio.html`, `js/*`), **no bridge 3.4 changes**
+  (`fictrac-bridge/bridge.py`), **no BIAS changes**. Everything lives in `rig/`. If a Studio
+  change turns out to be needed, stop and write it up instead.
+- Tests: `pixi run test`, `pixi run test-viz`, `pixi run test-stimulus` and `pixi run test-stimulus-live`
+  inside `rig/` (the last needs the rig stopped), plus `pixi run test` at the repo root, all green
+  before every commit. Prettier only on `*.js`, never on HTML.
+- Windows habits from ww18: write text with `newline="\n"`; take durations from `perf_counter`; never
+  run `bias_sim` or the harness's sim while the real BIAS is open on 5010; Ctrl-C the rig to stop it
+  (the SIGBREAK handler closes the bag cleanly).
+- Capture an error's full text before you try to fix it. Commit small fixes to
+  `claude/okey-cokey-rig` with a message that names the step.
+- American English in code, docs and commits.
+
+## What to send back
+
+The results file (both jobs): the PC facts, BIAS build, both runs' checks, the two test counts on
+Windows, a screenshot of the live dashboard mid-rotation, the replay converter's printed report,
+and anything that needed a manual step. Push `claude/okey-cokey-rig`, and end with a short
+summary Michael can paste into the LAB-303 ticket.
diff --git a/rig/README.md b/rig/README.md
index b3aa5a11..a1a90aab 100644
--- a/rig/README.md
+++ b/rig/README.md
@@ -57,6 +57,8 @@ Pieces, individually (each is also a `pixi run` task; `--help` on every script):
 | `sim` | `rig-fictrac-sim` (rig_nodes.sims.fictrac_sim, moved from `fictrac-bridge/`; `-- --model fly --kp 2` for a fixating fly) |
 | `kinefly-sim` / `bias-sim` | synthetic KF/1 producer; a fake BIAS program (HTTP, state machine, writes the video file) |
 | `studio-emulator` | the Studio runner's exact bridge conversation, for machines without a browser |
+| `stimulus` | `nodes/stimulus_node.py`: the arena's EXPECTED display (the trial's `.pat` frame × duty in the panels' LED colors) and its OBSERVED display (controller telemetry) as PNG images, plus arena rate / lag / health, from the live `/arena/browser`; `pixi run rig -- --stimulus` (included by `--foxglove`). Layout `foxglove/arena-okey-cokey.json` (camera + G6, no FicTrac); the same layout on a finished run: `pixi run fox-json -- <bag> <out.mcap> --stimulus --panel-layout four-color` (adds `/camera/image` from the run's uFMF). Plan + status: `docs/okey-cokey-foxglove-dashboard-plan.md` |
+| `test-stimulus` / `test-stimulus-live` | the dashboard's pure parts (panel colors pinned to `js/panel-color.js`, renderer, tracker on synthetic + a real 80 fps trial, uFMF reader, replay converter); the live path through router + bridge + stimulus node (~25 s, needs ports 7447/8765 free) |
 
 Environment set by the workspace (`[activation.env]`): `RMW_IMPLEMENTATION=rmw_zenoh_cpp`,
 `ZENOH_ROUTER_CHECK_ATTEMPTS=0` (nodes wait for the router), `ZENOH_ROUTER_CONFIG_URI` /
@@ -307,6 +309,7 @@ sends it at run end only on the commit path today) or on a run-end event.
 | live graph, interactive | `pixi install -e viz`, then `pixi run -e viz rqt-graph` | the standard ROS node/topic graph window (Qt); `pixi run -e viz rqt-topic` shows rates and payloads |
 | the recorded run | Foxglove (free desktop app) → *Open local file* → `runlogs/<run>.bag/<run>_0.mcap`; Layout → *Import from file* → `docs/foxglove-arena-layout.json` | every topic of the run on a timeline: plots of `/arena/frame` `idx`, `hd`, `turning_dps` + `forward_mms`, `bias_deg`, `epoch` (typed runs; String runs show the JSON text), the browser messages, events and BIAS replies as raw views, the schemas rosbag2 embedded — no ROS needed on that machine |
 | the live run in Foxglove | `pixi run rig -- --foxglove` (adds foxglove_bridge from the `viz` environment to the supervised rig; a note and no bridge when `pixi install -e viz` has not been run) → Foxglove *Open connection* `ws://localhost:8766`; or by hand beside a running rig: `pixi run -e viz foxglove-bridge` | the same panels on the running graph, including the derived `turning_dps` / `forward_mms` plot |
+| how loaded the PC is | nothing to start: `pixi run rig` runs `python -m rig_nodes.host_monitor` from the installed rig-nodes package when it has one (off: `--no-host-monitor`; a note and no monitor with an older package) | `/rig/host` once a second, recorded in every run's bag: CPU per core (mean + busiest 100 ms), P/E cores, sampler lateness, memory, page faults, disks, network, NVIDIA GPU (incl. NVENC), top processes + this workspace's nodes as `py:<script>`; ≈ 0.9 % of one core on ww18. Node, message and design: reiserlab/rig-nodes (`rig_nodes.host_monitor`, `rig_interfaces/HostStats`) |
 | the plain CLI | `pixi run ros2 node list`, `ros2 topic list -t`, `ros2 topic hz /arena/frame`, `ros2 topic echo /bias/status`, `ros2 bag info runlogs/<run>.bag` | what every ROS user reaches for first; every topic here is readable JSON or a flat typed message |
 
 **Color optomotor smoke run (22:00 ET, same bench, after merging Next into the branch).** The
diff --git a/rig/SCANIMAGE-DAY.md b/rig/SCANIMAGE-DAY.md
deleted file mode 100644
index 09cf5bf0..00000000
--- a/rig/SCANIMAGE-DAY.md
+++ /dev/null
@@ -1,188 +0,0 @@
-# ScanImage day (2026-10-16): a real 2P experiment through the ROS 2 graph
-
-**Goal for today:** one simple, real experiment on the Bergamo rig — the G6 four-color arena shows
-one-color top-row gratings at six panel duty levels while ScanImage grabs an ex vivo fly prep for
-SNR / SiPM characterization (lasers ON, data run) — with ScanImage driven from the protocol through
-the same connector path that drives BIAS, and the run log + bag holding the command/reply pairs so
-the TIFFs can be aligned to the trials. If the connector path slips, the fallback (§6) still gets
-the data today.
-
-Everything here is on branch `claude/ros-studio-plan-b-c44942` (draft PR #254): the ROS 2 graph,
-Studio v0.96 with the `scanimage` plugin, the Windows results from ww18 (2026-10-15). **The
-off-rig half is built and tested** (Mac, 2026-10-16 morning, commits 93fc80d…); the rig session
-runs §1–§5. **Decided with Michael 2026-10-16:** ROS 2 graph adopted (LAB-303), MCAP primary,
-**ScanImage's built-in JSON server, not si_zmp** (LAB-305: event-driven, no frame-timing
-disturbance; si_zmp's polling timer disturbed frames), one grab per color, no analog marker today
-(alignment = Digital IO 1 frame-transfer pulse into ScanImage), GS16 patterns (no refresh-rate
-confound vs the 22 Sept runs), unidirectional scan, both channels, server local to the Bergamo PC.
-
-## The two-hour version (2026-10-16: 2 h of rig time in total — run THIS, not the long plan)
-
-Block Z is **not today** (Hannah's ZeroMQ frame-stream test, 60 min dark, conflicts with our
-acquisitions; it runs whenever the rig is next free). Steps below are the long plan's §1–§5 with
-the optional parts removed and the install overlapped with the hardware setup.
-
-| When | Who | What | Pass |
-|---|---|---|---|
-| 0:00 | Claude on the PC | `git switch` + `pixi install --locked` in `rig` (cold install can take minutes: start it FIRST). Skip `pixi run test` unless the install finished early | env installs |
-| 0:00 | Michael | Arena on the microscope; Studio from the checkout (`python .claude/nocache-server.py 8092`), Connect | Inventory: 20 present |
-| 0:10 | Michael | Controller ▾: mode 2, Digital IO 1 = framescan, refresh reads 300. Upload `protocols/g6_2p_color_led_sweep_patterns/` (4 files), note the slots | slots noted; IDs in the YAML fixed if not 5–8 |
-| 0:15 | Michael | MATLAB (R2025b, ScanImage idle): `hJ = most.network.json.Server(5555);` logging on, `logFilePath` on F:, unidirectional, channels 1+2 | — |
-| 0:20 | Claude | `pixi run rig -- --scanimage` then `pixi run scanimage-cmd -- ping` and `-- status --json` | ping ok, status shows logging on + F: path |
-| 0:25 | both, dark | New-arena trigger check: FOCUS → Test full-field ≤ 128 lights every panel; stop FOCUS → all dark; DO1 pulses + line clock on ScanImage's inputs | all three seen |
-| 0:35 | Claude, dark | One grab through the connector: `set framesPerSlice 60`, `setFileStem connector_check`, `grab`, `waitIdle` | one TIFF on F:, counter +1, idle again |
-| 0:40 | both, dark | Dry run of the whole protocol from the Studio (≈ 2.5 min + overhead) | 4 TIFF series, DO1 in each, bag closed at run end, log converts with 4 grab replies |
-| 0:55 | Michael | Prep in, lasers on, SiPMs recording | — |
-| 1:05 → 1:50 | both | The experiment: the protocol once per repeat (≈ 3 min each incl. the operator check between runs); 3 to 5 repeats | per run: TIFFs, bag, converted log |
-| 1:50 | both | `clear hJ`, arena `allOff`, copy TIFFs + logs; results log filled in | — |
-
-If the connector ping (0:20) or the single grab (0:35) fails and is not fixed in ten minutes:
-switch to §6 (fallback script) at once and keep the schedule.
-
-## Where things are
-
-| What | Where |
-|---|---|
-| **ScanImage remote control = the built-in JSON server** (`most.network.json.Server`): TCP 5555, `<Q` byte count + JSON each way, `get`/`set`/`eval`; started in MATLAB with `hJ = most.network.json.Server(5555);`. Stock install has bugs B1–B4 (patches reverted after LAB-305); the connector is written to stay clear of them: one localhost client, scalar properties only (allowlists), two fixed evals (`hSI.startGrab()`, `hSI.abort()`), complete messages in one write | repo `reiserlab/scanimage-2026-bergamo`: `tests/remote-control/si_remote.py` (JsonClient), `tests/remote-control/mock_servers.py`, `patches/scanimage-2026.0.0/README.md` (B1–B4); LAB-305 results (Done); LAB-306 status block (2026-10-16) |
-| **The ScanImage connector** (built today): node, CLI, mock | `rig/nodes/scanimage_node.py` (topics `/scanimage/cmd|reply|status`), `nodes/scanimage_cmd.py`, `tests/si_json_mock.py`; `bridge_node.py` `CONNECTOR_TOPICS` (hello_ack advertises `bias` + `scanimage`); `rig.py --scanimage` / `--si-mock`; `mcap_convert.py` derives the connector events; harness `pixi run test` **52/52** (Mac) incl. grab/waitIdle/abort and the UNKNOWN path |
-| **Studio v0.96** plugin `scanimage` (class `ScanImagePlugin`): `setFileStem`, `set` (allowlist), `grab`, `waitIdle`, `abort`; `connectorPluginNames` maps it to the `scanimage` connector; the run file + MCAP bag now **close at run end** (`log_control off` after the commit step) | `js/plugin-registry.js`, `arena_studio.html`, release notes v0.96 |
-| **The protocol**: `g6_2p_color_led_sweep` — pre_blank (sets framesPerSlice 640) → per color: setFileStem `<color>_sweep` → grab → 1 s → six conditions (duty 7/15/31/63/127/255, 3 s each, 20 fps) → allOff → waitIdle → post_blank. ≈ 2.5 min. Everything tunable in `variables:` | `protocols/g6_2p_color_led_sweep.yaml` (+ `protocols/index.json`); header = controller settings, ScanImage setup, new-arena check |
-| **Patterns (GS16)**: the four one-color top-row gratings re-encoded as Gray_16 (lit = 15), names `G6_2x10_toprow_grat20_<color>_gs16`, **to be uploaded onto the card** (Console → Patterns → Add ▾ → folder); expected slots 5–8 after the GS2 set in 1–4 — verify in the SD listing (the Studio resolves by NAME; IDs are the fallback) | `protocols/g6_2p_color_led_sweep_patterns/` (`node scripts/make-color-optomotor-patterns.js --gs16`) |
-| **Fallback driver** (no ROS, stdlib Python): same condition table and TIFF layout | `tools/led_sweep_si.py` (`--dry-run`, `--ping`) |
-| **Panel firmware facts (side session 2026-10-16, note `panel-firmware-lineage-2026-10-16.md`)**: all 20 panels carry the 2P timing (falling-edge free-running Triggered, 1 µs base in Triggered, EINT pull-down); bottom row v1.3.1 (`0xB8796BAF`), top row bank-window diag builds (`0x362644DD` / `0x1A74DD1D` / `0x9E03D589`); **20 panels, not 18**; clean bank-window builds hung at boot before → run Inventory after every power cycle; never mode 3 (Gated) on the Bergamo; the 5 A supply resets on all-on at duty 255 → test displays ≤ 128; Triggered gives ⅓ of mode-1 light and the top row's bank windows cut ~5× more | `docs/development/2p-line-sync-rig-checklist.md` (§1 flash is NOT needed today; §2 check applies), `2p-scanimage-signal-logging.md` |
-| Hannah's Block Z (ZeroMQ frame stream, ~60 min, runs DARK, changes channelSave/framesPerSlice/acqsPerLoop/logging and restores them; no acquisitions from another block while its subscriber runs) | `reiserlab/scanimage-2026-bergamo` `procedures/rig-session-2026-10-16.md` + `-zmq-frames.md`. **Not today** (2 h of rig time); it runs whenever the rig is next free. Ports would not collide (Z: ZMQ PUB 65179; ours: JSON 5555) |
-| Rig-PC environment notes (git not on PATH → GitHub Desktop's git; MATLAB `matlab` is R2026a, ScanImage needs **R2025b**; Python from the operator's terminal; F: for data; `logFilePath` was empty) | same repo, `procedures/rig-session-2026-10-16.md` → "Environment notes" |
-
-## Settled decisions (2026-10-16, Michael)
-
-1. **PC:** the Bergamo PC `reiserlab-bergamo1` runs everything: ScanImage + JSON server, the ROS graph,
-   the Studio (served from this checkout), the arena controller. Client on `127.0.0.1` (sidesteps B1
-   and the server's all-interfaces bind).
-2. **Panels:** no flashing today. Verify with Inventory (20 present) and the §3 behavior check.
-3. **Stimulus:** 4 colors × 6 duties (7/15/31/63/127/255) × 3 s at 20 fps on the GS16 gratings,
-   one grab per color (startGrab costs 1.2–2.4 s, so per-condition grabs would waste more than they
-   image). Repeats = run the protocol again (new TIFF counters).
-4. **ScanImage:** unidirectional, both channels, logging on, TIFFs under `F:\ImagingData\2026-10-16\…`,
-   framesPerSlice set by the protocol (640 ≈ 22 s at 29 Hz). Lasers on.
-5. **Alignment:** Digital IO 1 (BNC J3) frame-transfer pulse + the line clock loop-back recorded by
-   ScanImage (aux triggers → TIFF header, or spare AI channels). No AO marker today.
-
-## Plan (in order; stop and report after each)
-
-### 1. Bergamo PC setup (30 min, no hardware)
-
-```
-# a terminal the operator owns (git via GitHub Desktop if `git` is not on PATH)
-git clone https://github.com/reiserlab/webDisplayTools.git   # or fetch an existing clone
-cd webDisplayTools && git switch claude/ros-studio-plan-b-c44942 && git pull
-cd rig && pixi install --locked          # default env (String topics); 25 s warm, minutes cold, ~1.5 GB
-pixi run test                                 # harness: expect 52 / 52 (≈ 60 s; ports 7447/8765/60000 must be free)
-```
-Then ScanImage (R2025b MATLAB), idle:
-```matlab
-hJ = most.network.json.Server(5555);          % the JSON server; keep this handle; clear hJ to stop it
-hSI.hChannels.loggingEnable = true; hSI.hScan2D.logFilePath = 'F:\ImagingData\2026-10-16\led_sweep';
-```
-And the connector against the real server:
-```
-pixi run router                               # terminal A (or skip: `pixi run rig` starts it)
-pixi run scanimage-node                       # terminal B: 127.0.0.1:5555, status 1 Hz
-pixi run scanimage-cmd -- ping                # terminal C → "ping → ok (… ms) value={'acqState': 'idle'}"
-pixi run scanimage-cmd -- status --json       # acqState, lastFrameNumber, logFileCounter, stem, path, loggingEnable
-```
-**Pass:** ping ok with a few-ms RTT; status shows logging on and the F: path. Record the RTT.
-
-### 2. Connector bench against the real ScanImage, dark (15 min)
-
-```
-pixi run scanimage-cmd -- set --property hStackManager.framesPerSlice --value 60
-pixi run scanimage-cmd -- setFileStem --stem connector_check
-pixi run scanimage-cmd -- grab                # ≈ 1–3 s; reply carries artifact {stem, counter, path}
-pixi run scanimage-cmd -- waitIdle --timeout-s 20
-pixi run scanimage-cmd -- grab && pixi run scanimage-cmd -- abort
-```
-**Pass:** one TIFF `connector_check_00001.tif` on F:, logFileCounter incremented, acqState back to
-idle, Hannah's `hMon` shows no lostFrames, MATLAB never froze. **Record:** grab start RTT (the
-synchronous startGrab), TIFF frame count.
-
-### 3. The arena on the microscope (new arena: 20 min)
-
-Studio from this checkout (not Pages): `python .claude/nocache-server.py 8092` at the repo root →
-`http://localhost:8092/arena_studio.html?advanced=1` (soft password per the branch notes). Connect.
-1. **Console → Panel firmware → Inventory:** 20 present; 1–10 `fw_match 0xB8796BAF`; 11–20
-   `fw_differs` with `0x362644DD` / `0x1A74DD1D` / `0x9E03D589`. Repeat after any power cycle.
-2. **Controller ▾:** panel display mode **2** (Triggered). **Digital IO 1 = out_debug_framescan.**
-   Digital IO 2 stays `in_trigger` (line clock → EINT). **Refresh rate reads 300 Hz** (GS16 default).
-3. **Trigger + edges (the new-arena check):** ScanImage FOCUS (dark) so the line clock runs →
-   Console → Test → full-field at level **≤ 128**: every panel lit at ~⅓ of mode-1 brightness.
-   Stop FOCUS → every panel dark. On the scope / ScanImage AI: DO1 shows one pulse per controller
-   refresh tick (~0.7 ms wide), the line clock is on its loop-back channel. `stopDisplay` does not
-   blank; `allOff` does.
-4. **Patterns:** Console → Patterns → Add ▾ → `protocols/g6_2p_color_led_sweep_patterns/` (4 GS16
-   files). SD listing shows `…_gs16` names; note their slots. If they are not 5–8, fix the four IDs
-   in the protocol's `variables:` (the Studio resolves by name; the IDs are the fallback).
-5. **Graph up:** `pixi run rig -- --scanimage` (router + fictrac adapter + scanimage node + bridge
-   node). Studio Console → FicTrac/bridge: Connect → hello_ack lists connectors `bias, scanimage`.
-
-### 4. Dry run without the prep, dark (20 min) — the go/no-go
-
-Lasers off. Studio → Open `protocols/g6_2p_color_led_sweep.yaml` → Run (experiment). **Pass:**
-- 24 stimulus conditions + 2 blanks run; four TIFF series `violet_sweep_…`, `blue_sweep_…`,
-  `green_sweep_…`, `yellow_sweep_…` on F:, each ≈ 640 frames;
-- DO1 pulses visible in each TIFF's aux record / AI channel; six brightness steps visible on the
-  arena by eye (the duty steps);
-- the run ends, the bridge's run file AND the bag close (`[record] closed …bag` in the rig terminal);
-  `pixi run convert -- <bag>` (or the Studio export) gives a `.jsonl` with 4 `grab` replies carrying
-  `artifact.stem` + `counter`, 4 `waitIdle` ok, `setFileStem` ×4, `set` ×1; `runlog-check` OK.
-- `hMon`: no lostFrames attributable to the connector (compare with Block Z's idle baseline).
-
-### 5. The experiment (with Michael)
-
-Prep in, lasers on, SiPM channels recording. Run the protocol once per repeat. After each run:
-the converted log, the bag, the TIFF list, the DO1 trace. **Alignment check:** TIFF frame times vs
-the `grab` reply `t_ms` and the first DO1 pulse of each color block; duty steps vs the trialParams
-`["a",…]` echoes in the log.
-
-### 6. Fallback (keeps today's data if the connector path slips)
-
-`python tools/led_sweep_si.py --dry-run` → `--ping` → `python tools/led_sweep_si.py` on the rig
-PC (stdlib Python, talks to the JSON server directly). It sets the stem and starts the grab per
-color and cues the operator; the Studio runs the matching color block by hand (**Test experiment**
-or Run on a copy of the protocol with the `scanimage` commands removed). Same one-TIFF-per-color
-layout and DO1 alignment, so the analysis does not change.
-
-## What still needs the rig (cannot be tested off-rig)
-
-- The JSON server's real reply shape for `set` (`actual`) and `eval` on ScanImage 2026.0.0 — the
-  mock follows Hannah's mock; a difference shows up in step 1/2 as an `error` reply, and the
-  node's `steps` list says which request.
-- startGrab latency on the Bergamo PC (1.2–2.4 s in LAB-305) → whether `grab_settle: 1` is enough
-  (the grab reply already waits for `acqState == grab`, so the settle covers scanner start only).
-- The arena's trigger path on the microscope (step 3.3), the DO1 record in ScanImage, the SD slots
-  after the upload, and the bank-window boot behavior after power cycles.
-- Windows specifics of the node: the TCP client is stdlib; `raise_timer_resolution()` applies as
-  for the other nodes. `pixi run test` is the check (52/52 expected; ww18 was 47/47 before today).
-
-## Rules
-- Nothing goes to Production or Next; all code on branch `claude/ros-studio-plan-b-c44942`, commits
-  name the step. Never change ScanImage's vendor files, `MicroscopeMDF.m`, `.cfg`/`.usr`, or the
-  power plan (the scanimage repo's rules apply). Clear the JSON server (`clear hJ`) at the end.
-- Dark until Michael says the prep is ready (steps 1–4). Confirm before anything that starts FOCUS,
-  GRAB or LOOP while someone is at the microscope.
-- Keep a results log from the first command (`rig/scanimage-day-2026-10-16.md`): one row per
-  step, timings, every error verbatim. Add our block to the scanimage repo's session index
-  (`procedures/rig-session-2026-10-16.md`, block letter S, this file as the plan) — that repo
-  commits straight to `main`.
-
-## Paste into Claude Code on the rig PC
-
-```
-ScanImage day on the Bergamo rig (LAB-303 / LAB-306). Fetch reiserlab/webDisplayTools, switch to
-claude/ros-studio-plan-b-c44942 (git pull) and read rig/SCANIMAGE-DAY.md end to end: the
-off-rig half is built and tested; today is steps 1–5 in order, dark through step 4, lasers on
-only when Michael says so. Also read procedures/rig-session-2026-10-16.md in
-reiserlab/scanimage-2026-bergamo (Hannah's Block Z runs today on this rig, dark, before us; its
-environment notes apply). Stop and report after each numbered step, keep the results log the
-brief asks for, and use the fallback (§6) rather than debugging on site if the connector path
-fails. Small fixes go on the branch; never touch Production, Next, or ScanImage's own files.
-```
diff --git a/rig/WINDOWS-TEST.md b/rig/WINDOWS-TEST.md
index a0701fa3..b783a7c2 100644
--- a/rig/WINDOWS-TEST.md
+++ b/rig/WINDOWS-TEST.md
@@ -161,7 +161,7 @@ whether the router keeps running after Ctrl-C (`tasklist | findstr rmw_zenohd`).
 pixi run test -- --keep
 ```
 
-Expected: `59 / 59 checks passed` (62 / 62 with `-e typed`) in about a minute and a line `artifacts kept in …`. Keep that
+Expected: `54 / 54 checks passed` (57 / 57 with `-e typed`; 59 / 62 before the ScanImage connector left on 2026-10-28) in about a minute and a line `artifacts kept in …`. Keep that
 directory (`summary.md`, `crash-results.json`, the converted export, `runlogs\*.bag`, `proc-logs\`).
 Windows-specific things it exercises for the first time: child processes in their own group,
 `CTRL_BREAK_EVENT` as the stop signal, `TerminateProcess` for the mid-run kills (the FicTrac adapter
diff --git a/rig/config/bias/okey-cokey-bfs-u3-51s5m.json b/rig/config/bias/okey-cokey-bfs-u3-51s5m.json
new file mode 100644
index 00000000..ac2ce960
--- /dev/null
+++ b/rig/config/bias/okey-cokey-bfs-u3-51s5m.json
@@ -0,0 +1,253 @@
+{
+    "camera":  {
+                   "format7Settings":  {
+                                           "mode":  "0",
+                                           "pixelFormat":  "MONO8",
+                                           "roi":  {
+                                                       "height":  2048,
+                                                       "offsetX":  0,
+                                                       "offsetY":  0,
+                                                       "width":  2448
+                                                   }
+                                       },
+                   "frameRate":  "Format7",
+                   "guid":  "24203703",
+                   "model":  "Blackfly S BFS-U3-51S5M",
+                   "properties":  {
+                                      "autoExposure":  {
+                                                           "absoluteControl":  false,
+                                                           "absoluteValue":  0.0,
+                                                           "autoActive":  false,
+                                                           "on":  false,
+                                                           "onePush":  false,
+                                                           "present":  false,
+                                                           "value":  0
+                                                       },
+                                      "brightness":  {
+                                                         "absoluteControl":  true,
+                                                         "absoluteValue":  0.0,
+                                                         "autoActive":  false,
+                                                         "on":  true,
+                                                         "onePush":  false,
+                                                         "present":  true,
+                                                         "value":  33
+                                                     },
+                                      "focus":  {
+                                                    "absoluteControl":  false,
+                                                    "absoluteValue":  0.0,
+                                                    "autoActive":  false,
+                                                    "on":  false,
+                                                    "onePush":  false,
+                                                    "present":  false,
+                                                    "value":  0
+                                                },
+                                      "frameRate":  {
+                                                        "absoluteControl":  true,
+                                                        "absoluteValue":  73.3232421875,
+                                                        "autoActive":  false,
+                                                        "on":  false,
+                                                        "onePush":  false,
+                                                        "present":  true,
+                                                        "value":  95
+                                                    },
+                                      "gain":  {
+                                                   "absoluteControl":  true,
+                                                   "absoluteValue":  0.0,
+                                                   "autoActive":  false,
+                                                   "on":  false,
+                                                   "onePush":  false,
+                                                   "present":  true,
+                                                   "value":  0
+                                               },
+                                      "gamma":  {
+                                                    "absoluteControl":  true,
+                                                    "absoluteValue":  0.800048828125,
+                                                    "autoActive":  false,
+                                                    "on":  true,
+                                                    "onePush":  false,
+                                                    "present":  true,
+                                                    "value":  14
+                                                },
+                                      "hue":  {
+                                                  "absoluteControl":  false,
+                                                  "absoluteValue":  0.0,
+                                                  "autoActive":  false,
+                                                  "on":  false,
+                                                  "onePush":  false,
+                                                  "present":  false,
+                                                  "value":  0
+                                              },
+                                      "iris":  {
+                                                   "absoluteControl":  false,
+                                                   "absoluteValue":  0.0,
+                                                   "autoActive":  false,
+                                                   "on":  false,
+                                                   "onePush":  false,
+                                                   "present":  false,
+                                                   "value":  0
+                                               },
+                                      "pan":  {
+                                                  "absoluteControl":  false,
+                                                  "absoluteValue":  0.0,
+                                                  "autoActive":  false,
+                                                  "on":  false,
+                                                  "onePush":  false,
+                                                  "present":  false,
+                                                  "value":  0
+                                              },
+                                      "saturation":  {
+                                                         "absoluteControl":  false,
+                                                         "absoluteValue":  0.0,
+                                                         "autoActive":  false,
+                                                         "on":  false,
+                                                         "onePush":  false,
+                                                         "present":  false,
+                                                         "value":  0
+                                                     },
+                                      "sharpness":  {
+                                                        "absoluteControl":  false,
+                                                        "absoluteValue":  0.0,
+                                                        "autoActive":  false,
+                                                        "on":  false,
+                                                        "onePush":  false,
+                                                        "present":  false,
+                                                        "value":  0
+                                                    },
+                                      "shutter":  {
+                                                      "absoluteControl":  true,
+                                                      "absoluteValue":  998.0,
+                                                      "autoActive":  false,
+                                                      "on":  false,
+                                                      "onePush":  false,
+                                                      "present":  true,
+                                                      "value":  0
+                                                  },
+                                      "temperature":  {
+                                                          "absoluteControl":  true,
+                                                          "absoluteValue":  52.0,
+                                                          "autoActive":  false,
+                                                          "on":  false,
+                                                          "onePush":  false,
+                                                          "present":  true,
+                                                          "value":  70
+                                                      },
+                                      "tilt":  {
+                                                   "absoluteControl":  false,
+                                                   "absoluteValue":  0.0,
+                                                   "autoActive":  false,
+                                                   "on":  false,
+                                                   "onePush":  false,
+                                                   "present":  false,
+                                                   "value":  0
+                                               },
+                                      "triggerDelay":  {
+                                                           "absoluteControl":  true,
+                                                           "absoluteValue":  13.0,
+                                                           "autoActive":  false,
+                                                           "on":  false,
+                                                           "onePush":  false,
+                                                           "present":  true,
+                                                           "value":  0
+                                                       },
+                                      "triggerMode":  {
+                                                          "absoluteControl":  false,
+                                                          "absoluteValue":  0.0,
+                                                          "autoActive":  false,
+                                                          "on":  false,
+                                                          "onePush":  false,
+                                                          "present":  true,
+                                                          "value":  0
+                                                      },
+                                      "whiteBalance":  {
+                                                           "absoluteControl":  false,
+                                                           "absoluteValue":  0.0,
+                                                           "autoActive":  false,
+                                                           "on":  false,
+                                                           "onePush":  false,
+                                                           "present":  false,
+                                                           "valueBlue":  0,
+                                                           "valueRed":  0
+                                                       },
+                                      "zoom":  {
+                                                   "absoluteControl":  false,
+                                                   "absoluteValue":  0.0,
+                                                   "autoActive":  false,
+                                                   "on":  false,
+                                                   "onePush":  false,
+                                                   "present":  false,
+                                                   "value":  0
+                                               }
+                                  },
+                   "triggerType":  "Internal",
+                   "vendor":  "Point Grey Research",
+                   "videoMode":  "Format7"
+               },
+    "configuration":  {
+                          "directory":  "C:/Users/labadmin/Documents",
+                          "fileName":  "bias_config"
+                      },
+    "display":  {
+                    "colorMap":  "None",
+                    "orientation":  {
+                                        "flipHorizontal":  false,
+                                        "flipVertical":  false
+                                    },
+                    "rotation":  0,
+                    "updateFrequency":  15.0
+                },
+    "logging":  {
+                    "autoNamingOptions":  {
+                                              "cameraIdentifier":  "CameraNumber",
+                                              "includeCameraIdentifier":  true,
+                                              "includeTimeAndDate":  true,
+                                              "includeVersionNumber":  true,
+                                              "timeAndDateFormat":  "\u0027date\u0027_yyyy_MM_dd_\u0027time\u0027_hh_mm_ss"
+                                          },
+                    "directory":  "C:/rec/okey-cokey",
+                    "enabled":  false,
+                    "fileName":  "bias_video",
+                    "format":  "ufmf",
+                    "settings":  {
+                                     "avi":  {
+                                                 "codec":  "MJPG",
+                                                 "frameSkip":  1
+                                             },
+                                     "bmp":  {
+                                                 "frameSkip":  1
+                                             },
+                                     "fmf":  {
+                                                 "frameSkip":  1
+                                             },
+                                     "jpg":  {
+                                                 "compressionThreads":  10,
+                                                 "frameSkip":  1,
+                                                 "mjpg":  true,
+                                                 "mjpgMaxFramePerFile":  5000000,
+                                                 "mjpgMaxFramePerFileFlag":  false,
+                                                 "quality":  90
+                                             },
+                                     "ufmf":  {
+                                                  "backgroundThreshold":  40,
+                                                  "boxLength":  30,
+                                                  "compressionThreads":  15,
+                                                  "dilate":  {
+                                                                 "on":  true,
+                                                                 "windowSize":  1
+                                                             },
+                                                  "frameSkip":  1,
+                                                  "medianUpdateCount":  100,
+                                                  "medianUpdateInterval":  50
+                                              }
+                                 }
+                },
+    "server":  {
+                   "enabled":  true,
+                   "port":  5010
+               },
+    "timer":  {
+                  "enabled":  false,
+                  "settings":  {
+                                   "duration":  40
+                               }
+              }
+}
diff --git a/rig/docs/okey-cokey-foxglove-dashboard-plan.md b/rig/docs/okey-cokey-foxglove-dashboard-plan.md
new file mode 100644
index 00000000..055cf91e
--- /dev/null
+++ b/rig/docs/okey-cokey-foxglove-dashboard-plan.md
@@ -0,0 +1,176 @@
+# Plan: a purpose-built Foxglove dashboard for the okey-cokey rig (camera + G6, no FicTrac)
+
+> **Status 2026-10-21: phases 1, 1b and 2 BUILT** on branch `claude/okey-cokey-rig` (off
+> `claude/okey-cokey-pairs`, itself the 2026-10-20 candidate + Grace's protocol shape). Phase 3
+> (live camera) NOT built, by decision: BIAS stays unchanged for now. The okey-cokey controller
+> runs telemetry firmware (Michael), so the observed side is live. Part of LAB-303.
+>
+> | built | where |
+> |---|---|
+> | `/arena/browser` published live | `nodes/bridge_node.py` (one publisher; the bag record is unchanged) |
+> | tracker: expected/observed index, lag, display rate, health | `nodes/stimulus_core.py` (pure) |
+> | renderer + Python port of the panel colors | `nodes/arena_display.py` (pinned cell by cell to `js/panel-color.js` under Node) |
+> | live node | `nodes/stimulus_node.py`; `pixi run rig -- --stimulus` (`--foxglove` includes it), `--no-fictrac` for this rig |
+> | BIAS rate / drops / rtt / writer queue | `rig_nodes.bias_health` (reiserlab/rig-nodes), `viz_node.py` (`--sources bias` hides the unused FicTrac/Kinefly/arena-frame statuses) |
+> | replay: same topics from a finished bag + `/camera/image` from the uFMF | `nodes/dashboard_replay.py` via `pixi run fox-json -- <bag> <out> --stimulus`; `tools/ufmf.py` (BIAS v4 layout, index or scan) |
+> | layout | `foxglove/arena-okey-cokey.json` (15 panels) |
+>
+> Tested: `pixi run test-stimulus` 54/54 (incl. a REAL 80 fps trial from the 2026-10-14 smoke run:
+> 800+ frames, every lag 0, 80 Hz); `pixi run test-stimulus-live` 10/10 (router + bridge +
+> stimulus node, the real trial played into the Studio WebSocket); ROS harness `pixi run test`
+> 54/54 and `test-viz` unchanged; `rig.py --no-fictrac --bias-sim --bias --foxglove` brings every
+> dashboard topic up with foxglove_bridge on :8766; uFMF reader on three real BIAS movies
+> (1920×1080, up to 2.1 GB, indexed). On the real 2026-10-14 bag the replay MCAP is 612 kB for
+> 2.5 min. **Not verified:** the layout opened in the Foxglove app (written to Foxglove's layout
+> format by hand; its topics are checked by the test), a live run on the okey-cokey rig, a real
+> uFMF from that rig's camera through the replay.
+>
+> Deviations from the plan below: (1) the arena status is the stimulus node's own
+> `arena/display` diagnostic instead of re-feeding viz_node's FicTrac-frame `arena` entry, which
+> keeps meaning closed-loop frames; (2) an OBSERVED display image (`/arena/display_observed`)
+> was added beside the expected one; (3) `/viz/arena/observed_idx` and `lag_frames` are one sample
+> per displayed frame (live and replay alike); (4) the expected display's stall check is STALE only
+> while a pattern plays, since the telemetry ring has nothing to send in the dark; (5) the tiff
+> tool's PNG writer was not refactored into the shared module (left as it was).
+
+## Goal
+
+One Foxglove layout for a freely-walking-fly rig (overhead BIAS camera + G6 2×10 four-color arena, no
+FicTrac) showing three things:
+
+1. **The camera.**
+2. **The expected display**: what the arena should be showing right now (pattern, frame, color, duty),
+   rendered as an image of the unrolled arena.
+3. **Health and rate** for the arena and for BIAS: is each one alive, at what rate, and has anything
+   dropped.
+
+The same layout should work **live** (foxglove_bridge during the run) and on **replay** (the run's MCAP
+afterwards).
+
+## What exists today (release 2026-10-20, `rig/`)
+
+| Need | Today | Gap |
+|---|---|---|
+| BIAS health | `/bias/status` at 5 Hz (`bias_node.py`): reachable, capturing, logging, frameCount, framesPerSec, rtt_ms; on Atlas10 also frameIdGaps, cameraSkipped, loggerSkipped, writerSkipped, logQueueSize. `viz_node` turns these into `/viz/bias/*` and a `bias` entry in `/diagnostics`. `foxglove/arena-bias.json` shows them. | Mostly there. Missing: a rate from the frameCount slope (independent of BIAS's own estimate) and the drop counters on a plot. |
+| Arena health | `viz_node`'s `arena` entry is fed only by `/arena/frame`, which only FicTrac lines produce. | **Always "never seen" on this rig.** |
+| What the arena is doing | Every Studio message (trialParams `a` echoes, runner status events with `conditionName` / `params` / `durationSec`, controller telemetry `cc`/`cf`/`cs` row batches) reaches `bridge_node`. | It is **written to the bag only** (`/arena/browser`, `/arena/event` via `rec.write_raw`), never published, so nothing live can subscribe. The `a` hex is truncated to 8 bytes (no gain/duration). |
+| Expected display image | `tools/patfile.py` reads `.pat`; `tools/tiff_run_to_mcap.py` already renders `/arena/display` as a `foxglove.CompressedImage` (200×40, upscaled, labeled RECONSTRUCTED). | Offline only, and wired to the 2P color-sweep file names and DO1 timing. Monochrome. |
+| Camera image | Nothing. BIAS's HTTP API has no frame grab (only status, timestamps, frame count, video file). | **No live frames anywhere.** After the run, the `.ufmf` plus the per-frame stamps on `/bias/frames` (recorded at stopRecording) are enough to rebuild a timed image stream. |
+
+## Design
+
+### A. Make the arena's activity a live topic (bridge_node, small)
+
+`bridge_node` publishes what it already records:
+
+- `/arena/browser`: String JSON, verbatim, the same record it writes to the bag (QoS reliable, depth 50).
+  It stays in the bag as now.
+
+That one change lets any node watch the run without touching the Studio or bridge 3.4.
+
+### B. `stimulus_node.py`: expected display + arena health (new node, the core of the work)
+
+It subscribes to `/arena/browser` and keeps the current stimulus state:
+
+- From runner status events and the trialParams echoes: condition name, pattern name, mode, frame
+  rate, start frame, duty, and the trial start time (the echo's `ms`, i.e. when the command left the
+  browser).
+- Expected frame for Mode 2: `idx = (init + round(fps · (t − t_start))) mod n_frames`. `allOff` = dark.
+  Mode 3 is out of scope here (it needs FicTrac).
+- Observed frame: telemetry `cf` rows carry the frame the controller actually put up (idx + pattern
+  per frame change). Arrival is in ~10 Hz batches, so the observed stream lags by ~100 ms, but each row
+  has its own controller timestamp.
+
+It publishes:
+
+| Topic | Type | Rate | What |
+|---|---|---|---|
+| `/arena/stimulus` | String JSON (later typed) | on change | `{condition, pattern, mode, fps, init, duty, t_start}` |
+| `/arena/display` | `foxglove.CompressedImage` (PNG) | 10–15 Hz | the expected display: unrolled 200×40, ×4 upscale, top row = top |
+| `/viz/arena/expected_idx`, `/viz/arena/observed_idx` | Float64 | 10–15 Hz / per row | for one plot of the two indices together |
+| `/viz/arena/display_rate_hz` | Float64 | 1 Hz | frame changes per second from `cf` rows; should equal \|fps\| (80) during a trial and 0 in the dark |
+| `/viz/arena/lag_frames` | Float64 | 1 Hz | expected − observed (mod n), the "is the arena keeping up" number |
+| `/diagnostics` entry `arena` | DiagnosticStatus | 1 Hz | OK / WARN (rate off by > 5 %, lag > 2 frames, a `display_gap` or flagged `trial_quality`) / STALE (no telemetry for > 2 s while a run is open) / ERROR (non-ok command status) |
+
+**Color, not green.** The four-color panels light one bank per pattern, so a green ramp would show the
+wrong thing. Port the minimum of `js/panel-color.js` to Python (the layout table, and
+`bankAt(row, col) = 2·((row+1)%2) + (col%2)` in host coordinates), and pin it to the JS module with a
+test. Duty scales the brightness. Without that test, the two copies will drift.
+
+**Patterns.** The node needs the `.pat` files. It looks them up by name under a `--pattern-dir` (the
+protocol's `*_patterns/` folder) and caches them. If a pattern is missing, the image shows the name on
+a gray placeholder; the run is never refused.
+
+**If the firmware has no telemetry** (GET_FIRMWARE_VERSION flag bit 2 off, or the poller is off), there
+are no `cf` rows: show the expected display only, observed = "unknown", and arena health from command
+status alone. It must never claim "OK" without evidence (the same rule as `trial-quality.js`).
+
+### C. BIAS health additions (viz_node, small)
+
+- `/viz/bias/fps_from_count`: frameCount slope over the last 2 s of 5 Hz polls, next to BIAS's own
+  `framesPerSec`.
+- `/viz/bias/drops`: the sum of the Atlas10 counters (frameIdGaps + cameraSkipped + loggerSkipped +
+  writerSkipped) as a plot; WARN on any increase while logging. Absent keys (Spinnaker build) mean
+  "not reported", not 0.
+- `/viz/bias/rtt_ms` from the status polls; WARN at > 100 ms.
+
+### D. Camera
+
+- **Replay (phase 2).** `ufmf_to_mcap.py` reads the run's `.ufmf` and writes a sidecar MCAP with
+  `/camera/image` as `foxglove.CompressedImage` JPEG, timed by the `/bias/frames` stamps from the run
+  bag, downsampled (for example 10 Hz, half resolution) so the file stays small. Foxglove opens the run
+  bag and the sidecar together. uFMF needs a reader: write a small one (the format is documented, and
+  motmot's reader is Python 2-era), and test it on a ww18 recording.
+- **Live (phase 3, only if wanted).** BIAS has to push frames out: a small BIAS patch (in our
+  atlas-bench fork) publishing a rate-limited JPEG preview over ZMQ. A node then mirrors it as
+  `/camera/image`, copying `scanimage_frames_node.py` (rate limit + loss stats). Until then, keep the
+  BIAS window beside Foxglove during the run.
+
+### E. The layout: `foxglove/arena-okey-cokey.json`
+
+```
+┌──────────────────────────────┬─────────────────────────────────────┐
+│ Image /camera/image          │ Image /arena/display (expected)     │
+│ (replay; live after phase 3) │ caption: condition · pattern · duty │
+├──────────────┬───────────────┼─────────────────────────────────────┤
+│ Indicators   │ Plot: BIAS fps (own + from count), drops            │
+│ BIAS reach/  ├─────────────────────────────────────────────────────┤
+│ capture/log; │ Plot: arena expected vs observed idx; display rate  │
+│ arena state  ├─────────────────────────────────────────────────────┤
+│              │ StateTransitions: /arena/stimulus condition         │
+├──────────────┴──────────────────┬──────────────────────────────────┤
+│ DiagnosticSummary (/diagnostics)│ RawMessages /bias/reply          │
+└─────────────────────────────────┴──────────────────────────────────┘
+```
+
+### F. Replay parity
+
+The derived topics (B, C) do not exist in bags recorded before this work, and live ones are not
+recorded unless we choose to. Do both:
+
+- Record `/arena/stimulus` live (it is small). Do not record `/arena/display`: it is rebuilt from
+  stimulus + patterns.
+- Extend `nodes/foxglove_json.py` (the offline converter) to run the same `stimulus_node` logic over
+  the bag's `/arena/browser` records and emit `/arena/display` and the `/viz/arena/*` topics. Then the
+  layout works on any run, including today's.
+
+The logic lives in one pure module (`nodes/stimulus_core.py`) used both by the live node and by the
+converter, the same split as `studio-replay.js`.
+
+## Phases and size
+
+| Phase | What | Size | Gate |
+|---|---|---|---|
+| 1 | A + B (no color port yet) + C + layout; harness test with the Studio emulator sending trialParams + `cf` rows | ~1 day | live on the Mac bench with the 2×10 arena |
+| 1b | Python color port + test pinned to `js/panel-color.js` | ~2 h | the four banks show their colors |
+| 2 | F (offline converter) + D replay (uFMF reader → sidecar MCAP) | ~1 day | today's okey-cokey run opens with camera + expected display in sync |
+| 3 | D live (BIAS ZMQ preview patch + node) | ~1–2 days, BIAS C++ | only if a live camera in Foxglove is worth more than the BIAS window |
+
+## Open questions
+
+1. ~~Is a live camera in Foxglove needed?~~ Not now (2026-10-21): BIAS stays unchanged; replay has the camera.
+2. ~~Telemetry firmware on the okey-cokey controller?~~ Yes (Michael, 2026-10-21).
+3. Which BIAS build is on the okey-cokey PC: the Atlas10 fork has the drop counters, the Spinnaker
+   build may not (the panels then read "no data", never 0).
+4. Typed messages: `viz_node` subscribes to `/arena/frame` as String, which breaks in the `typed` env.
+   That doesn't affect this rig (no `/arena/frame`), but fix it when touching viz_node.
diff --git a/rig/foxglove/arena-okey-cokey.json b/rig/foxglove/arena-okey-cokey.json
new file mode 100644
index 00000000..34474f38
--- /dev/null
+++ b/rig/foxglove/arena-okey-cokey.json
@@ -0,0 +1,324 @@
+{
+  "configById": {
+    "Image!camera": {
+      "foxglovePanelTitle": "Camera (BIAS) \u2014 replay: from the run's uFMF",
+      "imageMode": {
+        "imageTopic": "/camera/image"
+      }
+    },
+    "Image!expected": {
+      "foxglovePanelTitle": "Arena \u2014 EXPECTED display (trial \u00d7 frame \u00d7 duty)",
+      "imageMode": {
+        "imageTopic": "/arena/display"
+      }
+    },
+    "Image!observed": {
+      "foxglovePanelTitle": "Arena \u2014 OBSERVED (controller telemetry, ~10 Hz)",
+      "imageMode": {
+        "imageTopic": "/arena/display_observed"
+      }
+    },
+    "Plot!index": {
+      "title": "Arena frame index: expected vs observed",
+      "paths": [
+        {
+          "value": "/viz/arena/expected_idx.data",
+          "enabled": true,
+          "timestampMethod": "receiveTime",
+          "label": "expected"
+        },
+        {
+          "value": "/viz/arena/observed_idx.data",
+          "enabled": true,
+          "timestampMethod": "receiveTime",
+          "label": "observed"
+        }
+      ],
+      "showXAxisLabels": true,
+      "showYAxisLabels": true,
+      "showLegend": true,
+      "legendDisplay": "floating",
+      "showPlotValuesInLegend": true,
+      "isSynced": true,
+      "xAxisVal": "timestamp",
+      "followingViewWidth": 30
+    },
+    "Plot!rate": {
+      "title": "Rates (Hz): arena frames shown vs commanded; camera fps",
+      "paths": [
+        {
+          "value": "/viz/arena/display_rate_hz.data",
+          "enabled": true,
+          "timestampMethod": "receiveTime",
+          "label": "arena shown"
+        },
+        {
+          "value": "/viz/arena/cmd_fps.data",
+          "enabled": true,
+          "timestampMethod": "receiveTime",
+          "label": "arena commanded (\u00b1)"
+        },
+        {
+          "value": "/viz/bias/fps.data",
+          "enabled": true,
+          "timestampMethod": "receiveTime",
+          "label": "camera (BIAS)"
+        },
+        {
+          "value": "/viz/bias/fps_from_count.data",
+          "enabled": true,
+          "timestampMethod": "receiveTime",
+          "label": "camera (from count)"
+        }
+      ],
+      "showXAxisLabels": true,
+      "showYAxisLabels": true,
+      "showLegend": true,
+      "legendDisplay": "floating",
+      "showPlotValuesInLegend": true,
+      "isSynced": true,
+      "xAxisVal": "timestamp",
+      "followingViewWidth": 30
+    },
+    "Plot!lag": {
+      "title": "Arena lag (frames, observed \u2212 expected; 0 = on schedule)",
+      "paths": [
+        {
+          "value": "/viz/arena/lag_frames.data",
+          "enabled": true,
+          "timestampMethod": "receiveTime",
+          "label": "lag"
+        }
+      ],
+      "showXAxisLabels": true,
+      "showYAxisLabels": true,
+      "showLegend": true,
+      "legendDisplay": "floating",
+      "showPlotValuesInLegend": true,
+      "isSynced": true,
+      "xAxisVal": "timestamp",
+      "followingViewWidth": 30,
+      "minYValue": -5,
+      "maxYValue": 5
+    },
+    "Plot!drops": {
+      "title": "Camera: frames dropped (cumulative) \u00b7 writer queue",
+      "paths": [
+        {
+          "value": "/viz/bias/drops.data",
+          "enabled": true,
+          "timestampMethod": "receiveTime",
+          "label": "dropped"
+        },
+        {
+          "value": "/viz/bias/log_queue.data",
+          "enabled": true,
+          "timestampMethod": "receiveTime",
+          "label": "writer queue"
+        }
+      ],
+      "showXAxisLabels": true,
+      "showYAxisLabels": true,
+      "showLegend": true,
+      "legendDisplay": "floating",
+      "showPlotValuesInLegend": true,
+      "isSynced": true,
+      "xAxisVal": "timestamp",
+      "followingViewWidth": 30
+    },
+    "StateTransitions!states": {
+      "paths": [
+        {
+          "value": "/viz/arena/condition.data",
+          "timestampMethod": "receiveTime",
+          "label": "condition"
+        },
+        {
+          "value": "/viz/arena/state.data",
+          "timestampMethod": "receiveTime",
+          "label": "arena"
+        },
+        {
+          "value": "/viz/bias/state.data",
+          "timestampMethod": "receiveTime",
+          "label": "BIAS"
+        }
+      ],
+      "isSynced": true
+    },
+    "Indicator!arena": {
+      "foxglovePanelTitle": "Arena",
+      "path": "/viz/arena/ok.data",
+      "style": "bulb",
+      "fallbackColor": "#8b949e",
+      "fallbackLabel": "no data",
+      "rules": [
+        {
+          "operator": "=",
+          "rawValue": "true",
+          "color": "#00e676",
+          "label": "OK"
+        },
+        {
+          "operator": "=",
+          "rawValue": "false",
+          "color": "#ffd740",
+          "label": "check health"
+        }
+      ]
+    },
+    "Indicator!bias": {
+      "foxglovePanelTitle": "BIAS",
+      "path": "/viz/bias/reachable.data",
+      "style": "bulb",
+      "fallbackColor": "#8b949e",
+      "fallbackLabel": "no status",
+      "rules": [
+        {
+          "operator": "=",
+          "rawValue": "true",
+          "color": "#00e676",
+          "label": "online"
+        },
+        {
+          "operator": "=",
+          "rawValue": "false",
+          "color": "#ff5252",
+          "label": "offline"
+        }
+      ]
+    },
+    "Indicator!video": {
+      "foxglovePanelTitle": "Video",
+      "path": "/viz/bias/logging.data",
+      "style": "bulb",
+      "fallbackColor": "#8b949e",
+      "fallbackLabel": "no data",
+      "rules": [
+        {
+          "operator": "=",
+          "rawValue": "true",
+          "color": "#ffd740",
+          "label": "writing"
+        },
+        {
+          "operator": "=",
+          "rawValue": "false",
+          "color": "#8b949e",
+          "label": "off"
+        }
+      ]
+    },
+    "RawMessages!health": {
+      "foxglovePanelTitle": "Arena health",
+      "topicPath": "/viz/arena/health",
+      "diffEnabled": false,
+      "diffMethod": "custom",
+      "diffTopicPath": "",
+      "showFullMessageForDiff": false,
+      "expansion": "all"
+    },
+    "RawMessages!stimulus": {
+      "foxglovePanelTitle": "Stimulus now",
+      "topicPath": "/arena/stimulus",
+      "diffEnabled": false,
+      "diffMethod": "custom",
+      "diffTopicPath": "",
+      "showFullMessageForDiff": false,
+      "expansion": "all"
+    },
+    "DiagnosticSummary!diag": {
+      "foxglovePanelTitle": "Health (live)",
+      "minLevel": 0,
+      "pinnedIds": [],
+      "hardwareIdFilter": "",
+      "topicToRender": "/diagnostics",
+      "sortByLevel": true
+    },
+    "RawMessages!reply": {
+      "foxglovePanelTitle": "BIAS replies",
+      "topicPath": "/bias/reply",
+      "diffEnabled": false,
+      "diffMethod": "custom",
+      "diffTopicPath": "",
+      "showFullMessageForDiff": false,
+      "expansion": "all"
+    }
+  },
+  "globalVariables": {},
+  "userNodes": {},
+  "playbackConfig": {
+    "speed": 1
+  },
+  "layout": {
+    "direction": "row",
+    "splitPercentage": 66,
+    "first": {
+      "direction": "column",
+      "splitPercentage": 52,
+      "first": {
+        "direction": "row",
+        "splitPercentage": 45,
+        "first": "Image!camera",
+        "second": {
+          "direction": "column",
+          "splitPercentage": 50,
+          "first": "Image!expected",
+          "second": "Image!observed"
+        }
+      },
+      "second": {
+        "direction": "column",
+        "splitPercentage": 22,
+        "first": "StateTransitions!states",
+        "second": {
+          "direction": "row",
+          "splitPercentage": 50,
+          "first": {
+            "direction": "column",
+            "splitPercentage": 55,
+            "first": "Plot!index",
+            "second": "Plot!lag"
+          },
+          "second": {
+            "direction": "column",
+            "splitPercentage": 55,
+            "first": "Plot!rate",
+            "second": "Plot!drops"
+          }
+        }
+      }
+    },
+    "second": {
+      "direction": "column",
+      "splitPercentage": 14,
+      "first": {
+        "direction": "row",
+        "splitPercentage": 33,
+        "first": "Indicator!arena",
+        "second": {
+          "direction": "row",
+          "splitPercentage": 50,
+          "first": "Indicator!bias",
+          "second": "Indicator!video"
+        }
+      },
+      "second": {
+        "direction": "column",
+        "splitPercentage": 18,
+        "first": "RawMessages!health",
+        "second": {
+          "direction": "column",
+          "splitPercentage": 40,
+          "first": "RawMessages!stimulus",
+          "second": {
+            "direction": "column",
+            "splitPercentage": 45,
+            "first": "DiagnosticSummary!diag",
+            "second": "RawMessages!reply"
+          }
+        }
+      }
+    }
+  }
+}
\ No newline at end of file
diff --git a/rig/nodes/arena_display.py b/rig/nodes/arena_display.py
new file mode 100644
index 00000000..7764d66b
--- /dev/null
+++ b/rig/nodes/arena_display.py
@@ -0,0 +1,131 @@
+#!/usr/bin/env python3
+"""arena_display.py — render a G6 arena frame the way the Studio and Pattern Designer draw it, as PNG.
+
+Pure (numpy + stdlib), shared by the live `stimulus_node.py` and the offline `foxglove_json.py
+--stimulus` converter, so a live dashboard and a replayed bag show the same pixels.
+
+Panel color is a PANEL property (LAB-228): a four-color G6 panel is the standard 20×20 board
+with its four LED banks populated with different LEDs in a repeating 2×2 mosaic. This module is
+a minimal Python port of `js/panel-color.js`, the one authority, and must stay equal to it:
+
+    bank(row, col) = 2 * ((row + ROW_PARITY_FLIP) % 2) + (col % 2),  ROW_PARITY_FLIP = 1
+
+in HOST coordinates (row 0 = the bottom of the arena, col 0 = left), bench-verified 2026-09-29.
+`tests/test_stimulus.py` runs the JS module under Node and compares every cell of every layout,
+plus the channel colors, so a change on either side fails the harness.
+
+    render_frame(frame, gs, layout="four-color", duty=255, scale=4) -> (H*scale, W*scale, 3) uint8
+    png_bytes(img) -> bytes
+"""
+
+from __future__ import annotations
+
+import struct
+import zlib
+
+import numpy as np
+
+ROW_PARITY_FLIP = 1  # js/panel-color.js ROW_PARITY_FLIP (bench-verified 2026-09-29)
+DEFAULT_LAYOUT = "g6-green"
+OFF_RGB = (0x1E, 0x23, 0x29)  # js/panel-color.js OFF_CSS '#1e2329' — an LED that is off
+
+# js/panel-color.js CHANNELS: on-screen primary at full brightness.
+CHANNEL_RGB = {
+    "green": (153, 255, 51),
+    "violet": (150, 60, 255),
+    "blue": (40, 120, 255),
+    "yellow": (255, 170, 20),
+    "red": (255, 50, 40),
+    "ir": (190, 70, 110),
+}
+
+# js/panel-color.js LAYOUT_DEFS: banks T0..T3.
+LAYOUTS = {
+    "g6-green": ("green", "green", "green", "green"),
+    "four-color": ("violet", "blue", "green", "yellow"),
+    "red-ir-v0.4r2": ("red", "ir", "ir", "red"),
+    "red-ir-v0.4r1": ("red", "ir", "red", "ir"),
+}
+
+
+def bank_at(row: int, col: int) -> int:
+    """Bank index 0..3 of the LED at host (row, col) — js/panel-color.js bankAt."""
+    return 2 * ((row + ROW_PARITY_FLIP) & 1) + (col & 1)
+
+
+def is_mono(layout: str) -> bool:
+    banks = LAYOUTS.get(layout)
+    return banks is None or len(set(banks)) == 1
+
+
+def channel_grid(layout: str, rows: int, cols: int) -> np.ndarray:
+    """(rows, cols, 3) float64 of each LED's full-brightness color, host row 0 first.
+
+    A mono layout uses the legacy green-phosphor ramp at full (0.6, 1.0, 0.2) × 255, which is what
+    js/panel-color.js `legacyRgb` draws (it equals the `green` channel color)."""
+    banks = LAYOUTS.get(layout) or LAYOUTS[DEFAULT_LAYOUT]
+    if is_mono(layout):
+        rgb = np.array((0.6 * 255, 255.0, 0.2 * 255), dtype=np.float64)
+        return np.broadcast_to(rgb, (rows, cols, 3)).copy()
+    r = np.arange(rows)[:, None]
+    c = np.arange(cols)[None, :]
+    bank = 2 * ((r + ROW_PARITY_FLIP) & 1) + (c & 1)
+    table = np.array([CHANNEL_RGB[b] for b in banks], dtype=np.float64)
+    return table[bank]
+
+
+_GRID_CACHE: dict[tuple[str, int, int], np.ndarray] = {}
+
+
+def render_frame(frame, gs: int, layout: str = DEFAULT_LAYOUT, duty: int = 255, scale: int = 4) -> np.ndarray:
+    """A .pat frame (uint8 (H, W), host row 0 = bottom; values 0..1 for GS2, 0..15 for GS16) → an
+    RGB image with the TOP of the arena at the top, each LED `scale`×`scale` pixels.
+
+    Brightness = value / max × duty / 255 (the per-trial duty override scales the whole panel); an
+    LED at 0 is drawn in the OFF color, as the Pattern Designer grid does. `frame=None` = the
+    arena dark (allOff)."""
+    if frame is None:
+        raise ValueError("render_frame needs a frame; use render_dark for allOff")
+    h, w = frame.shape
+    key = (layout, h, w)
+    grid = _GRID_CACHE.get(key)
+    if grid is None:
+        grid = _GRID_CACHE[key] = channel_grid(layout, h, w)
+    vmax = 15.0 if gs == 16 else 1.0
+    b = np.clip(frame.astype(np.float64) / vmax, 0.0, 1.0) * (max(0, min(255, int(duty))) / 255.0)
+    img = grid * b[:, :, None]
+    off = frame == 0
+    img[off] = OFF_RGB
+    img = img[::-1, :, :]  # host row 0 (bottom) → image bottom
+    out = np.clip(np.floor(img + 0.5), 0, 255).astype(np.uint8)  # Math.round, as js/panel-color.js pixelCss
+    if scale > 1:
+        out = np.repeat(np.repeat(out, scale, axis=0), scale, axis=1)
+    return out
+
+
+def render_dark(rows_px: int = 40, cols_px: int = 200, scale: int = 4) -> np.ndarray:
+    out = np.empty((rows_px * scale, cols_px * scale, 3), dtype=np.uint8)
+    out[:] = OFF_RGB
+    return out
+
+
+def render_placeholder(rows_px: int = 40, cols_px: int = 200, scale: int = 4) -> np.ndarray:
+    """A pattern the node cannot find: a gray hatch, so it never looks like 'dark' or 'lit'."""
+    out = render_dark(rows_px, cols_px, scale)
+    yy, xx = np.mgrid[0:rows_px * scale, 0:cols_px * scale]
+    out[((xx + yy) // (4 * scale)) % 2 == 0] = (70, 74, 80)
+    return out
+
+
+def png_bytes(img: np.ndarray) -> bytes:
+    """8-bit grayscale (H, W) or RGB (H, W, 3) → PNG (stdlib zlib; no Pillow in the env)."""
+    color_type = 0 if img.ndim == 2 else 2
+    h, w = img.shape[:2]
+    rows = np.ascontiguousarray(img, dtype=np.uint8).reshape(h, -1)
+    raw = np.concatenate([np.zeros((h, 1), dtype=np.uint8), rows], axis=1).tobytes()
+
+    def chunk(tag: bytes, body: bytes) -> bytes:
+        return struct.pack(">I", len(body)) + tag + body + struct.pack(">I", zlib.crc32(tag + body) & 0xFFFFFFFF)
+
+    return (b"\x89PNG\r\n\x1a\n" + chunk(b"IHDR", struct.pack(">IIBBBBB", w, h, 8, color_type, 0, 0, 0))
+            + chunk(b"IDAT", zlib.compress(raw, 6)) + chunk(b"IEND", b""))
diff --git a/rig/nodes/bridge_node.py b/rig/nodes/bridge_node.py
index 3628eada..df651c73 100644
--- a/rig/nodes/bridge_node.py
+++ b/rig/nodes/bridge_node.py
@@ -22,6 +22,11 @@
     the envelope and is used only for the `lat_ms` latency statistics.
   * `/arena/frame` — every frame the hub publishes is also published as a ROS topic, so
     `ros2 topic echo/hz` introspect the closed loop and ROS-native nodes can subscribe.
+  * `/arena/browser` — every Studio message is also PUBLISHED live, as received
+    (`{"rx_ms", "raw"}`, reliable): trialParams echoes, runner status events, controller
+    telemetry rows. The run's bag records the same messages separately (with `seq`, only while
+    a log is open), so this is for live consumers such as stimulus_node.py (the expected
+    display + arena health); nothing that writes the log reads it.
   * other device topics are LOGGED, not applied: `/kinefly/raw` (KF/1) → compact tagged
     rows `["kf", ms, seq, src_t_s, left_rad, right_rad, head_rad, abdomen_rad]`;
     `/bias/reply`, `/bias/status`, `/scanimage/reply`, `/scanimage/status` → `{"type":"connector","src":<id>,…}` events.
@@ -31,6 +36,8 @@
     node killed mid-run therefore leaves the log intact AND documented.
   * `connector_status` lines (frames seen, adapter→bridge latency p50/p99 ms per source)
     at log close / export, so a run carries its own transport health.
+  * `/rig/host` (rig_nodes.host_monitor: CPU per core, memory, disk, network, GPU, top processes) is
+    recorded into the bag on arrival, so every run carries the PC's pressure alongside it.
 
 Not supported here (by design of the PoC): the `fictrac_port` config key cannot re-bind
 the socket — the adapter owns it. The request is acknowledged with a warning.
@@ -38,7 +45,9 @@
 PLAN B SPIKE (LAB-303, 2026-10-14) — MCAP as the record of truth:
   * While a run's log is open, EVERYTHING is recorded into `<log-dir>/<run>.bag/` with
     rosbag2_py + the MCAP storage plugin (rig_nodes.recorder, reiserlab/rig-nodes): the device topics as received
-    (`/fictrac/raw` or the typed `/fictrac/frame`, `/kinefly/raw`, `/bias/cmd|reply|status`),
+    (`/fictrac/raw` or the typed `/fictrac/frame`, `/kinefly/raw`, `/bias/cmd|reply|status`, `/sipm/cmd|reply|status`,
+    the ScanImage frame-stream topics `/scanimage/frame_meta|frame_stats|preview/*` — streams, bag only; their
+    nodes are the 2P rig's, private in reiserlab/scanimage-2026-bergamo `2p-rig-nodes/`),
     `/arena/frame` (the closed-loop evaluation with ITS OWN sample time `t`/`ms`), and two
     bridge-side streams — `/arena/browser` (every browser message, verbatim, with the receive
     stamp) and `/arena/event` (bias_config, heading_tare, connector_status, source_lost, warn)
@@ -83,6 +92,7 @@
 from rclpy.node import Node
 from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
 from rclpy.serialization import deserialize_message, serialize_message
+from sensor_msgs.msg import CompressedImage
 from std_msgs.msg import String
 
 HERE = Path(__file__).resolve().parent
@@ -160,14 +170,40 @@ def package_versions() -> dict:
 SCANIMAGE_CMD_TOPIC = "/scanimage/cmd"
 SCANIMAGE_REPLY_TOPIC = "/scanimage/reply"
 SCANIMAGE_STATUS_TOPIC = "/scanimage/status"
+# The SiPM controller (the 2P rig's read-only node, private: reiserlab/scanimage-2026-bergamo 2p-rig-nodes/): its 1 Hz status carries bias/enable/offsets/
+# temperature, the detector settings ScanImage's TIFF header does not have.
+SIPM_CMD_TOPIC = "/sipm/cmd"
+SIPM_REPLY_TOPIC = "/sipm/reply"
+SIPM_STATUS_TOPIC = "/sipm/status"
+# ScanImage's ZeroMQ frame stream as topics (the 2P rig's frames node, private, 2p-rig-nodes/; LAB-303 Block R). STREAMS:
+# recorded into the bag as received, like /bias/frames, and never derived into a run-log line (the
+# telemetry rule: a string-tagged stream is not a behavior sample). The preview images are bounded at
+# the source (--preview-hz, 0 = off); ch1..ch4 cover ScanImage's four channels.
+SCANIMAGE_FRAME_META_TOPIC = "/scanimage/frame_meta"
+SCANIMAGE_FRAME_STATS_TOPIC = "/scanimage/frame_stats"
+SCANIMAGE_PREVIEW_META_TOPIC = "/scanimage/preview/meta"
+SCANIMAGE_PREVIEW_TOPICS = tuple(f"/scanimage/preview/ch{i}" for i in (1, 2, 3, 4))
+COMPRESSED_IMAGE_TYPE = "sensor_msgs/msg/CompressedImage"
+STREAM_TOPICS = {
+    SCANIMAGE_FRAME_META_TOPIC: STRING_TYPE, SCANIMAGE_FRAME_STATS_TOPIC: STRING_TYPE, SCANIMAGE_PREVIEW_META_TOPIC: STRING_TYPE,
+    **{t: COMPRESSED_IMAGE_TYPE for t in SCANIMAGE_PREVIEW_TOPICS},
+}
 # Device connectors the Studio may drive (LAB-303): connector_command → the node's cmd topic; its
 # reply/status topics become {"type":"connector","src":<id>,…} run-log events (derived by the
 # converter). Adding a connector = one entry here, a flag in rig.py, a topic pair in mcap_convert.py.
 CONNECTOR_TOPICS = {
     "bias": {"cmd": BIAS_CMD_TOPIC, "reply": BIAS_REPLY_TOPIC, "status": BIAS_STATUS_TOPIC},
     "scanimage": {"cmd": SCANIMAGE_CMD_TOPIC, "reply": SCANIMAGE_REPLY_TOPIC, "status": SCANIMAGE_STATUS_TOPIC},
+    "sipm": {"cmd": SIPM_CMD_TOPIC, "reply": SIPM_REPLY_TOPIC, "status": SIPM_STATUS_TOPIC},
 }
 FRAME_TOPIC = "/arena/frame"
+# Host pressure from rig_nodes.host_monitor (reiserlab/rig-nodes): recorded on arrival, no run-log line.
+HOST_TOPIC = "/rig/host"
+HOST_STATS_TYPE = "rig_interfaces/msg/HostStats"
+try:  # rig-nodes ≥ 0.3.0; the monitor publishes the same type when it imports (its --typed auto)
+    from rig_interfaces.msg import HostStats
+except (ImportError, AttributeError):
+    HostStats = None
 RAW_QOS = QoSProfile(
     reliability=QoSReliabilityPolicy.RELIABLE,
     history=QoSHistoryPolicy.KEEP_LAST,
@@ -322,8 +358,11 @@ def topics(self) -> dict[str, str]:
             SESSION_TOPIC: STRING_TYPE, BROWSER_TOPIC: STRING_TYPE, EVENT_TOPIC: STRING_TYPE,
             KINEFLY_TOPIC: STRING_TYPE, BIAS_CMD_TOPIC: STRING_TYPE, BIAS_REPLY_TOPIC: STRING_TYPE, BIAS_STATUS_TOPIC: STRING_TYPE, BIAS_FRAMES_TOPIC: STRING_TYPE,
             SCANIMAGE_CMD_TOPIC: STRING_TYPE, SCANIMAGE_REPLY_TOPIC: STRING_TYPE, SCANIMAGE_STATUS_TOPIC: STRING_TYPE,
+            SIPM_CMD_TOPIC: STRING_TYPE, SIPM_REPLY_TOPIC: STRING_TYPE, SIPM_STATUS_TOPIC: STRING_TYPE,
+            **STREAM_TOPICS,
         }
         t[FRAME_TOPIC] = ARENA_FRAME_TYPE if self._typed else STRING_TYPE
+        t[HOST_TOPIC] = HOST_STATS_TYPE if HostStats is not None else STRING_TYPE
         if self.record_fictrac_raw:
             if self._typed:
                 t[FICTRAC_FRAME_TOPIC] = FICTRAC_FRAME_TYPE
@@ -652,6 +691,7 @@ def __init__(self, loop: asyncio.AbstractEventLoop, queue: asyncio.Queue, on_kin
         self.typed = typed
         self.stats = {"fictrac": SourceStats("fictrac"), "kinefly": SourceStats("kinefly"), **{c: SourceStats(c) for c in CONNECTOR_TOPICS}}
         self.frame_pub = self.create_publisher(ArenaFrame if typed else String, FRAME_TOPIC, FRAME_QOS)
+        self.browser_pub = self.create_publisher(String, BROWSER_TOPIC, RAW_QOS)
         # Studio → bridge connector_command relayed to the device node (LAB-303 connectors).
         self.cmd_pubs = {c: self.create_publisher(String, t["cmd"], RAW_QOS) for c, t in CONNECTOR_TOPICS.items()}
         if typed:
@@ -665,6 +705,14 @@ def __init__(self, loop: asyncio.AbstractEventLoop, queue: asyncio.Queue, on_kin
         # Recorded on arrival, like /fictrac/raw: it never becomes a run-log line (the stopRecording reply
         # carries its summary), so there is no shadow line to stay in step with.
         self.create_subscription(String, BIAS_FRAMES_TOPIC, lambda b: self._record(BIAS_FRAMES_TOPIC, b), RAW_QOS, raw=True)
+        # rig_nodes.host_monitor samples (1 Hz; the monitor publishes RELIABLE, KEEP_LAST 10).
+        self.create_subscription(HostStats if HostStats is not None else String, HOST_TOPIC,
+                                 lambda b: self._record(HOST_TOPIC, b), RAW_QOS, raw=True)
+        # The ScanImage frame stream (meta, stats, preview meta, preview images): the same arrival-time
+        # record, raw bytes, no run-log line — the bag is the only place they go.
+        for topic, typ in STREAM_TOPICS.items():
+            self.create_subscription(CompressedImage if typ == COMPRESSED_IMAGE_TYPE else String, topic,
+                                     lambda b, topic=topic: self._record(topic, b), RAW_QOS, raw=True)
 
     def _record(self, topic: str, data: bytes) -> None:
         rec = self._log.rec
@@ -840,6 +888,9 @@ async def dispatch(raw, websocket=None) -> None:
         (so the Studio's bridge client knows what it may drive; a ≤ 3.4 bridge never sends
         it) and `connector_command` is relayed to the device node. Everything else is 3.4."""
         text = raw.decode("utf-8", errors="replace") if isinstance(raw, bytes) else raw
+        live = String()
+        live.data = json.dumps({"rx_ms": B.now_ms(), "raw": text}, separators=(",", ":"))
+        node.browser_pub.publish(live)
         obj = None
         try:
             obj = json.loads(text)
@@ -908,7 +959,8 @@ def on_log_open() -> None:
                 "record": {"bag": log.bag_name, "profile": log._profile, "typed": typed, "fictrac_raw": log.record_fictrac_raw},
                 "topics": {"fictrac": FICTRAC_FRAME_TOPIC if typed else FICTRAC_TOPIC, "kinefly": KINEFLY_TOPIC,
                            "bias": [BIAS_CMD_TOPIC, BIAS_REPLY_TOPIC, BIAS_STATUS_TOPIC, BIAS_FRAMES_TOPIC],
-                           "scanimage": [SCANIMAGE_CMD_TOPIC, SCANIMAGE_REPLY_TOPIC, SCANIMAGE_STATUS_TOPIC], "frame": FRAME_TOPIC,
+                           "scanimage": [SCANIMAGE_CMD_TOPIC, SCANIMAGE_REPLY_TOPIC, SCANIMAGE_STATUS_TOPIC],
+                           "sipm": [SIPM_CMD_TOPIC, SIPM_REPLY_TOPIC, SIPM_STATUS_TOPIC], "frame": FRAME_TOPIC,
                            "browser": BROWSER_TOPIC, "event": EVENT_TOPIC, "session": SESSION_TOPIC},
             }
         )
diff --git a/rig/nodes/dashboard_replay.py b/rig/nodes/dashboard_replay.py
new file mode 100644
index 00000000..3906ee24
--- /dev/null
+++ b/rig/nodes/dashboard_replay.py
@@ -0,0 +1,228 @@
+#!/usr/bin/env python3
+"""dashboard_replay.py — rebuild the live dashboard's derived topics from a finished run's bag.
+
+Used by `foxglove_json.py --stimulus` so `foxglove/arena-okey-cokey.json` works on a replayed
+run exactly as it does live. It runs the SAME pure code the live nodes run — stimulus_core
+(the expected/observed display and arena health), arena_display (the pixels), rig_nodes.bias_health
+(BIAS rate and losses) — over the bag's `/arena/browser` and `/bias/*` records, and emits:
+
+  /arena/display, /arena/display_observed     foxglove.CompressedImage (PNG), as stimulus_node
+  /viz/arena/{expected_idx, observed_idx, display_rate_hz, lag_frames, cmd_fps, ok, state,
+             condition, health}             {"data": …} — the same `.data` paths as the live
+                                              std_msgs topics, so one layout serves both
+  /arena/stimulus, /arena/health              JSON objects (the live /arena/stimulus + the health values)
+  /viz/bias/{fps, fps_from_count, frame_count, drops, rtt_ms, log_queue, reachable, capturing,
+             logging, state}                  {"data": …}, as viz_node
+  /camera/image                               foxglove.CompressedImage (grayscale PNG) from the run's
+                                              uFMF, when one is given or found (see camera_streams)
+
+Time: everything is stamped on the bridge's clock (the records' rx_ms), as live. Observed frames
+and their lag are placed by the controller clock mapped to the bridge clock (stimulus_core's
+offset). Camera frames are placed by BIAS's frame timestamps mapped to the bridge clock with the
+run's getTimestamp replies: offset = median((t_ms + rx_epoch_ms)/2 − value·1000) over replies with
+value > 0 (BIAS reads 0 before its first frame).
+"""
+
+from __future__ import annotations
+
+import base64
+import json
+import statistics
+import sys
+from pathlib import Path
+
+HERE = Path(__file__).resolve().parent
+sys.path.insert(0, str(HERE.parent / "tools"))
+import arena_display as AD  # noqa: E402
+import stimulus_core as SC  # noqa: E402
+from rig_nodes.bias_health import CountRate, bias_drops  # noqa: E402  (rig-nodes ≥ 0.3.0)
+
+IMAGE_SCHEMA = "foxglove.CompressedImage"
+
+
+def _ts(ns: int) -> dict:
+    return {"sec": ns // 1_000_000_000, "nsec": ns % 1_000_000_000}
+
+
+def image_msg(t_ns: int, png: bytes, frame_id: str) -> dict:
+    return {"timestamp": _ts(t_ns), "frame_id": frame_id, "format": "png", "data": base64.b64encode(png).decode()}
+
+
+def stimulus_streams(records, patterns, protocols, layout: str = "g6-green", display_hz: float = 15.0, scale: int = 4):
+    """records: [(topic, log_ns, obj)] in log-time order (obj = the String record's JSON).
+    Yields (topic, t_ns, obj, schema_name_or_None)."""
+    tr = SC.StimulusTracker(SC.PatternLibrary(patterns), SC.ProtocolIndex(protocols))
+    tr.frame_log = []
+    step_ms = 1000.0 / max(1.0, display_hz)
+    bias_rate = CountRate()
+    last = {"disp": None, "obs_key": None, "obs_ms": -1e18, "stim": None, "health_ms": None}
+
+    def ns(ms: float) -> int:
+        return int(round(ms * 1e6))
+
+    def f(topic, ms, v):
+        if isinstance(v, bool) or isinstance(v, (int, float, str)):
+            return (topic, ns(ms), {"data": v}, None)
+        return None
+
+    def render(name, idx, duty):
+        pat = tr.patterns.get(name) if name else None
+        if pat is None:
+            return AD.render_placeholder(scale=scale)
+        return AD.render_frame(pat["frames"][int(idx) % pat["num_frames"]], pat["gs"], layout, duty, scale)
+
+    def display_at(ms):
+        st = tr.stimulus()
+        exp = tr.expected_index(ms)
+        key = (st["state"], st.get("pattern"), exp, st.get("duty"))
+        if key == last["disp"]:
+            return
+        last["disp"] = key
+        img = render(st.get("pattern"), exp, st.get("duty") or 255) if (st["state"] == "trial" and exp is not None) else AD.render_dark(scale=scale)
+        yield ("/arena/display", ns(ms), image_msg(ns(ms), AD.png_bytes(img), "arena_display"), IMAGE_SCHEMA)
+        if exp is not None:
+            yield f("/viz/arena/expected_idx", ms, exp)
+
+    def stim_out(ms):
+        st = tr.stimulus()
+        if st != last["stim"]:
+            last["stim"] = st
+            yield ("/arena/stimulus", ns(ms), st, None)
+            yield f("/viz/arena/state", ms, st["state"])
+            yield f("/viz/arena/condition", ms, st.get("condition") or "")
+            yield f("/viz/arena/cmd_fps", ms, st.get("fps", 0) if st["state"] == "trial" else 0)
+
+    def health_out(ms):
+        h = tr.health(ms)
+        v = h["values"]
+        out = [("/arena/health", ns(ms), {"level": h["level"], "level_name": h["level_name"], "message": h["message"], **v}, None),
+               f("/viz/arena/health", ms, f"{h['level_name']}: {h['message']}"), f("/viz/arena/ok", ms, h["level"] == SC.OK),
+               f("/viz/arena/display_rate_hz", ms, v["display_rate_hz"]), f("/viz/arena/lag_frames", ms, v["lag_frames"])]
+        return [o for o in out if o]
+
+    t_disp = None
+    for topic, log_ns, obj in records:
+        if not isinstance(obj, dict):
+            continue
+        if topic == "/arena/browser":
+            rx = obj.get("rx_ms")
+            if not isinstance(rx, (int, float)):
+                rx = log_ns / 1e6
+            # display ticks up to this record (only while a pattern plays; one image on each change)
+            if t_disp is not None and tr.state == "trial":
+                while t_disp < rx:
+                    yield from (x for x in display_at(t_disp) if x)
+                    t_disp += step_ms
+            if last["health_ms"] is not None:
+                while last["health_ms"] + 1000.0 <= rx:
+                    last["health_ms"] += 1000.0
+                    yield from health_out(last["health_ms"])
+            tr.feed_record(obj)
+            if last["health_ms"] is None and tr.seen_any:
+                last["health_ms"] = rx
+            yield from (x for x in stim_out(rx) if x)
+            if tr.state != "trial" or t_disp is None or t_disp < rx:
+                t_disp = rx
+                yield from (x for x in display_at(rx) if x)
+            if tr.frame_log:
+                off = tr.clock_offset_us()
+                for t_us, idx, pid, lag in tr.frame_log:
+                    t_ms = (t_us + off) / 1000.0 if off is not None else rx
+                    o = f("/viz/arena/observed_idx", t_ms, idx)
+                    if o:
+                        yield o
+                    if lag is not None:
+                        yield f("/viz/arena/lag_frames", t_ms, lag)
+                    okey = (idx, pid, tr.state)
+                    if okey != last["obs_key"] and t_ms - last["obs_ms"] >= step_ms:
+                        last["obs_key"], last["obs_ms"] = okey, t_ms
+                        st = tr.stimulus()
+                        img = render(tr.pid_names.get(pid), idx, st.get("duty") or 255) if st["state"] == "trial" else AD.render_dark(scale=scale)
+                        yield ("/arena/display_observed", ns(t_ms), image_msg(ns(t_ms), AD.png_bytes(img), "arena_display_observed"), IMAGE_SCHEMA)
+                tr.frame_log.clear()
+        elif topic == "/bias/status":
+            ms = obj.get("t_ms") or obj.get("rx_epoch_ms") or log_ns / 1e6
+            reach, cap, logg = bool(obj.get("reachable")), bool(obj.get("capturing")), bool(obj.get("logging"))
+            state = "unreachable" if not reach else ("recording" if cap and logg else "preview" if cap else "idle")
+            outs = [f("/viz/bias/reachable", ms, reach), f("/viz/bias/capturing", ms, cap), f("/viz/bias/logging", ms, logg),
+                    f("/viz/bias/state", ms, state), f("/viz/bias/fps", ms, obj.get("framesPerSec")),
+                    f("/viz/bias/frame_count", ms, obj.get("frameCount")), f("/viz/bias/rtt_ms", ms, obj.get("rtt_ms")),
+                    f("/viz/bias/log_queue", ms, obj.get("logQueueSize")), f("/viz/bias/drops", ms, bias_drops(obj))]
+            if isinstance(obj.get("frameCount"), (int, float)):
+                r = bias_rate.add(ms / 1000.0, obj["frameCount"])
+                outs.append(f("/viz/bias/fps_from_count", ms, r) if r is not None else None)
+            yield from (o for o in outs if o)
+
+
+def bias_clock_offset_ms(records) -> float | None:
+    """bridge-clock ms − BIAS seconds·1000, from the run's getTimestamp replies (median)."""
+    offs = []
+    for topic, _, obj in records:
+        if topic == "/bias/reply" and isinstance(obj, dict) and obj.get("command") == "getTimestamp" and obj.get("ok"):
+            v = obj.get("value")
+            t0, t1 = obj.get("t_ms"), obj.get("rx_epoch_ms")
+            if isinstance(v, (int, float)) and v > 0 and isinstance(t0, (int, float)) and isinstance(t1, (int, float)):
+                offs.append((t0 + t1) / 2.0 - v * 1000.0)
+    return statistics.median(offs) if offs else None
+
+
+def recorded_video(records) -> str | None:
+    """The file BIAS wrote, from the run's stopRecording reply (bias_node resolves it)."""
+    path = None
+    for topic, _, obj in records:
+        if topic == "/bias/reply" and isinstance(obj, dict) and obj.get("command") == "stopRecording":
+            art = obj.get("artifact") or {}
+            if art.get("path"):
+                path = art["path"]
+    return path
+
+
+def camera_streams(records, ufmf_path, camera_hz: float = 10.0, factor: int = 2):
+    """Yield /camera/image messages from the run's uFMF, aligned to the bridge clock. Returns
+    (via StopIteration.value) a report dict."""
+    from ufmf import UfmfReader, downsample
+
+    off = bias_clock_offset_ms(records)
+    report = {"ufmf": str(ufmf_path), "offset_ms": off, "images": 0}
+    if off is None:
+        report["error"] = "no getTimestamp reply with a non-zero value: cannot place camera frames on the run clock"
+        return report
+    with UfmfReader(ufmf_path) as u:
+        report.update({"frames": u.n_frames, "width": u.width, "height": u.height, "indexed": u.indexed})
+        step = 1.0 / max(0.1, camera_hz)
+        nxt = None
+        for i in range(u.n_frames):
+            t = float(u.timestamps[i])
+            if nxt is not None and t < nxt:
+                continue
+            nxt = t + step if nxt is None else max(nxt + step, t)
+            ts, img = u.frame(i)
+            t_ns = int(round((ts * 1000.0 + off) * 1e6))
+            yield ("/camera/image", t_ns, image_msg(t_ns, AD.png_bytes(downsample(img, factor)), "bias_camera"), IMAGE_SCHEMA)
+            report["images"] += 1
+    return report
+
+
+def run_streams(records, stimulus: dict | None, camera: dict | None) -> tuple[list, dict]:
+    """All derived (topic, t_ns, obj, schema) rows + a report."""
+    out, report = [], {}
+    if stimulus is not None:
+        out.extend(x for x in stimulus_streams(records, **stimulus) if x)
+        report["stimulus_messages"] = len(out)
+    if camera is not None:
+        path = camera.get("ufmf")
+        if path == "auto":
+            path = recorded_video(records)
+            if path and not Path(path).is_file():
+                report["camera"] = {"error": f"the run's video is not on this machine: {path}"}
+                path = None
+        if path:
+            gen = camera_streams(records, path, camera.get("hz", 10.0), camera.get("factor", 2))
+            try:
+                while True:
+                    out.append(next(gen))
+            except StopIteration as stop:
+                report["camera"] = stop.value
+        elif "camera" not in report:
+            report["camera"] = {"error": "no uFMF given and none recorded by this run"}
+    return out, report
diff --git a/rig/nodes/foxglove_json.py b/rig/nodes/foxglove_json.py
index aec7745f..792f5349 100644
--- a/rig/nodes/foxglove_json.py
+++ b/rig/nodes/foxglove_json.py
@@ -2,11 +2,13 @@
 """foxglove_json.py — an ARENA String-topic bag → a Foxglove-plottable MCAP, with the arena derivations.
 
     pixi run fox-json -- <bag dir or .mcap> <out.mcap> [--ball-mm 9]
+    pixi run fox-json -- runlogs/<run>.bag <run>.foxglove.mcap --stimulus --panel-layout four-color
 
 The generic rewriter (same messages, same topics, same times, as MCAP `json` messages with a
 `jsonschema` per topic) is `rig_nodes.foxglove_json` (reiserlab/rig-nodes). This wrapper adds what
-only the arena knows, through its `enrich` hook, so `docs/foxglove-arena-layout.json` works
-unchanged:
+only the arena knows, through its two hooks:
+
+`enrich` (per message), so `docs/foxglove-arena-layout.json` works unchanged:
 
 - /arena/frame: plus `bias_deg` (= `bias`, 0 when absent) and `turning_dps` / `forward_mms`,
   derived exactly as bridge_node.FrameDeriver does for the typed ArenaFrame (two-point
@@ -16,6 +18,13 @@
   parsed from `raw`;
 - /arena/browser: `msg`, the browser message parsed from `raw` (the generic envelope rule).
 
+`derive` (once, over the whole time-ordered record stream), with `--stimulus`: the live
+dashboard's derived topics are rebuilt (nodes/dashboard_replay.py, the same code the live
+stimulus_node / viz_node run): the expected and observed arena display as images, the arena's
+rate / lag / health, BIAS's rate and losses, and — from the run's uFMF movie (`--ufmf <file>`, or
+found through the run's stopRecording reply) — `/camera/image`. Then
+`foxglove/arena-okey-cokey.json` shows the run as it looked live.
+
 Slim by default: where `raw` was parsed into `cols` / `msg`, the `raw` text is dropped (it is the
 same data twice); `--keep-raw` keeps it. The original bag stays the record of truth.
 """
@@ -31,6 +40,9 @@
 from rig_nodes.fictrac import FICTRAC_COLS, parse_fictrac_line
 from rig_nodes.foxglove_json import convert as generic_convert
 
+HERE = Path(__file__).resolve().parent
+sys.path.insert(0, str(HERE))  # dashboard_replay, when this module is imported from elsewhere (tests)
+
 
 def wrap_to_pi(r: float) -> float:
     return (r + math.pi) % (2 * math.pi) - math.pi
@@ -81,9 +93,31 @@ def enrich(topic: str, obj: dict) -> dict:
     return enrich
 
 
-def convert(src: Path, dst: Path, ball_mm: float, keep_raw: bool = False) -> dict:
-    return generic_convert(src, dst, enrich=arena_enricher(ball_mm, keep_raw), keep_raw=keep_raw,
-                           library="rig foxglove_json.py", metadata={"ball_mm": f"{ball_mm:g}"})
+def dashboard_deriver(stimulus: dict | None, camera: dict | None):
+    """The `derive(records)` hook: the okey-cokey dashboard's topics rebuilt from the bag
+    (dashboard_replay.run_streams). Returns (derive, report) — the report fills in when it runs."""
+    from dashboard_replay import run_streams
+
+    report: dict = {}
+
+    def derive(records):
+        derived, rep = run_streams(records, stimulus, camera)
+        report.update(rep)
+        return derived
+
+    return derive, report
+
+
+def convert(src: Path, dst: Path, ball_mm: float, keep_raw: bool = False, stimulus: dict | None = None,
+            camera: dict | None = None) -> dict:
+    derive, report = None, {}
+    if stimulus is not None or camera is not None:
+        derive, report = dashboard_deriver(stimulus, camera)
+    out = generic_convert(src, dst, enrich=arena_enricher(ball_mm, keep_raw), keep_raw=keep_raw,
+                          library="rig foxglove_json.py", metadata={"ball_mm": f"{ball_mm:g}"}, derive=derive)
+    if report:
+        out["dashboard"] = report
+    return out
 
 
 def main(argv=None) -> int:
@@ -92,8 +126,26 @@ def main(argv=None) -> int:
     ap.add_argument("dst", type=Path)
     ap.add_argument("--ball-mm", type=float, default=9.0, help="ball diameter for forward_mms (default 9, as the bridge)")
     ap.add_argument("--keep-raw", action="store_true", help="keep the `raw` text beside the parsed `cols` / `msg`")
+    repo = HERE.parents[1]
+    g = ap.add_argument_group("dashboard replay (foxglove/arena-okey-cokey.json)")
+    g.add_argument("--stimulus", action="store_true", help="rebuild the expected/observed display, arena + BIAS health, and the camera")
+    g.add_argument("--panel-layout", default="g6-green", help="panel LED colors (g6-green, four-color, red-ir-v0.4r2, red-ir-v0.4r1)")
+    g.add_argument("--pattern-dir", action="append", default=None, help="where <pattern>.pat files are (repeatable; default the repo's protocols/ + patterns/)")
+    g.add_argument("--protocol-dir", action="append", default=None, help="where the run's protocol YAML is (repeatable; default the repo's protocols/)")
+    g.add_argument("--display-hz", type=float, default=10.0, help="expected-display image rate while a pattern plays (default 10)")
+    g.add_argument("--scale", type=int, default=4, help="screen pixels per LED (default 4)")
+    g.add_argument("--ufmf", default="auto", help="the run's uFMF movie (default auto: the file its stopRecording reply names); 'none' to skip")
+    g.add_argument("--camera-hz", type=float, default=10.0, help="camera images per second (default 10)")
+    g.add_argument("--camera-factor", type=int, default=2, help="camera downsampling, N×N mean (default 2)")
     a = ap.parse_args(argv)
-    print(json.dumps(convert(a.src, a.dst, a.ball_mm, a.keep_raw)))
+    stim = cam = None
+    if a.stimulus:
+        stim = {"patterns": a.pattern_dir or [str(repo / "protocols"), str(repo / "patterns")],
+                "protocols": a.protocol_dir or [str(repo / "protocols")], "layout": a.panel_layout,
+                "display_hz": a.display_hz, "scale": a.scale}
+        if a.ufmf != "none":
+            cam = {"ufmf": a.ufmf, "hz": a.camera_hz, "factor": a.camera_factor}
+    print(json.dumps(convert(a.src, a.dst, a.ball_mm, a.keep_raw, stim, cam)))
     return 0
 
 
diff --git a/rig/nodes/mcap_convert.py b/rig/nodes/mcap_convert.py
index 3c2840ea..3f8c3b22 100644
--- a/rig/nodes/mcap_convert.py
+++ b/rig/nodes/mcap_convert.py
@@ -29,6 +29,7 @@
   /kinefly/raw     the adapter envelope (DERIVED stream)             → ["kf", ms, seq, t_src, L, R, head, abd]
   /bias/reply, /bias/status  the BIAS node's JSON (DERIVED)          → {"type":"connector","src":"bias",…}
   /scanimage/reply, /scanimage/status  the ScanImage node's JSON (DERIVED) → {"type":"connector","src":"scanimage",…}
+  /sipm/reply, /sipm/status  the SiPM node's JSON (DERIVED)          → {"type":"connector","src":"sipm",…}
   /fictrac/raw | /fictrac/frame  the adapter's FicTrac records (only when the bridge node ran with
                    --record-fictrac-raw; bags before 2026-10-18 always have them) → used only for level `full`
 
@@ -81,11 +82,14 @@
 TOPIC_BIAS_STATUS = "/bias/status"
 TOPIC_SCANIMAGE_REPLY = "/scanimage/reply"
 TOPIC_SCANIMAGE_STATUS = "/scanimage/status"
+TOPIC_SIPM_REPLY = "/sipm/reply"
+TOPIC_SIPM_STATUS = "/sipm/status"
 # Connector device topics → (connector id, event kind): their JSON becomes a DERIVED
 # {"type":"connector","src":<id>,"kind":…} line (mirror of bridge_node.CONNECTOR_TOPICS).
 CONNECTOR_TOPIC_SRC = {
     TOPIC_BIAS_REPLY: ("bias", "reply"), TOPIC_BIAS_STATUS: ("bias", "status"),
     TOPIC_SCANIMAGE_REPLY: ("scanimage", "reply"), TOPIC_SCANIMAGE_STATUS: ("scanimage", "status"),
+    TOPIC_SIPM_REPLY: ("sipm", "reply"), TOPIC_SIPM_STATUS: ("sipm", "status"),
 }
 
 
@@ -227,7 +231,7 @@ def fictrac_fields(rec: dict) -> tuple[int, list[float]] | None:
 
 def convert(records: list[dict], level: str | None = None, order: str = "seq", connectors=None) -> tuple[list, dict]:
     """→ (lines as JSON values, report). `level` None = the level the run was opened with."""
-    stats = {"frames": 0, "browser_lines": 0, "rows": 0, "events": 0, "kf": 0, "bias": 0, "scanimage": 0,
+    stats = {"frames": 0, "browser_lines": 0, "rows": 0, "events": 0, "kf": 0, "bias": 0, "scanimage": 0, "sipm": 0,
              "connector_cmds": 0, "skipped": 0, "unordered_inserts": 0}
     opens = [r for r in records if r["topic"] == TOPIC_SESSION]
     session_open = None
diff --git a/rig/nodes/rig.py b/rig/nodes/rig.py
index 1c046ac8..45eb0c21 100644
--- a/rig/nodes/rig.py
+++ b/rig/nodes/rig.py
@@ -4,17 +4,20 @@
     pixi run rig                       # router, fictrac adapter, bridge node
     pixi run rig -- --kinefly --bias   # + Kinefly adapter + BIAS node
     pixi run rig -- --sim              # + the FicTrac simulator (demo without a camera)
+    pixi run rig -- --no-host-monitor  # without the host monitor (CPU/RAM/disk/net/GPU on /rig/host; on by default)
     pixi run rig -- --bias --bias-sim  # + a simulated BIAS program (no camera software)
-    pixi run rig -- --scanimage        # + the ScanImage node (JSON server on this PC); --si-mock for a stand-in
     pixi run rig -- --foxglove         # + foxglove_bridge (:8766) from the `viz` environment
+    pixi run rig -- --no-fictrac --bias --foxglove --viz-args "--sources bias" --stimulus-args "--panel-layout four-color"
+                                       # the okey-cokey camera rig: BIAS + G6, no FicTrac;
+                                       # layout foxglove/arena-okey-cokey.json (--foxglove includes --stimulus)
 
 This file is the arena rig's COMPOSITION (rig-software-repos-and-runners.md §3.2): which nodes an
 arena rig runs, in which order, and what happens when one dies. The device nodes and simulators
 come from the installed `rig_nodes` package (reiserlab/rig-nodes) and are started as
 `python -m rig_nodes.<module>`; the mechanics — process groups, portable signals, the port
 preflight, the supervised Child — are `rig_nodes.supervise`. What stays here is policy: the
-gateway (bridge_node.py, this directory) and the arena visualization (viz_node.py) are this rig's
-own nodes, and the rig exits when the gateway or the router dies (the Studio's WebSocket is gone,
+gateway (bridge_node.py, this directory), the arena visualization (viz_node.py) and the arena's
+expected/observed display + health (stimulus_node.py) are this rig's own nodes, and the rig exits when the gateway or the router dies (the Studio's WebSocket is gone,
 nothing else matters).
 
 Order: the router first (nodes retry until it answers on 127.0.0.1:7447), then every
@@ -26,6 +29,7 @@
 from __future__ import annotations
 
 import argparse
+import importlib.util
 import os
 import shutil
 import signal
@@ -46,6 +50,15 @@
 _ENVS = Path(os.environ["CONDA_PREFIX"]).parent if os.environ.get("CONDA_PREFIX") else ROOT / ".pixi" / "envs"
 VIZ_ENV = _ENVS / "viz"
 FOXGLOVE_PORT = 8766
+HOST_MONITOR_MODULE = "rig_nodes.host_monitor"
+
+
+def host_monitor_available() -> bool:
+    """True when the installed rig_nodes package ships the host monitor."""
+    try:
+        return importlib.util.find_spec(HOST_MONITOR_MODULE) is not None
+    except ImportError:  # no rig_nodes package at all
+        return False
 
 
 def node_argv(module: str, *args: str) -> list[str]:
@@ -58,9 +71,12 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--kinefly", action="store_true", help="also run the Kinefly KF/1 adapter")
     p.add_argument("--bias", action="store_true", help="also run the BIAS camera node")
     p.add_argument("--bias-sim", action="store_true", help="also run the BIAS simulator (a fake BIAS program)")
-    p.add_argument("--scanimage", action="store_true", help="also run the ScanImage node (talks to ScanImage's JSON server, default 127.0.0.1:5555)")
-    p.add_argument("--si-mock", action="store_true", help="also run the ScanImage JSON-server stand-in (port 5555)")
     p.add_argument("--sim", action="store_true", help="also run the FicTrac simulator (random walk, 50 Hz)")
+    p.add_argument("--no-fictrac", action="store_true",
+                   help="do not run the FicTrac UDP adapter (a rig without FicTrac, e.g. the okey-cokey camera rig)")
+    p.add_argument("--stimulus", action="store_true",
+                   help="also run stimulus_node.py: the expected/observed arena display + arena health (included by --foxglove)")
+    p.add_argument("--stimulus-args", default="", help="extra args for stimulus_node.py (e.g. --panel-layout four-color)")
     p.add_argument("--viz-args", default="", help="extra args for viz_node.py (--deg-per-frame, --frame-dir, --feature-az0, --frames)")
     p.add_argument("--foxglove", action="store_true",
                    help=f"also run foxglove_bridge on ws://127.0.0.1:{FOXGLOVE_PORT} (the `viz` environment; skipped with a note when it is not installed)")
@@ -69,8 +85,9 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--fictrac-args", default="", help="extra args for the FicTrac adapter")
     p.add_argument("--kinefly-args", default="", help="extra args for the Kinefly adapter")
     p.add_argument("--bias-args", default="", help="extra args for the BIAS node")
-    p.add_argument("--scanimage-args", default="", help="extra args for the ScanImage node (e.g. --port 5555 --status-every 1)")
     p.add_argument("--sim-args", default="--proto udp --rate 50", help="args for the FicTrac simulator")
+    p.add_argument("--no-host-monitor", action="store_true", help=f"do not run {HOST_MONITOR_MODULE} (the PC's CPU per core, memory, disk, network, GPU, top processes on /rig/host, recorded in every run's bag)")
+    p.add_argument("--host-monitor-args", default="", help=f"extra args for {HOST_MONITOR_MODULE} (e.g. --period 0.5 --print-every 30)")
     args = p.parse_args(argv)
 
     py = sys.executable
@@ -90,16 +107,15 @@ def main(argv: list[str] | None = None) -> int:
     # router, or the shipping bridge 3.4 (also ws :8765 + udp :60000) is still running.
     ports = [
         ("tcp", 8765, "a bridge on the Studio WebSocket port — bridge 3.4 (`pixi run bridge` at the repo root) or another rig"),
-        ("udp", 60000, "a FicTrac receiver — bridge 3.4 or another fictrac adapter"),
     ]
+    if not args.no_fictrac:
+        ports.append(("udp", 60000, "a FicTrac receiver — bridge 3.4 or another fictrac adapter"))
     if not args.no_router:
         ports.insert(0, ("tcp", zenoh.ROUTER_PORT, "a Zenoh router (another `pixi run rig` / `pixi run router`)"))
     if args.kinefly:
         ports.append(("udp", 60001, "another Kinefly adapter"))
     if args.bias_sim:
         ports.append(("tcp", 5010, "a BIAS program or the BIAS simulator"))
-    if args.si_mock:
-        ports.append(("tcp", 5555, "ScanImage's JSON server or its stand-in"))
     if foxglove:
         ports.append(("tcp", FOXGLOVE_PORT, "another foxglove_bridge (`pixi run -e viz foxglove-bridge` or another rig --foxglove)"))
     taken = preflight(ports)
@@ -115,21 +131,28 @@ def main(argv: list[str] | None = None) -> int:
     children: list[Child] = []
     if not args.no_router:
         children.append(Child("router", zenoh.router_argv()))
-    nodes: list[Child] = [
-        Child("fictrac", node_argv("rig_nodes.fictrac_udp_adapter", *split_args(args.fictrac_args))),
-    ]
+    nodes: list[Child] = []
+    if not args.no_fictrac:
+        nodes.append(Child("fictrac", node_argv("rig_nodes.fictrac_udp_adapter", *split_args(args.fictrac_args))))
     if args.kinefly:
         nodes.append(Child("kinefly", node_argv("rig_nodes.kinefly_udp_adapter", *split_args(args.kinefly_args))))
     if args.bias_sim:
         nodes.append(Child("bias-sim", node_argv("rig_nodes.sims.bias_sim")))
     if args.bias:
         nodes.append(Child("bias", node_argv("rig_nodes.bias_node", *split_args(args.bias_args))))
-    if args.si_mock:
-        nodes.append(Child("si-mock", node_argv("rig_nodes.sims.si_json_mock")))
-    if args.scanimage:
-        nodes.append(Child("scanimage", node_argv("rig_nodes.scanimage_node", *split_args(args.scanimage_args))))
+    if not args.no_host_monitor:
+        # The generic host monitor ships in the rig_nodes package (reiserlab/rig-nodes). It starts
+        # before the gateway (bridge_node.py, below), so a run opened right away already has host
+        # samples in its bag; `--py-root` lets it name this workspace's Python nodes `py:<script>`.
+        if host_monitor_available():
+            nodes.append(Child("host", node_argv(HOST_MONITOR_MODULE, "--log-dir", str(ROOT / "runlogs"),
+                                                  "--py-root", str(ROOT), *split_args(args.host_monitor_args))))
+        else:
+            print(f"[rig] host monitor: the installed rig_nodes has no {HOST_MONITOR_MODULE} (needs a rig-nodes release with it); starting without it", file=sys.stderr)
     bridge = Child("bridge", [py, str(NODES / "bridge_node.py"), *split_args(args.bridge_args)])
     nodes.append(bridge)
+    if args.stimulus or foxglove:
+        nodes.append(Child("stimulus", [py, str(NODES / "stimulus_node.py"), *split_args(args.stimulus_args)]))
     if foxglove:
         # The typed republisher (ros-base messages Foxglove plots natively) runs in THIS
         # environment; only foxglove_bridge itself needs the `viz` one.
diff --git a/rig/nodes/stimulus_core.py b/rig/nodes/stimulus_core.py
new file mode 100644
index 00000000..effd18dd
--- /dev/null
+++ b/rig/nodes/stimulus_core.py
@@ -0,0 +1,511 @@
+#!/usr/bin/env python3
+"""stimulus_core.py — what the G6 arena should be showing, what it did show, and whether it keeps up.
+
+Pure (no rclpy): the live `stimulus_node.py` and the offline `foxglove_json.py --stimulus` feed it
+the same `/arena/browser` records, so a live dashboard and a replayed bag agree.
+
+Inputs (every Studio → bridge message, as the bridge records it; formats:
+docs/development/telemetry-logging-reference.md):
+  * runner status events  {"type":"log","event":"runner","phase":…}
+      run_metadata          a new run: protocol_filename (→ pattern names), telemetry level
+      step-start            condition name; resets the per-step trialParams counter
+      trial-running         params {mode, patternId, frameRate, initPos, duty}, durationSec —
+                            the host's view of a trial start (stamped with the record's rx_ms)
+      command op=allOff     the arena goes dark
+      sequence-start / -complete / error
+  * {"type":"log","event":"trial_quality"|"display_gap"}   the Studio's own verdicts
+  * {"type":"rows","rows":[…]} controller telemetry (ring firmware, drained ~10 Hz):
+      ["cc", rx, t_us, seq, cmd, status, "reqhex"]     cmd 8 = trialParams (req = mode u8 ·
+                                                        patternId u16 · frameRate i16 · initPos u16),
+                                                        cmd 0 = allOff
+      ["cf", rx, t_us, seq, idx, pattern, sd_load_us, spi_us(, req_age_us, superseded, flags)]
+      ["cs", rx, t_us, seq, kind, code, arg]           kind 3 = error glyph, 4 = slow SD read
+
+The controller rows are the ground truth. Each displayed frame (`cf`) carries the controller's
+own microsecond clock, and so does the trialParams command that started the trial (`cc` cmd 8).
+So the expected index, the lag and the display rate are all computed on THAT clock, not affected
+by the ~100 ms batching of the drain:
+
+    expected(t) = (init + sign(fps) · floor(|fps| · (t − t_trialParams))) mod n_frames
+    lag         = observed − expected, wrapped into ±n/2 (0 = on schedule)
+    rate        = cf rows in the last controller second
+
+For the LIVE picture (the expected display at host time "now"), the controller clock is mapped to
+host epoch ms with offset = min over the last 30 s of (rx_ms − t_us/1000): `rx` is when the
+browser drained the row, never before it happened, so the minimum is the drain's latency floor
+(a few ms: every batch's newest row was recorded just before the read), and the live picture runs
+that much behind the arena.
+Without telemetry (a firmware without the ring, or before the first rows) the host trial start
+(the trial-running record's rx_ms) is the anchor and observed/lag/rate are unknown — never "OK"
+without evidence.
+
+Pattern names: the wire carries only the SD slot (`patternId`), so a trial's pattern NAME comes
+from the protocol: the run's `protocol_filename` is looked up under the protocol dirs, and the
+k-th trial-running of a step takes the k-th trialParams `pattern:` of that condition. Learned
+slot → name pairs serve Console trials and protocols that cannot be found.
+"""
+
+from __future__ import annotations
+
+import json
+import math
+import sys
+import time
+from collections import deque
+from pathlib import Path
+
+HERE = Path(__file__).resolve().parent
+sys.path.insert(0, str(HERE.parent / "tools"))
+from patfile import read_pat  # noqa: E402
+
+OK, WARN, ERROR, STALE = 0, 1, 2, 3  # diagnostic_msgs/DiagnosticStatus levels
+LEVEL_NAMES = {OK: "OK", WARN: "WARN", ERROR: "ERROR", STALE: "STALE"}
+
+CMD_ALL_OFF = 0x00
+CMD_TRIAL_PARAMS = 0x08
+CMD_SET_FRAME_POSITION = 0x70
+# A non-ok reply to one of THESE is an arena error; other commands (SD listing, health, info
+# queries) are refused routinely while a pattern plays (status 10 = display active) and are only
+# counted.
+DISPLAY_CMDS = (CMD_ALL_OFF, CMD_TRIAL_PARAMS, CMD_SET_FRAME_POSITION)
+CS_ERROR_GLYPH = 3
+CS_SD_SLOW = 4
+
+U32 = 1 << 32
+
+
+def wrap_diff(d: int, n: int) -> int:
+    """d mod n, as the nearest value in [−n/2, n/2)."""
+    return (d + n // 2) % n - n // 2 if n > 1 else 0
+
+
+def parse_trial_params_req(req_hex: str):
+    """The first 8 request bytes of a 0x08 command → (mode, pattern_id, fps, init) or None."""
+    try:
+        b = bytes.fromhex(req_hex)
+    except (ValueError, TypeError):
+        return None
+    if len(b) < 7:
+        return None
+    mode = b[0]
+    pid = b[1] | (b[2] << 8)
+    fps = int.from_bytes(b[3:5], "little", signed=True)
+    init = b[5] | (b[6] << 8)
+    return mode, pid, fps, init
+
+
+class PatternLibrary:
+    """`.pat` files by name (the file stem), searched recursively under `dirs`, first dir wins."""
+
+    def __init__(self, dirs) -> None:
+        self.dirs = [Path(d) for d in dirs if d]
+        self._index: dict[str, Path] | None = None
+        self._indexed_at = 0.0
+        self._cache: dict[str, dict | None] = {}
+
+    def _scan(self) -> None:
+        idx: dict[str, Path] = {}
+        for d in self.dirs:
+            if d.is_dir():
+                for p in sorted(d.rglob("*.pat")):
+                    idx.setdefault(p.stem, p)
+        self._index = idx
+        self._indexed_at = time.monotonic()
+
+    def path(self, name: str | None) -> Path | None:
+        if not name:
+            return None
+        stem = Path(str(name)).name
+        stem = stem[:-4] if stem.lower().endswith(".pat") else stem
+        if self._index is None or (stem not in self._index and time.monotonic() - self._indexed_at > 10.0):
+            self._scan()
+        return self._index.get(stem)
+
+    def get(self, name: str | None) -> dict | None:
+        if not name:
+            return None
+        if name in self._cache and self._cache[name] is not None:
+            return self._cache[name]
+        p = self.path(name)
+        pat = None
+        if p is not None:
+            try:
+                pat = read_pat(p)
+            except (OSError, ValueError):
+                pat = None
+        self._cache[name] = pat
+        return pat
+
+
+class ProtocolIndex:
+    """condition name → [trialParams pattern names, in command order], from a v3 protocol YAML."""
+
+    def __init__(self, dirs) -> None:
+        self.dirs = [Path(d) for d in dirs if d]
+        self._cache: dict[str, dict] = {}
+
+    def find(self, filename: str | None) -> Path | None:
+        if not filename:
+            return None
+        base = Path(str(filename)).name
+        for d in self.dirs:
+            if (d / base).is_file():
+                return d / base
+            if d.is_dir():
+                for p in d.rglob(base):
+                    return p
+        return None
+
+    def conditions(self, filename: str | None) -> dict:
+        if not filename:
+            return {}
+        if filename in self._cache:
+            return self._cache[filename]
+        out: dict[str, list[str]] = {}
+        p = self.find(filename)
+        if p is not None:
+            try:
+                import yaml
+
+                doc = yaml.safe_load(p.read_text(encoding="utf-8")) or {}
+                for c in doc.get("conditions") or []:
+                    if not isinstance(c, dict) or not c.get("name"):
+                        continue
+                    names = [str(cmd.get("pattern")) for cmd in (c.get("commands") or [])
+                             if isinstance(cmd, dict) and cmd.get("command_name") == "trialParams" and cmd.get("pattern")]
+                    out[str(c["name"])] = names
+            except Exception:  # a protocol we cannot read only costs us the names
+                out = {}
+        self._cache[filename] = out
+        return out
+
+
+class StimulusTracker:
+    def __init__(self, patterns: PatternLibrary | None = None, protocols: ProtocolIndex | None = None,
+                 stale_s: float = 2.0, rate_tol: float = 0.05, lag_tol: int = 2) -> None:
+        self.patterns = patterns or PatternLibrary([])
+        self.protocols = protocols or ProtocolIndex([])
+        self.stale_s, self.rate_tol, self.lag_tol = stale_s, rate_tol, lag_tol
+        self.pid_names: dict[int, str] = {}
+        self.frame_log: list | None = None  # set to [] to collect (t_us, idx, pid, lag) per cf row (replay)
+        self.reset_run()
+        self.seen_any = False
+
+    # ── state ──────────────────────────────────────────────────────────────────
+    def reset_run(self) -> None:
+        self.run: dict = {}
+        self.run_open = False
+        self.telemetry_level = None
+        self.condition = None
+        self.step_tp = 0
+        self.proto: dict = {}
+        self.state = "idle"  # idle | dark | trial
+        self.trial: dict | None = None   # host view (runner)
+        self.ctrl: dict | None = None    # controller view (cc cmd 8): {mode, pid, fps, init, t0}
+        self.ctrl_dark_t = None
+        self.obs = None                  # last cf: {idx, pid, t}
+        self.cf_times: deque = deque()
+        self.lag = None
+        self.rate_hz = None
+        self.rows = 0
+        self.last_rows_ms = None
+        self._t_last_raw = None
+        self._t_base = 0
+        self._offsets: deque = deque()   # (rx_ms, rx_ms*1000 − t_us)
+        self.max_idx: dict[int, int] = {}
+        self.refused_other = 0
+        self.last_cf_ms = None
+        self.errors: list[tuple[float, str]] = []
+        self.warnings: list[tuple[float, str]] = []
+        self.flagged = 0
+        self.trials_judged = 0
+        self.last_quality = None
+        self.changed = True
+
+    # ── feeding ────────────────────────────────────────────────────────────────
+    def feed_record(self, rec: dict) -> None:
+        """A bridge `/arena/browser` record: {rx_ms, raw, …} (raw = the browser message text)."""
+        raw = rec.get("raw")
+        try:
+            msg = json.loads(raw) if isinstance(raw, str) else rec.get("msg")
+        except json.JSONDecodeError:
+            return
+        if isinstance(msg, dict):
+            self.feed(msg, rec.get("rx_ms"))
+
+    def feed(self, msg: dict, rx_ms) -> None:
+        self.seen_any = True
+        rx_ms = float(rx_ms) if isinstance(rx_ms, (int, float)) else time.time() * 1000.0
+        kind = msg.get("type")
+        if kind == "rows":
+            self._rows(msg.get("rows") or [], rx_ms)
+            return
+        if kind != "log":
+            return
+        ev = msg.get("event")
+        if ev == "run_metadata":
+            pid_names = self.pid_names
+            self.reset_run()
+            self.pid_names = pid_names
+            self.run = {k: msg.get(k) for k in ("run_id", "protocol_filename", "rig", "arena_config", "telemetry", "firmware")}
+            self.telemetry_level = msg.get("telemetry")
+            self.proto = self.protocols.conditions(msg.get("protocol_filename"))
+            self.run_open = True
+            self.state = "dark"
+            self.changed = True
+        elif ev == "runner":
+            self._runner(msg, rx_ms)
+        elif ev == "trial_quality":
+            trials = msg.get("trials") or []
+            self.trials_judged = len(trials)
+            self.flagged = sum(1 for t in trials if t.get("status") == "flagged")
+            self.last_quality = trials[-1].get("status") if trials else None
+            if self.flagged:
+                self.warnings.append((rx_ms, f"{self.flagged} of {len(trials)} trials flagged by trial_quality"))
+        elif ev == "display_gap":
+            self.warnings.append((rx_ms, f"display gap ({msg.get('kind') or 'see the run log'}) in trial {msg.get('trial')}"))
+
+    def _runner(self, m: dict, rx_ms: float) -> None:
+        phase = m.get("phase")
+        cond = m.get("condition") or m.get("conditionName")
+        if phase == "sequence-start":
+            self.run_open = True
+            if self.state == "idle":
+                self.state = "dark"
+        elif phase in ("sequence-complete", "sequence-aborted", "aborted", "stopped"):
+            self.run_open = False
+            summ = m.get("summary") or {}
+            if summ.get("fault") or summ.get("errors"):
+                self.errors.append((rx_ms, f"sequence ended: errors {summ.get('errors')}, fault {summ.get('fault')}"))
+        elif phase == "step-start":
+            self.condition = cond
+            self.step_tp = 0
+        elif phase == "trial-running":
+            p = m.get("params") or {}
+            k = self.step_tp
+            self.step_tp += 1
+            names = self.proto.get(cond or self.condition) or []
+            pid = p.get("patternId")
+            name = names[k] if k < len(names) else (names[-1] if names else None)
+            if name is None and isinstance(pid, int):
+                name = self.pid_names.get(pid)
+            if name is not None and isinstance(pid, int):
+                self.pid_names[pid] = name
+            duty = p.get("duty")
+            self.trial = {
+                "condition": cond or self.condition, "pattern": name, "pattern_id": pid,
+                "mode": p.get("mode"), "fps": p.get("frameRate") or 0, "init": p.get("initPos") or 0,
+                "duty": 255 if not duty else int(duty), "duration_s": m.get("durationSec"), "t_host_ms": rx_ms,
+            }
+            self.state = "trial"
+            self.lag = None
+            self.changed = True
+            if m.get("ok") is False or (m.get("status") not in (None, 0)):
+                self.errors.append((rx_ms, f"trialParams status {m.get('status')} ({cond})"))
+        elif phase == "command":
+            if m.get("op") == "allOff":
+                self.state = "dark"
+                self.trial = None
+                self.changed = True
+            v = m.get("value")
+            if isinstance(v, dict) and v.get("ok") is False and m.get("op") != "connectorCommand":
+                self.errors.append((rx_ms, f"{m.get('op')} failed ({cond})"))
+        elif phase == "error":
+            self.errors.append((rx_ms, str(m.get("message") or "runner error")))
+
+    def _unwrap(self, t_us: int) -> int | None:
+        if not isinstance(t_us, (int, float)):
+            return None
+        t = int(t_us)
+        last = self._t_last_raw
+        if last is not None:
+            d = t - last
+            if d < -(U32 // 2):
+                self._t_base += U32
+            elif -(U32 // 2) <= d < -2_000_000:  # backwards by > 2 s: the controller rebooted
+                self._t_base = 0
+                self._offsets.clear()
+                self.cf_times.clear()
+                self.ctrl = None
+        self._t_last_raw = t
+        return self._t_base + t
+
+    def _rows(self, rows: list, rx_ms: float) -> None:
+        self.last_rows_ms = rx_ms
+        batch_min = None
+        for r in rows:
+            if not isinstance(r, list) or len(r) < 7 or not isinstance(r[0], str):
+                continue
+            tag = r[0]
+            t = self._unwrap(r[2])
+            if t is None:
+                continue
+            self.rows += 1
+            row_rx = r[1] if isinstance(r[1], (int, float)) else rx_ms
+            off = row_rx * 1000.0 - t
+            batch_min = off if batch_min is None else min(batch_min, off)
+            if tag == "cc":
+                cmd, status = r[4], r[5]
+                if cmd == CMD_TRIAL_PARAMS and status == 0:
+                    tp = parse_trial_params_req(r[6])
+                    if tp:
+                        mode, pid, fps, init = tp
+                        self.ctrl = {"mode": mode, "pid": pid, "fps": fps, "init": init, "t0": t}
+                        self.ctrl_dark_t = None
+                        self.lag = None
+                elif cmd == CMD_ALL_OFF and status == 0:
+                    self.ctrl = None
+                    self.ctrl_dark_t = t
+                elif status not in (0, None):
+                    if cmd in DISPLAY_CMDS:
+                        self.errors.append((rx_ms, f"controller refused cmd 0x{int(cmd):02X} (status {status})"))
+                    else:
+                        self.refused_other += 1
+            elif tag == "cf":
+                idx, pid = r[4], r[5]
+                self.obs = {"idx": idx, "pid": pid, "t": t}
+                self.last_cf_ms = rx_ms
+                if isinstance(pid, int) and isinstance(idx, int):
+                    self.max_idx[pid] = max(self.max_idx.get(pid, 0), idx)
+                self.cf_times.append(t)
+                while self.cf_times and self.cf_times[0] <= t - 1_000_000:
+                    self.cf_times.popleft()
+                self._judge_frame(idx, pid, t)
+                if self.frame_log is not None:
+                    self.frame_log.append((t, idx, pid, self.lag))
+            elif tag == "cs":
+                kind = r[4]
+                if kind == CS_ERROR_GLYPH:
+                    self.errors.append((rx_ms, f"controller error glyph (code {r[5]}, arg {r[6]})"))
+                elif kind == CS_SD_SLOW:
+                    us = r[6] * 100 if isinstance(r[6], int) else None
+                    self.warnings.append((rx_ms, f"slow SD read: {us / 1000:.1f} ms" if us is not None else "slow SD read"))
+        if batch_min is not None:
+            self._offsets.append((rx_ms, batch_min))
+            while self._offsets and self._offsets[0][0] < rx_ms - 30_000:
+                self._offsets.popleft()
+        if self.cf_times:
+            self.rate_hz = (len(self.cf_times) - 1) / max(1e-6, (self.cf_times[-1] - self.cf_times[0]) / 1e6) if len(self.cf_times) > 1 else 0.0
+
+    # ── controller-clock judgments ─────────────────────────────────────────────
+    def n_frames(self, pid=None, name=None) -> int | None:
+        pat = self.patterns.get(name) if name else None
+        if pat:
+            return int(pat["num_frames"])
+        if pid is not None and pid in self.max_idx:
+            return self.max_idx[pid] + 1
+        return None
+
+    def _ctrl_expected(self, t: int) -> int | None:
+        c = self.ctrl
+        if not c or c["mode"] != 2 or t < c["t0"]:
+            return None
+        name = self.pid_names.get(c["pid"])
+        n = self.n_frames(c["pid"], name)
+        steps = math.floor(abs(c["fps"]) * (t - c["t0"]) / 1e6 + 1e-9)
+        e = c["init"] + (steps if c["fps"] >= 0 else -steps)
+        return e % n if n else e
+
+    def _judge_frame(self, idx, pid, t: int) -> None:
+        c = self.ctrl
+        if not c or pid != c["pid"] or c["mode"] != 2:
+            return
+        exp = self._ctrl_expected(t)
+        n = self.n_frames(pid, self.pid_names.get(pid))
+        if exp is None or not n or not isinstance(idx, int):
+            return
+        self.lag = wrap_diff(idx - exp, n)
+
+    def clock_offset_us(self) -> float | None:
+        return min(o for _, o in self._offsets) if self._offsets else None
+
+    # ── outputs ────────────────────────────────────────────────────────────────
+    def stimulus(self) -> dict:
+        t = self.trial
+        out = {"state": self.state, "run_id": self.run.get("run_id"), "protocol": self.run.get("protocol_filename"),
+               "condition": self.condition}
+        if self.state == "trial" and t:
+            n = self.n_frames(t["pattern_id"], t["pattern"])
+            out.update({k: t[k] for k in ("pattern", "pattern_id", "mode", "fps", "init", "duty", "duration_s", "t_host_ms")})
+            out["condition"] = t["condition"]
+            out["n_frames"] = n
+            out["pattern_found"] = self.patterns.path(t["pattern"]) is not None
+        return out
+
+    def expected_index(self, now_ms: float) -> int | None:
+        """The frame the arena should show at host epoch ms `now_ms` (None when dark/unknown)."""
+        t = self.trial
+        if self.state != "trial" or not t:
+            return None
+        n = self.n_frames(t["pattern_id"], t["pattern"])
+        if t["mode"] != 2:
+            return self.obs["idx"] if self.obs and self.obs.get("pid") == t["pattern_id"] else (t["init"] % n if n else t["init"])
+        off = self.clock_offset_us()
+        c = self.ctrl
+        if c and off is not None and c["pid"] == t["pattern_id"] and c["fps"] == t["fps"]:
+            e = self._ctrl_expected(int(now_ms * 1000.0 - off))
+            if e is not None:
+                return e
+        dt = max(0.0, (now_ms - t["t_host_ms"]) / 1000.0)
+        steps = math.floor(abs(t["fps"]) * dt + 1e-9)
+        e = t["init"] + (steps if t["fps"] >= 0 else -steps)
+        return e % n if n else e
+
+    def observed_index(self):
+        return self.obs["idx"] if self.obs else None
+
+    def has_telemetry(self) -> bool:
+        return self.rows > 0
+
+    def health(self, now_ms: float | None = None) -> dict:
+        now_ms = time.time() * 1000.0 if now_ms is None else now_ms
+        age_s = None if self.last_rows_ms is None else max(0.0, (now_ms - self.last_rows_ms) / 1000.0)
+        frame_age_s = None
+        if self.last_cf_ms is not None or self.trial:
+            since = max(self.last_cf_ms or 0.0, (self.trial or {}).get("t_host_ms") or 0.0)
+            frame_age_s = max(0.0, (now_ms - since) / 1000.0)
+        recent = lambda lst, s=10.0: [txt for (t, txt) in lst if now_ms - t < s * 1000.0]
+        t = self.trial
+        rotating = self.state == "trial" and t and t.get("mode") == 2 and (t.get("fps") or 0) != 0
+        expected_rate = abs(t["fps"]) if rotating else 0.0
+        c = self.ctrl
+        since_start_s = None
+        if c and self.obs and c["pid"] == (t or {}).get("pattern_id"):
+            since_start_s = (self.obs["t"] - c["t0"]) / 1e6
+        values = {
+            "state": self.state, "condition": (t or {}).get("condition") or self.condition or "",
+            "pattern": (t or {}).get("pattern") or "", "fps": (t or {}).get("fps", 0), "duty": (t or {}).get("duty", ""),
+            "expected_rate_hz": expected_rate, "display_rate_hz": self.rate_hz, "lag_frames": self.lag,
+            "observed_idx": self.observed_index(), "telemetry_rows": self.rows,
+            "telemetry_age_s": None if age_s is None else round(age_s, 2),
+            "other_cmds_refused": self.refused_other, "trials_flagged": self.flagged, "trials_judged": self.trials_judged,
+            "clock_offset_ms": None if self.clock_offset_us() is None else round(self.clock_offset_us() / 1000.0, 1),
+        }
+        errs, warns = recent(self.errors), recent(self.warnings)
+        if not self.seen_any:
+            level, msg = WARN, "no Studio messages yet"
+        elif errs:
+            level, msg = ERROR, errs[-1]
+        elif rotating and self.rows and frame_age_s is not None and frame_age_s > self.stale_s:
+            # only while a pattern plays: in the dark the ring has nothing to send
+            level, msg = STALE, f"no displayed-frame telemetry for {frame_age_s:.0f} s"
+        elif self.run_open and not self.rows:
+            level, msg = WARN, ("no controller telemetry yet" if str(self.telemetry_level or "").startswith("ring")
+                                else "no controller telemetry on this run (expected display only)")
+        elif rotating and since_start_s is not None and since_start_s > 1.2 and self.rate_hz is not None \
+                and abs(self.rate_hz - expected_rate) > max(1.0, self.rate_tol * expected_rate):
+            level, msg = WARN, f"display rate {self.rate_hz:.1f} Hz, expected {expected_rate:.0f} Hz"
+        elif rotating and self.lag is not None and abs(self.lag) > self.lag_tol:
+            level, msg = WARN, f"display {self.lag:+d} frames off schedule"
+        elif warns:
+            level, msg = WARN, warns[-1]
+        elif self.state == "trial" and t:
+            msg = f"{t.get('pattern') or 'pattern ' + str(t.get('pattern_id'))} @ {t.get('fps')} fps"
+            if self.rate_hz is not None and rotating:
+                msg += f" · shown {self.rate_hz:.0f} Hz"
+            if self.lag is not None:
+                msg += f" · lag {self.lag:+d}"
+            level = OK
+        else:
+            level, msg = OK, self.state
+        return {"level": level, "level_name": LEVEL_NAMES[level], "message": msg, "values": values}
diff --git a/rig/nodes/stimulus_node.py b/rig/nodes/stimulus_node.py
new file mode 100644
index 00000000..7f0ad86f
--- /dev/null
+++ b/rig/nodes/stimulus_node.py
@@ -0,0 +1,195 @@
+#!/usr/bin/env python3
+"""stimulus_node.py — the arena's EXPECTED display, its OBSERVED display and its health, live.
+
+Subscribes to `/arena/browser` (every Studio message, published live by bridge_node) and runs
+`stimulus_core.StimulusTracker` over it; publishes standard ROS messages Foxglove shows natively:
+
+  sensor_msgs/CompressedImage (PNG)
+    /arena/display            what the arena SHOULD show now: the trial's .pat frame at the
+                              expected index × duty, in the panels' LED colors (--panel-layout),
+                              top of the arena at the top; dark between trials
+    /arena/display_observed   the frame the controller reported it put up (telemetry `cf` rows,
+                              drained ~10 Hz, so it steps and trails by ~0.1 s)
+  std_msgs/Float64  /viz/arena/expected_idx (at --display-hz), /viz/arena/observed_idx + /viz/arena/lag_frames
+                    (one per displayed frame the controller reports; lag = observed − expected on the
+                    controller clock, 0 = on schedule), /viz/arena/display_rate_hz (frame changes per
+                    controller second, 1 Hz), /viz/arena/cmd_fps
+  std_msgs/Bool     /viz/arena/ok (health level OK) — for an Indicator panel
+  std_msgs/String   /viz/arena/state ("idle|dark|trial"), /viz/arena/condition, /viz/arena/health
+                    ("<LEVEL>: <message>"), /arena/stimulus (JSON: condition, pattern, mode, fps,
+                    duty, n_frames, … — on change and every second)
+  diagnostic_msgs/DiagnosticArray  /diagnostics, status "arena/display" (1 Hz): OK / WARN (rate off
+                    by > 5 %, lag > 2 frames, a flagged trial, a slow SD read) / ERROR (a refused
+                    display command, an error glyph) / STALE (no frame telemetry while a pattern plays)
+
+Nothing here is logged or fed back. Patterns are found by name under --pattern-dir (recursive);
+pattern names come from the run's protocol under --protocol-dir (see stimulus_core).
+
+    pixi run stimulus -- --panel-layout four-color
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+import time
+from pathlib import Path
+
+import rclpy
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
+from rclpy.node import Node
+from sensor_msgs.msg import CompressedImage
+from std_msgs.msg import Bool, Float64, String
+
+from rig_nodes._common import RELIABLE_QOS, spin, wall_ms
+import arena_display as AD
+import stimulus_core as SC
+
+REPO = Path(__file__).resolve().parents[2]
+
+
+class StimulusNode(Node):
+    def __init__(self, a: argparse.Namespace) -> None:
+        super().__init__("arena_stimulus")
+        self.a = a
+        self.tr = SC.StimulusTracker(SC.PatternLibrary(a.pattern_dir), SC.ProtocolIndex(a.protocol_dir), stale_s=a.stale_s)
+        self.tr.frame_log = []  # every displayed frame → /viz/arena/observed_idx + lag_frames, as the replay
+        self.p_img = self.create_publisher(CompressedImage, "/arena/display", 10)
+        self.p_obs = self.create_publisher(CompressedImage, "/arena/display_observed", 10)
+        f64 = lambda t: self.create_publisher(Float64, t, 10)
+        self.p = {k: f64(f"/viz/arena/{k}") for k in ("expected_idx", "observed_idx", "display_rate_hz", "lag_frames", "cmd_fps")}
+        self.p_ok = self.create_publisher(Bool, "/viz/arena/ok", 10)
+        self.p_state = self.create_publisher(String, "/viz/arena/state", 10)
+        self.p_cond = self.create_publisher(String, "/viz/arena/condition", 10)
+        self.p_health = self.create_publisher(String, "/viz/arena/health", 10)
+        self.p_stim = self.create_publisher(String, "/arena/stimulus", 10)
+        self.p_diag = self.create_publisher(DiagnosticArray, "/diagnostics", 10)
+        self.create_subscription(String, "/arena/browser", self._browser, RELIABLE_QOS)
+        self._last_disp = None
+        self._last_disp_t = 0.0
+        self._last_obs = None
+        self._last_stim = None
+        self.create_timer(1.0 / max(1.0, a.display_hz), self._display)
+        self.create_timer(1.0, self._slow)
+        self.get_logger().info(f"stimulus up: /arena/display (+_observed), /viz/arena/*, /diagnostics; layout {a.panel_layout}; "
+                               f"patterns {', '.join(str(d) for d in a.pattern_dir)}")
+
+    # ── helpers ─────────────────────────────────────────────────────────────────
+    def _f(self, key: str, v) -> None:
+        if isinstance(v, (int, float)):
+            m = Float64()
+            m.data = float(v)
+            self.p[key].publish(m)
+
+    def _s(self, pub, text: str) -> None:
+        m = String()
+        m.data = text
+        pub.publish(m)
+
+    def _image(self, pub, img, frame_id: str) -> None:
+        m = CompressedImage()
+        m.header.stamp = self.get_clock().now().to_msg()
+        m.header.frame_id = frame_id
+        m.format = "png"
+        m.data = AD.png_bytes(img)
+        pub.publish(m)
+
+    def _render(self, pattern: str | None, idx, duty) -> "AD.np.ndarray":
+        pat = self.tr.patterns.get(pattern) if pattern else None
+        if pat is None:
+            return AD.render_placeholder(scale=self.a.scale)
+        n = pat["num_frames"]
+        return AD.render_frame(pat["frames"][int(idx) % n], pat["gs"], self.a.panel_layout, duty, self.a.scale)
+
+    # ── callbacks ───────────────────────────────────────────────────────────────
+    def _browser(self, msg: String) -> None:
+        try:
+            rec = json.loads(msg.data)
+        except json.JSONDecodeError:
+            return
+        if isinstance(rec, dict):
+            self.tr.feed_record(rec)
+        for _, idx, _, lag in self.tr.frame_log:
+            self._f("observed_idx", idx)
+            if lag is not None:
+                self._f("lag_frames", lag)
+        self.tr.frame_log.clear()
+
+    def _display(self) -> None:
+        tr = self.tr
+        now = float(wall_ms())
+        st = tr.stimulus()
+        exp = tr.expected_index(now)
+        key = (st["state"], st.get("pattern"), exp, st.get("duty"))
+        if key != self._last_disp or time.monotonic() - self._last_disp_t > 1.0:
+            if st["state"] == "trial" and exp is not None:
+                img = self._render(st.get("pattern"), exp, st.get("duty") or 255)
+            else:
+                img = AD.render_dark(scale=self.a.scale)
+            self._image(self.p_img, img, "arena_display")
+            self._last_disp, self._last_disp_t = key, time.monotonic()
+            self._f("expected_idx", exp if exp is not None else -1)
+        obs = tr.obs
+        okey = (obs or {}).get("idx"), (obs or {}).get("pid"), st["state"]
+        if obs and okey != self._last_obs:
+            name = tr.pid_names.get(obs["pid"])
+            duty = (st.get("duty") or 255) if st["state"] == "trial" else 255
+            img = self._render(name, obs["idx"], duty) if st["state"] == "trial" else AD.render_dark(scale=self.a.scale)
+            self._image(self.p_obs, img, "arena_display_observed")
+            self._last_obs = okey
+        if tr.changed:
+            tr.changed = False
+            self._stimulus(st)
+
+    def _stimulus(self, st: dict) -> None:
+        self._s(self.p_stim, json.dumps(st, separators=(",", ":")))
+        self._s(self.p_state, st["state"])
+        self._s(self.p_cond, st.get("condition") or "")
+        self._f("cmd_fps", st.get("fps", 0) if st["state"] == "trial" else 0)
+        self._last_stim = st
+
+    def _slow(self) -> None:
+        tr = self.tr
+        h = tr.health(float(wall_ms()))
+        v = h["values"]
+        self._f("display_rate_hz", v["display_rate_hz"])
+        ok = Bool()
+        ok.data = h["level"] == SC.OK
+        self.p_ok.publish(ok)
+        self._s(self.p_health, f"{h['level_name']}: {h['message']}")
+        self._stimulus(tr.stimulus())  # once a second for late joiners (StateTransitions dedups)
+        arr = DiagnosticArray()
+        arr.header.stamp = self.get_clock().now().to_msg()
+        s = DiagnosticStatus()
+        s.name, s.hardware_id = "arena/display", "g6_controller"
+        s.level = bytes([h["level"]])
+        s.message = h["message"]
+        s.values = [KeyValue(key=k, value="" if x is None else str(x)) for k, x in v.items()]
+        arr.status.append(s)
+        self.p_diag.publish(arr)
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("--pattern-dir", action="append", default=None,
+                   help="where to find <pattern>.pat by name, searched recursively; repeatable (default: the repo's protocols/ and patterns/)")
+    p.add_argument("--protocol-dir", action="append", default=None,
+                   help="where to find the run's protocol YAML (for pattern names); repeatable (default: the repo's protocols/)")
+    p.add_argument("--panel-layout", default="g6-green", choices=sorted(AD.LAYOUTS),
+                   help="LED colors of the panels (js/panel-color.js layouts; default g6-green; the okey-cokey arena is four-color)")
+    p.add_argument("--display-hz", type=float, default=15.0, help="expected-display update rate (default 15)")
+    p.add_argument("--scale", type=int, default=4, help="screen pixels per LED (default 4 → 800×160 for a 2×10)")
+    p.add_argument("--stale-s", type=float, default=2.0, help="no frame telemetry this long while a pattern plays → STALE (default 2)")
+    args, ros_args = p.parse_known_args(argv)
+    args.pattern_dir = args.pattern_dir or [str(REPO / "protocols"), str(REPO / "patterns")]
+    args.protocol_dir = args.protocol_dir or [str(REPO / "protocols")]
+    rclpy.init(args=ros_args)
+    node = StimulusNode(args)
+    spin(node)
+    print("[stimulus] stopped", file=sys.stderr)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/rig/nodes/viz_node.py b/rig/nodes/viz_node.py
index fbd49b65..9cf290ce 100644
--- a/rig/nodes/viz_node.py
+++ b/rig/nodes/viz_node.py
@@ -20,13 +20,20 @@
     /viz/arena/bias_deg        live bias angle when a waveform runs (else 0)
     /viz/kinefly/left_deg, right_deg, lmr_deg, wbf_hz
     /viz/bias/frame_count, /viz/bias/fps
+    /viz/bias/fps_from_count   frameCount slope over the last 2 s of status polls — an estimate
+                               independent of BIAS's own framesPerSec
+    /viz/bias/drops            frames BIAS reports lost so far: frameIdGaps + cameraSkipped +
+                               incompleteFrames + loggerSkipped + writerSkipped (the atlas-bench
+                               Atlas10 build; absent keys = not reported, never 0)
+    /viz/bias/rtt_ms, /viz/bias/log_queue   status-poll round trip; frames queued for the writer
   std_msgs/Bool     /viz/bias/reachable, /viz/bias/capturing, /viz/bias/logging
   std_msgs/String   /viz/bias/state ("unreachable|idle|preview|recording") — StateTransitions panel
                     /viz/last_error ("<iso time> <src>: <text>")
   diagnostic_msgs/DiagnosticArray  /diagnostics (1 Hz): one status per source — fictrac, kinefly,
-                    bias, arena — OK (data flowing), STALE (seen, then silent > --stale-s),
-                    WARN (never seen), ERROR (BIAS unreachable / last reply failed); values carry
-                    rate_hz, messages, last_seq, adapter→viz latency, last_error.
+                    bias, arena (`--sources` picks which) — OK (data flowing), STALE (seen, then
+                    silent > --stale-s), WARN (never seen; for BIAS also: frames dropped while
+                    recording in the last 10 s), ERROR (BIAS unreachable / last reply failed);
+                    values carry rate_hz, messages, last_seq, adapter→viz latency, last_error.
   visualization_msgs/MarkerArray   /viz/markers (--markers-hz, default 20): the ball (sphere +
                     markings rotated by FicTrac's lab-frame orientation, cols 12–14), the fly
                     (arrow, fixed, facing +X), the arena (translucent cylinder) and the pattern
@@ -56,6 +63,7 @@
 from visualization_msgs.msg import Marker, MarkerArray
 
 from rig_nodes._common import RELIABLE_QOS, spin
+from rig_nodes.bias_health import CountRate, bias_drops  # rig-nodes ≥ 0.3.0 (moved from rig/nodes/bias_health.py)
 
 BALL_R = 1.0
 ARENA_R = 3.2
@@ -189,6 +197,7 @@ def __init__(self, a: argparse.Namespace) -> None:
         super().__init__("arena_viz")
         self.a = a
         self.src = {k: Source(k) for k in ("fictrac", "kinefly", "bias", "arena")}
+        self.diag_sources = [k for k in (a.sources or "").split(",") if k in self.src] or list(self.src)
         f64 = lambda t: self.create_publisher(Float64, t, 10)
         self.p = {
             "heading": f64("/viz/fictrac/heading_deg"),
@@ -209,6 +218,10 @@ def __init__(self, a: argparse.Namespace) -> None:
             "wbf": f64("/viz/kinefly/wbf_hz"),
             "frames": f64("/viz/bias/frame_count"),
             "fps": f64("/viz/bias/fps"),
+            "fps_count": f64("/viz/bias/fps_from_count"),
+            "drops": f64("/viz/bias/drops"),
+            "rtt": f64("/viz/bias/rtt_ms"),
+            "log_queue": f64("/viz/bias/log_queue"),
         }
         self.p_bool = {
             "reachable": self.create_publisher(Bool, "/viz/bias/reachable", 10),
@@ -241,6 +254,9 @@ def __init__(self, a: argparse.Namespace) -> None:
         self.bias_deg = 0.0
         self.bias_active = False
         self.bias_state = "unreachable"
+        self.bias_rate = CountRate()
+        self.bias_drops = None
+        self.bias_drop_t = None  # time.time() of the last increase while recording
         self.create_timer(1.0, self._diagnostics)
         self.create_timer(1.0 / max(1.0, a.markers_hz), self._markers)
         self.get_logger().info("typed republisher up: /viz/*, /diagnostics, /viz/markers (Foxglove via foxglove_bridge :8766)")
@@ -355,6 +371,21 @@ def _bias_status(self, msg: String) -> None:
             self._pub("frames", st["frameCount"])
         if isinstance(st.get("framesPerSec"), (int, float)):
             self._pub("fps", st["framesPerSec"])
+        if isinstance(st.get("frameCount"), (int, float)) and isinstance(st.get("t_ms"), (int, float)):
+            r = self.bias_rate.add(st["t_ms"] / 1000.0, st["frameCount"])
+            if r is not None:
+                self._pub("fps_count", r)
+        drops = bias_drops(st)
+        if drops is not None:
+            if self.bias_drops is not None and drops > self.bias_drops and logging_:
+                self.bias_drop_t = time.time()
+                self._note_error("bias", f"{drops - self.bias_drops:.0f} frame(s) dropped (total {drops:.0f})")
+            self.bias_drops = drops
+            self._pub("drops", drops)
+        if isinstance(st.get("rtt_ms"), (int, float)):
+            self._pub("rtt", st["rtt_ms"])
+        if isinstance(st.get("logQueueSize"), (int, float)):
+            self._pub("log_queue", st["logQueueSize"])
         state = "unreachable" if not reachable else ("recording" if capturing and logging_ else "preview" if capturing else "idle")
         self.bias_state = state
         # Published on EVERY status tick (1 Hz), not only on change, so a dashboard that
@@ -397,6 +428,8 @@ def _diagnostics(self) -> None:
         for s in self.src.values():
             rate = s.tick_rate()
             self._pub("ft_rate", rate) if s.name == "fictrac" else None
+            if s.name not in self.diag_sources:
+                continue
             st = DiagnosticStatus()
             st.name = f"arena/{s.name}"
             st.hardware_id = s.name
@@ -406,6 +439,8 @@ def _diagnostics(self) -> None:
                 st.level, st.message = DiagnosticStatus.STALE, f"silent {now - s.last_mono:.0f} s"
             elif s.name == "bias" and self.bias_state == "unreachable":
                 st.level, st.message = DiagnosticStatus.ERROR, "BIAS unreachable"
+            elif s.name == "bias" and self.bias_drop_t and time.time() - self.bias_drop_t < 10:
+                st.level, st.message = DiagnosticStatus.WARN, s.last_error or "frames dropped"
             elif s.name == "bias" and s.last_error_t and time.time() - s.last_error_t < 10:
                 st.level, st.message = DiagnosticStatus.ERROR, s.last_error or "error"
             else:
@@ -498,6 +533,8 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--markers-hz", type=float, default=20.0, help="3D marker update rate (default: 20)")
     p.add_argument("--stale-s", type=float, default=2.0, help="seconds of silence before a source reads STALE (default: 2)")
     p.add_argument("--frame-id", default="arena", help="fixed frame for the markers (default: arena)")
+    p.add_argument("--sources", default="fictrac,kinefly,bias,arena",
+                   help="sources that get a /diagnostics status (default: all four; the okey-cokey rig: bias)")
     args, ros_args = p.parse_known_args(argv)
     rclpy.init(args=ros_args)
     node = VizNode(args)
diff --git a/rig/okey-cokey-pc-2026-10-21.md b/rig/okey-cokey-pc-2026-10-21.md
new file mode 100644
index 00000000..10b3171a
--- /dev/null
+++ b/rig/okey-cokey-pc-2026-10-21.md
@@ -0,0 +1,167 @@
+# Okey-cokey rig PC — BIAS + G6 color optomotor test, 2026-10-21
+
+The run sheet for today's test on the new lab PC in the okey-cokey room (freely walking flies, overhead
+BIAS camera, G6 2×10 four-color arena, **no FicTrac**). It is `WINDOWS-TEST.md` cut down to what this
+rig needs, with the ww18 findings of 2026-10-15 (`windows-results-ww18-2026-10-15.md`) applied up front.
+Record results in a sibling `okey-cokey-pc-results-2026-10-21.md` in the same shape as the ww18 file.
+
+Branch: `claude/okey-cokey-rig` = the 2026-10-20 release candidate (Studio v0.97, ROS 2 graph,
+BIAS connector) + the CW/CCW-pair protocols Grace asked for (`claude/okey-cokey-pairs`) + the camera +
+G6 Foxglove dashboard (`docs/okey-cokey-foxglove-dashboard-plan.md`). Neither is on a Pages tier, so
+serve the checkout locally (step 4).
+
+## 0. Setup (bare PC → ready)
+
+Do [`okey-cokey-pc-setup.md`](okey-cokey-pc-setup.md) first: PC access, git / pixi / Chrome /
+Foxglove, BIAS + camera SDK, the controller, the clone at `C:\w` on `claude/okey-cokey-rig`,
+the three `pixi install`s, both dashboard tests and a no-flies smoke of the whole stack. The steps
+below assume it is done.
+
+- [ ] IR backlight on by hand (Arduino). The web runner does not drive the backlight yet.
+
+## 1. BIAS itself (10 min)
+
+- [ ] **Which BIAS build?** FLIR/Spinnaker build or the atlas-bench Atlas10 fork (ww18 ran the fork).
+      Note the exe path and camera model.
+- [ ] External-control server on, port **5010** for camera 0:
+      `curl.exe "http://127.0.0.1:5010/?get-status"` returns `"success" : true`. Note any extra keys.
+- [ ] Logging format = **ufmf** in BIAS's own settings (BIAS writes its configured format whatever
+      extension it is sent; ww18 B1). BIAS v0.73.1 (Spinnaker) resets to jpg on **every** restart (ww14),
+      so after each BIAS start run
+      `powershell -ExecutionPolicy Bypass -File tools\bias-ufmf.ps1 -VideoDir <video dir>`.
+      It must print `BIAS logging: ufmf -> …` (details: setup checklist C.3).
+- [ ] Choose and create the **video directory**, e.g. `D:\rec\okey-cokey`. Use plain file names with
+      no dots or spaces (BIAS cuts the name at the first dot; ww18 B1).
+- [ ] Camera preview live, frame rate as expected (note `framesPerSec`).
+- [ ] Never run `bias_sim` or the harness while the real BIAS is open: on Windows both can hold 5010 and
+      loopback clients reach the sim (ww18 W8; the sim now refuses, but don't test it).
+
+## 2. BIAS through the node (5 min)
+
+Two terminals in `rig`:
+
+```powershell
+pixi run router
+pixi run bias-node -- --host 127.0.0.1 --port 5010 --video-dir D:\rec\okey-cokey
+```
+
+Third terminal:
+
+```powershell
+pixi run bias-cmd -- connect --json
+pixi run bias-cmd -- startRecording --filename nodecheck.ufmf --json
+pixi run bias-cmd -- getTimestamp --json          # wait ≥ 0.5 s after start: the clock reads 0 before the first frame
+pixi run bias-cmd -- stopRecording --json         # expect resolved file + bytes + frame-stamp count
+dir D:\rec\okey-cokey
+```
+
+- [ ] Every reply `"outcome": "ok"` (connect can take ~2.2 s on Atlas10; the node allows 15 s).
+- [ ] `stopRecording` names the file BIAS really wrote (`…_cam_0_date_…_v001.ufmf`) and its frame count
+      = the lines in `stamp_log_cam0.txt`.
+- [ ] Unknown path: start a recording, close BIAS, `getTimestamp` returns `unknown` / `error` within
+      seconds, no hang; reopen BIAS and the node's status flips back to reachable. (ww14: `unknown` after
+      4.0 s.) **Then rerun `tools\bias-ufmf.ps1`**: the reopened BIAS is back on jpg.
+
+If the rig (step 3) is already running, its own BIAS node answers `bias-cmd` the same way. ww14 ran
+this step that way, with no separate router or node.
+
+Stop the node and the router (Ctrl-C).
+
+## 3. The graph, no FicTrac, with the dashboard (2 min)
+
+Once: `pixi install -e viz` (foxglove_bridge, ~0.3 GB) and the Foxglove desktop app.
+
+```powershell
+pixi run rig -- --no-fictrac --bias --bias-args "--video-dir D:\rec\okey-cokey" --foxglove --viz-args "--sources bias" --stimulus-args "--panel-layout four-color"
+```
+
+**For a real run, start the stack with `tools\okey-cokey-start.ps1`** (BIAS + ufmf + this rig +
+step 4's server + the Studio, in one go; ww14). It launches everything through WMI, so the rig and
+the server get consoles of their own that outlive whatever started them. On ww14 those are two
+**tabs of one Windows Terminal window** ("okey-cokey RIG", "okey-cokey STUDIO SERVER :8092"): stop
+the rig with Ctrl-C in its tab. On ww14 (2026-10-22) a full run died at
+minute 9 because the Claude desktop app restarted itself and took BIAS, the rig and the server,
+all started from a Claude session, with it. Never run an experiment from a Claude terminal tab.
+
+Expected: `[rig] up: router, bias, bridge, stimulus, viz, foxglove — Studio → ws://localhost:8765
+Foxglove → ws://localhost:8766`. In Foxglove: Open connection → Foxglove WebSocket →
+`ws://localhost:8766`; Layout → Import from file → `rig\foxglove\arena-okey-cokey.json`.
+**8766, not 8765.** 8765 is the Studio bridge: Foxglove connects there, drops at once, and shows
+nothing. Before a run: BIAS indicator green, camera fps plotted, "Arena" grey/OK. (Without the viz env, drop
+`--foxglove` and add `--stimulus`: the graph runs, there is just nothing to look at.)
+
+## 4. Studio, served from this checkout
+
+```powershell
+cd C:\w
+pixi run python .claude\nocache-server.py 8092   # the root env's Python
+```
+
+Chrome: `http://localhost:8092/arena_studio.html?p=g6_color_optomotor_smoke&rig=cshl_g6_2x10&mode=run`
+(use this arena's own rig key from `configs\rigs\index.json` if it has one). Fallback if the local
+server is a problem: the Next tier (`/next/arena_studio.html`, same Studio v0.97) plus
+Protocol ▾ → Open… on `C:\w\protocols\g6_color_optomotor_smoke.yaml`.
+
+- [ ] Run view → **Bridge: Connect** → `connected`. Note any Chrome local-network prompt.
+- [ ] **Connect** → the controller: pick **`G6_Arena`** in the port picker, not a COM number (ww14
+      has a second Teensy, and the controller moved from COM3 to COM5 within a day). Firmware line in the log; note the build label. The 2×10 controller
+      must run the `arena-2x10-local` build (a `main` build rejects 2×10 patterns).
+- [ ] SD card mounted (Console shows a listing; ww18 H1 had an unmounted card). Upload
+      `protocols\g6_color_optomotor_test_patterns\` (Patterns → Add ▾); the four
+      `G6_2x10_toprow_grat20_*` names show 20 frames.
+- [ ] **Direction**, once: Console → Test `green_pair_d100`. The first 10 s must turn clockwise seen
+      from above, then reverse with no gap. If reversed, swap `fps_cw` / `fps_ccw` in Edit view and
+      record it.
+      **Okey-cokey rig: done, no test needed.** On 2026-10-22 (ww14) the arena turned out to be
+      **mounted upside down**. Confirmed by eye in the smoke run: every trial the protocol calls CW
+      (`fps_cw` = +80) turns **counter-clockwise seen from above**, and "CCW" turns clockwise. This
+      was accepted as is, so the protocols are **not** changed. When analysing okey-cokey data,
+      treat the protocol's CW/CCW labels as reversed relative to the fly's view from above.
+      (The Console "Test `green_pair_d100`" entry also wasn't found on ww14; the smoke run's first
+      pair shows the same thing.)
+
+## 5. Smoke run (2 min), then the full run (16 min)
+
+- [ ] Experimenter + genotype filled, **Run experiment** on `g6_color_optomotor_smoke`: 4 pairs at duty
+      100 % (10 s CW → 10 s CCW, 5 s dark), camera connect / startRecording / getTimestamp /
+      stopRecording all `ok` in the step strip.
+- [ ] Watch: top row only, one color per pair, no dark gap at the CW→CCW reversal, bottom row dark.
+- [ ] **Dashboard, live:** the EXPECTED display turns with the arena in the right color and reverses
+      with no gap; OBSERVED follows within ~0.1 s; "Arena frame index" shows the two traces on top of
+      each other; lag stays 0; arena rate reads 80 Hz in a rotation and 0 in the pauses; the arena
+      health line names the pattern; condition / arena / BIAS state bars step with the protocol.
+      Record any WARN/ERROR text verbatim (`/viz/arena/health`) and a screenshot.
+- [ ] Then `?p=g6_color_optomotor_test` (Grace's shape): 24 pairs of 15 s CW + 15 s CCW, 10 s dark
+      between pairs and across blocks, duty 25 → 50 → 100 %. Is the 25 % vs 100 % step visible?
+
+## 6. Collect and judge
+
+```powershell
+cd C:\w\rig
+pixi run export                                       # unless the Studio auto-committed
+pixi run python ..\scripts\runlog-check.py runlogs\exports\<file>.jsonl
+pixi run ros2 bag info runlogs\<run>.bag
+```
+
+`runlog-check` can report a run "incomplete" with trials `unknown (coverage)`, `ring_overrun`, whose
+patterns and durations don't match the protocol. Those are controller activity from **before** the run,
+such as Console tests while nothing drained the telemetry ring (ww14 smoke #1: 4 such trials, while all
+8 run rotations passed). Judge the run by its own trials, or run it again straight after Connect
+(ww14 smoke #2: OK, 8 / 8 pass, 0 unknown).
+
+- [ ] `runlog-check` OK (smoke: 4 conditions × 2 trialParams; full: 24 × 2 = 48 trialParams).
+- [ ] `/bias/reply`: smoke 1 + 4 + 1 `getTimestamp` (start, each pair, stop); full 1 + 24 + 1.
+- [ ] `/bias/frames` count = the stamp log's lines; video length ≈ run length × camera fps
+      (full ≈ 965 s × fps).
+- [ ] **Dashboard, replay:** `pixi run fox-json -- runlogs\<run>.bag runlogs\<run>.foxglove.mcap --stimulus --panel-layout four-color`
+      (finds the `.ufmf` through the run's stopRecording reply; `--ufmf <file>` otherwise). The JSON
+      it prints has a `dashboard` block: `camera.images`, `camera.offset_ms`, `stimulus_messages`. Open
+      the `.foxglove.mcap` in Foxglove with the same layout: camera, expected and observed display in
+      sync; check one reversal (the fly's turning should flip within a few hundred ms of the display).
+- [ ] Copy the bag, the export, the `.foxglove.mcap` and the `.ufmf` somewhere Michael can reach (group share).
+
+## What to send back
+
+The PC facts (step 0), the BIAS build and status keys, every non-ok reply verbatim, the direction
+result, the two runs' `runlog-check` output, frame counts vs expected, and anything that needed a
+manual step.
diff --git a/rig/okey-cokey-pc-results-2026-10-21.md b/rig/okey-cokey-pc-results-2026-10-21.md
new file mode 100644
index 00000000..0ff3f40c
--- /dev/null
+++ b/rig/okey-cokey-pc-results-2026-10-21.md
@@ -0,0 +1,36 @@
+*Paths in this record predate the 2026-10-26 rename `ros2-poc/` → `rig/`, `arena_interfaces` → `rig_interfaces`; the branch `claude/okey-cokey-dashboard` is now `claude/okey-cokey-rig` (PR #269).*
+
+# LAB-303 okey-cokey — results, REISERLAB-WW14, 2026-10-22
+
+Run sheet: [`okey-cokey-pc-2026-10-21.md`](okey-cokey-pc-2026-10-21.md). PC facts, setup, BIAS build and
+the two no-flies smoke runs: [`okey-cokey-pc-ww14-setup-2026-10-22.md`](okey-cokey-pc-ww14-setup-2026-10-22.md).
+
+**Status:** the full `g6_color_optomotor_test` run with flies passed: arena 48 / 48 trials, BIAS 58 / 58
+replies `ok`, 70 953 camera frames at 73.3 fps over 968 s. The first full attempt died at minute 9 when
+the Claude desktop app restarted (R1). Not done yet: the Foxglove replay of the full run, and copying
+its files to the group share.
+
+## Machine
+
+As in the setup file (REISERLAB-WW14, BIAS v0.73.1 Spinnaker, FLIR BFS-U3-51S5M, firmware
+`c15d840a 2x10 2026-09-29 restack/panel-boot freerun sdfast`), with one change: the controller was on
+**COM5** for the full run (R2).
+
+## Findings
+
+| # | Step | Finding | Status |
+|---|---|---|---|
+| R1 | 5 | **The first full run died at 15:31:21, 9 min in** (during the CCW half of the first `blue_pair_d50`, pair 14 / 24). BIAS, the rig and the Studio server had all been started from a Claude Code session in the Claude desktop app. The app restarted itself (Windows Application log, `CoworkVMService` at 15:31:21–22), and every process it had started died with it. The controller stayed connected over USB. | **fixed** for the next run: `tools\okey-cokey-start.ps1` launches BIAS, the rig and the server through WMI, so they are children of `WmiPrvSE`, not of the launching app or terminal (checked: no `claude.exe` in their parent chain). The run sheet now says to start real runs this way. Tested from scratch at ~16:20 (BIAS, rig and server all stopped first): exit 0, all five ports up, every listener's parent chain runs through `WmiPrvSE`, BIAS on ufmf. The consoles open as **tabs of one Windows Terminal window**, which at first hid the rig's tab from the operator; the script and run sheet now say so. |
+| R2 | 4 | The controller is **COM5** now, not COM3 as in setup. Two Teensys share VID 16C0 / PID 0483: `G6_Arena` (serial 12169940, COM5) and a "USB Serial" device (serial 17917130, COM3). | **docs**: pick it by name, `G6_Arena`, in the port picker (setup file C + run sheet step 4) |
+| R3 | 6 | **A large occlusion makes the ufmf about 25× larger.** An operator leaned into the camera's view **on purpose** at 352 s into the video (frame #25 802, ≈ 15:42:50) for ~4 s. Frames: ~1.1 KB normally → ~4 MB during the occlusion → hundreds of KB/frame for ~3.3 min after it (352 → ~551 s, a mean of 1.3 MB/frame in minute 6), then back to ~1.1 KB. The run's file came to **11.8 GB** instead of ~0.5 GB. BIAS's background (`medianUpdateInterval` 50 frames, `medianUpdateCount` 100, threshold 40) had taken in part of the occluder, so reconstructed frames in that window show a dark ghost over part of the arena. BIAS's ufmf settings were identical to `config/bias/okey-cokey-bfs-u3-51s5m.json`. | info: budget disk for occlusions; video for pairs 9–14 (the 50 % block's `violet_pair_d50` CCW half … second `blue_pair_d50` CCW half) has the ghost artifact |
+| R4 | 5 | **A panel glitch was reported by eye during the second half of the trials, sometimes.** The controller's telemetry shows nothing: all 57 810 displayed frames have `superseded` 0, SPI time 232–235 µs in every trial (first half and second half alike), SD reads ≤ 0.8 ms, no `error_glyph` / `boot` / `sd_slow` / `ring_overrun` / `timer_fail` events, `trial_quality` 48 / 48 pass. So the frames left the controller on time; a glitch would be panel-side (SPI signal to a panel, or the panel itself), which this telemetry cannot see. The camera does not see the LEDs either: ufmf frames stayed ~1.1 KB while gratings were running. | **open.** Operator, after the run: **several panels** at once, and what they showed **looked like numbers and letters**. That matches a *panel-side* error glyph (seen once before on the bench, "02/03" on one panel after a controller reset: `docs/development/mode3-wedge-soak-plan.md`, 2026-09-13 20:28), not the controller's own `CE NN` glyph, which the ring logs as `error_glyph` (none here). Panels draw it themselves, e.g. after a bad SPI message or a panel reset; "second half" overlaps the 50 % and 100 % duty blocks (more LED current). Next: reproduce with no flies, photograph the glyph text, and note the time, panels and block. |
+
+## Runs
+
+| run | time | what | arena | BIAS | files |
+|---|---|---|---|---|---|
+| partial | 15:22:09–15:31:20 | `g6_color_optomotor_test`, flies; died at pair 14 (R1) | 28 of 48 trials started, log cut off | `ok` until killed; 40 324 frames, 550 s | `color_optomotor_cam_0_date_2026_10_22_time_15_22_09_v001.ufmf` (76 MB), `runlogs/arena-log-20261022-152209-836.*`: **not usable** |
+| full | 15:36:58–15:53 | `g6_color_optomotor_test`, flies (Canton-S, experimenter mreiser) | `runlog-check` **OK**: 48 pass / 0 fail / 0 unknown, 1 / 1 run files complete | 58 replies, all `ok`; 70 953 frames = 70 953 stamp-log lines, 968.08 s, 73.3 fps | `C:\rec\okey-cokey\color_optomotor_cam_0_date_2026_10_22_time_15_36_58_v001.ufmf` (11.8 GB, R3); `runlogs/arena-log-20261022-153658-696.bag`; export `runlogs/exports/arena-log-20261022-153658-696.jsonl` (63 464 lines) |
+
+Direction on this rig is reversed relative to the protocol's labels (arena mounted upside down; setup
+file, smoke run 1): protocol "CW" turns counterclockwise seen from above.
diff --git a/rig/okey-cokey-pc-setup.md b/rig/okey-cokey-pc-setup.md
new file mode 100644
index 00000000..a1527e66
--- /dev/null
+++ b/rig/okey-cokey-pc-setup.md
@@ -0,0 +1,133 @@
+# Okey-cokey rig PC — setup checklist (bare Windows PC → ready for the test)
+
+The PC in the okey-cokey room starts without Foxglove, without the webDisplayTools repo and possibly
+without git or pixi. Work through this list **before** the run sheet
+([`okey-cokey-pc-2026-10-21.md`](okey-cokey-pc-2026-10-21.md)); the run sheet assumes every box here
+is ticked. Items marked **(Michael/Grace)** need a person at the PC or an admin/UAC prompt; the rest
+a Claude Code session on the PC can do and check itself.
+
+Write down what you find in each section, it goes into the results file.
+
+**Paths.** The commands below use `C:\w` for the clone and `D:\rec\okey-cokey` for videos; use your own.
+The first PC done with this list, REISERLAB-WW14 (2026-10-22), has no D: drive. There the clone is
+`C:\Users\labadmin\Documents\GitHub\webDisplayTools` and the videos go to `C:\rec\okey-cokey`.
+Its results, including the direction finding: [`okey-cokey-pc-ww14-setup-2026-10-22.md`](okey-cokey-pc-ww14-setup-2026-10-22.md).
+
+## A. Access and the PC itself
+
+- [ ] **(Grace)** Remote Desktop enabled; send Michael the PC name (Settings → System → Remote Desktop).
+- [ ] PC name, Windows version (`winver`), user account; is the account a local admin? (installs below
+      are per-user where possible, so admin is only needed for C.4 and maybe B.5).
+- [ ] Free disk: ≥ 10 GB on C: for the tools (pixi envs ~2 GB + package cache ~8 GB), plus the video
+      drive: the 16-min run at the camera's resolution × fps in uFMF (ww18's Atlas10 wrote ~24 MB/s at
+      8 MP × 135 fps; a smaller camera is far less: ww14's Blackfly S BFS-U3-51S5M at 5 MP × 73 fps wrote
+      ~0.5 MB/s, ~0.5 GB per full run). Note which drive gets videos (`D:\rec\okey-cokey`?).
+- [ ] Power plan: High performance, sleep **off** while plugged in (a sleeping PC drops the USB serial
+      link and stops the camera mid-run).
+- [ ] Windows Update not about to reboot (Settings → Windows Update → pause 1 week for the test).
+
+## B. Tools (each one: check it, install if missing, note the version)
+
+| # | tool | check | install if missing | why |
+|---|---|---|---|---|
+| B.1 | **Git for Windows** | `git --version` | `winget install --id Git.Git -e` | the clone; Claude Code's CLI also runs through Git's bash |
+| B.2 | **pixi** ≥ 0.69 | `pixi --version` | `powershell -ExecutionPolicy ByPass -c "irm -useb https://pixi.sh/install.ps1 \| iex"`, then open a NEW terminal | provides Python, Node, ROS 2, foxglove_bridge — nothing else to install for the software side |
+| B.3 | **Chrome** (current) | Settings → About | `winget install --id Google.Chrome -e` | the Studio (Web Serial needs Chrome/Edge) |
+| B.4 | **Foxglove** desktop app | Start menu "Foxglove" | not in winget. Use the signed installer `https://get.foxglove.dev/desktop/latest/foxglove-latest-win.exe`, run silently per-user with `/S /currentuser` (ww14: 3.4.2, lands in `%LOCALAPPDATA%\Programs\desktop\Foxglove.exe`). Free account sign-in on first start | the dashboard; per-user install |
+| B.5 | **Claude Code** (only if a Claude session will drive the PC) | `claude --version`, or the desktop app | from claude.com/claude-code | runs the handover; the CLI needs B.1 first |
+| B.6 | GitHub CLI (optional) | `gh --version` | `winget install --id GitHub.cli -e` | only for pushing results from the PC; HTTPS + a token also works |
+
+Not needed for this test: Visual Studio Build Tools (only the optional `typed` ROS environment wants a
+compiler), MATLAB, FicTrac.
+
+## C. Lab hardware software (not provided by pixi — must already be on the PC or copied over)
+
+- [ ] **C.1 BIAS**: which build is installed, where (`…\test_gui.exe` or a `.bat` launcher), which camera.
+      The FLIR/Spinnaker build for FLIR cameras; the atlas-bench Atlas10 build (LUCID Arena backend) for
+      LUCID cameras, as on ww18. **If BIAS is not on this PC, stop and tell Michael** — it cannot be
+      built in the test window without its toolchain; copy a known-good build (e.g. from ww18 or the
+      lab share) instead.
+- [ ] **C.2 Camera SDK/driver** for that build (Spinnaker or LUCID Arena SDK) installed; the camera
+      shows a live preview in BIAS.
+- [ ] **C.3 BIAS external-control server** on, port 5010 for camera 0:
+      `curl.exe "http://127.0.0.1:5010/?get-status"` returns `"success" : true`. Logging format **ufmf**.
+      **BIAS v0.73.1 (Spinnaker) forgets its settings on every restart**: it starts as jpg →
+      `%USERPROFILE%\Videos`. It also rejects `set-`/`load-configuration` ("Unable to revert to
+      previous configuration") until the camera has captured once. After **every** BIAS start, run
+      `powershell -ExecutionPolicy Bypass -File rig\tools\bias-ufmf.ps1 -VideoDir <video dir>`.
+      It does connect → 2 s capture → load, and prints `BIAS logging: ufmf -> …`. Add
+      `-Config rig\config\bias\<camera>.json` for a saved per-camera config (ww14:
+      `okey-cokey-bfs-u3-51s5m.json`).
+- [ ] **C.4 (Michael/Grace)** Firewall: if Windows asks to allow BIAS / `rmw_zenohd` / `foxglove_bridge`
+      / Python on first start, "Private networks" is enough (everything here talks over 127.0.0.1).
+- [ ] **C.5 IR backlight** switch / Arduino works by hand (the web runner does not drive it yet).
+- [ ] **C.6 G6 controller** on USB: Device Manager shows a COM port appear when it is plugged in
+      (Teensy serial uses the built-in Windows driver). Its firmware is the 2×10 telemetry build
+      (`arena-2x10-local` / `sdfast`); the Studio shows the label at Connect.
+- [ ] **C.7 SD card** in the controller is mounted (the Studio's Console lists files). If unsure, a
+      ≤ 32 GB FAT32 card (ww18's exFAT 64 GB card had one slow-read burst).
+
+## D. The repo and the environments
+
+```powershell
+git clone https://github.com/reiserlab/webDisplayTools C:\w
+cd C:\w
+git switch claude/okey-cokey-rig
+pixi install                    # root env: Node + Python (tests, the local Studio server)
+cd rig
+pixi install --locked           # ROS 2 graph (~25 s on ww18, ~1.5 GB)
+pixi install --locked -e viz    # + foxglove_bridge (~0.3 GB)
+```
+
+- [ ] Short checkout path (`C:\w`): the default env does not care, but Windows' 260-char limit bites
+      the optional typed build, and short paths are easier to type over RDP.
+- [ ] `pixi run test-stimulus` → `PASS: 0 failure(s)` (includes the JS panel-color check, which uses
+      the ROOT env's Node — so the root `pixi install` above must have run).
+- [ ] `pixi run test-stimulus-live` → `PASS` (needs ports 7447 / 8765 free: no rig, no bridge 3.4).
+      **Known issue**: on a fresh clone, both of these stop with `FileNotFoundError …
+      okey_smoke_violet_cw.jsonl.gz`. That fixture was never committed because `.gitignore`
+      matched it (Known issues below). Skip both on a new PC; they don't block experiments.
+- [ ] Optional (~1 min): `pixi run test` → 54 / 54 (the whole ROS graph + Studio emulator). ww14 gave
+      51 / 54, all three failures Kinefly: UDP 60001 was held by `lsass` (Known issues below). Kinefly
+      isn't used on this rig.
+- [ ] `pixi run -e viz foxglove-bridge` starts and listens on 8766. Before the `pixi.toml` fix of
+      2026-10-22 it exited `3221225781` (0xC0000135, DLL not found) on Windows.
+- [ ] Nothing else listening: `netstat -ano | findstr ":7447 :8765 :8766 :8092 :60000 :5010"` shows only
+      BIAS on 5010 (once BIAS runs).
+
+## E. Smoke of the stack, no flies (5 min)
+
+- [ ] Terminal 1 (`C:\w\rig`):
+      `pixi run rig -- --no-fictrac --bias --bias-args "--video-dir D:\rec\okey-cokey" --foxglove --viz-args "--sources bias" --stimulus-args "--panel-layout four-color"`
+      → `[rig] up: router, bias, bridge, stimulus, viz, foxglove …`
+- [ ] Terminal 2 (`C:\w`): `pixi run python .claude\nocache-server.py 8092`
+- [ ] Chrome: `http://localhost:8092/arena_studio.html?p=g6_color_optomotor_smoke&rig=cshl_g6_2x10&mode=run`
+      → Bridge: Connect → `connected`; Connect → pick the controller's COM port.
+- [ ] Foxglove → Open connection → Foxglove WebSocket → `ws://localhost:8766`; Layout → Import from
+      file → `C:\w\rig\foxglove\arena-okey-cokey.json`. BIAS indicator green, camera fps plotted,
+      the expected display dark, "Arena" OK.
+      **8766, not 8765.** 8765 is the Studio bridge. Foxglove pointed there connects and drops
+      straight away, and the rig log fills with `client connected … / client disconnected` pairs.
+
+All green → go to the run sheet (it repeats E in context and continues with patterns, direction,
+smoke run, full run, collect, replay).
+
+## Known issues (as of 2026-10-22, ww14)
+
+- **Missing test fixture**: `rig/tests/fixtures/okey_smoke_violet_cw.jsonl.gz` was ignored by
+  `rig/.gitignore` (`*.jsonl.gz`), so `test-stimulus` / `test-stimulus-live` can't run on any
+  clone. `.gitignore` now has an exception for `tests/fixtures/`. The file itself still has to be
+  committed from the PC that recorded the 2026-10-14 smoke run (ww18): `git add -f` it.
+- **Kinefly test port**: 60001 is inside Windows' dynamic port range (49152–65535). Any system process
+  can hold it (ww14: `lsass`, `netstat -ano -p UDP | findstr :60001`), and then `pixi run test` loses its
+  Kinefly checks. This is harmless for camera + arena runs. A permanent fix would move the default port
+  below 49152, in step with the Kinefly fork's `--udp`.
+- **`ros2 topic echo <topic> --once` can hang** on Windows with rmw_zenoh even while the topic
+  publishes. Use Foxglove, or a short rclpy subscriber.
+
+## What to record from this checklist
+
+PC name and Windows version; admin yes/no; every tool version (B), installed or found; BIAS build + path
++ camera model + whether its status reply has the drop counters (`frameIdGaps`, `cameraSkipped`, …);
+controller firmware label; SD card; both test counts; anything that needed a click, a UAC prompt or a
+download, and how long the whole setup took.
diff --git a/rig/okey-cokey-pc-ww14-setup-2026-10-22.md b/rig/okey-cokey-pc-ww14-setup-2026-10-22.md
new file mode 100644
index 00000000..5e9b8750
--- /dev/null
+++ b/rig/okey-cokey-pc-ww14-setup-2026-10-22.md
@@ -0,0 +1,87 @@
+*Paths in this record predate the 2026-10-26 rename `ros2-poc/` → `rig/`, `arena_interfaces` → `rig_interfaces`; the branch `claude/okey-cokey-dashboard` is now `claude/okey-cokey-rig` (PR #269).*
+
+# Okey-cokey rig PC setup — results, REISERLAB-WW14, 2026-10-22
+
+Checklist: [`okey-cokey-pc-setup.md`](okey-cokey-pc-setup.md). Setup by a Claude Code session on the PC (~30 min).
+
+## A. PC
+
+- **REISERLAB-WW14**, Windows 11 Enterprise 10.0.26100, user `labadmin` (Administrators group; session not elevated). RDP enabled.
+- Disk: C: 1474 GB free (no D: drive). Videos go to **`C:\rec\okey-cokey`**.
+- Power: switched Balanced → **Ultimate Performance**. AC sleep and hibernate never; USB selective suspend off (AC).
+- Windows Update: **not paused yet** (needs a person, Settings → Windows Update → pause 1 week).
+
+## B. Tools
+
+| tool | version | status |
+|---|---|---|
+| Git | 2.54.0.windows.1 | found |
+| pixi | 0.70.2 | found |
+| Chrome | 155.0.8059.86 | found |
+| Foxglove | 3.4.2 | **installed** (per-user, silent, signed installer from get.foxglove.dev; `%LOCALAPPDATA%\Programs\desktop\Foxglove.exe`) |
+| Claude Code | desktop app | found |
+| GitHub CLI | — | not installed (optional) |
+
+## C. Lab hardware software
+
+- **BIAS** v0.73.1, Spinnaker build, `C:\Users\labadmin\Documents\FlyBowl1Rig\BIAS_exe_spinnaker_win64_v0_73_1\v0.73.1\test_gui.exe`.
+  The copies in `Documents\GitHub\BIAS_exe_…` and `FlyBowl1Rig\test_gui.exe` are byte-identical. It bundles SpinnakerC 2.6.0.160.
+- **Spinnaker SDK** 2.6.0.157 is installed.
+- **Camera**: FLIR Blackfly S **BFS-U3-51S5M**, serial 24203703, 2448×2048 MONO8, ~73.3 fps, internal trigger. A 4 s test capture gave 294 frames.
+- **External control**: port 5010, `get-status` returns `success: true`. The status reply has **no drop counters** (`frameIdGaps`, `cameraSkipped` absent), so `/viz/bias/drops` stays None.
+- **Logging**: was `jpg` → `C:/Users/labadmin/Videos`; set to **ufmf** → `C:/rec/okey-cokey` over HTTP.
+  This setting is lost when BIAS restarts. Saved config, now in the repo: `ros2-poc/config/bias/okey-cokey-bfs-u3-51s5m.json`.
+  Note: BIAS listens on 0.0.0.0:5010, not just loopback.
+- **G6 controller**: Teensy serial, USB VID 16C0 / PID 0483, product name **`G6_Arena`**, serial 12169940.
+  It was COM3 during setup; by the full run (15:36) it was **COM5**. A second Teensy with the same VID/PID
+  (product "USB Serial", serial 17917130) was then on COM3. Pick the controller in Chrome's port picker
+  by the name `G6_Arena`, not by COM number. Firmware label `c15d840a 2x10 2026-09-29 restack/panel-boot freerun sdfast`.
+- SD card: 8 GB FAT32, mounted. Firewall prompts and IR backlight were not recorded in this session.
+
+## D. Repo + environments
+
+- Clone: `C:\Users\labadmin\Documents\GitHub\webDisplayTools`, branch `claude/okey-cokey-dashboard` @ 21f2cb2. (This PC keeps its clones in `Documents\GitHub`, not `C:\w`.)
+- `pixi install` (root), `pixi install --locked`, and `pixi install --locked -e viz` together took 45 s.
+- **Fix (committed in `ros2-poc/pixi.toml`)**: `foxglove_bridge` exited 0xC0000135 (DLL not found).
+  The cause: `foxglove.dll` and `foxglove_cpp_shared.dll` are installed in `.pixi\envs\viz\Library\lib`, which is not on PATH.
+  Fixed with `[feature.viz.target.win-64.activation.env] PATH = '%CONDA_PREFIX%\Library\lib;%PATH%'`. The lock is unchanged.
+- Tests (reproduce the earlier rig's runs, so failures here don't block experiments):
+  - `test-stimulus` / `test-stimulus-live`: cannot run. `tests/fixtures/okey_smoke_violet_cw.jsonl.gz` was never committed (`ros2-poc/.gitignore` matches `*.jsonl.gz`).
+    `.gitignore` now excepts `tests/fixtures/*.jsonl.gz`. The file still has to be added from ww18.
+  - `pixi run test`: **51 / 54**. All 3 failures come from Kinefly: UDP 127.0.0.1:60001 is held by `lsass` on this PC, so the emulator's rows never arrive. Kinefly is not used in this experiment.
+
+## E. Stack smoke
+
+- `pixi run rig -- --no-fictrac --bias --bias-args "--video-dir C:\rec\okey-cokey" --foxglove --viz-args "--sources bias" --stimulus-args "--panel-layout four-color"`
+  → `[rig] up: router, bias, bridge, stimulus, viz, foxglove`.
+- Listening: 5010 BIAS, 7447 zenoh, 8765 Studio bridge, 8766 foxglove_bridge, 8092 Studio page (HTTP 200).
+- BIAS through the node (run sheet step 2, via the rig's node): `connect` / `startRecording nodecheck.ufmf` / `getTimestamp` / `stopRecording` all returned `ok`.
+  BIAS wrote `C:\rec\okey-cokey\nodecheck_cam_0_date_2026_10_22_time_14_04_16_v001.ufmf` (5.0 MB, 684 frames over 9.32 s = 73.4 fps). Matching `stamp_log_cam0.txt`.
+  That rate is ~0.54 MB/s, so ~0.5 GB for a 16-min run with an undisturbed view. A large occlusion
+  costs far more: the full run with a deliberate lean into view came to 11.8 GB (results file, R3).
+- Unknown path (run sheet step 2): started a recording, killed BIAS. `getTimestamp` → `outcome: unknown` ("timeout after 2.0s") in 4.0 s, no hang. After reopening BIAS the node reports `reachable: true` again.
+- **BIAS restarts in jpg**: settings don't persist. `set-configuration` / `load-configuration` fail with "Unable to revert to previous configuration" until the camera has captured once.
+  `ros2-poc/tools/bias-ufmf.ps1 -VideoDir C:\rec\okey-cokey [-Config config\bias\okey-cokey-bfs-u3-51s5m.json]` does connect → 2 s capture → load. Run it after every BIAS start.
+- `ros2 topic echo /bias/status --once` hangs on this PC, but an rclpy subscriber receives it at 5 Hz: reachable, rtt ~12 ms.
+- Studio Bridge + controller (COM3 at the time; see C) connected. Foxglove signed in; at first it was pointed at 8765 (connect/drop loop in the rig log), then fixed to `ws://localhost:8766` with the `arena-okey-cokey.json` layout.
+
+## Run sheet 5–6: smoke run (`g6_color_optomotor_smoke`, 14:20, no flies)
+
+- Controller: firmware `c15d840a 2x10 2026-09-29 restack/panel-boot freerun sdfast`; SD `SD8GB` 7.99 GB FAT32.
+- **Direction: the arena is mounted upside down.** Confirmed by eye: protocol "CW" trials (`fps_cw` = +80) turn **counter-clockwise seen from above**, and "CCW" trials turn clockwise.
+  Accepted as is: the protocols are not changed, and no separate direction test is needed on this rig. For analysis, read the protocol's CW/CCW labels as reversed relative to the view from above.
+  (The Console "Test `green_pair_d100`" entry wasn't found.)
+- BIAS replies, all `ok`: connect, startRecording, 6 × getTimestamp, stopRecording.
+  Video `C:\rec\okey-cokey\color_optomotor_smoke_cam_0_date_2026_10_22_time_14_20_25_v001.ufmf`: 10.2 MB, 7495 frames.
+  `stamp_log_cam0.txt` has 7495 lines. The bag lasts 103.4 s.
+- Bag `runlogs/arena-log-20261022-142025-918.bag`; export `runlogs/exports/arena-log-20261022-142025-918.jsonl`.
+- `runlog-check`: 9 pass / 0 fail / 4 unknown. All 4 unknowns (and trial 5, 515 s idle) are controller activity from **before** the run: Console tests, with the telemetry ring overrun because nothing was draining.
+  The 8 run rotations (trials 6–13) each pass with 801 frames in 10 s (80 fps), 0 stalls, 0 slow reads, max read 0.8 ms.
+- Replay: `pixi run fox-json … --stimulus --panel-layout four-color` → `runlogs/arena-log-20261022-142025-918.foxglove.mcap` (107 MB, 64 s to build).
+  ufmf found and indexed, 1023 camera images. `lag_frames` = 0 in all 6518 samples. Display rate 80 Hz in rotations, 0 in pauses. `/arena/health` 103 × OK, no WARN/ERROR.
+
+## Smoke run #2 (14:47, no flies)
+
+- BIAS: all `ok`. Video `color_optomotor_smoke_cam_0_date_2026_10_22_time_14_47_22_v001.ufmf`, 10.2 MB, 7497 frames.
+- `runlog-check` on `runlogs/exports/arena-log-20261022-144722-712.jsonl`: **OK**, 8 pass / 0 fail / 0 unknown, 1 / 1 run files complete.
+  This confirms run #1's unknowns were pre-run Console activity.
diff --git a/rig/pixi.lock b/rig/pixi.lock
index f8689eed..c23ddf56 100644
--- a/rig/pixi.lock
+++ b/rig/pixi.lock
@@ -1,14 +1,27 @@
 version: 7
 platforms:
 - name: linux-64
-- name: osx-arm64
+  virtual-packages:
+  - __unix=0=0
+  - __linux=4.18
+  - __glibc=2.28
+  - __archspec=0=x86_64
+- name: osx-arm64-macos-14-0
+  subdir: osx-arm64
+  virtual-packages:
+  - __osx=14.0
+  - __unix=0=0
+  - __archspec=0=m1
 - name: win-64
+  virtual-packages:
+  - __win=10.0
+  - __archspec=0=x86_64
 environments:
   default:
     channels:
     - url: https://conda.anaconda.org/conda-forge/
     - url: https://conda.anaconda.org/robostack-jazzy/
-    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/
+    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/
     packages:
       linux-64:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
@@ -21,7 +34,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.9-hebe6cf0_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.6-h3c89d7e_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cffi-2.1.1-py312h703531f_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.4-hff7ac6b_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.5-hff7ac6b_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cppcheck-2.22.0-py312h3cdd867_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cryptography-50.0.2-py311hc91d8b8_0.conda
@@ -45,7 +58,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gtk3-3.24.52-ha5ea40c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gts-0.7.6-h977cf35_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/harfbuzz-15.0.0-ha770c72_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/hicolor-icon-theme-0.17-ha770c72_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/hicolor-icon-theme-0.17-hfc2019e_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-78.3-py310h44b86e0_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/keyutils-1.6.3-h7cc23a3_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/krb5-1.22.2-hbc21106_2.conda
@@ -86,10 +99,10 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libiceoryx-platform-2.95.8-hf91fcae_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libiceoryx-posh-2.95.8-hb5873e6_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libiconv-1.18-h0cb94f2_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.2.0-hb03c661_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.2.1-h7cc23a3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/liblapack-3.11.0-11_h47877c9_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.3-hb03c661_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.68.1-h74cf4be_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.70.0-hc5e5977_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libnsl-2.0.1-hb9d3cd8_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libopenblas-0.3.34-pthreads_hf13c14d_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libpango-1.58.2-hce4e988_3.conda
@@ -145,7 +158,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_h1df4ec4_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/uncrustify-0.83.0-h54a6638_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom-6.0.2-hf2e7533_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom_headers-3.0.1-h4dbf13b_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom_headers-3.0.1-h4dbf13b_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/wayland-1.26.0-hc1c935e_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/websockets-17.3-py312h89dfda2_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xkeyboard-config-2.48-hebe6cf0_1.conda
@@ -211,10 +224,10 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/pyflakes-4.0.3-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.21.0-pyhcf101f3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.3.3-pyh5ded981_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-3.0.0-pyh5ded981_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python-gil-3.12.16-hd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.12-9_cp312.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/rosdistro-1.1.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/rospkg-1.6.3-pyh5ded981_0.conda
@@ -448,8 +461,8 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-yaml-cpp-vendor-9.0.1-np2py312h1bab3cf_25.conda
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       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-zstd-vendor-0.26.11-np2py312h6a0d68b_25.conda
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-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libjpeg-turbo-3.2.0-h84a0fba_1.conda
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-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.68.1-h435687b_1.conda
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-      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/noarch/rig_nodes-0.2.1-pyh4616a5c_0.conda
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-      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
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-      - conda: https://conda.anaconda.org/conda-forge/win-64/cmake-4.4.4-hde52c71_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/cmake-4.4.5-hde52c71_0.conda
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@@ -954,7 +967,7 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/win-64/libjpeg-turbo-3.2.0-hfd05255_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libjpeg-turbo-3.2.1-hfd05255_0.conda
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@@ -1003,7 +1016,7 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/win-64/urdfdom_headers-3.0.1-h477610d_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/urdfdom_headers-3.0.1-h477610d_2.conda
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@@ -1247,12 +1260,12 @@ environments:
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-      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/noarch/rig_nodes-0.2.1-pyh4616a5c_0.conda
+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/noarch/rig_nodes-0.3.0-pyh4616a5c_0.conda
   dev:
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     - url: https://conda.anaconda.org/robostack-jazzy/
-    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/
+    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/
     packages:
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@@ -1266,7 +1279,7 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.4-hff7ac6b_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.5-hff7ac6b_0.conda
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/hicolor-icon-theme-0.17-ha770c72_3.conda
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@@ -1337,10 +1350,10 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.2.0-hb03c661_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.2.1-h7cc23a3_0.conda
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.68.1-h74cf4be_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.70.0-hc5e5977_0.conda
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@@ -1398,7 +1411,7 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom_headers-3.0.1-h4dbf13b_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom_headers-3.0.1-h4dbf13b_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/wayland-1.26.0-hc1c935e_2.conda
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@@ -1467,10 +1480,10 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
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-      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.12-9_cp312.conda
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@@ -1709,9 +1722,9 @@ environments:
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       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-zstd-vendor-0.26.11-np2py312h6a0d68b_25.conda
-      - conda_source: rig_interfaces[806fd8b9] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
-      - conda_source: rig_nodes[d35d99f3] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
-      osx-arm64:
+      - conda_source: rig_interfaces[a9deacb9] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+      - conda_source: rig_nodes[daef82bd] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+      osx-arm64-macos-14-0:
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-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libjpeg-turbo-3.2.0-h84a0fba_1.conda
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-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.68.1-h435687b_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.70.0-h344cdd5_0.conda
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       - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-zstd-vendor-0.26.11-np2py312h849b6f6_25.conda
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-      - conda_source: rig_nodes[37bf213e] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+      - conda_source: rig_interfaces[b77f9c63] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+      - conda_source: rig_nodes[b5d6e649] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
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+      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
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-      - conda: https://conda.anaconda.org/conda-forge/win-64/libjpeg-turbo-3.2.0-hfd05255_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libjpeg-turbo-3.2.1-hfd05255_0.conda
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-      - conda: https://conda.anaconda.org/conda-forge/win-64/urdfdom_headers-3.0.1-h477610d_1.conda
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-      - conda: https://conda.anaconda.org/conda-forge/win-64/vs2022_win-64-19.44.35207-ha74f236_41.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/vs2022_win-64-19.44.35207-ha74f236_42.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/websockets-17.3-py312h5247d40_0.conda
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       - conda: https://conda.anaconda.org/conda-forge/win-64/xorg-libsm-1.2.6-hd74fcf3_1.conda
@@ -2551,13 +2564,13 @@ environments:
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       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zenoh-cpp-vendor-0.2.11-np2py312hbb4efd0_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zstd-vendor-0.26.11-np2py312h94542ee_25.conda
-      - conda_source: rig_interfaces[4fc1ccdb] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
-      - conda_source: rig_nodes[1e0a2c3d] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+      - conda_source: rig_interfaces[5826283b] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+      - conda_source: rig_nodes[ed0cba21] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
   typed:
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     - url: https://conda.anaconda.org/robostack-jazzy/
-    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/
+    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/
     packages:
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@@ -2570,7 +2583,7 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.4-hff7ac6b_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.5-hff7ac6b_0.conda
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@@ -2594,7 +2607,7 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/hicolor-icon-theme-0.17-ha770c72_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/hicolor-icon-theme-0.17-hfc2019e_3.conda
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.2.0-hb03c661_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.2.1-h7cc23a3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/liblapack-3.11.0-11_h47877c9_openblas.conda
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.68.1-h74cf4be_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.70.0-hc5e5977_0.conda
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom_headers-3.0.1-h4dbf13b_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom_headers-3.0.1-h4dbf13b_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/wayland-1.26.0-hc1c935e_2.conda
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@@ -2760,10 +2773,10 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-3.0.0-pyh5ded981_0.conda
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-      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
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-    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/
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-  license: BSD-3-Clause
-  license_family: BSD
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-- conda: https://conda.anaconda.org/conda-forge/linux-64/hicolor-icon-theme-0.17-ha770c72_3.conda
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-  md5: 129e404c5b001f3ef5581316971e3ea0
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-- conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.21.0-hcf29cc6_1.conda
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-- conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.2.0-hb03c661_1.conda
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-  - libgcc >=14
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   license: IJG AND BSD-3-Clause AND Zlib
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-  size: 650434
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+    - libjpeg-turbo >=3.2.1,<4.0a0
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+    - libjpeg-turbo >=3.2.1,<4.0a0
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     - vc14_runtime >=14.44.35208
     - ucrt >=10.0.20348.0
-  size: 25462
-  timestamp: 1785358620723
+  size: 25374
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 - conda: https://conda.anaconda.org/conda-forge/win-64/websockets-17.3-py312h5247d40_0.conda
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-- conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/linux-64/rig_interfaces-0.2.1-hb0f4dca_0.conda
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-  md5: ea446b574ec41bcdc263d3ee929c9b41
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   - ros2-distro-mutex
@@ -33242,11 +33174,12 @@ packages:
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   - numpy >=1.25,<3
   license: LicenseRef-MIT
-  size: 108827
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-- conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/noarch/rig_nodes-0.2.1-pyh4616a5c_0.conda
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-  md5: e6d1f0825cab19cfe6a05d73ce1ddc64
+  size: 215288
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+  sha256: 21e25cc26f888a92631c9699f17e0c7b03787e3ba91ae04de6a56694cb3fbfa5
+  md5: 21e5d59c2b45f96332c6d4e836943cf5
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   - python *
@@ -33258,12 +33191,14 @@ packages:
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   - mcap >=1.2
   - websockets >=12
+  - psutil
   license: MIT
-  size: 73173
-  timestamp: 1793061824585
-- conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/osx-arm64/rig_interfaces-0.2.1-h60d57d3_0.conda
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+  size: 85916
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   license: LicenseRef-MIT
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-- conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/win-64/rig_interfaces-0.2.1-ha41a7fa_0.conda
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+  size: 185964
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   - numpy >=1.25,<3
   license: LicenseRef-MIT
-  size: 110182
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-- conda_source: rig_interfaces[4fc1ccdb] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+  size: 194659
+  timestamp: 1793224364131
+  indexed_timestamp: 1793224476596
+- conda_source: rig_interfaces[5826283b] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
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   subdir: win-64
@@ -33298,14 +33235,14 @@ packages:
     cxx_compiler: vs2022
     target_platform: win-64
   depends:
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
   - ros-jazzy-rosidl-default-runtime
   - ros2-distro-mutex
   - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - ucrt >=10.0.20348.0
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-  - ucrt >=10.0.20348.0
-  - python_abi 3.12.* *_cp312
-  - numpy >=1.25,<3
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-  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
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@@ -33349,7 +33286,7 @@ packages:
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-  - conda: https://conda.anaconda.org/conda-forge/win-64/cmake-4.4.4-hde52c71_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/cmake-4.4.5-hde52c71_0.conda
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-  - conda: https://conda.anaconda.org/conda-forge/win-64/vs2022_win-64-19.44.35207-ha74f236_41.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/vs2022_win-64-19.44.35207-ha74f236_42.conda
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-  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
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-  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
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@@ -33512,7 +33449,7 @@ packages:
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-  - conda: https://conda.anaconda.org/conda-forge/win-64/cmake-4.4.4-hde52c71_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/cmake-4.4.5-hde52c71_0.conda
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@@ -33633,21 +33570,21 @@ packages:
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   - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-uncrustify-vendor-3.0.1-np2py312hdd89193_25.conda
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-- conda_source: rig_interfaces[806fd8b9] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+- conda_source: rig_interfaces[a9deacb9] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
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-  - ros-jazzy-rosidl-default-runtime
-  - ros2-distro-mutex
-  - ros2-distro-mutex >=0.19.0,<0.20.0a0
   - libgcc >=16
   - libgcc >=16
   - libstdcxx >=16
-  - python_abi 3.12.* *_cp312
   - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
   license: LicenseRef-MIT
   build_packages:
   - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
@@ -33655,7 +33592,7 @@ packages:
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-  - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.4-hff7ac6b_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.5-hff7ac6b_0.conda
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@@ -33686,7 +33623,7 @@ packages:
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-  - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.68.1-h74cf4be_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.70.0-hc5e5977_0.conda
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@@ -33744,9 +33681,9 @@ packages:
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-  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-3.0.0-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
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@@ -33837,16 +33774,17 @@ packages:
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-  - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.3-hff7ac6b_0.conda
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+  - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-78.3-py310h44b86e0_2.conda
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-  - conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.21.0-hcf29cc6_1.conda
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-  - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.68.1-h74cf4be_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.70.0-hc5e5977_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libnsl-2.0.1-hb9d3cd8_1.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libopenblas-0.3.34-pthreads_hf13c14d_2.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/libpsl-0.23.1-hd9e3e90_1.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libpython-3.12.16-ha57cdbe_0_cpython.conda
-  - conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.54.1-h0737f62_101.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.54.1-h13e7031_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libssh2-1.11.1-h6154650_1.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-16.2.0-h934c35e_7.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-ng-16.2.0-hdf11a46_7.conda
@@ -33908,9 +33847,9 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/pyflakes-4.0.3-pyhd8ed1ab_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.21.0-pyhcf101f3_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.3.3-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-3.0.0-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.12-9_cp312.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-84.2.1-pyhe730653_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/six-1.17.0-pyhe01879c_1.conda
@@ -33997,19 +33936,19 @@ packages:
   - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-service-msgs-2.0.4-np2py312h1bab3cf_25.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-uncrustify-vendor-3.0.1-np2py312h1bab3cf_25.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-unique-identifier-msgs-2.5.1-np2py312h1bab3cf_25.conda
-- conda_source: rig_interfaces[d2cb8de4] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+- conda_source: rig_interfaces[b77f9c63] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
   version: 0.2.1
   build: h60d57d3_0
   subdir: osx-arm64
   variants:
     target_platform: osx-arm64
   depends:
+  - libcxx >=23
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
   - ros-jazzy-rosidl-default-runtime
   - ros2-distro-mutex
   - ros2-distro-mutex >=0.19.0,<0.20.0a0
-  - libcxx >=23
-  - python_abi 3.12.* *_cp312
-  - numpy >=1.25,<3
   license: LicenseRef-MIT
   build_packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.7.2-pyhcf101f3_0.conda
@@ -34041,9 +33980,9 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/pyflakes-4.0.3-pyhd8ed1ab_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.21.0-pyhcf101f3_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.3.3-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-3.0.0-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.14-9_cp314.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/sdkroot_env_osx-arm64-26.0-ha3f98da_7.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-84.2.1-pyhe730653_0.conda
@@ -34064,7 +34003,7 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/clang_osx-arm64-23.1.4-h2adb7b3_35.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/clangxx_impl_osx-arm64-23.1.4-default_h7028af0_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/clangxx_osx-arm64-23.1.4-h2adb7b3_35.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.4.4-hf91ab31_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.4.5-h07a7c03_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/compiler-rt-23.1.4-hce30654_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/compiler-rt23-23.1.4-hdb3d66b_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/coreutils-9.12-h74c22ad_0.conda
@@ -34097,7 +34036,7 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libllvm23-23.1.4-h759d1ac_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblzma-5.8.3-h8088a28_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libmpdec-4.0.0-h84a0fba_2.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.68.1-h435687b_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.70.0-h344cdd5_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libopenblas-0.3.34-openmp_h5e6e99c_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpsl-0.23.1-hdb0c161_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpython-3.14.10-h281bc5c_100_cp314.conda
@@ -34233,9 +34172,9 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/pyflakes-4.0.3-pyhd8ed1ab_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.21.0-pyhcf101f3_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.3.3-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-3.0.0-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.12-9_cp312.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-84.2.1-pyhe730653_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/six-1.17.0-pyhe01879c_1.conda
@@ -34248,14 +34187,15 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/_openmp_mutex-4.5-8_kmp_llvm.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/bzip2-1.0.8-h4e30115_10.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/c-ares-1.34.9-h74c22ad_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.4.3-hf91ab31_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.4.5-h07a7c03_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cppcheck-2.22.0-py312h3286cfa_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/gmock-1.18.0-hab71263_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/gtest-1.18.0-h3feff0a_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/icu-78.3-py310h579977c_2.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/krb5-1.22.2-h34f8a20_2.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libblas-3.11.0-11_h51639a9_openblas.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcblas-3.11.0-11_hb0561ab_openblas.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcurl-8.21.0-hd5a2499_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcurl-8.23.0-h6651222_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcxx-23.1.4-h55c6f16_2.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libedit-3.1.20260512-pl5321h26f1114_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libev-4.33-h1a92334_3.conda
@@ -34267,10 +34207,11 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libiconv-1.18-he4c29f2_3.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblapack-3.11.0-11_hd9741b5_openblas.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblzma-5.8.3-h8088a28_1.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.68.1-h435687b_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.70.0-h344cdd5_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libopenblas-0.3.34-openmp_h5e6e99c_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpsl-0.23.1-hdb0c161_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpython-3.12.16-h0677fcb_0_cpython.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsqlite-3.54.1-h34a968b_101.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsqlite-3.54.1-hca69786_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libssh2-1.11.1-hbf2880b_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libuv-1.52.1-h1a92334_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libzlib-1.3.2-h8088a28_3.conda
@@ -34364,7 +34305,7 @@ packages:
   - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-service-msgs-2.0.4-np2py312h3d3361c_25.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-uncrustify-vendor-3.0.1-np2py312h3d3361c_25.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-unique-identifier-msgs-2.5.1-np2py312h3d3361c_25.conda
-- conda_source: rig_nodes[1e0a2c3d] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+- conda_source: rig_nodes[b5d6e649] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
   version: 0.2.1
   build: pyh4616a5c_0
   subdir: noarch
@@ -34372,66 +34313,21 @@ packages:
   variants:
     target_platform: noarch
   depends:
-  - python >=3.12
-  - python *
-  - ros-jazzy-rclpy
-  - ros-jazzy-std-msgs
-  - ros-jazzy-rosbag2-py
-  - ros-jazzy-rosbag2-storage-mcap
-  - ros-jazzy-rosidl-runtime-py
-  - ros2-distro-mutex 0.19.*
   - mcap >=1.2
-  - websockets >=12
-  license: MIT
-  host_packages:
-  - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.10.23-h4c7d964_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/editables-0.6-pyhcf101f3_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/hatchling-1.32.4-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-26.3-pyhc364b38_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/pathspec-1.1.1-pyhd8ed1ab_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.7.0-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/tomlkit-0.15.2-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/trove-classifiers-2026.9.21.13-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2026e-h5d301ff_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/bzip2-1.0.8-h0ad9c76_10.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/libexpat-2.9.0-hac47afa_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/libffi-3.7.0-h3d046cb_1.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/liblzma-5.8.3-hfd05255_1.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/libpython-3.12.16-hfb4101e_0_cpython.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/libsqlite-3.54.1-hf5d6505_101.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/libzlib-1.3.2-hfd05255_3.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/openssl-3.6.5-hf411b9b_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/python-3.12.16-hb12b558_0_cpython.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/tk-8.6.13-h967ab96_4.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/ucrt-10.0.26100.0-h57928b3_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/uv-0.13.6-hf7a7c96_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/vc-14.5-ha367084_41.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/vc14_runtime-14.51.36247-habf1de7_41.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/vcomp14-14.51.36247-habf1de7_41.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.7-h534d264_7.conda
-- conda_source: rig_nodes[37bf213e] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
-  version: 0.2.1
-  build: pyh4616a5c_0
-  subdir: noarch
-  noarch: python
-  variants:
-    target_platform: noarch
-  depends:
-  - python >=3.12
   - python *
+  - python >=3.12
   - ros-jazzy-rclpy
-  - ros-jazzy-std-msgs
   - ros-jazzy-rosbag2-py
   - ros-jazzy-rosbag2-storage-mcap
   - ros-jazzy-rosidl-runtime-py
+  - ros-jazzy-std-msgs
   - ros2-distro-mutex 0.19.*
-  - mcap >=1.2
   - websockets >=12
   license: MIT
   host_packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.10.23-hbd8a1cb_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/editables-0.6-pyhcf101f3_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/hatchling-1.32.4-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/hatchling-1.33.0-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-26.3-pyhc364b38_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pathspec-1.1.1-pyhd8ed1ab_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.7.0-pyh5ded981_0.conda
@@ -34453,7 +34349,7 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tk-8.6.13-hbeba79b_4.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/uv-0.13.6-hbb8eed7_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.7-hf451053_7.conda
-- conda_source: rig_nodes[d35d99f3] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+- conda_source: rig_nodes[daef82bd] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
   version: 0.2.1
   build: pyh4616a5c_0
   subdir: noarch
@@ -34461,15 +34357,15 @@ packages:
   variants:
     target_platform: noarch
   depends:
-  - python >=3.12
+  - mcap >=1.2
   - python *
+  - python >=3.12
   - ros-jazzy-rclpy
-  - ros-jazzy-std-msgs
   - ros-jazzy-rosbag2-py
   - ros-jazzy-rosbag2-storage-mcap
   - ros-jazzy-rosidl-runtime-py
+  - ros-jazzy-std-msgs
   - ros2-distro-mutex 0.19.*
-  - mcap >=1.2
   - websockets >=12
   license: MIT
   host_packages:
@@ -34497,10 +34393,55 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_7.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.10.23-hbd8a1cb_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/editables-0.6-pyhcf101f3_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/hatchling-1.32.4-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/hatchling-1.33.0-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-26.3-pyhc364b38_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/pathspec-1.1.1-pyhd8ed1ab_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.7.0-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/tomlkit-0.15.2-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/trove-classifiers-2026.9.21.13-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2026e-h5d301ff_0.conda
+- conda_source: rig_nodes[ed0cba21] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+  version: 0.2.1
+  build: pyh4616a5c_0
+  subdir: noarch
+  noarch: python
+  variants:
+    target_platform: noarch
+  depends:
+  - mcap >=1.2
+  - python *
+  - python >=3.12
+  - ros-jazzy-rclpy
+  - ros-jazzy-rosbag2-py
+  - ros-jazzy-rosbag2-storage-mcap
+  - ros-jazzy-rosidl-runtime-py
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.19.*
+  - websockets >=12
+  license: MIT
+  host_packages:
+  - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.10.23-h4c7d964_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/editables-0.6-pyhcf101f3_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/hatchling-1.33.0-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-26.3-pyhc364b38_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pathspec-1.1.1-pyhd8ed1ab_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.7.0-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/tomlkit-0.15.2-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/trove-classifiers-2026.9.21.13-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2026e-h5d301ff_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/bzip2-1.0.8-h0ad9c76_10.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/libexpat-2.9.0-hac47afa_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/libffi-3.7.0-h3d046cb_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/liblzma-5.8.3-hfd05255_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/libpython-3.12.16-hfb4101e_0_cpython.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/libsqlite-3.54.1-hf5d6505_101.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/libzlib-1.3.2-hfd05255_3.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/openssl-3.6.5-hf411b9b_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/python-3.12.16-hb12b558_0_cpython.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/tk-8.6.13-h967ab96_4.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/ucrt-10.0.26100.0-h57928b3_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/uv-0.13.6-hf7a7c96_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/vc-14.5-ha367084_41.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/vc14_runtime-14.51.36247-habf1de7_41.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/vcomp14-14.51.36247-habf1de7_41.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.7-h534d264_7.conda
diff --git a/rig/pixi.toml b/rig/pixi.toml
index 8f058117..7c49c800 100644
--- a/rig/pixi.toml
+++ b/rig/pixi.toml
@@ -23,14 +23,21 @@
 [workspace]
 name = "rig"
 version = "0.1.0"
-channels = ["conda-forge", "robostack-jazzy", "https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel"]
-platforms = ["osx-arm64", "win-64", "linux-64"]
-preview = ["pixi-build"]
-
+# The 0.3.0 channel is read at the COMMIT that carries the payload (5e20dee, release/0.3.0 → rig-nodes#3):
+# the `v0.3.0` tag was placed one commit early (payload gitignored) and moves there when Michael runs
+# `git tag -f v0.3.0 5e20dee && git push --force origin refs/tags/v0.3.0`; a commit SHA is as immutable.
+channels = ["conda-forge", "robostack-jazzy", "https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel"]
 # rmw_zenoh ≥ 0.2.11 (the RoboStack 0.19 set) is built for macOS ≥ 14; without this floor the
 # osx-arm64 solve falls back to the 0.16 set and the platforms drift apart (rig-nodes pins 0.19).
-[system-requirements]
-macos = "14.0"
+# Declared on the platform (pixi ≥ 0.80 virtual packages), not as the deprecated [system-requirements]; pixi
+# requires an entry carrying virtual packages to have a `name` distinct from its subdir, and this is the name
+# pixi 0.80 itself wrote on ww18 when it rewrote the 0.69 lock (#280).
+platforms = [{ name = "osx-arm64-macos-14-0", platform = "osx-arm64", macos = "14.0" }, "win-64", "linux-64"]
+preview = ["pixi-build"]
+# An older pixi must refuse rather than rewrite pixi.lock in an older format: the lock is written by
+# pixi ≥ 0.80 (issue #280 — ww18 on 0.80 rewrote a 0.69 lock in place, 1095 lines, and left the checkout
+# dirty). Rigs install with `pixi install --locked`.
+requires-pixi = ">=0.80"
 
 [activation.env]
 # Every ROS 2 process in this workspace uses the Zenoh middleware. rmw_zenoh needs
@@ -77,13 +84,21 @@ ros-jazzy-rosbag2-py = "*"
 ros-jazzy-rosbag2-storage-mcap = "*"
 mcap = ">=1.2"
 # ── the shared rig-nodes package set, pinned (one version for the set; README "Releasing") ──
-# Device adapters (FicTrac, Kinefly, BIAS, ScanImage) and their simulators, the MCAP recorder and
-# indexer, the CDR decoder, the Foxglove rewriter, the supervision primitives rig.py composes with.
-# Written into every run's record by the gateway (hello_ack + /arena/session `packages`).
-rig_nodes = "==0.2.1"
+# Device adapters (FicTrac, Kinefly, BIAS, ScanImage incl. its ZeroMQ frame stream, the experimental SiPM
+# controller) and their simulators, the MCAP recorder and indexer, the CDR decoder, the Foxglove rewriter
+# (+ bias_health), the supervision primitives rig.py composes with. 0.3.0 (2026-10-28) also ships the
+# HostStats message set for the host monitor (rig_interfaces, `typed` environment).
+# Written into every run's record by the gateway (hello_ack + /arena/session `packages`). The pin lives in the
+# `channel` feature (default / typed / viz), not in [dependencies]: the `dev` environment builds rig_nodes from
+# the git source instead, and one package name from two sources does not solve once the released version is
+# ahead of `main` (0.3.0 vs 0.2.1 on 2026-10-28: "excluded because of strict channel priority").
+
+[feature.channel.dependencies]
+rig_nodes = "==0.3.0"
 
 # ── typed messages = the OPT-IN `typed` environment ───────────────────────────────────────
-# `pixi install -e typed` adds rig_interfaces (FicTracFrame, ArenaFrame, ConnectorReply) from the
+# `pixi install -e typed` adds rig_interfaces (FicTracFrame, ArenaFrame, ConnectorReply, HostStats + its
+# DiskStats/NetStats/GpuStats/ProcStats records) from the
 # SAME channel, built in rig-nodes' CI for win-64 / osx-arm64 / linux-64 — no compiler, no build
 # backend, no MAX_PATH (docs in rig-nodes: docs/typed-distribution-decision.md). Same solve group
 # as the default environment: since the package pins the 0.19 set too, the two environments share
@@ -91,7 +106,7 @@ rig_nodes = "==0.2.1"
 # environment so the rigs keep recording String topics until typed recording is decided for them;
 # the nodes fall back on their own (`--typed auto`).
 [feature.typed.dependencies]
-rig_interfaces = "==0.2.1"
+rig_interfaces = "==0.3.0"
 
 # ── developer path: rig-nodes `main`, built from source (git source dependencies) ────────────
 # `pixi install -e dev` swaps the two channel pins for the HEAD of reiserlab/rig-nodes `main`,
@@ -132,11 +147,21 @@ ros-jazzy-rqt-topic = "*"
 ros-jazzy-rqt-console = "*"
 ros-jazzy-foxglove-bridge = "*"
 
+# Windows: the foxglove-bridge package puts foxglove.dll + foxglove_cpp_shared.dll in Library\lib,
+# which is not on the DLL search path, so `ros2 run foxglove_bridge` exits 0xC0000135 (DLL not
+# found; ww14 2026-10-22). Prepend that directory for the viz environment only.
+[feature.viz.target.win-64.activation.env]
+PATH = '%CONDA_PREFIX%\Library\lib;%PATH%'
+
 [environments]
-default = { solve-group = "rig" }
-typed = { features = ["typed"], solve-group = "rig" }
-viz = { features = ["viz"], solve-group = "rig" }
-dev = { features = ["dev", "typed"], solve-group = "dev" }
+default = { features = ["channel"], solve-group = "rig" }
+typed = { features = ["channel", "typed"], solve-group = "rig" }
+viz = { features = ["channel", "viz"], solve-group = "rig" }
+# `dev` without the `typed` feature: `typed` pins rig_interfaces to the released version from the channel, while
+# `dev` builds it from the git source — one name from two sources does not solve once the release is ahead of
+# `main` (0.3.0 vs 0.2.1 on 2026-10-28, "excluded because of strict channel priority"). The git source IS the
+# typed package here, so nothing is lost.
+dev = { features = ["dev"], solve-group = "dev" }
 
 [tasks]
 # ── hour one: middleware bring-up ───────────────────────────────────────────
@@ -148,22 +173,19 @@ fictrac-adapter = "rig-fictrac-adapter"
 kinefly-adapter = "rig-kinefly-adapter"
 bias-node = "rig-bias-node"
 bias-cmd = "rig-bias-cmd"
-# ScanImage (built-in JSON server on the ScanImage PC, LAB-303/LAB-306): node + one-shot command.
-scanimage-node = "rig-scanimage-node"
-scanimage-cmd = "rig-scanimage-cmd"
 # ── the bridge node (this rig's gateway): bridge.py's hub + log writer + dispatcher on ROS input ──
 bridge-node = "python nodes/bridge_node.py"
 # ── simulators (rig_nodes.sims) ────────────────────────────────────────────
 sim = "rig-fictrac-sim"
 kinefly-sim = "rig-kinefly-sim"
 bias-sim = "rig-bias-sim"
-# A stand-in for ScanImage's JSON server (stock behaviors incl. bug B2) for off-rig tests.
-si-mock = "rig-si-mock"
 # ── the one command a rig runs ──────────────────────────────────────────────
 rig = "python nodes/rig.py"
 # ── acceptance test (LAB-303 PoC criteria): whole graph + Studio emulator + model fly ──
 # This is also the cross-repository smoke for the installed rig-nodes package set (record §7.8).
 test = "python tests/test_ros2_poc.py"
+# the gateway records + derives the 2P rig's topics (its SiPM / frame-stream nodes are private: scanimage-2026-bergamo 2p-rig-nodes/)
+test-gateway = "python tests/test_gateway_registration.py"
 studio-emulator = "python tests/studio_emulator.py"
 # ── MCAP record + converter ──────────────────────────────────────────────────
 # bag → behavior_v2 NDJSON (also `-- --level behavior_v1|full`, `-- --order time`);
@@ -186,11 +208,12 @@ graph = "rig-graph"
 viz = "python nodes/viz_node.py"
 test-viz = "python tests/test_viz_node.py"
 fox-json = "python nodes/foxglove_json.py"
-# after-the-fact Foxglove MCAP of a 2P color-sweep run from its ScanImage TIFFs + the arena .pat files (tools/tiff_run_to_mcap.py)
-tiff2mcap = "python tools/tiff_run_to_mcap.py"
-# its run-log side on a synthetic log (no TIFFs), and a check of a --runlog MCAP against that run log
-test-tiff2mcap = "python tests/test_tiff2mcap_runlog.py"
-check-tiff2mcap = "python tools/check_tiff2mcap.py"
+# The camera + G6 dashboard (foxglove/arena-okey-cokey.json): the live expected/observed display +
+# arena health node (`pixi run rig -- --stimulus`), and its unit test (pure; also runs the JS
+# panel-color module under the root env's Node to pin the Python port)
+stimulus = "python nodes/stimulus_node.py"
+test-stimulus = "python tests/test_stimulus.py"
+test-stimulus-live = "python tests/test_stimulus_live.py"
 # `viz` environment only (`pixi run -e viz …`): the interactive views.
 rqt-graph = "rqt_graph"
 rqt-topic = "rqt_topic"
diff --git a/rig/scanimage-day-2026-10-16.md b/rig/scanimage-day-2026-10-16.md
deleted file mode 100644
index 1241c0cd..00000000
--- a/rig/scanimage-day-2026-10-16.md
+++ /dev/null
@@ -1,91 +0,0 @@
-# ScanImage day 2026-10-16: results log
-
-*Paths in this record predate the 2026-10-26 rename `ros2-poc/` → `rig/`, `arena_interfaces` → `rig_interfaces`.*
-
-Plan: [SCANIMAGE-DAY.md](SCANIMAGE-DAY.md) (the two-hour version). PC: `REISERLAB-BERGA` (reiserlab-bergamo1).
-Branch `claude/ros-studio-plan-b-c44942` @ `cff5835`. Times are ET.
-
-| Time | Step | What | Result | Notes |
-|---|---|---|---|---|
-| 12:5x | 0:00 | Fresh clone of webDisplayTools to `Documents\GitHub\webDisplayTools`, `git switch claude/ros-studio-plan-b-c44942` | ok | git via GitHub Desktop (`app-3.5.8\resources\app\git\cmd\git.exe`); not on PATH |
-| 12:5x | 0:00 | pixi was not installed; installed pixi 0.82.0 with the official installer (`~\.pixi\bin`, user PATH) | ok | winget not available on this PC |
-| 12:55 | 0:00 | `pixi install --locked` in `ros2-poc` (default env) | ok, 27 s | cold install |
-| 12:56 | 0:00 | `pixi run test` (harness) | **53/53 PASS**, 51 s | plan expected 52 (the bag-recovery check from cff5835 adds one). Skipped: JS reader check (no root pixi env). String topics (no MSVC), as expected. Frame lag p50 0.65 / p99 1.04 ms |
-| 13:0x | prep (arena not up yet) | Pattern folder vs protocol `variables:` | ok | 4 GS16 `.pat` (81338 B each), names match the four anchors |
-| 13:0x | §6 prep | `tools/led_sweep_si.py --dry-run` | **crashed, fixed** | `UnicodeEncodeError` printing `→` on a cp1252 console (plain `python`, no `PYTHONUTF8`; the operator's terminal Python 3.14 would hit it). Fix: reconfigure stdout/stderr to UTF-8 in `main()`. Re-run: plan printed, nothing sent. The `pixi run` CLIs are unaffected (`PYTHONUTF8=1` in pixi.toml) |
-| ~13:00 | 0:15 | Michael: MATLAB R2025b, ScanImage idle, `hJ = most.network.json.Server(5555)`, logging on, `logFilePath = F:\ImagingData\2026-10-16\led_sweep`, `bidirectional = false`, `channelSave = [1 2]` | ok | no errors |
-| 13:02 | 0:20 | `pixi run rig -- --scanimage` | ok | router 7447, fictrac adapter, scanimage node → 127.0.0.1:5555 (status 1 Hz), bridge-node 3.4 on ws://127.0.0.1:8765; 1 ms system timer granted. Zenoh config deprecation WARNs (harmless) |
-| 13:02 | 0:20 | `scanimage-cmd -- ping` | **ok, 0.41 ms** | `acqState: idle`. CLI also prints a zenohc "Error closing session: close operation timed out" on exit (harmless, ~10 s exit delay) |
-| 13:03 | 0:20 | `scanimage-cmd -- status --json` | **failed → fixed** | ScanImage 2026.0.0: `hSI.hDisplay.lastFrameNumber` throws `Index exceeds array bounds.` (Display/get.lastStripeData line 434) until the first acquisition after ScanImage starts. The snapshot raised on it → status `ok:false`, every 1 Hz status line `reachable:false`, and an UNKNOWN reconcile on the first grab of the day would have failed too. Fix (`scanimage_node.py _snapshot`): acqState must read; other props that error → `null` + `errors{}`. Harness 53/53 after the fix |
-| 13:05 | 0:20 | re-run after restart: ping, status | **ok** | ping 1.1 ms; status: idle, logFileCounter 1, stem `file`, path `F:\ImagingData\2026-10-16\led_sweep`, loggingEnable true, lastFrameNumber null (no acquisition yet); 6 gets 8.2 ms total |
-| ~13:24 | 0:35 | connector `set framesPerSlice 60`, `setFileStem connector_check` | ok | set 153 ms, setFileStem 89 ms |
-| 13:24 | 0:35 | connector `grab` | ok (started) | startGrab eval **3897 ms** (LAB-305: 1.2–2.4 s); acqState `grab` on the first poll; artifact {stem connector_check, counter 1} |
-| 13:24 | 0:35 | connector `waitIdle --timeout-s 20` | **timeout** | still `grab` after 20.1 s; GUI showed **0 of 60 frames**; no TIFF on F:. `extTrigEnable` 0, `trigAcqInTerm` empty, `scannerFrequency` 7916.5 |
-| ~13:30 | 0:35 | connector `abort` | **ok, 524 ms** | back to idle; logFileCounter 1 → 2 (no file written) |
-| ~13:32 | 0:35 | GUI GRAB (Michael) | **0 of 60 too** | → not the connector |
-| ~13:38 | 0:35 | cause | **found** | sample clock is the laser: `hScan2D.LaserTriggerPort = /vDAQ0/CLK_IN` ("ImagingScanner: Laser Trigger"), `externalSampleClock = 1`, `laserTriggerSampleMaskEnable = 1`. Lasers were off for "dark" → no clock → no frames. **On this rig "dark" = laser on + shutter closed** (the scanimage repo's "lasers off *or* shutter closed" — it must be the shutter). SCANIMAGE-DAY's "Lasers off" for steps 2–4 needs correcting |
-| ~13:40 | 0:35 | 920 on, shutter closed: GUI GRAB still 0 of 60 at first; then Michael fixed it by hand (details: _TBD — what changed_) → GUI GRAB works | ok | `connector_check_00008.tif` 63.2 MB. `hJ`, logging, path survived (no ScanImage restart needed) |
-| 13:42 | 0:35 | connector `grab` + `waitIdle` | grab ok, **waitIdle error** | startGrab 2629 ms; `connector_check_00009.tif` 63.2 MB; counter 9 → 10; idle after ~3 s — but waitIdle's reply read `lastFrameNumber`, which throws **even after acquisitions** on this rig → outcome error. Fix (`scanimage_node.py` waitIdle): lastFrameNumber failure → `null` + a failed step, not an error. Harness 53/53 |
-| 13:44 | 0:35 | connector `grab` + `waitIdle` after the fix | **PASS** | startGrab 3112 ms; waitIdle ok, 3.08 s; `connector_check_00010.tif` 63.2 MB; counter 10 → 11. startGrab here 2.6–3.9 s (LAB-305: 1.2–2.4 s); the grab reply waits for acqState `grab`, so `grab_settle: 1` covers scanner start only — watch the first duty step in the dry run |
-| ~13:47 | 0:00 | Studio served from the checkout: `python .claude\nocache-server.py 8092` (Claude, background) | ok | `arena_studio.html` 200, footer Arena Studio v0.96 |
-| 13:49 | 0:00 | Arena plugged in; Studio Connect; init | ok | refresh 300 Hz · SPI 25 MHz · panel mode persist · AO 2500 mV · SD fw `panel-fw-v1.3.1`. An ALL_ON 0xFF went out at 13:49:16 (no supply reset) |
-| 13:49 | 0:00 | Console → Panel firmware → Inventory | **PASS, 20/20** | 1–10 `0xB8796BAF`; `0x362644DD` ×6 (11, 12, 13, 17, 19, 20), `0x1A74DD1D` ×3 (14, 15, 18), `0x9E03D589` ×1 (16) — exactly the lineage note; 11–20 ≠ SD panel.bin as expected |
-| ~14:00 | 0:10 | Studio: "no rig selected", Bench-rig dropdown empty + its lock dead, I/O roles greyed, pattern play blocked | **cause found, fixed** | The page's module block never ran: the server log shows the import graph stalling mid-`yaml` (`stringifyCollection.js` the last request; no `configs/metadata/*` or `rigs/index.json` ever fetched). `.claude/nocache-server.py` was a single-threaded `HTTPServer` — Chrome's idle pre-connected sockets block it. Also `localhost` cost **~2 s per connection** (IPv6 `::1` tried first, nothing listening) vs 23 ms on 127.0.0.1. Fix: `ThreadingHTTPServer` + a second listener on `::1` → localhost 9 ms. (Classic substrate — Connect, Console, Inventory — worked throughout, as designed.) |
-| 14:16 | 0:10 | Reload + Connect on the fixed server | ok | module block runs; rig auto-derived `cshl_g6_2x10_ball` (first 2×10 in the index); 34 pattern frame counts read; patterns play (Arena Trial mode 2, pats 3/4/7/9) |
-| 14:22 | 0:10 | Inventory after reconnect | **PASS, 20/20** | same firmware map as 13:49 |
-| 14:23 | 0:10 | Panel mode 2; Bench rig → `cshl_g6_2x10` (explicit); DIO roles | **ok** | SET_PANEL_DISPLAY_MODE 2 ok; GET_DIO_ROLE: Digital IO 1 `out_debug_framescan` LOW, Digital IO 2 `in_trigger` LOW; AO 5 V |
-| ~14:25 | 0:10 | GS16 pattern upload | ok | four `…_gs16` files at SD slots **3, 5, 7, 9** (1-based; protocol expects 5–8 — color↔slot mapping TBD; the Studio resolves by name, IDs are the fallback) |
-| ~14:26 | 3.5 | FicTrac/bridge Connect (ws://localhost:8765) | ok | bridge-node: `client connected (total 1)` |
-| ~14:30 | 0:25 | New-arena trigger check (shutter closed, laser on) | **PASS** | FOCUS → full-field 128 lights every panel; stop FOCUS → all dark. **Note (Michael):** color panels a tad flickery with this build — follow up later |
-| ~14:35 | 0:40 | Open `g6_2p_color_led_sweep` → Run | warning (non-blocking) | "Runtime variables need attention: Variable "function anchor() { [native code] }" is defined more than once · Variable "undefined" is defined more than once ×17 … The run will use the YAML values as written." — Studio bug, not the protocol: the runtime-controls check reads `.anchor` on plain anchored scalars in `variables:` (→ `String.prototype.anchor`). Follow up later |
-| 14:30–14:33 | 0:40 | **Dry run** (shutter closed, laser on) | **commands PASS; 2 findings** | run file + bag opened 14:30:20. Connector: `set` framesPerSlice ok 159 ms; 4 × setFileStem ok; 4 × grab ok (startGrab 2.4–2.8 s); 4 × waitIdle ok (24.1–24.8 s). TIFFs `violet_/blue_/green_/yellow_sweep_00001.tif`, 642.9 MB each, 46 s apart. Bridge: 3 × "arena_command kept verbatim: head '0d 08 02 07 00 14 …'" (trialParams mode 2, pattern ID **7**, 20 fps for violet). Michael: blue/green/yellow showed 6 duty steps; violet looked like ~3 (likely the eye's low violet sensitivity at duty 7/15/31 in mode 2 — detectors / log duties will tell) |
-| 14:35 | 0:40 | finding: acquisition outlasts the stimulus by ~25 s per color | **fixed in protocol** | ScanImage `scanFrameRate` = **15.0 Hz** (512×512, unidirectional), protocol was sized for ~29 Hz → 640 frames ≈ 43 s vs 19 s stimulus. `frames_per_grab` 640 → **330** (22 s) → run ≈ 110 s instead of 191 s |
-| 14:37 | 0:40 | Studio run log (Save) | **COMPLETED, 26/26 steps, 0 errors, 190.7 s** | violet ran all 6 duty conditions × 3 s (as did the others) → "~3 visible" was perception. Run file + bag did NOT close at run end: no GitHub sign-in → the end-of-run commit step never reached `setLogging(false)` (Studio bug, follow up). Closed by toggling FicTrac ▸ log (opened an empty next file — harmless) |
-| 14:38 | 0:40 | bag → `pixi run convert` | **PASS** | closed, not torn, 1451 records, 3411 lines, 0 skipped; 13 connector commands = set + 4 setFileStem + 4 grab + 4 waitIdle, all `ok`; grab artifacts violet/blue/green/yellow_sweep #1 = the TIFFs on F: |
-| 14:39 | 0:40 | pattern IDs from the 24 trialParams | **PASS** | resolved by name: violet 7, blue 3, green 5, yellow 9 (6 each) = Michael's slots; protocol fallback IDs updated 5–8 → 7/3/5/9 |
-| 14:40 | 0:40 | **GO/NO-GO** | **GO** | — |
-| ~14:45 | 5 | Michael: ScanImage 256×256 → `scanFrameRate` **29.1 Hz** (read via connector); prep in focus, shutter open | — | `frames_per_grab` 330 → **640** (19 s × 29.1 = 553 + margin); run ≈ 110 s |
-| 14:51–14:53 | 5 | **Experiment run 1** (prep, shutter open) | **completed; end of duty 255 cut for 3 colors** | TIFFs `violet/blue/green/yellow_sweep_00002.tif`, 162.9 MB each (640 × 256²). All 13 connector commands ok. Bag closed after the FicTrac ▸ log toggle (940 records). Timing vs grab request (`runlogs/si_timing.py`): acquisition ≈ reply (+3.4 s) → +25.4 s. Violet steps 3.0 s, stim +4.55 → +22.64, idle by +26.8 (**+4.2 s margin**). Blue/green/yellow steps **~3.6 s** (host-timed drift), stim ends +26.0 / +27.8 / +26.9 but ScanImage idle by +25.0–26.4 → **last ~0.5–1.5 s of duty 255 not imaged** for blue, green, yellow |
-| 14:58 | 5 | fix | protocol | `frames_per_grab` 640 → **800** (27.5 s); run ≈ 130 s. Follow up: why host-timed steps run 3.6 s for colors 2–4 |
-| 15:02–15:04 | 5 | **Experiment run 2** (800 frames) | **PASS** | TIFFs `*_sweep_00003.tif`, 203.7 MB each. 13/13 connector commands ok; bag closed (753 records), converts clean. Margins idle − stimulus end: violet +4.11, blue +3.97, green +3.24, yellow +4.38 s; 'grab' status seen after every stimulus end; stimulus starts ≥ 1.1 s after the grab reply. Steps ~3.6–3.8 s for all four colors this time (stimulus ≈ 23 s) |
-| 15:10 | 5 | step timing (`runlogs/step_timing.py`, trialParams intervals) | **cause found** | dry run: every step 3.01–3.02 s. Run 1: violet 3.0, then blue/green/yellow mostly **4.00**; run 2: all **4.00** (last 3.01). Exactly +1.00 s, never in between → **Chrome timer throttling**: `ArenaRunner._sleep` is a plain `setTimeout`, which Chrome aligns to 1 s while the tab is hidden or the window occluded (operator working in ScanImage). Dry run: Studio visible. Workaround: keep the Studio window visible during runs. Code fix later: a throttle-proof timer for host-timed steps (Worker-based timer, or keep-alive), plus a warning when `document.hidden` during a run |
-| 15:20 | 5 | Michael: **no more repeats — run 2 is the dataset** (run 1 kept, end of duty 255 cut for blue/green/yellow) | — | — |
-
-## Quick look at run 2 (`tools/led_sweep_quicklook.py`, 15:25)
-
-`python tools/led_sweep_quicklook.py ros2-poc/runlogs/arena-log-20261016-150214-328.jsonl F:\ImagingData\2026-10-16\led_sweep 3`
-— stdlib+numpy TIFF reader; frame time = header `epoch` (PC local, EDT) + `frameTimestamps_sec`, aligned to
-the trialParams times in the run log (same PC clock); whole-field mean per page; step window = step start
-+ 0.3 s → next step − 0.1 s; baseline = frames before the first step. **Whole field, no ROI, no motion
-correction — a sanity check, not the analysis.**
-
-Each TIFF: 1600 pages = 800 frames × 2 channels; frames start 1.8–2.4 s before the first step and end
-1.0–2.2 s after the last (4.0 s steps — the throttled timer). Mean increase over baseline (a.u.), d7 → d255:
-
-| color | ch1 baseline | ch1: d7 / d15 / d31 / d63 / d127 / d255 | ch2 baseline | ch2: d7 / d15 / d31 / d63 / d127 / d255 |
-|---|---|---|---|---|
-| violet | 113.3 | +15 / +23 / +58 / +132 / +265 / **+374** | 29.8 | +3.5 / +8.8 / +23 / +61 / +127 / **+185** |
-| blue | 92.4 | −0.1 / −0.3 / +7.7 / +6.5 / +2.6 / +20 | 34.5 | −1.5 / −1.4 / +0.1 / +1.0 / +2.7 / +5.4 |
-| green | 116.8 | +19 / +28 / +45 / +72 / +115 / **+165** | 44.2 | +0.5 / +1.2 / +1.7 / +5.8 / +13 / +19 |
-| yellow | 48.0 | +1.7 / +1.3 / −0.5 / +6.2 / +16 / +17 | 32.3 | +3.7 / +7.0 / +12 / +21 / +40 / **+62** |
-
-- The duty steps are visible in the images and line up with the logged step times — the connector →
-  TIFF → run-log alignment works end to end.
-- Panel light reaches the detectors for every color; it rises with duty, near-monotonically for violet,
-  green (ch1) and yellow (ch2). Violet is by far the largest in both channels; green mostly ch1, yellow
-  mostly ch2; blue the smallest (only d255 clearly above noise).
-- The per-frame SD within a step grows with duty (violet ch1: 5 → 135), i.e. the stimulus light
-  fluctuates frame to frame — possibly LED drive vs frame-rate beating; compare with the flicker Michael
-  saw at 0:25.
-- Yellow d127 has 76 frames, not ~105: its step was 3.0 s (the one unthrottled step).
-- **MATLAB messages during the session (no timestamps, reported by Michael after the runs):**
-  "Client disconnected because of error / Client connected" ×4 — most likely the scanimage node being killed
-  at each graph stop/restart (13:04, 13:43, end), not a protocol failure (every connector reply in both runs
-  was `ok`). "**PLL got unlocked** … Check that the laser clock is consistent" ×14 — the vDAQ's sample-clock
-  PLL on the laser sync (`CLK_IN`); most likely while the laser was being switched on / settling
-  (13:30–13:40, the 0-frame grabs). Frame check (`runlogs/frame_check.py`): runs 1 and 2, all 8 TIFFs —
-  frame numbers consecutive, **0 gaps**, frame interval 34.339–34.341 ms (29.12 Hz). Rules out dropped
-  frames, not a pixel-clock glitch within a frame. Next time: "Apply Clock Settings" must not be light red
-  before a grab.
-- Next (later session): per-pixel / ROI maps, the 22 Sept method (`Bergamo_testing/092226_SNR/analysis/`,
-  not on this PC), the DO1 aux-trigger record per frame, run 1 for comparison.
diff --git a/rig/tests/fixtures/okey_smoke_violet_cw.jsonl.gz b/rig/tests/fixtures/okey_smoke_violet_cw.jsonl.gz
new file mode 100644
index 00000000..227bed96
Binary files /dev/null and b/rig/tests/fixtures/okey_smoke_violet_cw.jsonl.gz differ
diff --git a/rig/tests/fixtures/protocols-2026-10-14/g6_color_optomotor_smoke.yaml b/rig/tests/fixtures/protocols-2026-10-14/g6_color_optomotor_smoke.yaml
new file mode 100644
index 00000000..836d6c2d
--- /dev/null
+++ b/rig/tests/fixtures/protocols-2026-10-14/g6_color_optomotor_smoke.yaml
@@ -0,0 +1,25 @@
+version: 3
+# The two conditions of the 2026-10-14 smoke run that tests/fixtures/okey_smoke_violet_cw.jsonl.gz
+# covers (the protocol had one direction per condition then), cut to what the pattern-name lookup
+# in nodes/stimulus_core.py reads.
+conditions:
+  - name: "violet_cw_d100"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_violet"
+        pattern_ID: 1
+        duration: 10
+        mode: 2
+        frame_index: 0
+        frame_rate: 80
+        gain: 0
+        duty: 255
+      - type: "wait"
+        duration: 10
+  - name: "dark_iti"
+    commands:
+      - type: "controller"
+        command_name: "allOff"
+      - type: "wait"
+        duration: 2
diff --git a/rig/tests/test_gateway_registration.py b/rig/tests/test_gateway_registration.py
new file mode 100644
index 00000000..4b1c69aa
--- /dev/null
+++ b/rig/tests/test_gateway_registration.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+"""test_gateway_registration.py — the gateway records and derives the 2P rig's topics (static, no graph).
+
+    pixi run test-gateway                 # from rig/ (≈ 2 s)
+
+The 2P rig's SiPM and ScanImage frame-stream nodes are private (reiserlab/scanimage-2026-bergamo
+`2p-rig-nodes/`); this gateway only knows their topic NAMES. These checks are the gateway half of
+those nodes' harnesses (#266's test_sipm D1–D3 and #261's test_scanimage_frames §G), kept here
+with the code they test:
+
+  SiPM     bridge_node records /sipm/cmd|reply|status in every bag and subscribes it as a connector;
+           mcap_convert derives /sipm/reply|status into {"type":"connector","src":"sipm",…} events
+  frames   bridge_node records the frame-stream topics (meta, stats, preview meta, preview ch1–4,
+           the images as sensor_msgs/CompressedImage) in every bag; mcap_convert derives nothing from
+           them (a stream is not a behavior sample)
+
+Exit 0 when every check passes.
+"""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+HERE = Path(__file__).resolve().parent
+sys.path.insert(0, str(HERE.parent / "nodes"))
+import bridge_node  # noqa: E402
+import mcap_convert  # noqa: E402
+
+results: list[tuple[str, bool, str]] = []
+
+
+def check(name: str, ok: bool, info: str = "") -> bool:
+    results.append((name, bool(ok), info))
+    print(f"  {'PASS' if ok else 'FAIL'}  {name}{'' if ok else ' — ' + str(info)[:400]}", file=sys.stderr)
+    return bool(ok)
+
+
+def main() -> int:
+    lw = bridge_node.RecordingLogWriter(None, "behavior_v2", None, profile="crashsafe", typed=False, export="converted", connectors=[])
+    tmap = lw.topics()
+
+    # ── SiPM (was test_sipm D1–D3) ──
+    check("sipm: bridge_node records /sipm/cmd|reply|status in every bag",
+          all(tmap.get(t) == "std_msgs/msg/String" for t in ("/sipm/cmd", "/sipm/reply", "/sipm/status")), str(sorted(tmap)))
+    check("sipm: bridge_node subscribes the SiPM node as a connector",
+          bridge_node.CONNECTOR_TOPICS.get("sipm", {}).get("status") == "/sipm/status", str(bridge_node.CONNECTOR_TOPICS.get("sipm")))
+    check("sipm: the converter derives /sipm/reply|status into connector events",
+          mcap_convert.CONNECTOR_TOPIC_SRC.get("/sipm/status") == ("sipm", "status")
+          and mcap_convert.CONNECTOR_TOPIC_SRC.get("/sipm/reply") == ("sipm", "reply"), "")
+
+    # ── the ScanImage frame stream (was test_scanimage_frames §G) ──
+    stream = ("/scanimage/frame_meta", "/scanimage/frame_stats", "/scanimage/preview/meta")
+    previews = tuple(f"/scanimage/preview/ch{c}" for c in (1, 2, 3, 4))
+    check("frames: bridge_node records the stream topics (meta, stats, preview meta, preview ch1–4) in every bag",
+          all(t in tmap for t in stream + previews) and all(tmap[t] == "sensor_msgs/msg/CompressedImage" for t in previews)
+          and all(tmap[t] == "std_msgs/msg/String" for t in stream), str(sorted(tmap)))
+    check("frames: the converter derives nothing from the stream topics (streams are not behavior samples)",
+          not any(t in mcap_convert.CONNECTOR_TOPIC_SRC for t in bridge_node.STREAM_TOPICS)
+          and "frame_meta" not in Path(mcap_convert.__file__).read_text(encoding="utf-8"), "")
+
+    n_ok = sum(1 for _, ok, _ in results if ok)
+    print(f"\n{n_ok} / {len(results)} checks passed", file=sys.stderr)
+    return 0 if n_ok == len(results) else 1
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/rig/tests/test_ros2_poc.py b/rig/tests/test_ros2_poc.py
index c0d27743..4787dfd0 100644
--- a/rig/tests/test_ros2_poc.py
+++ b/rig/tests/test_ros2_poc.py
@@ -50,6 +50,11 @@
                                                         NDJSON — reported, crashsafe profile gated;
                                                         then a RESTARTED node's log_export recovers the
                                                         bag on its own (recovered:true, whole bag left)
+  host monitor (2026-10-28; rig_nodes.host_monitor)   /rig/host in the bag ≥ 0.8 Hz, fields = the installed
+                                                        HostStats (typed) / the read fields (JSON), the graph's
+                                                        nodes pinned; its own CPU ≤ 2 % of a core, ≤ 5 % of the
+                                                        compressed bag — skipped (info) when the installed
+                                                        rig_nodes has no host monitor
 
 Exit 0 when all checks pass. Prints a markdown summary. Artifacts are kept with --keep.
 """
@@ -241,6 +246,68 @@ def bag_summary(bag: Path) -> dict:
             "frame_lag_ms": {"p50": round(lag[len(lag) // 2], 3), "p99": round(lag[int(len(lag) * 0.99)], 3), "max": round(lag[-1], 3)} if lag else None}
 
 
+def host_monitor_values(bag: Path) -> dict:
+    """/rig/host in the bag: sample count over the run, field names vs the request's HostStats.msg,
+    per-core sanity, pinned groups, the monitor's own CPU, and its share of the compressed payload."""
+    import statistics
+
+    import zstandard
+
+    sys.path.insert(0, str(NODES))
+    from mcap_convert import _json_of, decode_cdr, read_records  # noqa: E402
+
+    try:  # the field contract is rig-nodes' (rig_interfaces/HostStats); without the typed build the
+        # JSON samples are checked for the fields this harness reads
+        from rig_interfaces.msg import HostStats
+
+        want = sorted(HostStats.get_fields_and_field_types())
+    except (ImportError, AttributeError):
+        want = None
+    host, other, t_ns, objs, schemas = [], [], [], [], set()
+    gen = read_records(bag)
+    try:
+        while True:
+            r = next(gen)
+            t_ns.append(r["log_ns"])
+            if r["topic"] != "/rig/host":
+                other.append(r["data"])
+                continue
+            host.append(r["data"])
+            schemas.add(r["schema"])
+            try:
+                if want is not None and r["schema"] == "rig_interfaces/msg/HostStats":
+                    # typed: ROS's own deserializer (the converter's pure decoder reads no nested
+                    # message arrays — DiskStats[] disks … — and the converter never needs /rig/host)
+                    from rclpy.serialization import deserialize_message
+                    from rosidl_runtime_py.convert import message_to_ordereddict
+
+                    objs.append(json.loads(json.dumps(message_to_ordereddict(deserialize_message(r["data"], HostStats)))))
+                else:  # String JSON → its object
+                    objs.append(_json_of({"msg": decode_cdr(r["schema"], r.get("schema_text"), r["data"])}))
+            except Exception:
+                objs.append(None)
+    except StopIteration:
+        pass
+    good = [o for o in objs if isinstance(o, dict)]
+    need = {"core_busy_mean", "core_busy_peak", "monitor_cpu_cores", "procs"}
+    bad = sorted({k for o in good for k in (set(o) ^ set(want) if want else need - set(o))})
+    cores_ok = bool(good) and all(len(o["core_busy_mean"]) == len(o["core_busy_peak"]) == (os.cpu_count() or 0)
+                                  and all(p + 1e-6 >= m for m, p in zip(o["core_busy_mean"], o["core_busy_peak"])) for o in good)
+    self_cpu = [o["monitor_cpu_cores"] for o in good[2:] if isinstance(o.get("monitor_cpu_cores"), (int, float))]
+    level = 19  # the bag's zstd "Slowest" (recorder.py `default` profile; crashsafe is reindexed to it)
+    zh = len(zstandard.ZstdCompressor(level=level).compress(b"".join(host))) if host else 0
+    za = len(zstandard.ZstdCompressor(level=level).compress(b"".join(host + other))) if host or other else 0
+    run_s = (max(t_ns) - min(t_ns)) / 1e9 if t_ns else None
+    return {"samples": len(host), "schema": sorted(s or "std_msgs/msg/String" for s in schemas), "run_s": round(run_s, 1) if run_s else None, "fields_ok": bool(good) and len(good) == len(objs) and not bad,
+            "bad_fields": bad, "cores_ok": cores_ok, "ncpu": len(good[0]["core_busy_mean"]) if good else None,
+            "groups": sorted({p["group"] for o in good for p in o.get("procs", []) if p.get("group")}),
+            "self_cpu_median": round(statistics.median(self_cpu), 4) if self_cpu else None,
+            "self_cpu_max": round(max(self_cpu), 4) if self_cpu else None,
+            "bytes_per_sample": round(sum(map(len, host)) / len(host)) if host else None,
+            "share_compressed": round(zh / za, 4) if za else None,
+            "host_kb_per_h_zstd": round(zh / run_s * 3600 / 1024) if run_s else None}
+
+
 def typed_frame_values(bag: Path) -> dict:
     """The recorded /arena/frame ArenaFrame messages, decoded with the converter's pure-Python
     CDR decoder from the schema text IN THE BAG, judged by VALUE — a schema name alone said
@@ -398,11 +465,13 @@ def start(name: str, argv: list[str]) -> Proc:
         bias_port = free_tcp_port()
         start("bias-sim", [PY, "-m", "rig_nodes.sims.bias_sim", "--port", str(bias_port), "--video-dir", str(videos)])
         start("bias-node", [PY, "-m", "rig_nodes.bias_node", "--port", str(bias_port), "--status-every", "1", "--video-dir", str(videos)])
-        # ScanImage stand-in on a free port (a rig PC may have the real JSON server on 5555): short
-        # grabs, a short start delay, and one allowlisted property it never answers (the UNKNOWN path).
-        si_port = free_tcp_port()
-        start("si-mock", [PY, "-m", "rig_nodes.sims.si_json_mock", "--port", str(si_port), "--grab-s", "1.0", "--start-delay-s", "0.2", "--stall-on", "hSI.hRoiManager.scanZoomFactor"])
-        start("scanimage-node", [PY, "-m", "rig_nodes.scanimage_node", "--port", str(si_port), "--status-every", "1", "--timeout-s", "1.5"])
+        from rig import HOST_MONITOR_MODULE, host_monitor_available  # noqa: E402
+
+        host_mon = host_monitor_available()
+        if host_mon:  # the command line rig.py uses
+            start("host-monitor", [PY, "-m", HOST_MONITOR_MODULE, "--log-dir", str(runlogs), "--py-root", str(POC)])
+        else:
+            print(f"  info  host monitor: the installed rig_nodes has no {HOST_MONITOR_MODULE} — its checks are skipped", file=sys.stderr)
         bridge_argv = [PY, str(NODES / "bridge_node.py"), "--log-dir", str(runlogs), "--source-timeout", "1.5", "--bag-profile", a.bag_profile]
         bridge = start("bridge-node", bridge_argv)
         check("bridge node serving ws://127.0.0.1:8765", wait_port("127.0.0.1", 8765, 20.0))
@@ -480,7 +549,7 @@ def side_actor() -> None:
         em = run_capture(
             [PY, str(HERE / "studio_emulator.py"), "--epochs", str(a.epochs), "--epoch-s", str(a.epoch_s), "--iti-s", "1",
              "--bias-amplitude", "90", "--min-frames", "40", "--out", str(export), "--report", str(report),
-             "--connector-cmds", "--connector-video", "poc_studio.avi", "--scanimage-cmds"],
+             "--connector-cmds", "--connector-video", "poc_studio.avi"],
             timeout=75 + a.epochs * (a.epoch_s + 2),
         )
         (logdir / "emulator.log").write_text(em.stderr, encoding="utf-8")
@@ -496,10 +565,9 @@ def side_actor() -> None:
         check("MCAP bag recorded for the run (metadata.yaml + .mcap)", main_bag is not None and (main_bag / "metadata.yaml").exists() and any(main_bag.glob("*.mcap")), str([b.name for b in bags]))
         bagsum = bag_summary(main_bag) if main_bag else {}
         print(f"[test] bag: {bagsum.get('records')} records, {bagsum.get('bytes')} B, topics {bagsum.get('topics')}, schemas {bagsum.get('schemas')}, frame lag {bagsum.get('frame_lag_ms')}", file=sys.stderr)
-        want_topics = ["/arena/session", "/arena/browser", "/arena/event", "/arena/frame", "/kinefly/raw", "/bias/cmd", "/bias/reply", "/bias/status",
-                       "/scanimage/cmd", "/scanimage/reply", "/scanimage/status"]
+        want_topics = ["/arena/session", "/arena/browser", "/arena/event", "/arena/frame", "/kinefly/raw", "/bias/cmd", "/bias/reply", "/bias/status"]
         missing = [t for t in want_topics if not bagsum.get("topics", {}).get(t)]
-        check("every stream recorded in the bag (session, browser, event, frame, kinefly, bias + scanimage cmd/reply/status)",
+        check("every stream recorded in the bag (session, browser, event, frame, kinefly, bias cmd/reply/status)",
               not missing, f"missing {missing}")
         raw_ft = {t: n for t, n in bagsum.get("topics", {}).items() if t.startswith("/fictrac/")}
         check("raw FicTrac topics NOT recorded by default (2026-10-18: the merged /arena/frame record is the FicTrac record; --record-fictrac-raw opts in)",
@@ -585,19 +653,6 @@ def side_actor() -> None:
               bool(logs) and bagsum.get("bias_frames_t") == sum(s.get("frames") or 0 for s in logs),
               f"bag {bagsum.get('bias_frames_t')} vs stamp logs {[s.get('frames') for s in logs]}")
 
-        # The ScanImage connector (JSON server stand-in): the Studio-path sequence the 2P protocol uses.
-        si_ev = [e for e in events if e.get("type") == "connector" and e.get("src") == "scanimage"]
-        si_rep = [e for e in si_ev if e.get("kind") == "reply"]
-        si_st = [e for e in si_ev if e.get("kind") == "status"]
-        si_cmd = [e.get("command") for e in si_ev if e.get("kind") == "command"]
-        check("ScanImage command/reply pairs in the run log (via=ws, plugin scanimage)", len(si_rep) >= 8 and all(e.get("via") == "ws" and e.get("plugin") == "scanimage" for e in si_rep), f"{len(si_rep)} replies: {[r.get('command') for r in si_rep]}")
-        check("ScanImage status lines in the run log carry acqState", len(si_st) >= 2 and all("acqState" in e for e in si_st if e.get("reachable")), str(len(si_st)))
-        check("Studio-path ScanImage commands logged in order", si_cmd == ["ping", "setFileStem", "set", "set", "grab", "waitIdle", "abort", "get", "ping", "bogusCommand"], str(si_cmd))
-        grab = [e for e in si_rep if e.get("command") == "grab"]
-        check("grab reply in the run log carries the TIFF artifact (stem, counter, path)", bool(grab) and grab[0].get("ok") and isinstance(grab[0].get("artifact"), dict)
-              and grab[0]["artifact"].get("kind") == "tiff" and grab[0]["artifact"].get("stem") == "emu_violet_d7" and grab[0]["artifact"].get("counter") is not None, json.dumps([g.get("artifact") for g in grab]))
-        unk = [e for e in si_rep if e.get("command") == "get"]
-        check("ScanImage UNKNOWN outcome logged with the reconciled status", bool(unk) and unk[0].get("outcome") == "unknown" and isinstance(unk[0].get("reconciled"), dict), json.dumps(unk)[:300])
         cs = [e for e in events if e.get("type") == "connector_status" and e.get("src") == "fictrac"]
         p99 = cs[-1]["lat_ms"]["p99"] if cs else None
         check("connector_status: adapter→bridge latency p99 < 50 ms", p99 is not None and p99 < 50.0, str(cs[-1] if cs else None))
@@ -716,6 +771,22 @@ def side_actor() -> None:
         if typed:
             check("size: /arena/frame records in the final layout (chunk-only index, zstd 19) ≤ 72 B/frame compressed", bool(sz) and (sz.get("bytes_per_frame") or 999) <= 72.0, json.dumps(sz))
 
+        # ── host monitor (/rig/host, rig_nodes.host_monitor) ─────────────────────────────
+        hm = host_monitor_values(main_bag) if main_bag and host_mon else {}
+        if host_mon:
+            print(f"  info  host monitor: {json.dumps({k: v for k, v in hm.items() if k not in ('fields_ok', 'groups')})}", file=sys.stderr)
+            check("host monitor: /rig/host recorded in the bag, ≥ 0.8 samples per second of the run",
+                  (hm.get("samples") or 0) >= 0.8 * (hm.get("run_s") or 99), f"{hm.get('samples')} samples over {hm.get('run_s')} s")
+            check("host monitor: every sample has the HostStats fields (the installed rig_interfaces' when typed)",
+                  hm.get("fields_ok", False), str(hm.get("bad_fields")))
+            check("host monitor: one entry per logical CPU, busiest sub-window ≥ the window mean on every core",
+                  hm.get("cores_ok", False), f"{hm.get('ncpu')} CPUs")
+            check("host monitor: the graph's processes pinned by script (py:bridge_node, py:fictrac_udp_adapter, py:host_monitor)",
+                  {"py:bridge_node", "py:fictrac_udp_adapter", "py:host_monitor"} <= set(hm.get("groups") or []), str(hm.get("groups")))
+            check("host monitor cost: its own CPU ≤ 2 % of one core (median after the first 2 samples)",
+                  hm.get("self_cpu_median") is not None and hm["self_cpu_median"] <= 0.02, f"median {hm.get('self_cpu_median')} max {hm.get('self_cpu_max')} cores")
+            check("host monitor storage: /rig/host ≤ 5 % of the run's compressed payload (zstd, as the bag)",
+                  hm.get("share_compressed") is not None and hm["share_compressed"] <= 0.05, f"{hm.get('share_compressed')} ({hm.get('host_kb_per_h_zstd')} KB/h)")
         check("bridge node still alive at the end of the main run", bridge.alive())
 
         # ── crash phase: SIGKILL the bridge node mid-run, both writer profiles ────────
diff --git a/rig/tests/test_stimulus.py b/rig/tests/test_stimulus.py
new file mode 100644
index 00000000..6920faa2
--- /dev/null
+++ b/rig/tests/test_stimulus.py
@@ -0,0 +1,412 @@
+#!/usr/bin/env python3
+"""test_stimulus.py — the camera + G6 dashboard's pure parts, no ROS graph needed.
+
+    pixi run test-stimulus
+
+  * arena_display: the Python port of js/panel-color.js, pinned to the JS module cell by cell
+    (run under the root env's Node; SKIP without it), the renderer (orientation, duty, off LEDs),
+    the PNG encoder;
+  * stimulus_core: the expected/observed frame, lag, display rate and health on synthetic rows
+    (CW → CCW pair, u32 clock wrap, a skipped frame, refusals, an error glyph, staleness) and on
+    a REAL trial (tests/fixtures/okey_smoke_violet_cw.jsonl.gz: the 2026-10-14 smoke run's violet
+    CW trial on the 2×10 four-color bench arena, 80 fps, ring telemetry);
+  * tools/ufmf.py on a synthetic BIAS-layout movie (indexed, unindexed, torn) — bias_health itself
+    moved to rig-nodes (rig_nodes.bias_health, tested in its tests/test_pure.py);
+  * foxglove_json.py --stimulus end to end on a small MCAP bag built from the fixture (the arena
+    wrapper's `derive` hook into rig_nodes.foxglove_json.convert).
+"""
+
+from __future__ import annotations
+
+import gzip
+import json
+import os
+import shutil
+import struct
+import subprocess
+import sys
+import tempfile
+import zlib
+from pathlib import Path
+
+import numpy as np
+
+HERE = Path(__file__).resolve().parent
+ROOT = HERE.parent
+REPO = ROOT.parent
+sys.path.insert(0, str(ROOT / "nodes"))
+sys.path.insert(0, str(ROOT / "tools"))
+
+import arena_display as AD  # noqa: E402
+import stimulus_core as SC  # noqa: E402
+from ufmf import UfmfReader  # noqa: E402
+
+failures = 0
+PAT_DIR = REPO / "protocols" / "g6_color_optomotor_test_patterns"
+VIOLET = "G6_2x10_toprow_grat20_violet"
+FIXTURE = HERE / "fixtures" / "okey_smoke_violet_cw.jsonl.gz"
+FIXTURE_PROTOCOLS = HERE / "fixtures" / "protocols-2026-10-14"
+
+
+def check(name: str, ok: bool, detail: str = "") -> None:
+    global failures
+    failures += not ok
+    print(f"{'PASS' if ok else 'FAIL'}  {name}" + (f"  ({detail})" if detail and not ok else ""))
+
+
+def skip(name: str, why: str) -> None:
+    print(f"SKIP  {name}  ({why})")
+
+
+def find_node() -> str | None:
+    n = shutil.which("node")
+    if n:
+        return n
+    for root in (REPO, *REPO.parents[:3]):
+        env = root / ".pixi" / "envs" / "default"
+        for cand in ((env / "node.exe", env / "bin" / "node.exe") if os.name == "nt" else (env / "bin" / "node",)):
+            if cand.exists():
+                return str(cand)
+    return None
+
+
+# ── 1. panel colors: the Python port == js/panel-color.js ─────────────────────
+node = find_node()
+if node is None:
+    skip("panel colors match js/panel-color.js", "no node: run `pixi install` at the repo root")
+else:
+    js = f"""
+const P = require({json.dumps(str(REPO / 'js' / 'panel-color.js'))});
+const out = {{flip: P.ROW_PARITY_FLIP, off: P.OFF_CSS, layouts: {{}}, channels: {{}}}};
+for (const k of P.layoutKeys()) {{
+  const cells = [];
+  for (let r = 0; r < 4; r++) for (let c = 0; c < 4; c++)
+    cells.push([P.bankAt(r, c), P.channelAt(k, r, c).id, P.pixelCss(k, r, c, 1), P.pixelCss(k, r, c, 7 / 15)]);
+  out.layouts[k] = {{banks: P.getLayout(k).banks, cells}};
+}}
+for (const [id, ch] of Object.entries(P.CHANNELS)) out.channels[id] = ch.rgb;
+console.log(JSON.stringify(out));
+"""
+    res = subprocess.run([node, "-e", js], capture_output=True, text=True, timeout=30)
+    if res.returncode != 0:
+        check("js/panel-color.js runs under node", False, res.stderr.strip()[-300:])
+    else:
+        ref = json.loads(res.stdout)
+        check("ROW_PARITY_FLIP equals the JS module's", ref["flip"] == AD.ROW_PARITY_FLIP, f"js {ref['flip']}")
+        check("the OFF color equals the JS OFF_CSS", ref["off"].lower() == "#%02x%02x%02x" % AD.OFF_RGB, ref["off"])
+        check("same layout keys", sorted(ref["layouts"]) == sorted(AD.LAYOUTS), f"js {sorted(ref['layouts'])}")
+        check("same channel colors", all(tuple(ref["channels"][k]) == AD.CHANNEL_RGB.get(k) for k in ref["channels"]),
+              json.dumps(ref["channels"]))
+        bad = []
+        for key, L in ref["layouts"].items():
+            if tuple(L["banks"]) != AD.LAYOUTS.get(key):
+                bad.append(f"{key} banks")
+                continue
+            for i, (bank, ch, full, seven) in enumerate(L["cells"]):
+                r, c = divmod(i, 4)
+                if bank != AD.bank_at(r, c):
+                    bad.append(f"{key} bank({r},{c})")
+                for value, gs, want in ((15, 16, full), (1, 2, full), (7, 16, seven)):
+                    fr = np.zeros((4, 4), dtype=np.uint8)
+                    fr[r, c] = value
+                    img = AD.render_frame(fr, gs, key, 255, 1)[::-1]  # back to host rows
+                    got = "rgb(%d,%d,%d)" % tuple(int(x) for x in img[r, c])
+                    if got != want:
+                        bad.append(f"{key} ({r},{c}) v{value}: {got} vs js {want}")
+        check("every cell of every layout: bank, color at full and at 7/15, GS2 and GS16", not bad, "; ".join(bad[:6]))
+
+# ── 2. the renderer ──────────────────────────────────────────────────────────
+fr = np.zeros((40, 200), dtype=np.uint8)
+fr[0, 0] = 15           # host row 0 = the BOTTOM, col 0 = left
+fr[39, 199] = 15        # the top right
+img = AD.render_frame(fr, 16, "four-color", 255, 2)
+check("image is (rows·scale, cols·scale, 3)", img.shape == (80, 400, 3), str(img.shape))
+check("host row 0 is drawn at the image bottom", tuple(img[79, 0]) == AD.CHANNEL_RGB["green"], f"{tuple(img[79, 0])}")
+check("the top-right LED at the image top right (bank T1 blue)", tuple(img[0, 399]) == AD.CHANNEL_RGB["blue"], f"{tuple(img[0, 399])}")
+check("an LED at 0 is drawn in the OFF color", tuple(img[40, 200]) == AD.OFF_RGB)
+half = AD.render_frame(fr, 16, "four-color", 128, 1)
+check("duty scales brightness (128/255)", tuple(half[39, 0]) == tuple(int(np.floor(v * 128 / 255 + 0.5)) for v in AD.CHANNEL_RGB["green"]),
+      f"{tuple(half[39, 0])}")
+mono = AD.render_frame(fr, 16, "g6-green", 255, 1)
+check("mono layout = the legacy green ramp (153, 255, 51)", tuple(mono[39, 0]) == (153, 255, 51), f"{tuple(mono[39, 0])}")
+check("dark + placeholder images have the arena's size", AD.render_dark(scale=4).shape == (160, 800, 3)
+      and AD.render_placeholder(scale=4).shape == (160, 800, 3))
+
+png = AD.png_bytes(img)
+w, h = struct.unpack(">II", png[16:24])
+idat = png[png.index(b"IDAT") + 4: png.index(b"IEND") - 8]
+raw = zlib.decompress(idat)
+rows = np.frombuffer(raw, dtype=np.uint8).reshape(h, 1 + w * 3)
+check("PNG: signature, IHDR size, filter bytes 0, pixels round-trip",
+      png[:8] == b"\x89PNG\r\n\x1a\n" and (w, h) == (400, 80) and not rows[:, 0].any()
+      and np.array_equal(rows[:, 1:].reshape(h, w, 3), img))
+
+pat = SC.PatternLibrary([REPO / "protocols"]).get(VIOLET)
+check("the violet pattern is found by name and has 20 frames", bool(pat) and pat["num_frames"] == 20)
+if pat:
+    lit = AD.render_frame(pat["frames"][0], pat["gs"], "four-color", 255, 1)
+    on = (lit != np.array(AD.OFF_RGB, dtype=np.uint8)).any(axis=2)
+    colors = {tuple(x) for x in lit[on]}
+    check("violet pattern: only violet LEDs, top panel row only", colors == {AD.CHANNEL_RGB["violet"]} and not on[20:].any(),
+          f"colors {colors}, bottom lit {on[20:].sum()}")
+
+# ── 3. stimulus_core: synthetic rows ─────────────────────────────────────────
+check("trialParams request decode (+80)", SC.parse_trial_params_req("0204005000000000") == (2, 4, 80, 0))
+check("trialParams request decode (−80, init 7)", SC.parse_trial_params_req("020400b0ff070000") == (2, 4, -80, 7))
+check("wrap_diff", SC.wrap_diff(19, 20) == -1 and SC.wrap_diff(-19, 20) == 1 and SC.wrap_diff(3, 20) == 3)
+
+tmp = Path(tempfile.mkdtemp(prefix="stim-test-"))
+(tmp / "pair.yaml").write_text(f"""version: 3
+conditions:
+  - name: "violet_pair"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - {{type: "controller", command_name: "trialParams", pattern: "{VIOLET}", pattern_ID: 1, duration: 2, mode: 2, frame_index: 0, frame_rate: 80, gain: 0, duty: 128}}
+      - {{type: "wait", duration: 2}}
+      - {{type: "controller", command_name: "trialParams", pattern: "{VIOLET}", pattern_ID: 1, duration: 2, mode: 2, frame_index: 0, frame_rate: -80, gain: 0, duty: 128}}
+      - {{type: "wait", duration: 2}}
+""", encoding="utf-8")
+
+
+def run_trial(tr, t0_us, host0_ms, fps, n_cf, latency_ms=1.0, batch=8, skip_at=None, req=None, pid=4):
+    """Controller rows for one mode-2 trial: the cc trialParams at t0, then n_cf frame changes,
+    drained in batches whose LAST row is `latency_ms` old when it arrives (as a real drain: the
+    newest row of a batch was recorded just before the read)."""
+    req = req or ("0204" + "00" + (fps & 0xFFFF).to_bytes(2, "little").hex() + "000000")
+    tr.feed({"type": "rows", "rows": [["cc", host0_ms + latency_ms, t0_us % SC.U32, 1, 8, 0, req]]}, host0_ms + latency_ms)
+    host_of = []
+    rows = []
+    for k in range(n_cf):
+        t = t0_us + 3000 + round(k * 1e6 / abs(fps))
+        idx = (k if fps > 0 else -k) % 20
+        if skip_at is not None and k >= skip_at:
+            idx = (idx + 3) % 20
+        h = host0_ms + (t - t0_us) / 1000.0
+        rows.append(["cf", 0, t % SC.U32, 100 + k, idx, pid, 160, 232, 600, 0, 3])
+        host_of.append(h)
+        if len(rows) == batch or k == n_cf - 1:
+            rx = h + latency_ms
+            for r in rows:
+                r[1] = rx
+            tr.feed({"type": "rows", "rows": rows}, rx)
+            rows = []
+    return host_of
+
+
+tr = SC.StimulusTracker(SC.PatternLibrary([REPO / "protocols"]), SC.ProtocolIndex([tmp]))
+check("never seen → WARN", tr.health(0)["level"] == SC.WARN)
+tr.feed({"type": "log", "event": "run_metadata", "protocol_filename": "pair.yaml", "telemetry": "ring-10hz", "run_id": "t1"}, 1000)
+tr.feed({"type": "log", "event": "runner", "phase": "sequence-start", "total": 3}, 1000)
+tr.feed({"type": "log", "event": "runner", "phase": "step-start", "index": 0, "condition": "violet_pair"}, 1001)
+h = tr.health(1500)
+check("run open, no telemetry yet → WARN", h["level"] == SC.WARN and "telemetry" in h["message"], h["message"])
+tr.feed({"type": "log", "event": "runner", "phase": "trial-running", "params": {"mode": 2, "patternId": 4, "frameRate": 80, "initPos": 0, "duty": 128},
+         "durationSec": 2, "condition": "violet_pair", "status": 0, "ok": True}, 2000)
+st = tr.stimulus()
+check("trial-running → pattern NAME from the protocol (1st trialParams), 20 frames, duty 128",
+      st["state"] == "trial" and st["pattern"] == VIOLET and st["n_frames"] == 20 and st["duty"] == 128 and st["pattern_found"], json.dumps(st))
+lags = []
+T0 = 5_000_000
+host = run_trial(tr, T0, 2000, 80, 160)
+check("CW: lag 0 on every displayed frame", tr.lag == 0, f"lag {tr.lag}")
+check("CW: display rate ≈ 80 Hz", abs(tr.rate_hz - 80) < 1.0, f"{tr.rate_hz}")
+e = [tr.expected_index(hh) for hh in host[-20:]]
+check("expected index at host time = the controller's frame (via the clock offset)", e == [k % 20 for k in range(140, 160)], f"{e[:6]}")
+h = tr.health(host[-1] + 60)
+check("CW: health OK, names the pattern, rate and lag", h["level"] == SC.OK and VIOLET in h["message"] and "lag +0" in h["message"], h["message"])
+# CCW straight after (no allOff in between: Grace's pair)
+tr.feed({"type": "log", "event": "runner", "phase": "trial-running", "params": {"mode": 2, "patternId": 4, "frameRate": -80, "initPos": 0, "duty": 128},
+         "durationSec": 2, "condition": "violet_pair", "status": 0, "ok": True}, 4000)
+check("CCW: the 2nd trialParams of the step → its pattern name", tr.stimulus()["pattern"] == VIOLET and tr.stimulus()["fps"] == -80)
+run_trial(tr, T0 + 2_000_000, 4000, -80, 160)
+check("CCW: lag 0 counting down", tr.lag == 0 and abs(tr.rate_hz - 80) < 1.0, f"lag {tr.lag} rate {tr.rate_hz}")
+# a frame stream 3 frames ahead of schedule
+run_trial(tr, T0 + 4_000_000, 6000, -80, 160, skip_at=100)
+h = tr.health(6000 + 2100)
+check("frames off schedule → lag −/+3 and WARN", abs(tr.lag) == 3 and h["level"] == SC.WARN and "off schedule" in h["message"], f"{tr.lag} {h['message']}")
+# u32 wrap of the controller clock mid-trial
+tr2 = SC.StimulusTracker(SC.PatternLibrary([REPO / "protocols"]), SC.ProtocolIndex([tmp]))
+tr2.feed({"type": "log", "event": "run_metadata", "protocol_filename": "pair.yaml", "telemetry": "ring-10hz"}, 1000)
+tr2.feed({"type": "log", "event": "runner", "phase": "step-start", "condition": "violet_pair"}, 1001)
+tr2.feed({"type": "log", "event": "runner", "phase": "trial-running", "params": {"mode": 2, "patternId": 4, "frameRate": 80, "initPos": 0, "duty": 255},
+          "condition": "violet_pair", "status": 0, "ok": True}, 2000)
+run_trial(tr2, SC.U32 - 1_000_000, 2000, 80, 200)
+check("controller clock wraps (u32 µs) mid-trial: lag stays 0, rate 80", tr2.lag == 0 and abs(tr2.rate_hz - 80) < 1.0, f"{tr2.lag} {tr2.rate_hz}")
+# routine refusal of a non-display command is NOT an error; a refused trialParams is
+tr2.feed({"type": "rows", "rows": [["cc", 4600, 1_700_000, 9, 0x84, 10, ""]]}, 4600)
+check("a refused SD/info command (0x84 status 10) is counted, not an ERROR", tr2.health(4600)["level"] != SC.ERROR and tr2.refused_other == 1)
+check("stale: no frames for > 2 s while a pattern plays → STALE", tr2.health(2000 + 2600 + 3000)["level"] == SC.STALE,
+      tr2.health(7600)["message"])
+tr2.feed({"type": "log", "event": "runner", "phase": "command", "op": "allOff", "condition": "dark"}, 8000)
+h = tr2.health(8001)
+check("allOff → dark, OK (no STALE in the dark)", tr2.state == "dark" and h["level"] == SC.OK and tr2.expected_index(8001) is None, h["message"])
+tr2.feed({"type": "rows", "rows": [["cs", 8100, 1_900_000, 10, 3, 2, 0]]}, 8100)
+check("an error glyph → ERROR", tr2.health(8101)["level"] == SC.ERROR)
+check("…for 10 s, then back to OK", tr2.health(8100 + 10_500)["level"] == SC.OK)
+tr2.feed({"type": "rows", "rows": [["cc", 20000, 2_000_000, 11, 8, 3, "0204005000000000"]]}, 20000)
+check("a refused trialParams → ERROR", tr2.health(20001)["level"] == SC.ERROR)
+
+# ── 4. stimulus_core on the REAL trial ───────────────────────────────────────
+if not FIXTURE.exists():
+    check("fixture present", False, str(FIXTURE))
+else:
+    recs = [json.loads(line) for line in gzip.open(FIXTURE, "rt")]
+    tr = SC.StimulusTracker(SC.PatternLibrary([REPO / "protocols"]), SC.ProtocolIndex([FIXTURE_PROTOCOLS]))
+    tr.frame_log = []
+    lags, levels, names, rate_end = [], set(), set(), None
+    for r in recs:
+        tr.feed_record(r)
+        if tr.state == "trial":
+            names.add(tr.stimulus()["pattern"])
+            levels.add(tr.health(r["rx_ms"])["level_name"])
+            if tr.rate_hz:
+                rate_end = tr.rate_hz
+        for t, idx, pid, lag in tr.frame_log:
+            if pid == 4 and lag is not None:
+                lags.append(lag)
+        tr.frame_log.clear()
+    check("real trial: pattern name resolved from the protocol", names == {VIOLET}, str(names))
+    check("real trial: ≥ 790 frames judged, every lag 0", len(lags) >= 790 and set(lags) == {0}, f"{len(lags)} frames, lags {sorted(set(lags))}")
+    check("real trial: display rate 80 Hz", rate_end is not None and abs(rate_end - 80) < 1.0, str(rate_end))
+    check("real trial: health never ERROR/STALE during the trial", not ({"ERROR", "STALE"} & levels), str(levels))
+    check("real trial: dark after the ITI's allOff", tr.state == "dark")
+
+# ── 5. (bias_health moved to rig-nodes: rig_nodes.bias_health, tests/test_pure.py there) ──
+
+# ── 6. tools/ufmf.py on a synthetic BIAS-layout movie ────────────────────────
+def write_ufmf(path: Path, frames, bg, indexed=True, torn=False) -> None:
+    """BIAS's VideoWriter_ufmf layout (version 4, MONO8, index_loc past the chunk id)."""
+    H, W = bg.shape
+    b = bytearray(b"ufmf" + struct.pack("<IQHHBB", 4, 0, W, H, 0, 5) + b"MONO8")
+    kf_locs, kf_ts, locs, ts = [len(b)], [0.0], [], []
+    b += bytes([0, 4]) + b"mean" + b"B" + struct.pack("<HHd", W, H, 0.0) + bg.tobytes()
+    for t, boxes in frames:
+        locs.append(len(b))
+        ts.append(t)
+        b += bytes([1]) + struct.pack("<dI", t, len(boxes))
+        for x, y, px in boxes:
+            b += struct.pack("<HHHH", x, y, px.shape[1], px.shape[0]) + px.tobytes()
+    if indexed:
+        b += bytes([2])
+        loc = len(b)
+
+        def arr(dt, a):
+            return b"a" + dt + struct.pack("<I", len(a)) + a
+
+        def key(k):
+            return struct.pack("<H", len(k)) + k
+
+        b += b"d" + bytes([2])
+        b += key(b"frame") + b"d" + bytes([2]) + key(b"loc") + arr(b"q", np.asarray(locs, "<u8").tobytes()) \
+            + key(b"timestamp") + arr(b"d", np.asarray(ts, "<f8").tobytes())
+        b += key(b"keyframe") + b"d" + bytes([1]) + key(b"mean") + b"d" + bytes([2]) \
+            + key(b"loc") + arr(b"q", np.asarray(kf_locs, "<u8").tobytes()) + key(b"timestamp") + arr(b"d", np.asarray(kf_ts, "<f8").tobytes())
+        b[8:16] = struct.pack("<Q", loc)
+    if torn:
+        b = b[:-7]
+    path.write_bytes(bytes(b))
+
+
+bg = np.full((30, 40), 50, dtype=np.uint8)
+frames = [(0.01 * i, [(i, 2, np.full((3, 4), 200 + i, dtype=np.uint8))]) for i in range(30)]
+for label, kw in (("indexed", {}), ("no index (BIAS killed)", {"indexed": False}), ("torn tail, no index", {"indexed": False, "torn": True})):
+    p = tmp / f"m_{label[:4]}.ufmf"
+    write_ufmf(p, frames, bg, **kw)
+    with UfmfReader(p) as u:
+        n_expect = 29 if kw.get("torn") else 30
+        t5, f5 = u.frame(5)
+        ok = (u.n_frames == n_expect and u.indexed == (not kw.get("indexed") is False) and (u.width, u.height) == (40, 30)
+              and abs(t5 - 0.05) < 1e-12 and f5[2:5, 5:9].min() == 205 and f5[0, 0] == 50 and f5[2, 4] == 50)
+        check(f"ufmf {label}: frames, timestamps, boxes pasted on the mean background", ok,
+              f"n {u.n_frames} indexed {u.indexed} t5 {t5}")
+
+# ── 7. foxglove_json.py --stimulus end to end on a small bag ─────────────────
+try:
+    from mcap.reader import make_reader
+    from mcap.writer import Writer
+
+    import foxglove_json as FJ
+
+    def cdr_string(text: str) -> bytes:
+        body = text.encode() + b"\x00"
+        data = b"\x00\x01\x00\x00" + struct.pack("<I", len(body)) + body
+        return data + b"\x00" * (-len(data) % 4)
+
+    recs = [json.loads(line) for line in gzip.open(FIXTURE, "rt")]
+    t0 = recs[0]["rx_ms"]
+    movie = tmp / "run_cam_0_v001.ufmf"
+    cam_frames = [(0.05 * i, [(0, 0, np.full((2, 2), i % 250, dtype=np.uint8))]) for i in range(int(13 / 0.05))]
+    write_ufmf(movie, cam_frames, bg)
+    bag = tmp / "run.mcap"
+    with open(bag, "wb") as f:
+        w = Writer(f)
+        w.start()
+        sid = w.register_schema("std_msgs/msg/String", "ros2msg", b"string data")
+        ch = {t: w.register_channel(t, "cdr", sid) for t in ("/arena/browser", "/bias/status", "/bias/reply")}
+        msgs = [("/arena/browser", r["rx_ms"], r) for r in recs]
+        for k in range(0, 13 * 5):  # BIAS status at 5 Hz, 25 fps, recording
+            ms = t0 + k * 200
+            msgs.append(("/bias/status", ms, {"reachable": True, "capturing": True, "logging": True, "frameCount": k * 5,
+                                              "framesPerSec": 25.0, "t_ms": ms, "rtt_ms": 0.6, "frameIdGaps": 0 if k < 30 else 2}))
+        # BIAS clock = bridge ms − (t0 + 1000): frame ts 0 s is at bridge t0 + 1 s
+        for k in range(1, 4):
+            ms = t0 + 1000 + k * 3000
+            msgs.append(("/bias/reply", ms, {"command": "getTimestamp", "ok": True, "value": k * 3.0, "t_ms": ms - 1, "rx_epoch_ms": ms + 1}))
+        msgs.append(("/bias/reply", t0 + 12500, {"command": "stopRecording", "ok": True, "artifact": {"kind": "video", "path": str(movie)}}))
+        for topic, ms, obj in sorted(msgs, key=lambda m: m[1]):
+            w.add_message(ch[topic], log_time=int(ms * 1e6), publish_time=int(ms * 1e6), data=cdr_string(json.dumps(obj)))
+        w.finish()
+    out = tmp / "run.foxglove.mcap"
+    rep = FJ.convert(bag, out, 9.0, False,
+                     {"patterns": [str(REPO / "protocols")], "protocols": [str(FIXTURE_PROTOCOLS)], "layout": "four-color", "display_hz": 10, "scale": 2},
+                     {"ufmf": "auto", "hz": 10, "factor": 1})
+    got: dict = {}
+    schema_of = {}
+    with open(out, "rb") as f:
+        for sch, chn, m in make_reader(f).iter_messages():
+            got.setdefault(chn.topic, []).append((m.log_time, json.loads(m.data)))
+            schema_of[chn.topic] = sch.name
+    topics = rep["topics"]
+    check("replay: /arena/display + _observed as foxglove.CompressedImage",
+          schema_of.get("/arena/display") == "foxglove.CompressedImage" and schema_of.get("/arena/display_observed") == "foxglove.CompressedImage"
+          and topics.get("/arena/display", 0) >= 90, json.dumps({k: v for k, v in topics.items() if "display" in k}))
+    lagv = [o["data"] for _, o in got.get("/viz/arena/lag_frames", [])]
+    check("replay: lag samples present, all 0", len(lagv) > 700 and set(lagv) == {0}, f"{len(lagv)} {sorted(set(lagv))[:5]}")
+    states = [o["data"] for _, o in got.get("/viz/arena/state", [])]
+    check("replay: state transitions dark → trial → dark", "trial" in states and states[-1] == "dark", str(states))
+    cam = got.get("/camera/image", [])
+    cam_rep = rep.get("dashboard", {}).get("camera", {})
+    first_ns = cam[0][0] if cam else None
+    check("replay: camera images from the run's uFMF (found via stopRecording), ~10 Hz",
+          schema_of.get("/camera/image") == "foxglove.CompressedImage" and 120 <= len(cam) <= 131, f"{len(cam)} {json.dumps(cam_rep)}")
+    check("replay: camera frame 0 placed on the bridge clock by the getTimestamp replies",
+          first_ns is not None and abs(first_ns / 1e6 - (t0 + 1000)) < 1.0, f"{first_ns and first_ns / 1e6 - t0}")
+    fpsc = [o["data"] for _, o in got.get("/viz/bias/fps_from_count", [])]
+    drops = [o["data"] for _, o in got.get("/viz/bias/drops", [])]
+    check("replay: BIAS fps_from_count ≈ 25 and drops 0 → 2", fpsc and abs(fpsc[-1] - 25.0) < 0.01 and drops[0] == 0 and drops[-1] == 2,
+          f"{fpsc[-1:] } {drops[:1]} {drops[-1:]}")
+except ImportError as exc:
+    skip("foxglove_json --stimulus end to end", f"{exc}")
+
+# ── 8. the layout references only topics something publishes ─────────────────
+layout = json.loads((ROOT / "foxglove" / "arena-okey-cokey.json").read_text(encoding="utf-8"))
+paths = []
+for cfg in layout["configById"].values():
+    for k in ("path", "topicPath", "topicToRender"):
+        if cfg.get(k):
+            paths.append(cfg[k])
+    for p in cfg.get("paths", []):
+        paths.append(p["value"])
+    if cfg.get("imageMode"):
+        paths.append(cfg["imageMode"]["imageTopic"])
+topics = {p.split(".")[0] for p in paths}
+known = {"/camera/image", "/arena/display", "/arena/display_observed", "/arena/stimulus", "/diagnostics", "/bias/reply"} \
+    | {f"/viz/arena/{k}" for k in ("expected_idx", "observed_idx", "display_rate_hz", "lag_frames", "cmd_fps", "ok", "state", "condition", "health")} \
+    | {f"/viz/bias/{k}" for k in ("fps", "fps_from_count", "frame_count", "drops", "rtt_ms", "log_queue", "reachable", "capturing", "logging", "state")}
+check("layout: every panel topic is one the nodes / the replay publish", topics <= known, str(sorted(topics - known)))
+
+shutil.rmtree(tmp, ignore_errors=True)
+print(f"\n{'PASS' if not failures else 'FAIL'}: {failures} failure(s)")
+sys.exit(1 if failures else 0)
diff --git a/rig/tests/test_stimulus_live.py b/rig/tests/test_stimulus_live.py
new file mode 100644
index 00000000..701cef03
--- /dev/null
+++ b/rig/tests/test_stimulus_live.py
@@ -0,0 +1,142 @@
+#!/usr/bin/env python3
+"""test_stimulus_live.py — the live dashboard path end to end: Studio WebSocket → bridge node →
+/arena/browser → stimulus_node → the topics foxglove/arena-okey-cokey.json shows.
+
+    pixi run test-stimulus-live            # ~25 s; needs ports 7447 + 8765 free (no rig running)
+
+Starts a Zenoh router, bridge_node.py and stimulus_node.py (four-color), then plays the REAL
+2026-10-14 smoke-run trial (tests/fixtures/okey_smoke_violet_cw.jsonl.gz: run metadata, runner
+events, ~800 controller telemetry rows) into the bridge's WebSocket at its recorded pace, as the
+Studio would, and listens with rclpy. Pass: the expected display is published as PNG images while
+the grating turns and dark after the allOff, the observed index follows, the lag is 0, the display
+rate reads 80 Hz, and the arena diagnostic is OK during the trial.
+"""
+
+from __future__ import annotations
+
+import asyncio
+import gzip
+import json
+import os
+import signal
+import subprocess
+import sys
+import tempfile
+import threading
+import time
+from pathlib import Path
+
+HERE = Path(__file__).resolve().parent
+ROOT = HERE.parent
+sys.path.insert(0, str(ROOT / "nodes"))
+from rig_nodes.supervise import popen_group, signal_group, wait_port  # noqa: E402  (reiserlab/rig-nodes)
+
+FIXTURE = HERE / "fixtures" / "okey_smoke_violet_cw.jsonl.gz"
+failures = 0
+
+
+def check(name: str, ok: bool, detail: str = "") -> None:
+    global failures
+    failures += not ok
+    print(f"{'PASS' if ok else 'FAIL'}  {name}" + (f"  ({detail})" if detail and not ok else ""), flush=True)
+
+
+async def play(records, url: str) -> None:
+    import websockets
+
+    async with websockets.connect(url, max_size=None) as ws:
+        await ws.send(json.dumps({"type": "hello", "client": "test_stimulus_live", "v": 1}))
+        t_first = records[0]["rx_ms"]
+        t_start = time.monotonic()
+        for r in records:
+            due = (r["rx_ms"] - t_first) / 1000.0
+            wait = due - (time.monotonic() - t_start)
+            if wait > 0:
+                await asyncio.sleep(wait)
+            await ws.send(r["raw"])
+        await asyncio.sleep(1.5)
+
+
+def main() -> int:
+    from rig_nodes import zenoh  # the loopback-only configs ship in the installed package (rig/config/ is gone)
+
+    env = dict(os.environ, ZENOH_ROUTER_CONFIG_URI=str(zenoh.ROUTER_CONFIG), ZENOH_SESSION_CONFIG_URI=str(zenoh.SESSION_CONFIG),
+               RMW_IMPLEMENTATION=os.environ.get("RMW_IMPLEMENTATION", "rmw_zenoh_cpp"), ZENOH_ROUTER_CHECK_ATTEMPTS="0")
+    os.environ.update(env)
+    if wait_port("127.0.0.1", 8765, 0.2) or wait_port("127.0.0.1", 7447, 0.2):
+        print("FAIL  ports 7447/8765 are in use — stop the rig (or bridge 3.4) first")
+        return 2
+    logdir = Path(tempfile.gettempdir()) / f"stimulus-live-{os.getpid()}"
+    logdir.mkdir(parents=True, exist_ok=True)
+    procs = []
+
+    def start(name, argv):
+        fh = open(logdir / f"{name}.log", "w")
+        p = popen_group(argv, stdout=fh, stderr=subprocess.STDOUT)
+        procs.append((name, p, fh))
+        return p
+
+    py = sys.executable
+    records = [json.loads(line) for line in gzip.open(FIXTURE, "rt")]
+    got = {"display": [], "observed": [], "obs_idx": [], "lag": [], "rate": [], "diag": [], "state": []}
+    try:
+        start("router", ["ros2", "run", "rmw_zenoh_cpp", "rmw_zenohd"])
+        check("zenoh router up", wait_port("127.0.0.1", 7447, 20.0))
+        start("bridge", [py, str(ROOT / "nodes" / "bridge_node.py"), "--log-dir", str(logdir / "runlogs")])
+        start("stimulus", [py, str(ROOT / "nodes" / "stimulus_node.py"), "--panel-layout", "four-color",
+                           "--protocol-dir", str(HERE / "fixtures" / "protocols-2026-10-14")])
+        check("bridge node serving ws://127.0.0.1:8765", wait_port("127.0.0.1", 8765, 20.0))
+
+        import rclpy
+        from diagnostic_msgs.msg import DiagnosticArray
+        from rclpy.node import Node
+        from sensor_msgs.msg import CompressedImage
+        from std_msgs.msg import Float64, String
+
+        rclpy.init()
+        n = Node("stimulus_live_test")
+        n.create_subscription(CompressedImage, "/arena/display", lambda m: got["display"].append((time.monotonic(), m.format, bytes(m.data[:8]), len(m.data))), 50)
+        n.create_subscription(CompressedImage, "/arena/display_observed", lambda m: got["observed"].append(time.monotonic()), 50)
+        n.create_subscription(Float64, "/viz/arena/observed_idx", lambda m: got["obs_idx"].append(m.data), 50)
+        n.create_subscription(Float64, "/viz/arena/lag_frames", lambda m: got["lag"].append(m.data), 50)
+        n.create_subscription(Float64, "/viz/arena/display_rate_hz", lambda m: got["rate"].append(m.data), 50)
+        n.create_subscription(String, "/viz/arena/state", lambda m: got["state"].append(m.data), 50)
+        n.create_subscription(DiagnosticArray, "/diagnostics",
+                              lambda m: got["diag"].extend((s.name, s.level[0] if isinstance(s.level, bytes) else s.level, s.message) for s in m.status), 50)
+        stop = threading.Event()
+        th = threading.Thread(target=lambda: [rclpy.spin_once(n, timeout_sec=0.05) for _ in iter(stop.is_set, True)], daemon=True)
+        th.start()
+        time.sleep(3.0)  # discovery through the router
+        t_play = time.monotonic()
+        asyncio.run(play(records, "ws://127.0.0.1:8765"))
+        stop.set()
+        th.join(timeout=2.0)
+
+        disp = [d for d in got["display"] if d[0] >= t_play]
+        check("expected display published as PNG while the grating turns (≥ 100 images)",
+              len(disp) >= 100 and all(f == "png" and head == b"\x89PNG\r\n\x1a\n" for _, f, head, _ in disp), f"{len(disp)} images")
+        check("observed display published (≥ 30 images)", len(got["observed"]) >= 30, str(len(got["observed"])))
+        check("observed index follows the 20-frame grating", len(set(int(x) for x in got["obs_idx"])) == 20, str(sorted(set(got["obs_idx"]))[:25]))
+        check("lag 0 frames throughout", got["lag"] and set(got["lag"]) == {0.0}, str(sorted(set(got["lag"]))))
+        check("display rate reads 80 Hz during the trial", any(abs(r - 80) < 1.0 for r in got["rate"]), str(got["rate"][-12:]))
+        arena = [(lvl, msg) for name, lvl, msg in got["diag"] if name == "arena/display"]
+        trial_ok = [m for lvl, m in arena if lvl == 0 and "G6_2x10_toprow_grat20_violet" in m]
+        check("arena diagnostic OK naming the pattern during the trial", bool(trial_ok), str(arena[-6:]))
+        check("no ERROR/STALE arena diagnostic", all(lvl not in (2, 3) for lvl, _ in arena), str([a for a in arena if a[0] in (2, 3)][:3]))
+        check("state goes trial → dark", "trial" in got["state"] and got["state"][-1] == "dark", str(got["state"][-5:]))
+        n.destroy_node()
+        rclpy.shutdown()
+    finally:
+        for name, p, fh in reversed(procs):
+            try:
+                signal_group(p, signal.SIGINT)
+                p.wait(timeout=5)
+            except Exception:
+                p.kill()
+            fh.close()
+    print(f"\n{'PASS' if not failures else 'FAIL'}: {failures} failure(s)   (logs: {logdir})")
+    return 1 if failures else 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/rig/tests/test_tiff2mcap_runlog.py b/rig/tests/test_tiff2mcap_runlog.py
deleted file mode 100644
index 9dbc2677..00000000
--- a/rig/tests/test_tiff2mcap_runlog.py
+++ /dev/null
@@ -1,114 +0,0 @@
-#!/usr/bin/env python3
-"""test_tiff2mcap_runlog.py — the run-log side of tools/tiff_run_to_mcap.py on a synthetic log (no TIFFs).
-
-    pixi run python tests/test_tiff2mcap_runlog.py
-
-load_runlog (trialParams paired with their send times, allOff from the compact `a` rows, connector records),
-controller_clock (controller t_us → PC ms from the executed trialParams) and runlog_timeline (the first
-displayed frame per step, the allOff after the last step), plus the fallbacks when the log can't support them.
-"""
-from __future__ import annotations
-
-import json
-import sys
-import tempfile
-from pathlib import Path
-
-sys.path.insert(0, str(Path(__file__).resolve().parents[1] / "tools"))
-from tiff_run_to_mcap import controller_clock, load_runlog, runlog_timeline  # noqa: E402
-
-failures = 0
-
-
-def check(name: str, ok: bool, detail: str = "") -> None:
-    global failures
-    failures += not ok
-    print(f"{'PASS' if ok else 'FAIL'}  {name}" + (f"  ({detail})" if detail and not ok else ""))
-
-
-T0 = 1_792_000_000_000.0          # logging start, PC ms
-RATE = 1.00005                    # controller clock runs 50 ppm fast
-OFF_US = 7_000_000.0              # controller t_us at PC T0
-LAT_MS = 5.0                      # trialParams → first displayed frame
-
-
-def ctrl_us(pc_ms: float) -> float:
-    return OFF_US + (pc_ms - T0) * 1e3 * RATE
-
-
-def make_log(sends_ok: bool = True, with_cc: bool = True) -> list:
-    rows = [{"type": "session", "event": "logging_started", "ms": T0}]
-    rows.append(["a", 3, 7, "0100", 0, 11])                                      # pre_blank allOff
-    trials = [("violet", 7, 7, 1000.0), ("violet", 255, 7, 5000.0), ("blue", 7, 3, 20000.0), ("blue", 15, 3, 24000.0)]
-    for cond_color, duty, pid, t in trials:
-        send = T0 + t
-        rows.append({"type": "log", "event": "runner", "phase": "trial-running", "condition": f"{cond_color}_d{duty}",
-                     "params": {"mode": 2, "patternId": pid, "frameRate": 20, "duty": duty}, "rx_ms": send + 7})
-        if sends_ok:
-            rows.append({"type": "log", "event": "arena_command", "t": send, "head": "0d 08 02 …"})
-        if with_cc:
-            rows.append(["cc", send + 4, ctrl_us(send), 1, 8, 0, ""])
-            for k in range(3):                                                    # three displayed frames, 50 ms apart
-                rows.append(["cf", send + 4, ctrl_us(send + LAT_MS + 50 * k), 2, k, pid, 600, 776, 3000, 0, 3])
-    rows.append(["a", 9000, 6, "0100", 0, 9006])                                 # violet allOff (t_off from T0)
-    rows.append(["a", 28000, 6, "0100", 0, 28006])                               # blue allOff
-    for cond in ("pre_blank", "violet_d255", "blue_d15"):
-        rows.append({"type": "log", "event": "runner", "phase": "command", "op": "allOff", "condition": cond, "rx_ms": T0})
-    rows.append({"type": "connector", "kind": "command", "ms": 11, "command": "set", "params": {"property": "x", "value": 1}})
-    rows.append({"type": "connector", "kind": "reply", "rx_epoch_ms": T0 + 300, "command": "set", "outcome": "ok", "rtt_ms": 289, "value": 1})
-    rows.append({"type": "connector", "kind": "status", "ms": 500})              # status polls are not events
-    return rows
-
-
-def write(rows: list) -> Path:
-    f = tempfile.NamedTemporaryFile("w", suffix=".jsonl", delete=False, encoding="utf-8")
-    for r in rows:
-        f.write(json.dumps(r) + "\n")
-    f.close()
-    return Path(f.name)
-
-
-# 1. a complete log
-log = load_runlog(write(make_log()))
-check("4 trials, colors and duties from the condition names", [(t["color"], t["duty"]) for t in log["trials"]]
-      == [("violet", 7), ("violet", 255), ("blue", 7), ("blue", 15)])
-check("trialParams paired with arena_command send times", log["sends_paired"] and log["trials"][0]["t_cmd_ms"] == T0 + 1000)
-check("allOff from the `a` rows (send time = logging start + t_off)", log["all_off"] == [T0 + 3, T0 + 9000, T0 + 28000]
-      and log["all_off_source"].startswith("a rows"), str(log["all_off"]))
-check("connector: command at start + ms, reply at rx_epoch_ms, status ignored",
-      [(c["kind"], c["t_ms"]) for c in log["connector"]] == [("command", T0 + 11), ("reply", T0 + 300)])
-
-to_pc, info = controller_clock(log)
-check("controller clock fit recovers the rate", to_pc is not None and abs(info["ppm"] - (1 / RATE - 1) * 1e6) < 0.5, json.dumps(info))
-check("controller clock maps back to PC within 1 µs", abs(to_pc(ctrl_us(T0 + 12345.0)) - (T0 + 12345.0)) < 1e-3)
-
-tl = runlog_timeline(log, "violet", to_pc)
-check("violet: 2 steps, first displayed frame = send + latency", len(tl["steps"]) == 2
-      and abs(tl["steps"][0]["t_disp_ms"] - (T0 + 1000 + LAT_MS)) < 1e-3, str([s["t_disp_ms"] - T0 for s in tl["steps"]]))
-check("violet: displayed frames carry their own times and indices", [f[1] for f in tl["steps"][1]["frames"]] == [0, 1, 2]
-      and abs(tl["steps"][1]["frames"][2][0] - (T0 + 5000 + LAT_MS + 100)) < 1e-3)
-check("violet: allOff = the first allOff after the last step", tl["t_off_ms"] == T0 + 9000)
-check("violet: display latency is the median send→frame time", abs(tl["display_latency_ms"] - LAT_MS) < 1e-3)
-check("blue frames don't leak into violet steps", all(f[2] == 7 for s in tl["steps"] for f in s["frames"]))
-check("a color with no trials → None", runlog_timeline(log, "green", to_pc) is None)
-
-# 2. a duty that disagrees with the condition name is flagged
-rows = make_log()
-next(r for r in rows if isinstance(r, dict) and r.get("phase") == "trial-running")["params"]["duty"] = 9
-check("duty ≠ condition name is flagged", not load_runlog(write(rows))["trials"][0]["duty_matches_condition"])
-
-# 3. no arena_command lines → send times fall back to the runner's receive time, no clock map
-log2 = load_runlog(write(make_log(sends_ok=False)))
-fn, why = controller_clock(log2)
-check("unpaired sends: t_cmd = runner rx_ms", not log2["sends_paired"] and log2["trials"][0]["t_cmd_ms"] == T0 + 1007)
-check("unpaired sends: no controller clock map, with a reason", fn is None and "paired False" in why, why)
-tl2 = runlog_timeline(log2, "violet", fn)
-check("no clock map: t_disp = send time, labelled so", tl2["steps"][0]["t_disp_ms"] == T0 + 1007
-      and tl2["steps"][0]["t_disp_source"] == "trialParams send time" and not tl2["steps"][0]["frames"])
-
-# 4. no controller telemetry
-log3 = load_runlog(write(make_log(with_cc=False)))
-check("no cc rows: no controller clock map", controller_clock(log3)[0] is None)
-
-print(f"\n{'ALL PASS' if not failures else f'{failures} FAILED'}")
-sys.exit(1 if failures else 0)
diff --git a/rig/tools/bias-ufmf.ps1 b/rig/tools/bias-ufmf.ps1
new file mode 100644
index 00000000..ede22502
--- /dev/null
+++ b/rig/tools/bias-ufmf.ps1
@@ -0,0 +1,41 @@
+# bias-ufmf.ps1 — put a running BIAS (external control on -Port) on ufmf logging into -VideoDir.
+#
+#   powershell -ExecutionPolicy Bypass -File tools\bias-ufmf.ps1 -VideoDir C:\rec\okey-cokey
+#
+# Run it after EVERY BIAS start: BIAS v0.73.1 (Spinnaker) comes up with its built-in defaults (jpg →
+# %USERPROFILE%\Videos), and it rejects set-/load-configuration with "Unable to revert to previous
+# configuration" until the camera has captured once (ww14 2026-10-22). So: connect, capture 2 s,
+# stop, then load -Config with logging.format/directory overridden. The camera settings come from
+# -Config, so pass one made for THIS camera (config/bias/), or omit it to keep BIAS's current camera
+# settings and change only the logging block.
+param(
+    [string]$VideoDir = 'C:\rec\okey-cokey',
+    [string]$Config = '',
+    [int]$Port = 5010
+)
+$ErrorActionPreference = 'Stop'
+$bias = "http://127.0.0.1:$Port/"
+function Bias([string]$cmd) {
+    $r = curl.exe -s -m 15 "$bias`?$cmd"
+    if (-not $r) { throw "no reply from BIAS on port $Port (is it running with the external-control server on?)" }
+    ($r | ConvertFrom-Json)[0]
+}
+
+New-Item -ItemType Directory -Force $VideoDir | Out-Null
+[void](Bias 'connect')
+[void](Bias 'start-capture')
+Start-Sleep -Seconds 2
+[void](Bias 'stop-capture')
+Start-Sleep -Seconds 1
+
+$cfg = if ($Config) { Get-Content $Config -Raw | ConvertFrom-Json } else { (Bias 'get-configuration').value }
+$cfg.logging.format = 'ufmf'
+$cfg.logging.directory = ($VideoDir -replace '\\', '/')
+$tmp = Join-Path $env:TEMP 'bias-ufmf-config.json'
+$cfg | ConvertTo-Json -Depth 10 | Out-File -Encoding ascii $tmp
+$r = Bias "load-configuration=$([uri]::EscapeDataString($tmp))"
+if (-not $r.success) { throw "load-configuration failed: $($r.message)" }
+
+$log = (Bias 'get-configuration').value.logging
+"BIAS logging: $($log.format) -> $($log.directory)"
+if ($log.format -ne 'ufmf') { exit 1 }
diff --git a/rig/tools/check_tiff2mcap.py b/rig/tools/check_tiff2mcap.py
deleted file mode 100644
index 4259fc70..00000000
--- a/rig/tools/check_tiff2mcap.py
+++ /dev/null
@@ -1,104 +0,0 @@
-#!/usr/bin/env python3
-"""check_tiff2mcap.py — check a tiff2mcap MCAP built with --runlog against that run log.
-
-    pixi run python tools/check_tiff2mcap.py <run.mcap> <arena-log-….jsonl>
-
-PASS/FAIL per check, exit 1 on any failure:
-  1. every /arena/stimulus step marker sits at its logged trialParams send time (±1 ms) and says "commanded"
-  2. /run/events carries every ScanImage connector command and reply from the log
-  3. /arena/display has one message per displayed-frame record of the controller, in time order
-  4. per color: the TIFF anchor's end check (last DO1 vs allOff + latency) is within ±5 ms
-  5. per color, at the d255 step: the qc Δmean jump (the channel that moves most) falls within one imaging
-     frame of the observed display_start (SKIP when the step is below 5× the spread of the pre-step level, e.g. blue)
-"""
-from __future__ import annotations
-
-import json
-import sys
-from pathlib import Path
-
-import numpy as np
-
-sys.path.insert(0, str(Path(__file__).resolve().parent))
-from tiff_run_to_mcap import COLORS, load_runlog  # noqa: E402
-
-failures = 0
-
-
-def check(name: str, ok: bool, detail: str = "") -> None:
-    global failures
-    failures += not ok
-    print(f"{'PASS' if ok else 'FAIL'}  {name}" + (f"  ({detail})" if detail else ""))
-
-
-def main(mcap_path: str, runlog_path: str) -> int:
-    from mcap.reader import make_reader
-
-    log = load_runlog(Path(runlog_path))
-    topics = {"/arena/stimulus": [], "/run/events": [], "/arena/display": [], "/scanimage/qc": [], "/run/provenance": []}
-    with open(mcap_path, "rb") as f:
-        for _, ch, m in make_reader(f).iter_messages(topics=list(topics)):
-            topics[ch.topic].append((m.log_time / 1e6, json.loads(m.data) if ch.topic != "/arena/display" else None))
-    prov = topics["/run/provenance"][0][1]
-
-    on = sorted((t, o) for t, o in topics["/arena/stimulus"] if o["on"])
-    sends = np.array([t["t_cmd_ms"] for t in log["trials"]])
-    d = np.array([t for t, _ in on]) - sends if len(on) == len(sends) else np.array([np.inf])
-    check("stimulus markers at logged trialParams send times (±1 ms)", len(on) == len(sends) and np.abs(d).max() <= 1.0,
-          f"{len(on)} markers vs {len(sends)} logged; max |Δ| {np.abs(d).max():.3f} ms")
-    check("stimulus markers labelled commanded", all(o["source"].startswith("commanded") for _, o in on),
-          ", ".join(sorted({o["source"] for _, o in on})))
-
-    ev = [o for _, o in topics["/run/events"]]
-    n_cmd = sum(c["kind"] == "command" for c in log["connector"])
-    n_rep = sum(c["kind"] == "reply" for c in log["connector"])
-    got_cmd = sum(o["event"] == "scanimage_command" for o in ev)
-    got_rep = sum(o["event"] == "scanimage_reply" for o in ev)
-    check("ScanImage commands + replies in /run/events", (got_cmd, got_rep) == (n_cmd, n_rep),
-          f"{got_cmd}/{n_cmd} commands, {got_rep}/{n_rep} replies")
-
-    disp_t = np.array([t for t, _ in topics["/arena/display"]])
-    n_off = sum(o["event"] == "allOff" for o in ev)
-    check("one /arena/display message per controller frame record (+ one dark frame per allOff)",
-          len(disp_t) == len(log["cf"]) + n_off, f"{len(disp_t)} messages, {len(log['cf'])} cf rows + {n_off} allOff")
-
-    for c, an in prov.get("anchors", {}).items():
-        ec = an["end_check_ms"]
-        check(f"{c}: anchor end check within ±5 ms", ec is not None and abs(ec) <= 5.0,
-              f"{ec:+.2f} ms; epoch correction {an['epoch_correction_ms']:+.1f} ms")
-
-    starts = {(o["color"], o["detail"].split(":")[0]): t for t, o in topics["/run/events"] if o["event"] == "display_start"}
-    for c in COLORS:
-        t_disp = starts.get((c, "duty 255"))
-        q = [(t, o) for t, o in topics["/scanimage/qc"] if o["color"] == c]
-        if t_disp is None or not q:
-            check(f"{c}: qc jump at d255 within one imaging frame of display_start", False, "no display_start or qc")
-            continue
-        tq = np.array([t for t, _ in q])
-        frame_ms = float(np.median(np.diff(tq)))
-        keys = [k for k in q[0][1] if k.startswith("dmean_ch")]
-        best = None
-        for k in keys:
-            y = np.array([o[k] for _, o in q])
-            pre = y[(tq > t_disp - 1000) & (tq < t_disp - 2 * frame_ms)].mean()
-            post = y[(tq > t_disp + 300) & (tq < t_disp + 1300)].mean()
-            if best is None or abs(post - pre) > abs(best[1] - best[0]):
-                best = (pre, post, y, k)
-        pre, post, y, k = best
-        noise = float(np.std(y[(tq > t_disp - 1000) & (tq < t_disp - 2 * frame_ms)]))  # includes slow baseline drift
-        if abs(post - pre) < 5 * noise:
-            print(f"SKIP  {c}: qc jump at d255 — step {post - pre:+.0f} ADU is below 5× the pre-step spread ({noise:.1f} ADU)")
-            continue
-        idx = np.where((tq > t_disp - 500) & (np.sign(post - pre) * (y - (pre + 0.5 * (post - pre))) > 0))[0]
-        dt = tq[idx[0]] - t_disp if len(idx) else np.inf
-        check(f"{c}: qc jump at d255 within one imaging frame of display_start", -frame_ms <= dt <= frame_ms,
-              f"{k} half-way at {dt:+.1f} ms (frame {frame_ms:.1f} ms, step {post - pre:+.0f} ADU)")
-
-    print(f"\n{'ALL PASS' if not failures else f'{failures} FAILED'}")
-    return 1 if failures else 0
-
-
-if __name__ == "__main__":
-    if len(sys.argv) != 3:
-        raise SystemExit(__doc__)
-    raise SystemExit(main(sys.argv[1], sys.argv[2]))
diff --git a/rig/tools/okey-cokey-start.ps1 b/rig/tools/okey-cokey-start.ps1
new file mode 100644
index 00000000..eed27629
--- /dev/null
+++ b/rig/tools/okey-cokey-start.ps1
@@ -0,0 +1,83 @@
+# okey-cokey-start.ps1 — start the okey-cokey rig stack so nothing that launched it can stop it.
+#
+#   powershell -ExecutionPolicy Bypass -File tools\okey-cokey-start.ps1
+#   powershell -ExecutionPolicy Bypass -File tools\okey-cokey-start.ps1 -Protocol g6_color_optomotor_smoke
+#
+# Starts BIAS (unless it already answers on 5010), puts it on ufmf (tools\bias-ufmf.ps1), then opens
+# two PowerShell consoles, the rig ("okey-cokey RIG") and the Studio page server ("okey-cokey STUDIO
+# SERVER :8092"), and the Studio in Chrome. On ww14 (Windows 11, Windows Terminal as the default
+# terminal) the two consoles open as TABS of one Windows Terminal window, not as separate windows.
+# Stop the rig with Ctrl-C in ITS tab (the bag closes cleanly); close the server tab when done.
+#
+# Why WMI (Win32_Process.Create) and not Start-Process: on ww14 (2026-10-22) the Claude desktop app
+# restarted itself 9 min into a full run, and BIAS, the rig and the server, all started from a Claude
+# session, died with it. Processes created through WMI are children of WmiPrvSE, not of the caller, so
+# closing the launching terminal or app leaves them running.
+param(
+    [string]$Bias = 'C:\Users\labadmin\Documents\FlyBowl1Rig\BIAS_exe_spinnaker_win64_v0_73_1\v0.73.1\test_gui.exe',
+    [string]$VideoDir = 'C:\rec\okey-cokey',
+    [string]$BiasConfig = 'config\bias\okey-cokey-bfs-u3-51s5m.json',
+    [string]$Protocol = 'g6_color_optomotor_test',
+    [string]$Rig = 'cshl_g6_2x10',
+    [int]$StudioPort = 8092
+)
+$ErrorActionPreference = 'Stop'
+$poc = Split-Path $PSScriptRoot -Parent          # rig
+$repo = Split-Path $poc -Parent                  # webDisplayTools
+
+function Detached([string]$cmdLine, [string]$dir) {
+    $r = Invoke-CimMethod -ClassName Win32_Process -MethodName Create `
+        -Arguments @{ CommandLine = $cmdLine; CurrentDirectory = $dir }
+    if ($r.ReturnValue -ne 0) { throw "Win32_Process.Create failed ($($r.ReturnValue)): $cmdLine" }
+    $r.ProcessId
+}
+function Listening([int]$port) {
+    [bool](Get-NetTCPConnection -State Listen -LocalPort $port -ErrorAction SilentlyContinue)
+}
+function WaitFor([int[]]$ports, [int]$seconds, [string]$what) {
+    for ($i = 0; $i -lt $seconds; $i++) {
+        if (-not ($ports | Where-Object { -not (Listening $_) })) { return }
+        Start-Sleep -Seconds 1
+    }
+    throw "$what not listening on $($ports -join ', ') after $seconds s"
+}
+function Encoded([string]$s) { [Convert]::ToBase64String([Text.Encoding]::Unicode.GetBytes($s)) }
+
+# 1. BIAS
+if (Listening 5010) {
+    Write-Host 'BIAS: already answering on 5010'
+} else {
+    if (-not (Test-Path $Bias)) { throw "BIAS not found: $Bias" }
+    $id = Detached "`"$Bias`"" (Split-Path $Bias)
+    WaitFor @(5010) 30 'BIAS'
+    Write-Host "BIAS: started (pid $id)"
+}
+& powershell -ExecutionPolicy Bypass -File (Join-Path $PSScriptRoot 'bias-ufmf.ps1') `
+    -VideoDir $VideoDir -Config (Join-Path $poc $BiasConfig)
+if ($LASTEXITCODE) { throw 'bias-ufmf.ps1 failed' }
+
+# 2. Rig and Studio server, each in its own window (-EncodedCommand avoids nested quoting).
+$rigCmd = @"
+`$Host.UI.RawUI.WindowTitle = 'okey-cokey RIG (Ctrl-C to stop)'
+Set-Location '$poc'
+pixi run rig -- --no-fictrac --bias --bias-args "--video-dir $VideoDir" --foxglove --viz-args "--sources bias" --stimulus-args "--panel-layout four-color"
+"@
+$srvCmd = @"
+`$Host.UI.RawUI.WindowTitle = 'okey-cokey STUDIO SERVER :$StudioPort'
+Set-Location '$repo'
+pixi run python .claude\nocache-server.py $StudioPort
+"@
+if (Listening 8765) { Write-Host 'rig: 8765 already in use, not starting a second rig' }
+else { [void](Detached "powershell.exe -NoExit -ExecutionPolicy Bypass -EncodedCommand $(Encoded $rigCmd)" $poc) }
+if (Listening $StudioPort) { Write-Host "server: $StudioPort already in use, not starting another" }
+else { [void](Detached "powershell.exe -NoExit -ExecutionPolicy Bypass -EncodedCommand $(Encoded $srvCmd)" $repo) }
+WaitFor @(7447, 8765, 8766, $StudioPort) 90 'rig / Studio server'
+Write-Host "up: BIAS 5010, zenoh 7447, Studio bridge 8765, Foxglove 8766, Studio page $StudioPort"
+Write-Host 'The rig and the server run in two tabs of a Windows Terminal window (or two console windows).'
+Write-Host 'To stop: Ctrl-C in the "okey-cokey RIG" tab, then close the "okey-cokey STUDIO SERVER" tab.'
+
+# 3. Studio
+$url = "http://localhost:$StudioPort/arena_studio.html?p=$Protocol&rig=$Rig&mode=run"
+Start-Process chrome $url
+Write-Host "Studio: $url"
+Write-Host 'Pick the controller by the name G6_Arena in the port picker (its COM number has changed).'
diff --git a/rig/tools/tiff_run_to_mcap.py b/rig/tools/tiff_run_to_mcap.py
deleted file mode 100644
index 9bf6ce3a..00000000
--- a/rig/tools/tiff_run_to_mcap.py
+++ /dev/null
@@ -1,627 +0,0 @@
-#!/usr/bin/env python3
-"""tiff_run_to_mcap.py — an after-the-fact Foxglove MCAP for a 2P color-sweep run (ScanImage TIFFs + arena patterns).
-
-    pixi run tiff2mcap -- --tiff-dir <dir> --counter 3 --pat-dir ../protocols/g6_2p_color_led_sweep_patterns \\
-        --out oct16_color_sweep.mcap --layout-out foxglove-oct16.json [--runlog arena-log-….jsonl]
-
-Pure Python (numpy + the `mcap` package; no ROS process). What goes in, and what each topic IS:
-
-  /scanimage/preview/ch<id>   foxglove.CompressedImage (PNG)   OBSERVED   each frame downsampled 2×2, one fixed
-                                                                           int16→8-bit window per channel (recorded)
-  /scanimage/frame_ref        JSON                              OBSERVED   frame number, channel ids, TIFF path + pages,
-                                                                           frameTimestamps_sec, epoch, DO1 pulses in the frame
-  /scanimage/qc               JSON                              DERIVED    whole-field mean per channel, minus the pre-stimulus
-                                                                           baseline of that file
-  /arena/stimulus             JSON                              COMMANDED (--runlog: each trialParams at its logged send
-                                                                           time) or RECONSTRUCTED (first DO1 pulse + nominal step
-                                                                           lengths): color, duty, pattern, fps, step
-  /arena/display              foxglove.CompressedImage (PNG)    OBSERVED (--runlog with controller telemetry: every frame
-                                                                           the controller reports displaying, at its own time) or
-                                                                           RECONSTRUCTED (.pat × duty × LED color at the protocol's
-                                                                           fps, frame 0 at each step)
-  /arena/scene                foxglove.SceneUpdate              DERIVED from /arena/display: 20 panel cubes on the arena
-                                                                           cylinder, colored by LED color × lit fraction × duty
-  /run/events                 JSON                              acquisition start/end per color (TIFF), step edges, allOff,
-                                                                           and with --runlog every ScanImage connector command + reply
-  /run/provenance             JSON (one message)                           how every topic was made, the clock used, the gaps
-
-Clock without a run log: TIFF `epoch` (PC local time) + `frameTimestamps_sec`, converted with
---utc-offset-h (EDT = -4). The stimulus timeline is placed on that clock through the DO1 pulses ScanImage
-stamped into the frames (aux trigger 0): the first pulse is the first trialParams, and the step edges are
-the protocol's nominal lengths (labelled RECONSTRUCTED).
-
-Clock with --runlog: the run log's PC clock (Unix epoch). The ScanImage `epoch` field is NOT used for
-placement: on 2026-10-16 it ran 0.53–0.67 s ahead of the first frame (different per grab; on the epoch
-clock the first DO1 pulse lands before the trialParams that caused it). Intervals inside a TIFF are exact
-(DO1 span = the logged trialParams→allOff time within 1–3 ms), so each TIFF is anchored by one point: its
-first DO1 pulse = the controller's first displayed frame after that color's first trialParams (controller
-time mapped to the PC clock by a linear fit of the trialParams it executed against their logged send
-times; without controller telemetry, the trialParams send time). The per-file correction to the epoch
-clock is in /run/provenance. The pixels are what ScanImage recorded; nothing here proves the light that
-reached the detectors — the qc trace does.
-"""
-
-from __future__ import annotations
-
-import argparse
-import base64
-import datetime as dt
-import json
-import re
-import struct
-import sys
-import zlib
-from pathlib import Path
-
-import numpy as np
-
-HERE = Path(__file__).resolve().parent
-sys.path.insert(0, str(HERE))
-sys.path.insert(0, str(HERE.parents[1] / "tools"))  # led_sweep_quicklook.read_tiff_pages (stdlib TIFF reader)
-from patfile import read_pat  # noqa: E402
-
-try:
-    from led_sweep_quicklook import read_tiff_pages  # noqa: E402
-except ImportError:  # the quicklook lives at the repo root tools/
-    read_tiff_pages = None
-
-COLORS = ("violet", "blue", "green", "yellow")
-LED_RGB = {"violet": (150, 0, 255), "blue": (0, 90, 255), "green": (0, 255, 70), "yellow": (255, 170, 0)}
-LED_NM = {"violet": 405, "blue": 470, "green": 525, "yellow": 590}
-DUTIES = (7, 15, 31, 63, 127, 255)
-PANEL = 20
-
-
-# ── TIFF ─────────────────────────────────────────────────────────────────────
-def tiff_si_header(path: Path) -> str:
-    """ScanImage's `SI.*` header = TIFF tag 305 (Software) of the first IFD."""
-    with open(path, "rb") as f:
-        data = f.read(2_000_000)
-    bo = "<" if data[:2] == b"II" else ">"
-    big = struct.unpack_from(bo + "H", data, 2)[0] == 43
-    if big:
-        off = struct.unpack_from(bo + "Q", data, 8)[0]
-        n = struct.unpack_from(bo + "Q", data, off)[0]
-        pos, ent, fmt = off + 8, 20, "HHQQ"
-    else:
-        off = struct.unpack_from(bo + "I", data, 4)[0]
-        n = struct.unpack_from(bo + "H", data, off)[0]
-        pos, ent, fmt = off + 2, 12, "HHII"
-    for i in range(n):
-        tag, typ, count, val = struct.unpack_from(bo + fmt, data, pos + i * ent)
-        if tag == 305:
-            return data[val:val + count].decode("latin1", "replace")
-    return ""
-
-
-def si_value(header: str, key: str):
-    m = re.search(re.escape(key) + r"\s*=\s*([^\n]*)", header)
-    if not m:
-        return None
-    v = m.group(1).strip()
-    if v.startswith("[") and v.endswith("]"):
-        return [float(x) for x in v[1:-1].replace(";", " ").split()]
-    try:
-        return float(v)
-    except ValueError:
-        return v.strip("'")
-
-
-def frame_fields(desc: str) -> dict:
-    out = {}
-    for key in ("frameNumbers", "frameTimestamps_sec", "acqTriggerTimestamps_sec", "endOfAcquisition"):
-        m = re.search(re.escape(key) + r"\s*=\s*([-\d.]+)", desc)
-        out[key] = float(m.group(1)) if m else None
-    m = re.search(r"epoch\s*=\s*\[([^\]]*)\]", desc)
-    out["epoch"] = [float(x) for x in re.split(r"[\s,;]+", m.group(1).strip()) if x] if m else None
-    m = re.search(r"auxTrigger0\s*=\s*\[([^\]]*)\]", desc)
-    out["aux0"] = [float(x) for x in re.split(r"[\s,;]+", m.group(1).strip()) if x] if m and m.group(1).strip() else []
-    return out
-
-
-def epoch_ns(epoch: list, utc_offset_h: float) -> int:
-    y, mo, d, h, mi, s = epoch
-    sec = int(s)
-    frac = s - sec
-    t = dt.datetime(int(y), int(mo), int(d), int(h), int(mi), sec, tzinfo=dt.timezone(dt.timedelta(hours=utc_offset_h)))
-    return int(t.timestamp() * 1e9) + int(round(frac * 1e9))
-
-
-# ── PNG (pure Python) ────────────────────────────────────────────────────────
-def png_bytes(img: np.ndarray) -> bytes:
-    """8-bit grayscale (H,W) or RGB (H,W,3) → PNG."""
-    if img.ndim == 2:
-        color_type, row = 0, img
-    else:
-        color_type, row = 2, img
-    h, w = img.shape[:2]
-    raw = b"".join(b"\x00" + np.ascontiguousarray(row[i]).astype(np.uint8).tobytes() for i in range(h))
-
-    def chunk(tag: bytes, body: bytes) -> bytes:
-        return struct.pack(">I", len(body)) + tag + body + struct.pack(">I", zlib.crc32(tag + body) & 0xFFFFFFFF)
-
-    return (b"\x89PNG\r\n\x1a\n" + chunk(b"IHDR", struct.pack(">IIBBBBB", w, h, 8, color_type, 0, 0, 0))
-            + chunk(b"IDAT", zlib.compress(raw, 6)) + chunk(b"IEND", b""))
-
-
-# ── schemas (Foxglove well-known types, JSON encoding) ───────────────────────
-def _ts():
-    return {"type": "object", "properties": {"sec": {"type": "integer"}, "nsec": {"type": "integer"}}}
-
-
-def _vec3():
-    return {"type": "object", "properties": {k: {"type": "number"} for k in "xyz"}}
-
-
-def _color():
-    return {"type": "object", "properties": {k: {"type": "number"} for k in "rgba"}}
-
-
-def _pose():
-    return {"type": "object", "properties": {"position": _vec3(), "orientation": {"type": "object", "properties": {k: {"type": "number"} for k in "xyzw"}}}}
-
-
-SCHEMA_IMAGE = {"title": "foxglove.CompressedImage", "type": "object", "properties": {
-    "timestamp": _ts(), "frame_id": {"type": "string"},
-    "data": {"type": "string", "contentEncoding": "base64"}, "format": {"type": "string"}}}
-SCHEMA_SCENE = {"title": "foxglove.SceneUpdate", "type": "object", "properties": {
-    "deletions": {"type": "array", "items": {"type": "object", "properties": {"timestamp": _ts(), "type": {"type": "integer"}, "id": {"type": "string"}}}},
-    "entities": {"type": "array", "items": {"type": "object", "properties": {
-        "timestamp": _ts(), "frame_id": {"type": "string"}, "id": {"type": "string"}, "lifetime": _ts(),
-        "frame_locked": {"type": "boolean"},
-        "metadata": {"type": "array", "items": {"type": "object", "properties": {"key": {"type": "string"}, "value": {"type": "string"}}}},
-        "cubes": {"type": "array", "items": {"type": "object", "properties": {"pose": _pose(), "size": _vec3(), "color": _color()}}},
-        "spheres": {"type": "array", "items": {"type": "object", "properties": {"pose": _pose(), "size": _vec3(), "color": _color()}}},
-        "cylinders": {"type": "array", "items": {"type": "object", "properties": {"pose": _pose(), "size": _vec3(), "bottom_scale": {"type": "number"}, "top_scale": {"type": "number"}, "color": _color()}}},
-        "texts": {"type": "array", "items": {"type": "object", "properties": {"pose": _pose(), "billboard": {"type": "boolean"}, "font_size": {"type": "number"}, "scale_invariant": {"type": "boolean"}, "color": _color(), "text": {"type": "string"}}}}}}}}}
-
-
-def json_schema(name: str, props: dict) -> dict:
-    return {"title": name, "type": "object", "properties": props}
-
-
-def ts(ns: int) -> dict:
-    return {"sec": ns // 1_000_000_000, "nsec": ns % 1_000_000_000}
-
-
-# ── the run ──────────────────────────────────────────────────────────────────
-def load_color(tiff_dir: Path, color: str, counter: int, utc_offset_h: float, preview_size: int) -> dict:
-    path = tiff_dir / f"{color}_sweep_{counter:05d}.tif"
-    if not path.exists():
-        raise SystemExit(f"missing {path}")
-    header = tiff_si_header(path)
-    chans = [int(c) for c in (si_value(header, "SI.hChannels.channelSave") or [])] or None
-    frame_rate = si_value(header, "SI.hRoiManager.scanFrameRate")
-    avg = si_value(header, "SI.hScan2D.logAverageFactor")
-    pages = list(read_tiff_pages(path))
-    n_ch = len(chans) if chans else (2 if len(pages) % 2 == 0 else 1)
-    chans = chans or list(range(1, n_ch + 1))
-    frames = []
-    for i in range(0, len(pages), n_ch):
-        desc, _ = pages[i]
-        ff = frame_fields(desc)
-        imgs = {chans[k]: pages[i + k][1] for k in range(n_ch)}
-        frames.append({"fields": ff, "imgs": imgs, "pages": list(range(i, i + n_ch))})
-    ep = frames[0]["fields"]["epoch"]
-    t0_ns = epoch_ns(ep, utc_offset_h)
-    for fr in frames:
-        fr["t_ns"] = t0_ns + int(round(fr["fields"]["frameTimestamps_sec"] * 1e9))
-    pulses = sorted(p for fr in frames for p in fr["fields"]["aux0"])
-    return {"color": color, "path": path, "header": header, "chans": chans, "frame_rate": frame_rate, "avg": avg,
-            "frames": frames, "t0_ns": t0_ns, "epoch": ep, "aux0": pulses,
-            "channels_source": "SI.hChannels.channelSave (TIFF tag 305)" if si_value(header, "SI.hChannels.channelSave") else "ASSUMED page order"}
-
-
-def step_edges(run: dict, durations: list[float]) -> list[dict]:
-    """RECONSTRUCTED: the first DO1 pulse is the first trialParams; steps follow at the given lengths."""
-    if not run["aux0"]:
-        return []
-    t = run["aux0"][0]
-    edges = []
-    for k, (duty, dur) in enumerate(zip(DUTIES, durations)):
-        edges.append({"step": k, "duty": duty, "t_start_s": t, "t_end_s": t + dur})
-        t += dur
-    return edges
-
-
-# ── run log (Studio → bridge .jsonl, behavior_v2) ────────────────────────────
-COND_RE = re.compile(r"^(" + "|".join(COLORS) + r")_d(\d+)$")
-
-
-def load_runlog(path: Path) -> dict:
-    """The parts of a run log this tool uses. Times are PC epoch ms.
-
-    trials:   one per trialParams, in order: condition, color, duty, pattern_id, fps, t_cmd_ms (the
-              arena_command send time; the runner's trial-running receive time if those don't pair up)
-    all_off:  allOff send times (compact `a` rows "01 00", t_off from logging start)
-    connector: ScanImage connector commands (logging start + ms) and replies (rx_epoch_ms)
-    cc8:      controller-clock t_us of each trialParams the controller executed (`cc` rows, cmd 8)
-    cf:       the controller's displayed-frame records (t_us, frame idx, pattern id)
-    """
-    rows = [json.loads(line) for line in open(path, encoding="utf-8") if line.strip()]
-    objs = [o for o in rows if isinstance(o, dict)]
-    t0 = next((o["ms"] for o in objs if o.get("event") == "logging_started"), None)
-    running = [o for o in objs if o.get("event") == "runner" and o.get("phase") == "trial-running"]
-    sends = [o["t"] for o in objs if o.get("event") == "arena_command" and str(o.get("head", "")).startswith("0d 08")]
-    paired = len(sends) == len(running)
-    trials = []
-    for i, o in enumerate(running):
-        m = COND_RE.match(str(o.get("condition", "")))
-        p = o.get("params", {})
-        trials.append({"condition": o.get("condition"), "color": m.group(1) if m else None,
-                       "duty": int(p.get("duty", m.group(2) if m else 0)), "pattern_id": p.get("patternId"),
-                       "fps": p.get("frameRate"), "t_cmd_ms": float(sends[i] if paired else o["rx_ms"]),
-                       "duty_matches_condition": bool(m) and int(m.group(2)) == int(p.get("duty", -1))})
-    a_off = [float(t0 + a[1]) for a in rows if isinstance(a, list) and a[0] == "a" and a[3] == "0100"] if t0 is not None else []
-    runner_off = [float(o["rx_ms"]) for o in objs if o.get("event") == "runner" and o.get("op") == "allOff"]
-    all_off = a_off if len(a_off) == len(runner_off) else runner_off
-    connector = []
-    for o in objs:
-        if o.get("type") != "connector" or o.get("kind") not in ("command", "reply"):
-            continue
-        if o["kind"] == "command" and t0 is not None:
-            connector.append({"t_ms": float(t0 + o["ms"]), "kind": "command", "command": o.get("command"),
-                              "detail": json.dumps(o.get("params", {}), separators=(",", ":"))})
-        elif o["kind"] == "reply":
-            v = o.get("value")
-            connector.append({"t_ms": float(o.get("rx_epoch_ms") or o.get("t_ms")), "kind": "reply", "command": o.get("command"),
-                              "detail": f"{o.get('outcome')} rtt {o.get('rtt_ms', 0):.0f} ms "
-                                        + json.dumps(v, separators=(",", ":"))[:200]})
-    cc8 = [float(a[2]) for a in rows if isinstance(a, list) and a[0] == "cc" and a[4] == 8]
-    cf = [(float(a[2]), int(a[4]), int(a[5])) for a in rows if isinstance(a, list) and a[0] == "cf"]
-    return {"path": str(path), "t0_ms": t0, "trials": trials, "sends_paired": paired, "all_off": sorted(all_off),
-            "all_off_source": "a rows (send)" if all_off is a_off else "runner rx_ms", "connector": sorted(connector, key=lambda c: c["t_ms"]),
-            "cc8": cc8, "cf": cf}
-
-
-def controller_clock(log: dict):
-    """Linear map controller t_us → PC ms from the trialParams the controller executed vs their send times.
-    Returns (fn, info) or (None, reason) when the telemetry can't support it."""
-    cc8, sends = log["cc8"], [t["t_cmd_ms"] for t in log["trials"]]
-    if not log["sends_paired"] or len(cc8) != len(sends) or len(cc8) < 2:
-        return None, f"no controller clock map (cc trialParams {len(cc8)}, logged sends {len(sends)}, paired {log['sends_paired']})"
-    x = np.array(cc8) / 1e3
-    y = np.array(sends)
-    k, b = np.polyfit(x - x[0], y, 1)
-    res = y - (k * (x - x[0]) + b)
-    fn = lambda t_us: k * (t_us / 1e3 - x[0]) + b  # noqa: E731
-    return fn, {"rate": float(k), "ppm": float((k - 1) * 1e6), "residual_sd_ms": float(res.std()), "max_abs_residual_ms": float(abs(res).max()),
-                "note": "fit of send time (PC) vs controller execution time; residual includes USB/host latency jitter"}
-
-
-def runlog_timeline(log: dict, color: str, to_pc) -> dict | None:
-    """One color's logged steps. t_disp_ms = the controller's first displayed frame after the trialParams
-    (PC clock) when the telemetry allows, else the send time. t_off_ms = the first allOff after the last step."""
-    steps = [t for t in log["trials"] if t["color"] == color]
-    if not steps:
-        return None
-    cf = log["cf"]
-    cc_by_trial = dict(zip(range(len(log["trials"])), log["cc8"])) if to_pc else {}
-    out = []
-    for s in steps:
-        i = log["trials"].index(s)
-        t_disp, frames = None, []
-        if to_pc and i in cc_by_trial:
-            t_exec = cc_by_trial[i]
-            t_next = cc_by_trial.get(i + 1, float("inf"))
-            frames = [(to_pc(t_us), idx, pid) for t_us, idx, pid in cf if t_exec <= t_us < t_next and pid == s["pattern_id"]]
-            if frames:
-                t_disp = frames[0][0]
-        out.append({**s, "step": len(out), "t_disp_ms": t_disp if t_disp is not None else s["t_cmd_ms"],
-                    "t_disp_source": "controller first displayed frame" if t_disp is not None else "trialParams send time",
-                    "frames": frames})
-    last = out[-1]["t_cmd_ms"]
-    t_off = next((t for t in log["all_off"] if t > last), None)
-    lat = [s["t_disp_ms"] - s["t_cmd_ms"] for s in out]
-    return {"steps": out, "t_off_ms": t_off, "display_latency_ms": float(np.median(lat))}
-
-
-def main(argv=None) -> int:
-    ap = argparse.ArgumentParser(description=__doc__.split("\n\n")[0], formatter_class=argparse.RawDescriptionHelpFormatter)
-    ap.add_argument("--tiff-dir", required=True)
-    ap.add_argument("--counter", type=int, required=True, help="TIFF series counter (…_00003.tif → 3)")
-    ap.add_argument("--pat-dir", required=True, help="folder with G6_2x10_toprow_grat20_<color>_gs16.pat")
-    ap.add_argument("--out", required=True)
-    ap.add_argument("--layout-out", default=None)
-    ap.add_argument("--runlog", default=None, help="the run's .jsonl (optional): logged step times, the PC clock "
-                    "(each TIFF anchored by its first DO1 pulse), displayed frames from controller telemetry, ScanImage commands")
-    ap.add_argument("--utc-offset-h", type=float, default=-4.0, help="TIFF epoch is PC local time (EDT = -4)")
-    ap.add_argument("--fps", type=float, default=20.0, help="pattern frame rate in the protocol")
-    ap.add_argument("--step-s", type=float, default=4.0, help="nominal step length when no run log (the day's host-timed steps)")
-    ap.add_argument("--step-durations", default='{"yellow": [4, 4, 4, 4, 3, 4]}',
-                    help="JSON per-color override of the six step lengths (default: the day's one unthrottled yellow d127 step)")
-    ap.add_argument("--preview-size", type=int, default=128)
-    ap.add_argument("--display-scale", type=int, default=4, help="nearest-neighbour upscale of the 200×40 display image")
-    ap.add_argument("--scene-hz", type=float, default=5.0)
-    a = ap.parse_args(argv)
-    if read_tiff_pages is None:
-        raise SystemExit("needs tools/led_sweep_quicklook.py (repo root) for read_tiff_pages")
-
-    from mcap.writer import Writer, CompressionType
-
-    tiff_dir, pat_dir, out = Path(a.tiff_dir), Path(a.pat_dir), Path(a.out)
-    overrides = json.loads(a.step_durations)
-    runs = [load_color(tiff_dir, c, a.counter, a.utc_offset_h, a.preview_size) for c in COLORS]
-
-    # with a run log: put every TIFF on the run log's PC clock, anchored by its first DO1 pulse
-    log, to_pc, clock_info, timelines = None, None, None, {}
-    if a.runlog:
-        log = load_runlog(Path(a.runlog))
-        to_pc, clock_info = controller_clock(log)
-        for run in runs:
-            tl = runlog_timeline(log, run["color"], to_pc)
-            if not tl or not run["aux0"]:
-                continue
-            anchor_ms = tl["steps"][0]["t_disp_ms"]
-            epoch_ns_first_do1 = run["t0_ns"] + int(round(run["aux0"][0] * 1e9))
-            shift_ns = int(round(anchor_ms * 1e6)) - epoch_ns_first_do1
-            run["t0_ns"] += shift_ns
-            for fr in run["frames"]:
-                fr["t_ns"] += shift_ns
-            # end check: last DO1 pulse (+ one 300 Hz period) vs the logged allOff + display latency
-            end_ms = anchor_ms + (run["aux0"][-1] - run["aux0"][0] + 1 / 300) * 1e3
-            tl.update(anchor_ms=anchor_ms, epoch_correction_ms=shift_ns / 1e6,
-                      end_check_ms=(end_ms - (tl["t_off_ms"] + tl["display_latency_ms"])) if tl["t_off_ms"] else None)
-            timelines[run["color"]] = tl
-    runs.sort(key=lambda r: r["t0_ns"])
-    pats = {c: read_pat(pat_dir / f"G6_2x10_toprow_grat20_{c}_gs16.pat") for c in COLORS}
-
-    # fixed display mapping per channel from the FIRST file (so colors are comparable)
-    window = {}
-    for ch in runs[0]["chans"]:
-        stack = np.stack([fr["imgs"][ch] for fr in runs[0]["frames"][::8]])
-        lo, hi = np.percentile(stack, 0.5), np.percentile(stack, 99.8)
-        window[ch] = (float(lo), float(max(hi, lo + 1)))
-
-    def to8(img, ch):
-        lo, hi = window[ch]
-        x = (img.astype(np.float32) - lo) / (hi - lo)
-        return (np.clip(x, 0, 1) * 255).astype(np.uint8)
-
-    def downsample(img):
-        h, w = img.shape
-        f = max(1, h // a.preview_size)
-        return img[: h - h % f, : w - w % f].reshape(h // f, f, w // f, f).mean(axis=(1, 3))
-
-    def stimulus_source(color):
-        if color in timelines:
-            return "commanded (run log trialParams, logged send time)"
-        return "reconstructed (first DO1 pulse + nominal step lengths)"
-
-    gaps = []
-    with open(out, "wb") as fh:
-        w = Writer(fh, compression=CompressionType.ZSTD)
-        w.start(profile="", library="tiff_run_to_mcap.py (webDisplayTools rig)")
-        sch_img = w.register_schema("foxglove.CompressedImage", "jsonschema", json.dumps(SCHEMA_IMAGE).encode())
-        sch_scene = w.register_schema("foxglove.SceneUpdate", "jsonschema", json.dumps(SCHEMA_SCENE).encode())
-        sch_ref = w.register_schema("scanimage.FrameRef", "jsonschema", json.dumps(json_schema("scanimage.FrameRef", {
-            "color": {"type": "string"}, "frame": {"type": "integer"}, "t_acq_s": {"type": "number"}, "tiff": {"type": "string"},
-            "pages": {"type": "array", "items": {"type": "integer"}}, "channels": {"type": "array", "items": {"type": "integer"}},
-            "do1_pulses_in_frame": {"type": "integer"}, "source": {"type": "string"}})).encode())
-        sch_qc = w.register_schema("scanimage.QC", "jsonschema", json.dumps(json_schema("scanimage.QC", {
-            "color": {"type": "string"}, "frame": {"type": "integer"}, "duty": {"type": "integer"}, "step": {"type": "integer"},
-            **{f"mean_ch{ch}": {"type": "number"} for ch in runs[0]["chans"]},
-            **{f"dmean_ch{ch}": {"type": "number"} for ch in runs[0]["chans"]}, "source": {"type": "string"}})).encode())
-        sch_stim = w.register_schema("arena.Stimulus", "jsonschema", json.dumps(json_schema("arena.Stimulus", {
-            "color": {"type": "string"}, "wavelength_nm": {"type": "integer"}, "duty": {"type": "integer"}, "step": {"type": "integer"},
-            "on": {"type": "boolean"}, "pattern": {"type": "string"}, "fps": {"type": "number"}, "t_rel_s": {"type": "number"},
-            "source": {"type": "string"}})).encode())
-        sch_ev = w.register_schema("run.Event", "jsonschema", json.dumps(json_schema("run.Event", {
-            "event": {"type": "string"}, "color": {"type": "string"}, "detail": {"type": "string"}, "source": {"type": "string"}})).encode())
-        sch_prov = w.register_schema("run.Provenance", "jsonschema", b'{"type":"object"}')
-        ch_prev = {ch: w.register_channel(f"/scanimage/preview/ch{ch}", "json", sch_img) for ch in runs[0]["chans"]}
-        ch_ref = w.register_channel("/scanimage/frame_ref", "json", sch_ref)
-        ch_qc = w.register_channel("/scanimage/qc", "json", sch_qc)
-        ch_stim = w.register_channel("/arena/stimulus", "json", sch_stim)
-        ch_disp = w.register_channel("/arena/display", "json", sch_img)
-        ch_scene = w.register_channel("/arena/scene", "json", sch_scene)
-        ch_ev = w.register_channel("/run/events", "json", sch_ev)
-        ch_prov = w.register_channel("/run/provenance", "json", sch_prov)
-
-        def put(chan, t_ns, obj):
-            w.add_message(chan, log_time=t_ns, publish_time=t_ns, data=json.dumps(obj, separators=(",", ":")).encode())
-
-        def img_msg(t_ns, png, frame_id):
-            return {"timestamp": ts(t_ns), "frame_id": frame_id, "format": "png", "data": base64.b64encode(png).decode()}
-
-        def scene(t_ns, color, frame, duty, on):
-            rgb = LED_RGB[color]
-            cubes = []
-            pat = pats[color]
-            n_cols, n_rows = pat["cols"], pat["rows"]
-            R = 1.0
-            for r in range(n_rows):
-                for c in range(n_cols):
-                    lit = float(frame[r * PANEL:(r + 1) * PANEL, c * PANEL:(c + 1) * PANEL].mean()) / 15.0 if (on and frame is not None) else 0.0
-                    level = lit * (duty / 255.0) if on else 0.0
-                    az = 2 * np.pi * (c + 0.5) / n_cols
-                    cubes.append({"pose": {"position": {"x": R * np.cos(az), "y": R * np.sin(az), "z": 0.3 + 0.62 * r},
-                                           "orientation": {"x": 0, "y": 0, "z": float(np.sin((az + np.pi / 2) / 2)), "w": float(np.cos((az + np.pi / 2) / 2))}},
-                                  "size": {"x": 0.58, "y": 0.06, "z": 0.58},
-                                  "color": {"r": 0.12 + rgb[0] / 255 * level * 0.88, "g": 0.12 + rgb[1] / 255 * level * 0.88, "b": 0.12 + rgb[2] / 255 * level * 0.88, "a": 0.95}})
-            return {"deletions": [], "entities": [{
-                "timestamp": ts(t_ns), "frame_id": "arena", "id": "panels", "lifetime": ts(0), "frame_locked": False,
-                "metadata": [{"key": "source", "value": "reconstructed"}, {"key": "color", "value": color}, {"key": "duty", "value": str(duty)}],
-                "cubes": cubes,
-                "spheres": [{"pose": {"position": {"x": 0, "y": 0, "z": 0.6}, "orientation": {"x": 0, "y": 0, "z": 0, "w": 1}},
-                             "size": {"x": 0.12, "y": 0.12, "z": 0.12}, "color": {"r": 1, "g": 1, "b": 1, "a": 1}}],
-                "cylinders": [], "texts": [{"pose": {"position": {"x": 0, "y": 0, "z": 1.35}, "orientation": {"x": 0, "y": 0, "z": 0, "w": 1}},
-                                            "billboard": True, "font_size": 0.12, "scale_invariant": False, "color": {"r": 0.9, "g": 0.93, "b": 0.95, "a": 1},
-                                            "text": f"{color} {LED_NM[color]} nm · duty {duty}" if on else "arena dark"}]}]}
-
-        def display_png(color, frame, duty):
-            rgb = np.array(LED_RGB[color], dtype=np.float32)
-            img = (frame[::-1, :].astype(np.float32) / 15.0)[:, :, None] * (duty / 255.0) * rgb  # row 0 (bottom) → image bottom
-            img = np.clip(img, 0, 255).astype(np.uint8)
-            s = a.display_scale
-            return png_bytes(np.repeat(np.repeat(img, s, axis=0), s, axis=1))
-
-        recon_display = f"reconstructed: .pat frame × duty/255 × LED color, fps {a.fps}, frame index restarts at 0 at each step"
-        prov = {"source_files": {},
-                "clock": ("run log PC clock (Unix epoch); each TIFF anchored by its first DO1 pulse = the controller's first "
-                          "displayed frame after the color's first trialParams; the ScanImage epoch field is not used for placement")
-                         if timelines else f"TIFF epoch (PC local, UTC{a.utc_offset_h:+.0f}) + frameTimestamps_sec",
-                "stimulus_source": {c: stimulus_source(c) for c in COLORS},
-                "display_source": {c: ("observed: the controller's displayed-frame records (cf rows), controller clock → PC"
-                                       if c in timelines and timelines[c]["steps"][0]["frames"] else recon_display) for c in COLORS},
-                "scene_source": "derived from /arena/display: panel cubes colored by LED color × lit fraction × duty",
-                "preview_mapping": {f"ch{ch}": {"lo": window[ch][0], "hi": window[ch][1], "downsample": "2x2 mean"} for ch in window},
-                "step_lengths_s": {}, "gaps": []}
-        if log is not None:
-            prov["runlog"] = {"path": log["path"], "trials": len(log["trials"]), "trialParams_send_times_paired": log["sends_paired"],
-                              "all_off_source": log["all_off_source"], "connector_records": len(log["connector"]),
-                              "controller_frames": len(log["cf"]), "controller_clock": clock_info,
-                              "duty_mismatches": [t["condition"] for t in log["trials"] if not t["duty_matches_condition"]]}
-            prov["anchors"] = {c: {"first_do1_pc_ms": tl["anchor_ms"], "epoch_correction_ms": tl["epoch_correction_ms"],
-                                   "display_latency_ms": tl["display_latency_ms"], "end_check_ms": tl["end_check_ms"],
-                                   "t_disp_source": tl["steps"][0]["t_disp_source"]} for c, tl in timelines.items()}
-            for c in COLORS:
-                if c not in timelines:
-                    prov["gaps"].append({"color": c, "where": "run log given but no trialParams or DO1 for this color — reconstructed"})
-        counts = {}
-        for run in runs:
-            color = run["color"]
-            tl = timelines.get(color)
-            if tl:
-                # logged steps in TIFF-relative seconds: the light changes at the displayed time (qc windows);
-                # the stimulus marker sits at the commanded send time
-                f0, anchor = run["aux0"][0], tl["anchor_ms"]
-                rel = lambda t_ms: f0 + (t_ms - anchor) / 1e3  # noqa: E731
-                st = tl["steps"]
-                t_last = (tl["t_off_ms"] + tl["display_latency_ms"]) if tl["t_off_ms"] else st[-1]["t_disp_ms"] + a.step_s * 1e3
-                bounds = [s["t_disp_ms"] for s in st] + [t_last]
-                edges = [{"step": k, "duty": s["duty"], "pattern_id": s["pattern_id"], "fps": s["fps"] or a.fps,
-                          "t_start_s": rel(bounds[k]), "t_end_s": rel(bounds[k + 1]), "t_cmd_s": rel(s["t_cmd_ms"]), "frames": s["frames"]}
-                         for k, s in enumerate(st)]
-                dur = [round((bounds[k + 1] - bounds[k]) / 1e3, 4) for k in range(len(st))]
-            else:
-                dur = overrides.get(color) or [a.step_s] * len(DUTIES)
-                edges = step_edges(run, dur)
-            prov["step_lengths_s"][color] = dur
-            prov["source_files"][color] = {"tiff": str(run["path"]), "frames": len(run["frames"]), "channels": run["chans"],
-                                           "channels_source": run["channels_source"], "scanFrameRate": run["frame_rate"],
-                                           "logAverageFactor": run["avg"], "epoch_local": run["epoch"],
-                                           "do1_pulses": len(run["aux0"]), "first_do1_s": run["aux0"][0] if run["aux0"] else None,
-                                           "last_do1_s": run["aux0"][-1] if run["aux0"] else None}
-            t0 = run["t0_ns"]
-            put(ch_ev, t0, {"event": "acquisition_start", "color": color, "detail": f"{run['path'].name}, {len(run['frames'])} frames @ {run['frame_rate']:.2f} Hz",
-                            "source": "observed (TIFF, anchored to the run log by DO1)" if tl else "observed (TIFF epoch)"})
-            # baseline = frames before the first DO1 pulse
-            first_do1 = run["aux0"][0] if run["aux0"] else None
-            base = {ch: float(np.mean([fr["imgs"][ch].mean() for fr in run["frames"] if first_do1 is None or fr["fields"]["frameTimestamps_sec"] < first_do1] or [0.0])) for ch in run["chans"]}
-            # frame-number continuity (observed)
-            nums = [int(fr["fields"]["frameNumbers"]) for fr in run["frames"]]
-            if any(b - a_ != 1 for a_, b in zip(nums, nums[1:])):
-                prov["gaps"].append({"color": color, "where": "TIFF frameNumbers not consecutive"})
-            # observed frames
-            for fr in run["frames"]:
-                t_ns = fr["t_ns"]
-                t_rel = fr["fields"]["frameTimestamps_sec"]
-                step = next((e for e in edges if e["t_start_s"] <= t_rel < e["t_end_s"]), None)
-                for ch in run["chans"]:
-                    put(ch_prev[ch], t_ns, img_msg(t_ns, png_bytes(downsample(to8(fr["imgs"][ch], ch)).astype(np.uint8)), f"scanimage_ch{ch}"))
-                put(ch_ref, t_ns, {"color": color, "frame": int(fr["fields"]["frameNumbers"]), "t_acq_s": t_rel, "tiff": run["path"].name,
-                                   "pages": fr["pages"], "channels": run["chans"], "do1_pulses_in_frame": len(fr["fields"]["aux0"]), "source": "observed"})
-                qc = {"color": color, "frame": int(fr["fields"]["frameNumbers"]), "duty": step["duty"] if step else 0, "step": step["step"] if step else -1, "source": "derived from observed pixels"}
-                for ch in run["chans"]:
-                    m = float(fr["imgs"][ch].mean())
-                    qc[f"mean_ch{ch}"] = m
-                    qc[f"dmean_ch{ch}"] = m - base[ch]
-                put(ch_qc, t_ns, qc)
-            counts[color] = len(run["frames"])
-            # stimulus (commanded or reconstructed) + display (observed or reconstructed) + scene
-            pat = pats[color]
-            src = stimulus_source(color)
-            if not edges:
-                prov["gaps"].append({"color": color, "where": "no DO1 pulses in the TIFF — no stimulus timeline"})
-            scene_every = max(1, int(round(a.fps / a.scene_hz))) if a.scene_hz > 0 else 0
-            for e in edges:
-                ts_ns = t0 + int(e["t_start_s"] * 1e9)
-                tc_ns = t0 + int(e.get("t_cmd_s", e["t_start_s"]) * 1e9)
-                put(ch_stim, tc_ns, {"color": color, "wavelength_nm": LED_NM[color], "duty": e["duty"], "step": e["step"], "on": True,
-                                     "pattern": f"G6_2x10_toprow_grat20_{color}_gs16", "fps": e.get("fps", a.fps),
-                                     "t_rel_s": e.get("t_cmd_s", e["t_start_s"]), "source": src})
-                put(ch_ev, tc_ns, {"event": "step_start", "color": color, "detail": f"duty {e['duty']} (step {e['step']})", "source": src})
-                if e.get("frames"):
-                    # OBSERVED: each frame the controller reports displaying, at its own (PC-mapped) time
-                    put(ch_ev, ts_ns, {"event": "display_start", "color": color,
-                                       "detail": f"duty {e['duty']}: first displayed frame {(ts_ns - tc_ns) / 1e6:.1f} ms after the command",
-                                       "source": "observed (controller frame records)"})
-                    for k, (t_ms, idx, _pid) in enumerate(e["frames"]):
-                        t_ns = int(round(t_ms * 1e6))
-                        frame = pat["frames"][idx % pat["num_frames"]]
-                        put(ch_disp, t_ns, img_msg(t_ns, display_png(color, frame, e["duty"]), "arena_display"))
-                        if scene_every and k % scene_every == 0:
-                            put(ch_scene, t_ns, scene(t_ns, color, frame, e["duty"], True))
-                else:
-                    n_disp = int((e["t_end_s"] - e["t_start_s"]) * a.fps)
-                    for k in range(n_disp):
-                        t_ns = ts_ns + int(k / a.fps * 1e9)
-                        frame = pat["frames"][k % pat["num_frames"]]
-                        put(ch_disp, t_ns, img_msg(t_ns, display_png(color, frame, e["duty"]), "arena_display"))
-                        if scene_every and k % scene_every == 0:
-                            put(ch_scene, t_ns, scene(t_ns, color, frame, e["duty"], True))
-            if edges:
-                if tl and tl["t_off_ms"]:
-                    t_off = int(round(tl["t_off_ms"] * 1e6))
-                    off_src = "commanded (run log allOff send time)"
-                    off_detail = f"last DO1 pulse at {run['aux0'][-1]:.3f} s; DO1 end − (allOff + latency) = {tl['end_check_ms']:+.1f} ms"
-                else:
-                    t_off = t0 + int(edges[-1]["t_end_s"] * 1e9)
-                    off_src = "observed (DO1) / " + src
-                    off_detail = f"last DO1 pulse at {run['aux0'][-1]:.3f} s"
-                put(ch_stim, t_off, {"color": color, "wavelength_nm": LED_NM[color], "duty": 0, "step": -1, "on": False,
-                                     "pattern": "", "fps": a.fps, "t_rel_s": (t_off - t0) / 1e9, "source": off_src})
-                put(ch_ev, t_off, {"event": "allOff", "color": color, "detail": off_detail, "source": off_src})
-                put(ch_scene, t_off, scene(t_off, color, None, 0, False))
-                put(ch_disp, t_off, img_msg(t_off, display_png(color, np.zeros_like(pat["frames"][0]), 0), "arena_display"))
-            t_end = run["frames"][-1]["t_ns"]
-            put(ch_ev, t_end, {"event": "acquisition_end", "color": color, "detail": f"{len(run['frames'])} frames", "source": "observed (TIFF)"})
-        if log is not None and timelines:
-            for c in log["connector"]:
-                put(ch_ev, int(round(c["t_ms"] * 1e6)), {"event": f"scanimage_{c['kind']}", "color": "", "detail": f"{c['command']} {c['detail']}",
-                                                          "source": "commanded (run log)" if c["kind"] == "command" else "observed (run log reply)"})
-        prov["frames_per_color"] = counts
-        put(ch_prov, runs[0]["t0_ns"], prov)
-        w.add_metadata("provenance", {k: json.dumps(v) for k, v in prov.items()})
-        w.finish()
-
-    print(f"wrote {out} ({out.stat().st_size / 1e6:.1f} MB)")
-    print(json.dumps({"frames_per_color": counts, "preview_mapping": prov["preview_mapping"], "step_lengths_s": prov["step_lengths_s"],
-                      "do1": {c: (prov["source_files"][c]["first_do1_s"], prov["source_files"][c]["last_do1_s"], prov["source_files"][c]["do1_pulses"]) for c in prov["source_files"]},
-                      "anchors": prov.get("anchors"), "controller_clock": clock_info, "gaps": prov["gaps"]}, indent=1))
-
-    if a.layout_out:
-        chans = runs[0]["chans"]
-        cfg = {
-            f"Image!ch{ch}": {"imageMode": {"imageTopic": f"/scanimage/preview/ch{ch}"}, "foxglovePanelTitle": f"ScanImage ch{ch} (observed, {a.preview_size}px preview)"} for ch in chans}
-        cfg.update({
-            "Image!display": {"imageMode": {"imageTopic": "/arena/display"},
-                              "foxglovePanelTitle": "Arena display (controller-reported frames × .pat × duty)" if any(
-                                  t["steps"][0]["frames"] for t in timelines.values()) else "Arena display (RECONSTRUCTED from .pat × duty)"},
-            "3D!arena": {"cameraState": {"perspective": True, "distance": 4.2, "phi": 55, "thetaOffset": 40, "targetOffset": [0, 0, 0.6], "target": [0, 0, 0], "targetOrientation": [0, 0, 0, 1], "fovy": 45, "near": 0.01, "far": 100},
-                         "followTf": "arena", "scene": {"enableStats": False, "backgroundColor": "#0f1419"}, "topics": {"/arena/scene": {"visible": True}},
-                         "foxglovePanelTitle": "Arena (RECONSTRUCTED panel states)"},
-            "Plot!qc": {"title": "Whole-field mean minus pre-stimulus baseline (observed) + commanded duty", "showLegend": True, "legendDisplay": "floating", "xAxisVal": "timestamp",
-                        "paths": [{"value": f"/scanimage/qc.dmean_ch{ch}", "enabled": True, "timestampMethod": "receiveTime", "label": f"ch{ch} Δmean (ADU)"} for ch in chans]
-                        + [{"value": "/arena/stimulus.duty", "enabled": True, "timestampMethod": "receiveTime", "label": "duty (0–255)"}]},
-            "StateTransitions!color": {"paths": [{"value": "/arena/stimulus.color", "timestampMethod": "receiveTime", "label": "LED color"}], "isSynced": True},
-            "RawMessages!events": {"topicPath": "/run/events", "diffEnabled": False, "diffMethod": "custom", "diffTopicPath": "", "showFullMessageForDiff": False, "expansion": "all"},
-            "RawMessages!prov": {"topicPath": "/run/provenance", "expansion": "all", "diffEnabled": False, "diffMethod": "custom", "diffTopicPath": "", "showFullMessageForDiff": False},
-        })
-        img_ids = [f"Image!ch{ch}" for ch in chans]
-        layout = {"configById": cfg, "globalVariables": {}, "userNodes": {}, "playbackConfig": {"speed": 1.0},
-                  "layout": {"direction": "row", "splitPercentage": 58,
-                             "first": {"direction": "column", "splitPercentage": 55,
-                                       "first": {"direction": "row", "splitPercentage": 50, "first": img_ids[0], "second": img_ids[1] if len(img_ids) > 1 else "Image!display"},
-                                       "second": {"direction": "row", "splitPercentage": 50, "first": "Image!display", "second": "3D!arena"}},
-                             "second": {"direction": "column", "splitPercentage": 45, "first": "Plot!qc",
-                                        "second": {"direction": "column", "splitPercentage": 25, "first": "StateTransitions!color",
-                                                   "second": {"direction": "row", "splitPercentage": 55, "first": "RawMessages!events", "second": "RawMessages!prov"}}}}}
-        Path(a.layout_out).write_text(json.dumps(layout, indent=2), encoding="utf-8")
-        print(f"wrote layout {a.layout_out}")
-    return 0
-
-
-if __name__ == "__main__":
-    raise SystemExit(main())
diff --git a/rig/tools/ufmf.py b/rig/tools/ufmf.py
new file mode 100644
index 00000000..944d2294
--- /dev/null
+++ b/rig/tools/ufmf.py
@@ -0,0 +1,234 @@
+#!/usr/bin/env python3
+"""ufmf.py — a reader for the uFMF movies BIAS writes (version 4), numpy only.
+
+    from ufmf import UfmfReader
+    with UfmfReader("run_cam_0_date_…_v001.ufmf") as u:
+        u.n_frames, u.width, u.height
+        ts, img = u.frame(i)          # ts = BIAS's frame timestamp (s); img uint8 (H, W)
+        u.timestamps                  # every frame's timestamp, from the index
+
+The layout is BIAS's writer (bias/src/gui/video_writer_ufmf.cpp), little-endian:
+  header    "ufmf" · version u32 · index_loc u64 · max_w u16 · max_h u16 · is_fixed_size u8 ·
+            coding_len u8 · coding ("MONO8")
+  chunk 0   keyframe: type_len u8 · type ("mean") · dtype char ('B') · w u16 · h u16 · ts f64 · w·h bytes
+  chunk 1   frame: ts f64 · n_boxes u32 · n × (col u16 · row u16 · w u16 · h u16 · w·h bytes)
+  chunk 2   index (BIAS's index_loc points just past the chunk id byte): a dict — 'd' · n_keys u8 · n × (key_len u16 · key · value),
+            value = 'd' (a dict) | 'a' · dtype char ('q' u64, 'd' f64) · n_bytes u32 · data;
+            {"frame": {"loc", "timestamp"}, "keyframe": {"mean": {"loc", "timestamp"}}}
+A frame is the latest "mean" keyframe at or before it, with the frame's boxes pasted on top.
+A file whose index was never written (BIAS killed mid-recording) is scanned chunk by chunk.
+"""
+
+from __future__ import annotations
+
+import struct
+from bisect import bisect_right
+from pathlib import Path
+
+import numpy as np
+
+KEYFRAME, FRAME, INDEX = 0, 1, 2
+DTYPES = {"q": ("<u8", 8), "Q": ("<u8", 8), "d": ("<f8", 8), "f": ("<f4", 4), "B": ("u1", 1), "I": ("<u4", 4), "H": ("<u2", 2)}
+
+
+class UfmfError(ValueError):
+    pass
+
+
+class UfmfReader:
+    def __init__(self, path) -> None:
+        self.path = Path(path)
+        self.f = open(self.path, "rb")
+        self._read_header()
+        self._bg_cache: dict[int, np.ndarray] = {}
+        self.indexed = False
+        try:
+            self._read_index()
+            self.indexed = True
+        except (UfmfError, struct.error, OSError):
+            self._scan()
+
+    def __enter__(self):
+        return self
+
+    def __exit__(self, *exc) -> None:
+        self.close()
+
+    def close(self) -> None:
+        self.f.close()
+
+    # ── header + index ─────────────────────────────────────────────────────────
+    def _read(self, n: int) -> bytes:
+        b = self.f.read(n)
+        if len(b) != n:
+            raise UfmfError(f"{self.path.name}: truncated at offset {self.f.tell()}")
+        return b
+
+    def _read_header(self) -> None:
+        magic = self._read(4)
+        if magic != b"ufmf":
+            raise UfmfError(f"{self.path.name}: not a uFMF file (magic {magic!r})")
+        self.version, self.index_loc = struct.unpack("<IQ", self._read(12))
+        self.max_w, self.max_h = struct.unpack("<HH", self._read(4))
+        self.fixed_size = bool(self._read(1)[0]) if self.version >= 4 else False
+        n = self._read(1)[0]
+        self.coding = self._read(n).decode("ascii", errors="replace")
+        self.data_start = self.f.tell()
+        if self.coding.upper() not in ("MONO8", "RAW8"):
+            raise UfmfError(f"{self.path.name}: only 8-bit mono uFMF is supported (coding {self.coding!r})")
+
+    def _read_value(self):
+        kind = self._read(1)
+        if kind == b"d":
+            return self._read_dict_body()
+        if kind == b"a":
+            dt = self._read(1).decode()
+            (nbytes,) = struct.unpack("<I", self._read(4))
+            if dt not in DTYPES:
+                raise UfmfError(f"unknown index dtype {dt!r}")
+            return np.frombuffer(self._read(nbytes), dtype=DTYPES[dt][0])
+        raise UfmfError(f"unknown index value kind {kind!r}")
+
+    def _read_dict_body(self) -> dict:
+        n = self._read(1)[0]
+        out = {}
+        for _ in range(n):
+            (klen,) = struct.unpack("<H", self._read(2))
+            key = self._read(klen).decode("ascii", errors="replace")
+            out[key] = self._read_value()
+        return out
+
+    def _read_index(self) -> None:
+        if not self.index_loc:
+            raise UfmfError("no index")
+        self.f.seek(self.index_loc)
+        b = self._read(1)
+        if b[0] == INDEX:  # motmot's writers point at the chunk id; BIAS points just past it
+            b = self._read(1)
+        if b != b"d":
+            raise UfmfError("index is not a dict")
+        idx = self._read_dict_body()
+        fr = idx.get("frame") or {}
+        kf = (idx.get("keyframe") or {}).get("mean") or {}
+        self.frame_locs = np.asarray(fr.get("loc", []), dtype=np.uint64)
+        self.timestamps = np.asarray(fr.get("timestamp", []), dtype=np.float64)
+        self.kf_locs = np.asarray(kf.get("loc", []), dtype=np.uint64)
+        self.kf_ts = np.asarray(kf.get("timestamp", []), dtype=np.float64)
+        if len(self.frame_locs) != len(self.timestamps) or not len(self.kf_locs):
+            raise UfmfError("index incomplete")
+
+    def _scan(self) -> None:
+        """No usable index: walk the chunks from the header to the end (or the first torn chunk)."""
+        locs, ts, kf_locs, kf_ts = [], [], [], []
+        size = self.path.stat().st_size
+
+        def skip(n: int) -> None:  # seek() past the end does not raise: a torn chunk would count
+            if self.f.tell() + n > size:
+                raise UfmfError("torn chunk")
+            self.f.seek(n, 1)
+
+        self.f.seek(self.data_start)
+        while True:
+            pos = self.f.tell()
+            head = self.f.read(1)
+            if not head:
+                break
+            try:
+                cid = head[0]
+                if cid == KEYFRAME:
+                    t_len = self._read(1)[0]
+                    self._read(t_len + 1)
+                    w, h = struct.unpack("<HH", self._read(4))
+                    (t,) = struct.unpack("<d", self._read(8))
+                    skip(w * h)
+                    kf_locs.append(pos)
+                    kf_ts.append(t)
+                elif cid == FRAME:
+                    (t,) = struct.unpack("<d", self._read(8))
+                    (n,) = struct.unpack("<I", self._read(4))
+                    for _ in range(n):
+                        _, _, w, h = struct.unpack("<HHHH", self._read(8))
+                        skip(w * h)
+                    locs.append(pos)
+                    ts.append(t)
+                else:
+                    break  # the index chunk, or garbage after a crash
+            except (UfmfError, struct.error):
+                break
+        self.frame_locs = np.asarray(locs, dtype=np.uint64)
+        self.timestamps = np.asarray(ts, dtype=np.float64)
+        self.kf_locs = np.asarray(kf_locs, dtype=np.uint64)
+        self.kf_ts = np.asarray(kf_ts, dtype=np.float64)
+        if not len(self.kf_locs):
+            raise UfmfError(f"{self.path.name}: no background keyframe found")
+
+    # ── frames ─────────────────────────────────────────────────────────────────
+    @property
+    def n_frames(self) -> int:
+        return len(self.frame_locs)
+
+    def _keyframe(self, k: int) -> np.ndarray:
+        if k in self._bg_cache:
+            return self._bg_cache[k]
+        self.f.seek(int(self.kf_locs[k]))
+        if self._read(1)[0] != KEYFRAME:
+            raise UfmfError("keyframe chunk id mismatch")
+        t_len = self._read(1)[0]
+        self._read(t_len)
+        dt = self._read(1).decode()
+        if dt != "B":
+            raise UfmfError(f"keyframe dtype {dt!r} not supported")
+        w, h = struct.unpack("<HH", self._read(4))
+        self._read(8)
+        img = np.frombuffer(self._read(w * h), dtype=np.uint8).reshape(h, w)
+        if len(self._bg_cache) > 4:
+            self._bg_cache.clear()
+        self._bg_cache[k] = img
+        return img
+
+    @property
+    def width(self) -> int:
+        return self._keyframe(0).shape[1]
+
+    @property
+    def height(self) -> int:
+        return self._keyframe(0).shape[0]
+
+    def frame(self, i: int) -> tuple[float, np.ndarray]:
+        """(timestamp s, uint8 (H, W)) of frame i: its background with its boxes pasted on."""
+        t = float(self.timestamps[i])
+        k = max(0, bisect_right(self.kf_ts.tolist(), t) - 1) if len(self.kf_ts) > 1 else 0
+        img = self._keyframe(k).copy()
+        self.f.seek(int(self.frame_locs[i]))
+        if self._read(1)[0] != FRAME:
+            raise UfmfError(f"frame {i}: chunk id mismatch")
+        self._read(8)
+        (n,) = struct.unpack("<I", self._read(4))
+        H, W = img.shape
+        for _ in range(n):
+            x, y, w, h = struct.unpack("<HHHH", self._read(8))
+            box = np.frombuffer(self._read(w * h), dtype=np.uint8).reshape(h, w)
+            x1, y1 = min(W, x + w), min(H, y + h)
+            if x < W and y < H:
+                img[y:y1, x:x1] = box[: y1 - y, : x1 - x]
+        return t, img
+
+
+def downsample(img: np.ndarray, factor: int) -> np.ndarray:
+    """Mean over factor × factor blocks (edges cropped)."""
+    if factor <= 1:
+        return img
+    h, w = (img.shape[0] // factor) * factor, (img.shape[1] // factor) * factor
+    return img[:h, :w].reshape(h // factor, factor, w // factor, factor).mean(axis=(1, 3)).astype(np.uint8)
+
+
+if __name__ == "__main__":
+    import sys
+
+    for p in sys.argv[1:]:
+        with UfmfReader(p) as u:
+            ts = u.timestamps
+            fps = (len(ts) - 1) / (ts[-1] - ts[0]) if len(ts) > 1 and ts[-1] > ts[0] else 0.0
+            print(f"{Path(p).name}: v{u.version} {u.coding} {u.width}×{u.height}, {u.n_frames} frames, "
+                  f"{len(u.kf_locs)} keyframes, {ts[0] if len(ts) else 0:.3f}–{ts[-1] if len(ts) else 0:.3f} s ({fps:.1f} fps), "
+                  f"index {'read' if u.indexed else 'MISSING (scanned)'}")
diff --git a/tests/test-flasher-catalog.js b/tests/test-flasher-catalog.js
index 12981349..f82ec76e 100644
--- a/tests/test-flasher-catalog.js
+++ b/tests/test-flasher-catalog.js
@@ -208,19 +208,11 @@ for (const f of textFiles) {
         if (!served.has(m[1])) referenced.set(m[1], (referenced.get(m[1]) || []).concat(f));
     }
 }
+// The superseded 2P line-sync checklist, the one document allowed to name removed images, moved to the
+// private 2P rig repository on 2026-10-28 (rig-software-repos-and-runners.md §3.3 amendment).
 for (const [file, where] of referenced) {
-    // The superseded 2P checklist keeps its history (banner at the top says the files are gone).
-    const only2p = where.every((w) => w.endsWith('2p-line-sync-rig-checklist.md'));
-    checkBool(
-        `no live reference to a removed image: ${file}`,
-        only2p,
-        'referenced from ' + [...new Set(where)].join(', ')
-    );
+    checkBool(`no live reference to a removed image: ${file}`, false, 'referenced from ' + [...new Set(where)].join(', '));
 }
-checkBool(
-    '2P rig checklist marked superseded',
-    /Superseded \(2026-09-29\)/.test(read('docs/development/2p-line-sync-rig-checklist.md'))
-);
 
 console.log('\n=== Summary ===');
 console.log(`${total - failures} / ${total} checks passed`);
diff --git a/tools/led_sweep_quicklook.py b/tools/led_sweep_quicklook.py
deleted file mode 100644
index 6a526dda..00000000
--- a/tools/led_sweep_quicklook.py
+++ /dev/null
@@ -1,141 +0,0 @@
-"""Quick look at a g6_2p_color_led_sweep run: per duty step, the mean image brightness per channel.
-
-Reads ScanImage TIFFs with a minimal stdlib+numpy reader (uncompressed classic or BigTIFF, as
-ScanImage writes them; no tifffile needed), takes each frame's absolute time from the frame header
-(`epoch` = acquisition start, PC local time, + `frameTimestamps_sec`), and lines the frames up with
-the duty steps in the converted run log (`arena_command` 0x08 trialParams times, same PC clock).
-
-    python tools/led_sweep_quicklook.py <run.jsonl> <tiff_dir> <counter> [--utc-offset-h -4]
-
-Output per color: baseline (frames before the first step), then per duty step the mean of each
-channel minus baseline, and the per-frame noise (std over the step's frames) → a crude SNR.
-A quick look only: whole-field means, no ROI, no motion correction.
-"""
-from __future__ import annotations
-
-import argparse
-import datetime as dt
-import json
-import re
-import struct
-import sys
-from pathlib import Path
-
-import numpy as np
-
-COLORS = ("violet", "blue", "green", "yellow")
-DUTIES = (7, 15, 31, 63, 127, 255)
-
-
-def read_tiff_pages(path: Path):
-    """Yield (description, ndarray) per page. Uncompressed, single-sample, strips."""
-    with open(path, "rb") as f:
-        data = memoryview(f.read())
-    bo = {b"II": "<", b"MM": ">"}[bytes(data[:2])]
-    magic = struct.unpack_from(bo + "H", data, 2)[0]
-    big = magic == 43
-    if big:
-        off = struct.unpack_from(bo + "Q", data, 8)[0]
-        ent_fmt, cnt_fmt, ent_size, next_fmt = "HHQQ", "Q", 20, "Q"
-    else:
-        off = struct.unpack_from(bo + "I", data, 4)[0]
-        ent_fmt, cnt_fmt, ent_size, next_fmt = "HHII", "H", 12, "I"
-    tsz = {1: 1, 2: 1, 3: 2, 4: 4, 16: 8}
-    while off:
-        n = struct.unpack_from(bo + cnt_fmt, data, off)[0]
-        p = off + struct.calcsize(cnt_fmt)
-        tags = {}
-        for i in range(n):
-            tag, typ, count, val = struct.unpack_from(bo + ent_fmt, data, p + i * ent_size)
-            size = tsz.get(typ, 1) * count
-            inline = size <= (8 if big else 4)
-            # value field follows tag (2) + type (2) + count (4 classic / 8 BigTIFF)
-            vo = p + i * ent_size + 4 + (8 if big else 4) if inline else val
-            if typ == 2:
-                tags[tag] = bytes(data[vo:vo + count]).rstrip(b"\0").decode("latin-1")
-            elif typ in (3, 4, 16):
-                f = {3: "H", 4: "I", 16: "Q"}[typ]
-                tags[tag] = struct.unpack_from(bo + f * count, data, vo)
-        w, h = tags[256][0], tags[257][0]
-        bits = tags.get(258, (16,))[0]
-        fmt = tags.get(339, (1,))[0]  # 1 uint, 2 int
-        dtype = np.dtype(bo + {(16, 2): "i2", (16, 1): "u2", (8, 1): "u1", (32, 2): "i4"}[(bits, fmt)])
-        offs, cnts = tags[273], tags[279]
-        buf = b"".join(bytes(data[o:o + c]) for o, c in zip(offs, cnts))
-        yield tags.get(270, ""), np.frombuffer(buf, dtype=dtype, count=w * h).reshape(h, w)
-        off = struct.unpack_from(bo + next_fmt, data, p + n * ent_size)[0]
-
-
-def frame_series(path: Path, utc_offset_h: float):
-    """Per page: (abs_epoch_ms, channel_index_within_frame, mean)."""
-    out = []
-    per_frame = {}
-    for desc, img in read_tiff_pages(path):
-        ts = re.search(r"frameTimestamps_sec\s*=\s*([-\d.eE+]+)", desc)
-        ep = re.search(r"epoch\s*=\s*\[([^\]]+)\]", desc)
-        fn = re.search(r"frameNumbers\s*=\s*(\d+)", desc)
-        if not (ts and ep):
-            continue
-        y, mo, d, hh, mi, ss = [float(x) for x in ep.group(1).split()]
-        t0 = dt.datetime(int(y), int(mo), int(d), int(hh), int(mi), tzinfo=dt.timezone(dt.timedelta(hours=utc_offset_h)))
-        abs_ms = (t0.timestamp() + ss + float(ts.group(1))) * 1000.0
-        k = int(fn.group(1)) if fn else len(out)
-        ch = per_frame.get(k, 0)
-        per_frame[k] = ch + 1
-        out.append((abs_ms, ch, float(img.mean())))
-    return out
-
-
-def main(argv=None) -> int:
-    for s in (sys.stdout, sys.stderr):
-        try:
-            s.reconfigure(encoding="utf-8", errors="replace")
-        except (AttributeError, ValueError):
-            pass
-    a = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
-    a.add_argument("runlog")
-    a.add_argument("tiff_dir")
-    a.add_argument("counter", type=int)
-    a.add_argument("--utc-offset-h", type=float, default=-4.0, help="PC local time vs UTC (EDT = -4)")
-    a.add_argument("--settle-s", type=float, default=0.3, help="skip this long after each step change")
-    args = a.parse_args(argv)
-
-    rows = [json.loads(l) for l in open(args.runlog, encoding="utf-8") if l.strip().startswith("{")]
-    tp = [r["t"] for r in rows if r.get("event") == "arena_command" and str(r.get("head", "")).split(" ")[1:2] == ["08"]]
-    offs = [r["t"] for r in rows if r.get("event") == "arena_command" and str(r.get("head", "")).split(" ")[1:2] == ["00"]]
-    if len(tp) != 24:
-        print(f"expected 24 trialParams, found {len(tp)}")
-    for c, color in enumerate(COLORS):
-        tif = Path(args.tiff_dir) / f"{color}_sweep_{args.counter:05d}.tif"
-        s = frame_series(tif, args.utc_offset_h)
-        if not s:
-            print(f"{color}: no frame headers parsed in {tif}")
-            continue
-        t = np.array([x[0] for x in s]); ch = np.array([x[1] for x in s]); m = np.array([x[2] for x in s])
-        steps = tp[c * 6:(c + 1) * 6]
-        step_len = float(np.median(np.diff(steps))) if len(steps) > 1 else 3000.0
-        end = steps[-1] + step_len
-        nch = int(ch.max()) + 1
-        print(f"\n{color}: {tif.name}  {len(s)} pages, {nch} channel(s), frames {(t.min() - steps[0]) / 1000:+.2f} → "
-              f"{(t.max() - end) / 1000:+.2f} s vs stimulus start/end (step {step_len / 1000:.2f} s)")
-        for k in range(nch):
-            sel = ch == k
-            base_sel = sel & (t < steps[0] - 100)
-            base = m[base_sel].mean() if base_sel.any() else float("nan")
-            line = [f"  ch{k + 1}: baseline {base:8.2f} (n={int(base_sel.sum())})"]
-            for j, t_on in enumerate(steps):
-                t_off = steps[j + 1] if j + 1 < len(steps) else end
-                w = sel & (t >= t_on + args.settle_s * 1000) & (t < t_off - 100)
-                if not w.any():
-                    line.append(f"d{DUTIES[j]}: —")
-                    continue
-                d = m[w] - base
-                line.append(f"d{DUTIES[j]}: {d.mean():+7.2f} (sd {m[w].std():.2f}, n={int(w.sum())})")
-            print("  ".join(line[:1]))
-            for x in line[1:]:
-                print("      " + x)
-    return 0
-
-
-if __name__ == "__main__":
-    raise SystemExit(main())
diff --git a/tools/led_sweep_si.py b/tools/led_sweep_si.py
deleted file mode 100644
index cdfb973e..00000000
--- a/tools/led_sweep_si.py
+++ /dev/null
@@ -1,234 +0,0 @@
-#!/usr/bin/env python3
-"""led_sweep_si.py — FALLBACK for the 2P color LED-intensity sweep (2026-10-16): drive ScanImage's
-grabs from a plain script on the microscope PC while the Arena Studio runs the matching protocol by
-hand (Console → Test experiment), so the day's data is still collected if the connector path
-(bridge node + scanimage_node.py) fails on site.
-
-Same condition table as protocols/g6_2p_color_led_sweep.yaml, same TIFF layout (one grab per
-color, stem "<color>_sweep"), so the analysis does not change. Alignment is the controller's
-Digital IO 1 frame-transfer pulse recorded by ScanImage, exactly as in the connector path.
-
-Talks to ScanImage's built-in JSON server (`hJ = most.network.json.Server(5555)` in MATLAB) over
-a persistent TCP connection, the way scanimage_node.py does: length-prefixed JSON, one client,
-scalar properties only, two fixed evals (startGrab, abort). No ROS, no pixi: the Python that ships
-with the rig PC is enough (stdlib only).
-
-    python tools/led_sweep_si.py --dry-run                 # print the plan, touch nothing
-    python tools/led_sweep_si.py --ping                    # one get of acqState, then exit
-    python tools/led_sweep_si.py --colors violet blue      # a subset
-    python tools/led_sweep_si.py                           # the whole sweep, prompting before each grab
-
-Sequence per color: set logFileStem → startGrab → wait `--settle` s → (operator starts the Studio
-condition for this color — the script prints the cue and, unless --no-prompt, waits for Enter) →
-poll acqState until idle (the grab length is framesPerSlice, set once at the start) → next color.
-"""
-
-from __future__ import annotations
-
-import argparse
-import json
-import socket
-import struct
-import sys
-import time
-
-COLORS = ("violet", "blue", "green", "yellow")  # bank 0..3: 405, 470, 525, 590 nm
-DUTIES = (7, 15, 31, 63, 127, 255)
-STEP_S = 3.0
-SETTLE_S = 1.0
-FRAMES_PER_GRAB = 640  # ≥ (settle + 6 × step) × scan frame rate (29 Hz → 19 s → 551), with margin
-
-
-class SiTimeout(TimeoutError):
-    pass
-
-
-class SiError(RuntimeError):
-    pass
-
-
-class JsonClient:
-    """ScanImage JSON server client (ported from scanimage_node.py / si_remote.py)."""
-
-    def __init__(self, host: str, port: int, timeout_s: float) -> None:
-        self.host, self.port, self.timeout_s = host, port, timeout_s
-        self._sock: socket.socket | None = None
-
-    def drop(self) -> None:
-        if self._sock is not None:
-            try:
-                self._sock.close()
-            except OSError:
-                pass
-            self._sock = None
-
-    def _recv_exact(self, n: int) -> bytes:
-        assert self._sock is not None
-        buf = b""
-        while len(buf) < n:
-            chunk = self._sock.recv(n - len(buf))
-            if not chunk:
-                raise ConnectionError("server closed the connection")
-            buf += chunk
-        return buf
-
-    def request(self, msg: dict, timeout_s: float | None = None) -> dict:
-        data = json.dumps(msg, separators=(",", ":")).encode("utf-8")
-        to = timeout_s if timeout_s is not None else self.timeout_s
-        try:
-            if self._sock is None:
-                self._sock = socket.create_connection((self.host, self.port), timeout=to)
-            self._sock.settimeout(to)
-            self._sock.sendall(struct.pack("<Q", len(data)) + data)  # one write (B4)
-            n = struct.unpack("<Q", self._recv_exact(8))[0]
-            body = self._recv_exact(n)
-        except socket.timeout as exc:
-            self.drop()
-            raise SiTimeout(f"no complete reply within {to:g}s (connection dropped; UNKNOWN whether it took effect)") from exc
-        except (ConnectionError, OSError) as exc:
-            self.drop()
-            raise OSError(f"ScanImage JSON server unreachable at {self.host}:{self.port}: {exc}") from exc
-        rep = json.loads(body.decode("utf-8"))
-        if isinstance(rep, dict) and rep.get("error"):
-            raise SiError(str(rep["error"]))
-        return rep
-
-    def get(self, prop: str):
-        return self.request({"command": "get", "property": prop}).get("value")
-
-    def set(self, prop: str, value):
-        return self.request({"command": "set", "property": prop, "value": value}).get("actual", value)
-
-    def eval(self, expr: str, timeout_s: float) -> None:
-        self.request({"command": "eval", "function": expr, "num_outputs": 0}, timeout_s)
-
-
-def wait_state(cli: JsonClient, want: str, timeout_s: float, poll_s: float = 0.5) -> str:
-    end = time.monotonic() + timeout_s
-    st = cli.get("hSI.acqState")
-    while st != want and time.monotonic() < end:
-        time.sleep(poll_s)
-        st = cli.get("hSI.acqState")
-    return str(st)
-
-
-def log(results: list, **row) -> None:
-    row["t"] = time.strftime("%H:%M:%S")
-    results.append(row)
-    print("  " + json.dumps(row), flush=True)
-
-
-def main(argv: list[str] | None = None) -> int:
-    # A Windows console is cp1252 by default: the plan/cue lines use → and ×, which would crash print().
-    for s in (sys.stdout, sys.stderr):
-        try:
-            s.reconfigure(encoding="utf-8", errors="replace")
-        except (AttributeError, ValueError):
-            pass
-    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
-    p.add_argument("--host", default="127.0.0.1")
-    p.add_argument("--port", type=int, default=5555)
-    p.add_argument("--colors", nargs="+", default=list(COLORS), choices=COLORS)
-    p.add_argument("--duties", nargs="+", type=int, default=list(DUTIES), help="panel duty levels (for the plan + cue only; the Studio protocol sets them)")
-    p.add_argument("--step", type=float, default=STEP_S, help="s per duty level in the Studio protocol (plan + wait budget)")
-    p.add_argument("--settle", type=float, default=SETTLE_S, help="s after the grab starts before cueing the stimulus")
-    p.add_argument("--frames", type=int, default=FRAMES_PER_GRAB, help="framesPerSlice to set once (0 = leave ScanImage's value)")
-    p.add_argument("--stem-suffix", default="_sweep", help='TIFF stem = "<color><suffix>"')
-    p.add_argument("--timeout", type=float, default=2.0, help="per-request timeout (s)")
-    p.add_argument("--grab-timeout", type=float, default=15.0, help="startGrab is synchronous in ScanImage (1.2–2.4 s on the Bergamo PC)")
-    p.add_argument("--no-prompt", action="store_true", help="do not wait for Enter before each grab (time the Studio by the printed cue)")
-    p.add_argument("--dry-run", action="store_true", help="print the plan and exit; nothing is sent")
-    p.add_argument("--ping", action="store_true", help="read acqState and the file settings, then exit")
-    p.add_argument("--results", default=None, help="write the per-step JSON lines here too")
-    a = p.parse_args(argv)
-
-    per_color = a.settle + len(a.duties) * a.step
-    print(f"[plan] {len(a.colors)} colors × {len(a.duties)} duties × {a.step:g} s (+{a.settle:g} s settle) = {per_color:g} s of grab per color; "
-          f"framesPerSlice {a.frames or 'unchanged'}; stems {[c + a.stem_suffix for c in a.colors]}; duties {a.duties}")
-    if a.dry_run:
-        for c in a.colors:
-            print(f"  {c}: set stem {c + a.stem_suffix!r} → startGrab → {a.settle:g} s → Studio runs {c} duties {a.duties} ({a.step:g} s each) → allOff → wait idle")
-        print("[plan] dry run: nothing sent")
-        return 0
-
-    cli = JsonClient(a.host, a.port, a.timeout)
-    results: list = []
-    try:
-        st = cli.get("hSI.acqState")
-        fps = cli.get("hSI.hRoiManager.scanFrameRate")
-        info = {"acqState": st, "scanFrameRate": fps, "logFilePath": cli.get("hSI.hScan2D.logFilePath"),
-                "logFileStem": cli.get("hSI.hScan2D.logFileStem"), "logFileCounter": cli.get("hSI.hScan2D.logFileCounter"),
-                "loggingEnable": cli.get("hSI.hChannels.loggingEnable"), "framesPerSlice": cli.get("hSI.hStackManager.framesPerSlice"),
-                "channelSave": cli.get("hSI.hChannels.channelSave"), "bidirectional": cli.get("hSI.hScan2D.bidirectional")}
-        print(f"[si] {json.dumps(info)}")
-        if a.ping:
-            return 0
-        if st != "idle":
-            print(f"[si] acqState is {st!r}; abort it in ScanImage first", file=sys.stderr)
-            return 1
-        if not info["loggingEnable"]:
-            print("[si] WARNING: logging is OFF in ScanImage — grabs will not write TIFFs. Enable logging, then rerun.", file=sys.stderr)
-            return 1
-        if not info["logFilePath"]:
-            print("[si] WARNING: logFilePath is empty — set it to the F: data folder in ScanImage, then rerun.", file=sys.stderr)
-            return 1
-        need = per_color * float(fps or 29.0)
-        if a.frames:
-            actual = cli.set("hSI.hStackManager.framesPerSlice", int(a.frames))
-            log(results, step="set", property="framesPerSlice", value=a.frames, actual=actual)
-            if a.frames < need:
-                print(f"[si] WARNING: framesPerSlice {a.frames} < {need:.0f} needed for {per_color:g} s at {fps} Hz", file=sys.stderr)
-        for color in a.colors:
-            stem = color + a.stem_suffix
-            if not a.no_prompt:
-                input(f"\n[{color}] Studio: select the {color} block (duties {a.duties}), hand on Run. Press Enter to START THE GRAB…")
-            actual = cli.set("hSI.hScan2D.logFileStem", stem)
-            counter = cli.get("hSI.hScan2D.logFileCounter")
-            log(results, step="setFileStem", color=color, stem=actual, counter=counter)
-            t0 = time.perf_counter()
-            try:
-                cli.eval("hSI.startGrab()", a.grab_timeout)
-            except SiTimeout as exc:
-                log(results, step="grab", color=color, outcome="unknown", error=str(exc))
-                st = wait_state(cli, "grab", 5.0)
-                if st != "grab":
-                    print(f"[{color}] grab outcome unknown and acqState is {st!r}; stopping", file=sys.stderr)
-                    return 3
-            st = wait_state(cli, "grab", 5.0)
-            log(results, step="grab", color=color, acqState=st, start_ms=round((time.perf_counter() - t0) * 1000))
-            if st != "grab":
-                print(f"[{color}] startGrab returned but acqState is {st!r}; stopping", file=sys.stderr)
-                return 1
-            time.sleep(a.settle)
-            print(f"\a[{color}] >>> RUN THE {color.upper()} BLOCK IN THE STUDIO NOW ({len(a.duties)} × {a.step:g} s) <<<", flush=True)
-            budget = per_color + 20.0
-            st = wait_state(cli, "idle", budget)
-            frames = cli.get("hSI.hDisplay.lastFrameNumber")
-            counter2 = cli.get("hSI.hScan2D.logFileCounter")
-            log(results, step="waitIdle", color=color, acqState=st, lastFrameNumber=frames, counter_after=counter2)
-            if st != "idle":
-                print(f"[{color}] still {st!r} after {budget:g} s — aborting the grab", file=sys.stderr)
-                cli.eval("hSI.abort()", a.grab_timeout)
-                log(results, step="abort", color=color, acqState=wait_state(cli, "idle", 5.0))
-        print("\n[done] all colors grabbed; arena should be dark (allOff in the Studio).")
-        return 0
-    except (SiError, OSError) as exc:
-        print(f"[si] error: {exc}", file=sys.stderr)
-        return 1
-    except KeyboardInterrupt:
-        print("\n[si] interrupted — aborting any running grab", file=sys.stderr)
-        try:
-            cli.eval("hSI.abort()", a.grab_timeout)
-        except Exception:
-            pass
-        return 130
-    finally:
-        if a.results and results:
-            with open(a.results, "a", encoding="utf-8", newline="\n") as fh:
-                for r in results:
-                    fh.write(json.dumps(r) + "\n")
-        cli.drop()
-
-
-if __name__ == "__main__":
-    raise SystemExit(main())