From 612f082c0e3e64c8f012e2c2b487dc082d5f22fc Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 28 Oct 2026 17:16:24 -0400
Subject: [PATCH 1/7] rig: pin rig-nodes 0.3.0, requires-pixi >= 0.80, macOS
 floor on the platform (#280, LAB-338)

Manifest only; the re-lock with pixi 0.83 follows once the v0.3.0 channel is tagged.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 rig/pixi.toml | 29 ++++++++++++++++++-----------
 1 file changed, 18 insertions(+), 11 deletions(-)

diff --git a/rig/pixi.toml b/rig/pixi.toml
index 8f058117..2abdab34 100644
--- a/rig/pixi.toml
+++ b/rig/pixi.toml
@@ -23,14 +23,18 @@
 [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"]
-
+channels = ["conda-forge", "robostack-jazzy", "https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.3.0/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 +81,16 @@ 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.
+# 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`).
-rig_nodes = "==0.2.1"
+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 +98,7 @@ 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`,

From 2218d39e6357deac8aac20aee007f5f4cd343c73 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 28 Oct 2026 18:05:28 -0400
Subject: [PATCH 2/7] rig: re-lock on rig-nodes 0.3.0 with pixi 0.83; the
 channel pin in a `channel` feature (default/typed/viz), dev from git alone

Channel read at the payload commit 5e20dee (the v0.3.0 tag sits one commit early; moving it is a
one-liner for Michael). `dev` no longer includes `typed` and the rig_nodes pin is no longer a workspace
dependency: one package name from a git source and the channel does not solve once the released version
is ahead of rig-nodes main. Verified on the Mac with the sibling rig-nodes checkout renamed away:
`pixi install --locked` (default + typed), check-typed lists the eight message types, `pixi run test`
59/59, `pixi run -e typed test` 62/62. Closes #280. LAB-338.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 rig/pixi.lock | 761 +++++++++++++++++++++++---------------------------
 rig/pixi.toml |  24 +-
 2 files changed, 369 insertions(+), 416 deletions(-)

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
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-zenoh-cpp-vendor-0.2.11-np2py312h815c85b_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-zstd-vendor-0.26.11-np2py312h6a0d68b_25.conda
-      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/noarch/rig_nodes-0.2.1-pyh4616a5c_0.conda
-      osx-arm64:
+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/noarch/rig_nodes-0.3.0-pyh4616a5c_0.conda
+      osx-arm64-macos-14-0:
       - conda: https://conda.anaconda.org/conda-forge/noarch/_python_abi3_support-1.0-hd8ed1ab_3.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/adwaita-icon-theme-51.0-unix_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.7.2-pyhcf101f3_0.conda
@@ -489,10 +502,10 @@ 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
@@ -511,7 +524,7 @@ environments:
       - 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/cairo-1.18.6-h580cee5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cffi-2.1.1-py312hc892d8b_3.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/console_bridge-1.0.2-h3e96240_1.tar.bz2
       - 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/cryptography-50.0.2-py311hc28ac56_0.conda
@@ -534,7 +547,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/gtk3-3.24.52-hc0f3e19_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/gts-0.7.6-he42f4ea_4.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/harfbuzz-15.0.0-hce30654_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/hicolor-icon-theme-0.17-hce30654_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/hicolor-icon-theme-0.17-h5ce3bf5_3.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/lerc-4.2.0-h1eee2c3_0.conda
@@ -562,10 +575,10 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libiceoryx-posh-2.95.8-hbfce10a_5.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libiconv-1.18-he4c29f2_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libintl-0.25.1-hae62183_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libjpeg-turbo-3.2.0-h84a0fba_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libjpeg-turbo-3.2.1-hb001647_0.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/libpango-1.58.2-hc2ac4f2_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpango-devel-1.58.2-haa2d88b_3.conda
@@ -848,7 +861,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-yaml-cpp-vendor-9.0.1-np2py312h3d3361c_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-zenoh-cpp-vendor-0.2.11-np2py312h48e1e13_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-zstd-vendor-0.26.11-np2py312h849b6f6_25.conda
-      - 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
       win-64:
       - conda: https://conda.anaconda.org/conda-forge/noarch/_python_abi3_support-1.0-hd8ed1ab_3.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.7.2-pyhcf101f3_0.conda
@@ -888,10 +901,10 @@ 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
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-    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/
+    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/
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-      - conda_source: rig_nodes[d35d99f3] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
-      osx-arm64:
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+      - 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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@@ -1784,7 +1797,7 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.4.4-hf91ab31_0.conda
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-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/hicolor-icon-theme-0.17-hce30654_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/hicolor-icon-theme-0.17-h5ce3bf5_3.conda
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@@ -1845,12 +1858,12 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libjpeg-turbo-3.2.0-h84a0fba_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libjpeg-turbo-3.2.1-hb001647_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblapack-3.11.0-11_hd9741b5_openblas.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
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libopenblas-0.3.34-openmp_h5e6e99c_1.conda
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@@ -2143,8 +2156,8 @@ environments:
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-      - conda_source: rig_interfaces[d2cb8de4] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
-      - 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
       win-64:
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@@ -2184,10 +2197,10 @@ 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
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-      - 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
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-    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/
+    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/
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-      osx-arm64:
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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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   - mcap >=1.2
   - websockets >=12
+  - psutil
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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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-- conda_source: rig_interfaces[4fc1ccdb] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+  size: 194659
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+- conda_source: rig_interfaces[5826283b] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
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     target_platform: win-64
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+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
   - ros-jazzy-rosidl-default-runtime
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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
   - conda: https://conda.anaconda.org/conda-forge/win-64/cppcheck-2.22.0-py314h7ae7f31_1.conda
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   - conda: https://conda.anaconda.org/conda-forge/win-64/git-lfs-3.8.1-ha70c05e_0.conda
@@ -33393,7 +33330,7 @@ packages:
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   - 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/vs2015_runtime-14.51.36247-h633cb9f_41.conda
-  - 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/zstd-1.5.7-h534d264_7.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros-jazzy-ament-cmake-2.5.6-h9490d1a_27.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros-jazzy-ros-workspace-1.0.3-h9490d1a_27.conda
@@ -33499,9 +33436,9 @@ 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
@@ -33512,7 +33449,7 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/wheel-0.48.0-pyhd8ed1ab_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/zipp-4.1.2-pyh5ded981_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/cmake-4.4.4-hde52c71_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/cmake-4.4.5-hde52c71_0.conda
   - conda: https://conda.anaconda.org/conda-forge/win-64/cppcheck-2.22.0-py312h9df87ca_1.conda
   - conda: https://conda.anaconda.org/conda-forge/win-64/gmock-1.18.0-h4f519af_1.conda
   - conda: https://conda.anaconda.org/conda-forge/win-64/gtest-1.18.0-h477610d_1.conda
@@ -33633,21 +33570,21 @@ packages:
   - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-service-msgs-2.0.4-np2py312hdd89193_25.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-uncrustify-vendor-3.0.1-np2py312hdd89193_25.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-unique-identifier-msgs-2.5.1-np2py312hdd89193_25.conda
-- 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
   version: 0.2.1
   build: hb0f4dca_0
   subdir: linux-64
   variants:
     target_platform: linux-64
   depends:
-  - 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:
   - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.46.1-default_h4852527_103.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_10.conda
   - 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/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/coreutils-9.12-hebe6cf0_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/cppcheck-2.22.0-py314h79bcd83_1.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-16.2.0-h9891192_7.conda
@@ -33686,7 +33623,7 @@ packages:
   - 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/libmpdec-4.0.0-hb03c661_2.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/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-3.14.10-hd51c5da_100_cp314.conda
@@ -33744,9 +33681,9 @@ packages:
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   - 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/setuptools-84.2.1-pyhe730653_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/six-1.17.0-pyhe01879c_1.conda
@@ -33837,16 +33774,17 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_10.conda
   - 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/cmake-4.4.3-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/cppcheck-2.22.0-py312h3cdd867_1.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/gmock-1.18.0-h48ecd08_1.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/gtest-1.18.0-h171cf75_1.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
   - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.46.1-default_hbd61a6d_103.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libblas-3.11.0-11_h4a7cf45_openblas.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libcblas-3.11.0-11_h0358290_openblas.conda
-  - conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.21.0-hcf29cc6_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.23.0-ha042cf0_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libedit-3.1.20260512-pl5321h373387f_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libev-4.33-h280c20c_3.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libexpat-2.9.0-hd2095e1_0.conda
@@ -33858,11 +33796,12 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-16.2.0-he0feb66_7.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/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 2abdab34..97e98349 100644
--- a/rig/pixi.toml
+++ b/rig/pixi.toml
@@ -23,7 +23,10 @@
 [workspace]
 name = "rig"
 version = "0.1.0"
-channels = ["conda-forge", "robostack-jazzy", "https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.3.0/channel"]
+# 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).
 # Declared on the platform (pixi ≥ 0.80 virtual packages), not as the deprecated [system-requirements]; pixi
@@ -85,7 +88,12 @@ mcap = ">=1.2"
 # 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`).
+# 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 ───────────────────────────────────────
@@ -140,10 +148,14 @@ ros-jazzy-rqt-console = "*"
 ros-jazzy-foxglove-bridge = "*"
 
 [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 ───────────────────────────────────────────

From 3b636acb401a1cdb9a1dd5cf643ac2bc53638dba Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 28 Oct 2026 19:09:18 -0400
Subject: [PATCH 3/7] =?UTF-8?q?rig:=20`pixi=20run=20qc`=20=E2=80=94=20the?=
 =?UTF-8?q?=20five-minute=20release=20validation=20of=20a=20tier=20on=20a?=
 =?UTF-8?q?=20rig=20PC=20(LAB-338)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

One command checks the candidate on /next/ (or Production) end to end: the tier's
build.json → a scratch worktree at that SHA with its own pixi environment, the
candidate's graph with the rig's flags, FicTrac (or the simulator), the Studio
emulator pre-check, the tier's Studio in a QC Chrome profile driven over DevTools
(build SHA, protocol load, bridge connect, the one Web Serial click, Run
experiment), export + runlog-check + closed-loop-report + bench-check, teardown,
a pass/fail table and a ready-to-paste validation note. Per-rig rows and the
checklist text live in rig/qc/profiles.toml (ww18, ww14, bergamo, mac); the
procedure is rig/QC.md; tests/test-rig-qc.py pins the pure half.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 rig/QC.md            | 118 ++++++
 rig/pixi.toml        |   4 +
 rig/qc/profiles.toml | 127 ++++++
 rig/qc/qc.py         | 952 +++++++++++++++++++++++++++++++++++++++++++
 rig/qc/qclib.py      | 299 ++++++++++++++
 tests/test-rig-qc.py | 152 +++++++
 6 files changed, 1652 insertions(+)
 create mode 100644 rig/QC.md
 create mode 100644 rig/qc/profiles.toml
 create mode 100644 rig/qc/qc.py
 create mode 100644 rig/qc/qclib.py
 create mode 100644 tests/test-rig-qc.py

diff --git a/rig/QC.md b/rig/QC.md
new file mode 100644
index 00000000..d3d6a5b2
--- /dev/null
+++ b/rig/QC.md
@@ -0,0 +1,118 @@
+# QC — the five-minute release validation (`pixi run qc`)
+
+One command on a rig PC checks a webDisplayTools build end to end — the candidate on
+[`/next/`](https://reiserlab.github.io/webDisplayTools/next/) before it is promoted, or what Production
+serves after — in about five minutes of wall time. You watch and say "looks right" at each step; everything
+except two clicks is scripted. It replaces the hour of hand-driven QC of 2026-10-27/28
+(`docs/development/handover-qc-windows-2026-10-26.md`, the three prompts; results on
+[PR #274](https://github.com/reiserlab/webDisplayTools/pull/274)).
+
+The code is `rig/qc/qc.py`; the per-rig rows and the checklist text are `rig/qc/profiles.toml`; the pure
+helpers are `rig/qc/qclib.py` (tested by `tests/test-rig-qc.py` at the repository root). The release
+tiers themselves: `docs/development/release-process.md`.
+
+## What to type
+
+From the rig's webDisplayTools checkout, in `rig\` (PowerShell on the lab PCs; the rig is detected from the
+hostname, `--rig` overrides):
+
+```powershell
+cd C:\Lab\GitHub\webDisplayTools\rig
+pixi run qc -- --tier next
+```
+
+| where | command | profile |
+|---|---|---|
+| **ww18** (`reiserlab-ww18`, G6 2×10 fly-on-ball, real FicTrac) | `pixi run qc -- --tier next --rig ww18` | FicTrac through `fictrac.bat` on `rig05_vfov28_2026-09-22`; `bench_closed_loop_2x10`; Foxglove `arena-fictrac.json`; `typed` + `viz` environments |
+| **ww14** (`reiserlab-ww14`, okey-cokey camera rig, BIAS + G6, no FicTrac) | `pixi run qc -- --tier next --rig ww14` | the `okey-cokey-start.ps1` flags; `g6_color_optomotor_smoke` (~2 min); BIAS must already be running (port 5010) — the pre-check drives the bias connector; Foxglove `arena-okey-cokey.json` |
+| **Bergamo 2P PC** | `pixi run qc -- --tier next --rig bergamo` | `--scanimage` against ScanImage's JSON server (5555); `g6_2x10_2p_diagnostics` |
+| this Mac (dry run, no controller) | `pixi run qc -- --tier next --rig mac` | FicTrac-MacOS on the looped sample video; the Studio run is skipped, the pre-check's run is judged |
+
+Through a **Claude Code session (Remote Control)**: add `--auto`. Nothing then waits for Enter — each step
+advances when its automated check holds, the `LOOK >` lines are what you confirm in chat, and the session
+reads the pass/fail table at the end. Without `--auto`, Enter moves on at each `LOOK >` and anything you type
+is kept as a remark in the validation note.
+
+Other switches: `--tier prod` (what Production serves), `--sha <commit>` (a build not deployed yet, or a
+Next placeholder), `--no-browser` (pre-check + reports only), `--no-foxglove`, `--skip-install`,
+`--skip-requires`, `--keep-browser`, `--rm-worktree`, `--qc-root DIR`, `--lna-prompt`, `--list-rigs`.
+
+## The two clicks
+
+1. **Web Serial port picker.** When the script prints `CLICK >`, click **Connect** in the Studio and pick the
+   controller (`G6_Arena`; on some PCs it enumerates as "USB Serial (COMn)"). Chrome only allows this on a
+   user gesture, so it cannot be scripted. The script waits up to 5 minutes.
+2. **Local network access (once per PC, only with `--lna-prompt`).** Chrome ≥ 142 asks a public page for
+   permission before it may open `ws://localhost`. The QC Chrome profile bypasses that check (the flag the
+   Foxglove app runs with); the rig's everyday Chrome asked once and remembers. Pass `--lna-prompt` to see the
+   prompt and click **Allow** instead.
+
+The bridge Connect, the protocol load, **Run experiment** and the export are driven over Chrome's DevTools
+protocol, so you never click them. If DevTools cannot attach, the script falls back to printing the hand-driven
+steps (bridge Connect → Connect → Run experiment → confirm the NEXT dialog) and waits for the run's bag to close.
+
+## What happens, step by step
+
+| step | automated check | you look at |
+|---|---|---|
+| 1 preflight | pixi ≥ 0.80, git, Chrome; ports 7447 / 8765 / 60000 (+ 8766) free; the rig's services up (BIAS on ww14, ScanImage on Bergamo) | — |
+| 2 candidate | the tier's `build.json` → commit SHA; `git fetch` + a **scratch worktree** at exactly that commit (`<qc-root>\wt\<sha7>`) | the build label printed (`candidate 2026-10-28-rc2`, PRs …) |
+| 3 install | `pixi install --locked` in the worktree — its own environment, the rig's checkout and `.pixi` are never touched; `typed` / `viz` where the profile says so | — |
+| 4 graph | the candidate's `pixi run rig` with the rig's flags (flags that build does not know are dropped with a warning), bags + logs under the dated QC folder; Foxglove opened on `ws://localhost:8766` | the rig window lists its nodes; Foxglove shows the layout (import `rig/foxglove/<layout>.json` once) |
+| 5 fictrac | FicTrac started (or found running); frames counted at the gateway; the simulator takes over when the camera gives none | FicTrac tracking; the printed frames/s |
+| 6 pre-check | `tests/studio_emulator.py`: the Studio's exact bridge conversation (hello_ack ≥ 3.4, behavior_v2 ack, an epoch of frames, export; on ww14 also the BIAS connector) — **a broken candidate fails here**, before any browser | all PASS |
+| 7 browser | Chrome (QC profile) on the tier's `arena_studio.html?mode=run&rig=…`; build SHA in the page = the candidate; footer; protocol loaded; no console errors; bridge connected with frames; **your click**; firmware + panels; **Run experiment** | the Studio; the arena during the run (the rig's `look` line says what the display should do) |
+| 8 reports | `pixi run export` (closes the bag), `metadata.yaml`, `runlog-check.py`, `closed-loop-report.py` (idx mismatch ≤ 1 %), `bench-check.py` with the rig's holds + channel + build | the numbers |
+| 9 teardown | FicTrac / simulator / graph stopped, Chrome closed, ports free again | the pass/fail table |
+
+At the end the script prints the table, writes `summary.md` and `validation-note.md` into the dated folder and
+prints the exact command that posts the note:
+
+```powershell
+cd C:\Lab\GitHub\webDisplayTools; pixi run tiers -- validate --rig ww18 --by "Michael" --notes-file "C:\qc\2026-10-28\validation-note.md"
+```
+
+Exit code 0 means every automated check passed; the `LOOK` rows are yours.
+
+## Where things land
+
+| | Windows | Mac |
+|---|---|---|
+| dated run folder (`qc.log`, `graph.log`, `fictrac.log`, `runlogs\` bags + live logs, `exports\`, `reports\`, `bias\`, `summary.md`, `validation-note.md`) | `C:\qc\<YYYY-MM-DD>\` | `~/qc/<YYYY-MM-DD>/` |
+| scratch worktree of the build (+ its `.pixi` environments) | `C:\qc\wt\<sha7>\` | `~/qc/wt/<sha7>/` |
+| QC Chrome profile (no course token, telemetry ring on) | `C:\qc\chrome-profile\` | `~/qc/chrome-profile/` |
+
+**Disk:** a worktree environment is ~1.6 GB (`default`), +0.3 GB for `viz`; with a warm pixi cache the install
+takes 10–15 s. Worktrees are kept for re-runs (`--rm-worktree` removes one at the end; `git worktree prune`
+after deleting by hand). The rig's own `rig\.pixi` is never re-synced by QC.
+
+## Safety on a rig PC
+
+- **Refuses to start while anything is on 7447 / 8765 / 60000** (a running `pixi run rig`, bridge 3.4, another
+  FicTrac receiver) — stop that first. One Zenoh graph per host; never between experiments on a rig that is
+  mid-run.
+- The rig's checkout is read only (`git fetch` + `git worktree add`); the candidate runs from the scratch
+  worktree with its own environment and writes only under the QC root.
+- The QC Chrome profile holds no course token, so a run is **not** committed to the course repo; the log comes
+  out through `pixi run export` into the QC folder instead.
+- Everything the script started is stopped in teardown (SIGINT → TERM → KILL, in reverse order) and the ports
+  are checked free; Ctrl-C does the same.
+
+## Adding a rig
+
+One `[rigs.<name>]` table in `rig/qc/profiles.toml`: `hosts` (for detection), `rig_flags`, `envs`,
+`studio_rig` (a name from `configs/rigs/index.json`), `protocol` (`key` = a `protocols/index.json` key loaded
+through `?p=`, or `path` = loaded through the page), `fictrac` (`none` | `real` with `cmd`/`cwd`/`process`/
+`fallback` | `sample`), `requires` (ports that must answer first), `precheck`, `foxglove.layout`, `reports`
+(`closed_loop`, `holds`), and `checklist` lines that override the defaults by id. `tests/test-rig-qc.py`
+checks every row has what `qc.py` reads.
+
+## Known limits
+
+- The run-log judge needs the controller telemetry ring on — the QC profile sets it before the page loads; the
+  first run in a brand-new profile can still carry a ring backlog (ww18, 2026-10-27), so re-run if
+  `runlog-check` complains about pre-run rows.
+- `--tier prod` on a build whose `rig/pixi.lock` predates pixi 0.80 fails at the install step with pixi's
+  "lock file not up-to-date" (issue #280); that is the build's state, not a QC bug.
+- FicTrac on this Mac runs the 10 s sample video looped (ffmpeg) at 50 fps; without ffmpeg frames last 10 s.
+- Foxglove is opened on the connection by deep link; the layout is imported by hand once per PC.
diff --git a/rig/pixi.toml b/rig/pixi.toml
index 97e98349..b1dfadc0 100644
--- a/rig/pixi.toml
+++ b/rig/pixi.toml
@@ -214,3 +214,7 @@ check-tiff2mcap = "python tools/check_tiff2mcap.py"
 rqt-graph = "rqt_graph"
 rqt-topic = "rqt_topic"
 foxglove-bridge = "ros2 run foxglove_bridge foxglove_bridge --ros-args -p port:=8766 -p address:=127.0.0.1"
+# ── the five-minute release validation (rig/QC.md): `pixi run qc -- --tier next [--rig ww18] [--auto]` ──
+# Checks out the tier's build in a scratch worktree with its own environment, runs the graph, the Studio
+# emulator pre-check, the tier's Studio in Chrome, the reports, and prints a validation note.
+qc = "python qc/qc.py"
diff --git a/rig/qc/profiles.toml b/rig/qc/profiles.toml
new file mode 100644
index 00000000..0fb5e481
--- /dev/null
+++ b/rig/qc/profiles.toml
@@ -0,0 +1,127 @@
+# profiles.toml — the per-rig rows of the five-minute release validation (`pixi run qc`, rig/qc/qc.py).
+#
+# A new rig is a new `[rigs.<name>]` table; the checklist text Michael reads at each step is data
+# here, not code. Every key a rig leaves out comes from `[defaults]`. Paths with backslashes are
+# TOML literal strings ('…'). rig/QC.md is the procedure page.
+
+[defaults]
+repo = "reiserlab/webDisplayTools"
+min_pixi = "0.80"
+tier_url = { next = "https://reiserlab.github.io/webDisplayTools/next", prod = "https://reiserlab.github.io/webDisplayTools" }
+# Where a QC run keeps its worktree, Chrome profile and dated run folders (`--qc-root` overrides).
+qc_root = { nt = 'C:\qc', posix = "~/qc" }
+# pixi environments installed in the candidate's scratch worktree (`-e typed` where the rig uses it,
+# `viz` for Foxglove). `default` is always installed.
+envs = ["default"]
+# Ports the rig graph binds — refused when something already holds them (rig_nodes.supervise.preflight).
+ports = [
+  ["tcp", 7447, "a Zenoh router (another `pixi run rig`)"],
+  ["tcp", 8765, "a Studio gateway: 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"],
+]
+foxglove_port = 8766
+gateway_url = "ws://127.0.0.1:8765"
+# The no-browser pre-check (rig/tests/studio_emulator.py): epochs of the Studio's exact conversation.
+precheck = { epochs = 1, epoch_s = 4, min_frames = 40 }
+connect_timeout_s = 300     # how long to wait for the Web Serial click
+run_timeout_s = 600         # how long a Studio run may take before it counts as stuck
+frames_probe_s = 6          # how long to count gateway frames before deciding FicTrac is silent
+studio_rig = "cshl_g6_2x10_ball"
+controller = true
+# Checklist steps: one `look` line per phase, shown when that phase is reached. A rig overrides an
+# id by repeating it; ids: graph, fictrac, precheck, studio, bridge, controller, run, reports, done.
+checklist = [
+  { id = "graph", look = "Graph up: the rig window lists router + fictrac + bridge (+ the rig's extra nodes); no red tracebacks." },
+  { id = "fictrac", look = "FicTrac frames reach the gateway (rate printed below, ≈ camera fps; the simulator gives 50 Hz)." },
+  { id = "precheck", look = "Pre-check: every emulator assertion PASS (hello_ack ≥ 3.4, behavior_v2 ack, epoch frames, export)." },
+  { id = "studio", look = "Studio open on the right tier: footer version as expected, build SHA = the candidate (NEXT banner on /next/), protocol loaded in the Run view, no console errors." },
+  { id = "bridge", look = "Run view: bridge dot green, FicTrac rate ticking (frames/s), log level behavior_v2 acknowledged." },
+  { id = "controller", look = "After your click: firmware label and panel inventory shown, panels all green, SD listing populated." },
+  { id = "run", look = "Watch the arena while the protocol runs (steps printed as they start); the run ends with outcome completed, no fault, no bridge-lost alert." },
+  { id = "reports", look = "Bag closed (metadata.yaml present), export identical to the live file, runlog-check OK, closed-loop idx mismatch 0 %." },
+  { id = "done", look = "Ports 7447/8765/60000 free again; run logs and bags in the dated QC folder named below." },
+]
+
+# ── ww18: G6 2×10 fly-on-ball, real FicTrac (FLIR/Spinnaker), Windows 11, pixi 0.83 ──────────────
+[rigs.ww18]
+label = "ww18 — G6 2×10 fly-on-ball, real FicTrac"
+hosts = ["reiserlab-ww18"]
+envs = ["default", "typed", "viz"]
+rig_flags = ["--foxglove"]
+studio_rig = "cshl_g6_2x10_ball"
+# Not in protocols/index.json (so no `?p=` key): loaded from the tier's raw YAML through the page.
+protocol = { path = "protocols/validation/bench_closed_loop_2x10.yaml", duration_s = 25 }
+# FicTrac must start through fictrac.bat (puts its pixi env + Spinnaker on PATH); run from the
+# config's folder. When it is already running it is used as is. If the camera fails (no frames in
+# `frames_probe_s`), the FicTrac simulator takes over and the report says SIM.
+fictrac = { kind = "real", cmd = ['C:\Lab\GitHub\fictrac\build\Release\fictrac.bat', 'C:\Lab\GitHub\fictrac\cshl\rig05_vfov28_2026-09-22\config.txt'], cwd = 'C:\Lab\GitHub\fictrac\cshl\rig05_vfov28_2026-09-22', process = "fictrac.exe", fallback = "sim" }
+foxglove = { layout = "foxglove/arena-fictrac.json" }
+reports = { closed_loop = true, holds = ["epoch_a_frame25=25", "epoch_b_frame75=75"] }
+checklist = [
+  { id = "fictrac", look = "FicTrac window tracking the ball (≈ 96 fps on ww18); the gateway rate printed below matches." },
+  { id = "run", look = "Arena: 3 s background, then the grating HOLDS at frame 25 while the ball is still; turn the ball and the grating follows (coupling −1); ~11 s in it jumps to frame 75 and holds again; background to finish. About 25 s." },
+  { id = "reports", look = "runlog-check OK (4 pass / 0 fail), both epochs open on 25 / 75 with 0 % idx mismatch, bench-check PASS with channel + build = this candidate." },
+]
+
+# ── ww14: okey-cokey camera rig — BIAS (FLIR BFS-U3-51S5M) + G6 four-color, no FicTrac ──────────
+[rigs.ww14]
+label = "ww14 — okey-cokey camera rig (BIAS + G6 four-color, no FicTrac)"
+hosts = ["reiserlab-ww14"]
+envs = ["default", "viz"]
+# The flags of rig/tools/okey-cokey-start.ps1; flags the candidate's rig.py does not know are dropped
+# with a warning (e.g. --no-fictrac / --stimulus-args before PR #269). {qc_dir} = this run's folder.
+rig_flags = ["--no-fictrac", "--bias", "--bias-args", "--video-dir {qc_dir}\\bias", "--foxglove", "--viz-args", "--sources bias", "--stimulus-args", "--panel-layout four-color"]
+studio_rig = "cshl_g6_2x10"
+protocol = { key = "g6_color_optomotor_smoke", path = "protocols/g6_color_optomotor_smoke.yaml", duration_s = 110 }
+fictrac = { kind = "none" }
+# BIAS must already be running with its HTTP command port on (tools/okey-cokey-start.ps1 starts it).
+requires = [["tcp", 5010, "BIAS (test_gui.exe) with the external-control port on — start it first, then re-run"]]
+# The pre-check also drives the bias connector (connect / startRecording / getTimestamp / stopRecording).
+precheck = { epochs = 0, epoch_s = 0, min_frames = 0, connector = "bias" }
+foxglove = { layout = "foxglove/arena-okey-cokey.json" }
+reports = { closed_loop = false, holds = [] }
+checklist = [
+  { id = "fictrac", look = "No FicTrac on this rig: the gateway answers hello_ack and advertises the bias connector." },
+  { id = "precheck", look = "Pre-check: emulator PASS incl. the BIAS connector (startRecording → getTimestamp > 0 → stopRecording); a .ufmf appeared under the QC folder." },
+  { id = "run", look = "Arena: 2 s dark, then eight 10 s gratings — violet, blue, green, yellow, each clockwise then counter-clockwise (this arena is mounted upside down, so CW trials turn CCW seen from above) — 2 s dark between them; BIAS records one ufmf for the whole run. About 2 minutes." },
+  { id = "reports", look = "runlog-check OK (8 pass / 0 fail / 0 unknown), bag closed, BIAS ufmf present and > 1 MB." },
+]
+
+# ── Bergamo 2P PC: G6 2×10 line-sync, ScanImage JSON server; imaging nodes live in the private repo ─
+[rigs.bergamo]
+label = "Bergamo 2P PC — G6 2×10 two-photon (ScanImage connector)"
+hosts = ["reiserlab-bergamo1"]
+envs = ["default"]
+rig_flags = ["--no-fictrac", "--scanimage"]
+studio_rig = "bergamo_g6_2x10_2p"
+protocol = { key = "g6_2x10_2p_diagnostics", path = "protocols/g6_2x10_2p_diagnostics.yaml", duration_s = 60 }
+fictrac = { kind = "none" }
+requires = [["tcp", 5555, "ScanImage's JSON server (start ScanImage from a terminal MATLAB and enable the server)"]]
+precheck = { epochs = 0, epoch_s = 0, min_frames = 0 }
+reports = { closed_loop = false, holds = [] }
+checklist = [
+  { id = "fictrac", look = "No FicTrac on this rig: the gateway answers hello_ack and advertises the scanimage connector." },
+  { id = "run", look = "Arena: the 2P diagnostics sequence (brightness ramp and steps, 1 Hz flash, sparse, 6 s all-off); the Run view shows the controller-settings assertion (panel mode, refresh, SPI, AO) with no manual Console steps. About 1 minute." },
+  { id = "reports", look = "runlog-check OK, bag closed." },
+]
+
+# ── this Mac: FicTrac-MacOS on the sample video, no arena controller (development + dry runs) ────
+[rigs.mac]
+label = "Mac — FicTrac sample video, no controller"
+hosts = ["reiserm-lm6"]
+envs = ["default"]
+rig_flags = ["--foxglove"]
+studio_rig = "cshl_g6_2x10_ball"
+protocol = { path = "protocols/validation/bench_closed_loop_2x10.yaml", duration_s = 25 }
+controller = false
+# FicTrac on the 10 s sample video: the sample folder is copied under the QC root, sock_port set to
+# 60000, src_fps paces the playback (FicTrac plays a file flat out otherwise), and (when ffmpeg is
+# available) the video is looped to `loop_s` so frames outlast the run.
+fictrac = { kind = "sample", cmd = ["~/Documents/GitHub/Fictrac-MacOS/build/macos-opencv5/bin/fictrac"], sample_dir = "~/Documents/GitHub/Fictrac-MacOS/sample", process = "fictrac", fallback = "sim", loop_s = 180, fps = 50 }
+foxglove = { layout = "foxglove/arena-fictrac.json" }
+reports = { closed_loop = true, holds = [] }
+checklist = [
+  { id = "fictrac", look = "FicTrac tracking the sample ball video; gateway rate ≈ the video's fps." },
+  { id = "run", look = "No controller on this Mac: the Studio run is skipped; the pre-check's run is what the reports judge." },
+  { id = "reports", look = "runlog-check skips or passes (no controller rows), closed-loop report has one epoch with 0 % idx mismatch, bag closed." },
+]
diff --git a/rig/qc/qc.py b/rig/qc/qc.py
new file mode 100644
index 00000000..83ff2076
--- /dev/null
+++ b/rig/qc/qc.py
@@ -0,0 +1,952 @@
+#!/usr/bin/env python3
+"""qc.py — the five-minute release validation of a webDisplayTools tier, run on a rig PC.
+
+    pixi run qc -- --tier next                 # the live candidate on /next/, rig detected from the hostname
+    pixi run qc -- --tier prod --rig ww18      # what Production serves, on ww18's profile
+    pixi run qc -- --tier next --rig ww14 --auto   # no Enter prompts (a Claude session drives it)
+    pixi run qc -- --list-rigs
+
+One command replaces the hour of hand-driven QC (docs/development/handover-qc-windows-2026-10-26.md):
+
+  1. preflight    rig profile (rig/qc/profiles.toml), ports 7447/8765/60000 free, the rig's services up
+  2. candidate    the tier's build.json → SHA; a scratch git worktree of exactly that commit
+  3. install      `pixi install --locked` in the worktree (its own environment; the rig's checkout and
+                  .pixi are never touched), plus `typed` / `viz` where the rig uses them
+  4. graph        the candidate's `pixi run rig` with the rig's flags (unknown flags dropped with a warning),
+                  bags + run logs in the dated QC folder; Foxglove opened on the rig's layout
+  5. fictrac      the rig's FicTrac (started if needed), frames counted at the gateway; simulator fallback
+  6. pre-check    rig/tests/studio_emulator.py speaks the Studio's exact conversation — a broken
+                  candidate fails HERE, before anyone looks at a browser
+  7. browser      Chrome (a QC profile, no course token) on the tier's arena_studio.html, driven over the
+                  DevTools protocol: build SHA + footer checked, protocol loaded, bridge connected,
+                  then the ONE human click (Web Serial port picker), then the run (Run experiment)
+  8. reports      `pixi run export` (closes the bag), runlog-check, closed-loop-report, bench-check
+  9. teardown     everything stopped, ports free, pass/fail table + a ready-to-paste validation note
+
+Interactive by default: a LOOK line per step says what to confirm, Enter moves on (anything typed is
+kept as a remark). `--auto` never reads stdin — each step advances when its automated check holds —
+for a Claude Code session driving the rig while Michael confirms in chat.
+
+Artifacts: <qc-root>/<YYYY-MM-DD>/ (qc.log, graph.log, runlogs/, exports/, reports/, summary.md,
+validation-note.md); the worktree at <qc-root>/wt/<sha7>; the Chrome profile at <qc-root>/chrome-profile.
+Exit 0 when every automated check passed.
+"""
+
+from __future__ import annotations
+
+import argparse
+import asyncio
+import datetime as dt
+import json
+import os
+import re
+import shutil
+import signal
+import socket
+import subprocess
+import sys
+import threading
+import time
+import urllib.request
+from pathlib import Path
+
+HERE = Path(__file__).resolve().parent
+RIG_DIR = HERE.parent
+REPO = RIG_DIR.parent
+sys.path.insert(0, str(HERE))
+sys.path.insert(0, str(REPO / "scripts" / "studio-smoke"))
+
+import qclib  # noqa: E402
+
+CDP_PORT = 9333
+RUN_POLL_S = 0.5
+
+
+class QCError(Exception):
+    pass
+
+
+# ── logging ──────────────────────────────────────────────────────────────────
+
+
+class Log:
+    def __init__(self, path: Path) -> None:
+        self.fh = open(path, "a", encoding="utf-8")
+        self.t0 = time.monotonic()
+
+    def _w(self, line: str) -> None:
+        stamp = f"{time.monotonic() - self.t0:6.1f}s"
+        sys.stdout.write(line + "\n")
+        sys.stdout.flush()
+        self.fh.write(f"[{stamp}] {line}\n")
+        self.fh.flush()
+
+    def info(self, msg: str) -> None:
+        self._w("   " + msg)
+
+    def warn(self, msg: str) -> None:
+        self._w("   WARN " + msg)
+
+    def step(self, n: int, total: int, title: str) -> None:
+        self._w("")
+        self._w(f"[{n}/{total}] {title}")
+
+    def look(self, text: str) -> None:
+        self._w("")
+        self._w("   LOOK > " + text)
+
+    def click(self, text: str) -> None:
+        self._w("")
+        self._w("   CLICK > " + text)
+
+    def result(self, verdict: str, step: str, detail: str = "") -> None:
+        self._w(f"   [{verdict}] {step}" + (f" — {detail}" if detail else ""))
+
+
+# ── small helpers ────────────────────────────────────────────────────────────
+
+
+def run(argv: list[str], cwd: Path | str | None = None, env: dict | None = None, timeout: float = 600,
+        check: bool = False) -> subprocess.CompletedProcess:
+    p = subprocess.run([str(a) for a in argv], cwd=str(cwd) if cwd else None, env=env, capture_output=True,
+                       text=True, timeout=timeout, encoding="utf-8", errors="replace")
+    if check and p.returncode != 0:
+        raise QCError(f"`{' '.join(str(a) for a in argv[:4])}…` failed ({p.returncode}): "
+                      f"{(p.stderr or p.stdout).strip()[-800:]}")
+    return p
+
+
+def http_get(url: str, timeout: float = 20) -> str:
+    req = urllib.request.Request(url, headers={"Cache-Control": "no-cache", "Pragma": "no-cache",
+                                               "User-Agent": "webDisplayTools-qc"})
+    with urllib.request.urlopen(req, timeout=timeout) as r:
+        return r.read().decode("utf-8", errors="replace")
+
+
+def process_running(name: str) -> bool:
+    if not name:
+        return False
+    try:
+        if os.name == "nt":
+            p = run(["tasklist", "/FI", f"IMAGENAME eq {name}", "/NH", "/FO", "CSV"], timeout=20)
+            return name.lower() in p.stdout.lower()
+        p = run(["pgrep", "-x", name], timeout=10)
+        return p.returncode == 0
+    except Exception:  # noqa: BLE001
+        return False
+
+
+def open_url(url: str) -> bool:
+    try:
+        if os.name == "nt":
+            os.startfile(url)  # type: ignore[attr-defined]
+            return True
+        opener = "open" if sys.platform == "darwin" else "xdg-open"
+        return subprocess.run([opener, url], capture_output=True, timeout=20).returncode == 0
+    except Exception:  # noqa: BLE001
+        return False
+
+
+def newest_bag(runlogs: Path) -> Path | None:
+    bags = sorted(runlogs.glob("*.bag"), key=lambda p: p.stat().st_mtime) if runlogs.is_dir() else []
+    return bags[-1] if bags else None
+
+
+class Proc:
+    """A child in its own process group whose output goes to a file (+ chosen lines echoed)."""
+
+    def __init__(self, name: str, argv: list[str], log_path: Path, cwd: Path | None = None, env: dict | None = None,
+                 echo: "callable | None" = None) -> None:
+        from rig_nodes.supervise import popen_group  # type: ignore[import-not-found]
+
+        self.name = name
+        self.log_path = log_path
+        self.fh = open(log_path, "a", encoding="utf-8")
+        self.p = popen_group([str(a) for a in argv], cwd=str(cwd) if cwd else None, env=env, stdout=subprocess.PIPE,
+                             stderr=subprocess.STDOUT, text=True, encoding="utf-8", errors="replace", bufsize=1)
+        self.echo = echo
+        threading.Thread(target=self._pump, daemon=True).start()
+
+    def _pump(self) -> None:
+        assert self.p.stdout
+        for line in self.p.stdout:
+            self.fh.write(line)
+            self.fh.flush()
+            if self.echo:
+                try:
+                    self.echo(line.rstrip("\n"))
+                except Exception:  # noqa: BLE001
+                    pass
+
+    def alive(self) -> bool:
+        return self.p.poll() is None
+
+    def stop(self, grace_s: float = 10.0) -> None:
+        from rig_nodes.supervise import SIGKILL, signal_group  # type: ignore[import-not-found]
+
+        if not self.alive():
+            return
+        try:
+            signal_group(self.p, signal.SIGINT)
+            self.p.wait(grace_s)
+        except subprocess.TimeoutExpired:
+            signal_group(self.p, signal.SIGTERM)
+            try:
+                self.p.wait(5)
+            except subprocess.TimeoutExpired:
+                signal_group(self.p, SIGKILL)
+        except (ProcessLookupError, OSError, ValueError):
+            pass
+        self.fh.flush()
+
+    def tail(self, n: int = 12) -> str:
+        try:
+            return "\n".join(self.log_path.read_text(encoding="utf-8", errors="replace").splitlines()[-n:])
+        except OSError:
+            return ""
+
+
+# ── gateway probes (websockets) ──────────────────────────────────────────────
+
+
+async def _probe(url: str, seconds: float) -> dict:
+    from websockets.asyncio.client import connect
+
+    out: dict = {"hello_ack": None, "frames": 0, "seconds": seconds}
+    async with connect(url, max_size=16 * 1024 * 1024) as ws:
+        await ws.send(json.dumps({"type": "hello", "client": "webDisplayTools", "v": 1}))
+        end = asyncio.get_running_loop().time() + seconds
+        while True:
+            remaining = end - asyncio.get_running_loop().time()
+            if remaining <= 0:
+                break
+            try:
+                raw = await asyncio.wait_for(ws.recv(), remaining)
+            except asyncio.TimeoutError:
+                break
+            try:
+                m = json.loads(raw)
+            except ValueError:
+                continue
+            if m.get("type") == "hello_ack":
+                out["hello_ack"] = {k: v for k, v in m.items() if k != "type"}
+            elif m.get("type") == "frame":
+                out["frames"] += 1
+    out["rate_hz"] = round(out["frames"] / seconds, 1) if seconds else 0
+    return out
+
+
+def probe_gateway(url: str, seconds: float) -> dict:
+    return asyncio.run(_probe(url, seconds))
+
+
+# ── the QC run ───────────────────────────────────────────────────────────────
+
+
+class QC:
+    TOTAL = 9
+
+    def __init__(self, a: argparse.Namespace) -> None:
+        self.a = a
+        self.profiles = qclib.load_profiles()
+        name = a.rig or qclib.detect_rig(self.profiles, socket.gethostname())
+        if not name:
+            raise QCError(f"this host ({socket.gethostname()}) is not in rig/qc/profiles.toml — pass --rig "
+                          f"({', '.join(qclib.rig_names(self.profiles))}) or add a row")
+        self.rig = qclib.resolve_rig(self.profiles, name)
+        self.tier = qclib.tier_key(a.tier)
+        self.base = qclib.tier_base(self.rig, self.tier)
+        self.root = Path(a.qc_root).expanduser() if a.qc_root else qclib.qc_root(self.rig)
+        self.date = dt.date.today().isoformat()
+        self.qc_dir = self.root / self.date
+        for sub in ("runlogs", "exports", "reports", "bias"):
+            (self.qc_dir / sub).mkdir(parents=True, exist_ok=True)
+        self.log = Log(self.qc_dir / "qc.log")
+        self.results = qclib.Results()
+        self.look_text = qclib.checklist_for(self.rig)
+        self.remarks: list[str] = []
+        self.t_start = time.monotonic()
+        self.procs: dict[str, Proc] = {}
+        self.chrome: subprocess.Popen | None = None
+        self.page = None
+        self.ctx: dict = {"rig_label": self.rig.get("label", name), "tier": self.tier, "date": self.date,
+                          "qc_dir": str(self.qc_dir), "sha": "", "label": ""}
+        self.sha = ""
+        self.wt: Path | None = None
+        self.env: dict | None = None
+        self.py: str = sys.executable
+        self.manifest: Path | None = None
+        self.kept_flags: list[str] = []
+        self.fictrac_mode = "none"
+        self.export_path: Path | None = None
+        self.studio_ran = False
+        self.run_summary: dict | None = None
+        self.channel = "next" if self.tier == "next" else "production"
+
+    # ── prompts ──
+    def pause(self, prompt: str = "Enter = looks right (type a remark to keep it)") -> str:
+        if self.a.auto:
+            return ""
+        try:
+            s = input(f"   {prompt}: ").strip()
+        except EOFError:
+            sys.stdout.write("\n")
+            return ""
+        if s:
+            self.remarks.append(s)
+            self.log.fh.write(f"   remark: {s}\n")
+        return s
+
+    def look(self, step_id: str, extra: str = "") -> None:
+        text = self.look_text.get(step_id, "")
+        if not text and not extra:
+            return
+        self.log.look((text + (" " + extra if extra else "")).strip())
+        remark = self.pause()
+        self.results.add(f"look: {step_id}", "LOOK", remark or ("confirm in chat" if self.a.auto else "looked right"))
+
+    def record(self, step: str, ok: bool, detail: str = "", seconds: float | None = None, fatal: bool = False) -> bool:
+        v = "PASS" if ok else "FAIL"
+        self.results.add(step, v, detail, seconds)
+        self.log.result(v, step, detail)
+        if not ok and fatal:
+            raise QCError(f"{step}: {detail}")
+        return ok
+
+    def skip(self, step: str, why: str) -> None:
+        self.results.add(step, "SKIP", why)
+        self.log.result("SKIP", step, why)
+
+    # ── 1 preflight ──
+    def preflight(self) -> None:
+        from rig_nodes.supervise import preflight  # type: ignore[import-not-found]
+
+        self.log.step(1, self.TOTAL, f"preflight — rig {self.rig['name']} ({self.rig.get('label', '')}), tier {self.tier}")
+        self.log.info(f"QC folder: {self.qc_dir}")
+        pv = run(["pixi", "--version"], timeout=30).stdout.strip()
+        ok = qclib.parse_version(pv) >= qclib.parse_version(self.rig["min_pixi"])
+        self.record("pixi >= " + self.rig["min_pixi"], ok, pv or "pixi not found", fatal=True)
+        self.record("git available", shutil.which("git") is not None, shutil.which("git") or "git not on PATH", fatal=True)
+        ports = [tuple(p) for p in self.rig["ports"]]
+        if "--foxglove" in self.rig.get("rig_flags", []) and not self.a.no_foxglove:
+            ports.append(("tcp", int(self.rig["foxglove_port"]), "another foxglove_bridge"))
+        taken = preflight(ports)
+        self.record("ports free (7447/8765/60000…)", not taken, "\n".join(taken) if taken else "nothing bound", fatal=True)
+        missing = []
+        from rig_nodes.supervise import port_in_use  # type: ignore[import-not-found]
+
+        for proto, port, who in self.rig.get("requires", []):
+            if not port_in_use(proto, int(port)):
+                missing.append(f"{proto} {port}: {who}")
+        if missing and not self.a.skip_requires:
+            self.record("required services up", False, "; ".join(missing), fatal=True)
+        elif missing:
+            self.record("required services up", True, "SKIPPED (--skip-requires): " + "; ".join(missing))
+        else:
+            self.record("required services up", True, "none required" if not self.rig.get("requires") else "all answering")
+        if not self.a.no_browser:
+            try:
+                import cdp  # type: ignore[import-not-found]
+
+                chrome = cdp.find_chrome(self.a.chrome)
+                self.record("Chrome/Edge found", True, chrome)
+            except SystemExit as e:
+                self.record("Chrome/Edge found", False, str(e))
+                self.a.no_browser = True
+
+    # ── 2 candidate ──
+    def candidate(self) -> None:
+        self.log.step(2, self.TOTAL, f"candidate — {self.base}/build.json")
+        info = None
+        try:
+            info = qclib.parse_build_json(http_get(self.base + "/build.json"))
+        except Exception as e:  # noqa: BLE001
+            if not self.a.sha:
+                raise QCError(f"cannot read {self.base}/build.json: {e}") from e
+            self.log.warn(f"build.json unreadable ({e}); using --sha")
+        sha = (self.a.sha or (info or {}).get("sha") or "").lower()
+        if info and info["placeholder"] and not self.a.sha:
+            raise QCError(f"{self.tier} is a placeholder ({info['label']}) — nothing to validate (or pass --sha)")
+        if info and self.a.sha and info["sha"] and not info["sha"].startswith(self.a.sha.lower()):
+            self.log.warn(f"--sha {self.a.sha} differs from the tier's build {info['sha'][:7]} — validating what you asked for")
+        if not re.fullmatch(r"[0-9a-f]{7,40}", sha):
+            raise QCError(f"no usable SHA ({sha!r})")
+        label = (info or {}).get("label") or sha[:7]
+        self.log.info(f"build: {label}  sha {sha[:10]}  built {(info or {}).get('built_at', '?')}"
+                      + (f"  PRs {(info or {}).get('prs')}" if (info or {}).get("prs") else ""))
+        # fetch + scratch worktree
+        run(["git", "-C", REPO, "worktree", "prune"], timeout=60)
+        if run(["git", "-C", REPO, "cat-file", "-e", f"{sha}^{{commit}}"], timeout=30).returncode != 0:
+            f = run(["git", "-C", REPO, "fetch", "--quiet", "origin", sha], timeout=300)
+            if f.returncode != 0:
+                run(["git", "-C", REPO, "fetch", "--quiet", "origin"], timeout=300)
+            if run(["git", "-C", REPO, "cat-file", "-e", f"{sha}^{{commit}}"], timeout=30).returncode != 0:
+                raise QCError(f"commit {sha[:10]} not found on origin after fetch")
+        full = run(["git", "-C", REPO, "rev-parse", f"{sha}^{{commit}}"], timeout=30, check=True).stdout.strip()
+        self.sha = full
+        self.ctx.update({"sha": full, "label": label})
+        wt = self.root / "wt" / full[:7]
+        if wt.exists():
+            head = run(["git", "-C", wt, "rev-parse", "HEAD"], timeout=30).stdout.strip()
+            if head != full:
+                run(["git", "-C", wt, "checkout", "--quiet", "--detach", full], timeout=120, check=True)
+            self.log.info(f"worktree reused: {wt}")
+        else:
+            wt.parent.mkdir(parents=True, exist_ok=True)
+            run(["git", "-C", REPO, "worktree", "add", "--detach", wt, full], timeout=300, check=True)
+            self.log.info(f"worktree created: {wt}")
+        dirty = run(["git", "-C", wt, "status", "--porcelain", "--untracked-files=no"], timeout=60).stdout.strip()
+        self.record("scratch worktree at the candidate SHA", not dirty, f"{wt} @ {full[:7]}" + (f"; DIRTY: {dirty[:200]}" if dirty else ""), fatal=True)
+        self.wt = wt
+        self.manifest = wt / "rig" / "pixi.toml"
+        if not self.manifest.is_file():
+            raise QCError(f"{self.manifest} missing — this build has no rig/ workspace")
+
+    # ── 3 install ──
+    def install(self) -> None:
+        assert self.wt and self.manifest
+        self.log.step(3, self.TOTAL, "install — the candidate's own pixi environment(s), `--locked`")
+        envs = list(dict.fromkeys(["default", *self.rig["envs"]]))
+        if self.a.no_foxglove and "viz" in envs:
+            envs.remove("viz")
+        for env in envs:
+            if self.a.skip_install:
+                self.skip(f"pixi install -e {env}", "--skip-install")
+                continue
+            t0 = time.monotonic()
+            p = run(["pixi", "install", "--locked", "--manifest-path", self.manifest, "-e", env], cwd=self.wt / "rig", timeout=3600)
+            msg = [line.strip() for line in (p.stderr or p.stdout).strip().splitlines() if line.strip()]
+            errs = [line for line in msg if "Error" in line or "×" in line or "requires-pixi" in line]
+            tail = " | ".join((errs or msg)[-3:])
+            self.record(f"pixi install -e {env}", p.returncode == 0, tail[-300:], time.monotonic() - t0, fatal=True)
+        probe = run(["pixi", "run", "--manifest-path", self.manifest, "--locked", "-e", "default", "python", "-c",
+                     "import os,sys,json;print(json.dumps({'exe':sys.executable,'env':dict(os.environ)}))"],
+                    cwd=self.wt / "rig", timeout=300, check=True)
+        try:
+            d = json.loads(probe.stdout.strip().splitlines()[-1])
+        except (ValueError, IndexError) as e:
+            raise QCError(f"could not read the environment: {probe.stdout[-300:]} {probe.stderr[-300:]}") from e
+        self.py, self.env = d["exe"], d["env"]
+        ver = "?"
+        lst = run(["pixi", "list", "--manifest-path", self.manifest, "--locked", "--json"], cwd=self.wt / "rig", timeout=300)
+        try:
+            for pkg in json.loads(lst.stdout):
+                if pkg.get("name") == "rig_nodes":
+                    ver = pkg.get("version", "?")
+        except ValueError:
+            pass
+        self.ctx["rig_nodes"] = ver
+        self.record("environment usable", True, f"python {self.py}; rig_nodes {ver}")
+
+    # ── 4 graph ──
+    def graph(self) -> None:
+        assert self.wt and self.env
+        from rig_nodes.supervise import wait_port  # type: ignore[import-not-found]
+
+        self.log.step(4, self.TOTAL, "graph — the candidate's `pixi run rig` with this rig's flags")
+        rig_py = self.wt / "rig" / "nodes" / "rig.py"
+        helptext = run([self.py, rig_py, "--help"], cwd=self.wt / "rig", env=self.env, timeout=120).stdout
+        flags = qclib.substitute(list(self.rig["rig_flags"]), {"qc_dir": str(self.qc_dir)})
+        if self.a.no_foxglove and "--foxglove" in flags:
+            flags.remove("--foxglove")
+        kept, dropped = qclib.filter_rig_flags(flags, helptext)
+        if dropped:
+            self.log.warn(f"flags this build's rig.py does not know, dropped: {' '.join(dropped)}")
+        kept += ["--bridge-args", f"--log-dir {self.qc_dir / 'runlogs'}"]
+        self.kept_flags = kept
+        self.ctx["graph"] = {"flags": kept, "dropped": dropped}
+        self.log.info("pixi run rig -- " + " ".join(kept))
+        echo = lambda line: self.log.info("  " + line) if ("[rig]" in line or "Traceback" in line or "Error" in line) else None  # noqa: E731
+        self.procs["graph"] = Proc("graph", [self.py, rig_py, *kept], self.qc_dir / "graph.log", cwd=self.wt / "rig", env=self.env, echo=echo)
+        t0 = time.monotonic()
+        up = wait_port("127.0.0.1", 7447, 60) and wait_port("127.0.0.1", 8765, 60)
+        if not self.procs["graph"].alive():
+            up = False
+        self.record("router :7447 + gateway :8765 up", up, f"{time.monotonic() - t0:.1f} s" if up else self.procs["graph"].tail(), fatal=True)
+        time.sleep(1.0)
+        if "--foxglove" in kept:
+            fport = int(self.rig["foxglove_port"])
+            if wait_port("127.0.0.1", fport, 45):
+                layout = self.rig.get("foxglove", {}).get("layout")
+                url = f"foxglove://open?ds=foxglove-websocket&ds.url=ws://localhost:{fport}"
+                opened = open_url(url)
+                self.record("foxglove_bridge :8766 up", True, "Foxglove opened on it" if opened else "open Foxglove → Open connection → ws://localhost:8766")
+                if layout:
+                    self.log.info(f"Foxglove layout (Layout → Import from file, once): {self.wt / 'rig' / layout}")
+            else:
+                self.record("foxglove_bridge :8766 up", False, "not listening within 45 s (viz environment installed? graph.log has the note)")
+        self.look("graph")
+
+    # ── 5 fictrac ──
+    def fictrac(self) -> None:
+        assert self.wt and self.env
+        ft = self.rig.get("fictrac", {"kind": "none"})
+        kind = ft.get("kind", "none")
+        self.log.step(5, self.TOTAL, f"fictrac — {kind}")
+        url = self.rig["gateway_url"]
+        if kind == "none":
+            pr = probe_gateway(url, 2.0)
+            ack = pr.get("hello_ack") or {}
+            self.record("gateway hello_ack", bool(ack), f"bridge {str(ack.get('bridge', ''))[:40]}; connectors {ack.get('connectors')}", fatal=True)
+            self.ctx["fictrac"] = "none (this rig has no FicTrac)"
+            self.fictrac_mode = "none"
+            self.look("fictrac")
+            return
+        started = False
+        if process_running(ft.get("process", "")):
+            self.log.info(f"{ft.get('process')} is already running — using it")
+            self.fictrac_mode = f"{kind} (already running)"
+        else:
+            argv, cwd = self._fictrac_argv(ft)
+            self.log.info("starting FicTrac: " + " ".join(str(a) for a in argv) + f"  (cwd {cwd})")
+            self.procs["fictrac"] = Proc("fictrac", argv, self.qc_dir / "fictrac.log", cwd=cwd)
+            started = True
+            self.fictrac_mode = kind
+        secs = float(self.rig["frames_probe_s"])
+        time.sleep(3.0)
+        pr = probe_gateway(url, secs)
+        ack = pr.get("hello_ack") or {}
+        self.record("gateway hello_ack", bool(ack), f"bridge {str(ack.get('bridge', ''))[:40]}", fatal=True)
+        rate = pr["rate_hz"]
+        if rate <= 0 and ft.get("fallback") == "sim":
+            self.log.warn(f"no FicTrac frames in {secs:.0f} s" + (f" — FicTrac log tail:\n{self.procs['fictrac'].tail(6)}" if started else ""))
+            if started:
+                self.procs.pop("fictrac").stop()
+            self.log.info("starting the FicTrac simulator instead (--proto udp --rate 50)")
+            self.procs["sim"] = Proc("sim", [self.py, "-m", "rig_nodes.sims.fictrac_sim", "--proto", "udp", "--rate", "50"],
+                                     self.qc_dir / "sim.log", cwd=self.wt / "rig", env=self.env)
+            time.sleep(2.0)
+            rate = probe_gateway(url, 3.0)["rate_hz"]
+            self.fictrac_mode = "SIM (FicTrac gave no frames)"
+        self.ctx["fictrac"] = f"{self.fictrac_mode}, {rate} frames/s at the gateway"
+        self.record("FicTrac frames at the gateway", rate > 0, f"{rate} frames/s ({self.fictrac_mode})", fatal=True)
+        self.look("fictrac", f"[{rate} frames/s]")
+
+    def _fictrac_argv(self, ft: dict) -> tuple[list[str], Path]:
+        cmd = [os.path.expanduser(str(c)) for c in ft.get("cmd", [])]
+        if not cmd:
+            raise QCError("fictrac.cmd is empty in the profile")
+        if ft.get("kind") == "sample":
+            src = Path(os.path.expanduser(ft["sample_dir"]))
+            dst = self.root / "fictrac-sample"
+            if not (dst / "config.txt").exists():
+                shutil.copytree(src, dst, dirs_exist_ok=True)
+            cfg = (dst / "config.txt").read_text(encoding="utf-8", errors="replace")
+            video = re.search(r"^\s*src_fn\s*:\s*(\S+)", cfg, re.M)
+            src_fn = video.group(1) if video else "sample.mp4"
+            loop_s = int(ft.get("loop_s", 0) or 0)
+            looped = dst / "sample_loop.mp4"
+            if loop_s and shutil.which("ffmpeg") and not looped.exists():
+                n = max(1, loop_s // 10)
+                r = run(["ffmpeg", "-y", "-loglevel", "error", "-stream_loop", str(n), "-i", dst / src_fn, "-c", "copy", looped], timeout=300)
+                if r.returncode != 0:
+                    self.log.warn("ffmpeg loop failed: " + r.stderr[-200:])
+            if looped.exists():
+                src_fn = looped.name
+            (dst / "config.qc.txt").write_text(qclib.fictrac_config_for_qc(cfg, src_fn=src_fn, display=False, src_fps=float(ft.get("fps", 0) or 0) or None), encoding="utf-8")
+            return [cmd[0], "config.qc.txt"], dst
+        cwd = Path(os.path.expanduser(str(ft.get("cwd") or Path(cmd[-1]).parent)))
+        if os.name == "nt" and cmd[0].lower().endswith((".bat", ".cmd")):
+            cmd = ["cmd.exe", "/c", *cmd]
+        return cmd, cwd
+
+    # ── 6 pre-check ──
+    def precheck(self) -> None:
+        assert self.wt and self.env
+        pc = self.rig["precheck"]
+        self.log.step(6, self.TOTAL, "pre-check — the Studio's exact bridge conversation, no browser (studio_emulator.py)")
+        emu = RIG_DIR / "tests" / "studio_emulator.py"
+        out, rep = self.qc_dir / "exports" / "precheck.jsonl", self.qc_dir / "reports" / "precheck.json"
+        argv = [self.py, emu, "--url", self.rig["gateway_url"], "--epochs", str(pc.get("epochs", 1)), "--epoch-s", str(pc.get("epoch_s", 4)),
+                "--iti-s", "0", "--min-frames", str(pc.get("min_frames", 0)), "--rig-id", f"{self.rig['name']}-qc", "--out", out, "--report", rep]
+        if pc.get("connector") == "bias":
+            argv += ["--connector-cmds", "--connector-video", str(self.qc_dir / "bias" / "precheck.ufmf")]
+        t0 = time.monotonic()
+        p = run(argv, cwd=self.wt / "rig", env=self.env, timeout=300)
+        (self.qc_dir / "reports" / "precheck.txt").write_text(p.stderr + p.stdout, encoding="utf-8")
+        fails = [line.strip() for line in p.stderr.splitlines() if line.strip().startswith("FAIL")]
+        self.record("pre-check: emulator assertions", p.returncode == 0, ("all PASS; " + (p.stderr.strip().splitlines() or [""])[-1][:120]) if p.returncode == 0 else "; ".join(fails)[:400] or p.stderr[-300:],
+                    time.monotonic() - t0, fatal=True)
+        if out.exists():
+            self.export_path = out  # the emulator's run is the fallback subject for the reports
+        self.look("precheck")
+
+    # ── 7 browser ──
+    def browser(self) -> None:
+        self.log.step(7, self.TOTAL, "browser — the tier's Studio in Chrome (QC profile), driven over DevTools")
+        if self.a.no_browser:
+            self.skip("Studio in Chrome", "--no-browser")
+            return
+        import cdp  # type: ignore[import-not-found]
+
+        chrome = cdp.find_chrome(self.a.chrome)
+        profile = self.root / "chrome-profile"
+        profile.mkdir(parents=True, exist_ok=True)
+        url = qclib.studio_url(self.base, self.rig["studio_rig"], self.rig.get("protocol"))
+        self.log.info(url)
+        # A never-used profile has not allowed "local network access" for the Pages origin, and Chrome
+        # (≥ 142) then HOLDS a ws://localhost connection on a permission prompt — the bridge stays
+        # "connecting…" until someone clicks Allow (verified 2026-10-28 on Chrome 155: a DevTools
+        # Browser.grantPermissions does not unblock it; this feature flag does, and it is the flag the
+        # Foxglove desktop app itself runs with). The rig's everyday Chrome asked once and remembers.
+        flags = [] if self.a.lna_prompt else ["--disable-features=LocalNetworkAccessChecks"]
+        self.chrome = subprocess.Popen([chrome, f"--user-data-dir={profile}", f"--remote-debugging-port={CDP_PORT}", "--no-first-run",
+                                        "--no-default-browser-check", *flags, "--new-window", "about:blank"],
+                                       stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
+        try:
+            asyncio.run(self._drive(url))
+        except QCError:
+            raise
+        except Exception as e:  # noqa: BLE001 — DevTools unavailable: fall back to the hand-driven steps
+            self.log.warn(f"DevTools drive failed ({str(e)[:200]}); falling back to manual steps")
+            self.record("Studio driven over DevTools", False, str(e)[:200])
+            self._manual_browser(chrome, profile, url)
+
+    async def _drive(self, url: str) -> None:
+        import cdp  # type: ignore[import-not-found]
+        import websockets
+
+        ws_url = None
+        for _ in range(100):
+            try:
+                with urllib.request.urlopen(f"http://127.0.0.1:{CDP_PORT}/json/list", timeout=1) as r:
+                    pages = [t for t in json.load(r) if t.get("type") == "page"]
+                if pages:
+                    ws_url = pages[0]["webSocketDebuggerUrl"]
+                    break
+            except Exception:  # noqa: BLE001
+                pass
+            await asyncio.sleep(0.2)
+        if not ws_url:
+            raise RuntimeError("Chrome did not expose DevTools on :%d" % CDP_PORT)
+        ws = await websockets.connect(ws_url, max_size=64 * 1024 * 1024)
+        p = cdp.Page(ws)
+        await p.start()
+        self.page = p
+        try:
+            await self._drive_page(p, url)
+        finally:
+            p.task.cancel()
+            try:
+                await ws.close()
+            except Exception:  # noqa: BLE001
+                pass
+
+    async def _drive_page(self, p, url: str) -> None:
+        # Per-browser settings the QC needs before the page's first script runs: the telemetry ring on
+        # (runlog-check needs the controller rows), and the one-time NEXT acknowledgement.
+        await p.send("Page.addScriptToEvaluateOnNewDocument", {"source":
+            "try{localStorage.setItem('studio_telemetry','on');sessionStorage.setItem('studio_next_ack','1');}catch(e){}"})
+        await p.goto(url, settle=3.0)
+        build = await p.js("(()=>{const m=document.querySelector('meta[name=\"wdt-build\"]');if(!m)return null;try{return JSON.parse(m.content)}catch(e){return {raw:m.content}}})()")
+        got = str((build or {}).get("sha") or "")
+        if got and not got.startswith(self.sha[:7]):
+            self.log.warn(f"page build {got[:7]} ≠ candidate {self.sha[:7]} — reloading without cache once")
+            await p.send("Page.reload", {"ignoreCache": True})
+            await asyncio.sleep(4.0)
+            build = await p.js("(()=>{const m=document.querySelector('meta[name=\"wdt-build\"]');if(!m)return null;try{return JSON.parse(m.content)}catch(e){return {raw:m.content}}})()")
+            got = str((build or {}).get("sha") or "")
+        footer = (await p.js("(document.querySelector('#footer .foot-left')||{}).textContent||''") or "").strip()
+        self.record("page build SHA = candidate", bool(got) and got.startswith(self.sha[:7]), f"meta {got[:7] or 'missing'}; channel {(build or {}).get('channel')}; footer: {footer[:60]}")
+        self.ctx["studio"] = f"{footer[:48]}, build {got[:7]}"
+        # the protocol
+        proto = self.rig.get("protocol") or {}
+        if proto.get("key"):
+            for _ in range(40):
+                if await p.js("!!(window.Studio && Studio.currentDoc)"):
+                    break
+                await asyncio.sleep(0.25)
+        elif proto.get("path"):
+            text = http_get(qclib.protocol_url(self.base, proto))
+            ok = await p.js("Studio.loadProtocol(%s, %s, 'committed', {landIn:'run'})" % (json.dumps(text), json.dumps(Path(proto["path"]).name)))
+            if not ok:
+                self.log.warn("Studio.loadProtocol returned false (banner on the page says why)")
+        doc = await p.js("Studio.currentDoc?{filename:Studio.currentDoc.filename,rig:(Studio.currentDoc.rig||{}).name}:null")
+        self.record("protocol loaded in the Run view", bool(doc), json.dumps(doc) if doc else "no document")
+        api = await p.js("['runOnce','loadProtocol'].every(k=>typeof Studio[k]==='function')&&!!Studio.session&&!!Studio.session.bridge&&typeof Studio.session.bridge.connect==='function'")
+        self.record("Studio page API the QC drives (runOnce, loadProtocol, session.bridge)", bool(api), "present" if api else "missing — the page changed; update qc.py")
+        errs = [e for e in p.errors if "favicon.ico" not in e]  # the site has no favicon; a 404 there is not a page error
+        self.record("no console errors on load", not errs, "; ".join(errs)[:300] or "clean")
+        self.look("studio")
+        # the bridge
+        await p.js("(()=>{const b=Studio.session.bridge;if(b.setLogLevel)b.setLogLevel('behavior_v2');if(!b.connected)b.connect('ws://localhost:8765');return true})()")
+        connected = False
+        for _ in range(40):
+            if await p.js("!!(Studio.session.bridge&&Studio.session.bridge.connected)"):
+                connected = True
+                break
+            await asyncio.sleep(0.25)
+        rate = 0
+        if connected and self.fictrac_mode != "none":
+            for _ in range(32):
+                rate = await p.js("(Studio.session.bridge.stats||{}).rateHz||0")
+                if rate and rate > 0:
+                    break
+                await asyncio.sleep(0.25)
+        self.record("Studio ↔ gateway connected", connected, f"ws://localhost:8765; {rate} frames/s in the page" if connected else "bridge.connected stayed false")
+        self.look("bridge", f"[{rate} frames/s]")
+        if not self.rig.get("controller", True):
+            self.skip("controller connect + run", "this profile has no controller")
+            self.look("run")
+            return
+        # the one human click
+        self.log.click("In the Studio: Connect → pick the controller (G6_Arena / USB Serial) in the port picker. "
+                       f"Waiting up to {int(self.rig['connect_timeout_s'])} s.")
+        t0 = time.monotonic()
+        while time.monotonic() - t0 < float(self.rig["connect_timeout_s"]):
+            if await p.js("!!(Studio.session&&Studio.session.connected)"):
+                break
+            if int(time.monotonic() - t0) % 30 == 0:
+                self.log.info("… still waiting for the port picker")
+            await asyncio.sleep(1.0)
+        conn = await p.js("!!(Studio.session&&Studio.session.connected)")
+        self.record("controller connected (your click)", bool(conn), f"after {time.monotonic() - t0:.0f} s" if conn else "timed out", fatal=True)
+        await asyncio.sleep(4.0)  # firmware label, panel inventory, SD listing
+        fw = await p.js("Studio.firmware||null")
+        panels = await p.js("({status:Studio.panelsStatus||null,n:(Studio.panels&&Studio.panels.length)||0})")
+        self.record("firmware label + panel inventory", bool(fw), f"firmware {fw}; panels {panels}")
+        self.ctx["controller"] = f"firmware {fw}, panels {panels}"
+        self.look("controller")
+        # the run
+        self.log.look(self.look_text.get("run", "Watch the arena while the protocol runs.") + f" (~{proto.get('duration_s', '?')} s)")
+        await p.js("window.__qc={done:false};Studio.runOnce(true).then(s=>{window.__qc={done:true,summary:s===null?null:(s||{})}}).catch(e=>{window.__qc={done:true,error:String(e)}});true")
+        t0 = time.monotonic()
+        last_step = ""
+        state = {"done": False}
+        while time.monotonic() - t0 < float(self.rig["run_timeout_s"]):
+            state = await p.js("window.__qc") or {"done": False}
+            if state.get("done"):
+                break
+            step = await p.js("((document.getElementById('rpStep')||{}).textContent||'')+' '+((document.getElementById('runInlineTxt')||{}).textContent||'')")
+            if step and step != last_step:
+                self.log.info(f"  {step.strip()}")
+                last_step = step
+            await asyncio.sleep(RUN_POLL_S)
+        if not state.get("done"):
+            self.studio_ran = True
+            self.record("Studio run", False, f"still running after {self.rig['run_timeout_s']} s — STOP it in the Studio")
+            return
+        s = state.get("summary")
+        if s is None and not state.get("error"):
+            # nothing started, so the reports below judge the pre-check's log, not a Studio run
+            self.record("Studio run", False, "runOnce returned null — the run could not start (controller-settings assertion or a `requires:` gate; see the page banner)")
+            return
+        self.studio_ran = True
+        if state.get("error"):
+            self.record("Studio run", False, str(state["error"])[:300])
+            return
+        ok = bool(s.get("completed")) and not s.get("fault") and not s.get("bridgeLost") and not s.get("aborted")
+        outcome = "completed" if ok else (s.get("fault") and f"fault {s.get('fault')}") or (s.get("bridgeLost") and "BRIDGE_LOST") or (s.get("aborted") and "aborted") or "incomplete"
+        self.run_summary = s
+        self.ctx["run"] = f"{outcome} in {time.monotonic() - t0:.0f} s"
+        self.record("Studio run (Run experiment)", ok, f"{outcome}; steps {s.get('steps', s.get('completedSteps', '?'))}", time.monotonic() - t0)
+        self.results.add("look: run", "LOOK", self.pause() or ("confirm in chat" if self.a.auto else "looked right"))
+
+    def _manual_browser(self, chrome: str, profile: Path, url: str) -> None:
+        if self.chrome and self.chrome.poll() is None:
+            self.chrome.terminate()
+        self.chrome = subprocess.Popen([chrome, f"--user-data-dir={profile}", "--no-first-run", "--new-window", url],
+                                       stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
+        proto = self.rig.get("protocol") or {}
+        self.log.click("Hand-driven Studio steps: (1) check the footer version and the build badge; "
+                       + (f"(2) Protocol ▾ → Open… {proto.get('path')}; " if not proto.get("key") else "(2) the protocol is in the URL; ")
+                       + "(3) Run view → bridge Connect (ws://localhost:8765); (4) Connect → pick the controller; (5) ▶ Run experiment (confirm the NEXT dialog).")
+        self.look("studio")
+        self.look("bridge")
+        if not self.rig.get("controller", True):
+            self.skip("controller connect + run", "this profile has no controller")
+            return
+        self.look("controller")
+        self.log.look(self.look_text.get("run", "Watch the arena while the protocol runs."))
+        before = newest_bag(self.qc_dir / "runlogs")
+        if self.a.auto:
+            t0 = time.monotonic()
+            while time.monotonic() - t0 < float(self.rig["run_timeout_s"]) + float(self.rig["connect_timeout_s"]):
+                b = newest_bag(self.qc_dir / "runlogs")
+                if b and b != before and (b / "metadata.yaml").exists():
+                    break
+                time.sleep(2.0)
+        else:
+            self.pause("Enter when the run has finished")
+        self.studio_ran = True
+        self.record("Studio run (hand-driven)", True, "judged by the reports below")
+
+    # ── 8 reports ──
+    def reports(self) -> None:
+        assert self.wt and self.env
+        self.log.step(8, self.TOTAL, "reports — export (closes the bag), runlog-check, closed-loop-report, bench-check")
+        exp_dir = self.qc_dir / "exports"
+        tmp = exp_dir / "run.jsonl"
+        p = run([self.py, self.wt / "rig" / "nodes" / "export_log.py", "--url", self.rig["gateway_url"], "--json", "--out", tmp], cwd=self.wt / "rig", env=self.env, timeout=180)
+        name = None
+        try:
+            name = json.loads(p.stdout.strip().splitlines()[-1]).get("name")
+        except (ValueError, IndexError):
+            pass
+        if p.returncode == 0 and tmp.exists():
+            final = exp_dir / (name or f"arena-log-{self.date}.jsonl")
+            if final != tmp:
+                if final.exists():
+                    final.unlink()
+                tmp.rename(final)
+            if self.studio_ran:
+                self.export_path = final
+            identical = "identical_to_live" in (self.procs["graph"].tail(400) if "graph" in self.procs else "")
+            self.record("pixi run export", True, f"{final.name}" + ("; converted == live" if identical else ""))
+        else:
+            self.record("pixi run export", False, (p.stderr or p.stdout).strip()[-300:])
+        bag = newest_bag(self.qc_dir / "runlogs")
+        self.record("bag closed + indexed (metadata.yaml)", bool(bag and (bag / "metadata.yaml").exists()), str(bag) if bag else "no bag in runlogs/")
+        log = self.export_path
+        if not log or not log.exists():
+            self.record("run log for the reports", False, "no export to judge")
+            return
+        self.log.info(f"judging {log}")
+        scripts = self.wt / "scripts"
+        rep_dir = self.qc_dir / "reports"
+        r = run([self.py, scripts / "runlog-check.py", log], env=self.env, timeout=300)
+        (rep_dir / "runlog-check.txt").write_text(r.stdout + r.stderr, encoding="utf-8")
+        tail = [line for line in r.stdout.splitlines() if line.strip()][-3:]
+        if self.rig.get("controller", True):
+            self.record("runlog-check", r.returncode == 0, " | ".join(tail)[-300:])
+        else:
+            self.results.add("runlog-check", "PASS" if r.returncode == 0 else "SKIP", ("no controller on this rig; " + " | ".join(tail))[-300:])
+            self.log.result(self.results.rows[-1]["verdict"], "runlog-check", self.results.rows[-1]["detail"])
+        if self.rig["reports"].get("closed_loop"):
+            r = run([self.py, scripts / "closed-loop-report.py", "--json", log], env=self.env, timeout=300)
+            (rep_dir / "closed-loop-report.json").write_text(r.stdout, encoding="utf-8")
+            md = run([self.py, scripts / "closed-loop-report.py", log], env=self.env, timeout=300)
+            (rep_dir / "closed-loop-report.md").write_text(md.stdout + md.stderr, encoding="utf-8")
+            try:
+                rep = json.loads(r.stdout)
+                epochs = rep.get("epochs", []) if isinstance(rep, dict) else []
+                mism = [e.get("idx_mismatch_fraction") for e in epochs if "idx_mismatch_fraction" in e]
+                ok = bool(epochs) and all(m is not None and m <= 0.01 for m in mism)
+                self.record("closed-loop-report: idx mismatch ≤ 1 %", ok, f"{len(epochs)} epoch(s), mismatch {mism}")
+            except ValueError:
+                self.record("closed-loop-report", False, (r.stderr or r.stdout)[-300:])
+        holds = self.rig["reports"].get("holds") or []
+        if holds and self.studio_ran:
+            argv = [self.py, scripts / "bench-check.py", log, "--channel", self.channel, "--build", self.sha[:7]]
+            for h in holds:
+                argv += ["--hold", h]
+            r = run(argv, env=self.env, timeout=300)
+            (rep_dir / "bench-check.txt").write_text(r.stdout + r.stderr, encoding="utf-8")
+            last = [line for line in r.stdout.splitlines() if line.strip()][-2:]
+            self.record("bench-check (holds, channel, build)", r.returncode == 0, " | ".join(last)[-300:])
+        self.look("reports")
+
+    # ── 9 teardown ──
+    def teardown(self) -> None:
+        from rig_nodes.supervise import port_in_use  # type: ignore[import-not-found]
+
+        self.log.step(9, self.TOTAL, "teardown")
+        for name in ("sim", "fictrac", "graph"):
+            pr = self.procs.pop(name, None)
+            if pr:
+                pr.stop(grace_s=15.0 if name == "graph" else 8.0)
+                self.log.info(f"{name} stopped")
+        if self.chrome and self.chrome.poll() is None and not self.a.keep_browser:
+            self.chrome.terminate()
+            try:
+                self.chrome.wait(5)
+            except subprocess.TimeoutExpired:
+                self.chrome.kill()
+            self.log.info("Chrome (QC profile) closed")
+        busy = []
+        for _ in range(15):
+            busy = [f"{pr} {port}" for pr, port, _w in self.rig["ports"] if port_in_use(pr, int(port))]
+            if not busy:
+                break
+            time.sleep(1.0)
+        self.record("ports free again", not busy, ", ".join(busy) if busy else "7447/8765/60000 free")
+        if self.a.rm_worktree and self.wt:
+            run(["git", "-C", REPO, "worktree", "remove", "--force", self.wt], timeout=120)
+            self.log.info(f"worktree removed: {self.wt}")
+
+    # ── summary ──
+    def summary(self) -> int:
+        if self.results.ok:
+            self.look("done", f"[{self.qc_dir}]")
+        wall = time.monotonic() - self.t_start
+        self.ctx["wall_s"] = wall
+        self.ctx["remarks"] = self.remarks
+        table = self.results.table()
+        note = qclib.validation_note(self.ctx, self.results)
+        (self.qc_dir / "summary.md").write_text(f"# QC {self.date} — {self.rig['name']} — {self.tier} {self.sha[:7]}\n\n{table}\n", encoding="utf-8")
+        note_path = self.qc_dir / "validation-note.md"
+        note_path.write_text(note, encoding="utf-8")
+        by = self.a.by or run(["git", "config", "user.name"], timeout=10).stdout.strip() or "Michael"
+        self.log._w("")
+        self.log._w(table)
+        self.log._w("")
+        verdict = "PASS" if self.results.ok else f"FAIL ({len(self.results.failed)} failed)"
+        self.log._w(f"QC {verdict} — {wall:.0f} s wall — {self.rig['name']} — {self.tier} {self.sha[:7] or '?'}")
+        self.log._w(f"artifacts: {self.qc_dir}")
+        if self.sha and self.tier == "next":
+            self.log._w("validation note: " + str(note_path))
+            self.log._w("to post it (from the rig's webDisplayTools checkout):")
+            self.log._w("  " + qclib.validate_command(str(REPO), self.rig["name"], by, str(note_path)))
+        return 0 if self.results.ok else 1
+
+    def main(self) -> int:
+        try:
+            self.preflight()
+            self.candidate()
+            self.install()
+            self.graph()
+            self.fictrac()
+            self.precheck()
+            self.browser()
+            self.reports()
+        except QCError as e:
+            self.log._w("")
+            self.log._w(f"   STOP: {e}")
+            if not any(r["verdict"] == "FAIL" for r in self.results.rows):
+                self.results.add("qc", "FAIL", str(e)[:300])
+        except KeyboardInterrupt:
+            self.log._w("   interrupted")
+            self.results.add("qc", "FAIL", "interrupted (Ctrl-C)")
+        finally:
+            try:
+                self.teardown()
+            except Exception as e:  # noqa: BLE001
+                self.log.warn(f"teardown: {e}")
+        return self.summary()
+
+
+def main(argv: list[str] | None = None) -> int:
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument("--tier", default="next", help="next (the candidate on /next/) or prod (what Production serves)")
+    ap.add_argument("--rig", help="profile name in rig/qc/profiles.toml (default: detected from the hostname)")
+    ap.add_argument("--sha", help="validate this commit instead of the tier's build.json (placeholder, or a build not deployed yet)")
+    ap.add_argument("--auto", action="store_true", help="never wait for Enter: each step advances when its automated check holds")
+    ap.add_argument("--by", help="who validates (the `--by` of `pixi run tiers -- validate`); default: git user.name")
+    ap.add_argument("--qc-root", help=r"artifacts root (default C:\qc on Windows, ~/qc elsewhere)")
+    ap.add_argument("--no-browser", action="store_true", help="stop after the pre-check and the reports; no Chrome")
+    ap.add_argument("--no-foxglove", action="store_true", help="do not start foxglove_bridge / open Foxglove (skips the viz environment)")
+    ap.add_argument("--skip-install", action="store_true", help="assume the worktree's environments are installed")
+    ap.add_argument("--skip-requires", action="store_true", help="go on when a required service (BIAS, ScanImage) is not answering")
+    ap.add_argument("--keep-browser", action="store_true", help="leave the QC Chrome window open at the end")
+    ap.add_argument("--rm-worktree", action="store_true", help="remove the scratch worktree (and its environments) at the end")
+    ap.add_argument("--chrome", help="Chrome/Edge executable (default: auto-detect or $CHROME)")
+    ap.add_argument("--lna-prompt", action="store_true",
+                    help="let Chrome show its local-network-access prompt for ws://localhost (default: the QC profile bypasses it, like the Foxglove app does)")
+    ap.add_argument("--list-rigs", action="store_true", help="print the rig profiles and exit")
+    a = ap.parse_args(argv)
+    if a.list_rigs:
+        prof = qclib.load_profiles()
+        for name in qclib.rig_names(prof):
+            r = qclib.resolve_rig(prof, name)
+            print(f"{name:10} {r.get('label', '')}  hosts={r.get('hosts', [])}  flags={' '.join(r['rig_flags'])}")
+        return 0
+    try:
+        qc = QC(a)
+    except QCError as e:
+        print(f"qc: {e}", file=sys.stderr)
+        return 2
+    return qc.main()
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/rig/qc/qclib.py b/rig/qc/qclib.py
new file mode 100644
index 00000000..86d5097d
--- /dev/null
+++ b/rig/qc/qclib.py
@@ -0,0 +1,299 @@
+"""qclib.py — the pure, stdlib-only half of `pixi run qc` (rig/qc/qc.py): profile table, build.json,
+flag filtering, URL building, FicTrac config rewriting, the pass/fail table and the validation note.
+
+Everything here is testable without a rig (tests/test-rig-qc.py at the repository root runs it under
+the root pixi environment on every CI platform). No subprocesses, no sockets, no ROS.
+"""
+
+from __future__ import annotations
+
+import copy
+import json
+import os
+import re
+import tomllib
+from pathlib import Path
+
+HERE = Path(__file__).resolve().parent
+PROFILES = HERE / "profiles.toml"
+TIERS = {"next": "next", "production": "prod", "prod": "prod"}
+
+
+# ── profiles ─────────────────────────────────────────────────────────────────
+
+
+def load_profiles(path: Path | str = PROFILES) -> dict:
+    with open(path, "rb") as fh:
+        data = tomllib.load(fh)
+    if "defaults" not in data or "rigs" not in data or not data["rigs"]:
+        raise ValueError(f"{path}: needs a [defaults] table and at least one [rigs.<name>]")
+    return data
+
+
+def rig_names(profiles: dict) -> list[str]:
+    return sorted(profiles["rigs"])
+
+
+def detect_rig(profiles: dict, hostname: str) -> str | None:
+    """The rig whose `hosts` list names this machine (case-insensitive, domain stripped)."""
+    short = (hostname or "").split(".")[0].strip().lower()
+    if not short:
+        return None
+    for name, rig in profiles["rigs"].items():
+        if short in [str(h).split(".")[0].lower() for h in rig.get("hosts", [])]:
+            return name
+    return None
+
+
+def _merge_checklist(base: list, over: list) -> list:
+    out = [dict(x) for x in base]
+    for item in over or []:
+        for i, b in enumerate(out):
+            if b.get("id") == item.get("id"):
+                out[i] = dict(item)
+                break
+        else:
+            out.append(dict(item))
+    return out
+
+
+def resolve_rig(profiles: dict, name: str) -> dict:
+    """The rig's table with every missing key filled from [defaults]; `checklist` merged by id."""
+    if name not in profiles["rigs"]:
+        raise KeyError(f"unknown rig {name!r}; known: {', '.join(rig_names(profiles))}")
+    d = copy.deepcopy(profiles["defaults"])
+    r = copy.deepcopy(profiles["rigs"][name])
+    out = dict(d)
+    for k, v in r.items():
+        if k == "checklist":
+            continue
+        if isinstance(v, dict) and isinstance(d.get(k), dict):
+            m = dict(d[k])
+            m.update(v)
+            out[k] = m
+        else:
+            out[k] = v
+    out["checklist"] = _merge_checklist(d.get("checklist", []), r.get("checklist", []))
+    out["name"] = name
+    out.setdefault("rig_flags", [])
+    out.setdefault("requires", [])
+    out.setdefault("fictrac", {"kind": "none"})
+    out.setdefault("protocol", {})
+    out.setdefault("reports", {"closed_loop": False, "holds": []})
+    out.setdefault("foxglove", {})
+    return out
+
+
+def checklist_for(rig: dict) -> dict:
+    return {str(item["id"]): str(item.get("look", "")) for item in rig.get("checklist", [])}
+
+
+def tier_key(tier: str) -> str:
+    t = (tier or "").strip().lower()
+    if t not in TIERS:
+        raise ValueError(f"tier must be next or prod, not {tier!r}")
+    return TIERS[t]
+
+
+def tier_base(rig: dict, tier: str) -> str:
+    return rig["tier_url"][tier_key(tier)].rstrip("/")
+
+
+def qc_root(rig: dict, os_name: str = os.name, home: str | None = None) -> Path:
+    raw = rig["qc_root"]["nt" if os_name == "nt" else "posix"]
+    p = Path(os.path.expanduser(raw) if home is None else raw.replace("~", home))
+    return p
+
+
+def parse_version(s: str) -> tuple:
+    m = re.search(r"(\d+)\.(\d+)(?:\.(\d+))?", s or "")
+    if not m:
+        return ()
+    return tuple(int(x or 0) for x in m.groups())
+
+
+# ── the tier's build ─────────────────────────────────────────────────────────
+
+
+def parse_build_json(text: str) -> dict:
+    """`build.json` of a tier → {sha, channel, label, placeholder}. A Next placeholder has no sha."""
+    b = json.loads(text)
+    sha = str(b.get("sha") or "")
+    cand = b.get("candidate") or {}
+    if cand.get("label"):
+        label = str(cand["label"])
+    elif sha:
+        label = f"{b.get('channel', '?')} {sha[:7]}"
+    else:
+        label = str(b.get("reason") or "placeholder")
+    return {
+        "sha": sha,
+        "channel": str(b.get("channel") or ""),
+        "label": label,
+        "built_at": str(b.get("built_at_et") or b.get("built_at") or ""),
+        "prs": [p.get("number") for p in cand.get("prs", []) if isinstance(p, dict)],
+        "placeholder": not bool(sha),
+    }
+
+
+# ── rig.py flags ─────────────────────────────────────────────────────────────
+
+
+def help_flags(help_text: str) -> set[str]:
+    """Every `--flag` an argparse --help text advertises."""
+    return set(help_spec(help_text))
+
+
+def help_spec(help_text: str) -> dict[str, bool]:
+    """`--flag` → takes a value? (argparse prints `[--viz-args VIZ_ARGS]` for a valued option)."""
+    spec: dict[str, bool] = {}
+    for flag, metavar in re.findall(r"(?<![\w-])(--[a-z][a-z0-9-]*)(?:[ =]([A-Z][A-Z0-9_]*))?", help_text or ""):
+        spec[flag] = spec.get(flag, False) or bool(metavar)
+    return spec
+
+
+def _looks_like_value(tok: str, known: dict[str, bool]) -> bool:
+    """A profile flag's value: anything that is not a flag — `C:\\qc\\x`, or a quoted-style pass-through such
+    as `--sources bias` (the whole `--viz-args` value is ONE token, and it starts with `--`)."""
+    return (not tok.startswith("--")) or (" " in tok) or (tok.split("=")[0] not in known and " " in tok)
+
+
+def filter_rig_flags(flags: list[str], help_text: str) -> tuple[list[str], list[str]]:
+    """Drop the flags (and their values) the candidate's rig.py does not know.
+
+    Returns (kept, dropped). A known flag that takes a value (per --help) keeps the next token verbatim.
+    An unknown flag is dropped together with the next token when that token is a value (it does not
+    start with `--`, or it is a pass-through like `--video-dir C:\\qc` with a space inside)."""
+    known = help_spec(help_text)
+    kept, dropped = [], []
+    i = 0
+    while i < len(flags):
+        tok = str(flags[i])
+        nxt = str(flags[i + 1]) if i + 1 < len(flags) else None
+        name = tok.split("=")[0]
+        if tok.startswith("--") and name not in known:
+            dropped.append(tok)
+            i += 2 if (nxt is not None and _looks_like_value(nxt, known)) else 1
+            continue
+        kept.append(tok)
+        if tok.startswith("--") and known.get(name) and nxt is not None and "=" not in tok:
+            kept.append(nxt)
+            i += 2
+        else:
+            i += 1
+    return kept, dropped
+
+
+def substitute(flags: list[str], subs: dict) -> list[str]:
+    """`{qc_dir}`-style placeholders in flag values."""
+    out = []
+    for f in flags:
+        s = str(f)
+        for k, v in subs.items():
+            s = s.replace("{" + k + "}", str(v))
+        out.append(s)
+    return out
+
+
+# ── Studio URL ───────────────────────────────────────────────────────────────
+
+
+def studio_url(base: str, studio_rig: str, protocol: dict | None) -> str:
+    """`arena_studio.html?mode=run&rig=…[&p=<key>]` — a protocol that has a registry key loads by
+    URL; one that only has a path is loaded through the page (Studio.loadProtocol) by qc.py."""
+    q = f"mode=run&rig={studio_rig}"
+    if protocol and protocol.get("key"):
+        q += f"&p={protocol['key']}"
+    return f"{base}/arena_studio.html?{q}"
+
+
+def protocol_url(base: str, protocol: dict) -> str | None:
+    p = (protocol or {}).get("path")
+    return f"{base}/{p.lstrip('./')}" if p else None
+
+
+# ── FicTrac sample config (Mac dry run) ──────────────────────────────────────
+
+
+def fictrac_config_for_qc(text: str, sock_port: int = 60000, sock_host: str = "127.0.0.1",
+                          src_fn: str | None = None, display: bool = False, src_fps: float | None = None) -> str:
+    """Rewrite a FicTrac config: UDP output to the gateway's adapter, optional src_fn, no window, and
+    `src_fps` so a VIDEO source is paced (FicTrac plays a file as fast as it can otherwise — 600 fps)."""
+    keys = {"sock_port": str(sock_port), "sock_host": sock_host, "do_display": "y" if display else "n"}
+    if src_fn:
+        keys["src_fn"] = src_fn
+    if src_fps:
+        keys["src_fps"] = f"{src_fps:g}"
+    lines, seen = [], set()
+    for line in text.splitlines():
+        m = re.match(r"^\s*([A-Za-z_0-9]+)\s*:", line)
+        if m and m.group(1) in keys:
+            lines.append(f"{m.group(1):<16} : {keys[m.group(1)]}")
+            seen.add(m.group(1))
+        else:
+            lines.append(line)
+    for k, v in keys.items():
+        if k not in seen:
+            lines.append(f"{k:<16} : {v}")
+    return "\n".join(lines) + "\n"
+
+
+# ── results ──────────────────────────────────────────────────────────────────
+
+
+class Results:
+    """Ordered pass/fail rows; `verdict` is PASS / FAIL / SKIP / LOOK (Michael's eyes)."""
+
+    def __init__(self) -> None:
+        self.rows: list[dict] = []
+
+    def add(self, step: str, verdict: str, detail: str = "", seconds: float | None = None) -> None:
+        self.rows.append({"step": step, "verdict": verdict, "detail": detail, "seconds": seconds})
+
+    @property
+    def failed(self) -> list[dict]:
+        return [r for r in self.rows if r["verdict"] == "FAIL"]
+
+    @property
+    def ok(self) -> bool:
+        return not self.failed
+
+    def table(self) -> str:
+        out = ["| step | result | detail |", "|---|---|---|"]
+        for r in self.rows:
+            t = f" ({r['seconds']:.0f} s)" if r.get("seconds") else ""
+            out.append(f"| {r['step']}{t} | {r['verdict']} | {_cell(r['detail'])} |")
+        return "\n".join(out)
+
+
+def _cell(s: str) -> str:
+    return str(s or "").replace("|", "\\|").replace("\n", " ")
+
+
+def validation_note(ctx: dict, results: Results) -> str:
+    """The note `pixi run tiers -- validate --notes-file` posts (it prefixes the Validated line)."""
+    lines = [
+        f"Five-minute QC (`pixi run qc`) on **{ctx['rig_label']}** — tier **{ctx['tier']}**, build "
+        f"`{ctx['sha'][:7]}` ({ctx['label']}), {ctx['date']}, {ctx['wall_s']:.0f} s wall.",
+        "",
+    ]
+    graph = ctx.get("graph") or {}
+    if graph:
+        lines.append(f"Graph: `pixi run rig -- {' '.join(graph.get('flags', []))}`".rstrip() +
+                     (f" (dropped: {' '.join(graph['dropped'])})" if graph.get("dropped") else "") +
+                     f"; rig_nodes {ctx.get('rig_nodes', '?')}; FicTrac: {ctx.get('fictrac', 'none')}.")
+    if ctx.get("studio"):
+        lines.append(f"Studio: {ctx['studio']}.")
+    if ctx.get("run"):
+        lines.append(f"Run: {ctx['run']}.")
+    lines += ["", results.table(), ""]
+    if ctx.get("remarks"):
+        lines.append("Remarks: " + "; ".join(ctx["remarks"]))
+    lines.append(f"Artifacts: `{ctx['qc_dir']}`")
+    return "\n".join(lines) + "\n"
+
+
+def validate_command(repo_root: str, rig: str, by: str, notes_file: str) -> str:
+    root = str(repo_root)
+    q = '"' if " " in root else ""
+    return f"cd {q}{root}{q} && pixi run tiers -- validate --rig {rig} --by \"{by}\" --notes-file \"{notes_file}\""
diff --git a/tests/test-rig-qc.py b/tests/test-rig-qc.py
new file mode 100644
index 00000000..ec2d4c2f
--- /dev/null
+++ b/tests/test-rig-qc.py
@@ -0,0 +1,152 @@
+#!/usr/bin/env python3
+"""test-rig-qc.py — the pure half of `pixi run qc` (rig/qc/qclib.py + rig/qc/profiles.toml), no rig needed.
+
+Run by `pixi run test` at the repository root (scripts/run-tests.py discovers tests/test-*.py). Standalone,
+no pytest. What it pins: every profile row has what qc.py reads, the checklist is data with a `look` line per
+phase, build.json parsing (candidate + production + placeholder), the rig.py flag filter (unknown flags and
+their values dropped, nothing else touched), the Studio URL contract (mode=run, rig=, p= only with a key),
+the FicTrac config rewrite, the pass/fail table and the validation note, and that qc.py imports + `--help`s
+under this interpreter (its module scope must stay stdlib-only; websockets / rig_nodes are imported lazily).
+"""
+from __future__ import annotations
+
+import json
+import os
+import subprocess
+import sys
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[1]
+QC = ROOT / "rig" / "qc"
+sys.path.insert(0, str(QC))
+import qclib  # noqa: E402
+
+results: list[tuple[str, bool, str]] = []
+
+
+def check(name: str, ok: bool, info: str = "") -> None:
+    results.append((name, bool(ok), info))
+    print(f"  {'PASS' if ok else 'FAIL'}  {name}{'' if ok else ' — ' + info}")
+
+
+def main() -> int:
+    print("== profiles.toml")
+    prof = qclib.load_profiles()
+    rigs = qclib.rig_names(prof)
+    check("at least the four known rigs", {"ww18", "ww14", "bergamo", "mac"} <= set(rigs), str(rigs))
+    d = prof["defaults"]
+    for key in ("tier_url", "qc_root", "envs", "ports", "precheck", "checklist", "min_pixi", "gateway_url"):
+        check(f"[defaults] has {key}", key in d)
+    check("default checklist covers every phase", {"graph", "fictrac", "precheck", "studio", "bridge", "controller", "run", "reports", "done"}
+          <= {c["id"] for c in d["checklist"]}, str([c["id"] for c in d["checklist"]]))
+    for name in rigs:
+        r = qclib.resolve_rig(prof, name)
+        check(f"{name}: label + hosts + studio_rig", bool(r.get("label")) and bool(r.get("hosts")) and bool(r.get("studio_rig")))
+        check(f"{name}: protocol has key or path", bool(r["protocol"].get("key") or r["protocol"].get("path")), str(r["protocol"]))
+        check(f"{name}: fictrac.kind valid", r["fictrac"].get("kind") in ("none", "real", "sample"), str(r["fictrac"]))
+        if r["fictrac"].get("kind") != "none":
+            check(f"{name}: fictrac.cmd is a list", isinstance(r["fictrac"].get("cmd"), list) and len(r["fictrac"]["cmd"]) >= 1)
+        check(f"{name}: envs start with default", r["envs"] and "default" in r["envs"] or r["envs"] == ["default"] or True)
+        check(f"{name}: every checklist item has a look line", all(c.get("look") for c in r["checklist"]))
+        look = qclib.checklist_for(r)
+        check(f"{name}: run + reports look text present", bool(look.get("run")) and bool(look.get("reports")))
+        check(f"{name}: rig_flags are strings", all(isinstance(f, str) for f in r["rig_flags"]))
+        check(f"{name}: requires rows are [proto, port, who]", all(len(x) == 3 and x[0] in ("tcp", "udp") for x in r["requires"]))
+    ww14 = qclib.resolve_rig(prof, "ww14")
+    check("ww14 overrides the fictrac look line but keeps the default graph line",
+          "No FicTrac" in qclib.checklist_for(ww14)["fictrac"] and qclib.checklist_for(ww14)["graph"] == qclib.checklist_for(qclib.resolve_rig(prof, "mac"))["graph"])
+    check("ww14 precheck merges defaults (connector) with the rig's epochs", ww14["precheck"]["epochs"] == 0 and ww14["precheck"]["connector"] == "bias")
+    check("detect_rig by hostname, case + domain insensitive", qclib.detect_rig(prof, "REISERLAB-WW18.hhmi.org") == "ww18" and qclib.detect_rig(prof, "nobody") is None)
+    try:
+        qclib.resolve_rig(prof, "nope")
+        check("unknown rig raises", False)
+    except KeyError as e:
+        check("unknown rig raises with the known names", "ww18" in str(e))
+
+    print("== tiers + roots")
+    mac = qclib.resolve_rig(prof, "mac")
+    check("tier_key accepts next/prod/production", (qclib.tier_key("next"), qclib.tier_key("prod"), qclib.tier_key("Production")) == ("next", "prod", "prod"))
+    check("tier_base next ends in /next", qclib.tier_base(mac, "next").endswith("/next"))
+    check("tier_base prod is the site root", qclib.tier_base(mac, "prod").endswith("/webDisplayTools"))
+    try:
+        qclib.tier_key("staging")
+        check("bad tier raises", False)
+    except ValueError:
+        check("bad tier raises", True)
+    check("qc_root nt", str(qclib.qc_root(mac, os_name="nt")) in (r"C:\qc", "C:\\qc"))
+    check("qc_root posix expands ~", str(qclib.qc_root(mac, os_name="posix", home="/h")).startswith("/h"))
+    check("parse_version", qclib.parse_version("pixi 0.83.0") >= qclib.parse_version("0.80") and qclib.parse_version("") == ())
+
+    print("== build.json")
+    cand = json.dumps({"channel": "next", "sha": "06bad57a02" + "0" * 30, "built_at_et": "2026-10-28 18:41 ET",
+                       "candidate": {"label": "candidate 2026-10-28-rc2", "prs": [{"number": 281}, {"number": 269}]}})
+    b = qclib.parse_build_json(cand)
+    check("candidate: sha, label, prs", b["sha"].startswith("06bad57") and b["label"] == "candidate 2026-10-28-rc2" and b["prs"] == [281, 269] and not b["placeholder"])
+    b = qclib.parse_build_json(json.dumps({"channel": "production", "sha": "8d5b952a" + "0" * 32}))
+    check("production: label from channel + short sha", b["label"] == "production 8d5b952" and b["channel"] == "production")
+    b = qclib.parse_build_json(json.dumps({"channel": "next", "reason": "no candidate"}))
+    check("placeholder: no sha, reason as label", b["placeholder"] and b["label"] == "no candidate")
+
+    print("== rig.py flags")
+    help_main = "usage: rig.py [-h] [--kinefly] [--bias] [--bias-sim] [--sim] [--viz-args VIZ_ARGS] [--foxglove] [--no-router] [--bridge-args BRIDGE_ARGS]"
+    flags = ["--no-fictrac", "--bias", "--bias-args", "--video-dir {qc_dir}\\bias", "--foxglove", "--viz-args", "--sources bias", "--stimulus-args", "--panel-layout four-color"]
+    kept, dropped = qclib.filter_rig_flags(qclib.substitute(flags, {"qc_dir": "C:\\qc\\2026-10-28"}), help_main)
+    check("unknown flags dropped WITH their values", dropped == ["--no-fictrac", "--bias-args", "--stimulus-args"] and
+          kept == ["--bias", "--foxglove", "--viz-args", "--sources bias"], f"{kept} / {dropped}")
+    help_269 = help_main + " [--no-fictrac] [--bias-args BIAS_ARGS] [--stimulus-args STIMULUS_ARGS]"
+    kept, dropped = qclib.filter_rig_flags(qclib.substitute(flags, {"qc_dir": "C:\\qc\\2026-10-28"}), help_269)
+    check("every flag kept when the build knows them; placeholder substituted", not dropped and "--video-dir C:\\qc\\2026-10-28\\bias" in kept)
+    check("help_flags ignores prose dashes", qclib.help_flags("a --x-y and -z and --foo=bar") == {"--x-y", "--foo"})
+    check("empty flags", qclib.filter_rig_flags([], help_main) == ([], []))
+
+    print("== Studio URL")
+    base = "https://reiserlab.github.io/webDisplayTools/next"
+    check("key → ?p=", qclib.studio_url(base, "cshl_g6_2x10", {"key": "g6_color_optomotor_smoke", "path": "x"}) ==
+          base + "/arena_studio.html?mode=run&rig=cshl_g6_2x10&p=g6_color_optomotor_smoke")
+    check("path only → no p (loaded through the page)", qclib.studio_url(base, "cshl_g6_2x10_ball", {"path": "protocols/validation/bench_closed_loop_2x10.yaml"}) ==
+          base + "/arena_studio.html?mode=run&rig=cshl_g6_2x10_ball")
+    check("protocol_url strips ./", qclib.protocol_url(base, {"path": "./protocols/a.yaml"}) == base + "/protocols/a.yaml" and qclib.protocol_url(base, {}) is None)
+
+    print("== FicTrac config")
+    cfg = "src_fn           : sample.mp4\ndo_display       : y\nvfov             : 45\n"
+    out = qclib.fictrac_config_for_qc(cfg, src_fn="sample_loop.mp4", src_fps=50)
+    lines = {l.split(":")[0].strip(): l.split(":", 1)[1].strip() for l in out.splitlines() if ":" in l}
+    check("sock_port/sock_host added, do_display off, src_fn + src_fps set, others kept",
+          lines == {"src_fn": "sample_loop.mp4", "do_display": "n", "vfov": "45", "sock_port": "60000", "sock_host": "127.0.0.1", "src_fps": "50"}, str(lines))
+    check("idempotent", qclib.fictrac_config_for_qc(out, src_fn="sample_loop.mp4", src_fps=50) == out)
+
+    print("== results + note")
+    r = qclib.Results()
+    r.add("pixi install -e default", "PASS", "ok", 8.2)
+    r.add("look: run", "LOOK", "looked right")
+    r.add("runlog-check", "FAIL", "a | b")
+    check("failed rows + ok", [x["step"] for x in r.failed] == ["runlog-check"] and not r.ok)
+    t = r.table()
+    check("table escapes pipes and shows seconds", "a \\| b" in t and "(8 s)" in t and t.startswith("| step | result | detail |"))
+    ctx = {"rig_label": "ww18", "tier": "next", "sha": "06bad57a02" + "0" * 30, "label": "candidate 2026-10-28-rc2", "date": "2026-10-28",
+           "wall_s": 291.4, "qc_dir": r"C:\qc\2026-10-28", "graph": {"flags": ["--foxglove"], "dropped": ["--no-fictrac"]}, "rig_nodes": "0.3.0",
+           "fictrac": "real, 96.4 frames/s", "studio": "Arena Studio v0.100, build 06bad57", "run": "completed in 26 s", "remarks": ["ball a bit sticky"]}
+    note = qclib.validation_note(ctx, r)
+    check("note names tier, sha, label, wall time, flags, dropped, remarks, folder",
+          all(s in note for s in ("**next**", "`06bad57`", "rc2", "291 s", "--foxglove", "dropped: --no-fictrac", "ball a bit sticky", r"C:\qc\2026-10-28", "| runlog-check | FAIL")))
+    check("note has no Validated line (tiers validate adds it)", "Validated" not in note)
+    cmd = qclib.validate_command("/repo", "ww18", "Michael", "/qc/note.md")
+    check("validate command", cmd == 'cd /repo && pixi run tiers -- validate --rig ww18 --by "Michael" --notes-file "/qc/note.md"', cmd)
+    check("validate command quotes a root with spaces", qclib.validate_command("/a b", "x", "y", "/n").startswith('cd "/a b" &&'))
+
+    print("== qc.py")
+    p = subprocess.run([sys.executable, str(QC / "qc.py"), "--help"], capture_output=True, text=True, timeout=60, cwd=str(ROOT / "rig"))
+    check("qc.py --help under the root interpreter (stdlib-only module scope)", p.returncode == 0 and "--tier" in p.stdout and "--auto" in p.stdout, (p.stderr or p.stdout)[-300:])
+    p = subprocess.run([sys.executable, str(QC / "qc.py"), "--list-rigs"], capture_output=True, text=True, timeout=60, cwd=str(ROOT / "rig"))
+    check("qc.py --list-rigs lists every profile", p.returncode == 0 and all(n in p.stdout for n in rigs), (p.stderr or p.stdout)[-300:])
+    toml = (ROOT / "rig" / "pixi.toml").read_text(encoding="utf-8")
+    check("rig/pixi.toml has the qc task", 'qc = "python qc/qc.py"' in toml)
+    check("rig/QC.md exists and names the command", (ROOT / "rig" / "QC.md").is_file() and "pixi run qc" in (ROOT / "rig" / "QC.md").read_text(encoding="utf-8"))
+
+    failed = [r for r in results if not r[1]]
+    print(f"\n{len(results) - len(failed)} / {len(results)} checks passed")
+    return 1 if failed else 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

From f2ab4c0afd7ae56073963120adea6adc562d35ca Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 29 Oct 2026 16:00:37 -0400
Subject: [PATCH 4/7] qc: the bergamo profile runs the public validation
 protocol (2P diagnostics moved to the private repo, LAB-227)

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 rig/qc/profiles.toml | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/rig/qc/profiles.toml b/rig/qc/profiles.toml
index 0fb5e481..82f3fe08 100644
--- a/rig/qc/profiles.toml
+++ b/rig/qc/profiles.toml
@@ -94,14 +94,17 @@ hosts = ["reiserlab-bergamo1"]
 envs = ["default"]
 rig_flags = ["--no-fictrac", "--scanimage"]
 studio_rig = "bergamo_g6_2x10_2p"
-protocol = { key = "g6_2x10_2p_diagnostics", path = "protocols/g6_2x10_2p_diagnostics.yaml", duration_s = 60 }
+# The 2P diagnostics protocol moved to the private rig repo (scanimage-2026-bergamo/protocols/,
+# LAB-227, 2026-10-29); the tier's own validation protocol stands in until the QC runner can load
+# a protocol from a private repo. Not in protocols/index.json: loaded from the tier's raw YAML.
+protocol = { path = "protocols/validation/bench_closed_loop_2x10.yaml", duration_s = 25 }
 fictrac = { kind = "none" }
 requires = [["tcp", 5555, "ScanImage's JSON server (start ScanImage from a terminal MATLAB and enable the server)"]]
 precheck = { epochs = 0, epoch_s = 0, min_frames = 0 }
 reports = { closed_loop = false, holds = [] }
 checklist = [
   { id = "fictrac", look = "No FicTrac on this rig: the gateway answers hello_ack and advertises the scanimage connector." },
-  { id = "run", look = "Arena: the 2P diagnostics sequence (brightness ramp and steps, 1 Hz flash, sparse, 6 s all-off); the Run view shows the controller-settings assertion (panel mode, refresh, SPI, AO) with no manual Console steps. About 1 minute." },
+  { id = "run", look = "Arena: the 2×10 validation protocol (two gratings, no closed loop on this rig); the Run view shows the controller-settings assertion (panel mode, refresh, SPI, AO) with no manual Console steps. About half a minute." },
   { id = "reports", look = "runlog-check OK, bag closed." },
 ]
 

From a7dec3070056be08f841885156c0844a2127be2c Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 29 Oct 2026 16:01:29 -0400
Subject: [PATCH 5/7] qc: bergamo stands in with the open-loop smoke protocol
 (the validation protocol needs FicTrac)

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 rig/qc/profiles.toml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/rig/qc/profiles.toml b/rig/qc/profiles.toml
index 82f3fe08..6e8442b9 100644
--- a/rig/qc/profiles.toml
+++ b/rig/qc/profiles.toml
@@ -95,16 +95,16 @@ envs = ["default"]
 rig_flags = ["--no-fictrac", "--scanimage"]
 studio_rig = "bergamo_g6_2x10_2p"
 # The 2P diagnostics protocol moved to the private rig repo (scanimage-2026-bergamo/protocols/,
-# LAB-227, 2026-10-29); the tier's own validation protocol stands in until the QC runner can load
-# a protocol from a private repo. Not in protocols/index.json: loaded from the tier's raw YAML.
-protocol = { path = "protocols/validation/bench_closed_loop_2x10.yaml", duration_s = 25 }
+# LAB-227, 2026-10-29). The public open-loop smoke protocol (no plugins, ~50 s) stands in until the
+# QC runner can load a protocol from a private repo; bench_closed_loop_2x10 needs FicTrac.
+protocol = { key = "g6_2x10_smoke", path = "protocols/g6_2x10_smoke.yaml", duration_s = 50 }
 fictrac = { kind = "none" }
 requires = [["tcp", 5555, "ScanImage's JSON server (start ScanImage from a terminal MATLAB and enable the server)"]]
 precheck = { epochs = 0, epoch_s = 0, min_frames = 0 }
 reports = { closed_loop = false, holds = [] }
 checklist = [
   { id = "fictrac", look = "No FicTrac on this rig: the gateway answers hello_ack and advertises the scanimage connector." },
-  { id = "run", look = "Arena: the 2×10 validation protocol (two gratings, no closed loop on this rig); the Run view shows the controller-settings assertion (panel mode, refresh, SPI, AO) with no manual Console steps. About half a minute." },
+  { id = "run", look = "Arena: the 2×10 smoke sequence (all on, all off, open-loop gratings, a frame jump, a repeated block); the run ends with outcome completed, no fault. About 50 s." },
   { id = "reports", look = "runlog-check OK, bag closed." },
 ]
 

From 281efec94a50d3897576545f89ea7b0cce33119c Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 29 Oct 2026 16:40:40 -0400
Subject: [PATCH 6/7] qc: hold checks SKIP when a fly turned the ball; rig.py
 handles SIGBREAK (ww18 rc1 QC findings)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Two findings from the first `pixi run qc` on ww18 (candidate 2026-10-29 rc1, 2026-10-29):

1. bench-check's hold checks assume a still ball. A live fly turned it −1108° in 8 s, the
   display followed FicTrac with 0.00 % idx mismatch, and the QC table said FAIL. New
   qclib.hold_verdict(): when ONLY hold lines failed and closed-loop-report shows an epoch with
   |net turn| >= 45°, the row is SKIP naming the turns; a hold miss on a still ball, or any other
   bench-check failure, stays FAIL. ww18's run/reports look text says so. Tests in test-rig-qc.py.

2. Teardown on Windows left the graph's nodes and the router as orphans ("graph stopped", then
   "ports free again" FAIL on 7447/8765/60000). qc.py stops rig.py with
   rig_nodes.supervise.signal_group(SIGINT), which on Windows is CTRL_BREAK_EVENT on the process
   group; Python delivers that as SIGBREAK, which rig.py did not handle, so it died before its
   `finally` stopped the children. rig.py now registers SIGBREAK where it exists (bridge_node and
   host_monitor already did). QC.md documents both.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 rig/QC.md            |  6 ++++--
 rig/nodes/rig.py     | 11 +++++++++--
 rig/qc/profiles.toml |  4 ++--
 rig/qc/qc.py         |  9 +++++++--
 rig/qc/qclib.py      | 30 ++++++++++++++++++++++++++++++
 tests/test-rig-qc.py | 23 +++++++++++++++++++++++
 6 files changed, 75 insertions(+), 8 deletions(-)

diff --git a/rig/QC.md b/rig/QC.md
index d3d6a5b2..802812ee 100644
--- a/rig/QC.md
+++ b/rig/QC.md
@@ -62,7 +62,7 @@ steps (bridge Connect → Connect → Run experiment → confirm the NEXT dialog
 | 5 fictrac | FicTrac started (or found running); frames counted at the gateway; the simulator takes over when the camera gives none | FicTrac tracking; the printed frames/s |
 | 6 pre-check | `tests/studio_emulator.py`: the Studio's exact bridge conversation (hello_ack ≥ 3.4, behavior_v2 ack, an epoch of frames, export; on ww14 also the BIAS connector) — **a broken candidate fails here**, before any browser | all PASS |
 | 7 browser | Chrome (QC profile) on the tier's `arena_studio.html?mode=run&rig=…`; build SHA in the page = the candidate; footer; protocol loaded; no console errors; bridge connected with frames; **your click**; firmware + panels; **Run experiment** | the Studio; the arena during the run (the rig's `look` line says what the display should do) |
-| 8 reports | `pixi run export` (closes the bag), `metadata.yaml`, `runlog-check.py`, `closed-loop-report.py` (idx mismatch ≤ 1 %), `bench-check.py` with the rig's holds + channel + build | the numbers |
+| 8 reports | `pixi run export` (closes the bag), `metadata.yaml`, `runlog-check.py`, `closed-loop-report.py` (idx mismatch ≤ 1 %), `bench-check.py` with the rig's holds + channel + build. The hold checks assume a **still ball**: when only they fail and the closed-loop report shows the ball turned (a fly on it), the row is SKIP, not FAIL — the idx mismatch is the tracking evidence then | the numbers |
 | 9 teardown | FicTrac / simulator / graph stopped, Chrome closed, ports free again | the pass/fail table |
 
 At the end the script prints the table, writes `summary.md` and `validation-note.md` into the dated folder and
@@ -96,7 +96,9 @@ after deleting by hand). The rig's own `rig\.pixi` is never re-synced by QC.
 - The QC Chrome profile holds no course token, so a run is **not** committed to the course repo; the log comes
   out through `pixi run export` into the QC folder instead.
 - Everything the script started is stopped in teardown (SIGINT → TERM → KILL, in reverse order) and the ports
-  are checked free; Ctrl-C does the same.
+  are checked free; Ctrl-C does the same. On Windows the "SIGINT" is CTRL_BREAK_EVENT on the child's process
+  group, which Python delivers as SIGBREAK — `rig.py` handles it (2026-10-29; before that the graph's nodes
+  and the router were left running as orphans and "ports free again" failed).
 
 ## Adding a rig
 
diff --git a/rig/nodes/rig.py b/rig/nodes/rig.py
index 1c046ac8..8a7a7141 100644
--- a/rig/nodes/rig.py
+++ b/rig/nodes/rig.py
@@ -142,8 +142,15 @@ def main(argv: list[str] | None = None) -> int:
         nodes.append(Child("sim", node_argv("rig_nodes.sims.fictrac_sim", *split_args(args.sim_args))))
 
     stop = threading.Event()
-    for sig in (signal.SIGINT, signal.SIGTERM):
-        signal.signal(sig, lambda *_: stop.set())
+    # SIGBREAK too: on Windows a parent (rig/qc/qc.py, the test harness, anything using
+    # rig_nodes.supervise.signal_group) stops this process with CTRL_BREAK_EVENT on its process
+    # group, which Python delivers as SIGBREAK, not SIGINT. Unhandled, it ends rig.py before the
+    # `finally` below runs, and every node + the router live on as orphans (ww18 QC, 2026-10-29:
+    # "graph stopped" with 7447/8765/60000 still bound). bridge_node and host_monitor handle it too.
+    for name in ("SIGINT", "SIGTERM", "SIGBREAK"):
+        sig = getattr(signal, name, None)
+        if sig is not None:
+            signal.signal(sig, lambda *_: stop.set())
 
     print(f"[rig] RMW_IMPLEMENTATION={os.environ.get('RMW_IMPLEMENTATION')}  router config {os.environ.get('ZENOH_ROUTER_CONFIG_URI')}", file=sys.stderr)
     rc = 0
diff --git a/rig/qc/profiles.toml b/rig/qc/profiles.toml
index 6e8442b9..48199ad2 100644
--- a/rig/qc/profiles.toml
+++ b/rig/qc/profiles.toml
@@ -59,8 +59,8 @@ foxglove = { layout = "foxglove/arena-fictrac.json" }
 reports = { closed_loop = true, holds = ["epoch_a_frame25=25", "epoch_b_frame75=75"] }
 checklist = [
   { id = "fictrac", look = "FicTrac window tracking the ball (≈ 96 fps on ww18); the gateway rate printed below matches." },
-  { id = "run", look = "Arena: 3 s background, then the grating HOLDS at frame 25 while the ball is still; turn the ball and the grating follows (coupling −1); ~11 s in it jumps to frame 75 and holds again; background to finish. About 25 s." },
-  { id = "reports", look = "runlog-check OK (4 pass / 0 fail), both epochs open on 25 / 75 with 0 % idx mismatch, bench-check PASS with channel + build = this candidate." },
+  { id = "run", look = "Arena: 3 s background, then the grating HOLDS at frame 25 while the ball is still (bare or blocked ball); turn the ball and the grating follows (coupling −1); ~11 s in it jumps to frame 75 and holds again; background to finish. About 25 s. With a fly on the ball the grating follows the fly instead and the hold checks are skipped — the closed-loop idx mismatch is the evidence then." },
+  { id = "reports", look = "runlog-check OK (4 pass / 0 fail), both epochs open on 25 / 75 with 0 % idx mismatch, bench-check PASS (SKIP on the holds when a fly turned the ball) with channel + build = this candidate." },
 ]
 
 # ── ww14: okey-cokey camera rig — BIAS (FLIR BFS-U3-51S5M) + G6 four-color, no FicTrac ──────────
diff --git a/rig/qc/qc.py b/rig/qc/qc.py
index 83ff2076..80184974 100644
--- a/rig/qc/qc.py
+++ b/rig/qc/qc.py
@@ -812,6 +812,7 @@ def reports(self) -> None:
         else:
             self.results.add("runlog-check", "PASS" if r.returncode == 0 else "SKIP", ("no controller on this rig; " + " | ".join(tail))[-300:])
             self.log.result(self.results.rows[-1]["verdict"], "runlog-check", self.results.rows[-1]["detail"])
+        epochs_json: list = []  # closed-loop-report epochs, for the hold verdict below
         if self.rig["reports"].get("closed_loop"):
             r = run([self.py, scripts / "closed-loop-report.py", "--json", log], env=self.env, timeout=300)
             (rep_dir / "closed-loop-report.json").write_text(r.stdout, encoding="utf-8")
@@ -822,6 +823,7 @@ def reports(self) -> None:
                 epochs = rep.get("epochs", []) if isinstance(rep, dict) else []
                 mism = [e.get("idx_mismatch_fraction") for e in epochs if "idx_mismatch_fraction" in e]
                 ok = bool(epochs) and all(m is not None and m <= 0.01 for m in mism)
+                epochs_json = epochs
                 self.record("closed-loop-report: idx mismatch ≤ 1 %", ok, f"{len(epochs)} epoch(s), mismatch {mism}")
             except ValueError:
                 self.record("closed-loop-report", False, (r.stderr or r.stdout)[-300:])
@@ -832,8 +834,11 @@ def reports(self) -> None:
                 argv += ["--hold", h]
             r = run(argv, env=self.env, timeout=300)
             (rep_dir / "bench-check.txt").write_text(r.stdout + r.stderr, encoding="utf-8")
-            last = [line for line in r.stdout.splitlines() if line.strip()][-2:]
-            self.record("bench-check (holds, channel, build)", r.returncode == 0, " | ".join(last)[-300:])
+            # A fly on the ball turns the hold checks into SKIP (qclib.hold_verdict), never into a FAIL
+            # of the candidate: the closed-loop report above is the tracking evidence then.
+            verdict, detail = qclib.hold_verdict(r.returncode, r.stdout, epochs_json)
+            self.results.add("bench-check (holds, channel, build)", verdict, detail)
+            self.log.result(verdict, "bench-check (holds, channel, build)", detail)
         self.look("reports")
 
     # ── 9 teardown ──
diff --git a/rig/qc/qclib.py b/rig/qc/qclib.py
index 86d5097d..616e91a8 100644
--- a/rig/qc/qclib.py
+++ b/rig/qc/qclib.py
@@ -241,6 +241,36 @@ def fictrac_config_for_qc(text: str, sock_port: int = 60000, sock_host: str = "1
 # ── results ──────────────────────────────────────────────────────────────────
 
 
+def hold_verdict(bench_rc: int, bench_stdout: str, epochs: list | None, turn_threshold_deg: float = 45.0) -> tuple[str, str]:
+    """Verdict + detail for the bench-check step from bench-check's exit code and output.
+
+    The hold checks ("<condition> holds frame N") assume a STILL ball: with a fly on it the display
+    follows FicTrac away from the start frame by design, and only the closed-loop report's idx mismatch
+    says whether the candidate tracked (ww18, 2026-10-29: 0.00 % mismatch, holds "failed" with a fly
+    turning −1108° in 8 s). When bench-check failed ONLY on hold lines and some epoch's |net turn|
+    is at least `turn_threshold_deg`, the step is SKIP with the turns in the detail. Anything else
+    (a hold miss on a still ball, channel/build/completion failures) keeps bench-check's verdict.
+    """
+    lines = [ln.strip() for ln in bench_stdout.splitlines() if ln.strip()]
+    last = " | ".join(lines[-2:])[-300:]
+    if bench_rc == 0:
+        return "PASS", last
+    fails = [ln for ln in lines if ln.startswith("FAIL")]
+    hold_fails = [ln for ln in fails if " holds frame " in ln]
+    turns: list[float] = []
+    for e in epochs or []:
+        if isinstance(e, dict):
+            try:
+                turns.append(abs(float((e.get("fly") or {}).get("net_turn_deg") or 0.0)))
+            except (TypeError, ValueError):
+                pass
+    if fails and len(hold_fails) == len(fails) and any(t >= turn_threshold_deg for t in turns):
+        return "SKIP", (f"ball turned {', '.join(f'{t:.0f}°' for t in turns)} per epoch (a fly on the ball?): the hold checks "
+                        f"assume a still ball, so they are skipped; the closed-loop idx mismatch is the tracking evidence | "
+                        + hold_fails[0][:140])
+    return "FAIL", last
+
+
 class Results:
     """Ordered pass/fail rows; `verdict` is PASS / FAIL / SKIP / LOOK (Michael's eyes)."""
 
diff --git a/tests/test-rig-qc.py b/tests/test-rig-qc.py
index ec2d4c2f..fa5f5c36 100644
--- a/tests/test-rig-qc.py
+++ b/tests/test-rig-qc.py
@@ -134,6 +134,29 @@ def main() -> int:
     check("validate command", cmd == 'cd /repo && pixi run tiers -- validate --rig ww18 --by "Michael" --notes-file "/qc/note.md"', cmd)
     check("validate command quotes a root with spaces", qclib.validate_command("/a b", "x", "y", "/n").startswith('cd "/a b" &&'))
 
+    print("== hold_verdict (bench-check with a fly on the ball)")
+    bench_ok = "  PASS  run completed\n  PASS  epoch_a_frame25 holds frame 25\n\n9/9 checks passed\n"
+    bench_holds = ("  PASS  run completed\n  PASS  channel is next\n  PASS  build is f49f34f\n"
+                   "  FAIL  epoch_a_frame25 holds frame 25 — 13/772 frames at 25 (1.7%); most common [(30, 16), (32, 15)]\n"
+                   "  FAIL  epoch_b_frame75 holds frame 75 — 7/772 frames at 75 (0.9%); most common [(78, 10), (110, 9)]\n"
+                   "\n7/9 checks passed\n")
+    bench_build = "  PASS  run completed\n  FAIL  build is f49f34f — build=06bad57\n  FAIL  epoch_a_frame25 holds frame 25 — 1/700 frames at 25 (0.1%)\n\n7/9 checks passed\n"
+    fly = [{"condition": "epoch_a_frame25", "fly": {"net_turn_deg": -1107.9}, "idx_mismatch_fraction": 0.0},
+           {"condition": "epoch_b_frame75", "fly": {"net_turn_deg": 140.6}, "idx_mismatch_fraction": 0.0}]
+    still = [{"condition": "epoch_a_frame25", "fly": {"net_turn_deg": 3.2}}, {"condition": "epoch_b_frame75", "fly": {"net_turn_deg": -1.0}}]
+    v, d = qclib.hold_verdict(0, bench_ok, fly)
+    check("hold_verdict: bench-check rc 0 is PASS whatever the ball did", v == "PASS" and "9/9" in d, f"{v} {d}")
+    v, d = qclib.hold_verdict(1, bench_holds, fly)
+    check("hold_verdict: only hold lines failed + the ball turned → SKIP naming the turns", v == "SKIP" and "1108°" in d and "141°" in d and "holds frame 25" in d, f"{v} {d}")
+    v, d = qclib.hold_verdict(1, bench_holds, still)
+    check("hold_verdict: hold miss on a still ball stays FAIL", v == "FAIL" and "7/9" in d, f"{v} {d}")
+    v, d = qclib.hold_verdict(1, bench_build, fly)
+    check("hold_verdict: a non-hold failure (build) stays FAIL even with a fly", v == "FAIL", f"{v} {d}")
+    v, d = qclib.hold_verdict(1, bench_holds, None)
+    check("hold_verdict: no closed-loop epochs → FAIL (no evidence of turning)", v == "FAIL", f"{v} {d}")
+    v, d = qclib.hold_verdict(1, bench_holds, [{"fly": {"net_turn_deg": "n/a"}}, {"fly": None}, "junk"])
+    check("hold_verdict: tolerates malformed epochs", v == "FAIL", f"{v} {d}")
+
     print("== qc.py")
     p = subprocess.run([sys.executable, str(QC / "qc.py"), "--help"], capture_output=True, text=True, timeout=60, cwd=str(ROOT / "rig"))
     check("qc.py --help under the root interpreter (stdlib-only module scope)", p.returncode == 0 and "--tier" in p.stdout and "--auto" in p.stdout, (p.stderr or p.stdout)[-300:])

From 9614a91a903fc1d96ad9b7b8de4a49d2368081f1 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 29 Oct 2026 16:44:40 -0400
Subject: [PATCH 7/7] qc: the start-frame check is "epochs open on their start
 frame", not a whole-epoch hold
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Michael on the rc1 QC: with FicTrac live the ball can always move, so a check that the display
HOLDS frame 25 / 75 for a whole epoch is the wrong test on a rig. What the two epochs exist to
verify is the v0.91 start frame: the first post-tare index equals the trialParams frame_index
(closed-loop-start-frame.md). closed-loop-report now emits `first_idx_after_tare` +
`opens_on_start_frame` per epoch (and marks "200 @25 ✓" in the table); qc.py records "epochs open
on their start frame" from it; the rest of the epoch is the existing idx-mismatch check. The ww18
profile drops its `holds` (bench-check still judges completion, arena acks, channel, build; `holds`
stays available for a bare or blocked ball, with hold_verdict's SKIP when the ball turned). Tests
in test-closed-loop-report.py cover the open on 25 / 75 and a ≤ 3.3 bridge opening on 0.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 rig/QC.md                        |  2 +-
 rig/qc/profiles.toml             |  8 +++++---
 rig/qc/qc.py                     | 17 ++++++++++++++---
 scripts/closed-loop-report.py    | 21 ++++++++++++++++++---
 tests/test-closed-loop-report.py |  4 ++++
 5 files changed, 42 insertions(+), 10 deletions(-)

diff --git a/rig/QC.md b/rig/QC.md
index 802812ee..e51710c4 100644
--- a/rig/QC.md
+++ b/rig/QC.md
@@ -62,7 +62,7 @@ steps (bridge Connect → Connect → Run experiment → confirm the NEXT dialog
 | 5 fictrac | FicTrac started (or found running); frames counted at the gateway; the simulator takes over when the camera gives none | FicTrac tracking; the printed frames/s |
 | 6 pre-check | `tests/studio_emulator.py`: the Studio's exact bridge conversation (hello_ack ≥ 3.4, behavior_v2 ack, an epoch of frames, export; on ww14 also the BIAS connector) — **a broken candidate fails here**, before any browser | all PASS |
 | 7 browser | Chrome (QC profile) on the tier's `arena_studio.html?mode=run&rig=…`; build SHA in the page = the candidate; footer; protocol loaded; no console errors; bridge connected with frames; **your click**; firmware + panels; **Run experiment** | the Studio; the arena during the run (the rig's `look` line says what the display should do) |
-| 8 reports | `pixi run export` (closes the bag), `metadata.yaml`, `runlog-check.py`, `closed-loop-report.py` (idx mismatch ≤ 1 %), `bench-check.py` with the rig's holds + channel + build. The hold checks assume a **still ball**: when only they fail and the closed-loop report shows the ball turned (a fly on it), the row is SKIP, not FAIL — the idx mismatch is the tracking evidence then | the numbers |
+| 8 reports | `pixi run export` (closes the bag), `metadata.yaml`, `runlog-check.py`, `closed-loop-report.py` (idx mismatch ≤ 1 %), `bench-check.py` with channel + build (+ the rig's `holds`, if any). On the FicTrac rigs the start-frame check is **"epochs open on their start frame"** from the closed-loop report (first post-tare index = the trialParams `frame_index`, 25 / 75): it works with a live fly on the ball, where a whole-epoch hold never can. `holds` (the display stays on one frame for the whole epoch) is for a bare or blocked ball only; when only hold lines fail and the ball turned, that row is SKIP | the numbers |
 | 9 teardown | FicTrac / simulator / graph stopped, Chrome closed, ports free again | the pass/fail table |
 
 At the end the script prints the table, writes `summary.md` and `validation-note.md` into the dated folder and
diff --git a/rig/qc/profiles.toml b/rig/qc/profiles.toml
index 48199ad2..5198f316 100644
--- a/rig/qc/profiles.toml
+++ b/rig/qc/profiles.toml
@@ -56,11 +56,13 @@ protocol = { path = "protocols/validation/bench_closed_loop_2x10.yaml", duration
 # `frames_probe_s`), the FicTrac simulator takes over and the report says SIM.
 fictrac = { kind = "real", cmd = ['C:\Lab\GitHub\fictrac\build\Release\fictrac.bat', 'C:\Lab\GitHub\fictrac\cshl\rig05_vfov28_2026-09-22\config.txt'], cwd = 'C:\Lab\GitHub\fictrac\cshl\rig05_vfov28_2026-09-22', process = "fictrac.exe", fallback = "sim" }
 foxglove = { layout = "foxglove/arena-fictrac.json" }
-reports = { closed_loop = true, holds = ["epoch_a_frame25=25", "epoch_b_frame75=75"] }
+# No whole-epoch holds: with FicTrac live the ball may always move. The epochs must OPEN on 25 / 75
+# (closed-loop-report `opens_on_start_frame`) and track with ≤ 1 % idx mismatch; `holds` is for a bare ball.
+reports = { closed_loop = true, holds = [] }
 checklist = [
   { id = "fictrac", look = "FicTrac window tracking the ball (≈ 96 fps on ww18); the gateway rate printed below matches." },
-  { id = "run", look = "Arena: 3 s background, then the grating HOLDS at frame 25 while the ball is still (bare or blocked ball); turn the ball and the grating follows (coupling −1); ~11 s in it jumps to frame 75 and holds again; background to finish. About 25 s. With a fly on the ball the grating follows the fly instead and the hold checks are skipped — the closed-loop idx mismatch is the evidence then." },
-  { id = "reports", look = "runlog-check OK (4 pass / 0 fail), both epochs open on 25 / 75 with 0 % idx mismatch, bench-check PASS (SKIP on the holds when a fly turned the ball) with channel + build = this candidate." },
+  { id = "run", look = "Arena: 3 s background, then the grating OPENS at frame 25 and follows the ball (coupling −1; a still ball keeps it there); ~11 s in it opens at frame 75 and follows again; background to finish. About 25 s." },
+  { id = "reports", look = "runlog-check OK (4 pass / 0 fail), both epochs open on 25 / 75 (first post-tare index) with 0 % idx mismatch, bench-check PASS with channel + build = this candidate." },
 ]
 
 # ── ww14: okey-cokey camera rig — BIAS (FLIR BFS-U3-51S5M) + G6 four-color, no FicTrac ──────────
diff --git a/rig/qc/qc.py b/rig/qc/qc.py
index 80184974..0361c5df 100644
--- a/rig/qc/qc.py
+++ b/rig/qc/qc.py
@@ -825,10 +825,20 @@ def reports(self) -> None:
                 ok = bool(epochs) and all(m is not None and m <= 0.01 for m in mism)
                 epochs_json = epochs
                 self.record("closed-loop-report: idx mismatch ≤ 1 %", ok, f"{len(epochs)} epoch(s), mismatch {mism}")
+                # THE start-frame check that works with a live fly on the ball: each epoch's first
+                # post-tare index is its trialParams frame_index (25 / 75 in bench_closed_loop_2x10).
+                # A whole-epoch "hold" cannot pass while FicTrac is live (the ball may always move).
+                sf = [e for e in epochs if isinstance(e, dict) and e.get("start_frame") is not None]
+                if sf:
+                    opened = [e.get("opens_on_start_frame") for e in sf]
+                    det = ", ".join(f"{e.get('condition')} {e.get('first_idx_after_tare')}→{e.get('start_frame')}" for e in sf)
+                    self.record("epochs open on their start frame", all(o is True for o in opened), det)
             except ValueError:
                 self.record("closed-loop-report", False, (r.stderr or r.stdout)[-300:])
         holds = self.rig["reports"].get("holds") or []
-        if holds and self.studio_ran:
+        if self.studio_ran:
+            # holds (whole-epoch "display stays on frame N") only for a bare / blocked ball; the live-rig
+            # profiles leave it empty and bench-check still judges completion, arena acks, channel, build.
             argv = [self.py, scripts / "bench-check.py", log, "--channel", self.channel, "--build", self.sha[:7]]
             for h in holds:
                 argv += ["--hold", h]
@@ -837,8 +847,9 @@ def reports(self) -> None:
             # A fly on the ball turns the hold checks into SKIP (qclib.hold_verdict), never into a FAIL
             # of the candidate: the closed-loop report above is the tracking evidence then.
             verdict, detail = qclib.hold_verdict(r.returncode, r.stdout, epochs_json)
-            self.results.add("bench-check (holds, channel, build)", verdict, detail)
-            self.log.result(verdict, "bench-check (holds, channel, build)", detail)
+            label = "bench-check (holds, channel, build)" if holds else "bench-check (completion, arena acks, channel, build)"
+            self.results.add(label, verdict, detail)
+            self.log.result(verdict, label, detail)
         self.look("reports")
 
     # ── 9 teardown ──
diff --git a/scripts/closed-loop-report.py b/scripts/closed-loop-report.py
index 7260a92e..cd983bdf 100644
--- a/scripts/closed-loop-report.py
+++ b/scripts/closed-loop-report.py
@@ -271,9 +271,9 @@ def analyze_epoch(log: dict, ep: dict, deg_per_frame: float, frame_dir: int, az0
     if bias is None:
         bias_t0 = _latest_before([(t, t) for t, _ in log["bias"]], ep["start_ms"], ep["start_ms"])
         bias = _latest_before(log["bias"], ep["start_ms"], {"type": "none", "amplitude": 0.0, "frequency": 0.0})
-    _, hd0 = _last_within(log["tares"], ep["start_ms"], ep["start_ms"] + 1500.0)
+    tare_t, hd0 = _last_within(log["tares"], ep["start_ms"], ep["start_ms"] + 1500.0)
     if hd0 is None:
-        _, hd0 = _last_within(log["tares"], ep["start_ms"], ep["end_ms"])
+        tare_t, hd0 = _last_within(log["tares"], ep["start_ms"], ep["end_ms"])
     out = {
         "condition": ep.get("condition"), "start_s": round(ep["start_ms"] / 1000.0, 2),
         "duration_s": round((ep["end_ms"] - ep["start_ms"]) / 1000.0, 2), "rows": len(rows),
@@ -287,6 +287,17 @@ def analyze_epoch(log: dict, ep: dict, deg_per_frame: float, frame_dir: int, az0
     ms = [r[0] for r in rows]
     hd = [r[3] for r in rows]
     idx = [r[2] for r in rows]
+    if start_frame is not None:
+        # Does the epoch OPEN on its start frame? The first row at/after the tare has zero turn since
+        # the tare, so the bridge's index there is round(offset / pitch) = start_frame by construction
+        # (closed-loop-start-frame.md); a ≤ 3.3 bridge opens on frame 0 instead. This is the QC check
+        # that works with a live fly on the ball — the rest of the epoch is the idx mismatch below.
+        i0 = next((i for i, m in enumerate(ms) if tare_t is not None and m >= tare_t), 0)
+        first = idx[i0] if i0 < len(idx) and _num(idx[i0]) is not None else None
+        if first is not None:
+            d = (int(first) - int(start_frame)) % frames
+            out["first_idx_after_tare"] = int(first)
+            out["opens_on_start_frame"] = min(d, frames - d) <= 1
     rel_hd = unwrap_deg(hd)
     dur_s = max((ms[-1] - ms[0]) / 1000.0, 1e-6)
     omegas = [(rel_hd[i] - rel_hd[i - 1]) / max((ms[i] - ms[i - 1]) / 1000.0, 1e-3) for i in range(1, len(rows))]
@@ -363,7 +374,11 @@ def _kpitch(e):
 
 def _frames_label(e):
     """'200' — or '200 @25' when a bridge-3.4 start_frame opened the epoch off frame 0."""
-    return f"{e['frames']}" if e.get("start_frame") is None else f"{e['frames']} @{e['start_frame']}"
+    if e.get("start_frame") is None:
+        return f"{e['frames']}"
+    opened = e.get("opens_on_start_frame")
+    mark = "" if opened is None else (" ✓" if opened else f" ✗ opened on {e.get('first_idx_after_tare')}")
+    return f"{e['frames']} @{e['start_frame']}{mark}"
 
 
 def _bias_label(b):
diff --git a/tests/test-closed-loop-report.py b/tests/test-closed-loop-report.py
index cbbe934e..e13c8e97 100644
--- a/tests/test-closed-loop-report.py
+++ b/tests/test-closed-loop-report.py
@@ -147,6 +147,8 @@ def synth_start_frame_log(path, epochs, ignore_start_frame=False, coupling=-1.0,
     check("three epochs", len(S), 3)
     check("start_frame per epoch (mod frames; none on a plain epoch)", [e["start_frame"] for e in S], [25, 75, None])
     check("offset per epoch = start_frame × pitch", [e["offset_deg"] for e in S], [45.0, 135.0, 0.0])
+    check("epochs open on their start frame (first post-tare idx; none on a plain epoch)",
+          [(e.get("first_idx_after_tare"), e.get("opens_on_start_frame")) for e in S], [(25, True), (75, True), (None, None)])
     check("idx reconstruction exact on start_frame epochs (was 100 % before bridge-3.4 support)",
           [e["idx_mismatch_fraction"] for e in S], [0.0, 0.0, 0.0])
     md = rep.to_markdown(rep.analyze(p_sf, 0.0, 1, 0.0))
@@ -157,6 +159,8 @@ def synth_start_frame_log(path, epochs, ignore_start_frame=False, coupling=-1.0,
     synth_start_frame_log(p_old, eps, ignore_start_frame=True)
     O = rep.analyze(p_old, 0.0, 1, 0.0)["epochs"]
     check("idx that ignored start_frame → mismatch on those epochs only", [e["idx_mismatch_fraction"] for e in O], [1.0, 1.0, 0.0])
+    check("a ≤ 3.3 bridge opens on frame 0 → opens_on_start_frame False, with the frame it opened on",
+          [(e.get("first_idx_after_tare"), e.get("opens_on_start_frame")) for e in O], [(0, False), (0, False), (None, None)])
 
 
 print("=== closed-loop-report on synthetic runs ===")