diff --git a/.agents/skills/protocol-yaml/SKILL.md b/.agents/skills/protocol-yaml/SKILL.md
index 8324f96b..005b3ea9 100644
--- a/.agents/skills/protocol-yaml/SKILL.md
+++ b/.agents/skills/protocol-yaml/SKILL.md
@@ -55,7 +55,8 @@ it does NOT advance the protocol clock. Only `wait` commands do. Therefore:
   Editing only ONE of the pair is **masked** by the other — "the timeline won't update"
   is almost always a half-edited pair, not a render bug.
 - **Bind both fields to one anchor** (`duration: *show_dur` on both) so they can never
-  drift — the `open_dur`/`cl_dur` pattern from `protocols/fictrac_direction_test`.
+  drift — the `open_dur`/`cl_dur` pattern from `fictrac_direction_test` (private
+  `reiserlab/arena-experiments`, `protocols/shared/`).
 - Waits between two `trialParams` in one condition define how long the FIRST one
   actually shows (the second overrides it). Waits longer than the duration = intentional
   hold/blank; fine, but mean it.
@@ -163,7 +164,7 @@ rejection). Authored as an added rotational **velocity**:
   A negative frequency is a harmless no-op (warned): negate `bias_amplitude` instead.
 - `stopClosedLoop` clears the bias automatically. Reference:
   `docs/development/closed-loop-bias.md`; worked example:
-  `protocols/fictrac_bias_test.yaml`.
+  `protocols/shared/fictrac_bias_test.yaml` in the private `reiserlab/arena-experiments`.
 
 **Per-trial start position = the trialParams `frame_index` (Studio v0.91 / bridge 3.4).** A
 closed-loop trial opens on the Mode-3 `trialParams` `frame_index` (0-based, wraps mod the pattern's
diff --git a/arena_studio.html b/arena_studio.html
index 3d495c18..883d0026 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -3426,7 +3426,7 @@ <h2 id="modalTitle">Import error</h2>
 </div>
 
 <footer id="footer">
-  <span class="foot-left">Arena Studio v0.100 | 2026-10-28 18:40 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
+  <span class="foot-left">Arena Studio v0.101 | 2026-10-29 16:45 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
   <!-- Course-repo quick-links: open protocols / logs / patterns in a new tab.
        Hrefs built from the configured repo + bench id (updateGhQuickLinks). -->
   <span id="ghQuickLinks" title="Open the course repo on GitHub (new tab)">
@@ -10764,7 +10764,10 @@ <h2 id="modalTitle">Import error</h2>
             const key = [st.records, st.dropped, st.gaps, st.errors, st.notStored].join('/');
             if (key === Studio.telemetry.lastReport) return;
             Studio.telemetry.lastReport = key;
-            Studio.rawLog('telemetry ring: ' + st.records + ' records · ' + st.blocks + ' blocks · ' + (st.bytes / 1024).toFixed(1) + ' KiB · dropped ' + st.dropped + ' · gaps ' + st.gaps + ' · errors ' + st.errors + (st.notStored ? ' · refused by bridge ' + st.notStored : '') + (st.heapCollision ? ' · RING DISABLED (heap collision)' : '') + (st.survivedReboot ? ' · ring survived a reboot (boot #' + st.bootCount + ')' : ''), 'dim');
+            // `dropped` in the block header is the controller's LIFETIME eviction count (since
+            // its boot, mostly from before this page connected); only the growth since our
+            // first block is in-session loss. Say both, lead with the one that matters.
+            Studio.rawLog('telemetry ring: ' + st.records + ' records · ' + st.blocks + ' blocks · ' + (st.bytes / 1024).toFixed(1) + ' KiB · evicted this session ' + st.droppedSession + ' (controller lifetime ' + st.dropped + ') · gaps ' + st.gaps + ' · errors ' + st.errors + (st.notStored ? ' · refused by bridge ' + st.notStored : '') + (st.heapCollision ? ' · RING DISABLED (heap collision)' : '') + (st.survivedReboot ? ' · ring survived a reboot (boot #' + st.bootCount + ')' : ''), 'dim');
         }, 60000);
     } else {
         Studio.telemetry.drainer.rearm(); // NO_ACK first: learn the ring incarnation before freeing anything
@@ -10826,7 +10829,7 @@ <h2 id="modalTitle">Import error</h2>
         r.kind === 'cmd' ? 'CMD 0x' + r.cmd.toString(16) + ' st' + r.status + ' @' + r.tUs :
         r.kind === 'frame' ? 'FRAME idx' + r.idx + ' sd' + r.sdLoadUs + 'us spi' + r.spiUs + 'us' + (r.reqAgeUs != null ? ' age' + r.reqAgeUs + 'us sup' + r.superseded + (r.contiguous ? ' contig' : '') : '') + ' @' + r.tUs :
         r.kind === 'state' ? 'STATE ' + r.stateName + ' ' + (r.codeName || r.code) + ' ' + r.arg + ' @' + r.tUs : '?');
-    const summary = { tag: tag || 'drain', records: recs.length, blocks: blocks.length, survivedReboot: d.stats.survivedReboot, bootCount: d.stats.bootCount, dropped: d.stats.dropped, gaps: d.stats.gaps, heapCollision: !!d.stats.heapCollision, tail };
+    const summary = { tag: tag || 'drain', records: recs.length, blocks: blocks.length, survivedReboot: d.stats.survivedReboot, bootCount: d.stats.bootCount, dropped: d.stats.dropped, droppedSession: d.stats.droppedSession, gaps: d.stats.gaps, heapCollision: !!d.stats.heapCollision, tail };
     Studio.rawLog('telemetry dump (' + summary.tag + '): ' + recs.length + ' records' + (d.stats.survivedReboot ? ' — ring survived the reboot' : '') + (tail.length ? '\n  ' + tail.join('\n  ') : ''), recs.length ? 'warn' : 'dim');
     const b = Studio.session.bridge;
     if (b && b.logging) b.log({ event: 'telemetry_dump', summary, raw_blocks: rawBlocks });
diff --git a/course/cshl-2026/docs/fictrac.md b/course/cshl-2026/docs/fictrac.md
index 3ae857ee..0a7a7221 100644
--- a/course/cshl-2026/docs/fictrac.md
+++ b/course/cshl-2026/docs/fictrac.md
@@ -119,7 +119,7 @@ Closed-loop and the live scope need the **bridge** running on the rig computer:
   bridge"* to a live trace once data flows. Closed-loop trials show a green
   **CLOSED LOOP** tag.
 
-**Quick check:** load [`fictrac_direction_test`](protocols/README.md) — it runs
+**Quick check:** load [`fictrac_direction_test`](protocols/README.md) (since 2026-10-29 in the lab's private `reiserlab/arena-experiments`, `protocols/shared/`) — it runs
 open-loop motion first, then a closed-loop block that the fly steers. If the
 closed-loop block responds to nudging the ball, the bridge is working.
 
diff --git a/course/cshl-2026/docs/protocols/README.md b/course/cshl-2026/docs/protocols/README.md
index 6daded02..963fbed8 100644
--- a/course/cshl-2026/docs/protocols/README.md
+++ b/course/cshl-2026/docs/protocols/README.md
@@ -53,7 +53,8 @@ Animated pattern previews are embedded on all four protocol pages.
   FicTrac): full-field brightness, panel map, a moving bar, and LED levels
   2/5/10/20/40%. Use it to confirm a rig works after setup.
 - **`fictrac_direction_test`** — open-loop motion then a closed-loop block, to
-  confirm the [FicTrac](../fictrac.md) bridge is working.
+  confirm the [FicTrac](../fictrac.md) bridge is working. Since 2026-10-29 it lives in
+  the lab's private `reiserlab/arena-experiments` (`protocols/shared/`), not in the site library.
 - **`optomotor_led_test`** — a slow grating with the LED switched on for the
   last few seconds; the reference example of "fire a command partway through a
   trial."
diff --git a/docs/development/arena-studio-release-notes.md b/docs/development/arena-studio-release-notes.md
index fa0db086..52db075f 100644
--- a/docs/development/arena-studio-release-notes.md
+++ b/docs/development/arena-studio-release-notes.md
@@ -4,6 +4,15 @@ The Studio's footer used to carry the full changelog inline; it now shows one li
 history lives here. Newest first. (Per-session engineering detail stays in
 `arena-studio-handover.md` and the design docs — this file is the user-facing what-changed list.)
 
+## v0.101 (2026-10-29) · Experiments move to the private repo; pixi run qc on rig PCs; rig-nodes 0.4.0; Studio overwrite-guard fix
+
+<!-- #288 -->
+- Rig-specific protocols and the per-rig records moved to the lab's private repos (`reiserlab/arena-experiments`, `reiserlab/scanimage-2026-bergamo`); `protocols/MOVED.md` says where each one went. The site library keeps the validation and demo protocols.
+
+<!-- #289 -->
+- **Saving over an existing repo protocol always asks first.** A browser-cache collision could skip the "Overwrite?" prompt after opening or promoting a protocol; it no longer can.
+- **The telemetry stats line now separates in-session evictions from the controller's lifetime counter**, so a large number after connecting to a long-running controller no longer looks like data loss.
+
 ## v0.100 (2026-10-28) · rig/ installs rig-nodes 0.3.0 with the host monitor; okey-cokey rig; imaging code moves to the private 2P repo
 
 <!-- #281 -->
diff --git a/docs/development/rig-software-repos-and-runners.md b/docs/development/rig-software-repos-and-runners.md
index 37ec574d..8df3ffc8 100644
--- a/docs/development/rig-software-repos-and-runners.md
+++ b/docs/development/rig-software-repos-and-runners.md
@@ -111,7 +111,7 @@ stay as history.
 | **pyDisplayTools** | `tools/patfile.py` (pattern-file reader; the repo already has `pyPatternTools`), `nodes/arena_display.py` (Python port of `js/panel-color.js`, okey-cokey branch), the pure functions of `fictrac-bridge/bridge.py` (`Pipeline` mapping, `frame_schema_line`, `compact_arena_command`), `fictrac-bridge/fictrac_sim.py` moves to rig-nodes as a device simulator |
 | **stays** (gateway, export, composition) | `nodes/bridge_node.py`, `nodes/mcap_convert.py`, `nodes/_rows.py` (behavior_v2 `kf` rows), `nodes/export_log.py`, `nodes/rig.py` (arena composition; its generic preflight/supervision helpers are extracted to rig-nodes first), `pixi.toml`, `pixi.lock`, `.gitignore`, `tests/studio_emulator.py`, `tests/check_runlog_readers.js`, the gateway half of `tests/test_ros2_poc.py` (node-level tests move with their nodes) |
 | **stays** (arena visualization) | `nodes/viz_node.py`, `tests/test_viz_node.py`, the arena derivation in `nodes/foxglove_json.py`, `foxglove/arena-fictrac.json`, `foxglove/arena-bias.json`, `docs/foxglove-arena-layout.json`, `tools/tiff_run_to_mcap.py`; from okey-cokey: `nodes/stimulus_node.py`, `nodes/stimulus_core.py`, `nodes/dashboard_replay.py`, `tests/test_stimulus.py`, `tests/test_stimulus_live.py`, `foxglove/arena-okey-cokey.json`, `tests/fixtures/protocols-2026-10-14/*` |
-| **stays** (rig-specific config and records) | `README.md`, `WINDOWS-TEST.md`, `SCANIMAGE-DAY.md`, `scanimage-day-2026-10-16.md`, `windows-results-ww18-2026-10-15.md`, `docs/plan-b-explainer*.html`, `docs/build-standalone-explainer.py`, `docs/img/*`; from okey-cokey: `config/bias/okey-cokey-bfs-u3-51s5m.json`, `tools/okey-cokey-start.ps1`, `tools/bias-ufmf.ps1`, the `okey-cokey-*.md` run sheets, `HANDOVER-okey-cokey-2026-10-21.md`, `docs/okey-cokey-foxglove-dashboard-plan.md` |
+| **stays** (tool code and generic records) | `README.md`, `WINDOWS-TEST.md`, `docs/plan-b-explainer*.html`, `docs/build-standalone-explainer.py`, `docs/img/*`, `foxglove/arena-okey-cokey.json` (a layout `rig.py --foxglove` loads), `tools/ufmf.py`, `tools/patfile.py`. **Moved 2026-10-29 (LAB-227) to the private `reiserlab/arena-experiments` `rigs/<rig-id>/`:** `windows-results-ww18-2026-10-15.md` → `rigs/ww18/`; from okey-cokey → `rigs/ww14/`: `config/bias/okey-cokey-bfs-u3-51s5m.json`, `tools/okey-cokey-start.ps1`, `tools/bias-ufmf.ps1`, the `okey-cokey-*.md` run sheets, `HANDOVER-okey-cokey-2026-10-21.md`, `docs/okey-cokey-foxglove-dashboard-plan.md`. `SCANIMAGE-DAY.md` and `scanimage-day-2026-10-16.md` went to the private 2P repo with #284. |
 
 #### Amendment 2026-10-28: the imaging work is private
 
diff --git a/docs/development/telemetry-logging-reference.md b/docs/development/telemetry-logging-reference.md
index b3acd26a..5ed48c0b 100644
--- a/docs/development/telemetry-logging-reference.md
+++ b/docs/development/telemetry-logging-reference.md
@@ -193,10 +193,10 @@ Studio v0.79 (`arena_studio.html`) or the named module; the bridge only adds the
 | `arena_command` | `js/arena-session.js:391` | > 8-byte requests (TRIAL_PARAMS) | v1 object, see §2.2 |
 | `trial_quality` | `arena_studio.html:8264` ← `js/trial-quality.js:246` `summary()` | **once, at run end, before export** (v0.78) | `threshold_us`, `target_us`, `trials[]`, `counts {pass, fail, unknown, open}`, `worst_gap_us`, `flagged_trials[]`, `unknown_trials[]`, `duplicates_dropped`, `records`. Per trial: `trial`, `pattern`, `status` (`pass`\|`fail`\|`unknown`), `duration_s`, `cmds70`, `index_changes`, `reads`, `frames`, `slow_reads`, `stalls`, `max_read_ms`, `age_gaps`, `max_age_ms`, `over_target`, `superseded`, `coverage[]` |
 | `display_gap` | `js/trial-quality.js:101` `gapEvent` → `arena_studio.html:8479` | one per gap > threshold, as it happens | `trial`, `pattern`, `seq`, `t_us`, `ms`, `kind` ∈ `sd_slow` (+ `phase`, `read_error`) · `frame_read` (+ `idx`; a slow read seen only in the FRAME record) · `frame_age` (+ `idx`; `req_age_us` > threshold). Absent from a clean run |
-| `soak` | `arena_studio.html:8317` `logSoak` | soak driver phases | `phase` ∈ `start` · `iteration-start` · `iteration-end` · `paused` · `end`; `iteration-end` carries `iteration`, `outcome`, `fault`, `stop_acked`, `postmortem`, `applied_0x70`, `duration_s`, `telemetry` (drainer stats: `ackSeq`, `lastSeq`, `records`, `blocks`, `bytes`, `gaps`, `dropped`, `errors`, `notStored`, …). **`dropped` is the controller's lifetime evicted-record counter from the block header** (1157 with `gaps: 0` in the sample = eviction before the drainer started, not in-run loss) |
+| `soak` | `arena_studio.html:8317` `logSoak` | soak driver phases | `phase` ∈ `start` · `iteration-start` · `iteration-end` · `paused` · `end`; `iteration-end` carries `iteration`, `outcome`, `fault`, `stop_acked`, `postmortem`, `applied_0x70`, `duration_s`, `telemetry` (drainer stats: `ackSeq`, `lastSeq`, `records`, `blocks`, `bytes`, `gaps`, `dropped`, `droppedSession`, `errors`, `notStored`, …). **`dropped` is the controller's lifetime evicted-record counter from the block header** (1157 with `gaps: 0` in the sample = eviction before the drainer started, not in-run loss); `droppedSession` (2026-10-29) is its growth since the drainer's first block of the ring incarnation, the in-session loss, and what the Studio's once-a-minute stats line leads with ("evicted this session N (controller lifetime M)") |
 | `sd_diag` | `arena_studio.html:8543` | `Studio.setSdDiag()` and the v0.79 connect banner | `flags`, `in_force` (GET_SD_INFO byte 29), `label` |
 | `probe` | `js/studio-postmortem.js:112` | post-mortem after a controller fault | `name`, `phase`, `cmd`, `req`, `sd`, then `dt`, `resp`, `status`, `ok`, `decoded` — or `error`, or `skipped: "capability X absent"`. The health read appears here as `name:"health"` with `decoded` |
-| `telemetry_dump` | `arena_studio.html:8580` | post-mortem | `summary {tag, records, blocks, survivedReboot, bootCount, dropped, gaps, heapCollision, tail[]}`, `raw_blocks[]` (hex) |
+| `telemetry_dump` | `arena_studio.html:8580` | post-mortem | `summary {tag, records, blocks, survivedReboot, bootCount, dropped, droppedSession, gaps, heapCollision, tail[]}`, `raw_blocks[]` (hex) |
 | `crash_report` | `arena_studio.html:8554` | post-mortem, fw flag bit 3 | `present`, `fault`, `ret_addr`, `cfsr`, `hfsr`, `bfar`, `mmfar`, `raw_hex` (junk after a HalfKay reflash — known) |
 | `health` | `arena_studio.html:5587` | **Console `chealth` only** | `source:"console"`, `health` (decoded 0xCA) |
 | `analog_loopback_sweep` | `arena_studio.html:5303` | Console Analog In panel | `channel`, `rows`, `fit`, `verdict` |
diff --git a/js/arena-telemetry.js b/js/arena-telemetry.js
index 052d495f..33a57df5 100644
--- a/js/arena-telemetry.js
+++ b/js/arena-telemetry.js
@@ -294,7 +294,9 @@
             blocks: 0,
             bytes: 0,
             gaps: 0, // seq discontinuities seen (should equal controller-reported drops)
-            dropped: 0, // controller's cumulative drop counter (last value)
+            dropped: 0, // controller's LIFETIME eviction counter (header value, since its boot)
+            droppedBase: null, // that counter at our first block of this ring incarnation
+            droppedSession: 0, // evictions since then = loss this drainer could have prevented
             errors: 0,
             notStored: 0, // rows the sink refused (ack withheld, will be re-read)
             duplicates: 0, // records re-delivered after a rearm (already stored, dropped)
@@ -339,6 +341,7 @@
                         break;
                     }
                     const rx = now();
+                    let freshRing = false;
                     // Ring incarnation check (review finding: an old ack after a power
                     // cycle would free unseen records). A different boot_count with the
                     // ring NOT marked survived ⇒ fresh ring: forget the cursor. Same
@@ -346,7 +349,10 @@
                     if (peekNext) {
                         peekNext = false;
                         if (st.bootCount != null && block.bootCount !== st.bootCount) {
-                            if (!block.survivedReboot) st.lastSeq = null;
+                            if (!block.survivedReboot) {
+                                st.lastSeq = null;
+                                freshRing = true;
+                            }
                             st.incarnations++;
                         }
                         if (st.lastSeq != null) {
@@ -361,6 +367,15 @@
                     st.bytes += block.bytes;
                     st.lastTNowUs = block.tNowUs;
                     st.dropped = block.dropped;
+                    // The header counter is the controller's lifetime eviction count: it
+                    // includes everything the ring evicted before this drainer ever asked
+                    // (a Studio connected hours after boot sees thousands with gaps 0).
+                    // Only the growth since our first block of this incarnation is loss
+                    // the host could have prevented, so that is what the UI reports.
+                    if (st.droppedBase == null || freshRing || block.dropped < st.droppedBase) {
+                        st.droppedBase = block.dropped;
+                    }
+                    st.droppedSession = (block.dropped - st.droppedBase) >>> 0;
                     st.bootCount = block.bootCount;
                     st.survivedReboot = block.survivedReboot;
                     st.heapCollision = block.disabledHeapCollision;
@@ -417,6 +432,8 @@
         function reset() {
             st.ackSeq = NO_ACK;
             st.lastSeq = null;
+            st.droppedBase = null;
+            st.droppedSession = 0;
             peekNext = false;
         }
 
diff --git a/js/studio-github.js b/js/studio-github.js
index deb76c5e..8a2928f2 100644
--- a/js/studio-github.js
+++ b/js/studio-github.js
@@ -361,10 +361,22 @@
     // Thin executor: run one descriptor with an injected fetch. Returns
     // {ok, status, data}. Never logs the token. Kept tiny so the builders stay
     // the tested surface.
+    //
+    // `cache: 'no-store'` (2026-10-29, found on ww18 under LAB-227): the JSON and
+    // the raw form of ONE contents URL differ only in the Accept header and
+    // GitHub gives both the same ETag. After a raw read (runBytes: ?p= open,
+    // promote, previews) Chrome revalidated the stored raw entry for the later
+    // JSON request, got a 304 and handed back the raw YAML; res.json() then
+    // threw, `data` was null and every "does this file exist?" check
+    // (resolveRepoSaveTarget, the silent-fork guard) answered "no" — a changed
+    // protocol silently overwrote the repo copy with no "Overwrite?" prompt.
+    // Bypassing the HTTP cache for the JSON executor closes it in both orders:
+    // nothing JSON is ever stored, so runBytes can keep caching the bytes.
     async function run(fetchImpl, req) {
         const res = await fetchImpl(req.url, {
             method: req.method,
             headers: req.headers,
+            cache: 'no-store',
             body: req.body != null ? JSON.stringify(req.body) : undefined
         });
         let data = null;
diff --git a/protocols/MOVED.md b/protocols/MOVED.md
new file mode 100644
index 00000000..b3c06e27
--- /dev/null
+++ b/protocols/MOVED.md
@@ -0,0 +1,29 @@
+# Protocols and rig records that left this repo (2026-10-29, LAB-227)
+
+Experiment material now lives in private repos so that a rig's protocol tweaks never need a
+webDisplayTools release. The rule: a protocol stays here only if a tool, test, QC profile or doc
+fixture depends on it. Copies were made from commit `59a377b` (Release 2026-10-28); each destination
+has a `PROVENANCE.md`. Open a moved protocol in the Studio, signed in, with
+`arena_studio.html?repo=<repo>&p=<path>`.
+
+| Was here | Now (repo → path) |
+|---|---|
+| `protocols/bias_camera_closed_loop_poc.yaml` | `reiserlab/arena-experiments` → `protocols/ww18/bias_camera_closed_loop_poc.yaml` |
+| `protocols/bias_camera_closed_loop_poc_ww18.yaml` | `reiserlab/arena-experiments` → `protocols/ww18/bias_camera_closed_loop_poc_ww18.yaml` |
+| `protocols/bias_camera_closed_loop_poc_ww18_soak10.yaml` | `reiserlab/arena-experiments` → `protocols/ww18/bias_camera_closed_loop_poc_ww18_soak10.yaml` |
+| `protocols/fictrac_bias_test.yaml` | `reiserlab/arena-experiments` → `protocols/shared/fictrac_bias_test.yaml` |
+| `protocols/fictrac_direction_test.yaml` | `reiserlab/arena-experiments` → `protocols/shared/fictrac_direction_test.yaml` |
+| `protocols/fictrac_coupling_bias_fly_test.yaml` | `reiserlab/arena-experiments` → `protocols/shared/fictrac_coupling_bias_fly_test.yaml` |
+| `protocols/led_activation_quadrant_test.yaml` + `_patterns/` | `reiserlab/arena-experiments` → `protocols/shared/led_activation_quadrant_test.yaml` + `_patterns/` |
+| `protocols/mode3_drill_1trial.yaml` | `reiserlab/arena-experiments` → `protocols/shared/mode3_drill_1trial.yaml` |
+| `protocols/g6_2p_color_led_sweep.yaml` + `_patterns/` | `reiserlab/scanimage-2026-bergamo` → `protocols/g6_2p_color_led_sweep.yaml` + `_patterns/` |
+| `protocols/g6_2x10_2p_diagnostics.yaml` + `_patterns/` | `reiserlab/scanimage-2026-bergamo` → `protocols/g6_2x10_2p_diagnostics.yaml` + `_patterns/` |
+| `protocols/g6_2x10_2p_duty_sweep.yaml` | `reiserlab/scanimage-2026-bergamo` → `protocols/g6_2x10_2p_duty_sweep.yaml` |
+| `rig/windows-results-ww18-2026-10-15.md` | `reiserlab/arena-experiments` → `rigs/ww18/` |
+| `rig/okey-cokey-pc-*.md`, `rig/HANDOVER-okey-cokey-2026-10-21.md`, `rig/docs/okey-cokey-foxglove-dashboard-plan.md`, `rig/config/bias/okey-cokey-bfs-u3-51s5m.json`, `rig/tools/okey-cokey-start.ps1`, `rig/tools/bias-ufmf.ps1` | `reiserlab/arena-experiments` → `rigs/ww14/` (same names; `config/` and `tools/` subfolders) |
+
+A copy of `g6_2p_color_led_sweep.yaml` stays as the test fixture `tests/fixtures/v3_g6_2p_color_led_sweep.yaml`.
+The pattern generators `scripts/make-color-optomotor-patterns.js --gs16` and
+`scripts/make-2p-diagnostic-patterns.js` now take `--out <dir>` pointing into the 2P repo.
+
+Pages under `docs/development/` that cite the old paths are historical records and were not edited.
diff --git a/protocols/bias_camera_closed_loop_poc.yaml b/protocols/bias_camera_closed_loop_poc.yaml
deleted file mode 100644
index 19069352..00000000
--- a/protocols/bias_camera_closed_loop_poc.yaml
+++ /dev/null
@@ -1,136 +0,0 @@
-version: 3
-
-# BIAS camera + FicTrac closed loop through the ROS 2 bridge node (LAB-303 connectors).
-# The `camera` plugin (BiasPlugin) is driven by the WEB runner: each command goes to the
-# bridge as connector_command, the bridge's BIAS node runs it over BIAS's HTTP port, and
-# the reply (with the video artifact for startRecording) lands in the run log.
-#
-#   cam_start : connect → startRecording (one video for the whole run) → getTimestamp
-#   2 closed-loop trials (none, then a constant +90°/s bias), 15 s each
-#   cam_sync  : getTimestamp (a mid-run sync point against the bridge clock)
-#   cam_stop  : getTimestamp → stopRecording
-#
-# Video path: relative to the bias node's --video-dir (like MATLAB's experiment folder).
-
-experiment_info:
-  name: "BIAS camera + closed loop — ROS 2 PoC Mac bench (LAB-303)"
-  author: "webDisplayTools"
-
-rig: "./configs/rigs/cshl_g6_2x10_ball.yaml"
-
-plugins:
-  - name: "fictrac"
-    type: "class"
-    matlab:
-      class: "FicTracPlugin"
-    config:
-      bridge_url: "ws://localhost:8765"
-      fictrac_port: 60000
-      proto: "udp"
-      offset: 0
-  - name: "camera"
-    type: "class"
-    matlab:
-      class: "BiasPlugin"
-
-variables:
-  cl_dur: &cl_dur 15
-
-experiment:
-  - name: "camera_run"
-    trials:
-      - "cam_start"
-      - "cl_bias_none"
-      - "cam_sync"
-      - "cl_bias_constant"
-      - "cam_stop"
-    repetitions: 1
-  - "shutdown"
-
-conditions:
-  - name: "cam_start"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "connect"
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "startRecording"
-        params:
-          filename: "poc_studio_run.avi"
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
-      - type: "wait"
-        duration: 1
-
-  - name: "cl_bias_none"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "G6_2x10_grat_rot_20px_50pct_4c-B-Y"
-        pattern_ID: 1
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          bias_type: "none"
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cam_sync"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
-      - type: "wait"
-        duration: 1
-
-  - name: "cl_bias_constant"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "G6_2x10_grat_rot_20px_50pct_4c-B-Y"
-        pattern_ID: 1
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          bias_type: "constant"
-          bias_amplitude: 90
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cam_stop"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "stopRecording"
-      - type: "wait"
-        duration: 1
-
-  - name: "shutdown"
-    commands:
-      - type: "controller"
-        command_name: "stopDisplay"
-      - type: "controller"
-        command_name: "allOff"
diff --git a/protocols/bias_camera_closed_loop_poc_ww18.yaml b/protocols/bias_camera_closed_loop_poc_ww18.yaml
deleted file mode 100644
index 7a3d89c9..00000000
--- a/protocols/bias_camera_closed_loop_poc_ww18.yaml
+++ /dev/null
@@ -1,139 +0,0 @@
-version: 3
-# ww18 variant (2026-10-15): the site library's G6 2x10 rotating square grating, SD slot 2
-# (patterns/g6_2x10/patterns/002_grating_sq.pat, 20 frames), in place of the Mac bench card's
-# G6_2x10_grat_rot_20px_50pct_4c-B-Y. Otherwise identical to bias_camera_closed_loop_poc.yaml.
-
-# BIAS camera + FicTrac closed loop through the ROS 2 bridge node (LAB-303 connectors).
-# The `camera` plugin (BiasPlugin) is driven by the WEB runner: each command goes to the
-# bridge as connector_command, the bridge's BIAS node runs it over BIAS's HTTP port, and
-# the reply (with the video artifact for startRecording) lands in the run log.
-#
-#   cam_start : connect → startRecording (one video for the whole run) → getTimestamp
-#   2 closed-loop trials (none, then a constant +90°/s bias), 15 s each
-#   cam_sync  : getTimestamp (a mid-run sync point against the bridge clock)
-#   cam_stop  : getTimestamp → stopRecording
-#
-# Video path: relative to the bias node's --video-dir (like MATLAB's experiment folder).
-
-experiment_info:
-  name: "BIAS camera + closed loop — ROS 2 PoC, Windows rig ww18 (LAB-303)"
-  author: "webDisplayTools"
-
-rig: "./configs/rigs/cshl_g6_2x10_ball.yaml"
-
-plugins:
-  - name: "fictrac"
-    type: "class"
-    matlab:
-      class: "FicTracPlugin"
-    config:
-      bridge_url: "ws://localhost:8765"
-      fictrac_port: 60000
-      proto: "udp"
-      offset: 0
-  - name: "camera"
-    type: "class"
-    matlab:
-      class: "BiasPlugin"
-
-variables:
-  cl_dur: &cl_dur 15
-
-experiment:
-  - name: "camera_run"
-    trials:
-      - "cam_start"
-      - "cl_bias_none"
-      - "cam_sync"
-      - "cl_bias_constant"
-      - "cam_stop"
-    repetitions: 1
-  - "shutdown"
-
-conditions:
-  - name: "cam_start"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "connect"
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "startRecording"
-        params:
-          filename: "poc_studio_run.avi"
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
-      - type: "wait"
-        duration: 1
-
-  - name: "cl_bias_none"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sq"
-        pattern_ID: 2
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          bias_type: "none"
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cam_sync"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
-      - type: "wait"
-        duration: 1
-
-  - name: "cl_bias_constant"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sq"
-        pattern_ID: 2
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          bias_type: "constant"
-          bias_amplitude: 90
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cam_stop"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "stopRecording"
-      - type: "wait"
-        duration: 1
-
-  - name: "shutdown"
-    commands:
-      - type: "controller"
-        command_name: "stopDisplay"
-      - type: "controller"
-        command_name: "allOff"
diff --git a/protocols/bias_camera_closed_loop_poc_ww18_soak10.yaml b/protocols/bias_camera_closed_loop_poc_ww18_soak10.yaml
deleted file mode 100644
index 1cdcd5c8..00000000
--- a/protocols/bias_camera_closed_loop_poc_ww18_soak10.yaml
+++ /dev/null
@@ -1,140 +0,0 @@
-version: 3
-# ww18 SOAK variant (2026-10-15): both closed-loop epochs 300 s (~10 min run).
-# ww18 variant (2026-10-15): the site library's G6 2x10 rotating square grating, SD slot 2
-# (patterns/g6_2x10/patterns/002_grating_sq.pat, 20 frames), in place of the Mac bench card's
-# G6_2x10_grat_rot_20px_50pct_4c-B-Y. Otherwise identical to bias_camera_closed_loop_poc.yaml.
-
-# BIAS camera + FicTrac closed loop through the ROS 2 bridge node (LAB-303 connectors).
-# The `camera` plugin (BiasPlugin) is driven by the WEB runner: each command goes to the
-# bridge as connector_command, the bridge's BIAS node runs it over BIAS's HTTP port, and
-# the reply (with the video artifact for startRecording) lands in the run log.
-#
-#   cam_start : connect → startRecording (one video for the whole run) → getTimestamp
-#   2 closed-loop trials (none, then a constant +90°/s bias), 15 s each
-#   cam_sync  : getTimestamp (a mid-run sync point against the bridge clock)
-#   cam_stop  : getTimestamp → stopRecording
-#
-# Video path: relative to the bias node's --video-dir (like MATLAB's experiment folder).
-
-experiment_info:
-  name: "BIAS camera + closed loop — ROS 2 PoC, Windows rig ww18, 10-min soak (2 x 300 s closed loop) (LAB-303)"
-  author: "webDisplayTools"
-
-rig: "./configs/rigs/cshl_g6_2x10_ball.yaml"
-
-plugins:
-  - name: "fictrac"
-    type: "class"
-    matlab:
-      class: "FicTracPlugin"
-    config:
-      bridge_url: "ws://localhost:8765"
-      fictrac_port: 60000
-      proto: "udp"
-      offset: 0
-  - name: "camera"
-    type: "class"
-    matlab:
-      class: "BiasPlugin"
-
-variables:
-  cl_dur: &cl_dur 300
-
-experiment:
-  - name: "camera_run"
-    trials:
-      - "cam_start"
-      - "cl_bias_none"
-      - "cam_sync"
-      - "cl_bias_constant"
-      - "cam_stop"
-    repetitions: 1
-  - "shutdown"
-
-conditions:
-  - name: "cam_start"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "connect"
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "startRecording"
-        params:
-          filename: "poc_studio_run.avi"
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
-      - type: "wait"
-        duration: 1
-
-  - name: "cl_bias_none"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sq"
-        pattern_ID: 2
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          bias_type: "none"
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cam_sync"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
-      - type: "wait"
-        duration: 1
-
-  - name: "cl_bias_constant"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sq"
-        pattern_ID: 2
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          bias_type: "constant"
-          bias_amplitude: 90
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cam_stop"
-    commands:
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "getTimestamp"
-      - type: "plugin"
-        plugin_name: "camera"
-        command_name: "stopRecording"
-      - type: "wait"
-        duration: 1
-
-  - name: "shutdown"
-    commands:
-      - type: "controller"
-        command_name: "stopDisplay"
-      - type: "controller"
-        command_name: "allOff"
diff --git a/protocols/fictrac_bias_test.yaml b/protocols/fictrac_bias_test.yaml
deleted file mode 100644
index 2e936592..00000000
--- a/protocols/fictrac_bias_test.yaml
+++ /dev/null
@@ -1,306 +0,0 @@
-version: 3
-
-# ============================================================================
-# FicTrac closed-loop BIAS (disturbance) test — web runner only.
-#
-# A "bias" is a smooth disturbance added to the closed loop, so the display
-# keeps rotating even when the fly holds still. Sweeping it lets you measure how
-# well the fly REJECTS the disturbance (does it counter-turn to null the motion?).
-#
-# Uses ONLY built-in g6_2x10 patterns already on the SD card:
-#   4 frame2_h_ccw_200f  (a 200-frame full-azimuth rotation)
-#
-# The bias is authored as an added rotational VELOCITY in deg/s (`bias_amplitude`
-# = the PEAK velocity), which the bridge integrates into a bias ANGLE and folds
-# into its heading→frame-index mapping. At the rig's 1.8°/frame pitch (360/200 px),
-# a bias of 90 deg/s advances the display 90°/s = 50 frames/s — independent of the
-# closed-loop `coupling` (default 1 = the display follows the ball 1:1).
-#
-#   bias_type   what the display does (with a still fly)
-#   none        nothing — the plain closed-loop baseline
-#   constant    rotates steadily, one direction, forever
-#   sine        swings smoothly back and forth over ±A/(2πf)
-#   square      constant-speed rotation that reverses, over ±A/(4f)
-#
-# DIRECTION (confirmed on the arena, 2026-08-04, at the normal positive gain 1.8):
-# a POSITIVE bias_amplitude turns the display CLOCKWISE — equivalently, the pattern
-# sweeps rightward across the fly's visual field. Negative is counter-clockwise.
-# This is the sign your analysis must assume; get it backwards and a fly correctly
-# counter-turning against the disturbance will read as following it.
-#
-# The periodic waveforms are ZERO-MEAN in position: the display is pushed equally
-# left and right rather than drifting to one side, and always starts at the frame
-# it was already on (no jump at onset). Note the excursion SHRINKS as frequency
-# rises for a fixed amplitude — at 90 deg/s the sine covers ±28.6° at 0.5 Hz but
-# only ±14.3° at 1 Hz. Full semantics: docs/development/closed-loop-bias.md.
-#
-# DURATION knobs (`variables:` below): cl_dur drives every trial's trialParams
-# duration AND its bracketing wait, so they always move together.
-#
-# TIMING — the `wait` is load-bearing in every condition here: it holds the
-# closed loop ACTIVE for cl_dur before stopClosedLoop fires. Drop it and the
-# stop fires immediately, so no disturbance would ever be seen.
-#
-# Total ≈ 4 min at defaults (8 trials × 30 s). Needs the FicTrac bridge
-# (`pixi run bridge`); with no fly, `pixi run sim` supplies synthetic heading.
-# NOTE (web-first): MATLAB has no FicTracPlugin (its closed loop is analog
-# Mode 4, computed on the controller, where the host cannot inject a bias), so
-# this protocol runs on the WEB runner only.
-# ============================================================================
-
-experiment_info:
-  name: "FicTrac closed-loop bias (disturbance) test"
-  author: "webDisplayTools"
-
-rig: "./configs/rigs/cshl_g6_2x10_ball.yaml"
-
-plugins:
-  - name: "fictrac"
-    type: "class"
-    matlab:
-      class: "FicTracPlugin"
-    config:
-      bridge_url: "ws://localhost:8765"
-      fictrac_port: 60000
-      proto: "udp"
-      offset: 0
-
-variables:
-  # ── Duration knob ──────────────────────────────────────────────────────────
-  cl_dur: &cl_dur 30 # seconds per closed-loop trial (drives duration AND wait)
-  # ── Disturbance knobs ──────────────────────────────────────────────────────
-  # amp is the PEAK velocity in deg/s; freq only applies to sine/square. Change
-  # these once here (or in the Edit view's Variables panel) to rescale the sweep.
-  bias_amp: &bias_amp 90 # 90 deg/s = 50 frames/s at gain 1.8
-  bias_amp_slow: &bias_amp_slow 30 # a gentler disturbance for comparison
-  bias_freq: &bias_freq 0.5 # Hz — one back-and-forth cycle every 2 s
-  bias_freq_fast: &bias_freq_fast 1.0 # Hz — halves the position excursion
-
-experiment:
-  - name: "bias_sweep"
-    trials:
-      - "cl_bias_none"
-      - "cl_bias_constant"
-      - "cl_bias_constant_rev"
-      - "cl_bias_sine"
-      - "cl_bias_sine_fast"
-      - "cl_bias_sine_slow"
-      - "cl_bias_square"
-      - "cl_bias_square_fast"
-    repetitions: 1
-  - "shutdown"
-
-conditions:
-  # NOTE: no explicit fictrac connect/disconnect. The runner auto-connects the
-  # bridge at run start, and must NOT disconnect it at the end — the recorded-run
-  # log is exported from the bridge AFTER the sequence finishes, so a
-  # protocol-level disconnect would close the bridge before the log commits.
-
-  # ---- baseline: closed loop with NO disturbance ------------------------------
-  # The control condition. Omitting bias_type entirely is equivalent to
-  # bias_type "none"; it is spelled out here so the contrast is obvious.
-  - name: "cl_bias_none"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          bias_type: "none"
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  # ---- constant: a steady drift the fly must walk against --------------------
-  # bias_frequency is ignored by `constant` (there is no period), so it is omitted.
-  # NEGATE bias_amplitude to reverse the direction — negating the FREQUENCY does
-  # nothing, because the waveform is even in frequency.
-  - name: "cl_bias_constant"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          bias_type: "constant"
-          bias_amplitude: *bias_amp
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cl_bias_constant_rev"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          bias_type: "constant"
-          bias_amplitude: -90
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  # ---- sine: the classic frequency-response disturbance ----------------------
-  # Position excursion is ±A/(2πf): ±28.6° at 90 deg/s + 0.5 Hz, ±14.3° at 1 Hz.
-  - name: "cl_bias_sine"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          bias_type: "sine"
-          bias_amplitude: *bias_amp
-          bias_frequency: *bias_freq
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cl_bias_sine_fast"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          bias_type: "sine"
-          bias_amplitude: *bias_amp
-          bias_frequency: *bias_freq_fast
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cl_bias_sine_slow"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          bias_type: "sine"
-          bias_amplitude: *bias_amp_slow
-          bias_frequency: *bias_freq
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  # ---- square: constant-speed rotation that reverses -------------------------
-  # Position is a symmetric triangle spanning ±A/(4f): ±45° at 90 deg/s + 0.5 Hz.
-  - name: "cl_bias_square"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          bias_type: "square"
-          bias_amplitude: *bias_amp
-          bias_frequency: *bias_freq
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cl_bias_square_fast"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          bias_type: "square"
-          bias_amplitude: *bias_amp
-          bias_frequency: *bias_freq_fast
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  # ---- shutdown --------------------------------------------------------------
-  # Blank the arena only. Do NOT disconnect the bridge here — the run-log export
-  # runs after the sequence, and needs the bridge still connected.
-  - name: "shutdown"
-    commands:
-      - type: "controller"
-        command_name: "stopDisplay"
-      - type: "controller"
-        command_name: "allOff"
diff --git a/protocols/fictrac_coupling_bias_fly_test.yaml b/protocols/fictrac_coupling_bias_fly_test.yaml
deleted file mode 100644
index 21ce8efb..00000000
--- a/protocols/fictrac_coupling_bias_fly_test.yaml
+++ /dev/null
@@ -1,493 +0,0 @@
-version: 3
-
-# ============================================================================
-# Closed-loop COUPLING × BIAS — a first test on a real fly (web runner, Mode 3)
-#
-# Needs Arena Studio v0.85+ and bridge 3.3+ (`pixi run bridge` prints the version).
-# Pattern: the built-in 200-frame full-azimuth rotation on the G6 2×10 card:
-#   4  frame2_h_ccw_200f   (1 frame = 1 azimuth pixel = 1.8°, the pitch the rig supplies)
-#
-# COUPLING SIGN. On the fly-on-ball rigs the NATURAL, stabilizing closed loop is
-# coupling **−1** (it is exactly what the old `gain: -1.8` did: same frame index for
-# the same turn). `k_nat` below is that value; every other coupling is expressed
-# relative to it, so flipping ONE number adapts the whole protocol to a +1 rig:
-#   k_nat   -1     natural closed loop (the display counter-rotates the fly's turn 1:1)
-#   k_under -0.75  the world turns LESS than the ball
-#   k_over  -1.25  the world turns MORE than the ball
-#   k_rev   +1     reversed — the sanity check; the fly should NOT be able to stabilize
-#
-# BIAS SIGN (bridge 3.3): the disturbance is defined in DISPLAY degrees and is NOT
-# scaled by the coupling — a positive bias_amplitude turns the display CLOCKWISE from
-# above (pattern sweeps rightward across the fly's view) on every rig, including the
-# −1 rigs. (Under the old `gain: -1.8` it was counter-clockwise — do not carry that over.)
-#
-# BLOCKS (20 s closed-loop trials, 5 s dark ITI, 2 repetitions each, randomized):
-#   A. coupling only:      k_nat · k_under · k_over · k_rev
-#   B. bias at k_nat:      constant ±30 °/s (one revolution per 12 s)
-#                          sine 30 °/s @ 0.25 Hz (position ±19°) · sine 60 °/s @ 0.5 Hz (±19°)
-#                          square 30 °/s @ 0.25 Hz (position ±30°)
-#   C. bias × coupling:    k_under + constant 30 · k_over + constant 30
-#                          k_under + sine 30 @ 0.25 · k_over + sine 30 @ 0.25
-#                          coupling 0 + constant 30 — OPEN-LOOP REPLAY: the display
-#                          ignores the fly and just drifts; the control for block B
-#   plus a k_nat baseline at the start and the end.  ≈ 13 min total.
-#
-# WHAT TO LOOK FOR. Bridge 3.3 keeps the heading unwrapped, so the fractional
-# couplings must show NO once-per-revolution jump (the old `gain` bug). The report
-# (`pixi run python scripts/closed-loop-report.py <run.jsonl.gz> --svg cl.svg`) gives,
-# per trial, the fly's turning, the feature's frontal fraction, the reconstructed bias
-# and a REJECTION index (1 = fully counter-turned the bias, 0 = ignored it). Expect a
-# high frontal fraction at k_nat and none at k_rev; rejection > 0 on block B; ≈ 0
-# rejection and a steady 30 °/s drift on the coupling-0 control; block C shows how a
-# weaker / stronger loop changes the rejection.
-#
-# Dry run without a fly: `pixi run sim -- --model fly --kp 2 --frame-dir -1` for a −1
-# rig (docs/development/model-fly-bench.md). Web-only: MATLAB has no FicTracPlugin.
-# ============================================================================
-
-experiment_info:
-  name: "Closed-loop coupling × bias — fly test"
-  author: "webDisplayTools"
-
-rig: "./configs/rigs/cshl_g6_2x10_ball.yaml"
-
-plugins:
-  - name: "fictrac"
-    type: "class"
-    matlab:
-      class: "FicTracPlugin"
-    config:
-      bridge_url: "ws://localhost:8765"
-      fictrac_port: 60000
-      proto: "udp"
-      offset: 0
-
-variables:
-  # ── durations (drive trialParams duration AND the closed-loop wait together) ──
-  cl_dur: &cl_dur 20 # seconds per closed-loop trial
-  iti_dur: &iti_dur 5 # dark inter-trial interval, s
-  # ── couplings — flip the signs of all four for a +1 rig ─────────────────────
-  k_nat: &k_nat -1 # natural closed loop on the fly-on-ball rigs (= the old gain -1.8)
-  k_under: &k_under -0.75 # the world turns 0.75× the ball
-  k_over: &k_over -1.25 # the world turns 1.25× the ball
-  k_rev: &k_rev 1 # reversed — the fly cannot stabilize
-  # ── disturbances (peak velocity deg/s, frequency Hz) — gentle on purpose ─────
-  amp_slow: &amp_slow 30 # 30 deg/s: one revolution per 12 s
-  amp_fast: &amp_fast 60 # 60 deg/s at twice the frequency = the same ±19° excursion
-  f_slow: &f_slow 0.25 # Hz — one back-and-forth every 4 s
-  f_fast: &f_fast 0.5 # Hz
-
-experiment:
-  - "cl_baseline"
-  - name: "A_coupling"
-    trials:
-      - "cl_nat"
-      - "cl_under"
-      - "cl_over"
-      - "cl_rev"
-    repetitions: 2
-    randomize: true
-    intertrial: "dark_iti"
-  - name: "B_bias_at_natural"
-    trials:
-      - "cl_bias_const_pos"
-      - "cl_bias_const_neg"
-      - "cl_bias_sine_slow"
-      - "cl_bias_sine_fast"
-      - "cl_bias_square"
-    repetitions: 2
-    randomize: true
-    intertrial: "dark_iti"
-  - name: "C_bias_x_coupling"
-    trials:
-      - "cl_under_bias_const"
-      - "cl_over_bias_const"
-      - "cl_under_bias_sine"
-      - "cl_over_bias_sine"
-      - "cl_k0_bias_const"
-    repetitions: 2
-    randomize: true
-    intertrial: "dark_iti"
-  - "cl_baseline"
-  - "shutdown"
-
-conditions:
-  # NOTE: no explicit fictrac connect/disconnect — the runner auto-connects the bridge
-  # at run start and the run log is exported from the bridge AFTER the sequence, so a
-  # protocol-level disconnect would lose the log.
-
-  # ---- baseline: natural closed loop, no disturbance -------------------------
-  - name: "cl_baseline"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: *k_nat
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  # ---- A. coupling sweep -------------------------------------------------------
-  - name: "cl_nat"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: *k_nat
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cl_under"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: *k_under
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cl_over"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: *k_over
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cl_rev"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: *k_rev
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  # ---- B. bias at the natural coupling -----------------------------------------
-  - name: "cl_bias_const_pos"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: *k_nat
-          bias_type: "constant"
-          bias_amplitude: *amp_slow # clockwise from above
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cl_bias_const_neg"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: *k_nat
-          bias_type: "constant"
-          bias_amplitude: -30 # counter-clockwise (negate the amplitude, never the frequency)
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cl_bias_sine_slow"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: *k_nat
-          bias_type: "sine"
-          bias_amplitude: *amp_slow
-          bias_frequency: *f_slow
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cl_bias_sine_fast"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: *k_nat
-          bias_type: "sine"
-          bias_amplitude: *amp_fast
-          bias_frequency: *f_fast
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cl_bias_square"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: *k_nat
-          bias_type: "square"
-          bias_amplitude: *amp_slow
-          bias_frequency: *f_slow
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  # ---- C. bias × coupling ------------------------------------------------------
-  - name: "cl_under_bias_const"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: *k_under
-          bias_type: "constant"
-          bias_amplitude: *amp_slow
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cl_over_bias_const"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: *k_over
-          bias_type: "constant"
-          bias_amplitude: *amp_slow
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cl_under_bias_sine"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: *k_under
-          bias_type: "sine"
-          bias_amplitude: *amp_slow
-          bias_frequency: *f_slow
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "cl_over_bias_sine"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: *k_over
-          bias_type: "sine"
-          bias_amplitude: *amp_slow
-          bias_frequency: *f_slow
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  # The control: coupling 0 = the display ignores the fly and simply drifts at 30 °/s.
-  - name: "cl_k0_bias_const"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: 0
-          bias_type: "constant"
-          bias_amplitude: *amp_slow
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  # ---- dark ITI ------------------------------------------------------------------
-  - name: "dark_iti"
-    commands:
-      - type: "controller"
-        command_name: "allOff"
-      - type: "wait"
-        duration: *iti_dur
-
-  # ---- shutdown ------------------------------------------------------------------
-  - name: "shutdown"
-    commands:
-      - type: "controller"
-        command_name: "stopDisplay"
-      - type: "controller"
-        command_name: "allOff"
diff --git a/protocols/fictrac_direction_test.yaml b/protocols/fictrac_direction_test.yaml
deleted file mode 100644
index e4e3f194..00000000
--- a/protocols/fictrac_direction_test.yaml
+++ /dev/null
@@ -1,271 +0,0 @@
-version: 3
-
-# ============================================================================
-# FicTrac closed-loop + open-loop direction/speed test (web runner).
-#
-# Uses ONLY the built-in g6_2x10 patterns already on the SD card — no new
-# patterns needed:
-#   2 grating_sq · 3 grating_sine · 4 frame2_h_ccw_200f
-#
-# BLOCK 1 — OPEN LOOP (Mode 2), ~4 min:
-#   both gratings (sq, sine) × 3 speeds (5/15/30 Hz) × 2 directions
-#   (forward = +frame_rate, reverse = −frame_rate) = 12 trials, repeated 2×.
-#   Each trial displays for `open_dur` seconds. Reverse uses NEGATIVE frame_rate
-#   (int16, fw #4).
-#
-# BLOCK 2 — CLOSED LOOP (Mode 3 + FicTrac), ~1.5 min:
-#   frame2_h_ccw_200f (a 200-frame full-azimuth rotation) host-stepped by FicTrac
-#   heading through the bridge; gain 1.8 = 360/200 (one azimuth pixel per index),
-#   `cl_dur` seconds per trial, repeated 3×.
-#
-# DURATION knobs (`variables:` below): change ONE number to rescale a block.
-#   open_dur → every open-loop trial · cl_dur → the closed-loop trial.
-#
-# TIMING — no redundant waits. The web runner holds each trial for its
-# trialParams `duration` on the HOST (the firmware auto-stop, issue #4, isn't
-# landed), so a plain display trial needs NO `wait` — the open-loop trials are
-# just a trialParams, and `open_dur` is their single duration knob. The
-# closed-loop trial DOES need a wait: it brackets the closed-loop hold
-# (startClosedLoop → wait → stopClosedLoop), so `cl_dur` drives both its
-# trialParams duration and that wait.
-#
-# Total ≈ 5.5 min at defaults. Needs the FicTrac bridge (`pixi run bridge`);
-# with no fly, `pixi run sim` supplies synthetic heading for the closed-loop
-# block. NOTE (web-first): MATLAB has no FicTracPlugin (its closed-loop is
-# analog Mode 4), so the closed-loop block runs on the WEB runner only.
-# ============================================================================
-
-experiment_info:
-  name: "FicTrac closed-loop + open-loop direction/speed test"
-  author: "webDisplayTools"
-
-rig: "./configs/rigs/cshl_g6_2x10_ball.yaml"
-
-plugins:
-  - name: "fictrac"
-    type: "class"
-    matlab:
-      class: "FicTracPlugin"
-    config:
-      bridge_url: "ws://localhost:8765"
-      fictrac_port: 60000
-      proto: "udp"
-      offset: 0
-
-variables:
-  # ── Speed knobs ────────────────────────────────────────────────────────────
-  # Change the number here (or in the Edit view's Variables panel) to rescale a
-  # whole block. Open-loop trials have a single duration field (no wait), so
-  # open_dur is unambiguous. The closed-loop trial binds BOTH its trialParams
-  # duration and its bracketing wait to cl_dur, so they move together.
-  open_dur: &open_dur 10 # Block 1 open-loop grating trials (10 s each)
-  cl_dur: &cl_dur 30 # Block 2 closed-loop rotation trials (30 s each)
-
-experiment:
-  - name: "open_loop_gratings"
-    trials:
-      - "sq_fwd_05"
-      - "sq_fwd_15"
-      - "sq_fwd_30"
-      - "sq_rev_05"
-      - "sq_rev_15"
-      - "sq_rev_30"
-      - "sine_fwd_05"
-      - "sine_fwd_15"
-      - "sine_fwd_30"
-      - "sine_rev_05"
-      - "sine_rev_15"
-      - "sine_rev_30"
-    repetitions: 2
-  - name: "closed_loop_ball"
-    trials:
-      - "closed_loop_rotation"
-    repetitions: 3
-  - "shutdown"
-
-conditions:
-  # NOTE: no explicit fictrac connect/disconnect. The runner auto-connects the
-  # bridge at run start, and — crucially — must NOT disconnect it at the end:
-  # the recorded-run log is exported from the bridge AFTER the sequence finishes,
-  # so a protocol-level disconnect would close the bridge before the log commits
-  # (that broke the log on the first bench run). Let the run own the lifecycle.
-
-  # ---- BLOCK 1: open-loop drifting gratings (Mode 2) -------------------------
-  # frame_rate is the frame-advance rate in Hz; its SIGN is the drift direction
-  # (+ forward, − reverse). No `wait`: the runner holds the trial for `duration`
-  # (= open_dur) host-side, so each open-loop trial is a single trialParams with
-  # one duration knob.
-
-  # grating_sq (pattern 2) — forward
-  - name: "sq_fwd_05"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sq"
-        pattern_ID: 2
-        duration: *open_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: 5
-        gain: 0
-  - name: "sq_fwd_15"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sq"
-        pattern_ID: 2
-        duration: *open_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: 15
-        gain: 0
-  - name: "sq_fwd_30"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sq"
-        pattern_ID: 2
-        duration: *open_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: 30
-        gain: 0
-  # grating_sq (pattern 2) — reverse (negative frame_rate)
-  - name: "sq_rev_05"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sq"
-        pattern_ID: 2
-        duration: *open_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: -5
-        gain: 0
-  - name: "sq_rev_15"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sq"
-        pattern_ID: 2
-        duration: *open_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: -15
-        gain: 0
-  - name: "sq_rev_30"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sq"
-        pattern_ID: 2
-        duration: *open_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: -30
-        gain: 0
-
-  # grating_sine (pattern 3) — forward
-  - name: "sine_fwd_05"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sine"
-        pattern_ID: 3
-        duration: *open_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: 5
-        gain: 0
-  - name: "sine_fwd_15"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sine"
-        pattern_ID: 3
-        duration: *open_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: 15
-        gain: 0
-  - name: "sine_fwd_30"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sine"
-        pattern_ID: 3
-        duration: *open_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: 30
-        gain: 0
-  # grating_sine (pattern 3) — reverse (negative frame_rate)
-  - name: "sine_rev_05"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sine"
-        pattern_ID: 3
-        duration: *open_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: -5
-        gain: 0
-  - name: "sine_rev_15"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sine"
-        pattern_ID: 3
-        duration: *open_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: -15
-        gain: 0
-  - name: "sine_rev_30"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "grating_sine"
-        pattern_ID: 3
-        duration: *open_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: -30
-        gain: 0
-
-  # ---- BLOCK 2: closed-loop rotation (Mode 3 + FicTrac) ----------------------
-  # A 200-frame azimuthal rotation loaded static in Mode 3; FicTrac heading then
-  # drives the frame index for `cl_dur` s (host streams SET_FRAME_POSITION via
-  # the bridge). gain 1.8 = 360°/200 frames, so the arena rotates with the fly.
-  # The `wait` is load-bearing here — it holds closed-loop ACTIVE for cl_dur
-  # before stopClosedLoop fires (drop it and the stop would fire immediately).
-  - name: "closed_loop_rotation"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *cl_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-      - type: "wait"
-        duration: *cl_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  # ---- shutdown --------------------------------------------------------------
-  # Blank the arena only. Do NOT disconnect the bridge here — the run-log export
-  # runs after the sequence, and needs the bridge still connected.
-  - name: "shutdown"
-    commands:
-      - type: "controller"
-        command_name: "stopDisplay"
-      - type: "controller"
-        command_name: "allOff"
diff --git a/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_blue_gs16.pat b/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_blue_gs16.pat
deleted file mode 100644
index 8de7ef74..00000000
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diff --git a/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_green_gs16.pat b/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_green_gs16.pat
deleted file mode 100644
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diff --git a/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_violet_gs16.pat b/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_violet_gs16.pat
deleted file mode 100644
index 81f8cf63..00000000
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diff --git a/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_yellow_gs16.pat b/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_yellow_gs16.pat
deleted file mode 100644
index b5602629..00000000
Binary files a/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_yellow_gs16.pat and /dev/null differ
diff --git a/protocols/g6_2p_color_led_sweep_patterns/README.txt b/protocols/g6_2p_color_led_sweep_patterns/README.txt
deleted file mode 100644
index 9d7971a2..00000000
--- a/protocols/g6_2p_color_led_sweep_patterns/README.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-Patterns for protocols/g6_2p_color_led_sweep.yaml (G6 2x10 four-color panels, GS16 — lit pixels 15, 20 frames each;
-built by scripts/make-color-optomotor-patterns.js --gs16 — regenerate rather than edit). GS16 so the controller
-re-streams at 300 Hz (its GS16 default), as in the 22 Sept 2026 2P duty-sweep runs; the GS2 set would default to 1000 Hz.
-Upload the whole folder from Arena Studio (Console → Patterns → Add ▾ → this folder); the Studio resolves
-patterns by NAME, so the pattern_IDs in the YAML only matter as the fallback when the SD listing is unavailable.
-
-Each file: square-wave grating, period 20 px = 36°, 10 px on / 10 px off, one pixel of shift toward increasing
-column index per frame (20 frames = one period; playback wraps), TOP panel row only (pixel rows 20..39), and only
-the pixels of ONE LED color bank lit (2×2-cell bank map of js/panel-color.js, layout "four-color").
-Frame_rate +80 in mode 2 = 4 Hz temporal frequency (80 px/s ÷ 20 px); negative reverses.
-
-G6_2x10_toprow_grat20_violet_gs16.pat — bank 0 = violet 405 nm; frames 20, lit px/frame 500, stray px 0, 81338 bytes  OK
-G6_2x10_toprow_grat20_blue_gs16.pat — bank 1 = blue 470 nm; frames 20, lit px/frame 500, stray px 0, 81338 bytes  OK
-G6_2x10_toprow_grat20_green_gs16.pat — bank 2 = green 525 nm; frames 20, lit px/frame 500, stray px 0, 81338 bytes  OK
-G6_2x10_toprow_grat20_yellow_gs16.pat — bank 3 = yellow-orange 590 nm; frames 20, lit px/frame 500, stray px 0, 81338 bytes  OK
diff --git a/protocols/g6_2x10_2p_diagnostics.yaml b/protocols/g6_2x10_2p_diagnostics.yaml
deleted file mode 100644
index 0809e7f4..00000000
--- a/protocols/g6_2x10_2p_diagnostics.yaml
+++ /dev/null
@@ -1,226 +0,0 @@
-version: 3
-
-# ============================================================================
-# 2P line-sync DIAGNOSTICS — G6 2x10 arena on the Bergamo (Sept 2026). ≈ 52 s.
-#
-# Companion to g6_2x10_2p_duty_sweep.yaml. Same wiring and ScanImage setup
-# (panel mode 2, DIO 1 = out_debug_framescan → Aux trigger 1 on a free D2.x,
-# DIO 2 = in_trigger ← line clock; see the sweep file's header). The SWEEP is
-# re-run unchanged for the hardware-only controls (objective capped, arena
-# covered, SiPM bias series). THIS file varies the pattern CONTENT at a fixed
-# duty, which the sweep cannot do:
-#
-#   The residual offset in the SiPM channels is expected to follow the TOTAL
-#   light the display emits. Full-field GS16 patterns make that a clean test:
-#   ramp_128   grey level 0→15 in 16 steps of 0.5 s (ascending)      → offset vs emitted light, one trial
-#   steps_128  the same 16 levels in a fixed pseudo-random order      → same, immune to slow drift
-#   flash_128  full field 0/15 square wave at 1 Hz                    → the stimulus-locked offset step and its
-#                                                                        build-up/decay kinetics, 8 repeats to average
-#   sparse_128 10 % of the LEDs at full, static                       → is 10 % of LEDs at full the same as all LEDs
-#                                                                        at ~10 % (ramp level 1–2)? per-LED vs total light
-#   flash_255  the 1 Hz flash at duty 255                              → does the duty-255 anomaly (Ch3) follow lit
-#                                                                        fraction / on-time; followed by 6 s all-off
-#                                                                        so the suspected slow tail can be followed
-#                                                                        to zero with margin
-#
-# Patterns: protocols/g6_2x10_2p_diagnostics_patterns/ (built by
-# scripts/make-2p-diagnostic-patterns.js; README.txt lists the per-frame mean
-# level of each). Upload the folder once from Arena Studio: Console → Patterns →
-# Add ▾ → From course repo… → this protocol's folder. The Studio resolves patterns
-# by NAME; the pattern_ID numbers below are only the fallback (alphabetical SD
-# index after the four existing patterns) and the run-view preflight will flag
-# a mismatch. Keep the four existing patterns on the card.
-#
-# Epochs in the TIFF header (auxTrigger0 blocks separated by the allOff gaps), in
-# order: ramp_128, steps_128, flash_128, sparse_128, flash_255, then 6 s off.
-# Within ramp/steps, level k occupies [t0 + 0.5 k, t0 + 0.5 (k+1)) s of the block
-# (frame_rate 2). Within flash, frames alternate 0.5 s dark / 0.5 s full.
-# Analysis: check_aux_triggers.py prints the blocks; compare the core mean per
-# level with the display-off frames of the same file (see quick_checks_review.py
-# for the local-reference and frame-block-SE approach).
-#
-# ALIGNMENT of the level changes inside a block. Three marks are available:
-#   1. The aux-trigger block start (first J3 pulse of the block) + k × 0.5 s.
-#      The controller steps frames on its own clock (frame_rate 2), so this is
-#      good to a few ms (host start jitter) — enough for 0.5 s levels.
-#   2. Ch3 itself (ungated, red-channel detector): it sees the LED light of every
-#      row flash, so each level change is a step in the Ch3 row mean at the exact
-#      line where the new frame was applied (126 µs resolution). Use this for the
-#      flash kinetics — it is the cleanest mark and needs no extra wiring.
-#   3. The setAnalogOut markers below (0.5–2.5 V per condition, arena J27). Only
-#      recorded if the vDAQ Data Recorder logs an AI (docs/development/
-#      2p-scanimage-signal-logging.md § 2c, in the private 2P rig repo); host-timed like (1), so they add a
-#      cross-check, not precision. A frame-locked AO ("frame_number" role) is not
-#      validated on this controller yet — do not rely on it.
-# ============================================================================
-
-experiment_info:
-  name: "2P line-sync diagnostics: brightness steps, flash, sparse (G6 2x10)"
-  author: "mreiser"
-  date_created: "2026-09-23"
-
-rig: "./configs/rigs/bergamo_g6_2x10_2p.yaml"
-
-# The runner must implement the controller: block below (a runner that does not — MATLAB
-# today — refuses to run this file instead of running it in the wrong panel mode).
-requires: [controller_block]
-
-# Sticky controller settings asserted by Arena Studio before EVERY run and recorded in the
-# run header (docs/development/controller-settings-strategy.md). Replaces the manual
-# "set panel mode 2 by hand" step: the Studio reads the mode, sets it if needed, reads it
-# back, and refuses to run if it cannot.
-controller:
-  panel_mode: triggered            # 2 — LEDs only inside the line-clock LOW gap
-  refresh_policy: line_sync_safe   # cap the 300 Hz re-stream at the rig's limits.max_refresh_hz
-  panel_firmware: "2p"             # SD footer "2p-<sha8>[-d]" = the eintlow_2p line-sync build
-
-plugins: []
-
-variables:
-  - &ramp_pattern "G6_2x10_ff_ramp16"          # 16 frames, full field, level = frame index
-  - &ramp_id 6
-  - &steps_pattern "G6_2x10_ff_steps_pr16"     # 16 frames, full field, levels in pseudo-random order
-  - &steps_id 7
-  - &flash_pattern "G6_2x10_ff_flash_0_15"     # 2 frames: full field dark / full
-  - &flash_id 5
-  - &sparse_pattern "G6_2x10_sparse10"         # 1 frame: 10 % of LEDs at 15
-  - &sparse_id 8
-  - &level_hz 2            # frames/s: 0.5 s per grey level; 16 levels → 8 s; flash → 1 Hz
-  - &pre_dur 3
-  - &ramp_dur 8            # = 16 levels / level_hz: exactly one pass
-  - &flash_dur 8           # 8 flashes at 1 Hz
-  - &sparse_dur 5
-  - &flash255_dur 6
-  - &iti_dur 2             # allOff between steps: pauses the J3 pulses → epoch marker
-  - &long_off 6            # allOff after the last step: slow-tail test
-  - &duty_50 128
-  - &duty_100 255          # diagnostics only; experiments stay ≤ ~190
-
-experiment:
-  - "pre_blank"
-  - name: "diagnostics"
-    trials: ["ramp_128", "steps_128", "flash_128", "sparse_128", "flash_255"]
-    repetitions: 1
-    intertrial: "iti"
-  - "post_blank"
-
-conditions:
-  - name: "pre_blank"
-    commands:
-      - type: "controller"
-        command_name: "allOff"
-      - type: "controller"
-        command_name: "setAnalogOut"
-        mv: 0
-      - type: "wait"
-        duration: *pre_dur
-
-  - name: "ramp_128"
-    commands:
-      - type: "controller"
-        command_name: "setAnalogOut"
-        mv: 500
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: *ramp_pattern
-        pattern_ID: *ramp_id
-        duration: *ramp_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: *level_hz
-        gain: 0
-        duty: *duty_50
-      - type: "wait"
-        duration: *ramp_dur
-
-  - name: "steps_128"
-    commands:
-      - type: "controller"
-        command_name: "setAnalogOut"
-        mv: 1000
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: *steps_pattern
-        pattern_ID: *steps_id
-        duration: *ramp_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: *level_hz
-        gain: 0
-        duty: *duty_50
-      - type: "wait"
-        duration: *ramp_dur
-
-  - name: "flash_128"
-    commands:
-      - type: "controller"
-        command_name: "setAnalogOut"
-        mv: 1500
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: *flash_pattern
-        pattern_ID: *flash_id
-        duration: *flash_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: *level_hz
-        gain: 0
-        duty: *duty_50
-      - type: "wait"
-        duration: *flash_dur
-
-  # static: frame_rate 0 holds frame 0 (the sparse frame)
-  - name: "sparse_128"
-    commands:
-      - type: "controller"
-        command_name: "setAnalogOut"
-        mv: 2000
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: *sparse_pattern
-        pattern_ID: *sparse_id
-        duration: *sparse_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-        duty: *duty_50
-      - type: "wait"
-        duration: *sparse_dur
-
-  - name: "flash_255"
-    commands:
-      - type: "controller"
-        command_name: "setAnalogOut"
-        mv: 2500
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: *flash_pattern
-        pattern_ID: *flash_id
-        duration: *flash255_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: *level_hz
-        gain: 0
-        duty: *duty_100
-      - type: "wait"
-        duration: *flash255_dur
-
-  # Between steps: display dark AND controller refresh stopped (J3 pulses pause).
-  - name: "iti"
-    commands:
-      - type: "controller"
-        command_name: "allOff"
-      - type: "wait"
-        duration: *iti_dur
-
-  # The long all-off after flash_255: recovery / slow-tail measurement. End with allOff, not stopDisplay.
-  - name: "post_blank"
-    commands:
-      - type: "controller"
-        command_name: "allOff"
-      - type: "controller"
-        command_name: "setAnalogOut"
-        mv: 0
-      - type: "wait"
-        duration: *long_off
diff --git a/protocols/g6_2x10_2p_diagnostics_patterns/G6_2x10_ff_flash_0_15.pat b/protocols/g6_2x10_2p_diagnostics_patterns/G6_2x10_ff_flash_0_15.pat
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index 986eb79d..00000000
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diff --git a/protocols/g6_2x10_2p_diagnostics_patterns/G6_2x10_ff_ramp16.pat b/protocols/g6_2x10_2p_diagnostics_patterns/G6_2x10_ff_ramp16.pat
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index 1cd30e28..00000000
Binary files a/protocols/g6_2x10_2p_diagnostics_patterns/G6_2x10_ff_ramp16.pat and /dev/null differ
diff --git a/protocols/g6_2x10_2p_diagnostics_patterns/G6_2x10_ff_steps_pr16.pat b/protocols/g6_2x10_2p_diagnostics_patterns/G6_2x10_ff_steps_pr16.pat
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index 0f332059..00000000
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diff --git a/protocols/g6_2x10_2p_diagnostics_patterns/G6_2x10_sparse10.pat b/protocols/g6_2x10_2p_diagnostics_patterns/G6_2x10_sparse10.pat
deleted file mode 100644
index 8e3014f6..00000000
Binary files a/protocols/g6_2x10_2p_diagnostics_patterns/G6_2x10_sparse10.pat and /dev/null differ
diff --git a/protocols/g6_2x10_2p_diagnostics_patterns/README.txt b/protocols/g6_2x10_2p_diagnostics_patterns/README.txt
deleted file mode 100644
index e9a9efaf..00000000
--- a/protocols/g6_2x10_2p_diagnostics_patterns/README.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-Patterns for protocols/g6_2x10_2p_diagnostics.yaml (G6 2x10, GS16, built by scripts/make-2p-diagnostic-patterns.js).
-Upload the whole folder from Arena Studio (Console → Patterns → Add ▾ → this protocol's folder); the Studio resolves patterns by NAME.
-
-G6_2x10_ff_ramp16.pat — full field, grey level = frame index 0..15 (ascending ramp). mode 2, frame_rate 2 → 8 s per pass
-    G6_2x10_ff_ramp16.pat  frames 16  mean/full per frame [0.00 0.07 0.13 0.20 0.27 0.33 0.40 0.47 0.53 0.60 0.67 0.73 0.80 0.87 0.93 1.00]  lit fraction [0.00 1.00]  OK
-G6_2x10_ff_steps_pr16.pat — full field, the 16 grey levels in pseudo-random order 8,12,14,15,7,3,1,0,9,4,2,10,5,11,13,6. mode 2, frame_rate 2 → 8 s per pass
-    G6_2x10_ff_steps_pr16.pat  frames 16  mean/full per frame [0.53 0.80 0.93 1.00 0.47 0.20 0.07 0.00 0.60 0.27 0.13 0.67 0.33 0.73 0.87 0.40]  lit fraction [1.00 0.00]  OK
-G6_2x10_ff_flash_0_15.pat — full field off/on square wave. mode 2, frame_rate 2 → 1 Hz flash (0.5 s dark, 0.5 s full)
-    G6_2x10_ff_flash_0_15.pat  frames 2  mean/full per frame [0.00 1.00]  lit fraction [0.00 1.00]  OK
-G6_2x10_sparse10.pat — 10 % of pixels at level 15, rest dark, static (frame_rate 0). Compare with ff_ramp16 held at level 1–2
-    G6_2x10_sparse10.pat  frames 1  mean/full per frame [0.10]  lit fraction [0.10]  OK
diff --git a/protocols/g6_2x10_2p_duty_sweep.yaml b/protocols/g6_2x10_2p_duty_sweep.yaml
deleted file mode 100644
index a67adeac..00000000
--- a/protocols/g6_2x10_2p_duty_sweep.yaml
+++ /dev/null
@@ -1,267 +0,0 @@
-version: 3
-
-# ============================================================================
-# 2P line-sync duty sweep — G6 2x10 arena on the Bergamo (Sept 2026).
-#
-# Purpose: quantify display-light leak into the SiPM channels as a function of
-# panel duty_cycle, with unambiguous timing marks recorded by ScanImage.
-# Replaces the hand-driven 22 Sept 2026 run (HANDOVER_300Hz_display_leak.md).
-# Total ≈ 62 s. Any pattern works; the default is the built-in 200-frame GS16
-# rotation so the arena is visibly running. Swap `pattern`/`pattern_ID` for the
-# dark-bar pattern if it is on the card (keep it Gray_16 — see note 3).
-#
-# BEFORE PRESSING RUN (Arena Studio, once per connection — not YAML-able):
-#   1. Panel display mode 2 (Triggered) is now ASSERTED by the Studio from the controller:
-#      block below (and by the Bergamo rig default at connect) — no manual step. Wire: 02 1B 02
-#      NOT 3 (Gated): Gated restarts at row 0 on every gate drop and only the
-#      top rows of each panel ever light with a line-clock gate.
-#   2. Digital IO 1 role = out_debug_framescan.            Wire: 03 AC 01 03
-#      DO1 (BNC J3) is then HIGH for the duration of every SPI frame transfer
-#      (one ~0.7 ms pulse per controller refresh tick). Record it in ScanImage.
-#      Digital IO 2 (J4) stays in_trigger — it IS the line-clock → EINT route.
-#   3. Refresh rate (Debug ▾, unlock): 300 Hz for GS16 is the default. Do NOT
-#      run a Gray_2 pattern without setting refresh ≤ 300 (GS2 default is
-#      1000 Hz; every re-streamed frame costs the panel ~1–2 line edges).
-#   4. Telemetry ring: on (default) — cc/cf/cs rows land in the run log.
-#
-# WHAT TO RECORD IN SCANIMAGE (vDAQ) — MINIMAL VERSION, everything lands in the TIFF
-#
-#   We only STORE data. Nothing here triggers ScanImage: start the Grab by hand,
-#   then press Run. The aux trigger below does not start/stop/gate anything —
-#   it writes edge timestamps into frames you are already saving.
-#
-#   Wiring (one BNC):  arena J3 ("Digital IO 1 (5V)", role out_debug_framescan,
-#                      a ~0.7 ms 5 V pulse per SPI frame transfer, 300 Hz)
-#                      → a FREE vDAQ breakout digital input on its OWN cable
-#                      (Bergamo: D2.1 — D2.0 carries the resonant scanner sync;
-#                      never T into an existing cable: a J3 splice into the sync
-#                      on 2026-09-23 stopped frame formation whenever the display
-#                      was on). The line-clock cable into arena J4 stays as it is.
-#   ScanImage (one dropdown):  Resource Configuration → your imaging system →
-#                      Triggers tab → "Aux trigger 1" = that port (D2.1). Save.
-#                      Ch2/Ch3 as before. GUI "Aux trigger 1" = header auxTrigger0.
-#   What gets logged:  every TIFF frame's header (ImageDescription) gains
-#                      "Aux Trigger 1 = [t1 t2 …]" — the times (s, 8 ns resolution,
-#                      same FPGA clock as frameTimestamps_sec) of each frame
-#                      transfer that happened during that frame: ~5–6 per 18 ms
-#                      frame while the arena streams, [] while it is off.
-#   How epochs are marked:  the 2 s allOff between steps (the "iti" condition)
-#                      disarms the controller refresh timer and pushes a dark
-#                      frame, so the J3 pulses PAUSE for 2 s. In the header
-#                      record each duty step is a block of timestamps separated
-#                      by a gap; block order = the order in `experiment:` below.
-#   Read it back:      Python  ScanImageTiffReader(p).description(n)   or
-#                      MATLAB  scanimage.util.opentif(file) / imfinfo → ImageDescription.
-#                      Expect "Aux Trigger 1 = [ … ]" non-empty on frames during a
-#                      step, [] during iti/blank. All-[] = wrong port, or arena
-#                      DIO 1 not in out_debug_framescan (Studio raw hex 01 AD lists roles).
-#   Optional (only if a photodiode is at the rig):  photodiode → PCIe rear SMB
-#                      AI3 (= Channel 4, keep < 2 Vpp) → Channels window → Save.
-#                      The only way to tell a residual at low duty apart from SiPM
-#                      recovery after the in-gap flash.
-#   Not needed for this test:  line clock (same FPGA as the pixel clock → image
-#                      columns already ARE its phase; shape known from the scope),
-#                      frame clock, AO marker, Data Recorder .h5. Full version:
-#                      reiserlab/scanimage-2026-bergamo procedures/webdisplaytools-2p/2p-scanimage-signal-logging.md. The
-#                      setAnalogOut steps below are harmless if unrecorded.
-#   Ch3 is NOT a display sync; it is the leak signal you are measuring.
-#
-# Notes
-#   1. duty: 0 in trialParams means "pattern's stored duty", NOT off. Off is allOff.
-#   2. duty values 25/64/128/191/255 ≈ 10/25/50/75/100 % of 255, 8 s each.
-#      With the 2P panel firmware (BCM base 1 µs) a duty-255 row is ~15 µs,
-#      so EVERY step fits inside the ~18 µs line-clock LOW gap and the sweep
-#      maps the usable brightness range end to end (255 is the tight-margin
-#      case). With the 9014b5b firmware (3 µs base) steps above duty ~85
-#      overrun into the imaged part of the line — the same sweep run on both
-#      firmwares is the comparison.
-#   3. GS16 pattern → 300 Hz refresh. frame2_h_ccw_200f and grating_sine are
-#      GS16; all_on and grating_sq are GS2.
-#   4. End with allOff, not stopDisplay: in the free-running Triggered firmware
-#      a stopped controller leaves the last frame lit, one row per line.
-# ============================================================================
-
-experiment_info:
-  name: "2P line-sync duty sweep (G6 2x10)"
-  author: "mreiser"
-  date_created: "2026-09-22"
-
-rig: "./configs/rigs/bergamo_g6_2x10_2p.yaml"
-
-# The runner must implement the controller: block below (a runner that does not — MATLAB
-# today — refuses to run this file instead of running it in the wrong panel mode).
-requires: [controller_block]
-
-# Sticky controller settings asserted by Arena Studio before EVERY run and recorded in the
-# run header (docs/development/controller-settings-strategy.md). Replaces the manual
-# "set panel mode 2 by hand" step: the Studio reads the mode, sets it if needed, reads it
-# back, and refuses to run if it cannot.
-controller:
-  panel_mode: triggered            # 2 — LEDs only inside the line-clock LOW gap
-  refresh_policy: line_sync_safe   # cap the 300 Hz re-stream at the rig's limits.max_refresh_hz
-  panel_firmware: "2p"             # SD footer "2p-<sha8>[-d]" = the eintlow_2p line-sync build
-
-plugins: []
-
-variables:
-  - &pattern_name "frame2_h_ccw_200f"
-  - &pattern_id 4
-  - &rotate_hz 20          # frames/s; 200-frame pattern → one revolution per 10 s
-  - &blank_dur 4
-  - &step_dur 7
-  - &iti_dur 2             # allOff between steps: stops the 300 Hz re-stream → gap in the J3 aux-trigger record
-  - &duty_10 25
-  - &duty_25 64
-  - &duty_50 128
-  - &duty_75 191
-  - &duty_100 255          # ~15 µs row on the 2P firmware: tight-margin case; overruns on 9014b5b
-
-experiment:
-  - "pre_blank"
-  - name: "duty_sweep"
-    trials: ["duty_10", "duty_25", "duty_50", "duty_75", "duty_100", "static_50"]
-    repetitions: 1
-    intertrial: "iti"
-  - "post_blank"
-
-conditions:
-  # Display dark, AO marker 0 V. Baseline for the SiPM channels.
-  - name: "pre_blank"
-    commands:
-      - type: "controller"
-        command_name: "allOff"
-      - type: "controller"
-        command_name: "setAnalogOut"
-        mv: 0
-      - type: "wait"
-        duration: *blank_dur
-
-  - name: "duty_10"
-    commands:
-      - type: "controller"
-        command_name: "setAnalogOut"
-        mv: 500
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: *pattern_name
-        pattern_ID: *pattern_id
-        duration: *step_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: *rotate_hz
-        gain: 0
-        duty: *duty_10
-      - type: "wait"
-        duration: *step_dur
-
-  - name: "duty_25"
-    commands:
-      - type: "controller"
-        command_name: "setAnalogOut"
-        mv: 1000
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: *pattern_name
-        pattern_ID: *pattern_id
-        duration: *step_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: *rotate_hz
-        gain: 0
-        duty: *duty_25
-      - type: "wait"
-        duration: *step_dur
-
-  - name: "duty_50"
-    commands:
-      - type: "controller"
-        command_name: "setAnalogOut"
-        mv: 1500
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: *pattern_name
-        pattern_ID: *pattern_id
-        duration: *step_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: *rotate_hz
-        gain: 0
-        duty: *duty_50
-      - type: "wait"
-        duration: *step_dur
-
-  - name: "duty_75"
-    commands:
-      - type: "controller"
-        command_name: "setAnalogOut"
-        mv: 2000
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: *pattern_name
-        pattern_ID: *pattern_id
-        duration: *step_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: *rotate_hz
-        gain: 0
-        duty: *duty_75
-      - type: "wait"
-        duration: *step_dur
-
-  - name: "duty_100"
-    commands:
-      - type: "controller"
-        command_name: "setAnalogOut"
-        mv: 2500
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: *pattern_name
-        pattern_ID: *pattern_id
-        duration: *step_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: *rotate_hz
-        gain: 0
-        duty: *duty_100
-      - type: "wait"
-        duration: *step_dur
-
-  # Same pattern and duty as duty_50 but frame_rate 0 (static frame). The
-  # controller still re-streams at the refresh rate, so any difference from
-  # duty_50 isolates pattern-content change from re-streaming.
-  - name: "static_50"
-    commands:
-      - type: "controller"
-        command_name: "setAnalogOut"
-        mv: 3000
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: *pattern_name
-        pattern_ID: *pattern_id
-        duration: *step_dur
-        mode: 2
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-        duty: *duty_50
-      - type: "wait"
-        duration: *step_dur
-
-  # Between steps: display dark AND controller refresh stopped, so the J3
-  # frame-transfer pulses pause — the epoch boundary marker in the TIFF header.
-  - name: "iti"
-    commands:
-      - type: "controller"
-        command_name: "allOff"
-      - type: "wait"
-        duration: *iti_dur
-
-  - name: "post_blank"
-    commands:
-      - type: "controller"
-        command_name: "allOff"
-      - type: "controller"
-        command_name: "setAnalogOut"
-        mv: 0
-      - type: "wait"
-        duration: *blank_dur
diff --git a/protocols/index.json b/protocols/index.json
index 0de3b79e..aa85e4c6 100644
--- a/protocols/index.json
+++ b/protocols/index.json
@@ -13,26 +13,6 @@
       "label": "FicTrac closed-loop (Mode 3)",
       "path": "./protocols/fictrac_closed_loop.yaml"
     },
-    {
-      "key": "fictrac_direction_test",
-      "label": "FicTrac closed-loop + open-loop direction/speed test (~5.5 min)",
-      "path": "./protocols/fictrac_direction_test.yaml"
-    },
-    {
-      "key": "fictrac_bias_test",
-      "label": "FicTrac closed-loop bias/disturbance test (~4 min)",
-      "path": "./protocols/fictrac_bias_test.yaml"
-    },
-    {
-      "key": "led_activation_quadrant_test",
-      "label": "Conditional LED activation — graded zones test (Mode-3 closed loop, ~2 min)",
-      "path": "./protocols/led_activation_quadrant_test.yaml"
-    },
-    {
-      "key": "fictrac_coupling_bias_fly_test",
-      "label": "Closed-loop coupling × bias — fly test (Mode 3, natural coupling −1, ~13 min)",
-      "path": "./protocols/fictrac_coupling_bias_fly_test.yaml"
-    },
     {
       "key": "opto_intensity_runtime_test",
       "label": "Opto intensity as a runtime variable (Mode 2, ledDrive; ~2 min)",
@@ -43,31 +23,6 @@
       "label": "Full experiment (blocks, plugins, ITI)",
       "path": "./protocols/full_experiment.yaml"
     },
-    {
-      "key": "g6_2x10_2p_duty_sweep",
-      "label": "2P line-sync duty sweep — G6 2×10 on the Bergamo (~62 s, 2 s allOff between steps)",
-      "path": "./protocols/g6_2x10_2p_duty_sweep.yaml"
-    },
-    {
-      "key": "g6_2x10_2p_diagnostics",
-      "label": "2P line-sync diagnostics — full-field brightness ramp/steps, 1 Hz flash, 10 % sparse, 6 s all-off (~52 s; upload its _patterns folder first)",
-      "path": "./protocols/g6_2x10_2p_diagnostics.yaml"
-    },
-    {
-      "key": "bias_camera_closed_loop_poc",
-      "label": "BIAS camera + FicTrac closed loop through the ROS 2 bridge (LAB-303 spike, ~40 s)",
-      "path": "./protocols/bias_camera_closed_loop_poc.yaml"
-    },
-    {
-      "key": "bias_camera_closed_loop_poc_ww18",
-      "label": "BIAS camera + FicTrac closed loop, ROS 2 bridge — ww18 variant (site 2x10 grating_sq, slot 2)",
-      "path": "./protocols/bias_camera_closed_loop_poc_ww18.yaml"
-    },
-    {
-      "key": "bias_camera_closed_loop_poc_ww18_soak10",
-      "label": "BIAS + FicTrac closed loop, ROS 2 bridge - ww18 10-min soak (2 x 300 s, grating_sq slot 2)",
-      "path": "./protocols/bias_camera_closed_loop_poc_ww18_soak10.yaml"
-    },
     {
       "key": "g6_color_optomotor_test",
       "label": "Color optomotor test — one LED color at a time, top row, 25/50/100 % duty (G6 four-color, BIAS, ~18 min)",
@@ -77,11 +32,6 @@
       "key": "g6_color_optomotor_smoke",
       "label": "Color optomotor SMOKE — 10 s per pattern, duty 100 %, BIAS check (~2 min)",
       "path": "./protocols/g6_color_optomotor_smoke.yaml"
-    },
-    {
-      "key": "g6_2p_color_led_sweep",
-      "label": "2P color LED-intensity sweep — one ScanImage grab per color, 6 duty levels × 3 s at 20 fps (G6 four-color, ScanImage JSON connector, ~2.5 min)",
-      "path": "./protocols/g6_2p_color_led_sweep.yaml"
     }
   ]
 }
diff --git a/protocols/led_activation_quadrant_test.yaml b/protocols/led_activation_quadrant_test.yaml
deleted file mode 100644
index b19fc5b2..00000000
--- a/protocols/led_activation_quadrant_test.yaml
+++ /dev/null
@@ -1,212 +0,0 @@
-version: 3
-
-# ============================================================================
-# Conditional LED activation — graded zones test (web runner, Mode-3 closed loop)
-#
-# Tests the per-trial `led_activation` on trialParams (Arena Studio v0.86: graded
-# ZONES with linear ramp edges over a baseline; v0.59's hard-edged `on_ranges`
-# still works as sugar). Reuses the SAME built-in SD pattern the closed-loop
-# block uses — NO new patterns needed:
-#   4  frame2_h_ccw_200f   (a 200-frame full-azimuth rotation)
-#
-# The 200 frames map 1:1 onto azimuth (1.8°/frame = 360°/200 px), so the pattern
-# divides into four 50-frame QUADRANTS:
-#   Q1  frames   0– 49   (  0– 90°)
-#   Q2  frames  50– 99   ( 90–180°)
-#   Q3  frames 100–149   (180–270°)
-#   Q4  frames 150–199   (270–360°)
-# In closed loop the displayed frame index tracks the fly's heading, so gating
-# the LED on quadrant zones drives it as the fly rotates through them. The
-# index the LED follows is the DISPLAYED one (after any bias), i.e. where the
-# stimulus actually is on the arena.
-#
-# HOW IT DRIVES THE LED: `startClosedLoop` enables the bridge's frame apply —
-# that same event stream is what feeds led_activation, so the LED gating only
-# runs INSIDE the startClosedLoop → wait → stopClosedLoop bracket. (This is also
-# the bench check for "is closed-loop apply active?" — if the arena rotates with
-# the fly, the LED gating is receiving frames too.)
-#
-# FOUR conditions, each 30 s (`hold_dur`):
-#   1. led_one_quadrant   — hard edges: LED on in Q2 only        (on_ranges sugar)
-#   2. led_opposite       — hard edges: LED on in Q1 + Q3        (two bands; 4 flips / rev)
-#   3. led_ramped         — one zone, 10-frame (18°) ramps in/out around Q2
-#   4. led_baseline_probe — dim baseline everywhere + a brighter ramped probe zone
-#                           that WRAPS through frame 0 (Q4 → Q1)
-#
-# Needs the FicTrac bridge (`pixi run bridge`); with no fly, `pixi run sim`
-# supplies synthetic heading (`--model fly` for a fixating one). Requires fw #33+
-# (duty/AO) and a BuckPuck LED on Analog Out. Web-only — MATLAB does not read
-# led_activation. Bench check: photodiode on the LED — the ramps must be
-# monotone with no flicker, and the `cf` rows' max req_age_us must not grow
-# while a ramp is active (the LED writes yield to frame writes).
-# ============================================================================
-
-experiment_info:
-  name: "Conditional LED activation — graded zones test"
-  author: "webDisplayTools"
-
-rig: "./configs/rigs/cshl_g6_2x10_ball.yaml"
-
-plugins:
-  - name: "fictrac"
-    type: "class"
-    matlab:
-      class: "FicTracPlugin"
-    config:
-      bridge_url: "ws://localhost:8765"
-      fictrac_port: 60000
-      proto: "udp"
-      offset: 0
-
-variables:
-  # Change ONE number to rescale. hold_dur drives each trial's trialParams
-  # duration AND its bracketing wait (they must agree — see the waits rule).
-  hold_dur: &hold_dur 30 # seconds of closed-loop hold per condition
-  led_pct: &led_pct 20 # LED brightness % inside a zone (BuckPuck curve; fractional OK)
-  base_pct: &base_pct 2 # dim baseline % for the baseline+probe condition
-  # Ramp endpoints are literal frame indices below (10-frame ramps = 18° at
-  # 1.8°/frame); bind them to anchors from the Studio's 🔗 if you sweep them.
-
-experiment:
-  - "led_one_quadrant"
-  - "led_opposite"
-  - "led_ramped"
-  - "led_baseline_probe"
-  - "shutdown"
-
-conditions:
-  # ---- 1) single quadrant, hard edges (legacy on_ranges sugar) ---------------
-  # LED on across Q2 (frames 50–99), off elsewhere. As the fly's heading sweeps
-  # through Q2 the LED switches on entering frame 50 and off leaving frame 99.
-  # `on_ranges: [[50, 99]]` ≡ `zones: [{level, ramp_in: [50, 50], ramp_out: [100, 100]}]`.
-  - name: "led_one_quadrant"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *hold_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-        led_activation:
-          level: *led_pct
-          on_ranges:
-            - [50, 99]
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: -1
-      - type: "wait"
-        duration: *hold_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  # ---- 2) two opposite quadrants, hard edges ---------------------------------
-  # LED on across Q1 (0–49) and Q3 (100–149) — four transitions per revolution,
-  # exercising the multi-range on_ranges list.
-  - name: "led_opposite"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *hold_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-        led_activation:
-          level: *led_pct
-          on_ranges:
-            - [0, 49]
-            - [100, 149]
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: -1
-      - type: "wait"
-        duration: *hold_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  # ---- 3) one zone with linear ramps -----------------------------------------
-  # Dark at frame 40, full `led_pct` by frame 50, held through 99, back to dark
-  # at frame 110. A fly dithering on a boundary now just modulates the LED a
-  # little instead of chattering it (this is what hysteresis used to be for).
-  - name: "led_ramped"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *hold_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-        led_activation:
-          baseline: 0
-          zones:
-            - level: *led_pct
-              ramp_in: [40, 50] # baseline at 40 → level at 50
-              ramp_out: [100, 110] # level at 100 → baseline at 110
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: -1
-      - type: "wait"
-        duration: *hold_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  # ---- 4) dim baseline + brighter probe zone that wraps through frame 0 ------
-  # The LED sits at `base_pct` everywhere and ramps up to `led_pct` in a zone
-  # centred on frame 0 (Q4 → Q1): ramp in 170→180, hold 180..19 (through the
-  # 199/0 seam), ramp out 20→30. Checks the wrap unrolling and that ramps start
-  # from the BASELINE, not from dark.
-  - name: "led_baseline_probe"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "frame2_h_ccw_200f"
-        pattern_ID: 4
-        duration: *hold_dur
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-        led_activation:
-          baseline: *base_pct
-          zones:
-            - level: *led_pct
-              ramp_in: [170, 180]
-              ramp_out: [20, 30]
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-        params:
-          coupling: -1
-      - type: "wait"
-        duration: *hold_dur
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  # ---- shutdown -------------------------------------------------------------
-  # Blank the arena (also forces the LED off via the runner's activator
-  # teardown on stopDisplay). Do NOT disconnect the bridge — the run-log export
-  # runs after the sequence and needs it connected.
-  - name: "shutdown"
-    commands:
-      - type: "controller"
-        command_name: "stopDisplay"
-      - type: "controller"
-        command_name: "allOff"
diff --git a/protocols/led_activation_quadrant_test_patterns/001_all_on.pat b/protocols/led_activation_quadrant_test_patterns/001_all_on.pat
deleted file mode 100644
index ed8f96e9..00000000
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diff --git a/protocols/led_activation_quadrant_test_patterns/002_grating_sq.pat b/protocols/led_activation_quadrant_test_patterns/002_grating_sq.pat
deleted file mode 100644
index 65ca95b6..00000000
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diff --git a/protocols/led_activation_quadrant_test_patterns/003_grating_sine.pat b/protocols/led_activation_quadrant_test_patterns/003_grating_sine.pat
deleted file mode 100644
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diff --git a/protocols/led_activation_quadrant_test_patterns/004_frame2_h_ccw_200f.pat b/protocols/led_activation_quadrant_test_patterns/004_frame2_h_ccw_200f.pat
deleted file mode 100644
index 8e0b0fa9..00000000
Binary files a/protocols/led_activation_quadrant_test_patterns/004_frame2_h_ccw_200f.pat and /dev/null differ
diff --git a/protocols/mode3_drill_1trial.yaml b/protocols/mode3_drill_1trial.yaml
deleted file mode 100644
index de624540..00000000
--- a/protocols/mode3_drill_1trial.yaml
+++ /dev/null
@@ -1,67 +0,0 @@
-version: 3
-
-# ============================================================================
-# One-trial Mode-3 drill — for the recovery drill before an overnight soak and
-# for the lab's injected-stall test (lab-test-day-windows-2026-09-14.md, test B):
-# a single 180 s closed-loop trial on the 813 KB bar with the simulator, nothing
-# else (≈ 36k reads at 200 Hz — more than one of the old ~24.5k-read stall periods,
-# so the injected legacy arm has time to stall). Run it as a Test run; the banner at the end is the result.
-#   before:  await Studio.setSdDiag(3)      (inject the stall arm)
-#   after:   await Studio.setSdDiag(0)
-# ============================================================================
-
-experiment_info:
-  name: "Mode-3 drill (one 180 s bar trial)"
-  author: "webDisplayTools"
-
-rig: "./configs/rigs/cshl_g6_2x10_ball.yaml"
-
-plugins:
-  - name: "fictrac"
-    type: "class"
-    matlab:
-      class: "FicTracPlugin"
-    config:
-      bridge_url: "ws://localhost:8765"
-      fictrac_port: 60000
-      proto: "udp"
-      offset: 0
-
-experiment:
-  - "drill_setup"
-  - "cl_bar_200f"
-  - "drill_shutdown"
-
-conditions:
-  - name: "drill_setup"
-    commands:
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "connect"
-
-  # The 813 KB, 200-frame bar on the CSHL course card is p3's pattern (036_p3_heisenberg_ts.pat);
-  # names resolve against the card listing, pattern_ID is only the fallback.
-  - name: "cl_bar_200f"
-    commands:
-      - type: "controller"
-        command_name: "trialParams"
-        pattern: "p3_heisenberg_ts"
-        pattern_ID: 36
-        duration: 180
-        mode: 3
-        frame_index: 0
-        frame_rate: 0
-        gain: 0
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "startClosedLoop"
-      - type: "wait"
-        duration: 180
-      - type: "plugin"
-        plugin_name: "fictrac"
-        command_name: "stopClosedLoop"
-
-  - name: "drill_shutdown"
-    commands:
-      - type: "controller"
-        command_name: "stopDisplay"
diff --git a/releases/2026-10-29.json b/releases/2026-10-29.json
new file mode 100644
index 00000000..ffd9b6d7
--- /dev/null
+++ b/releases/2026-10-29.json
@@ -0,0 +1,48 @@
+{
+  "schema": 1,
+  "name": "2026-10-29",
+  "kind": "candidate",
+  "rc": 3,
+  "created_at": "2026-10-29T20:45:14Z",
+  "created_at_et": "2026-10-29 16:45 ET",
+  "main_sha": "59a377b05e6e4c83042171139782858d9553666e",
+  "headline": "Experiments move to the private repo; pixi run qc on rig PCs; rig-nodes 0.4.0; Studio overwrite-guard fix",
+  "prs": [
+    {
+      "number": 286,
+      "title": "rig: pin the rig-nodes package set 0.4.0 at its release tag (LAB-338)",
+      "head_sha": "9018462064d64786701f1f065c3e242001551a2d",
+      "head_ref": "rig/pin-rig-nodes-0.4.0",
+      "url": "https://github.com/reiserlab/webDisplayTools/pull/286"
+    },
+    {
+      "number": 285,
+      "title": "rig: `pixi run qc` \u2014 the five-minute release validation of a tier on a rig PC (LAB-222, LAB-338)",
+      "head_sha": "9614a91a903fc1d96ad9b7b8de4a49d2368081f1",
+      "head_ref": "rig/qc-five-minute",
+      "url": "https://github.com/reiserlab/webDisplayTools/pull/285"
+    },
+    {
+      "number": 288,
+      "title": "protocols + rig records \u2192 private repos (LAB-227)",
+      "head_sha": "91bf95849edbc9fce4361ab88e62f3ccc776f00e",
+      "head_ref": "feat/lab-227-protocols-to-private",
+      "url": "https://github.com/reiserlab/webDisplayTools/pull/288"
+    },
+    {
+      "number": 289,
+      "title": "Studio: overwrite guard survives the raw/JSON cache collision; telemetry line reports in-session evictions (LAB-227)",
+      "head_sha": "4090716d45137ec2adcb3de49c74d1fbafbaa001",
+      "head_ref": "fix/gh-contents-no-store",
+      "url": "https://github.com/reiserlab/webDisplayTools/pull/289"
+    }
+  ],
+  "versions": {
+    "studio": {
+      "from": "v0.100",
+      "to": "v0.101"
+    }
+  },
+  "hotfix_reason": null,
+  "bridge_changed": false
+}
diff --git a/rig/HANDOVER-okey-cokey-2026-10-21.md b/rig/HANDOVER-okey-cokey-2026-10-21.md
deleted file mode 100644
index c1ef0e8a..00000000
--- a/rig/HANDOVER-okey-cokey-2026-10-21.md
+++ /dev/null
@@ -1,102 +0,0 @@
-# Handover: okey-cokey rig, BIAS test + Foxglove dashboard (2026-10-21)
-
-For a Claude Code session running **on the okey-cokey lab PC** (Windows; the room with the G6 2×10
-four-color arena, an overhead BIAS camera, freely walking flies, no FicTrac). Michael's Mac has no
-remote path into the rig PCs, so start the session there: open Claude Code in any folder (the
-checkout does not exist yet) and paste the kickoff prompt below as the first message.
-
-**This PC starts bare** (no Foxglove, no webDisplayTools checkout, maybe no git or pixi). Setup is
-its own checklist, [`okey-cokey-pc-setup.md`](okey-cokey-pc-setup.md), done first. Claude Code
-cannot install itself: a person installs the Claude desktop app (or Git for Windows, then the CLI)
-over Remote Desktop; from there a Claude session can do most of the checklist and asks for the rest.
-Without Claude on the PC, the checklist and the run sheet work by hand too.
-
-Then two jobs, in this order, both on ONE run sheet:
-[`okey-cokey-pc-2026-10-21.md`](okey-cokey-pc-2026-10-21.md).
-
-1. **Test** today's protocol and BIAS on this PC.
-2. **Test the camera + G6 Foxglove dashboard** on the real rig, live and on the run's replay. It was
-   BUILT and tested off-rig on Michael's Mac the same day
-   ([`docs/okey-cokey-foxglove-dashboard-plan.md`](docs/okey-cokey-foxglove-dashboard-plan.md), the
-   status block at the top); nothing of it has met this rig, its camera or a real `.ufmf` from it.
-
-## Kickoff prompt (paste on the lab PC)
-
-```
-Okey-cokey rig work, LAB-303. This PC may be bare (no webDisplayTools checkout, no Foxglove, maybe
-no git or pixi). Start with the setup checklist; read it on GitHub until the repo is cloned:
-https://github.com/reiserlab/webDisplayTools/blob/claude/okey-cokey-rig/rig/okey-cokey-pc-setup.md
-It clones the repo to C:\w on branch claude/okey-cokey-rig. Then read
-C:\w\rig\HANDOVER-okey-cokey-2026-10-21.md and run C:\w\rig\okey-cokey-pc-2026-10-21.md
-in order, keeping C:\w\rig\okey-cokey-pc-results-2026-10-21.md as you go (one row per step:
-pass/fail, timings, sizes, every error verbatim; the setup facts first).
-Ask me (Michael) before every download or install, any admin/UAC step, and anything that needs a
-click: the BIAS GUI, the Chrome serial-port picker, the IR backlight, Foxglove, putting flies in.
-If BIAS is not on this PC, stop and tell me. Rules are in the handover's "Constraints" section.
-Commit fixes and the results file to claude/okey-cokey-rig and push; open no PR.
-```
-
-## Where things stand
-
-- **Branch `claude/okey-cokey-rig`** = release candidate 2026-10-20 rc1 (Studio v0.97, the ROS 2
-  graph, the BIAS connector; on Next) plus:
-  - `claude/okey-cokey-pairs`: `protocols/g6_color_optomotor_test.yaml` + `_smoke.yaml` in **Grace's
-    trial shape (2026-10-21)** — each trial a CW/CCW pair, 15 s CW then 15 s CCW with no gap, then 10 s
-    dark (also across block boundaries). Full run 24 pairs, 16.1 min; smoke 4 pairs (10 s per
-    direction, 5 s dark), 1.7 min. Parsed and flattened with the real modules; `pixi run test --
-    protocol` 106/106.
-  - the dashboard (plan doc status block): `nodes/stimulus_node.py` + `stimulus_core.py` +
-    `arena_display.py` (expected/observed display in the four-color LEDs, arena rate/lag/health from
-    controller telemetry), BIAS rate/drops in `viz_node.py`, `rig.py --no-fictrac --stimulus`, the
-    replay (`fox-json --stimulus`, `tools/ufmf.py`), `foxglove/arena-okey-cokey.json`. Mac: 54/54 +
-    10/10 + harness 54/54.
-- **Not on any Pages tier**: Next serves the candidate *without* the new protocol shape. Serve this
-  checkout locally (`pixi run python .claude\nocache-server.py 8092` from `C:\w`) or open the YAML via Protocol ▾ → Open….
-- **Background reading**: the ww18 results, `windows-results-ww18-2026-10-15.md` (every Windows finding
-  is in its table; most are fixed on this branch).
-- **Settled**: the okey-cokey controller runs telemetry firmware; BIAS is NOT changed now (no live
-  camera in Foxglove — the BIAS window sits beside it; the replay has the camera).
-- **Record in job 1**: which BIAS build (the Atlas10 fork reports drop counters, the Spinnaker build
-  may not: those panels then read "no data", never 0).
-
-## What could go wrong on this rig (look here first)
-
-- **Windows paths and the pattern/protocol lookup**: the stimulus node finds `<pattern>.pat` under
-  the repo's `protocols/` + `patterns/` and the run's protocol by its `protocol_filename` under
-  `protocols/`. A protocol opened from elsewhere (Downloads) still runs, but its patterns' NAMES may
-  not resolve → a gray hatched placeholder and "pattern N" in the health line. Fix with
-  `--stimulus-args "--protocol-dir <dir> --pattern-dir <dir>"`, not code.
-- **The camera's clock**: the replay places camera frames with the run's `getTimestamp` replies.
-  `camera.offset_ms` in the converter's report should be stable; if `camera.error` says no reply
-  had a value > 0, the protocol's first getTimestamp came too early (BIAS reads 0 before its first
-  frame).
-- **uFMF from this camera**: the reader follows BIAS's writer (v4, MONO8, index or scan). A different
-  coding (e.g. RGB) is refused with a clear error: record it.
-- **foxglove_bridge on Windows**: never run on Windows yet (ww18 did not install `viz`). If it fails
-  to start, the rig prints it and the rest runs; record the error verbatim.
-- **Load**: the stimulus node renders 800×160 PNGs at 15 Hz (a few ms each on the Mac). If the
-  bridge's latency numbers (`connector_status`) get worse with it on, record both.
-
-## Constraints
-
-- **Never touch Production or Next**, never merge to `main`, open no PR. Code reaches `main` only
-  through a release candidate, which Michael builds (`docs/development/release-process.md`).
-- **No Studio changes** (`arena_studio.html`, `js/*`), **no bridge 3.4 changes**
-  (`fictrac-bridge/bridge.py`), **no BIAS changes**. Everything lives in `rig/`. If a Studio
-  change turns out to be needed, stop and write it up instead.
-- Tests: `pixi run test`, `pixi run test-viz`, `pixi run test-stimulus` and `pixi run test-stimulus-live`
-  inside `rig/` (the last needs the rig stopped), plus `pixi run test` at the repo root, all green
-  before every commit. Prettier only on `*.js`, never on HTML.
-- Windows habits from ww18: write text with `newline="\n"`; take durations from `perf_counter`; never
-  run `bias_sim` or the harness's sim while the real BIAS is open on 5010; Ctrl-C the rig to stop it
-  (the SIGBREAK handler closes the bag cleanly).
-- Capture an error's full text before you try to fix it. Commit small fixes to
-  `claude/okey-cokey-rig` with a message that names the step.
-- American English in code, docs and commits.
-
-## What to send back
-
-The results file (both jobs): the PC facts, BIAS build, both runs' checks, the two test counts on
-Windows, a screenshot of the live dashboard mid-rotation, the replay converter's printed report,
-and anything that needed a manual step. Push `claude/okey-cokey-rig`, and end with a short
-summary Michael can paste into the LAB-303 ticket.
diff --git a/rig/QC.md b/rig/QC.md
new file mode 100644
index 00000000..e51710c4
--- /dev/null
+++ b/rig/QC.md
@@ -0,0 +1,120 @@
+# 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 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
+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. 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
+
+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/README.md b/rig/README.md
index a1a90aab..262f1a04 100644
--- a/rig/README.md
+++ b/rig/README.md
@@ -10,7 +10,7 @@ This directory is its own pixi workspace. The root `pixi.toml` and `fictrac-brid
 untouched, so bridge 3.4 (`pixi run bridge` at the repo root) stays installed side by side.
 
 > **Since 2026-10-26 (LAB-338):** the shared part of this graph — `rig_interfaces`, the device
-> adapters and simulators (FicTrac, Kinefly, BIAS, ScanImage), the MCAP recorder/indexer, the CDR
+> adapters and simulators (FicTrac, Kinefly, BIAS), the MCAP recorder/indexer, the CDR
 > decoder, the generic Foxglove rewriter, the supervision primitives, the Zenoh configs and the
 > benches — lives in **[reiserlab/rig-nodes](https://github.com/reiserlab/rig-nodes)** and is
 > installed here as the pinned `rig_nodes` (+ opt-in `rig_interfaces`) packages from that repo's
@@ -57,7 +57,7 @@ Pieces, individually (each is also a `pixi run` task; `--help` on every script):
 | `sim` | `rig-fictrac-sim` (rig_nodes.sims.fictrac_sim, moved from `fictrac-bridge/`; `-- --model fly --kp 2` for a fixating fly) |
 | `kinefly-sim` / `bias-sim` | synthetic KF/1 producer; a fake BIAS program (HTTP, state machine, writes the video file) |
 | `studio-emulator` | the Studio runner's exact bridge conversation, for machines without a browser |
-| `stimulus` | `nodes/stimulus_node.py`: the arena's EXPECTED display (the trial's `.pat` frame × duty in the panels' LED colors) and its OBSERVED display (controller telemetry) as PNG images, plus arena rate / lag / health, from the live `/arena/browser`; `pixi run rig -- --stimulus` (included by `--foxglove`). Layout `foxglove/arena-okey-cokey.json` (camera + G6, no FicTrac); the same layout on a finished run: `pixi run fox-json -- <bag> <out.mcap> --stimulus --panel-layout four-color` (adds `/camera/image` from the run's uFMF). Plan + status: `docs/okey-cokey-foxglove-dashboard-plan.md` |
+| `stimulus` | `nodes/stimulus_node.py`: the arena's EXPECTED display (the trial's `.pat` frame × duty in the panels' LED colors) and its OBSERVED display (controller telemetry) as PNG images, plus arena rate / lag / health, from the live `/arena/browser`; `pixi run rig -- --stimulus` (included by `--foxglove`). Layout `foxglove/arena-okey-cokey.json` (camera + G6, no FicTrac); the same layout on a finished run: `pixi run fox-json -- <bag> <out.mcap> --stimulus --panel-layout four-color` (adds `/camera/image` from the run's uFMF). Plan + status: `rigs/ww14/okey-cokey-foxglove-dashboard-plan.md` in the private `reiserlab/arena-experiments` (rig records left this repo on 2026-10-29, LAB-227) |
 | `test-stimulus` / `test-stimulus-live` | the dashboard's pure parts (panel colors pinned to `js/panel-color.js`, renderer, tracker on synthetic + a real 80 fps trial, uFMF reader, replay converter); the live path through router + bridge + stimulus node (~25 s, needs ports 7447/8765 free) |
 
 Environment set by the workspace (`[activation.env]`): `RMW_IMPLEMENTATION=rmw_zenoh_cpp`,
@@ -168,7 +168,7 @@ starts at its first frame, ≈ 300 ms later — take the alignment stamp ≥ 0.5
 startRecording, or anchor on the first frame. The harness (`pixi run test`) exercises the same
 path through the emulator: 32 / 32.
 
-One detour worth knowing: the stock `fictrac_bias_test.yaml` names `frame2_h_ccw_200f` at `pattern_ID 4`; this card's slot 4 is a 1-frame color test pattern, the runner read `frames: 1` from the card (correctly) and the display sat on frame 0. The protocol was re-pointed at the card's 20-frame grating — a card-content mismatch the Studio already warns about, not a bridge issue.
+One detour worth knowing: the stock `fictrac_bias_test.yaml` (now `protocols/shared/` in the private `reiserlab/arena-experiments`) names `frame2_h_ccw_200f` at `pattern_ID 4`; this card's slot 4 is a 1-frame color test pattern, the runner read `frames: 1` from the card (correctly) and the display sat on frame 0. The protocol was re-pointed at the card's 20-frame grating — a card-content mismatch the Studio already warns about, not a bridge issue.
 
 **Still not verified:** Windows execution (`win-64` only resolves and locks; the rig-PC session is
 scripted step by step in `WINDOWS-TEST.md`), and the macOS router with the stock IPv6 config (the
@@ -282,7 +282,7 @@ without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pa
 Studio v0.95 served from `localhost:8092` (this branch), `pixi run rig -- --sim --bias` (model
 fly at 50 Hz, typed FicTrac topic, real BIAS Mac port on :5010, bridge node recording with the
 `crashsafe` profile), the G6 2×10 bench controller over Web Serial (Michael clicked the port
-picker), protocol `protocols/bias_camera_closed_loop_poc.yaml` (6 steps: camera start → 15 s
+picker), protocol `protocols/ww18/bias_camera_closed_loop_poc.yaml` from the private `reiserlab/arena-experiments` (in this repo's `protocols/` until 2026-10-29; 6 steps: camera start → 15 s
 closed loop → camera sync → 15 s closed loop + 90 °/s bias → camera stop → shutdown).
 
 | | result |
diff --git a/rig/WINDOWS-TEST.md b/rig/WINDOWS-TEST.md
index b783a7c2..f8677795 100644
--- a/rig/WINDOWS-TEST.md
+++ b/rig/WINDOWS-TEST.md
@@ -52,7 +52,7 @@ pass/fail, timings, sizes and every error verbatim.
 3. Follow rig/WINDOWS-TEST.md in order. Steps 1–3 need no hardware and can run
    unattended; stop and ask me to be at the keyboard before step 4 (BIAS) and step 5 (Studio +
    controller over Web Serial). Stop bridge 3.4 first if it is running.
-4. Results: rig/windows-results-ww18-<date>.md committed to the branch and pushed; add a
+4. Results: a `windows-results-ww18-<date>.md` committed to the private `reiserlab/arena-experiments` under `rigs/ww18/` (rig records left this repo on 2026-10-29, LAB-227); add a
    "Windows results" row to the test-plan table in PR #254's description. Small fixes may go on
    the branch (message names the step); never touch Production or Next.
 ```
@@ -70,7 +70,7 @@ Windows build with its FLIR camera, the G6 controller on USB, optionally FicTrac
 Visual Studio 2022 Build Tools (Desktop C++) is installed — step 1b measures the typed-message
 build with and without it.
 
-**Windows notes from the first run (ww18, 2026-10-15 — `windows-results-ww18-2026-10-15.md`):**
+**Windows notes from the first run (ww18, 2026-10-15 — `rigs/ww18/windows-results-ww18-2026-10-15.md` in `reiserlab/arena-experiments`):**
 
 - **Short build path for the typed build**: under `C:\Users\<name>\Documents\GitHub\…` it hits Windows'
   260-character path limit (`C1083`). Either clone to under ~45 characters before `\rig`, or, from any
@@ -83,7 +83,7 @@ build with and without it.
   since 538cc85: 1b / 7 install on ww18 (35 s, harness 48 / 48).
 - **Check the controller's SD card first**: an empty SD listing / "pattern missing" can mean no card is mounted
   at all (ww18's old card). The site library's 2×10 set (`patterns/g6_2x10/patterns/`) plus
-  `protocols/bias_camera_closed_loop_poc_ww18*.yaml` (slot 2 `grating_sq`) work on any 2×10 card loaded that way.
+  `protocols/ww18/bias_camera_closed_loop_poc_ww18*.yaml` (`reiserlab/arena-experiments`; slot 2 `grating_sq`) work on any 2×10 card loaded that way.
 - **FicTrac** (pixi-built): start it with `build\Release\fictrac.bat <config>` from the config folder —
   `fictrac.exe` alone exits silently with `0xC0000135` (DLL not found).
 - **BIAS Atlas10 build** (atlas-bench): HTTP server on by default at 5010; uFMF by default, so `.avi` names
@@ -161,7 +161,7 @@ whether the router keeps running after Ctrl-C (`tasklist | findstr rmw_zenohd`).
 pixi run test -- --keep
 ```
 
-Expected: `54 / 54 checks passed` (57 / 57 with `-e typed`; 59 / 62 before the ScanImage connector left on 2026-10-28) in about a minute and a line `artifacts kept in …`. Keep that
+Expected: `60 / 60 checks passed` (63 / 63 with `-e typed`; measured on the Mac 2026-10-28 with rig-nodes 0.4.0 — the six host-monitor checks of #282 raised the count, the five ScanImage-connector checks left with the connector the same day) in about a minute and a line `artifacts kept in …`. Keep that
 directory (`summary.md`, `crash-results.json`, the converted export, `runlogs\*.bag`, `proc-logs\`).
 Windows-specific things it exercises for the first time: child processes in their own group,
 `CTRL_BREAK_EVENT` as the stop signal, `TerminateProcess` for the mid-run kills (the FicTrac adapter
@@ -224,7 +224,7 @@ cd ..                                   # repo root
 python .claude\nocache-server.py 8092
 ```
 
-Chrome: `http://localhost:8092/arena_studio.html?p=bias_camera_closed_loop_poc&rig=<rig key>&mode=run`
+Chrome: `http://localhost:8092/arena_studio.html?repo=reiserlab/arena-experiments&p=protocols/ww18/bias_camera_closed_loop_poc.yaml&rig=<rig key>&mode=run` (signed in; the protocol moved to the private repo on 2026-10-29)
 with the rig key from `configs\rigs\index.json` that matches this arena (`cshl_g6_2x10_ball` for a
 2×10 ball rig). Then:
 
diff --git a/rig/config/bias/okey-cokey-bfs-u3-51s5m.json b/rig/config/bias/okey-cokey-bfs-u3-51s5m.json
deleted file mode 100644
index ac2ce960..00000000
--- a/rig/config/bias/okey-cokey-bfs-u3-51s5m.json
+++ /dev/null
@@ -1,253 +0,0 @@
-{
-    "camera":  {
-                   "format7Settings":  {
-                                           "mode":  "0",
-                                           "pixelFormat":  "MONO8",
-                                           "roi":  {
-                                                       "height":  2048,
-                                                       "offsetX":  0,
-                                                       "offsetY":  0,
-                                                       "width":  2448
-                                                   }
-                                       },
-                   "frameRate":  "Format7",
-                   "guid":  "24203703",
-                   "model":  "Blackfly S BFS-U3-51S5M",
-                   "properties":  {
-                                      "autoExposure":  {
-                                                           "absoluteControl":  false,
-                                                           "absoluteValue":  0.0,
-                                                           "autoActive":  false,
-                                                           "on":  false,
-                                                           "onePush":  false,
-                                                           "present":  false,
-                                                           "value":  0
-                                                       },
-                                      "brightness":  {
-                                                         "absoluteControl":  true,
-                                                         "absoluteValue":  0.0,
-                                                         "autoActive":  false,
-                                                         "on":  true,
-                                                         "onePush":  false,
-                                                         "present":  true,
-                                                         "value":  33
-                                                     },
-                                      "focus":  {
-                                                    "absoluteControl":  false,
-                                                    "absoluteValue":  0.0,
-                                                    "autoActive":  false,
-                                                    "on":  false,
-                                                    "onePush":  false,
-                                                    "present":  false,
-                                                    "value":  0
-                                                },
-                                      "frameRate":  {
-                                                        "absoluteControl":  true,
-                                                        "absoluteValue":  73.3232421875,
-                                                        "autoActive":  false,
-                                                        "on":  false,
-                                                        "onePush":  false,
-                                                        "present":  true,
-                                                        "value":  95
-                                                    },
-                                      "gain":  {
-                                                   "absoluteControl":  true,
-                                                   "absoluteValue":  0.0,
-                                                   "autoActive":  false,
-                                                   "on":  false,
-                                                   "onePush":  false,
-                                                   "present":  true,
-                                                   "value":  0
-                                               },
-                                      "gamma":  {
-                                                    "absoluteControl":  true,
-                                                    "absoluteValue":  0.800048828125,
-                                                    "autoActive":  false,
-                                                    "on":  true,
-                                                    "onePush":  false,
-                                                    "present":  true,
-                                                    "value":  14
-                                                },
-                                      "hue":  {
-                                                  "absoluteControl":  false,
-                                                  "absoluteValue":  0.0,
-                                                  "autoActive":  false,
-                                                  "on":  false,
-                                                  "onePush":  false,
-                                                  "present":  false,
-                                                  "value":  0
-                                              },
-                                      "iris":  {
-                                                   "absoluteControl":  false,
-                                                   "absoluteValue":  0.0,
-                                                   "autoActive":  false,
-                                                   "on":  false,
-                                                   "onePush":  false,
-                                                   "present":  false,
-                                                   "value":  0
-                                               },
-                                      "pan":  {
-                                                  "absoluteControl":  false,
-                                                  "absoluteValue":  0.0,
-                                                  "autoActive":  false,
-                                                  "on":  false,
-                                                  "onePush":  false,
-                                                  "present":  false,
-                                                  "value":  0
-                                              },
-                                      "saturation":  {
-                                                         "absoluteControl":  false,
-                                                         "absoluteValue":  0.0,
-                                                         "autoActive":  false,
-                                                         "on":  false,
-                                                         "onePush":  false,
-                                                         "present":  false,
-                                                         "value":  0
-                                                     },
-                                      "sharpness":  {
-                                                        "absoluteControl":  false,
-                                                        "absoluteValue":  0.0,
-                                                        "autoActive":  false,
-                                                        "on":  false,
-                                                        "onePush":  false,
-                                                        "present":  false,
-                                                        "value":  0
-                                                    },
-                                      "shutter":  {
-                                                      "absoluteControl":  true,
-                                                      "absoluteValue":  998.0,
-                                                      "autoActive":  false,
-                                                      "on":  false,
-                                                      "onePush":  false,
-                                                      "present":  true,
-                                                      "value":  0
-                                                  },
-                                      "temperature":  {
-                                                          "absoluteControl":  true,
-                                                          "absoluteValue":  52.0,
-                                                          "autoActive":  false,
-                                                          "on":  false,
-                                                          "onePush":  false,
-                                                          "present":  true,
-                                                          "value":  70
-                                                      },
-                                      "tilt":  {
-                                                   "absoluteControl":  false,
-                                                   "absoluteValue":  0.0,
-                                                   "autoActive":  false,
-                                                   "on":  false,
-                                                   "onePush":  false,
-                                                   "present":  false,
-                                                   "value":  0
-                                               },
-                                      "triggerDelay":  {
-                                                           "absoluteControl":  true,
-                                                           "absoluteValue":  13.0,
-                                                           "autoActive":  false,
-                                                           "on":  false,
-                                                           "onePush":  false,
-                                                           "present":  true,
-                                                           "value":  0
-                                                       },
-                                      "triggerMode":  {
-                                                          "absoluteControl":  false,
-                                                          "absoluteValue":  0.0,
-                                                          "autoActive":  false,
-                                                          "on":  false,
-                                                          "onePush":  false,
-                                                          "present":  true,
-                                                          "value":  0
-                                                      },
-                                      "whiteBalance":  {
-                                                           "absoluteControl":  false,
-                                                           "absoluteValue":  0.0,
-                                                           "autoActive":  false,
-                                                           "on":  false,
-                                                           "onePush":  false,
-                                                           "present":  false,
-                                                           "valueBlue":  0,
-                                                           "valueRed":  0
-                                                       },
-                                      "zoom":  {
-                                                   "absoluteControl":  false,
-                                                   "absoluteValue":  0.0,
-                                                   "autoActive":  false,
-                                                   "on":  false,
-                                                   "onePush":  false,
-                                                   "present":  false,
-                                                   "value":  0
-                                               }
-                                  },
-                   "triggerType":  "Internal",
-                   "vendor":  "Point Grey Research",
-                   "videoMode":  "Format7"
-               },
-    "configuration":  {
-                          "directory":  "C:/Users/labadmin/Documents",
-                          "fileName":  "bias_config"
-                      },
-    "display":  {
-                    "colorMap":  "None",
-                    "orientation":  {
-                                        "flipHorizontal":  false,
-                                        "flipVertical":  false
-                                    },
-                    "rotation":  0,
-                    "updateFrequency":  15.0
-                },
-    "logging":  {
-                    "autoNamingOptions":  {
-                                              "cameraIdentifier":  "CameraNumber",
-                                              "includeCameraIdentifier":  true,
-                                              "includeTimeAndDate":  true,
-                                              "includeVersionNumber":  true,
-                                              "timeAndDateFormat":  "\u0027date\u0027_yyyy_MM_dd_\u0027time\u0027_hh_mm_ss"
-                                          },
-                    "directory":  "C:/rec/okey-cokey",
-                    "enabled":  false,
-                    "fileName":  "bias_video",
-                    "format":  "ufmf",
-                    "settings":  {
-                                     "avi":  {
-                                                 "codec":  "MJPG",
-                                                 "frameSkip":  1
-                                             },
-                                     "bmp":  {
-                                                 "frameSkip":  1
-                                             },
-                                     "fmf":  {
-                                                 "frameSkip":  1
-                                             },
-                                     "jpg":  {
-                                                 "compressionThreads":  10,
-                                                 "frameSkip":  1,
-                                                 "mjpg":  true,
-                                                 "mjpgMaxFramePerFile":  5000000,
-                                                 "mjpgMaxFramePerFileFlag":  false,
-                                                 "quality":  90
-                                             },
-                                     "ufmf":  {
-                                                  "backgroundThreshold":  40,
-                                                  "boxLength":  30,
-                                                  "compressionThreads":  15,
-                                                  "dilate":  {
-                                                                 "on":  true,
-                                                                 "windowSize":  1
-                                                             },
-                                                  "frameSkip":  1,
-                                                  "medianUpdateCount":  100,
-                                                  "medianUpdateInterval":  50
-                                              }
-                                 }
-                },
-    "server":  {
-                   "enabled":  true,
-                   "port":  5010
-               },
-    "timer":  {
-                  "enabled":  false,
-                  "settings":  {
-                                   "duration":  40
-                               }
-              }
-}
diff --git a/rig/docs/okey-cokey-foxglove-dashboard-plan.md b/rig/docs/okey-cokey-foxglove-dashboard-plan.md
deleted file mode 100644
index 055cf91e..00000000
--- a/rig/docs/okey-cokey-foxglove-dashboard-plan.md
+++ /dev/null
@@ -1,176 +0,0 @@
-# Plan: a purpose-built Foxglove dashboard for the okey-cokey rig (camera + G6, no FicTrac)
-
-> **Status 2026-10-21: phases 1, 1b and 2 BUILT** on branch `claude/okey-cokey-rig` (off
-> `claude/okey-cokey-pairs`, itself the 2026-10-20 candidate + Grace's protocol shape). Phase 3
-> (live camera) NOT built, by decision: BIAS stays unchanged for now. The okey-cokey controller
-> runs telemetry firmware (Michael), so the observed side is live. Part of LAB-303.
->
-> | built | where |
-> |---|---|
-> | `/arena/browser` published live | `nodes/bridge_node.py` (one publisher; the bag record is unchanged) |
-> | tracker: expected/observed index, lag, display rate, health | `nodes/stimulus_core.py` (pure) |
-> | renderer + Python port of the panel colors | `nodes/arena_display.py` (pinned cell by cell to `js/panel-color.js` under Node) |
-> | live node | `nodes/stimulus_node.py`; `pixi run rig -- --stimulus` (`--foxglove` includes it), `--no-fictrac` for this rig |
-> | BIAS rate / drops / rtt / writer queue | `rig_nodes.bias_health` (reiserlab/rig-nodes), `viz_node.py` (`--sources bias` hides the unused FicTrac/Kinefly/arena-frame statuses) |
-> | replay: same topics from a finished bag + `/camera/image` from the uFMF | `nodes/dashboard_replay.py` via `pixi run fox-json -- <bag> <out> --stimulus`; `tools/ufmf.py` (BIAS v4 layout, index or scan) |
-> | layout | `foxglove/arena-okey-cokey.json` (15 panels) |
->
-> Tested: `pixi run test-stimulus` 54/54 (incl. a REAL 80 fps trial from the 2026-10-14 smoke run:
-> 800+ frames, every lag 0, 80 Hz); `pixi run test-stimulus-live` 10/10 (router + bridge +
-> stimulus node, the real trial played into the Studio WebSocket); ROS harness `pixi run test`
-> 54/54 and `test-viz` unchanged; `rig.py --no-fictrac --bias-sim --bias --foxglove` brings every
-> dashboard topic up with foxglove_bridge on :8766; uFMF reader on three real BIAS movies
-> (1920×1080, up to 2.1 GB, indexed). On the real 2026-10-14 bag the replay MCAP is 612 kB for
-> 2.5 min. **Not verified:** the layout opened in the Foxglove app (written to Foxglove's layout
-> format by hand; its topics are checked by the test), a live run on the okey-cokey rig, a real
-> uFMF from that rig's camera through the replay.
->
-> Deviations from the plan below: (1) the arena status is the stimulus node's own
-> `arena/display` diagnostic instead of re-feeding viz_node's FicTrac-frame `arena` entry, which
-> keeps meaning closed-loop frames; (2) an OBSERVED display image (`/arena/display_observed`)
-> was added beside the expected one; (3) `/viz/arena/observed_idx` and `lag_frames` are one sample
-> per displayed frame (live and replay alike); (4) the expected display's stall check is STALE only
-> while a pattern plays, since the telemetry ring has nothing to send in the dark; (5) the tiff
-> tool's PNG writer was not refactored into the shared module (left as it was).
-
-## Goal
-
-One Foxglove layout for a freely-walking-fly rig (overhead BIAS camera + G6 2×10 four-color arena, no
-FicTrac) showing three things:
-
-1. **The camera.**
-2. **The expected display**: what the arena should be showing right now (pattern, frame, color, duty),
-   rendered as an image of the unrolled arena.
-3. **Health and rate** for the arena and for BIAS: is each one alive, at what rate, and has anything
-   dropped.
-
-The same layout should work **live** (foxglove_bridge during the run) and on **replay** (the run's MCAP
-afterwards).
-
-## What exists today (release 2026-10-20, `rig/`)
-
-| Need | Today | Gap |
-|---|---|---|
-| BIAS health | `/bias/status` at 5 Hz (`bias_node.py`): reachable, capturing, logging, frameCount, framesPerSec, rtt_ms; on Atlas10 also frameIdGaps, cameraSkipped, loggerSkipped, writerSkipped, logQueueSize. `viz_node` turns these into `/viz/bias/*` and a `bias` entry in `/diagnostics`. `foxglove/arena-bias.json` shows them. | Mostly there. Missing: a rate from the frameCount slope (independent of BIAS's own estimate) and the drop counters on a plot. |
-| Arena health | `viz_node`'s `arena` entry is fed only by `/arena/frame`, which only FicTrac lines produce. | **Always "never seen" on this rig.** |
-| What the arena is doing | Every Studio message (trialParams `a` echoes, runner status events with `conditionName` / `params` / `durationSec`, controller telemetry `cc`/`cf`/`cs` row batches) reaches `bridge_node`. | It is **written to the bag only** (`/arena/browser`, `/arena/event` via `rec.write_raw`), never published, so nothing live can subscribe. The `a` hex is truncated to 8 bytes (no gain/duration). |
-| Expected display image | `tools/patfile.py` reads `.pat`; `tools/tiff_run_to_mcap.py` already renders `/arena/display` as a `foxglove.CompressedImage` (200×40, upscaled, labeled RECONSTRUCTED). | Offline only, and wired to the 2P color-sweep file names and DO1 timing. Monochrome. |
-| Camera image | Nothing. BIAS's HTTP API has no frame grab (only status, timestamps, frame count, video file). | **No live frames anywhere.** After the run, the `.ufmf` plus the per-frame stamps on `/bias/frames` (recorded at stopRecording) are enough to rebuild a timed image stream. |
-
-## Design
-
-### A. Make the arena's activity a live topic (bridge_node, small)
-
-`bridge_node` publishes what it already records:
-
-- `/arena/browser`: String JSON, verbatim, the same record it writes to the bag (QoS reliable, depth 50).
-  It stays in the bag as now.
-
-That one change lets any node watch the run without touching the Studio or bridge 3.4.
-
-### B. `stimulus_node.py`: expected display + arena health (new node, the core of the work)
-
-It subscribes to `/arena/browser` and keeps the current stimulus state:
-
-- From runner status events and the trialParams echoes: condition name, pattern name, mode, frame
-  rate, start frame, duty, and the trial start time (the echo's `ms`, i.e. when the command left the
-  browser).
-- Expected frame for Mode 2: `idx = (init + round(fps · (t − t_start))) mod n_frames`. `allOff` = dark.
-  Mode 3 is out of scope here (it needs FicTrac).
-- Observed frame: telemetry `cf` rows carry the frame the controller actually put up (idx + pattern
-  per frame change). Arrival is in ~10 Hz batches, so the observed stream lags by ~100 ms, but each row
-  has its own controller timestamp.
-
-It publishes:
-
-| Topic | Type | Rate | What |
-|---|---|---|---|
-| `/arena/stimulus` | String JSON (later typed) | on change | `{condition, pattern, mode, fps, init, duty, t_start}` |
-| `/arena/display` | `foxglove.CompressedImage` (PNG) | 10–15 Hz | the expected display: unrolled 200×40, ×4 upscale, top row = top |
-| `/viz/arena/expected_idx`, `/viz/arena/observed_idx` | Float64 | 10–15 Hz / per row | for one plot of the two indices together |
-| `/viz/arena/display_rate_hz` | Float64 | 1 Hz | frame changes per second from `cf` rows; should equal \|fps\| (80) during a trial and 0 in the dark |
-| `/viz/arena/lag_frames` | Float64 | 1 Hz | expected − observed (mod n), the "is the arena keeping up" number |
-| `/diagnostics` entry `arena` | DiagnosticStatus | 1 Hz | OK / WARN (rate off by > 5 %, lag > 2 frames, a `display_gap` or flagged `trial_quality`) / STALE (no telemetry for > 2 s while a run is open) / ERROR (non-ok command status) |
-
-**Color, not green.** The four-color panels light one bank per pattern, so a green ramp would show the
-wrong thing. Port the minimum of `js/panel-color.js` to Python (the layout table, and
-`bankAt(row, col) = 2·((row+1)%2) + (col%2)` in host coordinates), and pin it to the JS module with a
-test. Duty scales the brightness. Without that test, the two copies will drift.
-
-**Patterns.** The node needs the `.pat` files. It looks them up by name under a `--pattern-dir` (the
-protocol's `*_patterns/` folder) and caches them. If a pattern is missing, the image shows the name on
-a gray placeholder; the run is never refused.
-
-**If the firmware has no telemetry** (GET_FIRMWARE_VERSION flag bit 2 off, or the poller is off), there
-are no `cf` rows: show the expected display only, observed = "unknown", and arena health from command
-status alone. It must never claim "OK" without evidence (the same rule as `trial-quality.js`).
-
-### C. BIAS health additions (viz_node, small)
-
-- `/viz/bias/fps_from_count`: frameCount slope over the last 2 s of 5 Hz polls, next to BIAS's own
-  `framesPerSec`.
-- `/viz/bias/drops`: the sum of the Atlas10 counters (frameIdGaps + cameraSkipped + loggerSkipped +
-  writerSkipped) as a plot; WARN on any increase while logging. Absent keys (Spinnaker build) mean
-  "not reported", not 0.
-- `/viz/bias/rtt_ms` from the status polls; WARN at > 100 ms.
-
-### D. Camera
-
-- **Replay (phase 2).** `ufmf_to_mcap.py` reads the run's `.ufmf` and writes a sidecar MCAP with
-  `/camera/image` as `foxglove.CompressedImage` JPEG, timed by the `/bias/frames` stamps from the run
-  bag, downsampled (for example 10 Hz, half resolution) so the file stays small. Foxglove opens the run
-  bag and the sidecar together. uFMF needs a reader: write a small one (the format is documented, and
-  motmot's reader is Python 2-era), and test it on a ww18 recording.
-- **Live (phase 3, only if wanted).** BIAS has to push frames out: a small BIAS patch (in our
-  atlas-bench fork) publishing a rate-limited JPEG preview over ZMQ. A node then mirrors it as
-  `/camera/image`, copying `scanimage_frames_node.py` (rate limit + loss stats). Until then, keep the
-  BIAS window beside Foxglove during the run.
-
-### E. The layout: `foxglove/arena-okey-cokey.json`
-
-```
-┌──────────────────────────────┬─────────────────────────────────────┐
-│ Image /camera/image          │ Image /arena/display (expected)     │
-│ (replay; live after phase 3) │ caption: condition · pattern · duty │
-├──────────────┬───────────────┼─────────────────────────────────────┤
-│ Indicators   │ Plot: BIAS fps (own + from count), drops            │
-│ BIAS reach/  ├─────────────────────────────────────────────────────┤
-│ capture/log; │ Plot: arena expected vs observed idx; display rate  │
-│ arena state  ├─────────────────────────────────────────────────────┤
-│              │ StateTransitions: /arena/stimulus condition         │
-├──────────────┴──────────────────┬──────────────────────────────────┤
-│ DiagnosticSummary (/diagnostics)│ RawMessages /bias/reply          │
-└─────────────────────────────────┴──────────────────────────────────┘
-```
-
-### F. Replay parity
-
-The derived topics (B, C) do not exist in bags recorded before this work, and live ones are not
-recorded unless we choose to. Do both:
-
-- Record `/arena/stimulus` live (it is small). Do not record `/arena/display`: it is rebuilt from
-  stimulus + patterns.
-- Extend `nodes/foxglove_json.py` (the offline converter) to run the same `stimulus_node` logic over
-  the bag's `/arena/browser` records and emit `/arena/display` and the `/viz/arena/*` topics. Then the
-  layout works on any run, including today's.
-
-The logic lives in one pure module (`nodes/stimulus_core.py`) used both by the live node and by the
-converter, the same split as `studio-replay.js`.
-
-## Phases and size
-
-| Phase | What | Size | Gate |
-|---|---|---|---|
-| 1 | A + B (no color port yet) + C + layout; harness test with the Studio emulator sending trialParams + `cf` rows | ~1 day | live on the Mac bench with the 2×10 arena |
-| 1b | Python color port + test pinned to `js/panel-color.js` | ~2 h | the four banks show their colors |
-| 2 | F (offline converter) + D replay (uFMF reader → sidecar MCAP) | ~1 day | today's okey-cokey run opens with camera + expected display in sync |
-| 3 | D live (BIAS ZMQ preview patch + node) | ~1–2 days, BIAS C++ | only if a live camera in Foxglove is worth more than the BIAS window |
-
-## Open questions
-
-1. ~~Is a live camera in Foxglove needed?~~ Not now (2026-10-21): BIAS stays unchanged; replay has the camera.
-2. ~~Telemetry firmware on the okey-cokey controller?~~ Yes (Michael, 2026-10-21).
-3. Which BIAS build is on the okey-cokey PC: the Atlas10 fork has the drop counters, the Spinnaker
-   build may not (the panels then read "no data", never 0).
-4. Typed messages: `viz_node` subscribes to `/arena/frame` as String, which breaks in the `typed` env.
-   That doesn't affect this rig (no `/arena/frame`), but fix it when touching viz_node.
diff --git a/rig/nodes/rig.py b/rig/nodes/rig.py
index 45eb0c21..8607e9ef 100644
--- a/rig/nodes/rig.py
+++ b/rig/nodes/rig.py
@@ -165,8 +165,15 @@ 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/okey-cokey-pc-2026-10-21.md b/rig/okey-cokey-pc-2026-10-21.md
deleted file mode 100644
index 10b3171a..00000000
--- a/rig/okey-cokey-pc-2026-10-21.md
+++ /dev/null
@@ -1,167 +0,0 @@
-# Okey-cokey rig PC — BIAS + G6 color optomotor test, 2026-10-21
-
-The run sheet for today's test on the new lab PC in the okey-cokey room (freely walking flies, overhead
-BIAS camera, G6 2×10 four-color arena, **no FicTrac**). It is `WINDOWS-TEST.md` cut down to what this
-rig needs, with the ww18 findings of 2026-10-15 (`windows-results-ww18-2026-10-15.md`) applied up front.
-Record results in a sibling `okey-cokey-pc-results-2026-10-21.md` in the same shape as the ww18 file.
-
-Branch: `claude/okey-cokey-rig` = the 2026-10-20 release candidate (Studio v0.97, ROS 2 graph,
-BIAS connector) + the CW/CCW-pair protocols Grace asked for (`claude/okey-cokey-pairs`) + the camera +
-G6 Foxglove dashboard (`docs/okey-cokey-foxglove-dashboard-plan.md`). Neither is on a Pages tier, so
-serve the checkout locally (step 4).
-
-## 0. Setup (bare PC → ready)
-
-Do [`okey-cokey-pc-setup.md`](okey-cokey-pc-setup.md) first: PC access, git / pixi / Chrome /
-Foxglove, BIAS + camera SDK, the controller, the clone at `C:\w` on `claude/okey-cokey-rig`,
-the three `pixi install`s, both dashboard tests and a no-flies smoke of the whole stack. The steps
-below assume it is done.
-
-- [ ] IR backlight on by hand (Arduino). The web runner does not drive the backlight yet.
-
-## 1. BIAS itself (10 min)
-
-- [ ] **Which BIAS build?** FLIR/Spinnaker build or the atlas-bench Atlas10 fork (ww18 ran the fork).
-      Note the exe path and camera model.
-- [ ] External-control server on, port **5010** for camera 0:
-      `curl.exe "http://127.0.0.1:5010/?get-status"` returns `"success" : true`. Note any extra keys.
-- [ ] Logging format = **ufmf** in BIAS's own settings (BIAS writes its configured format whatever
-      extension it is sent; ww18 B1). BIAS v0.73.1 (Spinnaker) resets to jpg on **every** restart (ww14),
-      so after each BIAS start run
-      `powershell -ExecutionPolicy Bypass -File tools\bias-ufmf.ps1 -VideoDir <video dir>`.
-      It must print `BIAS logging: ufmf -> …` (details: setup checklist C.3).
-- [ ] Choose and create the **video directory**, e.g. `D:\rec\okey-cokey`. Use plain file names with
-      no dots or spaces (BIAS cuts the name at the first dot; ww18 B1).
-- [ ] Camera preview live, frame rate as expected (note `framesPerSec`).
-- [ ] Never run `bias_sim` or the harness while the real BIAS is open: on Windows both can hold 5010 and
-      loopback clients reach the sim (ww18 W8; the sim now refuses, but don't test it).
-
-## 2. BIAS through the node (5 min)
-
-Two terminals in `rig`:
-
-```powershell
-pixi run router
-pixi run bias-node -- --host 127.0.0.1 --port 5010 --video-dir D:\rec\okey-cokey
-```
-
-Third terminal:
-
-```powershell
-pixi run bias-cmd -- connect --json
-pixi run bias-cmd -- startRecording --filename nodecheck.ufmf --json
-pixi run bias-cmd -- getTimestamp --json          # wait ≥ 0.5 s after start: the clock reads 0 before the first frame
-pixi run bias-cmd -- stopRecording --json         # expect resolved file + bytes + frame-stamp count
-dir D:\rec\okey-cokey
-```
-
-- [ ] Every reply `"outcome": "ok"` (connect can take ~2.2 s on Atlas10; the node allows 15 s).
-- [ ] `stopRecording` names the file BIAS really wrote (`…_cam_0_date_…_v001.ufmf`) and its frame count
-      = the lines in `stamp_log_cam0.txt`.
-- [ ] Unknown path: start a recording, close BIAS, `getTimestamp` returns `unknown` / `error` within
-      seconds, no hang; reopen BIAS and the node's status flips back to reachable. (ww14: `unknown` after
-      4.0 s.) **Then rerun `tools\bias-ufmf.ps1`**: the reopened BIAS is back on jpg.
-
-If the rig (step 3) is already running, its own BIAS node answers `bias-cmd` the same way. ww14 ran
-this step that way, with no separate router or node.
-
-Stop the node and the router (Ctrl-C).
-
-## 3. The graph, no FicTrac, with the dashboard (2 min)
-
-Once: `pixi install -e viz` (foxglove_bridge, ~0.3 GB) and the Foxglove desktop app.
-
-```powershell
-pixi run rig -- --no-fictrac --bias --bias-args "--video-dir D:\rec\okey-cokey" --foxglove --viz-args "--sources bias" --stimulus-args "--panel-layout four-color"
-```
-
-**For a real run, start the stack with `tools\okey-cokey-start.ps1`** (BIAS + ufmf + this rig +
-step 4's server + the Studio, in one go; ww14). It launches everything through WMI, so the rig and
-the server get consoles of their own that outlive whatever started them. On ww14 those are two
-**tabs of one Windows Terminal window** ("okey-cokey RIG", "okey-cokey STUDIO SERVER :8092"): stop
-the rig with Ctrl-C in its tab. On ww14 (2026-10-22) a full run died at
-minute 9 because the Claude desktop app restarted itself and took BIAS, the rig and the server,
-all started from a Claude session, with it. Never run an experiment from a Claude terminal tab.
-
-Expected: `[rig] up: router, bias, bridge, stimulus, viz, foxglove — Studio → ws://localhost:8765
-Foxglove → ws://localhost:8766`. In Foxglove: Open connection → Foxglove WebSocket →
-`ws://localhost:8766`; Layout → Import from file → `rig\foxglove\arena-okey-cokey.json`.
-**8766, not 8765.** 8765 is the Studio bridge: Foxglove connects there, drops at once, and shows
-nothing. Before a run: BIAS indicator green, camera fps plotted, "Arena" grey/OK. (Without the viz env, drop
-`--foxglove` and add `--stimulus`: the graph runs, there is just nothing to look at.)
-
-## 4. Studio, served from this checkout
-
-```powershell
-cd C:\w
-pixi run python .claude\nocache-server.py 8092   # the root env's Python
-```
-
-Chrome: `http://localhost:8092/arena_studio.html?p=g6_color_optomotor_smoke&rig=cshl_g6_2x10&mode=run`
-(use this arena's own rig key from `configs\rigs\index.json` if it has one). Fallback if the local
-server is a problem: the Next tier (`/next/arena_studio.html`, same Studio v0.97) plus
-Protocol ▾ → Open… on `C:\w\protocols\g6_color_optomotor_smoke.yaml`.
-
-- [ ] Run view → **Bridge: Connect** → `connected`. Note any Chrome local-network prompt.
-- [ ] **Connect** → the controller: pick **`G6_Arena`** in the port picker, not a COM number (ww14
-      has a second Teensy, and the controller moved from COM3 to COM5 within a day). Firmware line in the log; note the build label. The 2×10 controller
-      must run the `arena-2x10-local` build (a `main` build rejects 2×10 patterns).
-- [ ] SD card mounted (Console shows a listing; ww18 H1 had an unmounted card). Upload
-      `protocols\g6_color_optomotor_test_patterns\` (Patterns → Add ▾); the four
-      `G6_2x10_toprow_grat20_*` names show 20 frames.
-- [ ] **Direction**, once: Console → Test `green_pair_d100`. The first 10 s must turn clockwise seen
-      from above, then reverse with no gap. If reversed, swap `fps_cw` / `fps_ccw` in Edit view and
-      record it.
-      **Okey-cokey rig: done, no test needed.** On 2026-10-22 (ww14) the arena turned out to be
-      **mounted upside down**. Confirmed by eye in the smoke run: every trial the protocol calls CW
-      (`fps_cw` = +80) turns **counter-clockwise seen from above**, and "CCW" turns clockwise. This
-      was accepted as is, so the protocols are **not** changed. When analysing okey-cokey data,
-      treat the protocol's CW/CCW labels as reversed relative to the fly's view from above.
-      (The Console "Test `green_pair_d100`" entry also wasn't found on ww14; the smoke run's first
-      pair shows the same thing.)
-
-## 5. Smoke run (2 min), then the full run (16 min)
-
-- [ ] Experimenter + genotype filled, **Run experiment** on `g6_color_optomotor_smoke`: 4 pairs at duty
-      100 % (10 s CW → 10 s CCW, 5 s dark), camera connect / startRecording / getTimestamp /
-      stopRecording all `ok` in the step strip.
-- [ ] Watch: top row only, one color per pair, no dark gap at the CW→CCW reversal, bottom row dark.
-- [ ] **Dashboard, live:** the EXPECTED display turns with the arena in the right color and reverses
-      with no gap; OBSERVED follows within ~0.1 s; "Arena frame index" shows the two traces on top of
-      each other; lag stays 0; arena rate reads 80 Hz in a rotation and 0 in the pauses; the arena
-      health line names the pattern; condition / arena / BIAS state bars step with the protocol.
-      Record any WARN/ERROR text verbatim (`/viz/arena/health`) and a screenshot.
-- [ ] Then `?p=g6_color_optomotor_test` (Grace's shape): 24 pairs of 15 s CW + 15 s CCW, 10 s dark
-      between pairs and across blocks, duty 25 → 50 → 100 %. Is the 25 % vs 100 % step visible?
-
-## 6. Collect and judge
-
-```powershell
-cd C:\w\rig
-pixi run export                                       # unless the Studio auto-committed
-pixi run python ..\scripts\runlog-check.py runlogs\exports\<file>.jsonl
-pixi run ros2 bag info runlogs\<run>.bag
-```
-
-`runlog-check` can report a run "incomplete" with trials `unknown (coverage)`, `ring_overrun`, whose
-patterns and durations don't match the protocol. Those are controller activity from **before** the run,
-such as Console tests while nothing drained the telemetry ring (ww14 smoke #1: 4 such trials, while all
-8 run rotations passed). Judge the run by its own trials, or run it again straight after Connect
-(ww14 smoke #2: OK, 8 / 8 pass, 0 unknown).
-
-- [ ] `runlog-check` OK (smoke: 4 conditions × 2 trialParams; full: 24 × 2 = 48 trialParams).
-- [ ] `/bias/reply`: smoke 1 + 4 + 1 `getTimestamp` (start, each pair, stop); full 1 + 24 + 1.
-- [ ] `/bias/frames` count = the stamp log's lines; video length ≈ run length × camera fps
-      (full ≈ 965 s × fps).
-- [ ] **Dashboard, replay:** `pixi run fox-json -- runlogs\<run>.bag runlogs\<run>.foxglove.mcap --stimulus --panel-layout four-color`
-      (finds the `.ufmf` through the run's stopRecording reply; `--ufmf <file>` otherwise). The JSON
-      it prints has a `dashboard` block: `camera.images`, `camera.offset_ms`, `stimulus_messages`. Open
-      the `.foxglove.mcap` in Foxglove with the same layout: camera, expected and observed display in
-      sync; check one reversal (the fly's turning should flip within a few hundred ms of the display).
-- [ ] Copy the bag, the export, the `.foxglove.mcap` and the `.ufmf` somewhere Michael can reach (group share).
-
-## What to send back
-
-The PC facts (step 0), the BIAS build and status keys, every non-ok reply verbatim, the direction
-result, the two runs' `runlog-check` output, frame counts vs expected, and anything that needed a
-manual step.
diff --git a/rig/okey-cokey-pc-results-2026-10-21.md b/rig/okey-cokey-pc-results-2026-10-21.md
deleted file mode 100644
index 0ff3f40c..00000000
--- a/rig/okey-cokey-pc-results-2026-10-21.md
+++ /dev/null
@@ -1,36 +0,0 @@
-*Paths in this record predate the 2026-10-26 rename `ros2-poc/` → `rig/`, `arena_interfaces` → `rig_interfaces`; the branch `claude/okey-cokey-dashboard` is now `claude/okey-cokey-rig` (PR #269).*
-
-# LAB-303 okey-cokey — results, REISERLAB-WW14, 2026-10-22
-
-Run sheet: [`okey-cokey-pc-2026-10-21.md`](okey-cokey-pc-2026-10-21.md). PC facts, setup, BIAS build and
-the two no-flies smoke runs: [`okey-cokey-pc-ww14-setup-2026-10-22.md`](okey-cokey-pc-ww14-setup-2026-10-22.md).
-
-**Status:** the full `g6_color_optomotor_test` run with flies passed: arena 48 / 48 trials, BIAS 58 / 58
-replies `ok`, 70 953 camera frames at 73.3 fps over 968 s. The first full attempt died at minute 9 when
-the Claude desktop app restarted (R1). Not done yet: the Foxglove replay of the full run, and copying
-its files to the group share.
-
-## Machine
-
-As in the setup file (REISERLAB-WW14, BIAS v0.73.1 Spinnaker, FLIR BFS-U3-51S5M, firmware
-`c15d840a 2x10 2026-09-29 restack/panel-boot freerun sdfast`), with one change: the controller was on
-**COM5** for the full run (R2).
-
-## Findings
-
-| # | Step | Finding | Status |
-|---|---|---|---|
-| R1 | 5 | **The first full run died at 15:31:21, 9 min in** (during the CCW half of the first `blue_pair_d50`, pair 14 / 24). BIAS, the rig and the Studio server had all been started from a Claude Code session in the Claude desktop app. The app restarted itself (Windows Application log, `CoworkVMService` at 15:31:21–22), and every process it had started died with it. The controller stayed connected over USB. | **fixed** for the next run: `tools\okey-cokey-start.ps1` launches BIAS, the rig and the server through WMI, so they are children of `WmiPrvSE`, not of the launching app or terminal (checked: no `claude.exe` in their parent chain). The run sheet now says to start real runs this way. Tested from scratch at ~16:20 (BIAS, rig and server all stopped first): exit 0, all five ports up, every listener's parent chain runs through `WmiPrvSE`, BIAS on ufmf. The consoles open as **tabs of one Windows Terminal window**, which at first hid the rig's tab from the operator; the script and run sheet now say so. |
-| R2 | 4 | The controller is **COM5** now, not COM3 as in setup. Two Teensys share VID 16C0 / PID 0483: `G6_Arena` (serial 12169940, COM5) and a "USB Serial" device (serial 17917130, COM3). | **docs**: pick it by name, `G6_Arena`, in the port picker (setup file C + run sheet step 4) |
-| R3 | 6 | **A large occlusion makes the ufmf about 25× larger.** An operator leaned into the camera's view **on purpose** at 352 s into the video (frame #25 802, ≈ 15:42:50) for ~4 s. Frames: ~1.1 KB normally → ~4 MB during the occlusion → hundreds of KB/frame for ~3.3 min after it (352 → ~551 s, a mean of 1.3 MB/frame in minute 6), then back to ~1.1 KB. The run's file came to **11.8 GB** instead of ~0.5 GB. BIAS's background (`medianUpdateInterval` 50 frames, `medianUpdateCount` 100, threshold 40) had taken in part of the occluder, so reconstructed frames in that window show a dark ghost over part of the arena. BIAS's ufmf settings were identical to `config/bias/okey-cokey-bfs-u3-51s5m.json`. | info: budget disk for occlusions; video for pairs 9–14 (the 50 % block's `violet_pair_d50` CCW half … second `blue_pair_d50` CCW half) has the ghost artifact |
-| R4 | 5 | **A panel glitch was reported by eye during the second half of the trials, sometimes.** The controller's telemetry shows nothing: all 57 810 displayed frames have `superseded` 0, SPI time 232–235 µs in every trial (first half and second half alike), SD reads ≤ 0.8 ms, no `error_glyph` / `boot` / `sd_slow` / `ring_overrun` / `timer_fail` events, `trial_quality` 48 / 48 pass. So the frames left the controller on time; a glitch would be panel-side (SPI signal to a panel, or the panel itself), which this telemetry cannot see. The camera does not see the LEDs either: ufmf frames stayed ~1.1 KB while gratings were running. | **open.** Operator, after the run: **several panels** at once, and what they showed **looked like numbers and letters**. That matches a *panel-side* error glyph (seen once before on the bench, "02/03" on one panel after a controller reset: `docs/development/mode3-wedge-soak-plan.md`, 2026-09-13 20:28), not the controller's own `CE NN` glyph, which the ring logs as `error_glyph` (none here). Panels draw it themselves, e.g. after a bad SPI message or a panel reset; "second half" overlaps the 50 % and 100 % duty blocks (more LED current). Next: reproduce with no flies, photograph the glyph text, and note the time, panels and block. |
-
-## Runs
-
-| run | time | what | arena | BIAS | files |
-|---|---|---|---|---|---|
-| partial | 15:22:09–15:31:20 | `g6_color_optomotor_test`, flies; died at pair 14 (R1) | 28 of 48 trials started, log cut off | `ok` until killed; 40 324 frames, 550 s | `color_optomotor_cam_0_date_2026_10_22_time_15_22_09_v001.ufmf` (76 MB), `runlogs/arena-log-20261022-152209-836.*`: **not usable** |
-| full | 15:36:58–15:53 | `g6_color_optomotor_test`, flies (Canton-S, experimenter mreiser) | `runlog-check` **OK**: 48 pass / 0 fail / 0 unknown, 1 / 1 run files complete | 58 replies, all `ok`; 70 953 frames = 70 953 stamp-log lines, 968.08 s, 73.3 fps | `C:\rec\okey-cokey\color_optomotor_cam_0_date_2026_10_22_time_15_36_58_v001.ufmf` (11.8 GB, R3); `runlogs/arena-log-20261022-153658-696.bag`; export `runlogs/exports/arena-log-20261022-153658-696.jsonl` (63 464 lines) |
-
-Direction on this rig is reversed relative to the protocol's labels (arena mounted upside down; setup
-file, smoke run 1): protocol "CW" turns counterclockwise seen from above.
diff --git a/rig/okey-cokey-pc-setup.md b/rig/okey-cokey-pc-setup.md
deleted file mode 100644
index a1527e66..00000000
--- a/rig/okey-cokey-pc-setup.md
+++ /dev/null
@@ -1,133 +0,0 @@
-# Okey-cokey rig PC — setup checklist (bare Windows PC → ready for the test)
-
-The PC in the okey-cokey room starts without Foxglove, without the webDisplayTools repo and possibly
-without git or pixi. Work through this list **before** the run sheet
-([`okey-cokey-pc-2026-10-21.md`](okey-cokey-pc-2026-10-21.md)); the run sheet assumes every box here
-is ticked. Items marked **(Michael/Grace)** need a person at the PC or an admin/UAC prompt; the rest
-a Claude Code session on the PC can do and check itself.
-
-Write down what you find in each section, it goes into the results file.
-
-**Paths.** The commands below use `C:\w` for the clone and `D:\rec\okey-cokey` for videos; use your own.
-The first PC done with this list, REISERLAB-WW14 (2026-10-22), has no D: drive. There the clone is
-`C:\Users\labadmin\Documents\GitHub\webDisplayTools` and the videos go to `C:\rec\okey-cokey`.
-Its results, including the direction finding: [`okey-cokey-pc-ww14-setup-2026-10-22.md`](okey-cokey-pc-ww14-setup-2026-10-22.md).
-
-## A. Access and the PC itself
-
-- [ ] **(Grace)** Remote Desktop enabled; send Michael the PC name (Settings → System → Remote Desktop).
-- [ ] PC name, Windows version (`winver`), user account; is the account a local admin? (installs below
-      are per-user where possible, so admin is only needed for C.4 and maybe B.5).
-- [ ] Free disk: ≥ 10 GB on C: for the tools (pixi envs ~2 GB + package cache ~8 GB), plus the video
-      drive: the 16-min run at the camera's resolution × fps in uFMF (ww18's Atlas10 wrote ~24 MB/s at
-      8 MP × 135 fps; a smaller camera is far less: ww14's Blackfly S BFS-U3-51S5M at 5 MP × 73 fps wrote
-      ~0.5 MB/s, ~0.5 GB per full run). Note which drive gets videos (`D:\rec\okey-cokey`?).
-- [ ] Power plan: High performance, sleep **off** while plugged in (a sleeping PC drops the USB serial
-      link and stops the camera mid-run).
-- [ ] Windows Update not about to reboot (Settings → Windows Update → pause 1 week for the test).
-
-## B. Tools (each one: check it, install if missing, note the version)
-
-| # | tool | check | install if missing | why |
-|---|---|---|---|---|
-| B.1 | **Git for Windows** | `git --version` | `winget install --id Git.Git -e` | the clone; Claude Code's CLI also runs through Git's bash |
-| B.2 | **pixi** ≥ 0.69 | `pixi --version` | `powershell -ExecutionPolicy ByPass -c "irm -useb https://pixi.sh/install.ps1 \| iex"`, then open a NEW terminal | provides Python, Node, ROS 2, foxglove_bridge — nothing else to install for the software side |
-| B.3 | **Chrome** (current) | Settings → About | `winget install --id Google.Chrome -e` | the Studio (Web Serial needs Chrome/Edge) |
-| B.4 | **Foxglove** desktop app | Start menu "Foxglove" | not in winget. Use the signed installer `https://get.foxglove.dev/desktop/latest/foxglove-latest-win.exe`, run silently per-user with `/S /currentuser` (ww14: 3.4.2, lands in `%LOCALAPPDATA%\Programs\desktop\Foxglove.exe`). Free account sign-in on first start | the dashboard; per-user install |
-| B.5 | **Claude Code** (only if a Claude session will drive the PC) | `claude --version`, or the desktop app | from claude.com/claude-code | runs the handover; the CLI needs B.1 first |
-| B.6 | GitHub CLI (optional) | `gh --version` | `winget install --id GitHub.cli -e` | only for pushing results from the PC; HTTPS + a token also works |
-
-Not needed for this test: Visual Studio Build Tools (only the optional `typed` ROS environment wants a
-compiler), MATLAB, FicTrac.
-
-## C. Lab hardware software (not provided by pixi — must already be on the PC or copied over)
-
-- [ ] **C.1 BIAS**: which build is installed, where (`…\test_gui.exe` or a `.bat` launcher), which camera.
-      The FLIR/Spinnaker build for FLIR cameras; the atlas-bench Atlas10 build (LUCID Arena backend) for
-      LUCID cameras, as on ww18. **If BIAS is not on this PC, stop and tell Michael** — it cannot be
-      built in the test window without its toolchain; copy a known-good build (e.g. from ww18 or the
-      lab share) instead.
-- [ ] **C.2 Camera SDK/driver** for that build (Spinnaker or LUCID Arena SDK) installed; the camera
-      shows a live preview in BIAS.
-- [ ] **C.3 BIAS external-control server** on, port 5010 for camera 0:
-      `curl.exe "http://127.0.0.1:5010/?get-status"` returns `"success" : true`. Logging format **ufmf**.
-      **BIAS v0.73.1 (Spinnaker) forgets its settings on every restart**: it starts as jpg →
-      `%USERPROFILE%\Videos`. It also rejects `set-`/`load-configuration` ("Unable to revert to
-      previous configuration") until the camera has captured once. After **every** BIAS start, run
-      `powershell -ExecutionPolicy Bypass -File rig\tools\bias-ufmf.ps1 -VideoDir <video dir>`.
-      It does connect → 2 s capture → load, and prints `BIAS logging: ufmf -> …`. Add
-      `-Config rig\config\bias\<camera>.json` for a saved per-camera config (ww14:
-      `okey-cokey-bfs-u3-51s5m.json`).
-- [ ] **C.4 (Michael/Grace)** Firewall: if Windows asks to allow BIAS / `rmw_zenohd` / `foxglove_bridge`
-      / Python on first start, "Private networks" is enough (everything here talks over 127.0.0.1).
-- [ ] **C.5 IR backlight** switch / Arduino works by hand (the web runner does not drive it yet).
-- [ ] **C.6 G6 controller** on USB: Device Manager shows a COM port appear when it is plugged in
-      (Teensy serial uses the built-in Windows driver). Its firmware is the 2×10 telemetry build
-      (`arena-2x10-local` / `sdfast`); the Studio shows the label at Connect.
-- [ ] **C.7 SD card** in the controller is mounted (the Studio's Console lists files). If unsure, a
-      ≤ 32 GB FAT32 card (ww18's exFAT 64 GB card had one slow-read burst).
-
-## D. The repo and the environments
-
-```powershell
-git clone https://github.com/reiserlab/webDisplayTools C:\w
-cd C:\w
-git switch claude/okey-cokey-rig
-pixi install                    # root env: Node + Python (tests, the local Studio server)
-cd rig
-pixi install --locked           # ROS 2 graph (~25 s on ww18, ~1.5 GB)
-pixi install --locked -e viz    # + foxglove_bridge (~0.3 GB)
-```
-
-- [ ] Short checkout path (`C:\w`): the default env does not care, but Windows' 260-char limit bites
-      the optional typed build, and short paths are easier to type over RDP.
-- [ ] `pixi run test-stimulus` → `PASS: 0 failure(s)` (includes the JS panel-color check, which uses
-      the ROOT env's Node — so the root `pixi install` above must have run).
-- [ ] `pixi run test-stimulus-live` → `PASS` (needs ports 7447 / 8765 free: no rig, no bridge 3.4).
-      **Known issue**: on a fresh clone, both of these stop with `FileNotFoundError …
-      okey_smoke_violet_cw.jsonl.gz`. That fixture was never committed because `.gitignore`
-      matched it (Known issues below). Skip both on a new PC; they don't block experiments.
-- [ ] Optional (~1 min): `pixi run test` → 54 / 54 (the whole ROS graph + Studio emulator). ww14 gave
-      51 / 54, all three failures Kinefly: UDP 60001 was held by `lsass` (Known issues below). Kinefly
-      isn't used on this rig.
-- [ ] `pixi run -e viz foxglove-bridge` starts and listens on 8766. Before the `pixi.toml` fix of
-      2026-10-22 it exited `3221225781` (0xC0000135, DLL not found) on Windows.
-- [ ] Nothing else listening: `netstat -ano | findstr ":7447 :8765 :8766 :8092 :60000 :5010"` shows only
-      BIAS on 5010 (once BIAS runs).
-
-## E. Smoke of the stack, no flies (5 min)
-
-- [ ] Terminal 1 (`C:\w\rig`):
-      `pixi run rig -- --no-fictrac --bias --bias-args "--video-dir D:\rec\okey-cokey" --foxglove --viz-args "--sources bias" --stimulus-args "--panel-layout four-color"`
-      → `[rig] up: router, bias, bridge, stimulus, viz, foxglove …`
-- [ ] Terminal 2 (`C:\w`): `pixi run python .claude\nocache-server.py 8092`
-- [ ] Chrome: `http://localhost:8092/arena_studio.html?p=g6_color_optomotor_smoke&rig=cshl_g6_2x10&mode=run`
-      → Bridge: Connect → `connected`; Connect → pick the controller's COM port.
-- [ ] Foxglove → Open connection → Foxglove WebSocket → `ws://localhost:8766`; Layout → Import from
-      file → `C:\w\rig\foxglove\arena-okey-cokey.json`. BIAS indicator green, camera fps plotted,
-      the expected display dark, "Arena" OK.
-      **8766, not 8765.** 8765 is the Studio bridge. Foxglove pointed there connects and drops
-      straight away, and the rig log fills with `client connected … / client disconnected` pairs.
-
-All green → go to the run sheet (it repeats E in context and continues with patterns, direction,
-smoke run, full run, collect, replay).
-
-## Known issues (as of 2026-10-22, ww14)
-
-- **Missing test fixture**: `rig/tests/fixtures/okey_smoke_violet_cw.jsonl.gz` was ignored by
-  `rig/.gitignore` (`*.jsonl.gz`), so `test-stimulus` / `test-stimulus-live` can't run on any
-  clone. `.gitignore` now has an exception for `tests/fixtures/`. The file itself still has to be
-  committed from the PC that recorded the 2026-10-14 smoke run (ww18): `git add -f` it.
-- **Kinefly test port**: 60001 is inside Windows' dynamic port range (49152–65535). Any system process
-  can hold it (ww14: `lsass`, `netstat -ano -p UDP | findstr :60001`), and then `pixi run test` loses its
-  Kinefly checks. This is harmless for camera + arena runs. A permanent fix would move the default port
-  below 49152, in step with the Kinefly fork's `--udp`.
-- **`ros2 topic echo <topic> --once` can hang** on Windows with rmw_zenoh even while the topic
-  publishes. Use Foxglove, or a short rclpy subscriber.
-
-## What to record from this checklist
-
-PC name and Windows version; admin yes/no; every tool version (B), installed or found; BIAS build + path
-+ camera model + whether its status reply has the drop counters (`frameIdGaps`, `cameraSkipped`, …);
-controller firmware label; SD card; both test counts; anything that needed a click, a UAC prompt or a
-download, and how long the whole setup took.
diff --git a/rig/okey-cokey-pc-ww14-setup-2026-10-22.md b/rig/okey-cokey-pc-ww14-setup-2026-10-22.md
deleted file mode 100644
index 5e9b8750..00000000
--- a/rig/okey-cokey-pc-ww14-setup-2026-10-22.md
+++ /dev/null
@@ -1,87 +0,0 @@
-*Paths in this record predate the 2026-10-26 rename `ros2-poc/` → `rig/`, `arena_interfaces` → `rig_interfaces`; the branch `claude/okey-cokey-dashboard` is now `claude/okey-cokey-rig` (PR #269).*
-
-# Okey-cokey rig PC setup — results, REISERLAB-WW14, 2026-10-22
-
-Checklist: [`okey-cokey-pc-setup.md`](okey-cokey-pc-setup.md). Setup by a Claude Code session on the PC (~30 min).
-
-## A. PC
-
-- **REISERLAB-WW14**, Windows 11 Enterprise 10.0.26100, user `labadmin` (Administrators group; session not elevated). RDP enabled.
-- Disk: C: 1474 GB free (no D: drive). Videos go to **`C:\rec\okey-cokey`**.
-- Power: switched Balanced → **Ultimate Performance**. AC sleep and hibernate never; USB selective suspend off (AC).
-- Windows Update: **not paused yet** (needs a person, Settings → Windows Update → pause 1 week).
-
-## B. Tools
-
-| tool | version | status |
-|---|---|---|
-| Git | 2.54.0.windows.1 | found |
-| pixi | 0.70.2 | found |
-| Chrome | 155.0.8059.86 | found |
-| Foxglove | 3.4.2 | **installed** (per-user, silent, signed installer from get.foxglove.dev; `%LOCALAPPDATA%\Programs\desktop\Foxglove.exe`) |
-| Claude Code | desktop app | found |
-| GitHub CLI | — | not installed (optional) |
-
-## C. Lab hardware software
-
-- **BIAS** v0.73.1, Spinnaker build, `C:\Users\labadmin\Documents\FlyBowl1Rig\BIAS_exe_spinnaker_win64_v0_73_1\v0.73.1\test_gui.exe`.
-  The copies in `Documents\GitHub\BIAS_exe_…` and `FlyBowl1Rig\test_gui.exe` are byte-identical. It bundles SpinnakerC 2.6.0.160.
-- **Spinnaker SDK** 2.6.0.157 is installed.
-- **Camera**: FLIR Blackfly S **BFS-U3-51S5M**, serial 24203703, 2448×2048 MONO8, ~73.3 fps, internal trigger. A 4 s test capture gave 294 frames.
-- **External control**: port 5010, `get-status` returns `success: true`. The status reply has **no drop counters** (`frameIdGaps`, `cameraSkipped` absent), so `/viz/bias/drops` stays None.
-- **Logging**: was `jpg` → `C:/Users/labadmin/Videos`; set to **ufmf** → `C:/rec/okey-cokey` over HTTP.
-  This setting is lost when BIAS restarts. Saved config, now in the repo: `ros2-poc/config/bias/okey-cokey-bfs-u3-51s5m.json`.
-  Note: BIAS listens on 0.0.0.0:5010, not just loopback.
-- **G6 controller**: Teensy serial, USB VID 16C0 / PID 0483, product name **`G6_Arena`**, serial 12169940.
-  It was COM3 during setup; by the full run (15:36) it was **COM5**. A second Teensy with the same VID/PID
-  (product "USB Serial", serial 17917130) was then on COM3. Pick the controller in Chrome's port picker
-  by the name `G6_Arena`, not by COM number. Firmware label `c15d840a 2x10 2026-09-29 restack/panel-boot freerun sdfast`.
-- SD card: 8 GB FAT32, mounted. Firewall prompts and IR backlight were not recorded in this session.
-
-## D. Repo + environments
-
-- Clone: `C:\Users\labadmin\Documents\GitHub\webDisplayTools`, branch `claude/okey-cokey-dashboard` @ 21f2cb2. (This PC keeps its clones in `Documents\GitHub`, not `C:\w`.)
-- `pixi install` (root), `pixi install --locked`, and `pixi install --locked -e viz` together took 45 s.
-- **Fix (committed in `ros2-poc/pixi.toml`)**: `foxglove_bridge` exited 0xC0000135 (DLL not found).
-  The cause: `foxglove.dll` and `foxglove_cpp_shared.dll` are installed in `.pixi\envs\viz\Library\lib`, which is not on PATH.
-  Fixed with `[feature.viz.target.win-64.activation.env] PATH = '%CONDA_PREFIX%\Library\lib;%PATH%'`. The lock is unchanged.
-- Tests (reproduce the earlier rig's runs, so failures here don't block experiments):
-  - `test-stimulus` / `test-stimulus-live`: cannot run. `tests/fixtures/okey_smoke_violet_cw.jsonl.gz` was never committed (`ros2-poc/.gitignore` matches `*.jsonl.gz`).
-    `.gitignore` now excepts `tests/fixtures/*.jsonl.gz`. The file still has to be added from ww18.
-  - `pixi run test`: **51 / 54**. All 3 failures come from Kinefly: UDP 127.0.0.1:60001 is held by `lsass` on this PC, so the emulator's rows never arrive. Kinefly is not used in this experiment.
-
-## E. Stack smoke
-
-- `pixi run rig -- --no-fictrac --bias --bias-args "--video-dir C:\rec\okey-cokey" --foxglove --viz-args "--sources bias" --stimulus-args "--panel-layout four-color"`
-  → `[rig] up: router, bias, bridge, stimulus, viz, foxglove`.
-- Listening: 5010 BIAS, 7447 zenoh, 8765 Studio bridge, 8766 foxglove_bridge, 8092 Studio page (HTTP 200).
-- BIAS through the node (run sheet step 2, via the rig's node): `connect` / `startRecording nodecheck.ufmf` / `getTimestamp` / `stopRecording` all returned `ok`.
-  BIAS wrote `C:\rec\okey-cokey\nodecheck_cam_0_date_2026_10_22_time_14_04_16_v001.ufmf` (5.0 MB, 684 frames over 9.32 s = 73.4 fps). Matching `stamp_log_cam0.txt`.
-  That rate is ~0.54 MB/s, so ~0.5 GB for a 16-min run with an undisturbed view. A large occlusion
-  costs far more: the full run with a deliberate lean into view came to 11.8 GB (results file, R3).
-- Unknown path (run sheet step 2): started a recording, killed BIAS. `getTimestamp` → `outcome: unknown` ("timeout after 2.0s") in 4.0 s, no hang. After reopening BIAS the node reports `reachable: true` again.
-- **BIAS restarts in jpg**: settings don't persist. `set-configuration` / `load-configuration` fail with "Unable to revert to previous configuration" until the camera has captured once.
-  `ros2-poc/tools/bias-ufmf.ps1 -VideoDir C:\rec\okey-cokey [-Config config\bias\okey-cokey-bfs-u3-51s5m.json]` does connect → 2 s capture → load. Run it after every BIAS start.
-- `ros2 topic echo /bias/status --once` hangs on this PC, but an rclpy subscriber receives it at 5 Hz: reachable, rtt ~12 ms.
-- Studio Bridge + controller (COM3 at the time; see C) connected. Foxglove signed in; at first it was pointed at 8765 (connect/drop loop in the rig log), then fixed to `ws://localhost:8766` with the `arena-okey-cokey.json` layout.
-
-## Run sheet 5–6: smoke run (`g6_color_optomotor_smoke`, 14:20, no flies)
-
-- Controller: firmware `c15d840a 2x10 2026-09-29 restack/panel-boot freerun sdfast`; SD `SD8GB` 7.99 GB FAT32.
-- **Direction: the arena is mounted upside down.** Confirmed by eye: protocol "CW" trials (`fps_cw` = +80) turn **counter-clockwise seen from above**, and "CCW" trials turn clockwise.
-  Accepted as is: the protocols are not changed, and no separate direction test is needed on this rig. For analysis, read the protocol's CW/CCW labels as reversed relative to the view from above.
-  (The Console "Test `green_pair_d100`" entry wasn't found.)
-- BIAS replies, all `ok`: connect, startRecording, 6 × getTimestamp, stopRecording.
-  Video `C:\rec\okey-cokey\color_optomotor_smoke_cam_0_date_2026_10_22_time_14_20_25_v001.ufmf`: 10.2 MB, 7495 frames.
-  `stamp_log_cam0.txt` has 7495 lines. The bag lasts 103.4 s.
-- Bag `runlogs/arena-log-20261022-142025-918.bag`; export `runlogs/exports/arena-log-20261022-142025-918.jsonl`.
-- `runlog-check`: 9 pass / 0 fail / 4 unknown. All 4 unknowns (and trial 5, 515 s idle) are controller activity from **before** the run: Console tests, with the telemetry ring overrun because nothing was draining.
-  The 8 run rotations (trials 6–13) each pass with 801 frames in 10 s (80 fps), 0 stalls, 0 slow reads, max read 0.8 ms.
-- Replay: `pixi run fox-json … --stimulus --panel-layout four-color` → `runlogs/arena-log-20261022-142025-918.foxglove.mcap` (107 MB, 64 s to build).
-  ufmf found and indexed, 1023 camera images. `lag_frames` = 0 in all 6518 samples. Display rate 80 Hz in rotations, 0 in pauses. `/arena/health` 103 × OK, no WARN/ERROR.
-
-## Smoke run #2 (14:47, no flies)
-
-- BIAS: all `ok`. Video `color_optomotor_smoke_cam_0_date_2026_10_22_time_14_47_22_v001.ufmf`, 10.2 MB, 7497 frames.
-- `runlog-check` on `runlogs/exports/arena-log-20261022-144722-712.jsonl`: **OK**, 8 pass / 0 fail / 0 unknown, 1 / 1 run files complete.
-  This confirms run #1's unknowns were pre-run Console activity.
diff --git a/rig/pixi.lock b/rig/pixi.lock
index c23ddf56..c681741e 100644
--- a/rig/pixi.lock
+++ b/rig/pixi.lock
@@ -21,7 +21,7 @@ environments:
     channels:
     - url: https://conda.anaconda.org/conda-forge/
     - url: https://conda.anaconda.org/robostack-jazzy/
-    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/
+    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/
     packages:
       linux-64:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
@@ -461,7 +461,7 @@ 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/5e20dee381061832377d5a51c767aaf67a20c53c/channel/noarch/rig_nodes-0.3.0-pyh4616a5c_0.conda
+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/noarch/rig_nodes-0.4.0-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
@@ -861,7 +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/5e20dee381061832377d5a51c767aaf67a20c53c/channel/noarch/rig_nodes-0.3.0-pyh4616a5c_0.conda
+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/noarch/rig_nodes-0.4.0-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
@@ -1006,7 +1006,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/win-64/pybullet-3.25-py312h3d6c809_5.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/python-orocos-kdl-1.5.4-py312hbb81ca0_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/win-64/pyyaml-6.0.3-py312h05f76fc_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/pyyaml-6.0.3-py312h05f76fc_2.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/pyzmq-27.2.0-py312h343a6d4_2.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/spdlog-1.17.0-hd227c35_2.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/sqlite-3.54.1-hdb435a2_101.conda
@@ -1260,12 +1260,12 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-yaml-cpp-vendor-9.0.1-np2py312hdd89193_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zenoh-cpp-vendor-0.2.11-np2py312hbb4efd0_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zstd-vendor-0.26.11-np2py312h94542ee_25.conda
-      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/noarch/rig_nodes-0.3.0-pyh4616a5c_0.conda
+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/noarch/rig_nodes-0.4.0-pyh4616a5c_0.conda
   dev:
     channels:
     - url: https://conda.anaconda.org/conda-forge/
     - url: https://conda.anaconda.org/robostack-jazzy/
-    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/
+    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/
     packages:
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-      - conda_source: rig_interfaces[a9deacb9] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
-      - conda_source: rig_nodes[daef82bd] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+      - conda_source: rig_interfaces[aab15256] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#fa83d3945c903066538c02bdc307b570274698c2
+      - conda_source: rig_nodes[16d68303] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#fa83d3945c903066538c02bdc307b570274698c2
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-      - 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
+      - conda_source: rig_interfaces[445467db] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#fa83d3945c903066538c02bdc307b570274698c2
+      - conda_source: rig_nodes[3b7053d6] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#fa83d3945c903066538c02bdc307b570274698c2
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-      - conda: https://conda.anaconda.org/conda-forge/win-64/pyyaml-6.0.3-py312h05f76fc_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/pyyaml-6.0.3-py312h05f76fc_2.conda
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-      - 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
+      - conda_source: rig_interfaces[1101b264] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#fa83d3945c903066538c02bdc307b570274698c2
+      - conda_source: rig_nodes[0cad1072] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#fa83d3945c903066538c02bdc307b570274698c2
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-    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/
+    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/
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+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/linux-64/rig_interfaces-0.4.0-hb0f4dca_0.conda
+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/noarch/rig_nodes-0.4.0-pyh4616a5c_0.conda
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       - conda: https://conda.anaconda.org/conda-forge/noarch/adwaita-icon-theme-51.0-unix_0.conda
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+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/noarch/rig_nodes-0.4.0-pyh4616a5c_0.conda
+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/osx-arm64/rig_interfaces-0.4.0-h60d57d3_0.conda
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-      - conda: https://conda.anaconda.org/conda-forge/win-64/pyyaml-6.0.3-py312h05f76fc_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/pyyaml-6.0.3-py312h05f76fc_2.conda
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+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/noarch/rig_nodes-0.4.0-pyh4616a5c_0.conda
+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/win-64/rig_interfaces-0.4.0-ha41a7fa_0.conda
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-    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/
+    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/
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+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/noarch/rig_nodes-0.4.0-pyh4616a5c_0.conda
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+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/noarch/rig_nodes-0.4.0-pyh4616a5c_0.conda
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+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/noarch/rig_nodes-0.4.0-pyh4616a5c_0.conda
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@@ -6093,6 +6093,20 @@ packages:
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   timestamp: 1786545741408
+- conda: https://conda.anaconda.org/conda-forge/linux-64/icu-79.1-py314hb486520_0.conda
+  sha256: 9a339bedff62e63bb949383edc656956abef1f23663c879f7fcb66a004a18ef9
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@@ -7054,6 +7068,21 @@ packages:
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+- conda: https://conda.anaconda.org/conda-forge/linux-64/libpsl-0.23.1-h7fe8442_2.conda
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+- conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.54.1-hf739112_1.conda
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+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/icu-79.1-py311h7f96da7_0.conda
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+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpsl-0.23.1-h08d577c_2.conda
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@@ -11448,6 +11517,19 @@ packages:
     - libsqlite >=3.54.1,<4.0a0
   size: 949450
   timestamp: 1793051666641
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsqlite-3.54.1-h9f98c0b_1.conda
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+  md5: b57b428215d2935b274ca9e3ed263214
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+  - icu >=79.1,<80.0a0
+  - libzlib >=1.3.2,<2.0a0
+  license: blessing
+  run_exports:
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+  size: 953531
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-- conda: https://conda.anaconda.org/conda-forge/win-64/pyyaml-6.0.3-py312h05f76fc_1.conda
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-  md5: 9f6ebef672522cb9d9a6257215ca5743
+- conda: https://conda.anaconda.org/conda-forge/win-64/pyyaml-6.0.3-py312h05f76fc_2.conda
+  sha256: aee583ddb973817a7c6b1888c8d7744899bdb69822f99102cfbd9309aa47246f
+  md5: 16d31da6301c02587621a7d47422ff76
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   - python_abi 3.12.* *_cp312
@@ -14226,8 +14308,8 @@ packages:
   license: MIT
   license_family: MIT
   run_exports: {}
-  size: 179738
-  timestamp: 1770223468771
+  size: 183782
+  timestamp: 1793233908423
 - conda: https://conda.anaconda.org/conda-forge/win-64/pyzmq-27.2.0-py312h343a6d4_2.conda
   noarch: python
   sha256: ca1357d0515a61ad5ac04ab9283ab7aa474ea469bc7547761045b04faae2bec8
@@ -33162,9 +33244,9 @@ packages:
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-- conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/linux-64/rig_interfaces-0.3.0-hb0f4dca_0.conda
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-  md5: e1ee21c44a8089aa7026d524704f3c2f
+- conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/linux-64/rig_interfaces-0.4.0-hb0f4dca_0.conda
+  sha256: cce3c8ee6176b15eb5c27651e16a902286ab22ebfde5117eabcaee023f8f63cd
+  md5: 0ae2ad15919036c7483b019c9f9b24ec
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   - ros2-distro-mutex
@@ -33174,12 +33256,12 @@ packages:
   - python_abi 3.12.* *_cp312
   - numpy >=1.25,<3
   license: LicenseRef-MIT
-  size: 215288
-  timestamp: 1793224279283
-  indexed_timestamp: 1793224476487
-- conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/noarch/rig_nodes-0.3.0-pyh4616a5c_0.conda
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-  md5: 21e5d59c2b45f96332c6d4e836943cf5
+  size: 215281
+  timestamp: 1793237386786
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+- conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/noarch/rig_nodes-0.4.0-pyh4616a5c_0.conda
+  sha256: 1b6a084aafdca0bdbec3508af9c98e57a7b152f03f676d2de24307131bf53e9d
+  md5: 7da3d00e6f7f98e2d7b214b8efc07876
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@@ -33193,12 +33275,12 @@ packages:
   - websockets >=12
   - psutil
   license: MIT
-  size: 85916
-  timestamp: 1793224452995
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-- conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/osx-arm64/rig_interfaces-0.3.0-h60d57d3_0.conda
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-  md5: c200ac3ffb4e0df4dd6986a3c2e16dc8
+  size: 79226
+  timestamp: 1793237505634
+  indexed_timestamp: 1793237530067
+- conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/osx-arm64/rig_interfaces-0.4.0-h60d57d3_0.conda
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+  md5: 5a90b66e1911c8183cc692a6ece51e2d
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   - ros2-distro-mutex
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   - numpy >=1.25,<3
   license: LicenseRef-MIT
-  size: 185964
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-- conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/win-64/rig_interfaces-0.3.0-ha41a7fa_0.conda
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-  md5: e33c03b0fd23b96dbc54592abfa5b584
+  size: 185973
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+- conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/channel/win-64/rig_interfaces-0.4.0-ha41a7fa_0.conda
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+  md5: ce7620fe1d7ceb873266614db10422e2
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   - numpy >=1.25,<3
   license: LicenseRef-MIT
-  size: 194659
-  timestamp: 1793224364131
-  indexed_timestamp: 1793224476596
-- conda_source: rig_interfaces[5826283b] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
-  version: 0.2.1
+  size: 194703
+  timestamp: 1793237456413
+  indexed_timestamp: 1793237530020
+- conda_source: rig_interfaces[1101b264] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#fa83d3945c903066538c02bdc307b570274698c2
+  version: 0.3.0
   build: ha41a7fa_0
   subdir: win-64
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-- 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
+- conda_source: rig_interfaces[445467db] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#fa83d3945c903066538c02bdc307b570274698c2
+  version: 0.3.0
+  build: h60d57d3_0
+  subdir: osx-arm64
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-    target_platform: linux-64
+    target_platform: osx-arm64
   depends:
-  - libgcc >=16
-  - libgcc >=16
-  - libstdcxx >=16
+  - libcxx >=23
   - 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/noarch/libstdcxx-devel_linux-64-16.2.0-h86e191b_107.conda
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+  - conda: https://conda.anaconda.org/conda-forge/noarch/sdkroot_env_osx-arm64-26.0-ha3f98da_7.conda
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-- 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
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+  - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rosidl-typesupport-fastrtps-c-3.6.4-np2py314h40712d6_27.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rosidl-typesupport-fastrtps-cpp-3.6.4-np2py314h40712d6_27.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rosidl-typesupport-interface-4.6.9-np2py314h40712d6_27.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rosidl-typesupport-introspection-c-4.6.9-np2py314h40712d6_27.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rosidl-typesupport-introspection-cpp-4.6.9-np2py314h40712d6_27.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rpyutils-0.4.2-np2py314h40712d6_27.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-service-msgs-2.0.4-np2py314h40712d6_27.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-uncrustify-vendor-3.0.1-np2py314h40712d6_27.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-unique-identifier-msgs-2.5.1-np2py314h40712d6_27.conda
   host_packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.7.2-pyhcf101f3_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.10.23-hbd8a1cb_0.conda
@@ -34191,7 +33907,7 @@ packages:
   - 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/icu-79.1-py311h7f96da7_0.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
@@ -34209,9 +33925,9 @@ packages:
   - 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/libnghttp2-1.70.0-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/libpsl-0.23.1-h08d577c_2.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-hca69786_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsqlite-3.54.1-h9f98c0b_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libssh2-1.11.1-hbf2880b_1.conda
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   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libzlib-1.3.2-h8088a28_3.conda
@@ -34305,8 +34021,374 @@ 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[b5d6e649] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
-  version: 0.2.1
+- conda_source: rig_interfaces[aab15256] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#fa83d3945c903066538c02bdc307b570274698c2
+  version: 0.3.0
+  build: hb0f4dca_0
+  subdir: linux-64
+  variants:
+    target_platform: linux-64
+  depends:
+  - libgcc >=16
+  - libgcc >=16
+  - libstdcxx >=16
+  - 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:
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+  - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rosidl-typesupport-fastrtps-cpp-3.6.4-np2py312h1bab3cf_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rosidl-typesupport-interface-4.6.9-np2py312h1bab3cf_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rosidl-typesupport-introspection-c-4.6.9-np2py312h1bab3cf_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rosidl-typesupport-introspection-cpp-4.6.9-np2py312h1bab3cf_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rpyutils-0.4.2-np2py312h1bab3cf_25.conda
+  - 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_nodes[0cad1072] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#fa83d3945c903066538c02bdc307b570274698c2
+  version: 0.3.0
   build: pyh4616a5c_0
   subdir: noarch
   noarch: python
@@ -34314,6 +34396,7 @@ packages:
     target_platform: noarch
   depends:
   - mcap >=1.2
+  - psutil
   - python *
   - python >=3.12
   - ros-jazzy-rclpy
@@ -34325,7 +34408,7 @@ packages:
   - 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/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
@@ -34334,23 +34417,24 @@ packages:
   - 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/osx-arm64/bzip2-1.0.8-h4e30115_10.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/libexpat-2.9.0-h6111c0a_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libffi-3.7.0-h47dc5ef_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/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/libzlib-1.3.2-h8088a28_3.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ncurses-6.6-he64c551_1.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/openssl-3.6.5-h55eecbc_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/python-3.12.16-hd05a0c4_0_cpython.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/readline-8.3-h8b90a29_1.conda
-  - 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[daef82bd] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
-  version: 0.2.1
+  - 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[16d68303] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#fa83d3945c903066538c02bdc307b570274698c2
+  version: 0.3.0
   build: pyh4616a5c_0
   subdir: noarch
   noarch: python
@@ -34358,6 +34442,7 @@ packages:
     target_platform: noarch
   depends:
   - mcap >=1.2
+  - psutil
   - python *
   - python >=3.12
   - ros-jazzy-rclpy
@@ -34400,8 +34485,8 @@ packages:
   - 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
+- conda_source: rig_nodes[3b7053d6] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#fa83d3945c903066538c02bdc307b570274698c2
+  version: 0.3.0
   build: pyh4616a5c_0
   subdir: noarch
   noarch: python
@@ -34409,6 +34494,7 @@ packages:
     target_platform: noarch
   depends:
   - mcap >=1.2
+  - psutil
   - python *
   - python >=3.12
   - ros-jazzy-rclpy
@@ -34420,7 +34506,7 @@ packages:
   - 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/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-1.33.0-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-26.3-pyhc364b38_0.conda
@@ -34429,19 +34515,18 @@ packages:
   - 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: https://conda.anaconda.org/conda-forge/osx-arm64/bzip2-1.0.8-h4e30115_10.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/libexpat-2.9.0-h6111c0a_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libffi-3.7.0-h47dc5ef_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/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/libzlib-1.3.2-h8088a28_3.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ncurses-6.6-he64c551_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/openssl-3.6.5-h55eecbc_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/python-3.12.16-hd05a0c4_0_cpython.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/readline-8.3-h8b90a29_1.conda
+  - 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
diff --git a/rig/pixi.toml b/rig/pixi.toml
index 7c49c800..945818cc 100644
--- a/rig/pixi.toml
+++ b/rig/pixi.toml
@@ -23,10 +23,9 @@
 [workspace]
 name = "rig"
 version = "0.1.0"
-# 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"]
+# The channel is read at the RELEASE TAG (`v0.4.0`, rig-nodes#7), the preferred form; 0.3.0 was pinned by the
+# payload commit's SHA only because its tag had first landed one commit before the payload.
+channels = ["conda-forge", "robostack-jazzy", "https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.4.0/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).
 # Declared on the platform (pixi ≥ 0.80 virtual packages), not as the deprecated [system-requirements]; pixi
@@ -84,17 +83,18 @@ 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 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).
+# Device adapters (FicTrac, Kinefly, BIAS) and their simulators, the MCAP recorder and indexer, the CDR
+# decoder, the Foxglove rewriter (+ bias_health), the host monitor, the supervision primitives rig.py composes
+# with. 0.3.0 (2026-10-28) added the HostStats message set for the host monitor (rig_interfaces, `typed`
+# environment); 0.4.0 (same day) moved the ScanImage JSON connector to the private 2P rig repo and made the
+# host monitor's typed floats compressible + its process sampling cheaper (rig-nodes#4, #6).
 # 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"
+rig_nodes = "==0.4.0"
 
 # ── typed messages = the OPT-IN `typed` environment ───────────────────────────────────────
 # `pixi install -e typed` adds rig_interfaces (FicTracFrame, ArenaFrame, ConnectorReply, HostStats + its
@@ -106,7 +106,7 @@ rig_nodes = "==0.3.0"
 # 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 = "==0.3.0"
+rig_interfaces = "==0.4.0"
 
 # ── 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`,
@@ -218,3 +218,7 @@ test-stimulus-live = "python tests/test_stimulus_live.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..5198f316
--- /dev/null
+++ b/rig/qc/profiles.toml
@@ -0,0 +1,132 @@
+# 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" }
+# 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 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 ──────────
+[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"
+# The 2P diagnostics protocol moved to the private rig repo (scanimage-2026-bergamo/protocols/,
+# 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 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." },
+]
+
+# ── 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..0361c5df
--- /dev/null
+++ b/rig/qc/qc.py
@@ -0,0 +1,968 @@
+#!/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"])
+        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")
+            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)
+                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 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]
+            r = run(argv, env=self.env, timeout=300)
+            (rep_dir / "bench-check.txt").write_text(r.stdout + r.stderr, encoding="utf-8")
+            # 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)
+            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 ──
+    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..616e91a8
--- /dev/null
+++ b/rig/qc/qclib.py
@@ -0,0 +1,329 @@
+"""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 ──────────────────────────────────────────────────────────────────
+
+
+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)."""
+
+    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/rig/tools/bias-ufmf.ps1 b/rig/tools/bias-ufmf.ps1
deleted file mode 100644
index ede22502..00000000
--- a/rig/tools/bias-ufmf.ps1
+++ /dev/null
@@ -1,41 +0,0 @@
-# bias-ufmf.ps1 — put a running BIAS (external control on -Port) on ufmf logging into -VideoDir.
-#
-#   powershell -ExecutionPolicy Bypass -File tools\bias-ufmf.ps1 -VideoDir C:\rec\okey-cokey
-#
-# Run it after EVERY BIAS start: BIAS v0.73.1 (Spinnaker) comes up with its built-in defaults (jpg →
-# %USERPROFILE%\Videos), and it rejects set-/load-configuration with "Unable to revert to previous
-# configuration" until the camera has captured once (ww14 2026-10-22). So: connect, capture 2 s,
-# stop, then load -Config with logging.format/directory overridden. The camera settings come from
-# -Config, so pass one made for THIS camera (config/bias/), or omit it to keep BIAS's current camera
-# settings and change only the logging block.
-param(
-    [string]$VideoDir = 'C:\rec\okey-cokey',
-    [string]$Config = '',
-    [int]$Port = 5010
-)
-$ErrorActionPreference = 'Stop'
-$bias = "http://127.0.0.1:$Port/"
-function Bias([string]$cmd) {
-    $r = curl.exe -s -m 15 "$bias`?$cmd"
-    if (-not $r) { throw "no reply from BIAS on port $Port (is it running with the external-control server on?)" }
-    ($r | ConvertFrom-Json)[0]
-}
-
-New-Item -ItemType Directory -Force $VideoDir | Out-Null
-[void](Bias 'connect')
-[void](Bias 'start-capture')
-Start-Sleep -Seconds 2
-[void](Bias 'stop-capture')
-Start-Sleep -Seconds 1
-
-$cfg = if ($Config) { Get-Content $Config -Raw | ConvertFrom-Json } else { (Bias 'get-configuration').value }
-$cfg.logging.format = 'ufmf'
-$cfg.logging.directory = ($VideoDir -replace '\\', '/')
-$tmp = Join-Path $env:TEMP 'bias-ufmf-config.json'
-$cfg | ConvertTo-Json -Depth 10 | Out-File -Encoding ascii $tmp
-$r = Bias "load-configuration=$([uri]::EscapeDataString($tmp))"
-if (-not $r.success) { throw "load-configuration failed: $($r.message)" }
-
-$log = (Bias 'get-configuration').value.logging
-"BIAS logging: $($log.format) -> $($log.directory)"
-if ($log.format -ne 'ufmf') { exit 1 }
diff --git a/rig/tools/okey-cokey-start.ps1 b/rig/tools/okey-cokey-start.ps1
deleted file mode 100644
index eed27629..00000000
--- a/rig/tools/okey-cokey-start.ps1
+++ /dev/null
@@ -1,83 +0,0 @@
-# okey-cokey-start.ps1 — start the okey-cokey rig stack so nothing that launched it can stop it.
-#
-#   powershell -ExecutionPolicy Bypass -File tools\okey-cokey-start.ps1
-#   powershell -ExecutionPolicy Bypass -File tools\okey-cokey-start.ps1 -Protocol g6_color_optomotor_smoke
-#
-# Starts BIAS (unless it already answers on 5010), puts it on ufmf (tools\bias-ufmf.ps1), then opens
-# two PowerShell consoles, the rig ("okey-cokey RIG") and the Studio page server ("okey-cokey STUDIO
-# SERVER :8092"), and the Studio in Chrome. On ww14 (Windows 11, Windows Terminal as the default
-# terminal) the two consoles open as TABS of one Windows Terminal window, not as separate windows.
-# Stop the rig with Ctrl-C in ITS tab (the bag closes cleanly); close the server tab when done.
-#
-# Why WMI (Win32_Process.Create) and not Start-Process: on ww14 (2026-10-22) the Claude desktop app
-# restarted itself 9 min into a full run, and BIAS, the rig and the server, all started from a Claude
-# session, died with it. Processes created through WMI are children of WmiPrvSE, not of the caller, so
-# closing the launching terminal or app leaves them running.
-param(
-    [string]$Bias = 'C:\Users\labadmin\Documents\FlyBowl1Rig\BIAS_exe_spinnaker_win64_v0_73_1\v0.73.1\test_gui.exe',
-    [string]$VideoDir = 'C:\rec\okey-cokey',
-    [string]$BiasConfig = 'config\bias\okey-cokey-bfs-u3-51s5m.json',
-    [string]$Protocol = 'g6_color_optomotor_test',
-    [string]$Rig = 'cshl_g6_2x10',
-    [int]$StudioPort = 8092
-)
-$ErrorActionPreference = 'Stop'
-$poc = Split-Path $PSScriptRoot -Parent          # rig
-$repo = Split-Path $poc -Parent                  # webDisplayTools
-
-function Detached([string]$cmdLine, [string]$dir) {
-    $r = Invoke-CimMethod -ClassName Win32_Process -MethodName Create `
-        -Arguments @{ CommandLine = $cmdLine; CurrentDirectory = $dir }
-    if ($r.ReturnValue -ne 0) { throw "Win32_Process.Create failed ($($r.ReturnValue)): $cmdLine" }
-    $r.ProcessId
-}
-function Listening([int]$port) {
-    [bool](Get-NetTCPConnection -State Listen -LocalPort $port -ErrorAction SilentlyContinue)
-}
-function WaitFor([int[]]$ports, [int]$seconds, [string]$what) {
-    for ($i = 0; $i -lt $seconds; $i++) {
-        if (-not ($ports | Where-Object { -not (Listening $_) })) { return }
-        Start-Sleep -Seconds 1
-    }
-    throw "$what not listening on $($ports -join ', ') after $seconds s"
-}
-function Encoded([string]$s) { [Convert]::ToBase64String([Text.Encoding]::Unicode.GetBytes($s)) }
-
-# 1. BIAS
-if (Listening 5010) {
-    Write-Host 'BIAS: already answering on 5010'
-} else {
-    if (-not (Test-Path $Bias)) { throw "BIAS not found: $Bias" }
-    $id = Detached "`"$Bias`"" (Split-Path $Bias)
-    WaitFor @(5010) 30 'BIAS'
-    Write-Host "BIAS: started (pid $id)"
-}
-& powershell -ExecutionPolicy Bypass -File (Join-Path $PSScriptRoot 'bias-ufmf.ps1') `
-    -VideoDir $VideoDir -Config (Join-Path $poc $BiasConfig)
-if ($LASTEXITCODE) { throw 'bias-ufmf.ps1 failed' }
-
-# 2. Rig and Studio server, each in its own window (-EncodedCommand avoids nested quoting).
-$rigCmd = @"
-`$Host.UI.RawUI.WindowTitle = 'okey-cokey RIG (Ctrl-C to stop)'
-Set-Location '$poc'
-pixi run rig -- --no-fictrac --bias --bias-args "--video-dir $VideoDir" --foxglove --viz-args "--sources bias" --stimulus-args "--panel-layout four-color"
-"@
-$srvCmd = @"
-`$Host.UI.RawUI.WindowTitle = 'okey-cokey STUDIO SERVER :$StudioPort'
-Set-Location '$repo'
-pixi run python .claude\nocache-server.py $StudioPort
-"@
-if (Listening 8765) { Write-Host 'rig: 8765 already in use, not starting a second rig' }
-else { [void](Detached "powershell.exe -NoExit -ExecutionPolicy Bypass -EncodedCommand $(Encoded $rigCmd)" $poc) }
-if (Listening $StudioPort) { Write-Host "server: $StudioPort already in use, not starting another" }
-else { [void](Detached "powershell.exe -NoExit -ExecutionPolicy Bypass -EncodedCommand $(Encoded $srvCmd)" $repo) }
-WaitFor @(7447, 8765, 8766, $StudioPort) 90 'rig / Studio server'
-Write-Host "up: BIAS 5010, zenoh 7447, Studio bridge 8765, Foxglove 8766, Studio page $StudioPort"
-Write-Host 'The rig and the server run in two tabs of a Windows Terminal window (or two console windows).'
-Write-Host 'To stop: Ctrl-C in the "okey-cokey RIG" tab, then close the "okey-cokey STUDIO SERVER" tab.'
-
-# 3. Studio
-$url = "http://localhost:$StudioPort/arena_studio.html?p=$Protocol&rig=$Rig&mode=run"
-Start-Process chrome $url
-Write-Host "Studio: $url"
-Write-Host 'Pick the controller by the name G6_Arena in the port picker (its COM number has changed).'
diff --git a/rig/windows-results-ww18-2026-10-15.md b/rig/windows-results-ww18-2026-10-15.md
deleted file mode 100644
index 434c264c..00000000
--- a/rig/windows-results-ww18-2026-10-15.md
+++ /dev/null
@@ -1,231 +0,0 @@
-# LAB-303 Plan B — Windows results, reiserlab-ww18, 2026-10-15
-
-*Paths in this record predate the 2026-10-26 rename `ros2-poc/` → `rig/`, `arena_interfaces` → `rig_interfaces`.*
-
-First Windows run of `ros2-poc/WINDOWS-TEST.md`. **Status: every step except the typed build passed on
-ww18** — 0–3, 6 and 5b unattended (harness 45/45, now 47/47, after the fixes below), then with Michael at
-the rig: **4** (BIAS through the node on the Atlas10 camera, incl. the unknown-outcome path), **5** (Studio +
-G6 2×10 controller + real FicTrac at 96 Hz + BIAS, idx mismatch 0.00 % in both epochs), **5.7** (bridge
-hard-killed mid-loop: every frame recovered from the bag), a **10-min soak** (0.00 % / 0.00 %, BIAS lost 0 of
-81 567 frames) and **5c** smoke on the four-color arena (8/8 trials pass, CW then CCW confirmed). **Step 1b /
-7 (typed messages)** was blocked by a pixi-build-ros packaging bug after two Windows hurdles were cleared
-(W2). **Follow-up the same day:** a package-level workaround installs the typed env (35 s, harness 48 / 48),
-and a prebuilt-channel install needs no compiler at all (9 s, 48 / 48) — `docs/typed-windows.md`.
-
-## Machine
-
-| | |
-|---|---|
-| Host | REISERLAB-WW18, Windows 11 Enterprise 10.0.26200 x64, 1.76 TB free on C:, 1.86 TB on D: |
-| git / pixi / gh | 2.55.0.windows.3 / **0.80.0** / 2.101.0 (all already installed; nothing to install) |
-| Chrome | 155.0.8059.79 |
-| MSVC | **Visual Studio Build Tools 2026** 18.9.2 (MSVC 14.51.36231, Windows SDK 10.0.26100.0). **No VS 2022.** |
-| BIAS | NOT the FLIR/Spinnaker build: `C:\Lab\GitHub\atlas-bench-rob23\bias\build_ucrt\test_gui.exe` (built 2026-10-15 10:50), the atlas-bench Atlas10 fork (LUCID Arena backend, MinGW/UCRT64), launched by `BIAS Atlas10.bat`, recordings default `D:\rec\<user>` |
-| Checkout | `C:\Users\reiserm\Documents\GitHub\webDisplayTools`, branch `claude/ros-studio-plan-b-c44942` from 06bafb8 |
-
-## Findings (Windows-specific unless marked)
-
-| # | Step | Finding | Status |
-|---|---|---|---|
-| W1 | 1a / 2 | `$PIXI_PROJECT_ROOT` stays literal in `[activation.env]` on Windows; `pixi run router` then exits: `zenohc::config: Failed to read config from $PIXI_PROJECT_ROOT/config/zenoh-router.json5: The system cannot find the path specified. (os error 3)` (no fallback to the stock config). `%PIXI_PROJECT_ROOT%` does expand under `pixi run`. | **fixed** bd2e349 (`[target.win-64.activation.env]`) |
-| W2 | 1b | The typed build fails with **VS Build Tools 2026 only**: `Could not find the compiler specified in the environment variable CC: cl.exe.` conda-forge `vs2022_win-64` (19.44.35207) looks for VS `[17,18)`, then the v143/14.44 components, then hard-coded `…\2022\…` paths, then `vswhere -latest` **without `-products *`**, which never lists a Build-Tools-only install. Then, with the v143 group added (below): (2) **MAX_PATH** — `fatal error C1083: Cannot open compiler generated file: '': Invalid argument` on a 265-char object path under `C:\Users\reiserm\Documents\GitHub\webDisplayTools\ros2-poc\.pixi\bld\arena_interfaces\…\work\build\CMakeFiles\…\_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c.obj` (`LongPathsEnabled` 0); the build adds ~215 chars, so the checkout path must stay under ~45; (3) at `C:\w` it compiles and links (156 files, 16 s), then packaging fails: `× paths in archives must not have '..' when setting path for Library` — the package lists `Library/../Lib/site-packages/arena_interfaces/…` (RoboStack's Windows `PYTHON_INSTALL_DIR=../Lib/site-packages`). | (1) fixed on the PC: `Microsoft.VisualStudio.ComponentGroup.VC.Tools.143.x86.x64` added to VS 2026 Build Tools (UAC, < 5 min; the script's 3rd vswhere query finds it); (2) short checkout path, or `detached-environments` ≤ 12 chars (works from a 79-char checkout); (3) **worked around** 538cc85 (normalized `PYTHON_INSTALL_DIR` in the package's CMakeLists.txt). Cause: pixi#6691 appends CMake's `install_manifest.txt` to `RATTLER_BUILD_PACKAGE_FILES`, which rattler-build never normalizes. Upstream fix prefix-dev/pixi#7226 open, not merged. Prebuilt-channel route tested. Details + upstream reports (rattler-build#2875, comment on pixi#7226): `docs/typed-windows.md` |
-| W3 | 3 | Text-mode writes are CRLF on Windows: `mcap_convert --out`, `export_log`, the emulator's export copy → 2 byte-identity FAILs against bridge 3.4's binary `--convert`. | **fixed** aeccdce (`newline="\n"`) |
-| W4 | 3 / 5.6 | bridge 3.4's own live file is CRLF on Windows (`fictrac-bridge/bridge.py:711`, text-mode `open(…, "a")`); its export re-reads in text mode and gzips binary, so committed logs are LF. The PoC's shadow file inherits this, so step 5.6's `fc.exe /b export shadow` will differ on **every line** here; compare with `splitlines`, not bytes. | not fixed (bridge 3.4 untouched) |
-| W5 | 3 | JS reader check skipped: `find_node()` looked for `.pixi\envs\default\bin\node.exe`; conda's Windows layout has `node.exe` at the env root (and a fresh clone needs the root `pixi install`, 5.3 s / 0.30 GB). | **fixed** aeccdce |
-| W6 | 6 | **Ctrl-C on `pixi run rig` killed the bridge node instead of stopping it**: no `shutting down` line, shadow file ended on a FicTrac row (no `logging_stopped`), the open run's bag got **no `metadata.yaml`** (649 KB unindexed). `CTRL_BREAK_EVENT` (rig.py / harness stop signal) ends a Python process at once by default, and `loop.add_signal_handler` is not implemented on Windows. | **fixed** 4935732 (SIGBREAK handler) — after: `[bridge-node] shutting down`, `[record] closed … 973 records, 95255 B`, `metadata.yaml` written, nothing lingers |
-| W7 | 6 | Second `pixi run rig`: the refusal listed 8765 + 60000 but **not 7447** with a router listening. `port_in_use()` sets `SO_REUSEADDR`, which on Windows lets the probe bind over a live listener (zenohd; asyncio's socket is exclusive, so 8765 was caught). | **fixed** 4935732 (plain bind on Windows; TIME_WAIT does not block it — checked) |
-| W8 | 4 | **Two programs can hold port 5010 at once**: real BIAS on `0.0.0.0:5010` + `[::]:5010`, and a harness `bias_sim` on `127.0.0.1:5010`; loopback clients get the more specific socket, i.e. the SIM. Seen by accident (a probe answered by the sim). On Windows Qt's listener shares its address, so NO bind probe sees it — plain, wildcard and `SO_EXCLUSIVEADDRUSE` binds of 5010 all succeeded next to BIAS; only a connect does. | **fixed** cbd0d31 — bias_sim refuses when its port answers, binds exclusively on Windows, reports `"sim": true`; rig.py confirms a "free" TCP port with a connect on Windows; the harness uses a free port for its sim |
-| W9 | all | `time.monotonic()` = `GetTickCount64`, resolution **15.625 ms** (Python 3.12.15); every `rtt_ms` the BIAS node reports is quantized (0 / 15 / 16 / 31 ms seen). `time.time()` (all run-log `ms`, bridge 3.4 too) reports the same nominal resolution; today's logs were fine (FicTrac row deltas 19/20/21 ms) because something on the PC raised the timer rate — a rig where nothing does would log 15.6 ms steps. | **fixed** cc603f6 for durations (`perf_counter`: BIAS RTTs, bag open / convert / reindex times), and for stamps by the "Windows clocks" commit (precise wall clock, perf-counter latency, 1 ms timer — trade-offs below) |
-| X1 | 3 | (cross-platform) converter put a device row recorded in the same ms as `logging_stopped` AFTER it (`live 2238 vs conv 2239`). | **fixed** 6250cdb, revised in 667e538: such a line is moved before the stop (`moved_before_stop`), since after X2 every derived record precedes it |
-| X2 | 3 | (cross-platform) the mirror race at run START: the ROS thread recorded device messages on arrival (`_kinefly` → `rec.write_raw`, dropped while `self.rec` is None) while the live line is written later on the asyncio loop, which is busy in `_open` — so the shadow file could hold a device row the bag never saw (`live 2237 vs conv 2236`, `["kf",2,162,…]`; 1 run in 4). Same mechanism for FicTrac: `FAIL bag → full level: one fictrac_frame per frame with the 25 FicTrac columns … — 922 frames vs 922; cols [0, 25]` (the run's first frame recorded, its `/fictrac/raw` message not; 1 run in 5). | **fixed** 667e538 — Kinefly, BIAS reply/status and FicTrac messages are recorded on the loop next to their line, under the shadow writer's open gate (`record_device`), with the ROS receive time kept as the MCAP log_time; FicTrac after `handle_line`, off the closed-loop path. **5 runs in a row 45 / 45**, derived counts equal every run |
-| B1 | 4 probe | This BIAS's `set-video-file` uses `baseName()` and the logging format's extension: `poc.avi` → `poc.ufmf`; `my trial.v2.avi` → `my trial.ufmf` (silently truncated at the first dot). | info for bias_node / protocol authors |
-| B2 | 4 | **Confirmed**: artifact `D:/rec/reiserm/ros2-poc/poc.ufmf`, file written `poc_cam_0_date_2026_10_15_time_13_43_10_v001.ufmf`; and the per-frame timestamps live only in `stamp_log_cam0.txt`, which BIAS **overwrites on every recording**. | **fixed** 2584e03 — stopRecording resolves the file BIAS wrote (`resolved`, `bytes`), reads the stamp log and publishes every frame's timestamp on `/bias/frames` (recorded in the bag); status poll 1 → 5 Hz. Real BIAS: 1 087 frames = 1 087 lines on disk = 1 087 timestamps in the bag |
-| B3 | 4 | Atlas10 `connect` takes **2.18 s**, past the node's 2 s per-call timeout: a successful connect came back `outcome: "unknown"` (exit 3). `stop-capture` takes 0.26 s on 30 s recordings but **~3.2 s on 8 s ones** (BIAS's first uFMF background update; up to ~6.5 s possible). A/B: 5 Hz polling has no effect. | **fixed** 5b0fcfb — `--slow-timeout-s` 15 for connect/disconnect/load-configuration/start-/stop-capture/close |
-| B4 | 4 | Windows: a connect to a **closed** localhost port is refused only after **~2.05 s** (`WinError 10061` after 2048 ms; macOS refuses at once). With BIAS gone, every command waits its timeout and reads `unknown` (4.0 s for getTimestamp), never a hang. | info (could cap the connect step separately) |
-| W10 | 5 | `rig.py --bias-args "--video-dir D:\rec\reiserm\ros2-poc"` (WINDOWS-TEST's own form): POSIX `shlex` ate the backslashes → `"filename":"D:recreisermros2-poc\\poc_studio_run.avi"`, video in `D:\recreisermros2-poc\`. | **fixed** a0634f1 (`split_args`, all `--x-args`) |
-| W11 | 5 | `fictrac.exe` run directly exits `0xC0000135` (STATUS_DLL_NOT_FOUND, no output, no log): this FicTrac is pixi-built; `build\Release\fictrac.bat` puts its env + Spinnaker on PATH. | info for WINDOWS-TEST.md |
-| H1 | 5 | The soak controller's SD card was **not mounted** (GET_SD_INFO status 1, 0 sectors, 0 files) — the Studio only said the pattern was missing. A new 64 GB SanDisk card (**exFAT**, 128 KiB clusters) mounted at once; 8 patterns uploaded in ~0.5 s each (up to 14 MB/s). In the 10-min soak one burst of **8 slow reads (20–41 ms) in ~80 ms** flagged a trial (`display_gap` sd_slow + frame_age); trial 2's 23 217 reads max 0.5 ms. | open: characterize exFAT/64 GB with `sd_stall_test.py`; ≤ 32 GB FAT32 until then |
-| S1 | 5.7 | Bridge hard-killed mid closed loop: the Studio showed only "bridge disconnected" — **no banner, the run carried on**, and BIAS was never stopped (stopRecording goes through the bridge). The rig stopped all its children as designed. | open (Studio/runner: bridge loss in a closed-loop or connector step should banner and end the run — LAB-303 `critical`/`on_loss`) |
-| S2 | 5 | A Studio tab opened at `?p=bias_camera_closed_loop_poc_ww18_soak10` did not load the protocol until it was refreshed (server, index entry, file and parse all verified fine). | open (to reproduce) |
-
-Harmless on every process: two zenohc WARNs (`` `routing.router.peers_failover_brokering` is deprecated `` and
-`` routing.peer.mode` and `routing.peer.linkstate` are deprecated ``) — our config files carry stock keys this zenohc ignores.
-
-Info, not a check: the harness's `derived_misplaced` (a derived line after a different neighbour than in the
-live file) ranged 4–861 of ~2240. It tracks how many Kinefly rows share a millisecond with a FicTrac row, which is
-the converter's unbreakable tie: 40 % in the 861 run, 0–2 % in the others. On Windows the 10 ms and 20 ms senders
-can wake on the same timer tick.
-
-### Windows clocks — what changed and the trade-offs (for review)
-
-Measured on ww18 with nothing raising the timer (`NtQueryTimerResolution` current = 15.625 ms):
-
-| clock | step as found | after `timeBeginPeriod(1)` |
-|---|---|---|
-| `time.time()` (bridge 3.4's `now_ms()`, every run-log `ms`) | ~15.6 ms, 2.3 ms behind true time | 1 ms |
-| `GetSystemTimePreciseAsFileTime` | **1 µs** | 1 µs |
-| `time.monotonic()` | 15–16 ms | 15–16 ms (unaffected) |
-| `time.perf_counter()` | < 1 µs | < 1 µs |
-
-The PoC now uses, on Windows only (`_common.py`; macOS/Linux unchanged):
-
-1. **Precise wall clock for every stamp** (`wall_ns` / `wall_ms` = `GetSystemTimePreciseAsFileTime`, what
-   Python 3.13 made `time.time()`; RoboStack Jazzy pins 3.12): the bridge node rebinds bridge 3.4's module
-   `now_ms` in its own process (the file is unchanged), plus the recorder's `log_time`, the adapters'
-   `rx_epoch_ms` and the BIAS node's stamps. Cost 0.42 µs per call (ctypes) at a few hundred stamps/s — nothing.
-   Trade-off: none found. It is still wall-clock time, so a clock correction (NTP/w32time) moves it exactly as before.
-2. **The perf counter for cross-process latency** (`mono_ns` = `perf_counter_ns`, adapter `rx_mono_ns` vs the
-   bridge's): one system-wide counter (4 processes agreed within 3.3 µs). `connector_status` FicTrac latency is
-   now exact — p50 0.27–0.30 ms, p99 0.55–0.65 ms — instead of carrying the 0–1 ms floor of whole-ms stamps.
-   Trade-off: only valid with adapter and bridge on ONE host (always true for this loopback-only graph) and the
-   same code; out-of-range values fall back to the wall-clock difference. BIAS envelopes have no counter stamp yet.
-3. **A 1 ms system timer** (`timeBeginPeriod(1)` in the bridge node, both adapters and the BIAS node, plus the
-   Windows 11 opt-out so a minimized console keeps it). Trade-offs: (a) the timer interrupt runs at 1 kHz while
-   any of these processes is up, which costs power — irrelevant on a mains-powered rig PC, a battery cost on a
-   laptop; (b) it does NOT sharpen the closed loop, which is event-driven (UDP → ROS → loop wake-ups) — it sharpens
-   waits and timeouts (asyncio, socket, rcl) and incidentally `time.time()` in every process on the PC (so
-   bridge 3.4 too while the graph runs). Harness frame lag p99 1.02–1.05 ms over 5 runs (1.0–1.9 ms before) —
-   possibly this, possibly noise. **Easy to drop** if you prefer: one call per process.
-
-Not covered: **bridge 3.4 itself** (Production) still stamps with `time.time()`, so on an idle Windows rig PC its
-run logs are 15.6 ms-quantized unless something else (often Chrome) holds a fast timer. Same two-line fix, but it
-ships through a release PR.
-
-### Why the Mac runs did not show these
-
-- **Windows-only by construction** (W1–W7, W9): pixi activates through cmd.exe (no `$VAR`); MSVC must be on the
-  machine, where the Mac gets clang from conda-forge; text mode writes CRLF; conda's Windows env puts `node.exe` at
-  the root; Windows cannot send SIGINT to another process, CTRL_BREAK kills Python by default and asyncio has no
-  signal handlers there; `SO_REUSEADDR` means "bind over a live listener"; `monotonic` ticks at 15.6 ms. The
-  harness could not catch W6 on either platform: it closes runs with `log_export` before stopping anything.
-- **Races on both platforms, likelier here** (X1, X2): one message has to land in the few ms the loop spends opening
-  or closing a run. Here the bag open alone takes ~15 ms (new files in `%TEMP%`, NTFS + Defender), and the
-  tick-driven senders deliver in bunches. On the Mac the same race could have hit rarely without being seen.
-- **A different BIAS** (B1, B2): the Mac used the Mac BIAS port (`movie.mjpg`); ww18 runs the atlas-bench Atlas10
-  fork (uFMF, server on by default, extra status keys). W8 also needs the real BIAS open while the harness runs,
-  which the Mac bench never combined (whether macOS would let the sim bind next to BIAS was not checked).
-
-## Step log (times ET)
-
-| # | Time | Step | Result | Timing / size | Notes, errors verbatim |
-|---|---|---|---|---|---|
-| 0.1 | 10:57 | tooling check | PASS | — | git 2.55.0.windows.3, pixi 0.80.0, gh 2.101.0 (logged in, https), Chrome 155.0.8059.79; `vswhere -version "[17.0,18.0)"` → nothing; VS Build Tools 2026 18.9.2 with `VC.Tools.x86.x64` |
-| 0.2 | 10:58 | install missing tooling | skipped | — | nothing missing; VS 2022 decision deferred to after 1b |
-| 0.3 | 10:58 | clone (HTTPS) + `git switch` | PASS | 1.9 s + 0.4 s; 54.5 MB with .git | — |
-| 0.4 | 10:58 | bridge 3.4 / ports | PASS | — | no bridge running; `netstat … ":7447 :8765 :8092 :60000 :60001 :5010"` empty |
-| 1a | 10:59 | `pixi install --locked` | **PASS** | **25.1 s**; env 1.45 GB / 37 984 files | ROS part cold (0 ros-jazzy pkgs cached; cache 7.99 → 8.94 GB); nothing by hand; Python 3.12.15 |
-| 1a.2 | 11:00 | `$PIXI_PROJECT_ROOT` check | **literal** | — | `ROUTER= $PIXI_PROJECT_ROOT/config/zenoh-router.json5`, exists False (W1) |
-| 1b | 11:00 | `pixi install --locked -e typed` | **FAIL** | 26.9 s to failure | `CMake Error at %BUILD_PREFIX%/Library/share/cmake-4.4/Modules/CMakeDetermineCCompiler.cmake:48 (message): Could not find the compiler specified in the environment variable CC: cl.exe.` → `Error: × failed to build 'arena_interfaces' from 'interfaces/arena_interfaces' ╰─▶ × Script failed to execute` (W2). ~5 min spent; continued with the default env |
-| 1a.3 | 11:03 | fix W1 | PASS | `--locked` 4.3 s, lock unchanged | `ROUTER= C:\Users\reiserm\Documents\GitHub\webDisplayTools\ros2-poc\config\zenoh-router.json5 True`, SESSION True |
-| 2.0 | 11:02 | `pixi run router` before fix | FAIL | — | `ERROR ThreadId(01) zenohc::config: Failed to read config from $PIXI_PROJECT_ROOT/config/zenoh-router.json5: The system cannot find the path specified. (os error 3) at D:\bld\libzenohc_1777492468845\…\zenoh-config\src\lib.rs:1378.` / `logging system isn't initialized: call to rcutils_logging_console_output_handler failed.` / `[ros2run]: Process exited with failure 1` |
-| 2.1 | 11:04 | router / listener / talker | **PASS** | latency 39.2 ms (msg 0), then 1.8–2.6 ms | `Zenoh can be reached at: tcp/127.0.0.1:7447`; 14/14 heard |
-| 2.2 | 11:05 | Ctrl-C all three | PASS | — | talker: expected `RCLError: failed to shutdown: rcl_shutdown already called on the given context`; **router does not linger** (`tasklist \| findstr rmw_zenohd` empty) |
-| 3.1 | 11:05 | `pixi run test -- --keep`, as shipped | **FAIL 41 / 44** | 57.9 s | FAIL `conversion fidelity: derived lines … — live 2238 vs conv 2239, Δms {}` (X1); FAIL `bridge.py --convert v2→v1→v2 byte-identical` and `bag → behavior_v1 == bridge.py --convert of the behavior_v2 (byte-identical)` (W3); skip `JS reader check: no \`node\` and no root pixi env` (W5). Bag 4852 records / 342 809 B |
-| 3.2 | 11:11 | run 2, after aeccdce + 6250cdb | **PASS 45 / 45** | 58.4 s | JS readers PASS; derived Δms p50 0 / p99 1 / max 7 (n 2241); frame lag p50 0.569 / p99 0.951 / max 1.806 ms; bag 4858 records / 339 241 B. (Mac 46 = + the typed-import check) |
-| 3.3 | 11:13 | run 3 | **FAIL 44 / 45** | 58.1 s | `live 2237 vs conv 2236` — start race (X2); the stop tie also recurred and was dropped (`dropped_after_stop: 1`) |
-| 3.4 | 11:21 | run 4, after 4935732 | **PASS 45 / 45** | 58.9 s | derived 2243 == 2243, Δms p99 1 / max 7 |
-| 3.5x | 11:50 | 5 runs after the first X2 fix (Kinefly + BIAS on the loop) | 4 × 45/45, 1 × 44/45 | 53–58 s each | derived counts equal in all 5; run 5: `bag → full level … cols [0, 25]` → the same race on `/fictrac/raw` (X2) |
-| 3.7x | 13:26 | 5 runs, precise clocks + 1 ms timer | **5 × PASS 45 / 45** | 52.4–58.2 s | frame lag p99 1.044 / 1.052 / 1.052 / 1.024 / 1.051 ms; bridge log `Windows clocks: precise wall clock for every stamp; 1 ms system timer granted` |
-| 3.8x | 13:35 | 3 runs, + perf-counter latency | **3 × PASS 45 / 45** | 53.2–58.8 s | `connector_status` fictrac lat p50 0.27 / 0.30 / 0.27, p99 0.55 / 6.92 / 0.65 ms (6.92: the run with the adapter-kill window); kinefly p50 0.29–0.33 |
-| 3.6x | 11:56 | **5 runs in a row, final X2 + W8 + W9** | **5 × PASS 45 / 45** | 53.3–58.1 s each | derived 2243/2240/2248/2242/2246, equal live vs conv every run; Δms p99 1 / max 2–8; frame lag p99 1.00 / 1.67 / 1.55 / 1.89 / 1.51 ms; harness sim on a free port (BIAS open on 5010 throughout); no permission errors |
-| 3.5 | — | crash phase (run 2) | PASS | — | crashsafe: NDJSON 616 lines / 157 frames (last 3117 ms) vs bag `--recover` 611 lines / 156 frames (last 3097 ms), torn: true → **1 frame lost** (Mac: 1). default: NDJSON 157 frames; bag `.mcap` 0 B, `[convert] ValueError: no session-open record on /arena/session (not a bridge-node bag, or the open record was lost)`. `info typed topics: False`. Process groups, CTRL_BREAK, TerminateProcess, concurrent file reads, PYTHONUTF8, MCAP under a Windows path: all fine |
-| 6.1 | 11:17 | second `pixi run rig` | PASS* | — | one clear `[rig] cannot start, ports already bound:` + `tcp 127.0.0.1:8765 …` + `udp 127.0.0.1:60000 …`, no traceback; *7447 missing (W7). After the fix, all three listed |
-| 6.2 | 11:18 | Ctrl-C the rig with a run open | **FAIL** → fixed | — | every child exited, nothing lingered, but no `metadata.yaml`, shadow file without `logging_stopped` (W6). After 4935732: PASS (`metadata.yaml` 2639 B, bag reindexed 649 → 95 KB) |
-| 6.3 | 11:20 | `pixi run rig` while bridge 3.4 runs | **PASS** | — | same refusal naming `bridge 3.4 (\`pixi run bridge\` at the repo root)` for 8765 and 60000 |
-| 5b | 11:24 | `pixi run graph -- --text` / `--out` | **PASS** | 9.6 s | rig `--sim --bias`: nodes `/arena_bridge, /bias_camera, /fictrac_udp_adapter`; `/arena/frame` 50 Hz, `/fictrac/raw` 50 Hz, `/bias/status` 1 Hz, `/bias/cmd` + `/bias/reply` wired. Mermaid below. viz env not installed (optional) |
-| 4p | 11:22 | BIAS HTTP probe (no camera commands) | **PASS** | RTT 15–32 ms | see "BIAS probe" |
-
-### BIAS probe (the four questions; BIAS launched with `BIAS Atlas10.bat`, camera NOT connected)
-
-1. **Server enabled?** Yes, by default (`DEFAULT_HTTP_SERVER_ENABLED = true` in this build): no menu click needed.
-2. **Port?** **5010** (= 5000 + 10·(camera 0 + 1)); it listens on `0.0.0.0:5010` and `[::]:5010` (all interfaces).
-3. **`?get-status` shape:** the Mac keys (`connected, capturing, logging, frameCount, framesPerSec, timeStamp`)
-   **plus** `cameraSkipped, delivered, frameIdGaps, incompleteFrames, inputBuffers, inputBuffersMin, lastFrameId,
-   logQueueSize, loggerSkipped, nominalPeriodMs, streamStatsValid, timeouts, writerSkipped` (and, once streaming,
-   the camera-health keys from ATLAS10.md); no `videoFile` key. The node passes them through to `/bias/status` unchanged.
-   ```
-   [ { "command" : "get-status", "message" : "", "success" : true, "value" : { "cameraSkipped" : 0, "capturing" : false, "connected" : false, "delivered" : 0, "frameCount" : 0, "frameIdGaps" : 0, "framesPerSec" : 0.0, "incompleteFrames" : 0, "inputBuffers" : -1, "inputBuffersMin" : -1, "lastFrameId" : 0, "logQueueSize" : 0, "loggerSkipped" : 0, "logging" : false, "nominalPeriodMs" : 0.0, "streamStatsValid" : false, "timeStamp" : 0.0, "timeouts" : 0, "writerSkipped" : 0 } } ]
-   ```
-4. **`get-video-file` after `set-video-file`** (sent with bias_node's exact encoding, backslashes raw):
-   `D:\rec\reiserm\ros2-poc\poc.avi` → `D:/rec/reiserm/ros2-poc/poc.ufmf` (dir created); forward slashes work too;
-   `my trial.v2.avi` → `D:/rec/reiserm/ros2-poc/my trial.ufmf`; `relname.avi` → `C:/Lab/GitHub/atlas-bench-rob23/bias/relname.ufmf`.
-   Initial value `D:/rec/reiserm/bias_video.ufmf` (restored afterwards). Format = **ufmf** (this build's start-up
-   default). `get-camera-guid` → `169.254.22.96`; `get-configuration` → `Unable to get configuration: camera is not connected`.
-
-**Does `bias_node.py` need a change?** Not to work: every reply parses, Windows paths survive the URL, extra
-status keys pass through. Two things to settle in step 4: B2 (the `artifact.path` vs the auto-named file), and
-whether to send `.ufmf` names (the protocol's `.avi` is replaced anyway).
-
-### Graph (step 5b, rig `--sim --bias`)
-
-```mermaid
-flowchart LR
-    arena_bridge(["/arena_bridge"])
-    bias_camera(["/bias_camera"])
-    fictrac_udp_adapter(["/fictrac_udp_adapter"])
-    arena_frame[/"/arena/frame\nString\n49.0 Hz"/]
-    arena_bridge --> arena_frame
-    bias_cmd[/"/bias/cmd\nString"/]
-    arena_bridge --> bias_cmd
-    bias_cmd --> bias_camera
-    bias_reply[/"/bias/reply\nString"/]
-    bias_camera --> bias_reply
-    bias_reply --> arena_bridge
-    bias_status[/"/bias/status\nString\n1.0 Hz"/]
-    bias_camera --> bias_status
-    bias_status --> arena_bridge
-    fictrac_raw[/"/fictrac/raw\nString\n50.0 Hz"/]
-    fictrac_udp_adapter --> fictrac_raw
-    fictrac_raw --> arena_bridge
-    kinefly_raw[/"/kinefly/raw\nString"/]
-    kinefly_raw --> arena_bridge
-```
-
-## Hardware steps (afternoon, Michael at the rig; times ET)
-
-Rig: CSHL G6 2×10 ball arena, controller COM4 (fw `12bba7e9` 2x10 2026-09-30), real FicTrac
-(`cshl\rig05_vfov28_2026-09-22\config.txt` via `fictrac.bat`, 96–97 fps), BIAS Atlas10 (ATX081S-M,
-2840×2840 Mono8, 135.6 fps, uFMF). Studio = this branch served from the checkout (`localhost:8092`), Chrome 155
-(no local-network-access prompt).
-
-| # | Time | Step | Result | Numbers / notes |
-|---|---|---|---|---|
-| 1b′ | 13:40 | MSVC v143 group into VS 2026 Build Tools | done | installer launched 13:40:29, installed < 5 min; `VC\Tools\MSVC\14.44.35207` next to 14.51 |
-| 1b″ | 13:44 | `pixi install -e typed` (Documents path) | FAIL | MSVC found now; `C1083` MAX_PATH (W2-2) |
-| 1b‴ | 14:26 | same at short path `C:\w` (detached worktree) | FAIL | compiles + links in 16 s; packaging `..` error (W2-3). Time-box reached |
-| 4.1 | 13:41 | `bias-cmd connect` (2 s timeout) | unknown → B3 | `timeout after 2.0s`, `outcome: "unknown"`, exit 3 — while `get-status` said `connected: true` |
-| 4.2 | 13:43 | connect / startRecording `poc.avi` / getTimestamp / stopRecording (15 s slow timeout) | **PASS** | 2178 / 140 (set-video-file 11, enable-logging 2, start-capture 116, get-video-file 11) / 11 / 263 ms; 2075 frames in 15.3 s, 0 gaps, 0 camera/writer/logger skips, 50.8 °C; file `poc_cam_0_…_v001.ufmf` (B2) |
-| 4.3 | 13:44 | unknown-outcome path (BIAS closed mid-recording) | **PASS** | `/bias/status` `reachable:false` (`<urlopen error timed out>`), `getTimestamp` `outcome:"unknown"` exit 3 in 4.0 s, no hang; BIAS restarted → `reachable:true` without restarting the node. The open uFMF has no index (BIAS limit) |
-| 5.1 | 15:06 | Studio run, Mac-bench protocol | partial | camera bracket ok (connect 2196 ms), `trialParams` status 1 → runner refused the loop (`unknown frame count for pattern idx 1`) — no pattern on the card (H1); video misplaced (W10); fidelity exact over 10 868 lines; 0 epochs |
-| 5.2 | 15:25 | Studio run, `bias_camera_closed_loop_poc_ww18` (`grating_sq`, slot 2) | **PASS** | 2 epochs, idx mismatch **0.00 % / 0.00 %**, frames 20 (from the card); `cc_0x70_ok` 2893; fidelity: 18 476 lines, 109 derived ±1 ms; 6 camera replies ok via ws; bag 3.1 MiB / 23 828 msgs, all topics; video `poc_studio_run_…_15_25_01_v001.ufmf` 16.3 MB in `D:\rec\reiserm\ros2-poc`; 1 trial "unknown" = pre-run Console test (`coverage: controller_reboot`) |
-| 5.7 | 15:35 | crash: `taskkill /F` the bridge 10.4 s into the first loop | **PASS** (+ S1) | rig stopped all children; bag without metadata.yaml (1.31 MB); `--recover`: **1162 frames, last 12 046 ms — identical to the shadow NDJSON** (only the final arena echo line missing; the Mac lost 1 frame); recover 5.4 s |
-| soak | 15:44 | `…_ww18_soak10` (2 × 300 s closed loop) | **PASS** (+ H1) | idx mismatch **0.00 % / 0.00 %**; 221 926 lines, fidelity exact (618 derived, ±6 ms max); 58 918 FicTrac rows (Δ 9–12 ms, no 15.6 ms steps); `cc_0x70_ok` 57 811; adapter→bridge p50 0.55 / p99 1.26 ms; BIAS 81 567 frames at 135.59 fps, 0 gaps / skips / incomplete / timeouts, buffers ≥ 123/128, 0 TCP retransmits; **uFMF 14.2 GB / 10 min ≈ 24 MB/s** (the fork's figure; ~85 GB/h); trial 3 flagged by one SD-stall burst (H1) |
-| 5c | 15:56 | `g6_color_optomotor_smoke` on the four-color arena (COM7: fw `c15d840a` restack/panel-boot 2026-09-29, 8 GB FAT32, patterns already on the card) | **PASS** | `runlog-check` OK, **8/8 trials pass**; violet, blue, green, yellow each CW then CCW — direction confirmed by eye, no `fps_cw`/`fps_ccw` swap; 12 camera replies ok, BIAS clock +12.03 s per trial |
-| W2-3 | 16:22 | typed build, packaging bug: baseline at `C:\w\t` (detached worktree) | FAIL (reproduced) | 32 s; 21 of 151 package-file entries `<host>/Library/../Lib/site-packages/…` |
-| W2-3′ | 16:25 | + CMakeLists workaround (538cc85), `--locked`, clean `bld/` | **PASS** | 35 s (16 s build), 0 entries with `..`; `--check` importable + serializes; **harness 48 / 48** in 61 s, `typed topics: True` |
-| W2-3″ | 16:28 | same from a 79-char checkout + `detached-environments = 'C:\w\px'` | **PASS** | 36 s; longest object path 253 chars |
-| W2-5 | 16:32 | prebuilt: `pixi publish` → local file channel; `typed` from the channel, no path dep, no toolchain | **PASS** | publish 26 s (101 KiB `.conda`); fresh `--locked` install **9 s, no build backend started**; **harness 48 / 48** in 56 s (scratch manifest, not committed) |
-
-## Still open
-
-- **1b / 7** typed messages: installable now (W2-3′, W2-5). The decision is between building on each PC
-  (MSVC v143 + `detached-environments`) and a CI-built channel (no compiler; workflow sketch in
-  `docs/typed-windows.md` §5). Step 5 hardware runs were not repeated with `-e typed`. Upstream: filed 2026-10-16,
-  prefix-dev/rattler-build#2875 + a confirming comment on prefix-dev/pixi#7226 (§4). **Next: run
-  WINDOWS-TEST.md 7b on a PC without Visual Studio.** The `typed-prebuilt` env (2026-10-16, a ww18-built
-  package committed in `channel/`) installs `--locked` in 5 s on ww18, harness 49 / 49.
-  **Decided 2026-10-16 (`docs/typed-distribution-decision.md`): CI-built channel; workflow
-  `.github/workflows/arena-interfaces.yml` added (build on PR, channel artifact, tag → hosted upload when configured).**
-- **S1** bridge loss should banner and end the run; **S2** `?p=` needed a refresh; **H1** characterize the 64 GB
-  exFAT card; **5c full** (18 min) and real-fly runs; **hardware sync** (camera strobe → controller Digital IO)
-  for µs frame timing on the controller's clock.
-
-## Artifacts on ww18 (not committed)
-
-`%TEMP%\ros2-poc-test-id0n3u9y` (run 1, 41/44), `-12brtne7` (run 2), `-wzz38rvp` (run 3, X2), `-mm7i3ha1` (run 4),
-`-yooxcvjy` (the FicTrac `cols [0, 25]` run), `-f8g23mlb` `-pxq2m1xb` `-qpd_gp_2` `-7n08p78f` `-03b6r1gt` (final 5);
-`ros2-poc\runlogs\arena-log-20261015-111739-702.*` (W6 before the fix) and `…-111942-495.*` (after);
-hardware runs `ros2-poc\runlogs\arena-log-20261015-150605-299.*` (5.1), `-152501-050.*` (5.2), `-153548-287.*`
-(5.7 crash), `-154452-578.*` (soak), `-155617-614.*` (5c), `-160327-867.*` (B2 check), with exports in
-`runlogs\exports\`; videos + stamp log in `D:\rec\reiserm\ros2-poc\` (the A/B `ab_*` and `b2test` recordings
-are test files); controller probes in the session scratchpad.
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/scripts/make-2p-diagnostic-patterns.js b/scripts/make-2p-diagnostic-patterns.js
index a4385e4f..b06466b5 100644
--- a/scripts/make-2p-diagnostic-patterns.js
+++ b/scripts/make-2p-diagnostic-patterns.js
@@ -2,7 +2,8 @@
 /**
  * Build the full-field brightness patterns for the 2P line-sync diagnostics
  * (protocols/g6_2x10_2p_diagnostics.yaml) into the colocated folder
- * protocols/g6_2x10_2p_diagnostics_patterns/. G6 2x10, GS16, duty byte 0x80.
+ * <--out dir> (reiserlab/scanimage-2026-bergamo protocols/g6_2x10_2p_diagnostics_patterns/ since
+ * 2026-10-29, LAB-227). G6 2x10, GS16, duty byte 0x80.
  *
  * Why these patterns: on the Bergamo the display leaves a uniform offset in the
  * SiPM channels that is expected to follow the TOTAL light the display emits.
@@ -22,9 +23,24 @@ const PatEncoder = require('../js/pat-encoder.js');
 const arenaCfg = require('../js/arena-configs.js');
 
 const ARENA = 'G6_2x10';
-const ROWS = 2, COLS = 10, PIXEL_ROWS = 40, PIXEL_COLS = 200, N = PIXEL_ROWS * PIXEL_COLS;
+const ROWS = 2,
+    COLS = 10,
+    PIXEL_ROWS = 40,
+    PIXEL_COLS = 200,
+    N = PIXEL_ROWS * PIXEL_COLS;
 const ARENA_ID = 1;
-const OUT = path.join(__dirname, '..', 'protocols', 'g6_2x10_2p_diagnostics_patterns');
+// --out <dir> is required: the protocol and its patterns moved to the private 2P rig
+// repo on 2026-10-29 (LAB-227: reiserlab/scanimage-2026-bergamo,
+// protocols/g6_2x10_2p_diagnostics_patterns/). Point --out into a checkout of it.
+const outIdx = process.argv.indexOf('--out');
+if (outIdx < 0 || !process.argv[outIdx + 1]) {
+    console.error(
+        'usage: node scripts/make-2p-diagnostic-patterns.js --out <dir>  (the patterns live in the ' +
+            'private reiserlab/scanimage-2026-bergamo, protocols/g6_2x10_2p_diagnostics_patterns/)'
+    );
+    process.exit(2);
+}
+const OUT = path.resolve(process.argv[outIdx + 1]);
 
 const uniform = (v) => new Uint8Array(N).fill(v);
 
@@ -37,9 +53,13 @@ const PR16 = [8, 12, 14, 15, 7, 3, 1, 0, 9, 4, 2, 10, 5, 11, 13, 6];
 function sparse(frac, seed) {
     const f = new Uint8Array(N);
     let s = seed >>> 0;
-    const rnd = () => ((s = (1664525 * s + 1013904223) >>> 0) / 4294967296);
+    const rnd = () => (s = (1664525 * s + 1013904223) >>> 0) / 4294967296;
     let lit = 0;
-    for (let i = 0; i < N; i++) if (rnd() < frac) { f[i] = 15; lit++; }
+    for (let i = 0; i < N; i++)
+        if (rnd() < frac) {
+            f[i] = 15;
+            lit++;
+        }
     return { frame: f, lit };
 }
 
@@ -52,7 +72,10 @@ const SEEDS = [
     {
         name: 'G6_2x10_ff_steps_pr16',
         frames: PR16.map((v) => uniform(v)),
-        note: 'full field, the 16 grey levels in pseudo-random order ' + PR16.join(',') + '. mode 2, frame_rate 2 → 8 s per pass'
+        note:
+            'full field, the 16 grey levels in pseudo-random order ' +
+            PR16.join(',') +
+            '. mode 2, frame_rate 2 → 8 s per pass'
     },
     {
         name: 'G6_2x10_ff_flash_0_15',
@@ -61,30 +84,47 @@ const SEEDS = [
     },
     {
         name: 'G6_2x10_sparse10',
-        frames: [sparse(0.10, 20260923).frame],
+        frames: [sparse(0.1, 20260923).frame],
         note: '10 % of pixels at level 15, rest dark, static (frame_rate 0). Compare with ff_ramp16 held at level 1–2'
     }
 ];
 
 fs.mkdirSync(OUT, { recursive: true });
-const readme = ['Patterns for protocols/g6_2x10_2p_diagnostics.yaml (G6 2x10, GS16, built by scripts/make-2p-diagnostic-patterns.js).',
-    'Upload the whole folder from Arena Studio (Console → Patterns → Add ▾ → this protocol\'s folder); the Studio resolves patterns by NAME.', ''];
+const readme = [
+    'Patterns for protocols/g6_2x10_2p_diagnostics.yaml (G6 2x10, GS16, built by scripts/make-2p-diagnostic-patterns.js).',
+    "Upload the whole folder from Arena Studio (Console → Patterns → Add ▾ → this protocol's folder); the Studio resolves patterns by NAME.",
+    ''
+];
 let ok = true;
 for (const s of SEEDS) {
     const bytes = PatEncoder.encode({
-        generation: 'G6', gs_val: 16, numFrames: s.frames.length,
-        rowCount: ROWS, colCount: COLS, pixelRows: PIXEL_ROWS, pixelCols: PIXEL_COLS,
-        frames: s.frames, stretchValues: [], arena_id: ARENA_ID, observer_id: 0
+        generation: 'G6',
+        gs_val: 16,
+        numFrames: s.frames.length,
+        rowCount: ROWS,
+        colCount: COLS,
+        pixelRows: PIXEL_ROWS,
+        pixelCols: PIXEL_COLS,
+        frames: s.frames,
+        stretchValues: [],
+        arena_id: ARENA_ID,
+        observer_id: 0
     });
     const file = path.join(OUT, s.name + '.pat');
     fs.writeFileSync(file, Buffer.from(bytes));
     // self-verify: parse back, check geometry, duty byte, and mean level per frame
     const buf = fs.readFileSync(file);
-    const p = PatParser.parsePatFile(buf.buffer.slice(buf.byteOffset, buf.byteOffset + buf.byteLength));
+    const p = PatParser.parsePatFile(
+        buf.buffer.slice(buf.byteOffset, buf.byteOffset + buf.byteLength)
+    );
     const cfg = arenaCfg.getConfig(ARENA);
-    const geomOk = p.pixelRows === PIXEL_ROWS && p.pixelCols === PIXEL_COLS && p.gs_val === 16 && p.frames.length === s.frames.length;
+    const geomOk =
+        p.pixelRows === PIXEL_ROWS &&
+        p.pixelCols === PIXEL_COLS &&
+        p.gs_val === 16 &&
+        p.frames.length === s.frames.length;
     const dutyOk = p.stretchValues.every((d) => d === 0x80);
-    const means = p.frames.map((fr) => (fr.reduce((a, b) => a + b, 0) / fr.length / 15));
+    const means = p.frames.map((fr) => fr.reduce((a, b) => a + b, 0) / fr.length / 15);
     const lit = p.frames.map((fr) => fr.filter((v) => v > 0).length / fr.length);
     const line = `${s.name}.pat  frames ${p.frames.length}  mean/full per frame [${means.map((m) => m.toFixed(2)).join(' ')}]  lit fraction [${[...new Set(lit.map((l) => l.toFixed(2)))].join(' ')}]  ${geomOk && dutyOk ? 'OK' : 'FAIL'}`;
     console.log(line);
@@ -93,5 +133,7 @@ for (const s of SEEDS) {
     if (!geomOk || !dutyOk) ok = false;
 }
 fs.writeFileSync(path.join(OUT, 'README.txt'), readme.join('\n') + '\n');
-console.log(ok ? '\nSelf-verify OK → ' + path.relative(process.cwd(), OUT) : '\nSelf-verify FAILED');
+console.log(
+    ok ? '\nSelf-verify OK → ' + path.relative(process.cwd(), OUT) : '\nSelf-verify FAILED'
+);
 process.exit(ok ? 0 : 1);
diff --git a/scripts/make-color-optomotor-patterns.js b/scripts/make-color-optomotor-patterns.js
index 35d4ca15..6e145cbc 100644
--- a/scripts/make-color-optomotor-patterns.js
+++ b/scripts/make-color-optomotor-patterns.js
@@ -18,7 +18,7 @@
  * the trial's `duty` override, which is what the protocol sweeps.
  *
  *   node scripts/make-color-optomotor-patterns.js          # GS2 set for g6_color_optomotor_test
- *   node scripts/make-color-optomotor-patterns.js --gs16   # GS16 set for g6_2p_color_led_sweep
+ *   node scripts/make-color-optomotor-patterns.js --gs16 --out <dir>   # GS16 set for g6_2p_color_led_sweep (private 2P repo)
  *
  * --gs16 writes the SAME four gratings as Gray_16 files (lit pixels = 15) into
  * protocols/g6_2p_color_led_sweep_patterns/, names suffixed `_gs16`. The 2P imaging runs
@@ -44,12 +44,23 @@ const TOP_ROW_START = 20; // pixel rows 20..39 = the top panel row (row 0 = bott
 const ARENA_ID = 1;
 const GS16 = process.argv.includes('--gs16');
 const ON_VALUE = GS16 ? 15 : 1;
-const OUT = path.join(
-    __dirname,
-    '..',
-    'protocols',
-    GS16 ? 'g6_2p_color_led_sweep_patterns' : 'g6_color_optomotor_test_patterns'
-);
+// --out <dir> overrides the destination. The GS2 set is the public
+// protocols/g6_color_optomotor_test_patterns/. The GS16 set belongs to the 2P
+// protocol, which moved to the private rig repo on 2026-10-29 (LAB-227:
+// reiserlab/scanimage-2026-bergamo, protocols/g6_2p_color_led_sweep_patterns/),
+// so --gs16 needs an explicit --out pointing into a checkout of that repo.
+const outIdx = process.argv.indexOf('--out');
+const OUT_ARG = outIdx >= 0 ? process.argv[outIdx + 1] : null;
+if (GS16 && !OUT_ARG) {
+    console.error(
+        '--gs16 needs --out <dir>: the 2P sweep patterns live in the private ' +
+            'reiserlab/scanimage-2026-bergamo (protocols/g6_2p_color_led_sweep_patterns/), not here.'
+    );
+    process.exit(2);
+}
+const OUT = OUT_ARG
+    ? path.resolve(OUT_ARG)
+    : path.join(__dirname, '..', 'protocols', 'g6_color_optomotor_test_patterns');
 const layout = PanelColor.getLayout('four-color');
 const BANKS = layout.banks; // ['violet', 'blue', 'green', 'yellow']
 
diff --git a/protocols/g6_2p_color_led_sweep.yaml b/tests/fixtures/v3_g6_2p_color_led_sweep.yaml
similarity index 100%
rename from protocols/g6_2p_color_led_sweep.yaml
rename to tests/fixtures/v3_g6_2p_color_led_sweep.yaml
diff --git a/tests/test-arena-telemetry.js b/tests/test-arena-telemetry.js
index 759d30c3..3440413b 100644
--- a/tests/test-arena-telemetry.js
+++ b/tests/test-arena-telemetry.js
@@ -341,6 +341,7 @@ function block(h, records) {
         const per = 3;
         const asked = [];
         let failNext = false;
+        let hdrDropped = 0; // the controller's lifetime eviction counter in the header
         const session = {
             async send(bytes) {
                 const ack =
@@ -365,7 +366,16 @@ function block(h, records) {
                 const firstSeq = out.length
                     ? (out[0][2] | (out[0][3] << 8) | (out[0][4] << 16) | (out[0][5] << 24)) >>> 0
                     : 0;
-                return block({ tNowUs: 999, firstSeq, more: ring.length > per, flags: 1 }, out);
+                return block(
+                    {
+                        tNowUs: 999,
+                        firstSeq,
+                        dropped: hdrDropped,
+                        more: ring.length > per,
+                        flags: 1
+                    },
+                    out
+                );
             }
         };
         const got = [];
@@ -444,6 +454,27 @@ function block(h, records) {
         check('only the 2 new records counted', d.stats.records - recBefore, 2);
         d.reset();
         check('reset forgets the cursor', [d.stats.ackSeq, d.stats.lastSeq], [0xffffffff, null]);
+
+        // The header `dropped` is the controller's LIFETIME eviction count. A drainer that
+        // starts hours after boot sees thousands with no gaps: that is not in-session loss
+        // (ww18, 2026-10-29: "dropped 1929" read as a problem). Only growth since our first
+        // block counts as droppedSession.
+        const d3 = T.createDrainer({ session, wire: Wire, now: () => 42, onRecords: () => true });
+        hdrDropped = 1929;
+        push(1);
+        await d3.drainOnce();
+        check('lifetime counter kept verbatim', d3.stats.dropped, 1929);
+        check('nothing evicted since our first block', d3.stats.droppedSession, 0);
+        hdrDropped = 1931;
+        push(1);
+        await d3.drainOnce();
+        check('growth since the first block is the session loss', d3.stats.droppedSession, 2);
+        d3.reset();
+        check(
+            'reset forgets the eviction baseline',
+            [d3.stats.droppedBase, d3.stats.droppedSession],
+            [null, 0]
+        );
     }
 
     console.log('\n=== poller: single-flight, gated ===');
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 ===")
diff --git a/tests/test-protocol-roundtrip-v3.js b/tests/test-protocol-roundtrip-v3.js
index b5811c1a..d5055da2 100644
--- a/tests/test-protocol-roundtrip-v3.js
+++ b/tests/test-protocol-roundtrip-v3.js
@@ -4817,10 +4817,9 @@ console.log('\n--- Suite 39: sequence-style variables identity ---');
         '39.6: no variable is named after String.prototype.anchor or "undefined"',
         exp38.variables.every((v) => v.name !== 'undefined' && !/native code/.test(v.name))
     );
-    const protocol2p = fs.readFileSync(
-        path.join(__dirname, '..', 'protocols', 'g6_2p_color_led_sweep.yaml'),
-        'utf8'
-    );
+    // The protocol itself lives in the private 2P rig repo since 2026-10-29 (LAB-227);
+    // this fixture is the copy the test parses.
+    const protocol2p = readFixture('v3_g6_2p_color_led_sweep.yaml');
     const exp2p = parseV3Protocol(protocol2p);
     const names2p = exp2p.variables.map((v) => v.name);
     checkTrue('39.7: the 2P sweep protocol parses', exp2p.variables.length > 10);
diff --git a/tests/test-rig-qc.py b/tests/test-rig-qc.py
new file mode 100644
index 00000000..fa5f5c36
--- /dev/null
+++ b/tests/test-rig-qc.py
@@ -0,0 +1,175 @@
+#!/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("== 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:])
+    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())
diff --git a/tests/test-studio-github.js b/tests/test-studio-github.js
index 1bf145d4..248aef2f 100644
--- a/tests/test-studio-github.js
+++ b/tests/test-studio-github.js
@@ -474,9 +474,11 @@ console.log('=== run (injected fetch) ===');
 (async () => {
     let seenUrl = null;
     let seenAuth = null;
+    let seenCache = null;
     const fakeFetch = async (url, init) => {
         seenUrl = url;
         seenAuth = init.headers.Authorization;
+        seenCache = init.cache;
         return { ok: true, status: 200, json: async () => ({ default_branch: 'main' }) };
     };
     const res = await G.run(fakeFetch, G.reqGetRepo(O, R, TOKEN));
@@ -484,6 +486,22 @@ console.log('=== run (injected fetch) ===');
     check('run ok+status', [res.ok, res.status], [true, 200]);
     checkBool('run passed auth header', seenAuth === 'Bearer ' + TOKEN, seenAuth);
     checkBool('run hit repo url', seenUrl.endsWith('/repos/reiserlab/webDisplayTools'), seenUrl);
+    // The JSON executor bypasses the HTTP cache: the raw and JSON forms of a
+    // contents URL share an ETag, and a cached raw body served for a JSON
+    // request made the overwrite guard miss an existing file (ww18, 2026-10-29).
+    check('run bypasses the HTTP cache (no-store)', seenCache, 'no-store');
+
+    // A JSON reply that is not JSON (the cached-raw symptom) must not throw:
+    // callers see data null and decide; the status still comes through.
+    const notJson = async () => ({
+        ok: true,
+        status: 200,
+        json: async () => {
+            throw new SyntaxError('raw');
+        }
+    });
+    const nj = await G.run(notJson, G.reqGetRepo(O, R, TOKEN));
+    check('run tolerates a non-JSON body', [nj.ok, nj.status, nj.data], [true, 200, null]);
 
     console.log('=== runBytes (raw executor) ===');
     const rawFetch = async () => ({