From 612f082c0e3e64c8f012e2c2b487dc082d5f22fc Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 28 Oct 2026 17:16:24 -0400
Subject: [PATCH 1/2] rig: pin rig-nodes 0.3.0, requires-pixi >= 0.80, macOS
 floor on the platform (#280, LAB-338)

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

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

diff --git a/rig/pixi.toml b/rig/pixi.toml
index 8f058117..2abdab34 100644
--- a/rig/pixi.toml
+++ b/rig/pixi.toml
@@ -23,14 +23,18 @@
 [workspace]
 name = "rig"
 version = "0.1.0"
-channels = ["conda-forge", "robostack-jazzy", "https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel"]
-platforms = ["osx-arm64", "win-64", "linux-64"]
-preview = ["pixi-build"]
-
+channels = ["conda-forge", "robostack-jazzy", "https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.3.0/channel"]
 # rmw_zenoh ≥ 0.2.11 (the RoboStack 0.19 set) is built for macOS ≥ 14; without this floor the
 # osx-arm64 solve falls back to the 0.16 set and the platforms drift apart (rig-nodes pins 0.19).
-[system-requirements]
-macos = "14.0"
+# Declared on the platform (pixi ≥ 0.80 virtual packages), not as the deprecated [system-requirements]; pixi
+# requires an entry carrying virtual packages to have a `name` distinct from its subdir, and this is the name
+# pixi 0.80 itself wrote on ww18 when it rewrote the 0.69 lock (#280).
+platforms = [{ name = "osx-arm64-macos-14-0", platform = "osx-arm64", macos = "14.0" }, "win-64", "linux-64"]
+preview = ["pixi-build"]
+# An older pixi must refuse rather than rewrite pixi.lock in an older format: the lock is written by
+# pixi ≥ 0.80 (issue #280 — ww18 on 0.80 rewrote a 0.69 lock in place, 1095 lines, and left the checkout
+# dirty). Rigs install with `pixi install --locked`.
+requires-pixi = ">=0.80"
 
 [activation.env]
 # Every ROS 2 process in this workspace uses the Zenoh middleware. rmw_zenoh needs
@@ -77,13 +81,16 @@ ros-jazzy-rosbag2-py = "*"
 ros-jazzy-rosbag2-storage-mcap = "*"
 mcap = ">=1.2"
 # ── the shared rig-nodes package set, pinned (one version for the set; README "Releasing") ──
-# Device adapters (FicTrac, Kinefly, BIAS, ScanImage) and their simulators, the MCAP recorder and
-# indexer, the CDR decoder, the Foxglove rewriter, the supervision primitives rig.py composes with.
+# Device adapters (FicTrac, Kinefly, BIAS, ScanImage incl. its ZeroMQ frame stream, the experimental SiPM
+# controller) and their simulators, the MCAP recorder and indexer, the CDR decoder, the Foxglove rewriter
+# (+ bias_health), the supervision primitives rig.py composes with. 0.3.0 (2026-10-28) also ships the
+# HostStats message set for the host monitor (rig_interfaces, `typed` environment).
 # Written into every run's record by the gateway (hello_ack + /arena/session `packages`).
-rig_nodes = "==0.2.1"
+rig_nodes = "==0.3.0"
 
 # ── typed messages = the OPT-IN `typed` environment ───────────────────────────────────────
-# `pixi install -e typed` adds rig_interfaces (FicTracFrame, ArenaFrame, ConnectorReply) from the
+# `pixi install -e typed` adds rig_interfaces (FicTracFrame, ArenaFrame, ConnectorReply, HostStats + its
+# DiskStats/NetStats/GpuStats/ProcStats records) from the
 # SAME channel, built in rig-nodes' CI for win-64 / osx-arm64 / linux-64 — no compiler, no build
 # backend, no MAX_PATH (docs in rig-nodes: docs/typed-distribution-decision.md). Same solve group
 # as the default environment: since the package pins the 0.19 set too, the two environments share
@@ -91,7 +98,7 @@ rig_nodes = "==0.2.1"
 # environment so the rigs keep recording String topics until typed recording is decided for them;
 # the nodes fall back on their own (`--typed auto`).
 [feature.typed.dependencies]
-rig_interfaces = "==0.2.1"
+rig_interfaces = "==0.3.0"
 
 # ── developer path: rig-nodes `main`, built from source (git source dependencies) ────────────
 # `pixi install -e dev` swaps the two channel pins for the HEAD of reiserlab/rig-nodes `main`,

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

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

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

diff --git a/rig/pixi.lock b/rig/pixi.lock
index f8689eed..c23ddf56 100644
--- a/rig/pixi.lock
+++ b/rig/pixi.lock
@@ -1,14 +1,27 @@
 version: 7
 platforms:
 - name: linux-64
-- name: osx-arm64
+  virtual-packages:
+  - __unix=0=0
+  - __linux=4.18
+  - __glibc=2.28
+  - __archspec=0=x86_64
+- name: osx-arm64-macos-14-0
+  subdir: osx-arm64
+  virtual-packages:
+  - __osx=14.0
+  - __unix=0=0
+  - __archspec=0=m1
 - name: win-64
+  virtual-packages:
+  - __win=10.0
+  - __archspec=0=x86_64
 environments:
   default:
     channels:
     - url: https://conda.anaconda.org/conda-forge/
     - url: https://conda.anaconda.org/robostack-jazzy/
-    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/
+    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/
     packages:
       linux-64:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
@@ -21,7 +34,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.9-hebe6cf0_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.6-h3c89d7e_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cffi-2.1.1-py312h703531f_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.4-hff7ac6b_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.5-hff7ac6b_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cppcheck-2.22.0-py312h3cdd867_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cryptography-50.0.2-py311hc91d8b8_0.conda
@@ -45,7 +58,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gtk3-3.24.52-ha5ea40c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gts-0.7.6-h977cf35_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/harfbuzz-15.0.0-ha770c72_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/hicolor-icon-theme-0.17-ha770c72_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/hicolor-icon-theme-0.17-hfc2019e_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-78.3-py310h44b86e0_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/keyutils-1.6.3-h7cc23a3_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/krb5-1.22.2-hbc21106_2.conda
@@ -86,10 +99,10 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libiceoryx-platform-2.95.8-hf91fcae_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libiceoryx-posh-2.95.8-hb5873e6_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libiconv-1.18-h0cb94f2_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.2.0-hb03c661_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.2.1-h7cc23a3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/liblapack-3.11.0-11_h47877c9_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.3-hb03c661_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.68.1-h74cf4be_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.70.0-hc5e5977_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libnsl-2.0.1-hb9d3cd8_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libopenblas-0.3.34-pthreads_hf13c14d_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libpango-1.58.2-hce4e988_3.conda
@@ -145,7 +158,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_h1df4ec4_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/uncrustify-0.83.0-h54a6638_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom-6.0.2-hf2e7533_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom_headers-3.0.1-h4dbf13b_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom_headers-3.0.1-h4dbf13b_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/wayland-1.26.0-hc1c935e_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/websockets-17.3-py312h89dfda2_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xkeyboard-config-2.48-hebe6cf0_1.conda
@@ -211,10 +224,10 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/pyflakes-4.0.3-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.21.0-pyhcf101f3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.3.3-pyh5ded981_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-3.0.0-pyh5ded981_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python-gil-3.12.16-hd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.12-9_cp312.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/rosdistro-1.1.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/rospkg-1.6.3-pyh5ded981_0.conda
@@ -448,8 +461,8 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-yaml-cpp-vendor-9.0.1-np2py312h1bab3cf_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-zenoh-cpp-vendor-0.2.11-np2py312h815c85b_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-zstd-vendor-0.26.11-np2py312h6a0d68b_25.conda
-      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/noarch/rig_nodes-0.2.1-pyh4616a5c_0.conda
-      osx-arm64:
+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/noarch/rig_nodes-0.3.0-pyh4616a5c_0.conda
+      osx-arm64-macos-14-0:
       - conda: https://conda.anaconda.org/conda-forge/noarch/_python_abi3_support-1.0-hd8ed1ab_3.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/adwaita-icon-theme-51.0-unix_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.7.2-pyhcf101f3_0.conda
@@ -489,10 +502,10 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/pyflakes-4.0.3-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.21.0-pyhcf101f3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.3.3-pyh5ded981_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-3.0.0-pyh5ded981_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python-gil-3.12.16-hd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.12-9_cp312.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/rosdistro-1.1.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/rospkg-1.6.3-pyh5ded981_0.conda
@@ -511,7 +524,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/c-ares-1.34.9-h74c22ad_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cairo-1.18.6-h580cee5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cffi-2.1.1-py312hc892d8b_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.4.4-hf91ab31_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.4.5-h07a7c03_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/console_bridge-1.0.2-h3e96240_1.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cppcheck-2.22.0-py312h3286cfa_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cryptography-50.0.2-py311hc28ac56_0.conda
@@ -534,7 +547,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/gtk3-3.24.52-hc0f3e19_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/gts-0.7.6-he42f4ea_4.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/harfbuzz-15.0.0-hce30654_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/hicolor-icon-theme-0.17-hce30654_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/hicolor-icon-theme-0.17-h5ce3bf5_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/icu-78.3-py310h579977c_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/krb5-1.22.2-h34f8a20_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/lerc-4.2.0-h1eee2c3_0.conda
@@ -562,10 +575,10 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libiceoryx-posh-2.95.8-hbfce10a_5.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libiconv-1.18-he4c29f2_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libintl-0.25.1-hae62183_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libjpeg-turbo-3.2.0-h84a0fba_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libjpeg-turbo-3.2.1-hb001647_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblapack-3.11.0-11_hd9741b5_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblzma-5.8.3-h8088a28_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.68.1-h435687b_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.70.0-h344cdd5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libopenblas-0.3.34-openmp_h5e6e99c_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpango-1.58.2-hc2ac4f2_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpango-devel-1.58.2-haa2d88b_3.conda
@@ -848,7 +861,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-yaml-cpp-vendor-9.0.1-np2py312h3d3361c_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-zenoh-cpp-vendor-0.2.11-np2py312h48e1e13_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-zstd-vendor-0.26.11-np2py312h849b6f6_25.conda
-      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/noarch/rig_nodes-0.2.1-pyh4616a5c_0.conda
+      - conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/noarch/rig_nodes-0.3.0-pyh4616a5c_0.conda
       win-64:
       - conda: https://conda.anaconda.org/conda-forge/noarch/_python_abi3_support-1.0-hd8ed1ab_3.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.7.2-pyhcf101f3_0.conda
@@ -888,10 +901,10 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/pyflakes-4.0.3-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.21.0-pyhcf101f3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.3.3-pyh5ded981_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-3.0.0-pyh5ded981_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python-gil-3.12.16-hd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.12-9_cp312.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/rosdistro-1.1.0-pyhd8ed1ab_0.conda
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-    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/
+    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/
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-      - conda_source: rig_nodes[d35d99f3] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
-      osx-arm64:
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+      - conda_source: rig_nodes[daef82bd] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+      osx-arm64-macos-14-0:
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@@ -1784,7 +1797,7 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.4.4-hf91ab31_0.conda
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-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/hicolor-icon-theme-0.17-hce30654_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/hicolor-icon-theme-0.17-h5ce3bf5_3.conda
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@@ -1845,12 +1858,12 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libjpeg-turbo-3.2.0-h84a0fba_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libjpeg-turbo-3.2.1-hb001647_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblapack-3.11.0-11_hd9741b5_openblas.conda
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-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.68.1-h435687b_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.70.0-h344cdd5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libopenblas-0.3.34-openmp_h5e6e99c_1.conda
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@@ -2143,8 +2156,8 @@ environments:
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-      - conda_source: rig_interfaces[d2cb8de4] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
-      - conda_source: rig_nodes[37bf213e] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+      - conda_source: rig_interfaces[b77f9c63] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+      - conda_source: rig_nodes[b5d6e649] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
       win-64:
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@@ -2184,10 +2197,10 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
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-      - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
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-      - conda_source: rig_interfaces[4fc1ccdb] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
-      - conda_source: rig_nodes[1e0a2c3d] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+      - conda_source: rig_interfaces[5826283b] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+      - conda_source: rig_nodes[ed0cba21] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
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-    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/
+    - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel/
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-      osx-arm64:
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-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.68.1-h435687b_1.conda
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-- conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/noarch/rig_nodes-0.2.1-pyh4616a5c_0.conda
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   - mcap >=1.2
   - websockets >=12
+  - psutil
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-- conda: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/win-64/rig_interfaces-0.2.1-ha41a7fa_0.conda
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-- conda_source: rig_interfaces[4fc1ccdb] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+  size: 194659
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+- conda_source: rig_interfaces[5826283b] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
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     target_platform: win-64
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+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
   - ros-jazzy-rosidl-default-runtime
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-  - conda: https://conda.anaconda.org/conda-forge/win-64/cmake-4.4.4-hde52c71_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/cmake-4.4.5-hde52c71_0.conda
   - conda: https://conda.anaconda.org/conda-forge/win-64/cppcheck-2.22.0-py314h7ae7f31_1.conda
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   - conda: https://conda.anaconda.org/conda-forge/win-64/git-lfs-3.8.1-ha70c05e_0.conda
@@ -33393,7 +33330,7 @@ packages:
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   - conda: https://conda.anaconda.org/conda-forge/win-64/vcomp14-14.51.36247-habf1de7_41.conda
   - conda: https://conda.anaconda.org/conda-forge/win-64/vs2015_runtime-14.51.36247-h633cb9f_41.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/vs2022_win-64-19.44.35207-ha74f236_41.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/vs2022_win-64-19.44.35207-ha74f236_42.conda
   - conda: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.7-h534d264_7.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros-jazzy-ament-cmake-2.5.6-h9490d1a_27.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros-jazzy-ros-workspace-1.0.3-h9490d1a_27.conda
@@ -33499,9 +33436,9 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/pyflakes-4.0.3-pyhd8ed1ab_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.21.0-pyhcf101f3_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.3.3-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-3.0.0-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.12-9_cp312.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-84.2.1-pyhe730653_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/six-1.17.0-pyhe01879c_1.conda
@@ -33512,7 +33449,7 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/wheel-0.48.0-pyhd8ed1ab_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/zipp-4.1.2-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/win-64/bzip2-1.0.8-h0ad9c76_10.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/cmake-4.4.4-hde52c71_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/cmake-4.4.5-hde52c71_0.conda
   - conda: https://conda.anaconda.org/conda-forge/win-64/cppcheck-2.22.0-py312h9df87ca_1.conda
   - conda: https://conda.anaconda.org/conda-forge/win-64/gmock-1.18.0-h4f519af_1.conda
   - conda: https://conda.anaconda.org/conda-forge/win-64/gtest-1.18.0-h477610d_1.conda
@@ -33633,21 +33570,21 @@ packages:
   - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-service-msgs-2.0.4-np2py312hdd89193_25.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-uncrustify-vendor-3.0.1-np2py312hdd89193_25.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-unique-identifier-msgs-2.5.1-np2py312hdd89193_25.conda
-- conda_source: rig_interfaces[806fd8b9] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+- conda_source: rig_interfaces[a9deacb9] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
   version: 0.2.1
   build: hb0f4dca_0
   subdir: linux-64
   variants:
     target_platform: linux-64
   depends:
-  - ros-jazzy-rosidl-default-runtime
-  - ros2-distro-mutex
-  - ros2-distro-mutex >=0.19.0,<0.20.0a0
   - libgcc >=16
   - libgcc >=16
   - libstdcxx >=16
-  - python_abi 3.12.* *_cp312
   - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
   license: LicenseRef-MIT
   build_packages:
   - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
@@ -33655,7 +33592,7 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.46.1-default_h4852527_103.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_10.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.9-hebe6cf0_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.4-hff7ac6b_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.5-hff7ac6b_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/coreutils-9.12-hebe6cf0_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/cppcheck-2.22.0-py314h79bcd83_1.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-16.2.0-h9891192_7.conda
@@ -33686,7 +33623,7 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/linux-64/liblapack-3.11.0-11_h47877c9_openblas.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.3-hb03c661_1.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libmpdec-4.0.0-hb03c661_2.conda
-  - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.68.1-h74cf4be_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.70.0-hc5e5977_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libopenblas-0.3.34-pthreads_hf13c14d_2.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libpsl-0.23.1-hd9e3e90_1.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libpython-3.14.10-hd51c5da_100_cp314.conda
@@ -33744,9 +33681,9 @@ packages:
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   - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.21.0-pyhcf101f3_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.3.3-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-3.0.0-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.14-9_cp314.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-84.2.1-pyhe730653_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/six-1.17.0-pyhe01879c_1.conda
@@ -33837,16 +33774,17 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_10.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.9-hebe6cf0_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.3-hff7ac6b_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.5-hff7ac6b_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/cppcheck-2.22.0-py312h3cdd867_1.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/gmock-1.18.0-h48ecd08_1.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/gtest-1.18.0-h171cf75_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-78.3-py310h44b86e0_2.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/keyutils-1.6.3-h7cc23a3_1.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/krb5-1.22.2-hbc21106_2.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.46.1-default_hbd61a6d_103.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libblas-3.11.0-11_h4a7cf45_openblas.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libcblas-3.11.0-11_h0358290_openblas.conda
-  - conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.21.0-hcf29cc6_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.23.0-ha042cf0_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libedit-3.1.20260512-pl5321h373387f_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libev-4.33-h280c20c_3.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libexpat-2.9.0-hd2095e1_0.conda
@@ -33858,11 +33796,12 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-16.2.0-he0feb66_7.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/liblapack-3.11.0-11_h47877c9_openblas.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.3-hb03c661_1.conda
-  - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.68.1-h74cf4be_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.70.0-hc5e5977_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libnsl-2.0.1-hb9d3cd8_1.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libopenblas-0.3.34-pthreads_hf13c14d_2.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/libpsl-0.23.1-hd9e3e90_1.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libpython-3.12.16-ha57cdbe_0_cpython.conda
-  - conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.54.1-h0737f62_101.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.54.1-h13e7031_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libssh2-1.11.1-h6154650_1.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-16.2.0-h934c35e_7.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-ng-16.2.0-hdf11a46_7.conda
@@ -33908,9 +33847,9 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/pyflakes-4.0.3-pyhd8ed1ab_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.21.0-pyhcf101f3_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.3.3-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-3.0.0-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.12-9_cp312.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-84.2.1-pyhe730653_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/six-1.17.0-pyhe01879c_1.conda
@@ -33997,19 +33936,19 @@ packages:
   - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-service-msgs-2.0.4-np2py312h1bab3cf_25.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-uncrustify-vendor-3.0.1-np2py312h1bab3cf_25.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-unique-identifier-msgs-2.5.1-np2py312h1bab3cf_25.conda
-- conda_source: rig_interfaces[d2cb8de4] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+- conda_source: rig_interfaces[b77f9c63] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_interfaces&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
   version: 0.2.1
   build: h60d57d3_0
   subdir: osx-arm64
   variants:
     target_platform: osx-arm64
   depends:
+  - libcxx >=23
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
   - ros-jazzy-rosidl-default-runtime
   - ros2-distro-mutex
   - ros2-distro-mutex >=0.19.0,<0.20.0a0
-  - libcxx >=23
-  - python_abi 3.12.* *_cp312
-  - numpy >=1.25,<3
   license: LicenseRef-MIT
   build_packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.7.2-pyhcf101f3_0.conda
@@ -34041,9 +33980,9 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/pyflakes-4.0.3-pyhd8ed1ab_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.21.0-pyhcf101f3_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.3.3-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-3.0.0-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.14-9_cp314.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/sdkroot_env_osx-arm64-26.0-ha3f98da_7.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-84.2.1-pyhe730653_0.conda
@@ -34064,7 +34003,7 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/clang_osx-arm64-23.1.4-h2adb7b3_35.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/clangxx_impl_osx-arm64-23.1.4-default_h7028af0_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/clangxx_osx-arm64-23.1.4-h2adb7b3_35.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.4.4-hf91ab31_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.4.5-h07a7c03_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/compiler-rt-23.1.4-hce30654_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/compiler-rt23-23.1.4-hdb3d66b_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/coreutils-9.12-h74c22ad_0.conda
@@ -34097,7 +34036,7 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libllvm23-23.1.4-h759d1ac_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblzma-5.8.3-h8088a28_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libmpdec-4.0.0-h84a0fba_2.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.68.1-h435687b_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.70.0-h344cdd5_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libopenblas-0.3.34-openmp_h5e6e99c_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpsl-0.23.1-hdb0c161_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpython-3.14.10-h281bc5c_100_cp314.conda
@@ -34233,9 +34172,9 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/pyflakes-4.0.3-pyhd8ed1ab_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.21.0-pyhcf101f3_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.3.3-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.2.0-pyhc364b38_1.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-3.0.0-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.5-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/python-tzdata-2026.6-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.12-9_cp312.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-84.2.1-pyhe730653_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/six-1.17.0-pyhe01879c_1.conda
@@ -34248,14 +34187,15 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/_openmp_mutex-4.5-8_kmp_llvm.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/bzip2-1.0.8-h4e30115_10.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/c-ares-1.34.9-h74c22ad_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.4.3-hf91ab31_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.4.5-h07a7c03_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cppcheck-2.22.0-py312h3286cfa_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/gmock-1.18.0-hab71263_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/gtest-1.18.0-h3feff0a_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/icu-78.3-py310h579977c_2.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/krb5-1.22.2-h34f8a20_2.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libblas-3.11.0-11_h51639a9_openblas.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcblas-3.11.0-11_hb0561ab_openblas.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcurl-8.21.0-hd5a2499_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcurl-8.23.0-h6651222_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcxx-23.1.4-h55c6f16_2.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libedit-3.1.20260512-pl5321h26f1114_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libev-4.33-h1a92334_3.conda
@@ -34267,10 +34207,11 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libiconv-1.18-he4c29f2_3.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblapack-3.11.0-11_hd9741b5_openblas.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblzma-5.8.3-h8088a28_1.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.68.1-h435687b_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.70.0-h344cdd5_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libopenblas-0.3.34-openmp_h5e6e99c_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpsl-0.23.1-hdb0c161_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpython-3.12.16-h0677fcb_0_cpython.conda
-  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsqlite-3.54.1-h34a968b_101.conda
+  - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsqlite-3.54.1-hca69786_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libssh2-1.11.1-hbf2880b_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libuv-1.52.1-h1a92334_1.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libzlib-1.3.2-h8088a28_3.conda
@@ -34364,7 +34305,7 @@ packages:
   - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-service-msgs-2.0.4-np2py312h3d3361c_25.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-uncrustify-vendor-3.0.1-np2py312h3d3361c_25.conda
   - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-unique-identifier-msgs-2.5.1-np2py312h3d3361c_25.conda
-- conda_source: rig_nodes[1e0a2c3d] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+- conda_source: rig_nodes[b5d6e649] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
   version: 0.2.1
   build: pyh4616a5c_0
   subdir: noarch
@@ -34372,66 +34313,21 @@ packages:
   variants:
     target_platform: noarch
   depends:
-  - python >=3.12
-  - python *
-  - ros-jazzy-rclpy
-  - ros-jazzy-std-msgs
-  - ros-jazzy-rosbag2-py
-  - ros-jazzy-rosbag2-storage-mcap
-  - ros-jazzy-rosidl-runtime-py
-  - ros2-distro-mutex 0.19.*
   - mcap >=1.2
-  - websockets >=12
-  license: MIT
-  host_packages:
-  - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.10.23-h4c7d964_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/editables-0.6-pyhcf101f3_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/hatchling-1.32.4-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-26.3-pyhc364b38_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/pathspec-1.1.1-pyhd8ed1ab_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.7.0-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/tomlkit-0.15.2-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/trove-classifiers-2026.9.21.13-pyh5ded981_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2026e-h5d301ff_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/bzip2-1.0.8-h0ad9c76_10.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/libexpat-2.9.0-hac47afa_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/libffi-3.7.0-h3d046cb_1.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/liblzma-5.8.3-hfd05255_1.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/libpython-3.12.16-hfb4101e_0_cpython.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/libsqlite-3.54.1-hf5d6505_101.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/libzlib-1.3.2-hfd05255_3.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/openssl-3.6.5-hf411b9b_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/python-3.12.16-hb12b558_0_cpython.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/tk-8.6.13-h967ab96_4.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/ucrt-10.0.26100.0-h57928b3_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/uv-0.13.6-hf7a7c96_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/vc-14.5-ha367084_41.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/vc14_runtime-14.51.36247-habf1de7_41.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/vcomp14-14.51.36247-habf1de7_41.conda
-  - conda: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.7-h534d264_7.conda
-- conda_source: rig_nodes[37bf213e] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
-  version: 0.2.1
-  build: pyh4616a5c_0
-  subdir: noarch
-  noarch: python
-  variants:
-    target_platform: noarch
-  depends:
-  - python >=3.12
   - python *
+  - python >=3.12
   - ros-jazzy-rclpy
-  - ros-jazzy-std-msgs
   - ros-jazzy-rosbag2-py
   - ros-jazzy-rosbag2-storage-mcap
   - ros-jazzy-rosidl-runtime-py
+  - ros-jazzy-std-msgs
   - ros2-distro-mutex 0.19.*
-  - mcap >=1.2
   - websockets >=12
   license: MIT
   host_packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.10.23-hbd8a1cb_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/editables-0.6-pyhcf101f3_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/hatchling-1.32.4-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/hatchling-1.33.0-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-26.3-pyhc364b38_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pathspec-1.1.1-pyhd8ed1ab_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.7.0-pyh5ded981_0.conda
@@ -34453,7 +34349,7 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tk-8.6.13-hbeba79b_4.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/uv-0.13.6-hbb8eed7_0.conda
   - conda: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.7-hf451053_7.conda
-- conda_source: rig_nodes[d35d99f3] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+- conda_source: rig_nodes[daef82bd] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
   version: 0.2.1
   build: pyh4616a5c_0
   subdir: noarch
@@ -34461,15 +34357,15 @@ packages:
   variants:
     target_platform: noarch
   depends:
-  - python >=3.12
+  - mcap >=1.2
   - python *
+  - python >=3.12
   - ros-jazzy-rclpy
-  - ros-jazzy-std-msgs
   - ros-jazzy-rosbag2-py
   - ros-jazzy-rosbag2-storage-mcap
   - ros-jazzy-rosidl-runtime-py
+  - ros-jazzy-std-msgs
   - ros2-distro-mutex 0.19.*
-  - mcap >=1.2
   - websockets >=12
   license: MIT
   host_packages:
@@ -34497,10 +34393,55 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_7.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.10.23-hbd8a1cb_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/editables-0.6-pyhcf101f3_0.conda
-  - conda: https://conda.anaconda.org/conda-forge/noarch/hatchling-1.32.4-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/hatchling-1.33.0-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-26.3-pyhc364b38_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/pathspec-1.1.1-pyhd8ed1ab_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.7.0-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/tomlkit-0.15.2-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/trove-classifiers-2026.9.21.13-pyh5ded981_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2026e-h5d301ff_0.conda
+- conda_source: rig_nodes[ed0cba21] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc
+  version: 0.2.1
+  build: pyh4616a5c_0
+  subdir: noarch
+  noarch: python
+  variants:
+    target_platform: noarch
+  depends:
+  - mcap >=1.2
+  - python *
+  - python >=3.12
+  - ros-jazzy-rclpy
+  - ros-jazzy-rosbag2-py
+  - ros-jazzy-rosbag2-storage-mcap
+  - ros-jazzy-rosidl-runtime-py
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.19.*
+  - websockets >=12
+  license: MIT
+  host_packages:
+  - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.10.23-h4c7d964_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/editables-0.6-pyhcf101f3_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/noarch/hatchling-1.33.0-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-26.3-pyhc364b38_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pathspec-1.1.1-pyhd8ed1ab_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.7.0-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/tomlkit-0.15.2-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/trove-classifiers-2026.9.21.13-pyh5ded981_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2026e-h5d301ff_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/bzip2-1.0.8-h0ad9c76_10.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/libexpat-2.9.0-hac47afa_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/libffi-3.7.0-h3d046cb_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/liblzma-5.8.3-hfd05255_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/libpython-3.12.16-hfb4101e_0_cpython.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/libsqlite-3.54.1-hf5d6505_101.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/libzlib-1.3.2-hfd05255_3.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/openssl-3.6.5-hf411b9b_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/python-3.12.16-hb12b558_0_cpython.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/tk-8.6.13-h967ab96_4.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/ucrt-10.0.26100.0-h57928b3_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/uv-0.13.6-hf7a7c96_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/vc-14.5-ha367084_41.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/vc14_runtime-14.51.36247-habf1de7_41.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/vcomp14-14.51.36247-habf1de7_41.conda
+  - conda: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.7-h534d264_7.conda
diff --git a/rig/pixi.toml b/rig/pixi.toml
index 2abdab34..97e98349 100644
--- a/rig/pixi.toml
+++ b/rig/pixi.toml
@@ -23,7 +23,10 @@
 [workspace]
 name = "rig"
 version = "0.1.0"
-channels = ["conda-forge", "robostack-jazzy", "https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.3.0/channel"]
+# The 0.3.0 channel is read at the COMMIT that carries the payload (5e20dee, release/0.3.0 → rig-nodes#3):
+# the `v0.3.0` tag was placed one commit early (payload gitignored) and moves there when Michael runs
+# `git tag -f v0.3.0 5e20dee && git push --force origin refs/tags/v0.3.0`; a commit SHA is as immutable.
+channels = ["conda-forge", "robostack-jazzy", "https://raw.githubusercontent.com/reiserlab/rig-nodes/5e20dee381061832377d5a51c767aaf67a20c53c/channel"]
 # rmw_zenoh ≥ 0.2.11 (the RoboStack 0.19 set) is built for macOS ≥ 14; without this floor the
 # osx-arm64 solve falls back to the 0.16 set and the platforms drift apart (rig-nodes pins 0.19).
 # Declared on the platform (pixi ≥ 0.80 virtual packages), not as the deprecated [system-requirements]; pixi
@@ -85,7 +88,12 @@ mcap = ">=1.2"
 # controller) and their simulators, the MCAP recorder and indexer, the CDR decoder, the Foxglove rewriter
 # (+ bias_health), the supervision primitives rig.py composes with. 0.3.0 (2026-10-28) also ships the
 # HostStats message set for the host monitor (rig_interfaces, `typed` environment).
-# Written into every run's record by the gateway (hello_ack + /arena/session `packages`).
+# Written into every run's record by the gateway (hello_ack + /arena/session `packages`). The pin lives in the
+# `channel` feature (default / typed / viz), not in [dependencies]: the `dev` environment builds rig_nodes from
+# the git source instead, and one package name from two sources does not solve once the released version is
+# ahead of `main` (0.3.0 vs 0.2.1 on 2026-10-28: "excluded because of strict channel priority").
+
+[feature.channel.dependencies]
 rig_nodes = "==0.3.0"
 
 # ── typed messages = the OPT-IN `typed` environment ───────────────────────────────────────
@@ -140,10 +148,14 @@ ros-jazzy-rqt-console = "*"
 ros-jazzy-foxglove-bridge = "*"
 
 [environments]
-default = { solve-group = "rig" }
-typed = { features = ["typed"], solve-group = "rig" }
-viz = { features = ["viz"], solve-group = "rig" }
-dev = { features = ["dev", "typed"], solve-group = "dev" }
+default = { features = ["channel"], solve-group = "rig" }
+typed = { features = ["channel", "typed"], solve-group = "rig" }
+viz = { features = ["channel", "viz"], solve-group = "rig" }
+# `dev` without the `typed` feature: `typed` pins rig_interfaces to the released version from the channel, while
+# `dev` builds it from the git source — one name from two sources does not solve once the release is ahead of
+# `main` (0.3.0 vs 0.2.1 on 2026-10-28, "excluded because of strict channel priority"). The git source IS the
+# typed package here, so nothing is lost.
+dev = { features = ["dev"], solve-group = "dev" }
 
 [tasks]
 # ── hour one: middleware bring-up ───────────────────────────────────────────