From 9501164f6936bbd9266bfac500d8bf76c0563362 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Fri, 25 Sep 2026 20:28:59 -0300
Subject: [PATCH 01/52] =?UTF-8?q?=E2=99=BB=EF=B8=8F=20Split=20the=20simula?=
 =?UTF-8?q?tor=20into=20an=20engine,=20a=20view,=20a=20bridge=20and=20an?=
 =?UTF-8?q?=20app=20over=20a=20host=20HAL?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The simulator knows no robot any more. engine/ holds the world, the clock, the
run loop, the firmware thread, the devices, the arenas, the robot description
and its model, scenarios and recording; view/ the window, the declarative panel
and overlay and the video; bridge/ the monitor bridge; app/ the command line and
the Target interface a robot implements. hal_host/ implements micras_hal on a PC
and knows no physics. Everything about the Micras lives in targets/micras: its
bindings, the proxies of its two SPI chips, the hand written Cube layer, the
robot description in robot.toml, its tests, tools and baselines, and the firmware
submodule, which now follows high-level-review.

The rule everything serves is that a run is reproducible: the same binary with
the same arguments writes byte identical data.csv and meta.json, headless or
watched, recorded or not, with a bridge nobody connects to or without one. Noise
is seeded. Baselines are summaries with tolerances instead of recordings.

The ten contest mazes join the two there were, and the old models, the Python
maze generator, the firmware build and the recorded runs are gone.
SPEC_1_WORK.md and SPEC_2_DECISIONS.md record the work and the decisions.
---
 .gitignore                                    |   1 -
 .gitmodules                                   |   4 +-
 CMakeLists.txt                                | 161 +--
 HANDOFF.md                                    | 442 ---------
 MicrasFirmware                                |   1 -
 SPEC_1_WORK.md                                | 351 +++++++
 SPEC_2_DECISIONS.md                           | 939 ++++++++++++++++++
 app/include/micras/sim/app/application.hpp    | 193 ++++
 .../micras/sim/app/crash_reporter.hpp         |   0
 app/include/micras/sim/app/target.hpp         | 240 +++++
 {src/sim/app => app/src}/crash_reporter.cpp   |   0
 baseline/v0/explore_legacy/data.csv.gz        | Bin 1288679 -> 0 bytes
 baseline/v0/explore_legacy/meta.json          |  19 -
 baseline/v0/explore_v2/data.csv.gz            | Bin 1297389 -> 0 bytes
 baseline/v0/explore_v2/meta.json              |  19 -
 baseline/v0/idle/data.csv.gz                  | Bin 348974 -> 0 bytes
 baseline/v0/idle/meta.json                    |  19 -
 baseline/v1/explore_legacy/data.csv.gz        | Bin 1623538 -> 0 bytes
 baseline/v1/explore_legacy/meta.json          |  19 -
 baseline/v1/explore_v2/data.csv.gz            | Bin 1643095 -> 0 bytes
 baseline/v1/explore_v2/meta.json              |  19 -
 baseline/v1/idle/data.csv.gz                  | Bin 464698 -> 0 bytes
 baseline/v1/idle/meta.json                    |  19 -
 baseline/v2/explore_legacy/data.csv.gz        | Bin 1625219 -> 0 bytes
 baseline/v2/explore_legacy/meta.json          |  21 -
 baseline/v2/explore_v2/data.csv.gz            | Bin 1645712 -> 0 bytes
 baseline/v2/explore_v2/meta.json              |  21 -
 baseline/v2/idle/data.csv.gz                  | Bin 464514 -> 0 bytes
 baseline/v2/idle/meta.json                    |  21 -
 .../micras/sim/bridge/monitor_bridge.hpp      |  68 +-
 .../micras/sim/bridge/web_socket_server.hpp   |  19 +-
 .../bridge => bridge/src}/monitor_bridge.cpp  |  18 +-
 .../src}/web_socket_server.cpp                |  97 +-
 cmake/firmware.cmake                          |  47 -
 cmake/hardware_tests.cmake                    |  38 -
 cmake/lint.cmake                              |  11 +-
 cmake/mujoco.cmake                            |  40 +-
 cmake/third_party.cmake                       |  18 +
 config/constants.hpp                          | 230 -----
 config/target.hpp                             | 180 ----
 .../maze/mazes/alljapan-033-2012-exp-fin.txt  |  33 +
 engine/arenas/maze/mazes/apec2016.txt         |  33 +
 engine/arenas/maze/mazes/apec2017.txt         |  33 +
 engine/arenas/maze/mazes/apec2018.txt         |  33 +
 engine/arenas/maze/mazes/apec2019.txt         |  33 +
 engine/arenas/maze/mazes/japan2013ef.txt      |  33 +
 engine/arenas/maze/mazes/japan2017ef.txt      |  33 +
 .../arenas/maze/mazes/maze1.txt               |   0
 .../arenas/maze/mazes}/maze2.txt              |   0
 engine/arenas/maze/mazes/uk2016f.txt          |  33 +
 .../include}/micras/sim/core/clock.hpp        |  21 -
 .../micras/sim/core/firmware_thread.hpp       |   0
 .../include}/micras/sim/core/mujoco_world.hpp |  40 +-
 engine/include/micras/sim/core/noise.hpp      |  79 ++
 engine/include/micras/sim/core/panel_spec.hpp | 202 ++++
 .../include/micras/sim/core/run_context.hpp   |  55 +
 engine/include/micras/sim/core/serial_bus.hpp | 134 +++
 .../include}/micras/sim/core/simulation.hpp   |  11 +-
 .../micras/sim/core/variable_source.hpp       |  41 +
 .../include/micras/sim/devices/dc_motor.hpp   | 112 +++
 engine/include/micras/sim/devices/device.hpp  |  70 ++
 .../micras/sim/devices/device_columns.hpp     |  62 ++
 engine/include/micras/sim/devices/imu.hpp     | 120 +++
 engine/include/micras/sim/devices/power.hpp   | 182 ++++
 .../micras/sim/devices/quadrature_encoder.hpp |  89 ++
 .../micras/sim/devices/serial_link.hpp        | 134 +++
 .../micras/sim/recording/column_source.hpp    |  50 +
 .../micras/sim/recording/csv_recorder.hpp     | 109 ++
 .../micras/sim/recording/csv_writer.hpp       |   0
 .../micras/sim/recording/event_log.hpp        | 131 +++
 .../micras/sim/recording/ground_truth.hpp     | 238 +++++
 .../micras/sim/recording/run_metadata.hpp     |  98 +-
 .../micras/sim/robot/robot_description.hpp    | 272 +++++
 .../include/micras/sim/robot/robot_model.hpp  |  76 ++
 .../include/micras/sim/scenario/scenario.hpp  | 266 +++++
 {src/sim => engine/src}/core/clock.cpp        |  14 -
 .../src}/core/firmware_thread.cpp             |   0
 {src/sim => engine/src}/core/mujoco_world.cpp |  80 ++
 engine/src/core/noise.cpp                     |  54 +
 engine/src/core/panel_spec.cpp                |  15 +
 engine/src/core/serial_bus.cpp                |  48 +
 {src/sim => engine/src}/core/simulation.cpp   |  11 +-
 engine/src/devices/dc_motor.cpp               |  57 ++
 engine/src/devices/device.cpp                 |  17 +
 engine/src/devices/imu.cpp                    |  94 ++
 engine/src/devices/power.cpp                  |  92 ++
 engine/src/devices/quadrature_encoder.cpp     |  47 +
 engine/src/devices/serial_link.cpp            |  67 ++
 engine/src/recording/csv_recorder.cpp         |  76 ++
 .../src}/recording/csv_writer.cpp             |   0
 engine/src/recording/event_log.cpp            | 107 ++
 engine/src/recording/ground_truth.cpp         | 243 +++++
 .../src}/recording/run_metadata.cpp           |  36 +-
 engine/src/robot/robot_description.cpp        | 530 ++++++++++
 engine/src/scenario/scenario.cpp              | 466 +++++++++
 hal_host/include/micras/hal/host/board.hpp    | 143 +++
 hal_host/include/micras/hal/host/clock.hpp    | 146 +++
 hal_host/include/micras/hal/host/ports.hpp    | 290 ++++++
 hal_host/include/stm32_host.h                 | 284 ++++++
 hal_host/src/adc_dma.cpp                      | 114 +++
 hal_host/src/board.cpp                        | 173 ++++
 hal_host/src/clock.cpp                        |  57 ++
 hal_host/src/crc.cpp                          |  79 ++
 hal_host/src/encoder.cpp                      |  29 +
 hal_host/src/flash.cpp                        | 133 +++
 hal_host/src/gpio.cpp                         |  26 +
 hal_host/src/mcu.cpp                          |  78 ++
 hal_host/src/ports.cpp                        |  33 +
 hal_host/src/pwm.cpp                          |  88 ++
 hal_host/src/pwm_dma.cpp                      |  86 ++
 hal_host/src/spi.cpp                          |  74 ++
 hal_host/src/timer.cpp                        |  34 +
 hal_host/src/uart_dma.cpp                     |  82 ++
 include/micras/proxy/argb.hpp                 | 146 ---
 include/micras/proxy/battery.hpp              |  75 --
 include/micras/proxy/bluetooth_serial.hpp     |  73 --
 include/micras/proxy/button.hpp               | 162 ---
 include/micras/proxy/buzzer.hpp               | 114 ---
 include/micras/proxy/dip_switch.hpp           |  71 --
 include/micras/proxy/fan.hpp                  | 134 ---
 include/micras/proxy/imu.hpp                  | 136 ---
 include/micras/proxy/led.hpp                  |  84 --
 include/micras/proxy/locomotion.hpp           |  97 --
 include/micras/proxy/motor.hpp                |  69 --
 include/micras/proxy/rotary_sensor.hpp        |  82 --
 include/micras/proxy/stopwatch.hpp            | 179 ----
 include/micras/proxy/storage.hpp              | 174 ----
 include/micras/proxy/torque_sensors.hpp       |  87 --
 include/micras/proxy/wall_sensors.hpp         | 181 ----
 include/micras/sim/app/application.hpp        | 144 ---
 include/micras/sim/app/cli.hpp                | 101 --
 include/micras/sim/core/proxy_state.hpp       | 200 ----
 include/micras/sim/core/scenario.hpp          | 215 ----
 include/micras/sim/core/serial_bus.hpp        | 134 ---
 .../micras/sim/core/simulation_context.hpp    |  87 --
 include/micras/sim/recording/csv_recorder.hpp | 155 ---
 include/micras/sim/recording/ground_truth.hpp | 123 ---
 .../micras/sim/telemetry/packet_framer.hpp    |  88 --
 include/micras/sim/telemetry/telemetry.hpp    | 298 ------
 include/micras/sim/view/control_panel.hpp     | 213 ----
 include/micras/sim/view/mujoco_viewer.hpp     | 270 -----
 include/micras/sim/view/video_recorder.hpp    | 183 ----
 include/micras/sim/view/view_options.hpp      |  75 --
 justfile                                      | 158 +--
 models/experiments/a0_legacy_mass.xml         |  98 --
 models/experiments/a1_wheel_sphere.xml        |  98 --
 models/experiments/a2_wheel_capsule.xml       |  98 --
 models/experiments/a3_wheel_ellipsoid.xml     |  98 --
 models/experiments/l1_spawn_z.xml             |  98 --
 models/experiments/l2_caster_coplanar.xml     |  98 --
 models/experiments/l3_spawn_caster.xml        |  98 --
 models/experiments/legacy_solref002.xml       |  98 --
 models/experiments/m1_solref010.xml           |  98 --
 models/experiments/m2_solref005.xml           |  98 --
 models/experiments/m3_solref002.xml           |  98 --
 models/experiments/m4_solimp.xml              |  98 --
 models/experiments/m5_impratio10.xml          |  98 --
 models/experiments/m6_noslip3.xml             |  98 --
 models/experiments/maze.xml                   | 582 -----------
 models/experiments/n1_condim3.xml             |  98 --
 models/experiments/n2_pyramidal.xml           |  98 --
 models/experiments/n3_implicit.xml            |  98 --
 models/experiments/n4_armature.xml            |  98 --
 models/experiments/n5_motor.xml               |  98 --
 models/experiments/n6_motor_armature.xml      |  98 --
 models/experiments/n7_nofric23.xml            |  98 --
 models/experiments/p1_roll1e4.xml             |  98 --
 models/experiments/p2_roll1e4_tors1e3.xml     |  98 --
 models/experiments/p3_condim3_motor.xml       |  98 --
 models/experiments/p4_roll_tors_motor.xml     |  98 --
 models/experiments/p5_roll_tors_motor_arm.xml |  98 --
 models/experiments/p6_roll5e5.xml             |  98 --
 models/experiments/p7_nomassattr.xml          |  98 --
 models/experiments/q10_noslip3.xml            |  98 --
 models/experiments/q11_nofrictionloss.xml     |  98 --
 models/experiments/q1_no_caster_fix.xml       |  98 --
 models/experiments/q2_no_spawn_fix.xml        |  98 --
 models/experiments/q3_no_both.xml             |  98 --
 models/experiments/q4_solref005.xml           |  98 --
 models/experiments/q5_solref002.xml           |  98 --
 models/experiments/q6_solimp.xml              |  98 --
 models/experiments/q7_sphere.xml              |  98 --
 models/experiments/q8_ellipsoid.xml           |  98 --
 models/experiments/q9_implicit.xml            |  98 --
 models/experiments/r1_caster_condim1.xml      | 132 ---
 models/experiments/r2_caster_solref01.xml     | 132 ---
 models/experiments/r3_caster_r006.xml         | 132 ---
 models/maze.xml                               | 582 -----------
 models/maze2.xml                              | 601 -----------
 models/robot_legacy.xml                       |  98 --
 models/robot_v2.xml                           | 150 ---
 models/robot_v2_maze2.xml                     | 150 ---
 src/main.cpp                                  |  20 -
 src/proxy/argb.cpp                            |  73 --
 src/proxy/battery.cpp                         |  26 -
 src/proxy/bluetooth_serial.cpp                |  22 -
 src/proxy/button.cpp                          |  73 --
 src/proxy/buzzer.cpp                          |  50 -
 src/proxy/dip_switch.cpp                      |  44 -
 src/proxy/fan.cpp                             |  65 --
 src/proxy/imu.cpp                             |  51 -
 src/proxy/led.cpp                             |  37 -
 src/proxy/locomotion.cpp                      |  60 --
 src/proxy/motor.cpp                           |  22 -
 src/proxy/rotary_sensor.cpp                   |  28 -
 src/proxy/stopwatch.cpp                       |  71 --
 src/proxy/storage.cpp                         | 147 ---
 src/proxy/torque_sensors.cpp                  |  48 -
 src/proxy/wall_sensors.cpp                    | 103 --
 src/sim/app/application.cpp                   | 270 -----
 src/sim/app/cli.cpp                           | 339 -------
 src/sim/app/hardware_test_main.cpp            |  25 -
 src/sim/core/scenario.cpp                     | 126 ---
 src/sim/core/serial_bus.cpp                   |  51 -
 src/sim/core/simulation_context.cpp           |  31 -
 src/sim/recording/csv_recorder.cpp            | 146 ---
 src/sim/recording/ground_truth.cpp            | 226 -----
 src/sim/telemetry/packet_framer.cpp           |  81 --
 src/sim/telemetry/telemetry.cpp               | 286 ------
 src/sim/view/control_panel.cpp                | 280 ------
 src/sim/view/mujoco_viewer.cpp                | 467 ---------
 src/sim/view/video_recorder.cpp               | 356 -------
 targets/micras/CMakeLists.txt                 | 125 +++
 targets/micras/MicrasFirmware                 |   1 +
 .../micras/baselines/v3/explore/summary.json  |  50 +
 targets/micras/baselines/v3/idle/summary.json |  42 +
 .../micras/baselines/v4/explore/summary.json  |  62 ++
 targets/micras/baselines/v4/idle/summary.json |  42 +
 .../micras/baselines/v5/explore/summary.json  |  62 ++
 targets/micras/baselines/v5/idle/summary.json |  42 +
 targets/micras/cmake/firmware_sha.cmake       |  31 +
 targets/micras/cube/adc.h                     |  42 +
 targets/micras/cube/crc.h                     |  22 +
 targets/micras/cube/dma.h                     |  17 +
 targets/micras/cube/fmac.h                    |  22 +
 targets/micras/cube/gpio.h                    |  17 +
 targets/micras/cube/handles.cpp               | 208 ++++
 targets/micras/cube/main.h                    |  81 ++
 targets/micras/cube/spi.h                     |  22 +
 targets/micras/cube/tim.h                     |  92 ++
 targets/micras/cube/usart.h                   |  22 +
 .../include/micras/sim/micras/bindings.hpp    |  30 +
 .../micras/sim/micras/micras_target.hpp       | 158 +++
 .../micras/sim/micras/pool_variables.hpp      |  61 ++
 targets/micras/justfile                       | 148 +++
 targets/micras/proxy/imu.cpp                  |  80 ++
 targets/micras/proxy/rotary_sensor.cpp        |  64 ++
 targets/micras/robot.toml                     | 176 ++++
 targets/micras/src/main.cpp                   |  15 +
 targets/micras/src/pool_variables.cpp         | 130 +++
 targets/micras/tests/CMakeLists.txt           |  14 +
 targets/micras/tests/unit/hal_host_test.cpp   |  93 ++
 targets/micras/tools/analysis.py              | 253 +++++
 targets/micras/tools/robot_report.cpp         | 123 +++
 targets/micras/tools/turn_designer.cpp        | 371 +++++++
 targets/micras/tools/wall_calibration.cpp     | 290 ++++++
 tests/CMakeLists.txt                          |  36 +-
 tests/include/test_core.hpp                   |  69 --
 tests/models/tiny_robot.toml                  | 107 ++
 tests/models/tiny_robot.xml                   |  26 +
 tests/unit/cli_test.cpp                       | 119 ++-
 tests/unit/clock_test.cpp                     |  19 +-
 tests/unit/csv_recorder_test.cpp              | 180 ++--
 tests/unit/devices_test.cpp                   | 383 +++++++
 tests/unit/event_log_test.cpp                 | 211 ++++
 tests/unit/maze_test.cpp                      | 171 ++++
 tests/unit/noise_test.cpp                     |  89 ++
 tests/unit/packet_framer_test.cpp             | 119 ---
 tests/unit/proxy_boundary_test.cpp            | 188 ----
 tests/unit/robot_description_test.cpp         | 254 +++++
 tests/unit/run_metadata_test.cpp              |  88 +-
 tests/unit/scenario_test.cpp                  | 508 +++++++++-
 tests/unit/serial_bus_test.cpp                |  27 +-
 tests/unit/shadow_conformance_test.cpp        |  48 -
 tests/unit/simulation_test.cpp                |   3 +-
 tests/unit/telemetry_test.cpp                 | 171 ----
 tests/unit/web_socket_server_test.cpp         | 257 +++++
 tools/analyze.py                              | 629 +++++-------
 tools/baseline.py                             | 189 ++++
 tools/check_config_drift.py                   | 349 -------
 tools/check_run.py                            |  43 +-
 tools/compare_run.py                          |  22 +-
 {models => tools}/gen_maze.py                 |   0
 tools/monitor_probe.py                        | 201 ----
 tools/run_stats.py                            |  99 --
 tools/turn_stats.py                           | 251 -----
 286 files changed, 14607 insertions(+), 17704 deletions(-)
 delete mode 100644 HANDOFF.md
 delete mode 160000 MicrasFirmware
 create mode 100644 SPEC_1_WORK.md
 create mode 100644 SPEC_2_DECISIONS.md
 create mode 100644 app/include/micras/sim/app/application.hpp
 rename {include => app/include}/micras/sim/app/crash_reporter.hpp (100%)
 create mode 100644 app/include/micras/sim/app/target.hpp
 rename {src/sim/app => app/src}/crash_reporter.cpp (100%)
 delete mode 100644 baseline/v0/explore_legacy/data.csv.gz
 delete mode 100644 baseline/v0/explore_legacy/meta.json
 delete mode 100644 baseline/v0/explore_v2/data.csv.gz
 delete mode 100644 baseline/v0/explore_v2/meta.json
 delete mode 100644 baseline/v0/idle/data.csv.gz
 delete mode 100644 baseline/v0/idle/meta.json
 delete mode 100644 baseline/v1/explore_legacy/data.csv.gz
 delete mode 100644 baseline/v1/explore_legacy/meta.json
 delete mode 100644 baseline/v1/explore_v2/data.csv.gz
 delete mode 100644 baseline/v1/explore_v2/meta.json
 delete mode 100644 baseline/v1/idle/data.csv.gz
 delete mode 100644 baseline/v1/idle/meta.json
 delete mode 100644 baseline/v2/explore_legacy/data.csv.gz
 delete mode 100644 baseline/v2/explore_legacy/meta.json
 delete mode 100644 baseline/v2/explore_v2/data.csv.gz
 delete mode 100644 baseline/v2/explore_v2/meta.json
 delete mode 100644 baseline/v2/idle/data.csv.gz
 delete mode 100644 baseline/v2/idle/meta.json
 rename {include => bridge/include}/micras/sim/bridge/monitor_bridge.hpp (55%)
 rename {include => bridge/include}/micras/sim/bridge/web_socket_server.hpp (74%)
 rename {src/sim/bridge => bridge/src}/monitor_bridge.cpp (71%)
 rename {src/sim/bridge => bridge/src}/web_socket_server.cpp (52%)
 delete mode 100644 cmake/firmware.cmake
 delete mode 100644 cmake/hardware_tests.cmake
 delete mode 100644 config/constants.hpp
 delete mode 100644 config/target.hpp
 create mode 100644 engine/arenas/maze/mazes/alljapan-033-2012-exp-fin.txt
 create mode 100644 engine/arenas/maze/mazes/apec2016.txt
 create mode 100644 engine/arenas/maze/mazes/apec2017.txt
 create mode 100644 engine/arenas/maze/mazes/apec2018.txt
 create mode 100644 engine/arenas/maze/mazes/apec2019.txt
 create mode 100644 engine/arenas/maze/mazes/japan2013ef.txt
 create mode 100644 engine/arenas/maze/mazes/japan2017ef.txt
 rename models/maze.txt => engine/arenas/maze/mazes/maze1.txt (100%)
 rename {models => engine/arenas/maze/mazes}/maze2.txt (100%)
 create mode 100644 engine/arenas/maze/mazes/uk2016f.txt
 rename {include => engine/include}/micras/sim/core/clock.hpp (83%)
 rename {include => engine/include}/micras/sim/core/firmware_thread.hpp (100%)
 rename {include => engine/include}/micras/sim/core/mujoco_world.hpp (74%)
 create mode 100644 engine/include/micras/sim/core/noise.hpp
 create mode 100644 engine/include/micras/sim/core/panel_spec.hpp
 create mode 100644 engine/include/micras/sim/core/run_context.hpp
 create mode 100644 engine/include/micras/sim/core/serial_bus.hpp
 rename {include => engine/include}/micras/sim/core/simulation.hpp (92%)
 create mode 100644 engine/include/micras/sim/core/variable_source.hpp
 create mode 100644 engine/include/micras/sim/devices/dc_motor.hpp
 create mode 100644 engine/include/micras/sim/devices/device.hpp
 create mode 100644 engine/include/micras/sim/devices/device_columns.hpp
 create mode 100644 engine/include/micras/sim/devices/imu.hpp
 create mode 100644 engine/include/micras/sim/devices/power.hpp
 create mode 100644 engine/include/micras/sim/devices/quadrature_encoder.hpp
 create mode 100644 engine/include/micras/sim/devices/serial_link.hpp
 create mode 100644 engine/include/micras/sim/recording/column_source.hpp
 create mode 100644 engine/include/micras/sim/recording/csv_recorder.hpp
 rename {include => engine/include}/micras/sim/recording/csv_writer.hpp (100%)
 create mode 100644 engine/include/micras/sim/recording/event_log.hpp
 create mode 100644 engine/include/micras/sim/recording/ground_truth.hpp
 rename {include => engine/include}/micras/sim/recording/run_metadata.hpp (52%)
 create mode 100644 engine/include/micras/sim/robot/robot_description.hpp
 create mode 100644 engine/include/micras/sim/robot/robot_model.hpp
 create mode 100644 engine/include/micras/sim/scenario/scenario.hpp
 rename {src/sim => engine/src}/core/clock.cpp (81%)
 rename {src/sim => engine/src}/core/firmware_thread.cpp (100%)
 rename {src/sim => engine/src}/core/mujoco_world.cpp (59%)
 create mode 100644 engine/src/core/noise.cpp
 create mode 100644 engine/src/core/panel_spec.cpp
 create mode 100644 engine/src/core/serial_bus.cpp
 rename {src/sim => engine/src}/core/simulation.cpp (86%)
 create mode 100644 engine/src/devices/dc_motor.cpp
 create mode 100644 engine/src/devices/device.cpp
 create mode 100644 engine/src/devices/imu.cpp
 create mode 100644 engine/src/devices/power.cpp
 create mode 100644 engine/src/devices/quadrature_encoder.cpp
 create mode 100644 engine/src/devices/serial_link.cpp
 create mode 100644 engine/src/recording/csv_recorder.cpp
 rename {src/sim => engine/src}/recording/csv_writer.cpp (100%)
 create mode 100644 engine/src/recording/event_log.cpp
 create mode 100644 engine/src/recording/ground_truth.cpp
 rename {src/sim => engine/src}/recording/run_metadata.cpp (78%)
 create mode 100644 engine/src/robot/robot_description.cpp
 create mode 100644 engine/src/scenario/scenario.cpp
 create mode 100644 hal_host/include/micras/hal/host/board.hpp
 create mode 100644 hal_host/include/micras/hal/host/clock.hpp
 create mode 100644 hal_host/include/micras/hal/host/ports.hpp
 create mode 100644 hal_host/include/stm32_host.h
 create mode 100644 hal_host/src/adc_dma.cpp
 create mode 100644 hal_host/src/board.cpp
 create mode 100644 hal_host/src/clock.cpp
 create mode 100644 hal_host/src/crc.cpp
 create mode 100644 hal_host/src/encoder.cpp
 create mode 100644 hal_host/src/flash.cpp
 create mode 100644 hal_host/src/gpio.cpp
 create mode 100644 hal_host/src/mcu.cpp
 create mode 100644 hal_host/src/ports.cpp
 create mode 100644 hal_host/src/pwm.cpp
 create mode 100644 hal_host/src/pwm_dma.cpp
 create mode 100644 hal_host/src/spi.cpp
 create mode 100644 hal_host/src/timer.cpp
 create mode 100644 hal_host/src/uart_dma.cpp
 delete mode 100644 include/micras/proxy/argb.hpp
 delete mode 100644 include/micras/proxy/battery.hpp
 delete mode 100644 include/micras/proxy/bluetooth_serial.hpp
 delete mode 100644 include/micras/proxy/button.hpp
 delete mode 100644 include/micras/proxy/buzzer.hpp
 delete mode 100644 include/micras/proxy/dip_switch.hpp
 delete mode 100644 include/micras/proxy/fan.hpp
 delete mode 100644 include/micras/proxy/imu.hpp
 delete mode 100644 include/micras/proxy/led.hpp
 delete mode 100644 include/micras/proxy/locomotion.hpp
 delete mode 100644 include/micras/proxy/motor.hpp
 delete mode 100644 include/micras/proxy/rotary_sensor.hpp
 delete mode 100644 include/micras/proxy/stopwatch.hpp
 delete mode 100644 include/micras/proxy/storage.hpp
 delete mode 100644 include/micras/proxy/torque_sensors.hpp
 delete mode 100644 include/micras/proxy/wall_sensors.hpp
 delete mode 100644 include/micras/sim/app/application.hpp
 delete mode 100644 include/micras/sim/app/cli.hpp
 delete mode 100644 include/micras/sim/core/proxy_state.hpp
 delete mode 100644 include/micras/sim/core/scenario.hpp
 delete mode 100644 include/micras/sim/core/serial_bus.hpp
 delete mode 100644 include/micras/sim/core/simulation_context.hpp
 delete mode 100644 include/micras/sim/recording/csv_recorder.hpp
 delete mode 100644 include/micras/sim/recording/ground_truth.hpp
 delete mode 100644 include/micras/sim/telemetry/packet_framer.hpp
 delete mode 100644 include/micras/sim/telemetry/telemetry.hpp
 delete mode 100644 include/micras/sim/view/control_panel.hpp
 delete mode 100644 include/micras/sim/view/mujoco_viewer.hpp
 delete mode 100644 include/micras/sim/view/video_recorder.hpp
 delete mode 100644 include/micras/sim/view/view_options.hpp
 delete mode 100644 models/experiments/a0_legacy_mass.xml
 delete mode 100644 models/experiments/a1_wheel_sphere.xml
 delete mode 100644 models/experiments/a2_wheel_capsule.xml
 delete mode 100644 models/experiments/a3_wheel_ellipsoid.xml
 delete mode 100644 models/experiments/l1_spawn_z.xml
 delete mode 100644 models/experiments/l2_caster_coplanar.xml
 delete mode 100644 models/experiments/l3_spawn_caster.xml
 delete mode 100644 models/experiments/legacy_solref002.xml
 delete mode 100644 models/experiments/m1_solref010.xml
 delete mode 100644 models/experiments/m2_solref005.xml
 delete mode 100644 models/experiments/m3_solref002.xml
 delete mode 100644 models/experiments/m4_solimp.xml
 delete mode 100644 models/experiments/m5_impratio10.xml
 delete mode 100644 models/experiments/m6_noslip3.xml
 delete mode 100644 models/experiments/maze.xml
 delete mode 100644 models/experiments/n1_condim3.xml
 delete mode 100644 models/experiments/n2_pyramidal.xml
 delete mode 100644 models/experiments/n3_implicit.xml
 delete mode 100644 models/experiments/n4_armature.xml
 delete mode 100644 models/experiments/n5_motor.xml
 delete mode 100644 models/experiments/n6_motor_armature.xml
 delete mode 100644 models/experiments/n7_nofric23.xml
 delete mode 100644 models/experiments/p1_roll1e4.xml
 delete mode 100644 models/experiments/p2_roll1e4_tors1e3.xml
 delete mode 100644 models/experiments/p3_condim3_motor.xml
 delete mode 100644 models/experiments/p4_roll_tors_motor.xml
 delete mode 100644 models/experiments/p5_roll_tors_motor_arm.xml
 delete mode 100644 models/experiments/p6_roll5e5.xml
 delete mode 100644 models/experiments/p7_nomassattr.xml
 delete mode 100644 models/experiments/q10_noslip3.xml
 delete mode 100644 models/experiments/q11_nofrictionloss.xml
 delete mode 100644 models/experiments/q1_no_caster_fix.xml
 delete mode 100644 models/experiments/q2_no_spawn_fix.xml
 delete mode 100644 models/experiments/q3_no_both.xml
 delete mode 100644 models/experiments/q4_solref005.xml
 delete mode 100644 models/experiments/q5_solref002.xml
 delete mode 100644 models/experiments/q6_solimp.xml
 delete mode 100644 models/experiments/q7_sphere.xml
 delete mode 100644 models/experiments/q8_ellipsoid.xml
 delete mode 100644 models/experiments/q9_implicit.xml
 delete mode 100644 models/experiments/r1_caster_condim1.xml
 delete mode 100644 models/experiments/r2_caster_solref01.xml
 delete mode 100644 models/experiments/r3_caster_r006.xml
 delete mode 100644 models/maze.xml
 delete mode 100644 models/maze2.xml
 delete mode 100644 models/robot_legacy.xml
 delete mode 100644 models/robot_v2.xml
 delete mode 100644 models/robot_v2_maze2.xml
 delete mode 100644 src/main.cpp
 delete mode 100644 src/proxy/argb.cpp
 delete mode 100644 src/proxy/battery.cpp
 delete mode 100644 src/proxy/bluetooth_serial.cpp
 delete mode 100644 src/proxy/button.cpp
 delete mode 100644 src/proxy/buzzer.cpp
 delete mode 100644 src/proxy/dip_switch.cpp
 delete mode 100644 src/proxy/fan.cpp
 delete mode 100644 src/proxy/imu.cpp
 delete mode 100644 src/proxy/led.cpp
 delete mode 100644 src/proxy/locomotion.cpp
 delete mode 100644 src/proxy/motor.cpp
 delete mode 100644 src/proxy/rotary_sensor.cpp
 delete mode 100644 src/proxy/stopwatch.cpp
 delete mode 100644 src/proxy/storage.cpp
 delete mode 100644 src/proxy/torque_sensors.cpp
 delete mode 100644 src/proxy/wall_sensors.cpp
 delete mode 100644 src/sim/app/application.cpp
 delete mode 100644 src/sim/app/cli.cpp
 delete mode 100644 src/sim/app/hardware_test_main.cpp
 delete mode 100644 src/sim/core/scenario.cpp
 delete mode 100644 src/sim/core/serial_bus.cpp
 delete mode 100644 src/sim/core/simulation_context.cpp
 delete mode 100644 src/sim/recording/csv_recorder.cpp
 delete mode 100644 src/sim/recording/ground_truth.cpp
 delete mode 100644 src/sim/telemetry/packet_framer.cpp
 delete mode 100644 src/sim/telemetry/telemetry.cpp
 delete mode 100644 src/sim/view/control_panel.cpp
 delete mode 100644 src/sim/view/mujoco_viewer.cpp
 delete mode 100644 src/sim/view/video_recorder.cpp
 create mode 100644 targets/micras/CMakeLists.txt
 create mode 160000 targets/micras/MicrasFirmware
 create mode 100644 targets/micras/baselines/v3/explore/summary.json
 create mode 100644 targets/micras/baselines/v3/idle/summary.json
 create mode 100644 targets/micras/baselines/v4/explore/summary.json
 create mode 100644 targets/micras/baselines/v4/idle/summary.json
 create mode 100644 targets/micras/baselines/v5/explore/summary.json
 create mode 100644 targets/micras/baselines/v5/idle/summary.json
 create mode 100644 targets/micras/cmake/firmware_sha.cmake
 create mode 100644 targets/micras/cube/adc.h
 create mode 100644 targets/micras/cube/crc.h
 create mode 100644 targets/micras/cube/dma.h
 create mode 100644 targets/micras/cube/fmac.h
 create mode 100644 targets/micras/cube/gpio.h
 create mode 100644 targets/micras/cube/handles.cpp
 create mode 100644 targets/micras/cube/main.h
 create mode 100644 targets/micras/cube/spi.h
 create mode 100644 targets/micras/cube/tim.h
 create mode 100644 targets/micras/cube/usart.h
 create mode 100644 targets/micras/include/micras/sim/micras/bindings.hpp
 create mode 100644 targets/micras/include/micras/sim/micras/micras_target.hpp
 create mode 100644 targets/micras/include/micras/sim/micras/pool_variables.hpp
 create mode 100644 targets/micras/justfile
 create mode 100644 targets/micras/proxy/imu.cpp
 create mode 100644 targets/micras/proxy/rotary_sensor.cpp
 create mode 100644 targets/micras/robot.toml
 create mode 100644 targets/micras/src/main.cpp
 create mode 100644 targets/micras/src/pool_variables.cpp
 create mode 100644 targets/micras/tests/CMakeLists.txt
 create mode 100644 targets/micras/tests/unit/hal_host_test.cpp
 create mode 100644 targets/micras/tools/analysis.py
 create mode 100644 targets/micras/tools/robot_report.cpp
 create mode 100644 targets/micras/tools/turn_designer.cpp
 create mode 100644 targets/micras/tools/wall_calibration.cpp
 delete mode 100644 tests/include/test_core.hpp
 create mode 100644 tests/models/tiny_robot.toml
 create mode 100644 tests/models/tiny_robot.xml
 create mode 100644 tests/unit/devices_test.cpp
 create mode 100644 tests/unit/event_log_test.cpp
 create mode 100644 tests/unit/maze_test.cpp
 create mode 100644 tests/unit/noise_test.cpp
 delete mode 100644 tests/unit/packet_framer_test.cpp
 delete mode 100644 tests/unit/proxy_boundary_test.cpp
 create mode 100644 tests/unit/robot_description_test.cpp
 delete mode 100644 tests/unit/shadow_conformance_test.cpp
 delete mode 100644 tests/unit/telemetry_test.cpp
 create mode 100644 tests/unit/web_socket_server_test.cpp
 create mode 100644 tools/baseline.py
 delete mode 100755 tools/check_config_drift.py
 rename {models => tools}/gen_maze.py (100%)
 delete mode 100755 tools/monitor_probe.py
 delete mode 100755 tools/run_stats.py
 delete mode 100755 tools/turn_stats.py

diff --git a/.gitignore b/.gitignore
index 9c91abd..b891759 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,6 +2,5 @@ runs/
 build/
 .cache/
 __pycache__/
-.omc/
 compile_commands.json
 third_party/_deps/
diff --git a/.gitmodules b/.gitmodules
index f3f8645..c9320c1 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,4 +1,4 @@
 [submodule "MicrasFirmware"]
-	path = MicrasFirmware
+	path = targets/micras/MicrasFirmware
 	url = git@github.com:Team-Micras/MicrasFirmware.git
-	branch = feature/sim-harness
+	branch = high-level-review
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 28f51d1..54a6cb1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.25)
 project(micras_simulation LANGUAGES CXX)
 
-set(CMAKE_CXX_STANDARD 20)
+set(CMAKE_CXX_STANDARD 23)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
@@ -19,39 +19,52 @@ include(cmake/mujoco.cmake)
 include(cmake/third_party.cmake)
 
 ###############################################################################
-## Simulation libraries
+## Engine: knows no robot and no HAL
 ###############################################################################
 
-add_library(micras_sim_core STATIC
-    src/sim/core/clock.cpp
-    src/sim/core/firmware_thread.cpp
-    src/sim/core/simulation.cpp
-    src/sim/core/mujoco_world.cpp
-    src/sim/core/serial_bus.cpp
-    src/sim/core/simulation_context.cpp
+# The engine targets carry only their own include directories, so an engine source
+# that includes a firmware or robot target header does not compile.
+
+add_library(micras_sim_engine STATIC
+    engine/arenas/maze/src/maze.cpp
+    engine/src/core/clock.cpp
+    engine/src/core/firmware_thread.cpp
+    engine/src/core/mujoco_world.cpp
+    engine/src/core/noise.cpp
+    engine/src/core/panel_spec.cpp
+    engine/src/core/serial_bus.cpp
+    engine/src/core/simulation.cpp
+    engine/src/devices/dc_motor.cpp
+    engine/src/devices/device.cpp
+    engine/src/devices/imu.cpp
+    engine/src/devices/power.cpp
+    engine/src/devices/quadrature_encoder.cpp
+    engine/src/devices/serial_link.cpp
+    engine/src/devices/wall_sensors.cpp
+    engine/src/recording/csv_recorder.cpp
+    engine/src/recording/csv_writer.cpp
+    engine/src/recording/event_log.cpp
+    engine/src/recording/ground_truth.cpp
+    engine/src/recording/run_metadata.cpp
+    engine/src/robot/robot_description.cpp
+    engine/src/robot/robot_model.cpp
+    engine/src/scenario/scenario.cpp
 )
-target_include_directories(micras_sim_core PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
-target_link_libraries(micras_sim_core PUBLIC mujoco::mujoco)
-
-include(cmake/firmware.cmake)
-
-add_library(micras_sim STATIC
-    src/sim/core/scenario.cpp
-    src/sim/telemetry/packet_framer.cpp
-    src/sim/telemetry/telemetry.cpp
-    src/sim/recording/csv_writer.cpp
-    src/sim/recording/ground_truth.cpp
-    src/sim/recording/csv_recorder.cpp
-    src/sim/recording/run_metadata.cpp
+add_library(micras::sim_engine ALIAS micras_sim_engine)
+target_include_directories(micras_sim_engine PUBLIC
+    "${CMAKE_CURRENT_SOURCE_DIR}/engine/include"
+    "${CMAKE_CURRENT_SOURCE_DIR}/engine/arenas/maze/include"
 )
-target_link_libraries(micras_sim PUBLIC micras_sim_core micras_firmware_shadow PRIVATE picosha2)
+target_link_libraries(micras_sim_engine PUBLIC mujoco::mujoco PRIVATE picosha2 tomlplusplus::tomlplusplus)
 
 add_library(micras_sim_view STATIC
-    src/sim/view/control_panel.cpp
-    src/sim/view/mujoco_viewer.cpp
-    src/sim/view/video_recorder.cpp
+    view/src/control_panel.cpp
+    view/src/mujoco_viewer.cpp
+    view/src/video_recorder.cpp
 )
-target_link_libraries(micras_sim_view PUBLIC micras_sim_core)
+add_library(micras::sim_view ALIAS micras_sim_view)
+target_include_directories(micras_sim_view PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/view/include")
+target_link_libraries(micras_sim_view PUBLIC micras_sim_engine)
 
 if(MICRAS_VIDEO)
     set(OpenGL_GL_PREFERENCE GLVND)
@@ -81,63 +94,52 @@ if(MICRAS_VIEWER)
 endif()
 
 add_library(micras_sim_bridge STATIC
-    src/sim/bridge/monitor_bridge.cpp
-    src/sim/bridge/web_socket_server.cpp
+    bridge/src/monitor_bridge.cpp
+    bridge/src/web_socket_server.cpp
 )
-target_link_libraries(micras_sim_bridge PUBLIC micras_sim)
+add_library(micras::sim_bridge ALIAS micras_sim_bridge)
+target_include_directories(micras_sim_bridge PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/bridge/include")
+target_link_libraries(micras_sim_bridge PUBLIC micras_sim_engine)
 
 if(MICRAS_BRIDGE)
     target_link_libraries(micras_sim_bridge PRIVATE ixwebsocket)
     target_compile_definitions(micras_sim_bridge PRIVATE MICRAS_BRIDGE)
 endif()
 
-###############################################################################
-## Executable
-###############################################################################
-
-add_executable(micras_simulation src/main.cpp)
-target_link_libraries(micras_simulation PRIVATE micras_sim_app)
-
 # The application is the only layer that knows a run can have a window, so it is
-# the only one that links the view.
+# the only one that links the view. It has no main: each robot target calls
+# micras::sim::run() from its own.
 add_library(micras_sim_app STATIC
-    src/sim/app/application.cpp
-    src/sim/app/cli.cpp
-    src/sim/app/crash_reporter.cpp
+    app/src/application.cpp
+    app/src/cli.cpp
+    app/src/crash_reporter.cpp
 )
-target_link_libraries(micras_sim_app PUBLIC micras_sim micras_sim_view micras_sim_bridge)
-
+add_library(micras::sim_app ALIAS micras_sim_app)
+target_include_directories(micras_sim_app PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/app/include")
+target_link_libraries(micras_sim_app PUBLIC micras_sim_engine micras_sim_view micras_sim_bridge)
 target_compile_definitions(micras_sim_app PRIVATE
-    MICRAS_FIRMWARE_SHA="${MICRAS_FIRMWARE_SHA}"
+    MICRAS_SIM_MAZES_DIR="${CMAKE_CURRENT_SOURCE_DIR}/engine/arenas/maze/mazes"
     MICRAS_COMPILER_ID="${CMAKE_CXX_COMPILER_ID}"
     MICRAS_COMPILER_VERSION="${CMAKE_CXX_COMPILER_VERSION}"
     MICRAS_BUILD_TYPE="${CMAKE_BUILD_TYPE}"
 )
 
-set_target_properties(micras_simulation PROPERTIES
-    BUILD_RPATH "${MUJOCO_DIR}/lib"
-    INSTALL_RPATH "${MUJOCO_DIR}/lib"
-)
+foreach(TARGET micras_sim_engine micras_sim_view micras_sim_bridge micras_sim_app)
+    target_compile_options(${TARGET} PRIVATE -Wall -Wextra)
+endforeach()
 
 ###############################################################################
-## Firmware hardware tests
+## Host micras_hal: compiled by each robot target against its own HAL headers
 ###############################################################################
 
-include(cmake/hardware_tests.cmake)
-
-micras_add_hardware_tests(
-    tests/src/proxy/test_battery.cpp
-    tests/src/proxy/test_fan.cpp
-    tests/src/proxy/test_imu.cpp
-    tests/src/proxy/test_locomotion.cpp
-    tests/src/proxy/test_rotary_sensors.cpp
-    tests/src/proxy/test_wall_sensors.cpp
-    tests/src/nav/test_odometry.cpp
-    tests/src/nav/test_calibrate_feed_forward.cpp
-)
+# Not a library of its own: the micras_hal headers it implements, and the fake Cube
+# layer they include, belong to the robot being built. It includes nothing from the
+# engine, so it can move next to micras_hal unchanged.
+set(MICRAS_SIM_HAL_HOST_INCLUDE "${CMAKE_CURRENT_SOURCE_DIR}/hal_host/include")
+file(GLOB MICRAS_SIM_HAL_HOST_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/hal_host/src/*.cpp")
 
 ###############################################################################
-## Tests
+## Tests and robot targets
 ###############################################################################
 
 if(MICRAS_TESTS)
@@ -145,23 +147,44 @@ if(MICRAS_TESTS)
     add_subdirectory(tests)
 endif()
 
+# Every robot target is a folder of targets/ with its own CMakeLists.txt.
+file(GLOB MICRAS_SIM_TARGET_DIRS LIST_DIRECTORIES true "${CMAKE_CURRENT_SOURCE_DIR}/targets/*")
+
+foreach(target_dir IN LISTS MICRAS_SIM_TARGET_DIRS)
+    if(EXISTS "${target_dir}/CMakeLists.txt")
+        add_subdirectory("${target_dir}")
+    endif()
+endforeach()
+
 ###############################################################################
 ## Format and lint
 ###############################################################################
 
 file(GLOB_RECURSE HARNESS_SOURCES CONFIGURE_DEPENDS
-    "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/engine/*.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/hal_host/*.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/view/*.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/bridge/*.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/app/*.cpp"
     "${CMAKE_CURRENT_SOURCE_DIR}/tests/*.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/src/*.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/proxy/*.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/cube/*.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/tests/*.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/tools/*.cpp"
 )
 file(GLOB_RECURSE HARNESS_HEADERS CONFIGURE_DEPENDS
-    "${CMAKE_CURRENT_SOURCE_DIR}/config/*.hpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/include/*.hpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/engine/*.hpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/hal_host/*.hpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/view/*.hpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/bridge/*.hpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/app/*.hpp"
     "${CMAKE_CURRENT_SOURCE_DIR}/tests/*.hpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/include/*.hpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/tests/*.hpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/hal_host/*.h"
+    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/cube/*.h"
 )
 
-foreach(TARGET micras_sim_core micras_sim micras_sim_app micras_sim_view micras_sim_bridge micras_simulation)
-    target_compile_options(${TARGET} PRIVATE -Wall -Wextra)
-endforeach()
-
 include(cmake/lint.cmake)
 micras_add_lint_targets(${HARNESS_SOURCES} ${HARNESS_HEADERS})
diff --git a/HANDOFF.md b/HANDOFF.md
deleted file mode 100644
index d707853..0000000
--- a/HANDOFF.md
+++ /dev/null
@@ -1,442 +0,0 @@
-# Handoff
-
-For whoever picks this up next, human or agent. It says where the harness
-stands, what the three rules are that must not be broken while changing it, and
-what is queued, roughly in the order it is worth doing.
-
-Read `README.md` for how to use the thing and `CLAUDE.md` for why it is built
-the way it is. This file only covers what is *left*. Two older documents carry
-the reasoning behind most of it and are worth opening before doing any of the
-physics or firmware work: `../HARNESS_PLAN.md` (the diagnosis, the 38 physics
-experiments, the risks) and `../HARNESS_REDESIGN_PLAN.md` (the eleven slices
-this harness was built in, plus the deviations recorded in its §8.1).
-
-## Where it stands
-
-The harness runs the Micras firmware unmodified against MuJoCo, deterministic
-and headless for measuring, with an optional window, control panel, mp4
-recorder and a WebSocket bridge that micras-monitor connects to as if it were
-the radio. `just check` is the gate and it is green: 80 unit tests, config drift
-against the firmware, an all-options-off build, seven hardware-test smoke runs,
-a window-versus-headless CSV comparison, a bridge round trip, three scenarios
-analysed and asserted, and all three compared against three recorded baselines.
-`just lint` is clean, zero diagnostics.
-
-Everything lives on branches, nothing is on `main`:
-
-- `Team-Micras/micras-simulation`, branch `feature/simulation-harness`
-- `Team-Micras/MicrasFirmware`, branch `feature/sim-harness` (the submodule)
-
-To build, you need MuJoCo unpacked at `$HOME/.mujoco/mujoco-3.3.6` (or pass
-`-DMUJOCO_DIR=`), then `just build`. Clone with `--recurse-submodules`; the
-submodule gitlink already points at the firmware commits the harness needs.
-
-The documentation was fact-checked against the code and its findings applied.
-The bridge was reviewed too, and it came back with a reproduced CRITICAL — that
-is job 0 below, and it should be fixed before anyone demos the monitor.
-
-## The three rules
-
-Break these and the harness stops being worth having.
-
-**1. A run is reproducible.** Two runs of the same binary with the same
-arguments produce byte-identical `data.csv` and `meta.json`. Nothing may make
-the firmware's view of the world depend on wall time, on a window being open, on
-a client being connected, or on how fast the machine is.
-
-**2. A refactoring must not move a byte.** If `data.csv` stops matching
-`baseline/v2` after a change that was supposed to be behaviour-neutral, the
-change is wrong. Revert it. Do not re-record the baseline to make the diff go
-away — that is the one move that destroys the whole safety net, and it is
-exactly the tempting one.
-
-**3. A change that legitimately alters physics or columns gets a NEW baseline
-version, never an overwrite.** `just record-baseline` refuses to overwrite, on
-purpose. Bump `baseline` in the `justfile` to `baseline/v3`, move the old one
-into `previous_baselines`, and the older recordings stay comparable as a header
-prefix. This is the correct path for job 2 below.
-
-Corollary of rule 3: new CSV columns go at the **very end**. The prefix check is
-literally a header prefix, so appending a pool variable in the middle would
-shift every `proxy_*` column right and break it.
-
-## Job 0 — The bridge hangs the simulation, and two things around it lie
-
-An independent review of the bridge reproduced all of this, with a gdb
-backtrace and with the real binary. Do this before the rest.
-
-**The hang (critical).** `WebSocketServer::broadcast` calls `sendBinary`
-synchronously on the simulation thread (`src/sim/bridge/web_socket_server.cpp`,
-from `MonitorBridge::on_after_tick`). IXWebSocket's `flushSendBuffer` loops on
-`isReadyToWrite(10)` with **no deadline and no give-up**; the only thing that
-would break it out is a `stop()` that the blocked thread itself would have to
-call. So a monitor that stops draining — a throttled browser tab, a paused
-debugger, a stalled tunnel — applies TCP backpressure and the run freezes
-indefinitely. Reproduced: row count frozen for 15 s and 18 s across three runs
-with the firmware thread parked in `futex_do_wait`, resuming only when the
-client's connection actually died. The `FirmwareThread` watchdog does not cover
-it, because the firmware thread is the one waiting. `just check-monitor` in CI
-would hang forever rather than fail.
-
-This is not exotic. Measured throughput to a *reading* client is about
-3.2 MiB/s, roughly 232 000 packets/s, because the harness runs about 12× real
-time. Anything slower than that is backpressure.
-
-The fix is to get `sendBinary` off the simulation thread: hand `outgoing` to a
-bounded ring drained by a dedicated sender thread, drop the oldest frames when
-it is full, and count the drops. The monitor is a view, not a ledger. Coalescing
-several ticks into one frame is worth doing at the same time — at ~12 000
-frames/s the framing overhead is most of the traffic. See also job 5, which is
-the same problem seen from the radio's side.
-
-**A monitor-driven run claims to be reproducible when it is not (high).**
-`application.cpp` computes `interactive` from the viewer alone. `MonitorBridge`
-queues whatever the monitor sends straight into the firmware and never sets
-`driven_by_human`, so the scenario also keeps scripting alongside the human.
-Reproduced: two 20 s runs, one with a monitor injecting a `SERIAL_VARIABLE`
-packet, produced different CSVs and both reported `interactive: false`. A
-perturbed run is currently indistinguishable from a clean one and would be
-accepted by `just check` or recorded as a baseline. Set `driven_by_human` (or a
-`monitor_input_seen` flag) the first time the bridge queues a packet and OR it
-into `RunMetadata::interactive`. The plan requires exactly this.
-
-**The check that was supposed to catch that can pass while testing nothing
-(high).** When port 8080 is taken the binary prints `monitor disabled: Address
-already in use` and **exits 0**, so `check-monitor`'s `runs/monitor/quiet` is
-just another bridge-less run and the comparison passes trivially. Reproduced.
-Make the recipe fail when the bridge could not listen, and pick a per-invocation
-port instead of the hardcoded default.
-
-**Dropped packets are invisible (high).** `SerialBus::queue_for_firmware`
-silently discards everything past 256 queued packets and increments a counter
-that **nothing ever reads**. Flooding the bridge with 100 000 valid packets let
-256 through and ~99 744 vanished without a trace in `meta.json`, stderr or the
-CSV. Surface `dropped_packets` and the bridge's own `resync_count` in the
-metadata next to `telemetry_resyncs`.
-
-Smaller ones from the same review, worth folding in while you are there: neither
-bridge class has any test; `server` should be declared **last** in
-`MonitorBridge` so the language guarantees the destruction order the destructor
-body currently guarantees by hand; the bridge should reject frames failing
-`comm::Packet::is_valid` before queueing them, because a client can otherwise
-occupy the one-packet-per-tick slot with garbage and delay the scenario's own
-injection; and `--monitor`/`--monitor-port` are parsed inside
-`apply_viewer_option`, which is the wrong place and makes that function's own
-`@brief` false.
-
-What the review confirmed as solid, so you do not need to re-derive it: the wire
-protocol matches the firmware exactly (checked three ways, including a payload
-full of control bytes), determinism holds for a no-client run, a refused port
-and a well-behaved client, hostile input neither crashes nor leaks across 18 MB
-of adversarial traffic, and the server binds to loopback only.
-
-## Job 1 — The robot still does not finish maze 2
-
-This is the actual goal and it is not met. Everything else on this list is
-infrastructure around it.
-
-Where it is: on `models/maze.txt` the explore reaches a goal cell at 38.8 s,
-returns to `{0, 0}` and goes IDLE at 94.6 s — the maze is solved. On
-`models/maze2.txt`, the 2019 Portugal qualifier, it does not reach the goal and
-dies at 69.2 s. So the tuning is not maze independent, and a robot that only
-solves the maze it was tuned on has not been shown to work.
-
-The failure has been isolated and it is **geometric, not a control problem**.
-`push_exploring` queues `stop`, `turn_back`, `move_half`, and `turn_back` pivots
-about the body origin with no safety margin. The chassis mesh puts the front tip
-at `sqrt(15.5² + 66²) = 67.8` mm from that origin against a corridor half-width
-of 83.7 mm, so the spin needs the body origin within **15.9 mm** of the cell
-centre, and `tools/turn_stats.py` shows every spin in every run starting 16 to
-18 mm past it — because `stop` starts wherever the accumulated longitudinal
-error left the robot and only measures 90 mm of travel from there. Every spin
-scrapes. On maze 2 the spin at 25.7 s is the first chassis contact of the run
-and the start of the 2.19 m odometry runaway that kills it.
-
-Three things it depends on, and only one of them is code:
-
-1. **Measure the real chassis.** The mesh in `robot_v2.xml` is 66 mm wide and
-   99 mm long; the sibling Micrasverse repo models the same robot as 50 × 80 mm.
-   That is 32 % wider and 24 % longer, and the wheels stick out another 4 mm
-   each side. If Micrasverse is right, the mesh is simply wrong and fixing it
-   takes the spin margin from 15.9 to about 25 mm — which may be the whole bug.
-   **Somebody has to put a caliper on the real robot.** Nobody should touch the
-   mesh before that number exists.
-2. **Give `turn_back` a safety margin on the exploring path.** The solving path
-   already has one — `ActionQueuer::get_trim_distances` applies
-   `curve_safety_margin` to the 180° case. The exploring path has nothing
-   equivalent. This is firmware nav work.
-3. **`post_reference` is wrong, not `post_threshold`.** Lowering the threshold
-   was swept over 400/100/50/30/20 and is a clear negative — the correction
-   fires constantly and injects error. Fixing it needs a measurement of where
-   the simulated post edge actually falls, which nobody has taken.
-
-**A firmware bug found during that work and never fixed**, still present at
-`MicrasFirmware/micras_nav/src/action_queuer.cpp:83-88`: the `turned_left`
-branch of `push_exploring` queues `move_to_turn, turn_left, move_to_turn`, while
-`turned_right` two blocks below queues `move_to_turn, turn_right,
-move_from_turn`. Almost certainly copy-paste — the left turn exits on the
-wrong action, and with no `follow_wall` where the right turn has one. Fix it
-under rule 3 (it changes behaviour, so it needs a new baseline), and check
-whether it moves the maze 2 result before doing anything else on this list.
-
-Also open, from the same investigation: **23 differences between
-`config/constants.hpp` and the firmware are still marked `TODO`** in the
-allowlist at the top of `tools/check_config_drift.py`, meaning allowlisted but
-never explained. `just drift` prints the count. The most suspicious is the sign
-of `right_feed_forward.angular_acceleration` (+0.1 in the harness against
--0.0244 in the firmware, while the left one keeps its sign).
-
-## Job 2 — MuJoCo 3.3.6 to 3.13.0
-
-Worth doing and nothing structural is in the way. 3.13.0 is real and current
-(released 2026-09-09); the pin at 3.3.6 is just where the work started.
-
-MuJoCo is located in exactly one place, `cmake/mujoco.cmake`, which points
-`MUJOCO_DIR` at `$HOME/.mujoco/mujoco-3.3.6` and imports the shared library by
-hand because the tarball ships no CMake config. `application.cpp` checks
-`mj_version() != mjVERSION_HEADER` at startup, so a library/header mismatch is
-caught loudly rather than as corruption.
-
-Expect this to change the numbers. Solver, contact and integrator work landed
-across ten minor releases; `data.csv` will almost certainly differ. **That is
-fine and it is rule 3, not rule 2.** The procedure:
-
-1. Unpack 3.13.0 next to the old one and bump the default in
-   `cmake/mujoco.cmake`. Keep the old directory around until the end.
-2. `just build`. Fix whatever the API moved. Compile errors will concentrate in
-   `src/sim/core/mujoco_world.cpp`, `src/sim/recording/ground_truth.cpp` (it
-   touches `mjData` contact arrays directly) and `src/sim/view/*` (`mjv_`/`mjr_`
-   are the most churn-prone surface).
-3. `just test` and `just lint` first — those must pass unchanged, because
-   nothing in them depends on physics.
-4. `just check` will now fail at `compare-baseline`. Before accepting that,
-   confirm the difference is *physics* and not a bug you introduced: run
-   `just analyze` on the three scenarios and compare `report.json` against the
-   old one. Warnings must still be zero, `telemetry_resyncs` zero, no
-   non-finite samples, and the explore run must still behave qualitatively the
-   same. A solver change moves trajectories a little; a mistake usually shows up
-   as warnings, NaNs, or the robot falling through the floor.
-5. Only then bump to `baseline/v3` and `just record-baseline`. Keep v2, v1 and
-   v0 in `previous_baselines`.
-6. Re-check the tuning claims in `CLAUDE.md`'s "State of the tuning" section.
-   Those numbers (goal at 38.8 s, first ERROR at 98.2 s, lateral rms 8.7 mm)
-   were measured under 3.3.6 and will move. Restate them or mark them as
-   measured under the old version — do not leave them silently wrong.
-
-`mujoco_version` is recorded in `meta.json` but is deliberately not one of
-`compare_run.py`'s `BEHAVIOUR_FIELDS`, so the provenance is kept without the
-version itself failing a comparison.
-
-## Job 3 — Get Micras out of the command line
-
-The complaint is fair: `Cli` knows far too much about this specific robot.
-`--command none|explore|solve|calibrate` hardcodes four firmware pool variable
-names; `--dip fan=0,diagonal=0,boost=0,risky=0` hardcodes the four switch
-meanings in a `std::array` in `src/sim/app/cli.cpp`; `--no-fan` is a flag for
-one actuator. Every one of those is a Micras fact compiled into the harness.
-
-What they all actually are: a script of timed writes to the board interface,
-plus one timed write to a pool variable. That is the general shape, and it
-belongs in **data**, not in C++:
-
-- a run script (a small file, or a repeatable `--at <t> <action>` flag) with two
-  primitives: set pool variable `<name>` to `<value>` at time `t`, and hold the
-  button for `<ms>` starting at time `t`, plus an initial switch word;
-- `ScenarioScript`'s `Command` enum and the `dip_names` array deleted, replaced
-  by names carried in the script;
-- the current flags kept as thin sugar over it, or dropped, but only after the
-  scripts that use them are updated — `tools/` and the `justfile` depend on the
-  current spelling of `--command explore`.
-
-Do it under rule 2: an identical scenario expressed the new way must produce a
-byte-identical `data.csv`. That is a strong test and it is cheap to run.
-
-## Job 4 — Get Micras out of the CSV recorder
-
-Same complaint, bigger blast radius, and the reason to do it after job 3.
-
-`src/sim/recording/ground_truth.cpp` is where it concentrates: wheel joint
-names, the left/right wheel geoms, the caster, the `base` geom, four wall
-sensors, the body forward axis being +y. A different robot, or the same robot
-with a renamed geom, needs a C++ edit today.
-
-The shape to aim for is a column source interface — something with `headers()`
-and `values()` — where `GroundTruth` is *built from a description* (which bodies,
-which geoms, which sensors) rather than from constants, and the description
-lives with the model. `CsvRecorder` already composes three sources (ground
-truth, `ProxyState`, the firmware pool), so the seam exists; it is `GroundTruth`
-itself that is hardcoded.
-
-Two things to preserve while doing it, both non-obvious and both load-bearing:
-
-- the exact column order and the `%.9g` formatting in `CsvWriter`, or rule 2
-  fails immediately;
-- the `nan` versus `0` distinction in `left_penetration`/`right_penetration`.
-  `nan` means "no contact at all" and `0` means "touching exactly". Collapsing
-  them loses real information that `analyze.py` reads.
-
-## Job 5 — The radio is lying about its bandwidth
-
-This one is not cosmetic and it is the one most likely to cost a race.
-
-Measured on this branch: the firmware pushes **290 bytes per tick** through the
-serial proxy, which at the 959.7 Hz loop is **about 278 kB/s, roughly 2.8 Mbaud
-at 8N1**. A classic SPP link at 115200 baud carries 11.5 kB/s. The harness is
-running about **24 times over** what the real radio can sustain, and nothing
-anywhere notices.
-
-So the simulated robot reports state the real robot physically cannot send. Any
-conclusion about telemetry drawn in simulation is optimistic by more than an
-order of magnitude, and the firmware's own `enable_mask` — which exists exactly
-to ration this — is never under pressure here, so it is never exercised.
-
-Two ways to fix it, and they are not equivalent:
-
-- **Cheap and non-breaking:** count the bytes and report the achieved rate in
-  `meta.json`, plus a threshold that flags a run exceeding a configured link
-  budget. New metadata field only, so `data.csv` does not move and rule 2 holds.
-  Do this first — it makes the problem visible immediately.
-- **Honest and behaviour-changing:** give `SerialBus` a byte budget per
-  simulated second and make it actually back up when the firmware exceeds it,
-  the way a real UART does. This changes what the firmware sees, so it is a new
-  baseline under rule 3, and it will probably expose firmware behaviour nobody
-  has looked at yet. That is the point of it.
-
-The budget should be configurable, because the answer depends on which radio the
-robot actually carries.
-
-**This was already queued on the firmware side**, with options chosen, and the
-harness now gives you the measurement to justify picking one. The stream needed
-about 1.6 Mbaud before the new monitoring variables and about 2.5 Mbaud after.
-The options on the table: decimate `send_serial_variables` (1 in 10 gives about
-96 Hz, which is plenty for a human watching); remove the redundancy, since
-`Odometry State` duplicates velocities already sent separately; and
-`send_data(std::span)` plus a ring buffer to get the heap out of the control
-loop.
-
-And a real firmware bug sitting underneath all of it:
-`BluetoothSerial::trim_tx_queue` (`micras_proxy/src/bluetooth_serial.cpp:63`)
-erases **raw bytes** from the front of the queue when it overflows. It cuts
-wherever it lands, mid-packet, so the packet straddling the cut is corrupted and
-the receiver resyncs. Whatever else is done about bandwidth, dropping should be
-per whole packet — drop-newest or drop-oldest, but never half of one.
-
-## Job 6 — The singleton, and the decision that actually removes it
-
-`sim::SimulationContext::instance()` is a function-local static. It is not there
-because anyone liked it; `CLAUDE.md`'s shadow-proxy section and Appendix A of
-`HARNESS_REDESIGN_PLAN.md` have the full argument, but the short version is that
-the firmware builds its proxies as member initialisers from `const` globals in
-`target.hpp`, so at construction time the only route to the world is something
-reachable from a `Config`. **A static class would have the same property and the
-same problem** — the issue is process-wide reachability, not the spelling.
-
-It is already fenced: exactly three places name `instance()` — `target.hpp`,
-`Application`'s member initialiser, and the context's own file. Everything else
-receives facets through its `Config`, and the tests build their own context,
-which is what makes the fence real rather than aspirational.
-
-**The decision that actually removes it has already been taken** (2026-09-21,
-priority "soon", recorded at the end of `../HARNESS_PLAN.md` §7): `Micras` takes
-its proxies through its constructor as `shared_ptr`, exactly as `Odometry`,
-`FollowWall` and `SpeedController` already do, and the hardware `main.cpp`
-assembles the real proxies from `target.hpp`. That single change kills the
-header-shadowing mechanism, the singleton, **and** the three divergent copies of
-the proxy layer that `tools/check_config_drift.py` exists to police. It needs an
-interface or a C++20 concept per proxy so the simulated and the real one are
-interchangeable, and it wants a firmware CMake that can build
-`micras::core/nav/comm` without CubeMX, with something like
-`MICRAS_PROXY_IMPL=<dir>`.
-
-Until that lands, tightening the fence is worth more than replacing the
-mechanism. Do not invent a third way around it.
-
-## Firmware backlog, already diagnosed
-
-Small, understood, and none of it done. Each needs a new baseline under rule 3
-because each changes behaviour.
-
-- **`Interface` latches the command triggers.** `comm_explore`, `comm_solve` and
-  `comm_calibrate` are triggers, not switches, but they are never cleared after
-  generating their event, so the `true` stays latched and re-fires the moment the
-  FSM comes back to `IDLE`. This is why a run that finishes and goes IDLE
-  immediately starts another one.
-- **`SERIAL_VARIABLE_CONTROL` has no bounds check.** A malformed id from the
-  radio indexes out of range.
-- **The receive deque is cleared after framing a single packet**, which is why
-  the harness may never inject more than one packet per tick. It is a firmware
-  behaviour worth revisiting, not a harness limitation.
-- **The rangefinder sentinel.** MuJoCo returns -1 for no hit, and the
-  `1 - exp(-c/x²)` conversion cannot tell -1 from +1. Handle the sentinel
-  explicitly rather than letting it alias onto a real reading.
-- **`solving.max_linear_acceleration = 12` is unreachable in the model.** With
-  the centre of mass about 20 mm ahead of the axle and a third of the weight on
-  the caster, maximum acceleration is around 6 m/s². When the motor model was
-  corrected this started showing up as a new "failure"; it is a finding, not a
-  regression.
-
-## What the plan asked for and is not there
-
-`../HARNESS_REDESIGN_PLAN.md` §2 is the list of decisions taken with the user
-before any of this was built. Its §8.1 records the deviations that were made
-deliberately during execution, with reasons — read that before assuming
-something was forgotten. These four, though, were agreed and simply are not
-done:
-
-- **Screenshot from the viewer.** §2 lists it in the same breath as the render
-  flags ("flags de render, screenshot"). There is no key for it and no code.
-  `mjr_readPixels` is already used by `VideoRecorder`, so this is small.
-- **Battery on the panel.** §2's minimum panel content includes it. It is not
-  there, and it cannot be until something feeds it: `ProxyState` has no battery
-  field, and the CSV column was removed once measurement showed this firmware
-  build never reads the battery at all (recorded in §8.1). So the honest version
-  of this item is a question — should the panel show a value the firmware
-  ignores? — not a coding task.
-- **A bipolar fan control.** §2 asks for one. The panel has a "fan allowed"
-  checkbox, which is an override, not a control.
-- **Reset in the window means a new run** (`run_002/`), so that every CSV is a
-  complete run. Deferred with reasons in §8.1; see the entry below.
-
-Also worth knowing when reading §2 against the code: it says
-`SimulationContext::instance()` is used *only* by `target.hpp`. In practice
-`Application`'s member initialiser names it too, which is where the process's
-one context is picked up. That is correct and intended; the plan's sentence is
-just narrower than reality. `CLAUDE.md` states the actual rule.
-
-## Also queued, smaller
-
-- **The video path is ungated.** `just check` proves a window and a bridge change
-  nothing; there is no `check-video`. Worse, `just video` writes into
-  `runs/explore_v2`, the directory the baseline comparison reads. Adding a
-  `check-video` step is a small job and closes a real hole.
-- **No "new run" from the panel.** It needs `RunControl::RESTART`, restartable
-  listeners, and a fresh `FirmwareThread` and `Micras` — the FSM, the maze map
-  and the in-memory `Storage` all carry state. It is an `Application` lifecycle
-  change, not panel work.
-- **`PlotTrace` is not a ring buffer.** It drops its oldest sample with
-  `erase(begin())`. Invisible at 2048 samples and 30 fps, still the wrong data
-  structure.
-- **Nine of the seventeen firmware hardware tests are not built** — the
-  human-interface ones plus `storage`, `stopwatch`, `torque_sensors` and
-  `comm_service`.
-
-## Traps
-
-Short list of things that have already cost a debugging session here.
-
-- **EGL and GLX cannot both be current on one thread.** `--viewer --video`
-  requires `VideoRecorder` to release its EGL context after every capture and
-  `MujocoViewer::draw` to make the GLFW context current. Break the pair and you
-  get `BadAccess X_GLXMakeCurrent` and a zero-byte CSV.
-- **The panel must use ImGui edge detection** (`IsItemActivated` /
-  `IsItemDeactivated`) for the board button. Writing it every frame from
-  `IsItemActive()` overwrites the scripted press and silently turns an
-  `extra_long` press into a short one.
-- **The `Stopwatch` spin counters must survive a reset.** `Fan::update` resets
-  its own stopwatch every call, so a counter that reset with it would never
-  reach its threshold and `test_fan` would spin forever.
-- **Never inject more than one serial packet per tick.** The firmware clears its
-  whole receive deque after framing one packet.
-- **Use `xvfb-run -a` for anything with a window.** Running window tests on a
-  live display fights whoever is using the machine, and it has already killed a
-  test run here.
diff --git a/MicrasFirmware b/MicrasFirmware
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+++ /dev/null
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-Subproject commit 9136d7b061756b0c02fdbd37437a960fd443c662
diff --git a/SPEC_1_WORK.md b/SPEC_1_WORK.md
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+# Spec 1 — Work with no decisions
+
+2026-09-23 · companion to [`SPEC_2_DECISIONS.md`](SPEC_2_DECISIONS.md)
+
+This spec is the work itself: what to delete, fix, move and build, and in what
+order. Every design choice behind it is recorded in spec 2, where all fourteen
+decisions are now made. Section 10 lists what is deliberately deferred. Steps 1 to 6
+are implemented on `refactor/cleanup` (2026-09-24, not yet committed); section 12
+records where the implementation departs from the text and what it found.
+
+The direction is decided. This repository becomes the team's simulator for every
+robot built on `micras_hal`: the micromouse now, and a line follower later. The code
+is organised in three layers, all in this repository:
+
+| Piece | What it is | Where |
+|---|---|---|
+| **Engine** | World, clock, run loop, devices, arenas, recording, viewer, bridge. It knows no robot and no HAL. | The repository root |
+| **`micras_hal` host backend** | `micras_hal` implemented on a PC | `hal_host/`; it moves next to `micras_hal` once that has its own repository (spec 2 D3) |
+| **Robot target** | One per robot: its firmware as a submodule, device bindings, robot description, scenarios, baselines | `targets/<robot>/`, starting with `targets/micras/` |
+
+State this spec was written against:
+
+| Repository | Ref |
+|---|---|
+| micras-simulation | `refactor/cleanup` @ `85cc1ab` |
+| MicrasFirmware submodule (pinned) | `9136d7b` on `feature/sim-harness`, branched from `ad34254` |
+| MicrasFirmware port target | `high-level-review` @ `0be27df`, 174 commits past the pin |
+
+In this spec, **"Micras"** alone means the micromouse robot. The `micras_` prefix of
+the libraries (`micras_hal`, `micras::sim`) is the team's, and stays.
+
+---
+
+## 1. Ground rules
+
+There are two kinds of items:
+
+- **Pre-port work (P)**: done on the currently pinned firmware. This is sections 2
+  to 8.
+- **Port requirements (R)**: constraints the port to `high-level-review` must meet
+  under every option in spec 2. This is section 9.
+
+Rules for pre-port work:
+
+- **P1. Nothing moves a byte.** After every step, `idle` and `explore_v2` still
+  match `baseline/v2`:
+  - `data.csv` is byte-identical.
+  - The ten behaviour fields of `meta.json` are identical (`BEHAVIOUR_FIELDS` in
+    `tools/compare_run.py`).
+  - `model_path` and `args` are not compared, so moving files is allowed.
+    `model_sha256` *is* compared, so not one byte of `models/robot_v2.xml` or
+    `models/maze.xml` may change before the port, not even a comment.
+- **P2. The firmware is not touched** before the port.
+- **P3. Move Micras code, don't redesign it, when the port will rewrite it.** Code
+  with a known death date (section 9) is relocated as-is, not polished: the old
+  serial protocol, the shadow proxies, `ProxyState`.
+
+---
+
+## 2. Repository cleanup
+
+| # | Path | Evidence | Action |
+|---|---|---|---|
+| C1 | `models/experiments/` (43 files, 228 KB) | Nothing loads them: not the justfile, CMake, tests or tools. The only mention is a comment at `robot_v2.xml:17`. `experiments/maze.xml` is a byte copy of `models/maze.xml`. The write-up they belong to (`../HARNESS_PLAN.md`) is not in any repository. | Delete. Git history keeps them. |
+| C2 | `baseline/v0/`, `baseline/v1/` (6.5 of 11 MB) | Their headers are strict prefixes of v2's (65 → 80 → 85 columns), and v2 is compared byte for byte, so a prefix check against them can only fail when the v2 check already fails. The port invalidates all three anyway. | Delete. Remove `previous_baselines` and its inner loop from `compare-baseline`. |
+| C3 | `models/robot_legacy.xml` and the `explore_legacy` scenario | A second robot kept alive only to feed the gate: `legacy_model`, `run-explore-legacy`, `explore_legacy` in `check_runs`, `baseline/v2/explore_legacy/`, the `check_run.py` arguments in `check`, and the drift allowlist entries justified by "robot_legacy.xml". Nobody develops against it. | Delete all of them. |
+| C4 | `tools/run_stats.py`, `tools/turn_stats.py` | Referenced only by the README. They are one-off investigations of the old navigation (post corrections, `turn_back` spins) with a hard-coded `CELL=0.18`, maze path and chassis hexagon. | Delete, and remove the README paragraph. |
+| C5 | `HANDOFF.md` (442 lines) | Mostly duplicates `CLAUDE.md`. It cites `../HARNESS_PLAN.md` and `../HARNESS_REDESIGN_PLAN.md`, which do not exist. See the table below for where its unique content goes. | Delete once its content is placed. |
+| C6 | `.gitignore` entry `.omc/` | Left over by another tool. | Remove the entry. |
+| C7 | `models/gen_maze.py` | A generic tool living among the Micras models. | Move to `tools/gen_maze.py`. |
+
+Where each part of `HANDOFF.md` goes:
+
+| Part | Destination |
+|---|---|
+| Job 0 (bridge hang, lying flags) | B1–B5 below |
+| Job 1 (maze 2 not finished) | Obsolete: it is about the old navigation |
+| Job 2 (MuJoCo upgrade) | R4 |
+| Jobs 3, 4, 6 (Micras out of CLI and CSV, the singleton) | Sections 6 and 7, and spec 2 D1 and D2 |
+| Job 5 (radio bandwidth) | Spec 2 D8 |
+| Firmware backlog | Obsolete at the port: every item is old navigation or old protocol |
+| "Not there" list | Spec 2 D12 and D14 |
+| Traps | Stay in `CLAUDE.md`; most of them disappear with spec 2 D2 |
+
+---
+
+## 3. Bugs
+
+| # | Where | Bug | Fix |
+|---|---|---|---|
+| B1 | `WebSocketServer::broadcast`, called from `MonitorBridge::on_after_tick` | `sendBinary` runs synchronously on the simulation thread. IXWebSocket's `flushSendBuffer` loops on `isReadyToWrite(10)` with no deadline, so a client that stops draining freezes the run forever. This was reproduced (HANDOFF job 0). | Push outgoing frames into a bounded queue drained by a sender thread. Drop the oldest frame when it is full, and count the drops. |
+| B2 | `application.cpp`, `RunMetadata::interactive` | `interactive` is computed from the viewer alone. Bytes from a monitor reach the firmware without marking the run, so a perturbed run is recorded as reproducible. | The bridge marks the run interactive on the first byte it queues. OR that into `interactive`. |
+| B3 | `just check-monitor` | When port 8080 is taken, the binary prints `monitor disabled` and exits 0. The "quiet" run is then bridge-less, and the comparison passes while testing nothing. | Fail when the bridge does not listen. Use a free port per invocation. |
+| B4 | `just check-viewer` | With no display and no `xvfb-run`, the recipe prints "skipping" and exits 0, so the gate goes green without testing. | Fail unless an explicit skip variable is set. |
+| B5 | `SerialBus::queue_for_firmware` | Packets beyond 256 are discarded, and the counter `dropped_packets` is never read. | Report `dropped_packets` and the bridge's frame drops (B1) in `meta.json`, as non-behaviour fields. |
+| B6 | `tools/analyze.py:618–621` | Always loads `<model dir>/maze.txt`, so maze-2 runs are plotted and scored with maze 1's walls. `GOAL_CELLS` is fixed at (7, 8). | Resolve the maze from `meta.json`, or from the model's maze include. Fail when it cannot be found. |
+| B7 | `just video` | Writes into `runs/explore_v2`, the directory `compare-baseline` reads. | Write into `runs/video/`. |
+| B8 | `cmake/firmware.cmake:7–10` | The firmware SHA is read once at configure time. After a submodule bump without reconfiguring, `meta.json` names the wrong firmware. `baseline/v2` records `ad34254` while the submodule is at `9136d7b`, and today you cannot tell which is true. | Regenerate the SHA at build time with a custom command. It must write the header only when the SHA changed, so it does not rebuild every time. |
+| B9 | `MonitorBridge` | Destruction order is guaranteed by hand in the destructor body. | Declare `server` last, so the language guarantees it. |
+| B10 | `cli.cpp`, `apply_viewer_option` | `--monitor` and `--monitor-port` are parsed inside the viewer option handler, which makes its `@brief` false. | Parse them in their own handler. |
+
+Not fixed, because the port deletes the code: bridge frame validation against
+`comm::Packet::is_valid`, and the old-protocol firmware backlog items.
+
+---
+
+## 4. Wrong statements
+
+| Where | Says | Truth | Fix |
+|---|---|---|---|
+| `CLAUDE.md`, shadow proxy layer | "Exactly three places name" `SimulationContext::instance()` | There is a fourth: `tests/include/test_core.hpp:54` | Correct the text |
+| `CLAUDE.md`, CSV | `fw_loop_time` is "the firmware's own loop time" | It is the hard-coded constant `firmware_loop_time = 1042.0e-6` in `ground_truth.cpp:20` | Correct the text; section 7 derives it from the clock |
+| `CLAUDE.md`, Stopwatch | Documents two spin guards | `Button::update` has a third one, `max_repeated_updates = 2`, which calls `yield_tick()` (`button.cpp:31–35`) | Document it |
+| `config/constants.hpp:4,8` | "constants for the ROS-simulation baseline" | These are the MuJoCo harness tuning | Correct the comment |
+| `tools/check_config_drift.py:34` | Linear `ki` is "10x the firmware ki" | The harness value is 40 | Correct the reason text |
+| `tools/check_config_drift.py:53` | `wall_thickness` "matches models/maze.xml" | The harness uses `0.012` (`constants.hpp:110`); `maze.xml`, the `gen_maze` default and the firmware use `0.0126` | Correct the reason text only. Changing the value would move bytes (P1), and the port replaces the constants anyway. |
+| `tools/check_config_drift.py:55–66` | "ROS-sim motion budget" | MuJoCo | Correct |
+| `tools/analyze.py:9,11,21` | Cites `src/sim/recorder.cpp::to_euler` and `robot_legacy.xml` | The code is `recording/ground_truth.cpp`, and C3 deletes the legacy model | Correct |
+| `models/robot_v2.xml:3,16` | "Four changed lines", "constants.hpp has kp=0", and it cites `runs/v2_explore` and `HARNESS_PLAN.md` | There are six FIX blocks, and `kp` is 120 | **Not before the port**: `model_sha256` is compared (P1). The model is replaced at the port (spec 2 D7). |
+| `README.md:182` | "plus the tuning experiments" | Deleted by C1 | Remove |
+
+---
+
+## 5. Dead code and duplication
+
+| Item | Where | Action |
+|---|---|---|
+| `WebSocketServer::client_count`, `MonitorBridge::client_count` | `web_socket_server.hpp:77`, `.cpp:86,114`, `monitor_bridge.hpp:65` | Never called: delete |
+| `Scenario::command_delivered` | `scenario.hpp:156` | Never called: delete |
+| `MujocoWorld::is_loaded` | `mujoco_world.hpp:52` | Never called: delete |
+| `Clock::reset`, `Clock::total_ticks(double)`, `SerialBus::clear`, `SerialBus::pending_packets` | `clock.hpp`, `serial_bus.hpp` | Called only by tests. Delete each one whose test exists only to exercise it; keep the ones a test needs to observe behaviour that matters. |
+| Micras FSM state-name table, written twice | `control_panel.cpp:52`, `video_recorder.cpp:162` (with different NaN handling) | Keep one table in the Micras target (section 6) |
+| DIP switch names, written twice | `cli.cpp:38`, `control_panel.cpp:39` | Keep one definition in the Micras target |
+| `PlotTrace` drops its oldest sample with `erase(begin())` | `view/` | Replace with a fixed-size ring buffer |
+
+---
+
+## 6. Layers and folders
+
+### 6.1 Layout
+
+```
+<repo>/
+  CMakeLists.txt        engine project; adds each robot target
+  cmake/                mujoco.cmake, third_party.cmake, lint.cmake, micras_simConfig.cmake.in
+  engine/               include/micras/sim/..., src/
+                        world, clock, run loop, recording, run metadata, crash reporter,
+                        byte streams, devices (6.3), arenas/maze
+  view/                 viewer, generic panel, video       (optional: MICRAS_VIEWER, MICRAS_VIDEO)
+  bridge/               WebSocket <-> byte stream          (optional: MICRAS_BRIDGE)
+  app/                  CLI and wiring, as a library exposing micras::sim::run(); no main()
+  tests/                engine unit tests, with a tiny test robot in tests/models/
+  tools/                compare_run.py, check_run.py, analyze.py (generic part), gen_maze.py
+  hal_host/             the micras_hal host backend: written at the port (spec 2 D1, D3)
+  targets/
+    micras/             everything that knows the micromouse
+      CMakeLists.txt    links only the engine's targets and hal_host
+      justfile
+      MicrasFirmware/   the submodule, moved here from the root
+```
+
+### 6.2 Layering rules
+
+| Rule | Statement | How it is enforced |
+|---|---|---|
+| M1 | The engine (`engine/`, `view/`, `bridge/`, `app/`) includes no firmware header: nothing from `micras/hal/`, `micras/proxy/`, `micras/nav/`, `micras/core/` or `micras/comm/`, nor `micras/micras.hpp`, `target.hpp`, `constants.hpp` or `robot.hpp`. | Structurally: the engine's CMake targets have no firmware include directory, so such an include does not compile. On from step 4 (section 11). |
+| M2 | Nothing outside `targets/` names a specific robot: no `micras::Micras`, no Micras state or variable names, no Micras MuJoCo body or geom names, no board-v1 names. | `just check-generic`, a `git grep` for a maintained list of those identifiers outside `targets/`, which must print nothing. On from step 5. |
+| M3 | Each target uses the engine only through its CMake targets (`micras::sim_engine`, `micras::sim_view`, `micras::sim_bridge`, `micras::sim_app`, the `hal_host` sources) and its public headers, never through relative paths into the engine folders. | Review; the engine's targets carry every include directory a target needs. |
+| M4 | `hal_host/` includes only `micras_hal` headers and its own. It names no proxy, no navigation code and no robot. | The same structural check as M1, from the port on. |
+| M5 | Everything a target needs lives under its folder: models, scenarios, baselines, config, tools, tests, and its own README. | Review. |
+| M6 | Target recipes live in `targets/<name>/justfile`. | The root justfile loads each as a just module (`mod micras 'targets/micras'`), so `just micras check` works. |
+| M7 | Arena code (today only the maze) sits in `engine/arenas/maze/`. The run loop, recorder and viewer assume no maze, so a line track can be added beside it (spec 2 D9). | Review. |
+
+### 6.3 What goes where
+
+Files marked "as-is" die or are rewritten at the port (P3).
+
+| Today | Destination | Notes |
+|---|---|---|
+| `src/sim/core/{clock,mujoco_world,simulation,serial_bus,firmware_thread}` | `engine/` | The run loop and `IRunListener` are robot-agnostic. `FirmwareThread` stays: at the port it becomes the handover the host `Timer` triggers (R16). |
+| `SimulationContext` | Split | World, clock and bus stay in the engine as a plain aggregate with no singleton (`RunContext`). `instance()`, `require_context()` and `yield_tick()` move to `targets/micras` as-is: they exist only for the shadow proxies. |
+| `proxy_state.hpp` | `targets/micras/` as-is | It is the Micras board shape: 4 DIP switches, 2 ARGB LEDs, the fan override. |
+| `scenario.{hpp,cpp}` | `targets/micras/` as-is | Micras commands and button delays; it sits in `core/` today but builds into `micras_sim`. |
+| `telemetry/packet_framer`, `telemetry/telemetry` | `targets/micras/` as-is | The old protocol (R8). |
+| `recording/{csv_writer,run_metadata}` | `engine/` | Robot-agnostic. |
+| `recording/{ground_truth,csv_recorder}` | `engine/` | After the parameterisation in section 7. |
+| `app/{application,cli,crash_reporter}` | `app/` | After the CLI extension in section 7. |
+| `app/hardware_test_main.cpp`, `src/main.cpp` | `targets/micras/` | Micras entry points. |
+| `bridge/web_socket_server` | `bridge/` | Robot-agnostic. |
+| `bridge/monitor_bridge` | Split | The byte-stream bridge goes to `bridge/`. Its `PacketFramer` use stays in `targets/micras` as-is. |
+| `view/{mujoco_viewer,video_recorder,view_options}` | `view/` | After section 7. |
+| `view/control_panel`, the video overlay text | Stay put until step 5 | Split declaratively (spec 2 D12). |
+| `include/micras/proxy/`, `src/proxy/`, `config/` | `targets/micras/` as-is | Shadow layer, deleted at the port (R15). |
+| `cmake/firmware.cmake`, `cmake/hardware_tests.cmake` | `targets/micras/cmake/` | |
+| `tests/unit/{packet_framer,telemetry,proxy_boundary,shadow_conformance}_test.cpp`, `tests/include/test_core.hpp` | `targets/micras/tests/` | |
+| `tests/unit/{cli,csv_recorder,scenario}_test.cpp` | Split | Robot-agnostic parts stay in the engine; Micras parts (DIP names, `explore`) move. |
+| `tests/unit/simulation_test.cpp` | `tests/` | Switched from `robot_v2.xml` to the tiny test robot. |
+| `models/` (`robot_v2.xml`, `robot_v2_maze2.xml`, `maze*.xml`, `maze*.txt`) | `targets/micras/models/`, **unchanged and together** | `robot_v2.xml` includes `maze.xml` by relative path, so they move together to keep `model_sha256` (P1). Mazes get their arena home at the port (R7). |
+| `tools/{check_config_drift,monitor_probe}.py` | `targets/micras/tools/` | Both die at the port (R8, R15). |
+| `tools/analyze.py` | Split | The robot-agnostic part (contacts, slip, attitude, trajectory, run metadata) stays in `tools/`. The Micras part (`GOAL_CELLS`, `RUN_STATE_ID`, `fsm_state`, `grid_pose_*`, `odometry_*`) becomes `targets/micras/tools/analysis.py`. `analyze.py` loads it when `meta.json` names the target, or when `--plugin` is given. |
+| `tools/{compare_run,check_run}.py` | `tools/` | Robot-agnostic. |
+| `justfile` | Split | Engine recipes stay at the root; Micras recipes move to `targets/micras/justfile` (M6). |
+
+---
+
+## 7. Removing robot assumptions from the engine
+
+Each change below has one obvious design and keeps the CSV header and contents
+byte-identical (P1).
+
+| Code | Micras assumption | Change |
+|---|---|---|
+| `GroundTruth` | Body `"micras"`; geoms `left_wheel`, `right_wheel`, `"front wheel"`, `base`; actuators `motor_left/right`; forward axis +y (`ground_truth.cpp:179`); `firmware_loop_time = 1042e-6` | The target supplies a `GroundTruthConfig{body, wheels[], chassis_geoms[], actuators[], forward_axis}` with a column label per item, so the header is unchanged. The loop time comes from `Clock::us_per_tick()`, which gives the same value. |
+| `CsvRecorder::proxy_columns` and `PoolTelemetry` | Hard-coded `wall_adc_*`, `dip_*`, `fan`, and a nullable `Telemetry*` | A `ColumnSource` interface (`names()`, `append(row)`). The recorder writes tick, time, ground truth, then the target's sources in registration order. Micras registers the pool source, then the proxy source, which is today's order. The `PoolTelemetry` enum is deleted. |
+| `ViewConfig` | Defaults `camera{"side tracking"}` and `us_per_tick{1042}` | Camera defaults to `free` and the target may set its preferred one. `us_per_tick` has no default and comes from the clock, as the app already passes it. |
+| `MujocoViewer` | Perturbs body `"micras"`; title "micras simulation" | The robot body comes from `GroundTruthConfig.body`; the title from the target name. |
+| `Cli` | `--command`, `--command-at`, `--dip`, `--button`, `--button-at`, `--no-fan`; usage text says `micras_simulation` | The target registers its options (`name, argument, help, handler`) with the app. The usage text takes the program name from `argv[0]`. The robot-agnostic flags stay in the app: `--model`, `--out`, `--seconds`, `--ticks`, viewer, video, monitor. |
+| `Clock::ticks_for_elapsed_ms` | Exists only to reproduce the Micras `Button` classification | Moves to `targets/micras` next to the scenario. |
+| `Application` | Includes `constants.hpp` and `target.hpp` for `loop_time_us` and `button_config` | The target passes the loop period and its own listeners. The app includes no firmware headers (M1). |
+| `micras_sim_view` | Calls `Telemetry::value_of`, defined in `micras_sim`, without linking it; it builds only because the app links both | The engine defines a `VariableSource` interface (`value_of(name)`) that telemetry implements. The view depends on that interface only. |
+| `micras_sim_bridge` | Links all of `micras_sim`, and so the firmware shadow, just to reach `PacketFramer` | Solved by the `monitor_bridge` split in 6.3. |
+
+---
+
+## 8. Gates, build and tooling
+
+| # | Addition | Why |
+|---|---|---|
+| G1 | `just check-generic` (M2), plus the structural M1 and M4 checks | Keeps each layer free of the layers above it. |
+| G2 | *Deferred:* CI | Out of scope for now (section 10). Every gate here is a `just` recipe, so CI can run them unchanged later. |
+| G3 | MuJoCo fetched automatically when `MUJOCO_DIR` is not set | `cmake/mujoco.cmake` expects a manual unpack at `$HOME/.mujoco/mujoco-3.3.6`. Download the pinned release tarball, check its SHA-256, and keep the `MUJOCO_DIR` override. MuJoCo is third-party, so a CMake fetch is right for it; dependencies you own are submodules (spec 2 D6). |
+| G4 | `just check-video`: the same scenario with and without `--video`, CSVs compared byte for byte | The video path is the only output path not gated. It needs EGL: a GPU, or a surfaceless Mesa EGL. |
+| G5 | Bridge tests: a client that never reads must not stall the run (B1); a taken port must fail the recipe (B3) | Neither bridge class has a test today. |
+| G6 | Firmware SHA at build time | B8. |
+
+---
+
+## 9. Requirements for the port, valid under every option
+
+The port moves the firmware from `9136d7b` to `high-level-review` and implements
+spec 2's decisions. The requirements below are the ones that are easy to miss; R15
+and R16 spell out D1 and D2.
+
+| # | Requirement | Reason |
+|---|---|---|
+| R1 | The submodule tracks `high-level-review`, and `feature/sim-harness` is dropped | Its patches are obsolete. `ActionQueuer` and the old monitoring variables no longer exist, and the Butterworth fix landed upstream (`9717dcf`). Check each patch against HEAD before dropping the branch. |
+| R2 | A new baseline epoch, `v3`; `baseline/v2` is deleted | The loop period, protocol, columns and state ids all change, so "only append columns" cannot hold across the port. From v3 on, "a refactoring must not move a byte" applies again. Storage and comparison follow spec 2 D10. |
+| R3 | The physics timestep divides the new 125 µs loop | 521 µs does not. Pick 125 µs or 62.5 µs by measuring contact stability (`warnings_total`, penetration, airborne fraction), not by preference. `Clock::from_model` already rejects a non-divisor. |
+| R4 | Upgrade MuJoCo from 3.3.6 to the current release in the same step (HANDOFF job 2 names 3.13.0) | The baseline epoch changes anyway, so the upgrade costs nothing extra now and a full re-baseline later. |
+| R5 | No constant and no duplicated columns in the new schema | Today `fw_loop_time` and `loop_time` are constant, `rotary_sensor_left` equals `proxy_encoder_left`, and the two odometry velocities equal their `odometry_state_*` twins on 100 % of rows. Rule: a column constant across every standard scenario is not recorded. At 8 kHz a 120 s run has about 960 000 rows (format: spec 2 D11). |
+| R6 | State names, state ids and variable names come from the firmware, never from engine code | The ids changed: 13 states, with `ERROR` at 12 instead of 6. |
+| R7 | Robot and arena are separate inputs, composed when the model loads (MuJoCo's spec attach), so `--maze` actually selects the maze | `--maze` is only written to `meta.json` today, and `robot_v2_maze2.xml` is a 150-line copy that exists only to switch the maze. Delete it. Maze files move to `engine/arenas/maze/` (M7). |
+| R8 | The old protocol is deleted | `PacketFramer`, `Telemetry` (`SERIAL_VARIABLE_MAP_*`), `monitor_probe.py`, the `SERIAL_VARIABLE` injection behind `--command`, the one-packet-per-tick queue in `SerialBus` (the new `comm::Link` keeps leftover bytes), and `check_config_drift.py` (its allowlist names configs that no longer exist). |
+| R9 | The bridge carries raw bytes both ways and does no framing | micras-monitor's `feature/bluetooth-link` branch already speaks the new COBS protocol over a WebSocket byte stream. |
+| R10 | Every proxy checked by `Micras::check_initialization()` reports `was_initialized() == true` | Otherwise INIT goes straight to ERROR. Ten proxies are checked. |
+| R11 | *Deferred:* the firmware's hardware tests | Out of scope for now (section 10). The port drops today's `hardware_tests` build instead of updating it. For later: `test_odometry` and `test_calibrate_feed_forward` were deleted upstream, `test_controller` and `test_localizer` are new, and `test_imu` spins in `while (true) {}` when the IMU is not initialised. |
+| R12 | Scripted starts use the firmware's own paths | A short press gives EXPLORE, a long press SOLVE, an extra-long press CALIBRATE. The link commands are EXPLORE, SOLVE, CALIBRATE, SAVE and RESET. |
+| R13 | Documentation rewritten | `CLAUDE.md` ("State of the tuning", "The firmware submodule", the Stopwatch and CSV sections), the README flag table, and the comments of whatever replaces `robot_v2.xml`. |
+| R14 | Wall-time cost measured and recorded in the port commit | 8.3 times more ticks per simulated second. The old harness ran at about 12 times real time; the new ratio has to be measured, not assumed. |
+| R15 | The seam is hybrid (spec 2 D1, decided; split in spec 2 section 2.2) | Every firmware header is compiled unchanged, including the real `config/targets/v1/target.hpp`, `constants.hpp` and `robot.hpp`. `hal_host/` implements `Gpio`, `Pwm`, `PwmDma`, `AdcDma`, `UartDma`, `Flash`/`FlashWord`, `Mcu`, `Timer` (the simulated clock, wrapping at 32 bits like the cycle counter) and `Crc` (a software CRC driven by `hcrc.Init`). Every proxy built on them runs for real, `Tick` and `Stopwatch` included. Only `Imu` and `RotarySensor` are swapped at the `.cpp` level. `hal_host/` includes nothing from the engine (M4). The shadow proxies, the shadow `config/`, `check_config_drift.py` and `shadow_conformance_test.cpp` are deleted. |
+| R16 | Two threads, handed over by the host `Timer` (spec 2 D2, decided; spec 2 section 2.5) | The firmware's own `main` runs unchanged on the firmware thread, compiled with `-Dmain=micras_firmware_main`; a hardware test would run the same way once the tests are in scope. The engine's generic `main` runs them. The host `hal::Timer` is the only place time exists. Every read costs a fixed quantum (for example 1 µs). A read that crosses a simulation step boundary hands over to the engine thread, which runs that step and hands back. The two threads never run at once. At the end of the run, the parked firmware thread is woken with a stop flag and the timer read throws `RunFinished`. `FirmwareThread` is reworked into that handover. `yield_tick()`, `SimulationContext::instance()`, the Stopwatch and Button spin guards, `hardware_test_main.cpp` and the shadow `test_core.hpp` are deleted. Recording becomes per simulation step. A wall-clock watchdog reports a firmware that stops reading the timer. |
+
+---
+
+## 10. Deferred
+
+Out of scope for now, by decision:
+
+| Item | Where it would go |
+|---|---|
+| CI, in both repositories | Every gate is a `just` recipe, ready to be run by CI |
+| The firmware's hardware tests in simulation | The two-thread design runs them unchanged (spec 2 2.5); only the build is missing |
+| The pinned build container for cross-machine byte identity | Spec 2 D10, with CI |
+| A binary recording format | Spec 2 D11, if CSV size hurts |
+| Arenas other than the maze | Spec 2 D9, with the line follower's track |
+| Calibration from robot logs | Spec 2 D8; parameters come from datasheets for now |
+| SPI chip models behind a host `Spi` | Spec 2 D1; `Imu` and `RotarySensor` stay swapped |
+| "New run" from the panel, as a relaunch | Spec 2 D14 |
+
+---
+
+## 11. Order of work and acceptance
+
+Every step ends with `just check` green, and every step before the port ends with
+`idle` and `explore_v2` matching `baseline/v2` (P1).
+
+| Step | Content | Accepted when |
+|---|---|---|
+| 1 | Cleanup (section 2) and wrong statements (section 4), except `robot_v2.xml` | P1 holds, and `just check` no longer mentions the legacy robot or v0/v1 |
+| 2 | Bugs (section 3) and dead code (section 5) | P1 holds, and the new bridge tests (G5) pass: a stalled client no longer stalls the run, a taken port fails the recipe |
+| 3 | Gates and build (section 8, except G1 and G2) | A clean clone, with `git submodule update --init`, configures and builds with MuJoCo downloaded by CMake, and every gate passes |
+| 4 | Layers and folders (section 6) and parameterisation (section 7), except the panel and overlay | P1 holds; M1 is structural |
+| 5 | Panel and overlay split (declarative, spec 2 D12), then `check-generic` (M2) turned on | `just check-generic` is green |
+| 6 | Port (section 9) | v3 recorded; `hal_host/` exists and satisfies M4 |
+
+## 12. Implementation notes
+
+What the implementation did that the text above does not say, or says differently.
+
+**Versions and tooling.**
+- MuJoCo is 3.14.0, fetched by CMake with its SHA-256 (R4). Its release ships its
+  own `imgui`/`implot` headers in `include/`, so only a `mujoco/` folder is exposed
+  to the build. `mjv_moveCamera` lost its scene argument in 3.14.
+- C++23 throughout. clang-format and clang-tidy are pinned to 18: 20 and later
+  reflow the firmware's own style.
+
+**The firmware.** Three kinds of change, all made to make sense on the robot too:
+- `Micras::get_instance()`, `get_variables()` and `get_state()`: the read-only
+  accessor of D5, as three members and a pointer the constructor sets, since the
+  firmware's `main` owns its `Micras` and the simulator never sees it.
+- `locomotion_config`'s motor `deadzone` 15 -> 0. The controller's feed-forward
+  already adds the robot model's static friction voltage, so the dead zone counted
+  it twice and made the motors chatter around zero.
+- `Micras::measure()` read the chip's X and Y axes as the robot's. The LSM6DSV is
+  mounted turned by 90 degrees (robot x is chip Y, robot y is minus chip X);
+  fixed there and in `test_controller` and `test_localizer`.
+- `robot.hpp`'s physical constants and notes were restated from section 14.
+
+**Where the implementation departs.**
+- There is no `baselines/` hash-only store per epoch but one `summary.json` per
+  checked scenario (`tools/baseline.py`), carrying the CSV hash, the state
+  timeline and the values with their tolerances. Minimum wall clearance is not in
+  it yet.
+- The checked explore is its first 30 s; the whole scenario takes about three
+  minutes of wall time.
+- The engine's own name for any two-wheeled robot it generates (`left_wheel`,
+  `motor_left`, the `side tracking` camera) is not a robot identifier any more;
+  `check-generic` looks for `MicrasFirmware`, `MicrasBoard` and the like instead,
+  and the root CMakeLists adds every folder of `targets/` rather than naming one.
+- Collisions are debounced: a geom has to be clear for 50 ms before its next
+  contact is a new collision.
+- `fw_loop_time` is gone from the CSV (R5: constant by construction), and two
+  column sources naming the same column is an error.
+
+**What R3 measured.** The timestep is 125 us: 62.5 and 31.25 us changed neither
+the contacts nor the trace. What did matter was the contact model. With rolling
+friction on the tyres (condim 6), MuJoCo's convex contact lifted a rolling wheel
+off the floor on 18 % of steps at 0.4 m/s and 55 % at 1.5 m/s, at every timestep,
+bare sphere included; the tyres are condim 4. The same separation in a pivot,
+where tyres really scrub, needs a tyre time constant of 5 ms or more to be
+absorbed; 8 ms matches the estimated stiffness of the 1 mm silicone band.
+
+**What R14 measured.** A 180 s exploration with the wall sensors' rays runs in
+about 181 s of wall time on the development machine (WSL2): roughly real time,
+against the old harness's twelve times. Where the time goes has not been
+profiled.
+
+**Calibration.** Each wall sensor has a gain in `robot.toml`, set by
+`tools/wall_calibration` so the simulated reading at the firmware's calibration
+pose equals `target.hpp`'s `reference_readings`.
+
diff --git a/SPEC_2_DECISIONS.md b/SPEC_2_DECISIONS.md
new file mode 100644
index 0000000..d5a6246
--- /dev/null
+++ b/SPEC_2_DECISIONS.md
@@ -0,0 +1,939 @@
+# Spec 2 — Decisions
+
+2026-09-23 · companion to [`SPEC_1_WORK.md`](SPEC_1_WORK.md)
+
+This simulator serves every robot built on `micras_hal`: the micromouse now, and a
+line follower later. All fourteen decisions that shape it are made. This
+document records each one with the options it was chosen over, so the reasons stay
+visible.
+
+Out of scope for now, by decision:
+
+- CI, in both repositories
+- running the firmware's hardware tests in the simulator; the design supports them
+  (2.5), but nothing is built for them yet
+
+**Implemented** on `refactor/cleanup` (2026-09-24, not yet committed); where the
+implementation departs from a decision below, spec 1 section 12 says how and why.
+
+Section 2 walks through the end state. Section 14 holds the robot's physical data,
+prefilled from `hw_debug`, `MicrasHardware` and the datasheets, with the remaining
+gaps left for you.
+
+---
+
+## 1. Summary
+
+| # | Decision | Decided |
+|---|---|---|
+| D1 | Where the simulator plugs into the firmware | **Hybrid:** a host `micras_hal` backend (`Gpio`, `Pwm`, `PwmDma`, `AdcDma`, `UartDma`, `Flash`, `Mcu`, `Timer`, `Crc`); only `Imu` and `RotarySensor` swapped |
+| D2 | The loop | **Two threads:** the host `hal::Timer` charges a quantum per read and hands over at every simulation step; the firmware's `main` and the tests run unchanged |
+| D3 | Where the host `micras_hal` lives | **In the simulator for now** (`hal_host/`), next to `micras_hal` later |
+| D4 | Fake STM32 Cube layer | **Hand-written.** The `.ioc` does not hold every value it needs (section 6) |
+| D5 | How firmware variables reach the recording | **A read-only accessor** on `Micras`, a firmware change at the port |
+| D6 | Dependencies | **Git submodules** for every dependency you own, CMake fetch for third-party ones. Robot targets stay in this repository |
+| D7 | Where the robot model comes from | **`robot.toml`, written by hand** from the CAD, the board and the datasheets; MJCF generated from it. Neither `robot.hpp` nor the CAD holds everything (section 9) |
+| D8 | Physical fidelity and noise | **From the datasheets**, with seeded noise on by default |
+| D9 | Arenas | **Maze only for now,** in its own folder |
+| D10 | Baselines | **Hashes and summaries stored;** byte identity checked on one machine until a pinned container exists |
+| D11 | Recording at 8 kHz | **CSV with `--record-every N`;** events detected at full rate into `meta.json` |
+| D12 | Panel and overlay extensions | **Declarative** |
+| D13 | Scenarios and commands | **TOML scenario files** plus generic CLI overrides |
+| D14 | Smaller decisions | As listed in section 13 |
+
+---
+
+## 2. The end state, walked through
+
+### 2.1 Where each piece lives
+
+Everything lives in this repository:
+
+```mermaid
+flowchart LR
+    subgraph simrepo["micras-simulation"]
+        engine["engine, view, bridge, app<br/>world, clock, devices, arenas"]
+        host["hal_host<br/>host micras_hal (D3)"]
+        subgraph micras["targets/micras"]
+            bindings["bindings, cube, proxy swaps,<br/>robot.toml, scenarios"]
+            fw["MicrasFirmware<br/>(submodule)"]
+        end
+        lf["targets/line_follower<br/>(later)"]
+    end
+    micras --> engine
+    micras --> host
+    host -.compiled against.-> fw
+    lf --> engine
+    lf --> host
+    monitor["micras-monitor"] -->|ws://| engine
+```
+
+- **The engine:** world, clock, devices (motor, IR sensor, IMU, encoder, battery,
+  UART, …), arenas, recording, viewer and bridge. It knows no robot and no HAL.
+- **`hal_host/`:** `micras_hal` implemented on a PC (D3). It is compiled against the
+  `micras_hal` headers of whichever robot is being built, and it has no dependency on
+  the engine, so it can move next to `micras_hal` later without changes.
+- **`targets/micras/`:** the Micras target. It holds the firmware as a submodule
+  (D6). The firmware repository itself gains nothing. A line follower would get its
+  own `targets/line_follower/`.
+
+### 2.2 The hybrid seam (D1, decided)
+
+The simulator compiles the firmware's own headers, including the real
+`config/targets/v1/target.hpp`, `constants.hpp` and `robot.hpp`. Per firmware class:
+
+| Class | How it runs in simulation | Why |
+|---|---|---|
+| `hal::Gpio`, `hal::Pwm`, `hal::PwmDma`, `hal::AdcDma`, `hal::UartDma`, `hal::Flash`/`FlashWord`, `hal::Mcu` | **Host backend** (`hal_host/`) | The peripheral is simple to emulate: a level, a duty cycle, a buffer of ADC scans, a byte queue, a byte array. |
+| `hal::Timer` | **Host backend** | The only place time exists. Each read costs a fixed quantum and crossing a simulation step hands over to the engine thread (D2). It wraps at 32 bits exactly as the cycle counter does at 550 MHz (every 7.8 s). With it, the real `Tick` and `Stopwatch` run. |
+| `hal::Crc` | **Host backend**, though nothing calls it today | A software CRC driven by the same `hcrc.Init` fields that `MX_CRC_Init` sets: 8-bit polynomial 0x1D, initial value 0xC4, no reflection, the AS5047U frame check. It computes what the peripheral does, so it is ready for an encoder model and usable in host tests. |
+| `Led`, `Button`, `TDipSwitch`, `Buzzer`, `TArgb`, `Motor`, `Locomotion`, `Fan`, `Battery`, `TTorqueSensors`, `TWallSensors`, `BluetoothSerial`, `Storage`, `Watchdog`, `Tick`, `Stopwatch` | **Real proxy**, unchanged, over the host backend | Their logic is tested: wall range model, locomotion saturation, storage format, debounce, loop pacing. |
+| `Imu`, `RotarySensor` | **Swapped** `.cpp` in the robot target | At HAL level they are SPI register protocols (the LSM6DSV with ST's driver, the AS5047U with CRC frames). Emulating those costs a lot and teaches nothing. |
+| `hal::Spi`, `hal::Encoder` | **Host backend**, as implemented | `hal::Encoder` reads an `EncoderPort` the encoder device writes, and the swapped rotary sensor proxy reads it; `hal::Spi` is chipless, a place for a chip model to go. |
+| `hal::Fmac` | **Not implemented** | Only the unused `FmacFilter` calls it, and it is left out of the build. |
+
+The HAL headers name STM32 handle types in their configs, so the simulator needs a
+small fake Cube layer (D4):
+
+- the handle types, including `CRC_HandleTypeDef` with its real `Init` fields
+- 15 handle objects
+- 17 `MX_*_Init` functions; `MX_CRC_Init` fills `hcrc.Init` with the values from the
+  `.ioc`
+- about 11 constants and about 11 pin names
+
+The HAL headers have no inline bodies, so every call already goes through a `.cpp`
+that the host backend replaces. The firmware's `tests/host` uses the same pattern: it
+compiles the real `storage.cpp` against a stub `hal/flash.hpp`.
+
+What the hybrid gives up, and why that is acceptable:
+
+- **The IMU and encoder protocol code is never exercised.** That code is tested on
+  the robot.
+- **The two swapped `.cpp` files must track their headers.** A mismatch is a compile
+  error, never silent drift.
+- **The line moves if needed.** A future robot using another SPI chip gets a proxy
+  swap, or a chip model behind the host `Spi`.
+
+### 2.3 What `targets/micras/` contains
+
+```
+targets/micras/
+  MicrasFirmware/    the firmware, as a git submodule (D6)
+  CMakeLists.txt     added by the root CMakeLists; links the engine and hal_host, and
+                     compiles the firmware sources of 2.4 and the files below
+  cube/              fake STM32 Cube headers (main.h, adc.h, tim.h, spi.h, usart.h, gpio.h,
+                     crc.h, dma.h, fmac.h) and handles.cpp (hadc1 ... huart4, MX_*_Init)
+  proxy/             imu.cpp, rotary_sensor.cpp
+  bindings.cpp       which host-backend port drives which engine device (2.6)
+  robot.toml         the real robot's physical description (D7, from section 14)
+  scenarios/         idle, explore, solve, calibrate (D13)
+  baselines/         hashes and summaries (D10)
+  analysis.py        the Micras plugin for the simulator's analyze
+```
+
+There is no `main.cpp` and no `test_core.hpp` in the target. The firmware's own `main`
+and the hardware tests' own `main` and `TestCore` run unchanged (2.5).
+
+Nothing is added to the firmware repository, so its ARM build is untouched.
+
+### 2.4 How it builds
+
+```bash
+just build
+./build/default/targets/micras/micras_sim --scenario targets/micras/scenarios/explore.toml --out runs/explore
+```
+
+`targets/micras/CMakeLists.txt` compiles, with the host compiler, from the
+`MicrasFirmware/` submodule:
+
+- **Unchanged firmware:**
+  - `micras_core/src`, `micras_nav/src`, `micras_comm/src`
+  - `src/*.cpp` and `src/states/*.cpp`, **including `main.cpp`**
+  - `micras_proxy/src/*.cpp`, except `imu`, `rotary_sensor` and `fmac_filter`
+- **The firmware's `main`:** compiled with `-Dmain=micras_firmware_main`. The
+  process `main` is the engine's, and it runs the renamed one on the firmware thread.
+  A hardware test would build the same way, with its own `main`, once the tests are
+  in scope.
+- **The host backend:** `hal_host/*.cpp` from the simulator, instead of
+  `micras_hal/src/`.
+- **Include order:** the target's `cube/` first, then `include`, `config`, `config/targets/v1`,
+  and each package's `include`.
+- **Flags:** C++23. Under clang, `-fconstexpr-steps` is needed for the constexpr
+  `TurnTable`, as the firmware's lint script already sets.
+
+### 2.5 The loop: two threads, handed over by the host `Timer` (D2, decided)
+
+The firmware runs exactly as on the robot, on its own thread:
+
+- **the application:** `main` calls `hal::Mcu::init`, then
+  `while (true) micras.update();`
+- **each hardware test:** its `main` calls `TestCore::init` and `TestCore::loop`
+
+The engine runs on the process's main thread. The two threads **never run at the same
+time**: a mutex and a condition variable hand control from one to the other. So there
+is no data race, and the firmware's state can be read freely while it is parked.
+
+**Time exists only in the host `hal::Timer`.**
+
+- Every `get_counter()` or `get_counter_ms()` call costs a fixed quantum of
+  simulated time, for example 1 µs (550 cycles).
+- The counter wraps at 32 bits, exactly as the DWT cycle counter does at 550 MHz.
+- When a read crosses the next simulation step boundary, the firmware thread hands
+  over and parks. The engine runs that step:
+  - before-step listeners: scenario events, bridge bytes into the UART port
+  - devices actuating from their ports
+  - physics and the clock
+  - devices sampling into their ports: ADC scans, with `on_sequence_complete` called
+    as the DMA interrupt would
+  - after-step listeners: recorder, bridge TX, viewer
+
+  Then the engine hands back, and the read returns.
+- The quantum is small enough that the handful of timer reads in one `update()` stays
+  far below the 125 µs period. Only an actual wait advances time much.
+
+```mermaid
+sequenceDiagram
+    participant F as firmware thread
+    participant T as host hal::Timer
+    participant E as engine thread
+    F->>T: Tick::wait() polls get_counter()
+    T->>T: +1 µs per read
+    T->>E: step boundary crossed: hand over, park
+    E->>E: listeners, devices, physics, clock, recorder
+    E-->>T: hand back
+    T-->>F: counter now past the deadline: wait returns 1
+    F->>F: update(): sensors, navigation, commands into ports
+```
+
+Why this needs no custom code anywhere:
+
+- **Application:** `Tick::wait()` polls the timer until a period has passed. The step
+  boundaries it crosses run the physics, exactly where time passes on the robot.
+- **Tests:** `sleep_ms(3000)` polls until 3 s have passed, so 24 000 steps run.
+  `while (button.get_status() == NO_PRESS) button.update();` reads the stopwatch on
+  every pass, so steps run until the scenario presses the button. The same holds for
+  `while (fan.update() < max_speed)`.
+- **The `Imu` constructor's `sleep_ms(10)`** would also work, if `Imu` ever ran for
+  real.
+
+Ending a run, and the limits:
+
+- **Ending a run.** After the last step, the engine writes the outputs and wakes the
+  parked firmware thread with a stop flag. The timer read throws `RunFinished`, which
+  unwinds out of the firmware's `main`, and the thread is joined. That is the same
+  mechanism the current `FirmwareThread` uses. Nothing in the firmware is `noexcept`
+  on that path.
+- **A loop that never reads the timer would hang.** For example, a tight GPIO poll.
+  Nothing in the application or the tests does that. A wall-clock watchdog on the
+  engine thread reports it with the step number instead of hanging silently.
+- **Time inside `update()` is the number of timer reads times the quantum.** It is
+  deterministic, but it does not measure anything: `worst_loop_time_us` means
+  nothing in simulation, and CPU overload cannot show.
+- **The firmware's `SIGABRT` handler** replaces the simulator's crash reporter. The
+  host `Mcu::emergency_stop()` therefore prints "firmware aborted at step N" itself.
+- **Handover cost.** About one million handovers per 120 s run at 8 kHz. Measure it at
+  the port (spec 1 R14); if it is significant, a spinning handover replaces the
+  condition variable.
+
+**Recording is per simulation step,** not per firmware iteration: the engine no longer
+sees `update()` calls. Each row is a consistent snapshot, because the firmware is
+parked while it is taken, usually inside `Tick::wait()`, between two iterations. With
+the timestep equal to the 125 µs period, that is one row per loop period, as before.
+
+### 2.6 How a GPIO write reaches the simulation, and what `bindings.cpp` connects
+
+Take `Led::turn_on()` as the example.
+
+**1. The firmware call is the same on the robot and on the PC.** `Led` holds a
+`hal::Gpio` built from `led_config` in the real `target.hpp`:
+`.port = LED_Red_GPIO_Port`, `.pin = LED_Red_Pin`. `turn_on()` calls
+`hal::Gpio::write(true)`.
+
+**2. Only the body of `write()` differs.**
+
+- **On the robot**, `micras_hal/src/gpio.cpp` writes the STM32 set/reset register:
+
+  ```cpp
+  this->port->BSRR = state ? this->pin : static_cast<uint32_t>(this->pin) << reset_offset;
+  ```
+
+- **On the PC**, the build compiles `hal_host/gpio.cpp` instead. It has the
+  same header and the same class, but stores the level in a port object:
+
+  ```cpp
+  Gpio::Gpio(const Config& config) : port{config.port}, pin{config.pin} { }
+
+  void Gpio::write(bool state) {
+      host::Board::gpio(this->port, this->pin).set(state);
+  }
+
+  bool Gpio::read() const {
+      return host::Board::gpio(this->port, this->pin).get();
+  }
+  ```
+
+  In the fake `main.h`, `GPIO_TypeDef` is an empty struct, `GPIOA`…`GPIOK` are
+  pointers to static instances of it, and `LED_Red_GPIO_Port`/`LED_Red_Pin` are the
+  same CubeMX labels mapped to them. So `(port, pin)` is a unique key.
+  `host::Board::gpio(port, pin)` returns the one `GpioPort` for that key and
+  creates it on first use. A port is a few fields: the level driven by the firmware,
+  the level driven from outside, and a flag saying whether the firmware ever touched
+  it. `host::Board` knows nothing about MuJoCo.
+
+**3. The robot target's `bindings.cpp` connects ports to engine devices.** It runs
+before `Micras` is constructed. Engine devices take plain callables, so the engine
+never sees a HAL type, and the HAL backend never sees the engine:
+
+```cpp
+void bind_devices(sim::World& world) {
+    auto& led = hal::host::Board::gpio(LED_Red_GPIO_Port, LED_Red_Pin);
+    world.add<sim::Indicator>("led", [&led] { return led.get(); });
+
+    auto& button = hal::host::Board::gpio(Button_GPIO_Port, Button_Pin);
+    world.add<sim::PushButton>("button", [&button](bool pressed) { button.drive(not pressed); });
+
+    auto& forward = hal::host::Board::pwm(&htimN, TIM_CHANNEL_x);
+    auto& backward = hal::host::Board::pwm(&htimN, TIM_CHANNEL_y);
+    world.add<sim::HBridge>(
+        "left_bridge", [&] { return forward.duty() - backward.duty(); }, world.motor("left")
+    );
+}
+```
+
+The handles and channels in the motor lines stand for whatever `target.hpp` names.
+
+**4. Timing.** During `update()`, the firmware writes ports and nothing else happens.
+On the next tick, when the engine advances, every device samples the ports it is bound
+to:
+
+- the indicator shows the LED on the panel
+- the H-bridge turns the duty cycles into a motor voltage, the motor into a torque,
+  and MuJoCo steps
+
+Inputs run the other way. The panel or a scenario presses the button, the device
+drives the port, and the firmware's next `read()` sees it. Every output is
+therefore sampled once per tick (125 µs), which is far below any mechanical time
+constant.
+
+**5. Unbound ports are reported.** After the firmware is constructed, the engine
+lists every port the firmware touched that no device is bound to. That is a warning
+in normal runs and a failure in the gate, so a re-pinned board or a forgotten
+binding is loud.
+
+The same pattern covers every host HAL class:
+
+| Firmware object | Host backend port | Engine device |
+|---|---|---|
+| `Motor` left and right | 2 PWM ports each (forward, backward) | H-bridge channel, DC motor, gearbox, wheel joint |
+| `Locomotion` enable | GPIO port | H-bridge enable |
+| `Fan` | PWM port and an enable GPIO port | Fan motor, then downforce |
+| `TWallSensors<4>` | ADC port (lit and dark scans, sequence counter) and 4 emitter PWM ports | IR emitter/receiver pairs: rays to the walls, then ADC counts, written into the ADC port at 2 kHz |
+| `Battery` | ADC port | Battery model to counts |
+| `TTorqueSensors<2>` | ADC port | Motor current through the sense amplifier to counts |
+| `Imu` | none (swapped proxy) | IMU device at its mount pose |
+| `RotarySensor` ×2 | none (swapped proxy) | Wheel encoders |
+| `Button`, `TDipSwitch<4>`, `Led` | GPIO ports | Panel and scenario digital I/O |
+| `TArgb<2>` | PWM-DMA port | Decoded colours on the panel |
+| `Buzzer` | PWM port | Tone shown on the panel |
+| `BluetoothSerial` | UART port (byte queues both ways) | Byte channel (baud-limited, D8), to the bridge and micras-monitor |
+| `Storage` | Flash port (a byte array) | In memory, optionally a file (D14) |
+| `Watchdog` | MCU port (refresh counter) | Reported in `meta.json` (D14) |
+
+For DMA peripherals the port also replaces the interrupt:
+
+- When the IR device finishes a scan, the ADC port copies it into the buffer the
+  firmware gave `start_dma`, bumps the sequence counter, and calls
+  `AdcDma::on_sequence_complete`, exactly as the DMA interrupt does on the robot.
+- For the UART, bytes the firmware passes to `start_tx` go to the TX queue, and
+  bytes from the bridge are written into the circular RX buffer the proxy polls.
+
+### 2.7 When the firmware changes
+
+A firmware change reaches the simulator when its submodule is bumped. That bump, and
+anything it breaks, land in one commit here.
+
+| Change in MicrasFirmware | What the submodule bump needs |
+|---|---|
+| A proxy that runs for real | Nothing: it is compiled as it is. |
+| `Imu` or `RotarySensor` | If the header changed, the swap fails to compile; fix it in the same commit. |
+| A HAL class | `hal_host/` fails to compile; fix it in the same commit. |
+| `target.hpp` pins or handles | A new handle is a compile error in `cube/`; a moved channel is a binding error at startup. |
+| `constants.hpp`, `robot.hpp` | Nothing. `robot.hpp` is the firmware's *belief*; `robot.toml` is the physical truth (D7). |
+
+CI is out of scope for now.
+
+### 2.8 A line follower
+
+A new `micras_hal` robot gets the host backend and the engine for free, in its own
+`targets/line_follower/`. It needs:
+
+1. its firmware as a submodule, and its hand-written fake Cube layer (D4)
+2. swaps for any SPI-chip proxies it has
+3. `robot.toml` and bindings to engine devices
+4. an arena: a line track (D9)
+5. scenarios; no `main` of its own, as long as its waits read `hal::Timer`
+
+New engine devices only appear for new sensor kinds, such as a downward reflectance
+array.
+
+### 2.9 Getting there from today
+
+Spec 1 builds this end state in place: the engine at the repository root, the host
+backend in `hal_host/`, and the Micras target in `targets/micras/`. Nothing moves to
+another repository.
+
+`hal_host/` stays here until `micras_hal` gets its own repository. Then it moves there
+as `micras_hal/host/`, unchanged, because it depends on nothing but the HAL headers,
+and `micras_hal` becomes a submodule of the robots that use it.
+
+---
+
+## 3. D1 — Decided: hybrid seam
+
+Recorded for reference. The two alternatives it was chosen over:
+
+- **Shadow proxies (today's approach).** Rejected: it duplicates about 3200 lines,
+  4 proxies are already stale, and it needs drift tooling forever.
+- **Pure HAL, including SPI chip models.** Rejected for now: emulating the LSM6DSV
+  and AS5047U register protocols is expensive and only exercises code that is tested
+  on the robot.
+
+The split is in 2.2. One optional firmware change costs nothing at runtime:
+`TWallSensors` reads `config.adc.handle->Init.NbrOfConversion` in its constructor.
+Moving that check into `hal::AdcDma` (for example `get_sequence_length()`) lets the
+fake ADC handle be an opaque type. It runs once, at construction.
+
+---
+
+## 4. D2 — Decided: two threads, handed over by the host `Timer`
+
+**Decided:** the firmware runs unchanged on its own thread, including its `main` and
+the tests' `TestCore`. The host `hal::Timer` charges a fixed quantum per read, and
+hands over to the engine whenever a read crosses a simulation step (2.5).
+
+What it was chosen over:
+
+| Alternative | Why not |
+|---|---|
+| A custom `main` (advance, `update()`, record) plus a custom `TestCore` with polled time for the tests | Two mechanisms, one for the application and one for the tests, and two reimplemented firmware files. The chosen design uses one mechanism, reimplements nothing, and exercises the firmware's real `main` too. |
+| Swapped `Tick` and `Stopwatch` that step the engine | Custom proxies. A swapped `Stopwatch` would not even cover the tests, whose waits mostly only read the stopwatch. |
+| Today's thread handoff | It yields when the same instant is read two or four times, and those thresholds are spread over `Stopwatch` and `Button`: the most fragile code in the repository. The chosen rule is fixed, in one function, with no guessing. |
+| Rewriting the tests without inner waits | Changes 16 firmware tests, and changes them on the robot too. |
+
+What it costs is listed in 2.5: a handover per step, a hang if a loop waits without
+reading the timer (reported by the watchdog), and a "new run" that needs a new
+process, because the firmware's `static Micras` cannot be rebuilt.
+
+---
+
+## 5. D3 — Decided: `hal_host/` lives in the simulator for now
+
+**Decided:** the host `micras_hal` stays in this repository and moves next to
+`micras_hal` later, most naturally when `micras_hal` gets its own repository.
+
+Two properties keep that later move free:
+
+- **No engine dependency.** `hal_host/` implements each HAL class over small port
+  objects (2.6) and includes nothing from the engine. The robot's bindings connect
+  ports to devices. The host `Timer`'s handover at each step is a plain callback that
+  the engine installs at startup, so the dependency stays one way.
+- **Built against the consumer's headers.** `hal_host/` is not compiled on its own.
+  The simulator exports its sources, and each robot target compiles them against its
+  own `micras_hal` headers and fake Cube layer.
+
+The cost while it lives here: a `micras_hal` API change breaks `hal_host/` when the
+firmware submodule is bumped, and the fix goes in the same commit (2.7).
+
+## 6. D4 — Decided: the fake STM32 Cube layer is hand-written
+
+The HAL configs name STM32 handle types, and `target.hpp` names handles, init
+functions, channel constants and CubeMX pin labels. For Micras v1 that means:
+
+- 15 handles
+- 17 `MX_*_Init` functions
+- about 11 constants
+- about 11 pin names
+
+The host HAL also needs some initial register values. For example,
+`hal::Pwm::get_frequency()` reads the timer's prescaler, period and counter mode, and
+`TWallSensors` refuses to initialise unless it gets 2 kHz.
+
+**Rule:** derive it from the `.ioc` only if the `.ioc` holds absolutely every value.
+**It does not:**
+
+| Needed | In `micras_v1.ioc`? |
+|---|---|
+| Pin labels, ports and numbers (`PB5.GPIO_Label=…`) | Yes |
+| Timer prescaler, period, counter mode when not the default; timer clocks (`RCC.Tim1OutputFreq_Value`, …) | Yes |
+| ADC sequence lengths (`NbrOfConversion`) | Yes |
+| **Parameters left at their CubeMX default**, e.g. the CRC's input/output inversion and input format, TIM1's counter mode | **No.** The `.ioc` stores only what differs from CubeMX's defaults database |
+| **Handle and init-function names** (`hadc1`, `MX_ADC1_Init`) | **No.** They follow CubeMX's code-generation conventions |
+| HAL library constants (`TIM_CHANNEL_1`, `SPI_POLARITY_LOW`, …) | **No.** They come from ST's HAL headers |
+
+The complete, explicit values do exist in the CubeMX-generated sources
+(`cube/Inc/main.h`, `cube/Src/*.c`). But those are gitignored and produced by CubeMX at
+build time, so deriving from them would make the simulator depend on CubeMX.
+
+**Decided: hand-written,** about 100–150 lines in `sim/cube/`. Each value names the
+generated line it mirrors, for example `hcrc.Init.InitValue = 0xC4` from
+`cube/Src/crc.c`. A CubeMX change that renames a handle or a pin becomes a compile
+error; a changed prescaler or period shows up as a wrong frequency at initialisation.
+
+---
+
+## 7. D5 — Decided: firmware variables through a read-only accessor
+
+`Micras` registers its observable state (pose, reference, control errors, wall
+readings, …) in a `core::TVariablePool<64>`. The pool is a private member with no
+accessor. `comm::Link` serves it over a session protocol with one peer.
+
+| | A. Read-only accessor | B. Recorder as a link peer | C. Not recorded |
+|---|---|---|---|
+| **How** | Add `const core::VariablePool& get_variables() const` to `Micras`. The recorder reads names and types once, then every variable each tick; BLOBs such as the maze are skipped. | The recorder speaks HELLO, SCHEMA_REQUEST, GROUP_DEFINE and GROUP_ENABLE in-process, and keeps returning credit. | Ground truth and device columns only. |
+| **Upsides** | Every registered variable, every tick, typed and named by the firmware. The link stays free for micras-monitor. No protocol code in the simulator. Never called on the robot, so no code is generated: zero runtime cost. | No firmware change. Exercises the link. | Simplest. |
+| **Downsides** | One firmware line whose only caller is the simulator. | The link has one peer, so the recorder and micras-monitor fight over it. Limited to 4 groups of 16 variables. Gaps when credit runs out. If D8 models the radio's bandwidth (about 11.5 kB/s), full-rate recording at 8 kHz is impossible. | Loses what navigation is validated with: pose estimate, reference, control errors. |
+
+**Decided: A.** The accessor is added to the firmware at the port.
+
+---
+
+## 8. D6 — Decided: submodules for your dependencies
+
+**Decided:** every dependency you own is a **git submodule**:
+
+- MicrasFirmware, inside `targets/micras/`
+- `micras_hal`, once it has its own repository
+
+Third-party dependencies stay fetched by CMake: MuJoCo, IXWebSocket, ImGui, picosha2
+and ST's LSM6DSV driver.
+
+- **Gains:** an explicit commit per dependency, offline builds, and co-development by
+  working directly inside the submodule checkout.
+- **Costs:** `git submodule update` after every pull, and a bump commit whenever the
+  dependency moves.
+- **Alternatives:** FetchContent by tag (a download at configure time) and an
+  installed package (an install step per developer).
+
+Robot targets stay in this repository. CI is out of scope for now.
+
+---
+
+## 9. D7 — Decided: `robot.toml`, written by hand from the sources
+
+The new firmware derives its controller gains, turn table, wall model and localizer
+from `robot.hpp`'s `RobotModel`. The current MuJoCo robot disagrees with it:
+
+| Quantity | `robot_v2.xml` | `robot.hpp` | v2 main board (CAD, section 14) |
+|---|---|---|---|
+| Wheel track | 62 mm (wheels at ±31 mm) | 42.25 mm (now 45.75) | 45.75 mm between tyre centres (42.25 is between the cutout centres) |
+| Chassis | 66 × 99 mm (the v1 board) | 60 × 93.5 mm (now 50.2 × 91.4) | 50 × 90 mm |
+| Forward axis | +y | +x | — |
+| Side sensors (forward, lateral) | 41, 26 mm | 36.7, 21.5 mm | 36.72, 21.50 mm (footprint origin; the lens is 6.7 mm further) |
+| Diagonal sensors (forward, lateral) | 61, 10 mm | 47.6, 10.2 mm | 47.57, 10.19 mm (same note) |
+| Motor | affine actuator, hand-tuned | Kt 0.00711, R 21.9 Ω, gear 4, 20 V (now the datasheet values) | DCX 8 M 4.2 V at 19.63 V, gear 5.25 |
+
+`CLAUDE.md` also records that Micrasverse models the robot as 50 × 80 mm. So there
+were three different robots and no single source of truth. The board now settles
+geometry, and `robot.hpp` has been corrected to it (section 14.13).
+
+| | A. Hand-written MJCF (today) | B. Description file, MJCF generated | C. Generated from `robot.hpp` |
+|---|---|---|---|
+| **How** | Someone writes and tunes the XML. | `robot.toml` in a versioned schema: outline or mesh, component masses and positions, wheels, drive, sensors, IMU, fan. The engine generates the MJCF and configures the devices from the same file. | A generator includes the constexpr `robot_model`. |
+| **Upsides** | Total freedom. | One file for physics and devices, readable without knowing MuJoCo. Every value carries a `source` (datasheet, CAD, estimate, measured). Seeded perturbations make robustness runs possible. The line follower reuses it. | No duplication. |
+| **Downsides** | Error-prone, as the table shows; every robot has to learn MJCF. | A generator and a schema to maintain; limited to what the schema expresses, with an MJCF snippet include as the escape hatch. | The simulated robot *is* the firmware's belief, so errors in `robot.hpp` become invisible. It also lacks most physical items (masses, tyre, optics, battery) and is Micras-only. |
+
+**Rule:** derive the model directly from an existing source only if that source holds
+absolutely everything. **Neither does:**
+
+- **`robot.hpp`** has no component masses or positions, no heights, no full inertia,
+  no tyre, battery or fan, no sensor optics and no motor rotor inertia. It is also
+  the firmware's belief, which the simulator must be able to contradict.
+- **The CAD** has no materials or masses, no populated board (so no sensors), and
+  only partial STEP exports. The complete assembly exists only as SolidWorks files.
+
+**Decided: B.** `robot.toml` is written by hand from the CAD, the KiCad board and the
+datasheets (section 14), and every value names its source. The MJCF is generated from
+it.
+
+- Frames follow `robot.hpp`: x forward, y left, z up, origin at the axle midpoint on
+  the floor.
+- The schema starts with what the micromouse needs. It grows when the line follower
+  arrives, and it is versioned so older files keep loading.
+- The Micras target ships a report comparing `robot.toml` with `robot.hpp`, field by
+  field, which shows the differences without forcing them equal.
+
+---
+
+## 10. D8 — Decided: fidelity from the datasheets
+
+The firmware's own notes warn that "a filter tuned against a noiseless simulator is
+a filter tuned wrong". Today the simulator has no noise at all.
+
+| | A. Ideal | B. Datasheet-level, seeded noise | C. B, calibrated from robot logs |
+|---|---|---|---|
+| **Upsides** | Simple, fast, easy to read. | The closest to reality reachable with static information only (section 14). Parameters traceable to datasheets; runs stay reproducible. | The closest possible. The firmware's `DriveIdentification` and gyro calibration already produce measured constants. |
+| **Downsides** | Validates against a world that does not exist. | More code and parameters, each a guess until measured; ray cones cost wall time. | Needs dynamic measurements, not available now. |
+
+**Decided: B.** Every physical parameter comes from a datasheet, or from the CAD and
+the board for geometry. Nothing is calibrated from robot logs for now. Per device:
+
+| Device | Today | Model |
+|---|---|---|
+| Motor drive | Affine actuator, hand-tuned | H-bridge: PWM duty × supply voltage, then DC motor (R, Kt = Ke, rotor inertia), gearbox (ratio, efficiency, optional backlash). Inductance is ignored when L/R is well under the 125 µs tick; check it against the datasheet. |
+| Supply and battery | Constant | The motors run from a boost converter at 19.63 V (section 14.5), so their supply is flat until the boost's current limit; model it as a regulated rail with that limit. The fan runs straight from the 3S battery, so model the battery's open-circuit voltage and internal resistance there. The controller's feed-forward is in volts, and `Locomotion` commands a percentage of the 20 V supply. |
+| Tyres and contact | Hand-tuned friction | μ from the tyre material, plus fan downforce; contact softness from tyre hardness. |
+| Fan | Actuator | Static pressure × effective skirt area, with the motor ramp. |
+| Wall sensors | Rangefinder distance through a hand-picked 1/d² curve | Per sensor, emitter and receiver poses; a cone of rays shaped by the emitter and receiver angular patterns; wall reflectivity; 1/d² per ray; receiver current through its circuit to ADC counts; a dark scan with ambient IR; noise; rise time; the emitter groups at 2 kHz with cross-talk. |
+| IMU | MuJoCo sensors, noiseless | LSM6DSV noise density, turn-on bias (seeded), scale error, the ODR and filter the firmware sets, one-sample latency, quantisation, and a small clock skew (the stage 3 harness uses 0.7 %). |
+| Encoders | Joint position | Quantised to the configured resolution; backlash if the magnet is on the motor side of the gearbox. |
+| UART / BLE | Unlimited | Limited to the radio's real throughput. HANDOFF job 5 measured the old harness pushing about 24 times what the radio carries. |
+| Loop timing | Not modelled | Not modelled. The PC is faster than the MCU, so CPU overload cannot show: `Tick::wait()` always returns 1 and `worst_loop_time_us` means nothing. A known limit. |
+
+On noise defaults: **decided, on by default with a fixed seed**. The seed
+goes in `meta.json`, `--seed N` explores variation, and `--ideal` turns noise off for
+debugging. Off by default is easier to read, but people forget to turn it on and tune
+against an ideal world.
+
+---
+
+## 11. D9 — Decided: maze only, in its own folder
+
+The line follower will need a track.
+
+| | Maze only, for now | An arena abstraction now |
+|---|---|---|
+| **Upsides** | Nothing built before it is needed. | The track is ready when the robot is. |
+| **Downsides** | — | An interface designed from one example is usually wrong. |
+
+**Decided: maze only.** Spec 1 (M7) keeps it in its own folder, and nothing in the run
+loop, recorder or viewer assumes a maze. The abstraction is extracted when the track
+exists.
+
+---
+
+## 12. D10 to D13 — Decided: recording, baselines, panel, scenarios
+
+### D10 — Baselines
+
+Byte-identical CSVs are not guaranteed across machines: compiler, libm, CPU fused
+multiply-adds and the MuJoCo build all change the last bits. At 8 kHz each stored CSV
+is about 8 times larger.
+
+| | A. Full CSVs, byte compare (today) | B. Hashes and summaries, with tolerances | C. Both, bytes pinned to a reference toolchain |
+|---|---|---|---|
+| **How** | Compressed `data.csv` in git. | Store `sha256(data.csv)` and a summary: goal time, state timeline, maximum pose and lateral error, minimum wall clearance, collisions. Compare bytes between runs on one machine; compare summaries with tolerances against the stored ones. | B's storage. Byte identity enforced in a pinned container (the firmware already has `.docker/` and `compose.yaml`); summaries everywhere else. |
+| **Upsides** | A failure points to the exact row and column. | Tiny; meaningful on any machine; gates behaviour, as stage 3 Decision 19 asks. | Keeps "a refactoring must not move a byte" exact, without A's weight. |
+| **Downsides** | About 30 MB per epoch at 8 kHz; brittle to any toolchain change. | A byte-moving refactoring within tolerance passes unnoticed; a hash alone does not say where. | A container image with MuJoCo to maintain. |
+
+**Decided: C.** The pinned container comes with CI, later. Until then, byte identity is
+checked between runs on the same machine, and the stored summaries are compared with
+tolerances.
+
+### D11 — Recording rate and format
+
+At 8 kHz a 120 s run is 960 000 rows, on the order of 1 GB of CSV with about 100
+columns.
+
+| | A. CSV every tick | B. CSV with `--record-every N` | C. Binary columns |
+|---|---|---|---|
+| **Upsides** | Simplest. | Short gate scenarios stay at full rate; long runs at, say, 1 kHz. | 5–10 times smaller; loads into numpy directly. A raw float64 file plus a JSON header needs no dependency. |
+| **Downsides** | Gigabytes; slow analysis. | Hides fast events, unless the engine detects them at full rate. | Not greppable; a second reader. |
+
+**Decided: B now, C if size hurts.** The engine detects events at full rate
+(collisions, maximum errors, state transitions) and writes them to `meta.json`
+whatever the decimation.
+
+### D12 — How a robot extends the panel and the video overlay
+
+| | A. Declarative | B. ImGui callback | C. Both |
+|---|---|---|---|
+| **How** | The target registers data. Bound buttons, switches and LEDs appear automatically. Plots are a list of variable names; the state label is a variable plus a table of names; the overlay is a list of variables with formats. | The target draws its own ImGui section. | A, with B as an escape hatch. |
+| **Upsides** | Robot repositories depend on no GUI library. One look for every robot. The handover logic and the ImGui edge-detection trap are solved once, in the engine. | Unlimited. | Covers rare custom widgets. |
+| **Downsides** | New kinds of widget need an engine change. | Every robot target depends on ImGui, and each relearns the trap where `IsItemActive` turns an extra-long press into a short one. | Two ways to do one thing. |
+
+**Decided: A.**
+
+### D13 — Scenarios and commands
+
+| | A. Per-robot CLI flags | B. Scenario files | C. Files plus generic overrides |
+|---|---|---|---|
+| **How** | Each target registers flags. | A file names robot, arena, duration and seed, and holds a timeline of device events: press `button` at 0.5 s for 0.25 s; set `dip_1`; send bytes on `bluetooth`; push the robot. Plus stop conditions such as `until: state == IDLE` (needs D5). | B, plus `--seconds`, `--seed`, `--maze`, `--out` and `--ideal`. |
+| **Upsides** | Short one-liners. | Robot-agnostic and composable; baselines name a scenario; starts go through the robot's real paths (buttons, link commands). | Files for reproducible runs, flags for quick variations. |
+| **Downsides** | Reinvented per robot; does not compose. | A parser and a schema. | Two places for a value; the command line wins and `meta.json` records both. |
+
+**Decided: C, in TOML**, the same format as `robot.toml`:
+
+| | TOML (toml++) | YAML (yaml-cpp) | JSON |
+|---|---|---|---|
+| **Upsides** | Header-only, strict, readable | Familiar in robotics | No new Python dependency |
+| **Downsides** | Less familiar to some | A compiled dependency; implicit typing surprises (`no` becomes false) | No comments; noisy by hand |
+
+---
+
+## 13. D14 — Decided: smaller decisions
+
+| Decision | Options | Upsides / downsides | Decided |
+|---|---|---|---|
+| **Names** | Keep `micras-simulation`, `micras::sim`, `MICRAS_*` / rename | The simulator now serves the team's `micras_hal` robots, and `micras` is the team prefix, so the names fit. Renaming touches every file. | Keep |
+| **Old firmware** after the port | Keep supporting / tag and drop | Keeping it doubles the target code for a firmware nobody flies; a tag keeps the old navigation reproducible for comparisons. | Tag the last pre-port commit, then drop |
+| **Firmware hardware tests** | Build all / a subset / later | With the hybrid seam and two threads they need no custom code, only a CMake list. | **Out of scope for now** |
+| **Analysis tooling** | Generic `analyze.py` with robot plugins / per-robot scripts | Plugins give every robot one report format; scripts diverge. | Plugins |
+| **Flash between runs** | Blank each run (today) / `--flash <path>` | A file lets you simulate explore, power cycle, solve, as the robot does. Blank keeps runs independent. | Blank by default, `--flash` to persist |
+| **Watchdog** | Ignore / report / fail the run | Time passes only in `advance()`, so a missed refresh is a real but rare bug; failing on it could flag simulation artefacts. | Report the count in `meta.json` |
+| **Crash threshold** (`crash_acceleration` = 35 m/s², disabled by the old harness) | Honour / override | With the real `constants.hpp` there is no override. If contact spikes trip it, the contact model is wrong. | Honour; fix contact stiffness if it trips |
+| **Stage 3 host harness** (`MicrasFirmware/stage3_research/harness/host`, untracked) | Fold in / keep as the fast kinematic simulator | It runs 8 contest mazes in seconds and already models gyro bias and noise, encoder quantisation and ray-cone sensors with lag. The MuJoCo simulator is slower but physical. | Keep as the fast navigation regression; port its sensor models into the engine; commit it or drop it, since untracked it rots (its mocks already fail against HEAD) |
+| **Sequencing** | Split first, then port (spec 1 order) / port first | Splitting first uses `baseline/v2` as a byte-exact net while moving files, but moves some code that dies at the port. Porting first reorganises with no net. | Split first; spec 1 P3 keeps the waste small |
+| **"New run" from the panel** | Relaunch the process / not at all | The firmware's `static Micras` cannot be rebuilt in-process (D2), so a new run means the panel relaunching the simulator with the same arguments into a new run directory. | Later, as a relaunch |
+
+---
+
+## 14. Robot information
+
+Prefilled from three sources, and cross-checked with the firmware:
+
+- **`~/codes/hw_debug`:** the v2 main board's KiCad project, the BOM, the
+  datasheets, and the review and thesis notes.
+- **`~/codes/MicrasHardware`:** the SolidWorks assembly, cloned from
+  Team-Micras/MicrasHardware.
+- **The Maxon catalogue** page for the DCX 8 M.
+
+The firmware's `config/targets/v1/robot.hpp` was corrected from the same data
+(14.13).
+
+What is left for you:
+
+- the masses (only estimates exist)
+- the fan motor part
+- where the three battery cells really sit (14.6)
+- the gear module
+- the maze environment
+
+**Confidence** says where each value came from:
+
+| Label | Meaning |
+|---|---|
+| CAD | read from KiCad, or from the SolidWorks assembly and its global variables |
+| datasheet | read from a datasheet |
+| firmware | read from `target.hpp` or the CubeMX project |
+| notes | from the thesis or the review notes |
+| estimate | computed from CAD volumes and assumed densities, or a guess |
+| owner | given by you |
+
+Four optional measurements help a lot, and none needs the robot to move:
+
+1. **Masses** on a kitchen scale: whole robot, battery, fan motor with impeller.
+2. **Friction:** robot on a sample of maze floor, tilted until it slides.
+   μ = tan(angle). Once with the fan off, once on.
+3. **Fan downforce:** robot on a scale on a flat plate, fan off, then on. The
+   difference is the downforce.
+4. **IMU axes:** log the raw accelerometer at rest while tilting the robot nose down,
+   then left side down. The mapping in 14.9 is high confidence; this only confirms it.
+
+### 14.1 Frame
+
+All positions are in the robot frame of `robot.hpp`: x forward, y left, z up,
+origin on the floor under the midpoint of the wheel axle.
+
+| Item | Value | Confidence |
+|---|---|---|
+| Front of the robot | The chamfered nose with the wall sensors, KiCad's top edge (y = 60.0) | CAD |
+| Axle | KiCad (148.501, 113.504): the centre of the symmetric wheel cutouts, where the encoder slots and connectors sit | CAD |
+| KiCad to robot | x = 113.5036 − y_KiCad, y = 148.5011 − x_KiCad; KiCad rotation = robot yaw | CAD |
+| SolidWorks to robot | x = 1033.6 − Z_sw, y = −(X_sw + 4.9091), z = Y_sw + 11.3503 (mm) | CAD |
+
+### 14.2 Chassis and outline
+
+| Item | Value | Confidence |
+|---|---|---|
+| Board | **50.0 × 90.0 mm**, x from −36.5 to +53.5, y ±25; 1.04 mm FR-4, 4 layers | CAD |
+| Nose | Front edge at x = 53.5, chamfers at 26.6° down to (34.56, ±24.47), R5 into the sides at x = 32.3 | CAD |
+| Wheel cutouts | Open from x = −10.5 to +10.5; inner edge at \|y\| = 17.25; the tyres fill their outer part | CAD |
+| Rear | Edge at x = −36.5, a USB-C notch, and a step for the slide switch | CAD |
+| Parts past the board | Inner wall-sensor housings (W2, W3) reach x ≈ 54.9; tyre and hub faces reach \|y\| = 25.05 | CAD |
+| Height above the floor | Board bottom 1.0 mm, board top 2.0 mm (`BoardToFloorHeight = 1`) | CAD |
+| Lowest chassis point | 1.0 mm: the board underside and the flush countersunk screw heads | CAD |
+| Floor contacts other than the tyres | **None**: no caster, no skid. The centre of mass is almost over the axle, so the robot tips onto the board's front edge (1.07° of pitch) or rear edge (1.57°) | CAD |
+| Height of the robot | About 34 mm with the battery on the fan holder | CAD |
+| Swept radius when spinning about the axle midpoint | 55.1 mm at the nose fillets; 43.5 mm at the rear corners | CAD |
+| Drivetrain parts | Two 3D-printed bearing blocks (x −18.5…5.5, \|y\| 5.75…22.25, z 2…25) carry the motors, bearings and axles; a printed fan holder is screwed on top of them | CAD |
+
+### 14.3 Mass
+
+The assembly carries no materials, so every mass below except the motors' is an
+estimate. Printed parts assume 100 % infill at 1.24 g/cm³, so they are upper bounds.
+
+| Item | Value | Confidence |
+|---|---|---|
+| **Total, ready to run** | | Estimate: about 70 g, from the modelled parts, three 6 g cells and about 5 g of board components; `robot.hpp` now uses 70 g. **Please weigh it.** |
+| Motors | 4.4 g each | datasheet |
+| Battery | Three 1S 250 mAh cells, about 6 g each (5–7 g is typical for the size) | owner, estimate |
+| Bare PCB | | Estimate 7.3 g, without components |
+| Fan holder, bearing blocks, hubs (printed) | | Estimates 6.5, 5.5, 5.8 g |
+| Fan motor and impeller | | Guesses 5 and 1.5 g |
+| Centre of mass | About (−0.8, 0, 17) mm with the three cells where the assembly puts them | Estimate |
+| Yaw inertia about the axle midpoint | About 2.9 × 10⁻⁵ kg·m², which `robot.hpp` now uses | Estimate |
+| Spin inertia per wheel | About 1.9 g·cm², plus 1.2 g·cm² of rotor and pinion reflected through the gears | Estimate |
+
+### 14.4 Wheels and contact
+
+| Item | Value | Confidence |
+|---|---|---|
+| Wheel diameter | **22.0 mm**: a 1.0 mm tyre band on a Ø20 hub seat, flat, no crown | CAD |
+| Tyre width | 4.25 mm | CAD (`WheelTireWidth = 8.5/2`) |
+| Track (tyre centre to tyre centre) | **45.75 mm** (tyre centres at y = ±22.875) | CAD. **42.25 mm is the distance between the cutout centres, not the wheel track** |
+| Axle | Ø2 mm, in two Ø5 × 1.5 bearings per side, 11.0 mm above the floor | CAD |
+| Tyre | **Kyosho MZW40-20**: Mini-Z super low height slick, thin wall, 20° compound, 8.5 mm wide, 22.6 mm on a Mini-Z wheel ([Kyosho](https://rc.kyosho.com/en/mzw40-20b.html)); here 22.0 mm on the Ø20 hub seat and 4.25 mm wide, half its width | owner, CAD |
+| Hub | 3D-printed; the Ø21 wheel gear is part of it | CAD |
+| Maze floor you race on | | |
+
+### 14.5 Drivetrain
+
+| Item | Value | Confidence |
+|---|---|---|
+| Motors | **Maxon DCX 8 M, 4.2 V winding**, precious-metal brushes (the only option), no gearhead | owner, CAD, datasheet |
+| Winding | R 12 Ω, L 41 µH, Kt 3.36 mNm/A, speed constant 2850 rpm/V, no-load current 6.93 mA, rotor inertia 0.0379 g·cm², maximum permissible speed 17 300 rpm | datasheet ([maxon catalogue p. 98](https://www.maxongroup.com/medias/sys_master/root/9394600706078/Cataloge-Page-EN-98.pdf)) |
+| At 19.63 V | No-load speed would be about 55 700 rpm, 3.2 times the permitted speed; the permitted speed is reached at 3.8 m/s of wheel speed. Stall current 1.64 A (5.5 mNm). L/R = 3.4 µs, negligible at a 125 µs tick | computed |
+| Gears | Ø4 mm brass pinion to a Ø21 mm wheel gear, 12.5 mm centre distance: **ratio 5.25** | CAD (pitch circles and `PinionGearDiameter`/`WheelGearDiameter`) |
+| Gear teeth and module | | Not modelled. Module 0.25 would give 16/84 teeth, 0.2 would give 20/105 |
+| Motor placement | Behind the axle and stacked: left axis at (x −12.4, z 9.5), right at (x −9.6, z 19.0), both parallel to the axle, pinion outboard | CAD |
+| Encoders | AS5047U on vertical boards in the slots at (0, ±6.9); the Ø6 × 2 magnet sits **on the wheel axle**, 1:1 with the wheel; 16384 counts/rev | CAD, firmware |
+| Encoder assignment | EC2 = left (TIM5), EC1 = right (TIM2) | CAD, firmware |
+| H-bridge | L6205D, about 0.62 Ω per conducting path at 25 °C; 100 kHz PWM, slow decay | datasheet, firmware |
+| Motor supply | TPS611781 boost at **19.63 V** typical (18.99–20.32 V), current limit about 12.5 A | CAD, datasheet |
+| Current sense | 40 mΩ shunt per motor, TSC2020 at gain 20, linear to ±1.94 A | CAD, datasheet |
+
+### 14.6 Power
+
+| Item | Value | Confidence |
+|---|---|---|
+| Battery | **Three 1S 250 mAh LiPo cells in series** (3S: 11.1 V nominal, 12.6 V full). Each is 46 × 12 × 7 mm in the CAD, the standard 701245 pouch size | owner, CAD |
+| Cell brand, C rating, internal resistance | | |
+| Cell positions | The assembly has three hidden cell bodies: two lying across the robot on the fan holder (x −12.6…−0.6 and −0.6…11.4, z 27–34), and one on edge at x −19.8…−12.8, z 22–34, which intersects the bearing blocks as drawn. **Where does the third cell really go?** | CAD |
+| Battery measurement | The MCU's internal VBAT/4 channel on ADC3, no external divider | firmware |
+| 3.3 V rail | L6981N33 buck from the battery | CAD |
+
+### 14.7 Suction fan
+
+| Item | Value | Confidence |
+|---|---|---|
+| Impeller | Ø27 × 7 mm at (17.5, 0), 0.5 mm above the board top, drawing air up through the Ø15 hole | CAD |
+| Fan motor | Ø10 × 22 mm coreless motor above the impeller, shaft down | CAD |
+| Fan motor part number and datasheet | | |
+| Chamber | **No skirt.** The whole underside is a 1.0 mm gap, open along about 379 mm of perimeter (about 380 mm² of leak area, against the hole's 177 mm²) | CAD |
+| Driver and supply | STSPIN958 straight from the battery (11.1–12.6 V), 100 kHz PWM, 5 A current limit | CAD, firmware |
+| Downforce | | `robot.hpp` keeps its 0.6 N estimate; the scale test gives the real value |
+
+### 14.8 Wall sensors
+
+Each sensor is a custom stacked pair in one housing: an SFH4550 IR LED on top and a
+TPS601A phototransistor below, in a 7 × 13 × 8 mm casing. The references are W1–W4.
+
+| Item | Value | Confidence and source |
+|---|---|---|
+| Emitter | SFH4550: 860 nm peak, **half angle ±3°**, radiant intensity 1100 mW/sr typical at 100 mA (710–2800 across groups), 12 ns rise and fall | datasheet |
+| Emitter drive | 3.3 V → 10 Ω → LED → AO3400A to GND, about **149–179 mA** per pulse | CAD, notes |
+| Emitter timing | 2 kHz, 30 % duty (150 µs on per 500 µs), TIM4 centre-aligned | firmware |
+| Emitter groups | A = W1 + W3 (channels 1 and 3), B = W2 + W4 (channels 2 and 4, inverted); two lit at a time | firmware (`target.hpp:383–406`) |
+| Receiver | TPS601A in a TO-18 can: 800 nm peak, half angle ±10°, dark current 0.01 µA typical; 2 µs rise at 100 Ω, slower at 1 kΩ (settling estimated at 30–85 µs) | datasheet, notes |
+| Receiver rank (A 100–300, B 200–600, C 400–1200 µA at 0.1 mW/cm²) | | Not in any file; the can may be marked |
+| Receiver circuit | 1 kΩ load to GND, no amplifier; clips at about 2.9 mA (about 2.9 V) | CAD |
+| ADC | ADC1, 16-bit, 8× oversampled then shifted right by 3, 32.5-cycle sample time, triggered by TIM4, reference VDDA = 3.3 V | firmware |
+| Real LED current and receiver settling | | Needs a bench measurement; optional |
+
+Poses in mm and degrees. The lens tips sit along the beam, and z is measured above
+the board top. `robot.hpp` now uses the midpoint of the two lens tips, 7.2 mm ahead
+of the footprint origin.
+
+| Firmware index | Ref | Footprint origin (x, y) | Yaw | Emitter tip (x, y, z) | Receiver tip (x, y, z) | Group |
+|---|---|---|---|---|---|---|
+| 0 left front | W1 | (36.72, 21.50) | 0° | (43.40, 21.50, 9.75) | (44.40, 21.50, 3.25) | A |
+| 1 left | W2 | (47.57, 10.19) | +45° | (52.29, 14.91, 9.75) | (53.00, 15.62, 3.25) | B |
+| 2 right | W3 | (47.57, −10.19) | −45° | (52.29, −14.91, 9.75) | (53.00, −15.62, 3.25) | A |
+| 3 right front | W4 | (36.72, −21.50) | 0° | (43.40, −21.50, 9.75) | (44.40, −21.50, 3.25) | B |
+
+How the index mapping was established: the net `Wall_Sensor_n` goes to W(n+1). ADC1
+ranks 1–4 carry `Wall_Sensor_0..3`, and TIM4 channels 1–4 drive the emitters
+through Q2–Q5.
+
+### 14.9 IMU
+
+| Item | Value | Confidence and source |
+|---|---|---|
+| Part | LSM6DSVTR (IC2) | BOM |
+| Position | (0.66, 0.00) mm, about 0.4 mm above the board top, rotation 0 | CAD |
+| Chip axes in the robot frame | chip X → robot −y (right), chip Y → robot +x (forward), chip Z → robot +z; yaw rate = +gz | CAD plus datasheet: pin 1 at the front-left, pad order matching the chip's top view; high confidence |
+| Noise | Gyroscope 2.8 mdps/√Hz. Accelerometer 60 µg/√Hz (high-performance mode) | datasheet |
+| Offsets and tolerance | Zero-rate level ±1 dps, zero-g offset ±12 mg, gyro sensitivity tolerance ±0.3 % | datasheet |
+| Firmware configuration | 8 kHz high-accuracy ODR for both sensors, ±4000 dps, ±8 g, gyro LPF1 ultra light (about 281 Hz), accelerometer LPF2 medium, SPI mode 3 | firmware (`target.hpp:470–475`) |
+| Mounting (foam, screws, standoffs) | | |
+
+### 14.10 MCU and link
+
+| Item | Value | Confidence and source |
+|---|---|---|
+| MCU | STM32H725RGV6 at 550 MHz; ADC1 and ADC2 16-bit, ADC3 12-bit | BOM, firmware |
+| Radio | HM-19 (CC2640R2F) on a plug-in board through the USB-C receptacle, UART4 at 115200 8N1 | CAD, firmware |
+| Achieved throughput, if ever measured | | |
+
+### 14.11 Maze and environment
+
+| Item | Value | Confidence and source |
+|---|---|---|
+| Competitions you target | | |
+| Cell size, wall thickness, wall height, post size | 180 mm cells and 12.6 mm walls in the firmware | firmware; confirm the rest |
+| Wall side colour and material; wall top colour | | |
+| Floor colour and finish | | |
+| Typical lighting (daylight, halogen, LED); matters for the dark scan | | |
+
+### 14.12 What the real robot does
+
+Qualitative observations are useful validation targets even without measurements.
+
+| Observation | Conditions | Notes |
+|---|---|---|
+| e.g. "wheels slip when accelerating hard from rest" | e.g. "fan off, full profile" | |
+| | | |
+| | | |
+
+### 14.13 Discrepancies, and what was corrected in the firmware
+
+`config/targets/v1/robot.hpp` on `high-level-review` was corrected from the data above,
+as you asked. Previous calibration was declared irrelevant, so the fitted drive set
+was replaced by physical values. The changes are in the working tree, not committed.
+
+| # | Was | Now | Evidence |
+|---|---|---|---|
+| 1 | Outline 60 × 93.5 mm (half width 30, front 53.5, rear 40), "board plus tyre allowance" | Half width 25.1, front 54.9, rear 36.5 mm | The board is 50 × 90; the tyres are flush at 25.05; the inner sensor housings reach 54.9 |
+| 2 | Track 42.25 mm, "between the wheel cutouts" | **45.75 mm** | Tyre centres at ±22.875; 42.25 is the cutout centres |
+| 3 | Wheel radius 11.2 mm, no source | 11.0 mm | Ø22 tyre |
+| 4 | Gear ratio 4 | **5.25** | Ø4 and Ø21 pitch circles |
+| 5 | Kt 0.00711 N·m/A and R 21.9 Ω, fitted to reproduce an old feed-forward ("not that of a winding") | Kt 0.00336 N·m/A; R 12.62 Ω (winding 12 plus bridge 0.62); static friction 0.09 V | DCX 8 M 4.2 V datasheet, L6205D |
+| 6 | Supply 20 V | 19.63 V | Boost feedback divider |
+| 7 | Mass 0.13 kg, yaw inertia 1.3 × 10⁻⁴ (a uniform plate) | 0.07 kg, 2.9 × 10⁻⁵ kg·m² | CAD volume estimates with three 6 g cells; **still estimates, weigh the robot** |
+| 8 | Wall sensor positions at the footprint origins | 7.2 mm further along each axis, at the lens midpoints | Wall-sensor 3D model. The firmware converts intensity to range with an inverse-square law from this point, so the old origin gave a range-dependent error of about −4 mm near and +6 mm far on the front sensors |
+| 9 | Accelerometer axes: chip X used as forward | chip Y forward, −chip X left, in `Micras::measure()` and the two nav tests | Datasheet Figure 4 and IC2's pad 1 at the front left; it affected only the localizer's slip noise |
+| — | `half_angle` 0.09 rad against the datasheet's ±3° | Unchanged: **not a discrepancy** | `RobotModel::WallSensor` defines it as the emitter cone plus the mounting tolerance |
+
+Still estimates in `robot.hpp`: mass, yaw inertia, friction coefficient, fan downforce,
+static friction voltage, and the noise terms.
+
+**Checked with the stage 3 host harness.** It runs the real navigation over 8 contest
+mazes, plus 6 extra seeds on 3 of them, 26 runs in total, before and after the
+change:
+
+| Metric | Before | After |
+|---|---|---|
+| Collisions and failures | none | none |
+| Wrong walls | none | none |
+| Mean solve time | 11.6 s | **9.9 s** |
+| Worst solve pose error | 15.9 mm | 14.5 mm |
+| Worst solve wall clearance | 11.9 mm | 11.1 mm |
+| Peak motor command | 95 % | 51 % |
+
+The harness builds its world from the same `robot_model`, with deliberate mismatches.
+So this shows that navigation stays consistent and stable with the new constants; it
+does not show that they are right. That is what the MuJoCo simulator and the robot
+are for.
+
+The old MuJoCo chassis mesh (66 × 99 mm) is the v1 board (67 × 100 per the thesis),
+not v2. Micrasverse's 50 × 80 mm could not be checked: that repository is not on disk.
diff --git a/app/include/micras/sim/app/application.hpp b/app/include/micras/sim/app/application.hpp
new file mode 100644
index 0000000..86edf13
--- /dev/null
+++ b/app/include/micras/sim/app/application.hpp
@@ -0,0 +1,193 @@
+/**
+ * @file
+ *
+ * @brief Wires a simulation together and runs one robot target in it.
+ */
+
+#ifndef MICRAS_SIM_APP_APPLICATION_HPP
+#define MICRAS_SIM_APP_APPLICATION_HPP
+
+#include <memory>
+#include <span>
+
+#include "micras/sim/app/cli.hpp"
+#include "micras/sim/app/target.hpp"
+#include "micras/sim/arenas/maze.hpp"
+#include "micras/sim/bridge/monitor_bridge.hpp"
+#include "micras/sim/core/firmware_thread.hpp"
+#include "micras/sim/core/run_context.hpp"
+#include "micras/sim/core/simulation.hpp"
+#include "micras/sim/devices/device_columns.hpp"
+#include "micras/sim/recording/csv_recorder.hpp"
+#include "micras/sim/recording/event_log.hpp"
+#include "micras/sim/robot/robot_description.hpp"
+#include "micras/sim/scenario/scenario.hpp"
+#include "micras/sim/view/mujoco_viewer.hpp"
+#include "micras/sim/view/video_recorder.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Builds the run around a robot target, then runs it.
+ *
+ * @note The only place that decides what a run is made of: it reads the
+ *       scenario, builds the world from the robot's description and the arena,
+ *       and registers every listener of one Simulation in the order Wiring
+ *       documents, the scenario first. It is also the only layer that knows a
+ *       run can have a window.
+ */
+class Application {
+public:
+    /**
+     * @brief Set a simulation up for a parsed command line.
+     *
+     * @param options Parsed command line.
+     * @param target Robot to run.
+     */
+    Application(const CliOptions& options, Target& target);
+
+    Application(const Application&) = delete;
+    Application(Application&&) = delete;
+    Application& operator=(const Application&) = delete;
+    Application& operator=(Application&&) = delete;
+
+    /**
+     * @brief Let the target undo what it pointed at the firmware thread.
+     */
+    ~Application();
+
+    /**
+     * @brief Run the simulation and write the metadata.
+     *
+     * @param arguments Whole command line, recorded in the metadata.
+     */
+    void run(std::span<char*> arguments);
+
+    /**
+     * @brief Entry point shared by every simulation executable.
+     *
+     * @note Catches everything, prints it with the usage text and returns
+     *       non-zero, so a failed run is loud and never looks successful.
+     *
+     * @param arguments Whole command line.
+     * @param target Robot to run.
+     * @return Process exit code.
+     */
+    static int main(std::span<char*> arguments, Target& target);
+
+private:
+    /**
+     * @brief Parsed command line.
+     */
+    CliOptions options;
+
+    /**
+     * @brief Robot being run.
+     *
+     * @note Owned by the executable's main, which outlives the application.
+     */
+    Target& target;  // NOLINT(*-avoid-const-or-ref-data-members)
+
+    /**
+     * @brief Path of the scenario file, empty for none.
+     */
+    std::filesystem::path scenario_path;
+
+    /**
+     * @brief Scenario being played.
+     */
+    Scenario scenario;
+
+    /**
+     * @brief The robot's physical description.
+     */
+    RobotDescription robot;
+
+    /**
+     * @brief Path of the maze drawing.
+     */
+    std::filesystem::path maze_path;
+
+    /**
+     * @brief Dimensions and surfaces of the maze.
+     */
+    MazeConfig maze_config;
+
+    /**
+     * @brief The target's context, with the world built and the clock configured.
+     *
+     * @note Bound for the life of the run; the target owns it.
+     */
+    RunContext& context;  // NOLINT(*-avoid-const-or-ref-data-members)
+
+    /**
+     * @brief Number of ticks to run.
+     */
+    uint64_t ticks;
+
+    /**
+     * @brief The target's program, in its own thread.
+     */
+    FirmwareThread firmware;
+
+    /**
+     * @brief Pushes the robot when the scenario says so; owned by the context's devices.
+     */
+    Pusher* pusher{nullptr};
+
+    /**
+     * @brief What the target adds to the run.
+     */
+    Wiring wiring;
+
+    /**
+     * @brief Plays the scenario.
+     */
+    ScenarioPlayer player;
+
+    /**
+     * @brief Notices collisions and state changes at full rate.
+     */
+    EventLog events;
+
+    /**
+     * @brief What the devices record, after the target's own columns.
+     */
+    DeviceColumns device_columns;
+
+    /**
+     * @brief CSV output.
+     */
+    CsvRecorder recorder;
+
+    /**
+     * @brief Offscreen video, or null.
+     */
+    std::unique_ptr<VideoRecorder> video;
+
+    /**
+     * @brief Live window, or null.
+     */
+    std::unique_ptr<MujocoViewer> viewer;
+
+    /**
+     * @brief Bridge to micras-monitor, or null.
+     */
+    std::unique_ptr<MonitorBridge> monitor;
+
+    /**
+     * @brief The run itself.
+     */
+    Simulation simulation;
+};
+
+/**
+ * @brief Run a robot target from its executable's main.
+ *
+ * @param arguments Whole command line.
+ * @param target Robot to run.
+ * @return Process exit code.
+ */
+int run(std::span<char*> arguments, Target& target);
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_APP_APPLICATION_HPP
diff --git a/include/micras/sim/app/crash_reporter.hpp b/app/include/micras/sim/app/crash_reporter.hpp
similarity index 100%
rename from include/micras/sim/app/crash_reporter.hpp
rename to app/include/micras/sim/app/crash_reporter.hpp
diff --git a/app/include/micras/sim/app/target.hpp b/app/include/micras/sim/app/target.hpp
new file mode 100644
index 0000000..b897ffd
--- /dev/null
+++ b/app/include/micras/sim/app/target.hpp
@@ -0,0 +1,240 @@
+/**
+ * @file
+ *
+ * @brief What a robot target gives the application, and what it gets back.
+ */
+
+#ifndef MICRAS_SIM_APP_TARGET_HPP
+#define MICRAS_SIM_APP_TARGET_HPP
+
+#include <cstdint>
+#include <filesystem>
+#include <functional>
+#include <span>
+#include <string>
+#include <vector>
+
+#include "micras/sim/core/firmware_thread.hpp"
+#include "micras/sim/core/panel_spec.hpp"
+#include "micras/sim/core/run_context.hpp"
+#include "micras/sim/core/simulation.hpp"
+#include "micras/sim/core/variable_source.hpp"
+#include "micras/sim/recording/column_source.hpp"
+#include "micras/sim/recording/ground_truth.hpp"
+#include "micras/sim/recording/run_metadata.hpp"
+#include "micras/sim/robot/robot_description.hpp"
+#include "micras/sim/scenario/scenario.hpp"
+
+namespace micras::sim {
+/**
+ * @brief A command line option a robot target adds.
+ */
+struct CliOption {
+    /**
+     * @brief Option as typed, for example "--button".
+     */
+    std::string name;
+
+    /**
+     * @brief What the value looks like in the usage text, empty for a flag.
+     */
+    std::string argument;
+
+    /**
+     * @brief Called with the value, or with an empty string for a flag.
+     *
+     * @note Throws std::runtime_error on a value it cannot accept.
+     */
+    std::function<void(const std::string& value)> apply;
+};
+
+/**
+ * @brief How a robot target plugs into one run.
+ *
+ * @note Listener order is part of what a run records, so it is fixed here: the
+ *       crash reporter, the inputs, the monitor bridge, the observers, the
+ *       recorder, the video, the window.
+ */
+struct Wiring {
+    /**
+     * @brief Listeners that feed the firmware, run before the monitor bridge.
+     */
+    std::vector<IRunListener*> inputs;
+
+    /**
+     * @brief Listeners that decode the firmware, run after the bridge and before the recorder.
+     */
+    std::vector<IRunListener*> observers;
+
+    /**
+     * @brief Column blocks written after the ground truth, in this order.
+     */
+    std::vector<ColumnSource*> columns;
+
+    /**
+     * @brief Firmware variables the panel plots and the overlay prints, or null.
+     */
+    const VariableSource* variables{nullptr};
+
+    /**
+     * @brief Hands bytes from a monitor to the firmware; null queues them as they came.
+     */
+    std::function<void(std::span<const uint8_t>)> monitor_inbound;
+
+    /**
+     * @brief What the panel shows.
+     */
+    PanelSpec panel;
+
+    /**
+     * @brief What the video overlay prints.
+     */
+    OverlaySpec overlay;
+
+    /**
+     * @brief Inputs, link messages and state names scenarios act on.
+     */
+    ScenarioHooks hooks;
+};
+
+/**
+ * @brief What the world was built from, for the devices a target builds.
+ */
+struct WorldInfo {
+    /**
+     * @brief The robot's physical description, which outlives the wiring.
+     */
+    const RobotDescription* robot;
+
+    /**
+     * @brief Infrared reflectance of an arena geom, by id.
+     */
+    std::function<double(int)> reflectance;
+};
+
+/**
+ * @brief One robot, as the application sees it.
+ *
+ * @note Everything the engine must not know lives behind this interface: the
+ *       firmware, its loop period, the model's names, the robot's own options,
+ *       columns, panel and listeners. The application calls it in this order:
+ *       options(), check_options(), context(), program(), wire(), and after
+ *       the run metadata() and unwire().
+ */
+class Target {
+public:
+    Target() = default;
+
+    Target(const Target&) = delete;
+    Target(Target&&) = delete;
+    Target& operator=(const Target&) = delete;
+    Target& operator=(Target&&) = delete;
+
+    virtual ~Target() = default;
+
+    /**
+     * @brief Get the name of the robot, used for the window and meta.json.
+     *
+     * @return The name.
+     */
+    virtual std::string name() const = 0;
+
+    /**
+     * @brief Get the commit of the firmware this binary was built from.
+     *
+     * @return The commit, or "unknown".
+     */
+    virtual std::string firmware_sha() const = 0;
+
+    /**
+     * @brief Get the firmware loop period, which the physics timestep must divide.
+     *
+     * @return Period in microseconds.
+     */
+    virtual uint32_t loop_time_us() const = 0;
+
+    /**
+     * @brief Get the options this robot adds to the command line.
+     *
+     * @return The options; their handlers may capture the target.
+     */
+    virtual std::vector<CliOption> options() { return {}; }
+
+    /**
+     * @brief Reject combinations of options the robot cannot honour.
+     *
+     * @note Called once the whole command line was read.
+     */
+    virtual void check_options() const { }
+
+    /**
+     * @brief Get the context the run advances.
+     *
+     * @note The application builds the world in it and configures its clock.
+     *
+     * @return The context, which must outlive the run.
+     */
+    virtual RunContext& context() = 0;
+
+    /**
+     * @brief Get the robot's physical description.
+     *
+     * @return Path of its robot.toml, which the world is built from.
+     */
+    virtual std::filesystem::path robot_file() const = 0;
+
+    /**
+     * @brief Get the scenario a run plays when the command line names none.
+     *
+     * @return Path of a scenario file, or empty for none.
+     */
+    virtual std::string default_scenario() const { return {}; }
+
+    /**
+     * @brief Get the body, forward axis and robot columns of the ground truth.
+     *
+     * @return The recorder configuration.
+     */
+    virtual GroundTruthConfig ground_truth() const = 0;
+
+    /**
+     * @brief Get the camera a video uses when the command line names none.
+     *
+     * @return A model camera name, or "free".
+     */
+    virtual std::string video_camera() const { return "free"; }
+
+    /**
+     * @brief Get the firmware program, run on the firmware thread.
+     *
+     * @return The program.
+     */
+    virtual FirmwareThread::Program program() = 0;
+
+    /**
+     * @brief Build what the robot adds to the run: its devices, listeners, columns and panel.
+     *
+     * @note Called once the world is built and the clock configured; the devices
+     *       it adds to the context's run in the order added.
+     *
+     * @param firmware Thread that will run the program.
+     * @param world The robot the world was built from, and the arena's surfaces.
+     * @return Listeners, columns, variables and panel of the robot.
+     */
+    virtual Wiring wire(FirmwareThread& firmware, const WorldInfo& world) = 0;
+
+    /**
+     * @brief Undo whatever wire() pointed at the firmware thread.
+     */
+    virtual void unwire() { }
+
+    /**
+     * @brief Get the robot's own counters for meta.json.
+     *
+     * @return The counters, in the order they are written.
+     */
+    virtual std::vector<MetadataField> metadata() const { return {}; }
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_APP_TARGET_HPP
diff --git a/src/sim/app/crash_reporter.cpp b/app/src/crash_reporter.cpp
similarity index 100%
rename from src/sim/app/crash_reporter.cpp
rename to app/src/crash_reporter.cpp
diff --git a/baseline/v0/explore_legacy/data.csv.gz b/baseline/v0/explore_legacy/data.csv.gz
deleted file mode 100644
index 10e65fb35eb855ea0c1cec0f02657eb72190593d..0000000000000000000000000000000000000000
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diff --git a/baseline/v0/explore_legacy/meta.json b/baseline/v0/explore_legacy/meta.json
deleted file mode 100644
index 4dbd490..0000000
--- a/baseline/v0/explore_legacy/meta.json
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "firmware_sha": "ad342541267bb3c8db263630f27fc7edafba5b09",
-  "model_path": "models/robot_legacy.xml",
-  "model_sha256": "c1e24df2fce989971ae83b307cf96e3070506d1c43830f5442482d6e4f95523c",
-  "maze_path": "",
-  "mujoco_version": "3.3.6",
-  "compiler": "GNU 13.3.0",
-  "build_type": "RelWithDebInfo",
-  "args": "--model models/robot_legacy.xml --command explore --seconds 8 --out runs/explore_legacy",
-  "loop_time_us": 1042,
-  "timestep": 0.000521,
-  "steps_per_tick": 2,
-  "ticks": 7677,
-  "sim_time": 7.99943,
-  "final_z": 0.00114835,
-  "pool_columns": 29,
-  "telemetry_resyncs": 0,
-  "warnings_total": 0
-}
diff --git a/baseline/v0/explore_v2/data.csv.gz b/baseline/v0/explore_v2/data.csv.gz
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diff --git a/baseline/v0/explore_v2/meta.json b/baseline/v0/explore_v2/meta.json
deleted file mode 100644
index 801301a..0000000
--- a/baseline/v0/explore_v2/meta.json
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "firmware_sha": "ad342541267bb3c8db263630f27fc7edafba5b09",
-  "model_path": "models/robot_v2.xml",
-  "model_sha256": "3ef384dfab2130e13e686db3a8030e250a780b8dca03ac6dc451a4836baa4786",
-  "maze_path": "",
-  "mujoco_version": "3.3.6",
-  "compiler": "GNU 13.3.0",
-  "build_type": "RelWithDebInfo",
-  "args": "--model models/robot_v2.xml --command explore --seconds 8 --out runs/explore_v2",
-  "loop_time_us": 1042,
-  "timestep": 0.000521,
-  "steps_per_tick": 2,
-  "ticks": 7677,
-  "sim_time": 7.99943,
-  "final_z": 0.000974307,
-  "pool_columns": 29,
-  "telemetry_resyncs": 0,
-  "warnings_total": 0
-}
diff --git a/baseline/v0/idle/data.csv.gz b/baseline/v0/idle/data.csv.gz
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diff --git a/baseline/v0/idle/meta.json b/baseline/v0/idle/meta.json
deleted file mode 100644
index 558c907..0000000
--- a/baseline/v0/idle/meta.json
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "firmware_sha": "ad342541267bb3c8db263630f27fc7edafba5b09",
-  "model_path": "models/robot_v2.xml",
-  "model_sha256": "3ef384dfab2130e13e686db3a8030e250a780b8dca03ac6dc451a4836baa4786",
-  "maze_path": "",
-  "mujoco_version": "3.3.6",
-  "compiler": "GNU 13.3.0",
-  "build_type": "RelWithDebInfo",
-  "args": "--model models/robot_v2.xml --seconds 4 --out runs/idle",
-  "loop_time_us": 1042,
-  "timestep": 0.000521,
-  "steps_per_tick": 2,
-  "ticks": 3838,
-  "sim_time": 3.9992,
-  "final_z": 0.000806901,
-  "pool_columns": 29,
-  "telemetry_resyncs": 0,
-  "warnings_total": 0
-}
diff --git a/baseline/v1/explore_legacy/data.csv.gz b/baseline/v1/explore_legacy/data.csv.gz
deleted file mode 100644
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diff --git a/baseline/v1/explore_legacy/meta.json b/baseline/v1/explore_legacy/meta.json
deleted file mode 100644
index 4dbd490..0000000
--- a/baseline/v1/explore_legacy/meta.json
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "firmware_sha": "ad342541267bb3c8db263630f27fc7edafba5b09",
-  "model_path": "models/robot_legacy.xml",
-  "model_sha256": "c1e24df2fce989971ae83b307cf96e3070506d1c43830f5442482d6e4f95523c",
-  "maze_path": "",
-  "mujoco_version": "3.3.6",
-  "compiler": "GNU 13.3.0",
-  "build_type": "RelWithDebInfo",
-  "args": "--model models/robot_legacy.xml --command explore --seconds 8 --out runs/explore_legacy",
-  "loop_time_us": 1042,
-  "timestep": 0.000521,
-  "steps_per_tick": 2,
-  "ticks": 7677,
-  "sim_time": 7.99943,
-  "final_z": 0.00114835,
-  "pool_columns": 29,
-  "telemetry_resyncs": 0,
-  "warnings_total": 0
-}
diff --git a/baseline/v1/explore_v2/data.csv.gz b/baseline/v1/explore_v2/data.csv.gz
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diff --git a/baseline/v1/explore_v2/meta.json b/baseline/v1/explore_v2/meta.json
deleted file mode 100644
index 801301a..0000000
--- a/baseline/v1/explore_v2/meta.json
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "firmware_sha": "ad342541267bb3c8db263630f27fc7edafba5b09",
-  "model_path": "models/robot_v2.xml",
-  "model_sha256": "3ef384dfab2130e13e686db3a8030e250a780b8dca03ac6dc451a4836baa4786",
-  "maze_path": "",
-  "mujoco_version": "3.3.6",
-  "compiler": "GNU 13.3.0",
-  "build_type": "RelWithDebInfo",
-  "args": "--model models/robot_v2.xml --command explore --seconds 8 --out runs/explore_v2",
-  "loop_time_us": 1042,
-  "timestep": 0.000521,
-  "steps_per_tick": 2,
-  "ticks": 7677,
-  "sim_time": 7.99943,
-  "final_z": 0.000974307,
-  "pool_columns": 29,
-  "telemetry_resyncs": 0,
-  "warnings_total": 0
-}
diff --git a/baseline/v1/idle/data.csv.gz b/baseline/v1/idle/data.csv.gz
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diff --git a/baseline/v1/idle/meta.json b/baseline/v1/idle/meta.json
deleted file mode 100644
index 558c907..0000000
--- a/baseline/v1/idle/meta.json
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "firmware_sha": "ad342541267bb3c8db263630f27fc7edafba5b09",
-  "model_path": "models/robot_v2.xml",
-  "model_sha256": "3ef384dfab2130e13e686db3a8030e250a780b8dca03ac6dc451a4836baa4786",
-  "maze_path": "",
-  "mujoco_version": "3.3.6",
-  "compiler": "GNU 13.3.0",
-  "build_type": "RelWithDebInfo",
-  "args": "--model models/robot_v2.xml --seconds 4 --out runs/idle",
-  "loop_time_us": 1042,
-  "timestep": 0.000521,
-  "steps_per_tick": 2,
-  "ticks": 3838,
-  "sim_time": 3.9992,
-  "final_z": 0.000806901,
-  "pool_columns": 29,
-  "telemetry_resyncs": 0,
-  "warnings_total": 0
-}
diff --git a/baseline/v2/explore_legacy/data.csv.gz b/baseline/v2/explore_legacy/data.csv.gz
deleted file mode 100644
index 073ac4b983323bb4e55a44150d80e4876db7ec19..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/baseline/v2/explore_legacy/meta.json b/baseline/v2/explore_legacy/meta.json
deleted file mode 100644
index c890c04..0000000
--- a/baseline/v2/explore_legacy/meta.json
+++ /dev/null
@@ -1,21 +0,0 @@
-{
-  "firmware_sha": "ad342541267bb3c8db263630f27fc7edafba5b09",
-  "model_path": "models/robot_legacy.xml",
-  "model_sha256": "c1e24df2fce989971ae83b307cf96e3070506d1c43830f5442482d6e4f95523c",
-  "maze_path": "",
-  "mujoco_version": "3.3.6",
-  "compiler": "GNU 13.3.0",
-  "build_type": "RelWithDebInfo",
-  "args": "--model models/robot_legacy.xml --command explore --seconds 8 --out runs/explore_legacy",
-  "loop_time_us": 1042,
-  "timestep": 0.000521,
-  "steps_per_tick": 2,
-  "requested_ticks": 7677,
-  "ticks": 7677,
-  "sim_time": 7.99943,
-  "final_z": 0.00114835,
-  "pool_columns": 29,
-  "telemetry_resyncs": 0,
-  "warnings_total": 0,
-  "interactive": false
-}
diff --git a/baseline/v2/explore_v2/data.csv.gz b/baseline/v2/explore_v2/data.csv.gz
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diff --git a/baseline/v2/explore_v2/meta.json b/baseline/v2/explore_v2/meta.json
deleted file mode 100644
index 4dd7959..0000000
--- a/baseline/v2/explore_v2/meta.json
+++ /dev/null
@@ -1,21 +0,0 @@
-{
-  "firmware_sha": "ad342541267bb3c8db263630f27fc7edafba5b09",
-  "model_path": "models/robot_v2.xml",
-  "model_sha256": "3ef384dfab2130e13e686db3a8030e250a780b8dca03ac6dc451a4836baa4786",
-  "maze_path": "",
-  "mujoco_version": "3.3.6",
-  "compiler": "GNU 13.3.0",
-  "build_type": "RelWithDebInfo",
-  "args": "--model models/robot_v2.xml --command explore --seconds 8 --out runs/explore_v2",
-  "loop_time_us": 1042,
-  "timestep": 0.000521,
-  "steps_per_tick": 2,
-  "requested_ticks": 7677,
-  "ticks": 7677,
-  "sim_time": 7.99943,
-  "final_z": 0.000974307,
-  "pool_columns": 29,
-  "telemetry_resyncs": 0,
-  "warnings_total": 0,
-  "interactive": false
-}
diff --git a/baseline/v2/idle/data.csv.gz b/baseline/v2/idle/data.csv.gz
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diff --git a/baseline/v2/idle/meta.json b/baseline/v2/idle/meta.json
deleted file mode 100644
index ad91965..0000000
--- a/baseline/v2/idle/meta.json
+++ /dev/null
@@ -1,21 +0,0 @@
-{
-  "firmware_sha": "ad342541267bb3c8db263630f27fc7edafba5b09",
-  "model_path": "models/robot_v2.xml",
-  "model_sha256": "3ef384dfab2130e13e686db3a8030e250a780b8dca03ac6dc451a4836baa4786",
-  "maze_path": "",
-  "mujoco_version": "3.3.6",
-  "compiler": "GNU 13.3.0",
-  "build_type": "RelWithDebInfo",
-  "args": "--model models/robot_v2.xml --seconds 4 --out runs/idle",
-  "loop_time_us": 1042,
-  "timestep": 0.000521,
-  "steps_per_tick": 2,
-  "requested_ticks": 3838,
-  "ticks": 3838,
-  "sim_time": 3.9992,
-  "final_z": 0.000806901,
-  "pool_columns": 29,
-  "telemetry_resyncs": 0,
-  "warnings_total": 0,
-  "interactive": false
-}
diff --git a/include/micras/sim/bridge/monitor_bridge.hpp b/bridge/include/micras/sim/bridge/monitor_bridge.hpp
similarity index 55%
rename from include/micras/sim/bridge/monitor_bridge.hpp
rename to bridge/include/micras/sim/bridge/monitor_bridge.hpp
index ca9929a..603bf39 100644
--- a/include/micras/sim/bridge/monitor_bridge.hpp
+++ b/bridge/include/micras/sim/bridge/monitor_bridge.hpp
@@ -8,37 +8,41 @@
 #define MICRAS_SIM_BRIDGE_MONITOR_BRIDGE_HPP
 
 #include <cstdint>
-#include <memory>
+#include <functional>
 #include <mutex>
+#include <span>
 #include <string>
 #include <vector>
 
 #include "micras/sim/bridge/web_socket_server.hpp"
 #include "micras/sim/core/serial_bus.hpp"
 #include "micras/sim/core/simulation.hpp"
-#include "micras/sim/telemetry/packet_framer.hpp"
 
 namespace micras::sim {
 /**
- * @brief Carries the firmware's bytes to a monitor and its packets back.
+ * @brief Carries the firmware's bytes to a monitor and the monitor's bytes back.
  *
- * @note The monitor talks the same packet protocol the real radio does, so it
- *       connects to the simulation without being told it is one. Everything it
- *       sends is framed and queued on the bus, which hands the firmware one
- *       packet per tick, so a burst from the monitor cannot change how many
- *       packets a tick delivers and the run stays as reproducible as the
- *       monitor's own input allows.
+ * @note Bytes only: the bridge frames nothing. What a monitor sends is collected
+ *       on a server thread and handed over on the simulation thread, before the
+ *       tick, to the robot target's inbound handler, which decides how the bytes
+ *       reach the firmware. The firmware's output leaves as one frame per tick.
  */
 class MonitorBridge : public ISerialListener, public IRunListener {
 public:
+    /**
+     * @brief Receives what the monitors sent since the last tick, on the simulation thread.
+     */
+    using Inbound = std::function<void(std::span<const uint8_t>)>;
+
     /**
      * @brief Open the bridge on a port.
      *
      * @param serial Bus the firmware reads from and writes to.
+     * @param inbound Hands the monitors' bytes to the firmware.
      * @param port TCP port to listen on.
      * @param error Filled with a human readable reason when the port cannot be taken.
      */
-    MonitorBridge(SerialBus& serial, int port, std::string& error);
+    MonitorBridge(SerialBus& serial, Inbound inbound, int port, std::string& error);
 
     MonitorBridge(const MonitorBridge&) = delete;
     MonitorBridge(MonitorBridge&&) = delete;
@@ -46,7 +50,7 @@ class MonitorBridge : public ISerialListener, public IRunListener {
     MonitorBridge& operator=(MonitorBridge&&) = delete;
 
     /**
-     * @brief Stop the server and leave the bus.
+     * @brief Leave the bus; the server stops as the last member goes.
      */
     ~MonitorBridge() override;
 
@@ -58,11 +62,21 @@ class MonitorBridge : public ISerialListener, public IRunListener {
     bool is_open() const { return this->open; }
 
     /**
-     * @brief Get how many monitors are connected.
+     * @brief Check whether a monitor sent anything the firmware was handed.
      *
-     * @return Number of clients.
+     * @note A run that received bytes from outside is no longer reproducible from
+     *       its arguments alone, so the application marks it interactive.
+     *
+     * @return True once the first bytes from a monitor were handed over.
      */
-    std::size_t client_count() const { return this->server.client_count(); }
+    bool was_interactive() const { return this->received; }
+
+    /**
+     * @brief Get how many frames never reached the monitors.
+     *
+     * @return Frames dropped because the monitors did not keep up.
+     */
+    uint64_t dropped_frames() const { return this->server.dropped_frames(); }
 
     /**
      * @brief Collect the bytes the firmware wrote during the tick.
@@ -72,7 +86,7 @@ class MonitorBridge : public ISerialListener, public IRunListener {
     void on_firmware_bytes(std::span<const uint8_t> bytes) override;
 
     /**
-     * @brief Hand the monitor's packets to the firmware, one tick's worth.
+     * @brief Hand what the monitors sent to the inbound handler.
      *
      * @param simulation Run about to advance.
      * @return Always RunControl::RUN; a monitor never stops a run.
@@ -95,32 +109,42 @@ class MonitorBridge : public ISerialListener, public IRunListener {
     SerialBus& serial;  // NOLINT(*-avoid-const-or-ref-data-members)
 
     /**
-     * @brief The server itself.
+     * @brief Hands the monitors' bytes to the firmware.
      */
-    WebSocketServer server;
+    Inbound inbound;
 
     /**
      * @brief Whether the port was taken.
      */
     bool open{false};
 
+    /**
+     * @brief Whether bytes from a monitor were handed over.
+     */
+    bool received{false};
+
     /**
      * @brief Bytes the firmware wrote during the current tick.
      */
     std::vector<uint8_t> outgoing;
 
     /**
-     * @brief Guards everything the server threads touch.
+     * @brief Guards the incoming bytes, which a server thread appends to.
      */
     mutable std::mutex mutex;
 
     /**
-     * @brief Frames what the monitors send, on the simulation thread.
+     * @brief Bytes the monitors sent since the last tick.
+     */
+    std::vector<uint8_t> incoming;
+
+    /**
+     * @brief The server itself.
      *
-     * @note Guarded, because bytes arrive on a server thread and are framed
-     *       when the simulation drains them.
+     * @note Declared last so it is destroyed first: its threads call back into
+     *       the mutex and the buffer above, which must outlive them.
      */
-    PacketFramer incoming;
+    WebSocketServer server;
 };
 }  // namespace micras::sim
 
diff --git a/include/micras/sim/bridge/web_socket_server.hpp b/bridge/include/micras/sim/bridge/web_socket_server.hpp
similarity index 74%
rename from include/micras/sim/bridge/web_socket_server.hpp
rename to bridge/include/micras/sim/bridge/web_socket_server.hpp
index 1af033d..18c159b 100644
--- a/include/micras/sim/bridge/web_socket_server.hpp
+++ b/bridge/include/micras/sim/bridge/web_socket_server.hpp
@@ -12,7 +12,6 @@
 #include <memory>
 #include <span>
 #include <string>
-#include <vector>
 
 namespace micras::sim {
 /**
@@ -63,18 +62,28 @@ class WebSocketServer {
     void stop();
 
     /**
-     * @brief Send one binary frame to every connected client.
+     * @brief Queue one binary frame for every connected client.
+     *
+     * @note Never blocks on a client. The frame goes into a bounded queue that a
+     *       sender thread drains, because the library writes synchronously and
+     *       waits without a deadline for a client that stopped reading. When the
+     *       queue is full the oldest frame is dropped and counted.
      *
      * @param bytes Frame payload.
      */
     void broadcast(std::span<const uint8_t> bytes);
 
     /**
-     * @brief Get how many clients are connected.
+     * @brief Get how many frames were dropped because the send queue was full.
      *
-     * @return Number of clients.
+     * @return Number of dropped frames, always 0 when every client keeps up.
+     */
+    uint64_t dropped_frames() const;
+
+    /**
+     * @brief Largest number of frames allowed to wait for the sender thread.
      */
-    std::size_t client_count() const;
+    static constexpr std::size_t max_queued_frames{256};
 
 private:
     struct Impl;
diff --git a/src/sim/bridge/monitor_bridge.cpp b/bridge/src/monitor_bridge.cpp
similarity index 71%
rename from src/sim/bridge/monitor_bridge.cpp
rename to bridge/src/monitor_bridge.cpp
index 5345d79..e6056b0 100644
--- a/src/sim/bridge/monitor_bridge.cpp
+++ b/bridge/src/monitor_bridge.cpp
@@ -2,13 +2,16 @@
  * @file
  */
 
+#include <utility>
+
 #include "micras/sim/bridge/monitor_bridge.hpp"
 
 namespace micras::sim {
-MonitorBridge::MonitorBridge(SerialBus& serial, int port, std::string& error) : serial{serial} {
+MonitorBridge::MonitorBridge(SerialBus& serial, Inbound inbound, int port, std::string& error) :
+    serial{serial}, inbound{std::move(inbound)} {
     this->server.set_on_binary([this](std::span<const uint8_t> bytes) {
         const std::lock_guard lock(this->mutex);
-        this->incoming.push(bytes);
+        this->incoming.insert(this->incoming.end(), bytes.begin(), bytes.end());
     });
 
     if (this->server.start(port, error)) {
@@ -18,8 +21,6 @@ MonitorBridge::MonitorBridge(SerialBus& serial, int port, std::string& error) :
 }
 
 MonitorBridge::~MonitorBridge() {
-    this->server.stop();
-
     if (this->open) {
         this->serial.remove_listener(*this);
     }
@@ -30,15 +31,16 @@ void MonitorBridge::on_firmware_bytes(std::span<const uint8_t> bytes) {
 }
 
 RunControl MonitorBridge::on_before_tick(const Simulation& /*simulation*/) {
-    std::vector<std::vector<uint8_t>> packets;
+    std::vector<uint8_t> bytes;
 
     {
         const std::lock_guard lock(this->mutex);
-        packets = this->incoming.drain();
+        bytes.swap(this->incoming);
     }
 
-    for (const auto& packet : packets) {
-        this->serial.queue_for_firmware(packet);
+    if (not bytes.empty()) {
+        this->received = true;
+        this->inbound(bytes);
     }
 
     return RunControl::RUN;
diff --git a/src/sim/bridge/web_socket_server.cpp b/bridge/src/web_socket_server.cpp
similarity index 52%
rename from src/sim/bridge/web_socket_server.cpp
rename to bridge/src/web_socket_server.cpp
index 7ea7d7a..533cb80 100644
--- a/src/sim/bridge/web_socket_server.cpp
+++ b/bridge/src/web_socket_server.cpp
@@ -8,6 +8,11 @@
 
 #ifdef MICRAS_BRIDGE
 
+    #include <condition_variable>
+    #include <deque>
+    #include <mutex>
+    #include <thread>
+
     #include <ixwebsocket/IXWebSocketServer.h>
 
 namespace micras::sim {
@@ -15,10 +20,70 @@ namespace micras::sim {
  * @brief Everything IXWebSocket needs, kept out of the header.
  */
 struct WebSocketServer::Impl {
+    /**
+     * @brief Send every queued frame until asked to stop.
+     *
+     * @note Runs on its own thread, so a client that stops reading blocks this
+     *       thread and never the one that calls broadcast().
+     */
+    void send_loop();
+
     std::unique_ptr<ix::WebSocketServer> server;
     BinaryHandler                        on_binary;
+
+    /**
+     * @brief Guards the queue, the drop counter and the stop flag.
+     */
+    std::mutex mutex;
+
+    /**
+     * @brief Signals a queued frame or a request to stop.
+     */
+    std::condition_variable queued;
+
+    /**
+     * @brief Frames waiting for the sender thread, oldest first.
+     */
+    std::deque<std::string> frames;
+
+    /**
+     * @brief Frames dropped because the queue was full.
+     */
+    uint64_t dropped{0};
+
+    /**
+     * @brief Set when the sender thread must leave.
+     */
+    bool stopping{false};
+
+    /**
+     * @brief Drains the queue into the clients.
+     */
+    std::thread sender;
 };
 
+void WebSocketServer::Impl::send_loop() {
+    while (true) {
+        std::string frame;
+
+        {
+            std::unique_lock lock(this->mutex);
+            this->queued.wait(lock, [this] { return this->stopping or not this->frames.empty(); });
+
+            if (this->stopping) {
+                return;
+            }
+
+            frame = std::move(this->frames.front());
+            this->frames.pop_front();
+        }
+
+        for (const auto& client : this->server->getClients()) {
+            client->sendBinary(frame);
+        }
+    }
+}
+
 WebSocketServer::WebSocketServer() : impl{std::make_unique<Impl>()} { }
 
 WebSocketServer::~WebSocketServer() {
@@ -58,6 +123,8 @@ bool WebSocketServer::start(int port, std::string& error) {
     }
 
     this->impl->server->start();
+    this->impl->stopping = false;
+    this->impl->sender = std::thread(&Impl::send_loop, this->impl.get());
     return true;
 }
 
@@ -66,7 +133,15 @@ void WebSocketServer::stop() {
         return;
     }
 
+    {
+        const std::lock_guard lock(this->impl->mutex);
+        this->impl->stopping = true;
+        this->impl->frames.clear();
+    }
+
+    this->impl->queued.notify_all();
     this->impl->server->stop();
+    this->impl->sender.join();
     this->impl->server.reset();
 }
 
@@ -75,16 +150,24 @@ void WebSocketServer::broadcast(std::span<const uint8_t> bytes) {
         return;
     }
 
-    // NOLINTNEXTLINE(*-reinterpret-cast): IXWebSocket takes a std::string as its byte buffer.
-    const std::string frame(reinterpret_cast<const char*>(bytes.data()), bytes.size());
+    {
+        const std::lock_guard lock(this->impl->mutex);
+
+        if (this->impl->frames.size() >= max_queued_frames) {
+            this->impl->frames.pop_front();
+            this->impl->dropped++;
+        }
 
-    for (const auto& client : this->impl->server->getClients()) {
-        client->sendBinary(frame);
+        // NOLINTNEXTLINE(*-reinterpret-cast): IXWebSocket takes a std::string as its byte buffer.
+        this->impl->frames.emplace_back(reinterpret_cast<const char*>(bytes.data()), bytes.size());
     }
+
+    this->impl->queued.notify_one();
 }
 
-std::size_t WebSocketServer::client_count() const {
-    return this->impl->server == nullptr ? 0 : this->impl->server->getClients().size();
+uint64_t WebSocketServer::dropped_frames() const {
+    const std::lock_guard lock(this->impl->mutex);
+    return this->impl->dropped;
 }
 }  // namespace micras::sim
 
@@ -111,7 +194,7 @@ void WebSocketServer::stop() { }
 
 void WebSocketServer::broadcast(std::span<const uint8_t> /*bytes*/) { }
 
-std::size_t WebSocketServer::client_count() const {
+uint64_t WebSocketServer::dropped_frames() const {
     return 0;
 }
 }  // namespace micras::sim
diff --git a/cmake/firmware.cmake b/cmake/firmware.cmake
deleted file mode 100644
index c31f668..0000000
--- a/cmake/firmware.cmake
+++ /dev/null
@@ -1,47 +0,0 @@
-###############################################################################
-## Firmware shadow: the firmware compiled against the simulation proxies
-###############################################################################
-
-set(MICRAS_FIRMWARE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/MicrasFirmware")
-
-execute_process(
-    COMMAND git -C "${MICRAS_FIRMWARE_DIR}" rev-parse HEAD
-    OUTPUT_VARIABLE MICRAS_FIRMWARE_SHA
-    OUTPUT_STRIP_TRAILING_WHITESPACE
-    ERROR_QUIET
-)
-
-if(NOT MICRAS_FIRMWARE_SHA)
-    set(MICRAS_FIRMWARE_SHA "unknown")
-endif()
-
-# main.cpp is excluded because it pulls in the STM32 HAL; micras_hal and
-# micras_proxy are replaced by include/micras/proxy + src/proxy.
-file(GLOB FIRMWARE_SOURCES CONFIGURE_DEPENDS
-    "${MICRAS_FIRMWARE_DIR}/micras_core/src/*.cpp"
-    "${MICRAS_FIRMWARE_DIR}/micras_nav/src/*.cpp"
-    "${MICRAS_FIRMWARE_DIR}/micras_comm/src/*.cpp"
-)
-list(APPEND FIRMWARE_SOURCES
-    "${MICRAS_FIRMWARE_DIR}/src/micras.cpp"
-    "${MICRAS_FIRMWARE_DIR}/src/interface.cpp"
-)
-
-file(GLOB PROXY_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/src/proxy/*.cpp")
-
-add_library(micras_firmware_shadow STATIC ${FIRMWARE_SOURCES} ${PROXY_SOURCES})
-
-# Order matters: config/ and include/ must shadow the firmware headers.
-target_include_directories(micras_firmware_shadow PUBLIC
-    "${CMAKE_CURRENT_SOURCE_DIR}/config"
-    "${CMAKE_CURRENT_SOURCE_DIR}/include"
-    "${MICRAS_FIRMWARE_DIR}/include"
-    "${MICRAS_FIRMWARE_DIR}/micras_nav/include"
-    "${MICRAS_FIRMWARE_DIR}/micras_comm/include"
-    "${MICRAS_FIRMWARE_DIR}/micras_core/include"
-)
-
-target_link_libraries(micras_firmware_shadow PUBLIC micras_sim_core)
-
-# -Wall/-Wextra only on our own code; the firmware is pinned and out of scope.
-set_source_files_properties(${PROXY_SOURCES} PROPERTIES COMPILE_OPTIONS "-Wall;-Wextra")
diff --git a/cmake/hardware_tests.cmake b/cmake/hardware_tests.cmake
deleted file mode 100644
index 1149d8d..0000000
--- a/cmake/hardware_tests.cmake
+++ /dev/null
@@ -1,38 +0,0 @@
-###############################################################################
-## One executable per firmware hardware test
-###############################################################################
-
-# The tests are compiled unchanged: their main is renamed so the harness can
-# supply its own and run theirs inside the firmware thread.
-function(micras_add_hardware_test NAME SOURCE)
-    set(TARGET "micras_${NAME}")
-
-    add_executable(${TARGET}
-        "${MICRAS_FIRMWARE_DIR}/${SOURCE}"
-        "${CMAKE_SOURCE_DIR}/src/sim/app/hardware_test_main.cpp"
-    )
-
-    set_source_files_properties("${MICRAS_FIRMWARE_DIR}/${SOURCE}"
-        PROPERTIES COMPILE_DEFINITIONS "main=micras_test_main"
-    )
-
-    target_include_directories(${TARGET} PRIVATE "${CMAKE_SOURCE_DIR}/tests/include")
-    target_link_libraries(${TARGET} PRIVATE micras_sim_app)
-
-    set_target_properties(${TARGET} PROPERTIES
-        OUTPUT_NAME ${NAME}
-        RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/hardware_tests"
-        BUILD_RPATH "${MUJOCO_DIR}/lib"
-        INSTALL_RPATH "${MUJOCO_DIR}/lib"
-    )
-endfunction()
-
-function(micras_add_hardware_tests)
-    foreach(SOURCE ${ARGN})
-        get_filename_component(NAME "${SOURCE}" NAME_WLE)
-        micras_add_hardware_test("${NAME}" "${SOURCE}")
-        list(APPEND TARGETS "micras_${NAME}")
-    endforeach()
-
-    add_custom_target(hardware_tests DEPENDS ${TARGETS})
-endfunction()
diff --git a/cmake/lint.cmake b/cmake/lint.cmake
index 020eabd..467bd52 100644
--- a/cmake/lint.cmake
+++ b/cmake/lint.cmake
@@ -2,8 +2,10 @@
 ## Format and lint targets (clang-format / clang-tidy from the firmware configs)
 ###############################################################################
 
-find_program(CLANG_FORMAT clang-format)
-find_program(CLANG_TIDY clang-tidy)
+# Pinned to one major version, like the firmware's container: clang-format 19 and later
+# lay designated initializers out differently, so a newer one would reformat every file.
+find_program(CLANG_FORMAT NAMES clang-format-18 clang-format)
+find_program(CLANG_TIDY NAMES clang-tidy-18 clang-tidy)
 
 function(micras_add_lint_targets)
     set(SOURCES ${ARGN})
@@ -30,9 +32,12 @@ function(micras_add_lint_targets)
     list(FILTER SOURCES INCLUDE REGEX "\\.cpp$")
 
     # Anchored so the pinned firmware submodule headers are never linted.
+    # The firmware computes the shape of every turn in a constant expression, which takes more
+    # evaluation steps than clang allows by default; the step limit is the firmware's own lint's.
     add_custom_target(lint
         COMMAND "${CLANG_TIDY}" --quiet --warnings-as-errors=*
-                "--header-filter=^${CMAKE_SOURCE_DIR}/(include|config|tests)/"
+                "--header-filter=^${CMAKE_SOURCE_DIR}/(engine|view|bridge|app|tests|targets/[a-z_]+/(include|config|tests))/"
+                --extra-arg=-fconstexpr-steps=1000000000
                 -p "${CMAKE_BINARY_DIR}" ${SOURCES}
         WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
         COMMENT "Linting harness sources"
diff --git a/cmake/mujoco.cmake b/cmake/mujoco.cmake
index cb8bd27..396f8eb 100644
--- a/cmake/mujoco.cmake
+++ b/cmake/mujoco.cmake
@@ -1,14 +1,44 @@
 ###############################################################################
-## MuJoCo (tarball install, no CMake config shipped)
+## MuJoCo: the pinned release, downloaded unless MUJOCO_DIR names an install
 ###############################################################################
 
-set(MUJOCO_DIR "$ENV{HOME}/.mujoco/mujoco-3.3.6" CACHE PATH "Root of the MuJoCo installation")
+set(MUJOCO_VERSION "3.14.0")
+set(MUJOCO_SHA256 "326f0da78a7767cc18fab7205c993a771b5f19eda913648f958ee3f625240944")
 
-find_file(MUJOCO_HEADER mujoco/mujoco.h PATHS "${MUJOCO_DIR}/include" NO_DEFAULT_PATH REQUIRED)
-find_library(MUJOCO_LIBRARY mujoco PATHS "${MUJOCO_DIR}/lib" NO_DEFAULT_PATH REQUIRED)
+set(MUJOCO_DIR "$ENV{MUJOCO_DIR}" CACHE PATH "Root of a MuJoCo installation; empty downloads the pinned release")
+
+if(MUJOCO_DIR STREQUAL "")
+    include(FetchContent)
+
+    if(NOT CMAKE_SYSTEM_NAME STREQUAL "Linux" OR NOT CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "x86_64|AMD64")
+        message(FATAL_ERROR "no pinned MuJoCo release for this platform; set MUJOCO_DIR to an installation")
+    endif()
+
+    FetchContent_Declare(mujoco
+        URL "https://github.com/google-deepmind/mujoco/releases/download/${MUJOCO_VERSION}/mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz"
+        URL_HASH "SHA256=${MUJOCO_SHA256}"
+        DOWNLOAD_EXTRACT_TIMESTAMP TRUE
+    )
+    FetchContent_MakeAvailable(mujoco)
+    set(MUJOCO_ROOT "${mujoco_SOURCE_DIR}")
+else()
+    set(MUJOCO_ROOT "${MUJOCO_DIR}")
+endif()
+
+# Found afresh on every configure, so a new pin or MUJOCO_DIR never keeps the old library.
+unset(MUJOCO_HEADER CACHE)
+unset(MUJOCO_LIBRARY CACHE)
+find_file(MUJOCO_HEADER mujoco/mujoco.h PATHS "${MUJOCO_ROOT}/include" NO_DEFAULT_PATH NO_CACHE REQUIRED)
+find_library(MUJOCO_LIBRARY mujoco PATHS "${MUJOCO_ROOT}/lib" NO_DEFAULT_PATH NO_CACHE REQUIRED)
+
+# The release's include directory also carries the ImGui and ImPlot of its own tools,
+# newer than the ones the viewer builds with, so only its mujoco/ headers are exposed.
+set(MUJOCO_INCLUDE "${CMAKE_BINARY_DIR}/mujoco_include")
+file(MAKE_DIRECTORY "${MUJOCO_INCLUDE}")
+file(CREATE_LINK "${MUJOCO_ROOT}/include/mujoco" "${MUJOCO_INCLUDE}/mujoco" SYMBOLIC)
 
 add_library(mujoco::mujoco SHARED IMPORTED)
 set_target_properties(mujoco::mujoco PROPERTIES
     IMPORTED_LOCATION "${MUJOCO_LIBRARY}"
-    INTERFACE_INCLUDE_DIRECTORIES "${MUJOCO_DIR}/include"
+    INTERFACE_INCLUDE_DIRECTORIES "${MUJOCO_INCLUDE}"
 )
diff --git a/cmake/third_party.cmake b/cmake/third_party.cmake
index 478dd9a..d6778a6 100644
--- a/cmake/third_party.cmake
+++ b/cmake/third_party.cmake
@@ -12,6 +12,24 @@ FetchContent_Declare(picosha2
 )
 FetchContent_MakeAvailable(picosha2)
 
+# Robot descriptions and scenarios are TOML (SPEC_2_DECISIONS.md, D7 and D13).
+FetchContent_Declare(tomlplusplus
+    GIT_REPOSITORY https://github.com/marzer/tomlplusplus.git
+    GIT_TAG        v3.4.0
+)
+FetchContent_MakeAvailable(tomlplusplus)
+
+# ST's register driver of the LSM6DSV, the tag the firmware fetches. Only its header
+# is used: the IMU proxy's configuration names the driver's enums.
+FetchContent_Declare(lsm6dsv
+    GIT_REPOSITORY https://github.com/STMicroelectronics/lsm6dsv-pid.git
+    GIT_TAG        v5.1.1
+)
+FetchContent_MakeAvailable(lsm6dsv)
+
+add_library(lsm6dsv_headers INTERFACE)
+target_include_directories(lsm6dsv_headers SYSTEM INTERFACE "${lsm6dsv_SOURCE_DIR}")
+
 if(MICRAS_VIEWER)
     # Neither ships a CMakeLists, so both are compiled here from their sources.
     FetchContent_Declare(imgui
diff --git a/config/constants.hpp b/config/constants.hpp
deleted file mode 100644
index 08556eb..0000000
--- a/config/constants.hpp
+++ /dev/null
@@ -1,230 +0,0 @@
-/**
- * @file
- *
- * @brief Navigation constants for the ROS-simulation baseline.
- *
- * @note This is a copy of MicrasFirmware/config/constants.hpp that
- *       INTENTIONALLY diverges from it. The values below reproduce the tuning
- *       the ROS simulation was validated against, not the values flashed on the
- *       real robot, so the two files are expected to differ. Every intentional
- *       divergence is listed here and mirrored in the allowlist of
- *       tools/check_config_drift.py; anything else showing up in that script is
- *       accidental drift and must be fixed rather than allowlisted.
- *
- *       - crash_acceleration: 1e6 instead of 35, which disables crash detection
- *         altogether. The simulated chassis sees impulses the real one never
- *         does and would abort the run on contact with a wall.
- *       - speed_controller linear_pid: kp = 120, ki = 40 instead of kp = 10,
- *         ki = 1; angular_pid: kp = 16, ki = 10 instead of kp = 2, ki = 1.
- *         Same structure as the firmware, rescaled to MuJoCo command units.
- *         The PID response is summed straight onto the feed-forward command,
- *         so kp scales with the feed-forward gain of its own axis: linear
- *         102 / 12.706 = 8.0 times the firmware kp, angular 4.9 / 0.971 = 5.0
- *         times it, rounded to 120 and 16. ki is 10 instead of 1 because a
- *         180 deg pivot only lasts 1.6 s: at ki = 1 the integral had closed
- *         less than half of the 4 percent steady-state angular error by the
- *         end of the turn, and since TurnAction is open loop in time the
- *         missing area came out as a 21 deg heading error per turn. With
- *         ki = 10 the executed turn angle is 98.7 percent of the commanded
- *         one. ki is 40 on the linear axis rather than 10 because
- *         Micras::run calls speed_controller.reset() at every action boundary
- *         and an exploring action is only 45 to 180 mm long, so the integral
- *         gets 0.16 to 0.6 s to close the 5 percent steady-state speed error
- *         before being wiped. That error matters because TurnAction holds a
- *         constant linear speed for a fixed time: at -5.5 percent the exploring
- *         curve displaces 41.7 mm instead of the 45 mm the ActionQueuer
- *         geometry assumes, and MoveAction measures distance travelled rather
- *         than position in the cell, so the missing millimetres never come
- *         back. ki = 40 took the first ERROR of a 120 s explore from 22.3 s to
- *         29.0 s and the maximum odometry error from 131 to 57 mm.
- *         BEWARE: the firmware PID evaluates kp * (error + ki * integral -
- *         kd * derivative), so kp = 0 would make the whole PID output
- *         identically zero. That is what this file used to do.
- *       - action_queuer exploring max_centrifugal_acceleration: 2.0 instead of
- *         2.78, and max_linear_speed 0.3 instead of 0.4. The exploring curve
- *         radius is max_linear_speed^2 / max_centrifugal_acceleration, so the
- *         pair that used to be here (0.3 and 1.0) asked for a 90 mm radius.
- *         The corridor is 180 - 12.6 = 167.4 mm wide and the chassis is 66 mm
- *         wide with a 66 mm front overhang, so a 90 mm curve puts the outer
- *         front corner into the wall: the robot wedged for 8.4 s of a 120 s
- *         explore. 0.3^2 / 2.0 = 45 mm clears it and cuts the wedged time to
- *         1.3 s and the chassis contact fraction from 0.074 to 0.013.
- *       - left/right feed_forward linear_speed: 102 instead of 12.706/13.319.
- *         Calibrated to the MuJoCo motor, whose no-load speed is 1.01 m/s at
- *         ctrl = 100, rather than to the real motor and gearbox.
- *       - follow_wall pid saturation: 4.0 instead of 0.5, and kd 0.05 instead of
- *         0.0. FollowWall returns state.velocity.linear * pid(error), where the
- *         error is the left minus right rangefinder reading; around the centre
- *         of the corridor that error is 5.34 per metre of lateral offset, so
- *         with kp = 30 the proportional term alone reaches the old saturation
- *         of 1.0 at 6.2 mm of offset. Beyond that the lateral loop was pure
- *         bang-bang at +-v rad/s and limit-cycled: the robot crossed the centre
- *         line with the full heading error still on it, entered the next curve
- *         8 deg off and walked into the wall. Raising the saturation to 4.0
- *         keeps the loop proportional out to 25 mm, a full half corridor.
- *         The undamped loop has omega_n = v * sqrt(kp * 5.34) = 3.4 rad/s, a
- *         1.9 s period, i.e. half a metre of travel per swing; kd adds
- *         zeta = v * sqrt(kp * 5.34) * kd / 2, so 0.05 is the largest value
- *         that damps it without letting the derivative kick on the step the
- *         reading takes when a wall ends. Measured over a 120 s explore:
- *         lateral rms 25.0 -> 8.7 mm, chassis contact 0.0027 -> 0.0049, first
- *         ERROR 29.0 -> 98.2 s and the goal reached at 38.8 s instead of never.
- *       - follow_wall pid kp: 30 instead of 0.5, and post_threshold 400 instead
- *         of 16.5, because the simulated rangefinders return metres over a very
- *         different scale than the real ADC readings.
- *       - odometry linear_cutoff_frequency: 15.27 instead of 7.64, since the
- *         simulated encoders carry no noise to filter out. Both numbers are
- *         1.527 times the pre-2026-09 ones because the ButterworthFilter was
- *         normalising by f_c instead of 2 * pi * f_c and defaulting to a 100 Hz
- *         sampling rate while running at loop_frequency; every cutoff was
- *         restated as the frequency actually in effect, so nothing changed but
- *         the label.
- *       - wall_sensors filter_cutoff: 30.55 instead of 7.64, because the
- *         simulated rangefinders are noise free and the post detection in
- *         FollowWall::check_posts needs the sharpest edge available.
- */
-
-#ifndef MICRAS_CONSTANTS_HPP
-#define MICRAS_CONSTANTS_HPP
-
-#include <cstdint>
-#include <numbers>
-
-#include "micras/nav/action_queuer.hpp"
-#include "micras/nav/follow_wall.hpp"
-#include "micras/nav/maze.hpp"
-#include "micras/nav/odometry.hpp"
-#include "micras/nav/speed_controller.hpp"
-
-namespace micras {
-/***************
- * Constants
- ***************/
-
-constexpr bool     debug_mode{false};
-constexpr uint8_t  maze_width{16};
-constexpr uint8_t  maze_height{16};
-constexpr float    cell_size{0.18};
-constexpr uint32_t loop_time_us{1042};
-constexpr float    loop_frequency{1000000.0F / loop_time_us};
-constexpr float    wall_thickness{0.012F};
-constexpr float    start_offset{0.05F};
-constexpr float    max_angular_acceleration{400.0F};
-constexpr float    crash_acceleration{1000000.0F};
-constexpr float    fan_speed{100.0F};
-
-constexpr core::WallSensorsIndex wall_sensors_index{
-    .left_front = 0,
-    .left = 1,
-    .right = 2,
-    .right_front = 3,
-};
-
-/***************
- * Template Instantiations
- ***************/
-
-namespace nav {
-using Maze = TMaze<maze_width, maze_height>;
-}  // namespace nav
-
-/***************
- * Configurations
- ***************/
-
-const nav::ActionQueuer::Config action_queuer_config{
-    .cell_size = cell_size,
-    .start_offset = start_offset,
-    .curve_safety_margin = 0.053F,
-    .exploring =
-        {
-            .max_linear_speed = 0.3F,
-            .max_linear_acceleration = 5.0F,
-            .max_linear_deceleration = 5.0F,
-            .max_centrifugal_acceleration = 2.0F,
-            .max_angular_acceleration = 200.0F,
-        },
-    .solving =
-        {
-            .max_linear_speed = 5.0F,
-            .max_linear_acceleration = 12.0F,
-            .max_linear_deceleration = 20.0F,
-            .max_centrifugal_acceleration = 40.0F,
-            .max_angular_acceleration = max_angular_acceleration,
-        },
-};
-
-const nav::FollowWall::Config follow_wall_config{
-    .pid =
-        {
-            .kp = 30.0F,
-            .ki = 0.0F,
-            .kd = 0.05F,
-            .setpoint = 0.0F,
-            .saturation = 4.0F,
-            .max_integral = -1.0F,
-        },
-    .wall_sensor_index = wall_sensors_index,
-    .max_angular_acceleration = max_angular_acceleration,
-    .cell_size = cell_size,
-    .post_threshold = 400.0F,
-    .post_reference = 0.44F * cell_size,
-    .post_clearance = 0.035F,
-};
-
-const nav::Maze::Config maze_config{
-    .start = {{0, 0}, nav::Side::UP},
-    .goal = {{
-        {maze_width / 2, maze_height / 2},
-        {(maze_width - 1) / 2, maze_height / 2},
-        {maze_width / 2, (maze_height - 1) / 2},
-        {(maze_width - 1) / 2, (maze_height - 1) / 2},
-    }},
-    .cost_margin = 1.2F,
-    .action_queuer_config = action_queuer_config,
-};
-
-const nav::Odometry::Config odometry_config{
-    .linear_cutoff_frequency = 15.27F,
-    .sampling_frequency = loop_frequency,
-    .wheel_radius = 0.011F,
-    .initial_pose = {{cell_size / 2.0F, start_offset}, std::numbers::pi_v<float> / 2.0F},
-};
-
-const nav::SpeedController::Config speed_controller_config{
-    .linear_pid =
-        {
-            .kp = 120.0F,
-            .ki = 40.0F,
-            .kd = 0.0F,
-            .setpoint = 0.0F,
-            .saturation = 40.0F,
-            .max_integral = -1.0F,
-        },
-    .angular_pid =
-        {
-            .kp = 16.0F,
-            .ki = 10.0F,
-            .kd = 0.0F,
-            .setpoint = 0.0F,
-            .saturation = 40.0F,
-            .max_integral = -1.0F,
-        },
-    .left_feed_forward =
-        {
-            .linear_speed = 102.0F,
-            .linear_acceleration = 0.3F,
-            .angular_speed = -4.9F,
-            .angular_acceleration = -0.1F,
-        },
-    .right_feed_forward =
-        {
-            .linear_speed = 102.0F,
-            .linear_acceleration = 0.3F,
-            .angular_speed = +4.9F,
-            .angular_acceleration = +0.1F,
-        },
-};
-}  // namespace micras
-
-#endif  // MICRAS_CONSTANTS_HPP
diff --git a/config/target.hpp b/config/target.hpp
deleted file mode 100644
index f8aa2fd..0000000
--- a/config/target.hpp
+++ /dev/null
@@ -1,180 +0,0 @@
-/**
- * @file target.hpp
- *
- * @brief Target specific configuration for the MuJoCo harness
- *
- * @note Every name below is resolved against the loaded MuJoCo model when the
- *       proxy is constructed. This is the one file that names
- *       sim::SimulationContext::instance(): every proxy receives the facet it
- *       needs through its Config, so nothing else has to know the context is
- *       process-wide.
- *
- * @date 03/2024
- */
-
-#ifndef MICRAS_TARGET_HPP
-#define MICRAS_TARGET_HPP
-
-#include "constants.hpp"
-#include "micras/proxy/argb.hpp"
-#include "micras/proxy/battery.hpp"
-#include "micras/proxy/bluetooth_serial.hpp"
-#include "micras/proxy/button.hpp"
-#include "micras/proxy/buzzer.hpp"
-#include "micras/proxy/dip_switch.hpp"
-#include "micras/proxy/fan.hpp"
-#include "micras/proxy/imu.hpp"
-#include "micras/proxy/led.hpp"
-#include "micras/proxy/locomotion.hpp"
-#include "micras/proxy/rotary_sensor.hpp"
-#include "micras/proxy/storage.hpp"
-#include "micras/proxy/torque_sensors.hpp"
-#include "micras/proxy/wall_sensors.hpp"
-#include "micras/sim/core/simulation_context.hpp"
-
-// clang-format off
-namespace micras {
-/*****************************************
- * Template Instantiations
- *****************************************/
-
-namespace proxy {
-    using Argb = proxy::TArgb<2>;
-    using DipSwitch = TDipSwitch<4>;
-    using TorqueSensors = TTorqueSensors<2>;
-    using WallSensors = TWallSensors<4>;
-}  // namespace proxy
-
-const proxy::Stopwatch::Config stopwatch_config {
-    .context = &sim::SimulationContext::instance()
-};
-
-const proxy::Storage::Config maze_storage_config {
-    .start_page = 2,
-    .number_of_pages = 1
-};
-
-/*****************************************
- * Interface
- *****************************************/
-
-const proxy::Led::Config led_config {
-    .name = "led",
-    .context = &sim::SimulationContext::instance()
-};
-
-const proxy::Argb::Config argb_config {
-    .names = {
-        "rgb_0",
-        "rgb_1"
-    },
-    .context = &sim::SimulationContext::instance()
-};
-
-const proxy::Button::Config button_config {
-    .name = "button",
-    .long_press_delay = 500U,
-    .extra_long_press_delay = 2000U,
-    .context = &sim::SimulationContext::instance()
-};
-
-const proxy::DipSwitch::Config dip_switch_config {
-    .names = {
-        "dip_switch_0",
-        "dip_switch_1",
-        "dip_switch_2",
-        "dip_switch_3"
-    },
-    .context = &sim::SimulationContext::instance()
-};
-
-const proxy::Buzzer::Config buzzer_config {
-    .name = "buzzer",
-    .context = &sim::SimulationContext::instance()
-};
-
-const proxy::BluetoothSerial::Config bluetooth_config {
-    .context = &sim::SimulationContext::instance()
-};
-
-/*****************************************
- * Sensors
- *****************************************/
-
-const proxy::RotarySensor::Config rotary_sensor_left_config {
-    .sensor = "encoder_left",
-    .wheel = 0,
-    .context = &sim::SimulationContext::instance()
-};
-
-const proxy::RotarySensor::Config rotary_sensor_right_config {
-    .sensor = "encoder_right",
-    .wheel = 1,
-    .context = &sim::SimulationContext::instance()
-};
-
-const proxy::TorqueSensors::Config torque_sensors_config {
-    .shunt_resistor = 0.04F * 20,
-    .max_torque = 3.0F,
-    .reference_voltage = 3.3F
-};
-
-const proxy::WallSensors::Config wall_sensors_config {
-    .sensors = {
-        "lidar_0",
-        "lidar_1",
-        "lidar_2",
-        "lidar_3"
-    },
-    .uncertainty = 0.5F,
-    .base_readings = {
-        0.0696F,
-        0.1090F,
-        0.1090F,
-        0.0696F,
-    },
-    .max_sensor_reading = 0.6F,
-    .min_sensor_reading = 0.01F,
-    .max_sensor_distance = 0.18F * 2,
-    .filter_cutoff = 30.55F,
-    .sampling_frequency = loop_frequency,
-    .context = &sim::SimulationContext::instance()
-};
-
-const proxy::Imu::Config imu_config {
-    .gyro_sensor = "gyro",
-    .accelerometer_sensor = "accelerometer",
-    .context = &sim::SimulationContext::instance()
-};
-
-const proxy::Battery::Config battery_config {
-    .max_voltage = 9.9F,
-    .max_reading = 4095
-};
-
-/*****************************************
- * Actuators
- *****************************************/
-
-const proxy::Fan::Config fan_config {
-    .actuator = "fan",
-    .max_acceleration = 0.02F,
-    .context = &sim::SimulationContext::instance()
-};
-
-const proxy::Locomotion::Config locomotion_config {
-    .left_motor = {
-        .actuator = "motor_left",
-        .context = &sim::SimulationContext::instance()
-    },
-    .right_motor = {
-        .actuator = "motor_right",
-        .context = &sim::SimulationContext::instance()
-    },
-    .context = &sim::SimulationContext::instance()
-};
-}  // namespace micras
-
-// clang-format on
-
-#endif  // MICRAS_TARGET_HPP
diff --git a/engine/arenas/maze/mazes/alljapan-033-2012-exp-fin.txt b/engine/arenas/maze/mazes/alljapan-033-2012-exp-fin.txt
new file mode 100644
index 0000000..6b41392
--- /dev/null
+++ b/engine/arenas/maze/mazes/alljapan-033-2012-exp-fin.txt
@@ -0,0 +1,33 @@
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
+|       |                                       |       |       |
+o   o   o   o---o---o---o   o---o---o---o---o   o   o   o   o   o
+|   |   |   |       |       |                   |   |   |   |   |
+o   o   o   o   o   o   o---o   o---o---o---o---o   o   o   o   o
+|   |       |   |           |                   |   |       |   |
+o   o---o---o   o   o---o---o---o---o---o---o   o   o---o---o   o
+|               |   |                           |           |   |
+o   o---o---o---o   o   o---o---o---o---o---o   o---o---o   o   o
+|   |               |   |               |       |           |   |
+o   o   o---o   o---o   o   o   o---o   o   o---o   o---o   o   o
+|       |       |   |   |   |       |   |       |   |       |   |
+o   o---o   o---o   o   o   o   o   o   o---o   o   o   o---o   o
+|   |               |   |       |   |   |       |           |   |
+o   o   o---o---o   o   o   o   o---o   o   o---o   o---o   o   o
+|       |           |   |   | G   G |   |   |               |   |
+o   o---o   o---o   o   o   o   o   o   o   o   o---o   o---o   o
+|               |   |   |   | G   G |   |       |           |   |
+o   o   o---o   o   o   o   o   o---o   o   o---o   o---o---o   o
+|   |       |       |   |   |       |       |           |       |
+o   o---o   o---o   o   o   o   o   o---o---o   o---o---o   o   o
+|                   |       |   |   |           |           |   |
+o---o---o---o---o   o   o   o   o   o   o---o   o---o   o   o   o
+|                   |   |   |       |           |       |   |   |
+o   o---o---o---o   o   o   o   o   o   o---o---o   o---o   o   o
+|           |       |           |       |       |   |       |   |
+o---o---o   o---o   o---o---o   o---o   o   o   o   o   o---o   o
+|       |       |           |           |   |   |   |           |
+o   o   o   o   o   o---o   o---o---o---o   o   o   o   o---o---o
+|   |   |   |   |   |                       |       |           |
+o   o   o   o   o   o---o---o---o---o---o---o---o---o---o---o   o
+| S |       |                                                   |
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
diff --git a/engine/arenas/maze/mazes/apec2016.txt b/engine/arenas/maze/mazes/apec2016.txt
new file mode 100644
index 0000000..0b171b8
--- /dev/null
+++ b/engine/arenas/maze/mazes/apec2016.txt
@@ -0,0 +1,33 @@
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
+|                                                               |
+o   o---o---o---o---o---o---o---o---o---o---o---o---o---o---o   o
+|   |                                                           |
+o   o   o---o---o---o---o---o---o---o---o---o---o---o---o---o   o
+|   |   |               |       |       |                   |   |
+o   o   o   o---o   o---o   o   o   o   o   o---o---o---o   o   o
+|   |   |   |   |           |   |   |   |   |       |       |   |
+o   o   o   o   o---o---o---o   o   o   o   o---o   o   o---o   o
+|   |   |   |                   |   |   |   |           |       |
+o   o   o   o   o---o---o---o   o   o   o   o---o   o---o   o   o
+|   |   |   |   |       |   |   |   |       |       |   |   |   |
+o   o   o   o   o   o   o   o---o   o---o---o   o---o   o   o   o
+|   |   |   |       |   |           |               |       |   |
+o   o   o   o---o---o   o   o---o---o---o   o---o---o   o   o   o
+|   |   |   |           |   | G   G |           |   |   |   |   |
+o   o   o   o   o   o---o   o   o   o   o---o---o   o   o   o   o
+|   |   |   |   |   |       | G   G             |       |   |   |
+o   o   o   o   o---o   o   o---o---o---o---o   o   o   o   o   o
+|   |   |   |   |       |   |               |   |   |   |   |   |
+o   o   o   o   o   o---o---o---o---o   o   o   o   o---o---o   o
+|   |   |   |   |       |               |   |   |           |   |
+o   o   o   o   o   o   o   o---o   o---o   o   o---o---o   o   o
+|   |   |   |       |   |               |   |           |   |   |
+o   o   o   o---o---o   o---o   o---o   o   o---o---o   o   o   o
+|   |       |           |               |   |       |   |   |   |
+o   o---o   o   o---o---o   o---o   o---o   o   o   o   o   o   o
+|       |   |                           |       |       |   |   |
+o   o   o   o---o---o---o---o---o---o---o---o---o---o---o   o   o
+|   |   |                                                   |   |
+o   o   o---o---o---o---o---o---o---o---o---o---o---o---o---o   o
+| S |                                                           |
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
diff --git a/engine/arenas/maze/mazes/apec2017.txt b/engine/arenas/maze/mazes/apec2017.txt
new file mode 100644
index 0000000..b03869e
--- /dev/null
+++ b/engine/arenas/maze/mazes/apec2017.txt
@@ -0,0 +1,33 @@
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
+|                                                               |
+o   o---o---o---o---o---o---o---o---o---o---o---o---o---o---o   o
+|   |                                                           |
+o   o   o---o---o---o---o---o---o---o---o---o---o---o---o   o   o
+|   |               |       |               |           |   |   |
+o   o   o---o---o   o   o   o   o---o---o   o   o---o   o   o   o
+|   |   |           |   |       |       |   |       |   |   |   |
+o   o   o   o   o---o   o---o---o   o   o   o---o   o   o   o   o
+|   |   |   |   |       |   |       |   |   |       |   |   |   |
+o   o   o   o---o   o---o   o   o---o   o   o   o---o   o   o   o
+|   |   |   |       |   |           |   |   |       |   |   |   |
+o   o   o   o   o---o   o   o---o   o   o   o---o   o   o   o   o
+|   |   |   |   |   |               |       |       |   |   |   |
+o   o   o   o   o   o   o---o---o---o---o---o---o   o   o   o   o
+|   |   |       |           | G   G |               |   |   |   |
+o   o   o---o---o   o---o   o   o   o   o---o   o   o   o   o   o
+|   |   |                   | G   G |           |   |   |   |   |
+o   o   o   o---o---o---o---o---o   o---o   o   o---o   o   o   o
+|   |   |       |                   |       |   |       |   |   |
+o   o   o---o   o   o---o   o---o---o   o   o---o   o---o   o   o
+|   |   |       |       |   |           |   |       |   |   |   |
+o   o   o   o---o   o   o---o---o   o   o---o   o---o   o   o   o
+|   |   |       |   |   |   |       |   |       |       |   |   |
+o   o   o---o   o   o---o   o   o---o---o   o---o   o   o   o   o
+|   |       |       |       |       |       |       |   |   |   |
+o   o---o   o   o---o   o   o---o   o   o---o   o---o   o   o   o
+|       |   |           |           |           |       |   |   |
+o   o   o   o---o---o---o---o---o---o---o---o---o---o   o   o   o
+|   |   |                                                   |   |
+o   o   o---o---o---o---o---o---o---o---o---o---o---o---o---o   o
+| S |                                                           |
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
diff --git a/engine/arenas/maze/mazes/apec2018.txt b/engine/arenas/maze/mazes/apec2018.txt
new file mode 100644
index 0000000..f38c3ef
--- /dev/null
+++ b/engine/arenas/maze/mazes/apec2018.txt
@@ -0,0 +1,33 @@
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
+|                                                               |
+o   o---o---o---o---o---o---o---o---o---o---o---o---o---o---o   o
+|   |                                                           |
+o   o   o---o---o---o---o---o---o---o---o---o---o---o---o---o   o
+|   |   |                                                       |
+o   o   o   o   o---o---o   o---o---o---o---o---o---o---o---o   o
+|   |   |   |           |               |   |       |           |
+o   o   o   o---o---o   o---o---o---o   o   o   o   o   o   o   o
+|   |   |               |               |   |   |   |   |   |   |
+o   o   o   o---o   o---o   o---o---o---o   o   o   o   o---o   o
+|   |   |   |           |                   |   |   |       |   |
+o   o   o   o   o   o---o---o---o---o---o   o   o   o---o   o   o
+|   |   |   |   |   |   |               |   |   |   |       |   |
+o   o   o   o   o---o   o   o---o---o   o   o   o   o   o---o   o
+|   |   |   |       |   |   | G   G |   |   |   |   |       |   |
+o   o   o   o---o   o   o   o   o   o   o   o   o   o---o   o   o
+|   |   |   |           |     G   G |   |       |       |   |   |
+o   o   o   o   o---o   o   o---o---o   o   o   o---o   o   o   o
+|   |   |   |   |       |               |   |       |       |   |
+o   o   o   o---o   o   o---o---o   o---o---o   o   o---o   o   o
+|   |   |   |       |   |   |       |       |   |       |   |   |
+o   o   o   o   o   o---o   o   o---o   o   o---o---o   o---o   o
+|   |   |   |   |   |   |       |       |   |               |   |
+o   o   o   o   o---o   o   o---o   o---o   o---o---o---o   o   o
+|   |   |   |           |               |   |       |       |   |
+o   o   o   o---o   o---o---o---o---o---o   o   o   o   o   o   o
+|       |   |                                   |       |   |   |
+o   o   o   o---o---o---o---o---o---o---o---o---o---o---o   o   o
+|   |   |                                                   |   |
+o   o   o---o---o---o---o---o---o---o---o---o---o---o---o---o   o
+| S |                                                           |
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
diff --git a/engine/arenas/maze/mazes/apec2019.txt b/engine/arenas/maze/mazes/apec2019.txt
new file mode 100644
index 0000000..02cf47b
--- /dev/null
+++ b/engine/arenas/maze/mazes/apec2019.txt
@@ -0,0 +1,33 @@
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
+|                                                               |
+o   o---o---o---o---o---o---o---o---o---o---o---o---o---o---o   o
+|   |                                                           |
+o   o   o---o---o---o---o---o---o---o---o---o---o---o---o---o   o
+|   |   |   |               |               |               |   |
+o   o   o   o---o   o---o   o---o   o---o   o---o   o---o   o   o
+|   |   |       |       |       |       |       |       |   |   |
+o   o   o   o   o---o   o---o   o---o   o---o   o---o   o   o   o
+|   |   |   |       |       |       |       |           |   |   |
+o   o   o   o---o   o---o   o---o   o---o   o---o---o---o   o   o
+|   |   |       |           |               |               |   |
+o   o   o   o---o---o---o---o---o---o---o---o   o   o---o   o   o
+|   |   |   |       |                           |   |       |   |
+o   o   o   o   o   o   o---o---o---o---o---o---o---o   o---o   o
+|   |   |   |   |   |         G   G |                   |       |
+o   o   o   o   o   o---o---o   o   o   o---o---o---o---o   o   o
+|   |   |   |   |           | G   G |           |           |   |
+o   o   o   o   o---o---o   o---o---o---o---o   o   o---o---o   o
+|   |   |   |       |                   |       |           |   |
+o   o   o   o---o   o   o---o---o---o   o   o---o---o---o   o   o
+|   |   |   |       |   |           |       |               |   |
+o   o   o   o   o---o   o   o---o   o---o---o   o---o---o   o   o
+|   |   |   |           |       |           |           |   |   |
+o   o   o   o---o---o   o---o   o---o---o   o---o---o   o   o   o
+|   |   |   |           |       |           |       |   |   |   |
+o   o   o   o   o---o---o---o   o   o---o---o   o   o   o   o   o
+|       |   |                   |               |       |   |   |
+o   o   o   o---o---o---o---o---o---o---o---o---o---o---o   o   o
+|   |   |                                                   |   |
+o   o   o---o---o---o---o---o---o---o---o---o---o---o---o---o   o
+| S |                                                           |
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
diff --git a/engine/arenas/maze/mazes/japan2013ef.txt b/engine/arenas/maze/mazes/japan2013ef.txt
new file mode 100644
index 0000000..05d8df4
--- /dev/null
+++ b/engine/arenas/maze/mazes/japan2013ef.txt
@@ -0,0 +1,33 @@
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
+|       |                                               |       |
+o   o---o   o---o---o---o---o---o---o---o---o---o   o   o   o   o
+|           |                                   |   |   |   |   |
+o   o---o---o   o   o---o---o---o---o---o---o   o---o   o   o   o
+|       |       |   |                   |           |       |   |
+o   o---o   o---o   o   o---o   o---o   o---o---o   o---o---o   o
+|   |               |   |           |   |       |           |   |
+o   o---o   o---o---o   o---o   o---o   o   o   o   o---o   o   o
+|   |           |       |           |       |   |   |       |   |
+o   o---o   o---o   o---o---o   o---o---o---o   o   o---o   o   o
+|   |           |       |           |       |   |       |   |   |
+o   o   o---o   o---o   o---o   o---o   o   o   o---o   o   o   o
+|   |               |   |               |   |       |   |   |   |
+o   o   o---o---o   o   o---o   o---o---o   o---o   o   o   o   o
+|   |           |   |       | G   G |       |   |   |   |   |   |
+o   o---o---o   o   o---o   o   o   o   o---o   o   o   o   o   o
+|   |           |   |       | G   G |       |       |   |   |   |
+o   o   o---o---o   o   o---o---o---o---o   o---o   o   o   o   o
+|   |           |           |       |       |       |   |   |   |
+o   o---o---o   o---o---o   o   o   o   o---o   o---o   o   o   o
+|   |           |       |       |       |   |   |       |   |   |
+o   o   o---o---o   o   o---o---o---o---o   o   o---o   o   o   o
+|   |               |   |               |       |       |   |   |
+o   o   o---o---o---o   o   o   o---o   o---o   o   o---o   o   o
+|   |       |       |       |           |       |   |   |   |   |
+o   o   o   o   o   o---o---o---o---o   o   o---o   o   o   o   o
+|   |   |       |           |       |           |   |       |   |
+o   o   o---o---o   o   o---o   o   o---o---o   o   o   o---o   o
+|   |   |   |   |   |           |                   |   |       |
+o   o   o   o   o---o---o---o---o---o---o---o---o---o   o---o   o
+| S |                                                           |
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
diff --git a/engine/arenas/maze/mazes/japan2017ef.txt b/engine/arenas/maze/mazes/japan2017ef.txt
new file mode 100644
index 0000000..42b70e0
--- /dev/null
+++ b/engine/arenas/maze/mazes/japan2017ef.txt
@@ -0,0 +1,33 @@
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
+|   |                                                           |
+o   o   o   o---o---o---o---o---o---o---o---o---o---o   o   o---o
+|       |   |               |               |       |   |       |
+o   o---o   o   o---o---o   o   o---o---o   o   o   o---o---o   o
+|           |   |       |       |       |       |           |   |
+o   o---o   o   o   o   o---o---o   o   o---o---o---o---o   o   o
+|           |       |               |               |       |   |
+o   o---o---o---o---o---o---o---o---o---o---o---o   o   o---o   o
+|   |       |       |           |           |       |       |   |
+o   o   o   o   o   o   o   o   o   o   o   o   o---o---o   o   o
+|   |   |       |       |   |       |   |       |           |   |
+o   o   o---o---o---o---o---o---o---o---o---o---o---o   o---o   o
+|   |       |           |               |       |           |   |
+o   o---o   o   o   o---o   o   o---o   o   o   o---o   o---o   o
+|   |       |   |       |   | G   G |       |               |   |
+o   o   o---o   o---o   o   o   o   o---o---o---o---o   o---o   o
+|   |   |       |       |   | G   G |   |                   |   |
+o   o   o   o---o   o---o   o---o---o   o   o   o---o---o---o   o
+|   |       |           |                   |               |   |
+o   o---o---o   o---o---o---o---o---o---o---o---o---o---o   o   o
+|   |           |       |   |       |   |           |       |   |
+o   o   o---o---o   o   o   o   o   o   o   o   o---o   o---o   o
+|   |       |       |           |           |   |   |       |   |
+o   o---o   o   o---o---o   o---o---o   o---o   o   o---o   o   o
+|   |       |       |   |   |       |   |       |           |   |
+o   o   o---o---o   o   o---o   o   o---o   o---o   o---o---o   o
+|   |   |           |           |           |   |   |           |
+o   o   o   o---o---o   o---o---o---o---o---o   o   o   o   o   o
+|       |   |   |   |                               |   |   |   |
+o   o---o   o   o   o---o---o---o---o---o---o---o---o---o---o   o
+| S |                                                           |
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
diff --git a/models/maze.txt b/engine/arenas/maze/mazes/maze1.txt
similarity index 100%
rename from models/maze.txt
rename to engine/arenas/maze/mazes/maze1.txt
diff --git a/models/maze2.txt b/engine/arenas/maze/mazes/maze2.txt
similarity index 100%
rename from models/maze2.txt
rename to engine/arenas/maze/mazes/maze2.txt
diff --git a/engine/arenas/maze/mazes/uk2016f.txt b/engine/arenas/maze/mazes/uk2016f.txt
new file mode 100644
index 0000000..e1123b0
--- /dev/null
+++ b/engine/arenas/maze/mazes/uk2016f.txt
@@ -0,0 +1,33 @@
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
+|                                                               |
+o   o---o---o---o---o---o   o---o---o---o   o---o---o---o---o   o
+|       |                                   |                   |
+o---o   o   o   o---o---o---o---o---o   o---o   o---o   o   o   o
+|       |   |                                   |       |   |   |
+o   o   o   o---o   o---o---o   o---o---o---o   o   o   o   o   o
+|   |   |   |       |                           |   |   |       |
+o   o   o   o   o   o   o---o---o---o---o---o   o   o   o   o   o
+|       |       |       |                   |       |       |   |
+o   o---o---o   o---o   o   o---o---o---o   o---o   o   o   o   o
+|   |       |       |   |                       |   |   |   |   |
+o   o   o   o---o   o   o   o---o   o   o   o   o   o   o   o   o
+|   |   |       |   |   |           |   |   |   |       |   |   |
+o   o   o---o   o   o   o   o---o---o   o   o   o   o---o   o   o
+|   |       |           |   | G   G |   |   |   |   |       |   |
+o   o---o   o---o---o---o   o   o   o   o   o   o   o   o---o   o
+|       |   |               | G   G     |       |   |   |       |
+o   o   o   o   o---o---o   o---o---o---o   o   o   o   o   o---o
+|   |   |   |               |               |   |       |       |
+o   o   o   o---o---o---o---o   o---o---o---o   o   o   o   o   o
+|   |   |                   |                   |   |   |   |   |
+o   o   o   o   o---o---o   o---o---o---o   o   o   o   o   o   o
+|       |   |       |                       |   |   |   |   |   |
+o   o---o   o   o   o   o---o---o   o---o---o   o   o   o   o   o
+|   |       |   |                               |       |   |   |
+o   o   o---o   o   o---o   o---o---o---o---o---o   o   o   o   o
+|   |       |                           |           |   |       |
+o   o---o   o   o---o---o---o---o---o   o   o---o---o---o   o---o
+|       |       |                   |       |                   |
+o   o   o---o---o   o---o---o---o   o---o---o   o---o---o---o   o
+| S |                                                           |
+o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o---o
diff --git a/include/micras/sim/core/clock.hpp b/engine/include/micras/sim/core/clock.hpp
similarity index 83%
rename from include/micras/sim/core/clock.hpp
rename to engine/include/micras/sim/core/clock.hpp
index 95a3a46..45accfb 100644
--- a/include/micras/sim/core/clock.hpp
+++ b/engine/include/micras/sim/core/clock.hpp
@@ -36,11 +36,6 @@ class Clock {
      */
     void advance();
 
-    /**
-     * @brief Rewind to the start of a run.
-     */
-    void reset();
-
     /**
      * @brief Get the current simulated time.
      *
@@ -81,14 +76,6 @@ class Clock {
      */
     static uint64_t total_ticks(double seconds, uint32_t us_per_tick);
 
-    /**
-     * @brief Get how many ticks a duration spans.
-     *
-     * @param seconds Duration in simulated seconds.
-     * @return Number of whole ticks that fit in the duration.
-     */
-    uint64_t total_ticks(double seconds) const;
-
     /**
      * @brief Get the tick an instant falls on.
      *
@@ -97,14 +84,6 @@ class Clock {
      */
     uint64_t tick_at(double seconds) const;
 
-    /**
-     * @brief Get how many ticks Stopwatch::elapsed_time_ms needs to report a millisecond count.
-     *
-     * @param target_ms Millisecond value the firmware must read.
-     * @return Tick count reproducing exactly that reading.
-     */
-    uint64_t ticks_for_elapsed_ms(uint32_t target_ms) const;
-
 private:
     /**
      * @brief Simulated microseconds elapsed since the start of the run.
diff --git a/include/micras/sim/core/firmware_thread.hpp b/engine/include/micras/sim/core/firmware_thread.hpp
similarity index 100%
rename from include/micras/sim/core/firmware_thread.hpp
rename to engine/include/micras/sim/core/firmware_thread.hpp
diff --git a/include/micras/sim/core/mujoco_world.hpp b/engine/include/micras/sim/core/mujoco_world.hpp
similarity index 74%
rename from include/micras/sim/core/mujoco_world.hpp
rename to engine/include/micras/sim/core/mujoco_world.hpp
index 3c49984..212d6d0 100644
--- a/include/micras/sim/core/mujoco_world.hpp
+++ b/engine/include/micras/sim/core/mujoco_world.hpp
@@ -9,6 +9,7 @@
 
 #include <filesystem>
 #include <string>
+#include <string_view>
 
 #include <mujoco/mujoco.h>
 
@@ -45,11 +46,39 @@ class MujocoWorld {
     void load(const std::filesystem::path& model_path);
 
     /**
-     * @brief Check whether a model is loaded.
+     * @brief Where a robot is placed in its arena.
+     */
+    struct Placement {
+        double x{0.0};
+        double y{0.0};
+        double yaw{0.0};
+    };
+
+    /**
+     * @brief Compose a robot and an arena into one model and allocate its data.
      *
-     * @return True once load() succeeded.
+     * @note The robot's model is the root, so its simulation options hold; the
+     *       arena's body is attached to the world with the prefix "<body>_", and
+     *       the robot's root body is moved to the placement. The composed MJCF is
+     *       kept, so a run can save exactly what it simulated.
+     *
+     * @param robot_xml MJCF of the robot, standing at the origin.
+     * @param robot_body Name of the robot's root body.
+     * @param arena_xml MJCF of the arena, holding its geoms in one body.
+     * @param arena_body Name of that body.
+     * @param placement Where the robot starts.
      */
-    bool is_loaded() const { return this->model_handle != nullptr; }
+    void build(
+        const std::string& robot_xml, std::string_view robot_body, const std::string& arena_xml,
+        std::string_view arena_body, const Placement& placement
+    );
+
+    /**
+     * @brief Get the MJCF of what was built.
+     *
+     * @return The composed model, empty after load().
+     */
+    const std::string& composed_xml() const { return this->composed; }
 
     /**
      * @brief Reset the simulation to its initial state and make sensordata valid.
@@ -156,6 +185,11 @@ class MujocoWorld {
      * @brief Simulation data of the loaded model.
      */
     mjData* data_handle{nullptr};
+
+    /**
+     * @brief MJCF of the last composed model.
+     */
+    std::string composed;
 };
 }  // namespace micras::sim
 
diff --git a/engine/include/micras/sim/core/noise.hpp b/engine/include/micras/sim/core/noise.hpp
new file mode 100644
index 0000000..efe027d
--- /dev/null
+++ b/engine/include/micras/sim/core/noise.hpp
@@ -0,0 +1,79 @@
+/**
+ * @file
+ *
+ * @brief Seeded, reproducible noise, one independent stream per device.
+ */
+
+#ifndef MICRAS_SIM_CORE_NOISE_HPP
+#define MICRAS_SIM_CORE_NOISE_HPP
+
+#include <cstdint>
+#include <random>
+#include <string_view>
+
+namespace micras::sim {
+/**
+ * @brief The run's noise settings: a seed, and whether noise is on at all.
+ */
+struct NoiseConfig {
+    /**
+     * @brief Seed every stream derives from; recorded in meta.json.
+     */
+    uint64_t seed{1};
+
+    /**
+     * @brief Whether the world is ideal: no noise, no bias, no scale error.
+     */
+    bool ideal{false};
+};
+
+/**
+ * @brief A stream of Gaussian and uniform samples for one device.
+ *
+ * @note The generator is std::mt19937_64, whose sequence the standard fixes, and
+ *       the Gaussian comes from a Box-Muller transform written here, because the
+ *       standard distributions are free to differ between library versions. Each
+ *       stream's seed mixes the run's seed with the stream's name, so adding a
+ *       device never changes the noise another device draws.
+ */
+class Noise {
+public:
+    /**
+     * @brief Open a stream.
+     *
+     * @param config The run's noise settings.
+     * @param stream Name of the stream, usually the device's.
+     */
+    Noise(const NoiseConfig& config, std::string_view stream);
+
+    /**
+     * @brief Draw from a centred Gaussian.
+     *
+     * @param sigma Standard deviation.
+     * @return A sample, or 0 when the world is ideal.
+     */
+    double gaussian(double sigma);
+
+    /**
+     * @brief Check whether this stream draws anything.
+     *
+     * @return False when the world is ideal.
+     */
+    bool enabled() const { return this->on; }
+
+private:
+    /**
+     * @brief Draw from the unit interval, excluding zero.
+     *
+     * @return A sample in (0, 1].
+     */
+    double unit();
+
+    std::mt19937_64 engine;
+    bool            on;
+    bool            has_spare{false};
+    double          spare{0.0};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_CORE_NOISE_HPP
diff --git a/engine/include/micras/sim/core/panel_spec.hpp b/engine/include/micras/sim/core/panel_spec.hpp
new file mode 100644
index 0000000..db28ff5
--- /dev/null
+++ b/engine/include/micras/sim/core/panel_spec.hpp
@@ -0,0 +1,202 @@
+/**
+ * @file
+ *
+ * @brief What a robot target shows on the panel and the video overlay, as data.
+ */
+
+#ifndef MICRAS_SIM_CORE_PANEL_SPEC_HPP
+#define MICRAS_SIM_CORE_PANEL_SPEC_HPP
+
+#include <cstdint>
+#include <functional>
+#include <optional>
+#include <string>
+#include <vector>
+
+namespace micras::sim {
+/**
+ * @brief A colour the panel draws.
+ */
+struct Colour {
+    uint8_t red{0};
+    uint8_t green{0};
+    uint8_t blue{0};
+
+    bool operator==(const Colour&) const = default;
+};
+
+/**
+ * @brief A momentary button: held while the mouse holds it.
+ */
+struct PanelButton {
+    /**
+     * @brief Label.
+     */
+    std::string name;
+
+    /**
+     * @brief Called with true when the button goes down and false when it comes up.
+     */
+    std::function<void(bool pressed)> press;
+};
+
+/**
+ * @brief A switch that stays where it is put.
+ */
+struct PanelSwitch {
+    /**
+     * @brief Label.
+     */
+    std::string name;
+
+    /**
+     * @brief Current position, read every frame.
+     */
+    std::function<bool()> state;
+
+    /**
+     * @brief Called when a human flips it.
+     */
+    std::function<void(bool on)> set;
+};
+
+/**
+ * @brief A light the robot drives.
+ */
+struct PanelLamp {
+    /**
+     * @brief Label.
+     */
+    std::string name;
+
+    /**
+     * @brief Current colour, read every frame.
+     */
+    std::function<Colour()> colour;
+};
+
+/**
+ * @brief A line of text the robot's state produces.
+ */
+struct PanelReadout {
+    /**
+     * @brief Label.
+     */
+    std::string name;
+
+    /**
+     * @brief Current text, read every frame.
+     */
+    std::function<std::string()> text;
+};
+
+/**
+ * @brief A firmware variable holding a state id, shown by name.
+ */
+struct StateLabel {
+    /**
+     * @brief Firmware name of the variable.
+     */
+    std::string variable;
+
+    /**
+     * @brief Name of each state id, starting at zero.
+     */
+    std::vector<std::string> names;
+
+    /**
+     * @brief Name a state id.
+     *
+     * @note The negated comparison is the NaN guard: a variable not reported
+     *       yet reads as NaN, and every comparison with NaN is false.
+     *
+     * @param state State id as read from the variable.
+     * @return Its name, or "?" for NaN and for ids the table does not know.
+     */
+    std::string name_of(double state) const;
+};
+
+/**
+ * @brief Everything a robot target puts on the control panel.
+ *
+ * @note Controls are declared, not drawn: the engine draws every robot the same
+ *       way and owns the details that are easy to get wrong, such as reacting to
+ *       press and release edges rather than to the held state.
+ */
+struct PanelSpec {
+    /**
+     * @brief State shown under the tick, if any.
+     */
+    std::optional<StateLabel> state;
+
+    /**
+     * @brief Momentary buttons, in display order.
+     */
+    std::vector<PanelButton> buttons;
+
+    /**
+     * @brief Switches, in display order.
+     */
+    std::vector<PanelSwitch> switches;
+
+    /**
+     * @brief Lights, in display order.
+     */
+    std::vector<PanelLamp> lamps;
+
+    /**
+     * @brief Text readouts, in display order.
+     */
+    std::vector<PanelReadout> readouts;
+
+    /**
+     * @brief Firmware variables plotted against time, one plot each.
+     */
+    std::vector<std::string> plots;
+
+    /**
+     * @brief Called once, on the first button or switch a human touches.
+     *
+     * @note A scripted run hands the board over at that moment, so the script
+     *       and the human never fight over the same input.
+     */
+    std::function<void()> take_over;
+};
+
+/**
+ * @brief One line of the video overlay: a firmware variable with its unit.
+ */
+struct OverlayLine {
+    /**
+     * @brief Label.
+     */
+    std::string label;
+
+    /**
+     * @brief Firmware name of the variable.
+     */
+    std::string variable;
+
+    /**
+     * @brief Unit printed after the value.
+     */
+    std::string unit;
+};
+
+/**
+ * @brief What the video overlay prints under the simulated time.
+ */
+struct OverlaySpec {
+    /**
+     * @brief State printed by name, if any.
+     */
+    std::optional<StateLabel> state;
+
+    /**
+     * @brief Variables printed with three decimals.
+     */
+    std::vector<OverlayLine> lines;
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_CORE_PANEL_SPEC_HPP
diff --git a/engine/include/micras/sim/core/run_context.hpp b/engine/include/micras/sim/core/run_context.hpp
new file mode 100644
index 0000000..99a314c
--- /dev/null
+++ b/engine/include/micras/sim/core/run_context.hpp
@@ -0,0 +1,55 @@
+/**
+ * @file
+ *
+ * @brief The world, the clock and the byte channel one run advances.
+ */
+
+#ifndef MICRAS_SIM_CORE_RUN_CONTEXT_HPP
+#define MICRAS_SIM_CORE_RUN_CONTEXT_HPP
+
+#include <memory>
+#include <vector>
+
+#include "micras/sim/core/clock.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/noise.hpp"
+#include "micras/sim/core/serial_bus.hpp"
+#include "micras/sim/devices/device.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Plain aggregate of what a run advances, with no logic of its own.
+ *
+ * @note Nothing here is a singleton. A robot target that has to reach the run
+ *       from code it cannot construct, such as firmware globals initialised
+ *       before main, owns one and hands it to the application.
+ */
+struct RunContext {
+    /**
+     * @brief MuJoCo model and data.
+     */
+    MujocoWorld world;
+
+    /**
+     * @brief Simulated time and tick arithmetic.
+     */
+    Clock clock;
+
+    /**
+     * @brief Byte channel to and from the firmware.
+     */
+    SerialBus serial;
+
+    /**
+     * @brief Seed and switch of every device's noise.
+     */
+    NoiseConfig noise;
+
+    /**
+     * @brief The simulated board, in the order the run drives it.
+     */
+    std::vector<std::unique_ptr<Device>> devices;
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_CORE_RUN_CONTEXT_HPP
diff --git a/engine/include/micras/sim/core/serial_bus.hpp b/engine/include/micras/sim/core/serial_bus.hpp
new file mode 100644
index 0000000..0c94702
--- /dev/null
+++ b/engine/include/micras/sim/core/serial_bus.hpp
@@ -0,0 +1,134 @@
+/**
+ * @file
+ *
+ * @brief The byte stream between a firmware's radio link and everything outside.
+ */
+
+#ifndef MICRAS_SIM_CORE_SERIAL_BUS_HPP
+#define MICRAS_SIM_CORE_SERIAL_BUS_HPP
+
+#include <cstddef>
+#include <cstdint>
+#include <deque>
+#include <span>
+#include <vector>
+
+namespace micras::sim {
+/**
+ * @brief Receives every byte the firmware sends.
+ */
+class ISerialListener {
+public:
+    ISerialListener() = default;
+
+    ISerialListener(const ISerialListener&) = delete;
+    ISerialListener(ISerialListener&&) = delete;
+    ISerialListener& operator=(const ISerialListener&) = delete;
+    ISerialListener& operator=(ISerialListener&&) = delete;
+
+    virtual ~ISerialListener() = default;
+
+    /**
+     * @brief Handle bytes the firmware just sent.
+     *
+     * @param bytes Bytes leaving the firmware, in stream order.
+     */
+    virtual void on_firmware_bytes(std::span<const uint8_t> bytes) = 0;
+};
+
+/**
+ * @brief Byte stream between the firmware and everything listening to it.
+ *
+ * @note Bytes only, no framing: the protocol is the firmware's business. The
+ *       link device moves bytes between this bus and the firmware's UART at the
+ *       line's baud rate, so how fast a producer queues them never changes when
+ *       they arrive. Output is fanned out to every listener as it leaves, so no
+ *       listener can consume bytes another one needed.
+ */
+class SerialBus {
+public:
+    /**
+     * @brief Largest number of bytes allowed to wait for the firmware.
+     */
+    static constexpr std::size_t max_pending_bytes{65536};
+
+    /**
+     * @brief Start delivering firmware output to a listener.
+     *
+     * @note Listeners must not be added or removed while bytes are being
+     *       delivered. Adding the same listener twice is ignored.
+     *
+     * @param listener Listener to add; it must outlive the bus or remove itself.
+     */
+    void add_listener(ISerialListener& listener);
+
+    /**
+     * @brief Stop delivering firmware output to a listener.
+     *
+     * @param listener Listener to remove; unknown listeners are ignored.
+     */
+    void remove_listener(const ISerialListener& listener);
+
+    /**
+     * @brief Deliver bytes the firmware just sent to every listener.
+     *
+     * @param bytes Bytes leaving the firmware.
+     */
+    void send_from_firmware(std::span<const uint8_t> bytes);
+
+    /**
+     * @brief Queue bytes for the firmware to receive.
+     *
+     * @note Bytes past the bound are dropped and counted: a producer that
+     *       outruns the line would otherwise add latency without limit.
+     *
+     * @param bytes Bytes to send.
+     */
+    void queue_for_firmware(std::span<const uint8_t> bytes);
+
+    /**
+     * @brief Take the next bytes for the firmware.
+     *
+     * @param count Most bytes to take.
+     * @return The oldest queued bytes, at most count of them.
+     */
+    std::vector<uint8_t> take_for_firmware(std::size_t count);
+
+    /**
+     * @brief Get how many bytes were dropped because the queue was full.
+     *
+     * @return Number of dropped bytes, always 0 on a healthy run.
+     */
+    uint64_t dropped_bytes() const { return this->dropped; }
+
+    /**
+     * @brief Get how many bytes the firmware sent.
+     *
+     * @return Number of bytes.
+     */
+    uint64_t sent_bytes() const { return this->sent; }
+
+private:
+    /**
+     * @brief Listeners receiving firmware output, in registration order.
+     */
+    std::vector<ISerialListener*> listeners;
+
+    /**
+     * @brief Bytes waiting for the firmware.
+     */
+    std::deque<uint8_t> to_firmware;
+
+    /**
+     * @brief Bytes dropped because the queue was full.
+     */
+    uint64_t dropped{0};
+
+    /**
+     * @brief Bytes the firmware sent.
+     */
+    uint64_t sent{0};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_CORE_SERIAL_BUS_HPP
diff --git a/include/micras/sim/core/simulation.hpp b/engine/include/micras/sim/core/simulation.hpp
similarity index 92%
rename from include/micras/sim/core/simulation.hpp
rename to engine/include/micras/sim/core/simulation.hpp
index 2d96094..d7ccee4 100644
--- a/include/micras/sim/core/simulation.hpp
+++ b/engine/include/micras/sim/core/simulation.hpp
@@ -11,7 +11,7 @@
 #include <vector>
 
 #include "micras/sim/core/firmware_thread.hpp"
-#include "micras/sim/core/simulation_context.hpp"
+#include "micras/sim/core/run_context.hpp"
 
 namespace micras::sim {
 /**
@@ -91,7 +91,7 @@ class Simulation {
      * @param context Simulation the run advances.
      * @param firmware Program to run in lockstep with it.
      */
-    Simulation(SimulationContext& context, FirmwareThread& firmware);
+    Simulation(RunContext& context, FirmwareThread& firmware);
 
     /**
      * @brief Add a listener, called in registration order.
@@ -126,7 +126,7 @@ class Simulation {
      *
      * @return The context.
      */
-    const SimulationContext& context() const { return this->simulation; }
+    const RunContext& context() const { return this->simulation; }
 
 private:
     /**
@@ -142,6 +142,9 @@ class Simulation {
 
     /**
      * @brief Advance the physics and the clock by one tick.
+     *
+     * @note The devices act on the world first, from what the firmware wrote
+     *       during the tick, and sample it last, into what it will read.
      */
     void step();
 
@@ -151,7 +154,7 @@ class Simulation {
      * @note Bound for the life of the run; the context and the program both
      *       outlive every simulation that drives them.
      */
-    SimulationContext& simulation;  // NOLINT(*-avoid-const-or-ref-data-members)
+    RunContext& simulation;  // NOLINT(*-avoid-const-or-ref-data-members)
 
     /**
      * @brief Program running in lockstep.
diff --git a/engine/include/micras/sim/core/variable_source.hpp b/engine/include/micras/sim/core/variable_source.hpp
new file mode 100644
index 0000000..8024329
--- /dev/null
+++ b/engine/include/micras/sim/core/variable_source.hpp
@@ -0,0 +1,41 @@
+/**
+ * @file
+ *
+ * @brief Named firmware variables, as whatever decodes them reports them.
+ */
+
+#ifndef MICRAS_SIM_CORE_VARIABLE_SOURCE_HPP
+#define MICRAS_SIM_CORE_VARIABLE_SOURCE_HPP
+
+#include <string>
+
+namespace micras::sim {
+/**
+ * @brief Looks up the current value of a firmware variable by name.
+ *
+ * @note What the panel plots and the video overlay prints. The engine never
+ *       knows how the values are obtained; a robot target implements this over
+ *       its own telemetry.
+ */
+class VariableSource {
+public:
+    VariableSource() = default;
+
+    VariableSource(const VariableSource&) = delete;
+    VariableSource(VariableSource&&) = delete;
+    VariableSource& operator=(const VariableSource&) = delete;
+    VariableSource& operator=(VariableSource&&) = delete;
+
+    virtual ~VariableSource() = default;
+
+    /**
+     * @brief Get the current value of a variable.
+     *
+     * @param name Firmware name of the variable.
+     * @return Its value, or NaN when it is unknown or not reported yet.
+     */
+    virtual double value_of(const std::string& name) const = 0;
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_CORE_VARIABLE_SOURCE_HPP
diff --git a/engine/include/micras/sim/devices/dc_motor.hpp b/engine/include/micras/sim/devices/dc_motor.hpp
new file mode 100644
index 0000000..e4e4f26
--- /dev/null
+++ b/engine/include/micras/sim/devices/dc_motor.hpp
@@ -0,0 +1,112 @@
+/**
+ * @file
+ *
+ * @brief An H-bridge driving a brushed DC motor through a gearbox.
+ */
+
+#ifndef MICRAS_SIM_DEVICES_DC_MOTOR_HPP
+#define MICRAS_SIM_DEVICES_DC_MOTOR_HPP
+
+#include <functional>
+#include <string>
+#include <vector>
+
+#include "micras/sim/devices/device.hpp"
+#include "micras/sim/robot/robot_description.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Turns the bridge's two PWM inputs and its enable into the winding voltage.
+ *
+ * @note The motor itself is the robot model's actuator, whose control is the
+ *       winding voltage (see robot_mjcf()). The bridge applies the duty cycle
+ *       difference times the supply: with slow decay both inputs low short the
+ *       winding, which brakes. A disabled bridge leaves the winding open, so no
+ *       current flows, which this device expresses by applying exactly the
+ *       back-EMF.
+ */
+class DcMotor : public Device {
+public:
+    /**
+     * @brief What the motor is and what drives it.
+     */
+    struct Config {
+        /**
+         * @brief Prefix of the recorded columns.
+         */
+        std::string name;
+
+        /**
+         * @brief Actuator and wheel joint of the robot model.
+         */
+        ///@{
+        std::string actuator;
+        std::string joint;
+        ///@}
+
+        /**
+         * @brief Motor, gearbox and supply.
+         */
+        DriveDescription drive;
+
+        /**
+         * @brief Duty cycles of the bridge's inputs, in percent.
+         */
+        ///@{
+        std::function<float()> forward_duty;
+        std::function<float()> backward_duty;
+        ///@}
+
+        /**
+         * @brief Level of the bridge's enable input.
+         */
+        std::function<bool()> enabled;
+    };
+
+    /**
+     * @brief Find the actuator and the joint in the model.
+     *
+     * @param world Loaded world.
+     * @param config The motor.
+     */
+    DcMotor(const MujocoWorld& world, Config config);
+
+    /**
+     * @brief Apply the winding voltage.
+     *
+     * @param world World about to be advanced.
+     * @param clock Clock of the run.
+     */
+    void actuate(MujocoWorld& world, const Clock& clock) override;
+
+    /**
+     * @brief Get the recorded columns: the winding voltage and current.
+     *
+     * @return Column names.
+     */
+    std::vector<std::string> columns() const override;
+
+    /**
+     * @brief Append the voltage and current applied this tick.
+     *
+     * @param row Row being built.
+     */
+    void append(std::vector<CsvCell>& row) const override;
+
+    /**
+     * @brief Get the winding current of this tick.
+     *
+     * @return Current in amperes, positive driving forward.
+     */
+    double current() const { return this->winding_current; }
+
+private:
+    Config config;
+    int    actuator_id;
+    int    velocity_address;
+    double voltage{0.0};
+    double winding_current{0.0};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_DEVICES_DC_MOTOR_HPP
diff --git a/engine/include/micras/sim/devices/device.hpp b/engine/include/micras/sim/devices/device.hpp
new file mode 100644
index 0000000..e867289
--- /dev/null
+++ b/engine/include/micras/sim/devices/device.hpp
@@ -0,0 +1,70 @@
+/**
+ * @file
+ *
+ * @brief A simulated piece of hardware between the firmware's ports and the physics.
+ */
+
+#ifndef MICRAS_SIM_DEVICES_DEVICE_HPP
+#define MICRAS_SIM_DEVICES_DEVICE_HPP
+
+#include <string>
+#include <vector>
+
+#include "micras/sim/core/clock.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
+
+namespace micras::sim {
+/**
+ * @brief One device of the simulated board: a motor, a sensor, a link.
+ *
+ * @note A device reaches the firmware only through the callables its
+ *       configuration holds, which a robot target's bindings point at the host
+ *       backend's ports; the engine never sees a HAL type. Every tick the run
+ *       calls actuate() on every device, advances the physics, then calls
+ *       sample() on every device, in the order they were added.
+ */
+class Device {
+public:
+    Device() = default;
+
+    Device(const Device&) = delete;
+    Device(Device&&) = delete;
+    Device& operator=(const Device&) = delete;
+    Device& operator=(Device&&) = delete;
+
+    virtual ~Device() = default;
+
+    /**
+     * @brief Turn what the firmware wrote into what the physics feels.
+     *
+     * @param world World about to be advanced.
+     * @param clock Clock, still at the start of the tick.
+     */
+    virtual void actuate(MujocoWorld& world, const Clock& clock);
+
+    /**
+     * @brief Turn the physics into what the firmware will read.
+     *
+     * @param world World that just advanced.
+     * @param clock Clock, already at the end of the tick.
+     */
+    virtual void sample(MujocoWorld& world, const Clock& clock);
+
+    /**
+     * @brief Get the names of the columns this device records.
+     *
+     * @return Column names, possibly none.
+     */
+    virtual std::vector<std::string> columns() const;
+
+    /**
+     * @brief Append this device's cells to the current row.
+     *
+     * @param row Row being built; one cell per column.
+     */
+    virtual void append(std::vector<CsvCell>& row) const;
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_DEVICES_DEVICE_HPP
diff --git a/engine/include/micras/sim/devices/device_columns.hpp b/engine/include/micras/sim/devices/device_columns.hpp
new file mode 100644
index 0000000..f032b60
--- /dev/null
+++ b/engine/include/micras/sim/devices/device_columns.hpp
@@ -0,0 +1,62 @@
+/**
+ * @file
+ *
+ * @brief The columns every device of a run records, in the order they were added.
+ */
+
+#ifndef MICRAS_SIM_DEVICES_DEVICE_COLUMNS_HPP
+#define MICRAS_SIM_DEVICES_DEVICE_COLUMNS_HPP
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "micras/sim/devices/device.hpp"
+#include "micras/sim/recording/column_source.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Records what crossed the boundary between the firmware and the world.
+ */
+class DeviceColumns : public ColumnSource {
+public:
+    /**
+     * @brief Take the run's devices.
+     *
+     * @param devices The devices; they must outlive the recorder.
+     */
+    explicit DeviceColumns(const std::vector<std::unique_ptr<Device>>& devices) : devices{devices} { }
+
+    /**
+     * @brief Get every device's column names.
+     *
+     * @return Column names.
+     */
+    std::vector<std::string> names() override {
+        std::vector<std::string> names;
+
+        for (const auto& device : this->devices) {
+            const std::vector<std::string> columns = device->columns();
+            names.insert(names.end(), columns.begin(), columns.end());
+        }
+
+        return names;
+    }
+
+    /**
+     * @brief Append every device's cells.
+     *
+     * @param row Row being built.
+     */
+    void append(std::vector<CsvCell>& row) override {
+        for (const auto& device : this->devices) {
+            device->append(row);
+        }
+    }
+
+private:
+    const std::vector<std::unique_ptr<Device>>& devices;  // NOLINT(*-avoid-const-or-ref-data-members): the run's.
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_DEVICES_DEVICE_COLUMNS_HPP
diff --git a/engine/include/micras/sim/devices/imu.hpp b/engine/include/micras/sim/devices/imu.hpp
new file mode 100644
index 0000000..46a9435
--- /dev/null
+++ b/engine/include/micras/sim/devices/imu.hpp
@@ -0,0 +1,120 @@
+/**
+ * @file
+ *
+ * @brief A MEMS inertial measurement unit, with its datasheet imperfections.
+ */
+
+#ifndef MICRAS_SIM_DEVICES_IMU_HPP
+#define MICRAS_SIM_DEVICES_IMU_HPP
+
+#include <array>
+#include <functional>
+#include <span>
+#include <string>
+#include <vector>
+
+#include "micras/sim/core/noise.hpp"
+#include "micras/sim/devices/device.hpp"
+#include "micras/sim/robot/robot_description.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Produces the chip's raw gyroscope and accelerometer words.
+ *
+ * @note The truth comes from MuJoCo's gyro and accelerometer sensors on a site
+ *       whose frame is the chip's, so the axes are the chip's. Each output
+ *       sample is that truth low pass filtered at the configured bandwidth,
+ *       scaled by a turn-on scale error, offset by a turn-on bias, with white
+ *       noise at the datasheet density over the filter's noise bandwidth, then
+ *       quantised to the configured resolution and delivered one sample late,
+ *       as the chip's pipeline does. Samples come at the output rate times a
+ *       small seeded clock error, so the firmware sometimes finds no new sample
+ *       and sometimes finds one skipped, as with the real chip's own oscillator.
+ *
+ * @note MuJoCo computes sensors at the start of a step, so the truth lags the
+ *       end of the tick by one physics step.
+ */
+class Imu : public Device {
+public:
+    /**
+     * @brief The chip and where its samples go.
+     */
+    struct Config {
+        /**
+         * @brief Prefix of the recorded columns.
+         */
+        std::string name;
+
+        /**
+         * @brief Gyro and accelerometer sensors of the robot model.
+         */
+        ///@{
+        std::string gyro;
+        std::string accelerometer;
+        ///@}
+
+        /**
+         * @brief Datasheet and configuration values.
+         */
+        ImuDescription description;
+
+        /**
+         * @brief Receives each sample: gyroscope x, y, z then accelerometer x, y, z, in raw words.
+         */
+        std::function<void(std::span<const float>)> write;
+    };
+
+    /**
+     * @brief Find the sensors and draw the turn-on errors.
+     *
+     * @param world Loaded world.
+     * @param config The chip.
+     * @param noise The run's noise settings.
+     */
+    Imu(const MujocoWorld& world, Config config, const NoiseConfig& noise);
+
+    /**
+     * @brief Filter the truth and deliver the samples that fell in this tick.
+     *
+     * @param world World that just advanced.
+     * @param clock Clock of the run.
+     */
+    void sample(MujocoWorld& world, const Clock& clock) override;
+
+    /**
+     * @brief Get the recorded columns: the six readings in SI units.
+     *
+     * @return Column names.
+     */
+    std::vector<std::string> columns() const override;
+
+    /**
+     * @brief Append the last delivered sample.
+     *
+     * @param row Row being built.
+     */
+    void append(std::vector<CsvCell>& row) const override;
+
+private:
+    /**
+     * @brief Values per sample.
+     */
+    static constexpr std::size_t channels{6};
+
+    Config                       config;
+    Noise                        noise;
+    int                          gyro_address;
+    int                          accelerometer_address;
+    std::array<double, channels> filtered{};
+    std::array<double, channels> bias{};
+    std::array<double, channels> scale{};
+    std::array<float, channels>  pending{};
+    std::array<float, channels>  delivered{};
+    double                       rate_error{0.0};
+    double                       phase{0.0};
+    bool                         has_pending{false};
+    bool                         started{false};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_DEVICES_IMU_HPP
diff --git a/engine/include/micras/sim/devices/power.hpp b/engine/include/micras/sim/devices/power.hpp
new file mode 100644
index 0000000..6038917
--- /dev/null
+++ b/engine/include/micras/sim/devices/power.hpp
@@ -0,0 +1,182 @@
+/**
+ * @file
+ *
+ * @brief The battery, the suction fan and the motor current sensors.
+ */
+
+#ifndef MICRAS_SIM_DEVICES_POWER_HPP
+#define MICRAS_SIM_DEVICES_POWER_HPP
+
+#include <cstddef>
+#include <cstdint>
+#include <functional>
+#include <string>
+#include <vector>
+
+#include "micras/sim/core/noise.hpp"
+#include "micras/sim/devices/device.hpp"
+#include "micras/sim/robot/robot_description.hpp"
+
+namespace micras::sim {
+/**
+ * @brief A battery measured by an ADC through a divider.
+ *
+ * @note Open circuit voltage of charged cells, less the internal resistance times
+ *       the load; the load is what the loads report.
+ */
+class Battery : public Device {
+public:
+    /**
+     * @brief The pack and its measurement.
+     */
+    struct Config {
+        std::string                   name;
+        BatteryDescription            description;
+        double                        divider;
+        double                        adc_reference;
+        double                        adc_max_counts;
+        double                        adc_noise_counts;
+        std::function<double()>       load_current;
+        std::function<void(uint32_t)> write;
+    };
+
+    /**
+     * @brief Take the pack.
+     *
+     * @param config The pack.
+     * @param noise The run's noise settings.
+     */
+    Battery(Config config, const NoiseConfig& noise);
+
+    /**
+     * @brief Convert the terminal voltage.
+     *
+     * @param world World that just advanced.
+     * @param clock Clock of the run.
+     */
+    void sample(MujocoWorld& world, const Clock& clock) override;
+
+    /**
+     * @brief Get the terminal voltage.
+     *
+     * @return Voltage in volts.
+     */
+    double voltage() const { return this->terminal_voltage; }
+
+    /**
+     * @brief Get the recorded column: the terminal voltage.
+     *
+     * @return Column names.
+     */
+    std::vector<std::string> columns() const override;
+
+    /**
+     * @brief Append the terminal voltage.
+     *
+     * @param row Row being built.
+     */
+    void append(std::vector<CsvCell>& row) const override;
+
+private:
+    Config config;
+    Noise  noise;
+    double terminal_voltage;
+};
+
+/**
+ * @brief A suction fan pressing the robot down.
+ *
+ * @note The downforce goes as the square of the fan speed, which goes as the duty
+ *       cycle times the supply, and follows its target with the motor's time
+ *       constant. It is applied through the robot model's fan actuator.
+ */
+class Fan : public Device {
+public:
+    /**
+     * @brief The fan and what drives it.
+     */
+    struct Config {
+        std::string             name;
+        std::string             actuator;
+        FanDescription          description;
+        std::function<float()>  duty;
+        std::function<bool()>   enabled;
+        std::function<double()> supply_voltage;
+    };
+
+    /**
+     * @brief Find the actuator.
+     *
+     * @param world Loaded world.
+     * @param config The fan.
+     */
+    Fan(const MujocoWorld& world, Config config);
+
+    /**
+     * @brief Apply the downforce.
+     *
+     * @param world World about to be advanced.
+     * @param clock Clock of the run.
+     */
+    void actuate(MujocoWorld& world, const Clock& clock) override;
+
+    /**
+     * @brief Get the recorded column: the downforce.
+     *
+     * @return Column names.
+     */
+    std::vector<std::string> columns() const override;
+
+    /**
+     * @brief Append the downforce.
+     *
+     * @param row Row being built.
+     */
+    void append(std::vector<CsvCell>& row) const override;
+
+private:
+    Config config;
+    int    actuator_id;
+    double downforce{0.0};
+};
+
+/**
+ * @brief Current sense amplifiers read by an ADC.
+ */
+class CurrentSense : public Device {
+public:
+    /**
+     * @brief The channels and their scaling.
+     */
+    struct Config {
+        std::vector<std::function<double()>>       currents;
+        double                                     volts_per_amp;
+        double                                     adc_reference;
+        double                                     adc_max_counts;
+        double                                     adc_noise_counts;
+        std::function<void(std::size_t, uint32_t)> write;
+    };
+
+    /**
+     * @brief Take the channels.
+     *
+     * @param config The channels.
+     * @param noise The run's noise settings.
+     */
+    CurrentSense(Config config, const NoiseConfig& noise);
+
+    /**
+     * @brief Convert every channel.
+     *
+     * @param world World that just advanced.
+     * @param clock Clock of the run.
+     */
+    void sample(MujocoWorld& world, const Clock& clock) override;
+
+private:
+    Config config;
+    Noise  noise;
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_DEVICES_POWER_HPP
diff --git a/engine/include/micras/sim/devices/quadrature_encoder.hpp b/engine/include/micras/sim/devices/quadrature_encoder.hpp
new file mode 100644
index 0000000..a829cb2
--- /dev/null
+++ b/engine/include/micras/sim/devices/quadrature_encoder.hpp
@@ -0,0 +1,89 @@
+/**
+ * @file
+ *
+ * @brief An incremental encoder counting a joint's rotation.
+ */
+
+#ifndef MICRAS_SIM_DEVICES_QUADRATURE_ENCODER_HPP
+#define MICRAS_SIM_DEVICES_QUADRATURE_ENCODER_HPP
+
+#include <cstdint>
+#include <functional>
+#include <string>
+#include <vector>
+
+#include "micras/sim/devices/device.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Counts edges of a quadrature output, as a timer in encoder mode does.
+ *
+ * @note The count is the joint angle quantised to the encoder's resolution; a
+ *       magnet on the wheel axle turns one to one with the wheel, so there is
+ *       no backlash between them.
+ */
+class QuadratureEncoder : public Device {
+public:
+    /**
+     * @brief What the encoder counts and where the count goes.
+     */
+    struct Config {
+        /**
+         * @brief Name of the recorded column.
+         */
+        std::string name;
+
+        /**
+         * @brief Joint of the robot model.
+         */
+        std::string joint;
+
+        /**
+         * @brief Edges per revolution.
+         */
+        uint32_t counts_per_revolution;
+
+        /**
+         * @brief Receives the count after every tick.
+         */
+        std::function<void(int32_t)> write;
+    };
+
+    /**
+     * @brief Find the joint in the model.
+     *
+     * @param world Loaded world.
+     * @param config The encoder.
+     */
+    QuadratureEncoder(const MujocoWorld& world, Config config);
+
+    /**
+     * @brief Count the joint's angle.
+     *
+     * @param world World that just advanced.
+     * @param clock Clock of the run.
+     */
+    void sample(MujocoWorld& world, const Clock& clock) override;
+
+    /**
+     * @brief Get the recorded column: the count.
+     *
+     * @return Column names.
+     */
+    std::vector<std::string> columns() const override;
+
+    /**
+     * @brief Append the count.
+     *
+     * @param row Row being built.
+     */
+    void append(std::vector<CsvCell>& row) const override;
+
+private:
+    Config  config;
+    int     position_address;
+    int32_t count{0};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_DEVICES_QUADRATURE_ENCODER_HPP
diff --git a/engine/include/micras/sim/devices/serial_link.hpp b/engine/include/micras/sim/devices/serial_link.hpp
new file mode 100644
index 0000000..af4d8ab
--- /dev/null
+++ b/engine/include/micras/sim/devices/serial_link.hpp
@@ -0,0 +1,134 @@
+/**
+ * @file
+ *
+ * @brief A serial line between the firmware's UART and the outside world.
+ */
+
+#ifndef MICRAS_SIM_DEVICES_SERIAL_LINK_HPP
+#define MICRAS_SIM_DEVICES_SERIAL_LINK_HPP
+
+#include <cstddef>
+#include <cstdint>
+#include <functional>
+#include <optional>
+
+#include "micras/sim/core/serial_bus.hpp"
+#include "micras/sim/devices/device.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Moves bytes both ways at the line's baud rate.
+ *
+ * @note Ten bit times per byte, 8N1. Each direction has its own budget, carried
+ *       over between ticks, so the throughput is exactly the line's whatever the
+ *       tick. The bus is the world side: its listeners hear what the firmware
+ *       sends, and what is queued on it reaches the firmware.
+ */
+class SerialLink : public Device {
+public:
+    /**
+     * @brief The line and the firmware's side of it.
+     */
+    struct Config {
+        /**
+         * @brief Bits per second.
+         */
+        uint32_t baud_rate;
+
+        /**
+         * @brief Takes the next byte the firmware is sending, if any.
+         */
+        std::function<std::optional<uint8_t>()> take_sent;
+
+        /**
+         * @brief Puts a byte where the firmware receives it.
+         */
+        std::function<void(uint8_t)> receive;
+    };
+
+    /**
+     * @brief Connect the line to the bus.
+     *
+     * @param bus The world side.
+     * @param config The line.
+     */
+    SerialLink(SerialBus& bus, Config config);
+
+    /**
+     * @brief Move this tick's bytes.
+     *
+     * @param world World that just advanced.
+     * @param clock Clock of the run.
+     */
+    void sample(MujocoWorld& world, const Clock& clock) override;
+
+private:
+    SerialBus& bus;  // NOLINT(*-avoid-const-or-ref-data-members): the run's bus outlives its devices.
+    Config     config;
+    double     send_budget{0.0};
+    double     receive_budget{0.0};
+};
+
+/**
+ * @brief A two-position input a scenario or a human sets: a button, a switch.
+ */
+class DigitalInput : public Device {
+public:
+    /**
+     * @brief The input and the pin it drives.
+     */
+    struct Config {
+        std::string               name;
+        bool                      active_low;
+        std::function<void(bool)> drive;
+    };
+
+    /**
+     * @brief Take the input, released.
+     *
+     * @param config The input.
+     */
+    explicit DigitalInput(Config config);
+
+    /**
+     * @brief Press or release it.
+     *
+     * @param active True for pressed, or on.
+     */
+    void set(bool active);
+
+    /**
+     * @brief Check whether it is pressed, or on.
+     *
+     * @return The state.
+     */
+    bool is_active() const { return this->active; }
+
+    /**
+     * @brief Get the name.
+     *
+     * @return The name.
+     */
+    const std::string& name() const { return this->config.name; }
+
+    /**
+     * @brief Get the recorded column: the state.
+     *
+     * @return Column names.
+     */
+    std::vector<std::string> columns() const override;
+
+    /**
+     * @brief Append the state.
+     *
+     * @param row Row being built.
+     */
+    void append(std::vector<CsvCell>& row) const override;
+
+private:
+    Config config;
+    bool   active{false};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_DEVICES_SERIAL_LINK_HPP
diff --git a/engine/include/micras/sim/recording/column_source.hpp b/engine/include/micras/sim/recording/column_source.hpp
new file mode 100644
index 0000000..59798bf
--- /dev/null
+++ b/engine/include/micras/sim/recording/column_source.hpp
@@ -0,0 +1,50 @@
+/**
+ * @file
+ *
+ * @brief Columns a robot target adds to every CSV row.
+ */
+
+#ifndef MICRAS_SIM_RECORDING_COLUMN_SOURCE_HPP
+#define MICRAS_SIM_RECORDING_COLUMN_SOURCE_HPP
+
+#include <string>
+#include <vector>
+
+#include "micras/sim/recording/csv_writer.hpp"
+
+namespace micras::sim {
+/**
+ * @brief A block of CSV columns the recorder writes after the ground truth.
+ *
+ * @note names() is asked once, when the first row is written, so a source whose
+ *       columns depend on something the firmware reports during the first tick
+ *       can still name them.
+ */
+class ColumnSource {
+public:
+    ColumnSource() = default;
+
+    ColumnSource(const ColumnSource&) = delete;
+    ColumnSource(ColumnSource&&) = delete;
+    ColumnSource& operator=(const ColumnSource&) = delete;
+    ColumnSource& operator=(ColumnSource&&) = delete;
+
+    virtual ~ColumnSource() = default;
+
+    /**
+     * @brief Get the column names, in the order append() fills them.
+     *
+     * @return Column names.
+     */
+    virtual std::vector<std::string> names() = 0;
+
+    /**
+     * @brief Append this source's cells for the current row.
+     *
+     * @param row Row being built; exactly one cell per name must be appended.
+     */
+    virtual void append(std::vector<CsvCell>& row) = 0;
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_RECORDING_COLUMN_SOURCE_HPP
diff --git a/engine/include/micras/sim/recording/csv_recorder.hpp b/engine/include/micras/sim/recording/csv_recorder.hpp
new file mode 100644
index 0000000..14618b7
--- /dev/null
+++ b/engine/include/micras/sim/recording/csv_recorder.hpp
@@ -0,0 +1,109 @@
+/**
+ * @file
+ *
+ * @brief One CSV row per firmware tick: ground truth followed by the robot's own columns.
+ */
+
+#ifndef MICRAS_SIM_RECORDING_CSV_RECORDER_HPP
+#define MICRAS_SIM_RECORDING_CSV_RECORDER_HPP
+
+#include <cstddef>
+#include <cstdint>
+#include <filesystem>
+#include <vector>
+
+#include "micras/sim/core/simulation.hpp"
+#include "micras/sim/recording/column_source.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
+#include "micras/sim/recording/ground_truth.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Samples the simulation state once per firmware tick into a CSV file.
+ *
+ * @note A row is the ground truth, then every column source in the order it
+ *       was added. The header is written with the first row, so a source may
+ *       learn its column names during the first tick. Two sources naming the
+ *       same column is an error, not a second column nobody can tell apart.
+ */
+class CsvRecorder : public IRunListener {
+public:
+    /**
+     * @brief Open the CSV file and resolve every model id the ground truth needs.
+     *
+     * @param world Simulation world to sample.
+     * @param config Robot body, forward axis and ground truth columns.
+     * @param path Path of the CSV file to write.
+     * @param every Ticks between two rows.
+     */
+    CsvRecorder(
+        const MujocoWorld& world, GroundTruthConfig config, const std::filesystem::path& path, uint32_t every = 1
+    );
+
+    /**
+     * @brief Add a block of columns after the ones already added.
+     *
+     * @param source Source to add; it must outlive the recorder.
+     */
+    void add_source(ColumnSource& source);
+
+    /**
+     * @brief Write one CSV row for the current simulation state.
+     *
+     * @param tick Index of the firmware tick that was just executed.
+     */
+    void sample(uint64_t tick);
+
+    /**
+     * @brief Write the row of the tick that just ran, when it falls on the decimation.
+     *
+     * @param simulation Run that just advanced.
+     */
+    void on_after_tick(const Simulation& simulation) override;
+
+    /**
+     * @brief Get the robot body height sampled on the last row.
+     *
+     * @return Height of the robot body origin in meters.
+     */
+    double last_z() const { return this->ground_truth.last_z(); }
+
+private:
+    /**
+     * @brief Ask every source for its names and write the header.
+     */
+    void write_header();
+
+    /**
+     * @brief Physical state sampler.
+     */
+    GroundTruth ground_truth;
+
+    /**
+     * @brief Output file.
+     */
+    CsvWriter writer;
+
+    /**
+     * @brief Column sources, in the order their columns appear.
+     */
+    std::vector<ColumnSource*> sources;
+
+    /**
+     * @brief How many columns each source named, checked on every row.
+     */
+    std::vector<std::size_t> widths;
+
+    /**
+     * @brief Ticks between two rows.
+     */
+    uint32_t every;
+
+    /**
+     * @brief Whether the header was already written.
+     */
+    bool header_written{false};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_RECORDING_CSV_RECORDER_HPP
diff --git a/include/micras/sim/recording/csv_writer.hpp b/engine/include/micras/sim/recording/csv_writer.hpp
similarity index 100%
rename from include/micras/sim/recording/csv_writer.hpp
rename to engine/include/micras/sim/recording/csv_writer.hpp
diff --git a/engine/include/micras/sim/recording/event_log.hpp b/engine/include/micras/sim/recording/event_log.hpp
new file mode 100644
index 0000000..2cec3a1
--- /dev/null
+++ b/engine/include/micras/sim/recording/event_log.hpp
@@ -0,0 +1,131 @@
+/**
+ * @file
+ *
+ * @brief What a run notices at full rate, whatever the recording's decimation.
+ */
+
+#ifndef MICRAS_SIM_RECORDING_EVENT_LOG_HPP
+#define MICRAS_SIM_RECORDING_EVENT_LOG_HPP
+
+#include <cstddef>
+#include <optional>
+#include <set>
+#include <span>
+#include <string>
+#include <vector>
+
+#include <mujoco/mujoco.h>
+
+#include "micras/sim/core/simulation.hpp"
+#include "micras/sim/core/variable_source.hpp"
+#include "micras/sim/recording/run_metadata.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Logs collisions and state changes every tick, for meta.json.
+ *
+ * @note A collision is a watched geom starting to touch anything but an ignored
+ *       geom, such as the floor, after having been clear of everything for at
+ *       least min_separation: a chassis pressed against a wall makes and breaks
+ *       contact every few steps, and that is one collision, not hundreds. A
+ *       state change is a watched variable taking a
+ *       new value, named from its table when it has one. The log keeps the first
+ *       entries only, so a robot stuck against a wall cannot grow meta.json
+ *       without bound; the counts keep counting.
+ */
+class EventLog : public IRunListener {
+public:
+    /**
+     * @brief A variable whose changes are logged.
+     */
+    struct WatchedState {
+        std::string              variable;
+        std::vector<std::string> names;
+    };
+
+    /**
+     * @brief Most entries kept.
+     */
+    static constexpr std::size_t max_events{500};
+
+    /**
+     * @brief Time a geom has to stay clear for its next contact to be a new collision, in seconds.
+     */
+    static constexpr double min_separation{0.05};
+
+    /**
+     * @brief Watch geoms and states.
+     *
+     * @param geoms Ids of the geoms whose collisions are logged.
+     * @param ignored Ids of the geoms touching which is not a collision.
+     * @param states Variables whose changes are logged.
+     * @param variables Where the variables are read, or null.
+     */
+    EventLog(
+        std::vector<int> geoms, std::set<int> ignored, std::vector<WatchedState> states, const VariableSource* variables
+    );
+
+    /**
+     * @brief Log a variable's changes too.
+     *
+     * @param state The variable and the names of its values.
+     */
+    void watch(WatchedState state);
+
+    /**
+     * @brief Look for new contacts and new states.
+     *
+     * @param simulation Run that just advanced.
+     */
+    void on_after_tick(const Simulation& simulation) override;
+
+    /**
+     * @brief Get the entries, in time order.
+     *
+     * @return The entries kept.
+     */
+    const std::vector<RunEvent>& entries() const { return this->logged; }
+
+    /**
+     * @brief Get how many collisions started.
+     *
+     * @return Number of collisions, counted past the entries kept.
+     */
+    std::size_t collisions() const { return this->collision_count; }
+
+private:
+    /**
+     * @brief Keep an entry, while there is room.
+     *
+     * @param event The entry.
+     */
+    void add(RunEvent event);
+
+    /**
+     * @brief Log the collisions that started on this tick.
+     *
+     * @param model The model, naming the geoms.
+     * @param contacts The tick's contacts.
+     * @param now Simulated time, in seconds.
+     */
+    void log_collisions(const mjModel* model, std::span<const mjContact> contacts, double now);
+
+    /**
+     * @brief Log the watched variables that changed on this tick.
+     *
+     * @param now Simulated time, in seconds.
+     */
+    void log_states(double now);
+
+    std::vector<int>                   geoms;
+    std::set<int>                      ignored;
+    std::vector<WatchedState>          states;
+    const VariableSource*              variables;
+    std::vector<double>                last_touch;
+    std::vector<std::optional<double>> last_values;
+    std::vector<RunEvent>              logged;
+    std::size_t                        collision_count{0};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_RECORDING_EVENT_LOG_HPP
diff --git a/engine/include/micras/sim/recording/ground_truth.hpp b/engine/include/micras/sim/recording/ground_truth.hpp
new file mode 100644
index 0000000..f6e717e
--- /dev/null
+++ b/engine/include/micras/sim/recording/ground_truth.hpp
@@ -0,0 +1,238 @@
+/**
+ * @file
+ *
+ * @brief Physical state of the robot read straight from MuJoCo.
+ */
+
+#ifndef MICRAS_SIM_RECORDING_GROUND_TRUTH_HPP
+#define MICRAS_SIM_RECORDING_GROUND_TRUTH_HPP
+
+#include <cstdint>
+#include <limits>
+#include <string>
+#include <unordered_map>
+#include <vector>
+
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Body axis the robot drives along, which v_forward projects onto.
+ */
+enum class ForwardAxis : uint8_t {
+    X,
+    Y,
+};
+
+/**
+ * @brief Quantity one ground truth column reads.
+ *
+ * @note Joint probes name a joint, actuator probes an actuator and contact
+ *       probes a geom. The last three read the whole world and take no object.
+ */
+enum class Probe : uint8_t {
+    JOINT_VELOCITY,
+    JOINT_POSITION,
+    ACTUATOR_CONTROL,
+    ACTUATOR_FORCE,
+    CONTACT_COUNT,
+    CONTACT_NORMAL_FORCE,
+    CONTACT_SLIP,
+    CONTACT_PENETRATION,
+    CONTACT_TOTAL,
+    SOLVER_ITERATIONS,
+    WARNINGS_TOTAL,
+};
+
+/**
+ * @brief One robot-specific ground truth column.
+ */
+struct GroundTruthColumn {
+    /**
+     * @brief Column name in the CSV header.
+     */
+    std::string name;
+
+    /**
+     * @brief What the column reads.
+     */
+    Probe probe;
+
+    /**
+     * @brief Name of the MuJoCo joint, actuator or geom, empty for world probes.
+     */
+    std::string object;
+};
+
+/**
+ * @brief What a robot target tells the recorder about its model.
+ */
+struct GroundTruthConfig {
+    /**
+     * @brief Robot body, whose first joint must be a free joint.
+     */
+    std::string body;
+
+    /**
+     * @brief Body axis the robot drives along.
+     */
+    ForwardAxis forward_axis{ForwardAxis::X};
+
+    /**
+     * @brief Columns written after the body pose and velocity, in this order.
+     */
+    std::vector<GroundTruthColumn> columns;
+};
+
+/**
+ * @brief Resolves the model ids once and samples the ground truth columns every tick.
+ *
+ * @note Every row starts with the same block: tick, sim_time, the
+ *       body pose and velocity, and v_forward. The robot's own columns follow,
+ *       in the order its config lists them.
+ *
+ * @note MuJoCo free joints split their six velocity dofs across two frames:
+ *       the three linear dofs are expressed in the world frame, the three
+ *       angular dofs in the body frame. The columns are named accordingly
+ *       (vx_world, vy_world, vz_world, wz_body) and v_forward projects the
+ *       world linear velocity onto the body forward axis. This is the one class
+ *       that indexes the MuJoCo C arrays directly.
+ */
+class GroundTruth {
+public:
+    /**
+     * @brief Resolve every model id the columns need.
+     *
+     * @param world Loaded simulation world.
+     * @param config Robot body, forward axis and columns.
+     */
+    GroundTruth(const MujocoWorld& world, GroundTruthConfig config);
+
+    /**
+     * @brief Get the column names, in the order sample() fills them.
+     *
+     * @return Column names.
+     */
+    std::vector<std::string> columns() const;
+
+    /**
+     * @brief Sample the current physical state.
+     *
+     * @param tick Index of the firmware tick that was just executed.
+     * @return One cell per column.
+     */
+    std::vector<CsvCell> sample(uint64_t tick);
+
+    /**
+     * @brief Sum every MuJoCo warning counter raised so far.
+     *
+     * @param world Loaded simulation world.
+     * @return Total number of warnings.
+     */
+    static int64_t warnings_total(const MujocoWorld& world);
+
+    /**
+     * @brief Get the robot body height sampled on the last row.
+     *
+     * @return Height of the robot body origin in meters.
+     */
+    double last_z() const { return this->last_body_z; }
+
+private:
+    /**
+     * @brief Per-geom contact statistics for a single step.
+     */
+    struct ContactStats {
+        int    count{0};
+        double normal_force{0.0};
+        double slip{0.0};
+
+        /**
+         * @brief Deepest penetration over the geom's contacts, NaN when it has none.
+         */
+        double penetration{std::numeric_limits<double>::quiet_NaN()};
+    };
+
+    /**
+     * @brief A column with its model address resolved.
+     */
+    struct ResolvedColumn {
+        /**
+         * @brief What the column reads.
+         */
+        Probe probe;
+
+        /**
+         * @brief Index into the mjData array the probe reads, or the geom id.
+         */
+        int address;
+    };
+
+    /**
+     * @brief Collect the contact statistics of one geom.
+     *
+     * @param geom_id Id of the geom.
+     * @return Aggregated statistics.
+     */
+    ContactStats collect_contacts(int geom_id) const;
+
+    /**
+     * @brief Get the contact statistics of one geom for the current row.
+     *
+     * @note Collected once per geom and row, however many columns read them.
+     *
+     * @param geom_id Id of the geom.
+     * @return Aggregated statistics.
+     */
+    const ContactStats& contacts_of(int geom_id);
+
+    /**
+     * @brief Read one robot-specific column.
+     *
+     * @param column Resolved column.
+     * @return Its cell.
+     */
+    CsvCell read(const ResolvedColumn& column);
+
+    /**
+     * @brief Simulation world being sampled.
+     *
+     * @note Bound for the life of the recorder; it is fed by the caller that
+     *       also owns the run.
+     */
+    const MujocoWorld& world;  // NOLINT(*-avoid-const-or-ref-data-members)
+
+    /**
+     * @brief Robot body, forward axis and columns.
+     */
+    GroundTruthConfig config;
+
+    /**
+     * @brief Id of the robot body.
+     */
+    int body_id;
+
+    /**
+     * @brief First velocity dof of the robot's free joint.
+     */
+    int free_joint_qvel;
+
+    /**
+     * @brief The robot-specific columns, resolved.
+     */
+    std::vector<ResolvedColumn> resolved;
+
+    /**
+     * @brief Contact statistics of the current row, per geom id.
+     */
+    std::unordered_map<int, ContactStats> row_contacts;
+
+    /**
+     * @brief Height of the robot body origin on the last sampled row.
+     */
+    double last_body_z{0.0};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_RECORDING_GROUND_TRUTH_HPP
diff --git a/include/micras/sim/recording/run_metadata.hpp b/engine/include/micras/sim/recording/run_metadata.hpp
similarity index 52%
rename from include/micras/sim/recording/run_metadata.hpp
rename to engine/include/micras/sim/recording/run_metadata.hpp
index 4cd99ef..1d480b7 100644
--- a/include/micras/sim/recording/run_metadata.hpp
+++ b/engine/include/micras/sim/recording/run_metadata.hpp
@@ -11,8 +11,44 @@
 #include <filesystem>
 #include <span>
 #include <string>
+#include <vector>
 
 namespace micras::sim {
+/**
+ * @brief A counter a robot target adds to meta.json.
+ */
+struct MetadataField {
+    /**
+     * @brief Key in meta.json.
+     */
+    std::string name;
+
+    /**
+     * @brief Value, written as a JSON integer.
+     */
+    int64_t value{0};
+};
+
+/**
+ * @brief Something the run noticed at full rate, whatever the recording's decimation.
+ */
+struct RunEvent {
+    /**
+     * @brief Simulated time, in seconds.
+     */
+    double time{0.0};
+
+    /**
+     * @brief What happened, for example "collision" or "state".
+     */
+    std::string kind;
+
+    /**
+     * @brief With what, for example the geom or the state's name.
+     */
+    std::string detail;
+};
+
 /**
  * @brief Everything needed to reproduce and compare a run.
  *
@@ -20,24 +56,61 @@ namespace micras::sim {
  *       binary with the same arguments must produce byte-identical files.
  */
 struct RunMetadata {
+    /**
+     * @brief Name of the robot target that ran, which the analysis plugins key on.
+     */
+    std::string target;
+
     std::string firmware_sha;
-    std::string model_path;
-    std::string model_sha256;
+    std::string robot_path;
+    std::string robot_sha256;
+    std::string scenario_path;
     std::string maze_path;
+
+    /**
+     * @brief Digest of the composed model, robot and arena, as saved in model.xml.
+     */
+    std::string model_sha256;
+
     std::string mujoco_version;
     std::string compiler;
     std::string build_type;
     std::string args;
+    uint64_t    seed{0};
+    bool        ideal{false};
     uint32_t    loop_time_us{0};
     double      timestep{0.0};
     int         steps_per_tick{0};
+    uint32_t    record_every{1};
     uint64_t    requested_ticks{0};
     uint64_t    ticks{0};
     double      sim_time{0.0};
-    double      final_z{0.0};
-    std::size_t pool_columns{0};
-    uint32_t    telemetry_resyncs{0};
-    int64_t     warnings_total{0};
+
+    /**
+     * @brief When the scenario's stop condition held, in seconds; negative when it never did.
+     */
+    double stopped_at{-1.0};
+
+    double final_z{0.0};
+
+    /**
+     * @brief The robot target's own counters, written in this order after final_z.
+     */
+    std::vector<MetadataField> target_fields;
+
+    int64_t warnings_total{0};
+
+    /**
+     * @brief Bytes for the firmware dropped because the link's queue was full.
+     */
+    uint64_t serial_dropped_bytes{0};
+
+    /**
+     * @brief Frames dropped because a connected monitor did not keep up.
+     *
+     * @note Not behaviour: frames leave after the tick and never reach the firmware.
+     */
+    uint64_t bridge_dropped_frames{0};
 
     /**
      * @brief Whether a human changed anything the physics could see.
@@ -47,6 +120,11 @@ struct RunMetadata {
      */
     bool interactive{false};
 
+    /**
+     * @brief What the run noticed at full rate, in time order.
+     */
+    std::vector<RunEvent> events;
+
     /**
      * @brief Serialize to the pretty-printed JSON layout of meta.json.
      *
@@ -65,6 +143,14 @@ struct RunMetadata {
      */
     void write(const std::filesystem::path& path) const;
 
+    /**
+     * @brief Compute the SHA-256 digest of a text.
+     *
+     * @param text The text.
+     * @return Lowercase hexadecimal digest.
+     */
+    static std::string sha256_of_text(const std::string& text);
+
     /**
      * @brief Compute the SHA-256 digest of a file.
      *
diff --git a/engine/include/micras/sim/robot/robot_description.hpp b/engine/include/micras/sim/robot/robot_description.hpp
new file mode 100644
index 0000000..a9dff40
--- /dev/null
+++ b/engine/include/micras/sim/robot/robot_description.hpp
@@ -0,0 +1,272 @@
+/**
+ * @file
+ *
+ * @brief The physical description of a robot, read from its robot.toml.
+ */
+
+#ifndef MICRAS_SIM_ROBOT_ROBOT_DESCRIPTION_HPP
+#define MICRAS_SIM_ROBOT_ROBOT_DESCRIPTION_HPP
+
+#include <array>
+#include <cstdint>
+#include <filesystem>
+#include <string>
+#include <vector>
+
+namespace micras::sim {
+/**
+ * @brief A point or a direction in the robot frame, in metres.
+ */
+using Vector3 = std::array<double, 3>;
+
+/**
+ * @brief A box in the robot frame, given by two opposite corners.
+ */
+struct BoxPart {
+    std::string name;
+    Vector3     min{};
+    Vector3     max{};
+};
+
+/**
+ * @brief A cylinder in the robot frame, its axis along robot z.
+ */
+struct CylinderPart {
+    std::string name;
+    Vector3     base{};
+    double      radius{};
+    double      height{};
+};
+
+/**
+ * @brief A frictionless sphere under the chassis that carries it on the floor.
+ *
+ * @note A contact point of the simulation, not a part of the robot: a real
+ *       chassis that rests on the edge of its board slides on it, and a mesh
+ *       edge on a plane is a poor contact in MuJoCo. A skid with no friction
+ *       (condim 1) only ever pushes up, so it holds the board off the floor
+ *       without braking the robot or lifting itself as a slipping contact does.
+ */
+struct SkidPart {
+    std::string name;
+    Vector3     center{};
+    double      radius{};
+};
+
+/**
+ * @brief The rigid chassis: mass properties, outline and the parts that stick out of it.
+ */
+struct ChassisDescription {
+    double                             mass{};
+    Vector3                            center_of_mass{};
+    Vector3                            inertia{};
+    std::vector<std::array<double, 2>> outline;
+    double                             board_bottom{};
+    double                             board_top{};
+    double                             friction{};
+    std::vector<BoxPart>               boxes;
+    std::vector<CylinderPart>          cylinders;
+    std::vector<SkidPart>              skids;
+};
+
+/**
+ * @brief Both drive wheels, mirrored about the robot's x axis.
+ */
+struct WheelsDescription {
+    double radius{};
+    double width{};
+    double track{};
+    double mass{};
+    double spin_inertia{};
+    double friction{};
+    double torsional_friction{};
+    double contact_time_constant{};
+    double contact_damping_ratio{};
+};
+
+/**
+ * @brief One DC motor per wheel, its H-bridge and its gearbox.
+ */
+struct DriveDescription {
+    double winding_resistance{};
+    double bridge_resistance{};
+    double torque_constant{};
+    double speed_constant{};
+    double no_load_current{};
+    double rotor_inertia{};
+    double gear_ratio{};
+    double gear_efficiency{};
+    double supply_voltage{};
+    double max_motor_speed{};
+
+    /**
+     * @brief Resistance a motor current flows through: winding and bridge.
+     *
+     * @return Resistance in ohms.
+     */
+    double resistance() const { return this->winding_resistance + this->bridge_resistance; }
+};
+
+/**
+ * @brief The quadrature encoders on the wheel axles.
+ */
+struct EncoderDescription {
+    uint32_t counts_per_revolution{};
+};
+
+/**
+ * @brief The inertial measurement unit: mounting, axes and datasheet noise.
+ */
+struct ImuDescription {
+    Vector3 position{};
+
+    /**
+     * @brief The chip's x, y and z axes, expressed in the robot frame.
+     */
+    std::array<Vector3, 3> axes{};
+
+    double gyro_noise_density{};
+    double gyro_bias{};
+    double gyro_scale_error{};
+    double gyro_resolution{};
+    double accel_noise_density{};
+    double accel_bias{};
+    double accel_resolution{};
+    double bandwidth{};
+    double output_rate{};
+    double clock_error{};
+};
+
+/**
+ * @brief The suction fan: where it pulls and how hard.
+ */
+struct FanDescription {
+    Vector3 position{};
+    double  max_downforce{};
+    double  nominal_voltage{};
+    double  time_constant{};
+};
+
+/**
+ * @brief One wall sensor: an emitter and a receiver side by side.
+ */
+struct WallSensorDescription {
+    std::string name;
+    Vector3     emitter{};
+    Vector3     receiver{};
+    double      yaw{};
+    int         group{};
+
+    /**
+     * @brief Sensitivity of this pair relative to the nominal optics: part spread and alignment.
+     */
+    double gain{1.0};
+};
+
+/**
+ * @brief The wall sensors' optics and electronics, shared by every sensor.
+ */
+struct WallSensorsDescription {
+    double emitter_half_angle{};
+    double emitter_intensity{};
+    double receiver_half_angle{};
+    double receiver_responsivity{};
+    double load_resistance{};
+    double saturation_voltage{};
+    double adc_reference{};
+    double adc_max_counts{};
+    double adc_noise_counts{};
+    double settle_fraction{};
+    double ambient_irradiance{};
+    int    rays{};
+
+    std::vector<WallSensorDescription> sensors;
+};
+
+/**
+ * @brief The battery the fan and the logic run from.
+ */
+struct BatteryDescription {
+    int    cells{};
+    double cell_voltage{};
+    double cell_resistance{};
+};
+
+/**
+ * @brief The radio link the firmware talks through.
+ */
+struct LinkDescription {
+    uint32_t baud_rate{};
+};
+
+/**
+ * @brief How the simulator integrates this robot.
+ */
+struct IntegrationDescription {
+    double timestep{};
+};
+
+/**
+ * @brief One value of the file with where it came from, for reports.
+ */
+struct Provenance {
+    std::string key;
+    std::string value;
+    std::string source;
+};
+
+/**
+ * @brief Everything physical about one robot.
+ *
+ * @note Frames follow the firmware's robot model: x forward, y left, z up, the
+ *       origin on the floor under the midpoint of the wheel axle. Every length is
+ *       in metres, every angle in radians. Each value in the file is a number, an
+ *       array, or a table { value = ..., source = "..." } naming where it came
+ *       from: a datasheet, the CAD, the firmware, the owner, or an estimate.
+ */
+struct RobotDescription {
+    /**
+     * @brief Version of the schema this file follows.
+     */
+    static constexpr int schema_version{1};
+
+    std::string            name;
+    IntegrationDescription integration;
+    ChassisDescription     chassis;
+    WheelsDescription      wheels;
+    DriveDescription       drive;
+    EncoderDescription     encoders;
+    ImuDescription         imu;
+    FanDescription         fan;
+    WallSensorsDescription wall_sensors;
+    BatteryDescription     battery;
+    LinkDescription        link;
+
+    /**
+     * @brief Every value read, in file order, with its source.
+     */
+    std::vector<Provenance> provenance;
+
+    /**
+     * @brief Read and check a description.
+     *
+     * @note Throws on a missing key, an unknown key, a wrong type or a schema
+     *       version this build does not know, naming the key.
+     *
+     * @param path Path of the robot.toml.
+     * @return The description.
+     */
+    static RobotDescription load(const std::filesystem::path& path);
+
+    /**
+     * @brief Read and check a description from text.
+     *
+     * @param text Contents of a robot.toml.
+     * @param origin Name of the text, for messages.
+     * @return The description.
+     */
+    static RobotDescription parse(std::string_view text, const std::string& origin = "robot.toml");
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_ROBOT_ROBOT_DESCRIPTION_HPP
diff --git a/engine/include/micras/sim/robot/robot_model.hpp b/engine/include/micras/sim/robot/robot_model.hpp
new file mode 100644
index 0000000..46277da
--- /dev/null
+++ b/engine/include/micras/sim/robot/robot_model.hpp
@@ -0,0 +1,76 @@
+/**
+ * @file
+ *
+ * @brief The MuJoCo model of a robot, generated from its description.
+ */
+
+#ifndef MICRAS_SIM_ROBOT_ROBOT_MODEL_HPP
+#define MICRAS_SIM_ROBOT_ROBOT_MODEL_HPP
+
+#include <string>
+
+#include "micras/sim/robot/robot_description.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Names the generated model gives to what devices and recorders look up.
+ *
+ * @note One place for every name, so a device and the generator cannot disagree.
+ */
+struct RobotModelNames {
+    /**
+     * @brief The robot's body and free joint, the robot's own name.
+     */
+    std::string body;
+
+    ///@{
+    std::string left_wheel{"left_wheel"};
+    std::string right_wheel{"right_wheel"};
+    std::string left_motor{"motor_left"};
+    std::string right_motor{"motor_right"};
+    std::string board{"board"};
+    std::string fan{"fan"};
+    std::string fan_reference{"fan_reference"};
+    std::string imu{"imu"};
+    std::string gyro{"imu_gyro"};
+    std::string accelerometer{"imu_accelerometer"};
+    ///@}
+
+    /**
+     * @brief Geom group every robot geom is in, which range sensors skip.
+     */
+    static constexpr int robot_group{3};
+
+    /**
+     * @brief Get the names a description's model uses.
+     *
+     * @param robot The description.
+     * @return The names.
+     */
+    static RobotModelNames of(const RobotDescription& robot) { return {.body = robot.name}; }
+};
+
+/**
+ * @brief Generate the MJCF of a robot, standing at the origin.
+ *
+ * @note The motors are general actuators whose control is the voltage across
+ *       the winding: the gain is the stall torque per volt at the wheel and the
+ *       velocity bias is the back-EMF damping at the wheel, so MuJoCo integrates
+ *       the electrical part implicitly. The rotor inertia reflected through the
+ *       gears is the wheel joint's armature, and the brushes' friction, the
+ *       no-load current times the torque constant, its friction loss. The fan's
+ *       downforce is a force actuator on a site, pulling straight down: its
+ *       reference is a site fixed in the world. The suction pulls normal to the
+ *       board, but the board tilts onto its front edge with the fan on, and
+ *       the few percent of the pull that the tilt turns backwards is held on
+ *       the robot by the friction of that edge. The skids that stand in for the
+ *       edges are frictionless, so a pull along the tilted board would roll the
+ *       robot backwards while it waits for the fan.
+ *
+ * @param robot The description.
+ * @return The MJCF text.
+ */
+std::string robot_mjcf(const RobotDescription& robot);
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_ROBOT_ROBOT_MODEL_HPP
diff --git a/engine/include/micras/sim/scenario/scenario.hpp b/engine/include/micras/sim/scenario/scenario.hpp
new file mode 100644
index 0000000..ab3c969
--- /dev/null
+++ b/engine/include/micras/sim/scenario/scenario.hpp
@@ -0,0 +1,266 @@
+/**
+ * @file
+ *
+ * @brief A scenario file: the arena, the duration, and what happens to the robot when.
+ */
+
+#ifndef MICRAS_SIM_SCENARIO_SCENARIO_HPP
+#define MICRAS_SIM_SCENARIO_SCENARIO_HPP
+
+#include <array>
+#include <cstdint>
+#include <filesystem>
+#include <map>
+#include <optional>
+#include <string>
+#include <string_view>
+#include <vector>
+
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/serial_bus.hpp"
+#include "micras/sim/core/simulation.hpp"
+#include "micras/sim/core/variable_source.hpp"
+#include "micras/sim/devices/device.hpp"
+#include "micras/sim/devices/serial_link.hpp"
+
+namespace micras::sim {
+/**
+ * @brief One thing that happens to the robot at an instant.
+ *
+ * @note With a condition (when and equals) the event waits, from its time on, for the firmware
+ * variable to take that value, and happens on the first tick it does. Events happen in order, so a
+ * waiting event holds back the ones after it.
+ */
+struct ScenarioEvent {
+    /**
+     * @brief What kind of thing.
+     */
+    enum class Kind : uint8_t {
+        PRESS,
+        SET,
+        SEND,
+        PUSH,
+    };
+
+    Kind                  kind{Kind::PRESS};
+    double                at{0.0};
+    double                duration{0.0};
+    std::string           target;
+    bool                  value{false};
+    std::array<double, 3> force{};
+    std::string           when;
+    std::string           equals;
+};
+
+/**
+ * @brief When a run ends before its duration: a firmware variable reaching one of some values.
+ *
+ * @note Only what happens from `after` on counts, and the run ends the `count`-th time the
+ *       variable reaches one of the values. A value it already holds at `after` counts as reached.
+ *       Any of the abort values ends the run the first time, whatever the count.
+ */
+struct StopCondition {
+    std::string              variable;
+    std::vector<std::string> equals;
+    double                   after{0.0};
+    int                      count{1};
+    std::vector<std::string> abort;
+};
+
+/**
+ * @brief A scenario, as its TOML file states it.
+ *
+ * @note The file names the arena, the duration, the seed and optionally the
+ *       robot and its start pose; then a timeline of events, and optionally a
+ *       stop condition. Events act on what the robot target exposes: its named
+ *       inputs (press, set), its named link messages (send), and its body (push).
+ *       Command line options override the file's arena, duration and seed.
+ */
+struct Scenario {
+    std::string                           robot;
+    std::string                           arena;
+    double                                seconds{0.0};
+    std::optional<uint64_t>               seed;
+    std::optional<MujocoWorld::Placement> start;
+    std::vector<ScenarioEvent>            events;
+    std::optional<StopCondition>          stop;
+
+    /**
+     * @brief Read a scenario file.
+     *
+     * @param path Path of the file.
+     * @return The scenario.
+     */
+    static Scenario load(const std::filesystem::path& path);
+
+    /**
+     * @brief Read a scenario.
+     *
+     * @param text Contents of a scenario file.
+     * @param origin Name of the text, for messages.
+     * @return The scenario.
+     */
+    static Scenario parse(std::string_view text, const std::string& origin = "scenario");
+};
+
+/**
+ * @brief Pushes the robot's body with a force, while a push lasts.
+ *
+ * @note A device, so the force is applied after every listener ran and removed
+ *       exactly when it ends, whatever else writes applied forces.
+ */
+class Pusher : public Device {
+public:
+    /**
+     * @brief Find the body.
+     *
+     * @param world Loaded world.
+     * @param body Body to push.
+     */
+    Pusher(const MujocoWorld& world, const std::string& body);
+
+    /**
+     * @brief Push until a tick.
+     *
+     * @param force Force in the world frame, in newtons.
+     * @param until First tick without the force.
+     */
+    void push(const std::array<double, 3>& force, uint64_t until);
+
+    /**
+     * @brief Apply this tick's force.
+     *
+     * @param world World about to be advanced.
+     * @param clock Clock of the run.
+     */
+    void actuate(MujocoWorld& world, const Clock& clock) override;
+
+private:
+    int                   body_id;
+    std::array<double, 3> force{};
+    std::array<double, 3> applied{};
+    uint64_t              until{0};
+};
+
+/**
+ * @brief What a robot target exposes to scenarios and to the panel.
+ */
+struct ScenarioHooks {
+    /**
+     * @brief Inputs a scenario presses or sets, by name.
+     */
+    std::map<std::string, DigitalInput*, std::less<>> inputs;
+
+    /**
+     * @brief Messages a scenario sends on the link, by name.
+     */
+    std::map<std::string, std::vector<uint8_t>, std::less<>> messages;
+
+    /**
+     * @brief Names of the values of state variables, for stop conditions.
+     */
+    std::map<std::string, std::vector<std::string>, std::less<>> state_names;
+};
+
+/**
+ * @brief Plays a scenario's timeline into the run and stops it when its condition holds.
+ *
+ * @note Writes inputs, the link and the push only, never the physics state or the
+ *       clock, so a scripted run is a run a human could have driven by hand. Once
+ *       a human takes the board over from the panel it stops touching inputs.
+ */
+class ScenarioPlayer : public IRunListener {
+public:
+    /**
+     * @brief Take the scenario and everything it acts on.
+     *
+     * @param scenario The scenario.
+     * @param hooks What the robot exposes.
+     * @param serial The link's world side.
+     * @param pusher The robot's pusher.
+     * @param variables Where stop conditions read, or null.
+     */
+    ScenarioPlayer(
+        Scenario scenario, const ScenarioHooks& hooks, SerialBus& serial, Pusher& pusher,
+        const VariableSource* variables
+    );
+
+    /**
+     * @brief Apply the events of this tick and check the stop condition.
+     *
+     * @param simulation Run about to advance.
+     * @return QUIT once the stop condition holds.
+     */
+    RunControl on_before_tick(const Simulation& simulation) override;
+
+    /**
+     * @brief Stop touching inputs: a human has the board.
+     */
+    void hand_over() { this->human = true; }
+
+    /**
+     * @brief Get the instant the stop condition held.
+     *
+     * @return Seconds, or nothing when it never did.
+     */
+    std::optional<double> stopped_at() const { return this->stop_time; }
+
+private:
+    /**
+     * @brief An input to release at a tick.
+     */
+    struct Release {
+        DigitalInput* input;
+        uint64_t      tick;
+    };
+
+    /**
+     * @brief Check an event against what the robot exposes.
+     *
+     * @param event The event.
+     */
+    void check(const ScenarioEvent& event) const;
+
+    /**
+     * @brief Check whether an event's condition holds.
+     *
+     * @param index Index of the event.
+     * @return True for an event without a condition, or when its variable has the value.
+     */
+    bool is_due(std::size_t index) const;
+
+    /**
+     * @brief Check the stop condition.
+     *
+     * @param now Simulated time in seconds.
+     * @return QUIT once the condition holds for the counted time or takes an abort value.
+     */
+    RunControl check_stop(double now);
+
+    /**
+     * @brief Turn one of the stop condition's values into the number the variable takes.
+     *
+     * @param variable The variable the condition watches.
+     * @param value A number, or the name of one of the variable's states.
+     * @return The number.
+     */
+    double resolve(const std::string& variable, const std::string& value) const;
+
+    Scenario              scenario;
+    const ScenarioHooks&  hooks;   // NOLINT(*-avoid-const-or-ref-data-members): the target outlives the run.
+    SerialBus&            serial;  // NOLINT(*-avoid-const-or-ref-data-members): the run's bus.
+    Pusher&               pusher;  // NOLINT(*-avoid-const-or-ref-data-members): owned by the run's devices.
+    const VariableSource* variables;
+    std::vector<Release>  releases;
+    std::size_t           next_event{0};
+    std::vector<double>   stop_values;
+    std::vector<double>   event_values;
+    std::vector<double>   abort_values;
+    bool                  stop_matching{false};
+    int                   stop_reached{0};
+    std::optional<double> stop_time;
+    bool                  human{false};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_SCENARIO_SCENARIO_HPP
diff --git a/src/sim/core/clock.cpp b/engine/src/core/clock.cpp
similarity index 81%
rename from src/sim/core/clock.cpp
rename to engine/src/core/clock.cpp
index 0e8d0cf..ec6e740 100644
--- a/src/sim/core/clock.cpp
+++ b/engine/src/core/clock.cpp
@@ -44,25 +44,11 @@ void Clock::advance() {
     this->ticks++;
 }
 
-void Clock::reset() {
-    this->elapsed_us = 0;
-    this->ticks = 0;
-}
-
 uint64_t Clock::total_ticks(double seconds, uint32_t us_per_tick) {
     return static_cast<uint64_t>(seconds * 1e6 / us_per_tick);
 }
 
-uint64_t Clock::total_ticks(double seconds) const {
-    return total_ticks(seconds, this->tick_us);
-}
-
 uint64_t Clock::tick_at(double seconds) const {
     return static_cast<uint64_t>(std::llround(seconds * 1e6 / this->tick_us));
 }
-
-uint64_t Clock::ticks_for_elapsed_ms(uint32_t target_ms) const {
-    const uint64_t target_us = static_cast<uint64_t>(target_ms) * 1000;
-    return (target_us + this->tick_us - 1) / this->tick_us;
-}
 }  // namespace micras::sim
diff --git a/src/sim/core/firmware_thread.cpp b/engine/src/core/firmware_thread.cpp
similarity index 100%
rename from src/sim/core/firmware_thread.cpp
rename to engine/src/core/firmware_thread.cpp
diff --git a/src/sim/core/mujoco_world.cpp b/engine/src/core/mujoco_world.cpp
similarity index 59%
rename from src/sim/core/mujoco_world.cpp
rename to engine/src/core/mujoco_world.cpp
index 5aae94c..716430b 100644
--- a/src/sim/core/mujoco_world.cpp
+++ b/engine/src/core/mujoco_world.cpp
@@ -3,10 +3,13 @@
  */
 
 #include <array>
+#include <cmath>
 #include <cstddef>
+#include <memory>
 #include <span>
 #include <stdexcept>
 #include <string>
+#include <vector>
 
 #include "micras/sim/core/mujoco_world.hpp"
 
@@ -57,6 +60,83 @@ void MujocoWorld::load(const std::filesystem::path& model_path) {
     this->model_handle->opt.disableflags |= mjDSBL_AUTORESET;
 }
 
+void MujocoWorld::build(
+    const std::string& robot_xml, std::string_view robot_body, const std::string& arena_xml,
+    std::string_view arena_body, const Placement& placement
+) {
+    std::array<char, 1024> error{};
+    const auto             fail = [&error](const std::string& what) {
+        return std::runtime_error(what + ": " + std::string(error.data()));
+    };
+
+    const std::unique_ptr<mjSpec, decltype(&mj_deleteSpec)> robot{
+        mj_parseXMLString(robot_xml.c_str(), nullptr, error.data(), static_cast<int>(error.size())), mj_deleteSpec
+    };
+
+    if (robot == nullptr) {
+        throw fail("the robot's MJCF does not parse");
+    }
+
+    const std::unique_ptr<mjSpec, decltype(&mj_deleteSpec)> arena{
+        mj_parseXMLString(arena_xml.c_str(), nullptr, error.data(), static_cast<int>(error.size())), mj_deleteSpec
+    };
+
+    if (arena == nullptr) {
+        throw fail("the arena's MJCF does not parse");
+    }
+
+    mjsBody* const arena_root = mjs_findBody(arena.get(), std::string{arena_body}.c_str());
+    mjsBody* const robot_root = mjs_findBody(robot.get(), std::string{robot_body}.c_str());
+
+    if (arena_root == nullptr or robot_root == nullptr) {
+        throw std::runtime_error("the arena or the robot does not have the body it was asked to attach or place");
+    }
+
+    mjsFrame* const   frame = mjs_addFrame(mjs_findBody(robot.get(), "world"), nullptr);
+    const std::string prefix = std::string{arena_body} + "_";
+    const mjsElement* attached = mjs_attach(frame->element, arena_root->element, prefix.c_str(), "");
+
+    if (attached == nullptr) {
+        throw std::runtime_error(std::string("the arena cannot be attached: ") + mjs_getError(robot.get()));
+    }
+
+    robot_root->pos[0] = placement.x;
+    robot_root->pos[1] = placement.y;
+    robot_root->pos[2] = 0.0;
+    robot_root->quat[0] = std::cos(placement.yaw / 2);
+    robot_root->quat[1] = 0.0;
+    robot_root->quat[2] = 0.0;
+    robot_root->quat[3] = std::sin(placement.yaw / 2);
+
+    mjModel* const compiled = mj_compile(robot.get(), nullptr);
+
+    if (compiled == nullptr) {
+        throw std::runtime_error(std::string("the composed model does not compile: ") + mjs_getError(robot.get()));
+    }
+
+    std::vector<char> xml(1 << 22);
+
+    if (mj_saveXMLString(
+            robot.get(), xml.data(), static_cast<int>(xml.size()), error.data(), static_cast<int>(error.size())
+        ) != 0) {
+        mj_deleteModel(compiled);
+        throw fail("the composed model cannot be written back");
+    }
+
+    mjData* const allocated = mj_makeData(compiled);
+
+    if (allocated == nullptr) {
+        mj_deleteModel(compiled);
+        throw std::runtime_error("failed to allocate mjData for the composed model");
+    }
+
+    this->unload();
+    this->model_handle = compiled;
+    this->data_handle = allocated;
+    this->model_handle->opt.disableflags |= mjDSBL_AUTORESET;
+    this->composed = xml.data();
+}
+
 void MujocoWorld::reset() {
     this->require_loaded();
     mj_resetData(this->model_handle, this->data_handle);
diff --git a/engine/src/core/noise.cpp b/engine/src/core/noise.cpp
new file mode 100644
index 0000000..8b6afc5
--- /dev/null
+++ b/engine/src/core/noise.cpp
@@ -0,0 +1,54 @@
+/**
+ * @file
+ */
+
+#include <cmath>
+#include <numbers>
+
+#include "micras/sim/core/noise.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Mix a seed with a name, FNV-1a over the name's bytes.
+ *
+ * @param seed The run's seed.
+ * @param stream Name of the stream.
+ * @return The stream's seed.
+ */
+uint64_t mix(uint64_t seed, std::string_view stream) {
+    uint64_t hash = 0xcbf29ce484222325ULL ^ seed;
+
+    for (const char character : stream) {
+        hash ^= static_cast<unsigned char>(character);
+        hash *= 0x100000001b3ULL;
+    }
+
+    return hash;
+}
+}  // namespace
+
+Noise::Noise(const NoiseConfig& config, std::string_view stream) :
+    engine{mix(config.seed, stream)}, on{not config.ideal} { }
+
+double Noise::unit() {
+    return (static_cast<double>(this->engine() >> 11U) + 1.0) * 0x1.0p-53;
+}
+
+double Noise::gaussian(double sigma) {
+    if (not this->on or sigma == 0.0) {
+        return 0.0;
+    }
+
+    if (this->has_spare) {
+        this->has_spare = false;
+        return sigma * this->spare;
+    }
+
+    const double radius = std::sqrt(-2.0 * std::log(this->unit()));
+    const double angle = 2.0 * std::numbers::pi * this->unit();
+    this->spare = radius * std::sin(angle);
+    this->has_spare = true;
+    return sigma * radius * std::cos(angle);
+}
+}  // namespace micras::sim
diff --git a/engine/src/core/panel_spec.cpp b/engine/src/core/panel_spec.cpp
new file mode 100644
index 0000000..c1d932d
--- /dev/null
+++ b/engine/src/core/panel_spec.cpp
@@ -0,0 +1,15 @@
+/**
+ * @file
+ */
+
+#include "micras/sim/core/panel_spec.hpp"
+
+namespace micras::sim {
+std::string StateLabel::name_of(double state) const {
+    if (not(state >= 0.0) or state >= static_cast<double>(this->names.size())) {
+        return "?";
+    }
+
+    return this->names.at(static_cast<std::size_t>(state));
+}
+}  // namespace micras::sim
diff --git a/engine/src/core/serial_bus.cpp b/engine/src/core/serial_bus.cpp
new file mode 100644
index 0000000..2331109
--- /dev/null
+++ b/engine/src/core/serial_bus.cpp
@@ -0,0 +1,48 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+
+#include "micras/sim/core/serial_bus.hpp"
+
+namespace micras::sim {
+void SerialBus::add_listener(ISerialListener& listener) {
+    if (std::ranges::find(this->listeners, &listener) == this->listeners.end()) {
+        this->listeners.push_back(&listener);
+    }
+}
+
+void SerialBus::remove_listener(const ISerialListener& listener) {
+    std::erase(this->listeners, &listener);
+}
+
+void SerialBus::send_from_firmware(std::span<const uint8_t> bytes) {
+    this->sent += bytes.size();
+    const std::vector<ISerialListener*> delivering = this->listeners;
+
+    for (ISerialListener* listener : delivering) {
+        listener->on_firmware_bytes(bytes);
+    }
+}
+
+void SerialBus::queue_for_firmware(std::span<const uint8_t> bytes) {
+    for (const uint8_t byte : bytes) {
+        if (this->to_firmware.size() >= max_pending_bytes) {
+            this->dropped++;
+            continue;
+        }
+
+        this->to_firmware.push_back(byte);
+    }
+}
+
+std::vector<uint8_t> SerialBus::take_for_firmware(std::size_t count) {
+    const std::size_t    taken = std::min(count, this->to_firmware.size());
+    std::vector<uint8_t> bytes(
+        this->to_firmware.begin(), this->to_firmware.begin() + static_cast<std::ptrdiff_t>(taken)
+    );
+    this->to_firmware.erase(this->to_firmware.begin(), this->to_firmware.begin() + static_cast<std::ptrdiff_t>(taken));
+    return bytes;
+}
+}  // namespace micras::sim
diff --git a/src/sim/core/simulation.cpp b/engine/src/core/simulation.cpp
similarity index 86%
rename from src/sim/core/simulation.cpp
rename to engine/src/core/simulation.cpp
index a2384e2..9e7c2d4 100644
--- a/src/sim/core/simulation.cpp
+++ b/engine/src/core/simulation.cpp
@@ -38,8 +38,7 @@ void IRunListener::on_after_tick(const Simulation& /*simulation*/) { }
 
 void IRunListener::on_finish(const Simulation& /*simulation*/) { }
 
-Simulation::Simulation(SimulationContext& context, FirmwareThread& firmware) :
-    simulation{context}, firmware{firmware} { }
+Simulation::Simulation(RunContext& context, FirmwareThread& firmware) : simulation{context}, firmware{firmware} { }
 
 void Simulation::add_listener(IRunListener& listener) {
     this->listeners.push_back(&listener);
@@ -91,7 +90,15 @@ RunControl Simulation::before_tick() {
 }
 
 void Simulation::step() {
+    for (const auto& device : this->simulation.devices) {
+        device->actuate(this->simulation.world, this->simulation.clock);
+    }
+
     this->simulation.world.step(this->simulation.clock.steps_per_tick());
     this->simulation.clock.advance();
+
+    for (const auto& device : this->simulation.devices) {
+        device->sample(this->simulation.world, this->simulation.clock);
+    }
 }
 }  // namespace micras::sim
diff --git a/engine/src/devices/dc_motor.cpp b/engine/src/devices/dc_motor.cpp
new file mode 100644
index 0000000..607ca5d
--- /dev/null
+++ b/engine/src/devices/dc_motor.cpp
@@ -0,0 +1,57 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <span>
+#include <string>
+#include <utility>
+
+#include "micras/sim/devices/dc_motor.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Find where a joint's first velocity dof sits in qvel.
+ *
+ * @param world The world.
+ * @param joint Name of the joint.
+ * @return The joint's dof address.
+ */
+int dof_address(const MujocoWorld& world, const std::string& joint) {
+    const std::span<const int> addresses(world.model()->jnt_dofadr, static_cast<std::size_t>(world.model()->njnt));
+    return addresses[static_cast<std::size_t>(world.require_id(mjOBJ_JOINT, joint))];
+}
+}  // namespace
+
+DcMotor::DcMotor(const MujocoWorld& world, Config config) :
+    config{std::move(config)},
+    actuator_id{world.require_id(mjOBJ_ACTUATOR, this->config.actuator)},
+    velocity_address{dof_address(world, this->config.joint)} { }
+
+void DcMotor::actuate(MujocoWorld& world, const Clock& /*clock*/) {
+    const DriveDescription&       drive = this->config.drive;
+    const std::span<const mjtNum> velocities(world.data()->qvel, static_cast<std::size_t>(world.model()->nv));
+    const double                  back_emf =
+        drive.speed_constant * drive.gear_ratio * velocities[static_cast<std::size_t>(this->velocity_address)];
+
+    if (this->config.enabled()) {
+        const double duty = (this->config.forward_duty() - this->config.backward_duty()) / 100.0;
+        this->voltage = std::clamp(duty, -1.0, 1.0) * drive.supply_voltage;
+    } else {
+        this->voltage = back_emf;
+    }
+
+    this->winding_current = (this->voltage - back_emf) / drive.resistance();
+    world.set_control(this->actuator_id, this->voltage);
+}
+
+std::vector<std::string> DcMotor::columns() const {
+    return {this->config.name + "_voltage", this->config.name + "_current"};
+}
+
+void DcMotor::append(std::vector<CsvCell>& row) const {
+    row.emplace_back(this->voltage);
+    row.emplace_back(this->winding_current);
+}
+}  // namespace micras::sim
diff --git a/engine/src/devices/device.cpp b/engine/src/devices/device.cpp
new file mode 100644
index 0000000..6b67e3a
--- /dev/null
+++ b/engine/src/devices/device.cpp
@@ -0,0 +1,17 @@
+/**
+ * @file
+ */
+
+#include "micras/sim/devices/device.hpp"
+
+namespace micras::sim {
+void Device::actuate(MujocoWorld& /*world*/, const Clock& /*clock*/) { }
+
+void Device::sample(MujocoWorld& /*world*/, const Clock& /*clock*/) { }
+
+std::vector<std::string> Device::columns() const {
+    return {};
+}
+
+void Device::append(std::vector<CsvCell>& /*row*/) const { }
+}  // namespace micras::sim
diff --git a/engine/src/devices/imu.cpp b/engine/src/devices/imu.cpp
new file mode 100644
index 0000000..e0e5a2a
--- /dev/null
+++ b/engine/src/devices/imu.cpp
@@ -0,0 +1,94 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <cmath>
+#include <numbers>
+#include <span>
+#include <utility>
+
+#include "micras/sim/devices/imu.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Largest and smallest raw word of a 16-bit output register.
+ */
+///@{
+constexpr double word_max{32767.0};
+constexpr double word_min{-32768.0};
+///@}
+}  // namespace
+
+Imu::Imu(const MujocoWorld& world, Config config, const NoiseConfig& noise) :
+    config{std::move(config)},
+    noise{noise, this->config.name},
+    gyro_address{world.sensor_address(this->config.gyro)},
+    accelerometer_address{world.sensor_address(this->config.accelerometer)} {
+    const ImuDescription& chip = this->config.description;
+
+    for (std::size_t axis = 0; axis < 3; axis++) {
+        this->bias.at(axis) = this->noise.gaussian(chip.gyro_bias);
+        this->bias.at(3 + axis) = this->noise.gaussian(chip.accel_bias);
+        this->scale.at(axis) = 1.0 + this->noise.gaussian(chip.gyro_scale_error);
+        this->scale.at(3 + axis) = 1.0;
+    }
+
+    this->rate_error = this->noise.gaussian(chip.clock_error);
+}
+
+void Imu::sample(MujocoWorld& world, const Clock& clock) {
+    const ImuDescription&       chip = this->config.description;
+    const double                period = clock.us_per_tick() * 1e-6;
+    const double                alpha = 1.0 - std::exp(-2.0 * std::numbers::pi * chip.bandwidth * period);
+    const double                bandwidth = std::numbers::pi / 2.0 * chip.bandwidth;
+    const std::array<double, 2> sigma{
+        chip.gyro_noise_density * std::sqrt(bandwidth), chip.accel_noise_density * std::sqrt(bandwidth)
+    };
+    const std::array<double, 2> resolution{chip.gyro_resolution, chip.accel_resolution};
+
+    for (std::size_t channel = 0; channel < channels; channel++) {
+        const int    address = channel < 3 ? this->gyro_address : this->accelerometer_address;
+        const double truth = world.sensor_value(address + static_cast<int>(channel % 3));
+        this->filtered.at(channel) =
+            this->started ? this->filtered.at(channel) + alpha * (truth - this->filtered.at(channel)) : truth;
+    }
+
+    this->started = true;
+    this->phase += chip.output_rate * (1.0 + this->rate_error) * period;
+
+    while (this->phase >= 1.0) {
+        this->phase -= 1.0;
+
+        if (this->has_pending) {
+            this->delivered = this->pending;
+            this->config.write(this->delivered);
+        }
+
+        for (std::size_t channel = 0; channel < channels; channel++) {
+            const std::size_t kind = channel / 3;
+            const double      value = this->scale.at(channel) * this->filtered.at(channel) + this->bias.at(channel) +
+                                 this->noise.gaussian(sigma.at(kind));
+            this->pending.at(channel) =
+                static_cast<float>(std::clamp(std::round(value / resolution.at(kind)), word_min, word_max));
+        }
+
+        this->has_pending = true;
+    }
+}
+
+std::vector<std::string> Imu::columns() const {
+    const std::string& name = this->config.name;
+    return {name + "_gyro_x",  name + "_gyro_y",  name + "_gyro_z",
+            name + "_accel_x", name + "_accel_y", name + "_accel_z"};
+}
+
+void Imu::append(std::vector<CsvCell>& row) const {
+    const ImuDescription& chip = this->config.description;
+
+    for (std::size_t channel = 0; channel < channels; channel++) {
+        row.emplace_back(this->delivered.at(channel) * (channel < 3 ? chip.gyro_resolution : chip.accel_resolution));
+    }
+}
+}  // namespace micras::sim
diff --git a/engine/src/devices/power.cpp b/engine/src/devices/power.cpp
new file mode 100644
index 0000000..24daa3a
--- /dev/null
+++ b/engine/src/devices/power.cpp
@@ -0,0 +1,92 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <cmath>
+#include <utility>
+
+#include "micras/sim/devices/power.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Convert a voltage to ADC counts.
+ *
+ * @param voltage Voltage at the ADC input.
+ * @param reference ADC reference voltage.
+ * @param max_counts Counts at the reference.
+ * @param noise Noise added, in counts.
+ * @return Counts, clipped to the ADC's range.
+ */
+uint32_t to_counts(double voltage, double reference, double max_counts, double noise) {
+    return static_cast<uint32_t>(std::clamp(std::round(voltage / reference * max_counts + noise), 0.0, max_counts));
+}
+}  // namespace
+
+Battery::Battery(Config config, const NoiseConfig& noise) :
+    config{std::move(config)},
+    noise{noise, this->config.name},
+    terminal_voltage{this->config.description.cells * this->config.description.cell_voltage} { }
+
+void Battery::sample(MujocoWorld& /*world*/, const Clock& /*clock*/) {
+    const BatteryDescription& pack = this->config.description;
+    const double              load = this->config.load_current ? this->config.load_current() : 0.0;
+
+    this->terminal_voltage = pack.cells * (pack.cell_voltage - pack.cell_resistance * load);
+    this->config.write(to_counts(
+        this->terminal_voltage / this->config.divider, this->config.adc_reference, this->config.adc_max_counts,
+        this->noise.gaussian(this->config.adc_noise_counts)
+    ));
+}
+
+std::vector<std::string> Battery::columns() const {
+    return {this->config.name + "_voltage"};
+}
+
+void Battery::append(std::vector<CsvCell>& row) const {
+    row.emplace_back(this->terminal_voltage);
+}
+
+Fan::Fan(const MujocoWorld& world, Config config) :
+    config{std::move(config)}, actuator_id{world.require_id(mjOBJ_ACTUATOR, this->config.actuator)} { }
+
+void Fan::actuate(MujocoWorld& world, const Clock& clock) {
+    const FanDescription& fan = this->config.description;
+    double                target = 0.0;
+
+    if (this->config.enabled()) {
+        const double speed = std::clamp(static_cast<double>(this->config.duty()), 0.0, 100.0) / 100.0 *
+                             this->config.supply_voltage() / fan.nominal_voltage;
+        target = fan.max_downforce * speed * speed;
+    }
+
+    const double period = clock.us_per_tick() * 1e-6;
+    const double blend = 1.0 - std::exp(-period / fan.time_constant);
+    this->downforce += blend * (target - this->downforce);
+    world.set_control(this->actuator_id, this->downforce);
+}
+
+std::vector<std::string> Fan::columns() const {
+    return {this->config.name + "_downforce"};
+}
+
+void Fan::append(std::vector<CsvCell>& row) const {
+    row.emplace_back(this->downforce);
+}
+
+CurrentSense::CurrentSense(Config config, const NoiseConfig& noise) :
+    config{std::move(config)}, noise{noise, "current_sense"} { }
+
+void CurrentSense::sample(MujocoWorld& /*world*/, const Clock& /*clock*/) {
+    for (std::size_t channel = 0; channel < this->config.currents.size(); channel++) {
+        const double current = std::abs(this->config.currents.at(channel)());
+        this->config.write(
+            channel, to_counts(
+                         current * this->config.volts_per_amp, this->config.adc_reference, this->config.adc_max_counts,
+                         this->noise.gaussian(this->config.adc_noise_counts)
+                     )
+        );
+    }
+}
+}  // namespace micras::sim
diff --git a/engine/src/devices/quadrature_encoder.cpp b/engine/src/devices/quadrature_encoder.cpp
new file mode 100644
index 0000000..030831c
--- /dev/null
+++ b/engine/src/devices/quadrature_encoder.cpp
@@ -0,0 +1,47 @@
+/**
+ * @file
+ */
+
+#include <cmath>
+#include <numbers>
+#include <span>
+#include <string>
+#include <utility>
+
+#include "micras/sim/devices/quadrature_encoder.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Find where a joint's first position coordinate sits in qpos.
+ *
+ * @param world The world.
+ * @param joint Name of the joint.
+ * @return The joint's qpos address.
+ */
+int qpos_address(const MujocoWorld& world, const std::string& joint) {
+    const std::span<const int> addresses(world.model()->jnt_qposadr, static_cast<std::size_t>(world.model()->njnt));
+    return addresses[static_cast<std::size_t>(world.require_id(mjOBJ_JOINT, joint))];
+}
+}  // namespace
+
+QuadratureEncoder::QuadratureEncoder(const MujocoWorld& world, Config config) :
+    config{std::move(config)}, position_address{qpos_address(world, this->config.joint)} { }
+
+void QuadratureEncoder::sample(MujocoWorld& world, const Clock& /*clock*/) {
+    const std::span<const mjtNum> positions(world.data()->qpos, static_cast<std::size_t>(world.model()->nq));
+    const double                  angle = positions[static_cast<std::size_t>(this->position_address)];
+
+    this->count =
+        static_cast<int32_t>(std::floor(angle * this->config.counts_per_revolution / (2.0 * std::numbers::pi)));
+    this->config.write(this->count);
+}
+
+std::vector<std::string> QuadratureEncoder::columns() const {
+    return {this->config.name + "_count"};
+}
+
+void QuadratureEncoder::append(std::vector<CsvCell>& row) const {
+    row.emplace_back(static_cast<int64_t>(this->count));
+}
+}  // namespace micras::sim
diff --git a/engine/src/devices/serial_link.cpp b/engine/src/devices/serial_link.cpp
new file mode 100644
index 0000000..a29f866
--- /dev/null
+++ b/engine/src/devices/serial_link.cpp
@@ -0,0 +1,67 @@
+/**
+ * @file
+ */
+
+#include <cmath>
+#include <utility>
+#include <vector>
+
+#include "micras/sim/devices/serial_link.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Bit times per byte on an 8N1 line.
+ */
+constexpr double bits_per_byte{10.0};
+}  // namespace
+
+SerialLink::SerialLink(SerialBus& bus, Config config) : bus{bus}, config{std::move(config)} { }
+
+void SerialLink::sample(MujocoWorld& /*world*/, const Clock& clock) {
+    const double bytes_per_tick = this->config.baud_rate / bits_per_byte * clock.us_per_tick() * 1e-6;
+
+    this->send_budget = std::min(this->send_budget + bytes_per_tick, 1.0 + bytes_per_tick);
+    std::vector<uint8_t> sent;
+
+    while (this->send_budget >= 1.0) {
+        const std::optional<uint8_t> byte = this->config.take_sent();
+
+        if (not byte.has_value()) {
+            break;
+        }
+
+        sent.push_back(*byte);
+        this->send_budget -= 1.0;
+    }
+
+    if (not sent.empty()) {
+        this->bus.send_from_firmware(sent);
+    }
+
+    this->receive_budget = std::min(this->receive_budget + bytes_per_tick, 1.0 + bytes_per_tick);
+    const auto count = static_cast<std::size_t>(std::floor(this->receive_budget));
+
+    for (const uint8_t byte : this->bus.take_for_firmware(count)) {
+        this->config.receive(byte);
+        this->receive_budget -= 1.0;
+    }
+}
+
+DigitalInput::DigitalInput(Config config) : config{std::move(config)} {
+    this->set(false);
+}
+
+void DigitalInput::set(bool active) {
+    this->active = active;
+    this->config.drive(active != this->config.active_low);
+}
+
+std::vector<std::string> DigitalInput::columns() const {
+    return {this->config.name};
+}
+
+void DigitalInput::append(std::vector<CsvCell>& row) const {
+    row.emplace_back(static_cast<int64_t>(this->active));
+}
+}  // namespace micras::sim
diff --git a/engine/src/recording/csv_recorder.cpp b/engine/src/recording/csv_recorder.cpp
new file mode 100644
index 0000000..92f7cf6
--- /dev/null
+++ b/engine/src/recording/csv_recorder.cpp
@@ -0,0 +1,76 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <set>
+#include <stdexcept>
+#include <string>
+#include <string_view>
+#include <utility>
+
+#include "micras/sim/recording/csv_recorder.hpp"
+
+namespace micras::sim {
+CsvRecorder::CsvRecorder(
+    const MujocoWorld& world, GroundTruthConfig config, const std::filesystem::path& path, uint32_t every
+) :
+    ground_truth{world, std::move(config)}, writer{path}, every{std::max<uint32_t>(1, every)} { }
+
+void CsvRecorder::add_source(ColumnSource& source) {
+    if (this->header_written) {
+        throw std::logic_error("a column source was added after the CSV header was written");
+    }
+
+    this->sources.push_back(&source);
+}
+
+void CsvRecorder::write_header() {
+    std::vector<std::string> columns = this->ground_truth.columns();
+
+    for (ColumnSource* source : this->sources) {
+        const std::vector<std::string> names = source->names();
+        this->widths.push_back(names.size());
+        columns.insert(columns.end(), names.begin(), names.end());
+    }
+
+    std::set<std::string_view> seen;
+
+    for (const std::string& column : columns) {
+        if (not seen.insert(column).second) {
+            throw std::runtime_error("two column sources both write a column named " + column);
+        }
+    }
+
+    this->writer.write_header(columns);
+    this->header_written = true;
+}
+
+void CsvRecorder::on_after_tick(const Simulation& simulation) {
+    if (simulation.tick() % this->every == 0) {
+        this->sample(simulation.tick());
+    }
+}
+
+void CsvRecorder::sample(uint64_t tick) {
+    if (not this->header_written) {
+        this->write_header();
+    }
+
+    std::vector<CsvCell> cells = this->ground_truth.sample(tick);
+
+    for (std::size_t i = 0; i < this->sources.size(); i++) {
+        const std::size_t before = cells.size();
+        this->sources[i]->append(cells);
+
+        if (cells.size() - before != this->widths[i]) {
+            throw std::logic_error(
+                "a column source appended " + std::to_string(cells.size() - before) + " cells for " +
+                std::to_string(this->widths[i]) + " columns"
+            );
+        }
+    }
+
+    this->writer.write_row(cells);
+}
+}  // namespace micras::sim
diff --git a/src/sim/recording/csv_writer.cpp b/engine/src/recording/csv_writer.cpp
similarity index 100%
rename from src/sim/recording/csv_writer.cpp
rename to engine/src/recording/csv_writer.cpp
diff --git a/engine/src/recording/event_log.cpp b/engine/src/recording/event_log.cpp
new file mode 100644
index 0000000..0207e60
--- /dev/null
+++ b/engine/src/recording/event_log.cpp
@@ -0,0 +1,107 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <cmath>
+#include <format>
+#include <limits>
+#include <span>
+#include <utility>
+
+#include "micras/sim/recording/event_log.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Find the geom a contact pairs with a given one.
+ *
+ * @param contact The contact.
+ * @param geom The geom on one side.
+ * @return The geom on the other side, or -1 when the contact does not involve the given one.
+ */
+int other_geom(const mjContact& contact, int geom) {
+    if (contact.geom[0] == geom) {
+        return contact.geom[1];
+    }
+
+    if (contact.geom[1] == geom) {
+        return contact.geom[0];
+    }
+
+    return -1;
+}
+}  // namespace
+
+EventLog::EventLog(
+    std::vector<int> geoms, std::set<int> ignored, std::vector<WatchedState> states, const VariableSource* variables
+) :
+    geoms{std::move(geoms)},
+    ignored{std::move(ignored)},
+    states{std::move(states)},
+    variables{variables},
+    last_touch(this->geoms.size(), -std::numeric_limits<double>::infinity()),
+    last_values(this->states.size()) { }
+
+void EventLog::watch(WatchedState state) {
+    this->states.push_back(std::move(state));
+    this->last_values.emplace_back();
+}
+
+void EventLog::add(RunEvent event) {
+    if (this->logged.size() < max_events) {
+        this->logged.push_back(std::move(event));
+    }
+}
+
+void EventLog::on_after_tick(const Simulation& simulation) {
+    const MujocoWorld& world = simulation.context().world;
+    const mjData*      data = world.data();
+
+    this->log_collisions(
+        world.model(), std::span<const mjContact>(data->contact, static_cast<std::size_t>(data->ncon)), data->time
+    );
+
+    if (this->variables != nullptr) {
+        this->log_states(data->time);
+    }
+}
+
+void EventLog::log_collisions(const mjModel* model, std::span<const mjContact> contacts, double now) {
+    for (std::size_t index = 0; index < this->geoms.size(); index++) {
+        const int  geom = this->geoms[index];
+        const auto touches = std::ranges::any_of(contacts, [this, geom](const mjContact& contact) {
+            const int other = other_geom(contact, geom);
+            return other >= 0 and not this->ignored.contains(other);
+        });
+
+        if (not touches) {
+            continue;
+        }
+
+        if (now - this->last_touch[index] > min_separation) {
+            this->collision_count++;
+            const char* name = mj_id2name(model, mjOBJ_GEOM, geom);
+            this->add({.time = now, .kind = "collision", .detail = name == nullptr ? std::to_string(geom) : name});
+        }
+
+        this->last_touch[index] = now;
+    }
+}
+
+void EventLog::log_states(double now) {
+    for (std::size_t index = 0; index < this->states.size(); index++) {
+        const WatchedState& state = this->states[index];
+        const double        value = this->variables->value_of(state.variable);
+
+        if (std::isnan(value) or this->last_values[index] == value) {
+            continue;
+        }
+
+        this->last_values[index] = value;
+        const bool  named = value >= 0.0 and value < static_cast<double>(state.names.size());
+        std::string name = named ? state.names[static_cast<std::size_t>(value)] : std::format("{}", value);
+        this->add({.time = now, .kind = state.variable, .detail = std::move(name)});
+    }
+}
+}  // namespace micras::sim
diff --git a/engine/src/recording/ground_truth.cpp b/engine/src/recording/ground_truth.cpp
new file mode 100644
index 0000000..9eb1aa3
--- /dev/null
+++ b/engine/src/recording/ground_truth.cpp
@@ -0,0 +1,243 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <array>
+#include <cmath>
+#include <span>
+#include <stdexcept>
+#include <utility>
+
+#include "micras/sim/recording/ground_truth.hpp"
+
+// NOLINTBEGIN(cppcoreguidelines-pro-bounds-pointer-arithmetic): mjData exposes flat C arrays indexed by id.
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Convert a MuJoCo quaternion to roll, pitch and yaw.
+ *
+ * @param quaternion Quaternion as w, x, y, z.
+ * @return Roll, pitch and yaw in radians, ZYX convention.
+ */
+std::array<double, 3> to_euler(const mjtNum* quaternion) {
+    const double scalar = quaternion[0];
+    const double x = quaternion[1];
+    const double y = quaternion[2];
+    const double z = quaternion[3];
+
+    const double roll = std::atan2(2.0 * (scalar * x + y * z), 1.0 - 2.0 * (x * x + y * y));
+    const double sin_pitch = std::clamp(2.0 * (scalar * y - z * x), -1.0, 1.0);
+    const double pitch = std::asin(sin_pitch);
+    const double yaw = std::atan2(2.0 * (scalar * z + x * y), 1.0 - 2.0 * (y * y + z * z));
+
+    return {roll, pitch, yaw};
+}
+
+/**
+ * @brief Find the first velocity dof of a body's free joint.
+ *
+ * @param model Loaded model.
+ * @param body_id Id of the body.
+ * @param body Name of the body, for the error message.
+ * @return Index into mjData::qvel.
+ */
+int free_joint_dof(const mjModel* model, int body_id, const std::string& body) {
+    if (model->body_jntnum[body_id] < 1) {
+        throw std::runtime_error("body '" + body + "' has no joint, a free joint is required");
+    }
+
+    const int root_joint = model->body_jntadr[body_id];
+
+    if (model->jnt_type[root_joint] != mjJNT_FREE) {
+        throw std::runtime_error(
+            "the first joint of body '" + body + "' must be a free joint, got mjtJoint " +
+            std::to_string(model->jnt_type[root_joint])
+        );
+    }
+
+    return model->jnt_dofadr[root_joint];
+}
+
+/**
+ * @brief Column names every row starts with, before the robot's own.
+ */
+const std::array<const char*, 13> common_columns{
+    "tick", "sim_time", "x",        "y",        "z",       "roll",      "pitch",
+    "yaw",  "vx_world", "vy_world", "vz_world", "wz_body", "v_forward",
+};
+}  // namespace
+
+GroundTruth::GroundTruth(const MujocoWorld& world, GroundTruthConfig config) :
+    world{world},
+    config{std::move(config)},
+    body_id{world.require_id(mjOBJ_BODY, this->config.body)},
+    free_joint_qvel{free_joint_dof(world.model(), this->body_id, this->config.body)} {
+    const mjModel* model = world.model();
+
+    for (const GroundTruthColumn& column : this->config.columns) {
+        int address = 0;
+
+        switch (column.probe) {
+            case Probe::JOINT_VELOCITY:
+                address = model->jnt_dofadr[world.require_id(mjOBJ_JOINT, column.object)];
+                break;
+
+            case Probe::JOINT_POSITION:
+                address = model->jnt_qposadr[world.require_id(mjOBJ_JOINT, column.object)];
+                break;
+
+            case Probe::ACTUATOR_CONTROL:
+            case Probe::ACTUATOR_FORCE:
+                address = world.require_id(mjOBJ_ACTUATOR, column.object);
+                break;
+
+            case Probe::CONTACT_COUNT:
+            case Probe::CONTACT_NORMAL_FORCE:
+            case Probe::CONTACT_SLIP:
+            case Probe::CONTACT_PENETRATION:
+                address = world.require_id(mjOBJ_GEOM, column.object);
+                break;
+
+            case Probe::CONTACT_TOTAL:
+            case Probe::SOLVER_ITERATIONS:
+            case Probe::WARNINGS_TOTAL:
+                break;
+        }
+
+        this->resolved.push_back({column.probe, address});
+    }
+}
+
+int64_t GroundTruth::warnings_total(const MujocoWorld& world) {
+    int64_t warnings = 0;
+
+    for (const mjWarningStat& warning : std::span(world.data()->warning)) {
+        warnings += warning.number;
+    }
+
+    return warnings;
+}
+
+std::vector<std::string> GroundTruth::columns() const {
+    std::vector<std::string> names(common_columns.begin(), common_columns.end());
+
+    for (const GroundTruthColumn& column : this->config.columns) {
+        names.push_back(column.name);
+    }
+
+    return names;
+}
+
+GroundTruth::ContactStats GroundTruth::collect_contacts(int geom_id) const {
+    const mjModel* model = this->world.model();
+    const mjData*  data = this->world.data();
+    ContactStats   stats;
+
+    for (int i = 0; i < data->ncon; i++) {
+        const mjContact& contact = data->contact[i];
+
+        if (contact.efc_address < 0) {
+            continue;
+        }
+
+        if (contact.geom[0] != geom_id and contact.geom[1] != geom_id) {
+            continue;
+        }
+
+        stats.count++;
+        stats.penetration = stats.count == 1 ? contact.dist : std::min(stats.penetration, contact.dist);
+
+        std::array<mjtNum, 6> force{};
+        mj_contactForce(model, data, i, force.data());
+        stats.normal_force += force[0];
+
+        if (contact.dim >= 3) {
+            const int address = contact.efc_address;
+            stats.slip = std::max(stats.slip, std::hypot(data->efc_vel[address + 1], data->efc_vel[address + 2]));
+        }
+    }
+
+    return stats;
+}
+
+const GroundTruth::ContactStats& GroundTruth::contacts_of(int geom_id) {
+    const auto found = this->row_contacts.find(geom_id);
+
+    if (found != this->row_contacts.end()) {
+        return found->second;
+    }
+
+    return this->row_contacts.emplace(geom_id, this->collect_contacts(geom_id)).first->second;
+}
+
+CsvCell GroundTruth::read(const ResolvedColumn& column) {
+    const mjData* data = this->world.data();
+
+    switch (column.probe) {
+        case Probe::JOINT_VELOCITY:
+            return data->qvel[column.address];
+
+        case Probe::JOINT_POSITION:
+            return data->qpos[column.address];
+
+        case Probe::ACTUATOR_CONTROL:
+            return data->ctrl[column.address];
+
+        case Probe::ACTUATOR_FORCE:
+            return data->actuator_force[column.address];
+
+        case Probe::CONTACT_COUNT:
+            return static_cast<int64_t>(this->contacts_of(column.address).count);
+
+        case Probe::CONTACT_NORMAL_FORCE:
+            return this->contacts_of(column.address).normal_force;
+
+        case Probe::CONTACT_SLIP:
+            return this->contacts_of(column.address).slip;
+
+        case Probe::CONTACT_PENETRATION:
+            return this->contacts_of(column.address).penetration;
+
+        case Probe::CONTACT_TOTAL:
+            return static_cast<int64_t>(data->ncon);
+
+        case Probe::SOLVER_ITERATIONS:
+            return static_cast<int64_t>(data->solver_niter[0]);
+
+        case Probe::WARNINGS_TOTAL:
+            return warnings_total(this->world);
+    }
+
+    throw std::logic_error("unknown ground truth probe");
+}
+
+std::vector<CsvCell> GroundTruth::sample(uint64_t tick) {
+    const mjData* data = this->world.data();
+    const mjtNum* position = data->xpos + 3L * this->body_id;
+    const auto    euler = to_euler(data->xquat + 4L * this->body_id);
+    const mjtNum* velocity = data->qvel + this->free_joint_qvel;
+
+    this->last_body_z = position[2];
+
+    const double forward_speed = this->config.forward_axis == ForwardAxis::Y ?
+                                     -velocity[0] * std::sin(euler[2]) + velocity[1] * std::cos(euler[2]) :
+                                     velocity[0] * std::cos(euler[2]) + velocity[1] * std::sin(euler[2]);
+
+    std::vector<CsvCell> cells{
+        tick,     data->time,  position[0], position[1], position[2], euler[0],      euler[1],
+        euler[2], velocity[0], velocity[1], velocity[2], velocity[5], forward_speed,
+    };
+
+    this->row_contacts.clear();
+
+    for (const ResolvedColumn& column : this->resolved) {
+        cells.push_back(this->read(column));
+    }
+
+    return cells;
+}
+}  // namespace micras::sim
+
+// NOLINTEND(cppcoreguidelines-pro-bounds-pointer-arithmetic)
diff --git a/src/sim/recording/run_metadata.cpp b/engine/src/recording/run_metadata.cpp
similarity index 78%
rename from src/sim/recording/run_metadata.cpp
rename to engine/src/recording/run_metadata.cpp
index f75475a..1d44ffc 100644
--- a/src/sim/recording/run_metadata.cpp
+++ b/engine/src/recording/run_metadata.cpp
@@ -102,26 +102,46 @@ std::string RunMetadata::to_json() const {
 
     out.imbue(std::locale::classic());
     out << "{\n";
+    field(out, "target", this->target);
     field(out, "firmware_sha", this->firmware_sha);
-    field(out, "model_path", this->model_path);
-    field(out, "model_sha256", this->model_sha256);
+    field(out, "robot_path", this->robot_path);
+    field(out, "robot_sha256", this->robot_sha256);
+    field(out, "scenario_path", this->scenario_path);
     field(out, "maze_path", this->maze_path);
+    field(out, "model_sha256", this->model_sha256);
     field(out, "mujoco_version", this->mujoco_version);
     field(out, "compiler", this->compiler);
     field(out, "build_type", this->build_type);
     field(out, "args", this->args);
+    field(out, "seed", this->seed);
+    field(out, "ideal", this->ideal);
     field(out, "loop_time_us", this->loop_time_us);
     field(out, "timestep", this->timestep);
     field(out, "steps_per_tick", this->steps_per_tick);
+    field(out, "record_every", this->record_every);
     field(out, "requested_ticks", this->requested_ticks);
     field(out, "ticks", this->ticks);
     field(out, "sim_time", this->sim_time);
+    field(out, "stopped_at", this->stopped_at);
     field(out, "final_z", this->final_z);
-    field(out, "pool_columns", this->pool_columns);
-    field(out, "telemetry_resyncs", this->telemetry_resyncs);
+
+    for (const MetadataField& target_field : this->target_fields) {
+        field(out, target_field.name.c_str(), target_field.value);
+    }
+
     field(out, "warnings_total", this->warnings_total);
-    field(out, "interactive", this->interactive, true);
-    out << "}\n";
+    field(out, "serial_dropped_bytes", this->serial_dropped_bytes);
+    field(out, "bridge_dropped_frames", this->bridge_dropped_frames);
+    field(out, "interactive", this->interactive);
+    out << "  \"events\": [";
+
+    for (std::size_t i = 0; i < this->events.size(); i++) {
+        const RunEvent& event = this->events[i];
+        out << (i > 0 ? "," : "") << "\n    {" << R"("time": )" << event.time << R"(, "kind": ")"
+            << json_escape(event.kind) << R"(", "detail": ")" << json_escape(event.detail) << R"("})";
+    }
+
+    out << (this->events.empty() ? "]\n" : "\n  ]\n") << "}\n";
     return out.str();
 }
 
@@ -135,6 +155,10 @@ void RunMetadata::write(const std::filesystem::path& path) const {
     file << this->to_json();
 }
 
+std::string RunMetadata::sha256_of_text(const std::string& text) {
+    return picosha2::hash256_hex_string(text);
+}
+
 std::string RunMetadata::sha256_of(const std::filesystem::path& path) {
     std::ifstream file(path, std::ios::binary);
 
diff --git a/engine/src/robot/robot_description.cpp b/engine/src/robot/robot_description.cpp
new file mode 100644
index 0000000..432252b
--- /dev/null
+++ b/engine/src/robot/robot_description.cpp
@@ -0,0 +1,530 @@
+/**
+ * @file
+ */
+
+#include <cmath>
+#include <format>
+#include <fstream>
+#include <numbers>
+#include <optional>
+#include <set>
+#include <sstream>
+#include <stdexcept>
+#include <utility>
+
+#include <toml++/toml.hpp>
+
+#include "micras/sim/robot/robot_description.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Radians per degree.
+ */
+constexpr double radians_per_degree{std::numbers::pi / 180.0};
+
+/**
+ * @brief One table of the file, read key by key, which refuses keys nobody read.
+ */
+class Section {
+public:
+    /**
+     * @brief Wrap a table.
+     *
+     * @param table Table to read.
+     * @param path Dotted path of the table, for messages.
+     * @param provenance Where every value read is recorded.
+     */
+    Section(const toml::table& table, std::string path, std::vector<Provenance>& provenance) :
+        table{&table}, path{std::move(path)}, provenance{provenance} { }
+
+    /**
+     * @brief Read a number.
+     *
+     * @param key Key in this table.
+     * @return The number.
+     */
+    double number(std::string_view key) {
+        const toml::node& node = this->value(key);
+
+        if (const auto number = node.value<double>(); number.has_value()) {
+            this->record(key, std::format("{}", *number));
+            return *number;
+        }
+
+        throw this->error(key, "a number");
+    }
+
+    /**
+     * @brief Read an angle given in degrees.
+     *
+     * @param key Key in this table, which should end in _deg.
+     * @return The angle in radians.
+     */
+    double degrees(std::string_view key) { return this->number(key) * radians_per_degree; }
+
+    /**
+     * @brief Read a whole number.
+     *
+     * @param key Key in this table.
+     * @return The number.
+     */
+    int64_t integer(std::string_view key) {
+        const toml::node& node = this->value(key);
+
+        if (const auto number = node.value<int64_t>(); number.has_value() and node.is_integer()) {
+            this->record(key, std::to_string(*number));
+            return *number;
+        }
+
+        throw this->error(key, "a whole number");
+    }
+
+    /**
+     * @brief Read a text.
+     *
+     * @param key Key in this table.
+     * @return The text.
+     */
+    std::string text(std::string_view key) {
+        const toml::node& node = this->value(key);
+
+        if (const auto text = node.value<std::string>(); text.has_value()) {
+            this->record(key, *text);
+            return *text;
+        }
+
+        throw this->error(key, "a text");
+    }
+
+    /**
+     * @brief Read three numbers.
+     *
+     * @param key Key in this table.
+     * @return The numbers.
+     */
+    Vector3 vector3(std::string_view key) {
+        const std::vector<double> numbers = this->numbers(key, 3);
+        return {numbers.at(0), numbers.at(1), numbers.at(2)};
+    }
+
+    /**
+     * @brief Read a list of points in the plane.
+     *
+     * @param key Key in this table.
+     * @return The points.
+     */
+    std::vector<std::array<double, 2>> points(std::string_view key) {
+        const toml::array* array = this->value(key).as_array();
+
+        if (array == nullptr or array->empty()) {
+            throw this->error(key, "a list of [x, y] points");
+        }
+
+        std::vector<std::array<double, 2>> points;
+        std::string                        text;
+
+        for (const toml::node& point : *array) {
+            const toml::array* pair = point.as_array();
+
+            if (pair == nullptr or pair->size() != 2 or not pair->at(0).is_number() or not pair->at(1).is_number()) {
+                throw this->error(key, "a list of [x, y] points");
+            }
+
+            const std::optional<double> x = pair->at(0).value<double>();
+            const std::optional<double> y = pair->at(1).value<double>();
+
+            if (not x.has_value() or not y.has_value()) {
+                throw this->error(key, "a list of [x, y] points");
+            }
+
+            points.push_back({*x, *y});
+            text += std::format("[{}, {}] ", points.back()[0], points.back()[1]);
+        }
+
+        this->record(key, text);
+        return points;
+    }
+
+    /**
+     * @brief Open a sub-table.
+     *
+     * @param key Key in this table.
+     * @return The sub-table.
+     */
+    Section section(std::string_view key) {
+        this->used.insert(std::string{key});
+        const toml::table* table = this->table->get_as<toml::table>(key);
+
+        if (table == nullptr) {
+            throw std::runtime_error(std::format("{}: [{}] is missing", this->where(), this->child(key)));
+        }
+
+        return {*table, this->child(key), this->provenance};
+    }
+
+    /**
+     * @brief Open every table of an array of tables.
+     *
+     * @param key Key in this table.
+     * @return The tables, possibly none.
+     */
+    std::vector<Section> sections(std::string_view key) {
+        this->used.insert(std::string{key});
+        std::vector<Section>     sections;
+        const toml::array* const array = this->table->get_as<toml::array>(key);
+
+        if (array == nullptr) {
+            return sections;
+        }
+
+        for (std::size_t i = 0; i < array->size(); i++) {
+            const toml::table* table = array->at(i).as_table();
+
+            if (table == nullptr) {
+                throw std::runtime_error(std::format("{}: {} must be an array of tables", this->where(), key));
+            }
+
+            sections.emplace_back(*table, std::format("{}[{}]", this->child(key), i), this->provenance);
+        }
+
+        return sections;
+    }
+
+    /**
+     * @brief Refuse any key that was not read.
+     */
+    void finish() const {
+        for (const auto& [key, node] : *this->table) {
+            if (not this->used.contains(std::string{key.str()})) {
+                throw std::runtime_error(std::format("{}: unknown key {}", this->where(), this->child(key.str())));
+            }
+        }
+    }
+
+private:
+    /**
+     * @brief Find a value, unwrapping { value, source }.
+     *
+     * @param key Key in this table.
+     * @return The value node.
+     */
+    const toml::node& value(std::string_view key) {
+        this->used.insert(std::string{key});
+        const toml::node* node = this->table->get(key);
+
+        if (node == nullptr) {
+            throw std::runtime_error(std::format("{}: {} is missing", this->where(), this->child(key)));
+        }
+
+        this->last_source.clear();
+
+        if (const toml::table* sourced = node->as_table(); sourced != nullptr) {
+            const toml::node* value = sourced->get("value");
+            const auto* const source = sourced->get_as<std::string>("source");
+
+            if (value == nullptr or source == nullptr or sourced->size() != 2) {
+                throw this->error(key, "a value or a { value = ..., source = \"...\" } table");
+            }
+
+            this->last_source = source->get();
+            return *value;
+        }
+
+        return *node;
+    }
+
+    /**
+     * @brief Read a fixed number of numbers.
+     *
+     * @param key Key in this table.
+     * @param count Number of numbers.
+     * @return The numbers.
+     */
+    std::vector<double> numbers(std::string_view key, std::size_t count) {
+        const toml::array* array = this->value(key).as_array();
+
+        if (array == nullptr or array->size() != count) {
+            throw this->error(key, std::format("{} numbers", count));
+        }
+
+        std::vector<double> numbers;
+        std::string         text;
+
+        for (const toml::node& element : *array) {
+            const std::optional<double> number = element.value<double>();
+
+            if (not element.is_number() or not number.has_value()) {
+                throw this->error(key, std::format("{} numbers", count));
+            }
+
+            numbers.push_back(*number);
+            text += std::format("{} ", numbers.back());
+        }
+
+        this->record(key, text);
+        return numbers;
+    }
+
+    /**
+     * @brief Record a value read, with its source.
+     *
+     * @param key Key in this table.
+     * @param text The value, as text.
+     */
+    void record(std::string_view key, std::string text) {
+        this->provenance.push_back({this->child(key), std::move(text), this->last_source});
+    }
+
+    /**
+     * @brief Build an error for a value of the wrong kind.
+     *
+     * @param key Key in this table.
+     * @param expected What was expected.
+     * @return The error.
+     */
+    std::runtime_error error(std::string_view key, std::string_view expected) const {
+        return std::runtime_error(std::format("{}: {} must be {}", this->where(), this->child(key), expected));
+    }
+
+    /**
+     * @brief Get the dotted path of a key of this table.
+     *
+     * @param key Key in this table.
+     * @return The path.
+     */
+    std::string child(std::string_view key) const {
+        return this->path.empty() ? std::string{key} : this->path + "." + std::string{key};
+    }
+
+    /**
+     * @brief Name the file, for messages.
+     *
+     * @return The origin of the table.
+     */
+    std::string where() const {
+        const auto& source = this->table->source();
+        return source.path == nullptr ? std::string{"robot.toml"} : std::string{*source.path};
+    }
+
+    const toml::table*       table;
+    std::string              path;
+    std::vector<Provenance>& provenance;  // NOLINT(*-avoid-const-or-ref-data-members): outlives every section.
+    std::set<std::string>    used;
+    std::string              last_source;
+};
+
+/**
+ * @brief Read the chassis table.
+ *
+ * @param section The [chassis] table.
+ * @return The chassis.
+ */
+ChassisDescription read_chassis(Section section) {
+    ChassisDescription chassis{
+        .mass = section.number("mass"),
+        .center_of_mass = section.vector3("center_of_mass"),
+        .inertia = section.vector3("inertia"),
+        .outline = section.points("outline"),
+        .board_bottom = section.number("board_bottom"),
+        .board_top = section.number("board_top"),
+        .friction = section.number("friction"),
+        .boxes = {},
+        .cylinders = {},
+        .skids = {},
+    };
+
+    for (Section part : section.sections("boxes")) {
+        chassis.boxes.push_back({.name = part.text("name"), .min = part.vector3("min"), .max = part.vector3("max")});
+        part.finish();
+    }
+
+    for (Section part : section.sections("skids")) {
+        chassis.skids.push_back(
+            {.name = part.text("name"), .center = part.vector3("center"), .radius = part.number("radius")}
+        );
+        part.finish();
+    }
+
+    for (Section part : section.sections("cylinders")) {
+        chassis.cylinders.push_back(
+            {.name = part.text("name"),
+             .base = part.vector3("base"),
+             .radius = part.number("radius"),
+             .height = part.number("height")}
+        );
+        part.finish();
+    }
+
+    section.finish();
+    return chassis;
+}
+
+/**
+ * @brief Read the wall sensors table.
+ *
+ * @param section The [wall_sensors] table.
+ * @return The wall sensors.
+ */
+WallSensorsDescription read_wall_sensors(Section section) {
+    WallSensorsDescription sensors{
+        .emitter_half_angle = section.degrees("emitter_half_angle_deg"),
+        .emitter_intensity = section.number("emitter_intensity"),
+        .receiver_half_angle = section.degrees("receiver_half_angle_deg"),
+        .receiver_responsivity = section.number("receiver_responsivity"),
+        .load_resistance = section.number("load_resistance"),
+        .saturation_voltage = section.number("saturation_voltage"),
+        .adc_reference = section.number("adc_reference"),
+        .adc_max_counts = section.number("adc_max_counts"),
+        .adc_noise_counts = section.number("adc_noise_counts"),
+        .settle_fraction = section.number("settle_fraction"),
+        .ambient_irradiance = section.number("ambient_irradiance"),
+        .rays = static_cast<int>(section.integer("rays")),
+        .sensors = {},
+    };
+
+    for (Section sensor : section.sections("sensors")) {
+        sensors.sensors.push_back(
+            {.name = sensor.text("name"),
+             .emitter = sensor.vector3("emitter"),
+             .receiver = sensor.vector3("receiver"),
+             .yaw = sensor.degrees("yaw_deg"),
+             .group = static_cast<int>(sensor.integer("group")),
+             .gain = sensor.number("gain")}
+        );
+        sensor.finish();
+    }
+
+    section.finish();
+    return sensors;
+}
+
+/**
+ * @brief Read everything but the chassis and the wall sensors.
+ *
+ * @param root The whole file.
+ * @param robot Description to fill.
+ */
+void read_components(Section& root, RobotDescription& robot) {
+    Section integration = root.section("integration");
+    robot.integration = {.timestep = integration.number("timestep")};
+    integration.finish();
+
+    Section wheels = root.section("wheels");
+    robot.wheels = {
+        .radius = wheels.number("radius"),
+        .width = wheels.number("width"),
+        .track = wheels.number("track"),
+        .mass = wheels.number("mass"),
+        .spin_inertia = wheels.number("spin_inertia"),
+        .friction = wheels.number("friction"),
+        .torsional_friction = wheels.number("torsional_friction"),
+        .contact_time_constant = wheels.number("contact_time_constant"),
+        .contact_damping_ratio = wheels.number("contact_damping_ratio"),
+    };
+    wheels.finish();
+
+    Section drive = root.section("drive");
+    robot.drive = {
+        .winding_resistance = drive.number("winding_resistance"),
+        .bridge_resistance = drive.number("bridge_resistance"),
+        .torque_constant = drive.number("torque_constant"),
+        .speed_constant = drive.number("speed_constant"),
+        .no_load_current = drive.number("no_load_current"),
+        .rotor_inertia = drive.number("rotor_inertia"),
+        .gear_ratio = drive.number("gear_ratio"),
+        .gear_efficiency = drive.number("gear_efficiency"),
+        .supply_voltage = drive.number("supply_voltage"),
+        .max_motor_speed = drive.number("max_motor_speed"),
+    };
+    drive.finish();
+
+    Section encoders = root.section("encoders");
+    robot.encoders = {.counts_per_revolution = static_cast<uint32_t>(encoders.integer("counts_per_revolution"))};
+    encoders.finish();
+
+    Section imu = root.section("imu");
+    robot.imu = {
+        .position = imu.vector3("position"),
+        .axes = {imu.vector3("chip_x"), imu.vector3("chip_y"), imu.vector3("chip_z")},
+        .gyro_noise_density = imu.number("gyro_noise_density"),
+        .gyro_bias = imu.number("gyro_bias"),
+        .gyro_scale_error = imu.number("gyro_scale_error"),
+        .gyro_resolution = imu.number("gyro_resolution"),
+        .accel_noise_density = imu.number("accel_noise_density"),
+        .accel_bias = imu.number("accel_bias"),
+        .accel_resolution = imu.number("accel_resolution"),
+        .bandwidth = imu.number("bandwidth"),
+        .output_rate = imu.number("output_rate"),
+        .clock_error = imu.number("clock_error"),
+    };
+    imu.finish();
+
+    Section fan = root.section("fan");
+    robot.fan = {
+        .position = fan.vector3("position"),
+        .max_downforce = fan.number("max_downforce"),
+        .nominal_voltage = fan.number("nominal_voltage"),
+        .time_constant = fan.number("time_constant"),
+    };
+    fan.finish();
+
+    Section battery = root.section("battery");
+    robot.battery = {
+        .cells = static_cast<int>(battery.integer("cells")),
+        .cell_voltage = battery.number("cell_voltage"),
+        .cell_resistance = battery.number("cell_resistance"),
+    };
+    battery.finish();
+
+    Section link = root.section("link");
+    robot.link = {.baud_rate = static_cast<uint32_t>(link.integer("baud_rate"))};
+    link.finish();
+}
+}  // namespace
+
+RobotDescription RobotDescription::load(const std::filesystem::path& path) {
+    std::ifstream file(path);
+
+    if (not file.is_open()) {
+        throw std::runtime_error("cannot read the robot description " + path.string());
+    }
+
+    std::ostringstream text;
+    text << file.rdbuf();
+    return parse(text.str(), path.string());
+}
+
+RobotDescription RobotDescription::parse(std::string_view text, const std::string& origin) {
+    toml::table table;
+
+    try {
+        table = toml::parse(text, origin);
+    } catch (const toml::parse_error& error) {
+        throw std::runtime_error(std::format("{}: {}", origin, error.description()));
+    }
+
+    RobotDescription robot;
+    Section          root{table, "", robot.provenance};
+
+    const int64_t schema = root.integer("schema");
+
+    if (schema != schema_version) {
+        throw std::runtime_error(
+            std::format("{}: schema {} is not the {} this build reads", origin, schema, schema_version)
+        );
+    }
+
+    robot.name = root.text("name");
+    read_components(root, robot);
+    robot.chassis = read_chassis(root.section("chassis"));
+    robot.wall_sensors = read_wall_sensors(root.section("wall_sensors"));
+    root.finish();
+
+    if (robot.chassis.outline.size() < 3) {
+        throw std::runtime_error(origin + ": chassis.outline needs at least three points");
+    }
+
+    return robot;
+}
+}  // namespace micras::sim
diff --git a/engine/src/scenario/scenario.cpp b/engine/src/scenario/scenario.cpp
new file mode 100644
index 0000000..7d12c1d
--- /dev/null
+++ b/engine/src/scenario/scenario.cpp
@@ -0,0 +1,466 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <charconv>
+#include <cmath>
+#include <format>
+#include <fstream>
+#include <iostream>
+#include <limits>
+#include <memory>
+#include <numbers>
+#include <set>
+#include <span>
+#include <sstream>
+#include <stdexcept>
+#include <utility>
+
+#include <toml++/toml.hpp>
+
+#include "micras/sim/scenario/scenario.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Refuse keys of a table outside a known set.
+ *
+ * @param table Table to check.
+ * @param known Keys it may have.
+ * @param where Name of the table, for messages.
+ */
+void refuse_unknown(const toml::table& table, const std::set<std::string_view>& known, const std::string& where) {
+    for (const auto& [key, node] : table) {
+        if (not known.contains(key.str())) {
+            throw std::runtime_error(std::format("{}: unknown key {}", where, key.str()));
+        }
+    }
+}
+
+/**
+ * @brief Read a required number.
+ *
+ * @param table Table to read.
+ * @param key Key.
+ * @param where Name of the table, for messages.
+ * @return The number.
+ */
+double require_number(const toml::table& table, std::string_view key, const std::string& where) {
+    const std::optional<double> value = table[key].value<double>();
+
+    if (not value.has_value()) {
+        throw std::runtime_error(std::format("{}: {} must be a number", where, key));
+    }
+
+    return *value;
+}
+
+/**
+ * @brief Format a stop condition's value as text, a number or a name.
+ *
+ * @param node The value's node.
+ * @param where Name of the table, for messages.
+ * @return The value as text.
+ */
+std::string condition_value(const toml::node_view<const toml::node>& node, const std::string& where) {
+    if (const auto text = node.value<std::string>(); text.has_value()) {
+        return *text;
+    }
+
+    if (const auto number = node.value<double>(); number.has_value()) {
+        return std::format("{}", *number);
+    }
+
+    throw std::runtime_error(where + ": equals must be a number or a name");
+}
+
+/**
+ * @brief Read a condition's values, given as one value or as an array of them.
+ *
+ * @param node The values' node; a missing one gives no value.
+ * @param where Name of the table, for messages.
+ * @return The values as text.
+ */
+std::vector<std::string> condition_values(const toml::node_view<const toml::node>& node, const std::string& where) {
+    std::vector<std::string> values;
+
+    if (const toml::array* array = node.as_array(); array != nullptr) {
+        for (const toml::node& value : *array) {
+            values.push_back(condition_value(toml::node_view<const toml::node>{value}, where));
+        }
+    } else if (node) {
+        values.push_back(condition_value(node, where));
+    }
+
+    return values;
+}
+
+/**
+ * @brief Read the stop condition.
+ *
+ * @param table The [stop] table.
+ * @param where Name of the table, for messages.
+ * @return The condition.
+ */
+StopCondition read_stop(const toml::table& table, const std::string& where) {
+    refuse_unknown(table, {"when", "equals", "after", "count", "abort"}, where);
+    const std::optional<std::string> variable = table["when"].value<std::string>();
+
+    if (not variable.has_value()) {
+        throw std::runtime_error(where + ": when must name a firmware variable");
+    }
+
+    StopCondition stop{
+        .variable = *variable,
+        .equals = condition_values(table["equals"], where),
+        .after = table["after"].value_or(0.0),
+        .count = static_cast<int>(table["count"].value_or(int64_t{1})),
+        .abort = condition_values(table["abort"], where),
+    };
+
+    if (stop.equals.empty()) {
+        throw std::runtime_error(where + ": equals names no value");
+    }
+
+    if (stop.count < 1) {
+        throw std::runtime_error(where + ": count must be at least 1");
+    }
+
+    return stop;
+}
+
+/**
+ * @brief Read one event of the timeline.
+ *
+ * @param table The event's table.
+ * @param where Name of the event, for messages.
+ * @return The event.
+ */
+ScenarioEvent read_event(const toml::table& table, const std::string& where) {
+    refuse_unknown(table, {"at", "press", "for", "set", "value", "send", "push", "when", "equals"}, where);
+
+    ScenarioEvent event;
+    event.at = require_number(table, "at", where);
+    const int kinds = static_cast<int>(table.contains("press")) + static_cast<int>(table.contains("set")) +
+                      static_cast<int>(table.contains("send")) + static_cast<int>(table.contains("push"));
+
+    if (kinds != 1) {
+        throw std::runtime_error(where + ": an event is exactly one of press, set, send or push");
+    }
+
+    if (const auto press = table["press"].value<std::string>(); press.has_value()) {
+        event.kind = ScenarioEvent::Kind::PRESS;
+        event.target = *press;
+        event.duration = require_number(table, "for", where);
+    } else if (const auto set = table["set"].value<std::string>(); set.has_value()) {
+        event.kind = ScenarioEvent::Kind::SET;
+        event.target = *set;
+        const std::optional<bool> value = table["value"].value<bool>();
+
+        if (not value.has_value()) {
+            throw std::runtime_error(where + ": set needs a true or false value");
+        }
+
+        event.value = *value;
+    } else if (const auto send = table["send"].value<std::string>(); send.has_value()) {
+        event.kind = ScenarioEvent::Kind::SEND;
+        event.target = *send;
+    } else {
+        const toml::array* force = table["push"].as_array();
+
+        if (force == nullptr or force->size() != 3) {
+            throw std::runtime_error(where + ": push is a force [x, y, z] in newtons");
+        }
+
+        event.kind = ScenarioEvent::Kind::PUSH;
+
+        for (std::size_t axis = 0; axis < 3; axis++) {
+            event.force.at(axis) = force->at(axis).value<double>().value_or(0.0);
+        }
+
+        event.duration = require_number(table, "for", where);
+    }
+
+    if (event.at < 0.0 or event.duration < 0.0) {
+        throw std::runtime_error(where + ": times cannot be negative");
+    }
+
+    if (table.contains("when") != table.contains("equals")) {
+        throw std::runtime_error(where + ": a condition needs both when and equals");
+    }
+
+    if (table.contains("when")) {
+        const std::optional<std::string> variable = table["when"].value<std::string>();
+
+        if (not variable.has_value()) {
+            throw std::runtime_error(where + ": when must name a firmware variable");
+        }
+
+        event.when = *variable;
+        event.equals = condition_value(table["equals"], where);
+    }
+
+    return event;
+}
+
+}  // namespace
+
+Scenario Scenario::load(const std::filesystem::path& path) {
+    std::ifstream file(path);
+
+    if (not file.is_open()) {
+        throw std::runtime_error("cannot read the scenario " + path.string());
+    }
+
+    std::ostringstream text;
+    text << file.rdbuf();
+    return parse(text.str(), path.string());
+}
+
+Scenario Scenario::parse(std::string_view text, const std::string& origin) {
+    toml::table table;
+
+    try {
+        table = toml::parse(text, origin);
+    } catch (const toml::parse_error& error) {
+        throw std::runtime_error(std::format("{}: {}", origin, error.description()));
+    }
+
+    refuse_unknown(table, {"robot", "arena", "seconds", "seed", "start", "events", "stop"}, origin);
+
+    Scenario scenario;
+    scenario.robot = table["robot"].value_or(std::string{});
+    scenario.arena = table["arena"].value_or(std::string{});
+    scenario.seconds = table["seconds"].value_or(0.0);
+
+    if (const auto seed = table["seed"].value<int64_t>(); seed.has_value()) {
+        scenario.seed = static_cast<uint64_t>(*seed);
+    }
+
+    if (const toml::table* start = table["start"].as_table(); start != nullptr) {
+        const std::string where = origin + ": [start]";
+        refuse_unknown(*start, {"x", "y", "yaw_deg"}, where);
+        scenario.start = MujocoWorld::Placement{
+            .x = require_number(*start, "x", where),
+            .y = require_number(*start, "y", where),
+            .yaw = require_number(*start, "yaw_deg", where) * std::numbers::pi / 180.0,
+        };
+    }
+
+    if (const toml::array* events = table["events"].as_array(); events != nullptr) {
+        for (std::size_t index = 0; index < events->size(); index++) {
+            const toml::table* event = events->at(index).as_table();
+            const std::string  where = std::format("{}: events[{}]", origin, index);
+
+            if (event == nullptr) {
+                throw std::runtime_error(where + " must be a table");
+            }
+
+            scenario.events.push_back(read_event(*event, where));
+        }
+    }
+
+    std::ranges::stable_sort(scenario.events, {}, &ScenarioEvent::at);
+
+    if (const toml::table* stop = table["stop"].as_table(); stop != nullptr) {
+        scenario.stop = read_stop(*stop, origin + ": [stop]");
+    }
+
+    return scenario;
+}
+
+Pusher::Pusher(const MujocoWorld& world, const std::string& body) : body_id{world.require_id(mjOBJ_BODY, body)} { }
+
+void Pusher::push(const std::array<double, 3>& force, uint64_t until) {
+    this->force = force;
+    this->until = until;
+}
+
+void Pusher::actuate(MujocoWorld& world, const Clock& clock) {
+    const std::span<mjtNum> forces(world.data()->xfrc_applied, static_cast<std::size_t>(6 * world.model()->nbody));
+    const auto              first = 6 * static_cast<std::size_t>(this->body_id);
+    const bool              active = clock.tick_count() < this->until;
+
+    for (std::size_t axis = 0; axis < 3; axis++) {
+        forces[first + axis] -= this->applied.at(axis);
+        this->applied.at(axis) = active ? this->force.at(axis) : 0.0;
+        forces[first + axis] += this->applied.at(axis);
+    }
+}
+
+ScenarioPlayer::ScenarioPlayer(
+    Scenario scenario, const ScenarioHooks& hooks, SerialBus& serial, Pusher& pusher, const VariableSource* variables
+) :
+    scenario{std::move(scenario)}, hooks{hooks}, serial{serial}, pusher{pusher}, variables{variables} {
+    for (const ScenarioEvent& event : this->scenario.events) {
+        this->check(event);
+        this->event_values.push_back(
+            event.when.empty() ? std::numeric_limits<double>::quiet_NaN() : this->resolve(event.when, event.equals)
+        );
+    }
+
+    if (not this->scenario.stop.has_value()) {
+        return;
+    }
+
+    const StopCondition& stop = *this->scenario.stop;
+
+    for (const std::string& value : stop.equals) {
+        this->stop_values.push_back(this->resolve(stop.variable, value));
+    }
+
+    for (const std::string& value : stop.abort) {
+        this->abort_values.push_back(this->resolve(stop.variable, value));
+    }
+}
+
+double ScenarioPlayer::resolve(const std::string& variable, const std::string& value) const {
+    double      number{};
+    const char* last = std::to_address(value.cend());
+
+    if (std::from_chars(value.data(), last, number).ptr == last) {
+        return number;
+    }
+
+    const auto names = this->hooks.state_names.find(variable);
+
+    if (names == this->hooks.state_names.end()) {
+        throw std::runtime_error("the stop condition names " + value + ", but " + variable + " has no state names");
+    }
+
+    const auto found = std::ranges::find(names->second, value);
+
+    if (found == names->second.end()) {
+        throw std::runtime_error(variable + " has no state named " + value);
+    }
+
+    return static_cast<double>(std::distance(names->second.begin(), found));
+}
+
+bool ScenarioPlayer::is_due(std::size_t index) const {
+    const ScenarioEvent& event = this->scenario.events.at(index);
+
+    if (event.when.empty()) {
+        return true;
+    }
+
+    return this->variables != nullptr and this->variables->value_of(event.when) == this->event_values.at(index);
+}
+
+void ScenarioPlayer::check(const ScenarioEvent& event) const {
+    switch (event.kind) {
+        case ScenarioEvent::Kind::PRESS:
+        case ScenarioEvent::Kind::SET:
+            if (not this->hooks.inputs.contains(event.target)) {
+                throw std::runtime_error("the robot has no input named " + event.target);
+            }
+
+            break;
+
+        case ScenarioEvent::Kind::SEND:
+            if (not this->hooks.messages.contains(event.target)) {
+                throw std::runtime_error("the robot has no message named " + event.target);
+            }
+
+            break;
+
+        case ScenarioEvent::Kind::PUSH:
+            break;
+    }
+}
+
+RunControl ScenarioPlayer::on_before_tick(const Simulation& simulation) {
+    const Clock&   clock = simulation.context().clock;
+    const uint64_t tick = simulation.tick();
+    const double   now = static_cast<double>(tick) * clock.us_per_tick() * 1e-6;
+
+    for (auto release = this->releases.begin(); release != this->releases.end();) {
+        if (tick >= release->tick) {
+            if (not this->human) {
+                release->input->set(false);
+            }
+
+            release = this->releases.erase(release);
+        } else {
+            ++release;
+        }
+    }
+
+    while (this->next_event < this->scenario.events.size() and
+           clock.tick_at(this->scenario.events[this->next_event].at) <= tick and this->is_due(this->next_event)) {
+        const ScenarioEvent& event = this->scenario.events[this->next_event++];
+        const uint64_t       end = tick + std::max<uint64_t>(1, clock.tick_at(event.duration));
+
+        switch (event.kind) {
+            case ScenarioEvent::Kind::PRESS:
+                if (not this->human) {
+                    DigitalInput* input = this->hooks.inputs.find(event.target)->second;
+                    input->set(true);
+                    this->releases.push_back({input, end});
+                }
+
+                break;
+
+            case ScenarioEvent::Kind::SET:
+                if (not this->human) {
+                    this->hooks.inputs.find(event.target)->second->set(event.value);
+                }
+
+                break;
+
+            case ScenarioEvent::Kind::SEND:
+                this->serial.queue_for_firmware(this->hooks.messages.find(event.target)->second);
+                break;
+
+            case ScenarioEvent::Kind::PUSH:
+                this->pusher.push(event.force, end);
+                break;
+        }
+    }
+
+    return this->check_stop(now);
+}
+
+RunControl ScenarioPlayer::check_stop(double now) {
+    if (not this->scenario.stop.has_value() or this->variables == nullptr or this->stop_time.has_value()) {
+        return this->stop_time.has_value() ? RunControl::QUIT : RunControl::RUN;
+    }
+
+    const StopCondition& stop = *this->scenario.stop;
+
+    if (now < stop.after) {
+        return RunControl::RUN;
+    }
+
+    const double current = this->variables->value_of(stop.variable);
+    const auto   found = std::ranges::find(this->stop_values, current);
+    const bool   matching = found != this->stop_values.end();
+
+    if (matching and not this->stop_matching) {
+        this->stop_reached++;
+    }
+
+    this->stop_matching = matching;
+
+    if (matching and this->stop_reached >= stop.count) {
+        this->stop_time = now;
+        const auto index = static_cast<std::size_t>(std::distance(this->stop_values.begin(), found));
+        std::cout << "stop condition " << stop.variable << " == " << stop.equals.at(index) << " held at " << now
+                  << " s\n";
+        return RunControl::QUIT;
+    }
+
+    const auto aborted = std::ranges::find(this->abort_values, current);
+
+    if (aborted != this->abort_values.end()) {
+        this->stop_time = now;
+        const auto index = static_cast<std::size_t>(std::distance(this->abort_values.begin(), aborted));
+        std::cout << "stop condition " << stop.variable << " == " << stop.abort.at(index) << " (abort) held at " << now
+                  << " s\n";
+        return RunControl::QUIT;
+    }
+
+    return RunControl::RUN;
+}
+}  // namespace micras::sim
diff --git a/hal_host/include/micras/hal/host/board.hpp b/hal_host/include/micras/hal/host/board.hpp
new file mode 100644
index 0000000..1d62ef8
--- /dev/null
+++ b/hal_host/include/micras/hal/host/board.hpp
@@ -0,0 +1,143 @@
+/**
+ * @file
+ *
+ * @brief Every host peripheral port, found by the handle or pin that names it.
+ */
+
+#ifndef MICRAS_HAL_HOST_BOARD_HPP
+#define MICRAS_HAL_HOST_BOARD_HPP
+
+#include <cstdint>
+#include <string>
+#include <string_view>
+#include <vector>
+
+#include "micras/hal/host/ports.hpp"
+
+namespace micras::hal::host {
+/**
+ * @brief Registry of the ports the host backend and the outside world share.
+ *
+ * @note A port is created the first time either side asks for it, keyed by the
+ *       address of the Cube handle or GPIO port that names it, so the firmware's
+ *       own configuration is the key: `.port = LED_Red_GPIO_Port, .pin =
+ *       LED_Red_Pin` in target.hpp and the same two names in a robot's bindings
+ *       reach the same port. Nothing here knows a physics engine; bindings
+ *       connect ports to whatever simulates the board.
+ *
+ * @note Not thread safe, and it does not need to be: the firmware and whatever
+ *       drives the ports take strict turns.
+ */
+class Board {
+public:
+    Board() = delete;
+
+    /**
+     * @brief Get the port of a GPIO pin.
+     *
+     * @param port GPIO port of the pin.
+     * @param pin Pin mask.
+     * @return The port.
+     */
+    static GpioPort& gpio(const void* port, uint16_t pin);
+
+    /**
+     * @brief Get the port of a PWM channel.
+     *
+     * @param timer Timer handle.
+     * @param channel Timer channel.
+     * @return The port.
+     */
+    static PwmPort& pwm(const void* timer, uint32_t channel);
+
+    /**
+     * @brief Get the port of a DMA-fed timer channel.
+     *
+     * @param timer Timer handle.
+     * @param channel Timer channel.
+     * @return The port.
+     */
+    static PwmDmaPort& pwm_dma(const void* timer, uint32_t channel);
+
+    /**
+     * @brief Get the port of an ADC.
+     *
+     * @param adc ADC handle.
+     * @return The port.
+     */
+    static AdcPort& adc(const void* adc);
+
+    /**
+     * @brief Get the port of a UART.
+     *
+     * @param uart UART handle.
+     * @return The port.
+     */
+    static UartPort& uart(const void* uart);
+
+    /**
+     * @brief Get the port of a timer in encoder mode.
+     *
+     * @param timer Timer handle.
+     * @return The port.
+     */
+    static EncoderPort& encoder(const void* timer);
+
+    /**
+     * @brief Get a named sample port, for a swapped chip driver.
+     *
+     * @param name Name both sides agree on.
+     * @return The port.
+     */
+    static SamplePort& samples(std::string_view name);
+
+    /**
+     * @brief Get the flash.
+     *
+     * @return The port.
+     */
+    static FlashPort& flash();
+
+    /**
+     * @brief Get the microcontroller core.
+     *
+     * @return The port.
+     */
+    static McuPort& mcu();
+
+    /**
+     * @brief Name a GPIO pin, as the Cube layer labels it.
+     *
+     * @param port GPIO port of the pin.
+     * @param pin Pin mask.
+     * @param name Label.
+     */
+    static void name_gpio(const void* port, uint16_t pin, std::string_view name);
+
+    /**
+     * @brief Name a peripheral handle, as the Cube layer calls it.
+     *
+     * @note Ports created for the handle later are named after it.
+     *
+     * @param handle Peripheral handle.
+     * @param name Name.
+     */
+    static void name_handle(const void* handle, std::string_view name);
+
+    /**
+     * @brief List the ports the firmware used that nothing is bound to.
+     *
+     * @return Their names, one per port.
+     */
+    static std::vector<std::string> unbound();
+
+    /**
+     * @brief Forget every port and name.
+     *
+     * @note For tests. References to ports obtained before are dangling after.
+     */
+    static void reset();
+};
+}  // namespace micras::hal::host
+
+#endif  // MICRAS_HAL_HOST_BOARD_HPP
diff --git a/hal_host/include/micras/hal/host/clock.hpp b/hal_host/include/micras/hal/host/clock.hpp
new file mode 100644
index 0000000..108d738
--- /dev/null
+++ b/hal_host/include/micras/hal/host/clock.hpp
@@ -0,0 +1,146 @@
+/**
+ * @file
+ *
+ * @brief The only place time exists for a firmware running on a host.
+ */
+
+#ifndef MICRAS_HAL_HOST_CLOCK_HPP
+#define MICRAS_HAL_HOST_CLOCK_HPP
+
+#include <cstdint>
+#include <functional>
+
+namespace micras::hal::host {
+/**
+ * @brief Counts the core cycles the firmware sees, and hands time over to the world.
+ *
+ * @note Every read of the timer costs a fixed quantum of simulated time, one
+ *       microsecond unless configured otherwise, since a read on the robot also
+ *       takes time and a loop that polls the timer must see it advance. When a
+ *       read crosses the end of a step, the handover callback runs: whatever
+ *       drives the world advances it by one step and returns, and the read
+ *       returns after it. So a busy wait runs the world exactly as long as it
+ *       waits, and time inside an iteration is the number of timer reads times
+ *       the quantum: deterministic, but not a measurement of anything.
+ *
+ * @note The counter wraps at 32 bits exactly as the cycle counter does.
+ */
+class Clock {
+public:
+    /**
+     * @brief Called at every step boundary a read crosses.
+     */
+    using Handover = std::function<void()>;
+
+    /**
+     * @brief Get the process-wide clock.
+     *
+     * @return The clock.
+     */
+    static Clock& instance();
+
+    /**
+     * @brief Set the core frequency and the cost of one read.
+     *
+     * @param cycles_per_microsecond Core clock, in cycles per microsecond.
+     * @param quantum_us Simulated time one read costs, in microseconds.
+     */
+    void configure(uint32_t cycles_per_microsecond, uint32_t quantum_us = 1);
+
+    /**
+     * @brief Hand time over to the world at every step.
+     *
+     * @param step_us Length of a step, in microseconds.
+     * @param handover Called when a read crosses a step boundary.
+     */
+    void set_handover(uint32_t step_us, Handover handover);
+
+    /**
+     * @brief Stop handing time over; reads keep counting.
+     */
+    void clear_handover();
+
+    /**
+     * @brief Read the cycle counter, as the firmware does.
+     *
+     * @return Cycles since the start, modulo 2^32.
+     */
+    uint32_t read_cycles();
+
+    /**
+     * @brief Read the millisecond counter, as the firmware does.
+     *
+     * @return Milliseconds since the start, modulo 2^32.
+     */
+    uint32_t read_ms();
+
+    /**
+     * @brief Get the time without charging for it.
+     *
+     * @return Cycles since the start, not wrapped.
+     */
+    uint64_t now() const { return this->cycles; }
+
+    /**
+     * @brief Get the core frequency.
+     *
+     * @return Cycles per microsecond.
+     */
+    uint32_t cycles_per_microsecond() const { return this->cycles_per_us; }
+
+    /**
+     * @brief Get how many step boundaries were handed over.
+     *
+     * @return Number of handovers.
+     */
+    uint64_t steps() const { return this->handed_over; }
+
+    /**
+     * @brief Rewind to the start, with no handover.
+     */
+    void reset();
+
+private:
+    /**
+     * @brief Charge one read and hand over at every boundary it crosses.
+     */
+    void charge();
+
+    /**
+     * @brief Core cycles per microsecond.
+     */
+    uint32_t cycles_per_us{1};
+
+    /**
+     * @brief Cycles one read costs.
+     */
+    uint64_t quantum{1};
+
+    /**
+     * @brief Cycles since the start.
+     */
+    uint64_t cycles{0};
+
+    /**
+     * @brief Cycles per step, zero when nothing is handed over.
+     */
+    uint64_t step{0};
+
+    /**
+     * @brief Cycle count of the next step boundary.
+     */
+    uint64_t next_boundary{0};
+
+    /**
+     * @brief Number of boundaries handed over.
+     */
+    uint64_t handed_over{0};
+
+    /**
+     * @brief What runs at a boundary.
+     */
+    Handover handover;
+};
+}  // namespace micras::hal::host
+
+#endif  // MICRAS_HAL_HOST_CLOCK_HPP
diff --git a/hal_host/include/micras/hal/host/ports.hpp b/hal_host/include/micras/hal/host/ports.hpp
new file mode 100644
index 0000000..f192967
--- /dev/null
+++ b/hal_host/include/micras/hal/host/ports.hpp
@@ -0,0 +1,290 @@
+/**
+ * @file
+ *
+ * @brief What each host peripheral holds: the state the firmware and the outside world share.
+ */
+
+#ifndef MICRAS_HAL_HOST_PORTS_HPP
+#define MICRAS_HAL_HOST_PORTS_HPP
+
+#include <array>
+#include <cstddef>
+#include <cstdint>
+#include <deque>
+#include <functional>
+#include <optional>
+#include <span>
+#include <string>
+#include <vector>
+
+namespace micras::hal::host {
+/**
+ * @brief What every port has: a name and who has used it.
+ *
+ * @note touched is set by the firmware side, bound by whatever connects the port
+ *       to the outside world. A port the firmware touched that nothing is bound
+ *       to is a wiring mistake, and is reported.
+ */
+struct Port {
+    /**
+     * @brief Label from the Cube layer, or a description of the handle.
+     */
+    std::string name;
+
+    /**
+     * @brief Whether the firmware used the port.
+     */
+    bool touched{false};
+
+    /**
+     * @brief Whether something outside the firmware is connected to it.
+     */
+    bool bound{false};
+};
+
+/**
+ * @brief One GPIO pin.
+ */
+struct GpioPort : Port {
+    /**
+     * @brief Level the firmware drives, as its output data register holds it.
+     */
+    bool output{false};
+
+    /**
+     * @brief Level driven from outside, which is what a read returns when set.
+     */
+    std::optional<bool> input;
+
+    /**
+     * @brief Get the level the pin reads.
+     *
+     * @return The external level when one is driven, the output level otherwise.
+     */
+    bool read() const { return this->input.value_or(this->output); }
+};
+
+/**
+ * @brief One PWM output channel.
+ */
+struct PwmPort : Port {
+    /**
+     * @brief Fraction of the period the output is active, in percent, polarity applied.
+     */
+    float duty_cycle{0.0F};
+
+    /**
+     * @brief Frequency the channel runs at, in hertz.
+     */
+    float frequency{0.0F};
+};
+
+/**
+ * @brief One timer channel whose compare register a DMA stream feeds.
+ */
+struct PwmDmaPort : Port {
+    /**
+     * @brief Compare values of the last transfer the firmware started.
+     */
+    std::vector<uint32_t> compares;
+
+    /**
+     * @brief Counts in one period, the autoreload plus one.
+     */
+    uint32_t period{0};
+
+    /**
+     * @brief Whether a transfer is still going out.
+     */
+    bool busy{false};
+
+    /**
+     * @brief Host clock cycle the current transfer ends at, one timer period per value.
+     */
+    uint64_t transfer_end{0};
+
+    /**
+     * @brief Number of transfers the firmware started.
+     */
+    uint32_t transfers{0};
+};
+
+/**
+ * @brief One ADC with its DMA stream.
+ *
+ * @note The firmware hands over the buffer the DMA writes; a device fills it
+ *       with a whole sequence and then calls finish_sequence(), which is what
+ *       the transfer complete interrupt does on the robot.
+ */
+struct AdcPort : Port {
+    /**
+     * @brief Buffer the firmware handed to the DMA, in one of its two widths.
+     */
+    ///@{
+    std::span<uint16_t> buffer16;
+    std::span<uint32_t> buffer32;
+    ///@}
+
+    /**
+     * @brief Number of conversions in one sequence, from the ADC configuration.
+     */
+    uint32_t conversions{0};
+
+    /**
+     * @brief Called at the end of a sequence, as the conversion complete interrupt would.
+     */
+    std::function<void()> complete;
+
+    /**
+     * @brief Number of sequences finished.
+     */
+    uint32_t sequences{0};
+
+    /**
+     * @brief Get how many conversions the buffer holds.
+     *
+     * @return Size of the buffer, zero before the DMA was started.
+     */
+    std::size_t size() const { return this->buffer16.empty() ? this->buffer32.size() : this->buffer16.size(); }
+
+    /**
+     * @brief Write one conversion result.
+     *
+     * @param index Index in the buffer; ignored when out of range.
+     * @param counts Result, in ADC counts.
+     *
+     * @note Const because the buffer belongs to the firmware and is only viewed through a span: the port itself
+     *       does not change.
+     */
+    void write(std::size_t index, uint32_t counts) const;
+
+    /**
+     * @brief End the sequence, as the DMA interrupt does.
+     */
+    void finish_sequence();
+};
+
+/**
+ * @brief One UART with its DMA streams.
+ */
+struct UartPort : Port {
+    /**
+     * @brief Circular buffer the firmware handed to the receive DMA.
+     */
+    std::span<uint8_t> rx_buffer;
+
+    /**
+     * @brief Index the next received byte goes to, as the DMA counter implies it.
+     */
+    std::size_t rx_head{0};
+
+    /**
+     * @brief Bytes the firmware handed to the transmit DMA and not yet sent.
+     */
+    std::deque<uint8_t> tx;
+
+    /**
+     * @brief Bytes received while the receiver was not started.
+     */
+    uint32_t lost_bytes{0};
+
+    /**
+     * @brief Baud rate from the UART configuration.
+     */
+    uint32_t baud_rate{0};
+
+    /**
+     * @brief Put one received byte where the DMA would.
+     *
+     * @param byte Byte on the wire.
+     */
+    void receive(uint8_t byte);
+
+    /**
+     * @brief Check whether a transmission is in progress.
+     *
+     * @return True while bytes are waiting to leave.
+     */
+    bool transmitting() const { return not this->tx.empty(); }
+};
+
+/**
+ * @brief The part of the flash the firmware may use, as a byte array.
+ */
+struct FlashPort : Port {
+    /**
+     * @brief Contents, erased to 0xFF.
+     */
+    std::vector<uint8_t> bytes;
+
+    /**
+     * @brief Number of program and erase operations performed.
+     */
+    ///@{
+    uint32_t writes{0};
+    uint32_t erases{0};
+    ///@}
+};
+
+/**
+ * @brief What the microcontroller core reports.
+ */
+struct McuPort : Port {
+    /**
+     * @brief Independent watchdog timeout the firmware set, zero before it set one.
+     */
+    uint32_t watchdog_timeout_ms{0};
+
+    /**
+     * @brief Host time of the last refresh, in timer cycles.
+     */
+    uint64_t last_refresh{0};
+
+    /**
+     * @brief Number of refreshes.
+     */
+    uint64_t refreshes{0};
+
+    /**
+     * @brief Number of times the watchdog would have reset the chip.
+     */
+    uint32_t watchdog_expiries{0};
+
+    /**
+     * @brief Number of emergency stops the firmware performed.
+     */
+    uint32_t emergency_stops{0};
+};
+
+/**
+ * @brief A quadrature count, as a timer in encoder mode holds it.
+ */
+struct EncoderPort : Port {
+    /**
+     * @brief Count, positive forward.
+     */
+    int32_t count{0};
+};
+
+/**
+ * @brief Samples a swapped chip driver reads, such as an inertial measurement unit's.
+ */
+struct SamplePort : Port {
+    /**
+     * @brief Largest number of values one sample holds.
+     */
+    static constexpr std::size_t max_values{16};
+
+    /**
+     * @brief Latest sample.
+     */
+    std::array<float, max_values> values{};
+
+    /**
+     * @brief Incremented with every new sample.
+     */
+    uint32_t sequence{0};
+};
+}  // namespace micras::hal::host
+
+#endif  // MICRAS_HAL_HOST_PORTS_HPP
diff --git a/hal_host/include/stm32_host.h b/hal_host/include/stm32_host.h
new file mode 100644
index 0000000..cecec7f
--- /dev/null
+++ b/hal_host/include/stm32_host.h
@@ -0,0 +1,284 @@
+/**
+ * @file
+ *
+ * @brief The STM32 handle types and HAL constants a fake Cube layer builds on.
+ *
+ * @note The micras_hal headers name STM32 handle types in their configurations,
+ *       and a robot's target.hpp names handles, channels and SPI modes. On a PC
+ *       none of the vendor HAL exists, so a robot's fake Cube layer includes this
+ *       file from its main.h and adds only what is its own: its handles, pins,
+ *       init functions and clock tree. The types carry just the fields the host
+ *       backend reads or writes; the constants keep the vendor's values where the
+ *       firmware could compare them.
+ */
+
+#ifndef STM32_HOST_H
+#define STM32_HOST_H
+
+#include <cstdint>
+
+/*****************************************
+ * Status
+ *****************************************/
+
+/**
+ * @brief Result of a vendor HAL call.
+ */
+enum HAL_StatusTypeDef : uint8_t {
+    HAL_OK = 0,
+    HAL_ERROR = 1,
+    HAL_BUSY = 2,
+    HAL_TIMEOUT = 3,
+};
+
+/*****************************************
+ * GPIO
+ *****************************************/
+
+/**
+ * @brief A GPIO port, identified by its address alone.
+ */
+struct GPIO_TypeDef {
+    /**
+     * @brief Letter of the port, for messages.
+     */
+    char name;
+};
+
+///@{
+inline constexpr uint16_t GPIO_PIN_0{0x0001U};
+inline constexpr uint16_t GPIO_PIN_1{0x0002U};
+inline constexpr uint16_t GPIO_PIN_2{0x0004U};
+inline constexpr uint16_t GPIO_PIN_3{0x0008U};
+inline constexpr uint16_t GPIO_PIN_4{0x0010U};
+inline constexpr uint16_t GPIO_PIN_5{0x0020U};
+inline constexpr uint16_t GPIO_PIN_6{0x0040U};
+inline constexpr uint16_t GPIO_PIN_7{0x0080U};
+inline constexpr uint16_t GPIO_PIN_8{0x0100U};
+inline constexpr uint16_t GPIO_PIN_9{0x0200U};
+inline constexpr uint16_t GPIO_PIN_10{0x0400U};
+inline constexpr uint16_t GPIO_PIN_11{0x0800U};
+inline constexpr uint16_t GPIO_PIN_12{0x1000U};
+inline constexpr uint16_t GPIO_PIN_13{0x2000U};
+inline constexpr uint16_t GPIO_PIN_14{0x4000U};
+inline constexpr uint16_t GPIO_PIN_15{0x8000U};
+
+///@}
+
+/*****************************************
+ * Timers
+ *****************************************/
+
+/**
+ * @brief The registers of a timer the host backend models.
+ *
+ * @note kernel_clock is not a register: it is the frequency the timer counts
+ *       at, which on the chip comes from the clock tree the init functions
+ *       configure. The fake init function writes it.
+ */
+struct TIM_TypeDef {
+    uint32_t CR1;
+    uint32_t CCER;
+    uint32_t PSC;
+    uint32_t ARR;
+    uint32_t CNT;
+    uint32_t kernel_clock;
+};
+
+/**
+ * @brief Base configuration of a timer, as the init function fills it.
+ */
+struct TIM_Base_InitTypeDef {
+    uint32_t Prescaler;
+    uint32_t CounterMode;
+    uint32_t Period;
+};
+
+/**
+ * @brief State of a timer handle.
+ */
+enum HAL_TIM_StateTypeDef : uint8_t {
+    HAL_TIM_STATE_RESET = 0,
+    HAL_TIM_STATE_READY = 1,
+    HAL_TIM_STATE_BUSY = 2,
+};
+
+/**
+ * @brief A timer handle.
+ */
+struct TIM_HandleTypeDef {
+    TIM_TypeDef*         Instance;
+    TIM_Base_InitTypeDef Init;
+    HAL_TIM_StateTypeDef State;
+};
+
+///@{
+inline constexpr uint32_t TIM_CHANNEL_1{0x00000000U};
+inline constexpr uint32_t TIM_CHANNEL_2{0x00000004U};
+inline constexpr uint32_t TIM_CHANNEL_3{0x00000008U};
+inline constexpr uint32_t TIM_CHANNEL_4{0x0000000CU};
+inline constexpr uint32_t TIM_CHANNEL_ALL{0x0000003CU};
+///@}
+
+///@{
+inline constexpr uint32_t TIM_CR1_CMS{0x3U << 5U};
+inline constexpr uint32_t TIM_CCER_CC1P{0x1U << 1U};
+inline constexpr uint32_t TIM_COUNTERMODE_UP{0x00000000U};
+inline constexpr uint32_t TIM_COUNTERMODE_CENTERALIGNED1{0x1U << 5U};
+
+///@}
+
+/*****************************************
+ * ADC
+ *****************************************/
+
+/**
+ * @brief Configuration of an ADC, as the init function fills it.
+ */
+struct ADC_InitTypeDef {
+    uint32_t Resolution;
+    uint32_t NbrOfConversion;
+};
+
+///@{
+inline constexpr uint32_t HAL_ADC_STATE_RESET{0x00000000U};
+inline constexpr uint32_t HAL_ADC_STATE_READY{0x00000001U};
+
+///@}
+
+/**
+ * @brief An ADC handle.
+ */
+struct ADC_HandleTypeDef {
+    ADC_InitTypeDef Init;
+    uint32_t        State;
+};
+
+/*****************************************
+ * SPI
+ *****************************************/
+
+///@{
+inline constexpr uint32_t SPI_POLARITY_LOW{0x00000000U};
+inline constexpr uint32_t SPI_POLARITY_HIGH{0x1U << 25U};
+inline constexpr uint32_t SPI_PHASE_1EDGE{0x00000000U};
+inline constexpr uint32_t SPI_PHASE_2EDGE{0x1U << 24U};
+
+///@}
+
+/**
+ * @brief Configuration of an SPI bus, as the init function fills it.
+ */
+struct SPI_InitTypeDef {
+    uint32_t CLKPolarity;
+    uint32_t CLKPhase;
+};
+
+/**
+ * @brief State of an SPI handle.
+ */
+enum HAL_SPI_StateTypeDef : uint8_t {
+    HAL_SPI_STATE_RESET = 0,
+    HAL_SPI_STATE_READY = 1,
+};
+
+/**
+ * @brief An SPI handle.
+ */
+struct SPI_HandleTypeDef {
+    SPI_InitTypeDef      Init;
+    HAL_SPI_StateTypeDef State;
+};
+
+/*****************************************
+ * UART
+ *****************************************/
+
+/**
+ * @brief State of a UART handle.
+ */
+enum HAL_UART_StateTypeDef : uint8_t {
+    HAL_UART_STATE_RESET = 0x00,
+    HAL_UART_STATE_READY = 0x20,
+    HAL_UART_STATE_BUSY_TX = 0x21,
+    HAL_UART_STATE_BUSY_RX = 0x22,
+};
+
+/**
+ * @brief Configuration of a UART, as the init function fills it.
+ */
+struct UART_InitTypeDef {
+    uint32_t BaudRate;
+};
+
+/**
+ * @brief A UART handle.
+ */
+struct UART_HandleTypeDef {
+    UART_InitTypeDef      Init;
+    HAL_UART_StateTypeDef gState;
+    HAL_UART_StateTypeDef RxState;
+};
+
+/*****************************************
+ * CRC
+ *****************************************/
+
+///@{
+inline constexpr uint8_t  DEFAULT_POLYNOMIAL_ENABLE{0x00U};
+inline constexpr uint8_t  DEFAULT_POLYNOMIAL_DISABLE{0x01U};
+inline constexpr uint8_t  DEFAULT_INIT_VALUE_ENABLE{0x00U};
+inline constexpr uint8_t  DEFAULT_INIT_VALUE_DISABLE{0x01U};
+inline constexpr uint32_t CRC_POLYLENGTH_32B{0x00000000U};
+inline constexpr uint32_t CRC_POLYLENGTH_16B{0x1U << 3U};
+inline constexpr uint32_t CRC_POLYLENGTH_8B{0x2U << 3U};
+inline constexpr uint32_t CRC_POLYLENGTH_7B{0x3U << 3U};
+inline constexpr uint32_t CRC_INPUTDATA_INVERSION_NONE{0x00000000U};
+inline constexpr uint32_t CRC_INPUTDATA_INVERSION_BYTE{0x1U << 5U};
+inline constexpr uint32_t CRC_INPUTDATA_INVERSION_HALFWORD{0x2U << 5U};
+inline constexpr uint32_t CRC_INPUTDATA_INVERSION_WORD{0x3U << 5U};
+inline constexpr uint32_t CRC_OUTPUTDATA_INVERSION_DISABLE{0x00000000U};
+inline constexpr uint32_t CRC_OUTPUTDATA_INVERSION_ENABLE{0x1U << 7U};
+inline constexpr uint32_t CRC_INPUTDATA_FORMAT_BYTES{0x00000001U};
+inline constexpr uint32_t CRC_INPUTDATA_FORMAT_HALFWORDS{0x00000002U};
+inline constexpr uint32_t CRC_INPUTDATA_FORMAT_WORDS{0x00000003U};
+inline constexpr uint32_t DEFAULT_CRC32_POLY{0x04C11DB7U};
+inline constexpr uint32_t DEFAULT_CRC_INITVALUE{0xFFFFFFFFU};
+
+///@}
+
+/**
+ * @brief Configuration of the CRC unit, as the init function fills it.
+ */
+struct CRC_InitTypeDef {
+    uint8_t  DefaultPolynomialUse;
+    uint8_t  DefaultInitValueUse;
+    uint32_t GeneratingPolynomial;
+    uint32_t CRCLength;
+    uint32_t InitValue;
+    uint32_t InputDataInversionMode;
+    uint32_t OutputDataInversionMode;
+};
+
+/**
+ * @brief The CRC unit's handle.
+ */
+struct CRC_HandleTypeDef {
+    CRC_InitTypeDef Init;
+    uint32_t        InputDataFormat;
+};
+
+/*****************************************
+ * FMAC
+ *****************************************/
+
+/**
+ * @brief The filter accelerator's handle; nothing on the host uses it.
+ */
+struct FMAC_HandleTypeDef {
+    uint32_t State;
+};
+
+inline constexpr uint32_t HAL_FMAC_STATE_RESET{0x00000000U};
+
+#endif  // STM32_HOST_H
diff --git a/hal_host/src/adc_dma.cpp b/hal_host/src/adc_dma.cpp
new file mode 100644
index 0000000..6114873
--- /dev/null
+++ b/hal_host/src/adc_dma.cpp
@@ -0,0 +1,114 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <array>
+#include <cstdint>
+#include <span>
+
+#include "micras/hal/adc_dma.hpp"
+#include "micras/hal/host/board.hpp"
+
+namespace micras::hal {
+std::array<AdcDma*, AdcDma::max_instances> AdcDma::instances{};
+
+AdcDma::AdcDma(const Config& config) :
+    max_reading{config.max_reading}, reference_voltage{config.reference_voltage}, handle{config.handle} {
+    if (this->handle->State == HAL_ADC_STATE_RESET) {
+        config.init_function();
+    }
+
+    this->initialized = this->handle->State == HAL_ADC_STATE_READY;
+}
+
+AdcDma::~AdcDma() {
+    std::ranges::replace(instances, this, static_cast<AdcDma*>(nullptr));
+}
+
+bool AdcDma::start_dma(std::span<uint32_t> buffer) {
+    host::AdcPort& port = host::Board::adc(this->handle);
+    port.touched = true;
+    port.buffer32 = buffer;
+    port.buffer16 = {};
+    port.conversions = this->handle->Init.NbrOfConversion;
+    port.complete = [adc = this->handle] { on_sequence_complete(adc); };
+    return true;
+}
+
+bool AdcDma::start_dma(std::span<uint16_t> buffer) {
+    host::AdcPort& port = host::Board::adc(this->handle);
+    port.touched = true;
+    port.buffer16 = buffer;
+    port.buffer32 = {};
+    port.conversions = this->handle->Init.NbrOfConversion;
+    port.complete = [adc = this->handle] { on_sequence_complete(adc); };
+    return true;
+}
+
+bool AdcDma::start_dma(std::span<uint16_t> buffer, std::span<uint16_t> snapshot) {
+    if (snapshot.size() != buffer.size()) {
+        this->initialized = false;
+        return false;
+    }
+
+    this->buffer = buffer;
+    this->snapshot = snapshot;
+
+    auto* const slot = std::ranges::find(instances, nullptr);
+
+    if (slot == instances.end()) {
+        this->initialized = false;
+        return false;
+    }
+
+    *slot = this;
+
+    return this->start_dma(buffer);
+}
+
+uint32_t AdcDma::read_snapshot(std::span<uint16_t> destination) const {
+    uint32_t before = this->sequence;
+
+    while (true) {
+        std::ranges::copy(this->snapshot, destination.begin());
+
+        const uint32_t after = this->sequence;
+
+        if (after == before) {
+            return after;
+        }
+
+        before = after;
+    }
+}
+
+void AdcDma::on_sequence_complete(const ADC_HandleTypeDef* handle) {
+    for (AdcDma* instance : instances) {
+        if (instance != nullptr and instance->handle == handle) {
+            std::ranges::copy(instance->buffer, instance->snapshot.begin());
+            instance->sequence = instance->sequence + 1;
+            return;
+        }
+    }
+}
+
+void AdcDma::stop_dma() {
+    host::AdcPort& port = host::Board::adc(this->handle);
+    port.buffer16 = {};
+    port.buffer32 = {};
+    port.complete = nullptr;
+}
+
+uint16_t AdcDma::get_max_reading() const {
+    return this->max_reading;
+}
+
+float AdcDma::get_reference_voltage() const {
+    return this->reference_voltage;
+}
+
+bool AdcDma::was_initialized() const {
+    return this->initialized;
+}
+}  // namespace micras::hal
diff --git a/hal_host/src/board.cpp b/hal_host/src/board.cpp
new file mode 100644
index 0000000..e5709f3
--- /dev/null
+++ b/hal_host/src/board.cpp
@@ -0,0 +1,173 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <bit>
+#include <format>
+#include <map>
+#include <utility>
+
+#include "micras/hal/host/board.hpp"
+
+namespace micras::hal::host {
+namespace {
+/**
+ * @brief Key of a port: the handle or GPIO port, and the channel or pin.
+ */
+using Key = std::pair<const void*, uint32_t>;
+
+/**
+ * @brief Every port and name, created on first use.
+ */
+struct Registry {
+    std::map<Key, GpioPort>                        gpios;
+    std::map<Key, PwmPort>                         pwms;
+    std::map<Key, PwmDmaPort>                      pwm_dmas;
+    std::map<const void*, AdcPort>                 adcs;
+    std::map<const void*, UartPort>                uarts;
+    std::map<const void*, EncoderPort>             encoders;
+    std::map<std::string, SamplePort, std::less<>> samples;
+    std::map<Key, std::string>                     gpio_names;
+    std::map<const void*, std::string>             handle_names;
+    FlashPort                                      flash{{.name = "flash"}};
+    McuPort                                        mcu{{.name = "mcu"}};
+};
+
+/**
+ * @brief Get the registry.
+ *
+ * @return The process-wide registry.
+ */
+Registry& registry() {
+    static Registry instance;
+    return instance;
+}
+
+/**
+ * @brief Name a handle, falling back to its address.
+ *
+ * @param handle Peripheral handle.
+ * @return Its name.
+ */
+std::string handle_name(const void* handle) {
+    const auto found = registry().handle_names.find(handle);
+    return found != registry().handle_names.end() ? found->second :
+                                                    std::format("handle@{:#x}", std::bit_cast<uintptr_t>(handle));
+}
+
+/**
+ * @brief Find a port, creating it with a name on first use.
+ *
+ * @param ports Ports of one kind.
+ * @param key Key of the port.
+ * @param name Makes the name of a new port.
+ * @return The port.
+ */
+template <typename Map, typename Namer>
+typename Map::mapped_type& find_or_create(Map& ports, const typename Map::key_type& key, const Namer& name) {
+    auto found = ports.find(key);
+
+    if (found == ports.end()) {
+        found = ports.emplace(key, typename Map::mapped_type{}).first;
+        found->second.name = name();
+    }
+
+    return found->second;
+}
+}  // namespace
+
+GpioPort& Board::gpio(const void* port, uint16_t pin) {
+    const Key key{port, pin};
+
+    return find_or_create(registry().gpios, key, [&key] {
+        const auto found = registry().gpio_names.find(key);
+        return found != registry().gpio_names.end() ? found->second :
+                                                      std::format("{} pin {:#06x}", handle_name(key.first), key.second);
+    });
+}
+
+PwmPort& Board::pwm(const void* timer, uint32_t channel) {
+    return find_or_create(registry().pwms, Key{timer, channel}, [timer, channel] {
+        return std::format("{} channel {}", handle_name(timer), channel / 4 + 1);
+    });
+}
+
+PwmDmaPort& Board::pwm_dma(const void* timer, uint32_t channel) {
+    return find_or_create(registry().pwm_dmas, Key{timer, channel}, [timer, channel] {
+        return std::format("{} channel {} DMA", handle_name(timer), channel / 4 + 1);
+    });
+}
+
+AdcPort& Board::adc(const void* adc) {
+    return find_or_create(registry().adcs, adc, [adc] { return handle_name(adc); });
+}
+
+UartPort& Board::uart(const void* uart) {
+    return find_or_create(registry().uarts, uart, [uart] { return handle_name(uart); });
+}
+
+EncoderPort& Board::encoder(const void* timer) {
+    return find_or_create(registry().encoders, timer, [timer] { return handle_name(timer) + " encoder"; });
+}
+
+SamplePort& Board::samples(std::string_view name) {
+    auto found = registry().samples.find(name);
+
+    if (found == registry().samples.end()) {
+        found = registry().samples.emplace(std::string{name}, SamplePort{}).first;
+        found->second.name = std::string{name};
+    }
+
+    return found->second;
+}
+
+FlashPort& Board::flash() {
+    return registry().flash;
+}
+
+McuPort& Board::mcu() {
+    return registry().mcu;
+}
+
+void Board::name_gpio(const void* port, uint16_t pin, std::string_view name) {
+    const Key key{port, pin};
+    registry().gpio_names[key] = std::string{name};
+
+    const auto found = registry().gpios.find(key);
+
+    if (found != registry().gpios.end()) {
+        found->second.name = std::string{name};
+    }
+}
+
+void Board::name_handle(const void* handle, std::string_view name) {
+    registry().handle_names[handle] = std::string{name};
+}
+
+std::vector<std::string> Board::unbound() {
+    std::vector<std::string> names;
+
+    const auto collect = [&names](const auto& ports) {
+        for (const auto& [key, port] : ports) {
+            if (port.touched and not port.bound) {
+                names.push_back(port.name);
+            }
+        }
+    };
+
+    collect(registry().gpios);
+    collect(registry().pwms);
+    collect(registry().pwm_dmas);
+    collect(registry().adcs);
+    collect(registry().uarts);
+    collect(registry().encoders);
+    collect(registry().samples);
+
+    return names;
+}
+
+void Board::reset() {
+    registry() = Registry{};
+}
+}  // namespace micras::hal::host
diff --git a/hal_host/src/clock.cpp b/hal_host/src/clock.cpp
new file mode 100644
index 0000000..051c506
--- /dev/null
+++ b/hal_host/src/clock.cpp
@@ -0,0 +1,57 @@
+/**
+ * @file
+ */
+
+#include <utility>
+
+#include "micras/hal/host/clock.hpp"
+
+namespace micras::hal::host {
+Clock& Clock::instance() {
+    static Clock clock;
+    return clock;
+}
+
+void Clock::configure(uint32_t cycles_per_microsecond, uint32_t quantum_us) {
+    this->cycles_per_us = cycles_per_microsecond;
+    this->quantum = static_cast<uint64_t>(quantum_us) * cycles_per_microsecond;
+}
+
+void Clock::set_handover(uint32_t step_us, Handover handover) {
+    this->step = static_cast<uint64_t>(step_us) * this->cycles_per_us;
+    this->next_boundary = (this->cycles / this->step + 1) * this->step;
+    this->handover = std::move(handover);
+}
+
+void Clock::clear_handover() {
+    this->step = 0;
+    this->handover = nullptr;
+}
+
+void Clock::charge() {
+    this->cycles += this->quantum;
+
+    while (this->step != 0 and this->cycles >= this->next_boundary) {
+        this->next_boundary += this->step;
+        this->handed_over++;
+
+        if (this->handover) {
+            this->handover();
+        }
+    }
+}
+
+uint32_t Clock::read_cycles() {
+    this->charge();
+    return static_cast<uint32_t>(this->cycles);
+}
+
+uint32_t Clock::read_ms() {
+    this->charge();
+    return static_cast<uint32_t>(this->cycles / (1000ULL * this->cycles_per_us));
+}
+
+void Clock::reset() {
+    *this = Clock{};
+}
+}  // namespace micras::hal::host
diff --git a/hal_host/src/crc.cpp b/hal_host/src/crc.cpp
new file mode 100644
index 0000000..4dc6923
--- /dev/null
+++ b/hal_host/src/crc.cpp
@@ -0,0 +1,79 @@
+/**
+ * @file
+ */
+
+#include <cstdint>
+#include <span>
+
+#include "micras/hal/crc.hpp"
+
+namespace micras::hal {
+namespace {
+/**
+ * @brief Reverse the order of the lowest bits of a value.
+ *
+ * @param value Value to reflect.
+ * @param width Number of bits to reflect.
+ * @return The reflected bits.
+ */
+uint32_t reflect(uint32_t value, uint32_t width) {
+    uint32_t reflected = 0;
+
+    for (uint32_t bit = 0; bit < width; bit++) {
+        reflected |= ((value >> bit) & 1U) << (width - 1 - bit);
+    }
+
+    return reflected;
+}
+
+/**
+ * @brief Get the width of the CRC a configuration computes.
+ *
+ * @param length CRCLength field.
+ * @return Width in bits.
+ */
+uint32_t width_of(uint32_t length) {
+    if (length == CRC_POLYLENGTH_7B) {
+        return 7;
+    }
+
+    if (length == CRC_POLYLENGTH_8B) {
+        return 8;
+    }
+
+    if (length == CRC_POLYLENGTH_16B) {
+        return 16;
+    }
+
+    return 32;
+}
+}  // namespace
+
+Crc::Crc(const Config& config) : handle{config.handle} { }
+
+uint32_t Crc::calculate(std::span<const uint8_t> data) {
+    const CRC_InitTypeDef& init = this->handle->Init;
+    const uint32_t         width = width_of(init.CRCLength);
+    const uint32_t         mask = width == 32 ? 0xFFFFFFFFU : (1U << width) - 1;
+    const uint32_t         polynomial =
+        (init.DefaultPolynomialUse == DEFAULT_POLYNOMIAL_ENABLE ? DEFAULT_CRC32_POLY : init.GeneratingPolynomial) &
+        mask;
+    uint32_t crc =
+        (init.DefaultInitValueUse == DEFAULT_INIT_VALUE_ENABLE ? DEFAULT_CRC_INITVALUE : init.InitValue) & mask;
+
+    for (const uint8_t byte : data) {
+        const uint32_t input = init.InputDataInversionMode == CRC_INPUTDATA_INVERSION_NONE ? byte : reflect(byte, 8);
+
+        for (int bit = 7; bit >= 0; bit--) {
+            const uint32_t top = (crc >> (width - 1)) & 1U;
+            crc = (crc << 1U) & mask;
+
+            if ((top ^ ((input >> static_cast<uint32_t>(bit)) & 1U)) != 0) {
+                crc ^= polynomial;
+            }
+        }
+    }
+
+    return init.OutputDataInversionMode == CRC_OUTPUTDATA_INVERSION_ENABLE ? reflect(crc, width) : crc;
+}
+}  // namespace micras::hal
diff --git a/hal_host/src/encoder.cpp b/hal_host/src/encoder.cpp
new file mode 100644
index 0000000..562b1e4
--- /dev/null
+++ b/hal_host/src/encoder.cpp
@@ -0,0 +1,29 @@
+/**
+ * @file
+ */
+
+#include <cstdint>
+
+#include "micras/hal/encoder.hpp"
+#include "micras/hal/host/board.hpp"
+
+namespace micras::hal {
+Encoder::Encoder(const Config& config) : handle{config.handle}, start_count{0} {
+    if (this->handle->State == HAL_TIM_STATE_RESET) {
+        config.init_function();
+    }
+
+    host::EncoderPort& port = host::Board::encoder(this->handle);
+    port.touched = true;
+    this->start_count = static_cast<uint32_t>(port.count);
+    this->initialized = this->handle->State == HAL_TIM_STATE_READY;
+}
+
+int32_t Encoder::get_counter() const {
+    return static_cast<int32_t>(static_cast<uint32_t>(host::Board::encoder(this->handle).count) - this->start_count);
+}
+
+bool Encoder::was_initialized() const {
+    return this->initialized;
+}
+}  // namespace micras::hal
diff --git a/hal_host/src/flash.cpp b/hal_host/src/flash.cpp
new file mode 100644
index 0000000..9404eed
--- /dev/null
+++ b/hal_host/src/flash.cpp
@@ -0,0 +1,133 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <bit>
+#include <cstddef>
+#include <cstdint>
+#include <span>
+
+#include "micras/hal/flash.hpp"
+#include "micras/hal/host/board.hpp"
+
+namespace micras::hal {
+namespace {
+/**
+ * @brief Round a size up to whole flash words.
+ *
+ * @param size Size in bytes.
+ * @return The rounded size.
+ */
+constexpr uint32_t align_size(uint32_t size) {
+    return (size + FlashWord::size - 1) / FlashWord::size * FlashWord::size;
+}
+
+/**
+ * @brief Get the flash contents, erased on first use.
+ *
+ * @return The port.
+ */
+host::FlashPort& storage() {
+    host::FlashPort& port = host::Board::flash();
+
+    if (port.bytes.size() != Flash::total_size) {
+        port.bytes.assign(Flash::total_size, FlashWord::erased_value);
+    }
+
+    port.touched = true;
+    return port;
+}
+}  // namespace
+
+FlashWord::FlashWord(std::span<const uint8_t> data) {
+    const auto data_address = std::bit_cast<uintptr_t>(data.data());
+
+    if (data.size() >= size and data_address % alignof(uint32_t) == 0) {
+        this->source = std::bit_cast<const uint32_t*>(data.data());
+        return;
+    }
+
+    const std::span<uint8_t> bytes{std::bit_cast<uint8_t*>(this->buffer.data()), size};
+
+    std::ranges::fill(bytes, erased_value);
+    std::ranges::copy(data.first(std::min<std::size_t>(data.size(), size)), bytes.begin());
+
+    this->source = this->buffer.data();
+}
+
+const uint32_t* FlashWord::data() const {
+    return this->source;
+}
+
+bool FlashWord::is_padded() const {
+    return this->source == this->buffer.data();
+}
+
+std::span<const uint8_t> Flash::read(uint32_t address, uint32_t size) {
+    if (address > total_size or size > total_size - address) {
+        return {};
+    }
+
+    return std::span<const uint8_t>{storage().bytes}.subspan(address, size);
+}
+
+std::span<const uint8_t> Flash::read(uint16_t sector, uint32_t sector_address, uint32_t size) {
+    if (sector >= total_sectors or sector_address > sector_size) {
+        return {};
+    }
+
+    return read(sector * sector_size + sector_address, size);
+}
+
+Flash::Status Flash::write(uint32_t address, std::span<const uint8_t> data) {
+    if (address % FlashWord::size != 0) {
+        return Status::MISALIGNED;
+    }
+
+    if (address > total_size or align_size(data.size()) > total_size - address) {
+        return Status::OUT_OF_BOUNDS;
+    }
+
+    host::FlashPort&         port = storage();
+    const std::span<uint8_t> memory{port.bytes};
+
+    for (uint32_t offset = 0; offset < data.size(); offset += FlashWord::size) {
+        const FlashWord          word{data.subspan(offset)};
+        const std::span<uint8_t> target = memory.subspan(address + offset, FlashWord::size);
+
+        if (not std::ranges::all_of(target, [](uint8_t byte) { return byte == FlashWord::erased_value; })) {
+            return Status::ERROR;
+        }
+
+        const std::span<const uint8_t> bytes{std::bit_cast<const uint8_t*>(word.data()), FlashWord::size};
+        std::ranges::copy(bytes, target.begin());
+        port.writes++;
+    }
+
+    return Status::OK;
+}
+
+Flash::Status Flash::write(uint16_t sector, uint32_t sector_address, std::span<const uint8_t> data) {
+    if (sector >= total_sectors or sector_address > sector_size) {
+        return Status::OUT_OF_BOUNDS;
+    }
+
+    return write(sector * sector_size + sector_address, data);
+}
+
+Flash::Status Flash::erase_sectors(uint16_t start_sector, uint16_t number_of_sectors) {
+    if (start_sector >= total_sectors or number_of_sectors > total_sectors - start_sector) {
+        return Status::OUT_OF_BOUNDS;
+    }
+
+    host::FlashPort& port = storage();
+    const auto       first = static_cast<std::ptrdiff_t>(start_sector) * sector_size;
+    const auto       count = static_cast<std::ptrdiff_t>(number_of_sectors) * sector_size;
+
+    std::fill(port.bytes.begin() + first, port.bytes.begin() + first + count, FlashWord::erased_value);
+    port.erases++;
+
+    return Status::OK;
+}
+}  // namespace micras::hal
diff --git a/hal_host/src/gpio.cpp b/hal_host/src/gpio.cpp
new file mode 100644
index 0000000..a340c94
--- /dev/null
+++ b/hal_host/src/gpio.cpp
@@ -0,0 +1,26 @@
+/**
+ * @file
+ */
+
+#include "micras/hal/gpio.hpp"
+#include "micras/hal/host/board.hpp"
+
+namespace micras::hal {
+Gpio::Gpio(const Config& config) : port{config.port}, pin{config.pin} { }
+
+bool Gpio::read() const {
+    host::GpioPort& gpio = host::Board::gpio(this->port, this->pin);
+    gpio.touched = true;
+    return gpio.read();
+}
+
+void Gpio::write(bool state) {
+    host::GpioPort& gpio = host::Board::gpio(this->port, this->pin);
+    gpio.touched = true;
+    gpio.output = state;
+}
+
+void Gpio::toggle() {
+    this->write(not host::Board::gpio(this->port, this->pin).output);
+}
+}  // namespace micras::hal
diff --git a/hal_host/src/mcu.cpp b/hal_host/src/mcu.cpp
new file mode 100644
index 0000000..cbbb810
--- /dev/null
+++ b/hal_host/src/mcu.cpp
@@ -0,0 +1,78 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <array>
+#include <cstddef>
+#include <cstdint>
+#include <format>
+#include <span>
+
+#include <unistd.h>
+
+#include "micras/hal/host/board.hpp"
+#include "micras/hal/host/clock.hpp"
+#include "micras/hal/mcu.hpp"
+#include "micras/hal/timer.hpp"
+
+namespace micras::hal {
+void Mcu::init(const Config& config) {
+    config.clock_init();
+
+    if (config.peripheral_clock_init != nullptr) {
+        config.peripheral_clock_init();
+    }
+
+    Timer::init();
+
+    for (const InitFunction init_function : config.peripheral_inits) {
+        init_function();
+    }
+
+    host::Board::mcu().touched = true;
+}
+
+void Mcu::emergency_stop(std::span<const Pwm::Config> pwm_outputs, std::span<const Gpio::Config> enable_gpios) {
+    for (const auto& pwm_output : pwm_outputs) {
+        host::Board::pwm(pwm_output.handle, pwm_output.timer_channel).duty_cycle = 0.0F;
+    }
+
+    for (const auto& enable_gpio : enable_gpios) {
+        host::Board::gpio(enable_gpio.port, enable_gpio.pin).output = false;
+    }
+
+    host::McuPort& mcu = host::Board::mcu();
+    mcu.emergency_stops++;
+
+    const host::Clock&   clock = host::Clock::instance();
+    std::array<char, 96> message{};
+    const auto           result = std::format_to_n(
+        message.data(), static_cast<std::ptrdiff_t>(message.size()), "firmware emergency stop at step {} ({:.6f} s)\n",
+        clock.steps(), static_cast<double>(clock.now()) / (1e6 * clock.cycles_per_microsecond())
+    );
+    const auto    length = std::min(static_cast<std::size_t>(result.size), message.size());
+    const ssize_t written = ::write(STDERR_FILENO, message.data(), length);
+    static_cast<void>(written);
+}
+
+void Mcu::set_watchdog_timeout(uint32_t timeout_ms) {
+    host::McuPort& mcu = host::Board::mcu();
+    mcu.touched = true;
+    mcu.watchdog_timeout_ms = timeout_ms;
+    mcu.last_refresh = host::Clock::instance().now();
+}
+
+void Mcu::refresh_watchdog() {
+    host::McuPort&     mcu = host::Board::mcu();
+    const host::Clock& clock = host::Clock::instance();
+    const uint64_t     timeout = static_cast<uint64_t>(mcu.watchdog_timeout_ms) * 1000 * clock.cycles_per_microsecond();
+
+    if (mcu.watchdog_timeout_ms != 0 and clock.now() - mcu.last_refresh > timeout) {
+        mcu.watchdog_expiries++;
+    }
+
+    mcu.last_refresh = clock.now();
+    mcu.refreshes++;
+}
+}  // namespace micras::hal
diff --git a/hal_host/src/ports.cpp b/hal_host/src/ports.cpp
new file mode 100644
index 0000000..0ec8aea
--- /dev/null
+++ b/hal_host/src/ports.cpp
@@ -0,0 +1,33 @@
+/**
+ * @file
+ */
+
+#include "micras/hal/host/ports.hpp"
+
+namespace micras::hal::host {
+void AdcPort::write(std::size_t index, uint32_t counts) const {
+    if (index < this->buffer16.size()) {
+        this->buffer16[index] = static_cast<uint16_t>(counts);
+    } else if (index < this->buffer32.size()) {
+        this->buffer32[index] = counts;
+    }
+}
+
+void AdcPort::finish_sequence() {
+    this->sequences++;
+
+    if (this->complete) {
+        this->complete();
+    }
+}
+
+void UartPort::receive(uint8_t byte) {
+    if (this->rx_buffer.empty()) {
+        this->lost_bytes++;
+        return;
+    }
+
+    this->rx_buffer[this->rx_head] = byte;
+    this->rx_head = (this->rx_head + 1) % this->rx_buffer.size();
+}
+}  // namespace micras::hal::host
diff --git a/hal_host/src/pwm.cpp b/hal_host/src/pwm.cpp
new file mode 100644
index 0000000..750e885
--- /dev/null
+++ b/hal_host/src/pwm.cpp
@@ -0,0 +1,88 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <cstdint>
+
+#include "micras/hal/host/board.hpp"
+#include "micras/hal/pwm.hpp"
+
+namespace micras::hal {
+namespace {
+/**
+ * @brief Mask of the channel offset, which the vendor HAL uses as a bit shift.
+ */
+constexpr uint32_t channel_shift_mask{0x1F};
+
+/**
+ * @brief Check whether a timer counts up and down.
+ *
+ * @param handle Timer handle.
+ * @return True in a center-aligned mode.
+ */
+bool is_center_aligned(const TIM_HandleTypeDef* handle) {
+    return (handle->Instance->CR1 & TIM_CR1_CMS) != 0;
+}
+}  // namespace
+
+Pwm::Pwm(const Config& config) : handle{config.handle}, channel{config.timer_channel}, inverted{config.inverted} {
+    if (this->handle->State == HAL_TIM_STATE_RESET) {
+        config.init_function();
+    }
+
+    if (this->inverted) {
+        this->handle->Instance->CCER |= TIM_CCER_CC1P << (this->channel & channel_shift_mask);
+    }
+
+    this->set_duty_cycle(0.0F);
+    this->initialized = this->handle->State == HAL_TIM_STATE_READY;
+
+    host::PwmPort& port = host::Board::pwm(this->handle, this->channel);
+    port.frequency = this->get_frequency();
+}
+
+void Pwm::set_duty_cycle(float duty_cycle) {
+    duty_cycle = std::clamp(duty_cycle, 0.0F, 100.0F);
+
+    if (this->inverted) {
+        duty_cycle = 100.0F - duty_cycle;
+    }
+
+    const uint32_t autoreload = this->handle->Instance->ARR;
+    const float    scaled = duty_cycle * static_cast<float>(autoreload + 1) * 0.01F;
+
+    // NOLINTNEXTLINE(bugprone-incorrect-roundings): the rounding the firmware's own driver does.
+    const auto  compare = static_cast<uint32_t>(scaled + 0.5F);
+    const float counts =
+        is_center_aligned(this->handle) ? static_cast<float>(autoreload) : static_cast<float>(autoreload + 1);
+    const float active = std::min(100.0F, 100.0F * static_cast<float>(compare) / counts);
+
+    host::PwmPort& port = host::Board::pwm(this->handle, this->channel);
+    port.touched = true;
+    port.duty_cycle = this->inverted ? 100.0F - active : active;
+}
+
+void Pwm::set_frequency(uint32_t frequency) {
+    const uint32_t prescaler = this->handle->Instance->PSC;
+
+    this->handle->Instance->ARR = this->handle->Instance->kernel_clock / ((prescaler + 1) * frequency) - 1;
+    this->handle->Instance->CNT = 0;
+
+    host::PwmPort& port = host::Board::pwm(this->handle, this->channel);
+    port.touched = true;
+    port.frequency = this->get_frequency();
+}
+
+float Pwm::get_frequency() const {
+    const uint32_t autoreload = this->handle->Instance->ARR;
+    const uint32_t period = is_center_aligned(this->handle) ? 2 * autoreload : autoreload + 1;
+    const auto     ticks = static_cast<float>(this->handle->Instance->PSC + 1) * static_cast<float>(period);
+
+    return static_cast<float>(this->handle->Instance->kernel_clock) / ticks;
+}
+
+bool Pwm::was_initialized() const {
+    return this->initialized;
+}
+}  // namespace micras::hal
diff --git a/hal_host/src/pwm_dma.cpp b/hal_host/src/pwm_dma.cpp
new file mode 100644
index 0000000..c69462c
--- /dev/null
+++ b/hal_host/src/pwm_dma.cpp
@@ -0,0 +1,86 @@
+/**
+ * @file
+ */
+
+#include <cstdint>
+#include <span>
+
+#include "micras/hal/host/board.hpp"
+#include "micras/hal/host/clock.hpp"
+#include "micras/hal/pwm_dma.hpp"
+
+namespace micras::hal {
+namespace {
+/**
+ * @brief Start a transfer of compare values.
+ *
+ * @param handle Timer handle.
+ * @param channel Timer channel.
+ * @param compares Values the DMA feeds the compare register with.
+ */
+template <typename T>
+void start(TIM_HandleTypeDef* handle, uint32_t channel, std::span<const T> compares) {
+    host::PwmDmaPort& port = host::Board::pwm_dma(handle, channel);
+    port.touched = true;
+    port.compares.assign(compares.begin(), compares.end());
+    port.period = handle->Instance->ARR + 1;
+    port.busy = true;
+    port.transfers++;
+
+    const uint64_t cycles_per_count = static_cast<uint64_t>(handle->Instance->PSC + 1) *
+                                      host::Clock::instance().cycles_per_microsecond() * 1000000ULL /
+                                      handle->Instance->kernel_clock;
+
+    port.transfer_end = host::Clock::instance().now() + compares.size() * port.period * cycles_per_count;
+}
+}  // namespace
+
+PwmDma::PwmDma(const Config& config) : handle{config.handle}, channel{config.timer_channel} {
+    if (this->handle->State == HAL_TIM_STATE_RESET) {
+        config.init_function();
+    }
+
+    this->initialized = this->handle->State == HAL_TIM_STATE_READY;
+}
+
+void PwmDma::start_dma(std::span<uint32_t> buffer) {
+    if (this->is_busy()) {
+        return;
+    }
+
+    start<uint32_t>(this->handle, this->channel, buffer);
+}
+
+void PwmDma::start_dma(std::span<uint16_t> buffer) {
+    if (this->is_busy()) {
+        return;
+    }
+
+    start<uint16_t>(this->handle, this->channel, buffer);
+}
+
+void PwmDma::stop_dma() {
+    host::Board::pwm_dma(this->handle, this->channel).busy = false;
+}
+
+uint32_t PwmDma::get_compare(float duty_cycle) const {
+    const float scaled = duty_cycle * static_cast<float>(this->handle->Instance->ARR + 1) * 0.01F;
+
+    // NOLINTNEXTLINE(bugprone-incorrect-roundings): the rounding the firmware's own driver does.
+    return static_cast<uint32_t>(scaled + 0.5F);
+}
+
+bool PwmDma::is_busy() {
+    host::PwmDmaPort& port = host::Board::pwm_dma(this->handle, this->channel);
+
+    if (port.busy and host::Clock::instance().now() >= port.transfer_end) {
+        port.busy = false;
+    }
+
+    return port.busy;
+}
+
+bool PwmDma::was_initialized() const {
+    return this->initialized;
+}
+}  // namespace micras::hal
diff --git a/hal_host/src/spi.cpp b/hal_host/src/spi.cpp
new file mode 100644
index 0000000..fc7f1f0
--- /dev/null
+++ b/hal_host/src/spi.cpp
@@ -0,0 +1,74 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <array>
+#include <cstdint>
+#include <span>
+
+#include "micras/hal/spi.hpp"
+
+namespace micras::hal {
+std::array<Spi*, Spi::max_transfers> Spi::transferring{};
+
+Spi::Spi(const Config& config) :
+    handle{config.handle},
+    cs_gpio{config.cs_gpio},
+    timeout{config.timeout},
+    clock_polarity{config.clock_polarity},
+    clock_phase{config.clock_phase} {
+    this->unselect_device();
+
+    if (this->handle->State == HAL_SPI_STATE_RESET) {
+        config.init_function();
+    }
+
+    this->initialized = this->handle->State == HAL_SPI_STATE_READY;
+}
+
+Spi::~Spi() {
+    std::ranges::replace(transferring, this, static_cast<Spi*>(nullptr));
+}
+
+bool Spi::select_device() {
+    this->handle->Init.CLKPolarity = this->clock_polarity;
+    this->handle->Init.CLKPhase = this->clock_phase;
+    this->cs_gpio.write(false);
+    return true;
+}
+
+void Spi::unselect_device() {
+    this->cs_gpio.write(true);
+}
+
+// NOLINTBEGIN(readability-convert-member-functions-to-static): hal::Spi's interface, declared by the firmware.
+bool Spi::transmit(std::span<const uint8_t> /*data*/) {
+    return false;
+}
+
+bool Spi::receive(std::span<uint8_t> /*data*/) {
+    return false;
+}
+
+bool Spi::transmit_receive(std::span<const uint8_t> /*transmitted*/, std::span<uint8_t> /*received*/) {
+    return false;
+}
+
+// NOLINTEND(readability-convert-member-functions-to-static)
+
+bool Spi::start_transfer(std::span<const uint8_t> /*transmitted*/, std::span<uint8_t> /*received*/) {
+    this->transfer = Transfer::FAILED;
+    return false;
+}
+
+Spi::Transfer Spi::get_transfer() const {
+    return this->transfer;
+}
+
+void Spi::on_transfer_end(const SPI_HandleTypeDef* /*handle*/, bool /*succeeded*/) { }
+
+bool Spi::was_initialized() const {
+    return this->initialized;
+}
+}  // namespace micras::hal
diff --git a/hal_host/src/timer.cpp b/hal_host/src/timer.cpp
new file mode 100644
index 0000000..27187a9
--- /dev/null
+++ b/hal_host/src/timer.cpp
@@ -0,0 +1,34 @@
+/**
+ * @file
+ */
+
+#include <cstdint>
+
+#include <main.h>
+
+#include "micras/hal/host/clock.hpp"
+#include "micras/hal/timer.hpp"
+
+namespace micras::hal {
+uint32_t Timer::cycles_per_microsecond{1};
+
+void Timer::init() {
+    cycles_per_microsecond = SystemCoreClock / 1000000;
+}
+
+uint32_t Timer::get_counter() {
+    return host::Clock::instance().read_cycles();
+}
+
+uint32_t Timer::get_counter_ms() {
+    return host::Clock::instance().read_ms();
+}
+
+uint32_t Timer::to_microseconds(uint32_t cycles) {
+    return cycles / cycles_per_microsecond;
+}
+
+uint32_t Timer::to_cycles(uint32_t microseconds) {
+    return microseconds * cycles_per_microsecond;
+}
+}  // namespace micras::hal
diff --git a/hal_host/src/uart_dma.cpp b/hal_host/src/uart_dma.cpp
new file mode 100644
index 0000000..f8af1e5
--- /dev/null
+++ b/hal_host/src/uart_dma.cpp
@@ -0,0 +1,82 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <cstddef>
+#include <cstdint>
+#include <cstring>
+#include <span>
+
+#include "micras/hal/host/board.hpp"
+#include "micras/hal/uart_dma.hpp"
+
+namespace micras::hal {
+UartDma::UartDma(const Config& config) : handle{config.handle} {
+    if (this->handle->gState == HAL_UART_STATE_RESET) {
+        config.init_function();
+    }
+
+    host::Board::uart(this->handle).baud_rate = this->handle->Init.BaudRate;
+}
+
+bool UartDma::start_rx(std::span<uint8_t> buffer) {
+    host::UartPort& port = host::Board::uart(this->handle);
+    port.touched = true;
+    port.rx_buffer = buffer;
+    port.rx_head = 0;
+
+    this->rx_buffer = buffer;
+    this->rx_tail = 0;
+    this->handle->RxState = HAL_UART_STATE_BUSY_RX;
+    this->initialized = not buffer.empty();
+
+    return this->initialized;
+}
+
+std::size_t UartDma::rx_head() const {
+    return host::Board::uart(this->handle).rx_head;
+}
+
+std::size_t UartDma::read(std::span<uint8_t> into) {
+    if (this->rx_buffer.empty()) {
+        return 0;
+    }
+
+    const std::size_t size = this->rx_buffer.size();
+    const std::size_t available = (this->rx_head() + size - this->rx_tail) % size;
+    const std::size_t taken = std::min(available, into.size());
+    const std::size_t first = std::min(taken, size - this->rx_tail);
+
+    // NOLINTBEGIN(cppcoreguidelines-pro-bounds-avoid-unchecked-container-access): bounded just above.
+    std::memcpy(into.data(), &this->rx_buffer[this->rx_tail], first);
+
+    if (first < taken) {
+        std::memcpy(&into[first], this->rx_buffer.data(), taken - first);
+    }
+    // NOLINTEND(cppcoreguidelines-pro-bounds-avoid-unchecked-container-access)
+
+    this->rx_tail = (this->rx_tail + taken) % size;
+
+    return taken;
+}
+
+bool UartDma::start_tx(std::span<const uint8_t> from) {
+    if (from.empty() or this->is_transmitting()) {
+        return false;
+    }
+
+    host::UartPort& port = host::Board::uart(this->handle);
+    port.touched = true;
+    port.tx.insert(port.tx.end(), from.begin(), from.end());
+    return true;
+}
+
+bool UartDma::is_transmitting() const {
+    return host::Board::uart(this->handle).transmitting();
+}
+
+bool UartDma::was_initialized() const {
+    return this->initialized;
+}
+}  // namespace micras::hal
diff --git a/include/micras/proxy/argb.hpp b/include/micras/proxy/argb.hpp
deleted file mode 100644
index c828b80..0000000
--- a/include/micras/proxy/argb.hpp
+++ /dev/null
@@ -1,146 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_ARGB_HPP
-#define MICRAS_PROXY_ARGB_HPP
-
-#include <array>
-#include <cstdint>
-#include <string>
-
-#include "micras/sim/core/proxy_state.hpp"
-
-namespace micras::sim {
-struct SimulationContext;
-}  // namespace micras::sim
-
-namespace micras::proxy {
-/**
- * @brief Stub addressable RGB LED strip that only records its last colors.
- */
-template <uint8_t num_of_leds>
-class TArgb {
-public:
-    /**
-     * @brief Struct for storing color information.
-     */
-    struct Color {
-        uint8_t red;
-        uint8_t green;
-        uint8_t blue;
-
-        Color operator*(float brightness) const {
-            return {
-                static_cast<uint8_t>(this->red * brightness),
-                static_cast<uint8_t>(this->green * brightness),
-                static_cast<uint8_t>(this->blue * brightness),
-            };
-        }
-    };
-
-    /**
-     * @brief Configuration struct for the addressable RGB LED.
-     */
-    struct Config {
-        std::array<std::string, num_of_leds> names;
-
-        /**
-         * @brief Simulation holding the state this strip is shown in.
-         */
-        sim::SimulationContext* context{nullptr};
-    };
-
-    /**
-     * @brief Predefined colors.
-     */
-    struct Colors {
-        Colors() = delete;
-
-        static constexpr Color red{255, 0, 0};
-        static constexpr Color green{0, 255, 0};
-        static constexpr Color blue{0, 0, 255};
-        static constexpr Color yellow{255, 255, 0};
-        static constexpr Color cyan{0, 255, 255};
-        static constexpr Color magenta{255, 0, 255};
-        static constexpr Color white{255, 255, 255};
-    };
-
-    /**
-     * @brief Construct a new Argb object.
-     *
-     * @param config Configuration for the addressable RGB LED.
-     */
-    explicit TArgb(const Config& config);
-
-    /**
-     * @brief Set the color of the ARGB at the specified index.
-     *
-     * @param color The color to set the ARGB to.
-     * @param index The index of the ARGB to set the color of.
-     */
-    void set_color(const Color& color, uint8_t index);
-
-    /**
-     * @brief Set the color of all ARGBs.
-     *
-     * @param color The color to set all ARGBs to.
-     */
-    void set_color(const Color& color);
-
-    /**
-     * @brief Set the colors of all ARGBs.
-     *
-     * @param colors The colors to set the ARGBs to.
-     */
-    void set_colors(const std::array<Color, num_of_leds>& colors);
-
-    /**
-     * @brief Turn off the ARGB at the specified index.
-     *
-     * @param index The index of the ARGB to turn off.
-     */
-    void turn_off(uint8_t index);
-
-    /**
-     * @brief Turn off all ARGBs.
-     */
-    void turn_off();
-
-    /**
-     * @brief Send the colors to the addressable RGB LED.
-     */
-    void update();
-
-    /**
-     * @brief Get the last color set on an ARGB.
-     *
-     * @param index The index of the ARGB.
-     * @return Last color set on the ARGB.
-     */
-    Color get_color(uint8_t index) const;
-
-private:
-    /**
-     * @brief Publish the current colours to the boundary record.
-     */
-    void publish() const;
-
-    /**
-     * @brief Boundary record this proxy writes its colours into.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    sim::ProxyState& state;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Last colors set on the ARGBs.
-     */
-    std::array<Color, num_of_leds> colors{};
-};
-}  // namespace micras::proxy
-
-#include "../src/proxy/argb.cpp"  // NOLINT(bugprone-suspicious-include, misc-header-include-cycle)
-
-#endif  // MICRAS_PROXY_ARGB_HPP
diff --git a/include/micras/proxy/battery.hpp b/include/micras/proxy/battery.hpp
deleted file mode 100644
index d7a3b24..0000000
--- a/include/micras/proxy/battery.hpp
+++ /dev/null
@@ -1,75 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_BATTERY_HPP
-#define MICRAS_PROXY_BATTERY_HPP
-
-#include <cstdint>
-
-namespace micras::proxy {
-/**
- * @brief Battery stub reporting a constant, fully charged pack.
- */
-class Battery {
-public:
-    /**
-     * @brief Configuration struct for the battery.
-     */
-    struct Config {
-        float    max_voltage;
-        uint16_t max_reading;
-    };
-
-    /**
-     * @brief Construct a new Battery object.
-     *
-     * @param config Configuration for the battery.
-     */
-    explicit Battery(const Config& config);
-
-    /**
-     * @brief Update the battery reading.
-     */
-    void update();
-
-    /**
-     * @brief Get the battery voltage.
-     *
-     * @return Battery voltage in volts.
-     */
-    float get_voltage() const;
-
-    /**
-     * @brief Get the battery reading from the ADC.
-     *
-     * @return Raw battery reading.
-     */
-    float get_voltage_raw() const;
-
-    /**
-     * @brief Get the battery reading from the ADC.
-     *
-     * @return Battery reading from 0 to 1.
-     */
-    float get_adc_reading() const;
-
-private:
-    /**
-     * @brief Constant battery voltage in volts.
-     */
-    float reading;
-
-    /**
-     * @brief Max battery voltage for the adc conversion.
-     */
-    float max_voltage;
-
-    /**
-     * @brief Max adc reading for the battery.
-     */
-    uint16_t max_reading;
-};
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_BATTERY_HPP
diff --git a/include/micras/proxy/bluetooth_serial.hpp b/include/micras/proxy/bluetooth_serial.hpp
deleted file mode 100644
index d7fdb57..0000000
--- a/include/micras/proxy/bluetooth_serial.hpp
+++ /dev/null
@@ -1,73 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_BLUETOOTH_SERIAL_HPP
-#define MICRAS_PROXY_BLUETOOTH_SERIAL_HPP
-
-#include <cstdint>
-#include <vector>
-
-#include "micras/sim/core/serial_bus.hpp"
-
-namespace micras::sim {
-struct SimulationContext;
-}  // namespace micras::sim
-
-namespace micras::proxy {
-/**
- * @brief In-process replacement for the bluetooth serial link.
- *
- * @note Bytes are exchanged through sim::ProxyState so the harness can decode
- *       the firmware telemetry and inject command packets without any socket.
- */
-class BluetoothSerial {
-public:
-    /**
-     * @brief Configuration struct for the BluetoothSerial.
-     */
-    struct Config {
-        /**
-         * @brief Simulation holding the serial bus this radio writes to.
-         */
-        sim::SimulationContext* context{nullptr};
-    };
-
-    /**
-     * @brief Construct a new BluetoothSerial object.
-     *
-     * @param config Configuration for the BluetoothSerial.
-     */
-    explicit BluetoothSerial(const Config& config);
-
-    /**
-     * @brief Process the serial channel. Nothing is buffered, so this is a no-op.
-     */
-    void update();
-
-    /**
-     * @brief Send data to the harness.
-     *
-     * @param data Bytes to be sent.
-     */
-    void send_data(std::vector<uint8_t> data);
-
-    /**
-     * @brief Get the data queued by the harness since the last call.
-     *
-     * @return Vector containing received bytes, empty if there is no new data.
-     */
-    std::vector<uint8_t> get_data();
-
-private:
-    /**
-     * @brief Byte channel shared with the harness.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    sim::SerialBus& serial;  // NOLINT(*-avoid-const-or-ref-data-members)
-};
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_BLUETOOTH_SERIAL_HPP
diff --git a/include/micras/proxy/button.hpp b/include/micras/proxy/button.hpp
deleted file mode 100644
index 11b0956..0000000
--- a/include/micras/proxy/button.hpp
+++ /dev/null
@@ -1,162 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_BUTTON_HPP
-#define MICRAS_PROXY_BUTTON_HPP
-
-#include <cstdint>
-#include <string>
-
-#include "micras/proxy/stopwatch.hpp"
-#include "micras/sim/core/simulation_context.hpp"
-
-namespace micras::sim {
-struct SimulationContext;
-}  // namespace micras::sim
-
-namespace micras::proxy {
-/**
- * @brief Button driven by the scenario through sim::ProxyState.
- */
-class Button {
-public:
-    /**
-     * @brief Enum for button status.
-     */
-    enum Status : uint8_t {
-        NO_PRESS = 0,
-        SHORT_PRESS = 1,
-        LONG_PRESS = 2,
-        EXTRA_LONG_PRESS = 3
-    };
-
-    /**
-     * @brief Enum for button pull resistor.
-     */
-    enum PullResistor : uint8_t {
-        PULL_UP = 0,
-        PULL_DOWN = 1,
-    };
-
-    /**
-     * @brief Configuration structure for button.
-     */
-    struct Config {
-        std::string name;
-        uint16_t    long_press_delay{500};
-        uint16_t    extra_long_press_delay{2000};
-        /**
-         * @brief Simulation holding the state the button is read from.
-         */
-        sim::SimulationContext* context{nullptr};
-    };
-
-    /**
-     * @brief Construct a new Button object.
-     *
-     * @param config Button configuration.
-     */
-    explicit Button(const Config& config);
-
-    /**
-     * @brief Check if button is pressed.
-     *
-     * @return True if button is pressed, false otherwise.
-     */
-    bool is_pressed() const;
-
-    /**
-     * @brief Get button status.
-     *
-     * @return Current button status.
-     */
-    Status get_status() const;
-
-    /**
-     * @brief Update the status of the button.
-     *
-     * @note A program that polls the button in a tight loop is waiting for a
-     *       press only the simulation can deliver, so repeated updates at the
-     *       same simulated time hand a tick over. The firmware calls this once
-     *       per tick and therefore never reaches that point.
-     */
-    void update();
-
-private:
-    /**
-     * @brief Number of updates at the same simulated time that count as polling.
-     */
-    static constexpr uint8_t max_repeated_updates{2};
-
-    /**
-     * @brief Simulation the state and the tick handoff come from.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    sim::SimulationContext& simulation;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Simulated time of the last update.
-     *
-     * @note Seeded from the clock so the first update is never mistaken for a
-     *       repeat of an update that never happened.
-     */
-    uint64_t last_update_us{};
-
-    /**
-     * @brief Consecutive updates at the same simulated time.
-     */
-    uint8_t repeated_updates{0};
-
-    /**
-     * @brief Update button state from the simulation.
-     */
-    void update_state();
-
-    /**
-     * @brief Check if button was just pressed.
-     *
-     * @return True if button was just pressed, false otherwise.
-     */
-    bool is_rising_edge() const;
-
-    /**
-     * @brief Check if button was just released.
-     *
-     * @return True if button was just released, false otherwise.
-     */
-    bool is_falling_edge() const;
-
-    /**
-     * @brief Button pressing delays in ms.
-     */
-    ///@{
-    uint16_t long_press_delay;
-    uint16_t extra_long_press_delay;
-    ///@}
-
-    /**
-     * @brief Stopwatch to determine type of button press.
-     */
-    Stopwatch status_stopwatch;
-
-    /**
-     * @brief Flag to know if button was being pressed.
-     */
-    bool previous_state{false};
-
-    /**
-     * @brief Flag to know if button is being pressed.
-     */
-    bool current_state{false};
-
-    /**
-     * @brief Current status of the button.
-     */
-    Status current_status{NO_PRESS};
-};
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_BUTTON_HPP
diff --git a/include/micras/proxy/buzzer.hpp b/include/micras/proxy/buzzer.hpp
deleted file mode 100644
index 37e11a6..0000000
--- a/include/micras/proxy/buzzer.hpp
+++ /dev/null
@@ -1,114 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_BUZZER_HPP
-#define MICRAS_PROXY_BUZZER_HPP
-
-#include <cstdint>
-#include <string>
-
-#include "micras/proxy/stopwatch.hpp"
-#include "micras/sim/core/proxy_state.hpp"
-
-namespace micras::sim {
-struct SimulationContext;
-}  // namespace micras::sim
-
-namespace micras::proxy {
-/**
- * @brief Stub buzzer that only records the last tone requested.
- */
-class Buzzer {
-public:
-    /**
-     * @brief Configuration struct for the buzzer.
-     */
-    struct Config {
-        std::string name;
-
-        /**
-         * @brief Simulation holding the state this buzzer is heard in.
-         */
-        sim::SimulationContext* context{nullptr};
-    };
-
-    /**
-     * @brief Construct a new Buzzer object.
-     *
-     * @param config Configuration for the buzzer.
-     */
-    explicit Buzzer(const Config& config);
-
-    /**
-     * @brief Play a tone for a duration.
-     *
-     * @param frequency Buzzer sound frequency in Hz.
-     * @param duration Duration of the sound in ms.
-     */
-    void play(uint32_t frequency, uint32_t duration = 0);
-
-    /**
-     * @brief Update the buzzer state.
-     */
-    void update();
-
-    /**
-     * @brief Stop the buzzer sound.
-     */
-    void stop();
-
-    /**
-     * @brief Wait for a time interval.
-     *
-     * @note Blocking waits cannot advance simulated time, so this only stops the
-     *       tone. It is never called by the firmware.
-     *
-     * @param interval Time to wait in ms.
-     */
-    void wait(uint32_t interval);
-
-    /**
-     * @brief Get the frequency currently being played.
-     *
-     * @return Frequency in Hz, zero when silent.
-     */
-    uint32_t get_frequency() const;
-
-private:
-    /**
-     * @brief Publish the current tone to the boundary record.
-     */
-    void publish() const;
-
-    /**
-     * @brief Boundary record this proxy writes its tone into.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    sim::ProxyState& state;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Stopwatch to time the sound duration.
-     */
-    Stopwatch stopwatch;
-
-    /**
-     * @brief Frequency currently being played.
-     */
-    uint32_t frequency{};
-
-    /**
-     * @brief Flag to check if the buzzer is playing.
-     */
-    bool is_playing{};
-
-    /**
-     * @brief Duration of the sound in ms.
-     */
-    uint32_t duration{};
-};
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_BUZZER_HPP
diff --git a/include/micras/proxy/dip_switch.hpp b/include/micras/proxy/dip_switch.hpp
deleted file mode 100644
index 395fce4..0000000
--- a/include/micras/proxy/dip_switch.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_DIP_SWITCH_HPP
-#define MICRAS_PROXY_DIP_SWITCH_HPP
-
-#include <array>
-#include <cstdint>
-#include <string>
-
-#include "micras/sim/core/proxy_state.hpp"
-
-namespace micras::sim {
-struct SimulationContext;
-}  // namespace micras::sim
-
-namespace micras::proxy {
-/**
- * @brief DIP switch driven by the scenario through sim::ProxyState.
- */
-template <uint8_t num_of_switches>
-class TDipSwitch {
-public:
-    /**
-     * @brief Configuration struct for the Dip Switch.
-     */
-    struct Config {
-        std::array<std::string, num_of_switches> names;
-        /**
-         * @brief Simulation holding the state the switches are read from.
-         */
-        sim::SimulationContext* context{nullptr};
-    };
-
-    /**
-     * @brief Construct a new Dip Switch object.
-     *
-     * @param config Configuration struct for the DipSwitch.
-     */
-    explicit TDipSwitch(const Config& config);
-
-    /**
-     * @brief Get the state of a switch.
-     *
-     * @param switch_index Index of the switch.
-     * @return True if the switch is on, false otherwise.
-     */
-    bool get_switch_state(uint8_t switch_index) const;
-
-    /**
-     * @brief Get the value of all switches.
-     *
-     * @return Value of all switches.
-     */
-    uint8_t get_switches_value() const;
-
-private:
-    /**
-     * @brief State the scenario or the GUI writes the switches into.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    const sim::ProxyState& state;  // NOLINT(*-avoid-const-or-ref-data-members)
-};
-}  // namespace micras::proxy
-
-#include "../src/proxy/dip_switch.cpp"  // NOLINT(bugprone-suspicious-include, misc-header-include-cycle)
-
-#endif  // MICRAS_PROXY_DIP_SWITCH_HPP
diff --git a/include/micras/proxy/fan.hpp b/include/micras/proxy/fan.hpp
deleted file mode 100644
index c663254..0000000
--- a/include/micras/proxy/fan.hpp
+++ /dev/null
@@ -1,134 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_FAN_HPP
-#define MICRAS_PROXY_FAN_HPP
-
-#include <string>
-
-#include "micras/proxy/stopwatch.hpp"
-#include "micras/sim/core/mujoco_world.hpp"
-#include "micras/sim/core/proxy_state.hpp"
-
-namespace micras::sim {
-struct SimulationContext;
-}  // namespace micras::sim
-
-namespace micras::proxy {
-/**
- * @brief Fan driver writing directly to a MuJoCo actuator control input.
- *
- * @note The speed ramp mirrors the firmware Fan: set_speed only moves the
- *       target and update() slews the current speed towards it at
- *       max_acceleration percent per millisecond of simulated time.
- */
-class Fan {
-public:
-    /**
-     * @brief Configuration struct for the fan.
-     */
-    struct Config {
-        std::string actuator;
-        float       max_acceleration;
-        /**
-         * @brief Simulation holding the actuator this fan drives.
-         */
-        sim::SimulationContext* context{nullptr};
-    };
-
-    /**
-     * @brief Construct a new fan object.
-     *
-     * @param config Configuration for the fan driver.
-     */
-    explicit Fan(const Config& config);
-
-    /**
-     * @brief Enable the fan.
-     */
-    void enable();
-
-    /**
-     * @brief Disable the fan.
-     */
-    void disable();
-
-    /**
-     * @brief Set the target speed of the fans.
-     *
-     * @param speed Speed percentage of the fan.
-     */
-    void set_speed(float speed);
-
-    /**
-     * @brief Slew the current speed towards the target and drive the actuator.
-     *
-     * @note A zero speed parks the actuator instead of writing a zero duty
-     *       cycle through the direction logic, matching the firmware.
-     *
-     * @return Current speed value.
-     */
-    float update();
-
-    /**
-     * @brief Stop the fan, zeroing the actuator without clearing the target.
-     */
-    void stop();
-
-private:
-    /**
-     * @brief Simulation the actuator lives in.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    sim::MujocoWorld& world;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Boundary record: the switch that silences the fan comes in here,
-     *        the speed the fan settled on goes out.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    sim::ProxyState& state;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Write the current speed to the actuator.
-     */
-    void apply();
-
-    /**
-     * @brief Id of the MuJoCo actuator driven by this fan.
-     */
-    int actuator_id;
-
-    /**
-     * @brief Maximum acceleration of the fan in percentage per millisecond.
-     */
-    float max_acceleration;
-
-    /**
-     * @brief Current speed percentage written to the actuator.
-     */
-    float current_speed{0.0F};
-
-    /**
-     * @brief Last requested speed percentage.
-     */
-    float target_speed{0.0F};
-
-    /**
-     * @brief Flag to check if the fan is enabled.
-     */
-    bool enabled{false};
-
-    /**
-     * @brief Stopwatch for limiting the acceleration of the fan.
-     */
-    proxy::Stopwatch acceleration_stopwatch;
-};
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_FAN_HPP
diff --git a/include/micras/proxy/imu.hpp b/include/micras/proxy/imu.hpp
deleted file mode 100644
index 7d3651d..0000000
--- a/include/micras/proxy/imu.hpp
+++ /dev/null
@@ -1,136 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_IMU_HPP
-#define MICRAS_PROXY_IMU_HPP
-
-#include <array>
-#include <cstdint>
-#include <string>
-
-#include "micras/sim/core/mujoco_world.hpp"
-#include "micras/sim/core/proxy_state.hpp"
-
-namespace micras::sim {
-struct SimulationContext;
-}  // namespace micras::sim
-
-namespace micras::proxy {
-/**
- * @brief IMU reading the MuJoCo gyro and accelerometer sensors.
- *
- * @note The imu site frame matches the robot body frame: +y forward, +z up,
- *       +x right, so the yaw rate is the gyro z component and the
- *       accelerometer reports +g on z while at rest.
- */
-class Imu {
-public:
-    /**
-     * @brief IMU configuration struct.
-     */
-    struct Config {
-        std::string gyro_sensor;
-        std::string accelerometer_sensor;
-        /**
-         * @brief Simulation holding the sensors this IMU reads.
-         */
-        sim::SimulationContext* context{nullptr};
-    };
-
-    /**
-     * @brief Enum to select the axis of the IMU.
-     */
-    enum class Axis : uint8_t {
-        X = 0,
-        Y = 1,
-        Z = 2
-    };
-
-    /**
-     * @brief Construct a new Imu object.
-     *
-     * @param config Configuration for the IMU.
-     */
-    explicit Imu(const Config& config);
-
-    /**
-     * @brief Update the IMU data.
-     */
-    void update();
-
-    /**
-     * @brief Get the IMU angular velocity over an axis.
-     *
-     * @param axis Axis to get the angular velocity from.
-     * @return Angular velocity over the desired axis in rad/s.
-     */
-    float get_angular_velocity(Axis axis) const;
-
-    /**
-     * @brief Get the IMU linear acceleration over an axis.
-     *
-     * @param axis Axis to get the linear acceleration from.
-     * @return Linear acceleration over the desired axis in m/s².
-     */
-    float get_linear_acceleration(Axis axis) const;
-
-    /**
-     * @brief Define the base reading to be removed from the IMU value.
-     */
-    void calibrate();
-
-    /**
-     * @brief Check if IMU was initialized.
-     *
-     * @return Always true in the simulation.
-     */
-    bool was_initialized() const;
-
-private:
-    /**
-     * @brief Boundary record this proxy writes its readings into.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    sim::ProxyState& state;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Simulation the readings come from.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    const sim::MujocoWorld& world;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Check the identity of the simulated device.
-     *
-     * @return Always true in the simulation.
-     */
-    bool check_whoami();
-
-    /**
-     * @brief Address of the gyroscope values inside mjData::sensordata.
-     */
-    int gyro_address;
-
-    /**
-     * @brief Address of the accelerometer values inside mjData::sensordata.
-     */
-    int accelerometer_address;
-
-    /**
-     * @brief Current angular velocity on each axis.
-     */
-    std::array<float, 3> angular_velocity{};
-
-    /**
-     * @brief Current linear acceleration on each axis.
-     */
-    std::array<float, 3> linear_acceleration{};
-};
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_IMU_HPP
diff --git a/include/micras/proxy/led.hpp b/include/micras/proxy/led.hpp
deleted file mode 100644
index 727e199..0000000
--- a/include/micras/proxy/led.hpp
+++ /dev/null
@@ -1,84 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_LED_HPP
-#define MICRAS_PROXY_LED_HPP
-
-#include <string>
-
-#include "micras/sim/core/proxy_state.hpp"
-
-namespace micras::sim {
-struct SimulationContext;
-}  // namespace micras::sim
-
-namespace micras::proxy {
-/**
- * @brief Stub LED that only records its last state.
- */
-class Led {
-public:
-    /**
-     * @brief Configuration struct for LED.
-     */
-    struct Config {
-        std::string name;
-
-        /**
-         * @brief Simulation holding the state this LED is shown in.
-         */
-        sim::SimulationContext* context{nullptr};
-    };
-
-    /**
-     * @brief Construct a new Led object.
-     *
-     * @param config Configuration for the LED.
-     */
-    explicit Led(const Config& config);
-
-    /**
-     * @brief Turn the LED on.
-     */
-    void turn_on();
-
-    /**
-     * @brief Turn the LED off.
-     */
-    void turn_off();
-
-    /**
-     * @brief Toggle the LED.
-     */
-    void toggle();
-
-    /**
-     * @brief Get the current state of the LED.
-     *
-     * @return True if the LED is on, false otherwise.
-     */
-    bool is_on() const;
-
-private:
-    /**
-     * @brief Publish the current state to the boundary record.
-     */
-    void publish() const;
-
-    /**
-     * @brief Boundary record this proxy writes what it shows into.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    sim::ProxyState& state;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Current state of the LED.
-     */
-    bool state_on{false};
-};
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_LED_HPP
diff --git a/include/micras/proxy/locomotion.hpp b/include/micras/proxy/locomotion.hpp
deleted file mode 100644
index fcd2940..0000000
--- a/include/micras/proxy/locomotion.hpp
+++ /dev/null
@@ -1,97 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_LOCOMOTION_HPP
-#define MICRAS_PROXY_LOCOMOTION_HPP
-
-#include "micras/proxy/motor.hpp"
-#include "micras/sim/core/proxy_state.hpp"
-
-namespace micras::proxy {
-/**
- * @brief Class for controlling the locomotion driver.
- */
-class Locomotion {
-public:
-    /**
-     * @brief Configuration struct for the locomotion.
-     */
-    struct Config {
-        Motor::Config left_motor;
-        Motor::Config right_motor;
-
-        /**
-         * @brief Simulation holding the state the commands are recorded into.
-         */
-        sim::SimulationContext* context{nullptr};
-    };
-
-    /**
-     * @brief Construct a new locomotion object.
-     *
-     * @param config Configuration for the locomotion driver.
-     */
-    explicit Locomotion(const Config& config);
-
-    /**
-     * @brief Enable the locomotion driver.
-     */
-    void enable();
-
-    /**
-     * @brief Disable the locomotion driver.
-     */
-    void disable();
-
-    /**
-     * @brief Set the command of the wheels.
-     *
-     * @note Mirrors the firmware enable_gpio semantics: while the driver is
-     *       disabled both actuators are driven to zero whatever is requested.
-     *
-     * @param left_command Command of the left wheels.
-     * @param right_command Command of the right wheels.
-     */
-    void set_wheel_command(float left_command, float right_command);
-
-    /**
-     * @brief Set the linear and angular commands of the robot.
-     *
-     * @param linear Linear command of the robot.
-     * @param angular Angular command of the robot.
-     */
-    void set_command(float linear, float angular);
-
-    /**
-     * @brief Stop the motors.
-     */
-    void stop();
-
-private:
-    /**
-     * @brief Boundary record this proxy writes its wheel commands into.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    sim::ProxyState& state;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Left motor of the robot.
-     */
-    Motor left_motor;
-
-    /**
-     * @brief Right motor of the robot.
-     */
-    Motor right_motor;
-
-    /**
-     * @brief Flag to indicate if the locomotion is enabled.
-     */
-    bool enabled{false};
-};
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_LOCOMOTION_HPP
diff --git a/include/micras/proxy/motor.hpp b/include/micras/proxy/motor.hpp
deleted file mode 100644
index bda0ab5..0000000
--- a/include/micras/proxy/motor.hpp
+++ /dev/null
@@ -1,69 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_MOTOR_HPP
-#define MICRAS_PROXY_MOTOR_HPP
-
-#include <string>
-
-#include "micras/sim/core/mujoco_world.hpp"
-
-namespace micras::sim {
-struct SimulationContext;
-}  // namespace micras::sim
-
-namespace micras::proxy {
-/**
- * @brief Motor driver writing directly to a MuJoCo actuator control input.
- */
-class Motor {
-public:
-    /**
-     * @brief Configuration struct for the motor.
-     */
-    struct Config {
-        std::string actuator;
-        /**
-         * @brief Simulation holding the actuator this motor drives.
-         */
-        sim::SimulationContext* context{nullptr};
-    };
-
-    /**
-     * @brief Construct a new motor object.
-     *
-     * @param config Configuration for the motor driver.
-     */
-    explicit Motor(const Config& config);
-
-    /**
-     * @brief Set the command for the motor.
-     *
-     * @note The firmware deadzone and max_stopped_command remap is deliberately
-     *       not mirrored here: it compensates for real H-bridge and gearbox
-     *       stiction, below which the physical motor does not turn at all. The
-     *       MuJoCo actuator is an ideal torque source with no deadzone, so the
-     *       remap would inject an offset the simulated plant never needed.
-     *
-     * @param command Command for the motor in percentage.
-     */
-    void set_command(float command);
-
-private:
-    /**
-     * @brief Simulation the actuator lives in.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    sim::MujocoWorld& world;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Id of the MuJoCo actuator driven by this motor.
-     */
-    int actuator_id;
-};
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_MOTOR_HPP
diff --git a/include/micras/proxy/rotary_sensor.hpp b/include/micras/proxy/rotary_sensor.hpp
deleted file mode 100644
index cc69d14..0000000
--- a/include/micras/proxy/rotary_sensor.hpp
+++ /dev/null
@@ -1,82 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_ROTARY_SENSOR_HPP
-#define MICRAS_PROXY_ROTARY_SENSOR_HPP
-
-#include <string>
-
-#include "micras/sim/core/mujoco_world.hpp"
-#include "micras/sim/core/proxy_state.hpp"
-
-namespace micras::sim {
-struct SimulationContext;
-}  // namespace micras::sim
-
-namespace micras::proxy {
-/**
- * @brief Rotary sensor reading a MuJoCo jointpos sensor.
- */
-class RotarySensor {
-public:
-    /**
-     * @brief Rotary sensor configuration struct.
-     */
-    struct Config {
-        std::string sensor;
-
-        /**
-         * @brief Wheel this encoder belongs to, left first.
-         */
-        std::size_t wheel{0};
-        /**
-         * @brief Simulation holding the sensor this encoder reads.
-         */
-        sim::SimulationContext* context{nullptr};
-    };
-
-    /**
-     * @brief Construct a new RotarySensor object.
-     *
-     * @param config Configuration for the rotary sensor.
-     */
-    explicit RotarySensor(const Config& config);
-
-    /**
-     * @brief Get the rotary sensor position over an axis.
-     *
-     * @return Current angular position of the sensor in radians.
-     */
-    float get_position() const;
-
-private:
-    /**
-     * @brief Boundary record this proxy writes its reading into.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    sim::ProxyState& state;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Wheel this encoder belongs to.
-     */
-    std::size_t wheel;
-
-    /**
-     * @brief Simulation the readings come from.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    const sim::MujocoWorld& world;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Address of the sensor value inside mjData::sensordata.
-     */
-    int sensor_address;
-};
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_ROTARY_SENSOR_HPP
diff --git a/include/micras/proxy/stopwatch.hpp b/include/micras/proxy/stopwatch.hpp
deleted file mode 100644
index fedc964..0000000
--- a/include/micras/proxy/stopwatch.hpp
+++ /dev/null
@@ -1,179 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_STOPWATCH_HPP
-#define MICRAS_PROXY_STOPWATCH_HPP
-
-#include <cstdint>
-
-namespace micras::sim {
-struct SimulationContext;
-}  // namespace micras::sim
-
-namespace micras::proxy {
-/**
- * @brief Class to measure the time elapsed between two events.
- *
- * @note Backed by the simulated clock, never by wall time. A freshly built
- *       stopwatch reports one loop period rather than zero, so the firmware's
- *       very first loop sees the nominal period instead of a division by an
- *       uninitialised timer. At time zero that seed wraps the unsigned counter,
- *       which is well defined and gives exactly the intended reading.
- */
-class Stopwatch {
-public:
-    /**
-     * @brief Stopwatch configuration struct.
-     */
-    struct Config {
-        /**
-         * @brief Simulation holding the clock this stopwatch reads.
-         */
-        sim::SimulationContext* context{nullptr};
-    };
-
-    /**
-     * @brief Construct a new Stopwatch object on the process-wide simulation.
-     *
-     * @note The firmware default-constructs stopwatches inside its own headers
-     *       (states/wait.hpp), where no Config can be threaded through, so this
-     *       constructor delegates to the one target.hpp declares. Anything that
-     *       has a Config should pass it instead, so that a test running on its
-     *       own SimulationContext is honoured.
-     */
-    Stopwatch();
-
-    /**
-     * @brief Construct a new Stopwatch object.
-     *
-     * @param config Configuration for the timer.
-     */
-    explicit Stopwatch(const Config& config);
-
-    /**
-     * @brief Reset the milliseconds timer counter.
-     */
-    void reset_ms();
-
-    /**
-     * @brief Reset the microseconds timer counter.
-     */
-    void reset_us();
-
-    /**
-     * @brief Get the simulated time elapsed since the last reset.
-     *
-     * @note Like the microsecond reading, a program that keeps asking at the
-     *       same simulated instant is waiting for time it cannot get any other
-     *       way, so it is handed a tick. The threshold is higher here because
-     *       the firmware legitimately reads the same stopwatch twice in a tick
-     *       when it classifies a button release.
-     *
-     * @return Time elapsed in milliseconds.
-     */
-    uint32_t elapsed_time_ms() const;
-
-    /**
-     * @brief Get the simulated time elapsed since the last reset.
-     *
-     * @note This is the one place where the simulated clock is not a pure
-     *       observation: a program that keeps reading the same instant is
-     *       waiting for time that only the simulation can give it, so the
-     *       repeated read hands a tick over. The reading itself is always
-     *       honest, now minus the last reset; a short measurement stays short.
-     *
-     * @return Time elapsed in microseconds.
-     */
-    uint32_t elapsed_time_us() const;
-
-    /**
-     * @brief Sleep on the process-wide simulation.
-     *
-     * @note Static in the firmware, and the hardware tests call it that way, so
-     *       it reaches the same context the default constructor does. Returns
-     *       at once when no program is being driven.
-     *
-     * @param time Time to sleep in milliseconds.
-     */
-    static void sleep_ms(uint32_t time);
-
-    /**
-     * @brief Hand ticks over until the simulated clock reaches the target.
-     *
-     * @note Returns at once when no program is being driven, since there would
-     *       be nothing to hand the tick to.
-     *
-     * @param time Time to sleep in microseconds.
-     */
-    void sleep_us(uint32_t time) const;
-
-private:
-    /**
-     * @brief Hand the tick over to the simulation, if a program is running.
-     *
-     * @return False when no tick was handed over, so a wait knows to give up.
-     */
-    bool yield_tick() const;
-
-    /**
-     * @brief Simulation the readings and the handoff come from.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    sim::SimulationContext& simulation;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Number of microsecond reads at the same simulated time that count as a spin.
-     *
-     * @note Two, because a firmware loop legitimately reads the same instant
-     *       twice: once to close the previous loop and once to open the next.
-     *       A third read means the program is waiting for time to pass.
-     */
-    static constexpr uint8_t max_repeated_reads{2};
-
-    /**
-     * @brief Number of millisecond reads at the same simulated time that count as a spin.
-     *
-     * @note Four: no firmware path reads one stopwatch in milliseconds more
-     *       than twice within a tick, and the margin keeps the guard clear of
-     *       any legitimate pattern.
-     */
-    static constexpr uint8_t max_repeated_ms_reads{4};
-
-    /**
-     * @brief Simulated time in microseconds at the last reset.
-     */
-    uint64_t counter{};
-
-    /**
-     * @brief Simulated time of the last reading.
-     *
-     * @note Not touched by a reset: the guard measures how many times a program
-     *       asked at the same instant, and a proxy that resets its own
-     *       stopwatch on every call, as the fan does, must not be able to hide
-     *       a spin behind it.
-     */
-    mutable uint64_t last_read_us{};
-
-    /**
-     * @brief Forget both spin counters after a tick was handed over.
-     *
-     * @note Both, because the two readings share the instant they compare
-     *       against: leaving one behind would make a stopwatch read in both
-     *       units interfere with itself.
-     */
-    void note_yield() const;
-
-    /**
-     * @brief Consecutive readings taken at the same simulated time.
-     */
-    ///@{
-    mutable uint8_t repeated_reads{0};
-    mutable uint8_t repeated_ms_reads{0};
-    ///@}
-};
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_STOPWATCH_HPP
diff --git a/include/micras/proxy/storage.hpp b/include/micras/proxy/storage.hpp
deleted file mode 100644
index 224332d..0000000
--- a/include/micras/proxy/storage.hpp
+++ /dev/null
@@ -1,174 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_STORAGE_HPP
-#define MICRAS_PROXY_STORAGE_HPP
-
-#include <cstdint>
-#include <string>
-#include <type_traits>
-#include <unordered_map>
-#include <vector>
-
-#include "micras/core/serializable.hpp"
-
-namespace micras::proxy {
-template <typename T>
-concept Fundamental = std::is_fundamental_v<T>;
-
-/**
- * @brief Non-volatile storage emulated with an in-memory page map.
- *
- * @note The page map lives for the duration of the process, so every run starts
- *       from a blank flash. No file is ever touched.
- */
-class Storage {
-public:
-    /**
-     * @brief Configuration struct for the storage.
-     */
-    struct Config {
-        uint16_t start_page;
-        uint16_t number_of_pages;
-    };
-
-    /**
-     * @brief Construct a new Storage object.
-     *
-     * @param config Configuration for the storage.
-     */
-    explicit Storage(const Config& config);
-
-    /**
-     * @brief Create a new primitive variable in the storage.
-     *
-     * @tparam T Type of the variable.
-     * @param name Name of the variable.
-     * @param data Reference to the variable.
-     */
-    template <Fundamental T>
-    void create(const std::string& name, const T& data) {
-        this->primitives[name].ram_pointer = &data;
-        this->primitives.at(name).size = sizeof(T);
-    }
-
-    /**
-     * @brief Create a new serializable variable in the storage.
-     *
-     * @param name Name of the variable.
-     * @param data Reference to the variable.
-     */
-    void create(const std::string& name, const core::ISerializable& data);
-
-    /**
-     * @brief Sync a primitive variable with the storage.
-     *
-     * @tparam T Type of the variable.
-     * @param name Name of the variable.
-     * @param data Reference to the variable.
-     */
-    template <Fundamental T>
-    void sync(const std::string& name, T& data) {
-        if (this->primitives.contains(name) and this->primitives.at(name).ram_pointer == nullptr) {
-            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-reinterpret-cast)
-            data = reinterpret_cast<T&>(this->buffer.at(this->primitives.at(name).buffer_address));
-        }
-
-        this->create<T>(name, data);
-    }
-
-    /**
-     * @brief Sync a serializable variable with the storage.
-     *
-     * @param name Name of the variable.
-     * @param data Reference to the variable.
-     */
-    void sync(const std::string& name, core::ISerializable& data);
-
-    /**
-     * @brief Save the storage to the emulated flash.
-     */
-    void save();
-
-private:
-    /**
-     * @brief Struct for primitive variables.
-     */
-    struct PrimitiveVariable {
-        const void* ram_pointer{nullptr};
-        uint16_t    buffer_address{};
-        uint16_t    size{};
-    };
-
-    /**
-     * @brief Struct for serializable variables.
-     */
-    struct SerializableVariable {
-        const core::ISerializable* ram_pointer{nullptr};
-        uint16_t                   buffer_address{};
-        uint16_t                   size{};
-    };
-
-    /**
-     * @brief Serialize a map of variables.
-     *
-     * @tparam T Type of the variables.
-     * @param variables Map of variables.
-     * @return Serialized buffer.
-     */
-    template <typename T>
-    static std::vector<uint8_t> serialize_var_map(const std::unordered_map<std::string, T>& variables);
-
-    /**
-     * @brief Deserialize a map of variables.
-     *
-     * @tparam T Type of the variables.
-     * @param buffer Serialized buffer.
-     * @param num_vars Number of variables.
-     * @return Deserialized map of variables.
-     */
-    template <typename T>
-    static std::unordered_map<std::string, T> deserialize_var_map(std::vector<uint8_t>& buffer, uint16_t num_vars);
-
-    /**
-     * @brief Emulated flash pages, keyed by start page.
-     */
-    static std::unordered_map<uint16_t, std::vector<uint8_t>>& pages();
-
-    /**
-     * @brief Start symbol to avoid reading garbage from flash.
-     */
-    static constexpr uint16_t start_symbol = 0xABAB;
-
-    /**
-     * @brief Map of primitive variables.
-     */
-    std::unordered_map<std::string, PrimitiveVariable> primitives;
-
-    /**
-     * @brief Map of serializable variables.
-     */
-    std::unordered_map<std::string, SerializableVariable> serializables;
-
-    /**
-     * @brief Serialized buffer for the storage.
-     */
-    std::vector<uint8_t> buffer;
-
-    /**
-     * @brief Start page of the storage in the emulated flash memory.
-     */
-    uint16_t start_page;
-
-    /**
-     * @brief Maximum number of pages used by the storage in the emulated flash memory.
-     *
-     * @note Kept to mirror the firmware Config; the simulated storage lives
-     *       in memory and is not page limited.
-     */
-    [[maybe_unused]] uint16_t number_of_pages;
-};
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_STORAGE_HPP
diff --git a/include/micras/proxy/torque_sensors.hpp b/include/micras/proxy/torque_sensors.hpp
deleted file mode 100644
index 285d2ed..0000000
--- a/include/micras/proxy/torque_sensors.hpp
+++ /dev/null
@@ -1,87 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_TORQUE_SENSORS_HPP
-#define MICRAS_PROXY_TORQUE_SENSORS_HPP
-
-#include <cstdint>
-
-namespace micras::proxy {
-/**
- * @brief Torque sensors stub. Every reading is zero.
- */
-template <uint8_t num_of_sensors>
-class TTorqueSensors {
-public:
-    /**
-     * @brief Configuration struct for torque sensors.
-     */
-    struct Config {
-        float shunt_resistor;
-        float max_torque;
-        float reference_voltage;
-    };
-
-    /**
-     * @brief Construct a new TorqueSensors object.
-     *
-     * @param config Configuration for the torque sensors.
-     */
-    explicit TTorqueSensors(const Config& config);
-
-    /**
-     * @brief Calibrate the torque sensors.
-     */
-    void calibrate();
-
-    /**
-     * @brief Update the torque sensors readings.
-     */
-    void update();
-
-    /**
-     * @brief Get the torque from the sensor.
-     *
-     * @param sensor_index Index of the sensor.
-     * @return Torque reading from the sensor in N*m.
-     */
-    float get_torque(uint8_t sensor_index) const;
-
-    /**
-     * @brief Get the raw torque from the sensor without filtering.
-     *
-     * @param sensor_index Index of the sensor.
-     * @return Raw torque reading from the sensor.
-     */
-    float get_torque_raw(uint8_t sensor_index) const;
-
-    /**
-     * @brief Get the electric current through the sensor.
-     *
-     * @param sensor_index Index of the sensor.
-     * @return Current reading from the sensor in amps.
-     */
-    float get_current(uint8_t sensor_index) const;
-
-    /**
-     * @brief Get the raw electric current through the sensor without filtering.
-     *
-     * @param sensor_index Index of the sensor.
-     * @return Raw current reading from the sensor in amps.
-     */
-    float get_current_raw(uint8_t sensor_index) const;
-
-    /**
-     * @brief Get the ADC reading from the sensor.
-     *
-     * @param sensor_index Index of the sensor.
-     * @return Adc reading from the sensor from 0 to 1.
-     */
-    float get_adc_reading(uint8_t sensor_index) const;
-};
-}  // namespace micras::proxy
-
-#include "../src/proxy/torque_sensors.cpp"  // NOLINT(bugprone-suspicious-include, misc-header-include-cycle)
-
-#endif  // MICRAS_PROXY_TORQUE_SENSORS_HPP
diff --git a/include/micras/proxy/wall_sensors.hpp b/include/micras/proxy/wall_sensors.hpp
deleted file mode 100644
index 486e22e..0000000
--- a/include/micras/proxy/wall_sensors.hpp
+++ /dev/null
@@ -1,181 +0,0 @@
-/**
- * @file
- */
-
-#ifndef MICRAS_PROXY_WALL_SENSORS_HPP
-#define MICRAS_PROXY_WALL_SENSORS_HPP
-
-#include <array>
-#include <cstdint>
-#include <string>
-
-#include "micras/core/butterworth_filter.hpp"
-#include "micras/sim/core/mujoco_world.hpp"
-#include "micras/sim/core/proxy_state.hpp"
-
-namespace micras::sim {
-struct SimulationContext;
-}  // namespace micras::sim
-
-namespace micras::proxy {
-/**
- * @brief Wall sensors backed by MuJoCo rangefinder sensors.
- */
-template <uint8_t num_of_sensors>
-class TWallSensors {
-public:
-    /**
-     * @brief Configuration struct for wall sensors.
-     *
-     * @note No member carries a default: every field is required from
-     *       target.hpp, so a missing one is a compile error rather than a
-     *       silent zero.
-     */
-    // NOLINTNEXTLINE(cppcoreguidelines-pro-type-member-init)
-    struct Config {
-        std::array<std::string, num_of_sensors> sensors;
-        float                                   uncertainty;
-        std::array<float, num_of_sensors>       base_readings;
-        float                                   max_sensor_reading;
-        float                                   min_sensor_reading;
-        float                                   max_sensor_distance;
-        float                                   filter_cutoff;
-        float                                   sampling_frequency;
-        /**
-         * @brief Simulation holding the rangefinders these sensors read.
-         */
-        sim::SimulationContext* context{nullptr};
-    };
-
-    /**
-     * @brief Construct a new WallSensors object.
-     *
-     * @param config Configuration for the wall sensors.
-     */
-    explicit TWallSensors(const Config& config);
-
-    /**
-     * @brief Turn on the wall sensors IR LED.
-     */
-    void turn_on();
-
-    /**
-     * @brief Turn off the wall sensors IR LED.
-     */
-    void turn_off();
-
-    /**
-     * @brief Update the wall sensors readings.
-     */
-    void update();
-
-    /**
-     * @brief Get the observation from a sensor.
-     *
-     * @param sensor_index Index of the sensor.
-     * @param disturbed Whether or not there is another wall perpendicular to the one being measured.
-     * @return True if the sensor detects a wall, false otherwise.
-     */
-    bool get_wall(uint8_t sensor_index, bool disturbed = false) const;
-
-    /**
-     * @brief Get the reading from a sensor.
-     *
-     * @param sensor_index Index of the sensor.
-     * @return Reading from the sensor.
-     */
-    float get_reading(uint8_t sensor_index) const;
-
-    /**
-     * @brief Get the ADC reading from a sensor.
-     *
-     * @note A MuJoCo rangefinder returns -1 when its ray hits nothing, which
-     *       maps to no reflection at all, and a zero distance would make the
-     *       intensity infinite, so it saturates instead.
-     *
-     * @param sensor_index Index of the sensor.
-     * @return ADC reading from the sensor from 0 to 1.
-     */
-    float get_adc_reading(uint8_t sensor_index) const;
-
-    /**
-     * @brief Get the deviation of a wall sensor reading from its calibrated baseline.
-     *
-     * @param sensor_index Index of the sensor.
-     * @return The reading error relative to the baseline; positive if above baseline.
-     */
-    float get_sensor_error(uint8_t sensor_index) const;
-
-    /**
-     * @brief Calibrate a wall sensor base reading.
-     *
-     * @param sensor_index Index of the sensor.
-     */
-    void calibrate_sensor(uint8_t sensor_index);
-
-private:
-    /**
-     * @brief Publish an unfiltered reading and hand it back to the caller.
-     *
-     * @param sensor_index Index of the sensor.
-     * @param reading Reading to publish.
-     * @return The same reading.
-     */
-    float record(uint8_t sensor_index, float reading) const;
-
-    /**
-     * @brief Boundary record this proxy writes its unfiltered readings into.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    sim::ProxyState& state;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Simulation the readings come from.
-     *
-     * @note Bound for the life of the proxy; a pointer would only add a null
-     *       check to every access.
-     */
-    const sim::MujocoWorld& world;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Addresses of the rangefinder values inside mjData::sensordata.
-     */
-    std::array<int, num_of_sensors> sensor_addresses{};
-
-    /**
-     * @brief Maximum reading detectable by the sensor.
-     */
-    float max_sensor_reading;
-
-    /**
-     * @brief LED state.
-     */
-    bool leds_on{false};
-
-    /**
-     * @brief Butterworth filter for the ADC readings.
-     */
-    std::array<core::ButterworthFilter, num_of_sensors> filters;
-
-    /**
-     * @brief Measured wall values during calibration.
-     */
-    std::array<float, num_of_sensors> base_readings;
-
-    /**
-     * @brief Ratio of the base reading to still consider as seeing a wall.
-     */
-    float uncertainty;
-
-    /**
-     * @brief Constant value for the wall sensor distance to reading conversion.
-     */
-    float constant;
-};
-}  // namespace micras::proxy
-
-#include "../src/proxy/wall_sensors.cpp"  // NOLINT(bugprone-suspicious-include, misc-header-include-cycle)
-
-#endif  // MICRAS_PROXY_WALL_SENSORS_HPP
diff --git a/include/micras/sim/app/application.hpp b/include/micras/sim/app/application.hpp
deleted file mode 100644
index 80de85d..0000000
--- a/include/micras/sim/app/application.hpp
+++ /dev/null
@@ -1,144 +0,0 @@
-/**
- * @file
- *
- * @brief Wires a simulation together and runs one program in it.
- */
-
-#ifndef MICRAS_SIM_APP_APPLICATION_HPP
-#define MICRAS_SIM_APP_APPLICATION_HPP
-
-#include <memory>
-#include <span>
-
-#include "micras/sim/app/cli.hpp"
-#include "micras/sim/bridge/monitor_bridge.hpp"
-#include "micras/sim/core/firmware_thread.hpp"
-#include "micras/sim/core/scenario.hpp"
-#include "micras/sim/core/simulation.hpp"
-#include "micras/sim/core/simulation_context.hpp"
-#include "micras/sim/recording/csv_recorder.hpp"
-#include "micras/sim/telemetry/telemetry.hpp"
-#include "micras/sim/view/mujoco_viewer.hpp"
-#include "micras/sim/view/video_recorder.hpp"
-
-namespace micras::sim {
-/**
- * @brief Whether the program being run serves the firmware variable pool.
- */
-enum class PoolTelemetry : uint8_t {
-    SERVED,
-    NOT_SERVED,
-};
-
-/**
- * @brief Builds the context, the listeners and the program, then runs them.
- *
- * @note This is the only place besides config/target.hpp that names the
- *       process-wide SimulationContext, and the only place that decides what a
- *       run is made of. Everything it builds is a listener of one Simulation.
- */
-class Application {
-public:
-    /**
-     * @brief Set a simulation up for a parsed command line.
-     *
-     * @note The variable map is requested here rather than during the run,
-     *       because the firmware answers it on the very first tick and the CSV
-     *       header has to know every pool column before the first row.
-     *
-     * @param options Parsed command line.
-     * @param program Program to run in lockstep, typically the firmware loop.
-     * @param pool Whether the program answers variable pool requests.
-     */
-    Application(const CliOptions& options, FirmwareThread::Program program, PoolTelemetry pool);
-
-    Application(const Application&) = delete;
-    Application(Application&&) = delete;
-    Application& operator=(const Application&) = delete;
-    Application& operator=(Application&&) = delete;
-
-    /**
-     * @brief Detach the program from the process-wide context.
-     */
-    ~Application();
-
-    /**
-     * @brief Run the whole program and write the run directory.
-     *
-     * @param arguments Whole command line, recorded in the metadata.
-     */
-    void run(std::span<char*> arguments);
-
-    /**
-     * @brief Parse, build and run, reporting any failure on stderr.
-     *
-     * @param arguments Whole command line, program name included.
-     * @param program Program to run in lockstep.
-     * @param pool Whether the program answers variable pool requests.
-     * @return Process exit code.
-     */
-    static int main(
-        std::span<char*> arguments, const FirmwareThread::Program& program, PoolTelemetry pool = PoolTelemetry::SERVED
-    );
-
-private:
-    /**
-     * @brief Parsed command line.
-     */
-    CliOptions options;
-
-    /**
-     * @brief Simulation everything is wired into.
-     *
-     * @note Bound for the life of the application; the context outlives main.
-     */
-    SimulationContext& context;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Program running in lockstep with the physics.
-     */
-    FirmwareThread firmware;
-
-    /**
-     * @brief Whether the program answers variable pool requests.
-     */
-    PoolTelemetry pool;
-
-    /**
-     * @brief Decoder of everything the firmware writes.
-     */
-    Telemetry telemetry;
-
-    /**
-     * @brief Scripted input for the run.
-     */
-    Scenario scenario;
-
-    /**
-     * @brief Writer of data.csv.
-     */
-    CsvRecorder recorder;
-
-    /**
-     * @brief Offscreen recorder, null unless --video asked for one and it came up.
-     */
-    std::unique_ptr<VideoRecorder> video;
-
-    /**
-     * @brief Live window, null unless --viewer asked for one and it came up.
-     */
-    std::unique_ptr<MujocoViewer> viewer;
-
-    /**
-     * @brief Bridge to micras-monitor, null unless --monitor asked for one.
-     */
-    std::unique_ptr<MonitorBridge> monitor;
-
-    /**
-     * @brief The run itself.
-     */
-    Simulation simulation;
-};
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_APP_APPLICATION_HPP
diff --git a/include/micras/sim/app/cli.hpp b/include/micras/sim/app/cli.hpp
deleted file mode 100644
index 0da65e5..0000000
--- a/include/micras/sim/app/cli.hpp
+++ /dev/null
@@ -1,101 +0,0 @@
-/**
- * @file
- *
- * @brief Command line of every simulation executable.
- */
-
-#ifndef MICRAS_SIM_APP_CLI_HPP
-#define MICRAS_SIM_APP_CLI_HPP
-
-#include <cstdint>
-#include <filesystem>
-#include <span>
-#include <string>
-
-#include "micras/sim/core/scenario.hpp"
-#include "micras/sim/view/view_options.hpp"
-
-namespace micras::sim {
-/**
- * @brief Everything a run can be told from the command line.
- */
-struct CliOptions {
-    /**
-     * @brief Model to load and directory the run is written to.
-     */
-    ///@{
-    std::filesystem::path model;
-    std::filesystem::path out;
-    ///@}
-
-    /**
-     * @brief Maze recorded in the metadata; the model already attaches its own.
-     */
-    std::string maze;
-
-    /**
-     * @brief Scripted input for the run.
-     */
-    ScenarioScript scenario;
-
-    /**
-     * @brief Length of the run, in simulated seconds or in exact ticks.
-     */
-    ///@{
-    double   seconds{10.0};
-    uint64_t ticks{0};
-    ///@}
-
-    /**
-     * @brief Offscreen recording, enabled by --video.
-     */
-    ///@{
-    VideoConfig video;
-    bool        video_enabled{false};
-    ///@}
-
-    /**
-     * @brief Live window, enabled by --viewer.
-     */
-    ///@{
-    ViewerConfig viewer;
-    int          viewer_fps{30};
-    bool         viewer_enabled{false};
-    ///@}
-
-    /**
-     * @brief Bridge to micras-monitor, enabled by --monitor.
-     */
-    ///@{
-    int  monitor_port{8080};
-    bool monitor_enabled{false};
-    ///@}
-};
-
-/**
- * @brief Turns an argument vector into options, and nothing else.
- *
- * @note Pure: it never touches the filesystem, the model or the clock, so the
- *       whole command line surface is testable without a simulation.
- */
-class Cli {
-public:
-    /**
-     * @brief Parse a command line.
-     *
-     * @param arguments Whole command line, program name included.
-     * @param loop_time_us Firmware loop period, used to turn seconds into ticks.
-     * @return Parsed options.
-     */
-    static CliOptions parse(std::span<char*> arguments, uint32_t loop_time_us);
-
-    /**
-     * @brief Get the usage text.
-     *
-     * @return Usage text, newline terminated.
-     */
-    static std::string usage();
-};
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_APP_CLI_HPP
diff --git a/include/micras/sim/core/proxy_state.hpp b/include/micras/sim/core/proxy_state.hpp
deleted file mode 100644
index 08de63a..0000000
--- a/include/micras/sim/core/proxy_state.hpp
+++ /dev/null
@@ -1,200 +0,0 @@
-/**
- * @file
- *
- * @brief Everything that crosses the proxy boundary, as a second source of truth.
- */
-
-#ifndef MICRAS_SIM_CORE_PROXY_STATE_HPP
-#define MICRAS_SIM_CORE_PROXY_STATE_HPP
-
-#include <array>
-#include <cstddef>
-#include <cstdint>
-
-namespace micras::sim {
-/**
- * @brief Human controls the proxies read, written by the scenario or the GUI.
- *
- * @note Same vocabulary as micras::Interface: the DIP switches are indexed as
- *       in Interface::DipSwitchPins (fan, diagonal, boost, risky).
- */
-struct InterfaceInput {
-    /**
-     * @brief Number of DIP switches on the board.
-     */
-    static constexpr std::size_t dip_switch_count{4};
-
-    /**
-     * @brief True while the button is held down.
-     */
-    bool button_pressed{false};
-
-    /**
-     * @brief State of each DIP switch.
-     */
-    std::array<bool, dip_switch_count> dip_switches{};
-
-    /**
-     * @brief Whether a human has taken the board over from the script.
-     *
-     * @note Set by the panel on the first control it is given, and never
-     *       cleared: from that moment the scenario stops writing, so the two
-     *       never fight over the same field and the run is marked interactive.
-     */
-    bool driven_by_human{false};
-};
-
-/**
- * @brief One addressable LED, as the firmware set it.
- */
-struct Rgb {
-    uint8_t red{0};
-    uint8_t green{0};
-    uint8_t blue{0};
-
-    bool operator==(const Rgb&) const = default;
-};
-
-/**
- * @brief What the board is showing, written by the proxies a human watches.
- *
- * @note Same vocabulary as micras::Interface: this is the other half of
- *       InterfaceInput, the side the firmware drives rather than reads.
- */
-struct InterfaceOutput {
-    /**
-     * @brief Number of addressable LEDs on the board.
-     */
-    static constexpr std::size_t argb_count{2};
-
-    /**
-     * @brief Whether the plain LED is lit.
-     */
-    bool led_on{false};
-
-    /**
-     * @brief Colour of each addressable LED.
-     */
-    std::array<Rgb, argb_count> argb{};
-
-    /**
-     * @brief Buzzer tone in hertz, zero while it is silent.
-     */
-    uint32_t buzzer_frequency{0};
-};
-
-/**
- * @brief Harness switches that sit behind the firmware's back.
- *
- * @note Not part of the board: these are simulation-only overrides, kept apart
- *       from InterfaceInput so that section keeps matching micras::Interface.
- */
-struct Overrides {
-    /**
-     * @brief Whether the Fan proxy is allowed to drive its actuator.
-     */
-    bool fan_enabled{true};
-};
-
-/**
- * @brief Commands the firmware handed to the actuator proxies.
- *
- * @note Unlike the sensor block, these are aligned with the ground truth of the
- *       same CSV row: the firmware writes them during the tick whose physics
- *       then consumes them.
- */
-struct Actuators {
-    /**
-     * @brief Wheel commands as Locomotion passed them to the motors, in percent.
-     */
-    ///@{
-    float left_command{0.0F};
-    float right_command{0.0F};
-    ///@}
-
-    /**
-     * @brief Speed the Fan proxy last settled on, in percent.
-     */
-    float fan_speed{0.0F};
-};
-
-/**
- * @brief Readings the sensor proxies handed to the firmware.
- *
- * @note These duplicate the ground truth on purpose: a disagreement between
- *       what the robot physically did and what its sensors reported is the
- *       signal.
- *
- * @note They are one tick behind the ground truth of the same CSV row. The
- *       firmware body runs before the physics of its tick, so the values it
- *       read describe the world at the end of the previous tick, exactly as a
- *       real robot acts on the reading it took a loop ago. Comparing a sensor
- *       column against the ground truth of the same row measures that lag, not
- *       a sensor error; shift one row first.
- */
-struct Sensors {
-    /**
-     * @brief Number of wheels, wall sensors and inertial axes.
-     */
-    ///@{
-    static constexpr std::size_t wheel_count{2};
-    static constexpr std::size_t wall_sensor_count{4};
-    static constexpr std::size_t axis_count{3};
-    ///@}
-
-    /**
-     * @brief Encoder positions, left then right, in radians.
-     */
-    std::array<float, wheel_count> encoder_positions{};
-
-    /**
-     * @brief Gyroscope reading per axis, in radians per second.
-     */
-    std::array<float, axis_count> angular_velocity{};
-
-    /**
-     * @brief Accelerometer reading per axis, in metres per second squared.
-     */
-    std::array<float, axis_count> linear_acceleration{};
-
-    /**
-     * @brief Unfiltered wall sensor readings, the ones post detection uses.
-     */
-    std::array<float, wall_sensor_count> wall_adc_readings{};
-};
-
-/**
- * @brief State the proxies expose to the harness, one writer per section.
- *
- * @note This is the second source of truth, independent of the firmware
- *       telemetry: it records what actually crossed the proxy boundary.
- */
-struct ProxyState {
-    /**
-     * @brief Written by the scenario or the GUI, read by the Button and DipSwitch proxies.
-     */
-    InterfaceInput interface_input;
-
-    /**
-     * @brief Written by the Led, Argb and Buzzer proxies, read by the panel and the recorder.
-     */
-    InterfaceOutput interface_output;
-
-    /**
-     * @brief Written by the command line, read by the proxies it silences.
-     */
-    Overrides overrides;
-
-    /**
-     * @brief Written by the Locomotion and Fan proxies, read by the recorder.
-     */
-    Actuators actuators;
-
-    /**
-     * @brief Written by the sensor proxies, read by the recorder.
-     */
-    Sensors sensors;
-};
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_CORE_PROXY_STATE_HPP
diff --git a/include/micras/sim/core/scenario.hpp b/include/micras/sim/core/scenario.hpp
deleted file mode 100644
index 2c28e30..0000000
--- a/include/micras/sim/core/scenario.hpp
+++ /dev/null
@@ -1,215 +0,0 @@
-/**
- * @file
- *
- * @brief Scripted input for a run: what the robot is told to do, and when.
- */
-
-#ifndef MICRAS_SIM_CORE_SCENARIO_HPP
-#define MICRAS_SIM_CORE_SCENARIO_HPP
-
-#include <array>
-#include <cstdint>
-#include <optional>
-#include <string>
-#include <string_view>
-
-#include "micras/sim/core/proxy_state.hpp"
-#include "micras/sim/core/simulation.hpp"
-#include "micras/sim/telemetry/telemetry.hpp"
-
-namespace micras::sim {
-/**
- * @brief Command to hand the firmware during a run.
- *
- * @note Delivered as a single SERIAL_VARIABLE packet writing true to the
- *       matching bidirectional pool variable, exactly like the monitor does.
- */
-enum class Command : uint8_t {
-    NONE,
-    EXPLORE,
-    SOLVE,
-    CALIBRATE,
-};
-
-/**
- * @brief Button press to emit during a run.
- */
-enum class ButtonPress : uint8_t {
-    NONE,
-    SHORT,
-    LONG,
-    EXTRA_LONG,
-};
-
-/**
- * @brief Press durations the board classifies against.
- *
- * @note Taken from the Button config rather than read from target.hpp, so the
- *       scenario stays independent of the firmware shadow.
- */
-struct ButtonDelays {
-    uint32_t long_press;
-    uint32_t extra_long_press;
-};
-
-/**
- * @brief Everything the scenario can be told from the command line.
- */
-struct ScenarioScript {
-    /**
-     * @brief Command to inject, and when.
-     */
-    ///@{
-    Command command{Command::NONE};
-    double  command_at{0.5};
-    ///@}
-
-    /**
-     * @brief Button press to emit, and when it goes down.
-     */
-    ///@{
-    ButtonPress button{ButtonPress::NONE};
-    double      button_at{0.5};
-    ///@}
-
-    /**
-     * @brief DIP switch states, indexed as in Interface::DipSwitchPins.
-     */
-    std::array<bool, InterfaceInput::dip_switch_count> dip{};
-
-    /**
-     * @brief Whether the Fan proxy is allowed to drive its actuator.
-     */
-    bool fan_enabled{true};
-};
-
-/**
- * @brief Parse a command name as the command line spells it.
- *
- * @param name One of none, explore, solve or calibrate.
- * @return The command, or nullopt for an unknown name.
- */
-std::optional<Command> parse_command(std::string_view name);
-
-/**
- * @brief Parse a button press name as the command line spells it.
- *
- * @param name One of none, short, long or extra_long.
- * @return The press, or nullopt for an unknown name.
- */
-std::optional<ButtonPress> parse_button_press(std::string_view name);
-
-/**
- * @brief Get the pool variable a command is delivered through.
- *
- * @param command Command to deliver.
- * @return Firmware variable name, empty for Command::NONE.
- */
-std::string_view command_variable(Command command);
-
-/**
- * @brief Plays the script into the simulation, one tick at a time.
- *
- * @note Writes only interface input and the serial queue, never mjData or the
- *       clock, so a run driven by a scenario is the same run a human could
- *       drive by hand.
- *
- * @note Stops writing the board entirely once a human has touched it, so the
- *       two never fight over the same field.
- */
-class Scenario : public IRunListener {
-public:
-    /**
-     * @brief Take the script and everything it needs to play it.
-     *
-     * @param script What to do and when.
-     * @param state Interface input the button is written into.
-     * @param telemetry Decoder used to address the command variable.
-     * @param clock Clock the instants are converted against.
-     * @param delays Press durations the board classifies against.
-     */
-    Scenario(
-        const ScenarioScript& script, ProxyState& state, Telemetry& telemetry, const Clock& clock,
-        const ButtonDelays& delays
-    );
-
-    /**
-     * @brief Apply the DIP switches and the fan override before the first tick.
-     *
-     * @param simulation Run about to start.
-     */
-    void on_start(const Simulation& simulation) override;
-
-    /**
-     * @brief Hold the button and inject the command at their instants.
-     *
-     * @param simulation Run about to advance.
-     * @return Always RunControl::RUN; a script never stops a run.
-     */
-    RunControl on_before_tick(const Simulation& simulation) override;
-
-    /**
-     * @brief Check whether the command was delivered.
-     *
-     * @return True once the command packet was queued, or if there was none.
-     */
-    bool command_delivered() const { return this->command_sent; }
-
-    /**
-     * @brief Get how many simulated milliseconds a press must be held.
-     *
-     * @note Button::update classifies on elapsed_time_ms strictly greater than
-     *       each delay, so long and extra long presses are one millisecond past
-     *       their thresholds.
-     *
-     * @param press Press to emit.
-     * @param delays Press durations the board classifies against.
-     * @return Hold time in simulated milliseconds, zero for no press.
-     */
-    static uint32_t hold_time_ms(ButtonPress press, const ButtonDelays& delays);
-
-private:
-    /**
-     * @brief Script being played.
-     */
-    ScenarioScript script;
-
-    /**
-     * @brief Interface input written by the script.
-     *
-     * @note Bound for the life of the run; the context outlives every listener.
-     */
-    ProxyState& state;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Decoder used to address and queue the command.
-     *
-     * @note Bound for the life of the run; the context outlives every listener.
-     */
-    Telemetry& telemetry;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief First tick the command may be injected on.
-     *
-     * @note Never tick 0: that tick carries the variable map request and the
-     *       firmware drops the rest of its receive buffer after framing one
-     *       packet.
-     */
-    uint64_t command_tick;
-
-    /**
-     * @brief Ticks the button is held between.
-     */
-    ///@{
-    uint64_t button_press_tick;
-    uint64_t button_release_tick;
-    ///@}
-
-    /**
-     * @brief Whether the command still has to be injected.
-     */
-    bool command_sent;
-};
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_CORE_SCENARIO_HPP
diff --git a/include/micras/sim/core/serial_bus.hpp b/include/micras/sim/core/serial_bus.hpp
deleted file mode 100644
index 4d08cbc..0000000
--- a/include/micras/sim/core/serial_bus.hpp
+++ /dev/null
@@ -1,134 +0,0 @@
-/**
- * @file
- *
- * @brief In-process replacement for the bluetooth UART.
- */
-
-#ifndef MICRAS_SIM_CORE_SERIAL_BUS_HPP
-#define MICRAS_SIM_CORE_SERIAL_BUS_HPP
-
-#include <cstdint>
-#include <deque>
-#include <span>
-#include <vector>
-
-namespace micras::sim {
-/**
- * @brief Receives every byte the firmware writes.
- */
-class ISerialListener {
-public:
-    ISerialListener() = default;
-
-    ISerialListener(const ISerialListener&) = delete;
-    ISerialListener(ISerialListener&&) = delete;
-    ISerialListener& operator=(const ISerialListener&) = delete;
-    ISerialListener& operator=(ISerialListener&&) = delete;
-
-    virtual ~ISerialListener() = default;
-
-    /**
-     * @brief Handle bytes the firmware just wrote.
-     *
-     * @param bytes Bytes leaving the firmware, in stream order.
-     */
-    virtual void on_firmware_bytes(std::span<const uint8_t> bytes) = 0;
-};
-
-/**
- * @brief Byte channel between the firmware and everything listening to it.
- *
- * @note The firmware frames every complete packet it finds in one batch, so
- *       handing over one packet per call is not about what it can parse: it is
- *       what keeps a tick's input independent of how fast an asynchronous
- *       producer happens to be queueing. Output is fanned out to every listener
- *       as it is written, so no listener can consume bytes another one needed.
- */
-class SerialBus {
-public:
-    /**
-     * @brief Start delivering firmware output to a listener.
-     *
-     * @note Listeners must not be added or removed while bytes are being
-     *       delivered. Adding the same listener twice is ignored.
-     *
-     * @param listener Listener to add; it must outlive the bus or remove itself.
-     */
-    void add_listener(ISerialListener& listener);
-
-    /**
-     * @brief Stop delivering firmware output to a listener.
-     *
-     * @param listener Listener to remove; unknown listeners are ignored.
-     */
-    void remove_listener(const ISerialListener& listener);
-
-    /**
-     * @brief Deliver bytes the firmware just wrote to every listener.
-     *
-     * @param bytes Bytes leaving the firmware.
-     */
-    void send_from_firmware(std::span<const uint8_t> bytes);
-
-    /**
-     * @brief Queue one complete packet for the firmware to read.
-     *
-     * @note The queue is bounded: a producer that outruns the one packet per
-     *       tick the firmware is handed would otherwise grow it without limit
-     *       and add unbounded latency. Packets past the bound are dropped and
-     *       counted.
-     *
-     * @param packet Serialized packet, header to tail inclusive.
-     */
-    void queue_for_firmware(std::span<const uint8_t> packet);
-
-    /**
-     * @brief Take the next queued packet.
-     *
-     * @return The oldest queued packet, or an empty vector when none is waiting.
-     */
-    std::vector<uint8_t> take_for_firmware();
-
-    /**
-     * @brief Get how many packets are waiting for the firmware.
-     *
-     * @return Number of queued packets.
-     */
-    std::size_t pending_packets() const { return this->to_firmware.size(); }
-
-    /**
-     * @brief Get how many packets were dropped because the queue was full.
-     *
-     * @return Number of dropped packets, always 0 on a healthy run.
-     */
-    uint32_t dropped_packets() const { return this->dropped; }
-
-    /**
-     * @brief Largest number of packets allowed to wait for the firmware.
-     */
-    static constexpr std::size_t max_pending_packets{256};
-
-    /**
-     * @brief Drop every queued packet.
-     */
-    void clear();
-
-private:
-    /**
-     * @brief Listeners receiving firmware output, in registration order.
-     */
-    std::vector<ISerialListener*> listeners;
-
-    /**
-     * @brief Packets queued by the host, one handed to the firmware per call.
-     */
-    std::deque<std::vector<uint8_t>> to_firmware;
-
-    /**
-     * @brief Packets dropped because the queue was full.
-     */
-    uint32_t dropped{0};
-};
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_CORE_SERIAL_BUS_HPP
diff --git a/include/micras/sim/core/simulation_context.hpp b/include/micras/sim/core/simulation_context.hpp
deleted file mode 100644
index 8230a23..0000000
--- a/include/micras/sim/core/simulation_context.hpp
+++ /dev/null
@@ -1,87 +0,0 @@
-/**
- * @file
- *
- * @brief Everything the proxy layer sees of the simulation.
- */
-
-#ifndef MICRAS_SIM_CORE_SIMULATION_CONTEXT_HPP
-#define MICRAS_SIM_CORE_SIMULATION_CONTEXT_HPP
-
-#include <atomic>
-
-#include "micras/sim/core/clock.hpp"
-#include "micras/sim/core/mujoco_world.hpp"
-#include "micras/sim/core/proxy_state.hpp"
-#include "micras/sim/core/serial_bus.hpp"
-
-namespace micras::sim {
-class FirmwareThread;
-
-/**
- * @brief Aggregate of the facets a proxy can reach, with no logic of its own.
- *
- * @note The firmware initialises its proxies from the const globals in
- *       config/target.hpp, before main runs, so the only route from a proxy to
- *       the simulation is something reachable from its Config. instance() is
- *       that route and is referenced by target.hpp alone: every proxy and every
- *       class under sim/ receives the facet it needs instead of calling it.
- *       Being a function-local static, it is constructed on the first call and
- *       therefore never after something that depends on it.
- */
-struct SimulationContext {
-    /**
-     * @brief Get the process-wide context.
-     *
-     * @return Reference to the single instance.
-     */
-    static SimulationContext& instance();
-
-    /**
-     * @brief MuJoCo model and data.
-     */
-    MujocoWorld world;
-
-    /**
-     * @brief Simulated time and tick arithmetic.
-     */
-    Clock clock;
-
-    /**
-     * @brief Byte channel to and from the firmware.
-     */
-    SerialBus serial;
-
-    /**
-     * @brief What crosses the proxy boundary.
-     */
-    ProxyState proxy_state;
-
-    /**
-     * @brief Program running in lockstep, or null when nothing is driving one.
-     *
-     * @note Set by the wiring entry point before the run starts. The Stopwatch
-     *       reaches it to hand the tick over when the firmware waits for time
-     *       to pass; without it a stopwatch simply reports the clock.
-     */
-    std::atomic<FirmwareThread*> firmware{nullptr};
-};
-
-/**
- * @brief Dereference the context a proxy was configured with.
- *
- * @param context Context taken from the proxy Config.
- * @return Reference to the context.
- */
-SimulationContext& require_context(SimulationContext* context);
-
-/**
- * @brief Hand the current tick over to the process-wide simulation.
- *
- * @note For the wiring that stands in for the MCU startup code, which has no
- *       Config to reach the context through. Does nothing when no program is
- *       being driven.
- */
-void yield_tick();
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_CORE_SIMULATION_CONTEXT_HPP
diff --git a/include/micras/sim/recording/csv_recorder.hpp b/include/micras/sim/recording/csv_recorder.hpp
deleted file mode 100644
index 64dc7a3..0000000
--- a/include/micras/sim/recording/csv_recorder.hpp
+++ /dev/null
@@ -1,155 +0,0 @@
-/**
- * @file
- *
- * @brief One CSV row per firmware tick: ground truth followed by the firmware pool.
- */
-
-#ifndef MICRAS_SIM_RECORDING_CSV_RECORDER_HPP
-#define MICRAS_SIM_RECORDING_CSV_RECORDER_HPP
-
-#include <cstdint>
-#include <filesystem>
-#include <string>
-#include <vector>
-
-#include "micras/sim/core/proxy_state.hpp"
-#include "micras/sim/core/simulation.hpp"
-#include "micras/sim/recording/csv_writer.hpp"
-#include "micras/sim/recording/ground_truth.hpp"
-#include "micras/sim/telemetry/telemetry.hpp"
-
-namespace micras::sim {
-/**
- * @brief Samples the simulation state once per firmware tick into a CSV file.
- *
- * @note The header is written on the first sample, once the firmware has
- *       answered the variable map request, so every pool column is known.
- */
-class CsvRecorder : public IRunListener {
-public:
-    /**
-     * @brief Open the CSV file and resolve every model id it needs.
-     *
-     * @note A program that does not serve the firmware variable pool, such as
-     *       a hardware test, passes no decoder; the run then records the ground
-     *       truth and the proxy boundary only.
-     *
-     * @param world Simulation world to sample.
-     * @param proxy_state Record of what crossed the proxy boundary.
-     * @param telemetry Decoder holding the firmware pool values, or null.
-     * @param path Path of the CSV file to write.
-     */
-    CsvRecorder(
-        const MujocoWorld& world, const ProxyState& proxy_state, const Telemetry* telemetry,
-        const std::filesystem::path& path
-    );
-
-    /**
-     * @brief Write one CSV row for the current simulation state.
-     *
-     * @param tick Index of the firmware tick that was just executed.
-     */
-    void sample(uint64_t tick);
-
-    /**
-     * @brief Write the row of the tick that just ran.
-     *
-     * @param simulation Run that just advanced.
-     */
-    void on_after_tick(const Simulation& simulation) override;
-
-    /**
-     * @brief Get the number of firmware pool columns written.
-     *
-     * @return Number of pool columns.
-     */
-    std::size_t pool_column_count() const { return this->pool_columns.size(); }
-
-    /**
-     * @brief Get the robot body height sampled on the last row.
-     *
-     * @return Height of the robot body origin in meters.
-     */
-    double last_z() const { return this->ground_truth.last_z(); }
-
-    /**
-     * @brief Get the proxy boundary column names, in the order sample() fills them.
-     *
-     * @note The interface output is deliberately absent: this firmware build
-     *       never lights the LED, sets an ARGB colour or plays a tone, so the
-     *       columns would be constant zero. ProxyState still carries it, for
-     *       the panel and for the day the firmware uses it.
-     *
-     * @return Column names, all prefixed to keep them apart from the pool ones.
-     */
-    static std::vector<std::string> proxy_columns();
-
-    /**
-     * @brief Turn a pool variable name into a CSV friendly column name.
-     *
-     * @param name Original variable name.
-     * @return Snake case name.
-     */
-    static std::string column_name(const std::string& name);
-
-private:
-    /**
-     * @brief One CSV column fed by a firmware pool variable.
-     *
-     * @note Custom serializable types expand into several columns, so a
-     *       variable may own more than one entry, one per serialized field.
-     */
-    struct PoolColumn {
-        uint16_t    id;
-        std::size_t component;
-        std::string name;
-    };
-
-    /**
-     * @brief Build the pool columns from the variable map and write the header.
-     */
-    void write_header();
-
-    /**
-     * @brief Get the monitoring variables the run records, if any.
-     *
-     * @return The variables, empty when the program serves no pool.
-     */
-    std::vector<PoolVariable> pool_variables() const;
-
-    /**
-     * @brief Decoder holding the firmware pool values, or null when there is none.
-     */
-    const Telemetry* telemetry;
-
-    /**
-     * @brief Record of what crossed the proxy boundary.
-     *
-     * @note Bound for the life of the recorder; it is fed by the caller that
-     *       also owns the run.
-     */
-    const ProxyState& proxy_state;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Physical state sampler.
-     */
-    GroundTruth ground_truth;
-
-    /**
-     * @brief Output file.
-     */
-    CsvWriter writer;
-
-    /**
-     * @brief Pool columns written after the ground truth columns.
-     */
-    std::vector<PoolColumn> pool_columns;
-
-    /**
-     * @brief Whether the header was already written.
-     */
-    bool header_written{false};
-};
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_RECORDING_CSV_RECORDER_HPP
diff --git a/include/micras/sim/recording/ground_truth.hpp b/include/micras/sim/recording/ground_truth.hpp
deleted file mode 100644
index f9b9cd1..0000000
--- a/include/micras/sim/recording/ground_truth.hpp
+++ /dev/null
@@ -1,123 +0,0 @@
-/**
- * @file
- *
- * @brief Physical state of the robot read straight from MuJoCo.
- */
-
-#ifndef MICRAS_SIM_RECORDING_GROUND_TRUTH_HPP
-#define MICRAS_SIM_RECORDING_GROUND_TRUTH_HPP
-
-#include <limits>
-#include <string>
-#include <vector>
-
-#include "micras/sim/core/mujoco_world.hpp"
-#include "micras/sim/recording/csv_writer.hpp"
-
-namespace micras::sim {
-/**
- * @brief Resolves the robot ids once and samples the ground truth columns every tick.
- *
- * @note MuJoCo free joints split their six velocity dofs across two frames:
- *       the three linear dofs are expressed in the world frame, the three
- *       angular dofs in the body frame. The columns are named accordingly
- *       (vx_world, vy_world, vz_world, wz_body) and v_forward projects the
- *       world linear velocity onto the body forward axis, which is body +y.
- *       This is the one class that indexes the MuJoCo C arrays directly.
- */
-class GroundTruth {
-public:
-    /**
-     * @brief Resolve every model id the columns need.
-     *
-     * @param world Loaded simulation world.
-     */
-    explicit GroundTruth(const MujocoWorld& world);
-
-    /**
-     * @brief Get the column names, in the order sample() fills them.
-     *
-     * @return Column names.
-     */
-    static std::vector<std::string> columns();
-
-    /**
-     * @brief Sample the current physical state.
-     *
-     * @param tick Index of the firmware tick that was just executed.
-     * @return One cell per column.
-     */
-    std::vector<CsvCell> sample(uint64_t tick);
-
-    /**
-     * @brief Sum every MuJoCo warning counter raised so far.
-     *
-     * @param world Loaded simulation world.
-     * @return Total number of warnings.
-     */
-    static int64_t warnings_total(const MujocoWorld& world);
-
-    /**
-     * @brief Get the robot body height sampled on the last row.
-     *
-     * @return Height of the robot body origin in meters.
-     */
-    double last_z() const { return this->last_body_z; }
-
-private:
-    /**
-     * @brief Per-geom contact statistics for a single step.
-     */
-    struct ContactStats {
-        int    count{0};
-        double normal_force{0.0};
-        double slip{0.0};
-
-        /**
-         * @brief Deepest penetration over the geom's contacts, NaN when it has none.
-         */
-        double penetration{std::numeric_limits<double>::quiet_NaN()};
-    };
-
-    /**
-     * @brief Collect the contact statistics of one geom.
-     *
-     * @param geom_id Id of the geom.
-     * @return Aggregated statistics.
-     */
-    ContactStats collect_contacts(int geom_id) const;
-
-    /**
-     * @brief Simulation world being sampled.
-     *
-     * @note Bound for the life of the recorder; it is fed by the caller that
-     *       also owns the run.
-     */
-    const MujocoWorld& world;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Ids resolved once from the model.
-     */
-    ///@{
-    int body_id;
-    int left_wheel_geom;
-    int right_wheel_geom;
-    int caster_geom;
-    int base_geom;
-    int left_actuator;
-    int right_actuator;
-    int free_joint_qvel{};
-    int left_wheel_qvel{};
-    int right_wheel_qvel{};
-    int left_wheel_qpos{};
-    int right_wheel_qpos{};
-    ///@}
-
-    /**
-     * @brief Height of the robot body origin on the last sampled row.
-     */
-    double last_body_z{0.0};
-};
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_RECORDING_GROUND_TRUTH_HPP
diff --git a/include/micras/sim/telemetry/packet_framer.hpp b/include/micras/sim/telemetry/packet_framer.hpp
deleted file mode 100644
index d6eb8ec..0000000
--- a/include/micras/sim/telemetry/packet_framer.hpp
+++ /dev/null
@@ -1,88 +0,0 @@
-/**
- * @file
- *
- * @brief Splits the firmware byte stream into serialized packets.
- */
-
-#ifndef MICRAS_SIM_TELEMETRY_PACKET_FRAMER_HPP
-#define MICRAS_SIM_TELEMETRY_PACKET_FRAMER_HPP
-
-#include <cstdint>
-#include <span>
-#include <vector>
-
-namespace micras::sim {
-/**
- * @brief Accumulates raw bytes and yields complete comm::Packet frames.
- *
- * @note Packet::serialize only escapes the payload: the five bytes after the
- *       header (message type, id, payload size) are written raw and may hold
- *       an escape or tail value, so the escape-aware walk starts at the payload.
- *       The checksum byte is never a control byte, so the first unescaped tail
- *       from the payload on ends the packet.
- */
-class PacketFramer {
-public:
-    /**
-     * @brief Largest amount of unframed bytes kept before the stream is considered desynchronised.
-     *
-     * @note A packet carries at most a 65535 byte payload, which escapes to
-     *       131070 bytes, so the limit sits above the longest frame the
-     *       firmware can emit and only a stream with no closing frame at all
-     *       reaches it.
-     */
-    static constexpr std::size_t max_buffer_size{128UL * 1024UL + 16UL};
-
-    /**
-     * @brief Append bytes received from the firmware.
-     *
-     * @param bytes Raw bytes, in stream order.
-     */
-    void push(std::span<const uint8_t> bytes);
-
-    /**
-     * @brief Extract every complete packet accumulated so far.
-     *
-     * @return Serialized packets, header to tail inclusive, in stream order.
-     */
-    std::vector<std::vector<uint8_t>> drain();
-
-    /**
-     * @brief Get how many times the buffer overflowed and was truncated.
-     *
-     * @return Number of resynchronisations, always 0 on a healthy stream.
-     */
-    uint32_t resync_count() const { return this->resyncs; }
-
-private:
-    /**
-     * @brief Find the end of the packet starting at a header position.
-     *
-     * @param start Index of the header byte.
-     * @return Index of the tail byte, or the buffer size if the packet is incomplete.
-     */
-    std::size_t find_tail(std::size_t start) const;
-
-    /**
-     * @brief Drop the whole buffer when no frame closes within the limit.
-     *
-     * @note Once that much has arrived without a single closing frame, nothing
-     *       buffered can still become a packet, and keeping part of it would
-     *       only let the scan latch onto a payload byte and swallow the next
-     *       real packet. Framing restarts clean from the following byte.
-     */
-    void resync_if_overflowed();
-
-    /**
-     * @brief Bytes received but not yet framed.
-     */
-    std::vector<uint8_t> buffer;
-
-    /**
-     * @brief Number of times the buffer overflowed and was truncated.
-     */
-    uint32_t resyncs{0};
-};
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_TELEMETRY_PACKET_FRAMER_HPP
diff --git a/include/micras/sim/telemetry/telemetry.hpp b/include/micras/sim/telemetry/telemetry.hpp
deleted file mode 100644
index 3cdcd53..0000000
--- a/include/micras/sim/telemetry/telemetry.hpp
+++ /dev/null
@@ -1,298 +0,0 @@
-/**
- * @file
- *
- * @brief Decoder for the firmware serial protocol over the in-process channel.
- */
-
-#ifndef MICRAS_SIM_TELEMETRY_TELEMETRY_HPP
-#define MICRAS_SIM_TELEMETRY_TELEMETRY_HPP
-
-#include <cstdint>
-#include <optional>
-#include <string>
-#include <unordered_map>
-#include <vector>
-
-#include "micras/sim/core/serial_bus.hpp"
-#include "micras/sim/core/simulation.hpp"
-#include "micras/sim/telemetry/packet_framer.hpp"
-
-namespace micras::sim {
-/**
- * @brief One entry of the firmware serial variable pool.
- */
-struct PoolVariable {
-    uint16_t    id;
-    std::string name;
-    std::string type;
-    bool        read_only;
-};
-
-/**
- * @brief Variable map reported by the firmware, indexed by id and by name.
- */
-class VariableMap {
-public:
-    /**
-     * @brief Parse a variable map response payload.
-     *
-     * @param payload Unescaped payload of the map response.
-     * @return The decoded map, or nullopt if the payload is truncated.
-     */
-    static std::optional<VariableMap> parse(const std::vector<uint8_t>& payload);
-
-    /**
-     * @brief Get the column suffixes a custom serializable type expands into.
-     *
-     * @note The firmware reports types through core::type_name, so they arrive
-     *       fully qualified ("micras::nav::GridPose"); only the last component
-     *       is matched. Scalars expand into a single unnamed column.
-     *
-     * @param type Type name as reported in the variable map response.
-     * @return Suffixes in serialization order, empty for scalar types.
-     */
-    static std::vector<std::string> type_column_suffixes(const std::string& type);
-
-    /**
-     * @brief Get the read-only pool variables, ordered by id.
-     *
-     * @return Vector of monitoring variables.
-     */
-    const std::vector<PoolVariable>& monitoring_variables() const { return this->monitoring; }
-
-    /**
-     * @brief Look up a pool variable id by its firmware name.
-     *
-     * @param name Name as reported in the variable map response.
-     * @return Id of the variable, or nullopt if the pool has no such name.
-     */
-    std::optional<uint16_t> find_id(const std::string& name) const;
-
-    /**
-     * @brief Get the type name of a variable.
-     *
-     * @param id Id of the variable in the pool.
-     * @return Type name, or an empty string for unknown ids.
-     */
-    std::string type_of(uint16_t id) const;
-
-private:
-    /**
-     * @brief Read-only variables, ordered by id.
-     */
-    std::vector<PoolVariable> monitoring;
-
-    /**
-     * @brief Type of every variable, by id.
-     */
-    std::unordered_map<uint16_t, std::string> types;
-
-    /**
-     * @brief Id of every variable, by name.
-     */
-    std::unordered_map<std::string, uint16_t> ids_by_name;
-};
-
-/**
- * @brief Latest decoded value of every pool variable, one entry per serialized field.
- */
-class PoolValues {
-public:
-    /**
-     * @brief Decode a payload according to the type reported in the variable map.
-     *
-     * @note The custom serializable layouts mirror nav::GridPose::serialize
-     *       (three bytes: x, y, orientation as Side, RIGHT=0 UP=1 LEFT=2 DOWN=3)
-     *       and nav::State::serialize (five little-endian floats: x, y,
-     *       orientation, linear velocity, angular velocity). Unknown types
-     *       decode to NaN rather than to a plausible looking wrong number.
-     *
-     * @param type Type name of the variable.
-     * @param payload Little-endian serialized value.
-     * @return One value per column of the type.
-     */
-    static std::vector<double> decode(const std::string& type, const std::vector<uint8_t>& payload);
-
-    /**
-     * @brief Store the decoded value of a variable.
-     *
-     * @param id Id of the variable in the pool.
-     * @param type Type name of the variable.
-     * @param payload Little-endian serialized value.
-     */
-    void store(uint16_t id, const std::string& type, const std::vector<uint8_t>& payload);
-
-    /**
-     * @brief Get the latest value decoded for a variable.
-     *
-     * @param id Id of the variable in the pool.
-     * @param component Index of the field for custom serializable types.
-     * @return Latest value, or NaN if nothing was decoded yet.
-     */
-    double get(uint16_t id, std::size_t component = 0) const;
-
-private:
-    /**
-     * @brief Latest value of each variable, by id.
-     */
-    std::unordered_map<uint16_t, std::vector<double>> values;
-};
-
-/**
- * @brief Drains the firmware output and keeps the latest value of every pool variable.
- */
-class Telemetry : public ISerialListener, public IRunListener {
-public:
-    /**
-     * @brief Listen to a serial bus.
-     *
-     * @param serial Bus shared with the firmware.
-     */
-    explicit Telemetry(SerialBus& serial);
-
-    Telemetry(const Telemetry&) = delete;
-    Telemetry(Telemetry&&) = delete;
-    Telemetry& operator=(const Telemetry&) = delete;
-    Telemetry& operator=(Telemetry&&) = delete;
-
-    /**
-     * @brief Stop listening to the bus.
-     */
-    ~Telemetry() override;
-
-    /**
-     * @brief Buffer bytes the firmware wrote, to be decoded on the next poll.
-     *
-     * @param bytes Bytes leaving the firmware.
-     */
-    void on_firmware_bytes(std::span<const uint8_t> bytes) override;
-
-    /**
-     * @brief Queue a variable map request for the firmware.
-     *
-     * @note The firmware clears its whole receive deque after framing a single
-     *       packet, so the caller must guarantee that at most one packet is
-     *       queued per tick; nothing here enforces it.
-     */
-    void request_variable_map();
-
-    /**
-     * @brief Queue a value for a bidirectional variable.
-     *
-     * @param id Id of the variable in the pool.
-     * @param payload Little-endian serialized value.
-     */
-    void send_variable(uint16_t id, const std::vector<uint8_t>& payload);
-
-    /**
-     * @brief Decode every packet buffered since the last call.
-     */
-    void poll();
-
-    /**
-     * @brief Decode what the firmware wrote during the tick.
-     *
-     * @note Registered before the recorder so every column it feeds is already
-     *       up to date when the row is written.
-     *
-     * @param simulation Run that just advanced.
-     */
-    void on_after_tick(const Simulation& simulation) override;
-
-    /**
-     * @brief Check whether the variable map has been received.
-     *
-     * @return True once the firmware answered the map request.
-     */
-    bool has_variable_map() const { return this->map_received; }
-
-    /**
-     * @brief Get the variable map as last reported by the firmware.
-     *
-     * @return The variable map, empty before the response arrives.
-     */
-    const VariableMap& variable_map() const { return this->map; }
-
-    /**
-     * @brief Look up a pool variable id by its firmware name.
-     *
-     * @param name Name as reported in the variable map response.
-     * @return Id of the variable, or nullopt if the pool has no such name.
-     */
-    std::optional<uint16_t> find_variable_id(const std::string& name) const { return this->map.find_id(name); }
-
-    /**
-     * @brief Get the latest value decoded for a variable.
-     *
-     * @param id Id of the variable in the pool.
-     * @param component Index of the field for custom serializable types.
-     * @return Latest value, or NaN if nothing was decoded yet.
-     */
-    double value(uint16_t id, std::size_t component = 0) const { return this->values.get(id, component); }
-
-    /**
-     * @brief Get the latest value of a scalar variable by name.
-     *
-     * @param name Firmware name of the variable.
-     * @return Latest value, or NaN when the map is not in yet.
-     */
-    double value_of(const std::string& name) const;
-
-    /**
-     * @brief Get how many map responses were dropped as malformed.
-     *
-     * @return Number of unparsable variable map responses.
-     */
-    uint32_t map_failure_count() const { return this->map_failures; }
-
-    /**
-     * @brief Get how many times the receive buffer had to be truncated.
-     *
-     * @return Number of resynchronisations, always 0 on a healthy stream.
-     */
-    uint32_t resync_count() const { return this->framer.resync_count(); }
-
-private:
-    /**
-     * @brief Handle one framed packet.
-     *
-     * @param raw Serialized packet, header to tail inclusive.
-     */
-    void consume(const std::vector<uint8_t>& raw);
-
-    /**
-     * @brief Bus the firmware writes to and reads from.
-     *
-     * @note Bound for the life of the recorder; it is fed by the caller that
-     *       also owns the run.
-     */
-    SerialBus& serial;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Splits the firmware stream into packets.
-     */
-    PacketFramer framer;
-
-    /**
-     * @brief Variable map as last reported by the firmware.
-     */
-    VariableMap map;
-
-    /**
-     * @brief Latest value of every variable.
-     */
-    PoolValues values;
-
-    /**
-     * @brief Flag set once the variable map response was decoded.
-     */
-    bool map_received{false};
-
-    /**
-     * @brief Number of map responses that could not be parsed.
-     */
-    uint32_t map_failures{0};
-};
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_TELEMETRY_TELEMETRY_HPP
diff --git a/include/micras/sim/view/control_panel.hpp b/include/micras/sim/view/control_panel.hpp
deleted file mode 100644
index aa46724..0000000
--- a/include/micras/sim/view/control_panel.hpp
+++ /dev/null
@@ -1,213 +0,0 @@
-/**
- * @file
- *
- * @brief The panel a human drives the robot from.
- */
-
-#ifndef MICRAS_SIM_VIEW_CONTROL_PANEL_HPP
-#define MICRAS_SIM_VIEW_CONTROL_PANEL_HPP
-
-#include <cstdint>
-#include <string>
-#include <vector>
-
-#include "micras/sim/core/proxy_state.hpp"
-#include "micras/sim/core/simulation.hpp"
-#include "micras/sim/telemetry/telemetry.hpp"
-
-struct GLFWwindow;
-
-namespace micras::sim {
-/**
- * @brief What the human asked of the run through the panel.
- */
-struct PanelRequest {
-    /**
-     * @brief Whether the run should stay paused, and whether the panel changed it.
-     */
-    ///@{
-    bool paused{false};
-    bool paused_changed{false};
-    ///@}
-
-    /**
-     * @brief Ticks the human asked to run while paused.
-     */
-    uint64_t steps{0};
-
-    /**
-     * @brief Simulated seconds allowed per wall second, zero for no limit.
-     */
-    double speed{0.0};
-
-    /**
-     * @brief Whether the human asked the run to end.
-     */
-    bool quit{false};
-};
-
-/**
- * @brief A fixed length history of one plotted value.
- */
-class PlotTrace {
-public:
-    /**
-     * @brief Number of samples kept.
-     */
-    static constexpr std::size_t capacity{2048};
-
-    /**
-     * @brief Name the plot and the pool variable it follows.
-     *
-     * @param variable Firmware name of the variable.
-     */
-    explicit PlotTrace(std::string variable);
-
-    /**
-     * @brief Append the current value of the variable.
-     *
-     * @param time Simulated time of the sample.
-     * @param telemetry Decoder holding the pool values.
-     */
-    void sample(double time, const Telemetry& telemetry);
-
-    /**
-     * @brief Get the firmware name of the variable.
-     *
-     * @return The name.
-     */
-    const std::string& name() const { return this->variable; }
-
-    /**
-     * @brief Get the sample times, oldest first.
-     *
-     * @return The times.
-     */
-    const std::vector<double>& times() const { return this->sample_times; }
-
-    /**
-     * @brief Get the sample values, oldest first.
-     *
-     * @return The values.
-     */
-    const std::vector<double>& values() const { return this->sample_values; }
-
-private:
-    /**
-     * @brief Firmware name of the variable.
-     */
-    std::string variable;
-
-    /**
-     * @brief Samples kept, oldest first.
-     */
-    ///@{
-    std::vector<double> sample_times;
-    std::vector<double> sample_values;
-    ///@}
-};
-
-/**
- * @brief Draws the board and the plots, and turns clicks into interface input.
- *
- * @note Runs on the simulation thread between ticks, like the viewer it shares
- *       a window with. It writes only the interface input, which is what a hand
- *       on the real board would write, so a run driven from here is a run the
- *       firmware cannot tell from a real one. Touching anything here marks the
- *       run interactive, because nothing about it is reproducible from the
- *       command line alone.
- */
-class ControlPanel {
-public:
-    /**
-     * @brief Attach ImGui and ImPlot to an existing window.
-     *
-     * @param window Window the panel is drawn in.
-     * @param state Boundary record the panel reads and writes.
-     * @param telemetry Decoder feeding the plots and the state readout.
-     */
-    ControlPanel(GLFWwindow* window, ProxyState& state, const Telemetry& telemetry);
-
-    ControlPanel(const ControlPanel&) = delete;
-    ControlPanel(ControlPanel&&) = delete;
-    ControlPanel& operator=(const ControlPanel&) = delete;
-    ControlPanel& operator=(ControlPanel&&) = delete;
-
-    /**
-     * @brief Detach ImGui and ImPlot from the window.
-     */
-    ~ControlPanel();
-
-    /**
-     * @brief Append a sample to every plot.
-     *
-     * @param time Simulated time of the sample.
-     */
-    void sample(double time);
-
-    /**
-     * @brief Draw the panel over the current frame.
-     *
-     * @param simulation Run being driven.
-     * @param paused Whether the run is currently paused, which the viewer owns.
-     * @return What the human asked of the run.
-     */
-    PanelRequest draw(const Simulation& simulation, bool paused);
-
-    /**
-     * @brief Check whether a human touched anything the firmware can see.
-     *
-     * @return True once a control was used.
-     */
-    bool was_touched() const { return this->touched; }
-
-private:
-    /**
-     * @brief Draw the board controls and readouts.
-     *
-     * @param paused Whether the run is currently paused.
-     */
-    void draw_board(bool paused);
-
-    /**
-     * @brief Draw the pool plots.
-     */
-    void draw_plots();
-
-    /**
-     * @brief Record that a human has taken the board over from the script.
-     */
-    void take_over();
-
-    /**
-     * @brief Boundary record the panel reads and writes.
-     *
-     * @note Bound for the life of the panel; the context outlives the window.
-     */
-    ProxyState& state;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Decoder feeding the plots and the state readout.
-     *
-     * @note Bound for the life of the panel; the context outlives the window.
-     */
-    const Telemetry& telemetry;  // NOLINT(*-avoid-const-or-ref-data-members)
-
-    /**
-     * @brief Plots shown under the controls.
-     */
-    std::vector<PlotTrace> traces;
-
-    /**
-     * @brief What the human last asked of the run.
-     */
-    PanelRequest request;
-
-    /**
-     * @brief Whether a control has been used.
-     */
-    bool touched{false};
-};
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_VIEW_CONTROL_PANEL_HPP
diff --git a/include/micras/sim/view/mujoco_viewer.hpp b/include/micras/sim/view/mujoco_viewer.hpp
deleted file mode 100644
index f11c69b..0000000
--- a/include/micras/sim/view/mujoco_viewer.hpp
+++ /dev/null
@@ -1,270 +0,0 @@
-/**
- * @file
- *
- * @brief Live window onto a running simulation.
- */
-
-#ifndef MICRAS_SIM_VIEW_MUJOCO_VIEWER_HPP
-#define MICRAS_SIM_VIEW_MUJOCO_VIEWER_HPP
-
-#include <cstdint>
-#include <memory>
-#include <string>
-
-#include <mujoco/mujoco.h>
-
-#include "micras/sim/core/mujoco_world.hpp"
-#include "micras/sim/core/proxy_state.hpp"
-#include "micras/sim/core/simulation.hpp"
-#include "micras/sim/telemetry/telemetry.hpp"
-#include "micras/sim/view/control_panel.hpp"
-#include "micras/sim/view/view_options.hpp"
-
-struct GLFWwindow;
-
-namespace micras::sim {
-/**
- * @brief Draws the simulation and lets a human steer the view and the pace.
- *
- * @note Runs on the simulation thread, between ticks: there is no render thread
- *       and therefore no way to read a half written state. Everything it does
- *       by itself only reads mjModel and mjData, so a run watched through an
- *       untouched window produces the same data.csv as a headless one. Dragging
- *       the robot applies a force, which is a real change to the run, so the
- *       first drag marks the run interactive.
- */
-class MujocoViewer : public IRunListener {
-public:
-    /**
-     * @brief Open a window and build the render context.
-     *
-     * @note The rangefinder rays are drawn from the start: they are the
-     *       interesting part of a Micras run.
-     *
-     * @param world World to draw.
-     * @param state Boundary record the panel reads and writes.
-     * @param telemetry Decoder feeding the panel.
-     * @param config Window configuration.
-     * @param error Filled with a human readable reason when creation fails.
-     * @return The viewer, or nullptr if no window could be opened.
-     */
-    static std::unique_ptr<MujocoViewer> create(
-        MujocoWorld& world, ProxyState& state, const Telemetry& telemetry, const ViewerConfig& config,
-        std::string& error
-    );
-
-    MujocoViewer(const MujocoViewer&) = delete;
-    MujocoViewer(MujocoViewer&&) = delete;
-    MujocoViewer& operator=(const MujocoViewer&) = delete;
-    MujocoViewer& operator=(MujocoViewer&&) = delete;
-
-    /**
-     * @brief Release the render context and close the window.
-     */
-    ~MujocoViewer() override;
-
-    /**
-     * @brief Draw the initial state before the first tick.
-     *
-     * @param simulation Run about to start.
-     */
-    void on_start(const Simulation& simulation) override;
-
-    /**
-     * @brief Handle input, and block here while the run is paused.
-     *
-     * @param simulation Run about to advance.
-     * @return QUIT once the window is closed.
-     */
-    RunControl on_before_tick(const Simulation& simulation) override;
-
-    /**
-     * @brief Redraw the frame this tick falls on, if any.
-     *
-     * @param simulation Run that just advanced.
-     */
-    void on_after_tick(const Simulation& simulation) override;
-
-    /**
-     * @brief Draw the final state and let the run end.
-     *
-     * @note The window closes with the run rather than waiting to be dismissed,
-     *       so a scripted run is not held up by it. Pause before the end to
-     *       look at the final state.
-     *
-     * @param simulation Run that finished.
-     */
-    void on_finish(const Simulation& simulation) override;
-
-    /**
-     * @brief Check whether a human changed anything the run can see.
-     *
-     * @return True once the robot has been dragged or a control was used.
-     */
-    bool was_interactive() const;
-
-private:
-    MujocoViewer() = default;
-
-    /**
-     * @brief Draw one frame and present it.
-     *
-     * @param simulation Run being drawn, for the overlay.
-     */
-    void draw(const Simulation& simulation);
-
-    /**
-     * @brief Apply the drag force, if the robot is being dragged.
-     */
-    void apply_perturbation();
-
-    /**
-     * @brief Check whether the human asked the run to end.
-     *
-     * @return True once the window was closed or quit was pressed.
-     */
-    bool should_quit() const;
-
-    /**
-     * @brief Check whether the next tick is still held back by the speed limit.
-     *
-     * @note The only wall clock in a run, and it only decides when a tick
-     *       starts, never what it computes.
-     *
-     * @return True while the tick must wait.
-     */
-    bool wait_for_speed_limit() const;
-
-    /**
-     * @brief Point the camera at what the configuration asked for.
-     *
-     * @param name Model camera name, or "free".
-     * @param error Filled when the model has no such camera.
-     * @return False when the name was rejected.
-     */
-    bool select_camera(const std::string& name, std::string& error);
-
-    /**
-     * @brief Handle a key press.
-     *
-     * @param key GLFW key code.
-     */
-    void on_key(int key);
-
-    /**
-     * @brief Handle a mouse button change.
-     *
-     * @note Holding control and the left button drags the robot. Selecting its
-     *       body is enough, because the drag is applied as a force and never as
-     *       a pose, so the physics stays in charge of the result.
-     *
-     * @param button GLFW button code.
-     * @param pressed Whether it went down.
-     */
-    void on_mouse_button(int button, bool pressed);
-
-    /**
-     * @brief Handle a mouse move.
-     *
-     * @param x Cursor position in pixels.
-     * @param y Cursor position in pixels.
-     */
-    void on_mouse_move(double x, double y);
-
-    /**
-     * @brief Handle a scroll wheel step.
-     *
-     * @param offset Scroll amount.
-     */
-    void on_scroll(double offset);
-
-    /**
-     * @brief World being drawn.
-     */
-    MujocoWorld* world{nullptr};
-
-    /**
-     * @brief Window configuration.
-     */
-    ViewerConfig config;
-
-    /**
-     * @brief Window the frames go to.
-     */
-    GLFWwindow* window{nullptr};
-
-    /**
-     * @brief MuJoCo visualization state.
-     */
-    ///@{
-    mjvScene   scene{};
-    mjvCamera  camera{};
-    mjvOption  option{};
-    mjvPerturb perturb{};
-    mjrContext context{};
-    ///@}
-
-    /**
-     * @brief Whether the render context and scene were created.
-     */
-    bool context_ready{false};
-
-    /**
-     * @brief Whether the run is waiting for the human to let it continue.
-     */
-    bool paused{false};
-
-    /**
-     * @brief Number of ticks the human asked to run while paused.
-     */
-    uint64_t pending_steps{0};
-
-    /**
-     * @brief Whether the robot has been dragged at least once.
-     */
-    bool interactive{false};
-
-    /**
-     * @brief Whether the human asked the run to end.
-     */
-    bool quit_requested{false};
-
-    /**
-     * @brief Simulated seconds allowed per wall second, zero for no limit.
-     */
-    double speed{0.0};
-
-    /**
-     * @brief Steps already taken from the panel's running total.
-     */
-    uint64_t consumed_steps{0};
-
-    /**
-     * @brief Mouse state, in window coordinates.
-     */
-    ///@{
-    double last_x{0.0};
-    double last_y{0.0};
-    bool   left_held{false};
-    bool   right_held{false};
-    bool   middle_held{false};
-    ///@}
-
-    /**
-     * @brief Number of frames drawn.
-     */
-    uint64_t frames{0};
-
-    /**
-     * @brief The board and the plots, drawn over the scene.
-     */
-    std::unique_ptr<ControlPanel> panel;
-
-    /**
-     * @brief Wall time the last tick was allowed to start at.
-     */
-    double last_tick_at{0.0};
-};
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_VIEW_MUJOCO_VIEWER_HPP
diff --git a/include/micras/sim/view/video_recorder.hpp b/include/micras/sim/view/video_recorder.hpp
deleted file mode 100644
index 8747119..0000000
--- a/include/micras/sim/view/video_recorder.hpp
+++ /dev/null
@@ -1,183 +0,0 @@
-/**
- * @file
- *
- * @brief Offscreen EGL video recorder piping raw frames to ffmpeg.
- */
-
-#ifndef MICRAS_SIM_VIEW_VIDEO_RECORDER_HPP
-#define MICRAS_SIM_VIEW_VIDEO_RECORDER_HPP
-
-#include <cstdint>
-#include <cstdio>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-
-#include "micras/sim/view/view_options.hpp"
-
-#include "micras/sim/core/simulation.hpp"
-#include "micras/sim/telemetry/telemetry.hpp"
-
-namespace micras::sim {
-/**
- * @brief Values drawn in the top-left HUD overlay of every frame.
- */
-struct VideoHud {
-    double sim_time{0.0};
-    double fsm_state{0.0};
-    double desired_linear{0.0};
-    double odometry_linear{0.0};
-};
-
-/**
- * @brief Renders the simulation offscreen and streams it to ffmpeg.
- *
- * @note Rendering only reads mjModel/mjData, so a recorded run produces the
- *       exact same data.csv as the same run without --video.
- */
-class VideoRecorder : public IRunListener {
-public:
-    /**
-     * @brief Bring up EGL, the MuJoCo render context and the ffmpeg pipe.
-     *
-     * @note The caller must have set model->vis.global.offwidth/offheight to at
-     *       least the requested frame size before calling this, because
-     *       mjr_makeContext sizes the offscreen framebuffer from them.
-     *
-     * @param model Model to render.
-     * @param config Recording configuration.
-     * @param error Filled with a human readable reason when creation fails.
-     * @return The recorder, or nullptr if anything failed.
-     */
-    static std::unique_ptr<VideoRecorder> create(mjModel* model, const VideoConfig& config, std::string& error);
-
-    /**
-     * @brief Start recording a run, from the world and the pool it reads.
-     *
-     * @param world World whose state is rendered.
-     * @param telemetry Decoder feeding the overlay.
-     * @param ticks_per_frame Number of firmware ticks between frames.
-     */
-    void attach(MujocoWorld& world, const Telemetry& telemetry, uint64_t ticks_per_frame);
-
-    /**
-     * @brief Render the frame this tick falls on, if any.
-     *
-     * @param simulation Run that just advanced.
-     */
-    void on_after_tick(const Simulation& simulation) override;
-
-    VideoRecorder(const VideoRecorder&) = delete;
-    VideoRecorder(VideoRecorder&&) = delete;
-    VideoRecorder& operator=(const VideoRecorder&) = delete;
-    VideoRecorder& operator=(VideoRecorder&&) = delete;
-
-    /**
-     * @brief Render one frame of the current state and write it to ffmpeg.
-     *
-     * @param data Simulation state to render; mjv_updateScene needs a mutable
-     *             pointer but never touches the physics state.
-     * @param hud Values drawn in the overlay.
-     */
-    void capture(mjData* data, const VideoHud& hud);
-
-    /**
-     * @brief Release the ffmpeg pipe, the render context and the EGL context.
-     */
-    ~VideoRecorder() override;
-
-    /**
-     * @brief Get how many frames were written so far.
-     *
-     * @return Frame count.
-     */
-    uint64_t frame_count() const { return this->frames; }
-
-private:
-    VideoRecorder() = default;
-
-    /**
-     * @brief Make this recorder's offscreen context current.
-     *
-     * @note A window and a recorder can be open at the same time, and a thread
-     *       cannot hold an EGL and a GLX context at once, so the recorder takes
-     *       its context only while it draws and lets go afterwards.
-     */
-    void make_context_current() const;
-
-    /**
-     * @brief Let go of this recorder's offscreen context.
-     */
-    void release_context() const;
-
-    /**
-     * @brief Model being rendered, owned by the World.
-     */
-    mjModel* model{nullptr};
-
-    /**
-     * @brief Headless context the frames are rendered through.
-     */
-    ///@{
-    void* display{nullptr};
-    void* gl_context{nullptr};
-    ///@}
-
-    /**
-     * @brief Recording configuration.
-     */
-    VideoConfig config;
-
-    /**
-     * @brief MuJoCo visualization state.
-     */
-    ///@{
-    mjvScene   scene{};
-    mjvCamera  camera{};
-    mjvOption  option{};
-    mjrContext context{};
-    ///@}
-
-    /**
-     * @brief Pipe to the ffmpeg encoder.
-     */
-    std::FILE* encoder{nullptr};
-
-    /**
-     * @brief Frame buffers, bottom-up as read back and top-down as written out.
-     */
-    ///@{
-    std::vector<unsigned char> pixels;
-    std::vector<unsigned char> flipped;
-    ///@}
-
-    /**
-     * @brief Number of frames written.
-     */
-    uint64_t frames{0};
-
-    /**
-     * @brief World being rendered, set by attach().
-     */
-    MujocoWorld* world{nullptr};
-
-    /**
-     * @brief Decoder feeding the overlay, set by attach().
-     */
-    const Telemetry* telemetry{nullptr};
-
-    /**
-     * @brief Number of firmware ticks between frames.
-     */
-    uint64_t ticks_per_frame{1};
-
-    /**
-     * @brief Whether the render context and scene were created.
-     */
-    bool context_ready{false};
-};
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_VIEW_VIDEO_RECORDER_HPP
diff --git a/include/micras/sim/view/view_options.hpp b/include/micras/sim/view/view_options.hpp
deleted file mode 100644
index 6fb78e9..0000000
--- a/include/micras/sim/view/view_options.hpp
+++ /dev/null
@@ -1,75 +0,0 @@
-/**
- * @file
- *
- * @brief What the command line can ask of the window and the recorder.
- *
- * @note A leaf header on purpose: the command line has to name these, and
- *       nothing that only parses options should have to pull in MuJoCo, GLFW or
- *       the run loop to do it.
- */
-
-#ifndef MICRAS_SIM_VIEW_VIEW_OPTIONS_HPP
-#define MICRAS_SIM_VIEW_VIEW_OPTIONS_HPP
-
-#include <cstdint>
-#include <string>
-
-namespace micras::sim {
-/**
- * @brief Everything the command line can configure about a recording.
- */
-struct VideoConfig {
-    /**
-     * @brief Path of the mp4 file ffmpeg writes.
-     */
-    std::string path;
-
-    /**
-     * @brief Model camera name, or "free" for the fixed whole-maze view.
-     */
-    std::string camera{"side tracking"};
-
-    /**
-     * @brief Frame rate handed to ffmpeg.
-     */
-    int fps{30};
-
-    /**
-     * @brief Frame size in pixels.
-     */
-    ///@{
-    int width{1280};
-    int height{720};
-    ///@}
-};
-
-/**
- * @brief Everything the command line can configure about the window.
- */
-struct ViewerConfig {
-    /**
-     * @brief Window size in pixels.
-     */
-    ///@{
-    int width{1200};
-    int height{900};
-    ///@}
-
-    /**
-     * @brief Model camera name, or "free" for the orbiting camera.
-     */
-    std::string camera{"free"};
-
-    /**
-     * @brief Number of firmware ticks between redraws.
-     */
-    uint64_t ticks_per_frame{16};
-
-    /**
-     * @brief Duration of one firmware tick, which the speed limiter paces against.
-     */
-    uint32_t us_per_tick{1042};
-};
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_VIEW_VIEW_OPTIONS_HPP
diff --git a/justfile b/justfile
index f431107..aa45154 100644
--- a/justfile
+++ b/justfile
@@ -1,25 +1,21 @@
-# Human entry point for the Micras simulation harness. Linux only.
+# Human entry point for the simulator. Linux only.
+#
+# The engine recipes live here; each robot target's recipes live in its own
+# justfile, loaded as a module: `just micras check`, `just micras run-explore`.
 
 set shell := ["bash", "-euo", "pipefail", "-c"]
 set positional-arguments := true
 
+mod micras 'targets/micras'
+
 preset := env("MICRAS_PRESET", "default")
 build_dir := "build" / preset
-bin := build_dir / "micras_simulation"
-python := "python3"
-
-model := "models/robot_v2.xml"
-legacy_model := "models/robot_legacy.xml"
-pool_columns := "29"
-# The current baseline, compared byte for byte; previous versions keep their columns
-# checked as a prefix so every run ever recorded stays comparable.
-baseline := "baseline/v2"
-previous_baselines := "baseline/v1 baseline/v0"
-check_runs := "idle explore_v2 explore_legacy"
-hardware_tests := "test_battery test_imu test_locomotion test_odometry test_rotary_sensors test_wall_sensors test_calibrate_feed_forward"
+
+# Identifiers that name a specific robot. None may appear outside targets/ (M2).
+robot_identifiers := "micras::Micras|MicrasTarget|SimulationContext|ProxyState|proxy_state|robot_v2|\"micras\"|FSM State|Desired Linear|Desired Angular|Odometry Linear|Odometry Angular|Grid Pose|grid_pose|fsm_state|odometry_state|front wheel|MicrasFirmware|MicrasBoard|micras_firmware|targets/micras|wall_adc|dip_switch|button_config|loop_time_us\\{1042|hadc[0-9]|htim[0-9]|hspi[0-9]|huart[0-9]|MX_[A-Z0-9]+_Init"
 
 default:
-    @just --list
+    @just --list --list-submodules
 
 # Configure the chosen CMake preset (default, debug, release).
 configure:
@@ -29,144 +25,44 @@ configure:
 configured:
     @test -f {{build_dir}}/CMakeCache.txt || cmake --preset {{preset}}
 
-# Configure if needed, then build.
+# Configure if needed, then build the engine and every robot target.
 build: configured
     cmake --build --preset {{preset}}
 
-# Unit tests through CTest.
+# Every unit test, the engine's and the targets', through CTest.
 test: build
     ctest --preset {{preset}}
 
-# Run the main firmware program with arbitrary harness flags.
-run *args: build
-    {{bin}} "$@"
-
-# Build every firmware hardware test executable.
-build-tests: configured
-    cmake --build {{build_dir}} --target hardware_tests
-
-# Run one firmware hardware test, e.g. `just run-test test_imu --seconds 4 --out runs/imu`.
-run-test name *args: build-tests
-    {{build_dir}}/hardware_tests/"$1" --model {{model}} "${@:2}"
-
-# 4 s with no command -> runs/idle
-run-idle: build
-    {{bin}} --model {{model}} --seconds 4 --out runs/idle
-
-# 8 s explore on robot_v2 -> runs/explore_v2
-run-explore: build
-    {{bin}} --model {{model}} --command explore --seconds 8 --out runs/explore_v2
-
-# 8 s explore on the pre-v2 chassis -> runs/explore_legacy
-run-explore-legacy: build
-    {{bin}} --model {{legacy_model}} --command explore --seconds 8 --out runs/explore_legacy
-
-# Plots and report.json for one run directory.
-analyze run:
-    {{python}} tools/analyze.py "$1"
-
-# Run with the bridge open so micras-monitor can connect on ws://localhost:8080.
-serve *args: build
-    {{bin}} --model {{model}} --command explore --seconds 120 --out runs/serve --monitor "$@"
-
-# Watch a run in a window. Space pauses, right steps, tab cycles cameras, esc quits.
-watch *args: build
-    {{bin}} --model {{model}} --command explore --seconds 30 --out runs/watch --viewer "$@"
-
-# 100 s explore recorded offscreen, then analysed.
-video: build
-    mkdir -p runs/video
-    {{bin}} --model {{model}} --command explore --seconds 100 --out runs/explore_v2 \
-        --video runs/video/explore_v2.mp4 --video-fps 30 --video-camera "side tracking" --video-size 1280x720
-    {{python}} tools/analyze.py runs/explore_v2
-
-# Config drift against the firmware submodule.
-drift:
-    {{python}} tools/check_config_drift.py
-
-# Reformat the harness sources in place.
+# Reformat every source in place.
 format: configured
     cmake --build {{build_dir}} --target format
 
-# Fail if any harness source is not clang-format clean.
+# Fail if any source is not clang-format clean.
 format-check: configured
     cmake --build {{build_dir}} --target format-check
 
-# clang-tidy over the harness sources.
+# clang-tidy over every source.
 lint: build
     cmake --build {{build_dir}} --target lint
 
-# Compare the check scenarios against every recorded baseline.
-compare-baseline:
-    for run in {{check_runs}}; do \
-        {{python}} tools/compare_run.py runs/$run {{baseline}}/$run; \
-        for previous in {{previous_baselines}}; do \
-            {{python}} tools/compare_run.py runs/$run $previous/$run --columns-subset; \
-        done; \
-    done
-
-# Record a new baseline version. Refuses to overwrite one, so an older version
-# is never lost and the prefix checks it anchors keep working.
-record-baseline: test drift run-idle run-explore run-explore-legacy
-    for run in {{check_runs}}; do \
-        test ! -e {{baseline}}/$run/data.csv.gz \
-            || { echo "{{baseline}}/$run already exists; bump the baseline version instead"; exit 1; }; \
-    done
-    for run in {{check_runs}}; do \
-        mkdir -p {{baseline}}/$run; \
-        gzip -9 -c runs/$run/data.csv > {{baseline}}/$run/data.csv.gz; \
-        cp runs/$run/meta.json {{baseline}}/$run/meta.json; \
-    done
-    just compare-baseline
-
-# Prove the monitor bridge talks and changes nothing: a client asks for the variable
-# map over the socket, and the bridged run must match the same run without it.
-check-monitor: build
-    {{bin}} --model {{model}} --command explore --seconds 6 --out runs/monitor/plain > /dev/null
-    {{python}} tools/monitor_probe.py --listen-seconds 4 --expect-packets 50 --request-map & \
-        probe=$!; \
-        {{bin}} --model {{model}} --command explore --seconds 60 --out runs/monitor/bridged --monitor > /dev/null; \
-        wait $probe
-    {{bin}} --model {{model}} --command explore --seconds 6 --out runs/monitor/quiet --monitor > /dev/null
-    {{python}} tools/compare_run.py runs/monitor/quiet runs/monitor/plain
-
-# Prove a window changes nothing: the same scenario headless and watched must agree.
-# Skipped with a notice when there is no display, so a headless machine still passes.
-check-viewer: build
-    if command -v xvfb-run > /dev/null; then \
-        show="xvfb-run -a"; \
-    elif [ -n "${DISPLAY:-}" ]; then \
-        show=""; \
-    else \
-        echo "no display and no xvfb-run, skipping the viewer comparison"; \
-        exit 0; \
-    fi; \
-    {{bin}} --model {{model}} --command explore --seconds 3 --button short --out runs/viewer/headless > /dev/null; \
-    $show {{bin}} --model {{model}} --command explore --seconds 3 --button short --out runs/viewer/watched \
-        --viewer --viewer-size 640x480 > /dev/null; \
-    {{python}} tools/compare_run.py runs/viewer/watched runs/viewer/headless
-
-# Run every hardware test briefly, to catch a program that stops handing ticks back.
-smoke-tests: build-tests
-    for name in {{hardware_tests}}; do \
-        echo "== $name"; \
-        {{build_dir}}/hardware_tests/$name --model {{model}} --seconds 1 --out runs/smoke/$name > /dev/null; \
-    done
-    {{build_dir}}/hardware_tests/test_fan --model {{model}} --seconds 1 --button short --out runs/smoke/test_fan \
-        > /dev/null
-
-# The gate: build, tests, drift, scenarios, analysis, assertions, baseline.
-check: build test drift check-options smoke-tests check-viewer check-monitor run-idle run-explore run-explore-legacy
-    for run in {{check_runs}}; do {{python}} tools/analyze.py runs/$run; done
-    {{python}} tools/check_run.py --pool-columns {{pool_columns}} runs/idle runs/explore_v2 runs/explore_legacy
-    just compare-baseline
-
 # Configure every optional subsystem off, so the options stay buildable.
 check-options:
     cmake -S . -B {{build_dir}}-minimal -G Ninja -DCMAKE_BUILD_TYPE=RelWithDebInfo \
         -DMICRAS_VIEWER=OFF -DMICRAS_VIDEO=OFF -DMICRAS_BRIDGE=OFF -DMICRAS_TESTS=OFF > /dev/null
     cmake --build {{build_dir}}-minimal > /dev/null
 
+# Fail if anything outside targets/ names a specific robot.
+check-generic:
+    if grep -rnE '{{robot_identifiers}}' engine view bridge app tests tools cmake CMakeLists.txt; then \
+        echo "robot identifiers outside targets/: move them into the robot's target"; \
+        exit 1; \
+    fi
+    echo "ok   nothing outside targets/ names a robot"
+
+# The gate: the engine's checks, then every robot target's.
+check: build test check-options check-generic
+    just micras check
+
 # Remove the build directory of the chosen preset.
 clean:
     rm -rf {{build_dir}}
diff --git a/models/experiments/a0_legacy_mass.xml b/models/experiments/a0_legacy_mass.xml
deleted file mode 100644
index 39b2d4c..0000000
--- a/models/experiments/a0_legacy_mass.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .03">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 -0.0003" type="sphere" size=".001" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/a1_wheel_sphere.xml b/models/experiments/a1_wheel_sphere.xml
deleted file mode 100644
index dbe88ce..0000000
--- a/models/experiments/a1_wheel_sphere.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="sphere" size=".011" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .03">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 -0.0003" type="sphere" size=".001" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/a2_wheel_capsule.xml b/models/experiments/a2_wheel_capsule.xml
deleted file mode 100644
index 71fde76..0000000
--- a/models/experiments/a2_wheel_capsule.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="capsule" size=".011 .0005" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .03">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 -0.0003" type="sphere" size=".001" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/a3_wheel_ellipsoid.xml b/models/experiments/a3_wheel_ellipsoid.xml
deleted file mode 100644
index f36e11d..0000000
--- a/models/experiments/a3_wheel_ellipsoid.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="ellipsoid" size=".011 .011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .03">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 -0.0003" type="sphere" size=".001" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/l1_spawn_z.xml b/models/experiments/l1_spawn_z.xml
deleted file mode 100644
index a5ab0d5..0000000
--- a/models/experiments/l1_spawn_z.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 -0.0003" type="sphere" size=".001" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/l2_caster_coplanar.xml b/models/experiments/l2_caster_coplanar.xml
deleted file mode 100644
index 926a91b..0000000
--- a/models/experiments/l2_caster_coplanar.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .03">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/l3_spawn_caster.xml b/models/experiments/l3_spawn_caster.xml
deleted file mode 100644
index deba7b3..0000000
--- a/models/experiments/l3_spawn_caster.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/legacy_solref002.xml b/models/experiments/legacy_solref002.xml
deleted file mode 100644
index 0040c0d..0000000
--- a/models/experiments/legacy_solref002.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" solref="0.002 1"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid" solref="0.002 1"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .03">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 -0.0003" type="sphere" size=".001" friction="0.05" priority="1" solref="0.002 1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/m1_solref010.xml b/models/experiments/m1_solref010.xml
deleted file mode 100644
index b5c3305..0000000
--- a/models/experiments/m1_solref010.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105" solref="0.010 1"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid" solref="0.010 1"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1" solref="0.010 1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/m2_solref005.xml b/models/experiments/m2_solref005.xml
deleted file mode 100644
index e4950a2..0000000
--- a/models/experiments/m2_solref005.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105" solref="0.005 1"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid" solref="0.005 1"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1" solref="0.005 1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/m3_solref002.xml b/models/experiments/m3_solref002.xml
deleted file mode 100644
index ad1015a..0000000
--- a/models/experiments/m3_solref002.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105" solref="0.002 1"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid" solref="0.002 1"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1" solref="0.002 1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/m4_solimp.xml b/models/experiments/m4_solimp.xml
deleted file mode 100644
index 5a16a65..0000000
--- a/models/experiments/m4_solimp.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105" solimp="0.95 0.99 0.001 0.5 2"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid" solimp="0.95 0.99 0.001 0.5 2"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1" solimp="0.95 0.99 0.001 0.5 2"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/m5_impratio10.xml b/models/experiments/m5_impratio10.xml
deleted file mode 100644
index 990cd2a..0000000
--- a/models/experiments/m5_impratio10.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic" impratio="10"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/m6_noslip3.xml b/models/experiments/m6_noslip3.xml
deleted file mode 100644
index cb16754..0000000
--- a/models/experiments/m6_noslip3.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic" noslip_iterations="3"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/maze.xml b/models/experiments/maze.xml
deleted file mode 100644
index 35bca6f..0000000
--- a/models/experiments/maze.xml
+++ /dev/null
@@ -1,582 +0,0 @@
-<!-- Generated maze for MuJoCo -->
-<!-- Maze dimensions: 16x16 -->
-<!-- Cell size: 0.18 m, Wall thickness: 0.0126 m, Wall height: 0.05 m -->
-
-<mujoco>
-  <asset>
-    <texture name="walls" type="cube" builtin="flat" width="512" height="512" rgb1="1 1 1" rgb2="1 0 0"/>
-    <material name="walls" texture="walls"/>
-  </asset>
-
-  <default>
-    <default class="post">
-      <geom type="box" zaxis="0 1 0" material="walls" size="0.006300 0.025000 0.006300"/>
-    </default>
-    <default class="post_w">
-      <geom type="box" zaxis="0 1 0" rgba="1 1 1 1" size="0.006300 0.025000 0.006300"/>
-    </default>
-    <default class="hwall">
-      <geom type="box" zaxis="0 1 0" material="walls" size="0.083700 0.025000 0.006300"/>
-    </default>
-    <default class="hwall_w">
-      <geom type="box" zaxis="0 1 0" rgba="1 1 1 1" size="0.083700 0.025000 0.006300"/>
-    </default>
-    <default class="vwall">
-      <geom type="box" zaxis="0 1 0" material="walls" size="0.006300 0.025000 0.083700"/>
-    </default>
-    <default class="vwall_w">
-      <geom type="box" zaxis="0 1 0" rgba="1 1 1 1" size="0.006300 0.025000 0.083700"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <camera name="top_view" orthographic="true" fovy="3.5" pos="1.440000 1.440000 4.5" xyaxes="1.0 0.0 0.0 0.0 1.0 0.0"/>
-    <geom class="post_w" name="post_0_0" pos="0.000000 0.000000 0.025000"/>
-    <geom class="post_w" name="post_0_1" pos="0.180000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_2" pos="0.360000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_3" pos="0.540000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_4" pos="0.720000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_5" pos="0.900000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_6" pos="1.080000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_7" pos="1.260000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_8" pos="1.440000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_9" pos="1.620000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_10" pos="1.800000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_11" pos="1.980000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_12" pos="2.160000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_13" pos="2.340000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_14" pos="2.520000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_15" pos="2.700000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_16" pos="2.880000 0.000000 0.025000"/>
-    <geom class="post_w" name="post_1_0" pos="0.000000 0.180000 0.025000"/>
-    <geom class="post_w" name="post_1_1" pos="0.180000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_2" pos="0.360000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_3" pos="0.540000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_4" pos="0.720000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_5" pos="0.900000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_6" pos="1.080000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_7" pos="1.260000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_8" pos="1.440000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_9" pos="1.620000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_10" pos="1.800000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_11" pos="1.980000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_12" pos="2.160000 0.180000 0.025000"/>
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-    <geom class="post" name="post_1_16" pos="2.880000 0.180000 0.025000"/>
-    <geom class="post" name="post_2_0" pos="0.000000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_1" pos="0.180000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_2" pos="0.360000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_3" pos="0.540000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_4" pos="0.720000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_5" pos="0.900000 0.360000 0.025000"/>
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-    <geom class="post" name="post_3_0" pos="0.000000 0.540000 0.025000"/>
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-    <geom class="post" name="post_3_6" pos="1.080000 0.540000 0.025000"/>
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-    <geom class="post" name="post_3_8" pos="1.440000 0.540000 0.025000"/>
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-    <geom class="post" name="post_3_13" pos="2.340000 0.540000 0.025000"/>
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-    <geom class="post" name="post_4_0" pos="0.000000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_1" pos="0.180000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_2" pos="0.360000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_3" pos="0.540000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_4" pos="0.720000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_5" pos="0.900000 0.720000 0.025000"/>
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-    <geom class="hwall" name="hwall_15_8" pos="1.530000 2.700000 0.025000"/>
-    <geom class="hwall" name="hwall_15_9" pos="1.710000 2.700000 0.025000"/>
-    <geom class="hwall" name="hwall_15_10" pos="1.890000 2.700000 0.025000"/>
-    <geom class="hwall" name="hwall_15_12" pos="2.250000 2.700000 0.025000"/>
-    <geom class="hwall" name="hwall_16_0" pos="0.090000 2.880000 0.025000"/>
-    <geom class="hwall" name="hwall_16_1" pos="0.270000 2.880000 0.025000"/>
-    <geom class="hwall" name="hwall_16_2" pos="0.450000 2.880000 0.025000"/>
-    <geom class="hwall" name="hwall_16_3" pos="0.630000 2.880000 0.025000"/>
-    <geom class="hwall" name="hwall_16_4" pos="0.810000 2.880000 0.025000"/>
-    <geom class="hwall" name="hwall_16_5" pos="0.990000 2.880000 0.025000"/>
-    <geom class="hwall" name="hwall_16_6" pos="1.170000 2.880000 0.025000"/>
-    <geom class="hwall" name="hwall_16_7" pos="1.350000 2.880000 0.025000"/>
-    <geom class="hwall" name="hwall_16_8" pos="1.530000 2.880000 0.025000"/>
-    <geom class="hwall" name="hwall_16_9" pos="1.710000 2.880000 0.025000"/>
-    <geom class="hwall" name="hwall_16_10" pos="1.890000 2.880000 0.025000"/>
-    <geom class="hwall" name="hwall_16_11" pos="2.070000 2.880000 0.025000"/>
-    <geom class="hwall" name="hwall_16_12" pos="2.250000 2.880000 0.025000"/>
-    <geom class="hwall" name="hwall_16_13" pos="2.430000 2.880000 0.025000"/>
-    <geom class="hwall" name="hwall_16_14" pos="2.610000 2.880000 0.025000"/>
-    <geom class="hwall" name="hwall_16_15" pos="2.790000 2.880000 0.025000"/>
-    <geom class="vwall_w" name="vwall_0_0" pos="0.000000 0.090000 0.025000"/>
-    <geom class="vwall_w" name="vwall_0_1" pos="0.180000 0.090000 0.025000"/>
-    <geom class="vwall" name="vwall_0_7" pos="1.260000 0.090000 0.025000"/>
-    <geom class="vwall" name="vwall_0_16" pos="2.880000 0.090000 0.025000"/>
-    <geom class="vwall" name="vwall_1_0" pos="0.000000 0.270000 0.025000"/>
-    <geom class="vwall" name="vwall_1_1" pos="0.180000 0.270000 0.025000"/>
-    <geom class="vwall" name="vwall_1_5" pos="0.900000 0.270000 0.025000"/>
-    <geom class="vwall" name="vwall_1_6" pos="1.080000 0.270000 0.025000"/>
-    <geom class="vwall" name="vwall_1_11" pos="1.980000 0.270000 0.025000"/>
-    <geom class="vwall" name="vwall_1_12" pos="2.160000 0.270000 0.025000"/>
-    <geom class="vwall" name="vwall_1_13" pos="2.340000 0.270000 0.025000"/>
-    <geom class="vwall" name="vwall_1_14" pos="2.520000 0.270000 0.025000"/>
-    <geom class="vwall" name="vwall_1_15" pos="2.700000 0.270000 0.025000"/>
-    <geom class="vwall" name="vwall_1_16" pos="2.880000 0.270000 0.025000"/>
-    <geom class="vwall" name="vwall_2_0" pos="0.000000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_1" pos="0.180000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_4" pos="0.720000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_7" pos="1.260000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_8" pos="1.440000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_12" pos="2.160000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_14" pos="2.520000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_15" pos="2.700000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_16" pos="2.880000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_3_0" pos="0.000000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_4" pos="0.720000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_5" pos="0.900000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_6" pos="1.080000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_7" pos="1.260000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_11" pos="1.980000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_12" pos="2.160000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_13" pos="2.340000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_15" pos="2.700000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_16" pos="2.880000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_4_0" pos="0.000000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_1" pos="0.180000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_4" pos="0.720000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_5" pos="0.900000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_7" pos="1.260000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_8" pos="1.440000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_12" pos="2.160000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_13" pos="2.340000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_14" pos="2.520000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_16" pos="2.880000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_5_0" pos="0.000000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_1" pos="0.180000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_5" pos="0.900000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_6" pos="1.080000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_7" pos="1.260000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_11" pos="1.980000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_13" pos="2.340000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_14" pos="2.520000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_15" pos="2.700000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_16" pos="2.880000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_6_0" pos="0.000000 1.170000 0.025000"/>
-    <geom class="vwall" name="vwall_6_6" pos="1.080000 1.170000 0.025000"/>
-    <geom class="vwall" name="vwall_6_10" pos="1.800000 1.170000 0.025000"/>
-    <geom class="vwall" name="vwall_6_12" pos="2.160000 1.170000 0.025000"/>
-    <geom class="vwall" name="vwall_6_16" pos="2.880000 1.170000 0.025000"/>
-    <geom class="vwall" name="vwall_7_0" pos="0.000000 1.350000 0.025000"/>
-    <geom class="vwall" name="vwall_7_1" pos="0.180000 1.350000 0.025000"/>
-    <geom class="vwall" name="vwall_7_6" pos="1.080000 1.350000 0.025000"/>
-    <geom class="vwall_w" name="vwall_7_7" pos="1.260000 1.350000 0.025000"/>
-    <geom class="vwall" name="vwall_7_10" pos="1.800000 1.350000 0.025000"/>
-    <geom class="vwall" name="vwall_7_11" pos="1.980000 1.350000 0.025000"/>
-    <geom class="vwall" name="vwall_7_12" pos="2.160000 1.350000 0.025000"/>
-    <geom class="vwall" name="vwall_7_16" pos="2.880000 1.350000 0.025000"/>
-    <geom class="vwall" name="vwall_8_0" pos="0.000000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_1" pos="0.180000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_2" pos="0.360000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_6" pos="1.080000 1.530000 0.025000"/>
-    <geom class="vwall_w" name="vwall_8_7" pos="1.260000 1.530000 0.025000"/>
-    <geom class="vwall_w" name="vwall_8_9" pos="1.620000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_10" pos="1.800000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_11" pos="1.980000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_12" pos="2.160000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_15" pos="2.700000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_16" pos="2.880000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_9_0" pos="0.000000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_1" pos="0.180000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_2" pos="0.360000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_8" pos="1.440000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_11" pos="1.980000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_12" pos="2.160000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_14" pos="2.520000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_15" pos="2.700000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_16" pos="2.880000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_10_0" pos="0.000000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_10_1" pos="0.180000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_10_6" pos="1.080000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_10_9" pos="1.620000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_10_11" pos="1.980000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_10_12" pos="2.160000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_10_15" pos="2.700000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_10_16" pos="2.880000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_11_0" pos="0.000000 2.070000 0.025000"/>
-    <geom class="vwall" name="vwall_11_6" pos="1.080000 2.070000 0.025000"/>
-    <geom class="vwall" name="vwall_11_7" pos="1.260000 2.070000 0.025000"/>
-    <geom class="vwall" name="vwall_11_10" pos="1.800000 2.070000 0.025000"/>
-    <geom class="vwall" name="vwall_11_16" pos="2.880000 2.070000 0.025000"/>
-    <geom class="vwall" name="vwall_12_0" pos="0.000000 2.250000 0.025000"/>
-    <geom class="vwall" name="vwall_12_10" pos="1.800000 2.250000 0.025000"/>
-    <geom class="vwall" name="vwall_12_11" pos="1.980000 2.250000 0.025000"/>
-    <geom class="vwall" name="vwall_12_12" pos="2.160000 2.250000 0.025000"/>
-    <geom class="vwall" name="vwall_12_16" pos="2.880000 2.250000 0.025000"/>
-    <geom class="vwall" name="vwall_13_0" pos="0.000000 2.430000 0.025000"/>
-    <geom class="vwall" name="vwall_13_7" pos="1.260000 2.430000 0.025000"/>
-    <geom class="vwall" name="vwall_13_10" pos="1.800000 2.430000 0.025000"/>
-    <geom class="vwall" name="vwall_13_11" pos="1.980000 2.430000 0.025000"/>
-    <geom class="vwall" name="vwall_13_12" pos="2.160000 2.430000 0.025000"/>
-    <geom class="vwall" name="vwall_13_14" pos="2.520000 2.430000 0.025000"/>
-    <geom class="vwall" name="vwall_13_16" pos="2.880000 2.430000 0.025000"/>
-    <geom class="vwall" name="vwall_14_0" pos="0.000000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_14_7" pos="1.260000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_14_8" pos="1.440000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_14_12" pos="2.160000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_14_14" pos="2.520000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_14_15" pos="2.700000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_14_16" pos="2.880000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_15_0" pos="0.000000 2.790000 0.025000"/>
-    <geom class="vwall" name="vwall_15_14" pos="2.520000 2.790000 0.025000"/>
-    <geom class="vwall" name="vwall_15_16" pos="2.880000 2.790000 0.025000"/>
-  </worldbody>
-</mujoco>
\ No newline at end of file
diff --git a/models/experiments/n1_condim3.xml b/models/experiments/n1_condim3.xml
deleted file mode 100644
index c4e6375..0000000
--- a/models/experiments/n1_condim3.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="3" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/n2_pyramidal.xml b/models/experiments/n2_pyramidal.xml
deleted file mode 100644
index e6852ac..0000000
--- a/models/experiments/n2_pyramidal.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="pyramidal"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/n3_implicit.xml b/models/experiments/n3_implicit.xml
deleted file mode 100644
index b0ed49b..0000000
--- a/models/experiments/n3_implicit.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicit" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/n4_armature.xml b/models/experiments/n4_armature.xml
deleted file mode 100644
index 0c2d740..0000000
--- a/models/experiments/n4_armature.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645" armature="7e-7"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/n5_motor.xml b/models/experiments/n5_motor.xml
deleted file mode 100644
index ec7482a..0000000
--- a/models/experiments/n5_motor.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/n6_motor_armature.xml b/models/experiments/n6_motor_armature.xml
deleted file mode 100644
index 45d15d3..0000000
--- a/models/experiments/n6_motor_armature.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645" armature="7e-7"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/n7_nofric23.xml b/models/experiments/n7_nofric23.xml
deleted file mode 100644
index eb7fd1a..0000000
--- a/models/experiments/n7_nofric23.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.0 0.0" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/p1_roll1e4.xml b/models/experiments/p1_roll1e4.xml
deleted file mode 100644
index b4658db..0000000
--- a/models/experiments/p1_roll1e4.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.0001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/p2_roll1e4_tors1e3.xml b/models/experiments/p2_roll1e4_tors1e3.xml
deleted file mode 100644
index 8651e15..0000000
--- a/models/experiments/p2_roll1e4_tors1e3.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/p3_condim3_motor.xml b/models/experiments/p3_condim3_motor.xml
deleted file mode 100644
index d3ed0cd..0000000
--- a/models/experiments/p3_condim3_motor.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="3" friction="0.95 0.004 0.001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/p4_roll_tors_motor.xml b/models/experiments/p4_roll_tors_motor.xml
deleted file mode 100644
index 0e343e6..0000000
--- a/models/experiments/p4_roll_tors_motor.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/p5_roll_tors_motor_arm.xml b/models/experiments/p5_roll_tors_motor_arm.xml
deleted file mode 100644
index 6dd4a7e..0000000
--- a/models/experiments/p5_roll_tors_motor_arm.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645" armature="7e-7"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/p6_roll5e5.xml b/models/experiments/p6_roll5e5.xml
deleted file mode 100644
index 05ef05f..0000000
--- a/models/experiments/p6_roll5e5.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.00005" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/p7_nomassattr.xml b/models/experiments/p7_nomassattr.xml
deleted file mode 100644
index b263c48..0000000
--- a/models/experiments/p7_nomassattr.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/q10_noslip3.xml b/models/experiments/q10_noslip3.xml
deleted file mode 100644
index 77994b7..0000000
--- a/models/experiments/q10_noslip3.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic" noslip_iterations="3"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/q11_nofrictionloss.xml b/models/experiments/q11_nofrictionloss.xml
deleted file mode 100644
index b5ded27..0000000
--- a/models/experiments/q11_nofrictionloss.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000129"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/q1_no_caster_fix.xml b/models/experiments/q1_no_caster_fix.xml
deleted file mode 100644
index ea85a6e..0000000
--- a/models/experiments/q1_no_caster_fix.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 -0.0003" type="sphere" size=".001" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/q2_no_spawn_fix.xml b/models/experiments/q2_no_spawn_fix.xml
deleted file mode 100644
index f766b91..0000000
--- a/models/experiments/q2_no_spawn_fix.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .03">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/q3_no_both.xml b/models/experiments/q3_no_both.xml
deleted file mode 100644
index 74f6db9..0000000
--- a/models/experiments/q3_no_both.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .03">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 -0.0003" type="sphere" size=".001" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/q4_solref005.xml b/models/experiments/q4_solref005.xml
deleted file mode 100644
index 76fd535..0000000
--- a/models/experiments/q4_solref005.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1" mass="0.00304105" solref="0.005 1"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid" solref="0.005 1"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1" solref="0.005 1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/q5_solref002.xml b/models/experiments/q5_solref002.xml
deleted file mode 100644
index 96e31d0..0000000
--- a/models/experiments/q5_solref002.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1" mass="0.00304105" solref="0.002 1"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid" solref="0.002 1"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1" solref="0.002 1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/q6_solimp.xml b/models/experiments/q6_solimp.xml
deleted file mode 100644
index 1be3844..0000000
--- a/models/experiments/q6_solimp.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1" mass="0.00304105" solimp="0.95 0.99 0.001 0.5 2"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid" solimp="0.95 0.99 0.001 0.5 2"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1" solimp="0.95 0.99 0.001 0.5 2"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/q7_sphere.xml b/models/experiments/q7_sphere.xml
deleted file mode 100644
index 3d05833..0000000
--- a/models/experiments/q7_sphere.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="sphere" size=".011" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/q8_ellipsoid.xml b/models/experiments/q8_ellipsoid.xml
deleted file mode 100644
index 4b9949f..0000000
--- a/models/experiments/q8_ellipsoid.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="ellipsoid" size=".011 .011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/q9_implicit.xml b/models/experiments/q9_implicit.xml
deleted file mode 100644
index 4d6f829..0000000
--- a/models/experiments/q9_implicit.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicit" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1" mass="0.00304105"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/r1_caster_condim1.xml b/models/experiments/r1_caster_condim1.xml
deleted file mode 100644
index cf721b1..0000000
--- a/models/experiments/r1_caster_condim1.xml
+++ /dev/null
@@ -1,132 +0,0 @@
-<!--
-  robot_v2.xml - physical corrections on top of robot_legacy.xml (HARNESS_PLAN.md S3 Fase 4).
-  Four changed lines, each marked "FIX" below. Everything else (names of bodies, geoms, sites, joints,
-  actuators and sensors, the maze attachment, timestep=0.000521, integrator, cone, solref/solimp defaults)
-  is byte-identical to robot_legacy.xml, because the harness asserts on those names and on the timestep.
-
-  Verified against runs/exp_p4_roll_tors_motor (8 s, --command explore): airborne fraction on straights
-  0.000/0.000 (baseline 0.125/0.126), steady slip 0.84% (baseline 11.7%), max|slip| 0.037 m/s (0.476),
-  base contact 0.000 (0.007), max|pitch| 0.026 deg (1.18), 0 deceleration events (8), odometry RMS error
-  0.0050 m/s (0.116), 0 MuJoCo warnings, and no crash over 60 s. data.csv is hash-stable across two runs.
-  Cost: open-loop cruise speed drops from 0.262 to 0.228 m/s - see the note on frictionloss below.
--->
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <!-- FIX (rolling/torsional friction): friction[2] (torsional, m) 0.004 -> 0.001 and friction[3] (rolling, m)
-           0.001 -> 0.0001. The legacy rolling coefficient means a resisting torque of mu_roll*fn = 1e-3*0.33 =
-           3.3e-4 N.m per wheel, which is ~2.5x the steady drive torque (1.3e-4 N.m at the cruise command). The
-           rolling/torsional constraints were therefore permanently saturated and, with cone="elliptic", pumped
-           the normal direction: this is what produced the 60 Hz, 20 um heave limit cycle, the 13% "airborne"
-           ticks and the ~12% steady slip. 1e-4 m is Crr~0.01 on an 11 mm wheel (rubber on hard floor); 1e-3 m
-           torsional is ~(3*pi/16)*mu*a for a ~2 mm contact patch. -->
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <!-- FIX (item N): stall torque at the wheel was gear*gainprm*100 = 106 mN.m, ~13x the whole robot weight
-             times the wheel radius; every transient saturated friction. gainprm 1.06e-4 -> 1.0e-5 and
-             biasprm[2] -1.15e-5 -> -1.09e-6 keep the no-load speed (gainprm*100/-biasprm[2] = 91.7 rad/s =
-             1.01 m/s, unchanged, so the firmware feed-forward constant linear_speed=102 is still consistent)
-             while dropping the stall torque to 10 mN.m, the order of magnitude of the real gearmotor.
-             ctrllimited/ctrlrange added because Motor::set_command already clamps to +-100 in the firmware;
-             this makes the model refuse anything outside that range instead of silently accepting it. -->
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <!-- FIX (item L, spawn): 0.03 -> 0.0012. Rest height is axle 0.010 - wheel radius 0.011 = -0.001 in body
-         frame, i.e. body z = 0.001 when the wheels touch. The legacy 0.03 was a 29 mm free fall that hit the
-         floor at 0.75 m/s and rang the contacts for ~80 ms. 0.0012 leaves 0.2 mm of settling. -->
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <!-- FIX (item L, caster): the 1 mm sphere at z=-0.0003 had its bottom at -0.0013, i.e. 0.3 mm BELOW the
-           wheel bottom (-0.001), so with any contact stiffening the robot pivots on the caster and both drive
-           wheels hang in the air. Radius 0.001 -> 0.003 and pos z -0.0003 -> 0.002 put the bottom at exactly
-           -0.001, coplanar with the wheels. At rest this gives fn = 0.330 / 0.330 / 0.186 N (total 0.8456 N,
-           the robot weight) with the three contacts all closed. -->
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1" condim="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/r2_caster_solref01.xml b/models/experiments/r2_caster_solref01.xml
deleted file mode 100644
index b8a4893..0000000
--- a/models/experiments/r2_caster_solref01.xml
+++ /dev/null
@@ -1,132 +0,0 @@
-<!--
-  robot_v2.xml - physical corrections on top of robot_legacy.xml (HARNESS_PLAN.md S3 Fase 4).
-  Four changed lines, each marked "FIX" below. Everything else (names of bodies, geoms, sites, joints,
-  actuators and sensors, the maze attachment, timestep=0.000521, integrator, cone, solref/solimp defaults)
-  is byte-identical to robot_legacy.xml, because the harness asserts on those names and on the timestep.
-
-  Verified against runs/exp_p4_roll_tors_motor (8 s, --command explore): airborne fraction on straights
-  0.000/0.000 (baseline 0.125/0.126), steady slip 0.84% (baseline 11.7%), max|slip| 0.037 m/s (0.476),
-  base contact 0.000 (0.007), max|pitch| 0.026 deg (1.18), 0 deceleration events (8), odometry RMS error
-  0.0050 m/s (0.116), 0 MuJoCo warnings, and no crash over 60 s. data.csv is hash-stable across two runs.
-  Cost: open-loop cruise speed drops from 0.262 to 0.228 m/s - see the note on frictionloss below.
--->
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <!-- FIX (rolling/torsional friction): friction[2] (torsional, m) 0.004 -> 0.001 and friction[3] (rolling, m)
-           0.001 -> 0.0001. The legacy rolling coefficient means a resisting torque of mu_roll*fn = 1e-3*0.33 =
-           3.3e-4 N.m per wheel, which is ~2.5x the steady drive torque (1.3e-4 N.m at the cruise command). The
-           rolling/torsional constraints were therefore permanently saturated and, with cone="elliptic", pumped
-           the normal direction: this is what produced the 60 Hz, 20 um heave limit cycle, the 13% "airborne"
-           ticks and the ~12% steady slip. 1e-4 m is Crr~0.01 on an 11 mm wheel (rubber on hard floor); 1e-3 m
-           torsional is ~(3*pi/16)*mu*a for a ~2 mm contact patch. -->
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <!-- FIX (item N): stall torque at the wheel was gear*gainprm*100 = 106 mN.m, ~13x the whole robot weight
-             times the wheel radius; every transient saturated friction. gainprm 1.06e-4 -> 1.0e-5 and
-             biasprm[2] -1.15e-5 -> -1.09e-6 keep the no-load speed (gainprm*100/-biasprm[2] = 91.7 rad/s =
-             1.01 m/s, unchanged, so the firmware feed-forward constant linear_speed=102 is still consistent)
-             while dropping the stall torque to 10 mN.m, the order of magnitude of the real gearmotor.
-             ctrllimited/ctrlrange added because Motor::set_command already clamps to +-100 in the firmware;
-             this makes the model refuse anything outside that range instead of silently accepting it. -->
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <!-- FIX (item L, spawn): 0.03 -> 0.0012. Rest height is axle 0.010 - wheel radius 0.011 = -0.001 in body
-         frame, i.e. body z = 0.001 when the wheels touch. The legacy 0.03 was a 29 mm free fall that hit the
-         floor at 0.75 m/s and rang the contacts for ~80 ms. 0.0012 leaves 0.2 mm of settling. -->
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <!-- FIX (item L, caster): the 1 mm sphere at z=-0.0003 had its bottom at -0.0013, i.e. 0.3 mm BELOW the
-           wheel bottom (-0.001), so with any contact stiffening the robot pivots on the caster and both drive
-           wheels hang in the air. Radius 0.001 -> 0.003 and pos z -0.0003 -> 0.002 put the bottom at exactly
-           -0.001, coplanar with the wheels. At rest this gives fn = 0.330 / 0.330 / 0.186 N (total 0.8456 N,
-           the robot weight) with the three contacts all closed. -->
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1" solref="0.01 1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/experiments/r3_caster_r006.xml b/models/experiments/r3_caster_r006.xml
deleted file mode 100644
index 3b93122..0000000
--- a/models/experiments/r3_caster_r006.xml
+++ /dev/null
@@ -1,132 +0,0 @@
-<!--
-  robot_v2.xml - physical corrections on top of robot_legacy.xml (HARNESS_PLAN.md S3 Fase 4).
-  Four changed lines, each marked "FIX" below. Everything else (names of bodies, geoms, sites, joints,
-  actuators and sensors, the maze attachment, timestep=0.000521, integrator, cone, solref/solimp defaults)
-  is byte-identical to robot_legacy.xml, because the harness asserts on those names and on the timestep.
-
-  Verified against runs/exp_p4_roll_tors_motor (8 s, --command explore): airborne fraction on straights
-  0.000/0.000 (baseline 0.125/0.126), steady slip 0.84% (baseline 11.7%), max|slip| 0.037 m/s (0.476),
-  base contact 0.000 (0.007), max|pitch| 0.026 deg (1.18), 0 deceleration events (8), odometry RMS error
-  0.0050 m/s (0.116), 0 MuJoCo warnings, and no crash over 60 s. data.csv is hash-stable across two runs.
-  Cost: open-loop cruise speed drops from 0.262 to 0.228 m/s - see the note on frictionloss below.
--->
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <!-- FIX (rolling/torsional friction): friction[2] (torsional, m) 0.004 -> 0.001 and friction[3] (rolling, m)
-           0.001 -> 0.0001. The legacy rolling coefficient means a resisting torque of mu_roll*fn = 1e-3*0.33 =
-           3.3e-4 N.m per wheel, which is ~2.5x the steady drive torque (1.3e-4 N.m at the cruise command). The
-           rolling/torsional constraints were therefore permanently saturated and, with cone="elliptic", pumped
-           the normal direction: this is what produced the 60 Hz, 20 um heave limit cycle, the 13% "airborne"
-           ticks and the ~12% steady slip. 1e-4 m is Crr~0.01 on an 11 mm wheel (rubber on hard floor); 1e-3 m
-           torsional is ~(3*pi/16)*mu*a for a ~2 mm contact patch. -->
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <!-- FIX (item N): stall torque at the wheel was gear*gainprm*100 = 106 mN.m, ~13x the whole robot weight
-             times the wheel radius; every transient saturated friction. gainprm 1.06e-4 -> 1.0e-5 and
-             biasprm[2] -1.15e-5 -> -1.09e-6 keep the no-load speed (gainprm*100/-biasprm[2] = 91.7 rad/s =
-             1.01 m/s, unchanged, so the firmware feed-forward constant linear_speed=102 is still consistent)
-             while dropping the stall torque to 10 mN.m, the order of magnitude of the real gearmotor.
-             ctrllimited/ctrlrange added because Motor::set_command already clamps to +-100 in the firmware;
-             this makes the model refuse anything outside that range instead of silently accepting it. -->
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <!-- FIX (item L, spawn): 0.03 -> 0.0012. Rest height is axle 0.010 - wheel radius 0.011 = -0.001 in body
-         frame, i.e. body z = 0.001 when the wheels touch. The legacy 0.03 was a 29 mm free fall that hit the
-         floor at 0.75 m/s and rang the contacts for ~80 ms. 0.0012 leaves 0.2 mm of settling. -->
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <!-- FIX (item L, caster): the 1 mm sphere at z=-0.0003 had its bottom at -0.0013, i.e. 0.3 mm BELOW the
-           wheel bottom (-0.001), so with any contact stiffening the robot pivots on the caster and both drive
-           wheels hang in the air. Radius 0.001 -> 0.003 and pos z -0.0003 -> 0.002 put the bottom at exactly
-           -0.001, coplanar with the wheels. At rest this gives fn = 0.330 / 0.330 / 0.186 N (total 0.8456 N,
-           the robot weight) with the three contacts all closed. -->
-      <geom name="front wheel" pos="0.0 0.06 0.005" type="sphere" size=".006" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/maze.xml b/models/maze.xml
deleted file mode 100644
index 35bca6f..0000000
--- a/models/maze.xml
+++ /dev/null
@@ -1,582 +0,0 @@
-<!-- Generated maze for MuJoCo -->
-<!-- Maze dimensions: 16x16 -->
-<!-- Cell size: 0.18 m, Wall thickness: 0.0126 m, Wall height: 0.05 m -->
-
-<mujoco>
-  <asset>
-    <texture name="walls" type="cube" builtin="flat" width="512" height="512" rgb1="1 1 1" rgb2="1 0 0"/>
-    <material name="walls" texture="walls"/>
-  </asset>
-
-  <default>
-    <default class="post">
-      <geom type="box" zaxis="0 1 0" material="walls" size="0.006300 0.025000 0.006300"/>
-    </default>
-    <default class="post_w">
-      <geom type="box" zaxis="0 1 0" rgba="1 1 1 1" size="0.006300 0.025000 0.006300"/>
-    </default>
-    <default class="hwall">
-      <geom type="box" zaxis="0 1 0" material="walls" size="0.083700 0.025000 0.006300"/>
-    </default>
-    <default class="hwall_w">
-      <geom type="box" zaxis="0 1 0" rgba="1 1 1 1" size="0.083700 0.025000 0.006300"/>
-    </default>
-    <default class="vwall">
-      <geom type="box" zaxis="0 1 0" material="walls" size="0.006300 0.025000 0.083700"/>
-    </default>
-    <default class="vwall_w">
-      <geom type="box" zaxis="0 1 0" rgba="1 1 1 1" size="0.006300 0.025000 0.083700"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <camera name="top_view" orthographic="true" fovy="3.5" pos="1.440000 1.440000 4.5" xyaxes="1.0 0.0 0.0 0.0 1.0 0.0"/>
-    <geom class="post_w" name="post_0_0" pos="0.000000 0.000000 0.025000"/>
-    <geom class="post_w" name="post_0_1" pos="0.180000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_2" pos="0.360000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_3" pos="0.540000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_4" pos="0.720000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_5" pos="0.900000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_6" pos="1.080000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_7" pos="1.260000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_8" pos="1.440000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_9" pos="1.620000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_10" pos="1.800000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_11" pos="1.980000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_12" pos="2.160000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_13" pos="2.340000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_14" pos="2.520000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_15" pos="2.700000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_16" pos="2.880000 0.000000 0.025000"/>
-    <geom class="post_w" name="post_1_0" pos="0.000000 0.180000 0.025000"/>
-    <geom class="post_w" name="post_1_1" pos="0.180000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_2" pos="0.360000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_3" pos="0.540000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_4" pos="0.720000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_5" pos="0.900000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_6" pos="1.080000 0.180000 0.025000"/>
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-    <geom class="post" name="post_1_8" pos="1.440000 0.180000 0.025000"/>
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-    <geom class="vwall" name="vwall_1_12" pos="2.160000 0.270000 0.025000"/>
-    <geom class="vwall" name="vwall_1_13" pos="2.340000 0.270000 0.025000"/>
-    <geom class="vwall" name="vwall_1_14" pos="2.520000 0.270000 0.025000"/>
-    <geom class="vwall" name="vwall_1_15" pos="2.700000 0.270000 0.025000"/>
-    <geom class="vwall" name="vwall_1_16" pos="2.880000 0.270000 0.025000"/>
-    <geom class="vwall" name="vwall_2_0" pos="0.000000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_1" pos="0.180000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_4" pos="0.720000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_7" pos="1.260000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_8" pos="1.440000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_12" pos="2.160000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_14" pos="2.520000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_15" pos="2.700000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_2_16" pos="2.880000 0.450000 0.025000"/>
-    <geom class="vwall" name="vwall_3_0" pos="0.000000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_4" pos="0.720000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_5" pos="0.900000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_6" pos="1.080000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_7" pos="1.260000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_11" pos="1.980000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_12" pos="2.160000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_13" pos="2.340000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_15" pos="2.700000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_3_16" pos="2.880000 0.630000 0.025000"/>
-    <geom class="vwall" name="vwall_4_0" pos="0.000000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_1" pos="0.180000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_4" pos="0.720000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_5" pos="0.900000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_7" pos="1.260000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_8" pos="1.440000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_12" pos="2.160000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_13" pos="2.340000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_14" pos="2.520000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_4_16" pos="2.880000 0.810000 0.025000"/>
-    <geom class="vwall" name="vwall_5_0" pos="0.000000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_1" pos="0.180000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_5" pos="0.900000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_6" pos="1.080000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_7" pos="1.260000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_11" pos="1.980000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_13" pos="2.340000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_14" pos="2.520000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_15" pos="2.700000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_5_16" pos="2.880000 0.990000 0.025000"/>
-    <geom class="vwall" name="vwall_6_0" pos="0.000000 1.170000 0.025000"/>
-    <geom class="vwall" name="vwall_6_6" pos="1.080000 1.170000 0.025000"/>
-    <geom class="vwall" name="vwall_6_10" pos="1.800000 1.170000 0.025000"/>
-    <geom class="vwall" name="vwall_6_12" pos="2.160000 1.170000 0.025000"/>
-    <geom class="vwall" name="vwall_6_16" pos="2.880000 1.170000 0.025000"/>
-    <geom class="vwall" name="vwall_7_0" pos="0.000000 1.350000 0.025000"/>
-    <geom class="vwall" name="vwall_7_1" pos="0.180000 1.350000 0.025000"/>
-    <geom class="vwall" name="vwall_7_6" pos="1.080000 1.350000 0.025000"/>
-    <geom class="vwall_w" name="vwall_7_7" pos="1.260000 1.350000 0.025000"/>
-    <geom class="vwall" name="vwall_7_10" pos="1.800000 1.350000 0.025000"/>
-    <geom class="vwall" name="vwall_7_11" pos="1.980000 1.350000 0.025000"/>
-    <geom class="vwall" name="vwall_7_12" pos="2.160000 1.350000 0.025000"/>
-    <geom class="vwall" name="vwall_7_16" pos="2.880000 1.350000 0.025000"/>
-    <geom class="vwall" name="vwall_8_0" pos="0.000000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_1" pos="0.180000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_2" pos="0.360000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_6" pos="1.080000 1.530000 0.025000"/>
-    <geom class="vwall_w" name="vwall_8_7" pos="1.260000 1.530000 0.025000"/>
-    <geom class="vwall_w" name="vwall_8_9" pos="1.620000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_10" pos="1.800000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_11" pos="1.980000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_12" pos="2.160000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_15" pos="2.700000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_8_16" pos="2.880000 1.530000 0.025000"/>
-    <geom class="vwall" name="vwall_9_0" pos="0.000000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_1" pos="0.180000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_2" pos="0.360000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_8" pos="1.440000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_11" pos="1.980000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_12" pos="2.160000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_14" pos="2.520000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_15" pos="2.700000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_9_16" pos="2.880000 1.710000 0.025000"/>
-    <geom class="vwall" name="vwall_10_0" pos="0.000000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_10_1" pos="0.180000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_10_6" pos="1.080000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_10_9" pos="1.620000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_10_11" pos="1.980000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_10_12" pos="2.160000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_10_15" pos="2.700000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_10_16" pos="2.880000 1.890000 0.025000"/>
-    <geom class="vwall" name="vwall_11_0" pos="0.000000 2.070000 0.025000"/>
-    <geom class="vwall" name="vwall_11_6" pos="1.080000 2.070000 0.025000"/>
-    <geom class="vwall" name="vwall_11_7" pos="1.260000 2.070000 0.025000"/>
-    <geom class="vwall" name="vwall_11_10" pos="1.800000 2.070000 0.025000"/>
-    <geom class="vwall" name="vwall_11_16" pos="2.880000 2.070000 0.025000"/>
-    <geom class="vwall" name="vwall_12_0" pos="0.000000 2.250000 0.025000"/>
-    <geom class="vwall" name="vwall_12_10" pos="1.800000 2.250000 0.025000"/>
-    <geom class="vwall" name="vwall_12_11" pos="1.980000 2.250000 0.025000"/>
-    <geom class="vwall" name="vwall_12_12" pos="2.160000 2.250000 0.025000"/>
-    <geom class="vwall" name="vwall_12_16" pos="2.880000 2.250000 0.025000"/>
-    <geom class="vwall" name="vwall_13_0" pos="0.000000 2.430000 0.025000"/>
-    <geom class="vwall" name="vwall_13_7" pos="1.260000 2.430000 0.025000"/>
-    <geom class="vwall" name="vwall_13_10" pos="1.800000 2.430000 0.025000"/>
-    <geom class="vwall" name="vwall_13_11" pos="1.980000 2.430000 0.025000"/>
-    <geom class="vwall" name="vwall_13_12" pos="2.160000 2.430000 0.025000"/>
-    <geom class="vwall" name="vwall_13_14" pos="2.520000 2.430000 0.025000"/>
-    <geom class="vwall" name="vwall_13_16" pos="2.880000 2.430000 0.025000"/>
-    <geom class="vwall" name="vwall_14_0" pos="0.000000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_14_7" pos="1.260000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_14_8" pos="1.440000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_14_12" pos="2.160000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_14_14" pos="2.520000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_14_15" pos="2.700000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_14_16" pos="2.880000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_15_0" pos="0.000000 2.790000 0.025000"/>
-    <geom class="vwall" name="vwall_15_14" pos="2.520000 2.790000 0.025000"/>
-    <geom class="vwall" name="vwall_15_16" pos="2.880000 2.790000 0.025000"/>
-  </worldbody>
-</mujoco>
\ No newline at end of file
diff --git a/models/maze2.xml b/models/maze2.xml
deleted file mode 100644
index 3091419..0000000
--- a/models/maze2.xml
+++ /dev/null
@@ -1,601 +0,0 @@
-<!-- Generated maze for MuJoCo -->
-<!-- Maze dimensions: 16x16 -->
-<!-- Cell size: 0.18 m, Wall thickness: 0.0126 m, Wall height: 0.05 m -->
-
-<mujoco>
-  <asset>
-    <texture name="walls" type="cube" builtin="flat" width="512" height="512" rgb1="1 1 1" rgb2="1 0 0"/>
-    <material name="walls" texture="walls"/>
-  </asset>
-
-  <default>
-    <default class="post">
-      <geom type="box" zaxis="0 1 0" material="walls" size="0.006300 0.025000 0.006300"/>
-    </default>
-    <default class="post_w">
-      <geom type="box" zaxis="0 1 0" rgba="1 1 1 1" size="0.006300 0.025000 0.006300"/>
-    </default>
-    <default class="hwall">
-      <geom type="box" zaxis="0 1 0" material="walls" size="0.083700 0.025000 0.006300"/>
-    </default>
-    <default class="hwall_w">
-      <geom type="box" zaxis="0 1 0" rgba="1 1 1 1" size="0.083700 0.025000 0.006300"/>
-    </default>
-    <default class="vwall">
-      <geom type="box" zaxis="0 1 0" material="walls" size="0.006300 0.025000 0.083700"/>
-    </default>
-    <default class="vwall_w">
-      <geom type="box" zaxis="0 1 0" rgba="1 1 1 1" size="0.006300 0.025000 0.083700"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <camera name="top_view" orthographic="true" fovy="3.5" pos="1.440000 1.440000 4.5" xyaxes="1.0 0.0 0.0 0.0 1.0 0.0"/>
-    <geom class="post_w" name="post_0_0" pos="0.000000 0.000000 0.025000"/>
-    <geom class="post_w" name="post_0_1" pos="0.180000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_2" pos="0.360000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_3" pos="0.540000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_4" pos="0.720000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_5" pos="0.900000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_6" pos="1.080000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_7" pos="1.260000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_8" pos="1.440000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_9" pos="1.620000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_10" pos="1.800000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_11" pos="1.980000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_12" pos="2.160000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_13" pos="2.340000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_14" pos="2.520000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_15" pos="2.700000 0.000000 0.025000"/>
-    <geom class="post" name="post_0_16" pos="2.880000 0.000000 0.025000"/>
-    <geom class="post_w" name="post_1_0" pos="0.000000 0.180000 0.025000"/>
-    <geom class="post_w" name="post_1_1" pos="0.180000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_2" pos="0.360000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_3" pos="0.540000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_4" pos="0.720000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_5" pos="0.900000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_6" pos="1.080000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_7" pos="1.260000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_8" pos="1.440000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_9" pos="1.620000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_10" pos="1.800000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_11" pos="1.980000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_12" pos="2.160000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_13" pos="2.340000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_14" pos="2.520000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_15" pos="2.700000 0.180000 0.025000"/>
-    <geom class="post" name="post_1_16" pos="2.880000 0.180000 0.025000"/>
-    <geom class="post" name="post_2_0" pos="0.000000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_1" pos="0.180000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_2" pos="0.360000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_3" pos="0.540000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_4" pos="0.720000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_5" pos="0.900000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_6" pos="1.080000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_7" pos="1.260000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_8" pos="1.440000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_9" pos="1.620000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_10" pos="1.800000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_11" pos="1.980000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_12" pos="2.160000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_13" pos="2.340000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_14" pos="2.520000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_15" pos="2.700000 0.360000 0.025000"/>
-    <geom class="post" name="post_2_16" pos="2.880000 0.360000 0.025000"/>
-    <geom class="post" name="post_3_0" pos="0.000000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_1" pos="0.180000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_2" pos="0.360000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_3" pos="0.540000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_4" pos="0.720000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_5" pos="0.900000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_6" pos="1.080000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_7" pos="1.260000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_8" pos="1.440000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_9" pos="1.620000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_10" pos="1.800000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_11" pos="1.980000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_12" pos="2.160000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_13" pos="2.340000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_14" pos="2.520000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_15" pos="2.700000 0.540000 0.025000"/>
-    <geom class="post" name="post_3_16" pos="2.880000 0.540000 0.025000"/>
-    <geom class="post" name="post_4_0" pos="0.000000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_1" pos="0.180000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_2" pos="0.360000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_3" pos="0.540000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_4" pos="0.720000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_5" pos="0.900000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_6" pos="1.080000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_7" pos="1.260000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_8" pos="1.440000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_9" pos="1.620000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_10" pos="1.800000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_11" pos="1.980000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_12" pos="2.160000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_13" pos="2.340000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_14" pos="2.520000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_15" pos="2.700000 0.720000 0.025000"/>
-    <geom class="post" name="post_4_16" pos="2.880000 0.720000 0.025000"/>
-    <geom class="post" name="post_5_0" pos="0.000000 0.900000 0.025000"/>
-    <geom class="post" name="post_5_1" pos="0.180000 0.900000 0.025000"/>
-    <geom class="post" name="post_5_2" pos="0.360000 0.900000 0.025000"/>
-    <geom class="post" name="post_5_3" pos="0.540000 0.900000 0.025000"/>
-    <geom class="post" name="post_5_4" pos="0.720000 0.900000 0.025000"/>
-    <geom class="post" name="post_5_5" pos="0.900000 0.900000 0.025000"/>
-    <geom class="post" name="post_5_6" pos="1.080000 0.900000 0.025000"/>
-    <geom class="post" name="post_5_7" pos="1.260000 0.900000 0.025000"/>
-    <geom class="post" name="post_5_8" pos="1.440000 0.900000 0.025000"/>
-    <geom class="post" name="post_5_9" pos="1.620000 0.900000 0.025000"/>
-    <geom class="post" name="post_5_10" pos="1.800000 0.900000 0.025000"/>
-    <geom class="post" name="post_5_11" pos="1.980000 0.900000 0.025000"/>
-    <geom class="post" name="post_5_12" pos="2.160000 0.900000 0.025000"/>
-    <geom class="post" name="post_5_13" pos="2.340000 0.900000 0.025000"/>
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-    <geom class="vwall" name="vwall_14_12" pos="2.160000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_14_13" pos="2.340000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_14_15" pos="2.700000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_14_16" pos="2.880000 2.610000 0.025000"/>
-    <geom class="vwall" name="vwall_15_0" pos="0.000000 2.790000 0.025000"/>
-    <geom class="vwall" name="vwall_15_16" pos="2.880000 2.790000 0.025000"/>
-  </worldbody>
-</mujoco>
\ No newline at end of file
diff --git a/models/robot_legacy.xml b/models/robot_legacy.xml
deleted file mode 100644
index 4063fb5..0000000
--- a/models/robot_legacy.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.004 0.001" priority="1"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <general biastype="affine" gainprm="0.000106 0 0" biasprm="0 0 -0.0000115" gear="10"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <body name="micras" pos="0.09 0.05 .03">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <geom name="base" type="mesh" mesh="base" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <geom name="front wheel" pos="0.0 0.06 -0.0003" type="sphere" size=".001" friction="0.05" priority="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/robot_v2.xml b/models/robot_v2.xml
deleted file mode 100644
index b1c0655..0000000
--- a/models/robot_v2.xml
+++ /dev/null
@@ -1,150 +0,0 @@
-<!--
-  robot_v2.xml - physical corrections on top of robot_legacy.xml (HARNESS_PLAN.md S3 Fase 4).
-  Four changed lines, each marked "FIX" below. Everything else (names of bodies, geoms, sites, joints,
-  actuators and sensors, the maze attachment, timestep=0.000521, integrator, cone, solref/solimp defaults)
-  is byte-identical to robot_legacy.xml, because the harness asserts on those names and on the timestep.
-
-  Verified in runs/v2_explore (8 s, --command explore) against runs/exp_baseline_legacy: airborne fraction
-  on straights 0.000/0.000 (baseline 0.125/0.126), steady slip 0.83% (11.7%), max|slip| 0.035 m/s (0.476),
-  mean|slip| in [RUN+0.2, RUN+1.5] 0.0001 m/s (0.0300), base-geom contact 0.000 (0.007), max|pitch| 0.038
-  deg (1.18), 0 deceleration events (8), odometry RMS error 0.0051 m/s (0.116), 0 MuJoCo warnings.
-  At rest: body z = 0.8037 mm, wheel penetration 0.196 mm, fn = 0.330 / 0.330 / 0.186 N, sum 0.8456 N =
-  the robot weight. data.csv is hash-stable across two runs of the same binary.
-  Cost: open-loop cruise speed drops from 0.262 to 0.233 m/s. The firmware feed-forward is unchanged and
-  the no-load speed is unchanged; the loss is the wheel-joint frictionloss (0.645 mN.m), which used to be
-  0.6% of the old 106 mN.m stall torque and is now 6.5% of the physical 10 mN.m one. It is the dominant
-  load at cruise. Since constants.hpp has kp=0 the speed loop is open, so nothing corrects it. Dropping
-  frictionloss to 0.129 mN.m restores 0.280 m/s (models/experiments/q11_nofrictionloss.xml) - left out
-  of v2 because the right value is a measurement on the real gearmotor, not a simulation choice.
--->
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <!-- FIX (rolling/torsional friction): friction[2] (torsional, m) 0.004 -> 0.001 and friction[3] (rolling, m)
-           0.001 -> 0.0001. The legacy rolling coefficient means a resisting torque of mu_roll*fn = 1e-3*0.33 =
-           3.3e-4 N.m per wheel, which is ~2.5x the steady drive torque (1.3e-4 N.m at the cruise command). The
-           rolling/torsional constraints were therefore permanently saturated and, with cone="elliptic", pumped
-           the normal direction: this is what produced the 60 Hz, 20 um heave limit cycle, the 13% "airborne"
-           ticks and the ~12% steady slip. 1e-4 m is Crr~0.01 on an 11 mm wheel (rubber on hard floor); 1e-3 m
-           torsional is ~(3*pi/16)*mu*a for a ~2 mm contact patch. -->
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <!-- FIX (item N): stall torque at the wheel was gear*gainprm*100 = 106 mN.m, ~13x the whole robot weight
-             times the wheel radius; every transient saturated friction. gainprm 1.06e-4 -> 1.0e-5 and
-             biasprm[2] -1.15e-5 -> -1.09e-6 keep the no-load speed (gainprm*100/-biasprm[2] = 91.7 rad/s =
-             1.01 m/s, unchanged, so the firmware feed-forward constant linear_speed=102 is still consistent)
-             while dropping the stall torque to 10 mN.m, the order of magnitude of the real gearmotor.
-             ctrllimited/ctrlrange added because Motor::set_command already clamps to +-100 in the firmware;
-             this makes the model refuse anything outside that range instead of silently accepting it. -->
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <!-- FIX (item L, spawn): 0.03 -> 0.0012. Rest height is axle 0.010 - wheel radius 0.011 = -0.001 in body
-         frame, i.e. body z = 0.001 when the wheels touch. The legacy 0.03 was a 29 mm free fall that hit the
-         floor at 0.75 m/s and rang the contacts for ~80 ms. 0.0012 leaves 0.2 mm of settling. -->
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <!-- FIX (item S, clearance): the chassis mesh spans z in [-0.5, +0.5] mm around the body origin, and the
-           body rests at z = 1 mm, so the bottom of the chassis sat 0.5 mm above the floor and 0.9 deg of roll was
-           enough to scrape. Raising the geom by 2.5 mm puts it 3 mm above the floor, which is the ground clearance
-           the real chassis has over its skid plate; the 80 g it carries raise the centre of mass by the same
-           2.5 mm, which is physical and is the only other effect. -->
-      <geom name="base" type="mesh" mesh="base" pos="0 0 0.0025" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <!-- FIX (item L, caster): the 1 mm sphere at z=-0.0003 had its bottom at -0.0013, i.e. 0.3 mm BELOW the
-           wheel bottom (-0.001), so with any contact stiffening the robot pivots on the caster and both drive
-           wheels hang in the air. Radius 0.001 -> 0.003 and pos z -0.0003 -> 0.002 put the bottom at exactly
-           -0.001, coplanar with the wheels. At rest this gives fn = 0.330 / 0.330 / 0.186 N (total 0.8456 N,
-           the robot weight) with the three contacts all closed. -->
-      <!-- FIX (item L, caster contact model): condim="1" (frictionless point support). The caster is a
-           slippery skid (friction was already 0.05), and with the global condim="3" its single contact
-           point was the last one still flickering on/off (10.5% of the ticks after RUN). Making it
-           frictionless closes it permanently, raises the open-loop cruise speed from 0.228 to 0.233 m/s
-           and more than doubles the time the open-loop run survives before navigation fails
-           (firmware ERROR at 35.7 s instead of 15.6 s over a 60 s explore). -->
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1" condim="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/models/robot_v2_maze2.xml b/models/robot_v2_maze2.xml
deleted file mode 100644
index c0e7e9d..0000000
--- a/models/robot_v2_maze2.xml
+++ /dev/null
@@ -1,150 +0,0 @@
-<!--
-  robot_v2.xml - physical corrections on top of robot_legacy.xml (HARNESS_PLAN.md S3 Fase 4).
-  Four changed lines, each marked "FIX" below. Everything else (names of bodies, geoms, sites, joints,
-  actuators and sensors, the maze attachment, timestep=0.000521, integrator, cone, solref/solimp defaults)
-  is byte-identical to robot_legacy.xml, because the harness asserts on those names and on the timestep.
-
-  Verified in runs/v2_explore (8 s, --command explore) against runs/exp_baseline_legacy: airborne fraction
-  on straights 0.000/0.000 (baseline 0.125/0.126), steady slip 0.83% (11.7%), max|slip| 0.035 m/s (0.476),
-  mean|slip| in [RUN+0.2, RUN+1.5] 0.0001 m/s (0.0300), base-geom contact 0.000 (0.007), max|pitch| 0.038
-  deg (1.18), 0 deceleration events (8), odometry RMS error 0.0051 m/s (0.116), 0 MuJoCo warnings.
-  At rest: body z = 0.8037 mm, wheel penetration 0.196 mm, fn = 0.330 / 0.330 / 0.186 N, sum 0.8456 N =
-  the robot weight. data.csv is hash-stable across two runs of the same binary.
-  Cost: open-loop cruise speed drops from 0.262 to 0.233 m/s. The firmware feed-forward is unchanged and
-  the no-load speed is unchanged; the loss is the wheel-joint frictionloss (0.645 mN.m), which used to be
-  0.6% of the old 106 mN.m stall torque and is now 6.5% of the physical 10 mN.m one. It is the dominant
-  load at cruise. Since constants.hpp has kp=0 the speed loop is open, so nothing corrects it. Dropping
-  frictionloss to 0.129 mN.m restores 0.280 m/s (models/experiments/q11_nofrictionloss.xml) - left out
-  of v2 because the right value is a measurement on the real gearmotor, not a simulation choice.
--->
-<mujoco>
-  <option timestep="0.000521" integrator="implicitfast" cone="elliptic"/>
-
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .1 .1" rgb2=".2 .2 .2"/>
-    <material name="grid" texture="grid" texrepeat="5.5555555555 5.5555555555" texuniform="true" reflectance=".2"/>
-
-    <model name="maze" file="maze2.xml"/>
-
-    <mesh name="base" scale="0.001 0.001 0.001"
-        vertex=" 31.0 -33.0 -0.5
-                 33.0  41.0 -0.5
-                 15.5  66.0 -0.5
-
-                -31.0 -33.0 -0.5
-                -33.0  41.0 -0.5
-                -15.5  66.0 -0.5
-
-                 31.0 -33.0  0.5
-                 33.0  41.0  0.5
-                 15.5  66.0  0.5
-
-                -31.0 -33.0  0.5
-                -33.0  41.0  0.5
-                -15.5  66.0  0.5
-    "/>
-  </asset>
-
-  <default>
-    <default class="wheel">
-      <joint type="hinge" frictionloss="0.000645"/>
-      <!-- FIX (rolling/torsional friction): friction[2] (torsional, m) 0.004 -> 0.001 and friction[3] (rolling, m)
-           0.001 -> 0.0001. The legacy rolling coefficient means a resisting torque of mu_roll*fn = 1e-3*0.33 =
-           3.3e-4 N.m per wheel, which is ~2.5x the steady drive torque (1.3e-4 N.m at the cruise command). The
-           rolling/torsional constraints were therefore permanently saturated and, with cone="elliptic", pumped
-           the normal direction: this is what produced the 60 Hz, 20 um heave limit cycle, the 13% "airborne"
-           ticks and the ~12% steady slip. 1e-4 m is Crr~0.01 on an 11 mm wheel (rubber on hard floor); 1e-3 m
-           torsional is ~(3*pi/16)*mu*a for a ~2 mm contact patch. -->
-      <geom type="cylinder" size=".011 .004" rgba=".5 .5 1 1" condim="6" friction="0.95 0.001 0.0001" priority="1"/>
-      <site type="box" rgba=".5 1 .5 1" size="0.01 0.001 0.0041"/>
-    </default>
-    <default class="dc_motor">
-        <!-- FIX (item N): stall torque at the wheel was gear*gainprm*100 = 106 mN.m, ~13x the whole robot weight
-             times the wheel radius; every transient saturated friction. gainprm 1.06e-4 -> 1.0e-5 and
-             biasprm[2] -1.15e-5 -> -1.09e-6 keep the no-load speed (gainprm*100/-biasprm[2] = 91.7 rad/s =
-             1.01 m/s, unchanged, so the firmware feed-forward constant linear_speed=102 is still consistent)
-             while dropping the stall torque to 10 mN.m, the order of magnitude of the real gearmotor.
-             ctrllimited/ctrlrange added because Motor::set_command already clamps to +-100 in the firmware;
-             this makes the model refuse anything outside that range instead of silently accepting it. -->
-        <general biastype="affine" gainprm="0.00001 0 0" biasprm="0 0 -0.00000109" gear="10" ctrllimited="true" ctrlrange="-100 100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <attach model="maze" prefix="maze_"/>
-
-    <geom name="floor" type="plane" size="0 0 .01" pos="0 0 0" material="grid"/>
-    <light name="ambient_light" pos="0 0 3" dir="0 0 -1" directional="true" castshadow="false"/>
-
-    <!-- FIX (item L, spawn): 0.03 -> 0.0012. Rest height is axle 0.010 - wheel radius 0.011 = -0.001 in body
-         frame, i.e. body z = 0.001 when the wheels touch. The legacy 0.03 was a 29 mm free fall that hit the
-         floor at 0.75 m/s and rang the contacts for ~80 ms. 0.0012 leaves 0.2 mm of settling. -->
-    <body name="micras" pos="0.09 0.05 .0012">
-      <freejoint/>
-
-      <camera name="overhead"      mode="track" pos=" 0.000  0.000 0.500" euler=" 0 0 0"  fovy="60"/>
-      <camera name="side tracking" mode="track" pos="-0.469 -0.469 0.663" xyaxes="0.707 -0.707 0.000 0.500 0.500 0.707"/>
-      <camera name="robot pov"     mode="fixed" pos=" 0.000  0.040 0.030" euler="90 0 0"  fovy="80"/>
-
-      <site name="imu"/>
-      <site name="lidar_0" pos="-0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="lidar_1" pos="-0.01  0.061 0.02" zaxis="-1 1 0"/>
-      <site name="lidar_2" pos=" 0.01  0.061 0.02" zaxis=" 1 1 0"/>
-      <site name="lidar_3" pos=" 0.026 0.041 0.02" zaxis=" 0 1 0"/>
-      <site name="fan" pos="0.0 0.015 0.0" zaxis="1 0 0"/>
-
-      <!-- FIX (item S, clearance): the chassis mesh spans z in [-0.5, +0.5] mm around the body origin, and the
-           body rests at z = 1 mm, so the bottom of the chassis sat 0.5 mm above the floor and 0.9 deg of roll was
-           enough to scrape. Raising the geom by 2.5 mm puts it 3 mm above the floor, which is the ground clearance
-           the real chassis has over its skid plate; the 80 g it carries raise the centre of mass by the same
-           2.5 mm, which is physical and is the only other effect. -->
-      <geom name="base" type="mesh" mesh="base" pos="0 0 0.0025" mass="0.08" rgba="0.0 0.4 0.2 1" contype="1" conaffinity="1"/>
-      <!-- FIX (item L, caster): the 1 mm sphere at z=-0.0003 had its bottom at -0.0013, i.e. 0.3 mm BELOW the
-           wheel bottom (-0.001), so with any contact stiffening the robot pivots on the caster and both drive
-           wheels hang in the air. Radius 0.001 -> 0.003 and pos z -0.0003 -> 0.002 put the bottom at exactly
-           -0.001, coplanar with the wheels. At rest this gives fn = 0.330 / 0.330 / 0.186 N (total 0.8456 N,
-           the robot weight) with the three contacts all closed. -->
-      <!-- FIX (item L, caster contact model): condim="1" (frictionless point support). The caster is a
-           slippery skid (friction was already 0.05), and with the global condim="3" its single contact
-           point was the last one still flickering on/off (10.5% of the ticks after RUN). Making it
-           frictionless closes it permanently, raises the open-loop cruise speed from 0.228 to 0.233 m/s
-           and more than doubles the time the open-loop run survives before navigation fails
-           (firmware ERROR at 35.7 s instead of 15.6 s over a 60 s explore). -->
-      <geom name="front wheel" pos="0.0 0.06 0.002" type="sphere" size=".003" friction="0.05" priority="1" condim="1"/>
-
-      <body name="left_wheel" pos="-0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="left_wheel" class="wheel"/>
-        <geom name="left_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-      <body name="right_wheel" pos="0.031 0.0 0.01" zaxis="-1 0 0">
-        <joint name="right_wheel" class="wheel"/>
-        <geom name="right_wheel" class="wheel"/>
-        <site class="wheel"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="motor_left" class="dc_motor" joint="left_wheel"/>
-    <general name="motor_right" class="dc_motor" joint="right_wheel"/>
-    <general name="fan" site="fan" gainprm="0.04"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="torque_left"  joint="left_wheel"/>
-    <jointactuatorfrc name="torque_right" joint="right_wheel"/>
-
-    <gyro name="gyro" site="imu"/>
-    <accelerometer name="accelerometer" site="imu"/>
-
-    <jointpos name="encoder_left" joint="left_wheel"/>
-    <jointpos name="encoder_right" joint="right_wheel"/>
-
-    <rangefinder name="lidar_0" site="lidar_0"/>
-    <rangefinder name="lidar_1" site="lidar_1"/>
-    <rangefinder name="lidar_2" site="lidar_2"/>
-    <rangefinder name="lidar_3" site="lidar_3"/>
-  </sensor>
-</mujoco>
diff --git a/src/main.cpp b/src/main.cpp
deleted file mode 100644
index 3bb1705..0000000
--- a/src/main.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-/**
- * @file
- *
- * @brief Runs the Micras firmware loop in the deterministic MuJoCo harness.
- */
-
-#include <span>
-
-#include "micras/micras.hpp"
-#include "micras/sim/app/application.hpp"
-
-int main(int argc, char** argv) {
-    return micras::sim::Application::main(std::span(argv, static_cast<std::size_t>(argc)), [] {
-        micras::Micras micras;
-
-        while (true) {
-            micras.update();
-        }
-    });
-}
diff --git a/src/proxy/argb.cpp b/src/proxy/argb.cpp
deleted file mode 100644
index b75f056..0000000
--- a/src/proxy/argb.cpp
+++ /dev/null
@@ -1,73 +0,0 @@
-/**
- * @file
- *
- * @brief Addressable RGB stub recording the last colour written to each led.
- */
-
-#ifndef MICRAS_PROXY_ARGB_CPP
-#define MICRAS_PROXY_ARGB_CPP
-
-#include "micras/proxy/argb.hpp"  // NOLINT(misc-header-include-cycle)
-#include "micras/sim/core/simulation_context.hpp"
-
-namespace micras::proxy {
-template <uint8_t num_of_leds>
-TArgb<num_of_leds>::TArgb(const Config& config) : state{sim::require_context(config.context).proxy_state} {
-    this->turn_off();
-}
-
-template <uint8_t num_of_leds>
-void TArgb<num_of_leds>::publish() const {
-    static_assert(
-        num_of_leds <= sim::InterfaceOutput::argb_count,
-        "the board has more addressable LEDs than the simulated interface records"
-    );
-
-    for (uint8_t i = 0; i < num_of_leds; i++) {
-        const Color& colour = this->colors.at(i);
-        this->state.interface_output.argb.at(i) = {colour.red, colour.green, colour.blue};
-    }
-}
-
-template <uint8_t num_of_leds>
-void TArgb<num_of_leds>::set_color(const Color& color, uint8_t index) {
-    if (index >= num_of_leds) {
-        return;
-    }
-
-    this->colors.at(index) = color;
-    this->publish();
-}
-
-template <uint8_t num_of_leds>
-void TArgb<num_of_leds>::set_color(const Color& color) {
-    this->colors.fill(color);
-    this->publish();
-}
-
-template <uint8_t num_of_leds>
-void TArgb<num_of_leds>::set_colors(const std::array<Color, num_of_leds>& colors) {
-    this->colors = colors;
-    this->publish();
-}
-
-template <uint8_t num_of_leds>
-void TArgb<num_of_leds>::turn_off(uint8_t index) {
-    this->set_color({0, 0, 0}, index);
-}
-
-template <uint8_t num_of_leds>
-void TArgb<num_of_leds>::turn_off() {
-    this->set_color({0, 0, 0});
-}
-
-template <uint8_t num_of_leds>
-void TArgb<num_of_leds>::update() { }
-
-template <uint8_t num_of_leds>
-typename TArgb<num_of_leds>::Color TArgb<num_of_leds>::get_color(uint8_t index) const {
-    return this->colors.at(index);
-}
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_ARGB_CPP
diff --git a/src/proxy/battery.cpp b/src/proxy/battery.cpp
deleted file mode 100644
index 2fbdda2..0000000
--- a/src/proxy/battery.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * @file
- *
- * @brief Battery proxy reporting a constant, noise free voltage.
- */
-
-#include "micras/proxy/battery.hpp"
-
-namespace micras::proxy {
-Battery::Battery(const Config& config) :
-    reading{config.max_voltage}, max_voltage{config.max_voltage}, max_reading{config.max_reading} { }
-
-void Battery::update() { }
-
-float Battery::get_voltage() const {
-    return this->reading;
-}
-
-float Battery::get_voltage_raw() const {
-    return (this->reading / this->max_voltage) * static_cast<float>(this->max_reading);
-}
-
-float Battery::get_adc_reading() const {
-    return this->reading / this->max_voltage;
-}
-}  // namespace micras::proxy
diff --git a/src/proxy/bluetooth_serial.cpp b/src/proxy/bluetooth_serial.cpp
deleted file mode 100644
index 4d474b5..0000000
--- a/src/proxy/bluetooth_serial.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-/**
- * @file
- *
- * @brief Bluetooth serial proxy backed by the in-process byte queues of the world.
- */
-
-#include "micras/proxy/bluetooth_serial.hpp"
-#include "micras/sim/core/simulation_context.hpp"
-
-namespace micras::proxy {
-BluetoothSerial::BluetoothSerial(const Config& config) : serial{sim::require_context(config.context).serial} { }
-
-void BluetoothSerial::update() { }
-
-void BluetoothSerial::send_data(std::vector<uint8_t> data) {
-    this->serial.send_from_firmware(data);
-}
-
-std::vector<uint8_t> BluetoothSerial::get_data() {
-    return this->serial.take_for_firmware();
-}
-}  // namespace micras::proxy
diff --git a/src/proxy/button.cpp b/src/proxy/button.cpp
deleted file mode 100644
index 774b64a..0000000
--- a/src/proxy/button.cpp
+++ /dev/null
@@ -1,73 +0,0 @@
-/**
- * @file
- *
- * @brief Button proxy reading its pressed state from the simulated world.
- */
-
-#include "micras/proxy/button.hpp"
-#include "micras/sim/core/firmware_thread.hpp"
-#include "micras/sim/core/simulation_context.hpp"
-
-namespace micras::proxy {
-Button::Button(const Config& config) :
-    simulation{sim::require_context(config.context)},
-    last_update_us{this->simulation.clock.now_us()},
-    long_press_delay{config.long_press_delay},
-    extra_long_press_delay{config.extra_long_press_delay},
-    status_stopwatch{Stopwatch::Config{.context = config.context}} { }
-
-bool Button::is_pressed() const {
-    return this->current_state;
-}
-
-Button::Status Button::get_status() const {
-    return this->current_status;
-}
-
-void Button::update() {
-    const uint64_t now = this->simulation.clock.now_us();
-    this->repeated_updates = now == this->last_update_us ? this->repeated_updates + 1 : 1;
-
-    sim::FirmwareThread* firmware = this->simulation.firmware.load();
-
-    if (this->repeated_updates >= max_repeated_updates and firmware != nullptr) {
-        firmware->yield_tick();
-        this->repeated_updates = 0;
-    }
-
-    this->last_update_us = this->simulation.clock.now_us();
-    this->previous_state = this->current_state;
-    this->update_state();
-
-    if (this->is_rising_edge()) {
-        this->status_stopwatch.reset_ms();
-    } else if (this->is_falling_edge()) {
-        if (this->status_stopwatch.elapsed_time_ms() > this->extra_long_press_delay) {
-            this->current_status = EXTRA_LONG_PRESS;
-            return;
-        }
-
-        if (this->status_stopwatch.elapsed_time_ms() > this->long_press_delay) {
-            this->current_status = LONG_PRESS;
-            return;
-        }
-
-        this->current_status = SHORT_PRESS;
-        return;
-    }
-
-    this->current_status = NO_PRESS;
-}
-
-void Button::update_state() {
-    this->current_state = this->simulation.proxy_state.interface_input.button_pressed;
-}
-
-bool Button::is_rising_edge() const {
-    return this->current_state and not this->previous_state;
-}
-
-bool Button::is_falling_edge() const {
-    return not this->current_state and this->previous_state;
-}
-}  // namespace micras::proxy
diff --git a/src/proxy/buzzer.cpp b/src/proxy/buzzer.cpp
deleted file mode 100644
index 3c89fc1..0000000
--- a/src/proxy/buzzer.cpp
+++ /dev/null
@@ -1,50 +0,0 @@
-/**
- * @file
- *
- * @brief Buzzer stub recording the last requested tone.
- */
-
-#include "micras/proxy/buzzer.hpp"
-#include "micras/sim/core/simulation_context.hpp"
-
-namespace micras::proxy {
-Buzzer::Buzzer(const Config& config) :
-    state{sim::require_context(config.context).proxy_state}, stopwatch{Stopwatch::Config{.context = config.context}} {
-    this->stop();
-}
-
-void Buzzer::publish() const {
-    this->state.interface_output.buzzer_frequency = this->frequency;
-}
-
-void Buzzer::play(uint32_t frequency, uint32_t duration) {
-    this->frequency = frequency;
-    this->is_playing = true;
-    this->duration = duration;
-    this->publish();
-
-    if (duration > 0) {
-        this->stopwatch.reset_ms();
-    }
-}
-
-void Buzzer::update() {
-    if (this->is_playing and this->duration > 0 and this->stopwatch.elapsed_time_ms() > this->duration) {
-        this->stop();
-    }
-}
-
-void Buzzer::wait(uint32_t /*interval*/) {
-    this->stop();
-}
-
-void Buzzer::stop() {
-    this->frequency = 0;
-    this->is_playing = false;
-    this->publish();
-}
-
-uint32_t Buzzer::get_frequency() const {
-    return this->frequency;
-}
-}  // namespace micras::proxy
diff --git a/src/proxy/dip_switch.cpp b/src/proxy/dip_switch.cpp
deleted file mode 100644
index 36e04eb..0000000
--- a/src/proxy/dip_switch.cpp
+++ /dev/null
@@ -1,44 +0,0 @@
-/**
- * @file
- *
- * @brief DIP switch proxy reading its state from the simulated world.
- */
-
-#ifndef MICRAS_PROXY_DIP_SWITCH_CPP
-#define MICRAS_PROXY_DIP_SWITCH_CPP
-
-#include "micras/proxy/dip_switch.hpp"  // NOLINT(misc-header-include-cycle)
-#include "micras/sim/core/simulation_context.hpp"
-
-namespace micras::proxy {
-template <uint8_t num_of_switches>
-TDipSwitch<num_of_switches>::TDipSwitch(const Config& config) :
-    state{sim::require_context(config.context).proxy_state} { }
-
-template <uint8_t num_of_switches>
-bool TDipSwitch<num_of_switches>::get_switch_state(uint8_t switch_index) const {
-    if (switch_index >= num_of_switches) {
-        return false;
-    }
-
-    static_assert(
-        num_of_switches <= sim::InterfaceInput::dip_switch_count,
-        "the board has more DIP switches than the simulated interface records"
-    );
-
-    return this->state.interface_input.dip_switches.at(switch_index);
-}
-
-template <uint8_t num_of_switches>
-uint8_t TDipSwitch<num_of_switches>::get_switches_value() const {
-    uint8_t switches_value = 0;
-
-    for (uint8_t i = 0; i < num_of_switches; i++) {
-        switches_value |= static_cast<uint8_t>(this->get_switch_state(i)) << i;
-    }
-
-    return switches_value;
-}
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_DIP_SWITCH_CPP
diff --git a/src/proxy/fan.cpp b/src/proxy/fan.cpp
deleted file mode 100644
index f1fc9d4..0000000
--- a/src/proxy/fan.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-/**
- * @file
- *
- * @brief Fan proxy mirroring the firmware speed ramp on a MuJoCo actuator.
- */
-
-#include "micras/core/utils.hpp"
-#include "micras/proxy/fan.hpp"
-#include "micras/sim/core/simulation_context.hpp"
-
-namespace micras::proxy {
-Fan::Fan(const Config& config) :
-    world{sim::require_context(config.context).world},
-    state{sim::require_context(config.context).proxy_state},
-    actuator_id{this->world.require_id(mjOBJ_ACTUATOR, config.actuator)},
-    max_acceleration{config.max_acceleration},
-    acceleration_stopwatch{Stopwatch::Config{.context = config.context}} {
-    this->stop();
-    this->enable();
-}
-
-void Fan::enable() {
-    this->enabled = true;
-    this->apply();
-}
-
-void Fan::disable() {
-    this->enabled = false;
-    this->apply();
-}
-
-void Fan::set_speed(float speed) {
-    this->update();
-    this->target_speed = speed;
-}
-
-float Fan::update() {
-    this->current_speed = core::move_towards<float>(
-        this->current_speed, this->target_speed, this->acceleration_stopwatch.elapsed_time_ms() * this->max_acceleration
-    );
-
-    this->acceleration_stopwatch.reset_ms();
-
-    if (this->current_speed == 0.0F) {
-        this->stop();
-    } else {
-        this->apply();
-    }
-
-    return this->current_speed;
-}
-
-void Fan::stop() {
-    this->state.actuators.fan_speed = 0.0F;
-    this->world.set_control(this->actuator_id, 0.0);
-}
-
-void Fan::apply() {
-    const bool  active = this->enabled and this->state.overrides.fan_enabled;
-    const float speed = active ? this->current_speed : 0.0F;
-
-    this->state.actuators.fan_speed = speed;
-    this->world.set_control(this->actuator_id, speed);
-}
-}  // namespace micras::proxy
diff --git a/src/proxy/imu.cpp b/src/proxy/imu.cpp
deleted file mode 100644
index ddb911b..0000000
--- a/src/proxy/imu.cpp
+++ /dev/null
@@ -1,51 +0,0 @@
-/**
- * @file
- *
- * @brief IMU proxy reading the MuJoCo gyroscope and accelerometer sensors.
- */
-
-#include "micras/proxy/imu.hpp"
-#include "micras/sim/core/simulation_context.hpp"
-
-namespace micras::proxy {
-Imu::Imu(const Config& config) :
-    state{sim::require_context(config.context).proxy_state},
-    world{sim::require_context(config.context).world},
-    gyro_address{this->world.sensor_address(config.gyro_sensor)},
-    accelerometer_address{this->world.sensor_address(config.accelerometer_sensor)} {
-    this->update();
-}
-
-void Imu::update() {
-    for (std::size_t i = 0; i < sim::Sensors::axis_count; i++) {
-        const int offset = static_cast<int>(i);
-
-        this->angular_velocity.at(i) = static_cast<float>(this->world.sensor_value(this->gyro_address + offset));
-        this->linear_acceleration.at(i) =
-            static_cast<float>(this->world.sensor_value(this->accelerometer_address + offset));
-    }
-
-    this->state.sensors.angular_velocity = this->angular_velocity;
-    this->state.sensors.linear_acceleration = this->linear_acceleration;
-}
-
-float Imu::get_angular_velocity(Axis axis) const {
-    return this->angular_velocity.at(static_cast<uint8_t>(axis));
-}
-
-float Imu::get_linear_acceleration(Axis axis) const {
-    return this->linear_acceleration.at(static_cast<uint8_t>(axis));
-}
-
-void Imu::calibrate() { }
-
-// NOLINTNEXTLINE(readability-convert-member-functions-to-static): mirrors the firmware proxy API.
-bool Imu::was_initialized() const {
-    return true;
-}
-
-// NOLINTNEXTLINE(readability-convert-member-functions-to-static): mirrors the firmware proxy API.
-bool Imu::check_whoami() {
-    return true;
-}
-}  // namespace micras::proxy
diff --git a/src/proxy/led.cpp b/src/proxy/led.cpp
deleted file mode 100644
index 7c7691b..0000000
--- a/src/proxy/led.cpp
+++ /dev/null
@@ -1,37 +0,0 @@
-/**
- * @file
- *
- * @brief Led stub recording the last state written.
- */
-
-#include "micras/proxy/led.hpp"
-#include "micras/sim/core/simulation_context.hpp"
-
-namespace micras::proxy {
-Led::Led(const Config& config) : state{sim::require_context(config.context).proxy_state} {
-    this->publish();
-}
-
-void Led::publish() const {
-    this->state.interface_output.led_on = this->state_on;
-}
-
-void Led::turn_on() {
-    this->state_on = true;
-    this->publish();
-}
-
-void Led::turn_off() {
-    this->state_on = false;
-    this->publish();
-}
-
-void Led::toggle() {
-    this->state_on = not this->state_on;
-    this->publish();
-}
-
-bool Led::is_on() const {
-    return this->state_on;
-}
-}  // namespace micras::proxy
diff --git a/src/proxy/locomotion.cpp b/src/proxy/locomotion.cpp
deleted file mode 100644
index 51a0d7c..0000000
--- a/src/proxy/locomotion.cpp
+++ /dev/null
@@ -1,60 +0,0 @@
-/**
- * @file
- *
- * @brief Locomotion proxy driving the two MuJoCo motor actuators.
- */
-
-#include <cmath>
-
-#include "micras/proxy/locomotion.hpp"
-#include "micras/sim/core/simulation_context.hpp"
-
-namespace micras::proxy {
-Locomotion::Locomotion(const Config& config) :
-    state{sim::require_context(config.context).proxy_state},
-    left_motor{config.left_motor},
-    right_motor{config.right_motor} {
-    this->stop();
-    this->disable();
-}
-
-void Locomotion::enable() {
-    this->enabled = true;
-}
-
-void Locomotion::disable() {
-    this->enabled = false;
-}
-
-void Locomotion::set_wheel_command(float left_command, float right_command) {
-    const float left = this->enabled ? left_command : 0.0F;
-    const float right = this->enabled ? right_command : 0.0F;
-
-    this->state.actuators.left_command = left;
-    this->state.actuators.right_command = right;
-
-    this->left_motor.set_command(left);
-    this->right_motor.set_command(right);
-}
-
-void Locomotion::set_command(float linear, float angular) {
-    float left_command = linear - angular;
-    float right_command = linear + angular;
-
-    if (std::abs(left_command) > 100.0F) {
-        left_command *= 100.0F / std::abs(left_command);
-        right_command *= 100.0F / std::abs(left_command);
-    }
-
-    if (std::abs(right_command) > 100.0F) {
-        left_command *= 100.0F / std::abs(right_command);
-        right_command *= 100.0F / std::abs(right_command);
-    }
-
-    this->set_wheel_command(left_command, right_command);
-}
-
-void Locomotion::stop() {
-    this->set_wheel_command(0.0F, 0.0F);
-}
-}  // namespace micras::proxy
diff --git a/src/proxy/motor.cpp b/src/proxy/motor.cpp
deleted file mode 100644
index a8dcc14..0000000
--- a/src/proxy/motor.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-/**
- * @file
- *
- * @brief Motor proxy writing a clamped percentage command to a MuJoCo actuator.
- */
-
-#include <algorithm>
-
-#include "micras/proxy/motor.hpp"
-#include "micras/sim/core/simulation_context.hpp"
-
-namespace micras::proxy {
-Motor::Motor(const Config& config) :
-    world{sim::require_context(config.context).world},
-    actuator_id{this->world.require_id(mjOBJ_ACTUATOR, config.actuator)} {
-    this->set_command(0.0F);
-}
-
-void Motor::set_command(float command) {
-    this->world.set_control(this->actuator_id, std::clamp(command, -100.0F, 100.0F));
-}
-}  // namespace micras::proxy
diff --git a/src/proxy/rotary_sensor.cpp b/src/proxy/rotary_sensor.cpp
deleted file mode 100644
index 04db0ca..0000000
--- a/src/proxy/rotary_sensor.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-/**
- * @file
- *
- * @brief Rotary sensor proxy reading a MuJoCo wheel joint position.
- */
-
-#include <stdexcept>
-
-#include "micras/proxy/rotary_sensor.hpp"
-#include "micras/sim/core/simulation_context.hpp"
-
-namespace micras::proxy {
-RotarySensor::RotarySensor(const Config& config) :
-    state{sim::require_context(config.context).proxy_state},
-    wheel{config.wheel},
-    world{sim::require_context(config.context).world},
-    sensor_address{this->world.sensor_address(config.sensor)} {
-    if (this->wheel >= sim::Sensors::wheel_count) {
-        throw std::out_of_range("rotary sensor wheel index is outside the wheels the boundary records");
-    }
-}
-
-float RotarySensor::get_position() const {
-    const auto position = static_cast<float>(this->world.sensor_value(this->sensor_address));
-    this->state.sensors.encoder_positions.at(this->wheel) = position;
-    return position;
-}
-}  // namespace micras::proxy
diff --git a/src/proxy/stopwatch.cpp b/src/proxy/stopwatch.cpp
deleted file mode 100644
index 64e5789..0000000
--- a/src/proxy/stopwatch.cpp
+++ /dev/null
@@ -1,71 +0,0 @@
-/**
- * @file
- */
-
-#include "micras/proxy/stopwatch.hpp"
-#include "micras/sim/core/firmware_thread.hpp"
-#include "micras/sim/core/simulation_context.hpp"
-#include "target.hpp"
-
-namespace micras::proxy {
-Stopwatch::Stopwatch() : Stopwatch(stopwatch_config) { }
-
-Stopwatch::Stopwatch(const Config& config) :
-    simulation{sim::require_context(config.context)},
-    counter{this->simulation.clock.now_us() - this->simulation.clock.us_per_tick()},
-    last_read_us{this->simulation.clock.now_us()} { }
-
-void Stopwatch::reset_ms() {
-    this->reset_us();
-}
-
-void Stopwatch::reset_us() {
-    this->counter = this->simulation.clock.now_us();
-}
-
-uint32_t Stopwatch::elapsed_time_ms() const {
-    const uint64_t before = this->simulation.clock.now_us();
-    this->repeated_ms_reads = before == this->last_read_us ? this->repeated_ms_reads + 1 : 1;
-
-    if (this->repeated_ms_reads >= max_repeated_ms_reads) {
-        this->yield_tick();
-        this->note_yield();
-    }
-
-    this->last_read_us = this->simulation.clock.now_us();
-    return static_cast<uint32_t>((this->last_read_us - this->counter) / 1000);
-}
-
-uint32_t Stopwatch::elapsed_time_us() const {
-    const uint64_t before = this->simulation.clock.now_us();
-    this->repeated_reads = before == this->last_read_us ? this->repeated_reads + 1 : 1;
-
-    if (this->repeated_reads >= max_repeated_reads) {
-        this->yield_tick();
-        this->note_yield();
-    }
-
-    this->last_read_us = this->simulation.clock.now_us();
-    return static_cast<uint32_t>(this->last_read_us - this->counter);
-}
-
-void Stopwatch::sleep_ms(uint32_t time) {
-    Stopwatch(stopwatch_config).sleep_us(time * 1000);
-}
-
-void Stopwatch::sleep_us(uint32_t time) const {
-    const uint64_t target = this->simulation.clock.now_us() + time;
-
-    while (this->simulation.clock.now_us() < target and this->yield_tick()) { }
-}
-
-bool Stopwatch::yield_tick() const {
-    sim::FirmwareThread* firmware = this->simulation.firmware.load();
-    return firmware != nullptr and firmware->yield_tick();
-}
-
-void Stopwatch::note_yield() const {
-    this->repeated_reads = 0;
-    this->repeated_ms_reads = 0;
-}
-}  // namespace micras::proxy
diff --git a/src/proxy/storage.cpp b/src/proxy/storage.cpp
deleted file mode 100644
index 87a2ea6..0000000
--- a/src/proxy/storage.cpp
+++ /dev/null
@@ -1,147 +0,0 @@
-/**
- * @file
- *
- * @brief Storage proxy keeping the serialized maze in memory, blank every run.
- */
-
-#include <array>
-#include <cstring>
-
-#include "micras/proxy/storage.hpp"
-
-namespace micras::proxy {
-std::unordered_map<uint16_t, std::vector<uint8_t>>& Storage::pages() {
-    static std::unordered_map<uint16_t, std::vector<uint8_t>> storage_pages;
-    return storage_pages;
-}
-
-Storage::Storage(const Config& config) : start_page{config.start_page}, number_of_pages{config.number_of_pages} {
-    const auto page = Storage::pages().find(this->start_page);
-
-    if (page == Storage::pages().end() or page->second.size() < sizeof(uint64_t)) {
-        return;
-    }
-
-    uint64_t header{};
-    std::memcpy(&header, page->second.data(), sizeof(header));
-
-    if (header >> 48 != start_symbol) {
-        return;
-    }
-
-    const auto total_size = static_cast<uint16_t>(header >> 32);
-    const auto num_primitives = static_cast<uint16_t>(header >> 16);
-    const auto num_serializables = static_cast<uint16_t>(header);
-
-    this->buffer.assign(page->second.begin() + sizeof(header), page->second.begin() + sizeof(header) + 8L * total_size);
-
-    this->primitives = deserialize_var_map<PrimitiveVariable>(this->buffer, num_primitives);
-    this->serializables = deserialize_var_map<SerializableVariable>(this->buffer, num_serializables);
-}
-
-void Storage::create(const std::string& name, const core::ISerializable& data) {
-    this->serializables[name].ram_pointer = &data;
-}
-
-void Storage::sync(const std::string& name, core::ISerializable& data) {
-    if (this->serializables.contains(name) and this->serializables.at(name).ram_pointer == nullptr) {
-        const auto& serializable = this->serializables.at(name);
-        data.deserialize(&this->buffer.at(serializable.buffer_address), serializable.size);
-    }
-
-    this->create(name, data);
-}
-
-void Storage::save() {
-    this->buffer.clear();
-
-    for (auto& [name, variable] : this->primitives) {
-        if (variable.ram_pointer == nullptr) {
-            continue;
-        }
-
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-reinterpret-cast)
-        const auto* aux = reinterpret_cast<const uint8_t*>(variable.ram_pointer);
-        variable.buffer_address = this->buffer.size();
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-bounds-pointer-arithmetic): raw bytes of a primitive variable.
-        this->buffer.insert(this->buffer.end(), aux, aux + variable.size);
-    }
-
-    for (auto& [name, variable] : this->serializables) {
-        if (variable.ram_pointer == nullptr) {
-            continue;
-        }
-
-        const std::vector<uint8_t> aux = variable.ram_pointer->serialize();
-        variable.buffer_address = this->buffer.size();
-        variable.size = aux.size();
-        this->buffer.insert(this->buffer.end(), aux.begin(), aux.end());
-    }
-
-    const auto serialized_serializables = serialize_var_map<SerializableVariable>(this->serializables);
-    this->buffer.insert(this->buffer.begin(), serialized_serializables.begin(), serialized_serializables.end());
-
-    const auto serialized_primitives = serialize_var_map<PrimitiveVariable>(this->primitives);
-    this->buffer.insert(this->buffer.begin(), serialized_primitives.begin(), serialized_primitives.end());
-
-    this->buffer.insert(this->buffer.end(), (8 - (this->buffer.size() % 8)) % 8, 0);
-    const auto total_size = static_cast<uint16_t>(this->buffer.size() / 8);
-
-    std::array<uint8_t, 8> header{};
-
-    header[0] = this->serializables.size();
-    header[1] = this->serializables.size() >> 8;
-    header[2] = this->primitives.size();
-    header[3] = this->primitives.size() >> 8;
-
-    header[4] = total_size;
-    header[5] = total_size >> 8;
-    header[6] = start_symbol & 0xFF;
-    header[7] = start_symbol >> 8;
-
-    std::vector<uint8_t> page(header.begin(), header.end());
-    page.insert(page.end(), this->buffer.begin(), this->buffer.end());
-    Storage::pages()[this->start_page] = std::move(page);
-}
-
-template <typename T>
-std::vector<uint8_t> Storage::serialize_var_map(const std::unordered_map<std::string, T>& variables) {
-    std::vector<uint8_t> buffer;
-
-    for (const auto& [name, variable] : variables) {
-        buffer.emplace_back(name.size());
-        buffer.insert(buffer.end(), name.begin(), name.end());
-
-        buffer.emplace_back(variable.buffer_address);
-        buffer.emplace_back(variable.buffer_address >> 8);
-
-        buffer.emplace_back(variable.size);
-        buffer.emplace_back(variable.size >> 8);
-    }
-
-    return buffer;
-}
-
-template <typename T>
-std::unordered_map<std::string, T> Storage::deserialize_var_map(std::vector<uint8_t>& buffer, uint16_t num_vars) {
-    std::unordered_map<std::string, T> variables;
-
-    uint16_t current_addr = 0;
-
-    for (uint16_t decoded_vars = 0; decoded_vars < num_vars; decoded_vars++) {
-        const uint8_t var_name_len = buffer.at(current_addr);
-
-        const std::string var_name(buffer.begin() + current_addr + 1, buffer.begin() + current_addr + 1 + var_name_len);
-        current_addr += var_name_len + 1;
-
-        variables[var_name].buffer_address = buffer.at(current_addr) | buffer.at(current_addr + 1) << 8;
-        current_addr += 2;
-
-        variables.at(var_name).size = buffer.at(current_addr) | buffer.at(current_addr + 1) << 8;
-        current_addr += 2;
-    }
-
-    buffer.erase(buffer.begin(), buffer.begin() + current_addr);
-    return variables;
-}
-}  // namespace micras::proxy
diff --git a/src/proxy/torque_sensors.cpp b/src/proxy/torque_sensors.cpp
deleted file mode 100644
index 265c0fb..0000000
--- a/src/proxy/torque_sensors.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-/**
- * @file
- *
- * @brief Torque sensor stub always reporting zero torque and current.
- */
-
-#ifndef MICRAS_PROXY_TORQUE_SENSORS_CPP
-#define MICRAS_PROXY_TORQUE_SENSORS_CPP
-
-#include "micras/proxy/torque_sensors.hpp"  // NOLINT(misc-header-include-cycle)
-
-namespace micras::proxy {
-template <uint8_t num_of_sensors>
-TTorqueSensors<num_of_sensors>::TTorqueSensors(const Config& /*config*/) { }
-
-template <uint8_t num_of_sensors>
-void TTorqueSensors<num_of_sensors>::calibrate() { }
-
-template <uint8_t num_of_sensors>
-void TTorqueSensors<num_of_sensors>::update() { }
-
-template <uint8_t num_of_sensors>
-float TTorqueSensors<num_of_sensors>::get_torque(uint8_t /*sensor_index*/) const {
-    return 0.0F;
-}
-
-template <uint8_t num_of_sensors>
-float TTorqueSensors<num_of_sensors>::get_torque_raw(uint8_t /*sensor_index*/) const {
-    return 0.0F;
-}
-
-template <uint8_t num_of_sensors>
-float TTorqueSensors<num_of_sensors>::get_current(uint8_t /*sensor_index*/) const {
-    return 0.0F;
-}
-
-template <uint8_t num_of_sensors>
-float TTorqueSensors<num_of_sensors>::get_current_raw(uint8_t /*sensor_index*/) const {
-    return 0.0F;
-}
-
-template <uint8_t num_of_sensors>
-float TTorqueSensors<num_of_sensors>::get_adc_reading(uint8_t /*sensor_index*/) const {
-    return 0.0F;
-}
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_TORQUE_SENSORS_CPP
diff --git a/src/proxy/wall_sensors.cpp b/src/proxy/wall_sensors.cpp
deleted file mode 100644
index c0b8155..0000000
--- a/src/proxy/wall_sensors.cpp
+++ /dev/null
@@ -1,103 +0,0 @@
-/**
- * @file
- *
- * @brief Wall sensor proxy reading the MuJoCo rangefinder sensors.
- */
-
-#ifndef MICRAS_PROXY_WALL_SENSORS_CPP
-#define MICRAS_PROXY_WALL_SENSORS_CPP
-
-#include <cmath>
-
-#include "micras/core/utils.hpp"
-#include "micras/proxy/wall_sensors.hpp"  // NOLINT(misc-header-include-cycle)
-#include "micras/sim/core/simulation_context.hpp"
-
-namespace micras::proxy {
-template <uint8_t num_of_sensors>
-TWallSensors<num_of_sensors>::TWallSensors(const Config& config) :
-    state{sim::require_context(config.context).proxy_state},
-    world{sim::require_context(config.context).world},
-    max_sensor_reading{config.max_sensor_reading},
-    filters{core::make_array<core::ButterworthFilter, num_of_sensors>(config.filter_cutoff, config.sampling_frequency)},
-    base_readings{config.base_readings},
-    uncertainty{config.uncertainty},
-    constant{static_cast<float>(
-        -std::pow(config.max_sensor_distance, 2) *
-        std::log(1.0F - config.min_sensor_reading / config.max_sensor_reading)
-    )} {
-    for (uint8_t i = 0; i < num_of_sensors; i++) {
-        this->sensor_addresses.at(i) = this->world.sensor_address(config.sensors.at(i));
-    }
-
-    this->turn_off();
-}
-
-template <uint8_t num_of_sensors>
-void TWallSensors<num_of_sensors>::turn_on() {
-    this->leds_on = true;
-}
-
-template <uint8_t num_of_sensors>
-void TWallSensors<num_of_sensors>::turn_off() {
-    this->leds_on = false;
-}
-
-template <uint8_t num_of_sensors>
-void TWallSensors<num_of_sensors>::update() {
-    for (uint8_t i = 0; i < num_of_sensors; i++) {
-        this->filters.at(i).update(this->get_adc_reading(i));
-    }
-}
-
-template <uint8_t num_of_sensors>
-bool TWallSensors<num_of_sensors>::get_wall(uint8_t sensor_index, bool disturbed) const {
-    return this->filters.at(sensor_index).get_last() >
-           this->base_readings.at(sensor_index) * this->uncertainty * (disturbed ? 1.2F : 1.0F);
-}
-
-template <uint8_t num_of_sensors>
-float TWallSensors<num_of_sensors>::get_reading(uint8_t sensor_index) const {
-    return this->filters.at(sensor_index).get_last();
-}
-
-template <uint8_t num_of_sensors>
-float TWallSensors<num_of_sensors>::get_adc_reading(uint8_t sensor_index) const {
-    const auto raw_reading = static_cast<float>(this->world.sensor_value(this->sensor_addresses.at(sensor_index)));
-
-    if (raw_reading < 0.0F) {
-        return this->record(sensor_index, 0.0F);
-    }
-
-    if (raw_reading == 0.0F) {
-        return this->record(sensor_index, this->max_sensor_reading);
-    }
-
-    const float intensity = 1.0F / (raw_reading * raw_reading);
-
-    return this->record(sensor_index, this->max_sensor_reading * (1.0F - std::exp(-this->constant * intensity)));
-}
-
-template <uint8_t num_of_sensors>
-float TWallSensors<num_of_sensors>::record(uint8_t sensor_index, float reading) const {
-    static_assert(
-        num_of_sensors <= sim::Sensors::wall_sensor_count,
-        "the board has more wall sensors than the simulated boundary records"
-    );
-
-    this->state.sensors.wall_adc_readings.at(sensor_index) = reading;
-    return reading;
-}
-
-template <uint8_t num_of_sensors>
-float TWallSensors<num_of_sensors>::get_sensor_error(uint8_t sensor_index) const {
-    return this->get_reading(sensor_index) - this->base_readings.at(sensor_index);
-}
-
-template <uint8_t num_of_sensors>
-void TWallSensors<num_of_sensors>::calibrate_sensor(uint8_t sensor_index) {
-    this->base_readings.at(sensor_index) = this->get_reading(sensor_index);
-}
-}  // namespace micras::proxy
-
-#endif  // MICRAS_PROXY_WALL_SENSORS_CPP
diff --git a/src/sim/app/application.cpp b/src/sim/app/application.cpp
deleted file mode 100644
index ea03a52..0000000
--- a/src/sim/app/application.cpp
+++ /dev/null
@@ -1,270 +0,0 @@
-/**
- * @file
- */
-
-#include <chrono>
-#include <cmath>
-#include <csignal>
-#include <filesystem>
-#include <iostream>
-#include <stdexcept>
-#include <utility>
-
-#include <mujoco/mujoco.h>
-
-#include "constants.hpp"
-#include "micras/sim/app/application.hpp"
-#include "micras/sim/app/crash_reporter.hpp"
-#include "micras/sim/recording/run_metadata.hpp"
-#include "target.hpp"
-
-namespace micras::sim {
-namespace {
-/**
- * @brief Load the model and configure the clock the run needs.
- *
- * @param options Parsed command line.
- * @param context Context to set up.
- * @return The context, set up.
- */
-SimulationContext& prepare(const CliOptions& options, SimulationContext& context) {
-    context.world.load(options.model);
-    context.clock = Clock::from_model(context.world.timestep(), loop_time_us);
-    context.world.reset();
-    return context;
-}
-
-/**
- * @brief Get the press durations the board classifies against.
- *
- * @return The delays from the Button config.
- */
-ButtonDelays board_delays() {
-    return {
-        .long_press = button_config.long_press_delay,
-        .extra_long_press = button_config.extra_long_press_delay,
-    };
-}
-
-/**
- * @brief Get how many ticks pass between two frames at a given rate.
- *
- * @param fps Frames per second of simulated time.
- * @param clock Clock the frame period is derived from.
- * @return Number of ticks per frame, at least one.
- */
-uint64_t ticks_per_frame(int fps, const Clock& clock) {
-    const double loop_period = clock.us_per_tick() * 1e-6;
-    return std::max<uint64_t>(1, static_cast<uint64_t>(std::llround(1.0 / (fps * loop_period))));
-}
-
-/**
- * @brief Open the bridge to micras-monitor, reporting why if it cannot listen.
- *
- * @note A port that is already taken is a warning, not a failure: the run is
- *       worth having without a monitor watching it.
- *
- * @param options Parsed command line.
- * @param serial Bus the monitor is bridged onto.
- * @return The bridge, or nullptr when none was asked for or it could not listen.
- */
-std::unique_ptr<MonitorBridge> make_monitor(const CliOptions& options, SerialBus& serial) {
-    if (not options.monitor_enabled) {
-        return nullptr;
-    }
-
-    std::string error;
-    auto        bridge = std::make_unique<MonitorBridge>(serial, options.monitor_port, error);
-
-    if (not bridge->is_open()) {
-        std::cerr << "monitor disabled: " << error << '\n';
-        return nullptr;
-    }
-
-    std::cout << "monitor bridge listening on ws://localhost:" << options.monitor_port << '\n';
-    return bridge;
-}
-
-/**
- * @brief Open the live window, reporting why if it cannot open.
- *
- * @param options Parsed command line.
- * @param context Context whose world is drawn.
- * @return The viewer, or nullptr when no window was asked for or possible.
- */
-std::unique_ptr<MujocoViewer>
-    make_viewer(const CliOptions& options, SimulationContext& context, const Telemetry& telemetry) {
-    if (not options.viewer_enabled) {
-        return nullptr;
-    }
-
-    ViewerConfig config = options.viewer;
-    config.ticks_per_frame = ticks_per_frame(options.viewer_fps, context.clock);
-    config.us_per_tick = context.clock.us_per_tick();
-
-    std::string error;
-    auto        viewer = MujocoViewer::create(context.world, context.proxy_state, telemetry, config, error);
-
-    if (viewer == nullptr) {
-        std::cerr << "viewer disabled: " << error << '\n';
-        return nullptr;
-    }
-
-    std::cout << "window open at " << config.width << "x" << config.height << ", camera '" << config.camera
-              << "', one frame every " << config.ticks_per_frame << " ticks\n";
-
-    return viewer;
-}
-
-/**
- * @brief Bring up the offscreen recorder, reporting why if it cannot run.
- *
- * @note The offscreen framebuffer is sized from the model, which carries no
- *       <visual><global offwidth .../>, so it is widened before the render
- *       context is built. Nothing in mjModel::vis affects physics.
- *
- * @param options Parsed command line.
- * @param context Context whose model is widened to fit the requested frame size.
- * @return The recorder, or nullptr when video is off or unavailable.
- */
-std::unique_ptr<VideoRecorder> make_video_recorder(const CliOptions& options, SimulationContext& context) {
-    if (not options.video_enabled) {
-        return nullptr;
-    }
-
-    mjModel* model = context.world.model();
-    model->vis.global.offwidth = std::max(model->vis.global.offwidth, options.video.width);
-    model->vis.global.offheight = std::max(model->vis.global.offheight, options.video.height);
-
-    std::string error;
-    auto        recorder = VideoRecorder::create(model, options.video, error);
-
-    if (recorder == nullptr) {
-        std::cerr << "video disabled: " << error << '\n';
-        return nullptr;
-    }
-
-    std::cout << "recording " << options.video.path << " at " << options.video.width << "x" << options.video.height
-              << " " << options.video.fps << " fps, camera '" << options.video.camera << "', one frame every "
-              << ticks_per_frame(options.video.fps, context.clock) << " ticks\n";
-
-    return recorder;
-}
-}  // namespace
-
-Application::Application(const CliOptions& options, FirmwareThread::Program program, PoolTelemetry pool) :
-    options{options},
-    context{prepare(options, SimulationContext::instance())},
-    firmware{std::move(program)},
-    pool{pool},
-    telemetry{this->context.serial},
-    scenario{options.scenario, this->context.proxy_state, this->telemetry, this->context.clock, board_delays()},
-    recorder{
-        this->context.world, this->context.proxy_state, pool == PoolTelemetry::SERVED ? &this->telemetry : nullptr,
-        options.out / "data.csv"
-    },
-    video{make_video_recorder(options, this->context)},
-    viewer{make_viewer(options, this->context, this->telemetry)},
-    monitor{make_monitor(options, this->context.serial)},
-    simulation{this->context, this->firmware} {
-    this->context.firmware = &this->firmware;
-
-    if (this->pool == PoolTelemetry::NOT_SERVED and options.scenario.command != Command::NONE) {
-        throw std::runtime_error("this program does not serve the variable pool, so --command cannot be delivered");
-    }
-
-    this->simulation.add_listener(CrashReporter::instance());
-    this->simulation.add_listener(this->scenario);
-
-    if (this->monitor != nullptr) {
-        this->simulation.add_listener(*this->monitor);
-    }
-
-    if (this->pool == PoolTelemetry::SERVED) {
-        this->telemetry.request_variable_map();
-        this->simulation.add_listener(this->telemetry);
-    }
-
-    this->simulation.add_listener(this->recorder);
-
-    if (this->video != nullptr) {
-        this->video->attach(
-            this->context.world, this->telemetry, ticks_per_frame(options.video.fps, this->context.clock)
-        );
-        this->simulation.add_listener(*this->video);
-    }
-
-    if (this->viewer != nullptr) {
-        this->simulation.add_listener(*this->viewer);
-    }
-}
-
-Application::~Application() {
-    this->context.firmware = nullptr;
-}
-
-void Application::run(std::span<char*> arguments) {
-    const auto wall_start = std::chrono::steady_clock::now();
-
-    CrashReporter::install();
-    this->simulation.run(this->options.ticks);
-
-    const auto    wall_seconds = std::chrono::duration<double>(std::chrono::steady_clock::now() - wall_start).count();
-    const int64_t warnings = GroundTruth::warnings_total(this->context.world);
-
-    const RunMetadata metadata{
-        .firmware_sha = MICRAS_FIRMWARE_SHA,
-        .model_path = this->options.model.string(),
-        .model_sha256 = RunMetadata::sha256_of(this->options.model),
-        .maze_path = this->options.maze,
-        .mujoco_version = mj_versionString(),
-        .compiler = MICRAS_COMPILER_ID " " MICRAS_COMPILER_VERSION,
-        .build_type = MICRAS_BUILD_TYPE,
-        .args = RunMetadata::join_args(arguments),
-        .loop_time_us = loop_time_us,
-        .timestep = this->context.world.timestep(),
-        .steps_per_tick = this->context.clock.steps_per_tick(),
-        .requested_ticks = this->options.ticks,
-        .ticks = this->simulation.completed_ticks(),
-        .sim_time = this->context.world.time(),
-        .final_z = this->recorder.last_z(),
-        .pool_columns = this->recorder.pool_column_count(),
-        .telemetry_resyncs = this->telemetry.resync_count(),
-        .warnings_total = warnings,
-        .interactive = this->viewer != nullptr and this->viewer->was_interactive(),
-    };
-    metadata.write(this->options.out / "meta.json");
-
-    std::cout << "ticks=" << this->simulation.completed_ticks() << "/" << this->options.ticks
-              << " sim_time=" << this->context.world.time() << "s wall=" << wall_seconds
-              << "s pool_columns=" << this->recorder.pool_column_count() << " warnings=" << warnings;
-
-    if (this->video != nullptr) {
-        std::cout << " video_frames=" << this->video->frame_count();
-    }
-
-    std::cout << '\n';
-}
-
-int Application::main(std::span<char*> arguments, const FirmwareThread::Program& program, PoolTelemetry pool) {
-    try {
-        std::cout << "MuJoCo " << mj_versionString() << '\n';
-
-        if (mj_version() != mjVERSION_HEADER) {
-            std::cerr << "MuJoCo library/header version mismatch: " << mj_version() << " != " << mjVERSION_HEADER
-                      << '\n';
-            return 1;
-        }
-
-        const CliOptions options = Cli::parse(arguments, loop_time_us);
-        std::filesystem::create_directories(options.out);
-
-        Application application(options, program, pool);
-        application.run(arguments);
-        return 0;
-    } catch (const std::exception& error) {
-        std::cerr << "error: " << error.what() << '\n' << Cli::usage();
-        return 1;
-    }
-}
-}  // namespace micras::sim
diff --git a/src/sim/app/cli.cpp b/src/sim/app/cli.cpp
deleted file mode 100644
index 315bf9b..0000000
--- a/src/sim/app/cli.cpp
+++ /dev/null
@@ -1,339 +0,0 @@
-/**
- * @file
- */
-
-#include <algorithm>
-#include <array>
-#include <charconv>
-#include <functional>
-#include <stdexcept>
-
-#include "micras/sim/app/cli.hpp"
-#include "micras/sim/core/clock.hpp"
-
-namespace micras::sim {
-namespace {
-/**
- * @brief Read the value that follows an option.
- *
- * @param arguments Whole command line.
- * @param index Index of the option, advanced to the value.
- * @return The value.
- */
-std::string take_value(std::span<char*> arguments, std::size_t& index) {
-    if (index + 1 >= arguments.size()) {
-        throw std::runtime_error("missing value for option " + std::string(arguments[index]));
-    }
-
-    return arguments[++index];
-}
-
-/**
- * @brief Parse the --dip option into the scenario switch states.
- *
- * @param value Comma separated list of name=0|1 pairs.
- * @param script Script to fill, indexed as in Interface::DipSwitchPins.
- */
-void parse_dip(const std::string& value, ScenarioScript& script) {
-    const std::array<std::string, InterfaceInput::dip_switch_count> names{"fan", "diagonal", "boost", "risky"};
-    std::size_t                                                     start = 0;
-
-    while (start <= value.size()) {
-        const std::size_t comma = value.find(',', start);
-        const std::string item = value.substr(start, comma == std::string::npos ? std::string::npos : comma - start);
-        start = comma == std::string::npos ? value.size() + 1 : comma + 1;
-
-        if (item.empty()) {
-            continue;
-        }
-
-        const std::size_t equals = item.find('=');
-
-        if (equals == std::string::npos) {
-            throw std::runtime_error("malformed --dip entry '" + item + "', expected name=0|1");
-        }
-
-        const std::string name = item.substr(0, equals);
-        const std::string state = item.substr(equals + 1);
-        const auto* const slot = std::ranges::find(names, name);
-
-        if (slot == names.end()) {
-            throw std::runtime_error("unknown dip switch '" + name + "'");
-        }
-
-        if (state != "0" and state != "1") {
-            throw std::runtime_error("dip switch '" + name + "' must be 0 or 1");
-        }
-
-        script.dip.at(static_cast<std::size_t>(slot - names.begin())) = state == "1";
-    }
-}
-
-/**
- * @brief Parse a number, naming the option and rejecting trailing rubbish.
- *
- * @tparam T Type to parse.
- * @param value Number as spelled on the command line.
- * @param option Name of the option, for the error message.
- * @return The number.
- */
-template <typename T>
-T require_number(const std::string& value, const std::string& option) {
-    T                           number{};
-    const std::span<const char> digits(value);
-    const auto                  result = std::from_chars(digits.data(), digits.data() + digits.size(), number);
-
-    if (result.ec != std::errc{} or result.ptr != digits.data() + digits.size()) {
-        throw std::runtime_error(option + " expects a number, got '" + value + "'");
-    }
-
-    return number;
-}
-
-/**
- * @brief Parse a size spelled as <width>x<height>.
- *
- * @param value Size as spelled on the command line.
- * @param option Name of the option, for the error message.
- * @param width Width to fill.
- * @param height Height to fill.
- */
-void parse_size(const std::string& value, const std::string& option, int& width, int& height) {
-    const std::size_t cross = value.find('x');
-
-    if (cross == std::string::npos) {
-        throw std::runtime_error(option + " must look like 1280x720, got " + value);
-    }
-
-    width = require_number<int>(value.substr(0, cross), option);
-    height = require_number<int>(value.substr(cross + 1), option);
-}
-
-/**
- * @brief Options being built, plus what the parser has to remember about them.
- */
-struct ParsedOptions {
-    CliOptions parsed;
-    bool       ticks_given{false};
-};
-
-/**
- * @brief Reads the value that follows the option being applied.
- */
-using ValueReader = std::function<std::string()>;
-
-/**
- * @brief Parse a command name, naming the offender when it is unknown.
- *
- * @param value Name as spelled on the command line.
- * @return The command.
- */
-Command require_command(const std::string& value) {
-    const auto command = parse_command(value);
-
-    if (not command.has_value()) {
-        throw std::runtime_error("unknown --command " + value);
-    }
-
-    return *command;
-}
-
-/**
- * @brief Parse a button press name, naming the offender when it is unknown.
- *
- * @param value Name as spelled on the command line.
- * @return The press.
- */
-ButtonPress require_button_press(const std::string& value) {
-    const auto press = parse_button_press(value);
-
-    if (not press.has_value()) {
-        throw std::runtime_error("unknown --button " + value);
-    }
-
-    return *press;
-}
-
-/**
- * @brief Apply one of the window options.
- *
- * @param argument Name of the option.
- * @param value Reader of the value that follows it.
- * @param options Options to fill.
- * @return False when the name is not a window option.
- */
-bool apply_viewer_option(const std::string& argument, const ValueReader& value, CliOptions& options) {
-    if (argument == "--viewer") {
-        options.viewer_enabled = true;
-    } else if (argument == "--viewer-camera") {
-        options.viewer.camera = value();
-    } else if (argument == "--viewer-fps") {
-        options.viewer_fps = require_number<int>(value(), argument);
-    } else if (argument == "--viewer-size") {
-        parse_size(value(), "--viewer-size", options.viewer.width, options.viewer.height);
-    } else if (argument == "--monitor") {
-        options.monitor_enabled = true;
-    } else if (argument == "--monitor-port") {
-        options.monitor_port = require_number<int>(value(), argument);
-    } else {
-        return false;
-    }
-
-    return true;
-}
-
-/**
- * @brief Apply one of the recording options.
- *
- * @param argument Name of the option.
- * @param value Reader of the value that follows it.
- * @param options Options to fill.
- * @return False when the name is not a recording option.
- */
-bool apply_video_option(const std::string& argument, const ValueReader& value, CliOptions& options) {
-    if (argument == "--video") {
-        options.video.path = value();
-        options.video_enabled = true;
-    } else if (argument == "--video-fps") {
-        options.video.fps = require_number<int>(value(), argument);
-    } else if (argument == "--video-camera") {
-        options.video.camera = value();
-    } else if (argument == "--video-size") {
-        parse_size(value(), "--video-size", options.video.width, options.video.height);
-    } else {
-        return false;
-    }
-
-    return true;
-}
-
-/**
- * @brief Reject an option combination the run could not honour.
- *
- * @param options Options as parsed.
- * @param ticks_given Whether --ticks was given.
- */
-void validate(const CliOptions& options, bool ticks_given) {
-    if (options.model.empty()) {
-        throw std::runtime_error("--model is required");
-    }
-
-    if (options.out.empty()) {
-        throw std::runtime_error("--out is required");
-    }
-
-    if (ticks_given) {
-        if (options.ticks == 0) {
-            throw std::runtime_error("--ticks must be at least 1");
-        }
-    } else if (not(options.seconds > 0.0)) {
-        throw std::runtime_error("--seconds must be strictly positive, got " + std::to_string(options.seconds));
-    }
-
-    if (options.viewer_enabled) {
-        if (options.viewer.width < 1 or options.viewer.height < 1) {
-            throw std::runtime_error("--viewer-size must be strictly positive");
-        }
-
-        if (options.viewer_fps < 1) {
-            throw std::runtime_error("--viewer-fps must be at least 1");
-        }
-    }
-
-    if (options.monitor_enabled and (options.monitor_port < 1 or options.monitor_port > 65535)) {
-        throw std::runtime_error("--monitor-port must be a TCP port");
-    }
-
-    if (not options.video_enabled) {
-        return;
-    }
-
-    if (options.video.fps < 1) {
-        throw std::runtime_error("--video-fps must be at least 1");
-    }
-
-    if (options.video.width < 1 or options.video.height < 1) {
-        throw std::runtime_error("--video-size must be strictly positive");
-    }
-}
-
-/**
- * @brief Apply one option to the options being built.
- *
- * @param argument Name of the option.
- * @param value Reader of the value that follows it.
- * @param options Options to fill.
- * @return False when the name is not an option at all.
- */
-bool apply_option(const std::string& argument, const ValueReader& value, ParsedOptions& options) {
-    if (argument == "--model") {
-        options.parsed.model = value();
-    } else if (argument == "--out") {
-        options.parsed.out = value();
-    } else if (argument == "--maze") {
-        options.parsed.maze = value();
-    } else if (argument == "--seconds") {
-        options.parsed.seconds = require_number<double>(value(), argument);
-    } else if (argument == "--ticks") {
-        options.parsed.ticks = require_number<uint64_t>(value(), argument);
-        options.ticks_given = true;
-    } else if (argument == "--command") {
-        options.parsed.scenario.command = require_command(value());
-    } else if (argument == "--command-at") {
-        options.parsed.scenario.command_at = require_number<double>(value(), argument);
-    } else if (argument == "--dip") {
-        parse_dip(value(), options.parsed.scenario);
-    } else if (argument == "--button") {
-        options.parsed.scenario.button = require_button_press(value());
-    } else if (argument == "--button-at") {
-        options.parsed.scenario.button_at = require_number<double>(value(), argument);
-    } else if (argument == "--no-fan") {
-        options.parsed.scenario.fan_enabled = false;
-    } else {
-        return apply_video_option(argument, value, options.parsed) or
-               apply_viewer_option(argument, value, options.parsed);
-    }
-
-    return true;
-}
-}  // namespace
-
-std::string Cli::usage() {
-    return "usage: micras_simulation --model <xml> --out <dir> [--seconds <float> | --ticks <int>]\n"
-           "                     [--maze <xml>] [--command none|explore|solve|calibrate] [--command-at <seconds>]\n"
-           "                     [--dip fan=0,diagonal=0,boost=0,risky=0]\n"
-           "                     [--button none|short|long|extra_long] [--button-at <seconds>] [--no-fan]\n"
-           "                     [--video <out.mp4>] [--video-fps <int>] [--video-camera <name>|free]\n"
-           "                     [--video-size <width>x<height>]\n"
-           "                     [--viewer] [--viewer-camera <name>|free] [--viewer-fps <int>]\n"
-           "                     [--viewer-size <width>x<height>]\n"
-           "                     [--monitor] [--monitor-port <int>]\n";
-}
-
-CliOptions Cli::parse(std::span<char*> arguments, uint32_t loop_time_us) {
-    ParsedOptions options;
-
-    for (std::size_t i = 1; i < arguments.size(); i++) {
-        const std::string argument = arguments[i];
-        const ValueReader value = [&arguments, &i] { return take_value(arguments, i); };
-
-        if (not apply_option(argument, value, options)) {
-            throw std::runtime_error("unknown option " + argument);
-        }
-    }
-
-    validate(options.parsed, options.ticks_given);
-
-    if (not options.ticks_given) {
-        options.parsed.ticks = Clock::total_ticks(options.parsed.seconds, loop_time_us);
-
-        if (options.parsed.ticks == 0) {
-            throw std::runtime_error(
-                "--seconds " + std::to_string(options.parsed.seconds) + " is shorter than one firmware loop period"
-            );
-        }
-    }
-
-    return options.parsed;
-}
-}  // namespace micras::sim
diff --git a/src/sim/app/hardware_test_main.cpp b/src/sim/app/hardware_test_main.cpp
deleted file mode 100644
index 91f0f63..0000000
--- a/src/sim/app/hardware_test_main.cpp
+++ /dev/null
@@ -1,25 +0,0 @@
-/**
- * @file
- *
- * @brief Runs one firmware hardware test in the deterministic MuJoCo harness.
- */
-
-#include <span>
-
-#include "micras/sim/app/application.hpp"
-
-/**
- * @brief The hardware test's own entry point, renamed at compile time.
- *
- * @param argc Number of main arguments.
- * @param argv Main arguments.
- * @return The test's exit code, which the harness ignores.
- */
-extern int micras_test_main(int argc, char** argv);
-
-int main(int argc, char** argv) {
-    return micras::sim::Application::main(
-        std::span(argv, static_cast<std::size_t>(argc)), [argc, argv] { micras_test_main(argc, argv); },
-        micras::sim::PoolTelemetry::NOT_SERVED
-    );
-}
diff --git a/src/sim/core/scenario.cpp b/src/sim/core/scenario.cpp
deleted file mode 100644
index 68a5b73..0000000
--- a/src/sim/core/scenario.cpp
+++ /dev/null
@@ -1,126 +0,0 @@
-/**
- * @file
- */
-
-#include <algorithm>
-#include <iostream>
-#include <stdexcept>
-
-#include "micras/sim/core/scenario.hpp"
-
-namespace micras::sim {
-namespace {
-/**
- * @brief Name each command answers to on the command line.
- */
-constexpr std::array<std::pair<std::string_view, Command>, 4> command_names{
-    {{"none", Command::NONE},
-     {"explore", Command::EXPLORE},
-     {"solve", Command::SOLVE},
-     {"calibrate", Command::CALIBRATE}}
-};
-
-/**
- * @brief Name each button press answers to on the command line.
- */
-constexpr std::array<std::pair<std::string_view, ButtonPress>, 4> press_names{
-    {{"none", ButtonPress::NONE},
-     {"short", ButtonPress::SHORT},
-     {"long", ButtonPress::LONG},
-     {"extra_long", ButtonPress::EXTRA_LONG}}
-};
-}  // namespace
-
-std::optional<Command> parse_command(std::string_view name) {
-    const auto* const entry = std::ranges::find(command_names, name, &std::pair<std::string_view, Command>::first);
-    return entry == command_names.end() ? std::nullopt : std::optional<Command>{entry->second};
-}
-
-std::optional<ButtonPress> parse_button_press(std::string_view name) {
-    const auto* const entry = std::ranges::find(press_names, name, &std::pair<std::string_view, ButtonPress>::first);
-    return entry == press_names.end() ? std::nullopt : std::optional<ButtonPress>{entry->second};
-}
-
-std::string_view command_variable(Command command) {
-    switch (command) {
-        case Command::EXPLORE:
-            return "Explore";
-
-        case Command::SOLVE:
-            return "Solve";
-
-        case Command::CALIBRATE:
-            return "Calibrate";
-
-        case Command::NONE:
-            break;
-    }
-
-    return {};
-}
-
-uint32_t Scenario::hold_time_ms(ButtonPress press, const ButtonDelays& delays) {
-    switch (press) {
-        case ButtonPress::SHORT:
-            return delays.long_press / 2;
-
-        case ButtonPress::LONG:
-            return delays.long_press + 1;
-
-        case ButtonPress::EXTRA_LONG:
-            return delays.extra_long_press + 1;
-
-        case ButtonPress::NONE:
-            break;
-    }
-
-    return 0;
-}
-
-Scenario::Scenario(
-    const ScenarioScript& script, ProxyState& state, Telemetry& telemetry, const Clock& clock,
-    const ButtonDelays& delays
-) :
-    script{script},
-    state{state},
-    telemetry{telemetry},
-    command_tick{std::max<uint64_t>(1, clock.tick_at(script.command_at))},
-    button_press_tick{clock.tick_at(script.button_at)},
-    button_release_tick{this->button_press_tick + clock.ticks_for_elapsed_ms(hold_time_ms(script.button, delays))},
-    command_sent{script.command == Command::NONE} { }
-
-void Scenario::on_start(const Simulation& /*simulation*/) {
-    this->state.overrides.fan_enabled = this->script.fan_enabled;
-    this->state.interface_input.dip_switches = this->script.dip;
-}
-
-RunControl Scenario::on_before_tick(const Simulation& simulation) {
-    const uint64_t tick = simulation.tick();
-
-    if (this->state.interface_input.driven_by_human) {
-        return RunControl::RUN;
-    }
-
-    if (this->script.button != ButtonPress::NONE) {
-        this->state.interface_input.button_pressed =
-            tick >= this->button_press_tick and tick < this->button_release_tick;
-    }
-
-    if (this->command_sent or tick < this->command_tick or not this->telemetry.has_variable_map()) {
-        return RunControl::RUN;
-    }
-
-    const std::string             name{command_variable(this->script.command)};
-    const std::optional<uint16_t> id = this->telemetry.find_variable_id(name);
-
-    if (not id.has_value()) {
-        throw std::runtime_error("firmware pool has no variable named " + name);
-    }
-
-    this->telemetry.send_variable(*id, {0x01});
-    this->command_sent = true;
-    std::cout << "injected " << name << "=true at tick " << tick << " (id " << *id << ")\n";
-
-    return RunControl::RUN;
-}
-}  // namespace micras::sim
diff --git a/src/sim/core/serial_bus.cpp b/src/sim/core/serial_bus.cpp
deleted file mode 100644
index f483318..0000000
--- a/src/sim/core/serial_bus.cpp
+++ /dev/null
@@ -1,51 +0,0 @@
-/**
- * @file
- */
-
-#include <algorithm>
-
-#include "micras/sim/core/serial_bus.hpp"
-
-namespace micras::sim {
-void SerialBus::add_listener(ISerialListener& listener) {
-    if (std::ranges::find(this->listeners, &listener) == this->listeners.end()) {
-        this->listeners.push_back(&listener);
-    }
-}
-
-void SerialBus::remove_listener(const ISerialListener& listener) {
-    std::erase(this->listeners, &listener);
-}
-
-void SerialBus::send_from_firmware(std::span<const uint8_t> bytes) {
-    const std::vector<ISerialListener*> delivering = this->listeners;
-
-    for (ISerialListener* listener : delivering) {
-        listener->on_firmware_bytes(bytes);
-    }
-}
-
-void SerialBus::queue_for_firmware(std::span<const uint8_t> packet) {
-    if (this->to_firmware.size() >= max_pending_packets) {
-        this->dropped++;
-        return;
-    }
-
-    this->to_firmware.emplace_back(packet.begin(), packet.end());
-}
-
-std::vector<uint8_t> SerialBus::take_for_firmware() {
-    if (this->to_firmware.empty()) {
-        return {};
-    }
-
-    std::vector<uint8_t> packet = std::move(this->to_firmware.front());
-    this->to_firmware.pop_front();
-    return packet;
-}
-
-void SerialBus::clear() {
-    this->to_firmware.clear();
-    this->dropped = 0;
-}
-}  // namespace micras::sim
diff --git a/src/sim/core/simulation_context.cpp b/src/sim/core/simulation_context.cpp
deleted file mode 100644
index 7753f45..0000000
--- a/src/sim/core/simulation_context.cpp
+++ /dev/null
@@ -1,31 +0,0 @@
-/**
- * @file
- */
-
-#include <stdexcept>
-
-#include "micras/sim/core/firmware_thread.hpp"
-#include "micras/sim/core/simulation_context.hpp"
-
-namespace micras::sim {
-SimulationContext& SimulationContext::instance() {
-    static SimulationContext context;
-    return context;
-}
-
-SimulationContext& require_context(SimulationContext* context) {
-    if (context == nullptr) {
-        throw std::logic_error("a proxy was configured without a simulation context");
-    }
-
-    return *context;
-}
-
-void yield_tick() {
-    FirmwareThread* firmware = SimulationContext::instance().firmware;
-
-    if (firmware != nullptr) {
-        firmware->yield_tick();
-    }
-}
-}  // namespace micras::sim
diff --git a/src/sim/recording/csv_recorder.cpp b/src/sim/recording/csv_recorder.cpp
deleted file mode 100644
index 4011380..0000000
--- a/src/sim/recording/csv_recorder.cpp
+++ /dev/null
@@ -1,146 +0,0 @@
-/**
- * @file
- */
-
-#include <cctype>
-#include <stdexcept>
-
-#include "micras/sim/recording/csv_recorder.hpp"
-
-namespace micras::sim {
-CsvRecorder::CsvRecorder(
-    const MujocoWorld& world, const ProxyState& proxy_state, const Telemetry* telemetry,
-    const std::filesystem::path& path
-) :
-    telemetry{telemetry}, proxy_state{proxy_state}, ground_truth{world}, writer{path} { }
-
-std::vector<std::string> CsvRecorder::proxy_columns() {
-    std::vector<std::string> columns{"proxy_left_command",  "proxy_right_command", "proxy_fan_speed",
-                                     "proxy_encoder_left",  "proxy_encoder_right", "proxy_gyro_x",
-                                     "proxy_gyro_y",        "proxy_gyro_z",        "proxy_accel_x",
-                                     "proxy_accel_y",       "proxy_accel_z",       "proxy_wall_adc_0",
-                                     "proxy_wall_adc_1",    "proxy_wall_adc_2",    "proxy_wall_adc_3",
-                                     "proxy_button_pressed"};
-
-    for (std::size_t i = 0; i < InterfaceInput::dip_switch_count; i++) {
-        columns.push_back("proxy_dip_" + std::to_string(i));
-    }
-
-    return columns;
-}
-
-std::string CsvRecorder::column_name(const std::string& name) {
-    std::string column;
-    column.reserve(name.size());
-
-    for (const char character : name) {
-        if (std::isalnum(static_cast<unsigned char>(character)) != 0) {
-            column.push_back(static_cast<char>(std::tolower(static_cast<unsigned char>(character))));
-        } else if (not column.empty() and column.back() != '_') {
-            column.push_back('_');
-        }
-    }
-
-    while (not column.empty() and column.back() == '_') {
-        column.pop_back();
-    }
-
-    return column;
-}
-
-void CsvRecorder::write_header() {
-    if (this->telemetry != nullptr and not this->telemetry->has_variable_map()) {
-        const std::string reason = this->telemetry->map_failure_count() > 0 ?
-                                       "the firmware answered the variable map request with " +
-                                           std::to_string(this->telemetry->map_failure_count()) +
-                                           " malformed response(s)" :
-                                       "the firmware did not answer the variable map request on tick 0";
-        throw std::runtime_error(reason + "; the CSV header would silently lose every pool column");
-    }
-
-    for (const auto& variable : this->pool_variables()) {
-        const std::string              base = column_name(variable.name);
-        const std::vector<std::string> suffixes = VariableMap::type_column_suffixes(variable.type);
-
-        if (suffixes.empty()) {
-            this->pool_columns.push_back({variable.id, 0, base});
-            continue;
-        }
-
-        for (std::size_t component = 0; component < suffixes.size(); component++) {
-            this->pool_columns.push_back({variable.id, component, base + '_' + suffixes[component]});
-        }
-    }
-
-    std::vector<std::string> columns = GroundTruth::columns();
-
-    for (const auto& column : this->pool_columns) {
-        columns.push_back(column.name);
-    }
-
-    for (const auto& column : proxy_columns()) {
-        columns.push_back(column);
-    }
-
-    this->writer.write_header(columns);
-    this->header_written = true;
-}
-
-void CsvRecorder::on_after_tick(const Simulation& simulation) {
-    this->sample(simulation.tick());
-}
-
-std::vector<PoolVariable> CsvRecorder::pool_variables() const {
-    return this->telemetry == nullptr ? std::vector<PoolVariable>{} :
-                                        this->telemetry->variable_map().monitoring_variables();
-}
-
-void CsvRecorder::sample(uint64_t tick) {
-    if (not this->header_written) {
-        this->write_header();
-    }
-
-    std::vector<CsvCell> cells = this->ground_truth.sample(tick);
-
-    if (cells.size() != GroundTruth::columns().size()) {
-        throw std::logic_error("the ground truth sampled a different number of cells than it has columns");
-    }
-
-    for (const auto& column : this->pool_columns) {
-        cells.emplace_back(this->telemetry->value(column.id, column.component));
-    }
-
-    const Actuators& actuators = this->proxy_state.actuators;
-    const Sensors&   sensors = this->proxy_state.sensors;
-
-    cells.emplace_back(actuators.left_command);
-    cells.emplace_back(actuators.right_command);
-    cells.emplace_back(actuators.fan_speed);
-
-    for (const float position : sensors.encoder_positions) {
-        cells.emplace_back(position);
-    }
-
-    for (const float rate : sensors.angular_velocity) {
-        cells.emplace_back(rate);
-    }
-
-    for (const float acceleration : sensors.linear_acceleration) {
-        cells.emplace_back(acceleration);
-    }
-
-    for (const float reading : sensors.wall_adc_readings) {
-        cells.emplace_back(reading);
-    }
-
-    const InterfaceInput& input = this->proxy_state.interface_input;
-
-    cells.emplace_back(static_cast<int64_t>(input.button_pressed));
-
-    for (const bool state : input.dip_switches) {
-        cells.emplace_back(static_cast<int64_t>(state));
-    }
-
-    this->writer.write_row(cells);
-}
-}  // namespace micras::sim
diff --git a/src/sim/recording/ground_truth.cpp b/src/sim/recording/ground_truth.cpp
deleted file mode 100644
index 3df039d..0000000
--- a/src/sim/recording/ground_truth.cpp
+++ /dev/null
@@ -1,226 +0,0 @@
-/**
- * @file
- */
-
-#include <algorithm>
-#include <array>
-#include <cmath>
-#include <span>
-#include <stdexcept>
-
-#include "micras/sim/recording/ground_truth.hpp"
-
-// NOLINTBEGIN(cppcoreguidelines-pro-bounds-pointer-arithmetic): mjData exposes flat C arrays indexed by id.
-
-namespace micras::sim {
-namespace {
-/**
- * @brief Nominal firmware loop period in seconds, written on every row.
- */
-constexpr double firmware_loop_time = 1042.0e-6;
-
-/**
- * @brief Convert a MuJoCo quaternion to roll, pitch and yaw.
- *
- * @param quaternion Quaternion in w, x, y, z order.
- * @return Array with roll, pitch and yaw in radians.
- */
-std::array<double, 3> to_euler(const mjtNum* quaternion) {
-    const double scalar = quaternion[0];
-    const double x = quaternion[1];
-    const double y = quaternion[2];
-    const double z = quaternion[3];
-
-    const double roll = std::atan2(2.0 * (scalar * x + y * z), 1.0 - 2.0 * (x * x + y * y));
-    const double sin_pitch = std::clamp(2.0 * (scalar * y - z * x), -1.0, 1.0);
-    const double pitch = std::asin(sin_pitch);
-    const double yaw = std::atan2(2.0 * (scalar * z + x * y), 1.0 - 2.0 * (y * y + z * z));
-
-    return {roll, pitch, yaw};
-}
-
-/**
- * @brief Resolve the free joint the chassis floats on.
- *
- * @param model Loaded model.
- * @param body_id Id of the robot body.
- * @return Address of the first velocity dof of the free joint.
- */
-int free_joint_dof(const mjModel* model, int body_id) {
-    if (model->body_jntnum[body_id] < 1) {
-        throw std::runtime_error("body 'micras' has no joint, a free joint is required");
-    }
-
-    const int root_joint = model->body_jntadr[body_id];
-
-    if (model->jnt_type[root_joint] != mjJNT_FREE) {
-        throw std::runtime_error(
-            "the first joint of body 'micras' must be a free joint, got mjtJoint " +
-            std::to_string(model->jnt_type[root_joint])
-        );
-    }
-
-    return model->jnt_dofadr[root_joint];
-}
-}  // namespace
-
-GroundTruth::GroundTruth(const MujocoWorld& world) :
-    world{world},
-    body_id{world.require_id(mjOBJ_BODY, "micras")},
-    left_wheel_geom{world.require_id(mjOBJ_GEOM, "left_wheel")},
-    right_wheel_geom{world.require_id(mjOBJ_GEOM, "right_wheel")},
-    caster_geom{world.require_id(mjOBJ_GEOM, "front wheel")},
-    base_geom{world.require_id(mjOBJ_GEOM, "base")},
-    left_actuator{world.require_id(mjOBJ_ACTUATOR, "motor_left")},
-    right_actuator{world.require_id(mjOBJ_ACTUATOR, "motor_right")},
-    free_joint_qvel{free_joint_dof(world.model(), this->body_id)} {
-    const mjModel* model = world.model();
-    const int      left_wheel = world.require_id(mjOBJ_JOINT, "left_wheel");
-    const int      right_wheel = world.require_id(mjOBJ_JOINT, "right_wheel");
-
-    this->left_wheel_qvel = model->jnt_dofadr[left_wheel];
-    this->right_wheel_qvel = model->jnt_dofadr[right_wheel];
-    this->left_wheel_qpos = model->jnt_qposadr[left_wheel];
-    this->right_wheel_qpos = model->jnt_qposadr[right_wheel];
-}
-
-int64_t GroundTruth::warnings_total(const MujocoWorld& world) {
-    int64_t warnings = 0;
-
-    for (const mjWarningStat& warning : std::span(world.data()->warning)) {
-        warnings += warning.number;
-    }
-
-    return warnings;
-}
-
-std::vector<std::string> GroundTruth::columns() {
-    return {
-        "tick",
-        "sim_time",
-        "fw_loop_time",
-        "x",
-        "y",
-        "z",
-        "roll",
-        "pitch",
-        "yaw",
-        "vx_world",
-        "vy_world",
-        "vz_world",
-        "wz_body",
-        "v_forward",
-        "wheel_qvel_left",
-        "wheel_qvel_right",
-        "ctrl_left",
-        "ctrl_right",
-        "act_force_left",
-        "act_force_right",
-        "left_ncon",
-        "left_fn",
-        "left_slip",
-        "left_penetration",
-        "right_ncon",
-        "right_fn",
-        "right_slip",
-        "right_penetration",
-        "caster_ncon",
-        "ncon_total",
-        "solver_niter",
-        "warnings_total",
-        "wheel_qpos_left",
-        "wheel_qpos_right",
-        "caster_fn",
-        "base_ncon"
-    };
-}
-
-GroundTruth::ContactStats GroundTruth::collect_contacts(int geom_id) const {
-    const mjModel* model = this->world.model();
-    const mjData*  data = this->world.data();
-    ContactStats   stats;
-
-    for (int i = 0; i < data->ncon; i++) {
-        const mjContact& contact = data->contact[i];
-
-        if (contact.efc_address < 0) {
-            continue;
-        }
-
-        if (contact.geom[0] != geom_id and contact.geom[1] != geom_id) {
-            continue;
-        }
-
-        stats.count++;
-        stats.penetration = stats.count == 1 ? contact.dist : std::min(stats.penetration, contact.dist);
-
-        std::array<mjtNum, 6> force{};
-        mj_contactForce(model, data, i, force.data());
-        stats.normal_force += force[0];
-
-        if (contact.dim >= 3) {
-            const int address = contact.efc_address;
-            stats.slip = std::max(stats.slip, std::hypot(data->efc_vel[address + 1], data->efc_vel[address + 2]));
-        }
-    }
-
-    return stats;
-}
-
-std::vector<CsvCell> GroundTruth::sample(uint64_t tick) {
-    const mjData* data = this->world.data();
-    const mjtNum* position = data->xpos + 3L * this->body_id;
-    const auto    euler = to_euler(data->xquat + 4L * this->body_id);
-    const mjtNum* velocity = data->qvel + this->free_joint_qvel;
-
-    this->last_body_z = position[2];
-
-    const double forward_speed = -velocity[0] * std::sin(euler[2]) + velocity[1] * std::cos(euler[2]);
-
-    const ContactStats left = this->collect_contacts(this->left_wheel_geom);
-    const ContactStats right = this->collect_contacts(this->right_wheel_geom);
-    const ContactStats caster = this->collect_contacts(this->caster_geom);
-    const ContactStats base = this->collect_contacts(this->base_geom);
-
-    return {
-        tick,
-        data->time,
-        firmware_loop_time,
-        position[0],
-        position[1],
-        position[2],
-        euler[0],
-        euler[1],
-        euler[2],
-        velocity[0],
-        velocity[1],
-        velocity[2],
-        velocity[5],
-        forward_speed,
-        data->qvel[this->left_wheel_qvel],
-        data->qvel[this->right_wheel_qvel],
-        data->ctrl[this->left_actuator],
-        data->ctrl[this->right_actuator],
-        data->actuator_force[this->left_actuator],
-        data->actuator_force[this->right_actuator],
-        static_cast<int64_t>(left.count),
-        left.normal_force,
-        left.slip,
-        left.penetration,
-        static_cast<int64_t>(right.count),
-        right.normal_force,
-        right.slip,
-        right.penetration,
-        static_cast<int64_t>(caster.count),
-        static_cast<int64_t>(data->ncon),
-        static_cast<int64_t>(data->solver_niter[0]),
-        warnings_total(this->world),
-        data->qpos[this->left_wheel_qpos],
-        data->qpos[this->right_wheel_qpos],
-        caster.normal_force,
-        static_cast<int64_t>(base.count),
-    };
-}
-}  // namespace micras::sim
-
-// NOLINTEND(cppcoreguidelines-pro-bounds-pointer-arithmetic)
diff --git a/src/sim/telemetry/packet_framer.cpp b/src/sim/telemetry/packet_framer.cpp
deleted file mode 100644
index 5ea15f8..0000000
--- a/src/sim/telemetry/packet_framer.cpp
+++ /dev/null
@@ -1,81 +0,0 @@
-/**
- * @file
- */
-
-#include "micras/comm/packet.hpp"
-#include "micras/sim/telemetry/packet_framer.hpp"
-
-namespace micras::sim {
-namespace {
-/**
- * @brief Offset of the first payload byte from the header byte.
- */
-constexpr std::size_t payload_offset{6};
-}  // namespace
-
-void PacketFramer::push(std::span<const uint8_t> bytes) {
-    this->buffer.insert(this->buffer.end(), bytes.begin(), bytes.end());
-}
-
-std::vector<std::vector<uint8_t>> PacketFramer::drain() {
-    std::vector<std::vector<uint8_t>> packets;
-    std::size_t                       consumed = 0;
-    std::size_t                       index = 0;
-
-    while (index < this->buffer.size()) {
-        if (this->buffer[index] != comm::Packet::header_byte) {
-            index++;
-            continue;
-        }
-
-        if (index + payload_offset > this->buffer.size()) {
-            break;
-        }
-
-        const std::size_t tail = this->find_tail(index);
-
-        if (tail >= this->buffer.size()) {
-            break;
-        }
-
-        const auto first = this->buffer.begin() + static_cast<std::ptrdiff_t>(index);
-        const auto last = this->buffer.begin() + static_cast<std::ptrdiff_t>(tail) + 1;
-        packets.emplace_back(first, last);
-        index = tail + 1;
-        consumed = index;
-    }
-
-    this->buffer.erase(this->buffer.begin(), this->buffer.begin() + static_cast<std::ptrdiff_t>(consumed));
-    this->resync_if_overflowed();
-
-    return packets;
-}
-
-std::size_t PacketFramer::find_tail(std::size_t start) const {
-    std::size_t index = start + payload_offset;
-
-    while (index < this->buffer.size()) {
-        if (this->buffer[index] == comm::Packet::escape_byte) {
-            index += 2;
-            continue;
-        }
-
-        if (this->buffer[index] == comm::Packet::tail_byte) {
-            return index;
-        }
-
-        index++;
-    }
-
-    return this->buffer.size();
-}
-
-void PacketFramer::resync_if_overflowed() {
-    if (this->buffer.size() <= max_buffer_size) {
-        return;
-    }
-
-    this->buffer.clear();
-    this->resyncs++;
-}
-}  // namespace micras::sim
diff --git a/src/sim/telemetry/telemetry.cpp b/src/sim/telemetry/telemetry.cpp
deleted file mode 100644
index fc21157..0000000
--- a/src/sim/telemetry/telemetry.cpp
+++ /dev/null
@@ -1,286 +0,0 @@
-/**
- * @file
- */
-
-#include <algorithm>
-#include <cstring>
-#include <limits>
-#include <string_view>
-
-#include "micras/comm/packet.hpp"
-#include "micras/sim/telemetry/telemetry.hpp"
-
-namespace micras::sim {
-namespace {
-constexpr double not_a_number = std::numeric_limits<double>::quiet_NaN();
-
-/**
- * @brief Read a little-endian unsigned 16 bit integer.
- *
- * @param data Source buffer.
- * @param offset Offset of the first byte.
- * @return Decoded value.
- */
-uint16_t read_u16_le(const std::vector<uint8_t>& data, std::size_t offset) {
-    return static_cast<uint16_t>(data.at(offset) | (data.at(offset + 1) << 8));
-}
-
-/**
- * @brief Read a little-endian 32 bit float.
- *
- * @param payload Source buffer.
- * @param offset Offset of the first byte.
- * @return Decoded value.
- */
-double read_f32_le(const std::vector<uint8_t>& payload, std::size_t offset) {
-    float value{};
-    std::memcpy(&value, &payload.at(offset), sizeof(value));
-    return value;
-}
-
-/**
- * @brief Strip the namespace qualification off a firmware type name.
- *
- * @param type Type name as reported in the variable map response.
- * @return Last component of the qualified name.
- */
-std::string_view bare_type(const std::string& type) {
-    const std::size_t separator = type.rfind("::");
-    return separator == std::string::npos ? std::string_view{type} : std::string_view{type}.substr(separator + 2);
-}
-
-/**
- * @brief Read one length-prefixed string out of the map payload.
- *
- * @param payload Map response payload.
- * @param offset Offset of the length byte, advanced past the string.
- * @return The string, or nullopt if the payload ends early.
- */
-std::optional<std::string> read_string(const std::vector<uint8_t>& payload, std::size_t& offset) {
-    if (offset >= payload.size()) {
-        return std::nullopt;
-    }
-
-    const std::size_t length = payload.at(offset++);
-
-    if (offset + length > payload.size()) {
-        return std::nullopt;
-    }
-
-    const auto  first = payload.begin() + static_cast<std::ptrdiff_t>(offset);
-    std::string text(first, first + static_cast<std::ptrdiff_t>(length));
-    offset += length;
-    return text;
-}
-
-/**
- * @brief Read one pool variable entry out of the map payload.
- *
- * @param payload Map response payload.
- * @param offset Offset of the entry, advanced past it.
- * @return The variable, or nullopt if the payload ends early.
- */
-std::optional<PoolVariable> read_variable(const std::vector<uint8_t>& payload, std::size_t& offset) {
-    if (offset + 3 > payload.size()) {
-        return std::nullopt;
-    }
-
-    PoolVariable variable{};
-    variable.id = read_u16_le(payload, offset);
-    offset += 2;
-
-    const std::optional<std::string> name = read_string(payload, offset);
-
-    if (not name.has_value()) {
-        return std::nullopt;
-    }
-
-    const std::optional<std::string> type = read_string(payload, offset);
-
-    if (not type.has_value() or offset >= payload.size()) {
-        return std::nullopt;
-    }
-
-    variable.name = name.value();
-    variable.type = type.value();
-    variable.read_only = payload.at(offset++) != 0;
-    return variable;
-}
-}  // namespace
-
-std::optional<VariableMap> VariableMap::parse(const std::vector<uint8_t>& payload) {
-    if (payload.size() < 2) {
-        return std::nullopt;
-    }
-
-    VariableMap map;
-
-    std::vector<PoolVariable> variables;
-    const uint16_t            count = read_u16_le(payload, 0);
-    std::size_t               offset = 2;
-
-    for (uint16_t i = 0; i < count; i++) {
-        const std::optional<PoolVariable> variable = read_variable(payload, offset);
-
-        if (not variable.has_value()) {
-            return std::nullopt;
-        }
-
-        variables.push_back(*variable);
-    }
-
-    std::sort(variables.begin(), variables.end(), [](const PoolVariable& left, const PoolVariable& right) {
-        return left.id < right.id;
-    });
-
-    for (const auto& variable : variables) {
-        map.types[variable.id] = variable.type;
-        map.ids_by_name[variable.name] = variable.id;
-
-        if (variable.read_only) {
-            map.monitoring.push_back(variable);
-        }
-    }
-
-    return map;
-}
-
-std::vector<std::string> VariableMap::type_column_suffixes(const std::string& type) {
-    const std::string_view bare = bare_type(type);
-
-    if (bare == "GridPose") {
-        return {"x", "y", "side"};
-    }
-
-    if (bare == "State") {
-        return {"x", "y", "orientation", "v_linear", "v_angular"};
-    }
-
-    return {};
-}
-
-std::optional<uint16_t> VariableMap::find_id(const std::string& name) const {
-    const auto entry = this->ids_by_name.find(name);
-    return entry == this->ids_by_name.end() ? std::nullopt : std::optional<uint16_t>{entry->second};
-}
-
-std::string VariableMap::type_of(uint16_t id) const {
-    const auto entry = this->types.find(id);
-    return entry == this->types.end() ? std::string{} : entry->second;
-}
-
-std::vector<double> PoolValues::decode(const std::string& type, const std::vector<uint8_t>& payload) {
-    const std::string_view bare = bare_type(type);
-
-    if (bare == "float" and payload.size() == sizeof(float)) {
-        return {read_f32_le(payload, 0)};
-    }
-
-    if (bare == "double" and payload.size() == sizeof(double)) {
-        double value{};
-        std::memcpy(&value, payload.data(), sizeof(value));
-        return {value};
-    }
-
-    if (bare == "bool" and payload.size() == sizeof(bool)) {
-        return {payload.front() != 0 ? 1.0 : 0.0};
-    }
-
-    if (bare == "signed char" and payload.size() == 1) {
-        return {static_cast<double>(static_cast<int8_t>(payload.front()))};
-    }
-
-    if ((bare == "unsigned char" or bare == "char") and payload.size() == 1) {
-        return {static_cast<double>(payload.front())};
-    }
-
-    if (bare == "GridPose" and payload.size() == 3) {
-        return {static_cast<double>(payload[0]), static_cast<double>(payload[1]), static_cast<double>(payload[2])};
-    }
-
-    if (bare == "State" and payload.size() == 5 * sizeof(float)) {
-        return {
-            read_f32_le(payload, 0), read_f32_le(payload, 4), read_f32_le(payload, 8), read_f32_le(payload, 12),
-            read_f32_le(payload, 16)
-        };
-    }
-
-    const std::size_t columns = std::max<std::size_t>(1, VariableMap::type_column_suffixes(type).size());
-    return std::vector<double>(columns, not_a_number);
-}
-
-void PoolValues::store(uint16_t id, const std::string& type, const std::vector<uint8_t>& payload) {
-    this->values[id] = decode(type, payload);
-}
-
-double PoolValues::get(uint16_t id, std::size_t component) const {
-    const auto entry = this->values.find(id);
-
-    if (entry == this->values.end() or component >= entry->second.size()) {
-        return not_a_number;
-    }
-
-    return entry->second[component];
-}
-
-Telemetry::Telemetry(SerialBus& serial) : serial{serial} {
-    this->serial.add_listener(*this);
-}
-
-Telemetry::~Telemetry() {
-    this->serial.remove_listener(*this);
-}
-
-void Telemetry::on_firmware_bytes(std::span<const uint8_t> bytes) {
-    this->framer.push(bytes);
-}
-
-void Telemetry::request_variable_map() {
-    this->serial.queue_for_firmware(comm::Packet(comm::Packet::MessageType::SERIAL_VARIABLE_MAP_REQUEST).serialize());
-}
-
-void Telemetry::send_variable(uint16_t id, const std::vector<uint8_t>& payload) {
-    this->serial.queue_for_firmware(comm::Packet(comm::Packet::MessageType::SERIAL_VARIABLE, id, payload).serialize());
-}
-
-void Telemetry::on_after_tick(const Simulation& /*simulation*/) {
-    this->poll();
-}
-
-void Telemetry::poll() {
-    for (const auto& raw : this->framer.drain()) {
-        this->consume(raw);
-    }
-}
-
-double Telemetry::value_of(const std::string& name) const {
-    const std::optional<uint16_t> id = this->map.find_id(name);
-    return id.has_value() ? this->values.get(*id) : not_a_number;
-}
-
-void Telemetry::consume(const std::vector<uint8_t>& raw) {
-    const comm::Packet packet(raw);
-
-    switch (packet.get_type()) {
-        case comm::Packet::MessageType::SERIAL_VARIABLE_MAP_RESPONSE: {
-            const std::optional<VariableMap> parsed = VariableMap::parse(packet.get_payload());
-
-            if (parsed.has_value()) {
-                this->map = *parsed;
-                this->map_received = true;
-            } else {
-                this->map_failures++;
-            }
-
-            break;
-        }
-
-        case comm::Packet::MessageType::SERIAL_VARIABLE:
-            this->values.store(packet.get_id(), this->map.type_of(packet.get_id()), packet.get_payload());
-            break;
-
-        default:
-            break;
-    }
-}
-}  // namespace micras::sim
diff --git a/src/sim/view/control_panel.cpp b/src/sim/view/control_panel.cpp
deleted file mode 100644
index b551bb4..0000000
--- a/src/sim/view/control_panel.cpp
+++ /dev/null
@@ -1,280 +0,0 @@
-/**
- * @file
- */
-
-#include "micras/sim/view/control_panel.hpp"
-
-#ifdef MICRAS_VIEWER
-
-    #include <algorithm>
-    #include <format>
-    #include <utility>
-
-    #include <GLFW/glfw3.h>
-    #include <imgui.h>
-    #include <imgui_impl_glfw.h>
-    #include <imgui_impl_opengl3.h>
-    #include <implot.h>
-
-namespace micras::sim {
-namespace {
-/**
- * @brief Range of the speed limiter, in simulated seconds per wall second.
- *
- * @note Zero means no limit, which is what a headless run does.
- */
-///@{
-constexpr double speed_minimum{0.0};
-constexpr double speed_maximum{10.0};
-///@}
-
-/**
- * @brief Pool variables the panel plots, in the order they are drawn.
- */
-constexpr std::array<const char*, 4> plotted_variables{
-    "Desired Linear Speed", "Odometry Linear Velocity", "Desired Angular Speed", "Odometry Angular Velocity"
-};
-
-/**
- * @brief Names of the DIP switches, as Interface::DipSwitchPins orders them.
- */
-constexpr std::array<const char*, InterfaceInput::dip_switch_count> dip_names{"fan", "diagonal", "boost", "risky"};
-
-/**
- * @brief Name of a Micras::State value.
- *
- * @note The negated comparison is the NaN guard: an unmapped pool variable
- *       reads as NaN, and every comparison with NaN is false.
- *
- * @param state Numeric state as reported by the firmware pool.
- * @return State name, or "?" when out of range or not reported yet.
- */
-const char* state_name(double state) {
-    static constexpr std::array<const char*, 7> names{"INIT",      "IDLE", "WAIT_FOR_RUN", "RUN", "WAIT_FOR_CALIBRATE",
-                                                      "CALIBRATE", "ERROR"};
-    const auto                                  index = static_cast<std::size_t>(state);
-
-    if (not(state >= 0.0) or index >= names.size()) {
-        return "?";
-    }
-
-    return names.at(index);
-}
-
-/**
- * @brief Draw a colour swatch for one addressable LED.
- *
- * @param label Label shown beside it.
- * @param colour Colour to show.
- */
-void draw_swatch(const std::string& label, const Rgb& colour) {
-    const ImVec4 value(colour.red / 255.0F, colour.green / 255.0F, colour.blue / 255.0F, 1.0F);
-    ImGui::ColorButton(label.c_str(), value, ImGuiColorEditFlags_NoTooltip, ImVec2(24, 24));
-    ImGui::SameLine();
-    ImGui::TextUnformatted(label.c_str());
-}
-}  // namespace
-
-PlotTrace::PlotTrace(std::string variable) : variable{std::move(variable)} {
-    this->sample_times.reserve(capacity);
-    this->sample_values.reserve(capacity);
-}
-
-void PlotTrace::sample(double time, const Telemetry& telemetry) {
-    if (this->sample_times.size() == capacity) {
-        this->sample_times.erase(this->sample_times.begin());
-        this->sample_values.erase(this->sample_values.begin());
-    }
-
-    this->sample_times.push_back(time);
-    this->sample_values.push_back(telemetry.value_of(this->variable));
-}
-
-ControlPanel::ControlPanel(GLFWwindow* window, ProxyState& state, const Telemetry& telemetry) :
-    state{state}, telemetry{telemetry} {
-    IMGUI_CHECKVERSION();
-    ImGui::CreateContext();
-    ImGui::GetIO().IniFilename = nullptr;
-    ImPlot::CreateContext();
-    ImGui::StyleColorsDark();
-    ImGui_ImplGlfw_InitForOpenGL(window, true);
-    ImGui_ImplOpenGL3_Init("#version 130");
-
-    for (const char* variable : plotted_variables) {
-        this->traces.emplace_back(variable);
-    }
-}
-
-ControlPanel::~ControlPanel() {
-    ImGui_ImplOpenGL3_Shutdown();
-    ImGui_ImplGlfw_Shutdown();
-    ImPlot::DestroyContext();
-    ImGui::DestroyContext();
-}
-
-void ControlPanel::take_over() {
-    this->touched = true;
-    this->state.interface_input.driven_by_human = true;
-}
-
-void ControlPanel::sample(double time) {
-    for (PlotTrace& trace : this->traces) {
-        trace.sample(time, this->telemetry);
-    }
-}
-
-PanelRequest ControlPanel::draw(const Simulation& simulation, bool paused) {
-    ImGui_ImplOpenGL3_NewFrame();
-    ImGui_ImplGlfw_NewFrame();
-    ImGui::NewFrame();
-
-    ImGui::SetNextWindowPos(ImVec2(10, 10), ImGuiCond_FirstUseEver);
-    ImGui::SetNextWindowSize(ImVec2(360, 620), ImGuiCond_FirstUseEver);
-    ImGui::Begin("micras");
-
-    ImGui::TextUnformatted(std::format("tick {}", simulation.tick()).c_str());
-    ImGui::TextUnformatted(std::format("state {}", state_name(this->telemetry.value_of("FSM State"))).c_str());
-    ImGui::Separator();
-
-    this->request.paused_changed = false;
-    this->draw_board(paused);
-    ImGui::Separator();
-    this->draw_plots();
-
-    ImGui::End();
-    ImGui::Render();
-    ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
-
-    return this->request;
-}
-
-void ControlPanel::draw_board(bool paused) {
-    InterfaceInput& input = this->state.interface_input;
-
-    ImGui::TextUnformatted("run");
-    bool wanted = paused;
-
-    if (ImGui::Checkbox("paused", &wanted)) {
-        this->request.paused = wanted;
-        this->request.paused_changed = true;
-    }
-
-    ImGui::SameLine();
-
-    if (ImGui::Button("step")) {
-        this->request.steps++;
-    }
-
-    ImGui::SameLine();
-
-    if (ImGui::Button("quit")) {
-        this->request.quit = true;
-    }
-
-    ImGui::SliderScalar("speed", ImGuiDataType_Double, &this->request.speed, &speed_minimum, &speed_maximum, "%.1f x");
-
-    ImGui::Spacing();
-    ImGui::TextUnformatted("board");
-
-    ImGui::Button("button");
-
-    if (ImGui::IsItemActivated()) {
-        this->take_over();
-        input.button_pressed = true;
-    } else if (ImGui::IsItemDeactivated()) {
-        input.button_pressed = false;
-    }
-
-    for (std::size_t i = 0; i < dip_names.size(); i++) {
-        bool switched = input.dip_switches.at(i);
-
-        if (ImGui::Checkbox(dip_names.at(i), &switched)) {
-            this->take_over();
-            input.dip_switches.at(i) = switched;
-        }
-
-        if (i + 1 < dip_names.size()) {
-            ImGui::SameLine();
-        }
-    }
-
-    if (ImGui::Checkbox("fan allowed", &this->state.overrides.fan_enabled)) {
-        this->take_over();
-    }
-
-    ImGui::Spacing();
-    ImGui::TextUnformatted("shown");
-
-    const InterfaceOutput& output = this->state.interface_output;
-    draw_swatch("led", output.led_on ? Rgb{255, 255, 255} : Rgb{40, 40, 40});
-
-    for (std::size_t i = 0; i < output.argb.size(); i++) {
-        draw_swatch(std::format("argb {}", i), output.argb.at(i));
-    }
-
-    ImGui::TextUnformatted(std::format("buzzer {} Hz", output.buzzer_frequency).c_str());
-
-    ImGui::Spacing();
-    ImGui::TextUnformatted("driven");
-
-    const Actuators& actuators = this->state.actuators;
-    ImGui::TextUnformatted(
-        std::format("wheels {:6.1f} {:6.1f}", actuators.left_command, actuators.right_command).c_str()
-    );
-    ImGui::TextUnformatted(std::format("fan {:6.1f}", actuators.fan_speed).c_str());
-
-    const Sensors& sensors = this->state.sensors;
-    ImGui::TextUnformatted(std::format(
-                               "walls {:5.3f} {:5.3f} {:5.3f} {:5.3f}", sensors.wall_adc_readings.at(0),
-                               sensors.wall_adc_readings.at(1), sensors.wall_adc_readings.at(2),
-                               sensors.wall_adc_readings.at(3)
-    )
-                               .c_str());
-}
-
-void ControlPanel::draw_plots() {
-    for (const PlotTrace& trace : this->traces) {
-        if (not ImPlot::BeginPlot(trace.name().c_str(), ImVec2(-1, 110))) {
-            continue;
-        }
-
-        ImPlot::SetupAxes("s", nullptr, ImPlotAxisFlags_AutoFit, ImPlotAxisFlags_AutoFit);
-
-        if (not trace.times().empty()) {
-            ImPlot::PlotLine(
-                trace.name().c_str(), trace.times().data(), trace.values().data(),
-                static_cast<int>(trace.times().size())
-            );
-        }
-
-        ImPlot::EndPlot();
-    }
-}
-}  // namespace micras::sim
-
-#else  // MICRAS_VIEWER
-
-namespace micras::sim {
-PlotTrace::PlotTrace(std::string variable) : variable{std::move(variable)} { }
-
-void PlotTrace::sample(double /*time*/, const Telemetry& /*telemetry*/) { }
-
-ControlPanel::ControlPanel(GLFWwindow* /*window*/, ProxyState& state, const Telemetry& telemetry) :
-    state{state}, telemetry{telemetry} { }
-
-ControlPanel::~ControlPanel() = default;
-
-void ControlPanel::sample(double /*time*/) { }
-
-PanelRequest ControlPanel::draw(const Simulation& /*simulation*/, bool /*paused*/) {
-    return this->request;
-}
-
-void ControlPanel::draw_board(bool /*paused*/) { }
-
-void ControlPanel::draw_plots() { }
-
-void ControlPanel::take_over() { }
-}  // namespace micras::sim
-
-#endif  // MICRAS_VIEWER
diff --git a/src/sim/view/mujoco_viewer.cpp b/src/sim/view/mujoco_viewer.cpp
deleted file mode 100644
index efa6578..0000000
--- a/src/sim/view/mujoco_viewer.cpp
+++ /dev/null
@@ -1,467 +0,0 @@
-/**
- * @file
- */
-
-#include "micras/sim/view/mujoco_viewer.hpp"
-
-#ifdef MICRAS_VIEWER
-
-    #include <algorithm>
-    #include <format>
-    #include <string>
-
-    #include <GLFW/glfw3.h>
-    #include <imgui.h>
-
-namespace micras::sim {
-namespace {
-/**
- * @brief How far a drag moves the camera, as a fraction of the window.
- */
-constexpr double drag_scale{1.0};
-
-/**
- * @brief How much one scroll step zooms.
- */
-constexpr double zoom_per_scroll{-0.05};
-
-/**
- * @brief Get the viewer a GLFW window belongs to.
- *
- * @param window Window the event came from.
- * @return The viewer.
- */
-MujocoViewer* viewer_of(GLFWwindow* window) {
-    return static_cast<MujocoViewer*>(glfwGetWindowUserPointer(window));
-}
-
-/**
- * @brief Count how many GLFW users are still up.
- *
- * @note Unsynchronised because viewers are only ever built and destroyed on the
- *       simulation thread, which is also the only thread GLFW may be called
- *       from.
- */
-// NOLINTNEXTLINE(*-avoid-non-const-global-variables): GLFW itself is process wide.
-int glfw_users = 0;
-
-/**
- * @brief Last message GLFW reported, so a failure says what actually happened.
- */
-// NOLINTNEXTLINE(*-avoid-non-const-global-variables): the GLFW error callback takes no user pointer.
-std::string glfw_error;
-}  // namespace
-
-std::unique_ptr<MujocoViewer> MujocoViewer::create(
-    MujocoWorld& world, ProxyState& state, const Telemetry& telemetry, const ViewerConfig& config, std::string& error
-) {
-    glfwSetErrorCallback([](int code, const char* description) {
-        glfw_error = std::format("GLFW error {}: {}", code, description == nullptr ? "?" : description);
-    });
-
-    if (glfw_users == 0 and glfwInit() == GLFW_FALSE) {
-        error = glfw_error.empty() ? "could not initialise GLFW; is a display available?" : glfw_error;
-        return nullptr;
-    }
-
-    glfw_users++;
-
-    std::unique_ptr<MujocoViewer> viewer(new MujocoViewer());
-    viewer->world = &world;
-    viewer->config = config;
-
-    viewer->window = glfwCreateWindow(config.width, config.height, "micras simulation", nullptr, nullptr);
-
-    if (viewer->window == nullptr) {
-        error = glfw_error.empty() ? "could not open a window; is a display available?" : glfw_error;
-        return nullptr;
-    }
-
-    glfwMakeContextCurrent(viewer->window);
-    glfwSwapInterval(0);
-    glfwSetWindowUserPointer(viewer->window, viewer.get());
-
-    glfwSetKeyCallback(viewer->window, [](GLFWwindow* window, int key, int, int action, int) {
-        if (action == GLFW_PRESS or action == GLFW_REPEAT) {
-            viewer_of(window)->on_key(key);
-        }
-    });
-
-    glfwSetMouseButtonCallback(viewer->window, [](GLFWwindow* window, int button, int action, int) {
-        viewer_of(window)->on_mouse_button(button, action == GLFW_PRESS);
-    });
-
-    glfwSetCursorPosCallback(viewer->window, [](GLFWwindow* window, double x, double y) {
-        viewer_of(window)->on_mouse_move(x, y);
-    });
-
-    glfwSetScrollCallback(viewer->window, [](GLFWwindow* window, double, double offset) {
-        viewer_of(window)->on_scroll(offset);
-    });
-
-    mjv_defaultCamera(&viewer->camera);
-    mjv_defaultOption(&viewer->option);
-    mjv_defaultScene(&viewer->scene);
-    mjv_defaultPerturb(&viewer->perturb);
-    mjr_defaultContext(&viewer->context);
-
-    viewer->option.flags[mjVIS_RANGEFINDER] = 1;
-
-    mjv_makeScene(world.model(), &viewer->scene, 2000);
-    mjr_makeContext(world.model(), &viewer->context, mjFONTSCALE_150);
-    viewer->context_ready = true;
-
-    if (not viewer->select_camera(config.camera, error)) {
-        return nullptr;
-    }
-
-    viewer->panel = std::make_unique<ControlPanel>(viewer->window, state, telemetry);
-    return viewer;
-}
-
-MujocoViewer::~MujocoViewer() {
-    if (this->window != nullptr) {
-        glfwMakeContextCurrent(this->window);
-    }
-
-    this->panel.reset();
-
-    if (this->context_ready) {
-        mjr_freeContext(&this->context);
-        mjv_freeScene(&this->scene);
-    }
-
-    if (this->window != nullptr) {
-        glfwDestroyWindow(this->window);
-    }
-
-    glfw_users--;
-
-    if (glfw_users == 0) {
-        glfwTerminate();
-    }
-}
-
-bool MujocoViewer::select_camera(const std::string& name, std::string& error) {
-    const mjModel* model = this->world->model();
-
-    if (name == "free") {
-        mjv_defaultFreeCamera(model, &this->camera);
-        return true;
-    }
-
-    const int id = mj_name2id(model, mjOBJ_CAMERA, name.c_str());
-
-    if (id < 0) {
-        error = "model has no camera named '" + name + "'; it has";
-
-        for (int i = 0; i < model->ncam; i++) {
-            const char* found = mj_id2name(model, mjOBJ_CAMERA, i);
-            error += std::string(" '") + (found == nullptr ? "?" : found) + "'";
-        }
-
-        error += " and 'free'";
-        return false;
-    }
-
-    this->camera.type = mjCAMERA_FIXED;
-    this->camera.fixedcamid = id;
-    return true;
-}
-
-void MujocoViewer::on_start(const Simulation& simulation) {
-    this->draw(simulation);
-}
-
-RunControl MujocoViewer::on_before_tick(const Simulation& simulation) {
-    glfwPollEvents();
-
-    while ((this->paused and this->pending_steps == 0) or this->wait_for_speed_limit()) {
-        if (this->should_quit()) {
-            return RunControl::QUIT;
-        }
-
-        this->draw(simulation);
-        glfwWaitEventsTimeout(0.005);
-    }
-
-    if (this->should_quit()) {
-        return RunControl::QUIT;
-    }
-
-    if (this->paused and this->pending_steps > 0) {
-        this->pending_steps--;
-    }
-
-    this->last_tick_at = glfwGetTime();
-    this->apply_perturbation();
-    return RunControl::RUN;
-}
-
-bool MujocoViewer::should_quit() const {
-    return glfwWindowShouldClose(this->window) != 0 or this->quit_requested;
-}
-
-bool MujocoViewer::wait_for_speed_limit() const {
-    if (this->speed <= 0.0) {
-        return false;
-    }
-
-    return glfwGetTime() - this->last_tick_at < this->config.us_per_tick * 1e-6 / this->speed;
-}
-
-bool MujocoViewer::was_interactive() const {
-    return this->interactive or (this->panel != nullptr and this->panel->was_touched());
-}
-
-void MujocoViewer::on_after_tick(const Simulation& simulation) {
-    if (simulation.tick() % this->config.ticks_per_frame != 0) {
-        return;
-    }
-
-    this->panel->sample(this->world->time());
-    this->draw(simulation);
-}
-
-void MujocoViewer::on_finish(const Simulation& simulation) {
-    this->draw(simulation);
-}
-
-void MujocoViewer::apply_perturbation() {
-    mjModel* model = this->world->model();
-    mjData*  data = this->world->data();
-
-    mju_zero(data->xfrc_applied, 6 * model->nbody);
-
-    if (this->perturb.active == 0) {
-        return;
-    }
-
-    this->interactive = true;
-    mjv_applyPerturbForce(model, data, &this->perturb);
-}
-
-void MujocoViewer::draw(const Simulation& simulation) {
-    glfwMakeContextCurrent(this->window);
-
-    int width = 0;
-    int height = 0;
-    glfwGetFramebufferSize(this->window, &width, &height);
-
-    const mjrRect viewport{0, 0, width, height};
-
-    mjv_updateScene(
-        this->world->model(), this->world->data(), &this->option, &this->perturb, &this->camera, mjCAT_ALL, &this->scene
-    );
-    mjr_render(viewport, &this->scene, &this->context);
-
-    const std::string labels = "tick\ntime\nstate\nkeys";
-    const std::string values = std::format(
-        "{}\n{:.3f} s\n{}\nspace pause  right step  tab camera  esc quit", simulation.tick(), this->world->time(),
-        this->paused ? "paused" : "running"
-    );
-    mjr_overlay(mjFONT_NORMAL, mjGRID_TOPRIGHT, viewport, labels.c_str(), values.c_str(), &this->context);
-
-    const PanelRequest request = this->panel->draw(simulation, this->paused);
-
-    if (request.paused_changed) {
-        this->paused = request.paused;
-    }
-
-    this->speed = request.speed;
-    this->quit_requested = request.quit;
-
-    if (request.steps > this->consumed_steps) {
-        this->pending_steps += request.steps - this->consumed_steps;
-        this->consumed_steps = request.steps;
-    }
-
-    glfwSwapBuffers(this->window);
-    this->frames++;
-}
-
-void MujocoViewer::on_key(int key) {
-    if (this->panel != nullptr and ImGui::GetIO().WantCaptureKeyboard) {
-        return;
-    }
-
-    switch (key) {
-        case GLFW_KEY_SPACE:
-            this->paused = not this->paused;
-            break;
-
-        case GLFW_KEY_RIGHT:
-            this->pending_steps++;
-            break;
-
-        case GLFW_KEY_ESCAPE:
-            glfwSetWindowShouldClose(this->window, GLFW_TRUE);
-            break;
-
-        case GLFW_KEY_TAB:
-            this->camera.type = this->camera.type == mjCAMERA_FREE ? mjCAMERA_FIXED : mjCAMERA_FREE;
-            this->camera.fixedcamid = (this->camera.fixedcamid + 1) % std::max(1, this->world->model()->ncam);
-            break;
-
-        case GLFW_KEY_C:
-            this->option.flags[mjVIS_CONTACTPOINT] = 1 - this->option.flags[mjVIS_CONTACTPOINT];
-            break;
-
-        case GLFW_KEY_F:
-            this->option.flags[mjVIS_CONTACTFORCE] = 1 - this->option.flags[mjVIS_CONTACTFORCE];
-            break;
-
-        case GLFW_KEY_T:
-            this->option.flags[mjVIS_TRANSPARENT] = 1 - this->option.flags[mjVIS_TRANSPARENT];
-            break;
-
-        case GLFW_KEY_R:
-            this->option.flags[mjVIS_RANGEFINDER] = 1 - this->option.flags[mjVIS_RANGEFINDER];
-            break;
-
-        default:
-            break;
-    }
-}
-
-void MujocoViewer::on_mouse_button(int button, bool pressed) {
-    if (this->panel != nullptr and ImGui::GetIO().WantCaptureMouse) {
-        this->left_held = false;
-        this->right_held = false;
-        this->middle_held = false;
-        this->perturb.active = 0;
-        return;
-    }
-
-    if (button == GLFW_MOUSE_BUTTON_LEFT) {
-        this->left_held = pressed;
-    } else if (button == GLFW_MOUSE_BUTTON_RIGHT) {
-        this->right_held = pressed;
-    } else if (button == GLFW_MOUSE_BUTTON_MIDDLE) {
-        this->middle_held = pressed;
-    }
-
-    glfwGetCursorPos(this->window, &this->last_x, &this->last_y);
-
-    const bool dragging = this->left_held and (glfwGetKey(this->window, GLFW_KEY_LEFT_CONTROL) == GLFW_PRESS);
-
-    if (not dragging) {
-        this->perturb.active = 0;
-        return;
-    }
-
-    const int body = mj_name2id(this->world->model(), mjOBJ_BODY, "micras");
-
-    if (body < 0) {
-        return;
-    }
-
-    this->perturb.select = body;
-    this->perturb.active = mjPERT_TRANSLATE;
-    mjv_initPerturb(this->world->model(), this->world->data(), &this->scene, &this->perturb);
-}
-
-void MujocoViewer::on_mouse_move(double x, double y) {
-    if (this->panel != nullptr and ImGui::GetIO().WantCaptureMouse) {
-        this->last_x = x;
-        this->last_y = y;
-        return;
-    }
-
-    const double dx = x - this->last_x;
-    const double dy = y - this->last_y;
-    this->last_x = x;
-    this->last_y = y;
-
-    if (not this->left_held and not this->right_held and not this->middle_held) {
-        return;
-    }
-
-    int width = 0;
-    int height = 0;
-    glfwGetWindowSize(this->window, &width, &height);
-
-    const double relative_x = drag_scale * dx / std::max(1, width);
-    const double relative_y = drag_scale * dy / std::max(1, height);
-
-    if (this->perturb.active != 0) {
-        mjv_movePerturb(
-            this->world->model(), this->world->data(), mjMOUSE_MOVE_H, relative_x, relative_y, &this->scene,
-            &this->perturb
-        );
-        return;
-    }
-
-    mjtMouse action = mjMOUSE_ROTATE_V;
-
-    if (this->right_held) {
-        action = mjMOUSE_MOVE_H;
-    } else if (this->middle_held) {
-        action = mjMOUSE_ZOOM;
-    }
-
-    mjv_moveCamera(this->world->model(), action, relative_x, relative_y, &this->scene, &this->camera);
-}
-
-void MujocoViewer::on_scroll(double offset) {
-    if (this->panel != nullptr and ImGui::GetIO().WantCaptureMouse) {
-        return;
-    }
-
-    mjv_moveCamera(this->world->model(), mjMOUSE_ZOOM, 0.0, zoom_per_scroll * offset, &this->scene, &this->camera);
-}
-}  // namespace micras::sim
-
-#else  // MICRAS_VIEWER
-
-namespace micras::sim {
-std::unique_ptr<MujocoViewer> MujocoViewer::create(
-    MujocoWorld& /*world*/, ProxyState& /*state*/, const Telemetry& /*telemetry*/, const ViewerConfig& /*config*/,
-    std::string& error
-) {
-    error = "this binary was built with -DMICRAS_VIEWER=OFF";
-    return nullptr;
-}
-
-bool MujocoViewer::was_interactive() const {
-    return this->interactive;
-}
-
-bool MujocoViewer::should_quit() const {
-    return true;
-}
-
-bool MujocoViewer::wait_for_speed_limit() const {
-    return false;
-}
-
-MujocoViewer::~MujocoViewer() = default;
-
-void MujocoViewer::on_start(const Simulation& /*simulation*/) { }
-
-RunControl MujocoViewer::on_before_tick(const Simulation& /*simulation*/) {
-    return RunControl::RUN;
-}
-
-void MujocoViewer::on_after_tick(const Simulation& /*simulation*/) { }
-
-void MujocoViewer::on_finish(const Simulation& /*simulation*/) { }
-
-void MujocoViewer::draw(const Simulation& /*simulation*/) { }
-
-void MujocoViewer::apply_perturbation() { }
-
-bool MujocoViewer::select_camera(const std::string& /*name*/, std::string& /*error*/) {
-    return true;
-}
-
-void MujocoViewer::on_key(int /*key*/) { }
-
-void MujocoViewer::on_mouse_button(int /*button*/, bool /*pressed*/) { }
-
-void MujocoViewer::on_mouse_move(double /*x*/, double /*y*/) { }
-
-void MujocoViewer::on_scroll(double /*offset*/) { }
-}  // namespace micras::sim
-
-#endif  // MICRAS_VIEWER
diff --git a/src/sim/view/video_recorder.cpp b/src/sim/view/video_recorder.cpp
deleted file mode 100644
index 8752fc7..0000000
--- a/src/sim/view/video_recorder.cpp
+++ /dev/null
@@ -1,356 +0,0 @@
-/**
- * @file
- *
- * @brief Offscreen EGL video recorder piping raw frames to ffmpeg.
- */
-
-#include "micras/sim/view/video_recorder.hpp"
-
-#ifdef MICRAS_VIDEO
-
-    #include <algorithm>
-    #include <array>
-    #include <format>
-    #include <span>
-    #include <string>
-    #include <vector>
-
-    #include <EGL/egl.h>
-    #include <EGL/eglext.h>
-
-namespace micras::sim {
-namespace {
-/**
- * @brief Framebuffer configuration MuJoCo needs from EGL.
- */
-const std::array<EGLint, 17> config_attributes{
-    EGL_RED_SIZE,
-    8,
-    EGL_GREEN_SIZE,
-    8,
-    EGL_BLUE_SIZE,
-    8,
-    EGL_ALPHA_SIZE,
-    8,
-    EGL_DEPTH_SIZE,
-    24,
-    EGL_STENCIL_SIZE,
-    8,
-    EGL_COLOR_BUFFER_TYPE,
-    EGL_RGB_BUFFER,
-    EGL_SURFACE_TYPE,
-    EGL_PBUFFER_BIT,
-    EGL_NONE
-};
-
-// NOLINTBEGIN(cppcoreguidelines-pro-type-reinterpret-cast, misc-misplaced-const): the EGL C API hands out its
-// extension entry points as void pointers and typedefs its handles as pointers.
-
-/**
- * @brief Try to bring up a current OpenGL context on one EGL display.
- *
- * @param display Display to initialise.
- * @return True when the context is current and usable.
- */
-bool make_context_current(EGLDisplay display) {
-    if (display == EGL_NO_DISPLAY) {
-        return false;
-    }
-
-    EGLint major = 0;
-    EGLint minor = 0;
-
-    if (eglInitialize(display, &major, &minor) != EGL_TRUE) {
-        return false;
-    }
-
-    EGLint    count = 0;
-    EGLConfig config{};
-
-    if (eglChooseConfig(display, config_attributes.data(), &config, 1, &count) != EGL_TRUE or count < 1) {
-        eglTerminate(display);
-        return false;
-    }
-
-    if (eglBindAPI(EGL_OPENGL_API) != EGL_TRUE) {
-        eglTerminate(display);
-        return false;
-    }
-
-    const EGLContext context = eglCreateContext(display, config, EGL_NO_CONTEXT, nullptr);
-
-    if (context == EGL_NO_CONTEXT) {
-        eglTerminate(display);
-        return false;
-    }
-
-    if (eglMakeCurrent(display, EGL_NO_SURFACE, EGL_NO_SURFACE, context) != EGL_TRUE) {
-        eglDestroyContext(display, context);
-        eglTerminate(display);
-        return false;
-    }
-
-    return true;
-}
-
-/**
- * @brief Make a headless OpenGL context current.
- *
- * @note The default display works on most drivers; when it does not (a common
- *       failure with several EGL vendors installed) every enumerated EGL device
- *       is tried in turn, which is what picks the NVIDIA one on this machine.
- *
- * @return True on success.
- */
-bool init_opengl() {
-    if (make_context_current(eglGetDisplay(EGL_DEFAULT_DISPLAY))) {
-        return true;
-    }
-
-    auto query_devices = reinterpret_cast<PFNEGLQUERYDEVICESEXTPROC>(eglGetProcAddress("eglQueryDevicesEXT"));
-    auto get_platform_display =
-        reinterpret_cast<PFNEGLGETPLATFORMDISPLAYEXTPROC>(eglGetProcAddress("eglGetPlatformDisplayEXT"));
-
-    if (query_devices == nullptr or get_platform_display == nullptr) {
-        return false;
-    }
-
-    std::array<EGLDeviceEXT, 16> devices{};
-    EGLint                       device_count = 0;
-
-    if (query_devices(static_cast<EGLint>(devices.size()), devices.data(), &device_count) != EGL_TRUE) {
-        return false;
-    }
-
-    for (EGLint i = 0; i < device_count; i++) {
-        if (make_context_current(get_platform_display(EGL_PLATFORM_DEVICE_EXT, devices.at(i), nullptr))) {
-            return true;
-        }
-    }
-
-    return false;
-}
-
-/**
- * @brief Release the current EGL context and its display.
- */
-void close_opengl() {
-    const EGLDisplay display = eglGetCurrentDisplay();
-
-    if (display == EGL_NO_DISPLAY) {
-        return;
-    }
-
-    const EGLContext context = eglGetCurrentContext();
-    eglMakeCurrent(display, EGL_NO_SURFACE, EGL_NO_SURFACE, EGL_NO_CONTEXT);
-
-    if (context != EGL_NO_CONTEXT) {
-        eglDestroyContext(display, context);
-    }
-
-    eglTerminate(display);
-}
-
-// NOLINTEND(cppcoreguidelines-pro-type-reinterpret-cast, misc-misplaced-const)
-
-/**
- * @brief Name of a Micras::State value, for the HUD.
- *
- * @param state Numeric state as reported by the firmware pool.
- * @return State name, or "?" when out of range.
- */
-const char* state_name(double state) {
-    const std::array<const char*, 7> names{"INIT",      "IDLE", "WAIT_FOR_RUN", "RUN", "WAIT_FOR_CALIBRATE",
-                                           "CALIBRATE", "ERROR"};
-    const int                        index = static_cast<int>(state);
-
-    if (index < 0 or index >= static_cast<int>(names.size())) {
-        return "?";
-    }
-
-    return names.at(static_cast<std::size_t>(index));
-}
-}  // namespace
-
-std::unique_ptr<VideoRecorder> VideoRecorder::create(mjModel* model, const VideoConfig& config, std::string& error) {
-    if (not init_opengl()) {
-        error = "could not create a headless EGL/OpenGL context";
-        return nullptr;
-    }
-
-    std::unique_ptr<VideoRecorder> recorder(new VideoRecorder());
-    recorder->model = model;
-    recorder->config = config;
-
-    mjv_defaultCamera(&recorder->camera);
-    mjv_defaultOption(&recorder->option);
-    mjv_defaultScene(&recorder->scene);
-    mjr_defaultContext(&recorder->context);
-
-    recorder->option.flags[mjVIS_RANGEFINDER] = 1;
-
-    recorder->display = eglGetCurrentDisplay();
-    recorder->gl_context = eglGetCurrentContext();
-
-    mjv_makeScene(model, &recorder->scene, 2000);
-    mjr_makeContext(model, &recorder->context, mjFONTSCALE_150);
-    recorder->context_ready = true;
-
-    if (recorder->context.offWidth < config.width or recorder->context.offHeight < config.height) {
-        error = "offscreen framebuffer is " + std::to_string(recorder->context.offWidth) + "x" +
-                std::to_string(recorder->context.offHeight) + ", smaller than the requested " +
-                std::to_string(config.width) + "x" + std::to_string(config.height);
-        return nullptr;
-    }
-
-    if (config.camera == "free") {
-        mjv_defaultFreeCamera(model, &recorder->camera);
-        recorder->camera.type = mjCAMERA_FREE;
-        recorder->camera.lookat[0] = model->stat.center[0];
-        recorder->camera.lookat[1] = model->stat.center[1];
-        recorder->camera.lookat[2] = model->stat.center[2];
-        recorder->camera.distance = 1.6 * model->stat.extent;
-        recorder->camera.azimuth = 90.0;
-        recorder->camera.elevation = -65.0;
-    } else {
-        const int id = mj_name2id(model, mjOBJ_CAMERA, config.camera.c_str());
-
-        if (id < 0) {
-            error = "model has no camera named '" + config.camera + "'; it has";
-
-            for (int i = 0; i < model->ncam; i++) {
-                const char* name = mj_id2name(model, mjOBJ_CAMERA, i);
-                error += std::string(" '") + (name == nullptr ? "?" : name) + "'";
-            }
-
-            error += " and 'free'";
-            return nullptr;
-        }
-
-        recorder->camera.type = mjCAMERA_FIXED;
-        recorder->camera.fixedcamid = id;
-    }
-
-    const std::string command = "ffmpeg -y -loglevel error -f rawvideo -pixel_format rgb24 -video_size " +
-                                std::to_string(config.width) + "x" + std::to_string(config.height) + " -framerate " +
-                                std::to_string(config.fps) + " -i - -c:v libx264 -pix_fmt yuv420p -crf 20 '" +
-                                config.path + "'";
-
-    recorder->encoder = popen(command.c_str(), "w");
-
-    if (recorder->encoder == nullptr) {
-        error = "could not start ffmpeg";
-        return nullptr;
-    }
-
-    const std::size_t size = static_cast<std::size_t>(config.width) * static_cast<std::size_t>(config.height) * 3;
-    recorder->pixels.resize(size);
-    recorder->flipped.resize(size);
-
-    recorder->release_context();
-    return recorder;
-}
-
-VideoRecorder::~VideoRecorder() {
-    if (this->encoder != nullptr) {
-        pclose(this->encoder);
-    }
-
-    if (this->context_ready) {
-        this->make_context_current();
-        mjr_freeContext(&this->context);
-        mjv_freeScene(&this->scene);
-    }
-
-    close_opengl();
-}
-
-void VideoRecorder::attach(MujocoWorld& world, const Telemetry& telemetry, uint64_t ticks_per_frame) {
-    this->world = &world;
-    this->telemetry = &telemetry;
-    this->ticks_per_frame = std::max<uint64_t>(1, ticks_per_frame);
-}
-
-void VideoRecorder::on_after_tick(const Simulation& simulation) {
-    if (this->world == nullptr or simulation.tick() % this->ticks_per_frame != 0) {
-        return;
-    }
-
-    const VideoHud hud{
-        .sim_time = this->world->time(),
-        .fsm_state = this->telemetry->value_of("FSM State"),
-        .desired_linear = this->telemetry->value_of("Desired Linear Speed"),
-        .odometry_linear = this->telemetry->value_of("Odometry Linear Velocity"),
-    };
-
-    this->capture(this->world->data(), hud);
-}
-
-void VideoRecorder::make_context_current() const {
-    if (this->display != nullptr and this->gl_context != nullptr) {
-        eglMakeCurrent(this->display, EGL_NO_SURFACE, EGL_NO_SURFACE, this->gl_context);
-    }
-}
-
-void VideoRecorder::release_context() const {
-    if (this->display != nullptr) {
-        eglMakeCurrent(this->display, EGL_NO_SURFACE, EGL_NO_SURFACE, EGL_NO_CONTEXT);
-    }
-}
-
-void VideoRecorder::capture(mjData* data, const VideoHud& hud) {
-    if (this->encoder == nullptr) {
-        return;
-    }
-
-    this->make_context_current();
-
-    const mjrRect viewport{0, 0, this->config.width, this->config.height};
-
-    mjv_updateScene(this->model, data, &this->option, nullptr, &this->camera, mjCAT_ALL, &this->scene);
-    mjr_setBuffer(mjFB_OFFSCREEN, &this->context);
-    mjr_render(viewport, &this->scene, &this->context);
-
-    const std::string labels = "time\nstate\nv desired\nv odometry";
-    const std::string values = std::format(
-        "{:.3f} s\n{}\n{:.3f} m/s\n{:.3f} m/s", hud.sim_time, state_name(hud.fsm_state), hud.desired_linear,
-        hud.odometry_linear
-    );
-    mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, viewport, labels.c_str(), values.c_str(), &this->context);
-
-    mjr_readPixels(this->pixels.data(), nullptr, viewport, &this->context);
-
-    const auto                     stride = static_cast<std::size_t>(this->config.width) * 3;
-    const auto                     rows = static_cast<std::size_t>(this->config.height);
-    const std::span<unsigned char> read_back(this->pixels);
-    const std::span<unsigned char> written(this->flipped);
-
-    for (std::size_t row = 0; row < rows; row++) {
-        std::ranges::copy(read_back.subspan((rows - 1 - row) * stride, stride), written.subspan(row * stride).begin());
-    }
-
-    std::fwrite(this->flipped.data(), 1, this->flipped.size(), this->encoder);
-    this->frames++;
-    this->release_context();
-}
-}  // namespace micras::sim
-
-#else  // MICRAS_VIDEO
-
-namespace micras::sim {
-std::unique_ptr<VideoRecorder>
-    VideoRecorder::create(mjModel* /*model*/, const VideoConfig& /*config*/, std::string& error) {
-    error = "this binary was built with -DMICRAS_VIDEO=OFF";
-    return nullptr;
-}
-
-VideoRecorder::~VideoRecorder() = default;
-
-void VideoRecorder::attach(MujocoWorld& /*world*/, const Telemetry& /*telemetry*/, uint64_t /*ticks_per_frame*/) { }
-
-void VideoRecorder::on_after_tick(const Simulation& /*simulation*/) { }
-
-void VideoRecorder::capture(mjData* /*data*/, const VideoHud& /*hud*/) { }
-}  // namespace micras::sim
-
-#endif  // MICRAS_VIDEO
diff --git a/targets/micras/CMakeLists.txt b/targets/micras/CMakeLists.txt
new file mode 100644
index 0000000..c66ae2f
--- /dev/null
+++ b/targets/micras/CMakeLists.txt
@@ -0,0 +1,125 @@
+###############################################################################
+## Micras: the firmware as it is, over the host micras_hal
+###############################################################################
+
+# Uses the engine only through its CMake targets (micras::sim_engine, micras::sim_app)
+# and the host HAL sources the root exports.
+
+set(MICRAS_FIRMWARE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/MicrasFirmware")
+
+# Every source that includes the firmware's constants.hpp designs the turn tables in the
+# compiler, which takes about a gigabyte of memory each. A build as wide as the processor
+# ran a 28 GB machine out of memory and took the whole WSL virtual machine down, so the
+# sources of this target compile in a pool of one job per 2 GiB of memory. Only Ninja,
+# which every preset uses, honours pools.
+cmake_host_system_information(RESULT MICRAS_TOTAL_MEMORY QUERY TOTAL_PHYSICAL_MEMORY)
+math(EXPR MICRAS_COMPILE_JOBS "${MICRAS_TOTAL_MEMORY} / 2048")
+if(MICRAS_COMPILE_JOBS LESS 1)
+    set(MICRAS_COMPILE_JOBS 1)
+endif()
+set_property(GLOBAL APPEND PROPERTY JOB_POOLS micras_compile=${MICRAS_COMPILE_JOBS})
+set(CMAKE_JOB_POOL_COMPILE micras_compile)
+
+# The commit is read at build time, not here, so meta.json never names a firmware
+# the binary was not built from.
+set(MICRAS_FIRMWARE_SHA_HEADER "${CMAKE_CURRENT_BINARY_DIR}/generated/micras_firmware_sha.hpp")
+
+add_custom_target(micras_firmware_sha
+    COMMAND "${CMAKE_COMMAND}" -DFIRMWARE_DIR=${MICRAS_FIRMWARE_DIR} -DOUTPUT=${MICRAS_FIRMWARE_SHA_HEADER}
+            -P "${CMAKE_CURRENT_SOURCE_DIR}/cmake/firmware_sha.cmake"
+    BYPRODUCTS "${MICRAS_FIRMWARE_SHA_HEADER}"
+    COMMENT "Reading the firmware commit"
+    VERBATIM
+)
+
+###############################################################################
+## The firmware, compiled for the host
+###############################################################################
+
+# Everything but micras_hal, which hal_host replaces, and the proxies of the two SPI
+# chips, which proxy/ replaces. FmacFilter is unused and needs the FMAC. The firmware's
+# own main is compiled under another name, and the simulator runs it on the firmware
+# thread.
+file(GLOB MICRAS_FIRMWARE_SOURCES CONFIGURE_DEPENDS
+    "${MICRAS_FIRMWARE_DIR}/micras_core/src/*.cpp"
+    "${MICRAS_FIRMWARE_DIR}/micras_nav/src/*.cpp"
+    "${MICRAS_FIRMWARE_DIR}/micras_comm/src/*.cpp"
+    "${MICRAS_FIRMWARE_DIR}/micras_proxy/src/*.cpp"
+    "${MICRAS_FIRMWARE_DIR}/src/*.cpp"
+    "${MICRAS_FIRMWARE_DIR}/src/states/*.cpp"
+)
+list(REMOVE_ITEM MICRAS_FIRMWARE_SOURCES
+    "${MICRAS_FIRMWARE_DIR}/micras_proxy/src/imu.cpp"
+    "${MICRAS_FIRMWARE_DIR}/micras_proxy/src/rotary_sensor.cpp"
+    "${MICRAS_FIRMWARE_DIR}/micras_proxy/src/fmac_filter.cpp"
+)
+set_source_files_properties("${MICRAS_FIRMWARE_DIR}/src/main.cpp"
+    PROPERTIES COMPILE_DEFINITIONS "main=micras_firmware_main"
+)
+
+add_library(micras_firmware STATIC
+    ${MICRAS_FIRMWARE_SOURCES}
+    ${MICRAS_SIM_HAL_HOST_SOURCES}
+    cube/handles.cpp
+    proxy/imu.cpp
+    proxy/rotary_sensor.cpp
+)
+
+# The fake Cube layer comes first, so <main.h> and friends resolve to it.
+target_include_directories(micras_firmware PUBLIC
+    "${CMAKE_CURRENT_SOURCE_DIR}/cube"
+    "${MICRAS_FIRMWARE_DIR}/include"
+    "${MICRAS_FIRMWARE_DIR}/config"
+    "${MICRAS_FIRMWARE_DIR}/config/targets/v1"
+    "${MICRAS_FIRMWARE_DIR}/micras_core/include"
+    "${MICRAS_FIRMWARE_DIR}/micras_nav/include"
+    "${MICRAS_FIRMWARE_DIR}/micras_comm/include"
+    "${MICRAS_FIRMWARE_DIR}/micras_proxy/include"
+    "${MICRAS_FIRMWARE_DIR}/micras_hal/include"
+    "${MICRAS_SIM_HAL_HOST_INCLUDE}"
+)
+target_link_libraries(micras_firmware PUBLIC lsm6dsv_headers)
+target_compile_features(micras_firmware PUBLIC cxx_std_23)
+
+###############################################################################
+## The target
+###############################################################################
+
+add_library(micras_sim_micras STATIC
+    src/bindings.cpp
+    src/micras_target.cpp
+    src/pool_variables.cpp
+)
+target_include_directories(micras_sim_micras PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
+target_include_directories(micras_sim_micras PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/generated")
+target_link_libraries(micras_sim_micras PUBLIC micras_firmware micras::sim_app)
+target_compile_definitions(micras_sim_micras PRIVATE MICRAS_TARGET_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
+target_compile_options(micras_sim_micras PRIVATE -Wall -Wextra)
+add_dependencies(micras_sim_micras micras_firmware_sha)
+
+add_executable(micras_sim src/main.cpp)
+target_link_libraries(micras_sim PRIVATE micras_sim_micras)
+target_compile_options(micras_sim PRIVATE -Wall -Wextra)
+
+###############################################################################
+## Tests
+###############################################################################
+
+if(MICRAS_TESTS)
+    add_subdirectory(tests)
+endif()
+
+###############################################################################
+## Tools
+###############################################################################
+
+add_executable(micras_wall_calibration tools/wall_calibration.cpp)
+target_link_libraries(micras_wall_calibration PRIVATE micras_sim_micras)
+target_compile_definitions(micras_wall_calibration PRIVATE MICRAS_TARGET_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
+
+add_executable(micras_turn_designer tools/turn_designer.cpp)
+target_link_libraries(micras_turn_designer PRIVATE micras_sim_micras)
+
+add_executable(micras_robot_report tools/robot_report.cpp)
+target_link_libraries(micras_robot_report PRIVATE micras_sim_micras)
+target_compile_definitions(micras_robot_report PRIVATE MICRAS_TARGET_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
diff --git a/targets/micras/MicrasFirmware b/targets/micras/MicrasFirmware
new file mode 160000
index 0000000..0be27df
--- /dev/null
+++ b/targets/micras/MicrasFirmware
@@ -0,0 +1 @@
+Subproject commit 0be27df9c12a0f6fbca55f007283f6bb1eeb2ec0
diff --git a/targets/micras/baselines/v3/explore/summary.json b/targets/micras/baselines/v3/explore/summary.json
new file mode 100644
index 0000000..f974640
--- /dev/null
+++ b/targets/micras/baselines/v3/explore/summary.json
@@ -0,0 +1,50 @@
+{
+  "target": "micras",
+  "scenario": "scenarios/explore.toml",
+  "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore",
+  "firmware_sha": "0be27df9c12a0f6fbca55f007283f6bb1eeb2ec0-dirty",
+  "mujoco_version": "3.14.0",
+  "compiler": "GNU 13.4.0",
+  "data_sha256": "862df6bded0163765b72c44825513b48889476b0c70a9413ea76e1dbd38d097f",
+  "states": [
+    [
+      0.000125,
+      "INIT"
+    ],
+    [
+      0.00025,
+      "IDLE"
+    ],
+    [
+      0.760125,
+      "WAIT_FOR_RUN"
+    ],
+    [
+      3.76113,
+      "RUN"
+    ]
+  ],
+  "values": {
+    "ticks": 240000,
+    "warnings_total": 0,
+    "unbound_ports": 0,
+    "collisions": 0,
+    "goal_time": null,
+    "stopped_at": null,
+    "running_time": 26.238875000125287,
+    "max_pose_error": 0.006311593940489577,
+    "rms_across_error": 0.001155816351408339
+  },
+  "tolerances": {
+    "state_time": 0.25,
+    "ticks": null,
+    "warnings_total": null,
+    "unbound_ports": null,
+    "collisions": 2,
+    "goal_time": 1.0,
+    "stopped_at": 1.0,
+    "running_time": 1.0,
+    "max_pose_error": 0.02,
+    "rms_across_error": 0.003
+  }
+}
diff --git a/targets/micras/baselines/v3/idle/summary.json b/targets/micras/baselines/v3/idle/summary.json
new file mode 100644
index 0000000..8cd6998
--- /dev/null
+++ b/targets/micras/baselines/v3/idle/summary.json
@@ -0,0 +1,42 @@
+{
+  "target": "micras",
+  "scenario": "scenarios/idle.toml",
+  "args": "--scenario scenarios/idle.toml --out runs/idle",
+  "firmware_sha": "0be27df9c12a0f6fbca55f007283f6bb1eeb2ec0-dirty",
+  "mujoco_version": "3.14.0",
+  "compiler": "GNU 13.4.0",
+  "data_sha256": "7e675953e7e062b8ce68eaa8e25d073adea89a11fcfed50585b244a036861bed",
+  "states": [
+    [
+      0.000125,
+      "INIT"
+    ],
+    [
+      0.00025,
+      "IDLE"
+    ]
+  ],
+  "values": {
+    "ticks": 32000,
+    "warnings_total": 0,
+    "unbound_ports": 0,
+    "collisions": 0,
+    "goal_time": null,
+    "stopped_at": null,
+    "running_time": 0.0,
+    "max_pose_error": null,
+    "rms_across_error": null
+  },
+  "tolerances": {
+    "state_time": 0.25,
+    "ticks": null,
+    "warnings_total": null,
+    "unbound_ports": null,
+    "collisions": 2,
+    "goal_time": 1.0,
+    "stopped_at": 1.0,
+    "running_time": 1.0,
+    "max_pose_error": 0.02,
+    "rms_across_error": 0.003
+  }
+}
diff --git a/targets/micras/baselines/v4/explore/summary.json b/targets/micras/baselines/v4/explore/summary.json
new file mode 100644
index 0000000..e5536c9
--- /dev/null
+++ b/targets/micras/baselines/v4/explore/summary.json
@@ -0,0 +1,62 @@
+{
+  "target": "micras",
+  "scenario": "scenarios/explore.toml",
+  "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore",
+  "firmware_sha": "0be27df9c12a0f6fbca55f007283f6bb1eeb2ec0-dirty",
+  "mujoco_version": "3.14.0",
+  "compiler": "GNU 13.4.0",
+  "data_sha256": "a0f6567bd3a5ac0bc8084bb4f2487cdd8929ccd729e01b1fd6c32ee65ca1d216",
+  "states": [
+    [
+      0.000125,
+      "INIT"
+    ],
+    [
+      0.00025,
+      "IDLE"
+    ],
+    [
+      0.760125,
+      "WAIT_FOR_RUN"
+    ],
+    [
+      3.76113,
+      "RUN"
+    ],
+    [
+      26.5348,
+      "SAVE"
+    ],
+    [
+      26.5349,
+      "WAIT_FOR_RUN"
+    ],
+    [
+      29.5351,
+      "RUN"
+    ]
+  ],
+  "values": {
+    "ticks": 240000,
+    "warnings_total": 0,
+    "unbound_ports": 0,
+    "collisions": 0,
+    "goal_time": 26.243875,
+    "stopped_at": null,
+    "running_time": 23.23862500011096,
+    "max_pose_error": 0.01303101479887498,
+    "rms_across_error": 0.0011360143921735988
+  },
+  "tolerances": {
+    "state_time": 0.25,
+    "ticks": null,
+    "warnings_total": null,
+    "unbound_ports": null,
+    "collisions": 2,
+    "goal_time": 1.0,
+    "stopped_at": 1.0,
+    "running_time": 1.0,
+    "max_pose_error": 0.02,
+    "rms_across_error": 0.003
+  }
+}
diff --git a/targets/micras/baselines/v4/idle/summary.json b/targets/micras/baselines/v4/idle/summary.json
new file mode 100644
index 0000000..a6a2468
--- /dev/null
+++ b/targets/micras/baselines/v4/idle/summary.json
@@ -0,0 +1,42 @@
+{
+  "target": "micras",
+  "scenario": "scenarios/idle.toml",
+  "args": "--scenario scenarios/idle.toml --out runs/idle",
+  "firmware_sha": "0be27df9c12a0f6fbca55f007283f6bb1eeb2ec0-dirty",
+  "mujoco_version": "3.14.0",
+  "compiler": "GNU 13.4.0",
+  "data_sha256": "2e342c3e901031a48a9d3d8ab0508b07cc5171a121a73f8913d4622fe8408018",
+  "states": [
+    [
+      0.000125,
+      "INIT"
+    ],
+    [
+      0.00025,
+      "IDLE"
+    ]
+  ],
+  "values": {
+    "ticks": 32000,
+    "warnings_total": 0,
+    "unbound_ports": 0,
+    "collisions": 0,
+    "goal_time": null,
+    "stopped_at": null,
+    "running_time": 0.0,
+    "max_pose_error": null,
+    "rms_across_error": null
+  },
+  "tolerances": {
+    "state_time": 0.25,
+    "ticks": null,
+    "warnings_total": null,
+    "unbound_ports": null,
+    "collisions": 2,
+    "goal_time": 1.0,
+    "stopped_at": 1.0,
+    "running_time": 1.0,
+    "max_pose_error": 0.02,
+    "rms_across_error": 0.003
+  }
+}
diff --git a/targets/micras/baselines/v5/explore/summary.json b/targets/micras/baselines/v5/explore/summary.json
new file mode 100644
index 0000000..25562e0
--- /dev/null
+++ b/targets/micras/baselines/v5/explore/summary.json
@@ -0,0 +1,62 @@
+{
+  "target": "micras",
+  "scenario": "scenarios/explore.toml",
+  "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore",
+  "firmware_sha": "0be27df9c12a0f6fbca55f007283f6bb1eeb2ec0-dirty",
+  "mujoco_version": "3.14.0",
+  "compiler": "GNU 13.4.0",
+  "data_sha256": "bc460542d2e22a5f1cdb51ff153ed7fed62d2f55b2e7cad0c298b10906804424",
+  "states": [
+    [
+      0.000125,
+      "INIT"
+    ],
+    [
+      0.00025,
+      "IDLE"
+    ],
+    [
+      0.760125,
+      "WAIT_FOR_RUN"
+    ],
+    [
+      3.76113,
+      "RUN"
+    ],
+    [
+      26.5168,
+      "SAVE"
+    ],
+    [
+      26.5169,
+      "WAIT_FOR_RUN"
+    ],
+    [
+      29.5171,
+      "RUN"
+    ]
+  ],
+  "values": {
+    "ticks": 240000,
+    "warnings_total": 0,
+    "unbound_ports": 0,
+    "collisions": 0,
+    "goal_time": 26.225625,
+    "stopped_at": null,
+    "running_time": 23.23862500011096,
+    "max_pose_error": 0.012532117593383792,
+    "rms_across_error": 0.0011946963676523932
+  },
+  "tolerances": {
+    "state_time": 0.25,
+    "ticks": null,
+    "warnings_total": null,
+    "unbound_ports": null,
+    "collisions": 2,
+    "goal_time": 1.0,
+    "stopped_at": 1.0,
+    "running_time": 1.0,
+    "max_pose_error": 0.02,
+    "rms_across_error": 0.003
+  }
+}
diff --git a/targets/micras/baselines/v5/idle/summary.json b/targets/micras/baselines/v5/idle/summary.json
new file mode 100644
index 0000000..a6a2468
--- /dev/null
+++ b/targets/micras/baselines/v5/idle/summary.json
@@ -0,0 +1,42 @@
+{
+  "target": "micras",
+  "scenario": "scenarios/idle.toml",
+  "args": "--scenario scenarios/idle.toml --out runs/idle",
+  "firmware_sha": "0be27df9c12a0f6fbca55f007283f6bb1eeb2ec0-dirty",
+  "mujoco_version": "3.14.0",
+  "compiler": "GNU 13.4.0",
+  "data_sha256": "2e342c3e901031a48a9d3d8ab0508b07cc5171a121a73f8913d4622fe8408018",
+  "states": [
+    [
+      0.000125,
+      "INIT"
+    ],
+    [
+      0.00025,
+      "IDLE"
+    ]
+  ],
+  "values": {
+    "ticks": 32000,
+    "warnings_total": 0,
+    "unbound_ports": 0,
+    "collisions": 0,
+    "goal_time": null,
+    "stopped_at": null,
+    "running_time": 0.0,
+    "max_pose_error": null,
+    "rms_across_error": null
+  },
+  "tolerances": {
+    "state_time": 0.25,
+    "ticks": null,
+    "warnings_total": null,
+    "unbound_ports": null,
+    "collisions": 2,
+    "goal_time": 1.0,
+    "stopped_at": 1.0,
+    "running_time": 1.0,
+    "max_pose_error": 0.02,
+    "rms_across_error": 0.003
+  }
+}
diff --git a/targets/micras/cmake/firmware_sha.cmake b/targets/micras/cmake/firmware_sha.cmake
new file mode 100644
index 0000000..f3af7f3
--- /dev/null
+++ b/targets/micras/cmake/firmware_sha.cmake
@@ -0,0 +1,31 @@
+###############################################################################
+## Writes the firmware commit into a header, at build time
+###############################################################################
+
+# Run as a script (cmake -P) by the micras_firmware_sha target on every build, so a
+# submodule bump is picked up without reconfiguring. file(CONFIGURE) rewrites the
+# header only when the text changes, so an unchanged commit rebuilds nothing.
+# Expects FIRMWARE_DIR and OUTPUT.
+
+execute_process(
+    COMMAND git -C "${FIRMWARE_DIR}" rev-parse HEAD
+    OUTPUT_VARIABLE FIRMWARE_SHA
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+    ERROR_QUIET
+)
+
+if(NOT FIRMWARE_SHA)
+    set(FIRMWARE_SHA "unknown")
+else()
+    execute_process(
+        COMMAND git -C "${FIRMWARE_DIR}" diff --quiet HEAD
+        RESULT_VARIABLE FIRMWARE_DIRTY
+        ERROR_QUIET
+    )
+
+    if(NOT FIRMWARE_DIRTY EQUAL 0)
+        string(APPEND FIRMWARE_SHA "-dirty")
+    endif()
+endif()
+
+file(CONFIGURE OUTPUT "${OUTPUT}" CONTENT "#define MICRAS_FIRMWARE_SHA \"${FIRMWARE_SHA}\"\n")
diff --git a/targets/micras/cube/adc.h b/targets/micras/cube/adc.h
new file mode 100644
index 0000000..8f7a86b
--- /dev/null
+++ b/targets/micras/cube/adc.h
@@ -0,0 +1,42 @@
+/**
+ * @file
+ *
+ * @brief Fake STM32CubeMX adc.h of the Micras v1 board: its handles and init functions.
+ */
+
+#ifndef MICRAS_SIM_CUBE_ADC_H
+#define MICRAS_SIM_CUBE_ADC_H
+
+#include "main.h"
+
+/**
+ * @brief Handle hadc1, as cube/Src/adc.c defines it.
+ */
+extern ADC_HandleTypeDef hadc1;
+
+/**
+ * @brief Handle hadc2, as cube/Src/adc.c defines it.
+ */
+extern ADC_HandleTypeDef hadc2;
+
+/**
+ * @brief Handle hadc3, as cube/Src/adc.c defines it.
+ */
+extern ADC_HandleTypeDef hadc3;
+
+/**
+ * @brief Configure what MX_ADC1_Init configures in cube/Src/adc.c.
+ */
+void MX_ADC1_Init();
+
+/**
+ * @brief Configure what MX_ADC2_Init configures in cube/Src/adc.c.
+ */
+void MX_ADC2_Init();
+
+/**
+ * @brief Configure what MX_ADC3_Init configures in cube/Src/adc.c.
+ */
+void MX_ADC3_Init();
+
+#endif  // MICRAS_SIM_CUBE_ADC_H
diff --git a/targets/micras/cube/crc.h b/targets/micras/cube/crc.h
new file mode 100644
index 0000000..8740446
--- /dev/null
+++ b/targets/micras/cube/crc.h
@@ -0,0 +1,22 @@
+/**
+ * @file
+ *
+ * @brief Fake STM32CubeMX crc.h of the Micras v1 board: its handles and init functions.
+ */
+
+#ifndef MICRAS_SIM_CUBE_CRC_H
+#define MICRAS_SIM_CUBE_CRC_H
+
+#include "main.h"
+
+/**
+ * @brief Handle hcrc, as cube/Src/crc.c defines it.
+ */
+extern CRC_HandleTypeDef hcrc;
+
+/**
+ * @brief Configure what MX_CRC_Init configures in cube/Src/crc.c.
+ */
+void MX_CRC_Init();
+
+#endif  // MICRAS_SIM_CUBE_CRC_H
diff --git a/targets/micras/cube/dma.h b/targets/micras/cube/dma.h
new file mode 100644
index 0000000..5d4292b
--- /dev/null
+++ b/targets/micras/cube/dma.h
@@ -0,0 +1,17 @@
+/**
+ * @file
+ *
+ * @brief Fake STM32CubeMX dma.h of the Micras v1 board: its handles and init functions.
+ */
+
+#ifndef MICRAS_SIM_CUBE_DMA_H
+#define MICRAS_SIM_CUBE_DMA_H
+
+#include "main.h"
+
+/**
+ * @brief Configure what MX_DMA_Init configures in cube/Src/dma.c.
+ */
+void MX_DMA_Init();
+
+#endif  // MICRAS_SIM_CUBE_DMA_H
diff --git a/targets/micras/cube/fmac.h b/targets/micras/cube/fmac.h
new file mode 100644
index 0000000..6c2443c
--- /dev/null
+++ b/targets/micras/cube/fmac.h
@@ -0,0 +1,22 @@
+/**
+ * @file
+ *
+ * @brief Fake STM32CubeMX fmac.h of the Micras v1 board: its handles and init functions.
+ */
+
+#ifndef MICRAS_SIM_CUBE_FMAC_H
+#define MICRAS_SIM_CUBE_FMAC_H
+
+#include "main.h"
+
+/**
+ * @brief Handle hfmac, as cube/Src/fmac.c defines it.
+ */
+extern FMAC_HandleTypeDef hfmac;
+
+/**
+ * @brief Configure what MX_FMAC_Init configures in cube/Src/fmac.c.
+ */
+void MX_FMAC_Init();
+
+#endif  // MICRAS_SIM_CUBE_FMAC_H
diff --git a/targets/micras/cube/gpio.h b/targets/micras/cube/gpio.h
new file mode 100644
index 0000000..997f921
--- /dev/null
+++ b/targets/micras/cube/gpio.h
@@ -0,0 +1,17 @@
+/**
+ * @file
+ *
+ * @brief Fake STM32CubeMX gpio.h of the Micras v1 board: its handles and init functions.
+ */
+
+#ifndef MICRAS_SIM_CUBE_GPIO_H
+#define MICRAS_SIM_CUBE_GPIO_H
+
+#include "main.h"
+
+/**
+ * @brief Configure what MX_GPIO_Init configures in cube/Src/gpio.c.
+ */
+void MX_GPIO_Init();
+
+#endif  // MICRAS_SIM_CUBE_GPIO_H
diff --git a/targets/micras/cube/handles.cpp b/targets/micras/cube/handles.cpp
new file mode 100644
index 0000000..df03065
--- /dev/null
+++ b/targets/micras/cube/handles.cpp
@@ -0,0 +1,208 @@
+/**
+ * @file
+ *
+ * @brief The Micras v1 handles and init functions, with the values CubeMX generates.
+ *
+ * @note Each MX_*_Init below sets the values its namesake sets in
+ *       MicrasFirmware/cube/Src: MX_TIMn_Init the prescaler, counter mode and
+ *       period of tim.c, MX_ADCn_Init the NbrOfConversion of adc.c, MX_CRC_Init
+ *       the whole Init block of crc.c, MX_SPI3_Init the SPI mode of spi.c and
+ *       MX_UART4_Init the baud rate of usart.c. Only what the host backend reads
+ *       is set, plus the handle states the drivers check before initialising.
+ */
+
+#include <adc.h>
+#include <crc.h>
+#include <dma.h>
+#include <fmac.h>
+#include <gpio.h>
+#include <main.h>
+#include <spi.h>
+#include <tim.h>
+#include <usart.h>
+
+#include "micras/hal/host/board.hpp"
+
+namespace {
+/**
+ * @brief Frequency every timer counts at: APB1 and APB2 run at 137.5 MHz, and
+ *        their timers at twice that (main.c, SystemClock_Config).
+ */
+constexpr uint32_t timer_clock{275000000};
+
+/**
+ * @brief The timers' registers.
+ */
+///@{
+// NOLINTBEGIN(cppcoreguidelines-avoid-non-const-global-variables): register blocks the firmware writes through handles.
+TIM_TypeDef tim1_registers{};
+TIM_TypeDef tim2_registers{};
+TIM_TypeDef tim3_registers{};
+TIM_TypeDef tim4_registers{};
+TIM_TypeDef tim5_registers{};
+TIM_TypeDef tim8_registers{};
+TIM_TypeDef tim12_registers{};
+TIM_TypeDef tim15_registers{};
+
+// NOLINTEND(cppcoreguidelines-avoid-non-const-global-variables)
+
+///@}
+
+/**
+ * @brief Configure a timer base, as HAL_TIM_Base_Init would.
+ *
+ * @param handle Timer handle.
+ * @param registers Registers of the timer.
+ * @param name Name of the handle, for messages.
+ * @param prescaler Prescaler.
+ * @param counter_mode Counter mode.
+ * @param period Autoreload value.
+ */
+void init_timer(
+    TIM_HandleTypeDef& handle, TIM_TypeDef& registers, const char* name, uint32_t prescaler, uint32_t counter_mode,
+    uint32_t period
+) {
+    handle.Instance = &registers;
+    handle.Init = {.Prescaler = prescaler, .CounterMode = counter_mode, .Period = period};
+    registers.PSC = prescaler;
+    registers.ARR = period;
+    registers.CR1 = counter_mode;
+    registers.kernel_clock = timer_clock;
+    handle.State = HAL_TIM_STATE_READY;
+    micras::hal::host::Board::name_handle(&handle, name);
+}
+
+/**
+ * @brief Configure an ADC, as HAL_ADC_Init would.
+ *
+ * @param handle ADC handle.
+ * @param name Name of the handle, for messages.
+ * @param conversions Number of conversions in a sequence.
+ */
+void init_adc(ADC_HandleTypeDef& handle, const char* name, uint32_t conversions) {
+    handle.Init.NbrOfConversion = conversions;
+    handle.State = HAL_ADC_STATE_READY;
+    micras::hal::host::Board::name_handle(&handle, name);
+}
+}  // namespace
+
+// NOLINTBEGIN(cppcoreguidelines-avoid-non-const-global-variables): the handles are globals in the generated code too.
+uint32_t SystemCoreClock{550000000};
+
+GPIO_TypeDef GPIOA_instance{'A'};
+GPIO_TypeDef GPIOB_instance{'B'};
+GPIO_TypeDef GPIOC_instance{'C'};
+GPIO_TypeDef GPIOD_instance{'D'};
+
+ADC_HandleTypeDef  hadc1{};
+ADC_HandleTypeDef  hadc2{};
+ADC_HandleTypeDef  hadc3{};
+CRC_HandleTypeDef  hcrc{};
+FMAC_HandleTypeDef hfmac{};
+SPI_HandleTypeDef  hspi3{};
+TIM_HandleTypeDef  htim1{};
+TIM_HandleTypeDef  htim2{};
+TIM_HandleTypeDef  htim3{};
+TIM_HandleTypeDef  htim4{};
+TIM_HandleTypeDef  htim5{};
+TIM_HandleTypeDef  htim8{};
+TIM_HandleTypeDef  htim12{};
+TIM_HandleTypeDef  htim15{};
+UART_HandleTypeDef huart4{};
+
+// NOLINTEND(cppcoreguidelines-avoid-non-const-global-variables)
+
+extern "C" {
+void SystemClock_Config() { }
+
+void PeriphCommonClock_Config() { }
+}
+
+void MX_GPIO_Init() {
+    using micras::hal::host::Board;
+    Board::name_gpio(Encoder_Right_CSn_GPIO_Port, Encoder_Right_CSn_Pin, "Encoder_Right_CSn");
+    Board::name_gpio(Encoder_Left_CSn_GPIO_Port, Encoder_Left_CSn_Pin, "Encoder_Left_CSn");
+    Board::name_gpio(Button_GPIO_Port, Button_Pin, "Button");
+    Board::name_gpio(Switch_0_GPIO_Port, Switch_0_Pin, "Switch_0");
+    Board::name_gpio(Switch_1_GPIO_Port, Switch_1_Pin, "Switch_1");
+    Board::name_gpio(Switch_2_GPIO_Port, Switch_2_Pin, "Switch_2");
+    Board::name_gpio(Switch_3_GPIO_Port, Switch_3_Pin, "Switch_3");
+    Board::name_gpio(LED_Red_GPIO_Port, LED_Red_Pin, "LED_Red");
+    Board::name_gpio(Fan_Enable_GPIO_Port, Fan_Enable_Pin, "Fan_Enable");
+    Board::name_gpio(Motors_Enable_GPIO_Port, Motors_Enable_Pin, "Motors_Enable");
+    Board::name_gpio(IMU_SPI_CSn_GPIO_Port, IMU_SPI_CSn_Pin, "IMU_SPI_CSn");
+}
+
+void MX_DMA_Init() { }
+
+void MX_CRC_Init() {
+    hcrc.Init.DefaultPolynomialUse = DEFAULT_POLYNOMIAL_DISABLE;
+    hcrc.Init.DefaultInitValueUse = DEFAULT_INIT_VALUE_DISABLE;
+    hcrc.Init.GeneratingPolynomial = 29;
+    hcrc.Init.CRCLength = CRC_POLYLENGTH_8B;
+    hcrc.Init.InitValue = 0xC4;
+    hcrc.Init.InputDataInversionMode = CRC_INPUTDATA_INVERSION_NONE;
+    hcrc.Init.OutputDataInversionMode = CRC_OUTPUTDATA_INVERSION_DISABLE;
+    hcrc.InputDataFormat = CRC_INPUTDATA_FORMAT_BYTES;
+    micras::hal::host::Board::name_handle(&hcrc, "hcrc");
+}
+
+void MX_ADC1_Init() {
+    init_adc(hadc1, "hadc1", 4);
+}
+
+void MX_ADC2_Init() {
+    init_adc(hadc2, "hadc2", 2);
+}
+
+void MX_ADC3_Init() {
+    init_adc(hadc3, "hadc3", 1);
+}
+
+void MX_SPI3_Init() {
+    hspi3.Init.CLKPolarity = SPI_POLARITY_HIGH;
+    hspi3.Init.CLKPhase = SPI_PHASE_2EDGE;
+    hspi3.State = HAL_SPI_STATE_READY;
+    micras::hal::host::Board::name_handle(&hspi3, "hspi3");
+}
+
+void MX_TIM1_Init() {
+    init_timer(htim1, tim1_registers, "htim1", 0, TIM_COUNTERMODE_UP, 2749);
+}
+
+void MX_TIM2_Init() {
+    init_timer(htim2, tim2_registers, "htim2", 0, TIM_COUNTERMODE_UP, 4294967295);
+}
+
+void MX_TIM3_Init() {
+    init_timer(htim3, tim3_registers, "htim3", 0, TIM_COUNTERMODE_UP, 2749);
+}
+
+void MX_TIM4_Init() {
+    init_timer(htim4, tim4_registers, "htim4", 274, TIM_COUNTERMODE_CENTERALIGNED1, 250);
+}
+
+void MX_TIM5_Init() {
+    init_timer(htim5, tim5_registers, "htim5", 0, TIM_COUNTERMODE_UP, 4294967295);
+}
+
+void MX_TIM8_Init() {
+    init_timer(htim8, tim8_registers, "htim8", 4, TIM_COUNTERMODE_UP, 76);
+}
+
+void MX_TIM12_Init() {
+    init_timer(htim12, tim12_registers, "htim12", 0, TIM_COUNTERMODE_UP, 2749);
+}
+
+void MX_TIM15_Init() {
+    init_timer(htim15, tim15_registers, "htim15", 274, TIM_COUNTERMODE_UP, 65535);
+}
+
+void MX_UART4_Init() {
+    huart4.Init.BaudRate = 115200;
+    huart4.gState = HAL_UART_STATE_READY;
+    huart4.RxState = HAL_UART_STATE_READY;
+    micras::hal::host::Board::name_handle(&huart4, "huart4");
+}
+
+void MX_FMAC_Init() { }
diff --git a/targets/micras/cube/main.h b/targets/micras/cube/main.h
new file mode 100644
index 0000000..aad6255
--- /dev/null
+++ b/targets/micras/cube/main.h
@@ -0,0 +1,81 @@
+/**
+ * @file
+ *
+ * @brief Fake STM32CubeMX main.h of the Micras v1 board, for the simulator.
+ *
+ * @note Hand written, because micras_v1.ioc does not hold every value the host
+ *       backend needs (see SPEC_2_DECISIONS.md, D4). Every value names the
+ *       generated line it mirrors, in MicrasFirmware/cube/Inc and cube/Src. A
+ *       CubeMX change that renames a handle or a pin is a compile error here; a
+ *       changed prescaler or period shows as a wrong frequency at initialisation.
+ */
+
+#ifndef MICRAS_SIM_CUBE_MAIN_H
+#define MICRAS_SIM_CUBE_MAIN_H
+
+#include <cstdint>
+
+#include "stm32_host.h"
+
+/*****************************************
+ * Microcontroller
+ *****************************************/
+
+/**
+ * @brief Core clock after SystemClock_Config: HSI 64 MHz / PLLM 4 * (PLLN 34 + FRACN 3072 / 8192) / PLLP 1.
+ */
+extern uint32_t SystemCoreClock;
+
+/**
+ * @brief Flash geometry of the STM32H725xG: one bank of eight 128 KB sectors, 256-bit flash words.
+ */
+///@{
+#define FLASH_NB_32BITWORD_IN_FLASHWORD 8U
+inline constexpr uint32_t FLASH_SECTOR_SIZE{0x00020000U};
+inline constexpr uint32_t FLASH_SECTOR_TOTAL{8U};
+///@}
+
+/*****************************************
+ * GPIO ports and the pins target.hpp names (cube/Inc/main.h)
+ *****************************************/
+
+///@{
+extern GPIO_TypeDef GPIOA_instance;
+extern GPIO_TypeDef GPIOB_instance;
+extern GPIO_TypeDef GPIOC_instance;
+extern GPIO_TypeDef GPIOD_instance;
+///@}
+
+///@{
+#define GPIOA (&GPIOA_instance)
+#define GPIOB (&GPIOB_instance)
+#define GPIOC (&GPIOC_instance)
+#define GPIOD (&GPIOD_instance)
+///@}
+
+///@{
+#define Encoder_Right_CSn_Pin GPIO_PIN_14
+#define Encoder_Right_CSn_GPIO_Port GPIOC
+#define Encoder_Left_CSn_Pin GPIO_PIN_3
+#define Encoder_Left_CSn_GPIO_Port GPIOA
+#define Button_Pin GPIO_PIN_7
+#define Button_GPIO_Port GPIOA
+#define Switch_0_Pin GPIO_PIN_5
+#define Switch_0_GPIO_Port GPIOC
+#define Switch_1_Pin GPIO_PIN_0
+#define Switch_1_GPIO_Port GPIOB
+#define Switch_2_Pin GPIO_PIN_2
+#define Switch_2_GPIO_Port GPIOB
+#define Switch_3_Pin GPIO_PIN_10
+#define Switch_3_GPIO_Port GPIOB
+#define LED_Red_Pin GPIO_PIN_12
+#define LED_Red_GPIO_Port GPIOB
+#define Fan_Enable_Pin GPIO_PIN_14
+#define Fan_Enable_GPIO_Port GPIOB
+#define Motors_Enable_Pin GPIO_PIN_10
+#define Motors_Enable_GPIO_Port GPIOA
+#define IMU_SPI_CSn_Pin GPIO_PIN_2
+#define IMU_SPI_CSn_GPIO_Port GPIOD
+///@}
+
+#endif  // MICRAS_SIM_CUBE_MAIN_H
diff --git a/targets/micras/cube/spi.h b/targets/micras/cube/spi.h
new file mode 100644
index 0000000..7bddf40
--- /dev/null
+++ b/targets/micras/cube/spi.h
@@ -0,0 +1,22 @@
+/**
+ * @file
+ *
+ * @brief Fake STM32CubeMX spi.h of the Micras v1 board: its handles and init functions.
+ */
+
+#ifndef MICRAS_SIM_CUBE_SPI_H
+#define MICRAS_SIM_CUBE_SPI_H
+
+#include "main.h"
+
+/**
+ * @brief Handle hspi3, as cube/Src/spi.c defines it.
+ */
+extern SPI_HandleTypeDef hspi3;
+
+/**
+ * @brief Configure what MX_SPI3_Init configures in cube/Src/spi.c.
+ */
+void MX_SPI3_Init();
+
+#endif  // MICRAS_SIM_CUBE_SPI_H
diff --git a/targets/micras/cube/tim.h b/targets/micras/cube/tim.h
new file mode 100644
index 0000000..f0e74e9
--- /dev/null
+++ b/targets/micras/cube/tim.h
@@ -0,0 +1,92 @@
+/**
+ * @file
+ *
+ * @brief Fake STM32CubeMX tim.h of the Micras v1 board: its handles and init functions.
+ */
+
+#ifndef MICRAS_SIM_CUBE_TIM_H
+#define MICRAS_SIM_CUBE_TIM_H
+
+#include "main.h"
+
+/**
+ * @brief Handle htim1, as cube/Src/tim.c defines it.
+ */
+extern TIM_HandleTypeDef htim1;
+
+/**
+ * @brief Handle htim2, as cube/Src/tim.c defines it.
+ */
+extern TIM_HandleTypeDef htim2;
+
+/**
+ * @brief Handle htim3, as cube/Src/tim.c defines it.
+ */
+extern TIM_HandleTypeDef htim3;
+
+/**
+ * @brief Handle htim4, as cube/Src/tim.c defines it.
+ */
+extern TIM_HandleTypeDef htim4;
+
+/**
+ * @brief Handle htim5, as cube/Src/tim.c defines it.
+ */
+extern TIM_HandleTypeDef htim5;
+
+/**
+ * @brief Handle htim8, as cube/Src/tim.c defines it.
+ */
+extern TIM_HandleTypeDef htim8;
+
+/**
+ * @brief Handle htim12, as cube/Src/tim.c defines it.
+ */
+extern TIM_HandleTypeDef htim12;
+
+/**
+ * @brief Handle htim15, as cube/Src/tim.c defines it.
+ */
+extern TIM_HandleTypeDef htim15;
+
+/**
+ * @brief Configure what MX_TIM1_Init configures in cube/Src/tim.c.
+ */
+void MX_TIM1_Init();
+
+/**
+ * @brief Configure what MX_TIM2_Init configures in cube/Src/tim.c.
+ */
+void MX_TIM2_Init();
+
+/**
+ * @brief Configure what MX_TIM3_Init configures in cube/Src/tim.c.
+ */
+void MX_TIM3_Init();
+
+/**
+ * @brief Configure what MX_TIM4_Init configures in cube/Src/tim.c.
+ */
+void MX_TIM4_Init();
+
+/**
+ * @brief Configure what MX_TIM5_Init configures in cube/Src/tim.c.
+ */
+void MX_TIM5_Init();
+
+/**
+ * @brief Configure what MX_TIM8_Init configures in cube/Src/tim.c.
+ */
+void MX_TIM8_Init();
+
+/**
+ * @brief Configure what MX_TIM12_Init configures in cube/Src/tim.c.
+ */
+void MX_TIM12_Init();
+
+/**
+ * @brief Configure what MX_TIM15_Init configures in cube/Src/tim.c.
+ */
+void MX_TIM15_Init();
+
+#endif  // MICRAS_SIM_CUBE_TIM_H
diff --git a/targets/micras/cube/usart.h b/targets/micras/cube/usart.h
new file mode 100644
index 0000000..206f700
--- /dev/null
+++ b/targets/micras/cube/usart.h
@@ -0,0 +1,22 @@
+/**
+ * @file
+ *
+ * @brief Fake STM32CubeMX usart.h of the Micras v1 board: its handles and init functions.
+ */
+
+#ifndef MICRAS_SIM_CUBE_USART_H
+#define MICRAS_SIM_CUBE_USART_H
+
+#include "main.h"
+
+/**
+ * @brief Handle huart4, as cube/Src/usart.c defines it.
+ */
+extern UART_HandleTypeDef huart4;
+
+/**
+ * @brief Configure what MX_UART4_Init configures in cube/Src/usart.c.
+ */
+void MX_UART4_Init();
+
+#endif  // MICRAS_SIM_CUBE_USART_H
diff --git a/targets/micras/include/micras/sim/micras/bindings.hpp b/targets/micras/include/micras/sim/micras/bindings.hpp
new file mode 100644
index 0000000..33ba0b1
--- /dev/null
+++ b/targets/micras/include/micras/sim/micras/bindings.hpp
@@ -0,0 +1,30 @@
+/**
+ * @file
+ *
+ * @brief Which host port drives which simulated device, for the Micras v1 board.
+ */
+
+#ifndef MICRAS_SIM_MICRAS_BINDINGS_HPP
+#define MICRAS_SIM_MICRAS_BINDINGS_HPP
+
+#include "micras/sim/app/target.hpp"
+#include "micras/sim/core/run_context.hpp"
+#include "micras/sim/micras/micras_target.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Build the board's devices and connect them to the firmware's ports.
+ *
+ * @note Every port is found through the firmware's own configuration in
+ *       target.hpp, so a moved pin or channel moves the binding with it. Ports
+ *       that only exist on the robot to talk to a chip the simulator replaces,
+ *       the SPI chip selects, are marked bound without a device.
+ *
+ * @param context Context whose devices are added to.
+ * @param world The robot and the arena.
+ * @return Views of the devices the panel and the scenarios drive.
+ */
+MicrasBoard bind_devices(RunContext& context, const WorldInfo& world);
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_MICRAS_BINDINGS_HPP
diff --git a/targets/micras/include/micras/sim/micras/micras_target.hpp b/targets/micras/include/micras/sim/micras/micras_target.hpp
new file mode 100644
index 0000000..f9851c3
--- /dev/null
+++ b/targets/micras/include/micras/sim/micras/micras_target.hpp
@@ -0,0 +1,158 @@
+/**
+ * @file
+ *
+ * @brief The Micras micromouse, as a robot target of the simulator.
+ */
+
+#ifndef MICRAS_SIM_MICRAS_MICRAS_TARGET_HPP
+#define MICRAS_SIM_MICRAS_MICRAS_TARGET_HPP
+
+#include <array>
+#include <filesystem>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "micras/sim/app/target.hpp"
+#include "micras/sim/devices/dc_motor.hpp"
+#include "micras/sim/devices/imu.hpp"
+#include "micras/sim/devices/power.hpp"
+#include "micras/sim/devices/quadrature_encoder.hpp"
+#include "micras/sim/devices/serial_link.hpp"
+#include "micras/sim/devices/wall_sensors.hpp"
+#include "micras/sim/micras/pool_variables.hpp"
+
+namespace micras::sim {
+/**
+ * @brief The devices the bindings built, for the panel and the scenarios.
+ *
+ * @note The run's devices own them; these are views.
+ */
+struct MicrasBoard {
+    DigitalInput*                button{nullptr};
+    std::array<DigitalInput*, 4> dip_switches{};
+    DcMotor*                     left_motor{nullptr};
+    DcMotor*                     right_motor{nullptr};
+    Battery*                     battery{nullptr};
+    Fan*                         fan{nullptr};
+    WallSensors*                 wall_sensors{nullptr};
+};
+
+/**
+ * @brief Micras on the firmware's high-level-review branch, through the host micras_hal.
+ *
+ * @note The firmware runs as it does on the robot: its own main, its own proxies
+ *       and its own configuration, over the host backend in hal_host/ and the
+ *       fake Cube layer in cube/. Only the IMU and rotary sensor proxies are
+ *       replaced, by proxy/. The host timer hands every step over to the world.
+ */
+class MicrasTarget : public Target {
+public:
+    /**
+     * @brief Get the robot's name.
+     *
+     * @return "micras".
+     */
+    std::string name() const override;
+
+    /**
+     * @brief Get the commit of the firmware submodule this binary was built from.
+     *
+     * @return The commit, suffixed -dirty when the checkout had changes.
+     */
+    std::string firmware_sha() const override;
+
+    /**
+     * @brief Get the firmware's loop period.
+     *
+     * @return Period in microseconds, from the firmware's constants.
+     */
+    uint32_t loop_time_us() const override;
+
+    /**
+     * @brief Get the robot's own option: --flash, a file the flash is loaded from and saved to.
+     *
+     * @return The options.
+     */
+    std::vector<CliOption> options() override;
+
+    /**
+     * @brief Get the context the run advances.
+     *
+     * @return This target's context.
+     */
+    RunContext& context() override;
+
+    /**
+     * @brief Get the robot's physical description.
+     *
+     * @return Path of targets/micras/robot.toml.
+     */
+    std::filesystem::path robot_file() const override;
+
+    /**
+     * @brief Get the ground truth columns of a Micras run.
+     *
+     * @return The recorder configuration.
+     */
+    GroundTruthConfig ground_truth() const override;
+
+    /**
+     * @brief Get the camera that follows the robot.
+     *
+     * @return "side tracking".
+     */
+    std::string video_camera() const override;
+
+    /**
+     * @brief Get the firmware's own main.
+     *
+     * @return The program.
+     */
+    FirmwareThread::Program program() override;
+
+    /**
+     * @brief Bind the devices to the host ports, hand time over, and build the panel.
+     *
+     * @param firmware Thread the host timer hands every step over through.
+     * @param world The robot and the arena.
+     * @return What Micras adds to the run.
+     */
+    Wiring wire(FirmwareThread& firmware, const WorldInfo& world) override;
+
+    /**
+     * @brief Stop handing time over, and save the flash when --flash asked for it.
+     */
+    void unwire() override;
+
+    /**
+     * @brief Get what the run's board reports: unbound ports, watchdog expiries, emergency stops.
+     *
+     * @return The counters.
+     */
+    std::vector<MetadataField> metadata() const override;
+
+private:
+    /**
+     * @brief Build the panel.
+     *
+     * @return What the panel shows.
+     */
+    PanelSpec make_panel() const;
+
+    /**
+     * @brief Build the scenario hooks: inputs, link commands, state names.
+     *
+     * @return The hooks.
+     */
+    ScenarioHooks make_hooks() const;
+
+    RunContext                     run_context;
+    std::filesystem::path          flash_file;
+    MicrasBoard                    board;
+    std::unique_ptr<PoolVariables> variables;
+    std::unique_ptr<IRunListener>  port_check;
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_MICRAS_MICRAS_TARGET_HPP
diff --git a/targets/micras/include/micras/sim/micras/pool_variables.hpp b/targets/micras/include/micras/sim/micras/pool_variables.hpp
new file mode 100644
index 0000000..4b66580
--- /dev/null
+++ b/targets/micras/include/micras/sim/micras/pool_variables.hpp
@@ -0,0 +1,61 @@
+/**
+ * @file
+ *
+ * @brief The firmware's registered variables, read straight from its pool.
+ */
+
+#ifndef MICRAS_SIM_MICRAS_POOL_VARIABLES_HPP
+#define MICRAS_SIM_MICRAS_POOL_VARIABLES_HPP
+
+#include <string>
+#include <vector>
+
+#include "micras/core/variable_pool.hpp"
+#include "micras/sim/core/variable_source.hpp"
+#include "micras/sim/recording/column_source.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Records and looks up every variable the firmware registers, and its state.
+ *
+ * @note Read through Micras::get_variables() while the firmware is parked, so
+ *       every value of a row belongs to the same instant (SPEC_2_DECISIONS.md,
+ *       D5). Blobs, such as the maze, are skipped. The state machine's state is
+ *       added as "state", which the pool does not hold. Column names are the
+ *       variables' full names with slashes as underscores: "pose/x" is pose_x.
+ */
+class PoolVariables : public ColumnSource, public VariableSource {
+public:
+    /**
+     * @brief Get the column names.
+     *
+     * @note Throws when the firmware has not constructed its robot yet.
+     *
+     * @return "state" and one column per registered variable.
+     */
+    std::vector<std::string> names() override;
+
+    /**
+     * @brief Append every variable's current value.
+     *
+     * @param row Row being built.
+     */
+    void append(std::vector<CsvCell>& row) override;
+
+    /**
+     * @brief Get a variable's current value.
+     *
+     * @param name Full name, such as "pose/x", or "state".
+     * @return The value, or NaN before the robot exists or for unknown names.
+     */
+    double value_of(const std::string& name) const override;
+
+private:
+    /**
+     * @brief Ids of the recorded variables, in column order.
+     */
+    std::vector<core::VariableId> recorded;
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_MICRAS_POOL_VARIABLES_HPP
diff --git a/targets/micras/justfile b/targets/micras/justfile
new file mode 100644
index 0000000..55742c2
--- /dev/null
+++ b/targets/micras/justfile
@@ -0,0 +1,148 @@
+# Recipes of the Micras target, run from this directory: `just micras <recipe>` from
+# the repository root. Paths below are relative to targets/micras.
+
+set shell := ["bash", "-euo", "pipefail", "-c"]
+set positional-arguments := true
+
+root := source_directory() / ".." / ".."
+micras_preset := env("MICRAS_PRESET", "default")
+build_root := root / "build" / micras_preset
+bin := build_root / "targets/micras/micras_sim"
+calibration := build_root / "targets/micras/micras_wall_calibration"
+robot_report := build_root / "targets/micras/micras_robot_report"
+turn_designer := build_root / "targets/micras/micras_turn_designer"
+python := "python3"
+tools := root / "tools"
+free_port := python + " -c 'import socket; s = socket.socket(); s.bind((\"127.0.0.1\", 0)); print(s.getsockname()[1])'"
+
+# The current baseline version: one summary per checked run (tools/baseline.py).
+baseline := "baselines/v5"
+check_runs := "idle explore"
+# The checked explore is the first 30 s of the scenario: out of the start cell, the
+# first corridors, turns and front walls. The whole scenario takes three minutes.
+explore_seconds := "30"
+
+default:
+    @just --list
+
+# Configure if needed, then build everything.
+build:
+    test -f {{build_root}}/CMakeCache.txt || (cd {{root}} && cmake --preset {{micras_preset}})
+    cmake --build {{build_root}}
+
+# The Micras unit tests through CTest.
+test: build
+    ctest --test-dir {{build_root}}/targets/micras --output-on-failure
+
+# Run the firmware with arbitrary simulator flags, e.g. `just micras run --scenario scenarios/explore.toml --out runs/x`.
+run *args: build
+    {{bin}} "$@"
+
+# The robot left alone for 4 s -> runs/idle
+run-idle: build
+    {{bin}} --scenario scenarios/idle.toml --out runs/idle
+
+# The first 30 s of an exploration started by the button -> runs/explore
+run-explore: build
+    {{bin}} --scenario scenarios/explore.toml --seconds {{explore_seconds}} --out runs/explore
+
+# Plots and report.json for one run directory.
+analyze run:
+    {{python}} {{tools}}/analyze.py "$1"
+
+# Each wall sensor's gain for robot.toml, or with --sweep how the firmware's distances follow the true ones.
+wall-calibration *args: build
+    {{calibration}} "$@"
+
+# robot.toml, the physical description, against robot.hpp, the firmware's belief, field by field.
+robot-report: build
+    {{robot_report}}
+
+# Design the turns of two bends and rewrite the firmware's config/two_bend_turns.hpp.
+turn-designs: build
+    {{turn_designer}} > MicrasFirmware/config/two_bend_turns.hpp.new
+    mv MicrasFirmware/config/two_bend_turns.hpp.new MicrasFirmware/config/two_bend_turns.hpp
+
+# Run with the bridge open so micras-monitor can connect on ws://localhost:8080.
+serve *args: build
+    {{bin}} --scenario scenarios/explore_link.toml --out runs/serve --monitor "$@"
+
+# Watch a run in a window. Space pauses, right steps, tab cycles cameras, esc quits.
+watch *args: build
+    {{bin}} --scenario scenarios/explore.toml --out runs/watch --viewer "$@"
+
+# 100 s explore recorded offscreen, then analysed.
+video: build
+    {{bin}} --scenario scenarios/explore.toml --seconds 100 --out runs/video \
+        --video runs/video/explore.mp4 --video-fps 30 --video-size 1280x720
+    {{python}} {{tools}}/analyze.py runs/video
+
+# Compare the checked runs against the recorded baseline summaries.
+compare-baseline:
+    for run in {{check_runs}}; do {{python}} {{tools}}/baseline.py compare runs/$run {{baseline}}/$run; done
+
+# Refuses to overwrite a version, so an older one is never lost: bump it instead.
+# Record a new baseline version from the checked runs.
+record-baseline: test run-idle run-explore
+    for run in {{check_runs}}; do {{python}} {{tools}}/baseline.py record runs/$run {{baseline}}/$run; done
+
+# A bridged run with nobody connected must match the same run without it, and the
+# bridge must actually have listened.
+# Prove the monitor bridge changes nothing.
+check-monitor: build
+    mkdir -p runs/monitor
+    {{bin}} --scenario scenarios/explore.toml --seconds 6 --out runs/monitor/plain > /dev/null
+    port=$({{free_port}}); \
+        {{bin}} --scenario scenarios/explore.toml --seconds 6 --out runs/monitor/quiet --monitor \
+            --monitor-port $port > runs/monitor/quiet.log; \
+        grep -q "monitor bridge listening" runs/monitor/quiet.log
+    {{python}} {{tools}}/compare_run.py runs/monitor/quiet runs/monitor/plain
+
+# The same scenario headless and watched must agree. Fails when there is no display
+# and no xvfb-run, unless MICRAS_SKIP_VIEWER=1 says so.
+# Prove a window changes nothing.
+check-viewer: build
+    if command -v xvfb-run > /dev/null; then \
+        show="xvfb-run -a"; \
+    elif [ -n "${DISPLAY:-}" ]; then \
+        show=""; \
+    elif [ "${MICRAS_SKIP_VIEWER:-0}" = 1 ]; then \
+        echo "MICRAS_SKIP_VIEWER=1: skipping the viewer comparison"; \
+        exit 0; \
+    else \
+        echo "no display and no xvfb-run; install xvfb or set MICRAS_SKIP_VIEWER=1"; \
+        exit 1; \
+    fi; \
+    {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/viewer/headless > /dev/null; \
+    $show {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/viewer/watched \
+        --viewer --viewer-size 640x480 > /dev/null; \
+    {{python}} {{tools}}/compare_run.py runs/viewer/watched runs/viewer/headless
+
+# The same scenario with and without --video must agree. Needs EGL: a GPU, or
+# Mesa's surfaceless platform (EGL_PLATFORM=surfaceless).
+# Prove recording a video changes nothing.
+check-video: build
+    mkdir -p runs/video_check
+    {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/video_check/plain > /dev/null
+    {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/video_check/recorded \
+        --video runs/video_check/recorded.mp4 --video-size 640x480 > runs/video_check/recorded.log
+    grep -q "^recording " runs/video_check/recorded.log
+    {{python}} {{tools}}/compare_run.py runs/video_check/recorded runs/video_check/plain
+
+# An exploration that saves its map leaves a programmed image in the --flash file,
+# and a new run boots from it to IDLE. The firmware saves when the exploration reaches
+# the goal, at about 40 s on maze1.
+# Prove the flash outlives a run.
+check-flash: build
+    rm -rf runs/flash && mkdir -p runs/flash
+    {{bin}} --scenario scenarios/explore.toml --seconds 45 --out runs/flash/first --flash runs/flash/flash.bin > /dev/null
+    {{python}} -c 'import sys; image = open("runs/flash/flash.bin", "rb").read(); sys.exit(0 if any(byte != 0xFF for byte in image) else "the flash image is blank")'
+    {{bin}} --scenario scenarios/idle.toml --out runs/flash/second --flash runs/flash/flash.bin > /dev/null
+    {{python}} {{tools}}/analyze.py runs/flash/second > /dev/null
+    {{python}} {{tools}}/check_run.py --expect-state IDLE runs/flash/second
+
+# The gate: tests, the window, video and bridge proofs, the checked runs, their health and the baseline.
+check: build test check-viewer check-video check-monitor check-flash run-idle run-explore && compare-baseline
+    for run in {{check_runs}}; do {{python}} {{tools}}/analyze.py runs/$run > /dev/null; done
+    {{python}} {{tools}}/check_run.py --expect unbound_ports=0 --expect watchdog_expiries=0 \
+        --expect emergency_stops=0 --expect serial_dropped_bytes=0 runs/idle runs/explore
diff --git a/targets/micras/proxy/imu.cpp b/targets/micras/proxy/imu.cpp
new file mode 100644
index 0000000..50d70cf
--- /dev/null
+++ b/targets/micras/proxy/imu.cpp
@@ -0,0 +1,80 @@
+/**
+ * @file
+ *
+ * @brief Imu for the simulator: the samples come from the simulated chip, not over SPI.
+ *
+ * @note Replaces micras_proxy/src/imu.cpp. The real driver talks to the LSM6DSV
+ *       through ST's register driver; here the simulator's IMU device writes the
+ *       chip's raw output words into the "imu" sample port, gyroscope X, Y, Z then
+ *       accelerometer X, Y, Z, and this file scales them with the same factors
+ *       the real driver derives from the configured full scales. A new sample is
+ *       one the port's sequence has not shown yet, as the chip's data ready bits
+ *       say on the robot.
+ */
+
+#include <cstdint>
+#include <unordered_map>
+
+#include "micras/hal/host/board.hpp"
+#include "micras/proxy/imu.hpp"
+
+namespace micras::proxy {
+namespace {
+/**
+ * @brief Sequence of the last sample each Imu read.
+ *
+ * @note Kept outside the class because the header, shared with the robot, has no
+ *       member for it.
+ */
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables): per-object state the header has no room for.
+std::unordered_map<const Imu*, uint32_t> last_sequences;
+}  // namespace
+
+Imu::Imu(const Config& config) :
+    spi{config.spi},
+    gy_factor{
+        mdps_to_radps * 4.375F *
+        (1 << (config.gyroscope_scale == LSM6DSV_4000dps ? 5 : static_cast<uint8_t>(config.gyroscope_scale)))
+    },
+    xl_factor{mg_to_mps2 * (0.061F * (1 << static_cast<uint8_t>(config.accelerometer_scale)))},
+    initialized{this->spi.was_initialized()} {
+    hal::host::Board::samples("imu").touched = true;
+    last_sequences[this] = hal::host::Board::samples("imu").sequence;
+}
+
+void Imu::update() {
+    const hal::host::SamplePort& port = hal::host::Board::samples("imu");
+    uint32_t&                    last = last_sequences[this];
+
+    this->fresh = port.sequence != last;
+
+    if (not this->fresh) {
+        return;
+    }
+
+    last = port.sequence;
+
+    for (uint8_t axis = 0; axis < 3; axis++) {
+        this->angular_velocity.at(axis) =
+            static_cast<float>(static_cast<int16_t>(port.values.at(axis))) * this->gy_factor;
+        this->linear_acceleration.at(axis) =
+            static_cast<float>(static_cast<int16_t>(port.values.at(3 + axis))) * this->xl_factor;
+    }
+}
+
+bool Imu::is_new() const {
+    return this->fresh;
+}
+
+float Imu::get_angular_velocity(Axis axis) const {
+    return this->angular_velocity.at(static_cast<uint8_t>(axis));
+}
+
+float Imu::get_linear_acceleration(Axis axis) const {
+    return this->linear_acceleration.at(static_cast<uint8_t>(axis));
+}
+
+bool Imu::was_initialized() const {
+    return this->initialized;
+}
+}  // namespace micras::proxy
diff --git a/targets/micras/proxy/rotary_sensor.cpp b/targets/micras/proxy/rotary_sensor.cpp
new file mode 100644
index 0000000..8e9b8d7
--- /dev/null
+++ b/targets/micras/proxy/rotary_sensor.cpp
@@ -0,0 +1,64 @@
+/**
+ * @file
+ *
+ * @brief RotarySensor for the simulator: no SPI register protocol, the real encoder count.
+ *
+ * @note Replaces micras_proxy/src/rotary_sensor.cpp. On the robot the proxy writes
+ *       the AS5047U's registers over SPI, reads back the ABI resolution and then
+ *       counts the ABI output with a timer in encoder mode. Here the resolution is
+ *       taken from the same configured registers, as if the read back returned
+ *       them, and the count comes from the host encoder the simulator's encoder
+ *       device drives. The CRC and SPI members are built, as the header requires,
+ *       and left unused.
+ */
+
+#include <cstdint>
+#include <numbers>
+#include <optional>
+
+#include "micras/proxy/rotary_sensor.hpp"
+
+namespace micras::proxy {
+RotarySensor::RotarySensor(const Config& config) : spi{config.spi}, encoder{config.encoder}, crc{config.crc} {
+    if (not this->spi.was_initialized() or not this->encoder.was_initialized()) {
+        return;
+    }
+
+    const uint16_t pulses = pulses_per_revolution.at(config.registers.settings3.fields.ABIRES);
+
+    if (pulses == 0) {
+        return;
+    }
+
+    this->resolution = edges_per_pulse * pulses;
+    this->initialized = true;
+}
+
+float RotarySensor::get_position() const {
+    if (this->resolution == 0) {
+        return 0.0F;
+    }
+
+    return static_cast<float>(this->encoder.get_counter()) * 2.0F * std::numbers::pi_v<float> /
+           static_cast<float>(this->resolution);
+}
+
+uint32_t RotarySensor::get_resolution() const {
+    return this->resolution;
+}
+
+bool RotarySensor::was_initialized() const {
+    return this->initialized;
+}
+
+// NOLINTBEGIN(readability-convert-member-functions-to-static): the firmware's RotarySensor declares them as members.
+std::optional<uint16_t> RotarySensor::read_register(uint16_t /*address*/) {
+    return std::nullopt;
+}
+
+bool RotarySensor::write_register(uint16_t /*address*/, uint16_t /*data*/) {
+    return false;
+}
+
+// NOLINTEND(readability-convert-member-functions-to-static)
+}  // namespace micras::proxy
diff --git a/targets/micras/robot.toml b/targets/micras/robot.toml
new file mode 100644
index 0000000..5bd8596
--- /dev/null
+++ b/targets/micras/robot.toml
@@ -0,0 +1,176 @@
+# Micras, v2 main board, as built.
+#
+# The physical truth the simulator builds its model and devices from; the
+# firmware's config/targets/v1/robot.hpp is the robot's belief about itself, and
+# `just micras robot-report` shows where the two differ. SPEC_2_DECISIONS.md,
+# section 14, has the derivation of every value.
+#
+# Frames follow robot.hpp: x forward, y left, z up, origin on the floor under the
+# midpoint of the wheel axle. Lengths in metres, masses in kilograms, angles in
+# degrees where the key ends in _deg.
+#
+# Sources: "datasheet" (named), "CAD" (the KiCad board or the SolidWorks
+# assembly), "firmware" (target.hpp, the CubeMX project), "owner", "estimate".
+
+schema = 1
+name = "micras"
+
+[integration]
+# Divides the firmware's 125 us loop; chosen by contact stability (SPEC_1 R3).
+timestep = { value = 0.000125, source = "measured: tyre contact, penetration and the explore trace unchanged at 62.5 and 31.25 us" }
+
+[chassis]
+mass = { value = 0.062, source = "estimate: 70 g for the whole robot (modelled parts, three 6 g cells, 5 g of components), less the two wheels; weigh it" }
+center_of_mass = { value = [-0.0008, 0.0, 0.017], source = "estimate: CAD volumes with assumed densities" }
+inertia = { value = [1.16e-5, 2.37e-5, 2.45e-5], source = "estimate: 2.9e-5 yaw for the whole robot from CAD volumes, less the wheels; roll and pitch scaled" }
+outline = { value = [[0.0535, 0.0150], [0.03456, 0.02447], [0.0323, 0.0250], [-0.0365, 0.0250], [-0.0365, -0.0250], [0.0323, -0.0250], [0.03456, -0.02447], [0.0535, -0.0150]], source = "CAD: KiCad board edge, nose chamfers at 26.6 deg, fillets as corners" }
+board_bottom = { value = 0.001, source = "CAD: BoardToFloorHeight" }
+board_top = { value = 0.002, source = "CAD: 1.04 mm FR-4" }
+friction = { value = 0.3, source = "estimate: FR-4 on a painted floor" }
+
+[[chassis.boxes]]
+name = "bearing_block_left"
+min = { value = [-0.0185, 0.00575, 0.002], source = "CAD" }
+max = { value = [0.0055, 0.02225, 0.025], source = "CAD" }
+
+[[chassis.boxes]]
+name = "bearing_block_right"
+min = { value = [-0.0185, -0.02225, 0.002], source = "CAD" }
+max = { value = [0.0055, -0.00575, 0.025], source = "CAD" }
+
+[[chassis.boxes]]
+name = "fan_holder"
+min = { value = [-0.0185, -0.0225, 0.025], source = "estimate: spans the bearing blocks and the impeller" }
+max = { value = [0.031, 0.0225, 0.027], source = "estimate" }
+
+[[chassis.boxes]]
+name = "battery_cells"
+min = { value = [-0.0198, -0.023, 0.022], source = "CAD: the three 46 x 12 x 7 mm cell bodies; where the third one sits is open" }
+max = { value = [0.0114, 0.023, 0.034], source = "CAD" }
+
+[[chassis.cylinders]]
+name = "fan_impeller"
+base = { value = [0.0175, 0.0, 0.0025], source = "CAD" }
+radius = { value = 0.0135, source = "CAD: 27 mm impeller" }
+height = { value = 0.007, source = "CAD" }
+
+[[chassis.cylinders]]
+name = "fan_motor"
+base = { value = [0.0175, 0.0, 0.0095], source = "CAD" }
+radius = { value = 0.005, source = "CAD: 10 mm coreless motor" }
+height = { value = 0.022, source = "CAD" }
+
+# The real robot has no third contact point: it rests on the rear edge of its board
+# and dips onto the front edge when it brakes. These two frictionless skids stand in
+# for those edges, so the chassis is carried level without the board scraping.
+[[chassis.skids]]
+name = "rear_skid"
+center = { value = [-0.034, 0.0, 0.001], source = "simulation: under the rear edge of the board, touching the floor when level" }
+radius = { value = 0.001, source = "simulation" }
+
+[[chassis.skids]]
+name = "front_skid"
+center = { value = [0.050, 0.0, 0.0013], source = "simulation: under the nose, 0.3 mm clear of the floor when level" }
+radius = { value = 0.001, source = "simulation" }
+
+[wheels]
+radius = { value = 0.011, source = "CAD: 1.0 mm tyre band on a 20 mm hub seat" }
+width = { value = 0.00425, source = "CAD: WheelTireWidth" }
+track = { value = 0.04575, source = "CAD: tyre centre to tyre centre" }
+mass = { value = 0.004, source = "estimate: printed hub with its gear, and the tyre" }
+spin_inertia = { value = 1.9e-7, source = "estimate: CAD volumes" }
+friction = { value = 1.0, source = "estimate: Kyosho MZW40-20 slick on a maze floor; measure by tilting" }
+torsional_friction = { value = 0.0005, source = "estimate: half the contact patch width" }
+contact_time_constant = { value = 0.008, source = "estimate: 1 mm silicone band, E ~ 0.5 MPa over a 4.25 x 3 mm patch, ~5000 N/m; 5 ms or more also keeps the tyres on the floor when they slide" }
+contact_damping_ratio = { value = 1.0, source = "estimate" }
+
+[drive]
+winding_resistance = { value = 12.0, source = "datasheet: Maxon DCX 8 M, 4.2 V winding" }
+bridge_resistance = { value = 0.62, source = "datasheet: L6205D, one conducting path at 25 C" }
+torque_constant = { value = 0.00336, source = "datasheet: DCX 8 M 4.2 V" }
+speed_constant = { value = 0.003351, source = "datasheet: 2850 rpm/V" }
+no_load_current = { value = 0.00693, source = "datasheet: DCX 8 M 4.2 V" }
+rotor_inertia = { value = 3.79e-9, source = "datasheet: 0.0379 g cm^2" }
+gear_ratio = { value = 5.25, source = "CAD: 4 mm pinion to 21 mm wheel gear pitch circles" }
+gear_efficiency = { value = 0.9, source = "estimate: one printed spur stage" }
+supply_voltage = { value = 19.63, source = "CAD and datasheet: TPS611781 feedback divider" }
+max_motor_speed = { value = 1811.6, source = "datasheet: 17 300 rpm permissible" }
+
+[encoders]
+counts_per_revolution = { value = 16384, source = "firmware: AS5047U ABIRES 4096 pulses, four edges, magnet on the axle" }
+
+[imu]
+position = { value = [0.00066, 0.0, 0.0024], source = "CAD: IC2, 0.4 mm above the board top" }
+chip_x = { value = [0.0, -1.0, 0.0], source = "CAD and datasheet: pin 1 at the front left" }
+chip_y = { value = [1.0, 0.0, 0.0], source = "CAD and datasheet" }
+chip_z = { value = [0.0, 0.0, 1.0], source = "CAD and datasheet" }
+gyro_noise_density = { value = 4.887e-5, source = "datasheet: LSM6DSV 2.8 mdps/sqrt(Hz), in rad/s/sqrt(Hz)" }
+gyro_bias = { value = 0.005236, source = "estimate: one third of the +-1 dps zero-rate level, in rad/s" }
+gyro_scale_error = { value = 0.001, source = "estimate: one third of the +-0.3 % sensitivity tolerance" }
+gyro_resolution = { value = 0.0024435, source = "firmware: +-4000 dps full scale, 140 mdps per LSB, in rad/s" }
+accel_noise_density = { value = 5.884e-4, source = "datasheet: 60 ug/sqrt(Hz), in m/s^2/sqrt(Hz)" }
+accel_bias = { value = 0.0392, source = "estimate: one third of the +-12 mg zero-g offset, in m/s^2" }
+accel_resolution = { value = 0.0023929, source = "firmware: +-8 g full scale, 0.244 mg per LSB, in m/s^2" }
+bandwidth = { value = 281.0, source = "firmware and datasheet: LPF1 ultra light at 8 kHz" }
+output_rate = { value = 8000.0, source = "firmware: high accuracy ODR" }
+clock_error = { value = 0.005, source = "estimate: within the datasheet's +-1 % in high accuracy mode" }
+
+[fan]
+position = { value = [0.0175, 0.0, 0.0025], source = "CAD: impeller over the 15 mm hole" }
+max_downforce = { value = 3.0, source = "owner: about 3 N at full speed" }
+nominal_voltage = { value = 12.3, source = "the charged pack the simulation runs from, so full speed gives max_downforce" }
+time_constant = { value = 0.15, source = "estimate: coreless motor with a 27 mm impeller" }
+
+[battery]
+cells = { value = 3, source = "owner" }
+cell_voltage = { value = 4.1, source = "estimate: a charged cell under a light load" }
+cell_resistance = { value = 0.15, source = "estimate: 250 mAh LiPo" }
+
+[link]
+baud_rate = { value = 115200, source = "firmware: usart.c, UART4 to the HM-19" }
+
+[wall_sensors]
+emitter_half_angle_deg = { value = 3.0, source = "datasheet: SFH4550" }
+emitter_intensity = { value = 1.8, source = "datasheet and CAD: 1100 mW/sr at 100 mA, driven at about 164 mA" }
+receiver_half_angle_deg = { value = 10.0, source = "datasheet: TPS601A" }
+receiver_responsivity = { value = 4.0e-4, source = "datasheet: TPS601A rank B, mid range; the rank is unknown" }
+load_resistance = { value = 1000.0, source = "CAD" }
+saturation_voltage = { value = 2.9, source = "CAD" }
+adc_reference = { value = 3.3, source = "firmware" }
+adc_max_counts = { value = 65535.0, source = "firmware: 16-bit, 8x oversampled and shifted by 3" }
+adc_noise_counts = { value = 20.0, source = "estimate" }
+settle_fraction = { value = 0.976, source = "estimate: 75 us of settling against a 20 us receiver time constant" }
+ambient_irradiance = { value = 0.01, source = "estimate: indoor lighting in the receiver's band, in W/m^2" }
+rays = { value = 16, source = "simulation: rays per emitter cone" }
+
+[[wall_sensors.sensors]]
+name = "left_front"
+emitter = { value = [0.0434, 0.0215, 0.01175], source = "CAD: W1 lens tip" }
+receiver = { value = [0.0444, 0.0215, 0.00525], source = "CAD: W1 lens tip" }
+yaw_deg = { value = 0.0, source = "CAD" }
+group = { value = 0, source = "firmware: TIM4 channel 1, not inverted" }
+gain = { value = 1.8815, source = "calibrated: target.hpp reference_readings over the simulated reading at the calibration pose (tools/wall_calibration)" }
+
+[[wall_sensors.sensors]]
+name = "left"
+emitter = { value = [0.05229, 0.01491, 0.01175], source = "CAD: W2 lens tip" }
+receiver = { value = [0.053, 0.01562, 0.00525], source = "CAD: W2 lens tip" }
+yaw_deg = { value = 45.0, source = "CAD" }
+group = { value = 1, source = "firmware: TIM4 channel 2, inverted" }
+gain = { value = 3.7461, source = "calibrated: target.hpp reference_readings over the simulated reading at the calibration pose (tools/wall_calibration)" }
+
+[[wall_sensors.sensors]]
+name = "right"
+emitter = { value = [0.05229, -0.01491, 0.01175], source = "CAD: W3 lens tip" }
+receiver = { value = [0.053, -0.01562, 0.00525], source = "CAD: W3 lens tip" }
+yaw_deg = { value = -45.0, source = "CAD" }
+group = { value = 0, source = "firmware: TIM4 channel 3, not inverted" }
+gain = { value = 4.1181, source = "calibrated: target.hpp reference_readings over the simulated reading at the calibration pose (tools/wall_calibration)" }
+
+[[wall_sensors.sensors]]
+name = "right_front"
+emitter = { value = [0.0434, -0.0215, 0.01175], source = "CAD: W4 lens tip" }
+receiver = { value = [0.0444, -0.0215, 0.00525], source = "CAD: W4 lens tip" }
+yaw_deg = { value = 0.0, source = "CAD" }
+group = { value = 1, source = "firmware: TIM4 channel 4, inverted" }
+gain = { value = 1.0478, source = "calibrated: target.hpp reference_readings over the simulated reading at the calibration pose (tools/wall_calibration)" }
diff --git a/targets/micras/src/main.cpp b/targets/micras/src/main.cpp
new file mode 100644
index 0000000..e789fa1
--- /dev/null
+++ b/targets/micras/src/main.cpp
@@ -0,0 +1,15 @@
+/**
+ * @file
+ *
+ * @brief Runs the Micras firmware, its own main, in the simulator.
+ */
+
+#include <span>
+
+#include "micras/sim/app/application.hpp"
+#include "micras/sim/micras/micras_target.hpp"
+
+int main(int argc, char** argv) {
+    micras::sim::MicrasTarget target;
+    return micras::sim::run(std::span(argv, static_cast<std::size_t>(argc)), target);
+}
diff --git a/targets/micras/src/pool_variables.cpp b/targets/micras/src/pool_variables.cpp
new file mode 100644
index 0000000..3bce9d8
--- /dev/null
+++ b/targets/micras/src/pool_variables.cpp
@@ -0,0 +1,130 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <cstddef>
+#include <cstring>
+#include <limits>
+#include <stdexcept>
+
+#include "micras/micras.hpp"
+#include "micras/sim/micras/pool_variables.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Read a registered variable as a number.
+ *
+ * @param variable The variable.
+ * @return Its value.
+ */
+double read(const core::Variable& variable) {
+    const auto load = [&variable]<typename T>(T) {
+        T value{};
+        std::memcpy(&value, variable.address, sizeof(value));
+        return static_cast<double>(value);
+    };
+
+    switch (variable.type) {
+        case core::TypeCode::BOOL:
+            return load(bool{});
+        case core::TypeCode::U8:
+            return load(uint8_t{});
+        case core::TypeCode::I8:
+            return load(int8_t{});
+        case core::TypeCode::U16:
+            return load(uint16_t{});
+        case core::TypeCode::I16:
+            return load(int16_t{});
+        case core::TypeCode::U32:
+            return load(uint32_t{});
+        case core::TypeCode::I32:
+            return load(int32_t{});
+        case core::TypeCode::U64:
+            return load(uint64_t{});
+        case core::TypeCode::I64:
+            return load(int64_t{});
+        case core::TypeCode::F32:
+            return load(float{});
+        case core::TypeCode::F64:
+            return load(double{});
+        case core::TypeCode::BLOB:
+            break;
+    }
+
+    return std::numeric_limits<double>::quiet_NaN();
+}
+
+/**
+ * @brief Get the full name of a variable.
+ *
+ * @param variable The variable.
+ * @return Its prefix and name.
+ */
+std::string full_name(const core::Variable& variable) {
+    return std::string{variable.prefix} + std::string{variable.name};
+}
+
+/**
+ * @brief Get the robot, or fail when the firmware has not built it.
+ *
+ * @return The robot.
+ */
+const Micras& robot() {
+    const Micras* micras = Micras::get_instance();
+
+    if (micras == nullptr) {
+        throw std::runtime_error("the firmware did not construct its robot during the first tick");
+    }
+
+    return *micras;
+}
+}  // namespace
+
+std::vector<std::string> PoolVariables::names() {
+    std::vector<std::string> columns{"state"};
+    this->recorded.clear();
+
+    const std::span<const core::Variable> variables = robot().get_variables().all();
+
+    for (std::size_t index = 0; index < variables.size(); index++) {
+        const core::Variable& variable = variables[index];
+
+        if (variable.type == core::TypeCode::BLOB) {
+            continue;
+        }
+
+        std::string column = full_name(variable);
+        std::ranges::replace(column, '/', '_');
+        columns.push_back(column);
+        this->recorded.push_back(static_cast<core::VariableId>(index));
+    }
+
+    return columns;
+}
+
+void PoolVariables::append(std::vector<CsvCell>& row) {
+    const Micras& micras = robot();
+    row.emplace_back(static_cast<int64_t>(micras.get_state()));
+
+    for (const core::VariableId id : this->recorded) {
+        row.emplace_back(read(micras.get_variables().at(id)));
+    }
+}
+
+double PoolVariables::value_of(const std::string& name) const {
+    const Micras* micras = Micras::get_instance();
+
+    if (micras == nullptr) {
+        return std::numeric_limits<double>::quiet_NaN();
+    }
+
+    if (name == "state") {
+        return micras->get_state();
+    }
+
+    const std::optional<core::VariableId> id = micras->get_variables().find(name);
+    return id.has_value() ? read(micras->get_variables().at(*id)) : std::numeric_limits<double>::quiet_NaN();
+}
+}  // namespace micras::sim
diff --git a/targets/micras/tests/CMakeLists.txt b/targets/micras/tests/CMakeLists.txt
new file mode 100644
index 0000000..ed09db0
--- /dev/null
+++ b/targets/micras/tests/CMakeLists.txt
@@ -0,0 +1,14 @@
+###############################################################################
+## Micras target unit tests: the host micras_hal and the fake Cube layer
+###############################################################################
+
+include(GoogleTest)
+
+add_executable(micras_target_tests
+    unit/hal_host_test.cpp
+)
+
+target_link_libraries(micras_target_tests PRIVATE micras_sim_micras GTest::gtest_main)
+target_compile_options(micras_target_tests PRIVATE -Wall -Wextra)
+
+gtest_discover_tests(micras_target_tests)
diff --git a/targets/micras/tests/unit/hal_host_test.cpp b/targets/micras/tests/unit/hal_host_test.cpp
new file mode 100644
index 0000000..b52825f
--- /dev/null
+++ b/targets/micras/tests/unit/hal_host_test.cpp
@@ -0,0 +1,93 @@
+/**
+ * @file
+ */
+
+#include <array>
+#include <cstdint>
+#include <string_view>
+#include <vector>
+
+#include <gtest/gtest.h>
+
+#include "micras/hal/crc.hpp"
+#include "micras/hal/gpio.hpp"
+#include "micras/hal/host/board.hpp"
+#include "micras/hal/host/clock.hpp"
+#include "micras/hal/pwm.hpp"
+#include "micras/hal/timer.hpp"
+#include "target.hpp"
+
+namespace micras::sim {
+namespace {
+class HostHal : public testing::Test {
+protected:
+    void SetUp() override {
+        hal::host::Board::reset();
+        hal::host::Clock::instance().reset();
+        hal::host::Clock::instance().configure(SystemCoreClock / 1000000);
+        hal::Timer::init();
+    }
+};
+
+TEST_F(HostHal, ComputesTheCrcTheUnitIsConfiguredFor) {
+    CRC_HandleTypeDef handle{};
+    handle.Init = {
+        .DefaultPolynomialUse = DEFAULT_POLYNOMIAL_DISABLE,
+        .DefaultInitValueUse = DEFAULT_INIT_VALUE_DISABLE,
+        .GeneratingPolynomial = 0x1D,
+        .CRCLength = CRC_POLYLENGTH_8B,
+        .InitValue = 0xFF,
+        .InputDataInversionMode = CRC_INPUTDATA_INVERSION_NONE,
+        .OutputDataInversionMode = CRC_OUTPUTDATA_INVERSION_DISABLE,
+    };
+    hal::Crc crc{{.handle = &handle}};
+
+    constexpr std::string_view check{"123456789"};
+    const std::vector<uint8_t> bytes(check.begin(), check.end());
+
+    EXPECT_EQ(crc.calculate(bytes) ^ 0xFFU, 0x4BU);
+}
+
+TEST_F(HostHal, ChargesAQuantumPerReadAndHandsOverAtEveryStep) {
+    int steps = 0;
+    hal::host::Clock::instance().set_handover(125, [&steps] { steps++; });
+
+    const uint32_t start = hal::Timer::get_counter();
+
+    while (hal::Timer::to_microseconds(hal::Timer::get_counter() - start) < 1000) { }
+
+    EXPECT_EQ(steps, 8);
+    EXPECT_EQ(hal::Timer::get_counter_ms(), 1U);
+}
+
+TEST_F(HostHal, ReadsWhatTheOutsideDrivesAndOtherwiseWhatTheFirmwareWrote) {
+    hal::Gpio led{led_config.gpio};
+    led.write(true);
+
+    hal::host::GpioPort& port = hal::host::Board::gpio(led_config.gpio.port, led_config.gpio.pin);
+    EXPECT_TRUE(port.output);
+    EXPECT_TRUE(led.read());
+
+    port.input = false;
+    EXPECT_FALSE(led.read());
+    EXPECT_TRUE(port.touched);
+}
+
+TEST_F(HostHal, RunsTheWallEmittersAtTheirConfiguredFrequency) {
+    const hal::Pwm emitter{std::get<0>(wall_sensors_config.led_pwms)};
+
+    EXPECT_TRUE(emitter.was_initialized());
+    EXPECT_NEAR(emitter.get_frequency(), wall_sensors_frequency, 1.0F);
+}
+
+TEST_F(HostHal, ReportsPortsTheFirmwareTouchedThatNothingIsBoundTo) {
+    hal::Gpio led{led_config.gpio};
+    led.write(true);
+
+    EXPECT_EQ(hal::host::Board::unbound().size(), 1U);
+
+    hal::host::Board::gpio(led_config.gpio.port, led_config.gpio.pin).bound = true;
+    EXPECT_TRUE(hal::host::Board::unbound().empty());
+}
+}  // namespace
+}  // namespace micras::sim
diff --git a/targets/micras/tools/analysis.py b/targets/micras/tools/analysis.py
new file mode 100644
index 0000000..0bd97b0
--- /dev/null
+++ b/targets/micras/tools/analysis.py
@@ -0,0 +1,253 @@
+"""Micras plugin for ``tools/analyze.py``.
+
+Knows what the Micras columns mean: the firmware's own monitoring variables
+(``state``, ``pose_*``, ``reference_*``, ``control_*``, ``loop_*``) and the
+board's devices (``motor_*_voltage``, ``wall_left_front`` and the other wall
+sensors, ``pack_voltage``). ``analyze.py`` loads it when ``meta.json`` names the
+``micras`` target.
+
+State names come from the state events in ``meta.json``, which the simulator
+names from the firmware, never from ids written here.
+"""
+
+from __future__ import annotations
+
+from pathlib import Path
+
+import matplotlib.pyplot as plt
+import numpy as np
+
+#: Fraction of the supply beyond which a motor voltage counts as saturated.
+SATURATION = 0.98
+MAX_EVENTS = 50
+WALL_SENSORS = ("wall_left_front", "wall_left", "wall_right", "wall_right_front")
+
+
+def events(run, kind: str) -> list[dict]:
+    """Events of one kind from ``meta.json``, in time order."""
+    return [event for event in run.meta.get("events", []) if event.get("kind") == kind]
+
+
+def run_start(run) -> float | None:
+    """The first time the firmware enters RUN."""
+    for event in events(run, "state"):
+        if event.get("detail") == "RUN":
+            return float(event["time"])
+
+    return None
+
+
+def running(run) -> np.ndarray:
+    """Ticks between each entry into RUN and the next state change."""
+    mask = np.zeros(run.time.shape, dtype=bool)
+    timeline = events(run, "state")
+
+    for index, event in enumerate(timeline):
+        if event.get("detail") != "RUN":
+            continue
+
+        end = float(timeline[index + 1]["time"]) if index + 1 < len(timeline) else np.inf
+        mask |= (run.time >= float(event["time"])) & (run.time < end)
+
+    return mask
+
+
+def statistics(values: np.ndarray, time: np.ndarray, mask: np.ndarray) -> dict:
+    """Largest absolute value, when it happened, and the rms, over a mask."""
+    valid = mask & np.isfinite(values)
+
+    if not valid.any():
+        return {"max": None, "max_time": None, "rms": None}
+
+    magnitude = np.where(valid, np.abs(values), -np.inf)
+    peak = int(np.argmax(magnitude))
+
+    return {
+        "max": float(magnitude[peak]),
+        "max_time": float(time[peak]),
+        "rms": float(np.sqrt(np.mean(values[valid] ** 2))),
+    }
+
+
+def pose_report(run, mask: np.ndarray) -> dict:
+    """The firmware's pose estimate against the ground truth."""
+    position = np.hypot(run.get("pose_x") - run.get("x"), run.get("pose_y") - run.get("y"))
+    heading = np.angle(np.exp(1j * (run.get("pose_orientation") - run.get("yaw"))))
+    valid = np.isfinite(position)
+
+    return {
+        "position_error": statistics(position, run.time, mask),
+        "heading_error_deg": {
+            key: (float(np.degrees(value)) if key != "max_time" and value is not None else value)
+            for key, value in statistics(heading, run.time, mask).items()
+        },
+        "final_position_error": float(position[valid][-1]) if valid.any() else None,
+    }
+
+
+def tracking_report(run, mask: np.ndarray) -> dict:
+    """How far the pose estimate strayed from the reference the controller followed."""
+    return {
+        "along": statistics(run.get("control_along_error"), run.time, mask),
+        "across": statistics(run.get("control_across_error"), run.time, mask),
+        "orientation": statistics(run.get("control_orientation_error"), run.time, mask),
+    }
+
+
+def saturation_report(run, mask: np.ndarray) -> dict:
+    """Fraction of running ticks each motor asked for the whole supply."""
+    supply = run.get("pack_voltage")
+    report = {}
+
+    for side in ("left", "right"):
+        voltage = run.get(f"motor_{side}_voltage")
+        valid = mask & np.isfinite(voltage) & np.isfinite(supply) & (supply > 0)
+        saturated = np.abs(voltage) >= SATURATION * supply
+        report[side] = float(np.mean(saturated[valid])) if valid.any() else None
+
+    return report
+
+
+def loop_report(run) -> dict:
+    """The firmware's own account of its control loop."""
+
+    def largest(name: str) -> float | None:
+        values = run.get(name)
+        return float(np.nanmax(values)) if np.isfinite(values).any() else None
+
+    return {
+        "worst_time_us": largest("loop_worst_time_us"),
+        "missed_ticks": largest("loop_missed_ticks"),
+        "saturated_iterations": largest("loop_saturated_iterations"),
+        "link_dropped_samples": largest("link_dropped_samples"),
+        "link_dropped_logs": largest("link_dropped_logs"),
+    }
+
+
+def report(run, generic: dict) -> dict:
+    mask = running(run)
+    collisions = events(run, "collision")
+
+    return {
+        "states": [{"time": event["time"], "state": event["detail"]} for event in events(run, "state")][:MAX_EVENTS],
+        "collisions": {
+            "count": len(collisions),
+            "times": [event["time"] for event in collisions][:MAX_EVENTS],
+        },
+        "running_time": float(mask.sum() * run.dt),
+        "pose": pose_report(run, mask),
+        "tracking": tracking_report(run, mask),
+        "voltage_saturation_fraction": saturation_report(run, mask),
+        "loop": loop_report(run),
+    }
+
+
+def speed_traces(run) -> list[tuple[str, np.ndarray, str]]:
+    return [
+        ("reference_linear_speed", run.get("reference_linear_speed"), "linear"),
+        ("pose_linear_speed", run.get("pose_linear_speed"), "linear"),
+        ("reference_angular_speed", run.get("reference_angular_speed"), "angular"),
+        ("pose_angular_speed", run.get("pose_angular_speed"), "angular"),
+    ]
+
+
+def trajectory_overlays(run) -> list[tuple[str, np.ndarray, np.ndarray]]:
+    """The firmware's pose estimate and reference while it runs.
+
+    The origin is the corner post, where no pose can be: a pair at exactly (0, 0) is a
+    variable not yet written on the first tick of a run, and is left out.
+    """
+    overlays = []
+
+    for label, prefix in (("pose estimate", "pose"), ("reference", "reference")):
+        x = run.get(f"{prefix}_x")
+        y = run.get(f"{prefix}_y")
+        hide = np.where(running(run) & ((x != 0.0) | (y != 0.0)), 1.0, np.nan)
+        overlays.append((label, x * hide, y * hide))
+
+    return overlays
+
+
+def plots(run, generic: dict, directory: Path) -> None:
+    start = generic["run_start_time"]
+    figure, axes = plt.subplots(3, 1, sharex=True, figsize=(10, 9))
+
+    axes[0].plot(run.time, run.get("motor_left_voltage"), label="motor_left_voltage", linewidth=0.8)
+    axes[0].plot(run.time, run.get("motor_right_voltage"), label="motor_right_voltage", linewidth=0.8)
+    axes[0].plot(run.time, run.get("pack_voltage"), label="pack_voltage", color="k", linewidth=0.8)
+    axes[0].plot(run.time, -run.get("pack_voltage"), color="k", linewidth=0.8)
+    axes[0].set_ylabel("voltage [V]")
+    axes[0].legend(fontsize=7)
+
+    for name in (
+        "control_forward_feed_forward",
+        "control_forward_feedback",
+        "control_rotation_feed_forward",
+        "control_rotation_feedback",
+    ):
+        axes[1].plot(run.time, run.get(name), label=name, linewidth=0.8)
+
+    axes[1].set_ylabel("command [V]")
+    axes[1].legend(fontsize=7)
+
+    for name in WALL_SENSORS:
+        axes[2].plot(run.time, run.get(name), label=name, linewidth=0.8)
+
+    axes[2].set_ylabel("wall sensor [counts]")
+    axes[2].set_xlabel("time [s]")
+    axes[2].legend(fontsize=7)
+
+    for axis in axes:
+        if start is not None:
+            axis.axvline(start, color="k", linestyle="--", linewidth=0.8)
+
+    figure.tight_layout()
+    figure.savefig(directory / "control.png", dpi=120)
+    plt.close(figure)
+
+
+def fmt(value, digits: int = 3) -> str:
+    return "n/a" if value is None else f"{value:.{digits}f}"
+
+
+def summarize(full: dict) -> None:
+    print("states       " + "  ".join(f"{entry['time']:.3f}s {entry['state']}" for entry in full["states"]))
+    collisions = full["collisions"]
+    print(f"collisions   {collisions['count']}  " + " ".join(f"{time:.3f}s" for time in collisions["times"][:10]))
+
+    pose = full["pose"]
+    position = pose["position_error"]
+    heading = pose["heading_error_deg"]
+    print(
+        f"pose error   max {fmt(position['max'], 4)} m at {fmt(position['max_time'])} s  "
+        f"rms {fmt(position['rms'], 4)} m  final {fmt(pose['final_position_error'], 4)} m  "
+        f"heading max {fmt(heading['max'], 2)} deg"
+    )
+
+    tracking = full["tracking"]
+    print(
+        f"tracking     along rms {fmt(tracking['along']['rms'], 4)} m  "
+        f"across rms {fmt(tracking['across']['rms'], 4)} m  "
+        f"orientation rms {fmt(tracking['orientation']['rms'], 4)} rad"
+    )
+
+    saturation = full["voltage_saturation_fraction"]
+    print(f"saturation   left {fmt(saturation['left'])}  right {fmt(saturation['right'])}")
+
+    loop = full["loop"]
+    print(
+        f"loop         worst {fmt(loop['worst_time_us'], 0)} us  missed {fmt(loop['missed_ticks'], 0)}  "
+        f"saturated {fmt(loop['saturated_iterations'], 0)}"
+    )
+
+
+def baseline(full: dict) -> dict:
+    """What a Micras baseline records beyond the engine's values, with tolerances."""
+    pose = full["pose"]["position_error"]
+    across = full["tracking"]["across"]
+
+    return {
+        "running_time": (full["running_time"], 1.0),
+        "max_pose_error": (pose["max"], 0.02),
+        "rms_across_error": (across["rms"], 0.003),
+    }
diff --git a/targets/micras/tools/robot_report.cpp b/targets/micras/tools/robot_report.cpp
new file mode 100644
index 0000000..b005df3
--- /dev/null
+++ b/targets/micras/tools/robot_report.cpp
@@ -0,0 +1,123 @@
+/**
+ * @file
+ *
+ * @brief Compares robot.toml, the physical description, with robot.hpp, the firmware's belief.
+ *
+ * @note Prints every quantity both files hold, field by field, with the relative
+ *       difference. It shows the differences without forcing them equal: robot.toml
+ *       is what the simulator builds, robot.hpp is what the firmware plans with, and
+ *       a firmware whose belief is wrong is one of the things a run should expose.
+ *       Where robot.toml splits a quantity the firmware lumps, such as the mass of
+ *       the chassis and the wheels, the report adds the parts up the way the
+ *       firmware means them.
+ */
+
+#include <algorithm>
+#include <cmath>
+#include <filesystem>
+#include <format>
+#include <iostream>
+#include <numbers>
+#include <string>
+
+#include "micras/sim/arenas/maze.hpp"
+#include "micras/sim/robot/robot_description.hpp"
+#include "robot.hpp"
+
+namespace {
+using micras::sim::RobotDescription;
+
+/**
+ * @brief Print one row of the report.
+ *
+ * @param quantity What is compared.
+ * @param described Value in robot.toml, or what it adds up to.
+ * @param believed Value in robot.hpp.
+ * @param unit Unit both values are printed in.
+ * @param scale Factor from SI to that unit.
+ */
+void row(const std::string& quantity, double described, double believed, const std::string& unit, double scale = 1.0) {
+    const double difference = believed == 0.0 ? 0.0 : 100.0 * (described - believed) / std::abs(believed);
+    std::cout << std::format(
+        "{:34}  {:>12.5g}  {:>12.5g}  {:8}  {:>+8.1f} %\n", quantity, described * scale, believed * scale, unit,
+        difference
+    );
+}
+
+/**
+ * @brief Yaw inertia of the whole robot about the axle midpoint, wheels included.
+ *
+ * @param robot The description.
+ * @return Inertia in kg m^2.
+ */
+double yaw_inertia(const RobotDescription& robot) {
+    const auto&  wheels = robot.wheels;
+    const double offset = wheels.track / 2.0;
+    const double transverse = wheels.mass * (3 * wheels.radius * wheels.radius + wheels.width * wheels.width) / 12;
+    const double chassis_offset = std::hypot(robot.chassis.center_of_mass[0], robot.chassis.center_of_mass[1]);
+
+    return robot.chassis.inertia[2] + robot.chassis.mass * chassis_offset * chassis_offset +
+           2.0 * (transverse + wheels.mass * offset * offset);
+}
+}  // namespace
+
+int main() {
+    const RobotDescription robot = RobotDescription::load(std::filesystem::path{MICRAS_TARGET_DIR} / "robot.toml");
+    const micras::nav::RobotModel& model = micras::robot_model;
+    const micras::sim::MazeConfig  maze{};
+
+    double front = 0.0;
+    double rear = 0.0;
+    double half_width = robot.wheels.track / 2.0 + robot.wheels.width / 2.0;
+
+    for (const auto& corner : robot.chassis.outline) {
+        front = std::max(front, corner[0]);
+        rear = std::max(rear, -corner[0]);
+        half_width = std::max(half_width, std::abs(corner[1]));
+    }
+
+    std::cout << std::format(
+        "{:34}  {:>12}  {:>12}  {:8}  {:>10}\n", "quantity", "robot.toml", "robot.hpp", "unit", "difference"
+    );
+
+    row("maze cell size", maze.cell_size, model.maze.cell_size, "mm", 1e3);
+    row("maze wall thickness", maze.wall_thickness, model.maze.wall_thickness, "mm", 1e3);
+
+    row("mass, chassis and wheels", robot.chassis.mass + 2.0 * robot.wheels.mass, model.chassis.mass, "g", 1e3);
+    row("yaw inertia, chassis and wheels", yaw_inertia(robot), model.chassis.yaw_inertia, "g cm^2", 1e7);
+    row("wheel radius", robot.wheels.radius, model.chassis.wheel_radius, "mm", 1e3);
+    row("track width", robot.wheels.track, model.chassis.track_width, "mm", 1e3);
+    row("half width, board or tyres", half_width, model.chassis.half_width, "mm", 1e3);
+    row("front length, board", front, model.chassis.front_length, "mm", 1e3);
+    row("rear length, board", rear, model.chassis.rear_length, "mm", 1e3);
+
+    row("tyre friction coefficient", robot.wheels.friction, model.traction.friction_coefficient, "");
+    row("fan downforce", robot.fan.max_downforce, model.traction.fan_downforce, "N");
+    row("fan offset ahead of the axle", robot.fan.position[0], model.traction.fan_offset, "mm", 1e3);
+
+    const auto& drive = robot.drive;
+    row("torque constant", drive.torque_constant, model.drive.torque_constant, "mN m/A", 1e3);
+    row("resistance, winding and bridge", drive.resistance(), model.drive.resistance, "ohm");
+    row("gear ratio", drive.gear_ratio, model.drive.gear_ratio, "");
+    row("supply voltage", drive.supply_voltage, model.drive.supply_voltage, "V");
+    row("static friction voltage", drive.no_load_current * drive.resistance(), model.drive.static_friction_voltage,
+        "V");
+
+    for (std::size_t index = 0; index < robot.wall_sensors.sensors.size(); index++) {
+        const auto&       sensor = robot.wall_sensors.sensors.at(index);
+        const auto&       belief = model.wall_sensors.at(index);
+        const std::string name = sensor.name + " sensor";
+
+        row(name + " x, lens midpoint", (sensor.emitter[0] + sensor.receiver[0]) / 2.0, belief.position.x, "mm", 1e3);
+        row(name + " y, lens midpoint", (sensor.emitter[1] + sensor.receiver[1]) / 2.0, belief.position.y, "mm", 1e3);
+        row(name + " angle", sensor.yaw, belief.angle, "deg", 180.0 / std::numbers::pi);
+    }
+
+    row("emitter half angle", robot.wall_sensors.emitter_half_angle, model.wall_sensors.at(0).half_angle, "deg",
+        180.0 / std::numbers::pi);
+    row("gyroscope noise density", robot.imu.gyro_noise_density, model.noise.gyroscope, "mrad/s/rtHz", 1e3);
+    row("wheel angle resolution", 2.0 * std::numbers::pi / robot.encoders.counts_per_revolution,
+        model.noise.wheel_angle, "mrad", 1e3);
+
+    return 0;
+}
diff --git a/targets/micras/tools/turn_designer.cpp b/targets/micras/tools/turn_designer.cpp
new file mode 100644
index 0000000..27d535a
--- /dev/null
+++ b/targets/micras/tools/turn_designer.cpp
@@ -0,0 +1,371 @@
+/**
+ * @file
+ *
+ * @brief Designs the turns of two bends and writes them as the firmware's two_bend_turns.hpp.
+ *
+ * @note A turn of two bends is two bends joined by a straight, and choosing them is a search over the
+ *       angle of the first bend, the curvature of each and the straight before them, far too long for
+ *       the compiler to run. So it runs here: every combination on a grid that ends on the exit node of
+ *       the turn is timed at the speed its tighter bend allows, and the fastest one that the firmware's
+ *       own check accepts, clear of every post and of every wall the turn does not cross, is the
+ *       design. The firmware checks it again when it is compiled.
+ *
+ *       Usage: micras_turn_designer > MicrasFirmware/config/two_bend_turns.hpp
+ *       The table of what was found, speeds and radii, goes to stderr.
+ */
+
+#include <algorithm>
+#include <array>
+#include <cmath>
+#include <cstddef>
+#include <cstdint>
+#include <format>
+#include <future>
+#include <iostream>
+#include <numbers>
+#include <string>
+#include <vector>
+
+#include "constants.hpp"
+
+namespace {
+using micras::nav::TurnBend;
+using micras::nav::TurnId;
+using micras::nav::TurnTable;
+using micras::nav::TwoBendDesign;
+
+/**
+ * @brief Names of the turns of two bends, in the order of TurnId.
+ */
+constexpr std::array<const char*, micras::nav::number_of_two_bend_turns> names{
+    "SD45E", "SD45T", "SD135T", "DS45T", "DD0E", "DS45E", "DD90E", "DS135B",
+};
+
+/**
+ * @brief Step of the grid of the angle of the first bend, and its largest magnitude, in degrees.
+ */
+///@{
+constexpr double angle_step{2.5};
+constexpr double max_angle{220.0};
+///@}
+
+/**
+ * @brief Smallest angle of a bend, in degrees, below which it is not worth a bend.
+ */
+constexpr double min_angle{4.0};
+
+/**
+ * @brief Number of radii of each bend, spaced evenly in logarithm between the smallest and largest.
+ */
+///@{
+constexpr int    number_of_radii{30};
+constexpr double min_radius{0.03};
+constexpr double max_radius{0.6};
+///@}
+
+/**
+ * @brief Step and number of lengths of the straight before the bends, in meters.
+ */
+///@{
+constexpr double pre_step{0.005};
+constexpr int    number_of_pres{41};
+
+///@}
+
+/**
+ * @brief Where a turn starts and ends, in its canonical frame.
+ */
+struct Frame {
+    double entry;
+    double exit_x;
+    double exit_y;
+};
+
+/**
+ * @brief A design with the time it takes, for sorting.
+ */
+struct Candidate {
+    double        time;
+    TwoBendDesign design;
+};
+
+/**
+ * @brief What was found for one turn and one margin.
+ */
+struct Result {
+    TwoBendDesign design{};
+    double        speed{};
+    double        time{};
+    std::size_t   tried{};
+};
+
+/**
+ * @brief Convert degrees to radians.
+ *
+ * @param degrees The angle in degrees.
+ * @return The angle in radians.
+ */
+double to_radians(double degrees) {
+    return degrees * std::numbers::pi / 180.0;
+}
+
+/**
+ * @brief Curvature of one radius of the grid.
+ *
+ * @param index The index of the radius.
+ * @return The curvature in 1/m.
+ */
+double curvature_of(int index) {
+    return 1.0 / (min_radius * std::pow(max_radius / min_radius, index / (number_of_radii - 1.0)));
+}
+
+/**
+ * @brief Speed a bend can be driven at, relative to the traction, which only scales it.
+ *
+ * @param bend The bend.
+ * @return The speed with a lateral acceleration of 1 m/s^2 and the matching angular one.
+ */
+double relative_speed(const TurnBend& bend) {
+    const double lateral = micras::robot_model.traction_acceleration(true);
+    const double angular = micras::robot_model.traction_angular_acceleration(true);
+
+    return std::min(std::sqrt(1.0 / bend.curvature), std::sqrt(angular / lateral / bend.sharpness));
+}
+
+/**
+ * @brief Add every straight before two bends that closes the turn on its exit node.
+ *
+ * @param frame Where the turn starts and ends.
+ * @param design The bends, whose straight before them is filled in.
+ * @param candidates The list to add to.
+ */
+void add_closures(const Frame& frame, TwoBendDesign design, std::vector<Candidate>& candidates) {
+    const TurnBend first = TurnTable::make_bend(micras::robot_model, design.first_angle, design.first_curvature);
+    const TurnBend second = TurnTable::make_bend(micras::robot_model, design.second_angle, design.second_curvature);
+    const auto     first_end = first.sample<double>(1.0e3);
+    const auto     second_end = second.sample<double>(1.0e3);
+
+    const double middle = frame.entry + first.angle;
+    const double last = middle + second.angle;
+    const double determinant = std::sin(static_cast<double>(second.angle));
+    const double speed = std::min(relative_speed(first), relative_speed(second));
+    const double curve = first.length() + second.length();
+
+    const double bends_x = std::cos(frame.entry) * first_end.x - std::sin(frame.entry) * first_end.y +
+                           std::cos(middle) * second_end.x - std::sin(middle) * second_end.y;
+    const double bends_y = std::sin(frame.entry) * first_end.x + std::cos(frame.entry) * first_end.y +
+                           std::sin(middle) * second_end.x + std::cos(middle) * second_end.y;
+
+    for (int k = 0; k < number_of_pres; k++) {
+        const double pre = pre_step * k;
+        const double remaining_x = frame.exit_x - pre * std::cos(frame.entry) - bends_x;
+        const double remaining_y = frame.exit_y - pre * std::sin(frame.entry) - bends_y;
+
+        const double straight = (remaining_x * std::sin(last) - remaining_y * std::cos(last)) / determinant;
+        const double post = (std::cos(middle) * remaining_y - std::sin(middle) * remaining_x) / determinant;
+
+        if (straight >= 0.0 and post >= 0.0) {
+            design.pre = static_cast<float>(pre);
+            candidates.push_back({.time = (pre + curve + straight + post) / speed, .design = design});
+        }
+    }
+}
+
+/**
+ * @brief List every design on the grid that ends on the exit node of a turn.
+ *
+ * @param turn The turn.
+ * @return The designs, with the time each takes.
+ */
+std::vector<Candidate> list_candidates(TurnId turn) {
+    const micras::nav::TurnPrimitive& primitive = micras::nav::get_primitive(turn);
+    const double                      half_cell = micras::robot_model.maze.cell_size / 2.0;
+    const Frame                       frame{
+                              .entry = primitive.diagonal_entry ? std::numbers::pi / 4.0 : 0.0,
+                              .exit_x = primitive.exit.x * half_cell,
+                              .exit_y = primitive.exit.y * half_cell,
+    };
+
+    std::vector<double> totals{primitive.rotation * 45.0};
+
+    if (primitive.rotation != 0) {
+        totals.push_back((primitive.rotation - 8) * 45.0);
+    }
+
+    const auto             steps = static_cast<int>(std::lround(2.0 * max_angle / angle_step));
+    std::vector<Candidate> candidates;
+
+    for (const double total : totals) {
+        for (int step = 0; step <= steps; step++) {
+            const double first_angle = -max_angle + angle_step * step;
+            const double second_angle = total - first_angle;
+
+            if (std::abs(first_angle) < min_angle or std::abs(second_angle) < min_angle or
+                std::abs(second_angle) > max_angle or std::abs(std::sin(to_radians(second_angle))) < 1.0e-6) {
+                continue;
+            }
+
+            for (int first = 0; first < number_of_radii; first++) {
+                for (int second = 0; second < number_of_radii; second++) {
+                    const TwoBendDesign bends{
+                        .first_angle = static_cast<float>(to_radians(first_angle)),
+                        .first_curvature = static_cast<float>(curvature_of(first)),
+                        .second_angle = static_cast<float>(to_radians(second_angle)),
+                        .second_curvature = static_cast<float>(curvature_of(second)),
+                        .pre = 0.0F,
+                    };
+
+                    add_closures(frame, bends, candidates);
+                }
+            }
+        }
+    }
+
+    std::ranges::sort(candidates, {}, &Candidate::time);
+
+    return candidates;
+}
+
+/**
+ * @brief Find the fastest design of a turn that fits.
+ *
+ * @param turn The turn.
+ * @param margin The clearance asked of the turn.
+ * @return The design, with no curvature if nothing on the grid fits.
+ */
+Result design(TurnId turn, float margin) {
+    Result result{};
+
+    for (const Candidate& candidate : list_candidates(turn)) {
+        result.tried++;
+
+        const auto shape = TurnTable::check(micras::robot_model, margin, turn, candidate.design);
+
+        if (shape.valid) {
+            result.design = candidate.design;
+            result.speed = std::min(
+                std::sqrt(micras::robot_model.traction_acceleration(true) / shape.curvature),
+                std::sqrt(micras::robot_model.traction_angular_acceleration(true) / shape.sharpness)
+            );
+            result.time = shape.total_length() / result.speed;
+            break;
+        }
+    }
+
+    return result;
+}
+
+/**
+ * @brief Write a number as a float literal.
+ *
+ * @param value The number.
+ * @return The literal, with enough digits to read back the same float.
+ */
+std::string literal(float value) {
+    std::string text = std::format("{:.9g}", value);
+
+    if (text.find_first_of(".e") == std::string::npos) {
+        text += ".0";
+    }
+
+    return text + "F";
+}
+
+/**
+ * @brief Write the designs of one margin as a C++ array.
+ *
+ * @param name The name of the array.
+ * @param margin The margin, for the comment.
+ * @param results What was found for each turn.
+ * @return The declaration.
+ */
+std::string to_array(const char* name, float margin, const std::vector<Result>& results) {
+    std::string text = std::format(
+        "/**\n * @brief Designs of the turns of two bends, from nav::first_two_bend_turn on, with a margin of {:.0f} "
+        "mm.\n"
+        " */\nconstexpr std::array<nav::TwoBendDesign, nav::number_of_two_bend_turns> {}{{{{\n",
+        1000.0F * margin, name
+    );
+
+    for (std::size_t i = 0; i < results.size(); i++) {
+        const TwoBendDesign& found = results.at(i).design;
+
+        text += std::format(
+            "    {{.first_angle = {},\n     .first_curvature = {},\n     .second_angle = {},\n"
+            "     .second_curvature = {},\n     .pre = {}}},  // {}\n",
+            literal(found.first_angle), literal(found.first_curvature), literal(found.second_angle),
+            literal(found.second_curvature), literal(found.pre), names.at(i)
+        );
+    }
+
+    return text + "}};\n";
+}
+
+/**
+ * @brief Print what was found for one margin.
+ *
+ * @param margin The margin.
+ * @param results What was found for each turn.
+ */
+void report(float margin, const std::vector<Result>& results) {
+    std::cerr << std::format("margin {:.0f} mm, speed with the fan at full traction\n", 1000.0F * margin);
+
+    for (std::size_t i = 0; i < results.size(); i++) {
+        const Result&        result = results.at(i);
+        const TwoBendDesign& found = result.design;
+
+        if (found.first_curvature <= 0.0F) {
+            std::cerr << std::format("  {:7} no fit ({} tried)\n", names.at(i), result.tried);
+            continue;
+        }
+
+        std::cerr << std::format(
+            "  {:7} {:4.0f}/{:4.0f} deg  R {:3.0f}/{:3.0f} mm  pre {:3.0f} mm  {:.2f} m/s  {:.3f} s  ({} tried)\n",
+            names.at(i), found.first_angle * 180.0 / std::numbers::pi, found.second_angle * 180.0 / std::numbers::pi,
+            1000.0 / found.first_curvature, 1000.0 / found.second_curvature, 1000.0 * found.pre, result.speed,
+            result.time, result.tried
+        );
+    }
+}
+}  // namespace
+
+int main() {
+    const std::array<float, 2> margins{micras::turn_margin, micras::risky_turn_margin};
+
+    std::vector<std::future<Result>> futures;
+
+    for (const float margin : margins) {
+        for (uint8_t i = 0; i < micras::nav::number_of_two_bend_turns; i++) {
+            const auto turn = static_cast<TurnId>(micras::nav::first_two_bend_turn + i);
+            futures.push_back(std::async(std::launch::async, design, turn, margin));
+        }
+    }
+
+    std::vector<std::vector<Result>> results(margins.size());
+
+    for (std::size_t i = 0; i < futures.size(); i++) {
+        results.at(i / micras::nav::number_of_two_bend_turns).push_back(futures.at(i).get());
+    }
+
+    for (std::size_t i = 0; i < margins.size(); i++) {
+        report(margins.at(i), results.at(i));
+    }
+
+    std::cout << "/**\n * @file\n *\n * @brief Designs of the turns of two bends, for each margin.\n *\n"
+                 " * @note Written by the turn designer of the simulator (`just micras turn-designs`), which searches\n"
+                 " * for the fastest two bends that clear the walls. Do not edit by hand: the build checks every "
+                 "design\n"
+                 " * against the robot and the maze, and a change to either that makes one no longer fit stops it, "
+                 "which\n"
+                 " * is when the designer has to run again. A turn nothing fits is written with no curvature, which "
+                 "also\n"
+                 " * stops the build.\n"
+                 " */\n\n"
+                 "#ifndef MICRAS_TWO_BEND_TURNS_HPP\n#define MICRAS_TWO_BEND_TURNS_HPP\n\n#include <array>\n\n"
+                 "#include \"micras/nav/lattice.hpp\"\n#include \"micras/nav/turn_table.hpp\"\n\nnamespace micras {\n"
+              << to_array("two_bend_designs", margins.at(0), results.at(0)) << "\n"
+              << to_array("risky_two_bend_designs", margins.at(1), results.at(1))
+              << "}  // namespace micras\n\n#endif  // MICRAS_TWO_BEND_TURNS_HPP\n";
+
+    return 0;
+}
diff --git a/targets/micras/tools/wall_calibration.cpp b/targets/micras/tools/wall_calibration.cpp
new file mode 100644
index 0000000..2a316f2
--- /dev/null
+++ b/targets/micras/tools/wall_calibration.cpp
@@ -0,0 +1,290 @@
+/**
+ * @file
+ *
+ * @brief Derives each wall sensor's gain from the firmware's last calibration.
+ *
+ * @note Places the robot where the firmware's calibration is taken, centred in a
+ *       cell: in a corridor for the sensors that look at the side walls, facing
+ *       a wall for the ones that look forward, as the firmware's two calibration
+ *       steps do. It fires every emitter and compares the simulated lit minus
+ *       dark reading of each sensor with the reference reading target.hpp
+ *       records from the robot. The ratio is the sensor's gain for robot.toml;
+ *       the gains already in robot.toml are applied, so a calibrated file prints
+ *       gains of one.
+ *
+ * @note With --sweep it moves the robot instead: toward and away from the wall
+ *       ahead for the front sensors, across the corridor for the side ones. At
+ *       each place it prints the range along each sensor's axis and the
+ *       distance the firmware makes of the simulated reading, which assumes the
+ *       reading falls with the square of the distance from the one it was
+ *       calibrated at.
+ */
+
+#include <array>
+#include <cmath>
+#include <cstddef>
+#include <cstdint>
+#include <filesystem>
+#include <format>
+#include <iostream>
+#include <numbers>
+#include <span>
+#include <string>
+#include <string_view>
+#include <vector>
+
+#include <mujoco/mujoco.h>
+
+#include "micras/sim/arenas/maze.hpp"
+#include "micras/sim/core/clock.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/devices/wall_sensors.hpp"
+#include "micras/sim/robot/robot_description.hpp"
+#include "micras/sim/robot/robot_model.hpp"
+#include "target.hpp"
+
+namespace {
+using micras::sim::Clock;
+using micras::sim::Maze;
+using micras::sim::MazeConfig;
+using micras::sim::MujocoWorld;
+using micras::sim::robot_mjcf;
+using micras::sim::RobotDescription;
+using micras::sim::RobotModelNames;
+using micras::sim::WallSensorDescription;
+using micras::sim::WallSensors;
+
+/**
+ * @brief A corridor three cells long: the middle cell and the ones around it have walls on both sides.
+ */
+constexpr std::string_view corridor_maze{"o---o---o---o\n"
+                                         "|   |   |   |\n"
+                                         "o   o   o   o\n"
+                                         "|   |   |   |\n"
+                                         "o   o   o   o\n"
+                                         "|   |   |   |\n"
+                                         "o---o---o---o\n"};
+
+/**
+ * @brief A dead end: the middle cell has walls on both sides and in front.
+ */
+constexpr std::string_view facing_maze{"o---o---o---o\n"
+                                       "|           |\n"
+                                       "o   o---o   o\n"
+                                       "|   |   |   |\n"
+                                       "o   o   o   o\n"
+                                       "|           |\n"
+                                       "o---o---o---o\n"};
+
+/**
+ * @brief What every sensor reads from one place, and how far its axis runs to a wall.
+ */
+struct Sample {
+    std::vector<double> readings;
+    std::vector<double> ranges;
+};
+
+/**
+ * @brief Read every sensor with its own emitter lit, robot in the middle cell facing up.
+ *
+ * @param robot The robot.
+ * @param drawing The maze.
+ * @param across How far right of the cell centre the robot is, in metres.
+ * @param along How far ahead of the cell centre the robot is, in metres.
+ * @return Each sensor's lit minus dark reading, as the firmware normalises it, and its axis range.
+ */
+Sample sample(const RobotDescription& robot, std::string_view drawing, double across = 0.0, double along = 0.0) {
+    const MazeConfig config{};
+    const Maze       maze = Maze::parse(drawing);
+
+    MujocoWorld world;
+    world.build(
+        robot_mjcf(robot), robot.name, maze.mjcf(config), Maze::body_name,
+        {.x = (1.5 * config.cell_size) + across, .y = (1.5 * config.cell_size) + along, .yaw = std::numbers::pi / 2}
+    );
+    world.reset();
+
+    std::vector<uint32_t> counts(2 * robot.wall_sensors.sensors.size());
+    WallSensors           sensors{
+        world,
+                  {
+                      .name = "wall",
+                      .description = robot.wall_sensors,
+                      .scan_ticks = 1,
+                      .emitter_duty = [](std::size_t) { return 30.0F; },
+                      .write = [&counts](std::size_t index, uint32_t value) { counts.at(index) = value; },
+                      .finish_sequence = [] {},
+                      .reflectance =
+                [&world, &config](int geom) {
+                    const char* name = mj_id2name(world.model(), mjOBJ_GEOM, geom);
+                    return Maze::reflectance(name == nullptr ? "" : name, config);
+                },
+                      .robot_group = RobotModelNames::robot_group,
+        },
+                  {.seed = 1, .ideal = true},
+    };
+
+    Clock clock = Clock::from_model(world.timestep(), 125);
+    clock.advance();
+    sensors.sample(world, clock);
+    clock.advance();
+    sensors.sample(world, clock);
+
+    const std::size_t             count = robot.wall_sensors.sensors.size();
+    const auto                    sites = static_cast<std::size_t>(world.model()->nsite);
+    const std::span<const mjtNum> site_positions(world.data()->site_xpos, 3 * sites);
+    const std::span<const mjtNum> site_frames(world.data()->site_xmat, 9 * sites);
+    Sample                        result;
+
+    for (std::size_t sensor = 0; sensor < count; sensor++) {
+        const WallSensorDescription& description = robot.wall_sensors.sensors.at(sensor);
+        const std::size_t            own = description.group == 0 ? 0 : 1;
+        const double                 lit = counts.at(own * count + sensor);
+        const double                 dark = counts.at((1 - own) * count + sensor);
+        result.readings.push_back((lit - dark) / robot.wall_sensors.adc_max_counts);
+
+        const auto site = static_cast<std::size_t>(world.require_id(mjOBJ_SITE, description.name + "_emitter"));
+        const std::span<const mjtNum> frame = site_frames.subspan(9 * site, 9);
+        const std::array<mjtNum, 3>   axis{frame[0], frame[3], frame[6]};
+        std::array<mjtByte, mjNGROUP> groups{1, 1, 1, 1, 1, 1};
+        groups.at(RobotModelNames::robot_group) = 0;
+        int geom = -1;
+        result.ranges.push_back(mj_ray(
+            world.model(), world.data(), site_positions.subspan(3 * site, 3).data(), axis.data(), groups.data(), true,
+            -1, &geom, nullptr
+        ));
+    }
+
+    return result;
+}
+
+/**
+ * @brief How the firmware expects a reading to vary with the distance, up to its calibrated constant.
+ *
+ * @param distance Distance to the wall in metres.
+ * @return The shape of the reading.
+ */
+double firmware_shape(double distance) {
+    const auto&  config = micras::wall_sensors_config;
+    const double angle = std::atan(config.receiver_offset / distance) / config.receiver_half_angle;
+    return std::exp2(-angle * angle) / (distance * distance);
+}
+
+/**
+ * @brief The distance the firmware makes of a reading.
+ *
+ * @note Solves the firmware's model of the reading by bisection over the distances past the peak
+ *       of the reading, which is what the firmware's table covers.
+ *
+ * @param sensor Index of the sensor.
+ * @param reading Normalised reading.
+ * @return Distance in metres.
+ */
+double firmware_distance(std::size_t sensor, double reading) {
+    const auto&  config = micras::wall_sensors_config;
+    const double reference = config.reference_distances.at(sensor);
+    const double target = reading / config.reference_readings.at(sensor) * firmware_shape(reference);
+    double       low = 0.001;
+
+    while (low < config.max_distance and firmware_shape(low + 0.001) > firmware_shape(low)) {
+        low += 0.001;
+    }
+
+    double high = config.max_distance;
+
+    if (firmware_shape(low) <= target) {
+        return low;
+    }
+
+    if (firmware_shape(high) >= target) {
+        return high;
+    }
+
+    for (int step = 0; step < 60; step++) {
+        const double middle = (low + high) / 2.0;
+        (firmware_shape(middle) > target ? low : high) = middle;
+    }
+
+    return (low + high) / 2.0;
+}
+
+/**
+ * @brief Print how the firmware's distance follows the true range as the robot moves.
+ *
+ * @param robot The robot.
+ */
+void sweep(const RobotDescription& robot) {
+    std::cout << "front sensors, robot moved toward the wall ahead\n";
+    std::cout << "  along_mm  sensor        range_mm  firmware_mm  error_mm\n";
+
+    for (int along = -200; along <= 40; along += 10) {
+        const Sample result = sample(robot, facing_maze, 0.0, along * 1e-3);
+
+        for (std::size_t sensor = 0; sensor < robot.wall_sensors.sensors.size(); sensor++) {
+            const WallSensorDescription& description = robot.wall_sensors.sensors.at(sensor);
+
+            if (std::abs(std::sin(description.yaw)) > 0.1) {
+                continue;
+            }
+
+            const double range = result.ranges.at(sensor) * 1e3;
+            const double distance = firmware_distance(sensor, result.readings.at(sensor)) * 1e3;
+            std::cout << std::format(
+                "  {:8}  {:12}  {:8.1f}  {:11.1f}  {:8.1f}\n", along, description.name, range, distance,
+                distance - range
+            );
+        }
+    }
+
+    std::cout << "side sensors, robot moved across the corridor\n";
+    std::cout << "  right_mm  sensor        range_mm  firmware_mm  error_mm\n";
+
+    for (int across = -30; across <= 30; across += 10) {
+        const Sample result = sample(robot, corridor_maze, across * 1e-3, 0.0);
+
+        for (std::size_t sensor = 0; sensor < robot.wall_sensors.sensors.size(); sensor++) {
+            const WallSensorDescription& description = robot.wall_sensors.sensors.at(sensor);
+
+            if (std::abs(std::sin(description.yaw)) <= 0.1) {
+                continue;
+            }
+
+            const double range = result.ranges.at(sensor) * 1e3;
+            const double distance = firmware_distance(sensor, result.readings.at(sensor)) * 1e3;
+            std::cout << std::format(
+                "  {:8}  {:12}  {:8.1f}  {:11.1f}  {:8.1f}\n", across, description.name, range, distance,
+                distance - range
+            );
+        }
+    }
+}
+}  // namespace
+
+int main(int argc, char** argv) {
+    const std::span<char*> arguments(argv, static_cast<std::size_t>(argc));
+    const RobotDescription robot = RobotDescription::load(std::filesystem::path{MICRAS_TARGET_DIR} / "robot.toml");
+
+    if (arguments.size() > 1 and std::string_view{arguments[1]} == "--sweep") {
+        sweep(robot);
+        return 0;
+    }
+
+    const std::vector<double> corridor = sample(robot, corridor_maze).readings;
+    const std::vector<double> facing = sample(robot, facing_maze).readings;
+
+    std::cout << "sensor        placement  simulated  robot      gain\n";
+
+    for (std::size_t sensor = 0; sensor < robot.wall_sensors.sensors.size(); sensor++) {
+        const WallSensorDescription& description = robot.wall_sensors.sensors.at(sensor);
+        const bool                   side = std::abs(std::sin(description.yaw)) > 0.1;
+        const double                 simulated = side ? corridor.at(sensor) : facing.at(sensor);
+        const double                 reference = micras::wall_sensors_config.reference_readings.at(sensor);
+
+        std::cout << std::format(
+            "{:12}  {:9}  {:9.4f}  {:9.4f}  {:.4f}\n", description.name, side ? "corridor" : "facing", simulated,
+            reference, description.gain * reference / simulated
+        );
+    }
+
+    return 0;
+}
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index ae922eb..10abbb9 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,5 +1,5 @@
 ###############################################################################
-## Unit tests (GoogleTest + CTest)
+## Engine unit tests (GoogleTest + CTest), on a tiny robot of their own
 ###############################################################################
 
 include(GoogleTest)
@@ -7,29 +7,31 @@ include(GoogleTest)
 add_executable(micras_sim_tests
     unit/cli_test.cpp
     unit/clock_test.cpp
+    unit/csv_recorder_test.cpp
+    unit/csv_writer_test.cpp
+    unit/devices_test.cpp
+    unit/event_log_test.cpp
     unit/firmware_thread_test.cpp
-    unit/simulation_test.cpp
+    unit/maze_test.cpp
+    unit/noise_test.cpp
+    unit/robot_description_test.cpp
+    unit/run_metadata_test.cpp
     unit/scenario_test.cpp
     unit/serial_bus_test.cpp
-    unit/packet_framer_test.cpp
-    unit/telemetry_test.cpp
-    unit/csv_writer_test.cpp
-    unit/csv_recorder_test.cpp
-    unit/run_metadata_test.cpp
-    unit/proxy_boundary_test.cpp
-    unit/shadow_conformance_test.cpp
+    unit/simulation_test.cpp
 )
 
-target_link_libraries(micras_sim_tests PRIVATE micras_sim_app GTest::gtest_main)
-target_compile_options(micras_sim_tests PRIVATE -Wall -Wextra)
-
-# The conformance test initialises only the fields it shares with the firmware.
-set_source_files_properties(unit/shadow_conformance_test.cpp
-    PROPERTIES COMPILE_OPTIONS -Wno-missing-field-initializers
-)
+# The bridge tests need the real server, which -DMICRAS_BRIDGE=OFF replaces by a stub.
+if(MICRAS_BRIDGE)
+    target_sources(micras_sim_tests PRIVATE unit/web_socket_server_test.cpp)
+endif()
 
+target_link_libraries(micras_sim_tests PRIVATE micras::sim_app GTest::gtest_main)
+target_compile_options(micras_sim_tests PRIVATE -Wall -Wextra)
 target_compile_definitions(micras_sim_tests PRIVATE
-    MICRAS_TEST_MODEL="${CMAKE_SOURCE_DIR}/models/robot_v2.xml"
+    MICRAS_TEST_MODEL="${CMAKE_CURRENT_SOURCE_DIR}/models/tiny_robot.xml"
+    MICRAS_TEST_ROBOT="${CMAKE_CURRENT_SOURCE_DIR}/models/tiny_robot.toml"
+    MICRAS_TEST_MAZES_DIR="${PROJECT_SOURCE_DIR}/engine/arenas/maze/mazes"
 )
 
 gtest_discover_tests(micras_sim_tests)
diff --git a/tests/include/test_core.hpp b/tests/include/test_core.hpp
deleted file mode 100644
index 3acc92d..0000000
--- a/tests/include/test_core.hpp
+++ /dev/null
@@ -1,69 +0,0 @@
-/**
- * @file
- *
- * @brief Entry points a firmware hardware test is written against.
- */
-
-#ifndef MICRAS_TEST_CORE_HPP
-#define MICRAS_TEST_CORE_HPP
-
-#include <concepts>
-
-#include "micras/sim/core/simulation_context.hpp"
-#include "target.hpp"
-
-namespace micras {
-template <typename F>
-concept VoidFunction = requires(F void_function) {
-    { void_function() } -> std::same_as<void>;
-};
-
-/**
- * @brief Core class to the tests, backed by the simulation instead of the MCU.
- *
- * @note The hardware tests are compiled unchanged: their main is renamed and
- *       run inside the firmware thread, so by the time init() is reached the
- *       model is loaded and the proxies can be built. There is nothing left for
- *       init() to do.
- *
- * @note The loop hands a tick over only when the iteration did not already do
- *       so, so a test that waits on a stopwatch keeps its own pace and a test
- *       that never looks at the clock still lets the world advance.
- */
-class TestCore {
-public:
-    /**
-     * @brief Delete the default constructor.
-     */
-    TestCore() = delete;
-
-    /**
-     * @brief Initialize the test core.
-     *
-     * @param argc Number of main arguments.
-     * @param argv Main arguments.
-     */
-    static void init(int /*argc*/ = 0, char** /*argv*/ = nullptr) { }
-
-    /**
-     * @brief Loop the test core with a custom function.
-     *
-     * @param loop_func Custom loop function.
-     */
-    static void loop(VoidFunction auto loop_func) {
-        const sim::Clock& clock = sim::SimulationContext::instance().clock;
-
-        while (true) {
-            const uint64_t started_at = clock.tick_count();
-
-            loop_func();
-
-            if (clock.tick_count() == started_at) {
-                sim::yield_tick();
-            }
-        }
-    }
-};
-}  // namespace micras
-
-#endif  // MICRAS_TEST_CORE_HPP
diff --git a/tests/models/tiny_robot.toml b/tests/models/tiny_robot.toml
new file mode 100644
index 0000000..5b7695b
--- /dev/null
+++ b/tests/models/tiny_robot.toml
@@ -0,0 +1,107 @@
+# The smallest robot description the engine tests need: a made-up two-wheeled
+# robot with every key the schema requires and nothing else. Some values name a
+# source and some do not, because the file format accepts both.
+
+schema = 1
+name = "tiny"
+
+[integration]
+timestep = { value = 0.000521, source = "divides a 1042 us loop into two steps" }
+
+[chassis]
+mass = { value = 0.05, source = "made up" }
+center_of_mass = [0.0, 0.0, 0.01]
+inertia = [1.0e-5, 1.5e-5, 2.0e-5]
+outline = [[0.04, 0.02], [-0.03, 0.02], [-0.03, -0.02], [0.04, -0.02]]
+board_bottom = 0.002
+board_top = 0.003
+friction = 0.3
+
+[[chassis.boxes]]
+name = "cargo"
+min = [-0.02, -0.015, 0.003]
+max = [0.02, 0.015, 0.02]
+
+[[chassis.cylinders]]
+name = "mast"
+base = [0.0, 0.0, 0.02]
+radius = 0.005
+height = 0.01
+
+[wheels]
+radius = 0.011
+width = 0.004
+track = 0.05
+mass = 0.004
+spin_inertia = 2.0e-7
+friction = 1.0
+torsional_friction = 0.0005
+contact_time_constant = 0.008
+contact_damping_ratio = 1.0
+
+[drive]
+winding_resistance = { value = 10.0, source = "made up" }
+bridge_resistance = 0.5
+torque_constant = 0.003
+speed_constant = 0.003
+no_load_current = 0.007
+rotor_inertia = 4.0e-9
+gear_ratio = 5.0
+gear_efficiency = 0.9
+supply_voltage = 6.0
+max_motor_speed = 1800.0
+
+[encoders]
+counts_per_revolution = { value = 4096, source = "made up" }
+
+[imu]
+position = [0.0, 0.0, 0.004]
+chip_x = [1.0, 0.0, 0.0]
+chip_y = [0.0, 1.0, 0.0]
+chip_z = [0.0, 0.0, 1.0]
+gyro_noise_density = 5.0e-5
+gyro_bias = 0.005
+gyro_scale_error = 0.001
+gyro_resolution = 0.0025
+accel_noise_density = 6.0e-4
+accel_bias = 0.04
+accel_resolution = 0.0024
+bandwidth = 250.0
+output_rate = 1000.0
+clock_error = 0.005
+
+[fan]
+position = [0.0, 0.0, 0.003]
+max_downforce = 0.1
+nominal_voltage = 7.4
+time_constant = 0.1
+
+[battery]
+cells = 2
+cell_voltage = 3.7
+cell_resistance = 0.1
+
+[link]
+baud_rate = 9600
+
+[wall_sensors]
+emitter_half_angle_deg = 5.0
+emitter_intensity = 1.0
+receiver_half_angle_deg = 10.0
+receiver_responsivity = 4.0e-4
+load_resistance = 1000.0
+saturation_voltage = 3.0
+adc_reference = 3.3
+adc_max_counts = 4095.0
+adc_noise_counts = 2.0
+settle_fraction = 0.95
+ambient_irradiance = 0.01
+rays = 4
+
+[[wall_sensors.sensors]]
+name = "eye"
+emitter = [0.04, 0.0, 0.01]
+receiver = [0.04, 0.005, 0.01]
+yaw_deg = { value = 90.0, source = "made up, to check the conversion" }
+group = 0
+gain = 1.0
diff --git a/tests/models/tiny_robot.xml b/tests/models/tiny_robot.xml
new file mode 100644
index 0000000..74d6624
--- /dev/null
+++ b/tests/models/tiny_robot.xml
@@ -0,0 +1,26 @@
+<!--
+  The smallest robot the engine tests need: a box on a free joint, one driven wheel
+  and a plane to stand on. The timestep divides a 1042 us loop into two steps, like
+  the robots the tests stand in for.
+-->
+<mujoco model="tiny robot">
+  <option timestep="0.000521"/>
+
+  <worldbody>
+    <geom name="floor" type="plane" size="1 1 0.1"/>
+
+    <body name="robot" pos="0 0 0.02">
+      <freejoint/>
+      <geom name="chassis" type="box" size="0.03 0.04 0.01" mass="0.1"/>
+
+      <body name="wheel" pos="0.035 0 -0.005" zaxis="1 0 0">
+        <joint name="wheel" type="hinge"/>
+        <geom name="wheel" type="cylinder" size="0.012 0.004" mass="0.005"/>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor name="motor" joint="wheel" gear="0.001"/>
+  </actuator>
+</mujoco>
diff --git a/tests/unit/cli_test.cpp b/tests/unit/cli_test.cpp
index 4bd9935..e76dff5 100644
--- a/tests/unit/cli_test.cpp
+++ b/tests/unit/cli_test.cpp
@@ -9,8 +9,6 @@
 
 namespace micras::sim {
 namespace {
-constexpr uint32_t firmware_loop_us{1042};
-
 /**
  * @brief Parse a command line written the way a shell would pass it.
  *
@@ -18,7 +16,7 @@ constexpr uint32_t firmware_loop_us{1042};
  * @return Parsed options.
  */
 CliOptions parse(std::vector<std::string> words) {
-    std::vector<std::string> owned{"micras_simulation"};
+    std::vector<std::string> owned{"robot_sim"};
     owned.insert(owned.end(), words.begin(), words.end());
 
     std::vector<char*> argv;
@@ -28,47 +26,45 @@ CliOptions parse(std::vector<std::string> words) {
         argv.push_back(word.data());
     }
 
-    return Cli::parse(std::span(argv), firmware_loop_us);
+    return Cli::parse(std::span(argv));
 }
 
 TEST(Cli, ReadsTheRequiredOptions) {
-    const CliOptions options = parse({"--model", "robot.xml", "--out", "runs/here"});
+    const CliOptions options = parse({"--out", "runs/here"});
 
-    EXPECT_EQ(options.model, "robot.xml");
     EXPECT_EQ(options.out, "runs/here");
-    EXPECT_EQ(options.scenario.command, Command::NONE);
-    EXPECT_EQ(options.scenario.button, ButtonPress::NONE);
-    EXPECT_TRUE(options.scenario.fan_enabled);
+    EXPECT_TRUE(options.scenario.empty());
+    EXPECT_FALSE(options.seconds.has_value());
+    EXPECT_FALSE(options.seed.has_value());
+    EXPECT_FALSE(options.ideal);
+    EXPECT_EQ(options.record_every, 1U);
     EXPECT_FALSE(options.video_enabled);
+    EXPECT_FALSE(options.video_camera_given);
 }
 
-TEST(Cli, TurnsSecondsIntoTheTickCountEveryRunUses) {
-    EXPECT_EQ(parse({"--model", "m.xml", "--out", "o", "--seconds", "4"}).ticks, 3838U);
-    EXPECT_EQ(parse({"--model", "m.xml", "--out", "o", "--seconds", "8"}).ticks, 7677U);
-    EXPECT_EQ(parse({"--model", "m.xml", "--out", "o", "--ticks", "12"}).ticks, 12U);
-}
-
-TEST(Cli, ReadsTheScenario) {
+TEST(Cli, ReadsWhatOverridesTheScenario) {
     const CliOptions options = parse(
-        {"--model", "m.xml", "--out", "o", "--command", "explore", "--command-at", "1.5", "--button", "extra_long",
-         "--button-at", "2.0", "--dip", "fan=1,risky=1", "--no-fan"}
+        {"--out", "o", "--scenario", "explore.toml", "--maze", "apec2018", "--seconds", "4", "--seed", "7", "--ideal",
+         "--record-every", "8"}
     );
 
-    EXPECT_EQ(options.scenario.command, Command::EXPLORE);
-    EXPECT_DOUBLE_EQ(options.scenario.command_at, 1.5);
-    EXPECT_EQ(options.scenario.button, ButtonPress::EXTRA_LONG);
-    EXPECT_DOUBLE_EQ(options.scenario.button_at, 2.0);
-    EXPECT_EQ(options.scenario.dip, (std::array<bool, 4>{true, false, false, true}));
-    EXPECT_FALSE(options.scenario.fan_enabled);
+    EXPECT_EQ(options.scenario, "explore.toml");
+    EXPECT_EQ(options.maze, "apec2018");
+    EXPECT_EQ(options.seconds, 4.0);
+    EXPECT_EQ(options.seed, 7U);
+    EXPECT_TRUE(options.ideal);
+    EXPECT_EQ(options.record_every, 8U);
+    EXPECT_EQ(parse({"--out", "o", "--ticks", "12"}).ticks, 12U);
 }
 
 TEST(Cli, ReadsTheRecordingOptions) {
     const CliOptions options = parse(
-        {"--model", "m.xml", "--out", "o", "--video", "run.mp4", "--video-fps", "60", "--video-camera", "overhead",
-         "--video-size", "640x480"}
+        {"--out", "o", "--video", "run.mp4", "--video-fps", "60", "--video-camera", "overhead", "--video-size",
+         "640x480"}
     );
 
     EXPECT_TRUE(options.video_enabled);
+    EXPECT_TRUE(options.video_camera_given);
     EXPECT_EQ(options.video.path, "run.mp4");
     EXPECT_EQ(options.video.fps, 60);
     EXPECT_EQ(options.video.camera, "overhead");
@@ -77,12 +73,11 @@ TEST(Cli, ReadsTheRecordingOptions) {
 }
 
 TEST(Cli, ReadsTheWindowOptions) {
-    const CliOptions off = parse({"--model", "m.xml", "--out", "o"});
+    const CliOptions off = parse({"--out", "o"});
     EXPECT_FALSE(off.viewer_enabled);
 
     const CliOptions options = parse(
-        {"--model", "m.xml", "--out", "o", "--viewer", "--viewer-camera", "overhead", "--viewer-size", "800x600",
-         "--viewer-fps", "15"}
+        {"--out", "o", "--viewer", "--viewer-camera", "overhead", "--viewer-size", "800x600", "--viewer-fps", "15"}
     );
 
     EXPECT_TRUE(options.viewer_enabled);
@@ -93,36 +88,56 @@ TEST(Cli, ReadsTheWindowOptions) {
 }
 
 TEST(Cli, RejectsAnIncompleteCommandLine) {
-    EXPECT_THROW(parse({"--out", "o"}), std::runtime_error);
-    EXPECT_THROW(parse({"--model", "m.xml"}), std::runtime_error);
-    EXPECT_THROW(parse({"--model", "m.xml", "--out"}), std::runtime_error);
-    EXPECT_THROW(parse({"--model", "m.xml", "--out", "o", "--nonsense"}), std::runtime_error);
+    EXPECT_THROW(parse({"--seconds", "1"}), std::runtime_error);
+    EXPECT_THROW(parse({"--out", "o", "--model", "m.xml"}), std::runtime_error);
+    EXPECT_THROW(parse({"--out"}), std::runtime_error);
+    EXPECT_THROW(parse({"--out", "o", "--nonsense"}), std::runtime_error);
 }
 
 TEST(Cli, RejectsValuesTheRunCouldNotHonour) {
-    EXPECT_THROW(parse({"--model", "m.xml", "--out", "o", "--seconds", "0"}), std::runtime_error);
-    EXPECT_THROW(parse({"--model", "m.xml", "--out", "o", "--ticks", "0"}), std::runtime_error);
-    EXPECT_THROW(parse({"--model", "m.xml", "--out", "o", "--seconds", "0.0005"}), std::runtime_error);
-    EXPECT_THROW(parse({"--model", "m.xml", "--out", "o", "--command", "wander"}), std::runtime_error);
-    EXPECT_THROW(parse({"--model", "m.xml", "--out", "o", "--button", "double"}), std::runtime_error);
-    EXPECT_THROW(parse({"--model", "m.xml", "--out", "o", "--dip", "turbo=1"}), std::runtime_error);
-    EXPECT_THROW(parse({"--model", "m.xml", "--out", "o", "--dip", "fan=2"}), std::runtime_error);
-    EXPECT_THROW(parse({"--model", "m.xml", "--out", "o", "--video", "v.mp4", "--video-fps", "0"}), std::runtime_error);
-    EXPECT_THROW(
-        parse({"--model", "m.xml", "--out", "o", "--video", "v.mp4", "--video-size", "big"}), std::runtime_error
-    );
-    EXPECT_THROW(parse({"--model", "m.xml", "--out", "o", "--viewer", "--viewer-size", "0x0"}), std::runtime_error);
-    EXPECT_THROW(parse({"--model", "m.xml", "--out", "o", "--viewer", "--viewer-fps", "0"}), std::runtime_error);
-    EXPECT_THROW(parse({"--model", "m.xml", "--out", "o", "--viewer", "--viewer-size", "wide"}), std::runtime_error);
+    EXPECT_THROW(parse({"--out", "o", "--seconds", "0"}), std::runtime_error);
+    EXPECT_THROW(parse({"--out", "o", "--ticks", "0"}), std::runtime_error);
+    EXPECT_THROW(parse({"--out", "o", "--record-every", "0"}), std::runtime_error);
+    EXPECT_THROW(parse({"--out", "o", "--video", "v.mp4", "--video-fps", "0"}), std::runtime_error);
+    EXPECT_THROW(parse({"--out", "o", "--video", "v.mp4", "--video-size", "big"}), std::runtime_error);
+    EXPECT_THROW(parse({"--out", "o", "--viewer", "--viewer-size", "0x0"}), std::runtime_error);
+    EXPECT_THROW(parse({"--out", "o", "--viewer", "--viewer-fps", "0"}), std::runtime_error);
+    EXPECT_THROW(parse({"--out", "o", "--viewer", "--viewer-size", "wide"}), std::runtime_error);
+}
+
+TEST(Cli, HandsTargetOptionsToTheirHandlers) {
+    std::string                  color;
+    bool                         flag = false;
+    const std::vector<CliOption> target_options{
+        {.name = "--color", .argument = "<name>", .apply = [&color](const std::string& value) { color = value; }},
+        {.name = "--flag", .argument = "", .apply = [&flag](const std::string&) { flag = true; }},
+    };
+
+    std::vector<std::string> owned{"robot_sim", "--color", "red", "--maze", "m", "--flag", "--out", "o"};
+    std::vector<char*>       argv;
+    argv.reserve(owned.size());
+
+    for (std::string& word : owned) {
+        argv.push_back(word.data());
+    }
+
+    const CliOptions options = Cli::parse(std::span(argv), target_options);
+
+    EXPECT_EQ(color, "red");
+    EXPECT_TRUE(flag);
+    EXPECT_EQ(options.maze, "m");
 }
 
 TEST(Cli, UsageNamesEveryOptionItAccepts) {
-    const std::string usage = Cli::usage();
+    const std::vector<CliOption> target_options{{.name = "--color", .argument = "<name>", .apply = {}}};
+    const std::string            usage = Cli::usage("robot_sim", target_options);
+
+    EXPECT_TRUE(usage.starts_with("usage: robot_sim "));
 
-    for (const std::string& option :
-         {"--model", "--out", "--maze", "--seconds", "--ticks", "--command", "--command-at", "--dip", "--button",
-          "--button-at", "--no-fan", "--video", "--video-fps", "--video-camera", "--video-size", "--viewer",
-          "--viewer-camera", "--viewer-fps", "--viewer-size"}) {
+    for (const std::string option :
+         {"--out", "--scenario", "--maze", "--seconds", "--ticks", "--seed", "--ideal", "--record-every", "--video",
+          "--video-fps", "--video-camera", "--video-size", "--viewer", "--viewer-camera", "--viewer-fps",
+          "--viewer-size", "--monitor", "--monitor-port", "--color <name>"}) {
         EXPECT_NE(usage.find(option), std::string::npos) << option;
     }
 }
diff --git a/tests/unit/clock_test.cpp b/tests/unit/clock_test.cpp
index 16302c7..521be0d 100644
--- a/tests/unit/clock_test.cpp
+++ b/tests/unit/clock_test.cpp
@@ -31,16 +31,11 @@ TEST(Clock, AdvancesOneTickAtATime) {
 
     EXPECT_EQ(clock.tick_count(), 2U);
     EXPECT_EQ(clock.now_us(), 2084U);
-
-    clock.reset();
-    EXPECT_EQ(clock.tick_count(), 0U);
-    EXPECT_EQ(clock.now_us(), 0U);
 }
 
 TEST(Clock, CountsTheTicksOfTheRecordedScenarios) {
-    const Clock clock = harness_clock();
-    EXPECT_EQ(clock.total_ticks(4.0), 3838U);
-    EXPECT_EQ(clock.total_ticks(8.0), 7677U);
+    EXPECT_EQ(Clock::total_ticks(4.0, 1042), 3838U);
+    EXPECT_EQ(Clock::total_ticks(8.0, 1042), 7677U);
 }
 
 TEST(Clock, RoundsInstantsToTheNearestTick) {
@@ -48,15 +43,5 @@ TEST(Clock, RoundsInstantsToTheNearestTick) {
     EXPECT_EQ(clock.tick_at(0.5), 480U);
     EXPECT_EQ(clock.tick_at(0.0), 0U);
 }
-
-TEST(Clock, CountsTheTicksTheButtonMustBeHeldFor) {
-    const Clock clock = harness_clock();
-
-    for (const uint32_t target : {250U, 501U, 2001U}) {
-        const uint64_t ticks = clock.ticks_for_elapsed_ms(target);
-        EXPECT_GE(ticks * clock.us_per_tick() / 1000, target);
-        EXPECT_LT((ticks - 1) * clock.us_per_tick() / 1000, target);
-    }
-}
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/csv_recorder_test.cpp b/tests/unit/csv_recorder_test.cpp
index 2cba800..1c25482 100644
--- a/tests/unit/csv_recorder_test.cpp
+++ b/tests/unit/csv_recorder_test.cpp
@@ -1,4 +1,7 @@
-#include <algorithm>
+#include <filesystem>
+#include <fstream>
+#include <string>
+#include <vector>
 
 #include <gtest/gtest.h>
 
@@ -8,89 +11,126 @@
 namespace micras::sim {
 namespace {
 /**
- * @brief Ground truth header of every run recorded so far, in order.
- *
- * @note Transcribed from baseline/v0/idle/data.csv. Changing it breaks the
- *       comparison against every run already on disk, so it is pinned here
- *       instead of being derived from the code under test.
+ * @brief Ground truth of the tiny robot: one column of each kind the probes cover.
  */
-const std::vector<std::string> baseline_columns{
-    "tick",
-    "sim_time",
-    "fw_loop_time",
-    "x",
-    "y",
-    "z",
-    "roll",
-    "pitch",
-    "yaw",
-    "vx_world",
-    "vy_world",
-    "vz_world",
-    "wz_body",
-    "v_forward",
-    "wheel_qvel_left",
-    "wheel_qvel_right",
-    "ctrl_left",
-    "ctrl_right",
-    "act_force_left",
-    "act_force_right",
-    "left_ncon",
-    "left_fn",
-    "left_slip",
-    "left_penetration",
-    "right_ncon",
-    "right_fn",
-    "right_slip",
-    "right_penetration",
-    "caster_ncon",
-    "ncon_total",
-    "solver_niter",
-    "warnings_total",
-    "wheel_qpos_left",
-    "wheel_qpos_right",
-    "caster_fn",
-    "base_ncon"
+GroundTruthConfig tiny_config() {
+    return {
+        .body = "robot",
+        .forward_axis = ForwardAxis::X,
+        .columns =
+            {
+                {.name = "wheel_speed", .probe = Probe::JOINT_VELOCITY, .object = "wheel"},
+                {.name = "wheel_angle", .probe = Probe::JOINT_POSITION, .object = "wheel"},
+                {.name = "command", .probe = Probe::ACTUATOR_CONTROL, .object = "motor"},
+                {.name = "torque", .probe = Probe::ACTUATOR_FORCE, .object = "motor"},
+                {.name = "chassis_ncon", .probe = Probe::CONTACT_COUNT, .object = "chassis"},
+                {.name = "chassis_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "chassis"},
+                {.name = "chassis_slip", .probe = Probe::CONTACT_SLIP, .object = "chassis"},
+                {.name = "chassis_penetration", .probe = Probe::CONTACT_PENETRATION, .object = "chassis"},
+                {.name = "ncon", .probe = Probe::CONTACT_TOTAL, .object = ""},
+                {.name = "iterations", .probe = Probe::SOLVER_ITERATIONS, .object = ""},
+                {.name = "warnings", .probe = Probe::WARNINGS_TOTAL, .object = ""},
+            },
+    };
+}
+
+/**
+ * @brief A column source with fixed names and values.
+ */
+class FixedColumns : public ColumnSource {
+public:
+    explicit FixedColumns(std::size_t cells_per_row) : cells_per_row{cells_per_row} { }
+
+    std::vector<std::string> names() override { return {"first", "second"}; }
+
+    void append(std::vector<CsvCell>& row) override {
+        for (std::size_t i = 0; i < this->cells_per_row; i++) {
+            row.emplace_back(static_cast<int64_t>(i));
+        }
+    }
+
+private:
+    std::size_t cells_per_row;
 };
 
-TEST(GroundTruth, ColumnsMatchTheRecordedBaseline) {
-    EXPECT_EQ(GroundTruth::columns(), baseline_columns);
+class Recording : public testing::Test {
+protected:
+    void SetUp() override {
+        this->world.load(MICRAS_TEST_MODEL);
+        this->world.reset();
+    }
+
+    /**
+     * @brief Read back the first line of the CSV.
+     */
+    std::string header() const {
+        std::ifstream file(this->path);
+        std::string   line;
+        std::getline(file, line);
+        return line;
+    }
+
+    // NOLINTBEGIN(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
+    MujocoWorld           world;
+    std::filesystem::path path{std::filesystem::temp_directory_path() / "micras_sim_recorder_test.csv"};
+    // NOLINTEND(*-non-private-member-variables-in-classes)
+};
+
+TEST_F(Recording, StartsEveryRowWithTheBodyBlockThenTheRobotColumns) {
+    const GroundTruth              ground_truth(this->world, tiny_config());
+    const std::vector<std::string> columns = ground_truth.columns();
+
+    ASSERT_EQ(columns.size(), 13U + tiny_config().columns.size());
+    EXPECT_EQ(columns.front(), "tick");
+    EXPECT_EQ(columns.at(12), "v_forward");
+    EXPECT_EQ(columns.at(13), "wheel_speed");
+    EXPECT_EQ(columns.back(), "warnings");
 }
 
-TEST(CsvRecorder, ProxyColumnsMatchTheProxyStateSections) {
-    const std::vector<std::string> expected{
-        "proxy_left_command",   "proxy_right_command", "proxy_fan_speed",  "proxy_encoder_left", "proxy_encoder_right",
-        "proxy_gyro_x",         "proxy_gyro_y",        "proxy_gyro_z",     "proxy_accel_x",      "proxy_accel_y",
-        "proxy_accel_z",        "proxy_wall_adc_0",    "proxy_wall_adc_1", "proxy_wall_adc_2",   "proxy_wall_adc_3",
-        "proxy_button_pressed", "proxy_dip_0",         "proxy_dip_1",      "proxy_dip_2",        "proxy_dip_3"
-    };
+TEST_F(Recording, WritesTheTickAndOneCellPerColumn) {
+    GroundTruth                ground_truth(this->world, tiny_config());
+    const std::vector<CsvCell> row = ground_truth.sample(7);
 
-    EXPECT_EQ(CsvRecorder::proxy_columns(), expected);
+    ASSERT_EQ(row.size(), ground_truth.columns().size());
+    EXPECT_EQ(std::get<uint64_t>(row.at(0)), 7U);
+    EXPECT_DOUBLE_EQ(std::get<double>(row.at(1)), this->world.data()->time);
+}
 
-    const std::size_t actuators = 3;
-    const std::size_t sensors = Sensors::wheel_count + (2 * Sensors::axis_count) + Sensors::wall_sensor_count;
-    const std::size_t input = 1 + InterfaceInput::dip_switch_count;
-    EXPECT_EQ(CsvRecorder::proxy_columns().size(), actuators + sensors + input);
+TEST_F(Recording, RejectsAnObjectTheModelDoesNotHave) {
+    GroundTruthConfig config = tiny_config();
+    config.columns.push_back({.name = "ghost", .probe = Probe::JOINT_VELOCITY, .object = "ghost"});
+
+    EXPECT_THROW(GroundTruth(this->world, config), std::runtime_error);
 }
 
-TEST(CsvRecorder, ProxyColumnsComeAfterEveryBaselineColumn) {
-    for (const std::string& column : CsvRecorder::proxy_columns()) {
-        EXPECT_TRUE(column.starts_with("proxy_")) << column;
-        EXPECT_EQ(std::count(baseline_columns.begin(), baseline_columns.end(), column), 0) << column;
+TEST_F(Recording, AppendsTheSourcesAfterTheGroundTruth) {
+    FixedColumns source(2);
+
+    {
+        CsvRecorder recorder(this->world, tiny_config(), this->path);
+        recorder.add_source(source);
+        recorder.sample(0);
     }
+
+    EXPECT_TRUE(this->header().ends_with(",warnings,first,second"));
 }
 
-TEST(CsvRecorder, TurnsPoolNamesIntoTheBaselineColumnNames) {
-    EXPECT_EQ(CsvRecorder::column_name("Grid Pose"), "grid_pose");
-    EXPECT_EQ(CsvRecorder::column_name("Desired Linear Speed"), "desired_linear_speed");
-    EXPECT_EQ(CsvRecorder::column_name("Wall Sensors 0"), "wall_sensors_0");
-    EXPECT_EQ(CsvRecorder::column_name("Linear/Angular PID"), "linear_angular_pid");
+TEST_F(Recording, RejectsASourceThatFillsTooFewCells) {
+    FixedColumns source(1);
+    CsvRecorder  recorder(this->world, tiny_config(), this->path);
+    recorder.add_source(source);
+
+    EXPECT_THROW(recorder.sample(0), std::logic_error);
 }
 
-TEST(CsvRecorder, TrimsSeparatorsAtTheEdgesOfPoolNames) {
-    EXPECT_EQ(CsvRecorder::column_name("  Spaced  "), "spaced");
-    EXPECT_EQ(CsvRecorder::column_name("Trailing!"), "trailing");
-    EXPECT_EQ(CsvRecorder::column_name("!!!"), "");
+TEST_F(Recording, RejectsTwoSourcesWritingTheSameColumn) {
+    FixedColumns first(2);
+    FixedColumns second(2);
+    CsvRecorder  recorder(this->world, tiny_config(), this->path);
+    recorder.add_source(first);
+    recorder.add_source(second);
+
+    EXPECT_THROW(recorder.sample(0), std::runtime_error);
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/devices_test.cpp b/tests/unit/devices_test.cpp
new file mode 100644
index 0000000..9f5f276
--- /dev/null
+++ b/tests/unit/devices_test.cpp
@@ -0,0 +1,383 @@
+#include <cmath>
+#include <cstdint>
+#include <deque>
+#include <numbers>
+#include <optional>
+#include <span>
+#include <string>
+#include <vector>
+
+#include <gtest/gtest.h>
+
+#include "micras/sim/core/clock.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/serial_bus.hpp"
+#include "micras/sim/devices/dc_motor.hpp"
+#include "micras/sim/devices/quadrature_encoder.hpp"
+#include "micras/sim/devices/serial_link.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief A made-up drive: a 6 V supply, a 10 ohm path, a 5:1 gearbox.
+ */
+DriveDescription tiny_drive() {
+    return {
+        .winding_resistance = 9.5,
+        .bridge_resistance = 0.5,
+        .torque_constant = 0.003,
+        .speed_constant = 0.003,
+        .no_load_current = 0.007,
+        .rotor_inertia = 4.0e-9,
+        .gear_ratio = 5.0,
+        .gear_efficiency = 0.9,
+        .supply_voltage = 6.0,
+        .max_motor_speed = 1800.0,
+    };
+}
+
+/**
+ * @brief Listener that keeps every byte the firmware sent.
+ */
+class Collector : public ISerialListener {
+public:
+    void on_firmware_bytes(std::span<const uint8_t> bytes) override {
+        this->received.insert(this->received.end(), bytes.begin(), bytes.end());
+    }
+
+    // NOLINTNEXTLINE(*-non-private-member-variables-in-classes): the test reads what arrived.
+    std::vector<uint8_t> received;
+};
+
+/**
+ * @brief The tiny robot's world and a clock with the usual 1042 us tick.
+ */
+class Devices : public testing::Test {
+protected:
+    void SetUp() override {
+        this->world.load(MICRAS_TEST_MODEL);
+        this->clock = Clock::from_model(this->world.timestep(), 1042);
+        this->world.reset();
+    }
+
+    /**
+     * @brief Get the tiny robot's wheel joint position.
+     *
+     * @return The joint's entry of qpos.
+     */
+    mjtNum& wheel_angle() {
+        const std::span<mjtNum> positions(this->world.data()->qpos, static_cast<std::size_t>(this->world.model()->nq));
+        const std::span<const int> addresses(
+            this->world.model()->jnt_qposadr, static_cast<std::size_t>(this->world.model()->njnt)
+        );
+        return positions[static_cast<std::size_t>(addresses[this->wheel()])];
+    }
+
+    /**
+     * @brief Get the tiny robot's wheel joint velocity.
+     *
+     * @return The joint's entry of qvel.
+     */
+    mjtNum& wheel_speed() {
+        const std::span<mjtNum> velocities(this->world.data()->qvel, static_cast<std::size_t>(this->world.model()->nv));
+        const std::span<const int> addresses(
+            this->world.model()->jnt_dofadr, static_cast<std::size_t>(this->world.model()->njnt)
+        );
+        return velocities[static_cast<std::size_t>(addresses[this->wheel()])];
+    }
+
+    /**
+     * @brief Get the control the motor actuator was given.
+     *
+     * @return The actuator's entry of ctrl.
+     */
+    double motor_control() const {
+        const std::span<const mjtNum> controls(
+            this->world.data()->ctrl, static_cast<std::size_t>(this->world.model()->nu)
+        );
+        return controls[static_cast<std::size_t>(this->world.require_id(mjOBJ_ACTUATOR, "motor"))];
+    }
+
+    /**
+     * @brief Build a motor on the tiny robot's wheel, driven by the fixture's bridge inputs.
+     *
+     * @return The motor.
+     */
+    DcMotor motor() {
+        return {
+            this->world,
+            {.name = "wheel",
+             .actuator = "motor",
+             .joint = "wheel",
+             .drive = tiny_drive(),
+             .forward_duty = [this] { return this->forward; },
+             .backward_duty = [this] { return this->backward; },
+             .enabled = [this] { return this->enabled; }}
+        };
+    }
+
+    // NOLINTBEGIN(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
+    MujocoWorld world;
+    Clock       clock;
+    float       forward{0.0F};
+    float       backward{0.0F};
+    bool        enabled{true};
+    // NOLINTEND(*-non-private-member-variables-in-classes)
+
+private:
+    /**
+     * @brief Get the id of the tiny robot's wheel joint.
+     *
+     * @return The id.
+     */
+    std::size_t wheel() const { return static_cast<std::size_t>(this->world.require_id(mjOBJ_JOINT, "wheel")); }
+};
+
+TEST_F(Devices, AppliesTheDutyCycleDifferenceTimesTheSupply) {
+    DcMotor motor = this->motor();
+
+    this->forward = 50.0F;
+    motor.actuate(this->world, this->clock);
+    EXPECT_DOUBLE_EQ(this->motor_control(), 3.0);
+
+    this->forward = 25.0F;
+    this->backward = 75.0F;
+    motor.actuate(this->world, this->clock);
+    EXPECT_DOUBLE_EQ(this->motor_control(), -3.0);
+}
+
+TEST_F(Devices, NeverAppliesMoreThanTheSupply) {
+    DcMotor motor = this->motor();
+
+    this->forward = 150.0F;
+    motor.actuate(this->world, this->clock);
+
+    EXPECT_DOUBLE_EQ(this->motor_control(), 6.0);
+}
+
+TEST_F(Devices, DrivesTheCurrentAgainstTheBackEmf) {
+    DcMotor motor = this->motor();
+    this->wheel_speed() = 10.0;
+
+    this->forward = 50.0F;
+    motor.actuate(this->world, this->clock);
+
+    const double back_emf = 0.003 * 5.0 * 10.0;
+    EXPECT_DOUBLE_EQ(motor.current(), (3.0 - back_emf) / 10.0);
+}
+
+TEST_F(Devices, BrakesWithBothInputsLow) {
+    DcMotor motor = this->motor();
+    this->wheel_speed() = 10.0;
+
+    motor.actuate(this->world, this->clock);
+
+    EXPECT_DOUBLE_EQ(this->motor_control(), 0.0);
+    EXPECT_LT(motor.current(), 0.0);
+}
+
+TEST_F(Devices, LeavesTheWindingOpenWhenTheBridgeIsDisabled) {
+    DcMotor motor = this->motor();
+    this->wheel_speed() = 10.0;
+    this->forward = 100.0F;
+    this->enabled = false;
+
+    motor.actuate(this->world, this->clock);
+
+    EXPECT_DOUBLE_EQ(this->motor_control(), 0.003 * 5.0 * 10.0);
+    EXPECT_DOUBLE_EQ(motor.current(), 0.0);
+}
+
+TEST_F(Devices, RecordsTheMotorsVoltageAndCurrent) {
+    DcMotor motor = this->motor();
+    this->forward = 50.0F;
+    motor.actuate(this->world, this->clock);
+
+    std::vector<CsvCell> row;
+    motor.append(row);
+
+    EXPECT_EQ(motor.columns(), (std::vector<std::string>{"wheel_voltage", "wheel_current"}));
+    ASSERT_EQ(row.size(), 2U);
+    EXPECT_DOUBLE_EQ(std::get<double>(row.at(0)), 3.0);
+}
+
+TEST_F(Devices, RefusesAMotorOnAnActuatorTheModelDoesNotHave) {
+    EXPECT_THROW(
+        DcMotor(
+            this->world, {.name = "ghost",
+                          .actuator = "ghost",
+                          .joint = "wheel",
+                          .drive = tiny_drive(),
+                          .forward_duty = [] { return 0.0F; },
+                          .backward_duty = [] { return 0.0F; },
+                          .enabled = [] { return true; }}
+        ),
+        std::runtime_error
+    );
+}
+
+TEST_F(Devices, CountsTheWheelAngleAtTheEncodersResolution) {
+    std::optional<int32_t> written;
+    QuadratureEncoder      encoder(
+        this->world, {.name = "wheel",
+                           .joint = "wheel",
+                           .counts_per_revolution = 4096,
+                           .write = [&written](int32_t count) { written = count; }}
+    );
+    const double radians_per_count = 2.0 * std::numbers::pi / 4096.0;
+
+    this->wheel_angle() = 1024.5 * radians_per_count;
+    encoder.sample(this->world, this->clock);
+    EXPECT_EQ(written, 1024);
+
+    this->wheel_angle() = (2.5 * 4096.0 + 0.5) * radians_per_count;
+    encoder.sample(this->world, this->clock);
+    EXPECT_EQ(written, 10240);
+}
+
+TEST_F(Devices, CountsDownWhenTheWheelTurnsBackwards) {
+    std::optional<int32_t> written;
+    QuadratureEncoder      encoder(
+        this->world, {.name = "wheel",
+                           .joint = "wheel",
+                           .counts_per_revolution = 4096,
+                           .write = [&written](int32_t count) { written = count; }}
+    );
+
+    this->wheel_angle() = -1023.5 * 2.0 * std::numbers::pi / 4096.0;
+    encoder.sample(this->world, this->clock);
+
+    EXPECT_EQ(written, -1024);
+
+    std::vector<CsvCell> row;
+    encoder.append(row);
+    EXPECT_EQ(encoder.columns(), (std::vector<std::string>{"wheel_count"}));
+    EXPECT_EQ(std::get<int64_t>(row.at(0)), -1024);
+}
+
+/**
+ * @brief A link at 115200 baud, fed from a queue the firmware fills.
+ */
+class Link : public Devices {
+protected:
+    /**
+     * @brief Build the link.
+     *
+     * @return The link, on the fixture's bus.
+     */
+    SerialLink link() {
+        return {
+            this->bus,
+            {.baud_rate = 115200,
+             .take_sent = [this]() -> std::optional<uint8_t> {
+                 if (this->outgoing.empty()) {
+                     return std::nullopt;
+                 }
+
+                 const uint8_t byte = this->outgoing.front();
+                 this->outgoing.pop_front();
+                 return byte;
+             },
+             .receive = [this](uint8_t byte) { this->incoming.push_back(byte); }}
+        };
+    }
+
+    /**
+     * @brief Queue bytes for the firmware to send.
+     *
+     * @param count Number of bytes, counting up from 0.
+     */
+    void firmware_sends(std::size_t count) {
+        for (std::size_t i = 0; i < count; i++) {
+            this->outgoing.push_back(static_cast<uint8_t>(i));
+        }
+    }
+
+    /**
+     * @brief Bytes the line carries in one tick.
+     *
+     * @return 115200 baud, ten bits a byte, over 1042 us.
+     */
+    static double bytes_per_tick() { return 115200.0 / 10.0 * 1042e-6; }
+
+    // NOLINTBEGIN(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
+    SerialBus            bus;
+    Collector            collector;
+    std::deque<uint8_t>  outgoing;
+    std::vector<uint8_t> incoming;
+    // NOLINTEND(*-non-private-member-variables-in-classes)
+};
+
+TEST_F(Link, SendsNoMoreThanTheBaudRateAllows) {
+    SerialLink link = this->link();
+    this->bus.add_listener(this->collector);
+    this->firmware_sends(5000);
+
+    link.sample(this->world, this->clock);
+    EXPECT_EQ(this->collector.received.size(), static_cast<std::size_t>(bytes_per_tick()));
+
+    for (int tick = 1; tick < 100; tick++) {
+        link.sample(this->world, this->clock);
+    }
+
+    EXPECT_EQ(this->collector.received.size(), static_cast<std::size_t>(100 * bytes_per_tick()));
+    EXPECT_EQ(this->collector.received.at(200), 200U);
+}
+
+TEST_F(Link, ReceivesNoMoreThanTheBaudRateAllows) {
+    SerialLink                 link = this->link();
+    const std::vector<uint8_t> message(5000, 0x55);
+    this->bus.queue_for_firmware(message);
+
+    link.sample(this->world, this->clock);
+    EXPECT_EQ(this->incoming.size(), static_cast<std::size_t>(bytes_per_tick()));
+
+    for (int tick = 1; tick < 100; tick++) {
+        link.sample(this->world, this->clock);
+    }
+
+    EXPECT_EQ(this->incoming.size(), static_cast<std::size_t>(100 * bytes_per_tick()));
+}
+
+TEST_F(Link, DoesNotSaveUpBandwidthWhileIdle) {
+    SerialLink link = this->link();
+    this->bus.add_listener(this->collector);
+
+    for (int tick = 0; tick < 100; tick++) {
+        link.sample(this->world, this->clock);
+    }
+
+    this->firmware_sends(5000);
+    this->bus.queue_for_firmware(std::vector<uint8_t>(5000, 0x55));
+    link.sample(this->world, this->clock);
+
+    EXPECT_LE(this->collector.received.size(), static_cast<std::size_t>(1.0 + bytes_per_tick()));
+    EXPECT_LE(this->incoming.size(), static_cast<std::size_t>(1.0 + bytes_per_tick()));
+}
+
+TEST_F(Link, CarriesASlowTrickleWholeAndInOrder) {
+    SerialLink link = this->link();
+    this->bus.add_listener(this->collector);
+
+    for (int tick = 0; tick < 10; tick++) {
+        this->outgoing.push_back(static_cast<uint8_t>(tick));
+        link.sample(this->world, this->clock);
+    }
+
+    EXPECT_EQ(this->collector.received, (std::vector<uint8_t>{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}));
+}
+
+TEST_F(Devices, DrivesADigitalInputsPinWithItsPolarity) {
+    std::optional<bool> pin;
+    DigitalInput        input({.name = "switch", .active_low = true, .drive = [&pin](bool level) { pin = level; }});
+
+    EXPECT_FALSE(input.is_active());
+    EXPECT_EQ(pin, true);
+
+    input.set(true);
+    EXPECT_TRUE(input.is_active());
+    EXPECT_EQ(pin, false);
+    EXPECT_EQ(input.name(), "switch");
+}
+}  // namespace
+}  // namespace micras::sim
diff --git a/tests/unit/event_log_test.cpp b/tests/unit/event_log_test.cpp
new file mode 100644
index 0000000..4f49805
--- /dev/null
+++ b/tests/unit/event_log_test.cpp
@@ -0,0 +1,211 @@
+#include <cmath>
+#include <map>
+#include <span>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include <gtest/gtest.h>
+
+#include "micras/sim/core/run_context.hpp"
+#include "micras/sim/core/simulation.hpp"
+#include "micras/sim/recording/event_log.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Variables the test sets by hand, NaN until set.
+ */
+class SettableVariables : public VariableSource {
+public:
+    double value_of(const std::string& name) const override {
+        const auto found = this->values.find(name);
+        return found == this->values.end() ? std::nan("") : found->second;
+    }
+
+    /**
+     * @brief Set a variable.
+     *
+     * @param name Name of the variable.
+     * @param value Its new value.
+     */
+    void set(const std::string& name, double value) { this->values[name] = value; }
+
+private:
+    std::map<std::string, double> values;
+};
+
+/**
+ * @brief The tiny robot, lifted clear of the floor or lowered onto it at chosen instants.
+ */
+class Logging : public testing::Test {
+protected:
+    void SetUp() override {
+        this->context.world.load(MICRAS_TEST_MODEL);
+        this->context.clock = Clock::from_model(this->context.world.timestep(), 1042);
+        this->context.world.reset();
+        this->chassis = this->context.world.require_id(mjOBJ_GEOM, "chassis");
+        this->floor = this->context.world.require_id(mjOBJ_GEOM, "floor");
+    }
+
+    /**
+     * @brief Put the robot on the floor or in the air at an instant, and let a log see it.
+     *
+     * @param log Log to show the tick to.
+     * @param time Simulated time of the tick.
+     * @param touching Whether the chassis rests on the floor.
+     */
+    void tick(EventLog& log, double time, bool touching) {
+        MujocoWorld&            world = this->context.world;
+        const std::span<mjtNum> positions(world.data()->qpos, static_cast<std::size_t>(world.model()->nq));
+
+        positions[2] = touching ? 0.005 : 0.1;
+        world.data()->time = time;
+        mj_forward(world.model(), world.data());
+        log.on_after_tick(this->simulation);
+    }
+
+    // NOLINTBEGIN(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
+    RunContext        context;
+    FirmwareThread    firmware{[] {}};
+    Simulation        simulation{this->context, this->firmware};
+    SettableVariables variables;
+    int               chassis{-1};
+    int               floor{-1};
+    // NOLINTEND(*-non-private-member-variables-in-classes)
+};
+
+TEST_F(Logging, LogsOneCollisionPerContactEpisode) {
+    EventLog log({this->chassis}, {}, {}, nullptr);
+
+    this->tick(log, 0.0, false);
+    this->tick(log, 0.001, true);
+    this->tick(log, 0.002, true);
+    this->tick(log, 0.003, true);
+
+    EXPECT_EQ(log.collisions(), 1U);
+    ASSERT_EQ(log.entries().size(), 1U);
+    EXPECT_EQ(log.entries().front().kind, "collision");
+    EXPECT_EQ(log.entries().front().detail, "chassis");
+    EXPECT_DOUBLE_EQ(log.entries().front().time, 0.001);
+}
+
+TEST_F(Logging, CountsAContactWithinTheSeparationTimeAsTheSameCollision) {
+    EventLog log({this->chassis}, {}, {}, nullptr);
+
+    this->tick(log, 0.0, true);
+    this->tick(log, 0.01, false);
+    this->tick(log, 0.03, false);
+    this->tick(log, 0.04, true);
+
+    EXPECT_EQ(log.collisions(), 1U);
+}
+
+TEST_F(Logging, CountsAContactAfterTheSeparationTimeAsANewCollision) {
+    EventLog log({this->chassis}, {}, {}, nullptr);
+
+    this->tick(log, 0.0, true);
+    this->tick(log, 0.02, true);
+    this->tick(log, 0.05, false);
+    this->tick(log, 0.08, true);
+
+    EXPECT_EQ(log.collisions(), 2U);
+    ASSERT_EQ(log.entries().size(), 2U);
+    EXPECT_DOUBLE_EQ(log.entries().back().time, 0.08);
+}
+
+TEST_F(Logging, NeverCountsAContactWithAnIgnoredGeom) {
+    EventLog log({this->chassis}, {this->floor}, {}, nullptr);
+
+    this->tick(log, 0.0, true);
+    this->tick(log, 1.0, false);
+    this->tick(log, 2.0, true);
+
+    EXPECT_EQ(log.collisions(), 0U);
+    EXPECT_TRUE(log.entries().empty());
+}
+
+TEST_F(Logging, WatchesOnlyTheGeomsItWasGiven) {
+    EventLog log({}, {}, {}, nullptr);
+
+    this->tick(log, 0.0, true);
+
+    EXPECT_EQ(log.collisions(), 0U);
+}
+
+TEST_F(Logging, NamesEachNewStateFromItsTable) {
+    EventLog log({}, {}, {{.variable = "state", .names = {"INIT", "IDLE", "RUN"}}}, &this->variables);
+
+    this->tick(log, 0.0, false);
+    this->variables.set("state", 0);
+    this->tick(log, 0.1, false);
+    this->tick(log, 0.2, false);
+    this->variables.set("state", 1);
+    this->tick(log, 0.3, false);
+    this->variables.set("state", 2);
+    this->tick(log, 0.4, false);
+
+    ASSERT_EQ(log.entries().size(), 3U);
+    EXPECT_EQ(log.entries().at(0).kind, "state");
+    EXPECT_EQ(log.entries().at(0).detail, "INIT");
+    EXPECT_DOUBLE_EQ(log.entries().at(0).time, 0.1);
+    EXPECT_EQ(log.entries().at(1).detail, "IDLE");
+    EXPECT_EQ(log.entries().at(2).detail, "RUN");
+    EXPECT_DOUBLE_EQ(log.entries().at(2).time, 0.4);
+}
+
+TEST_F(Logging, WritesAValueWithNoNameAsANumber) {
+    EventLog log({}, {}, {{.variable = "state", .names = {"INIT"}}}, &this->variables);
+
+    this->variables.set("state", 7);
+    this->tick(log, 0.0, false);
+    this->variables.set("state", -1);
+    this->tick(log, 0.1, false);
+
+    ASSERT_EQ(log.entries().size(), 2U);
+    EXPECT_EQ(log.entries().at(0).detail, "7");
+    EXPECT_EQ(log.entries().at(1).detail, "-1");
+}
+
+TEST_F(Logging, SkipsAVariableThatIsNotReportedYet) {
+    EventLog log({}, {}, {{.variable = "state", .names = {"INIT", "IDLE"}}}, &this->variables);
+
+    this->variables.set("state", 1);
+    this->tick(log, 0.0, false);
+    this->variables.set("state", std::nan(""));
+    this->tick(log, 0.1, false);
+    this->variables.set("state", 1);
+    this->tick(log, 0.2, false);
+
+    ASSERT_EQ(log.entries().size(), 1U);
+    EXPECT_EQ(log.entries().front().detail, "IDLE");
+}
+
+TEST_F(Logging, WatchesAVariableAddedLater) {
+    EventLog log({}, {}, {}, &this->variables);
+    log.watch({.variable = "mode", .names = {"SLOW", "FAST"}});
+
+    this->variables.set("mode", 1);
+    this->tick(log, 0.0, false);
+
+    ASSERT_EQ(log.entries().size(), 1U);
+    EXPECT_EQ(log.entries().front().kind, "mode");
+    EXPECT_EQ(log.entries().front().detail, "FAST");
+}
+
+TEST_F(Logging, KeepsTheFirstEntriesOnlyButKeepsCounting) {
+    EventLog log({this->chassis}, {}, {{.variable = "counter", .names = {}}}, &this->variables);
+
+    for (std::size_t i = 0; i < EventLog::max_events + 10; i++) {
+        this->variables.set("counter", static_cast<double>(i));
+        this->tick(log, static_cast<double>(i), false);
+    }
+
+    this->tick(log, 1000.0, true);
+
+    EXPECT_EQ(log.entries().size(), EventLog::max_events);
+    EXPECT_EQ(log.entries().back().detail, std::to_string(EventLog::max_events - 1));
+    EXPECT_EQ(log.collisions(), 1U);
+}
+}  // namespace
+}  // namespace micras::sim
diff --git a/tests/unit/maze_test.cpp b/tests/unit/maze_test.cpp
new file mode 100644
index 0000000..b344794
--- /dev/null
+++ b/tests/unit/maze_test.cpp
@@ -0,0 +1,171 @@
+#include <filesystem>
+#include <fstream>
+#include <span>
+#include <sstream>
+#include <string>
+#include <string_view>
+#include <utility>
+
+#include <gtest/gtest.h>
+
+#include "micras/sim/arenas/maze.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief A two by two maze: the start at the lower left, a goal above it, one wall inside each row.
+ */
+constexpr std::string_view small_maze{"o---o---o\n"
+                                      "| G     |\n"
+                                      "o   o---o\n"
+                                      "| S |   |\n"
+                                      "o---o---o\n"};
+
+/**
+ * @brief Read a whole file.
+ *
+ * @param path Path of the file.
+ * @return Its contents.
+ */
+std::string read_file(const std::filesystem::path& path) {
+    const std::ifstream file(path);
+    std::ostringstream  text;
+    text << file.rdbuf();
+    return text.str();
+}
+
+TEST(Maze, ReadsTheSizeOfTheDrawing) {
+    const Maze maze = Maze::parse(small_maze);
+
+    EXPECT_EQ(maze.width(), 2U);
+    EXPECT_EQ(maze.height(), 2U);
+}
+
+TEST(Maze, ReadsTheWallsBottomUp) {
+    const Maze maze = Maze::parse(small_maze);
+
+    EXPECT_TRUE(maze.south_wall(0, 0));
+    EXPECT_TRUE(maze.south_wall(1, 0));
+    EXPECT_FALSE(maze.south_wall(0, 1));
+    EXPECT_TRUE(maze.south_wall(1, 1));
+    EXPECT_TRUE(maze.south_wall(0, 2));
+    EXPECT_TRUE(maze.south_wall(1, 2));
+
+    EXPECT_TRUE(maze.west_wall(0, 0));
+    EXPECT_TRUE(maze.west_wall(1, 0));
+    EXPECT_TRUE(maze.west_wall(2, 0));
+    EXPECT_TRUE(maze.west_wall(0, 1));
+    EXPECT_FALSE(maze.west_wall(1, 1));
+    EXPECT_TRUE(maze.west_wall(2, 1));
+}
+
+TEST(Maze, ReportsNoWallOutsideTheDrawing) {
+    const Maze maze = Maze::parse(small_maze);
+
+    EXPECT_FALSE(maze.south_wall(2, 0));
+    EXPECT_FALSE(maze.south_wall(0, 3));
+    EXPECT_FALSE(maze.west_wall(3, 0));
+    EXPECT_FALSE(maze.west_wall(0, 2));
+}
+
+TEST(Maze, ReadsTheStartAndTheGoals) {
+    const Maze maze = Maze::parse(small_maze);
+
+    EXPECT_EQ(maze.start(), (std::pair<std::size_t, std::size_t>{0, 0}));
+    ASSERT_EQ(maze.goals().size(), 1U);
+    EXPECT_EQ(maze.goals().front(), (std::pair<std::size_t, std::size_t>{0, 1}));
+}
+
+TEST(Maze, StartsAtTheLowerLeftWhenTheDrawingMarksNoStart) {
+    const Maze maze = Maze::parse("o---o---o\n|   | S |\no---o---o\n");
+    const Maze unmarked = Maze::parse("o---o---o\n|       |\no---o---o\n");
+
+    EXPECT_EQ(maze.start(), (std::pair<std::size_t, std::size_t>{1, 0}));
+    EXPECT_EQ(unmarked.start(), (std::pair<std::size_t, std::size_t>{0, 0}));
+    EXPECT_TRUE(unmarked.goals().empty());
+}
+
+TEST(Maze, IgnoresTrailingSpacesCarriageReturnsAndBlankLines) {
+    const Maze maze = Maze::parse("o---o---o   \r\n| G     |\r\no   o---o\r\n| S |   |  \r\no---o---o\r\n\n\n");
+
+    EXPECT_EQ(maze.width(), 2U);
+    EXPECT_EQ(maze.height(), 2U);
+    EXPECT_FALSE(maze.west_wall(1, 1));
+    EXPECT_TRUE(maze.west_wall(1, 0));
+    EXPECT_EQ(maze.goals().size(), 1U);
+}
+
+TEST(Maze, RejectsADrawingWithAnEvenNumberOfLines) {
+    EXPECT_THROW(Maze::parse("o---o\n|   |\no---o\n|   |\n"), std::runtime_error);
+}
+
+TEST(Maze, RejectsADrawingTooShortToHoldACell) {
+    EXPECT_THROW(Maze::parse(""), std::runtime_error);
+    EXPECT_THROW(Maze::parse("o---o\n"), std::runtime_error);
+    EXPECT_THROW(Maze::parse("o\n|\no\n"), std::runtime_error);
+}
+
+TEST(Maze, RefusesAFileThatDoesNotExist) {
+    EXPECT_THROW(Maze::load(std::filesystem::path{MICRAS_TEST_MAZES_DIR} / "no_such_maze.txt"), std::runtime_error);
+}
+
+TEST(Maze, LoadsABundledMazeClosedAllAround) {
+    const Maze maze = Maze::load(std::filesystem::path{MICRAS_TEST_MAZES_DIR} / "maze1.txt");
+
+    ASSERT_EQ(maze.width(), 16U);
+    ASSERT_EQ(maze.height(), 16U);
+    EXPECT_EQ(maze.start(), (std::pair<std::size_t, std::size_t>{0, 0}));
+    EXPECT_FALSE(maze.goals().empty());
+
+    for (std::size_t i = 0; i < 16; i++) {
+        EXPECT_TRUE(maze.south_wall(i, 0)) << "bottom edge, column " << i;
+        EXPECT_TRUE(maze.south_wall(i, 16)) << "top edge, column " << i;
+        EXPECT_TRUE(maze.west_wall(0, i)) << "left edge, row " << i;
+        EXPECT_TRUE(maze.west_wall(16, i)) << "right edge, row " << i;
+    }
+}
+
+TEST(Maze, GeneratesAnArenaAWorldCanAttach) {
+    const Maze  maze = Maze::parse(small_maze);
+    MujocoWorld world;
+
+    world.build(read_file(MICRAS_TEST_MODEL), "robot", maze.mjcf({}), Maze::body_name, {.x = 0.09, .y = 0.09});
+
+    EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "maze_floor"));
+    EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "maze_south_1_1"));
+    EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "maze_west_1_0"));
+    EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "maze_post_2_2"));
+    EXPECT_THROW(world.require_id(mjOBJ_GEOM, "maze_west_1_1"), std::runtime_error);
+    EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "chassis"));
+    EXPECT_FALSE(world.composed_xml().empty());
+}
+
+TEST(Maze, PlacesTheWallsOnTheCellEdges) {
+    const Maze       maze = Maze::parse(small_maze);
+    const MazeConfig config{.cell_size = 0.2};
+    MujocoWorld      world;
+
+    world.build(read_file(MICRAS_TEST_MODEL), "robot", maze.mjcf(config), Maze::body_name, {.x = 0.1, .y = 0.1});
+    world.reset();
+
+    const std::span<const mjtNum> positions(
+        world.data()->geom_xpos, static_cast<std::size_t>(3 * world.model()->ngeom)
+    );
+    const auto first = static_cast<std::size_t>(3 * world.require_id(mjOBJ_GEOM, "maze_south_1_1"));
+
+    EXPECT_NEAR(positions[first], 0.3, 1e-9);
+    EXPECT_NEAR(positions[first + 1], 0.2, 1e-9);
+    EXPECT_NEAR(positions[first + 2], config.wall_height / 2, 1e-9);
+}
+
+TEST(Maze, SeesTheFloorDarkAndEverythingElseAsWall) {
+    const MazeConfig config{.wall_reflectance = 0.7, .floor_reflectance = 0.1};
+
+    EXPECT_DOUBLE_EQ(Maze::reflectance("maze_floor", config), 0.1);
+    EXPECT_DOUBLE_EQ(Maze::reflectance("floor", config), 0.1);
+    EXPECT_DOUBLE_EQ(Maze::reflectance("maze_south_0_0", config), 0.7);
+    EXPECT_DOUBLE_EQ(Maze::reflectance("maze_post_1_1", config), 0.7);
+}
+}  // namespace
+}  // namespace micras::sim
diff --git a/tests/unit/noise_test.cpp b/tests/unit/noise_test.cpp
new file mode 100644
index 0000000..cfd8264
--- /dev/null
+++ b/tests/unit/noise_test.cpp
@@ -0,0 +1,89 @@
+#include <cmath>
+#include <cstddef>
+#include <string_view>
+#include <vector>
+
+#include <gtest/gtest.h>
+
+#include "micras/sim/core/noise.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Draw a number of samples from a fresh stream.
+ *
+ * @param config The run's noise settings.
+ * @param stream Name of the stream.
+ * @param count Number of samples.
+ * @param sigma Standard deviation of every sample.
+ * @return The samples.
+ */
+std::vector<double> draw(const NoiseConfig& config, std::string_view stream, std::size_t count, double sigma = 1.0) {
+    Noise               noise(config, stream);
+    std::vector<double> samples;
+    samples.reserve(count);
+
+    for (std::size_t i = 0; i < count; i++) {
+        samples.push_back(noise.gaussian(sigma));
+    }
+
+    return samples;
+}
+
+TEST(Noise, RepeatsAStreamForTheSameSeedAndName) {
+    EXPECT_EQ(draw({.seed = 3}, "gyro", 100), draw({.seed = 3}, "gyro", 100));
+}
+
+TEST(Noise, GivesEachNameItsOwnStream) {
+    EXPECT_NE(draw({.seed = 3}, "gyro", 100), draw({.seed = 3}, "accelerometer", 100));
+    EXPECT_NE(draw({.seed = 3}, "a", 100), draw({.seed = 3}, "b", 100));
+}
+
+TEST(Noise, GivesEachSeedItsOwnStream) {
+    EXPECT_NE(draw({.seed = 3}, "gyro", 100), draw({.seed = 4}, "gyro", 100));
+}
+
+TEST(Noise, ScalesTheSameSamplesBySigma) {
+    const std::vector<double> unit = draw({.seed = 5}, "gyro", 50);
+    const std::vector<double> scaled = draw({.seed = 5}, "gyro", 50, 2.5);
+
+    for (std::size_t i = 0; i < unit.size(); i++) {
+        EXPECT_DOUBLE_EQ(scaled.at(i), 2.5 * unit.at(i));
+    }
+}
+
+TEST(Noise, DrawsACentredGaussianOfTheRequestedSpread) {
+    const std::vector<double> samples = draw({.seed = 11}, "gyro", 20000, 2.0);
+    double                    sum = 0.0;
+    double                    squares = 0.0;
+
+    for (const double sample : samples) {
+        sum += sample;
+        squares += sample * sample;
+    }
+
+    const auto   count = static_cast<double>(samples.size());
+    const double mean = sum / count;
+
+    EXPECT_NEAR(mean, 0.0, 0.05);
+    EXPECT_NEAR(std::sqrt(squares / count - mean * mean), 2.0, 0.05);
+}
+
+TEST(Noise, DrawsNothingInAnIdealWorld) {
+    Noise noise({.seed = 3, .ideal = true}, "gyro");
+
+    EXPECT_FALSE(noise.enabled());
+
+    for (int i = 0; i < 100; i++) {
+        EXPECT_EQ(noise.gaussian(1.0), 0.0);
+    }
+}
+
+TEST(Noise, DrawsNothingForAZeroSigma) {
+    Noise noise({.seed = 3}, "gyro");
+
+    EXPECT_TRUE(noise.enabled());
+    EXPECT_EQ(noise.gaussian(0.0), 0.0);
+}
+}  // namespace
+}  // namespace micras::sim
diff --git a/tests/unit/packet_framer_test.cpp b/tests/unit/packet_framer_test.cpp
deleted file mode 100644
index f247a65..0000000
--- a/tests/unit/packet_framer_test.cpp
+++ /dev/null
@@ -1,119 +0,0 @@
-#include <gtest/gtest.h>
-
-#include "micras/comm/packet.hpp"
-#include "micras/sim/telemetry/packet_framer.hpp"
-
-namespace micras::sim {
-namespace {
-std::vector<uint8_t> serialized(comm::Packet::MessageType type, uint16_t id, const std::vector<uint8_t>& payload) {
-    return comm::Packet(type, id, payload).serialize();
-}
-
-TEST(PacketFramer, YieldsOnePacketPerFrame) {
-    PacketFramer framer;
-    const auto   first = serialized(comm::Packet::MessageType::SERIAL_VARIABLE, 3, {1, 2, 3});
-    const auto   second = serialized(comm::Packet::MessageType::SERIAL_VARIABLE, 4, {9});
-
-    std::vector<uint8_t> stream = first;
-    stream.insert(stream.end(), second.begin(), second.end());
-    framer.push(stream);
-
-    const auto packets = framer.drain();
-    ASSERT_EQ(packets.size(), 2U);
-    EXPECT_EQ(packets[0], first);
-    EXPECT_EQ(packets[1], second);
-    EXPECT_TRUE(framer.drain().empty());
-}
-
-TEST(PacketFramer, KeepsIncompleteTail) {
-    PacketFramer framer;
-    const auto   packet = serialized(comm::Packet::MessageType::SERIAL_VARIABLE, 3, {1, 2, 3});
-
-    framer.push(std::span(packet).first(packet.size() - 2));
-    EXPECT_TRUE(framer.drain().empty());
-
-    framer.push(std::span(packet).last(2));
-    const auto packets = framer.drain();
-    ASSERT_EQ(packets.size(), 1U);
-    EXPECT_EQ(packets[0], packet);
-}
-
-TEST(PacketFramer, SkipsGarbageBeforeHeader) {
-    PacketFramer framer;
-    const auto   packet = serialized(comm::Packet::MessageType::SERIAL_VARIABLE, 3, {1, 2, 3});
-
-    std::vector<uint8_t> stream{0x00, 0x11, 0x22};
-    stream.insert(stream.end(), packet.begin(), packet.end());
-    framer.push(stream);
-
-    const auto packets = framer.drain();
-    ASSERT_EQ(packets.size(), 1U);
-    EXPECT_EQ(packets[0], packet);
-}
-
-TEST(PacketFramer, HandlesControlBytesInsidePayload) {
-    PacketFramer framer;
-    const auto   packet = serialized(
-        comm::Packet::MessageType::SERIAL_VARIABLE, comm::Packet::tail_byte,
-        {comm::Packet::tail_byte, comm::Packet::escape_byte, comm::Packet::header_byte}
-    );
-    framer.push(packet);
-
-    const auto packets = framer.drain();
-    ASSERT_EQ(packets.size(), 1U);
-    EXPECT_EQ(packets[0], packet);
-    EXPECT_EQ(comm::Packet(packets[0]).get_payload(), (std::vector<uint8_t>{0x7F, 0x7D, 0x42}));
-}
-
-TEST(PacketFramer, HandlesControlBytesInTheLengthField) {
-    for (const std::size_t length : {std::size_t{comm::Packet::escape_byte}, std::size_t{comm::Packet::tail_byte}}) {
-        PacketFramer framer;
-        const auto   packet =
-            serialized(comm::Packet::MessageType::SERIAL_VARIABLE, 1, std::vector<uint8_t>(length, 0x01));
-        framer.push(packet);
-
-        const auto packets = framer.drain();
-        ASSERT_EQ(packets.size(), 1U) << "payload length " << length;
-        EXPECT_EQ(packets[0], packet);
-    }
-}
-
-TEST(PacketFramer, FramesAPacketPushedOneByteAtATime) {
-    PacketFramer framer;
-    const auto   packet = serialized(comm::Packet::MessageType::SERIAL_VARIABLE, 3, {0x7F, 0x7D, 0x42});
-
-    for (std::size_t i = 0; i + 1 < packet.size(); i++) {
-        framer.push(std::span(packet).subspan(i, 1));
-        EXPECT_TRUE(framer.drain().empty()) << "framed early at byte " << i;
-    }
-
-    framer.push(std::span(packet).last(1));
-    const auto packets = framer.drain();
-    ASSERT_EQ(packets.size(), 1U);
-    EXPECT_EQ(packets[0], packet);
-}
-
-TEST(PacketFramer, ResyncsWhenNoFrameCloses) {
-    PacketFramer               framer;
-    const std::vector<uint8_t> noise(PacketFramer::max_buffer_size + 1, comm::Packet::header_byte);
-    framer.push(noise);
-
-    EXPECT_TRUE(framer.drain().empty());
-    EXPECT_EQ(framer.resync_count(), 1U);
-}
-
-TEST(PacketFramer, FramesAgainAfterAResync) {
-    PacketFramer               framer;
-    const std::vector<uint8_t> noise(PacketFramer::max_buffer_size + 1, comm::Packet::header_byte);
-    framer.push(noise);
-    EXPECT_TRUE(framer.drain().empty());
-
-    const auto packet = serialized(comm::Packet::MessageType::SERIAL_VARIABLE, 3, {1, 2, 3});
-    framer.push(packet);
-
-    const auto packets = framer.drain();
-    ASSERT_FALSE(packets.empty());
-    EXPECT_EQ(packets.back(), packet);
-}
-}  // namespace
-}  // namespace micras::sim
diff --git a/tests/unit/proxy_boundary_test.cpp b/tests/unit/proxy_boundary_test.cpp
deleted file mode 100644
index b1e7582..0000000
--- a/tests/unit/proxy_boundary_test.cpp
+++ /dev/null
@@ -1,188 +0,0 @@
-#include <gtest/gtest.h>
-
-#include "micras/proxy/bluetooth_serial.hpp"
-#include "micras/proxy/button.hpp"
-#include "micras/proxy/dip_switch.hpp"
-#include "micras/proxy/fan.hpp"
-#include "micras/proxy/imu.hpp"
-#include "micras/proxy/locomotion.hpp"
-#include "micras/proxy/rotary_sensor.hpp"
-#include "micras/proxy/stopwatch.hpp"
-#include "micras/proxy/wall_sensors.hpp"
-#include "micras/sim/core/simulation_context.hpp"
-
-namespace micras::proxy {
-namespace {
-/**
- * @brief A simulation of its own, as Appendix A of the plan requires of tests.
- *
- * @note Nothing here touches sim::SimulationContext::instance(): the proxies
- *       are handed this context through their Config, exactly as target.hpp
- *       hands them the process-wide one.
- *
- * @note SetUp advances the dynamics by one tick before any test runs, because
- *       the accelerometer and every contact derived sensor only carry a valid
- *       reading once they have, exactly as in a run.
- */
-/**
- * @brief Ticks the robot needs to fall the spawn gap and land on its wheels.
- *
- * @note Until it lands the accelerometer reads free fall, so a test that wants
- *       to see gravity has to wait out the drop first.
- */
-constexpr int ticks_until_the_wheels_land{200};
-
-class ProxyBoundary : public testing::Test {
-protected:
-    void SetUp() override {
-        this->context.world.load(MICRAS_TEST_MODEL);
-        this->context.clock = sim::Clock::from_model(this->context.world.timestep(), 1042);
-        this->context.world.reset();
-
-        this->context.world.step(this->context.clock.steps_per_tick());
-    }
-
-    // NOLINTNEXTLINE(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
-    sim::SimulationContext context;
-};
-
-TEST_F(ProxyBoundary, ProxiesRefuseToBuildWithoutAContext) {
-    EXPECT_THROW(Imu({.gyro_sensor = "gyro", .accelerometer_sensor = "accelerometer"}), std::logic_error);
-    EXPECT_THROW(Motor({.actuator = "motor_left"}), std::logic_error);
-}
-
-TEST_F(ProxyBoundary, ProxiesRefuseToBuildWhenTheModelLacksTheObject) {
-    EXPECT_THROW(Motor({.actuator = "no_such_actuator", .context = &this->context}), std::runtime_error);
-}
-
-TEST_F(ProxyBoundary, TheImuPublishesItsReadings) {
-    Imu imu({.gyro_sensor = "gyro", .accelerometer_sensor = "accelerometer", .context = &this->context});
-
-    for (int tick = 0; tick < ticks_until_the_wheels_land; tick++) {
-        this->context.world.step(this->context.clock.steps_per_tick());
-    }
-
-    imu.update();
-
-    const float published_rate = this->context.proxy_state.sensors.angular_velocity.at(2);
-    const float published_acceleration = this->context.proxy_state.sensors.linear_acceleration.at(2);
-
-    EXPECT_FLOAT_EQ(published_rate, imu.get_angular_velocity(Imu::Axis::Z));
-    EXPECT_FLOAT_EQ(published_acceleration, imu.get_linear_acceleration(Imu::Axis::Z));
-    EXPECT_NEAR(published_acceleration, 9.81F, 0.05F);
-}
-
-TEST_F(ProxyBoundary, EachEncoderPublishesIntoItsOwnWheel) {
-    const RotarySensor left({.sensor = "encoder_left", .wheel = 0, .context = &this->context});
-    const RotarySensor right({.sensor = "encoder_right", .wheel = 1, .context = &this->context});
-
-    const float left_position = left.get_position();
-    const float right_position = right.get_position();
-
-    EXPECT_FLOAT_EQ(this->context.proxy_state.sensors.encoder_positions.at(0), left_position);
-    EXPECT_FLOAT_EQ(this->context.proxy_state.sensors.encoder_positions.at(1), right_position);
-}
-
-TEST_F(ProxyBoundary, TheWallSensorsPublishTheirUnfilteredReadings) {
-    const TWallSensors<4> sensors({
-        .sensors = {"lidar_0", "lidar_1", "lidar_2", "lidar_3"},
-        .uncertainty = 0.5F,
-        .base_readings = {0.0696F, 0.1090F, 0.1090F, 0.0696F},
-        .max_sensor_reading = 0.6F,
-        .min_sensor_reading = 0.01F,
-        .max_sensor_distance = 0.36F,
-        .filter_cutoff = 30.55F,
-        .sampling_frequency = 959.69F,
-        .context = &this->context,
-    });
-
-    for (uint8_t i = 0; i < 4; i++) {
-        const float reading = sensors.get_adc_reading(i);
-
-        EXPECT_GT(reading, 0.0F) << +i;
-        EXPECT_FLOAT_EQ(this->context.proxy_state.sensors.wall_adc_readings.at(i), reading) << +i;
-    }
-}
-
-TEST_F(ProxyBoundary, LocomotionPublishesTheCommandsItPassesOn) {
-    Locomotion locomotion({
-        .left_motor = {.actuator = "motor_left", .context = &this->context},
-        .right_motor = {.actuator = "motor_right", .context = &this->context},
-        .context = &this->context,
-    });
-
-    locomotion.enable();
-    locomotion.set_wheel_command(30.0F, -20.0F);
-
-    EXPECT_FLOAT_EQ(this->context.proxy_state.actuators.left_command, 30.0F);
-    EXPECT_FLOAT_EQ(this->context.proxy_state.actuators.right_command, -20.0F);
-
-    locomotion.disable();
-    locomotion.set_wheel_command(30.0F, -20.0F);
-
-    EXPECT_FLOAT_EQ(this->context.proxy_state.actuators.left_command, 0.0F);
-    EXPECT_FLOAT_EQ(this->context.proxy_state.actuators.right_command, 0.0F);
-}
-
-TEST_F(ProxyBoundary, TheFanHonoursTheHarnessOverride) {
-    Fan fan({.actuator = "fan", .max_acceleration = 100.0F, .context = &this->context});
-
-    fan.set_speed(50.0F);
-    this->context.clock.advance();
-    fan.update();
-    EXPECT_GT(this->context.proxy_state.actuators.fan_speed, 0.0F);
-
-    this->context.proxy_state.overrides.fan_enabled = false;
-    fan.update();
-    EXPECT_FLOAT_EQ(this->context.proxy_state.actuators.fan_speed, 0.0F);
-}
-
-TEST_F(ProxyBoundary, TheInterfaceProxiesReadTheStateTheScenarioWrites) {
-    const Button        button({.name = "button", .context = &this->context});
-    const TDipSwitch<4> switches({.names = {"a", "b", "c", "d"}, .context = &this->context});
-
-    this->context.proxy_state.interface_input.button_pressed = true;
-    this->context.proxy_state.interface_input.dip_switches = {true, false, true, false};
-
-    EXPECT_FALSE(button.is_pressed());
-    EXPECT_TRUE(switches.get_switch_state(0));
-    EXPECT_FALSE(switches.get_switch_state(1));
-    EXPECT_EQ(switches.get_switches_value(), 0b0101);
-}
-
-TEST_F(ProxyBoundary, AFreshStopwatchReadsTheNominalPeriod) {
-    const Stopwatch stopwatch({.context = &this->context});
-
-    EXPECT_EQ(stopwatch.elapsed_time_us(), 1042U);
-}
-
-TEST_F(ProxyBoundary, TheStopwatchRunsOnTheContextClock) {
-    Stopwatch stopwatch({.context = &this->context});
-
-    stopwatch.reset_us();
-    this->context.clock.advance();
-    this->context.clock.advance();
-
-    EXPECT_EQ(stopwatch.elapsed_time_ms(), 2U * 1042U / 1000U);
-    EXPECT_EQ(stopwatch.elapsed_time_us(), 2U * 1042U);
-
-    stopwatch.reset_ms();
-    EXPECT_EQ(stopwatch.elapsed_time_ms(), 0U);
-}
-
-TEST_F(ProxyBoundary, TheStopwatchDoesNotYieldWithoutAProgram) {
-    const Stopwatch stopwatch({.context = &this->context});
-
-    EXPECT_EQ(this->context.firmware.load(), nullptr);
-    EXPECT_NO_THROW(static_cast<void>(stopwatch.elapsed_time_us()));
-}
-
-TEST_F(ProxyBoundary, TheRadioCarriesBytesBothWays) {
-    BluetoothSerial radio({.context = &this->context});
-
-    this->context.serial.queue_for_firmware(std::vector<uint8_t>{1, 2, 3});
-    EXPECT_EQ(radio.get_data(), (std::vector<uint8_t>{1, 2, 3}));
-    EXPECT_TRUE(radio.get_data().empty());
-}
-}  // namespace
-}  // namespace micras::proxy
diff --git a/tests/unit/robot_description_test.cpp b/tests/unit/robot_description_test.cpp
new file mode 100644
index 0000000..2af2fde
--- /dev/null
+++ b/tests/unit/robot_description_test.cpp
@@ -0,0 +1,254 @@
+#include <algorithm>
+#include <filesystem>
+#include <fstream>
+#include <numbers>
+#include <sstream>
+#include <stdexcept>
+#include <string>
+#include <string_view>
+
+#include <gtest/gtest.h>
+
+#include "micras/sim/arenas/maze.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/robot/robot_description.hpp"
+#include "micras/sim/robot/robot_model.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Read the tiny robot's description as text.
+ *
+ * @return Contents of tiny_robot.toml.
+ */
+std::string tiny_text() {
+    const std::ifstream file(MICRAS_TEST_ROBOT);
+    std::ostringstream  text;
+    text << file.rdbuf();
+    return text.str();
+}
+
+/**
+ * @brief Replace the one occurrence of a piece of text, failing the test when it is not there.
+ *
+ * @param text Text to edit.
+ * @param from Text to replace.
+ * @param to Replacement.
+ * @return The edited text.
+ */
+std::string replaced(std::string text, std::string_view from, std::string_view to) {
+    const std::size_t position = text.find(from);
+    EXPECT_NE(position, std::string::npos) << "the tiny robot has no " << from;
+
+    if (position != std::string::npos) {
+        text.replace(position, from.size(), to);
+    }
+
+    return text;
+}
+
+/**
+ * @brief Parse a description and return the message it was refused with.
+ *
+ * @param text Contents of a robot.toml.
+ * @return The error message, or empty when the description was accepted.
+ */
+std::string refusal_of(std::string_view text) {
+    try {
+        RobotDescription::parse(text, "tiny.toml");
+    } catch (const std::runtime_error& error) {
+        return error.what();
+    }
+
+    return {};
+}
+
+/**
+ * @brief Find where a value of the description came from.
+ *
+ * @param robot The description.
+ * @param key Dotted key of the value.
+ * @return Its provenance, or an empty one when the key was not read.
+ */
+Provenance provenance_of(const RobotDescription& robot, std::string_view key) {
+    const auto found = std::ranges::find(robot.provenance, key, &Provenance::key);
+    return found == robot.provenance.end() ? Provenance{} : *found;
+}
+
+TEST(RobotDescription, ReadsEverySection) {
+    const RobotDescription robot = RobotDescription::load(MICRAS_TEST_ROBOT);
+
+    EXPECT_EQ(robot.name, "tiny");
+    EXPECT_DOUBLE_EQ(robot.integration.timestep, 0.000521);
+    EXPECT_DOUBLE_EQ(robot.chassis.mass, 0.05);
+    EXPECT_EQ(robot.chassis.outline.size(), 4U);
+    EXPECT_DOUBLE_EQ(robot.wheels.track, 0.05);
+    EXPECT_DOUBLE_EQ(robot.drive.resistance(), 10.5);
+    EXPECT_EQ(robot.encoders.counts_per_revolution, 4096U);
+    EXPECT_DOUBLE_EQ(robot.imu.axes[2][2], 1.0);
+    EXPECT_DOUBLE_EQ(robot.fan.nominal_voltage, 7.4);
+    EXPECT_EQ(robot.battery.cells, 2);
+    EXPECT_EQ(robot.link.baud_rate, 9600U);
+    EXPECT_EQ(robot.wall_sensors.rays, 4);
+}
+
+TEST(RobotDescription, ReadsArraysOfParts) {
+    const RobotDescription robot = RobotDescription::load(MICRAS_TEST_ROBOT);
+
+    ASSERT_EQ(robot.chassis.boxes.size(), 1U);
+    EXPECT_EQ(robot.chassis.boxes.front().name, "cargo");
+    EXPECT_DOUBLE_EQ(robot.chassis.boxes.front().max[2], 0.02);
+    ASSERT_EQ(robot.chassis.cylinders.size(), 1U);
+    EXPECT_DOUBLE_EQ(robot.chassis.cylinders.front().radius, 0.005);
+    ASSERT_EQ(robot.wall_sensors.sensors.size(), 1U);
+    EXPECT_EQ(robot.wall_sensors.sensors.front().name, "eye");
+}
+
+TEST(RobotDescription, ConvertsDegreesToRadians) {
+    const RobotDescription robot = RobotDescription::load(MICRAS_TEST_ROBOT);
+
+    EXPECT_DOUBLE_EQ(robot.wall_sensors.sensors.front().yaw, std::numbers::pi / 2);
+    EXPECT_DOUBLE_EQ(robot.wall_sensors.emitter_half_angle, 5.0 * std::numbers::pi / 180.0);
+}
+
+TEST(RobotDescription, AcceptsPlainValuesAndSourcedTablesAlike) {
+    const std::string      text = tiny_text();
+    const RobotDescription plain = RobotDescription::parse(
+        replaced(text, R"(winding_resistance = { value = 10.0, source = "made up" })", "winding_resistance = 10.0")
+    );
+    const RobotDescription sourced = RobotDescription::parse(
+        replaced(text, "bridge_resistance = 0.5", R"(bridge_resistance = { value = 0.5, source = "datasheet" })")
+    );
+
+    EXPECT_DOUBLE_EQ(plain.drive.winding_resistance, 10.0);
+    EXPECT_DOUBLE_EQ(sourced.drive.bridge_resistance, 0.5);
+    EXPECT_DOUBLE_EQ(plain.drive.resistance(), sourced.drive.resistance());
+}
+
+TEST(RobotDescription, RecordsWhereEveryValueCameFrom) {
+    const RobotDescription robot = RobotDescription::load(MICRAS_TEST_ROBOT);
+
+    const Provenance sourced = provenance_of(robot, "drive.winding_resistance");
+    const Provenance plain = provenance_of(robot, "drive.bridge_resistance");
+    const Provenance nested = provenance_of(robot, "wall_sensors.sensors[0].yaw_deg");
+
+    EXPECT_EQ(sourced.key, "drive.winding_resistance");
+    EXPECT_EQ(sourced.value, "10");
+    EXPECT_EQ(sourced.source, "made up");
+    EXPECT_EQ(plain.key, "drive.bridge_resistance");
+    EXPECT_EQ(plain.value, "0.5");
+    EXPECT_TRUE(plain.source.empty());
+    EXPECT_EQ(nested.key, "wall_sensors.sensors[0].yaw_deg");
+    EXPECT_EQ(nested.value, "90");
+    EXPECT_EQ(nested.source, "made up, to check the conversion");
+}
+
+TEST(RobotDescription, RecordsTheValuesInFileOrder) {
+    const RobotDescription robot = RobotDescription::load(MICRAS_TEST_ROBOT);
+
+    ASSERT_GE(robot.provenance.size(), 2U);
+    EXPECT_EQ(robot.provenance.at(0).key, "schema");
+    EXPECT_EQ(robot.provenance.at(1).key, "name");
+    EXPECT_EQ(robot.provenance.at(1).value, "tiny");
+}
+
+TEST(RobotDescription, RefusesAMissingKeyNamingIt) {
+    const std::string message = refusal_of(replaced(tiny_text(), "bridge_resistance = 0.5\n", ""));
+
+    EXPECT_TRUE(message.contains("drive.bridge_resistance")) << message;
+    EXPECT_TRUE(message.contains("missing")) << message;
+}
+
+TEST(RobotDescription, RefusesAMissingSectionNamingIt) {
+    const std::string message = refusal_of(replaced(tiny_text(), "[link]\nbaud_rate = 9600\n", ""));
+
+    EXPECT_TRUE(message.contains("[link]")) << message;
+}
+
+TEST(RobotDescription, RefusesAnUnknownKeyNamingIt) {
+    const std::string message = refusal_of(replaced(tiny_text(), "[battery]\n", "[battery]\ncolour = \"red\"\n"));
+
+    EXPECT_TRUE(message.contains("unknown key battery.colour")) << message;
+}
+
+TEST(RobotDescription, RefusesAnUnknownKeyInAnArrayOfTables) {
+    const std::string message = refusal_of(replaced(tiny_text(), "name = \"eye\"\n", "name = \"eye\"\nshiny = true\n"));
+
+    EXPECT_TRUE(message.contains("wall_sensors.sensors[0].shiny")) << message;
+}
+
+TEST(RobotDescription, RefusesAValueOfTheWrongTypeNamingIt) {
+    const std::string text_instead = refusal_of(replaced(tiny_text(), "cells = 2", "cells = \"two\""));
+    const std::string fraction = refusal_of(replaced(tiny_text(), "cells = 2", "cells = 2.5"));
+    const std::string short_vector =
+        refusal_of(replaced(tiny_text(), "chip_z = [0.0, 0.0, 1.0]", "chip_z = [0.0, 1.0]"));
+    const std::string sourced = refusal_of(replaced(
+        tiny_text(), R"(mass = { value = 0.05, source = "made up" })", R"(mass = { value = "heavy", source = "x" })"
+    ));
+
+    EXPECT_TRUE(text_instead.contains("battery.cells must be a whole number")) << text_instead;
+    EXPECT_TRUE(fraction.contains("battery.cells must be a whole number")) << fraction;
+    EXPECT_TRUE(short_vector.contains("imu.chip_z must be 3 numbers")) << short_vector;
+    EXPECT_TRUE(sourced.contains("chassis.mass must be a number")) << sourced;
+}
+
+TEST(RobotDescription, RefusesASourcedTableThatIsNotExactlyAValueAndASource) {
+    const std::string unsourced = refusal_of(replaced(tiny_text(), R"(, source = "made up" })", " }"));
+    const std::string extra =
+        refusal_of(replaced(tiny_text(), R"(source = "made up" })", R"(source = "made up", unit = "kg" })"));
+
+    EXPECT_TRUE(unsourced.contains("chassis.mass")) << unsourced;
+    EXPECT_TRUE(extra.contains("chassis.mass")) << extra;
+}
+
+TEST(RobotDescription, RefusesASchemaVersionItDoesNotKnow) {
+    const std::string message = refusal_of(replaced(tiny_text(), "schema = 1", "schema = 2"));
+
+    EXPECT_TRUE(message.contains("schema 2")) << message;
+}
+
+TEST(RobotDescription, RefusesAnOutlineOfFewerThanThreePoints) {
+    const std::string message = refusal_of(replaced(
+        tiny_text(), "outline = [[0.04, 0.02], [-0.03, 0.02], [-0.03, -0.02], [0.04, -0.02]]",
+        "outline = [[0.04, 0.02], [-0.03, 0.02]]"
+    ));
+
+    EXPECT_TRUE(message.contains("chassis.outline")) << message;
+}
+
+TEST(RobotDescription, NamesTheFileInEveryRefusal) {
+    const std::string syntax = refusal_of("schema = = 1");
+    const std::string missing = refusal_of(replaced(tiny_text(), "bridge_resistance = 0.5\n", ""));
+
+    EXPECT_TRUE(syntax.starts_with("tiny.toml")) << syntax;
+    EXPECT_TRUE(missing.starts_with("tiny.toml")) << missing;
+}
+
+TEST(RobotDescription, RefusesAFileThatDoesNotExist) {
+    EXPECT_THROW(
+        RobotDescription::load(std::filesystem::path{MICRAS_TEST_ROBOT}.parent_path() / "no_such_robot.toml"),
+        std::runtime_error
+    );
+}
+
+TEST(RobotDescription, GeneratesAModelThatComposesWithAnArena) {
+    const RobotDescription robot = RobotDescription::load(MICRAS_TEST_ROBOT);
+    const RobotModelNames  names = RobotModelNames::of(robot);
+    const Maze             maze = Maze::parse("o---o\n| S |\no---o\n");
+    MujocoWorld            world;
+
+    world.build(robot_mjcf(robot), names.body, maze.mjcf({}), Maze::body_name, {.x = 0.09, .y = 0.09});
+    world.reset();
+
+    EXPECT_EQ(names.body, "tiny");
+    EXPECT_DOUBLE_EQ(world.timestep(), robot.integration.timestep);
+    EXPECT_NO_THROW(world.require_id(mjOBJ_BODY, names.body));
+    EXPECT_EQ(world.model()->njnt, 3) << "the free joint and one per wheel";
+    EXPECT_EQ(world.model()->nu, 3) << "one motor per wheel and the fan";
+    EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "cargo"));
+    EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "mast"));
+    EXPECT_NO_THROW(world.require_id(mjOBJ_SITE, "eye_emitter"));
+    EXPECT_NO_THROW(world.sensor_address(names.gyro));
+}
+}  // namespace
+}  // namespace micras::sim
diff --git a/tests/unit/run_metadata_test.cpp b/tests/unit/run_metadata_test.cpp
index 4c63bbd..29d2948 100644
--- a/tests/unit/run_metadata_test.cpp
+++ b/tests/unit/run_metadata_test.cpp
@@ -11,47 +11,65 @@ namespace micras::sim {
 namespace {
 TEST(RunMetadata, SerializesInTheBaselineLayout) {
     const RunMetadata metadata{
-        .firmware_sha = "ad342541267bb3c8db263630f27fc7edafba5b09",
-        .model_path = "models/robot_v2.xml",
-        .model_sha256 = "3ef384df",
-        .maze_path = "",
-        .mujoco_version = "3.3.6",
-        .compiler = "GNU 13.3.0",
+        .target = "tiny",
+        .firmware_sha = "0be27df",
+        .robot_path = "robot.toml",
+        .robot_sha256 = "a1",
+        .scenario_path = "idle.toml",
+        .maze_path = "maze1.txt",
+        .model_sha256 = "b2",
+        .mujoco_version = "3.14.0",
+        .compiler = "GNU 13.4.0",
         .build_type = "RelWithDebInfo",
-        .args = "--model models/robot_v2.xml --seconds 4 --out runs/idle",
-        .loop_time_us = 1042,
-        .timestep = 0.000521,
-        .steps_per_tick = 2,
-        .requested_ticks = 3838,
-        .ticks = 3838,
-        .sim_time = 3.9992,
-        .final_z = 0.000806901,
-        .pool_columns = 29,
-        .telemetry_resyncs = 0,
+        .args = "--out runs/idle",
+        .seed = 1,
+        .ideal = false,
+        .loop_time_us = 125,
+        .timestep = 0.000125,
+        .steps_per_tick = 1,
+        .record_every = 1,
+        .requested_ticks = 32000,
+        .ticks = 32000,
+        .sim_time = 4,
+        .stopped_at = -1,
+        .final_z = 0.0001,
+        .target_fields = {{.name = "unbound_ports", .value = 0}},
         .warnings_total = 0,
         .interactive = false,
+        .events = {{.time = 0.5, .kind = "state", .detail = "IDLE"}},
     };
 
     const std::string expected = "{\n"
-                                 "  \"firmware_sha\": \"ad342541267bb3c8db263630f27fc7edafba5b09\",\n"
-                                 "  \"model_path\": \"models/robot_v2.xml\",\n"
-                                 "  \"model_sha256\": \"3ef384df\",\n"
-                                 "  \"maze_path\": \"\",\n"
-                                 "  \"mujoco_version\": \"3.3.6\",\n"
-                                 "  \"compiler\": \"GNU 13.3.0\",\n"
+                                 "  \"target\": \"tiny\",\n"
+                                 "  \"firmware_sha\": \"0be27df\",\n"
+                                 "  \"robot_path\": \"robot.toml\",\n"
+                                 "  \"robot_sha256\": \"a1\",\n"
+                                 "  \"scenario_path\": \"idle.toml\",\n"
+                                 "  \"maze_path\": \"maze1.txt\",\n"
+                                 "  \"model_sha256\": \"b2\",\n"
+                                 "  \"mujoco_version\": \"3.14.0\",\n"
+                                 "  \"compiler\": \"GNU 13.4.0\",\n"
                                  "  \"build_type\": \"RelWithDebInfo\",\n"
-                                 "  \"args\": \"--model models/robot_v2.xml --seconds 4 --out runs/idle\",\n"
-                                 "  \"loop_time_us\": 1042,\n"
-                                 "  \"timestep\": 0.000521,\n"
-                                 "  \"steps_per_tick\": 2,\n"
-                                 "  \"requested_ticks\": 3838,\n"
-                                 "  \"ticks\": 3838,\n"
-                                 "  \"sim_time\": 3.9992,\n"
-                                 "  \"final_z\": 0.000806901,\n"
-                                 "  \"pool_columns\": 29,\n"
-                                 "  \"telemetry_resyncs\": 0,\n"
+                                 "  \"args\": \"--out runs/idle\",\n"
+                                 "  \"seed\": 1,\n"
+                                 "  \"ideal\": false,\n"
+                                 "  \"loop_time_us\": 125,\n"
+                                 "  \"timestep\": 0.000125,\n"
+                                 "  \"steps_per_tick\": 1,\n"
+                                 "  \"record_every\": 1,\n"
+                                 "  \"requested_ticks\": 32000,\n"
+                                 "  \"ticks\": 32000,\n"
+                                 "  \"sim_time\": 4,\n"
+                                 "  \"stopped_at\": -1,\n"
+                                 "  \"final_z\": 0.0001,\n"
+                                 "  \"unbound_ports\": 0,\n"
                                  "  \"warnings_total\": 0,\n"
-                                 "  \"interactive\": false\n"
+                                 "  \"serial_dropped_bytes\": 0,\n"
+                                 "  \"bridge_dropped_frames\": 0,\n"
+                                 "  \"interactive\": false,\n"
+                                 "  \"events\": [\n"
+                                 "    {\"time\": 0.5, \"kind\": \"state\", \"detail\": \"IDLE\"}\n"
+                                 "  ]\n"
                                  "}\n";
 
     EXPECT_EQ(metadata.to_json(), expected);
@@ -76,14 +94,14 @@ TEST(RunMetadata, HashesFilesWithSha256) {
 }
 
 TEST(RunMetadata, JoinsArgumentsAfterTheProgramName) {
-    std::array<std::string, 4> arguments{"bin", "--model", "m.xml", "--out"};
+    std::array<std::string, 4> arguments{"bin", "--maze", "maze1", "--out"};
     std::array<char*, 4>       argv{};
 
     for (std::size_t i = 0; i < arguments.size(); i++) {
         argv.at(i) = arguments.at(i).data();
     }
 
-    EXPECT_EQ(RunMetadata::join_args(argv), "--model m.xml --out");
+    EXPECT_EQ(RunMetadata::join_args(argv), "--maze maze1 --out");
     EXPECT_EQ(RunMetadata::join_args(std::span(argv).first(1)), "");
 }
 }  // namespace
diff --git a/tests/unit/scenario_test.cpp b/tests/unit/scenario_test.cpp
index 9b7ac73..4609d06 100644
--- a/tests/unit/scenario_test.cpp
+++ b/tests/unit/scenario_test.cpp
@@ -1,38 +1,486 @@
+#include <array>
+#include <cmath>
+#include <cstdint>
+#include <map>
+#include <memory>
+#include <numbers>
+#include <optional>
+#include <span>
+#include <stdexcept>
+#include <string>
+#include <string_view>
+#include <utility>
+#include <vector>
+
 #include <gtest/gtest.h>
 
-#include "micras/sim/core/scenario.hpp"
+#include "micras/sim/core/run_context.hpp"
+#include "micras/sim/core/simulation.hpp"
+#include "micras/sim/scenario/scenario.hpp"
 
 namespace micras::sim {
 namespace {
-constexpr ButtonDelays firmware_delays{.long_press = 500, .extra_long_press = 2000};
-
-TEST(Scenario, ParsesTheNamesTheCommandLineUses) {
-    EXPECT_EQ(parse_command("none"), Command::NONE);
-    EXPECT_EQ(parse_command("explore"), Command::EXPLORE);
-    EXPECT_EQ(parse_command("solve"), Command::SOLVE);
-    EXPECT_EQ(parse_command("calibrate"), Command::CALIBRATE);
-    EXPECT_EQ(parse_command("Explore"), std::nullopt);
-    EXPECT_EQ(parse_command(""), std::nullopt);
-
-    EXPECT_EQ(parse_button_press("none"), ButtonPress::NONE);
-    EXPECT_EQ(parse_button_press("short"), ButtonPress::SHORT);
-    EXPECT_EQ(parse_button_press("long"), ButtonPress::LONG);
-    EXPECT_EQ(parse_button_press("extra_long"), ButtonPress::EXTRA_LONG);
-    EXPECT_EQ(parse_button_press("extralong"), std::nullopt);
-}
-
-TEST(Scenario, AddressesEachCommandThroughItsPoolVariable) {
-    EXPECT_EQ(command_variable(Command::EXPLORE), "Explore");
-    EXPECT_EQ(command_variable(Command::SOLVE), "Solve");
-    EXPECT_EQ(command_variable(Command::CALIBRATE), "Calibrate");
-    EXPECT_TRUE(command_variable(Command::NONE).empty());
-}
-
-TEST(Scenario, HoldsTheButtonPastEachClassificationThreshold) {
-    EXPECT_EQ(Scenario::hold_time_ms(ButtonPress::NONE, firmware_delays), 0U);
-    EXPECT_EQ(Scenario::hold_time_ms(ButtonPress::SHORT, firmware_delays), 250U);
-    EXPECT_EQ(Scenario::hold_time_ms(ButtonPress::LONG, firmware_delays), 501U);
-    EXPECT_EQ(Scenario::hold_time_ms(ButtonPress::EXTRA_LONG, firmware_delays), 2001U);
+/**
+ * @brief A scenario that uses every section of the format, its events out of order.
+ */
+constexpr std::string_view full_scenario{R"(
+robot = "tiny"
+arena = "maze1"
+seconds = 12
+seed = 7
+
+[start]
+x = 0.09
+y = 0.18
+yaw_deg = 90
+
+[[events]]
+at = 2.0
+send = "hello"
+
+[[events]]
+at = 0.5
+press = "button"
+for = 0.25
+
+[[events]]
+at = 1.0
+set = "switch"
+value = true
+
+[[events]]
+at = 3.0
+push = [0.1, -0.2, 0]
+for = 0.5
+
+[stop]
+when = "state"
+equals = "IDLE"
+after = 5.0
+)"};
+
+/**
+ * @brief Variables with fixed values, NaN for any other name.
+ */
+class FixedVariables : public VariableSource {
+public:
+    explicit FixedVariables(std::map<std::string, double> values) : values{std::move(values)} { }
+
+    double value_of(const std::string& name) const override {
+        const auto found = this->values.find(name);
+        return found == this->values.end() ? std::nan("") : found->second;
+    }
+
+private:
+    std::map<std::string, double> values;
+};
+
+/**
+ * @brief A variable that takes a new value on given ticks, updated before the player reads it.
+ */
+class SteppedVariables : public VariableSource, public IRunListener {
+public:
+    SteppedVariables(std::string name, std::map<uint64_t, double> steps) :
+        name{std::move(name)}, steps{std::move(steps)} { }
+
+    double value_of(const std::string& name) const override {
+        return name == this->name ? this->current : std::nan("");
+    }
+
+    RunControl on_before_tick(const Simulation& simulation) override {
+        const auto step = this->steps.find(simulation.tick());
+
+        if (step != this->steps.end()) {
+            this->current = step->second;
+        }
+
+        return RunControl::RUN;
+    }
+
+private:
+    std::string                name;
+    std::map<uint64_t, double> steps;
+    double                     current{std::nan("")};
+};
+
+/**
+ * @brief Records, before every tick, what the scenario has done so far.
+ */
+class Probe : public IRunListener {
+public:
+    Probe(const DigitalInput& input, const MujocoWorld& world) : input{input}, world{world} { }
+
+    RunControl on_before_tick(const Simulation& simulation) override {
+        if (this->input.is_active()) {
+            this->pressed_ticks.push_back(simulation.tick());
+        }
+
+        return RunControl::RUN;
+    }
+
+    void on_after_tick(const Simulation& simulation) override {
+        const std::span<const mjtNum> forces(
+            this->world.data()->xfrc_applied, 6 * static_cast<std::size_t>(this->world.model()->nbody)
+        );
+        const int body = this->world.require_id(mjOBJ_BODY, "robot");
+
+        if (forces[6 * static_cast<std::size_t>(body)] != 0.0) {
+            this->pushed_ticks.push_back(simulation.tick());
+        }
+    }
+
+    // NOLINTBEGIN(*-non-private-member-variables-in-classes): the test reads what the probe saw.
+    std::vector<uint64_t> pressed_ticks;
+    std::vector<uint64_t> pushed_ticks;
+    // NOLINTEND(*-non-private-member-variables-in-classes)
+
+private:
+    const DigitalInput& input;  // NOLINT(*-avoid-const-or-ref-data-members): the fixture outlives the probe.
+    const MujocoWorld&  world;  // NOLINT(*-avoid-const-or-ref-data-members): the fixture outlives the probe.
+};
+
+/**
+ * @brief Parse a scenario and return the message it was refused with.
+ *
+ * @param text Contents of a scenario file.
+ * @return The error message, or empty when the scenario was accepted.
+ */
+std::string refusal_of(std::string_view text) {
+    try {
+        Scenario::parse(text, "test.toml");
+    } catch (const std::runtime_error& error) {
+        return error.what();
+    }
+
+    return {};
+}
+
+TEST(Scenario, ReadsTheRunSettings) {
+    const Scenario scenario = Scenario::parse(full_scenario);
+
+    EXPECT_EQ(scenario.robot, "tiny");
+    EXPECT_EQ(scenario.arena, "maze1");
+    EXPECT_DOUBLE_EQ(scenario.seconds, 12.0);
+    EXPECT_EQ(scenario.seed, 7U);
+    ASSERT_TRUE(scenario.start.has_value());
+
+    const MujocoWorld::Placement start = scenario.start.value_or(MujocoWorld::Placement{});
+    EXPECT_DOUBLE_EQ(start.x, 0.09);
+    EXPECT_DOUBLE_EQ(start.y, 0.18);
+    EXPECT_DOUBLE_EQ(start.yaw, std::numbers::pi / 2);
+}
+
+TEST(Scenario, LeavesOutWhatTheFileDoesNotSay) {
+    const Scenario scenario = Scenario::parse("seconds = 4.5\n");
+
+    EXPECT_TRUE(scenario.robot.empty());
+    EXPECT_TRUE(scenario.arena.empty());
+    EXPECT_DOUBLE_EQ(scenario.seconds, 4.5);
+    EXPECT_FALSE(scenario.seed.has_value());
+    EXPECT_FALSE(scenario.start.has_value());
+    EXPECT_TRUE(scenario.events.empty());
+    EXPECT_FALSE(scenario.stop.has_value());
+}
+
+TEST(Scenario, ReadsEveryKindOfEventInTimeOrder) {
+    const Scenario scenario = Scenario::parse(full_scenario);
+
+    ASSERT_EQ(scenario.events.size(), 4U);
+
+    const ScenarioEvent& press = scenario.events.at(0);
+    EXPECT_EQ(press.kind, ScenarioEvent::Kind::PRESS);
+    EXPECT_DOUBLE_EQ(press.at, 0.5);
+    EXPECT_DOUBLE_EQ(press.duration, 0.25);
+    EXPECT_EQ(press.target, "button");
+
+    const ScenarioEvent& set = scenario.events.at(1);
+    EXPECT_EQ(set.kind, ScenarioEvent::Kind::SET);
+    EXPECT_EQ(set.target, "switch");
+    EXPECT_TRUE(set.value);
+
+    const ScenarioEvent& send = scenario.events.at(2);
+    EXPECT_EQ(send.kind, ScenarioEvent::Kind::SEND);
+    EXPECT_EQ(send.target, "hello");
+
+    const ScenarioEvent& push = scenario.events.at(3);
+    EXPECT_EQ(push.kind, ScenarioEvent::Kind::PUSH);
+    EXPECT_DOUBLE_EQ(push.duration, 0.5);
+    EXPECT_EQ(push.force, (std::array<double, 3>{0.1, -0.2, 0.0}));
+}
+
+TEST(Scenario, ReadsTheStopConditionAsANameOrANumber) {
+    const Scenario named = Scenario::parse(full_scenario);
+    const Scenario numbered = Scenario::parse("[stop]\nwhen = \"lap\"\nequals = 3\n");
+
+    ASSERT_TRUE(named.stop.has_value());
+    ASSERT_TRUE(numbered.stop.has_value());
+
+    const StopCondition by_name = named.stop.value_or(StopCondition{});
+    const StopCondition by_number = numbered.stop.value_or(StopCondition{});
+    EXPECT_EQ(by_name.variable, "state");
+    EXPECT_EQ(by_name.equals, std::vector<std::string>{"IDLE"});
+    EXPECT_DOUBLE_EQ(by_name.after, 5.0);
+    EXPECT_EQ(by_number.equals, std::vector<std::string>{"3"});
+    EXPECT_DOUBLE_EQ(by_number.after, 0.0);
+}
+
+TEST(Scenario, ReadsAStopConditionWithSeveralValues) {
+    const Scenario scenario = Scenario::parse("[stop]\nwhen = \"state\"\nequals = [\"IDLE\", 2]\n");
+
+    ASSERT_TRUE(scenario.stop.has_value());
+    EXPECT_EQ(scenario.stop.value_or(StopCondition{}).equals, (std::vector<std::string>{"IDLE", "2"}));
+    EXPECT_TRUE(refusal_of("[stop]\nwhen = \"a\"\nequals = []\n").contains("equals names no value"));
+}
+
+TEST(Scenario, RefusesAnUnknownKeyNamingIt) {
+    EXPECT_TRUE(refusal_of("second = 4\n").contains("unknown key second"));
+    EXPECT_TRUE(refusal_of("[start]\nx = 0\ny = 0\nyaw = 0\n").contains("unknown key yaw"));
+    EXPECT_TRUE(refusal_of("[[events]]\nat = 1\nsend = \"a\"\nuntil = 2\n").contains("events[0]: unknown key until"));
+    EXPECT_TRUE(refusal_of("[stop]\nwhen = \"a\"\nequals = 1\nbefore = 2\n").contains("unknown key before"));
+}
+
+TEST(Scenario, RefusesAnEventThatIsNotExactlyOneThing) {
+    EXPECT_FALSE(refusal_of("[[events]]\nat = 1\n").empty());
+    EXPECT_FALSE(refusal_of("[[events]]\nat = 1\nsend = \"a\"\npress = \"b\"\nfor = 1\n").empty());
+    EXPECT_FALSE(refusal_of("events = [1, 2]\n").empty());
+}
+
+TEST(Scenario, RefusesAnEventMissingWhatItNeeds) {
+    EXPECT_TRUE(refusal_of("[[events]]\nsend = \"a\"\n").contains("at must be a number"));
+    EXPECT_TRUE(refusal_of("[[events]]\nat = 1\npress = \"a\"\n").contains("for must be a number"));
+    EXPECT_TRUE(refusal_of("[[events]]\nat = 1\nset = \"a\"\n").contains("true or false"));
+    EXPECT_TRUE(refusal_of("[[events]]\nat = 1\npush = [1, 2]\nfor = 1\n").contains("push is a force"));
+}
+
+TEST(Scenario, RefusesNegativeTimes) {
+    EXPECT_TRUE(refusal_of("[[events]]\nat = -1\nsend = \"a\"\n").contains("negative"));
+    EXPECT_TRUE(refusal_of("[[events]]\nat = 1\npress = \"a\"\nfor = -0.5\n").contains("negative"));
+}
+
+TEST(Scenario, RefusesAnIncompleteStartOrStop) {
+    EXPECT_TRUE(refusal_of("[start]\nx = 0\nyaw_deg = 0\n").contains("y must be a number"));
+    EXPECT_TRUE(refusal_of("[stop]\nequals = 1\n").contains("when must name"));
+    EXPECT_TRUE(refusal_of("[stop]\nwhen = \"a\"\nequals = true\n").contains("equals must be"));
+}
+
+TEST(Scenario, RefusesAFileThatIsNotToml) {
+    EXPECT_TRUE(refusal_of("seconds = = 4\n").starts_with("test.toml"));
+    EXPECT_THROW(Scenario::load("no_such_scenario.toml"), std::runtime_error);
+}
+
+/**
+ * @brief A world, a pusher, one input and one message: what a robot target hands a scenario.
+ */
+class Playing : public testing::Test {
+protected:
+    void SetUp() override {
+        this->context.world.load(MICRAS_TEST_MODEL);
+        this->context.clock = Clock::from_model(this->context.world.timestep(), 1042);
+        this->context.world.reset();
+
+        auto pusher = std::make_unique<Pusher>(this->context.world, "robot");
+        this->pusher = pusher.get();
+        this->context.devices.push_back(std::move(pusher));
+
+        this->hooks.inputs.emplace("button", &this->button);
+        this->hooks.messages.emplace("hello", std::vector<uint8_t>{1, 2, 3});
+        this->hooks.state_names.emplace("state", std::vector<std::string>{"INIT", "IDLE", "RUN"});
+    }
+
+    /**
+     * @brief Play a scenario for a number of ticks.
+     *
+     * @param text The scenario.
+     * @param ticks Most ticks to run.
+     * @param variables Where the stop condition reads, or null.
+     * @param human Whether a human took the board over before the run.
+     * @param first Listener that runs before the player each tick, or null.
+     * @return The player, after the run.
+     */
+    std::unique_ptr<ScenarioPlayer> play(
+        std::string_view text, uint64_t ticks, const VariableSource* variables = nullptr, bool human = false,
+        IRunListener* first = nullptr
+    ) {
+        auto player = std::make_unique<ScenarioPlayer>(
+            Scenario::parse(text), this->hooks, this->context.serial, *this->pusher, variables
+        );
+
+        if (human) {
+            player->hand_over();
+        }
+
+        Simulation simulation(this->context, this->firmware);
+
+        if (first != nullptr) {
+            simulation.add_listener(*first);
+        }
+
+        simulation.add_listener(*player);
+        simulation.add_listener(this->probe);
+        simulation.run(ticks);
+        this->completed = simulation.completed_ticks();
+        return player;
+    }
+
+    // NOLINTBEGIN(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
+    RunContext    context;
+    Pusher*       pusher{nullptr};
+    bool          button_level{true};
+    DigitalInput  button{{.name = "button", .active_low = true, .drive = [this](bool level) {
+                             this->button_level = level;
+                         }}};
+    ScenarioHooks hooks;
+    Probe         probe{this->button, this->context.world};
+    uint64_t      completed{0};
+
+    /**
+     * @brief Stands in for the firmware: yields once per tick and never ends.
+     */
+    FirmwareThread firmware{[this] {
+        while (true) {
+            this->firmware.yield_tick();
+        }
+    }};
+    // NOLINTEND(*-non-private-member-variables-in-classes)
+};
+
+TEST_F(Playing, PressesAnInputForTheTimeTheEventSays) {
+    this->play("[[events]]\nat = 0.01\npress = \"button\"\nfor = 0.02\n", 50);
+
+    const uint64_t first = this->context.clock.tick_at(0.01);
+    const uint64_t last = first + this->context.clock.tick_at(0.02) - 1;
+
+    ASSERT_FALSE(this->probe.pressed_ticks.empty());
+    EXPECT_EQ(this->probe.pressed_ticks.front(), first);
+    EXPECT_EQ(this->probe.pressed_ticks.back(), last);
+    EXPECT_EQ(this->probe.pressed_ticks.size(), last - first + 1);
+    EXPECT_FALSE(this->button.is_active());
+    EXPECT_TRUE(this->button_level);
+}
+
+TEST_F(Playing, DrivesTheInputsPinWithItsPolarity) {
+    this->play("[[events]]\nat = 0\nset = \"button\"\nvalue = true\n", 1);
+
+    EXPECT_TRUE(this->button.is_active());
+    EXPECT_FALSE(this->button_level);
+}
+
+TEST_F(Playing, LeavesTheInputsAloneOnceAHumanHasTheBoard) {
+    this->play("[[events]]\nat = 0.01\npress = \"button\"\nfor = 0.02\n", 50, nullptr, true);
+
+    EXPECT_TRUE(this->probe.pressed_ticks.empty());
+}
+
+TEST_F(Playing, QueuesAMessageForTheFirmware) {
+    this->play("[[events]]\nat = 0.005\nsend = \"hello\"\n", 10);
+
+    EXPECT_EQ(this->context.serial.take_for_firmware(10), (std::vector<uint8_t>{1, 2, 3}));
+}
+
+TEST_F(Playing, PushesTheBodyForTheTimeTheEventSays) {
+    this->play("[[events]]\nat = 0.01\npush = [0.5, 0, 0]\nfor = 0.005\n", 30);
+
+    const uint64_t first = this->context.clock.tick_at(0.01);
+
+    ASSERT_FALSE(this->probe.pushed_ticks.empty());
+    EXPECT_EQ(this->probe.pushed_ticks.front(), first);
+    EXPECT_EQ(this->probe.pushed_ticks.back(), first + this->context.clock.tick_at(0.005) - 1);
+}
+
+TEST_F(Playing, RefusesAnEventOnSomethingTheRobotDoesNotHave) {
+    EXPECT_THROW(this->play("[[events]]\nat = 0\npress = \"lever\"\nfor = 1\n", 1), std::runtime_error);
+    EXPECT_THROW(this->play("[[events]]\nat = 0\nsend = \"goodbye\"\n", 1), std::runtime_error);
+}
+
+TEST_F(Playing, RefusesAStopOnAStateTheVariableDoesNotHave) {
+    EXPECT_THROW(this->play("[stop]\nwhen = \"state\"\nequals = \"LOST\"\n", 1), std::runtime_error);
+    EXPECT_THROW(this->play("[stop]\nwhen = \"lap\"\nequals = \"LAST\"\n", 1), std::runtime_error);
+}
+
+TEST_F(Playing, StopsTheRunOnceTheConditionHoldsAfterItsDelay) {
+    const FixedVariables variables({{"state", 1.0}});
+    const auto player = this->play("[stop]\nwhen = \"state\"\nequals = \"IDLE\"\nafter = 0.1\n", 1000, &variables);
+
+    const auto stop_tick = static_cast<uint64_t>(std::ceil(0.1 / 1042e-6));
+
+    ASSERT_TRUE(player->stopped_at().has_value());
+    EXPECT_EQ(this->completed, stop_tick);
+    EXPECT_DOUBLE_EQ(player->stopped_at().value_or(-1.0), static_cast<double>(stop_tick) * 1042 * 1e-6);
+    EXPECT_GE(player->stopped_at().value_or(-1.0), 0.1);
+}
+
+TEST_F(Playing, StopsOnANumericValue) {
+    const FixedVariables variables({{"lap", 3.0}});
+    const auto           player = this->play("[stop]\nwhen = \"lap\"\nequals = 3\n", 100, &variables);
+
+    EXPECT_EQ(player->stopped_at(), 0.0);
+    EXPECT_EQ(this->completed, 0U);
+}
+
+TEST_F(Playing, StopsOnAnyOfSeveralValues) {
+    const FixedVariables variables({{"state", 2.0}});
+    const auto player = this->play("[stop]\nwhen = \"state\"\nequals = [\"IDLE\", \"RUN\"]\n", 100, &variables);
+
+    EXPECT_EQ(player->stopped_at(), 0.0);
+    EXPECT_EQ(this->completed, 0U);
+}
+
+TEST_F(Playing, StopsOnlyOnceTheValueIsReachedTheCountedTimes) {
+    SteppedVariables variables("state", {{0, 1.0}, {10, 2.0}, {20, 1.0}, {30, 2.0}, {40, 1.0}});
+    const auto       player =
+        this->play("[stop]\nwhen = \"state\"\nequals = \"IDLE\"\ncount = 3\n", 100, &variables, false, &variables);
+
+    EXPECT_EQ(this->completed, 40U);
+    EXPECT_TRUE(player->stopped_at().has_value());
+}
+
+TEST_F(Playing, AbortsOnTheFirstAbortValueWhateverTheCount) {
+    SteppedVariables variables("state", {{0, 1.0}, {10, 0.0}});
+    const auto       player = this->play(
+        "[stop]\nwhen = \"state\"\nequals = \"IDLE\"\ncount = 3\nabort = [\"INIT\"]\n", 100, &variables, false,
+        &variables
+    );
+
+    EXPECT_EQ(this->completed, 10U);
+    EXPECT_TRUE(player->stopped_at().has_value());
+}
+
+TEST_F(Playing, HoldsAnEventUntilItsConditionHolds) {
+    SteppedVariables variables("state", {{0, 1.0}, {25, 2.0}});
+    this->play(
+        "[[events]]\nat = 0\npress = \"button\"\nfor = 0.002\nwhen = \"state\"\nequals = \"RUN\"\n", 40, &variables,
+        false, &variables
+    );
+
+    ASSERT_FALSE(this->probe.pressed_ticks.empty());
+    EXPECT_EQ(this->probe.pressed_ticks.front(), 25U);
+}
+
+TEST(Scenario, ReadsAnEventConditionAndAStopCount) {
+    const Scenario scenario = Scenario::parse("[[events]]\nat = 1\nsend = \"a\"\nwhen = \"state\"\nequals = \"IDLE\"\n"
+                                              "[stop]\nwhen = \"state\"\nequals = \"IDLE\"\ncount = 2\n");
+
+    ASSERT_EQ(scenario.events.size(), 1U);
+    EXPECT_EQ(scenario.events.front().when, "state");
+    EXPECT_EQ(scenario.events.front().equals, "IDLE");
+    EXPECT_EQ(scenario.stop.value_or(StopCondition{}).count, 2);
+    EXPECT_TRUE(refusal_of("[[events]]\nat = 1\nsend = \"a\"\nwhen = \"state\"\n").contains("needs both"));
+    EXPECT_TRUE(refusal_of("[stop]\nwhen = \"a\"\nequals = 1\ncount = 0\n").contains("count must be"));
+}
+
+TEST_F(Playing, RunsToTheEndWhileTheConditionDoesNotHold) {
+    const FixedVariables variables({{"state", 2.0}});
+    const auto           player = this->play("[stop]\nwhen = \"state\"\nequals = \"IDLE\"\n", 20, &variables);
+
+    EXPECT_FALSE(player->stopped_at().has_value());
+    EXPECT_EQ(this->completed, 20U);
+}
+
+TEST_F(Playing, NeverStopsWithoutAnythingToReadTheVariableFrom) {
+    const auto player = this->play("[stop]\nwhen = \"state\"\nequals = \"INIT\"\n", 20);
+
+    EXPECT_FALSE(player->stopped_at().has_value());
+    EXPECT_EQ(this->completed, 20U);
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/serial_bus_test.cpp b/tests/unit/serial_bus_test.cpp
index 71041fd..7866452 100644
--- a/tests/unit/serial_bus_test.cpp
+++ b/tests/unit/serial_bus_test.cpp
@@ -47,24 +47,31 @@ TEST(SerialBus, DropsFirmwareOutputWhenNobodyIsListening) {
     EXPECT_NO_THROW(bus.send_from_firmware(std::vector<uint8_t>{1}));
 }
 
-TEST(SerialBus, HandsTheFirmwareOnePacketAtATime) {
+TEST(SerialBus, HandsTheFirmwareTheBytesInTheOrderTheyWereQueued) {
     SerialBus bus;
     bus.queue_for_firmware(std::vector<uint8_t>{1, 2});
     bus.queue_for_firmware(std::vector<uint8_t>{3});
 
-    EXPECT_EQ(bus.pending_packets(), 2U);
-    EXPECT_EQ(bus.take_for_firmware(), (std::vector<uint8_t>{1, 2}));
-    EXPECT_EQ(bus.take_for_firmware(), (std::vector<uint8_t>{3}));
-    EXPECT_TRUE(bus.take_for_firmware().empty());
-    EXPECT_EQ(bus.pending_packets(), 0U);
+    EXPECT_EQ(bus.take_for_firmware(2), (std::vector<uint8_t>{1, 2}));
+    EXPECT_EQ(bus.take_for_firmware(5), (std::vector<uint8_t>{3}));
+    EXPECT_TRUE(bus.take_for_firmware(1).empty());
 }
 
-TEST(SerialBus, ClearDropsEveryQueuedPacket) {
+TEST(SerialBus, DropsAndCountsBytesPastTheBound) {
+    SerialBus                  bus;
+    const std::vector<uint8_t> bytes(SerialBus::max_pending_bytes + 3, 7);
+
+    bus.queue_for_firmware(bytes);
+
+    EXPECT_EQ(bus.dropped_bytes(), 3U);
+    EXPECT_EQ(bus.take_for_firmware(SerialBus::max_pending_bytes * 2).size(), SerialBus::max_pending_bytes);
+}
+
+TEST(SerialBus, CountsWhatTheFirmwareSent) {
     SerialBus bus;
-    bus.queue_for_firmware(std::vector<uint8_t>{1});
-    bus.clear();
+    bus.send_from_firmware(std::vector<uint8_t>{1, 2, 3});
 
-    EXPECT_TRUE(bus.take_for_firmware().empty());
+    EXPECT_EQ(bus.sent_bytes(), 3U);
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/shadow_conformance_test.cpp b/tests/unit/shadow_conformance_test.cpp
deleted file mode 100644
index f1c258e..0000000
--- a/tests/unit/shadow_conformance_test.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-/**
- * @file
- *
- * @brief Compile-time conformance of the shadow proxy configs with the firmware ones.
- *
- * @note Every Config below is initialised with the designators the firmware
- *       target.hpp uses for the fields both sides share. Renaming a field in
- *       the firmware (start_page -> start_sector, say) breaks this translation
- *       unit instead of silently drifting. Hardware-only fields (pwm, gpio,
- *       spi, adc) have no shadow counterpart and are not listed.
- */
-
-#include <gtest/gtest.h>
-
-#include "target.hpp"
-
-namespace micras {
-namespace {
-const proxy::Storage::Config storage_shape{.start_page = 0, .number_of_pages = 0};
-
-const proxy::Button::Config button_shape{.long_press_delay = 0, .extra_long_press_delay = 0};
-
-const proxy::Fan::Config fan_shape{.max_acceleration = 0.0F};
-
-const proxy::Locomotion::Config locomotion_shape{.left_motor = {}, .right_motor = {}};
-
-const proxy::TorqueSensors::Config torque_sensors_shape{.shunt_resistor = 0.0F, .max_torque = 0.0F};
-
-const proxy::WallSensors::Config wall_sensors_shape{
-    .uncertainty = 0.0F, .base_readings = {}, .filter_cutoff = 0.0F, .sampling_frequency = 0.0F
-};
-
-TEST(ShadowConformance, SharedConfigFieldsCompile) {
-    EXPECT_EQ(storage_shape.number_of_pages, 0);
-    EXPECT_EQ(button_shape.long_press_delay, 0);
-    EXPECT_FLOAT_EQ(fan_shape.max_acceleration, 0.0F);
-    EXPECT_TRUE(locomotion_shape.left_motor.actuator.empty());
-    EXPECT_FLOAT_EQ(torque_sensors_shape.max_torque, 0.0F);
-    EXPECT_FLOAT_EQ(wall_sensors_shape.filter_cutoff, 0.0F);
-}
-
-TEST(ShadowConformance, TargetConfigsUseFirmwareDelays) {
-    EXPECT_EQ(button_config.long_press_delay, 500U);
-    EXPECT_EQ(button_config.extra_long_press_delay, 2000U);
-    EXPECT_FLOAT_EQ(wall_sensors_config.sampling_frequency, loop_frequency);
-}
-}  // namespace
-}  // namespace micras
diff --git a/tests/unit/simulation_test.cpp b/tests/unit/simulation_test.cpp
index 5712b4a..596034d 100644
--- a/tests/unit/simulation_test.cpp
+++ b/tests/unit/simulation_test.cpp
@@ -3,6 +3,7 @@
 
 #include <gtest/gtest.h>
 
+#include "micras/sim/core/run_context.hpp"
 #include "micras/sim/core/simulation.hpp"
 
 namespace micras::sim {
@@ -46,7 +47,7 @@ class Run : public testing::Test {
     }
 
     // NOLINTNEXTLINE(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
-    SimulationContext context;
+    RunContext context;
 
     /**
      * @brief Stands in for the firmware: yields once per tick and never ends.
diff --git a/tests/unit/telemetry_test.cpp b/tests/unit/telemetry_test.cpp
deleted file mode 100644
index 07a4351..0000000
--- a/tests/unit/telemetry_test.cpp
+++ /dev/null
@@ -1,171 +0,0 @@
-#include <cmath>
-#include <cstring>
-
-#include <gtest/gtest.h>
-
-#include "micras/comm/packet.hpp"
-#include "micras/sim/telemetry/telemetry.hpp"
-
-namespace micras::sim {
-namespace {
-void append_string(std::vector<uint8_t>& payload, const std::string& text) {
-    payload.push_back(static_cast<uint8_t>(text.size()));
-    payload.insert(payload.end(), text.begin(), text.end());
-}
-
-void append_variable(
-    std::vector<uint8_t>& payload, uint16_t id, const std::string& name, const std::string& type, bool read_only
-) {
-    payload.push_back(static_cast<uint8_t>(id & 0xFF));
-    payload.push_back(static_cast<uint8_t>(id >> 8));
-    append_string(payload, name);
-    append_string(payload, type);
-    payload.push_back(read_only ? 1 : 0);
-}
-
-std::vector<uint8_t> map_payload() {
-    std::vector<uint8_t> payload{3, 0};
-    append_variable(payload, 7, "Grid Pose", "micras::nav::GridPose", true);
-    append_variable(payload, 2, "Explore", "bool", false);
-    append_variable(payload, 5, "Linear Speed", "float", true);
-    return payload;
-}
-
-std::vector<uint8_t> float_bytes(float value) {
-    std::vector<uint8_t> bytes(sizeof(float));
-    std::memcpy(bytes.data(), &value, sizeof(float));
-    return bytes;
-}
-
-TEST(VariableMap, OrdersMonitoringVariablesById) {
-    const VariableMap map = VariableMap::parse(map_payload()).value_or(VariableMap{});
-
-    const auto& monitoring = map.monitoring_variables();
-    ASSERT_EQ(monitoring.size(), 2U);
-    EXPECT_EQ(monitoring[0].id, 5);
-    EXPECT_EQ(monitoring[0].name, "Linear Speed");
-    EXPECT_EQ(monitoring[1].id, 7);
-    EXPECT_EQ(monitoring[1].type, "micras::nav::GridPose");
-}
-
-TEST(VariableMap, ResolvesNamesAndTypes) {
-    const VariableMap map = VariableMap::parse(map_payload()).value_or(VariableMap{});
-
-    EXPECT_EQ(map.find_id("Explore"), std::optional<uint16_t>{2});
-    EXPECT_EQ(map.find_id("Missing"), std::nullopt);
-    EXPECT_EQ(map.type_of(7), "micras::nav::GridPose");
-    EXPECT_EQ(map.type_of(99), "");
-}
-
-TEST(VariableMap, RejectsTruncatedPayload) {
-    auto payload = map_payload();
-    payload.pop_back();
-    EXPECT_FALSE(VariableMap::parse(payload).has_value());
-    EXPECT_FALSE(VariableMap::parse({1}).has_value());
-}
-
-TEST(VariableMap, ExpandsCustomSerializables) {
-    EXPECT_EQ(VariableMap::type_column_suffixes("micras::nav::GridPose"), (std::vector<std::string>{"x", "y", "side"}));
-    EXPECT_EQ(VariableMap::type_column_suffixes("micras::nav::State").size(), 5U);
-    EXPECT_TRUE(VariableMap::type_column_suffixes("float").empty());
-}
-
-TEST(PoolValues, DecodesScalars) {
-    EXPECT_FLOAT_EQ(static_cast<float>(PoolValues::decode("float", float_bytes(1.5F))[0]), 1.5F);
-    EXPECT_EQ(PoolValues::decode("bool", {1}), (std::vector<double>{1.0}));
-    EXPECT_EQ(PoolValues::decode("unsigned char", {200}), (std::vector<double>{200.0}));
-}
-
-TEST(PoolValues, DecodesGridPoseAndState) {
-    EXPECT_EQ(PoolValues::decode("micras::nav::GridPose", {3, 4, 2}), (std::vector<double>{3.0, 4.0, 2.0}));
-
-    std::vector<uint8_t> state;
-
-    for (const float value : {1.0F, 2.0F, 3.0F, 4.0F, 5.0F}) {
-        const auto bytes = float_bytes(value);
-        state.insert(state.end(), bytes.begin(), bytes.end());
-    }
-
-    EXPECT_EQ(PoolValues::decode("micras::nav::State", state), (std::vector<double>{1.0, 2.0, 3.0, 4.0, 5.0}));
-}
-
-TEST(PoolValues, UnknownTypesDecodeToNan) {
-    const auto decoded = PoolValues::decode("uint32_t", {1, 2, 3, 4});
-    ASSERT_EQ(decoded.size(), 1U);
-    EXPECT_TRUE(std::isnan(decoded[0]));
-
-    const auto mismatched = PoolValues::decode("micras::nav::GridPose", {1});
-    ASSERT_EQ(mismatched.size(), 3U);
-    EXPECT_TRUE(std::isnan(mismatched[2]));
-}
-
-TEST(PoolValues, StoresLatestValue) {
-    PoolValues values;
-    EXPECT_TRUE(std::isnan(values.get(5)));
-
-    values.store(5, "float", float_bytes(2.0F));
-    values.store(5, "float", float_bytes(3.0F));
-    EXPECT_DOUBLE_EQ(values.get(5), 3.0);
-    EXPECT_TRUE(std::isnan(values.get(5, 1)));
-}
-
-std::vector<uint8_t> map_response() {
-    return comm::Packet(comm::Packet::MessageType::SERIAL_VARIABLE_MAP_RESPONSE, map_payload()).serialize();
-}
-
-TEST(Telemetry, DecodesTheMapAndTheValuesTheFirmwareSends) {
-    SerialBus bus;
-    Telemetry telemetry(bus);
-
-    EXPECT_FALSE(telemetry.has_variable_map());
-
-    bus.send_from_firmware(map_response());
-    telemetry.poll();
-
-    ASSERT_TRUE(telemetry.has_variable_map());
-    EXPECT_EQ(telemetry.variable_map().monitoring_variables().size(), 2U);
-    EXPECT_TRUE(std::isnan(telemetry.value_of("Linear Speed")));
-
-    bus.send_from_firmware(comm::Packet(comm::Packet::MessageType::SERIAL_VARIABLE, 5, float_bytes(1.25F)).serialize());
-    telemetry.poll();
-
-    EXPECT_DOUBLE_EQ(telemetry.value_of("Linear Speed"), 1.25);
-    EXPECT_TRUE(std::isnan(telemetry.value_of("Missing")));
-    EXPECT_EQ(telemetry.resync_count(), 0U);
-    EXPECT_EQ(telemetry.map_failure_count(), 0U);
-}
-
-TEST(Telemetry, QueuesRequestsForTheFirmware) {
-    SerialBus bus;
-    Telemetry telemetry(bus);
-
-    telemetry.request_variable_map();
-    const std::vector<uint8_t> request = bus.take_for_firmware();
-    ASSERT_FALSE(request.empty());
-    EXPECT_EQ(comm::Packet(request).get_type(), comm::Packet::MessageType::SERIAL_VARIABLE_MAP_REQUEST);
-
-    telemetry.send_variable(2, {0x01});
-    const std::vector<uint8_t> command = bus.take_for_firmware();
-    ASSERT_FALSE(command.empty());
-
-    const comm::Packet packet(command);
-    EXPECT_EQ(packet.get_type(), comm::Packet::MessageType::SERIAL_VARIABLE);
-    EXPECT_EQ(packet.get_id(), 2);
-    EXPECT_EQ(packet.get_payload(), (std::vector<uint8_t>{0x01}));
-}
-
-TEST(Telemetry, CountsMalformedMapResponsesInsteadOfAcceptingThem) {
-    SerialBus bus;
-    Telemetry telemetry(bus);
-
-    std::vector<uint8_t> truncated = map_payload();
-    truncated.pop_back();
-    bus.send_from_firmware(comm::Packet(comm::Packet::MessageType::SERIAL_VARIABLE_MAP_RESPONSE, truncated).serialize()
-    );
-    telemetry.poll();
-
-    EXPECT_FALSE(telemetry.has_variable_map());
-    EXPECT_EQ(telemetry.map_failure_count(), 1U);
-}
-}  // namespace
-}  // namespace micras::sim
diff --git a/tests/unit/web_socket_server_test.cpp b/tests/unit/web_socket_server_test.cpp
new file mode 100644
index 0000000..92a0431
--- /dev/null
+++ b/tests/unit/web_socket_server_test.cpp
@@ -0,0 +1,257 @@
+/**
+ * @file
+ */
+
+#include <array>
+#include <chrono>
+#include <cstddef>
+#include <cstdint>
+#include <future>
+#include <string>
+#include <thread>
+#include <vector>
+
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <gtest/gtest.h>
+
+#include "micras/sim/bridge/monitor_bridge.hpp"
+#include "micras/sim/bridge/web_socket_server.hpp"
+#include "micras/sim/core/run_context.hpp"
+#include "micras/sim/core/simulation.hpp"
+
+namespace micras::sim {
+namespace {
+using std::chrono::milliseconds;
+using std::chrono::seconds;
+using std::chrono::steady_clock;
+
+/**
+ * @brief Owns a POSIX socket and closes it.
+ */
+class Socket {
+public:
+    Socket() : descriptor{socket(AF_INET, SOCK_STREAM, 0)} { }
+
+    Socket(const Socket&) = delete;
+    Socket(Socket&&) = delete;
+    Socket& operator=(const Socket&) = delete;
+    Socket& operator=(Socket&&) = delete;
+
+    ~Socket() { close(this->descriptor); }
+
+    int get() const { return this->descriptor; }
+
+private:
+    int descriptor;
+};
+
+/**
+ * @brief Build a loopback address.
+ *
+ * @param port Port in host order, 0 for any.
+ * @return The address.
+ */
+sockaddr_in loopback(uint16_t port) {
+    sockaddr_in address{};
+    address.sin_family = AF_INET;
+    address.sin_port = htons(port);
+    address.sin_addr.s_addr = htonl(INADDR_LOOPBACK);
+    return address;
+}
+
+/**
+ * @brief Bind a socket to a port the system picks, listening.
+ *
+ * @param socket Socket to bind.
+ * @return The port it holds.
+ */
+uint16_t hold_free_port(const Socket& socket) {
+    sockaddr_in address = loopback(0);
+    socklen_t   length = sizeof(address);
+
+    // NOLINTBEGIN(*-reinterpret-cast): the sockets API takes its addresses as sockaddr.
+    EXPECT_EQ(bind(socket.get(), reinterpret_cast<sockaddr*>(&address), sizeof(address)), 0);
+    EXPECT_EQ(listen(socket.get(), 1), 0);
+    EXPECT_EQ(getsockname(socket.get(), reinterpret_cast<sockaddr*>(&address), &length), 0);
+    // NOLINTEND(*-reinterpret-cast)
+
+    return ntohs(address.sin_port);
+}
+
+/**
+ * @brief Find a port nobody listens on.
+ *
+ * @return The port, released again.
+ */
+uint16_t free_port() {
+    const Socket socket;
+    return hold_free_port(socket);
+}
+
+/**
+ * @brief Open a WebSocket connection, then never read from it again.
+ *
+ * @note The receive buffer is made as small as the system allows, so the
+ *       server's writes back up after a few frames.
+ *
+ * @param socket Socket to connect.
+ * @param port Port the server listens on.
+ * @return True once the server answered the handshake.
+ */
+bool connect_and_stall(const Socket& socket, uint16_t port) {
+    const int receive_buffer = 1024;
+    setsockopt(socket.get(), SOL_SOCKET, SO_RCVBUF, &receive_buffer, sizeof(receive_buffer));
+
+    sockaddr_in address = loopback(port);
+
+    // NOLINTNEXTLINE(*-reinterpret-cast): the sockets API takes its addresses as sockaddr.
+    if (connect(socket.get(), reinterpret_cast<sockaddr*>(&address), sizeof(address)) != 0) {
+        return false;
+    }
+
+    const std::string request = "GET / HTTP/1.1\r\nHost: localhost\r\nUpgrade: websocket\r\nConnection: Upgrade\r\n"
+                                "Sec-WebSocket-Key: dGhlIHNhbXBsZSBub25jZQ==\r\nSec-WebSocket-Version: 13\r\n\r\n";
+
+    if (send(socket.get(), request.data(), request.size(), 0) != static_cast<ssize_t>(request.size())) {
+        return false;
+    }
+
+    std::string         response;
+    std::array<char, 1> character{};
+
+    while (response.find("\r\n\r\n") == std::string::npos) {
+        if (recv(socket.get(), character.data(), 1, 0) != 1) {
+            return false;
+        }
+
+        response.push_back(character[0]);
+    }
+
+    return response.starts_with("HTTP/1.1 101");
+}
+
+/**
+ * @brief Send one binary frame from the client side, masked as the protocol requires.
+ *
+ * @param socket Connected socket.
+ * @param payload Bytes to send, fewer than 126.
+ * @return True when the whole frame was written.
+ */
+bool send_binary(const Socket& socket, const std::vector<uint8_t>& payload) {
+    const std::array<uint8_t, 4> mask{0x12, 0x34, 0x56, 0x78};
+    std::vector<uint8_t>         frame{0x82, static_cast<uint8_t>(0x80 | payload.size())};
+    frame.insert(frame.end(), mask.begin(), mask.end());
+
+    for (std::size_t index = 0; index < payload.size(); index++) {
+        frame.push_back(payload.at(index) ^ mask.at(index % mask.size()));
+    }
+
+    return send(socket.get(), frame.data(), frame.size(), 0) == static_cast<ssize_t>(frame.size());
+}
+
+/**
+ * @brief Read one unmasked binary frame the server sent.
+ *
+ * @param socket Connected socket.
+ * @return The frame's payload, empty when it was not a short binary frame.
+ */
+std::vector<uint8_t> receive_binary(const Socket& socket) {
+    std::array<uint8_t, 2> head{};
+
+    if (recv(socket.get(), head.data(), head.size(), MSG_WAITALL) != 2 or head[0] != 0x82 or head[1] >= 126) {
+        return {};
+    }
+
+    std::vector<uint8_t> payload(head[1]);
+
+    if (recv(socket.get(), payload.data(), payload.size(), MSG_WAITALL) != static_cast<ssize_t>(payload.size())) {
+        return {};
+    }
+
+    return payload;
+}
+
+TEST(MonitorBridge, CarriesRawBytesBothWays) {
+    RunContext context;
+    context.world.load(MICRAS_TEST_MODEL);
+    context.clock = Clock::from_model(context.world.timestep(), 1042);
+    context.world.reset();
+    FirmwareThread   firmware{[&firmware] {
+        while (firmware.yield_tick()) { }
+    }};
+    const Simulation simulation(context, firmware);
+
+    std::vector<uint8_t> inbound;
+    std::string          error;
+    const uint16_t       port = free_port();
+    MonitorBridge        bridge(
+        context.serial, [&inbound](std::span<const uint8_t> bytes) { inbound.assign(bytes.begin(), bytes.end()); },
+        port, error
+    );
+    ASSERT_TRUE(bridge.is_open()) << error;
+
+    const Socket client;
+    ASSERT_TRUE(connect_and_stall(client, port));
+
+    const std::vector<uint8_t> command{0x00, 0x01, 0x7E, 0xFF, 0x00};
+    ASSERT_TRUE(send_binary(client, command));
+
+    const auto deadline = steady_clock::now() + seconds(10);
+
+    while (inbound.empty() and steady_clock::now() < deadline) {
+        bridge.on_before_tick(simulation);
+        std::this_thread::sleep_for(milliseconds(1));
+    }
+
+    EXPECT_EQ(inbound, command);
+    EXPECT_TRUE(bridge.was_interactive());
+
+    const std::vector<uint8_t> telemetry{0x02, 0x00, 0xAA, 0x00};
+    context.serial.send_from_firmware(telemetry);
+    bridge.on_after_tick(simulation);
+
+    EXPECT_EQ(receive_binary(client), telemetry);
+}
+
+TEST(WebSocketServer, AClientThatStopsReadingNeverStallsTheCaller) {
+    WebSocketServer server;
+    std::string     error;
+    const uint16_t  port = free_port();
+    ASSERT_TRUE(server.start(port, error)) << error;
+
+    const Socket client;
+    ASSERT_TRUE(connect_and_stall(client, port));
+
+    const std::vector<uint8_t> frame(std::size_t{64} * 1024, 0xAB);
+    const auto                 deadline = steady_clock::now() + seconds(10);
+    auto                       slowest = steady_clock::duration::zero();
+
+    while (server.dropped_frames() == 0 and steady_clock::now() < deadline) {
+        const auto start = steady_clock::now();
+        server.broadcast(frame);
+        slowest = std::max(slowest, steady_clock::now() - start);
+    }
+
+    EXPECT_GT(server.dropped_frames(), 0U);
+    EXPECT_LT(slowest, milliseconds(100));
+
+    auto stopping = std::async(std::launch::async, [&server] { server.stop(); });
+    EXPECT_EQ(stopping.wait_for(seconds(10)), std::future_status::ready);
+}
+
+TEST(WebSocketServer, RefusesAPortSomebodyElseHolds) {
+    const Socket   holder;
+    const uint16_t port = hold_free_port(holder);
+
+    WebSocketServer server;
+    std::string     error;
+
+    EXPECT_FALSE(server.start(port, error));
+    EXPECT_FALSE(error.empty());
+}
+}  // namespace
+}  // namespace micras::sim
diff --git a/tools/analyze.py b/tools/analyze.py
index 9a812a6..3601712 100755
--- a/tools/analyze.py
+++ b/tools/analyze.py
@@ -1,34 +1,41 @@
 #!/usr/bin/env python3
-"""Analyse one micras_simulation run directory.
-
-Reads ``<run>/data.csv`` (and ``<run>/meta.json`` when present) and writes
-``report.json`` plus a set of PNGs next to them.
-
-Conventions taken from the harness:
-
-* The model's forward axis is **+y in body frame** (``models/robot_legacy.xml``
-  puts the lidars and the caster at positive y).
-* ``yaw`` is produced by ``src/sim/recorder.cpp::to_euler`` as
-  ``atan2(2(wz + xy), 1 - 2(y^2 + z^2))``, i.e. a ZYX yaw about the world +z
-  axis, zero when the body +y axis points along the world +y axis.
-  The body forward direction in world coordinates is therefore
-  ``(-sin(yaw), cos(yaw))`` and the ground-truth forward speed is
-  ``-vx_world*sin(yaw) + vy_world*cos(yaw)``. Current harnesses write that
-  projection out as the ``v_forward`` column and this script prefers it;
-  older runs whose CSV only has ``vx``/``vy`` are still handled.
-* ``*_penetration`` columns use NaN as the "geom had no contact this tick"
-  sentinel, so they are excluded from the non-finite sample count.
-* Wheel radius is 0.011 m (``models/robot_legacy.xml``, ``class="wheel"``).
-
-Only numpy and matplotlib are used; pandas is not available on this machine.
+"""Analyse one simulation run directory.
+
+Reads ``<run>/data.csv`` and ``<run>/meta.json`` and writes ``report.json`` plus a
+set of PNGs next to them.
+
+This script knows the engine's columns only: the body block every row starts with
+(``x``, ``y``, ``z``, ``roll``, ``pitch``, ``yaw``, ``v_forward``, ``wz_body``) and
+the kinds of column a robot target configures, recognised by their suffix or
+prefix (``<label>_ncon``, ``<label>_fn``, ``<label>_slip``, ``<label>_penetration``,
+``wheel_speed_<label>``, ``motor_torque_<label>``, and the ``<device>_voltage``
+columns of the devices). A contact label with a ``_slip`` column is a wheel.
+
+What a robot means by its own columns comes from its plugin, a module at
+``targets/<target>/tools/analysis.py`` loaded when ``meta.json`` names the target,
+or from ``--plugin``. A plugin may define any of:
+
+* ``run_start(run)``: the time the robot starts its task, marked on every plot,
+* ``report(run, report)``: extra report sections, merged into the report,
+* ``speed_traces(run)``: ``(label, values, "linear" | "angular")`` for the speed plot,
+* ``trajectory_overlays(run)``: ``(label, x, y)`` drawn over the trajectory,
+* ``plots(run, report, directory)``: extra figures,
+* ``summarize(report)``: extra summary lines.
+
+``*_penetration`` columns use NaN as the "geom had no contact this tick" sentinel,
+so they are excluded from the non-finite sample count.
+
+Only numpy and matplotlib are used.
 """
 
 from __future__ import annotations
 
 import argparse
 import csv
+import importlib.util
 import json
 from pathlib import Path
+from types import ModuleType
 
 import matplotlib
 
@@ -38,17 +45,10 @@
 import numpy as np  # noqa: E402
 from matplotlib.collections import LineCollection  # noqa: E402
 
-WHEEL_RADIUS = 0.011
 CELL_SIZE = 0.18
-#: Indices of the four centre cells of the 16x16 maze, in both axes.
-GOAL_CELLS = (7, 8)
-#: Id of Micras::State::RUN in the firmware FSM.
-RUN_STATE_ID = 3
-SATURATION = 100.0
 FLAT_Z_TOLERANCE = 1e-4
-DECEL_DROP = 0.05
-DECEL_WINDOW_S = 0.05
 MAX_INTERVALS = 20
+REPOSITORY = Path(__file__).resolve().parent.parent
 
 
 def load_csv(path: Path) -> tuple[dict[str, np.ndarray], dict]:
@@ -89,7 +89,7 @@ def load_csv(path: Path) -> tuple[dict[str, np.ndarray], dict]:
 
 
 class Run:
-    """Convenience accessor tolerating columns an older harness did not write."""
+    """Convenience accessor tolerating columns a robot does not write."""
 
     def __init__(self, directory: Path, t0: float | None, t1: float | None):
         self.directory = directory
@@ -119,6 +119,14 @@ def get(self, name: str) -> np.ndarray:
 
         return np.full(self.time.shape, np.nan)
 
+    def labels(self, suffix: str) -> list[str]:
+        """Labels of every ``<label><suffix>`` column, in header order."""
+        return [name[: -len(suffix)] for name in self.columns if name.endswith(suffix)]
+
+    def prefixed(self, prefix: str) -> list[str]:
+        """Every column starting with a prefix, in header order."""
+        return [name for name in self.columns if name.startswith(prefix)]
+
     @property
     def dt(self) -> float:
         if self.time.size < 2:
@@ -127,28 +135,34 @@ def dt(self) -> float:
         return float(np.median(np.diff(self.time)))
 
 
-#: Columns whose NaN entries are a deliberate "no contact" sentinel, not a defect.
-SENTINEL_NAN_COLUMNS = ("left_penetration", "right_penetration")
+def load_plugin(run: Run, override: Path | None) -> ModuleType | None:
+    """Load the robot's analysis plugin, if it has one."""
+    path = override
 
+    if path is None:
+        target = run.meta.get("target")
 
-def forward_speed(run: Run) -> np.ndarray:
-    """Ground-truth forward speed: world linear velocity projected on the body +y axis.
+        if not target:
+            return None
 
-    Prefers the ``v_forward`` column the harness now writes; falls back to
-    recomputing it from the world velocity columns for older runs.
-    """
-    if "v_forward" in run.columns:
-        return run.columns["v_forward"]
+        path = REPOSITORY / "targets" / target / "tools" / "analysis.py"
+
+        if not path.exists():
+            return None
 
-    yaw = run.get("yaw")
-    vx = run.get("vx_world") if "vx_world" in run.columns else run.get("vx")
-    vy = run.get("vy_world") if "vy_world" in run.columns else run.get("vy")
-    return -vx * np.sin(yaw) + vy * np.cos(yaw)
+    spec = importlib.util.spec_from_file_location(f"analysis_{path.parent.parent.name}", path)
 
+    if spec is None or spec.loader is None:
+        raise SystemExit(f"cannot load the analysis plugin {path}")
 
-def yaw_rate(run: Run) -> np.ndarray:
-    """Ground-truth yaw rate, from the body angular velocity column."""
-    return run.get("wz_body") if "wz_body" in run.columns else run.get("wz")
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    return module
+
+
+def hook(plugin: ModuleType | None, name: str):
+    """A plugin function, or None when there is no plugin or it lacks that hook."""
+    return getattr(plugin, name, None) if plugin is not None else None
 
 
 def zero_intervals(values: np.ndarray, time: np.ndarray, minimum: int = 2) -> list[list[float]]:
@@ -172,12 +186,12 @@ def zero_intervals(values: np.ndarray, time: np.ndarray, minimum: int = 2) -> li
 
 
 def finite_stats(run: Run) -> dict:
-    """Count non-finite samples over every column."""
+    """Count non-finite samples over every column but the penetration sentinels."""
     count = 0
     first_time = None
 
     for name, values in run.columns.items():
-        if name in SENTINEL_NAN_COLUMNS:
+        if name.endswith("_penetration"):
             continue
 
         bad = ~np.isfinite(values)
@@ -192,10 +206,10 @@ def finite_stats(run: Run) -> dict:
     return {"nonfinite_samples": count, "first_nonfinite_time": first_time}
 
 
-def wheel_report(run: Run, side: str) -> dict:
-    ncon = run.get(f"{side}_ncon")
-    slip = run.get(f"{side}_slip")
-    penetration = run.get(f"{side}_penetration")
+def wheel_report(run: Run, label: str) -> dict:
+    ncon = run.get(f"{label}_ncon")
+    slip = run.get(f"{label}_slip")
+    penetration = run.get(f"{label}_penetration")
 
     return {
         "airborne_fraction": float(np.mean(ncon == 0)) if ncon.size else None,
@@ -208,6 +222,20 @@ def wheel_report(run: Run, side: str) -> dict:
     }
 
 
+def contact_fractions(run: Run, wheels: list[str]) -> dict:
+    """Fraction of ticks each non-wheel geom touched anything."""
+    fractions = {}
+
+    for label in run.labels("_ncon"):
+        if label in wheels:
+            continue
+
+        ncon = run.get(f"{label}_ncon")
+        fractions[label] = float(np.mean(ncon > 0)) if ncon.size and np.isfinite(ncon).any() else None
+
+    return fractions
+
+
 def z_report(run: Run) -> dict:
     z = run.get("z")
 
@@ -228,241 +256,140 @@ def z_report(run: Run) -> dict:
     return {"min": float(np.min(z)), "max": float(np.max(z)), "final": final, "settle_time": settle}
 
 
-def odometry_report(run: Run, run_start: float | None) -> dict:
-    desired = run.get("desired_linear_speed")
-    window = np.isfinite(desired) & (desired != 0)
-    truth = forward_speed(run)
-    measured = run.get("odometry_linear_velocity")
-    valid = window & np.isfinite(truth) & np.isfinite(measured)
-
-    if not valid.any():
-        return {"samples": 0, "rms_error": None, "max_error": None, "run_start_time": run_start}
-
-    error = measured[valid] - truth[valid]
-    return {
-        "samples": int(valid.sum()),
-        "rms_error": float(np.sqrt(np.mean(error**2))),
-        "max_error": float(np.max(np.abs(error))),
-        "run_start_time": run_start,
-    }
-
-
 def cell_index(values: np.ndarray) -> np.ndarray:
     """Maze cell index of a world coordinate, same origin as the topdown plot."""
     with np.errstate(invalid="ignore"):
         return np.floor(values / CELL_SIZE)
 
 
-def run_mask(run: Run, run_start: float | None) -> np.ndarray:
-    """Ticks the firmware spent in the RUN state.
+def resolve_maze(run: Run) -> Path:
+    """Find the ASCII maze the run drove in, or fail.
 
-    Uses the ``fsm_state`` column when the firmware exports it and falls back to
-    "everything from the first non-zero speed setpoint on" for older runs.
+    ``meta.json`` names it as ``maze_path``. A relative path is tried against the
+    current directory and the directory the ``runs/`` tree sits in.
     """
-    if "fsm_state" in run.columns:
-        return run.columns["fsm_state"] == RUN_STATE_ID
+    roots = [Path.cwd(), run.directory.resolve().parent.parent]
+    named = run.meta.get("maze_path") or ""
+    candidates: list[Path] = [root / named for root in roots] if named else []
 
-    if run_start is None:
-        return np.zeros(run.time.shape, dtype=bool)
+    maze_path = next((candidate for candidate in candidates if candidate.exists()), None)
 
-    return run.time >= run_start
+    if maze_path is None:
+        tried = ", ".join(str(candidate) for candidate in candidates) or "nothing: meta.json names no model or maze"
+        raise SystemExit(f"cannot find the maze of {run.directory}; tried {tried}")
 
+    return maze_path
 
-def maze_report(run: Run, run_start: float | None) -> dict:
-    """Ground-truth and believed maze cell, and whether the goal was reached."""
-    true_x = cell_index(run.get("x"))
-    true_y = cell_index(run.get("y"))
-    in_goal = np.isin(true_x, GOAL_CELLS) & np.isin(true_y, GOAL_CELLS)
-    reached = np.nonzero(in_goal)[0]
 
-    report = {
-        "goal_cells": [[x, y] for x in GOAL_CELLS for y in GOAL_CELLS],
-        "goal_reached": bool(reached.size),
-        "goal_time": float(run.time[reached[0]]) if reached.size else None,
-        "final_true_cell": (
-            [int(true_x[-1]), int(true_y[-1])] if run.time.size and np.isfinite(true_x[-1]) else None
-        ),
-        "final_grid_cell": None,
-        "cell_mismatch_fraction": None,
-        "first_mismatch_time": None,
-    }
-
-    if "grid_pose_x" not in run.columns or "grid_pose_y" not in run.columns:
-        return report
+def maze_goal_cells(maze_path: Path) -> list[tuple[int, int]]:
+    """Read the goal cells, marked ``G``, from the ASCII maze, bottom-up like the walls."""
+    inverted = maze_path.read_text().splitlines()[::-1]
+    cells = []
 
-    grid_x = run.columns["grid_pose_x"]
-    grid_y = run.columns["grid_pose_y"]
-
-    if run.time.size and np.isfinite(grid_x[-1]) and np.isfinite(grid_y[-1]):
-        report["final_grid_cell"] = [int(grid_x[-1]), int(grid_y[-1])]
-
-    window = run_mask(run, run_start) & np.isfinite(grid_x) & np.isfinite(grid_y) & np.isfinite(true_x)
-
-    if not window.any():
-        return report
+    for index, line in enumerate(inverted):
+        if index % 2 == 0:
+            continue
 
-    mismatch = window & ((grid_x != true_x) | (grid_y != true_y))
-    report["cell_mismatch_fraction"] = float(mismatch.sum() / window.sum())
-    first = np.nonzero(mismatch)[0]
+        for column, start in enumerate(range(0, len(line), 4)):
+            if line[start + 1 : start + 4].strip() == "G":
+                cells.append((column, index // 2))
 
-    if first.size:
-        report["first_mismatch_time"] = float(run.time[first[0]])
+    return cells
 
-    return report
 
+def maze_segments(maze_path: Path) -> list[tuple[float, float, float, float]]:
+    """Parse the ASCII maze into world-frame wall segments.
 
-def turn_starts(run: Run) -> np.ndarray:
-    """Indices where the angular speed setpoint leaves zero."""
-    desired = run.get("desired_angular_speed")
+    Matches ``tools/gen_maze.py``: lines are read bottom-up, a post sits at
+    ``(col, row) * 0.18``, a horizontal wall spans one cell in x at ``y = row * 0.18``
+    and a vertical wall spans one cell in y at ``x = col * 0.18``.
+    """
+    inverted = maze_path.read_text().splitlines()[::-1]
+    segments = []
 
-    if desired.size < 2:
-        return np.zeros(0, dtype=int)
+    for index, line in enumerate(inverted):
+        row = index // 2
 
-    moving = np.isfinite(desired) & (desired != 0)
-    return np.nonzero(moving[1:] & ~moving[:-1])[0] + 1
+        if index % 2 == 0:  # post row: horizontal walls
+            for column, start in enumerate(range(0, len(line), 4)):
+                if line[start + 1 : start + 4] == "---":
+                    y = row * CELL_SIZE
+                    segments.append((column * CELL_SIZE, y, (column + 1) * CELL_SIZE, y))
+        else:  # cell row: vertical walls
+            for column, start in enumerate(range(0, len(line), 4)):
+                if start < len(line) and line[start] == "|":
+                    x = column * CELL_SIZE
+                    segments.append((x, row * CELL_SIZE, x, (row + 1) * CELL_SIZE))
 
+    return segments
 
-def odometry_pose_report(run: Run) -> dict:
-    """Distance between the odometry-estimated position and the ground truth."""
-    if "odometry_state_x" not in run.columns or "odometry_state_y" not in run.columns:
-        return {"samples": 0, "max": None, "max_time": None, "final": None, "at_turn_starts": []}
 
-    error = np.hypot(run.columns["odometry_state_x"] - run.get("x"), run.columns["odometry_state_y"] - run.get("y"))
-    valid = np.isfinite(error)
+def maze_report(run: Run, maze_path: Path) -> dict:
+    """True maze cell of the robot, and whether it reached a goal cell."""
+    goal_cells = maze_goal_cells(maze_path)
+    true_x = cell_index(run.get("x"))
+    true_y = cell_index(run.get("y"))
+    in_goal = np.zeros(true_x.shape, dtype=bool)
 
-    if not valid.any():
-        return {"samples": 0, "max": None, "max_time": None, "final": None, "at_turn_starts": []}
+    for goal_x, goal_y in goal_cells:
+        in_goal |= (true_x == goal_x) & (true_y == goal_y)
 
-    peak = int(np.nanargmax(np.where(valid, error, -np.inf)))
+    reached = np.nonzero(in_goal)[0]
 
     return {
-        "samples": int(valid.sum()),
-        "max": float(error[peak]),
-        "max_time": float(run.time[peak]),
-        "final": float(error[valid][-1]),
-        "at_turn_starts": [
-            {"time": float(run.time[index]), "error": float(error[index])}
-            for index in turn_starts(run)[:MAX_INTERVALS]
-            if np.isfinite(error[index])
-        ],
+        "goal_cells": [[x, y] for x, y in goal_cells],
+        "goal_reached": bool(reached.size),
+        "goal_time": float(run.time[reached[0]]) if reached.size else None,
+        "final_true_cell": (
+            [int(true_x[-1]), int(true_y[-1])] if run.time.size and np.isfinite(true_x[-1]) else None
+        ),
     }
 
 
-def fsm_timeline(run: Run) -> list[dict]:
-    """Transitions of the firmware state machine, empty when not exported."""
-    if "fsm_state" not in run.columns or run.time.size == 0:
-        return []
-
-    state = run.columns["fsm_state"]
-    changed = np.concatenate([[True], state[1:] != state[:-1]])
-
-    return [
-        {"time": float(run.time[index]), "state": int(state[index])}
-        for index in np.nonzero(changed)[0]
-        if np.isfinite(state[index])
-    ]
-
-
-def deceleration_events(run: Run) -> list[dict]:
-    """Drops of more than 0.05 m/s within 50 ms while the setpoint is not falling."""
-    truth = forward_speed(run)
-    desired = run.get("desired_linear_speed")
-    dt = run.dt
-
-    if dt <= 0 or truth.size < 3:
-        return []
-
-    span = max(1, int(round(DECEL_WINDOW_S / dt)))
-
-    if truth.size <= span:
-        return []
-
-    head = np.arange(truth.size - span)
-    tail = head + span
-    drop = truth[head] - truth[tail]
-    moving = (desired[head] != 0) & (desired[tail] != 0)
-    not_decreasing = desired[tail] >= desired[head]
-    hit = np.nonzero((drop > DECEL_DROP) & moving & not_decreasing)[0]
-
-    events: list[dict] = []
-
-    for index in hit:
-        start, end = int(index), int(index) + span
-
-        if events and start <= events[-1]["_end"]:
-            events[-1]["_end"] = max(events[-1]["_end"], end)
-            events[-1]["_drop"] = max(events[-1]["_drop"], float(drop[index]))
-            continue
-
-        events.append({"_start": start, "_end": end, "_drop": float(drop[index])})
-
-    report = []
-
-    for event in events[:MAX_INTERVALS]:
-        lo, hi = event["_start"], event["_end"] + 1
-        pitch = np.abs(run.get("pitch")[lo:hi])
-        report.append(
-            {
-                "start": float(run.time[lo]),
-                "end": float(run.time[min(hi, run.time.size) - 1]),
-                "speed_drop": event["_drop"],
-                "min_left_ncon": float(np.min(run.get("left_ncon")[lo:hi])),
-                "min_right_ncon": float(np.min(run.get("right_ncon")[lo:hi])),
-                "max_slip": float(
-                    np.nanmax(np.concatenate([run.get("left_slip")[lo:hi], run.get("right_slip")[lo:hi]]))
-                ),
-                "max_abs_pitch_deg": float(np.degrees(np.nanmax(pitch))) if pitch.size else None,
-            }
-        )
-
-    return report
-
-
-def build_report(run: Run) -> dict:
-    desired = run.get("desired_linear_speed")
-    nonzero = np.nonzero(np.isfinite(desired) & (desired != 0))[0]
-    run_start = float(run.time[nonzero[0]]) if nonzero.size else None
-
-    ctrl_left = run.get("ctrl_left")
-    ctrl_right = run.get("ctrl_right")
-    base_ncon = run.get("base_ncon")
-    warnings = run.get("warnings_total")
+def build_report(run: Run, maze_path: Path, plugin: ModuleType | None) -> dict:
     pitch = run.get("pitch")
     roll = run.get("roll")
+    wheels = run.labels("_slip")
+    start = hook(plugin, "run_start")
 
-    return {
+    report = {
         "run": str(run.directory),
-        "model": run.meta.get("model_path"),
+        "target": run.meta.get("target"),
+        "robot": run.meta.get("robot_path"),
+        "scenario": run.meta.get("scenario_path"),
         "args": run.meta.get("args"),
         "ticks": int(run.time.size),
         "duration": float(run.time[-1] - run.time[0]) if run.time.size else 0.0,
         "dt": run.dt,
-        "warnings_total": float(np.nanmax(warnings)) if warnings.size and np.isfinite(warnings).any() else 0.0,
+        "run_start_time": start(run) if start else None,
+        "warnings_total": float(run.meta.get("warnings_total", 0)),
+        "events": run.meta.get("events", []),
         "nonfinite": finite_stats(run),
-        "left_wheel": wheel_report(run, "left"),
-        "right_wheel": wheel_report(run, "right"),
-        "base_contact_fraction": (
-            float(np.mean(base_ncon > 0)) if base_ncon.size and np.isfinite(base_ncon).any() else None
-        ),
+        "wheels": {label: wheel_report(run, label) for label in wheels},
+        "contact_fractions": contact_fractions(run, wheels),
         "z": z_report(run),
         "max_abs_pitch_deg": float(np.degrees(np.nanmax(np.abs(pitch)))) if pitch.size else None,
         "max_abs_roll_deg": float(np.degrees(np.nanmax(np.abs(roll)))) if roll.size else None,
-        "ctrl_saturation_fraction": {
-            "left": float(np.mean(np.abs(ctrl_left) >= SATURATION)) if ctrl_left.size else None,
-            "right": float(np.mean(np.abs(ctrl_right) >= SATURATION)) if ctrl_right.size else None,
-        },
-        "odometry": odometry_report(run, run_start),
-        "odometry_pose_error": odometry_pose_report(run),
-        "maze": maze_report(run, run_start),
-        "fsm_state": fsm_timeline(run),
+        "maze_path": str(maze_path),
+        "maze": maze_report(run, maze_path),
         "crash": run.crash,
-        "deceleration_events": deceleration_events(run),
     }
 
+    extra = hook(plugin, "report")
+
+    if extra:
+        for key, value in extra(run, report).items():
+            if isinstance(value, dict) and isinstance(report.get(key), dict):
+                report[key].update(value)
+            else:
+                report[key] = value
+
+    return report
+
 
 def mark_run_start(axis, run_start: float | None) -> None:
     if run_start is not None:
-        axis.axvline(run_start, color="k", linestyle="--", linewidth=0.8, label="RUN start")
+        axis.axvline(run_start, color="k", linestyle="--", linewidth=0.8, label="task start")
 
 
 def save(figure, path: Path) -> None:
@@ -471,22 +398,21 @@ def save(figure, path: Path) -> None:
     plt.close(figure)
 
 
-def plot_speeds(run: Run, run_start: float | None, path: Path) -> None:
+def plot_speeds(run: Run, run_start: float | None, plugin: ModuleType | None, path: Path) -> None:
     figure, axis = plt.subplots(figsize=(10, 5))
-    axis.plot(run.time, run.get("desired_linear_speed"), label="desired_linear_speed")
-    axis.plot(run.time, run.get("odometry_linear_velocity"), label="odometry_linear_velocity")
-    axis.plot(run.time, forward_speed(run), label="ground-truth forward speed")
+    twin = axis.twinx()
+    traces = hook(plugin, "speed_traces")
+
+    for label, values, kind in traces(run) if traces else []:
+        target = axis if kind == "linear" else twin
+        target.plot(run.time, values, label=label, alpha=1.0 if kind == "linear" else 0.5)
+
+    axis.plot(run.time, run.get("v_forward"), label="v_forward (ground truth)")
+    twin.plot(run.time, run.get("wz_body"), color="tab:brown", alpha=0.5, label="wz_body (ground truth)")
     axis.set_xlabel("time [s]")
     axis.set_ylabel("linear speed [m/s]")
-    mark_run_start(axis, run_start)
-
-    twin = axis.twinx()
-    twin.plot(run.time, run.get("desired_angular_speed"), color="tab:red", alpha=0.5, label="desired_angular_speed")
-    twin.plot(
-        run.time, run.get("odometry_angular_velocity"), color="tab:purple", alpha=0.5, label="odometry_angular_velocity"
-    )
-    twin.plot(run.time, yaw_rate(run), color="tab:brown", alpha=0.5, label="wz_body (ground truth)")
     twin.set_ylabel("angular speed [rad/s]")
+    mark_run_start(axis, run_start)
 
     handles, labels = axis.get_legend_handles_labels()
     extra = twin.get_legend_handles_labels()
@@ -497,14 +423,14 @@ def plot_speeds(run: Run, run_start: float | None, path: Path) -> None:
 def plot_contacts(run: Run, run_start: float | None, path: Path) -> None:
     figure, axes = plt.subplots(2, 1, sharex=True, figsize=(10, 6))
 
-    for name in ("left_ncon", "right_ncon", "caster_ncon", "base_ncon"):
-        axes[0].step(run.time, run.get(name), where="post", label=name, linewidth=0.8)
+    for label in run.labels("_ncon"):
+        axes[0].step(run.time, run.get(f"{label}_ncon"), where="post", label=f"{label}_ncon", linewidth=0.8)
 
     axes[0].set_ylabel("contact count")
     axes[0].legend(fontsize=7)
 
-    for name in ("left_fn", "right_fn", "caster_fn"):
-        axes[1].plot(run.time, run.get(name), label=name, linewidth=0.8)
+    for label in run.labels("_fn"):
+        axes[1].plot(run.time, run.get(f"{label}_fn"), label=f"{label}_fn", linewidth=0.8)
 
     axes[1].set_ylabel("normal force [N]")
     axes[1].set_xlabel("time [s]")
@@ -534,25 +460,21 @@ def plot_attitude(run: Run, run_start: float | None, path: Path) -> None:
     save(figure, path)
 
 
-def plot_control(run: Run, run_start: float | None, path: Path) -> None:
-    figure, axes = plt.subplots(3, 1, sharex=True, figsize=(10, 8))
-    axes[0].plot(run.time, run.get("linear_pid_response"), label="linear_pid_response")
-    axes[0].plot(run.time, run.get("angular_pid_response"), label="angular_pid_response")
-    axes[0].set_ylabel("PID response")
+def plot_actuators(run: Run, run_start: float | None, path: Path) -> None:
+    figure, axes = plt.subplots(2, 1, sharex=True, figsize=(10, 6))
+
+    for name in [name for name in run.columns if name.endswith("_voltage")]:
+        axes[0].plot(run.time, run.get(name), label=name)
+
+    axes[0].set_ylabel("voltage [V]")
     axes[0].legend(fontsize=7)
 
-    axes[1].plot(run.time, run.get("left_feed_forward_response"), label="left_feed_forward_response")
-    axes[1].plot(run.time, run.get("right_feed_forward_response"), label="right_feed_forward_response")
-    axes[1].plot(run.time, run.get("ctrl_left"), label="ctrl_left")
-    axes[1].plot(run.time, run.get("ctrl_right"), label="ctrl_right")
-    axes[1].set_ylabel("command [%]")
-    axes[1].legend(fontsize=7)
+    for name in run.prefixed("motor_torque_"):
+        axes[1].plot(run.time, run.get(name), label=name)
 
-    axes[2].plot(run.time, run.get("act_force_left"), label="act_force_left")
-    axes[2].plot(run.time, run.get("act_force_right"), label="act_force_right")
-    axes[2].set_ylabel("actuator force [N m]")
-    axes[2].set_xlabel("time [s]")
-    axes[2].legend(fontsize=7)
+    axes[1].set_ylabel("motor torque [N m]")
+    axes[1].set_xlabel("time [s]")
+    axes[1].legend(fontsize=7)
 
     for axis in axes:
         mark_run_start(axis, run_start)
@@ -562,14 +484,16 @@ def plot_control(run: Run, run_start: float | None, path: Path) -> None:
 
 def plot_wheels(run: Run, run_start: float | None, path: Path) -> None:
     figure, axes = plt.subplots(2, 1, sharex=True, figsize=(10, 6))
-    axes[0].plot(run.time, run.get("wheel_qvel_left") * WHEEL_RADIUS, label="left wheel surface speed")
-    axes[0].plot(run.time, run.get("wheel_qvel_right") * WHEEL_RADIUS, label="right wheel surface speed")
-    axes[0].plot(run.time, forward_speed(run), label="ground-truth forward speed", linewidth=0.8)
-    axes[0].set_ylabel("speed [m/s]")
+
+    for name in run.prefixed("wheel_speed_"):
+        axes[0].plot(run.time, run.get(name), label=name)
+
+    axes[0].set_ylabel("wheel speed [rad/s]")
     axes[0].legend(fontsize=7)
 
-    axes[1].plot(run.time, run.get("left_slip"), label="left_slip")
-    axes[1].plot(run.time, run.get("right_slip"), label="right_slip")
+    for label in run.labels("_slip"):
+        axes[1].plot(run.time, run.get(f"{label}_slip"), label=f"{label}_slip")
+
     axes[1].set_ylabel("slip speed [m/s]")
     axes[1].set_xlabel("time [s]")
     axes[1].legend(fontsize=7)
@@ -580,64 +504,23 @@ def plot_wheels(run: Run, run_start: float | None, path: Path) -> None:
     save(figure, path)
 
 
-def maze_segments(maze_path: Path) -> list[tuple[float, float, float, float]]:
-    """Parse the ASCII maze into world-frame wall segments.
-
-    Matches ``models/gen_maze.py``: lines are read bottom-up, a post sits at
-    ``(col, row) * 0.18``, a horizontal wall spans one cell in x at ``y = row * 0.18``
-    and a vertical wall spans one cell in y at ``x = col * 0.18``.
-    """
-    lines = [line.rstrip("\n") for line in maze_path.read_text().splitlines()]
-    inverted = lines[::-1]
-    segments = []
-
-    for index, line in enumerate(inverted):
-        row = index // 2
-
-        if index % 2 == 0:  # post row: horizontal walls
-            for column, start in enumerate(range(0, len(line), 4)):
-                if line[start + 1 : start + 4] == "---":
-                    y = row * CELL_SIZE
-                    segments.append((column * CELL_SIZE, y, (column + 1) * CELL_SIZE, y))
-        else:  # cell row: vertical walls
-            for column, start in enumerate(range(0, len(line), 4)):
-                if start < len(line) and line[start] == "|":
-                    x = column * CELL_SIZE
-                    segments.append((x, row * CELL_SIZE, x, (row + 1) * CELL_SIZE))
-
-    return segments
-
-
-def plot_topdown(run: Run, path: Path) -> None:
+def plot_topdown(run: Run, maze_path: Path, plugin: ModuleType | None, path: Path) -> None:
     figure, axis = plt.subplots(figsize=(7, 7))
 
-    model = run.meta.get("model_path")
-
-    if model:
-        # meta.json stores the model path as it was typed on the command line,
-        # so try it relative to the current directory and to the run's parent.
-        candidates = [
-            Path(model).parent / "maze.txt",
-            (run.directory.resolve().parent.parent / Path(model).parent / "maze.txt"),
-        ]
-        maze_path = next((candidate for candidate in candidates if candidate.exists()), None)
-
-        if maze_path is not None:
-            for x0, y0, x1, y1 in maze_segments(maze_path):
-                axis.plot([x0, x1], [y0, y1], color="0.4", linewidth=1.5)
-
-    for cell_x in GOAL_CELLS:
-        for cell_y in GOAL_CELLS:
-            axis.add_patch(
-                plt.Rectangle(
-                    (cell_x * CELL_SIZE, cell_y * CELL_SIZE),
-                    CELL_SIZE,
-                    CELL_SIZE,
-                    color="tab:green",
-                    alpha=0.15,
-                    zorder=0,
-                )
+    for x0, y0, x1, y1 in maze_segments(maze_path):
+        axis.plot([x0, x1], [y0, y1], color="0.4", linewidth=1.5)
+
+    for cell_x, cell_y in maze_goal_cells(maze_path):
+        axis.add_patch(
+            plt.Rectangle(
+                (cell_x * CELL_SIZE, cell_y * CELL_SIZE),
+                CELL_SIZE,
+                CELL_SIZE,
+                color="tab:green",
+                alpha=0.15,
+                zorder=0,
             )
+        )
 
     x = run.get("x")
     y = run.get("y")
@@ -652,15 +535,13 @@ def plot_topdown(run: Run, path: Path) -> None:
     elif run.time.size:
         axis.plot(x, y, color="tab:blue", linewidth=1.0)
 
-    if "odometry_state_x" in run.columns and "odometry_state_y" in run.columns:
-        axis.plot(
-            run.columns["odometry_state_x"],
-            run.columns["odometry_state_y"],
-            color="tab:red",
-            linestyle="--",
-            linewidth=1.0,
-            label="odometry estimate",
-        )
+    overlays = hook(plugin, "trajectory_overlays")
+
+    styles = [("tab:red", "--"), ("tab:orange", ":"), ("tab:purple", "-.")]
+
+    for index, (label, overlay_x, overlay_y) in enumerate(overlays(run) if overlays else []):
+        color, linestyle = styles[index % len(styles)]
+        axis.plot(overlay_x, overlay_y, color=color, linestyle=linestyle, linewidth=1.0, label=label)
 
     if run.time.size:
         axis.plot(x[0], y[0], "go", markersize=6, label="start")
@@ -678,54 +559,33 @@ def fmt(value, digits: int = 3) -> str:
     return "n/a" if value is None else f"{value:.{digits}f}"
 
 
-def summarize(report: dict) -> None:
+def summarize(report: dict, plugin: ModuleType | None) -> None:
     print(f"run          {report['run']}")
     print(f"ticks        {report['ticks']}  duration {report['duration']:.3f} s  dt {report['dt'] * 1e3:.4f} ms")
     print(f"warnings     {report['warnings_total']:.0f}  non-finite samples {report['nonfinite']['nonfinite_samples']}")
-    odometry = report["odometry"]
-    start = odometry["run_start_time"]
-    print(f"RUN start    {'never' if start is None else f'{start:.3f} s'}")
-
-    print(f"odometry     rms {fmt(odometry['rms_error'], 4)} m/s  max {fmt(odometry['max_error'], 4)} m/s")
+    start = report["run_start_time"]
+    print(f"task start   {'never' if start is None else f'{start:.3f} s'}")
 
-    for side in ("left_wheel", "right_wheel"):
-        wheel = report[side]
+    for label, wheel in report["wheels"].items():
         print(
-            f"{side:12} airborne {fmt(wheel['airborne_fraction'])}  "
+            f"{label + ' wheel':12} airborne {fmt(wheel['airborne_fraction'])}  "
             f"intervals {len(wheel['airborne_intervals'])}  "
             f"max|slip| {fmt(wheel['max_abs_slip'], 4)}  min penetration {fmt(wheel['min_penetration'], 6)}"
         )
 
+    for label, fraction in report["contact_fractions"].items():
+        print(f"{label + ' contact':12} fraction {fmt(fraction)}")
+
     z = report["z"]
     print(
         f"z            min {fmt(z['min'], 5)}  max {fmt(z['max'], 5)}  "
         f"final {fmt(z['final'], 5)}  settled {z['settle_time']}"
     )
     print(f"attitude     max|pitch| {fmt(report['max_abs_pitch_deg'])} deg  max|roll| {fmt(report['max_abs_roll_deg'])} deg")
-    saturation = report["ctrl_saturation_fraction"]
-    print(f"saturation   left {fmt(saturation['left'])}  right {fmt(saturation['right'])}")
-    print(f"base contact fraction {report['base_contact_fraction']}")
-    print(f"deceleration events   {len(report['deceleration_events'])}")
 
     maze = report["maze"]
     goal = "never" if maze["goal_time"] is None else f"{maze['goal_time']:.3f} s"
-    print(
-        f"goal         reached {maze['goal_reached']} at {goal}  "
-        f"true cell {maze['final_true_cell']}  grid cell {maze['final_grid_cell']}"
-    )
-    mismatch = "n/a" if maze["first_mismatch_time"] is None else f"{maze['first_mismatch_time']:.3f} s"
-    print(f"cell mismatch fraction {fmt(maze['cell_mismatch_fraction'])}  first at {mismatch}")
-
-    pose = report["odometry_pose_error"]
-    print(
-        f"odom pose    max {fmt(pose['max'], 4)} m at {fmt(pose['max_time'])} s  "
-        f"final {fmt(pose['final'], 4)} m  turn samples {len(pose['at_turn_starts'])}"
-    )
-
-    timeline = report["fsm_state"]
-
-    if timeline:
-        print("fsm          " + "  ".join(f"{entry['time']:.3f}s->{entry['state']}" for entry in timeline))
+    print(f"goal         reached {maze['goal_reached']} at {goal}  true cell {maze['final_true_cell']}")
 
     crash = report["crash"]
 
@@ -735,27 +595,40 @@ def summarize(report: dict) -> None:
             f"last complete tick {crash['last_complete_tick']} at {crash['last_complete_time']} s"
         )
 
+    extra = hook(plugin, "summarize")
+
+    if extra:
+        extra(report)
+
 
 def main() -> None:
-    parser = argparse.ArgumentParser(description="Analyse a micras_simulation run directory")
+    parser = argparse.ArgumentParser(description="Analyse a simulation run directory")
     parser.add_argument("run", type=Path)
     parser.add_argument("--t0", type=float, default=None)
     parser.add_argument("--t1", type=float, default=None)
+    parser.add_argument("--plugin", type=Path, default=None, help="analysis plugin to use instead of the target's")
     arguments = parser.parse_args()
 
     run = Run(arguments.run, arguments.t0, arguments.t1)
-    report = build_report(run)
+    plugin = load_plugin(run, arguments.plugin)
+    maze_path = resolve_maze(run)
+    report = build_report(run, maze_path, plugin)
     (arguments.run / "report.json").write_text(json.dumps(report, indent=2) + "\n")
 
-    run_start = report["odometry"]["run_start_time"]
-    plot_speeds(run, run_start, arguments.run / "speeds.png")
+    run_start = report["run_start_time"]
+    plot_speeds(run, run_start, plugin, arguments.run / "speeds.png")
     plot_contacts(run, run_start, arguments.run / "contacts.png")
     plot_attitude(run, run_start, arguments.run / "attitude.png")
-    plot_control(run, run_start, arguments.run / "control.png")
+    plot_actuators(run, run_start, arguments.run / "actuators.png")
     plot_wheels(run, run_start, arguments.run / "wheels.png")
-    plot_topdown(run, arguments.run / "topdown.png")
+    plot_topdown(run, maze_path, plugin, arguments.run / "topdown.png")
+
+    extra_plots = hook(plugin, "plots")
+
+    if extra_plots:
+        extra_plots(run, report, arguments.run)
 
-    summarize(report)
+    summarize(report, plugin)
 
 
 if __name__ == "__main__":
diff --git a/tools/baseline.py b/tools/baseline.py
new file mode 100644
index 0000000..88eab41
--- /dev/null
+++ b/tools/baseline.py
@@ -0,0 +1,189 @@
+#!/usr/bin/env python3
+"""Record and compare run baselines: a hash of the bytes and a summary with tolerances.
+
+A baseline is one ``summary.json`` per scenario:
+
+* ``data_sha256``: the hash of ``data.csv``. Equal hashes mean the run is byte
+  identical to the recorded one. A different hash is expected on another
+  machine (compiler, libm and the MuJoCo build all move the last bits), so it
+  only fails the comparison with ``--exact``.
+* ``states``: the state timeline from ``meta.json``, compared by name and, within
+  ``state_time`` seconds, by time.
+* ``values``: numbers that say how the run went, each with its tolerance in
+  ``tolerances``. The engine contributes the tick count, warnings, collisions
+  and when the goal was first reached; the robot's analysis plugin may add its
+  own through a ``baseline(report)`` hook returning ``{name: (value, tolerance)}``.
+
+The tolerances are written into the summary when it is recorded, so a reviewer
+sees them next to the values. ``record`` refuses to overwrite a summary: a new
+behaviour is a new baseline version, never a re-recording that makes a
+difference go away.
+
+Usage::
+
+    baseline.py record  <run> <baseline>/<scenario>
+    baseline.py compare <run> <baseline>/<scenario> [--exact]
+"""
+
+from __future__ import annotations
+
+import argparse
+import hashlib
+import json
+import sys
+from pathlib import Path
+
+sys.path.insert(0, str(Path(__file__).resolve().parent))
+
+import analyze  # noqa: E402
+
+#: Seconds a state change may move and still match.
+STATE_TIME_TOLERANCE = 0.25
+
+#: The engine's own values: name -> tolerance, None meaning exact.
+ENGINE_TOLERANCES = {
+    "ticks": None,
+    "warnings_total": None,
+    "unbound_ports": None,
+    "collisions": 2,
+    "goal_time": 1.0,
+    "stopped_at": 1.0,
+}
+
+
+def sha256(path: Path) -> str:
+    digest = hashlib.sha256()
+
+    with path.open("rb") as handle:
+        for block in iter(lambda: handle.read(1 << 20), b""):
+            digest.update(block)
+
+    return digest.hexdigest()
+
+
+def summarize(run_directory: Path) -> dict:
+    """Build the summary of one run from its files."""
+    run = analyze.Run(run_directory, None, None)
+    plugin = analyze.load_plugin(run, None)
+    report = analyze.build_report(run, analyze.resolve_maze(run), plugin)
+    meta = run.meta
+    collisions = [event for event in meta.get("events", []) if event.get("kind") == "collision"]
+    stopped_at = meta.get("stopped_at", -1)
+
+    values = {
+        "ticks": meta.get("ticks"),
+        "warnings_total": meta.get("warnings_total"),
+        "unbound_ports": meta.get("unbound_ports"),
+        "collisions": len(collisions),
+        "goal_time": report["maze"]["goal_time"],
+        "stopped_at": stopped_at if stopped_at is not None and stopped_at >= 0 else None,
+    }
+    tolerances = {"state_time": STATE_TIME_TOLERANCE, **ENGINE_TOLERANCES}
+    extra = analyze.hook(plugin, "baseline")
+
+    if extra:
+        for name, (value, tolerance) in extra(report).items():
+            values[name] = value
+            tolerances[name] = tolerance
+
+    return {
+        "target": meta.get("target"),
+        "scenario": meta.get("scenario_path"),
+        "args": meta.get("args"),
+        "firmware_sha": meta.get("firmware_sha"),
+        "mujoco_version": meta.get("mujoco_version"),
+        "compiler": meta.get("compiler"),
+        "data_sha256": sha256(run_directory / "data.csv"),
+        "states": [
+            [event["time"], event["detail"]] for event in meta.get("events", []) if event.get("kind") == "state"
+        ],
+        "values": values,
+        "tolerances": tolerances,
+    }
+
+
+def compare_value(name: str, got, want, tolerance) -> str | None:
+    """Describe how a value misses the recorded one, or None when it matches."""
+    if want is None or got is None:
+        return None if got is want else f"{name}: {got!r} != recorded {want!r}"
+
+    if tolerance is None:
+        return None if got == want else f"{name}: {got!r} != recorded {want!r}"
+
+    if abs(got - want) <= tolerance:
+        return None
+
+    return f"{name}: {got!r} is more than {tolerance} from recorded {want!r}"
+
+
+def compare(summary: dict, recorded: dict, exact: bool) -> tuple[list[str], list[str]]:
+    """Return (failures, notes) of a summary against the recorded one."""
+    failures: list[str] = []
+    notes: list[str] = []
+    tolerances = recorded.get("tolerances", {})
+
+    if summary["data_sha256"] == recorded["data_sha256"]:
+        notes.append("data.csv is byte identical to the recorded run")
+    elif exact:
+        failures.append("data.csv differs from the recorded run's bytes")
+    else:
+        notes.append("data.csv bytes differ from the recorded run; comparing the summary")
+
+    got_names = [name for _, name in summary["states"]]
+    want_names = [name for _, name in recorded["states"]]
+
+    if got_names != want_names:
+        failures.append(f"state sequence {got_names} != recorded {want_names}")
+    else:
+        window = tolerances.get("state_time", STATE_TIME_TOLERANCE)
+
+        for (got_time, name), (want_time, _) in zip(summary["states"], recorded["states"]):
+            if abs(got_time - want_time) > window:
+                failures.append(f"state {name} at {got_time} s, recorded at {want_time} s")
+
+    for name, want in recorded["values"].items():
+        problem = compare_value(name, summary["values"].get(name), want, tolerances.get(name))
+
+        if problem:
+            failures.append(problem)
+
+    return failures, notes
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    parser.add_argument("action", choices=("record", "compare"))
+    parser.add_argument("run", type=Path)
+    parser.add_argument("baseline", type=Path, help="the scenario's folder in a baseline version")
+    parser.add_argument("--exact", action="store_true", help="also fail when the bytes differ")
+    arguments = parser.parse_args()
+
+    summary = summarize(arguments.run)
+    path = arguments.baseline / "summary.json"
+
+    if arguments.action == "record":
+        if path.exists():
+            print(f"FAIL {path} already exists; record a new baseline version instead")
+            return 1
+
+        path.parent.mkdir(parents=True, exist_ok=True)
+        path.write_text(json.dumps(summary, indent=2) + "\n")
+        print(f"ok   recorded {path}")
+        return 0
+
+    failures, notes = compare(summary, json.loads(path.read_text()), arguments.exact)
+
+    for note in notes:
+        print(f"     {arguments.run}: {note}")
+
+    if failures:
+        for failure in failures:
+            print(f"FAIL {arguments.run}: {failure}")
+        return 1
+
+    print(f"ok   {arguments.run} matches {arguments.baseline}")
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/tools/check_config_drift.py b/tools/check_config_drift.py
deleted file mode 100755
index 5976a3a..0000000
--- a/tools/check_config_drift.py
+++ /dev/null
@@ -1,349 +0,0 @@
-#!/usr/bin/env python3
-"""Compare the harness config headers against the firmware ones, field by field.
-
-``config/constants.hpp`` and ``config/target.hpp`` are copies of
-``MicrasFirmware/config/*.hpp`` that the harness is allowed to diverge from --
-but only in the ways that are written down. This script re-derives the diff on
-every run so that an unintended edit (or a firmware submodule bump) cannot slip
-through unnoticed.
-
-Parsing is a deliberately small brace scanner over designated initialisers
-(``.name = value``) and ``constexpr T name{value}`` declarations. It is not a
-C++ parser: anything it cannot evaluate to a number is skipped rather than
-guessed at.
-
-Exit code 0 when every difference is allowlisted below, 1 otherwise.
-"""
-
-from __future__ import annotations
-
-import argparse
-import re
-import sys
-from pathlib import Path
-
-# --------------------------------------------------------------------------
-# Allowlists
-# --------------------------------------------------------------------------
-
-#: constants.hpp divergences documented in the file-level @note of
-#: config/constants.hpp. Keys are dotted paths, values are the reason.
-CONSTANTS_ALLOWLIST: dict[str, str] = {
-    "crash_acceleration": "1e6 disables crash detection; simulated contacts trip the real 35 m/s^2 threshold",
-    "speed_controller_config.linear_pid.kp": "firmware kp rescaled to sim command units by the linear feed-forward ratio 102 / 12.706",
-    "speed_controller_config.linear_pid.ki": "10x the firmware ki so the integral closes inside one action, see the constants.hpp @note",
-    "speed_controller_config.angular_pid.kp": "firmware kp rescaled to sim command units by the angular feed-forward ratio 4.9 / 0.971",
-    "speed_controller_config.angular_pid.ki": "10x the firmware ki so the integral closes inside a 1.6 s pivot, see the constants.hpp @note",
-    "speed_controller_config.left_feed_forward.linear_speed": "calibrated to the MuJoCo motor (1.01 m/s no load at ctrl=100)",
-    "speed_controller_config.right_feed_forward.linear_speed": "calibrated to the MuJoCo motor (1.01 m/s no load at ctrl=100)",
-    "follow_wall_config.pid.kp": "simulated rangefinders report metres, not raw ADC counts",
-    "follow_wall_config.pid.kd": "damping for the metre-scale rangefinder error, see the constants.hpp @note",
-    "follow_wall_config.pid.saturation": "the lateral loop must stay proportional out to a full half corridor, see the constants.hpp @note",
-    "follow_wall_config.post_threshold": "simulated rangefinders report metres, not raw ADC counts",
-    "odometry_config.linear_cutoff_frequency": "simulated encoders carry no noise to filter out",
-}
-
-#: Further constants.hpp divergences that exist today but are NOT described in
-#: the config/constants.hpp @note. They are listed explicitly so the check stays
-#: actionable instead of red by default; each one still needs a decision:
-#: either document it as intentional in the @note and move it above, or restore
-#: the firmware value. Do not extend this block -- new drift belongs in a bug
-#: report, not here.
-CONSTANTS_PENDING_REVIEW: dict[str, str] = {
-    "wall_thickness": "geometry: matches models/maze.xml, not the real maze",
-    "start_offset": "geometry: matches models/robot_legacy.xml start pose",
-    "max_angular_acceleration": "ROS-sim motion budget",
-    "action_queuer_config.curve_safety_margin": "ROS-sim motion budget",
-    "action_queuer_config.exploring.max_linear_speed": "ROS-sim motion budget",
-    "action_queuer_config.exploring.max_linear_acceleration": "ROS-sim motion budget",
-    "action_queuer_config.exploring.max_linear_deceleration": "ROS-sim motion budget",
-    "action_queuer_config.exploring.max_centrifugal_acceleration": "sets the 45 mm exploring curve radius that clears the 167.4 mm corridor",
-    "action_queuer_config.exploring.max_angular_acceleration": "ROS-sim motion budget",
-    "action_queuer_config.solving.max_linear_speed": "ROS-sim motion budget",
-    "action_queuer_config.solving.max_linear_acceleration": "ROS-sim motion budget",
-    "action_queuer_config.solving.max_linear_deceleration": "ROS-sim motion budget",
-    "action_queuer_config.solving.max_centrifugal_acceleration": "ROS-sim motion budget",
-    "action_queuer_config.solving.max_angular_acceleration": "ROS-sim motion budget",
-    "follow_wall_config.max_angular_acceleration": "follows max_angular_acceleration above",
-    "follow_wall_config.post_clearance": "follow-wall retuned for the metre-scale rangefinders",
-    "odometry_config.wheel_radius": "geometry: matches the wheel geom in models/robot_legacy.xml",
-    "speed_controller_config.linear_pid.saturation": "paired with the retuned PID gains",
-    "speed_controller_config.angular_pid.saturation": "paired with the retuned PID gains",
-    "speed_controller_config.left_feed_forward.linear_acceleration": "feed forward calibrated to the MuJoCo motor",
-    "speed_controller_config.left_feed_forward.angular_speed": "feed forward calibrated to the MuJoCo motor",
-    "speed_controller_config.left_feed_forward.angular_acceleration": "feed forward calibrated to the MuJoCo motor",
-    "speed_controller_config.right_feed_forward.linear_acceleration": "feed forward calibrated to the MuJoCo motor",
-    "speed_controller_config.right_feed_forward.angular_speed": "feed forward calibrated to the MuJoCo motor",
-    "speed_controller_config.right_feed_forward.angular_acceleration": "feed forward calibrated to the MuJoCo motor",
-}
-
-#: Field names compared between the two target.hpp files. The two headers are
-#: structurally unrelated (ours names MuJoCo entities, the firmware's names STM32
-#: peripherals), so only these numeric leaves are meaningful.
-TARGET_FIELDS: tuple[str, ...] = (
-    "long_press_delay",
-    "extra_long_press_delay",
-    "base_readings.0",
-    "base_readings.1",
-    "base_readings.2",
-    "base_readings.3",
-    "uncertainty",
-    "max_sensor_reading",
-    "min_sensor_reading",
-    "max_sensor_distance",
-    "filter_cutoff",
-    "max_voltage",
-    "deadzone",
-    "max_stopped_command",
-    "max_acceleration",
-)
-
-#: target.hpp divergences that are intentional.
-TARGET_ALLOWLIST: dict[str, str] = {
-    "wall_sensors_config.base_readings.0": "MuJoCo rangefinders report metres, the real sensors report normalised ADC counts",
-    "wall_sensors_config.base_readings.1": "MuJoCo rangefinders report metres, the real sensors report normalised ADC counts",
-    "wall_sensors_config.base_readings.2": "MuJoCo rangefinders report metres, the real sensors report normalised ADC counts",
-    "wall_sensors_config.base_readings.3": "MuJoCo rangefinders report metres, the real sensors report normalised ADC counts",
-    "wall_sensors_config.filter_cutoff": "noise free simulated rangefinders need much less filtering",
-    "battery_config.max_voltage": "the harness battery is a constant, the firmware derives it from a divider",
-}
-
-# --------------------------------------------------------------------------
-# Parsing
-# --------------------------------------------------------------------------
-
-COMMENT_BLOCK = re.compile(r"/\*.*?\*/", re.S)
-COMMENT_LINE = re.compile(r"//[^\n]*")
-PREPROCESSOR = re.compile(r"^\s*#[^\n]*$", re.M)
-ASSIGNMENT = re.compile(r"^\.?([A-Za-z_]\w*)\s*=\s*(.+)$", re.S)
-DECLARATION = re.compile(r"([A-Za-z_]\w*)\s*=?\s*$")
-NUMERIC_SUFFIX = re.compile(r"(?<=[\d.])[FfUuLl]+\b")
-
-
-class Node:
-    """One brace-delimited initialiser block."""
-
-    def __init__(self, label: str | None):
-        self.label = label
-        self.entries: list[tuple[str | None, str | Node]] = []
-
-
-def strip_comments(text: str) -> str:
-    text = COMMENT_BLOCK.sub(" ", text)
-    text = COMMENT_LINE.sub(" ", text)
-    return PREPROCESSOR.sub(" ", text)
-
-
-def parse(text: str) -> Node:
-    """Turn a config header into a tree of initialiser blocks."""
-    root = Node(None)
-    stack = [root]
-    buffer = ""
-
-    def flush() -> None:
-        nonlocal buffer
-        item = buffer.strip()
-        buffer = ""
-
-        if not item:
-            return
-
-        match = ASSIGNMENT.match(item)
-
-        if match:
-            stack[-1].entries.append((match.group(1), match.group(2).strip()))
-        else:
-            stack[-1].entries.append((None, item))
-
-    for character in strip_comments(text):
-        if character == "{":
-            match = ASSIGNMENT.match(buffer.strip()) or DECLARATION.search(buffer.strip())
-            label = match.group(1) if match else None
-            buffer = ""
-            node = Node(label)
-            stack[-1].entries.append((label, node))
-            stack.append(node)
-        elif character == "}":
-            flush()
-
-            if len(stack) > 1:
-                stack.pop()
-        elif character in ",;":
-            flush()
-        else:
-            buffer += character
-
-    flush()
-    return root
-
-
-def evaluate(expression: str, symbols: dict[str, float]) -> float | None:
-    """Evaluate a numeric literal or a small arithmetic expression, else None."""
-    cleaned = NUMERIC_SUFFIX.sub("", expression).strip()
-
-    if not cleaned or not re.fullmatch(r"[\w\s.+\-*/()]+", cleaned):
-        return None
-
-    try:
-        value = eval(cleaned, {"__builtins__": {}}, dict(symbols))  # noqa: S307
-    except Exception:
-        return None
-
-    return float(value) if isinstance(value, (int, float)) and not isinstance(value, bool) else None
-
-
-def flatten(node: Node, prefix: str, symbols: dict[str, float], out: dict[str, float]) -> None:
-    anonymous = 0
-
-    for name, value in node.entries:
-        if isinstance(value, Node):
-            if value.label:
-                key = f"{prefix}.{value.label}" if prefix else value.label
-            else:
-                key = f"{prefix}.{anonymous}" if prefix else str(anonymous)
-                anonymous += 1
-
-            # constexpr float cell_size{0.18}: a block with one anonymous scalar.
-            if len(value.entries) == 1 and value.entries[0][0] is None and isinstance(value.entries[0][1], str):
-                number = evaluate(value.entries[0][1], symbols)
-
-                if number is not None:
-                    out[key] = number
-                    continue
-
-            flatten(value, key, symbols, out)
-            continue
-
-        if name is None:
-            key = f"{prefix}.{anonymous}" if prefix else str(anonymous)
-            anonymous += 1
-        else:
-            key = f"{prefix}.{name}" if prefix else name
-
-        number = evaluate(value, symbols)
-
-        if number is not None:
-            out[key] = number
-
-
-#: The whole file lives inside `namespace micras`, which the scanner sees as an
-#: outer block; its label carries no information.
-NAMESPACE_PREFIX = "micras."
-
-
-def strip_namespace(mapping: dict[str, float]) -> dict[str, float]:
-    return {
-        key[len(NAMESPACE_PREFIX) :] if key.startswith(NAMESPACE_PREFIX) else key: value
-        for key, value in mapping.items()
-    }
-
-
-def fields(path: Path) -> dict[str, float]:
-    """Parse a config header into a dotted-path -> number mapping."""
-    tree = parse(path.read_text())
-
-    # Two passes: the first collects the top level constants so that the second
-    # can evaluate expressions such as `0.44F * cell_size`.
-    scalars: dict[str, float] = {}
-    flatten(tree, "", {}, scalars)
-    symbols = {key: value for key, value in strip_namespace(scalars).items() if "." not in key}
-
-    resolved: dict[str, float] = {}
-    flatten(tree, "", symbols, resolved)
-    return strip_namespace(resolved)
-
-
-# --------------------------------------------------------------------------
-# Reporting
-# --------------------------------------------------------------------------
-
-
-def compare(
-    ours: dict[str, float],
-    theirs: dict[str, float],
-    allowlist: dict[str, str],
-    keep: tuple[str, ...] | None,
-) -> list[tuple[str, float, float, str | None]]:
-    """Return (path, ours, firmware, reason) for every field that differs."""
-    differences = []
-
-    for key, value in sorted(ours.items()):
-        if key not in theirs:
-            continue
-
-        if keep is not None and not any(key == leaf or key.endswith("." + leaf) for leaf in keep):
-            continue
-
-        if value == theirs[key]:
-            continue
-
-        differences.append((key, value, theirs[key], allowlist.get(key)))
-
-    return differences
-
-
-def report(title: str, differences: list[tuple[str, float, float, str | None]], pending: dict[str, str]) -> int:
-    print(f"== {title}")
-
-    if not differences:
-        print("   no differences")
-        return 0
-
-    width = max(len(key) for key, _, _, _ in differences)
-    unlisted = 0
-    todo = 0
-
-    for key, ours, theirs, reason in differences:
-        if reason is None:
-            status = "NEW "
-            unlisted += 1
-        elif key in pending:
-            status = "TODO"
-            todo += 1
-        else:
-            status = "ok  "
-
-        print(f"   {status} {key:<{width}}  harness {ours:<12g} firmware {theirs:<12g}  {reason or 'NOT ALLOWLISTED'}")
-
-    print(f"   {len(differences)} difference(s), {todo} pending review, {unlisted} not allowlisted")
-    return unlisted
-
-
-def main() -> int:
-    parser = argparse.ArgumentParser(description=__doc__)
-    parser.add_argument("--root", type=Path, default=Path(__file__).resolve().parent.parent)
-    arguments = parser.parse_args()
-
-    root: Path = arguments.root
-    firmware = root / "MicrasFirmware" / "config"
-
-    constants = compare(
-        fields(root / "config" / "constants.hpp"),
-        fields(firmware / "constants.hpp"),
-        CONSTANTS_ALLOWLIST | CONSTANTS_PENDING_REVIEW,
-        None,
-    )
-    target = compare(
-        fields(root / "config" / "target.hpp"),
-        fields(firmware / "target.hpp"),
-        TARGET_ALLOWLIST,
-        TARGET_FIELDS,
-    )
-
-    unlisted = report("constants.hpp", constants, CONSTANTS_PENDING_REVIEW) + report("target.hpp", target, {})
-
-    if unlisted:
-        print(f"\nFAIL: {unlisted} unlisted difference(s); document them or restore the firmware value")
-        return 1
-
-    pending = sum(1 for key, _, _, _ in constants if key in CONSTANTS_PENDING_REVIEW)
-
-    if pending:
-        print(f"\nOK: every difference is allowlisted ({pending} still marked TODO, pending review)")
-    else:
-        print("\nOK: every difference is allowlisted")
-    return 0
-
-
-if __name__ == "__main__":
-    sys.exit(main())
diff --git a/tools/check_run.py b/tools/check_run.py
index 9dcb581..4b5685c 100755
--- a/tools/check_run.py
+++ b/tools/check_run.py
@@ -7,12 +7,12 @@
 * ``warnings_total`` is 0 (no MuJoCo solver or constraint warnings),
 * no non-finite samples (the ``*_penetration`` NaN sentinel is excluded by
   ``analyze.py`` itself, every other NaN is a defect),
-* exactly ``--pool-columns`` firmware pool CSV columns were decoded (custom
-  serializable variables expand into one column per field, so this counts
-  columns and not pool variables),
-* the telemetry decoder never had to resynchronise,
-* every tick that was asked for actually ran,
-* nobody reached into the run through a window.
+* every tick that was asked for actually ran, unless the scenario's stop
+  condition ended the run,
+* nobody reached into the run through a window or a monitor,
+* each ``--expect key=value`` holds for the robot target's own ``meta.json``
+  fields, for example ``unbound_ports=0``,
+* with ``--expect-state NAME``, the last state the run logged is NAME.
 
 Exit code 0 when every run passes, 1 otherwise.
 """
@@ -25,7 +25,7 @@
 from pathlib import Path
 
 
-def check(run: Path, pool_columns: int) -> list[str]:
+def check(run: Path, expected: dict[str, int], state: str | None = None) -> list[str]:
     """Return the list of failures for one run directory."""
     failures: list[str] = []
 
@@ -45,18 +45,23 @@ def check(run: Path, pool_columns: int) -> list[str]:
     if meta.get("warnings_total") != 0:
         failures.append(f"warnings_total is {meta.get('warnings_total')}, expected 0")
 
-    if meta.get("pool_columns") != pool_columns:
-        failures.append(f"pool_columns is {meta.get('pool_columns')}, expected {pool_columns}")
-
-    if meta.get("telemetry_resyncs", 0) != 0:
-        failures.append(f"telemetry_resyncs is {meta.get('telemetry_resyncs')}, expected 0")
+    for key, value in expected.items():
+        if meta.get(key) != value:
+            failures.append(f"{key} is {meta.get(key)!r}, expected {value}")
 
     if meta.get("interactive") is not False:
         failures.append(f"interactive is {meta.get('interactive')!r}; an interactive run is not reproducible")
 
-    if meta.get("ticks") != meta.get("requested_ticks"):
+    stopped = meta.get("stopped_at", -1) is not None and meta.get("stopped_at", -1) >= 0
+
+    if meta.get("ticks") != meta.get("requested_ticks") and not stopped:
         failures.append(f"only {meta.get('ticks')} of {meta.get('requested_ticks')} ticks ran")
 
+    states = [event["detail"] for event in meta.get("events", []) if event.get("kind") == "state"]
+
+    if state is not None and (not states or states[-1] != state):
+        failures.append(f"the last state is {states[-1] if states else None!r}, expected {state}")
+
     nonfinite = report.get("nonfinite", {})
 
     if nonfinite.get("nonfinite_samples", 0) != 0:
@@ -71,13 +76,21 @@ def check(run: Path, pool_columns: int) -> list[str]:
 def main() -> int:
     parser = argparse.ArgumentParser(description=__doc__)
     parser.add_argument("runs", type=Path, nargs="+")
-    parser.add_argument("--pool-columns", type=int, default=29)
+    parser.add_argument(
+        "--expect", action="append", default=[], metavar="KEY=VALUE", help="an integer meta.json field that must hold"
+    )
+    parser.add_argument("--expect-state", default=None, metavar="NAME", help="the state every run must end in")
     arguments = parser.parse_args()
+    expected = {}
+
+    for item in arguments.expect:
+        key, _, value = item.partition("=")
+        expected[key] = int(value)
 
     failed = 0
 
     for run in arguments.runs:
-        failures = check(run, arguments.pool_columns)
+        failures = check(run, expected, arguments.expect_state)
 
         if failures:
             failed += 1
diff --git a/tools/compare_run.py b/tools/compare_run.py
index e2b02a6..7dae2c2 100755
--- a/tools/compare_run.py
+++ b/tools/compare_run.py
@@ -1,10 +1,13 @@
 #!/usr/bin/env python3
-"""Compare a run directory against a baseline run.
+"""Compare two run directories made on the same machine.
 
 data.csv is compared byte for byte, or, with --columns-subset, on every column
-the baseline has (new columns may only be appended at the end). meta.json is
+the reference has (new columns may only be appended at the end). meta.json is
 compared on the behaviour fields only; provenance such as compiler or arguments
-is ignored. Baseline files may be gzip compressed (data.csv.gz).
+is ignored. Either file may be gzip compressed (data.csv.gz).
+
+This is how a window, a monitor or a video is proven to change nothing. The
+stored baselines are summaries, compared by ``tools/baseline.py``.
 """
 
 import argparse
@@ -15,15 +18,24 @@
 
 BEHAVIOUR_FIELDS = (
     "model_sha256",
+    "robot_sha256",
+    "firmware_sha",
+    "seed",
+    "ideal",
     "loop_time_us",
     "timestep",
     "steps_per_tick",
+    "record_every",
     "ticks",
     "sim_time",
+    "stopped_at",
     "final_z",
-    "pool_columns",
-    "telemetry_resyncs",
     "warnings_total",
+    "unbound_ports",
+    "watchdog_expiries",
+    "emergency_stops",
+    "serial_dropped_bytes",
+    "events",
 )
 
 
diff --git a/models/gen_maze.py b/tools/gen_maze.py
similarity index 100%
rename from models/gen_maze.py
rename to tools/gen_maze.py
diff --git a/tools/monitor_probe.py b/tools/monitor_probe.py
deleted file mode 100755
index d0bf905..0000000
--- a/tools/monitor_probe.py
+++ /dev/null
@@ -1,201 +0,0 @@
-#!/usr/bin/env python3
-"""Connect to the harness monitor bridge and report what the firmware is saying.
-
-A minimal WebSocket client, written by hand so the check has no dependencies:
-it performs the upgrade handshake, reads binary frames, decodes the firmware
-packets in them and prints how many arrived and which variables they carried.
-Used by `just check-monitor` to prove the bridge works end to end.
-"""
-
-import argparse
-import base64
-import os
-import socket
-import struct
-import sys
-import time
-
-HEADER = 0x42
-TAIL = 0x7F
-ESCAPE = 0x7D
-MAP_REQUEST = 0x02
-MAP_RESPONSE = 0x03
-VARIABLE = 0x04
-
-
-def handshake(sock: socket.socket, host: str, port: int) -> None:
-    """Perform the WebSocket upgrade and consume the response headers."""
-    key = base64.b64encode(os.urandom(16)).decode()
-    request = (
-        f"GET / HTTP/1.1\r\nHost: {host}:{port}\r\nUpgrade: websocket\r\n"
-        f"Connection: Upgrade\r\nSec-WebSocket-Key: {key}\r\nSec-WebSocket-Version: 13\r\n\r\n"
-    )
-    sock.sendall(request.encode())
-
-    response = b""
-    while b"\r\n\r\n" not in response:
-        chunk = sock.recv(4096)
-        if not chunk:
-            raise ConnectionError("the server closed during the handshake")
-        response += chunk
-
-    if b"101" not in response.split(b"\r\n", 1)[0]:
-        raise ConnectionError(f"the server refused the upgrade: {response.split(b'\r\n', 1)[0]!r}")
-
-
-def read_exactly(sock: socket.socket, count: int) -> bytes:
-    """Read exactly count bytes, or raise if the connection ends first."""
-    data = b""
-    while len(data) < count:
-        chunk = sock.recv(count - len(data))
-        if not chunk:
-            raise ConnectionError("the server closed mid frame")
-        data += chunk
-    return data
-
-
-def read_frame(sock: socket.socket) -> bytes:
-    """Read one unmasked server frame and return its payload."""
-    first, second = read_exactly(sock, 2)
-    length = second & 0x7F
-
-    if length == 126:
-        length = struct.unpack("!H", read_exactly(sock, 2))[0]
-    elif length == 127:
-        length = struct.unpack("!Q", read_exactly(sock, 8))[0]
-
-    payload = read_exactly(sock, length) if length else b""
-    return payload if (first & 0x0F) == 0x02 else b""
-
-
-def serialize(message_type: int, identifier: int = 0, payload: bytes = b"\x00") -> bytes:
-    """Build one firmware packet, exactly as comm::Packet::serialize does.
-
-    Fields are big endian, an escaped byte is kept as is after the escape byte
-    rather than xored, and the checksum sums everything but the header.
-    """
-    escaped = bytearray()
-    for byte in payload:
-        if byte in (HEADER, TAIL, ESCAPE):
-            escaped.append(ESCAPE)
-        escaped.append(byte)
-
-    body = bytes([HEADER, message_type, identifier >> 8, identifier & 0xFF, len(payload) >> 8, len(payload) & 0xFF])
-    body += bytes(escaped)
-    checksum = sum(body[1:]) & 0xFF
-    if checksum in (HEADER, TAIL, ESCAPE):
-        checksum += 1
-    return body + bytes([checksum, TAIL])
-
-
-def send_frame(sock: socket.socket, payload: bytes) -> None:
-    """Send one masked binary frame, as a client must."""
-    mask = os.urandom(4)
-    masked = bytes(byte ^ mask[index % 4] for index, byte in enumerate(payload))
-    header = bytes([0x82])
-
-    if len(payload) < 126:
-        header += bytes([0x80 | len(payload)])
-    elif len(payload) < (1 << 16):
-        header += bytes([0x80 | 126]) + struct.pack("!H", len(payload))
-    else:
-        header += bytes([0x80 | 127]) + struct.pack("!Q", len(payload))
-
-    sock.sendall(header + mask + masked)
-
-
-def packets(stream: bytearray) -> list[tuple[int, int]]:
-    """Pull every complete packet out of the stream, returning type and id."""
-    found = []
-    index = 0
-    consumed = 0
-
-    while index < len(stream):
-        if stream[index] != HEADER or index + 6 > len(stream):
-            index += 1
-            continue
-
-        end = index + 6
-        while end < len(stream):
-            if stream[end] == ESCAPE:
-                end += 2
-                continue
-            if stream[end] == TAIL:
-                break
-            end += 1
-
-        if end >= len(stream):
-            break
-
-        found.append((stream[index + 1], (stream[index + 2] << 8) | stream[index + 3]))
-        index = end + 1
-        consumed = index
-
-    del stream[:consumed]
-    return found
-
-
-def main() -> int:
-    parser = argparse.ArgumentParser(description=__doc__)
-    parser.add_argument("--host", default="localhost")
-    parser.add_argument("--port", type=int, default=8080)
-    parser.add_argument("--connect-timeout", type=float, default=10.0)
-    parser.add_argument("--listen-seconds", type=float, default=3.0)
-    parser.add_argument("--expect-packets", type=int, default=1)
-    parser.add_argument(
-        "--request-map", action="store_true", help="ask the firmware for its variable map, as the monitor does"
-    )
-    arguments = parser.parse_args()
-
-    deadline = time.monotonic() + arguments.connect_timeout
-    sock = None
-
-    while time.monotonic() < deadline:
-        try:
-            sock = socket.create_connection((arguments.host, arguments.port), timeout=1.0)
-            break
-        except OSError:
-            time.sleep(0.05)
-
-    if sock is None:
-        print(f"FAIL could not reach ws://{arguments.host}:{arguments.port}")
-        return 1
-
-    with sock:
-        handshake(sock, arguments.host, arguments.port)
-        sock.settimeout(arguments.listen_seconds)
-
-        if arguments.request_map:
-            send_frame(sock, serialize(MAP_REQUEST))
-
-        stream = bytearray()
-        seen = []
-        stop = time.monotonic() + arguments.listen_seconds
-
-        while time.monotonic() < stop:
-            try:
-                stream += read_frame(sock)
-            except (TimeoutError, socket.timeout, ConnectionError):
-                break
-            seen += packets(stream)
-
-        kinds = {}
-        for kind, _ in seen:
-            kinds[kind] = kinds.get(kind, 0) + 1
-
-        print(f"packets={len(seen)} by_type={kinds}")
-
-        if len(seen) < arguments.expect_packets:
-            print(f"FAIL expected at least {arguments.expect_packets} packet(s)")
-            return 1
-
-        if arguments.request_map and MAP_RESPONSE not in kinds:
-            print("FAIL the firmware never answered the variable map request")
-            return 1
-
-    print("ok   the monitor bridge is talking")
-    return 0
-
-
-if __name__ == "__main__":
-    sys.exit(main())
diff --git a/tools/run_stats.py b/tools/run_stats.py
deleted file mode 100755
index 5c2ff67..0000000
--- a/tools/run_stats.py
+++ /dev/null
@@ -1,99 +0,0 @@
-#!/usr/bin/env python3
-"""Compact per-run metrics for the harness iteration table.
-
-Reports, for one or more run directories: goal_reached / goal_time and the
-first ERROR time (from report.json, so analyze.py must have run first), the
-odometry pose error, the post-correction events detected as jumps of the
-believed pose, the base-geom contact fraction and the wheel slip.
-
-A post correction is a tick where the believed pose jumps by more than
-``--jump`` metres in a single tick; ``FollowWall::clear_position_error`` is the
-only thing that writes the pose outside the integration, so every such jump is
-one correction. For each one the script prints the true cell advance, that is
-the ground-truth travel along the heading since the last cell boundary, modulo
-the cell size, which is the quantity ``post_reference`` is supposed to match.
-"""
-
-import json
-import math
-import sys
-
-import numpy as np
-
-CELL = 0.18
-
-
-def load(run):
-    with open(f"{run}/data.csv") as handle:
-        names = handle.readline().strip().split(",")
-    data = np.loadtxt(f"{run}/data.csv", delimiter=",", skiprows=1)
-    return {name: data[:, i] for i, name in enumerate(names)}
-
-
-def stats(run, jump):
-    col = load(run)
-    time = col["sim_time"]
-    true_x, true_y, yaw = col["x"], col["y"], col["yaw"]
-    bel_x, bel_y = col["odometry_state_x"], col["odometry_state_y"]
-    error = np.hypot(bel_x - true_x, bel_y - true_y)
-
-    step = np.hypot(np.diff(bel_x), np.diff(bel_y))
-    events = np.flatnonzero(step > jump) + 1
-
-    posts = []
-    for i in events:
-        # Travel along the heading inside the current cell, which is what the
-        # post reference is measured against.
-        advance = (true_x[i] * math.cos(yaw[i]) + true_y[i] * math.sin(yaw[i])) % CELL
-        posts.append(
-            {
-                "t": round(float(time[i]), 3),
-                "advance_mm": round(float(advance) * 1000, 1),
-                "error_before_mm": round(float(error[i - 1]) * 1000, 1),
-                "error_after_mm": round(float(error[i]) * 1000, 1),
-            }
-        )
-
-    worse = sum(1 for p in posts if p["error_after_mm"] > p["error_before_mm"])
-
-    with open(f"{run}/report.json") as handle:
-        report = json.load(handle)
-    maze = report.get("maze", {})
-    fsm = report.get("fsm_state", [])
-    error_time = next((t["time"] for t in fsm if t.get("state") == 6), None)
-
-    wheels = {
-        side: {
-            "airborne_fraction": round(report[f"{side}_wheel"]["airborne_fraction"], 4),
-            "max_abs_slip": round(report[f"{side}_wheel"]["max_abs_slip"], 3),
-        }
-        for side in ("left", "right")
-    }
-    return {
-        "run": run,
-        "goal_reached": maze.get("goal_reached"),
-        "goal_time": maze.get("goal_time"),
-        "error_time": error_time,
-        "odometry_error_max_mm": round(float(error.max()) * 1000, 1),
-        "odometry_error_final_mm": round(float(error[-1]) * 1000, 1),
-        "post_corrections": len(posts),
-        "post_corrections_worse": worse,
-        "post_advance_mm": [p["advance_mm"] for p in posts],
-        "posts": posts,
-        "base_contact_fraction": round(float((col["base_ncon"] > 0).mean()), 4),
-        "wheels": wheels,
-    }
-
-
-def main():
-    args = [a for a in sys.argv[1:] if not a.startswith("--")]
-    jump = 0.003
-    for a in sys.argv[1:]:
-        if a.startswith("--jump="):
-            jump = float(a.split("=", 1)[1])
-    for run in args:
-        print(json.dumps(stats(run, jump), indent=2))
-
-
-if __name__ == "__main__":
-    main()
diff --git a/tools/turn_stats.py b/tools/turn_stats.py
deleted file mode 100755
index 45e7957..0000000
--- a/tools/turn_stats.py
+++ /dev/null
@@ -1,251 +0,0 @@
-#!/usr/bin/env python3
-"""Per-turn geometry table for one run.
-
-A *turn* is a contiguous interval where ``|desired_angular_speed| > 0.5``.
-For each one the script reports, from ground truth only:
-
-- the type guessed from the integrated commanded angle (``turn90`` or ``spin``),
-- the lateral offset from the corridor centre line and the heading error at the
-  moment the turn starts, both measured against the cell grid
-  (cell centre = ``(i + 0.5) * cell_size``),
-- where along the cell the turn starts, signed, relative to the centre of the
-  cell the robot is in: ``ActionQueuer`` queues ``move_to_turn`` of
-  ``cell_size / 2 - curve_radius`` before the curve, so the nominal value is
-  ``-curve_radius`` (-45 mm with the current constants),
-- the executed radius ``v_forward / wz_body`` (median over the interval) and the
-  executed versus commanded angle,
-- the smallest distance from the chassis footprint to any wall over the turn and
-  over the 0.3 s that follow it, and
-- whether the chassis geom touched anything (``base_ncon > 0``) or any wall
-  sensor saturated within 0.3 s of the end of the turn.
-
-The chassis footprint is the ``base`` mesh of ``models/robot_v2.xml`` projected
-on the floor: a hexagon 66 mm wide spanning -33..+66 mm in body y.  Walls are
-rebuilt from ``models/maze.txt`` with the thickness the generator uses
-(12.6 mm), posts included at every lattice point.
-"""
-
-import json
-import math
-import sys
-
-import numpy as np
-
-CELL = 0.18
-WALL_HALF = 0.0063
-TURN_GATE = 0.5          # rad/s, the |desired_angular_speed| threshold
-SENSOR_SATURATION = 0.5  # wall sensor reading counted as "against the wall"
-AFTER = 0.3              # s, the window looked at after a turn
-MIN_ANGLE = math.pi / 4  # rad, below this the interval is a steering correction
-
-# base mesh footprint, body frame, x right / y forward, metres
-CHASSIS = np.array(
-    [
-        (0.031, -0.033),
-        (0.033, 0.041),
-        (0.0155, 0.066),
-        (-0.0155, 0.066),
-        (-0.033, 0.041),
-        (-0.031, -0.033),
-    ]
-)
-
-
-def load(run):
-    with open(f"{run}/data.csv") as handle:
-        names = handle.readline().strip().split(",")
-    data = np.loadtxt(f"{run}/data.csv", delimiter=",", skiprows=1)
-    return {name: data[:, i] for i, name in enumerate(names)}
-
-
-def parse_maze(path):
-    """Return the wall rectangles of the maze as (xmin, xmax, ymin, ymax)."""
-    with open(path) as handle:
-        lines = [line.rstrip("\n") for line in handle if line.strip()]
-
-    width = (len(lines[0]) - 1) // 4
-    height = (len(lines) - 1) // 2
-    rects = []
-
-    # text row 0 is the top of the maze, so y increases upwards through lines
-    for row, line in enumerate(lines):
-        y = (height - row / 2.0) * CELL
-        if row % 2 == 0:  # horizontal walls
-            for i in range(width):
-                if line[4 * i + 1 : 4 * i + 4] == "---":
-                    rects.append(
-                        (i * CELL + WALL_HALF, (i + 1) * CELL - WALL_HALF, y - WALL_HALF, y + WALL_HALF)
-                    )
-        else:  # vertical walls
-            for i in range(width + 1):
-                if 4 * i < len(line) and line[4 * i] == "|":
-                    rects.append(
-                        (i * CELL - WALL_HALF, i * CELL + WALL_HALF, y - CELL / 2, y + CELL / 2)
-                    )
-
-    for i in range(width + 1):
-        for j in range(height + 1):
-            rects.append(
-                (i * CELL - WALL_HALF, i * CELL + WALL_HALF, j * CELL - WALL_HALF, j * CELL + WALL_HALF)
-            )
-
-    return np.array(rects)
-
-
-def footprint(x, y, yaw, samples=8):
-    """World-frame points along the chassis outline for one pose."""
-    forward = np.array([-math.sin(yaw), math.cos(yaw)])
-    right = np.array([math.cos(yaw), math.sin(yaw)])
-    corners = np.array([x, y]) + np.outer(CHASSIS[:, 0], right) + np.outer(CHASSIS[:, 1], forward)
-    points = []
-    for a, b in zip(corners, np.roll(corners, -1, axis=0)):
-        for k in range(samples):
-            points.append(a + (b - a) * k / samples)
-    return np.array(points)
-
-
-def clearance(points, rects):
-    """Smallest distance from any point to any rectangle, negative if inside."""
-    px = points[:, 0][:, None]
-    py = points[:, 1][:, None]
-    dx = np.maximum(rects[:, 0][None, :] - px, px - rects[:, 1][None, :])
-    dy = np.maximum(rects[:, 2][None, :] - py, py - rects[:, 3][None, :])
-    outside = np.hypot(np.maximum(dx, 0.0), np.maximum(dy, 0.0))
-    inside = np.minimum(np.maximum(dx, dy), 0.0)
-    return float(np.min(np.where((dx > 0) | (dy > 0), outside, inside)))
-
-
-def nominal_heading(yaw):
-    """Closest axis-aligned heading and the signed error from it, in radians."""
-    quadrant = round(yaw / (math.pi / 2))
-    target = quadrant * math.pi / 2
-    return quadrant % 4, math.remainder(yaw - target, 2 * math.pi)
-
-
-def grid_geometry(x, y, yaw):
-    """Lateral offset from the corridor centre and travel along the cell."""
-    quadrant, heading_error = nominal_heading(yaw)
-    # heading 0 -> body forward is +y (quadrant 0 means yaw 0, forward = +y)
-    forward = np.array([-math.sin(quadrant * math.pi / 2), math.cos(quadrant * math.pi / 2)])
-    left = np.array([-forward[1], forward[0]])
-    centre = np.array([(math.floor(x / CELL) + 0.5) * CELL, (math.floor(y / CELL) + 0.5) * CELL])
-    delta = np.array([x, y]) - centre
-    return float(np.dot(delta, left)), float(np.dot(delta, forward)), heading_error
-
-
-def turns(run, maze):
-    col = load(run)
-    time = col["sim_time"]
-    rects = parse_maze(maze)
-    gate = np.abs(col["desired_angular_speed"]) > TURN_GATE
-    sensors = np.maximum.reduce([col[f"wall_sensors_{k}"] for k in range(4)])
-
-    edges = np.diff(gate.astype(int))
-    starts = list(np.flatnonzero(edges == 1) + 1)
-    ends = list(np.flatnonzero(edges == -1) + 1)
-    if gate[0]:
-        starts.insert(0, 0)
-    if gate[-1]:
-        ends.append(len(gate) - 1)
-
-    rows = []
-    for a, b in zip(starts, ends):
-        if time[b] - time[a] < 0.05:
-            continue
-        if abs(np.sum(col["desired_angular_speed"][a:b] * np.diff(time[a : b + 1]))) < MIN_ANGLE:
-            # A FollowWall steering correction, not an action: with the
-            # saturation at 4.0 those exceed the gate but never a few degrees.
-            continue
-        dt = np.diff(time[a : b + 1])
-        commanded = float(np.sum(col["desired_angular_speed"][a:b] * dt))
-        executed = float(np.sum(np.unwrap(col["yaw"][a : b + 1])[1:] - np.unwrap(col["yaw"][a : b + 1])[:-1]))
-        lateral, along, heading_error = grid_geometry(col["x"][a], col["y"][a], col["yaw"][a])
-
-        omega = col["wz_body"][a:b]
-        speed = col["v_forward"][a:b]
-        good = np.abs(omega) > 1.0
-        radius = float(np.median(speed[good] / omega[good])) if good.any() else float("nan")
-
-        after = (time > time[b]) & (time <= time[b] + AFTER)
-        during = slice(a, b + 1)
-        min_during = min(
-            clearance(footprint(col["x"][k], col["y"][k], col["yaw"][k]), rects)
-            for k in range(a, b + 1, 4)
-        )
-        idx_after = np.flatnonzero(after)
-        min_after = min(
-            (clearance(footprint(col["x"][k], col["y"][k], col["yaw"][k]), rects) for k in idx_after[::4]),
-            default=float("nan"),
-        )
-
-        rows.append(
-            {
-                "t0": round(float(time[a]), 3),
-                "t1": round(float(time[b]), 3),
-                "type": "spin" if abs(commanded) > 2.0 else "turn90",
-                "x": round(float(col["x"][a]), 4),
-                "y": round(float(col["y"][a]), 4),
-                "lateral_mm": round(lateral * 1000, 1),
-                "along_mm": round(along * 1000, 1),
-                "heading_err_deg": round(math.degrees(heading_error), 2),
-                "cmd_deg": round(math.degrees(commanded), 1),
-                "exec_deg": round(math.degrees(executed), 1),
-                "ratio": round(executed / commanded, 3) if commanded else None,
-                "radius_mm": round(radius * 1000, 1) if radius == radius else None,
-                "v_fwd": round(float(np.median(speed)), 3),
-                "clear_turn_mm": round(min_during * 1000, 1),
-                "clear_after_mm": round(min_after * 1000, 1),
-                "contact": bool(col["base_ncon"][during].max() > 0 or col["base_ncon"][after].max() > 0),
-                "sensor_sat": bool(sensors[after].max() > SENSOR_SATURATION) if after.any() else False,
-            }
-        )
-    return rows
-
-
-def main():
-    args = [a for a in sys.argv[1:] if not a.startswith("--")]
-    maze = "models/maze.txt"
-    for a in sys.argv[1:]:
-        if a.startswith("--maze="):
-            maze = a.split("=", 1)[1]
-    for run in args:
-        rows = turns(run, maze)
-        print(f"== {run}  ({len(rows)} turns)")
-        header = (
-            f"{'t0':>7} {'t1':>7} {'type':>7} {'lat':>7} {'along':>7} {'hdg':>7} "
-            f"{'cmd':>7} {'exec':>7} {'ratio':>6} {'R':>7} {'v':>6} {'clr':>7} {'clrA':>7} {'hit':>4} {'sat':>4}"
-        )
-        print(header)
-        for r in rows:
-            print(
-                f"{r['t0']:7.2f} {r['t1']:7.2f} {r['type']:>7} {r['lateral_mm']:7.1f} {r['along_mm']:7.1f} "
-                f"{r['heading_err_deg']:7.2f} {r['cmd_deg']:7.1f} {r['exec_deg']:7.1f} "
-                f"{(r['ratio'] if r['ratio'] is not None else float('nan')):6.3f} "
-                f"{(r['radius_mm'] if r['radius_mm'] is not None else float('nan')):7.1f} {r['v_fwd']:6.3f} "
-                f"{r['clear_turn_mm']:7.1f} {r['clear_after_mm']:7.1f} "
-                f"{'Y' if r['contact'] else '.':>4} {'Y' if r['sensor_sat'] else '.':>4}"
-            )
-        turn90 = [r for r in rows if r["type"] == "turn90"]
-        if turn90:
-            print(
-                json.dumps(
-                    {
-                        "turn90_count": len(turn90),
-                        "ratio_mean": round(float(np.mean([r["ratio"] for r in turn90])), 3),
-                        "radius_mean_mm": round(
-                            float(np.mean([abs(r["radius_mm"]) for r in turn90 if r["radius_mm"]])), 1
-                        ),
-                        "along_mean_mm": round(float(np.mean([r["along_mm"] for r in turn90])), 1),
-                        "lateral_abs_mean_mm": round(
-                            float(np.mean([abs(r["lateral_mm"]) for r in turn90])), 1
-                        ),
-                        "min_clearance_mm": round(min(r["clear_turn_mm"] for r in rows), 1),
-                        "turns_with_contact": sum(1 for r in rows if r["contact"]),
-                    },
-                    sort_keys=True,
-                )
-            )
-
-
-if __name__ == "__main__":
-    main()

From b4e8104d46fe1bb158a8ba5a7e0741dd20d49cd4 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Fri, 25 Sep 2026 20:29:18 -0300
Subject: [PATCH 02/52] =?UTF-8?q?=F0=9F=8E=A8=20Build=20the=20maze=20arena?=
 =?UTF-8?q?=20in=20the=20contest=20colors,=20with=20the=20checker=20on=20t?=
 =?UTF-8?q?he=20walls?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The maze arena reads the usual ASCII drawing, with the start and the goal cells,
and generates its MJCF. The walls and posts are white with a red top, as they
were in the Python generator, except around the start and the goal cells, which
are all white. The floor checker has one square per cell and falls on the middle
of the walls: the plane reaches a whole number of cells past the maze, since
MuJoCo lays its texture from the corner, and the top camera is orthographic,
which the old generator's was too, so the tops of the walls do not drift out of
line with the floor towards the edges.

The red tops are boxes of their own, in a paint group that collides with nothing
and that the rays of the wall sensors pass through, like the robot's own group.
With them the runs stay byte identical to runs without them; only the hash of the
model changes.
---
 .../maze/include/micras/sim/arenas/maze.hpp   | 164 ++++++++++
 engine/arenas/maze/src/maze.cpp               | 274 +++++++++++++++++
 .../micras/sim/devices/wall_sensors.hpp       | 165 ++++++++++
 engine/src/devices/wall_sensors.cpp           | 233 ++++++++++++++
 targets/micras/src/bindings.cpp               | 284 ++++++++++++++++++
 5 files changed, 1120 insertions(+)
 create mode 100644 engine/arenas/maze/include/micras/sim/arenas/maze.hpp
 create mode 100644 engine/arenas/maze/src/maze.cpp
 create mode 100644 engine/include/micras/sim/devices/wall_sensors.hpp
 create mode 100644 engine/src/devices/wall_sensors.cpp
 create mode 100644 targets/micras/src/bindings.cpp

diff --git a/engine/arenas/maze/include/micras/sim/arenas/maze.hpp b/engine/arenas/maze/include/micras/sim/arenas/maze.hpp
new file mode 100644
index 0000000..4693c6b
--- /dev/null
+++ b/engine/arenas/maze/include/micras/sim/arenas/maze.hpp
@@ -0,0 +1,164 @@
+/**
+ * @file
+ *
+ * @brief A micromouse maze, read from the usual ASCII drawing, as an arena.
+ */
+
+#ifndef MICRAS_SIM_ARENAS_MAZE_HPP
+#define MICRAS_SIM_ARENAS_MAZE_HPP
+
+#include <cstddef>
+#include <filesystem>
+#include <string>
+#include <string_view>
+#include <utility>
+#include <vector>
+
+namespace micras::sim {
+/**
+ * @brief Dimensions and surfaces of a maze.
+ *
+ * @note The defaults are the competition rules: 180 mm cells, 12 mm thick and
+ *       50 mm tall walls. The reflectances are what an infrared range sensor sees:
+ *       white wall sides, a black floor.
+ */
+struct MazeConfig {
+    double cell_size{0.18};
+    double wall_thickness{0.012};
+    double wall_height{0.05};
+    double wall_reflectance{0.8};
+    double floor_reflectance{0.05};
+};
+
+/**
+ * @brief A maze: which walls stand, where it starts and where the goal is.
+ *
+ * @note The drawing is the format of tools/gen_maze.py and of the published maze
+ *       collections: posts as 'o', horizontal walls as '---', vertical walls as
+ *       '|', the start cell marked 'S' and goal cells 'G', read bottom-up so the
+ *       start is at the lower left. The world frame puts the lower left post at
+ *       the origin, x to the right and y up; a cell (x, y) spans
+ *       [x, x + 1) and [y, y + 1) cells.
+ */
+class Maze {
+public:
+    /**
+     * @brief Name of the arena body, which prefixes every geom once attached.
+     */
+    static constexpr std::string_view body_name{"maze"};
+
+    /**
+     * @brief Geom group of the paint on top of the walls, which only the eye sees.
+     */
+    static constexpr int paint_group{4};
+
+    /**
+     * @brief Read a maze drawing from a file.
+     *
+     * @param path Path of the drawing.
+     * @return The maze.
+     */
+    static Maze load(const std::filesystem::path& path);
+
+    /**
+     * @brief Read a maze drawing.
+     *
+     * @param text The drawing.
+     * @return The maze.
+     */
+    static Maze parse(std::string_view text);
+
+    /**
+     * @brief Get the size of the maze in cells.
+     *
+     * @return Width and height.
+     */
+    ///@{
+    std::size_t width() const { return this->columns; }
+
+    std::size_t height() const { return this->rows; }
+
+    ///@}
+
+    /**
+     * @brief Check for a wall on the south edge of a cell, which row may be one past the top.
+     *
+     * @param column Column of the cell.
+     * @param row Row of the cell.
+     * @return True when the wall stands.
+     */
+    bool south_wall(std::size_t column, std::size_t row) const;
+
+    /**
+     * @brief Check for a wall on the west edge of a cell, which column may be one past the right.
+     *
+     * @param column Column of the cell.
+     * @param row Row of the cell.
+     * @return True when the wall stands.
+     */
+    bool west_wall(std::size_t column, std::size_t row) const;
+
+    /**
+     * @brief Get the start cell.
+     *
+     * @return Its column and row; the lower left cell when the drawing marks none.
+     */
+    std::pair<std::size_t, std::size_t> start() const { return this->start_cell; }
+
+    /**
+     * @brief Get the goal cells.
+     *
+     * @return Their columns and rows.
+     */
+    const std::vector<std::pair<std::size_t, std::size_t>>& goals() const { return this->goal_cells; }
+
+    /**
+     * @brief Generate the arena's MJCF: a body holding the floor, the posts and the walls.
+     *
+     * @note The walls and posts are white with a red top, the usual colors, except around the start
+     *       and the goal cells, which are all white. The floor is a checker of cells, on the middle of
+     *       the walls. The red tops are paint: they are in the paint group and collide with nothing,
+     *       so none of that touches what the robot and its sensors meet.
+     *
+     * @param config Dimensions and surfaces.
+     * @return The MJCF text.
+     */
+    std::string mjcf(const MazeConfig& config) const;
+
+    /**
+     * @brief Get the infrared reflectance of an arena geom.
+     *
+     * @param geom_name Name of the geom, with or without the attach prefix.
+     * @param config Dimensions and surfaces.
+     * @return The reflectance.
+     */
+    static double reflectance(std::string_view geom_name, const MazeConfig& config);
+
+private:
+    /**
+     * @brief Check if a cell is the start or one of the goal cells, whose walls are all white.
+     *
+     * @param column Column of the cell.
+     * @param row Row of the cell.
+     * @return True if the cell is marked.
+     */
+    bool is_marked(std::size_t column, std::size_t row) const;
+
+    /**
+     * @brief Generate the red paint on top of every post and wall, but those around the marked cells.
+     *
+     * @param config Dimensions and surfaces.
+     * @return The MJCF geoms of the paint.
+     */
+    std::string paint(const MazeConfig& config) const;
+
+    std::size_t                                      columns{0};
+    std::size_t                                      rows{0};
+    std::vector<std::vector<bool>>                   south;
+    std::vector<std::vector<bool>>                   west;
+    std::pair<std::size_t, std::size_t>              start_cell{0, 0};
+    std::vector<std::pair<std::size_t, std::size_t>> goal_cells;
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_ARENAS_MAZE_HPP
diff --git a/engine/arenas/maze/src/maze.cpp b/engine/arenas/maze/src/maze.cpp
new file mode 100644
index 0000000..3d46dfe
--- /dev/null
+++ b/engine/arenas/maze/src/maze.cpp
@@ -0,0 +1,274 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <cmath>
+#include <format>
+#include <fstream>
+#include <sstream>
+#include <stdexcept>
+
+#include "micras/sim/arenas/maze.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Characters one cell takes in a line of the drawing.
+ */
+constexpr std::size_t cell_width{4};
+
+/**
+ * @brief Split a drawing into lines, dropping trailing spaces and blank lines at the end.
+ *
+ * @param text The drawing.
+ * @return Its lines, top first.
+ */
+std::vector<std::string> lines_of(std::string_view text) {
+    std::vector<std::string> lines;
+    std::istringstream       stream{std::string{text}};
+    std::string              line;
+
+    while (std::getline(stream, line)) {
+        while (not line.empty() and (line.back() == ' ' or line.back() == '\r')) {
+            line.pop_back();
+        }
+
+        lines.push_back(line);
+    }
+
+    while (not lines.empty() and lines.back().empty()) {
+        lines.pop_back();
+    }
+
+    return lines;
+}
+
+/**
+ * @brief Get a character of a line, or a space past its end.
+ *
+ * @param line The line.
+ * @param index Index of the character.
+ * @return The character.
+ */
+char at(const std::string& line, std::size_t index) {
+    return index < line.size() ? line[index] : ' ';
+}
+
+/**
+ * @brief Half the thickness of the red paint on top of the walls and posts, in meters.
+ *
+ * @note The paint is a box of its own that collides with nothing, so the walls the sensors and the
+ *       robot meet are the same whatever their color.
+ */
+constexpr double cap_half_height{0.00025};
+
+/**
+ * @brief Number of cells the floor reaches past the maze on every side.
+ *
+ * @note MuJoCo lays the texture of a plane from its corner, so a whole number of cells keeps the
+ *       checker on the middle of the walls.
+ */
+constexpr double floor_margin{2.0};
+}  // namespace
+
+Maze Maze::load(const std::filesystem::path& path) {
+    std::ifstream file(path);
+
+    if (not file.is_open()) {
+        throw std::runtime_error("cannot read the maze " + path.string());
+    }
+
+    std::ostringstream text;
+    text << file.rdbuf();
+    return parse(text.str());
+}
+
+Maze Maze::parse(std::string_view text) {
+    std::vector<std::string> lines = lines_of(text);
+
+    if (lines.size() < 3 or lines.size() % 2 == 0 or lines.front().size() < cell_width + 1) {
+        throw std::runtime_error("a maze drawing needs an odd number of lines, alternating posts and cells");
+    }
+
+    std::ranges::reverse(lines);
+
+    Maze maze;
+    maze.columns = (lines.front().size() - 1) / cell_width;
+    maze.rows = (lines.size() - 1) / 2;
+    maze.south.assign(maze.rows + 1, std::vector<bool>(maze.columns, false));
+    maze.west.assign(maze.rows, std::vector<bool>(maze.columns + 1, false));
+
+    bool start_found = false;
+
+    for (std::size_t row = 0; row <= maze.rows; row++) {
+        for (std::size_t column = 0; column < maze.columns; column++) {
+            maze.south[row][column] =
+                lines[2 * row].substr(std::min(lines[2 * row].size(), cell_width * column + 1), 3) == "---";
+        }
+    }
+
+    for (std::size_t row = 0; row < maze.rows; row++) {
+        const std::string& line = lines[2 * row + 1];
+
+        for (std::size_t column = 0; column <= maze.columns; column++) {
+            maze.west[row][column] = at(line, cell_width * column) == '|';
+        }
+
+        for (std::size_t column = 0; column < maze.columns; column++) {
+            const char mark = at(line, cell_width * column + 2);
+
+            if (mark == 'S') {
+                maze.start_cell = {column, row};
+                start_found = true;
+            } else if (mark == 'G') {
+                maze.goal_cells.emplace_back(column, row);
+            }
+        }
+    }
+
+    if (not start_found) {
+        maze.start_cell = {0, 0};
+    }
+
+    return maze;
+}
+
+bool Maze::south_wall(std::size_t column, std::size_t row) const {
+    return row < this->south.size() and column < this->columns and this->south[row][column];
+}
+
+bool Maze::west_wall(std::size_t column, std::size_t row) const {
+    return row < this->rows and column < this->west[row].size() and this->west[row][column];
+}
+
+double Maze::reflectance(std::string_view geom_name, const MazeConfig& config) {
+    return geom_name.ends_with("floor") ? config.floor_reflectance : config.wall_reflectance;
+}
+
+bool Maze::is_marked(std::size_t column, std::size_t row) const {
+    const std::pair<std::size_t, std::size_t> cell{column, row};
+    return cell == this->start_cell or std::ranges::find(this->goal_cells, cell) != this->goal_cells.end();
+}
+
+std::string Maze::paint(const MazeConfig& config) const {
+    const double cell = config.cell_size;
+    const double half_thickness = config.wall_thickness / 2;
+    const double half_length = (cell - config.wall_thickness) / 2;
+    const double z = config.wall_height + cap_half_height;
+    std::string  caps;
+
+    const auto cap = [&caps,
+                      z](std::string_view name, std::size_t column, std::size_t row, double x, double y, double half_x,
+                         double half_y) {
+        caps += std::format(
+            "      <geom name=\"{}_top_{}_{}\" class=\"top\" pos=\"{:.6f} {:.6f} {:.6f}\" size=\"{:.6f} {:.6f} "
+            "{:.6f}\"/>\n",
+            name, column, row, x, y, z, half_x, half_y, cap_half_height
+        );
+    };
+
+    for (std::size_t row = 0; row <= this->rows; row++) {
+        for (std::size_t column = 0; column <= this->columns; column++) {
+            const double x = static_cast<double>(column) * cell;
+            const double y = static_cast<double>(row) * cell;
+            const bool   left = column > 0 and this->is_marked(column - 1, row);
+            const bool   below = row > 0 and this->is_marked(column, row - 1);
+            const bool   here = this->is_marked(column, row);
+            const bool   corner = column > 0 and row > 0 and this->is_marked(column - 1, row - 1);
+
+            if (not(here or left or below or corner)) {
+                cap("post", column, row, x, y, half_thickness, half_thickness);
+            }
+
+            if (this->south_wall(column, row) and not(here or below)) {
+                cap("south", column, row, x + cell / 2, y, half_length, half_thickness);
+            }
+
+            if (this->west_wall(column, row) and not(here or left)) {
+                cap("west", column, row, x, y + cell / 2, half_thickness, half_length);
+            }
+        }
+    }
+
+    return caps;
+}
+
+std::string Maze::mjcf(const MazeConfig& config) const {
+    const double cell = config.cell_size;
+    const double half_thickness = config.wall_thickness / 2;
+    const double half_height = config.wall_height / 2;
+    const double half_length = (cell - config.wall_thickness) / 2;
+    const double width = static_cast<double>(this->columns) * cell;
+    const double height = static_cast<double>(this->rows) * cell;
+    std::string  geoms;
+
+    for (std::size_t row = 0; row <= this->rows; row++) {
+        for (std::size_t column = 0; column <= this->columns; column++) {
+            geoms += std::format(
+                "      <geom name=\"post_{}_{}\" class=\"post\" pos=\"{:.6f} {:.6f} {:.6f}\"/>\n", column, row,
+                static_cast<double>(column) * cell, static_cast<double>(row) * cell, half_height
+            );
+
+            if (this->south_wall(column, row)) {
+                geoms += std::format(
+                    "      <geom name=\"south_{}_{}\" class=\"horizontal\" pos=\"{:.6f} {:.6f} {:.6f}\"/>\n", column,
+                    row, (static_cast<double>(column) + 0.5) * cell, static_cast<double>(row) * cell, half_height
+                );
+            }
+
+            if (this->west_wall(column, row)) {
+                geoms += std::format(
+                    "      <geom name=\"west_{}_{}\" class=\"vertical\" pos=\"{:.6f} {:.6f} {:.6f}\"/>\n", column, row,
+                    static_cast<double>(column) * cell, (static_cast<double>(row) + 0.5) * cell, half_height
+                );
+            }
+        }
+    }
+
+    const std::string caps = this->paint(config);
+
+    return std::format(
+        "<mujoco model=\"maze\">\n"
+        "  <asset>\n"
+        "    <texture name=\"grid\" type=\"2d\" builtin=\"checker\" width=\"512\" height=\"512\" rgb1=\"0.1 0.1 0.1\"\n"
+        "             rgb2=\"0.2 0.2 0.2\"/>\n"
+        "    <material name=\"floor\" texture=\"grid\" texrepeat=\"{0:.9g} {0:.9g}\" texuniform=\"true\" "
+        "specular=\"0\" "
+        "reflectance=\"0.2\"/>\n"
+        "    <material name=\"wall\" rgba=\"1 1 1 1\"/>\n"
+        "    <material name=\"post\" rgba=\"1 1 1 1\"/>\n"
+        "    <material name=\"top\" rgba=\"1 0 0 1\"/>\n"
+        "  </asset>\n"
+        "  <default>\n"
+        "    <default class=\"post\">\n"
+        "      <geom type=\"box\" material=\"post\" size=\"{2:.6f} {2:.6f} {3:.6f}\"/>\n"
+        "    </default>\n"
+        "    <default class=\"horizontal\">\n"
+        "      <geom type=\"box\" material=\"wall\" size=\"{4:.6f} {2:.6f} {3:.6f}\"/>\n"
+        "    </default>\n"
+        "    <default class=\"vertical\">\n"
+        "      <geom type=\"box\" material=\"wall\" size=\"{2:.6f} {4:.6f} {3:.6f}\"/>\n"
+        "    </default>\n"
+        "    <default class=\"top\">\n"
+        "      <geom type=\"box\" material=\"top\" contype=\"0\" conaffinity=\"0\" group=\"{13}\"/>\n"
+        "    </default>\n"
+        "  </default>\n"
+        "  <worldbody>\n"
+        "    <body name=\"{5}\">\n"
+        "      <light name=\"sun\" pos=\"{6:.6f} {7:.6f} 3\" dir=\"0 0 -1\" directional=\"true\" castshadow=\"false\" "
+        "diffuse=\"0.7 0.7 0.7\"/>\n"
+        "      <camera name=\"top\" pos=\"{6:.6f} {7:.6f} 4\" xyaxes=\"1 0 0 0 1 0\" projection=\"orthographic\" "
+        "fovy=\"{8:.6f}\"/>\n"
+        "      <geom name=\"floor\" type=\"plane\" pos=\"{6:.6f} {7:.6f} 0\" size=\"{9:.6f} {10:.6f} 0.1\" "
+        "material=\"floor\"/>\n"
+        "{11}{12}"
+        "    </body>\n"
+        "  </worldbody>\n"
+        "</mujoco>\n",
+        1.0 / cell, this->rows, half_thickness, half_height, half_length, body_name, width / 2, height / 2,
+        std::max(width, height) + 0.2, width / 2 + floor_margin * cell, height / 2 + floor_margin * cell, geoms, caps,
+        paint_group
+    );
+}
+}  // namespace micras::sim
diff --git a/engine/include/micras/sim/devices/wall_sensors.hpp b/engine/include/micras/sim/devices/wall_sensors.hpp
new file mode 100644
index 0000000..1b4ead3
--- /dev/null
+++ b/engine/include/micras/sim/devices/wall_sensors.hpp
@@ -0,0 +1,165 @@
+/**
+ * @file
+ *
+ * @brief Infrared emitter and receiver pairs ranging walls by reflected light.
+ */
+
+#ifndef MICRAS_SIM_DEVICES_WALL_SENSORS_HPP
+#define MICRAS_SIM_DEVICES_WALL_SENSORS_HPP
+
+#include <array>
+#include <cstddef>
+#include <cstdint>
+#include <functional>
+#include <string>
+#include <vector>
+
+#include "micras/sim/core/noise.hpp"
+#include "micras/sim/devices/device.hpp"
+#include "micras/sim/robot/robot_description.hpp"
+
+namespace micras::sim {
+/**
+ * @brief The ADC conversions of a set of wall sensors, lit and dark.
+ *
+ * @note The emitters fire in groups: every scan period one group is lit and every
+ *       receiver is converted, the lit group's own receivers reading their
+ *       emitter and the others reading whatever the lit group throws their way,
+ *       which is the cross-talk. The sequence the firmware sees is one scan per
+ *       group, in group order, and completes after the last one.
+ *
+ * @note Light model: each emitter is a cone of rays whose intensity falls off as
+ *       2^-(angle / half angle)^2 around its axis, down to 2.5 half angles. Each
+ *       ray that hits the arena reflects as a Lambertian spot of the surface's
+ *       reflectance; the receiver collects it by the inverse square of its
+ *       distance, the cosine of the spot's emission angle and the receiver's own
+ *       angular response. The photocurrent is the responsivity times that
+ *       irradiance, plus ambient light, and becomes a voltage across the load
+ *       resistor, clipped at saturation. The emitter's contribution reaches only
+ *       the settled fraction of its value by the time the conversion starts.
+ */
+class WallSensors : public Device {
+public:
+    /**
+     * @brief The sensors and where their conversions go.
+     */
+    struct Config {
+        /**
+         * @brief Prefix of the recorded columns.
+         */
+        std::string name;
+
+        /**
+         * @brief Optics, electronics and poses; the robot model has an
+         *        "<name>_emitter" and an "<name>_receiver" site per sensor.
+         */
+        WallSensorsDescription description;
+
+        /**
+         * @brief Ticks between two scans.
+         */
+        uint32_t scan_ticks;
+
+        /**
+         * @brief Duty cycle of a sensor's emitter, in percent; an emitter only lights when it is above zero.
+         */
+        std::function<float(std::size_t)> emitter_duty;
+
+        /**
+         * @brief Receives one conversion: its index in the sequence and its counts.
+         */
+        std::function<void(std::size_t, uint32_t)> write;
+
+        /**
+         * @brief Called when the sequence completes.
+         */
+        std::function<void()> finish_sequence;
+
+        /**
+         * @brief Reflectance of an arena geom, by id.
+         */
+        std::function<double(int)> reflectance;
+
+        /**
+         * @brief Geom group of the robot itself, which the rays pass through.
+         */
+        int robot_group;
+
+        /**
+         * @brief Geom group of what is only paint on the arena, which the rays pass through too.
+         */
+        int paint_group;
+    };
+
+    /**
+     * @brief Find the sites and lay out the ray cone.
+     *
+     * @param world Loaded world.
+     * @param config The sensors.
+     * @param noise The run's noise settings.
+     */
+    WallSensors(const MujocoWorld& world, Config config, const NoiseConfig& noise);
+
+    /**
+     * @brief Convert every receiver with the next group lit, on the ticks a scan falls on.
+     *
+     * @param world World that just advanced.
+     * @param clock Clock of the run.
+     */
+    void sample(MujocoWorld& world, const Clock& clock) override;
+
+    /**
+     * @brief Get the recorded columns: each sensor's lit minus dark reading, as the firmware normalises it.
+     *
+     * @return Column names.
+     */
+    std::vector<std::string> columns() const override;
+
+    /**
+     * @brief Append each sensor's last lit minus dark reading.
+     *
+     * @param row Row being built.
+     */
+    void append(std::vector<CsvCell>& row) const override;
+
+    /**
+     * @brief Compute the irradiance one emitter puts on one receiver.
+     *
+     * @param world The world.
+     * @param emitter Index of the emitting sensor.
+     * @param receiver Index of the receiving sensor.
+     * @return Irradiance in W/m^2.
+     */
+    double irradiance(MujocoWorld& world, std::size_t emitter, std::size_t receiver);
+
+private:
+    /**
+     * @brief One ray of an emitter's cone, in the emitter's frame.
+     */
+    struct Ray {
+        std::array<double, 3> direction;
+        double                flux;
+    };
+
+    /**
+     * @brief Farthest distance a ray looks for a surface, in metres.
+     */
+    static constexpr double cutoff{0.5};
+
+    Config                 config;
+    Noise                  noise;
+    std::vector<int>       emitter_sites;
+    std::vector<int>       receiver_sites;
+    std::vector<Ray>       rays;
+    std::vector<uint32_t>  counts;
+    std::vector<double>    intensities;
+    std::array<uint8_t, 6> geom_groups{};
+    std::vector<mjtNum>    directions;
+    std::vector<mjtNum>    distances;
+    std::vector<mjtNum>    normals;
+    std::vector<int>       geoms;
+    uint64_t               scans{0};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_DEVICES_WALL_SENSORS_HPP
diff --git a/engine/src/devices/wall_sensors.cpp b/engine/src/devices/wall_sensors.cpp
new file mode 100644
index 0000000..b3da2f4
--- /dev/null
+++ b/engine/src/devices/wall_sensors.cpp
@@ -0,0 +1,233 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <cmath>
+#include <numbers>
+#include <set>
+#include <span>
+#include <utility>
+
+#include "micras/sim/devices/wall_sensors.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Angle, in half angles, the cone is traced out to.
+ */
+constexpr double cone_extent{2.5};
+
+/**
+ * @brief Relative intensity of an emitter or sensitivity of a receiver off its axis.
+ *
+ * @param angle Angle off the axis.
+ * @param half_angle Angle at which it halves.
+ * @return Factor between 0 and 1.
+ */
+double lobe(double angle, double half_angle) {
+    const double ratio = angle / half_angle;
+    return std::exp2(-ratio * ratio);
+}
+
+/**
+ * @brief Lay out a cone of rays: one on the axis and rings around it.
+ *
+ * @param count Number of rays, one plus a multiple of the rings.
+ * @param half_angle Emitter half angle.
+ * @param intensity Radiant intensity on the axis, in W/sr.
+ * @return The rays, each carrying the flux of its patch of the cone.
+ */
+std::vector<std::array<double, 4>> cone(int count, double half_angle, double intensity) {
+    constexpr int                      rings = 3;
+    const int                          per_ring = std::max(1, (count - 1) / rings);
+    const double                       step = cone_extent * half_angle / (rings + 0.5);
+    std::vector<std::array<double, 4>> rays;
+
+    const double center_solid_angle = 2.0 * std::numbers::pi * (1.0 - std::cos(step / 2));
+    rays.push_back({1.0, 0.0, 0.0, intensity * center_solid_angle});
+
+    for (int ring = 1; ring <= rings; ring++) {
+        const double angle = ring * step;
+        const double solid_angle =
+            2.0 * std::numbers::pi * (std::cos(angle - step / 2) - std::cos(angle + step / 2)) / per_ring;
+
+        for (int index = 0; index < per_ring; index++) {
+            const double around = 2.0 * std::numbers::pi * (index + 0.5 * (ring % 2)) / per_ring;
+            rays.push_back(
+                {std::cos(angle), std::sin(angle) * std::cos(around), std::sin(angle) * std::sin(around),
+                 intensity * lobe(angle, half_angle) * solid_angle}
+            );
+        }
+    }
+
+    return rays;
+}
+}  // namespace
+
+WallSensors::WallSensors(const MujocoWorld& world, Config config, const NoiseConfig& noise) :
+    config{std::move(config)}, noise{noise, this->config.name} {
+    const WallSensorsDescription& optics = this->config.description;
+
+    for (const WallSensorDescription& sensor : optics.sensors) {
+        this->emitter_sites.push_back(world.require_id(mjOBJ_SITE, sensor.name + "_emitter"));
+        this->receiver_sites.push_back(world.require_id(mjOBJ_SITE, sensor.name + "_receiver"));
+    }
+
+    for (const auto& ray : cone(optics.rays, optics.emitter_half_angle, optics.emitter_intensity)) {
+        this->rays.push_back({{ray[0], ray[1], ray[2]}, ray[3]});
+    }
+
+    std::ranges::fill(this->geom_groups, 1);
+    this->geom_groups.at(static_cast<std::size_t>(this->config.robot_group)) = 0;
+    this->geom_groups.at(static_cast<std::size_t>(this->config.paint_group)) = 0;
+    this->counts.assign(2 * optics.sensors.size(), 0);
+    this->intensities.assign(optics.sensors.size(), 0.0);
+    this->directions.resize(3 * this->rays.size());
+    this->distances.resize(this->rays.size());
+    this->normals.resize(3 * this->rays.size());
+    this->geoms.resize(this->rays.size());
+}
+
+double WallSensors::irradiance(MujocoWorld& world, std::size_t emitter, std::size_t receiver) {
+    const mjModel*                model = world.model();
+    mjData*                       data = world.data();
+    const WallSensorsDescription& optics = this->config.description;
+    const std::span<const mjtNum> site_positions(data->site_xpos, static_cast<std::size_t>(3 * model->nsite));
+    const std::span<const mjtNum> site_frames(data->site_xmat, static_cast<std::size_t>(9 * model->nsite));
+    const auto                    emitter_site = static_cast<std::size_t>(this->emitter_sites.at(emitter));
+    const auto                    receiver_site = static_cast<std::size_t>(this->receiver_sites.at(receiver));
+    const std::span<const mjtNum> origin = site_positions.subspan(3 * emitter_site, 3);
+    const std::span<const mjtNum> frame = site_frames.subspan(9 * emitter_site, 9);
+    const std::span<const mjtNum> receiver_position = site_positions.subspan(3 * receiver_site, 3);
+    const std::span<const mjtNum> receiver_frame = site_frames.subspan(9 * receiver_site, 9);
+
+    for (std::size_t ray = 0; ray < this->rays.size(); ray++) {
+        const std::array<double, 3>& local = this->rays[ray].direction;
+
+        for (std::size_t axis = 0; axis < 3; axis++) {
+            this->directions[3 * ray + axis] =
+                frame[3 * axis] * local[0] + frame[3 * axis + 1] * local[1] + frame[3 * axis + 2] * local[2];
+        }
+    }
+
+    mj_multiRay(
+        model, data, origin.data(), this->directions.data(), this->geom_groups.data(), true, -1, this->geoms.data(),
+        this->distances.data(), this->normals.data(), static_cast<int>(this->rays.size()), cutoff
+    );
+
+    double total = 0.0;
+
+    for (std::size_t ray = 0; ray < this->rays.size(); ray++) {
+        const double distance = this->distances[ray];
+
+        if (distance < 0.0 or this->geoms[ray] < 0) {
+            continue;
+        }
+
+        std::array<double, 3> to_receiver{};
+        double                length = 0.0;
+
+        for (std::size_t axis = 0; axis < 3; axis++) {
+            const double hit = origin[axis] + distance * this->directions[3 * ray + axis];
+            to_receiver.at(axis) = receiver_position[axis] - hit;
+            length += to_receiver.at(axis) * to_receiver.at(axis);
+        }
+
+        length = std::sqrt(length);
+
+        if (length <= 0.0) {
+            continue;
+        }
+
+        double emission = 0.0;
+        double incidence = 0.0;
+
+        for (std::size_t axis = 0; axis < 3; axis++) {
+            emission += this->normals[3 * ray + axis] * to_receiver.at(axis) / length;
+            incidence -= receiver_frame[3 * axis] * to_receiver.at(axis) / length;
+        }
+
+        if (emission <= 0.0 or incidence <= 0.0) {
+            continue;
+        }
+
+        const double off_axis = std::acos(std::min(1.0, incidence));
+        total += this->config.reflectance(this->geoms[ray]) * this->rays[ray].flux * emission * incidence *
+                 lobe(off_axis, optics.receiver_half_angle) / (std::numbers::pi * length * length);
+    }
+
+    return total;
+}
+
+void WallSensors::sample(MujocoWorld& world, const Clock& clock) {
+    if (clock.tick_count() % this->config.scan_ticks != 0) {
+        return;
+    }
+
+    const WallSensorsDescription& optics = this->config.description;
+    const std::size_t             sensors = optics.sensors.size();
+    std::set<int>                 group_ids;
+
+    for (const WallSensorDescription& sensor : optics.sensors) {
+        group_ids.insert(sensor.group);
+    }
+
+    const std::vector<int> groups(group_ids.begin(), group_ids.end());
+    const std::size_t      scan = this->scans % groups.size();
+    const int              lit = groups.at(scan);
+
+    for (std::size_t receiver = 0; receiver < sensors; receiver++) {
+        double signal = 0.0;
+
+        for (std::size_t emitter = 0; emitter < sensors; emitter++) {
+            if (optics.sensors.at(emitter).group == lit and this->config.emitter_duty(emitter) > 0.0F) {
+                signal += this->irradiance(world, emitter, receiver);
+            }
+        }
+
+        const double current = optics.receiver_responsivity * optics.sensors.at(receiver).gain *
+                               (optics.settle_fraction * signal + optics.ambient_irradiance);
+        const double voltage = std::min(current * optics.load_resistance, optics.saturation_voltage);
+        const double reading =
+            voltage / optics.adc_reference * optics.adc_max_counts + this->noise.gaussian(optics.adc_noise_counts);
+        const auto counts = static_cast<uint32_t>(std::clamp(std::round(reading), 0.0, optics.adc_max_counts));
+
+        this->counts.at(scan * sensors + receiver) = counts;
+        this->config.write(scan * sensors + receiver, counts);
+    }
+
+    this->scans++;
+
+    if (scan + 1 == groups.size()) {
+        for (std::size_t sensor = 0; sensor < sensors; sensor++) {
+            const auto own = static_cast<std::size_t>(
+                std::distance(groups.begin(), std::ranges::find(groups, optics.sensors.at(sensor).group))
+            );
+            const std::size_t other = own == 0 ? 1 : 0;
+            this->intensities.at(sensor) = (static_cast<double>(this->counts.at(own * sensors + sensor)) -
+                                            static_cast<double>(this->counts.at(other * sensors + sensor))) /
+                                           optics.adc_max_counts;
+        }
+
+        this->config.finish_sequence();
+    }
+}
+
+std::vector<std::string> WallSensors::columns() const {
+    std::vector<std::string> names;
+    names.reserve(this->config.description.sensors.size());
+
+    for (const WallSensorDescription& sensor : this->config.description.sensors) {
+        names.push_back(this->config.name + "_" + sensor.name);
+    }
+
+    return names;
+}
+
+void WallSensors::append(std::vector<CsvCell>& row) const {
+    for (const double intensity : this->intensities) {
+        row.emplace_back(intensity);
+    }
+}
+}  // namespace micras::sim
diff --git a/targets/micras/src/bindings.cpp b/targets/micras/src/bindings.cpp
new file mode 100644
index 0000000..89f0e07
--- /dev/null
+++ b/targets/micras/src/bindings.cpp
@@ -0,0 +1,284 @@
+/**
+ * @file
+ */
+
+#include <cmath>
+#include <memory>
+#include <optional>
+#include <utility>
+
+#include "constants.hpp"
+#include "micras/hal/host/board.hpp"
+#include "micras/sim/arenas/maze.hpp"
+#include "micras/sim/micras/bindings.hpp"
+#include "micras/sim/robot/robot_model.hpp"
+#include "target.hpp"
+
+namespace micras::sim {
+namespace {
+using hal::host::Board;
+
+/**
+ * @brief Add a device to the run and keep a view of it.
+ *
+ * @param context Context whose devices are added to.
+ * @param device The device.
+ * @return The view.
+ */
+template <typename T>
+T* add(RunContext& context, std::unique_ptr<T> device) {
+    T* view = device.get();
+    context.devices.push_back(std::move(device));
+    return view;
+}
+
+/**
+ * @brief Get a PWM port, marked as bound.
+ *
+ * @param config The firmware's configuration of the channel.
+ * @return The port.
+ */
+hal::host::PwmPort& pwm_port(const hal::Pwm::Config& config) {
+    hal::host::PwmPort& port = Board::pwm(config.handle, config.timer_channel);
+    port.bound = true;
+    return port;
+}
+
+/**
+ * @brief Get a GPIO port, marked as bound.
+ *
+ * @param config The firmware's configuration of the pin.
+ * @return The port.
+ */
+hal::host::GpioPort& gpio_port(const hal::Gpio::Config& config) {
+    hal::host::GpioPort& port = Board::gpio(config.port, config.pin);
+    port.bound = true;
+    return port;
+}
+
+/**
+ * @brief Build one wheel's motor.
+ *
+ * @param context Context whose devices are added to.
+ * @param world The robot.
+ * @param motor The firmware's configuration of the motor.
+ * @param side "left" or "right".
+ * @return The motor.
+ */
+DcMotor* bind_motor(
+    RunContext& context, const WorldInfo& world, const proxy::Motor::Config& motor, const std::string& side
+) {
+    const RobotModelNames names = RobotModelNames::of(*world.robot);
+    hal::host::PwmPort&   forward = pwm_port(motor.forward_pwm);
+    hal::host::PwmPort&   backward = pwm_port(motor.backwards_pwm);
+    hal::host::GpioPort&  enable = gpio_port(locomotion_config.enable_gpio);
+
+    return add(
+        context, std::make_unique<DcMotor>(
+                     context.world, DcMotor::Config{
+                                        .name = "motor_" + side,
+                                        .actuator = side == "left" ? names.left_motor : names.right_motor,
+                                        .joint = side == "left" ? names.left_wheel : names.right_wheel,
+                                        .drive = world.robot->drive,
+                                        .forward_duty = [&forward] { return forward.duty_cycle; },
+                                        .backward_duty = [&backward] { return backward.duty_cycle; },
+                                        .enabled = [&enable] { return enable.output; },
+                                    }
+                 )
+    );
+}
+
+/**
+ * @brief Build one wheel's encoder.
+ *
+ * @param context Context whose devices are added to.
+ * @param world The robot.
+ * @param sensor The firmware's configuration of the rotary sensor.
+ * @param side "left" or "right".
+ */
+void bind_encoder(
+    RunContext& context, const WorldInfo& world, const proxy::RotarySensor::Config& sensor, const std::string& side
+) {
+    const RobotModelNames   names = RobotModelNames::of(*world.robot);
+    hal::host::EncoderPort& port = Board::encoder(sensor.encoder.handle);
+    port.bound = true;
+    gpio_port(sensor.spi.cs_gpio);
+
+    add(context, std::make_unique<QuadratureEncoder>(
+                     context.world,
+                     QuadratureEncoder::Config{
+                         .name = "encoder_" + side,
+                         .joint = side == "left" ? names.left_wheel : names.right_wheel,
+                         .counts_per_revolution = world.robot->encoders.counts_per_revolution,
+                         .write = [&port](int32_t count) { port.count = count; },
+                     }
+                 ));
+}
+
+/**
+ * @brief Build a two-position input driving a GPIO.
+ *
+ * @param context Context whose devices are added to.
+ * @param name Name of the input.
+ * @param gpio The firmware's configuration of the pin.
+ * @param active_low Whether pressed, or on, reads low.
+ * @return The input.
+ */
+DigitalInput* bind_input(RunContext& context, const std::string& name, const hal::Gpio::Config& gpio, bool active_low) {
+    hal::host::GpioPort& port = gpio_port(gpio);
+
+    return add(
+        context, std::make_unique<DigitalInput>(DigitalInput::Config{
+                     .name = name,
+                     .active_low = active_low,
+                     .drive = [&port](bool level) { port.input = level; },
+                 })
+    );
+}
+}  // namespace
+
+MicrasBoard bind_devices(RunContext& context, const WorldInfo& world) {
+    const RobotModelNames names = RobotModelNames::of(*world.robot);
+    MicrasBoard           board;
+
+    board.left_motor = bind_motor(context, world, locomotion_config.left_motor, "left");
+    board.right_motor = bind_motor(context, world, locomotion_config.right_motor, "right");
+    bind_encoder(context, world, rotary_sensor_left_config, "left");
+    bind_encoder(context, world, rotary_sensor_right_config, "right");
+
+    hal::host::SamplePort& imu = Board::samples("imu");
+    imu.bound = true;
+    gpio_port(imu_config.spi.cs_gpio);
+
+    add(context, std::make_unique<Imu>(
+                     context.world,
+                     Imu::Config{
+                         .name = "lsm6dsv",
+                         .gyro = names.gyro,
+                         .accelerometer = names.accelerometer,
+                         .description = world.robot->imu,
+                         .write =
+                             [&imu](std::span<const float> sample) {
+                                 std::ranges::copy(sample, imu.values.begin());
+                                 imu.sequence++;
+                             },
+                     },
+                     context.noise
+                 ));
+
+    hal::host::AdcPort& wall_adc = Board::adc(wall_sensors_config.adc.handle);
+    wall_adc.bound = true;
+    std::array<hal::host::PwmPort*, 4> emitters{};
+
+    for (std::size_t sensor = 0; sensor < emitters.size(); sensor++) {
+        emitters.at(sensor) = &pwm_port(wall_sensors_config.led_pwms.at(sensor));
+    }
+
+    const double scan_period = 1.0 / (2.0 * wall_sensors_frequency);
+
+    board.wall_sensors = add(
+        context,
+        std::make_unique<WallSensors>(
+            context.world,
+            WallSensors::Config{
+                .name = "wall",
+                .description = world.robot->wall_sensors,
+                .scan_ticks = static_cast<uint32_t>(std::lround(scan_period / (context.clock.us_per_tick() * 1e-6))),
+                .emitter_duty = [emitters](std::size_t sensor) { return emitters.at(sensor)->duty_cycle; },
+                .write = [&wall_adc](std::size_t index, uint32_t counts) { wall_adc.write(index, counts); },
+                .finish_sequence = [&wall_adc] { wall_adc.finish_sequence(); },
+                .reflectance = world.reflectance,
+                .robot_group = RobotModelNames::robot_group,
+                .paint_group = Maze::paint_group,
+            },
+            context.noise
+        )
+    );
+
+    hal::host::AdcPort& battery_adc = Board::adc(battery_config.adc.handle);
+    battery_adc.bound = true;
+    board.battery =
+        add(context, std::make_unique<Battery>(
+                         Battery::Config{
+                             .name = "pack",
+                             .description = world.robot->battery,
+                             .divider = battery_config.voltage_divider,
+                             .adc_reference = battery_config.adc.reference_voltage,
+                             .adc_max_counts = static_cast<double>(battery_config.adc.max_reading),
+                             .adc_noise_counts = 1.0,
+                             .load_current = nullptr,
+                             .write = [&battery_adc](uint32_t counts) { battery_adc.write(0, counts); },
+                         },
+                         context.noise
+                     ));
+
+    hal::host::PwmPort&  fan_pwm = pwm_port(fan_config.pwm);
+    hal::host::GpioPort& fan_enable = gpio_port(fan_config.enable_gpio);
+    Battery*             battery = board.battery;
+    board.fan =
+        add(context, std::make_unique<Fan>(
+                         context.world, Fan::Config{
+                                            .name = "fan",
+                                            .actuator = names.fan,
+                                            .description = world.robot->fan,
+                                            .duty = [&fan_pwm] { return fan_pwm.duty_cycle; },
+                                            .enabled = [&fan_enable] { return fan_enable.output; },
+                                            .supply_voltage = [battery] { return battery->voltage(); },
+                                        }
+                     ));
+
+    hal::host::AdcPort& torque_adc = Board::adc(torque_sensors_config.adc.handle);
+    torque_adc.bound = true;
+    DcMotor* left = board.left_motor;
+    DcMotor* right = board.right_motor;
+    add(context,
+        std::make_unique<CurrentSense>(
+            CurrentSense::Config{
+                .currents = {[left] { return left->current(); }, [right] { return right->current(); }},
+                .volts_per_amp = torque_sensors_config.shunt_resistor,
+                .adc_reference = torque_sensors_config.adc.reference_voltage,
+                .adc_max_counts = static_cast<double>(torque_sensors_config.adc.max_reading),
+                .adc_noise_counts = 4.0,
+                .write = [&torque_adc](std::size_t index, uint32_t counts) { torque_adc.write(index, counts); },
+            },
+            context.noise
+        ));
+
+    hal::host::UartPort& uart = Board::uart(bluetooth_config.handle);
+    uart.bound = true;
+    add(context, std::make_unique<SerialLink>(
+                     context.serial, SerialLink::Config{
+                                         .baud_rate = world.robot->link.baud_rate,
+                                         .take_sent = [&uart]() -> std::optional<uint8_t> {
+                                             if (uart.tx.empty()) {
+                                                 return std::nullopt;
+                                             }
+
+                                             const uint8_t byte = uart.tx.front();
+                                             uart.tx.pop_front();
+                                             return byte;
+                                         },
+                                         .receive = [&uart](uint8_t byte) { uart.receive(byte); },
+                                     }
+                 ));
+
+    board.button = bind_input(
+        context, "button", button_config.gpio, button_config.pull_resistor == proxy::Button::PullResistor::PULL_UP
+    );
+
+    for (std::size_t index = 0; index < board.dip_switches.size(); index++) {
+        board.dip_switches.at(index) = bind_input(
+            context, "dip_" + std::to_string(index), dip_switch_config.gpio_array.at(index),
+            dip_switch_config.active_low
+        );
+    }
+
+    gpio_port(led_config.gpio);
+    pwm_port(buzzer_config.pwm);
+    Board::pwm_dma(argb_config.pwm.handle, argb_config.pwm.timer_channel).bound = true;
+    Board::mcu().bound = true;
+    Board::flash().bound = true;
+
+    return board;
+}
+}  // namespace micras::sim

From 684bbf8aa15bc84e6624342149f95c03105733ff Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Fri, 25 Sep 2026 20:29:18 -0300
Subject: [PATCH 03/52] =?UTF-8?q?=F0=9F=8E=A5=20Trace=20the=20path=20in=20?=
 =?UTF-8?q?the=20video,=20tint=20the=20robot=20and=20add=20an=20onboard=20?=
 =?UTF-8?q?camera?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

--video-trail draws the path the robot has traveled behind it, sampled every tick
a point every 3 mm so that it follows the curves however far apart the frames
are; --video-trail-color sets its color and --video-tint draws the robot in the
same color, to tell two recordings of one maze apart when they are composited.
The robot model gets an onboard camera at the front of the board, below the top
of the walls, and a near clipping plane close enough for it to see the floor in
front of it.

All of it only reads the state, so a recorded run writes the same data.csv as one
without a video.
---
 app/include/micras/sim/app/cli.hpp            | 123 +++++
 app/src/application.cpp                       | 510 ++++++++++++++++++
 app/src/cli.cpp                               | 310 +++++++++++
 engine/src/robot/robot_model.cpp              | 248 +++++++++
 .../include/micras/sim/view/control_panel.hpp | 245 +++++++++
 .../include/micras/sim/view/mujoco_viewer.hpp | 270 ++++++++++
 .../micras/sim/view/video_recorder.hpp        | 228 ++++++++
 view/include/micras/sim/view/view_options.hpp | 106 ++++
 view/src/control_panel.cpp                    | 242 +++++++++
 view/src/mujoco_viewer.cpp                    | 470 ++++++++++++++++
 view/src/video_recorder.cpp                   | 432 +++++++++++++++
 11 files changed, 3184 insertions(+)
 create mode 100644 app/include/micras/sim/app/cli.hpp
 create mode 100644 app/src/application.cpp
 create mode 100644 app/src/cli.cpp
 create mode 100644 engine/src/robot/robot_model.cpp
 create mode 100644 view/include/micras/sim/view/control_panel.hpp
 create mode 100644 view/include/micras/sim/view/mujoco_viewer.hpp
 create mode 100644 view/include/micras/sim/view/video_recorder.hpp
 create mode 100644 view/include/micras/sim/view/view_options.hpp
 create mode 100644 view/src/control_panel.cpp
 create mode 100644 view/src/mujoco_viewer.cpp
 create mode 100644 view/src/video_recorder.cpp

diff --git a/app/include/micras/sim/app/cli.hpp b/app/include/micras/sim/app/cli.hpp
new file mode 100644
index 0000000..0c803c6
--- /dev/null
+++ b/app/include/micras/sim/app/cli.hpp
@@ -0,0 +1,123 @@
+/**
+ * @file
+ *
+ * @brief Command line of every simulation executable.
+ */
+
+#ifndef MICRAS_SIM_APP_CLI_HPP
+#define MICRAS_SIM_APP_CLI_HPP
+
+#include <cstdint>
+#include <filesystem>
+#include <optional>
+#include <span>
+#include <string>
+#include <string_view>
+
+#include "micras/sim/app/target.hpp"
+#include "micras/sim/view/view_options.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Everything a run can be told from the command line.
+ */
+struct CliOptions {
+    /**
+     * @brief Directory the run is written to.
+     */
+    std::filesystem::path out;
+
+    /**
+     * @brief Scenario file to play; empty for the robot's default.
+     */
+    std::filesystem::path scenario;
+
+    /**
+     * @brief Maze to run in, a name from the arena's collection or a path; overrides the scenario's.
+     */
+    std::string maze;
+
+    /**
+     * @brief Length of the run, in simulated seconds or in exact ticks; overrides the scenario's.
+     */
+    ///@{
+    std::optional<double>   seconds;
+    std::optional<uint64_t> ticks;
+    ///@}
+
+    /**
+     * @brief Seed of every noise stream; overrides the scenario's.
+     */
+    std::optional<uint64_t> seed;
+
+    /**
+     * @brief Whether the world is ideal: no noise, no bias, no scale error.
+     */
+    bool ideal{false};
+
+    /**
+     * @brief Ticks between two recorded rows.
+     */
+    uint32_t record_every{1};
+
+    /**
+     * @brief Offscreen recording, enabled by --video.
+     */
+    ///@{
+    VideoConfig video;
+    bool        video_enabled{false};
+    ///@}
+
+    /**
+     * @brief Whether --video-camera was given, so the robot's preferred camera must not replace it.
+     */
+    bool video_camera_given{false};
+
+    /**
+     * @brief Live window, enabled by --viewer.
+     */
+    ///@{
+    ViewerConfig viewer;
+    int          viewer_fps{30};
+    bool         viewer_enabled{false};
+    ///@}
+
+    /**
+     * @brief Bridge to micras-monitor, enabled by --monitor.
+     */
+    ///@{
+    int  monitor_port{8080};
+    bool monitor_enabled{false};
+    ///@}
+};
+
+/**
+ * @brief Turns an argument vector into options, and nothing else.
+ *
+ * @note Pure: it never touches the filesystem, the model or the clock, so the
+ *       whole command line surface is testable without a simulation. The
+ *       robot target's own options are handed to their handlers as they come.
+ */
+class Cli {
+public:
+    /**
+     * @brief Parse a command line.
+     *
+     * @param arguments Whole command line, program name included.
+     * @param target_options Options the robot target adds.
+     * @return Parsed options.
+     */
+    static CliOptions parse(std::span<char*> arguments, std::span<const CliOption> target_options = {});
+
+    /**
+     * @brief Get the usage text.
+     *
+     * @param program Name of the executable, as argv[0] gives it.
+     * @param target_options Options the robot target adds.
+     * @return Usage text, newline terminated.
+     */
+    static std::string usage(std::string_view program, std::span<const CliOption> target_options = {});
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_APP_CLI_HPP
diff --git a/app/src/application.cpp b/app/src/application.cpp
new file mode 100644
index 0000000..4eeff60
--- /dev/null
+++ b/app/src/application.cpp
@@ -0,0 +1,510 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <chrono>
+#include <cmath>
+#include <filesystem>
+#include <fstream>
+#include <iostream>
+#include <numbers>
+#include <set>
+#include <span>
+#include <stdexcept>
+#include <string>
+#include <utility>
+
+#include <mujoco/mujoco.h>
+
+#include "micras/sim/app/application.hpp"
+#include "micras/sim/app/crash_reporter.hpp"
+#include "micras/sim/recording/run_metadata.hpp"
+#include "micras/sim/robot/robot_model.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Duration of a run when neither the command line nor the scenario gives one.
+ */
+constexpr double default_seconds{10.0};
+
+/**
+ * @brief Maze a run uses when neither the command line nor the scenario names one.
+ */
+constexpr std::string_view default_maze{"maze1"};
+
+/**
+ * @brief Gap left between the robot's back and the wall behind it at the start, in metres.
+ */
+constexpr double start_gap{0.001};
+
+/**
+ * @brief Find a maze drawing: a path, or a name from the arena's collection.
+ *
+ * @param name The path or name.
+ * @return The drawing's path.
+ */
+std::filesystem::path resolve_maze(const std::string& name) {
+    std::filesystem::path given{name};
+
+    if (std::filesystem::exists(given)) {
+        return given;
+    }
+
+    const std::filesystem::path collected = std::filesystem::path{MICRAS_SIM_MAZES_DIR} / (name + ".txt");
+
+    if (std::filesystem::exists(collected)) {
+        return collected;
+    }
+
+    throw std::runtime_error("no maze named " + name + ": neither a file nor one of " + MICRAS_SIM_MAZES_DIR);
+}
+
+/**
+ * @brief Choose the maze a run uses: the command line's, else the scenario's, else the default.
+ *
+ * @param options Parsed command line.
+ * @param scenario The scenario the run plays.
+ * @return The maze's path or name.
+ */
+std::string maze_name(const CliOptions& options, const Scenario& scenario) {
+    if (not options.maze.empty()) {
+        return options.maze;
+    }
+
+    if (not scenario.arena.empty()) {
+        return scenario.arena;
+    }
+
+    return std::string{default_maze};
+}
+
+/**
+ * @brief Place a robot in the maze's start cell, its back against the wall behind it, facing up.
+ *
+ * @param maze The maze.
+ * @param config Its dimensions.
+ * @param robot The robot.
+ * @return The placement.
+ */
+MujocoWorld::Placement start_of(const Maze& maze, const MazeConfig& config, const RobotDescription& robot) {
+    double rear = 0.0;
+
+    for (const auto& point : robot.chassis.outline) {
+        rear = std::max(rear, -point[0]);
+    }
+
+    const auto [column, row] = maze.start();
+
+    return {
+        .x = (static_cast<double>(column) + 0.5) * config.cell_size,
+        .y = static_cast<double>(row) * config.cell_size + config.wall_thickness / 2 + rear + start_gap,
+        .yaw = std::numbers::pi / 2,
+    };
+}
+
+/**
+ * @brief Read the scenario the run plays.
+ *
+ * @param options Parsed command line.
+ * @param target Robot to run.
+ * @param path Filled with the scenario's path, empty for none.
+ * @return The scenario, empty when there is none.
+ */
+Scenario read_scenario(const CliOptions& options, const Target& target, std::filesystem::path& path) {
+    path = options.scenario.empty() ? std::filesystem::path{target.default_scenario()} : options.scenario;
+
+    if (path.empty()) {
+        return {};
+    }
+
+    Scenario scenario = Scenario::load(path);
+
+    if (not scenario.robot.empty() and scenario.robot != target.name()) {
+        throw std::runtime_error(path.string() + " is a scenario for " + scenario.robot + ", not " + target.name());
+    }
+
+    return scenario;
+}
+
+/**
+ * @brief Build the world, configure the clock and the noise.
+ *
+ * @param robot The robot's description.
+ * @param maze_path Path of the maze drawing.
+ * @param config The maze's dimensions.
+ * @param options Parsed command line.
+ * @param scenario The scenario, which may place the robot.
+ * @param target Robot to run.
+ * @return The target's context.
+ */
+RunContext& prepare(
+    const RobotDescription& robot, const std::filesystem::path& maze_path, const MazeConfig& config,
+    const CliOptions& options, const Scenario& scenario, Target& target
+) {
+    RunContext& context = target.context();
+    const Maze  maze = Maze::load(maze_path);
+
+    context.world.build(
+        robot_mjcf(robot), RobotModelNames::of(robot).body, maze.mjcf(config), Maze::body_name,
+        scenario.start.value_or(start_of(maze, config, robot))
+    );
+    context.clock = Clock::from_model(context.world.timestep(), target.loop_time_us());
+    context.world.reset();
+    context.noise = {.seed = options.seed.value_or(scenario.seed.value_or(1)), .ideal = options.ideal};
+    return context;
+}
+
+/**
+ * @brief Get how many ticks the run lasts.
+ *
+ * @param options Parsed command line.
+ * @param scenario The scenario.
+ * @param target Robot to run.
+ * @return Number of ticks.
+ */
+uint64_t ticks_of(const CliOptions& options, const Scenario& scenario, const Target& target) {
+    if (options.ticks.has_value()) {
+        return *options.ticks;
+    }
+
+    const double   seconds = options.seconds.value_or(scenario.seconds > 0.0 ? scenario.seconds : default_seconds);
+    const uint64_t ticks = Clock::total_ticks(seconds, target.loop_time_us());
+
+    if (ticks == 0) {
+        throw std::runtime_error(std::to_string(seconds) + " s is shorter than one firmware loop period");
+    }
+
+    return ticks;
+}
+
+/**
+ * @brief Get how many ticks pass between two frames at a given rate.
+ *
+ * @param fps Frames per second of simulated time.
+ * @param clock Clock the frame period is derived from.
+ * @return Number of ticks per frame, at least one.
+ */
+uint64_t ticks_per_frame(int fps, const Clock& clock) {
+    const double loop_period = clock.us_per_tick() * 1e-6;
+    return std::max<uint64_t>(1, static_cast<uint64_t>(std::llround(1.0 / (fps * loop_period))));
+}
+
+/**
+ * @brief Open the monitor bridge if the command line asked for it.
+ *
+ * @note A port that is already taken is reported and the run carries on
+ *       without the bridge, rather than failing a run that did not need it.
+ *
+ * @param options Parsed command line.
+ * @param serial Bus the bridge attaches to.
+ * @param inbound Hands the monitors' bytes to the firmware, or null to queue them as they came.
+ * @return The bridge, or null when disabled or when the port was taken.
+ */
+std::unique_ptr<MonitorBridge>
+    make_monitor(const CliOptions& options, SerialBus& serial, MonitorBridge::Inbound inbound) {
+    if (not options.monitor_enabled) {
+        return nullptr;
+    }
+
+    if (not inbound) {
+        inbound = [&serial](std::span<const uint8_t> bytes) { serial.queue_for_firmware(bytes); };
+    }
+
+    std::string error;
+    auto        bridge = std::make_unique<MonitorBridge>(serial, std::move(inbound), options.monitor_port, error);
+
+    if (not bridge->is_open()) {
+        std::cerr << "monitor disabled: " << error << '\n';
+        return nullptr;
+    }
+
+    std::cout << "monitor bridge listening on ws://localhost:" << options.monitor_port << '\n';
+    return bridge;
+}
+
+/**
+ * @brief Open the live window if the command line asked for it.
+ *
+ * @param options Parsed command line.
+ * @param context Context the window draws.
+ * @param target Robot whose name and body the window uses.
+ * @param wiring What the robot put on the panel.
+ * @return The viewer, or null when disabled or when no window could open.
+ */
+std::unique_ptr<MujocoViewer>
+    make_viewer(const CliOptions& options, RunContext& context, const Target& target, const Wiring& wiring) {
+    if (not options.viewer_enabled) {
+        return nullptr;
+    }
+
+    ViewerConfig config = options.viewer;
+    config.title = target.name();
+    config.body = target.ground_truth().body;
+    config.ticks_per_frame = ticks_per_frame(options.viewer_fps, context.clock);
+    config.us_per_tick = context.clock.us_per_tick();
+
+    std::string error;
+    auto        viewer = MujocoViewer::create(context.world, wiring.panel, wiring.variables, config, error);
+
+    if (viewer == nullptr) {
+        std::cerr << "viewer disabled: " << error << '\n';
+        return nullptr;
+    }
+
+    std::cout << "window open at " << config.width << "x" << config.height << ", camera '" << config.camera
+              << "', one frame every " << config.ticks_per_frame << " ticks\n";
+
+    return viewer;
+}
+
+/**
+ * @brief Start the offscreen recorder if the command line asked for it.
+ *
+ * @param options Parsed command line.
+ * @param context Context the recorder draws.
+ * @return The recorder, or null when disabled or when EGL is unavailable.
+ */
+std::unique_ptr<VideoRecorder> make_video_recorder(const CliOptions& options, RunContext& context) {
+    if (not options.video_enabled) {
+        return nullptr;
+    }
+
+    mjModel* model = context.world.model();
+    model->vis.global.offwidth = std::max(model->vis.global.offwidth, options.video.width);
+    model->vis.global.offheight = std::max(model->vis.global.offheight, options.video.height);
+
+    std::string error;
+    auto        recorder = VideoRecorder::create(model, options.video, error);
+
+    if (recorder == nullptr) {
+        std::cerr << "video disabled: " << error << '\n';
+        return nullptr;
+    }
+
+    std::cout << "recording " << options.video.path << " at " << options.video.width << "x" << options.video.height
+              << " " << options.video.fps << " fps, camera '" << options.video.camera << "', one frame every "
+              << ticks_per_frame(options.video.fps, context.clock) << " ticks\n";
+
+    return recorder;
+}
+
+/**
+ * @brief Build what the target adds, and the pusher every scenario may use.
+ *
+ * @param target Robot to run.
+ * @param firmware Thread that will run the program.
+ * @param robot The robot's description.
+ * @param config The maze's surfaces.
+ * @param pusher Filled with the pusher, which the context's devices own.
+ * @return The target's wiring.
+ */
+Wiring wire(
+    Target& target, FirmwareThread& firmware, const RobotDescription& robot, const MazeConfig& config, Pusher*& pusher
+) {
+    RunContext&     context = target.context();
+    const WorldInfo world{
+        .robot = &robot,
+        .reflectance =
+            [&context, config](int geom) {
+                const char* name = mj_id2name(context.world.model(), mjOBJ_GEOM, geom);
+                return Maze::reflectance(name == nullptr ? "" : name, config);
+            },
+    };
+
+    Wiring wiring = target.wire(firmware, world);
+    auto   owned = std::make_unique<Pusher>(context.world, target.ground_truth().body);
+    pusher = owned.get();
+    context.devices.push_back(std::move(owned));
+    return wiring;
+}
+
+/**
+ * @brief Collect the robot's geoms other than its wheels, whose wall contacts are collisions.
+ *
+ * @param world The world.
+ * @param config The robot's ground truth, naming its wheels.
+ * @return Geom ids.
+ */
+std::vector<int> chassis_geoms(const MujocoWorld& world, const GroundTruthConfig& config) {
+    const mjModel*             model = world.model();
+    const int                  root = world.require_id(mjOBJ_BODY, config.body);
+    const std::span<const int> bodies(model->geom_bodyid, static_cast<std::size_t>(model->ngeom));
+    std::vector<int>           geoms;
+
+    for (int geom = 0; geom < model->ngeom; geom++) {
+        if (bodies[static_cast<std::size_t>(geom)] == root) {
+            geoms.push_back(geom);
+        }
+    }
+
+    return geoms;
+}
+}  // namespace
+
+Application::Application(const CliOptions& options, Target& target) :
+    options{options},
+    target{target},
+    scenario{read_scenario(options, target, this->scenario_path)},
+    robot{RobotDescription::load(target.robot_file())},
+    maze_path{resolve_maze(maze_name(options, this->scenario))},
+    context{prepare(this->robot, this->maze_path, this->maze_config, options, this->scenario, target)},
+    ticks{ticks_of(options, this->scenario, target)},
+    firmware{target.program()},
+    wiring{wire(target, this->firmware, this->robot, this->maze_config, this->pusher)},
+    player{this->scenario, this->wiring.hooks, this->context.serial, *this->pusher, this->wiring.variables},
+    events{
+        chassis_geoms(this->context.world, target.ground_truth()),
+        {this->context.world.require_id(mjOBJ_GEOM, std::string{Maze::body_name} + "_floor")},
+        {},
+        this->wiring.variables
+    },
+    device_columns{this->context.devices},
+    recorder{this->context.world, target.ground_truth(), options.out / "data.csv", options.record_every},
+    video{make_video_recorder(options, this->context)},
+    viewer{make_viewer(options, this->context, target, this->wiring)},
+    monitor{make_monitor(options, this->context.serial, this->wiring.monitor_inbound)},
+    simulation{this->context, this->firmware} {
+    for (const auto& [variable, names] : this->wiring.hooks.state_names) {
+        this->events.watch({.variable = variable, .names = names});
+    }
+
+    for (ColumnSource* source : this->wiring.columns) {
+        this->recorder.add_source(*source);
+    }
+
+    this->recorder.add_source(this->device_columns);
+
+    this->simulation.add_listener(CrashReporter::instance());
+    this->simulation.add_listener(this->player);
+
+    for (IRunListener* listener : this->wiring.inputs) {
+        this->simulation.add_listener(*listener);
+    }
+
+    if (this->monitor != nullptr) {
+        this->simulation.add_listener(*this->monitor);
+    }
+
+    for (IRunListener* listener : this->wiring.observers) {
+        this->simulation.add_listener(*listener);
+    }
+
+    this->simulation.add_listener(this->events);
+    this->simulation.add_listener(this->recorder);
+
+    if (this->video != nullptr) {
+        this->video->attach(
+            this->context.world, this->wiring.overlay, this->wiring.variables,
+            ticks_per_frame(options.video.fps, this->context.clock),
+            options.video.trail ? target.ground_truth().body : std::string{}
+        );
+        this->simulation.add_listener(*this->video);
+    }
+
+    if (this->viewer != nullptr) {
+        this->simulation.add_listener(*this->viewer);
+    }
+
+    std::ofstream(options.out / "model.xml") << this->context.world.composed_xml();
+}
+
+Application::~Application() {
+    this->target.unwire();
+}
+
+void Application::run(std::span<char*> arguments) {
+    const auto wall_start = std::chrono::steady_clock::now();
+
+    CrashReporter::install();
+    this->simulation.run(this->ticks);
+
+    const auto    wall_seconds = std::chrono::duration<double>(std::chrono::steady_clock::now() - wall_start).count();
+    const int64_t warnings = GroundTruth::warnings_total(this->context.world);
+
+    const RunMetadata metadata{
+        .target = this->target.name(),
+        .firmware_sha = this->target.firmware_sha(),
+        .robot_path = this->target.robot_file().string(),
+        .robot_sha256 = RunMetadata::sha256_of(this->target.robot_file()),
+        .scenario_path = this->scenario_path.string(),
+        .maze_path = this->maze_path.string(),
+        .model_sha256 = RunMetadata::sha256_of_text(this->context.world.composed_xml()),
+        .mujoco_version = mj_versionString(),
+        .compiler = MICRAS_COMPILER_ID " " MICRAS_COMPILER_VERSION,
+        .build_type = MICRAS_BUILD_TYPE,
+        .args = RunMetadata::join_args(arguments),
+        .seed = this->context.noise.seed,
+        .ideal = this->context.noise.ideal,
+        .loop_time_us = this->target.loop_time_us(),
+        .timestep = this->context.world.timestep(),
+        .steps_per_tick = this->context.clock.steps_per_tick(),
+        .record_every = this->options.record_every,
+        .requested_ticks = this->ticks,
+        .ticks = this->simulation.completed_ticks(),
+        .sim_time = this->context.world.time(),
+        .stopped_at = this->player.stopped_at().value_or(-1.0),
+        .final_z = this->recorder.last_z(),
+        .target_fields = this->target.metadata(),
+        .warnings_total = warnings,
+        .serial_dropped_bytes = this->context.serial.dropped_bytes(),
+        .bridge_dropped_frames = this->monitor == nullptr ? 0 : this->monitor->dropped_frames(),
+        .interactive = (this->viewer != nullptr and this->viewer->was_interactive()) or
+                       (this->monitor != nullptr and this->monitor->was_interactive()),
+        .events = this->events.entries(),
+    };
+    metadata.write(this->options.out / "meta.json");
+
+    std::cout << "ticks=" << this->simulation.completed_ticks() << "/" << this->ticks
+              << " sim_time=" << this->context.world.time() << "s wall=" << wall_seconds << "s";
+
+    for (const MetadataField& field : metadata.target_fields) {
+        std::cout << " " << field.name << "=" << field.value;
+    }
+
+    std::cout << " collisions=" << this->events.collisions() << " warnings=" << warnings;
+
+    if (this->video != nullptr) {
+        std::cout << " video_frames=" << this->video->frame_count();
+    }
+
+    std::cout << '\n';
+}
+
+int Application::main(std::span<char*> arguments, Target& target) {
+    const std::vector<CliOption> target_options = target.options();
+    const std::string            program =
+        arguments.empty() ? target.name() : std::filesystem::path(arguments.front()).filename().string();
+
+    try {
+        std::cout << "MuJoCo " << mj_versionString() << '\n';
+
+        if (mj_version() != mjVERSION_HEADER) {
+            std::cerr << "MuJoCo library/header version mismatch: " << mj_version() << " != " << mjVERSION_HEADER
+                      << '\n';
+            return 1;
+        }
+
+        CliOptions options = Cli::parse(arguments, target_options);
+        target.check_options();
+
+        if (not options.video_camera_given) {
+            options.video.camera = target.video_camera();
+        }
+
+        std::filesystem::create_directories(options.out);
+
+        Application application(options, target);
+        application.run(arguments);
+        return 0;
+    } catch (const std::exception& error) {
+        std::cerr << "error: " << error.what() << '\n' << Cli::usage(program, target_options);
+        return 1;
+    }
+}
+
+int run(std::span<char*> arguments, Target& target) {
+    return Application::main(arguments, target);
+}
+}  // namespace micras::sim
diff --git a/app/src/cli.cpp b/app/src/cli.cpp
new file mode 100644
index 0000000..fa81150
--- /dev/null
+++ b/app/src/cli.cpp
@@ -0,0 +1,310 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <array>
+#include <charconv>
+#include <functional>
+#include <stdexcept>
+
+#include "micras/sim/app/cli.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Read the value that follows an option.
+ *
+ * @param arguments Whole command line.
+ * @param index Index of the option, advanced to the value.
+ * @return The value.
+ */
+std::string take_value(std::span<char*> arguments, std::size_t& index) {
+    if (index + 1 >= arguments.size()) {
+        throw std::runtime_error("missing value for option " + std::string(arguments[index]));
+    }
+
+    return arguments[++index];
+}
+
+/**
+ * @brief Parse a number, naming the option and rejecting trailing rubbish.
+ *
+ * @tparam T Type to parse.
+ * @param value Number as spelled on the command line.
+ * @param option Name of the option, for the error message.
+ * @return The number.
+ */
+template <typename T>
+T require_number(const std::string& value, const std::string& option) {
+    T                           number{};
+    const std::span<const char> digits(value);
+    const auto                  result = std::from_chars(digits.data(), digits.data() + digits.size(), number);
+
+    if (result.ec != std::errc{} or result.ptr != digits.data() + digits.size()) {
+        throw std::runtime_error(option + " expects a number, got '" + value + "'");
+    }
+
+    return number;
+}
+
+/**
+ * @brief Parse a size spelled as <width>x<height>.
+ *
+ * @param value Size as spelled on the command line.
+ * @param option Name of the option, for the error message.
+ * @param width Width to fill.
+ * @param height Height to fill.
+ */
+void parse_size(const std::string& value, const std::string& option, int& width, int& height) {
+    const std::size_t cross = value.find('x');
+
+    if (cross == std::string::npos) {
+        throw std::runtime_error(option + " must look like 1280x720, got " + value);
+    }
+
+    width = require_number<int>(value.substr(0, cross), option);
+    height = require_number<int>(value.substr(cross + 1), option);
+}
+
+/**
+ * @brief Parse a color written as its red, green and blue parts, each in [0, 1].
+ *
+ * @param value Text of the color, like 0.2,0.6,1.
+ * @param option Name of the option, for the error message.
+ * @param color Filled with the three parts.
+ */
+void parse_color(const std::string& value, const std::string& option, std::array<float, 3>& color) {
+    const std::size_t first = value.find(',');
+    const std::size_t second = first == std::string::npos ? first : value.find(',', first + 1);
+
+    if (second == std::string::npos) {
+        throw std::runtime_error(option + " must look like 0.2,0.6,1, got " + value);
+    }
+
+    color = {
+        require_number<float>(value.substr(0, first), option),
+        require_number<float>(value.substr(first + 1, second - first - 1), option),
+        require_number<float>(value.substr(second + 1), option),
+    };
+
+    if (std::ranges::any_of(color, [](float part) { return part < 0.0F or part > 1.0F; })) {
+        throw std::runtime_error(option + " parts must be between 0 and 1, got " + value);
+    }
+}
+
+/**
+ * @brief Options being built.
+ */
+struct ParsedOptions {
+    CliOptions parsed;
+};
+
+/**
+ * @brief Reads the value that follows the option being applied.
+ */
+using ValueReader = std::function<std::string()>;
+
+/**
+ * @brief Apply one of the window options.
+ *
+ * @param argument Name of the option.
+ * @param value Reader of the value that follows it.
+ * @param options Options to fill.
+ * @return False when the name is not a window option.
+ */
+bool apply_viewer_option(const std::string& argument, const ValueReader& value, CliOptions& options) {
+    if (argument == "--viewer") {
+        options.viewer_enabled = true;
+    } else if (argument == "--viewer-camera") {
+        options.viewer.camera = value();
+    } else if (argument == "--viewer-fps") {
+        options.viewer_fps = require_number<int>(value(), argument);
+    } else if (argument == "--viewer-size") {
+        parse_size(value(), "--viewer-size", options.viewer.width, options.viewer.height);
+    } else {
+        return false;
+    }
+
+    return true;
+}
+
+/**
+ * @brief Apply one of the monitor bridge options.
+ *
+ * @param argument Name of the option.
+ * @param value Reader of the value that follows it.
+ * @param options Options to fill.
+ * @return False when the name is not a monitor option.
+ */
+bool apply_monitor_option(const std::string& argument, const ValueReader& value, CliOptions& options) {
+    if (argument == "--monitor") {
+        options.monitor_enabled = true;
+    } else if (argument == "--monitor-port") {
+        options.monitor_port = require_number<int>(value(), argument);
+    } else {
+        return false;
+    }
+
+    return true;
+}
+
+/**
+ * @brief Apply one of the recording options.
+ *
+ * @param argument Name of the option.
+ * @param value Reader of the value that follows it.
+ * @param options Options to fill.
+ * @return False when the name is not a recording option.
+ */
+bool apply_video_option(const std::string& argument, const ValueReader& value, CliOptions& options) {
+    if (argument == "--video") {
+        options.video.path = value();
+        options.video_enabled = true;
+    } else if (argument == "--video-fps") {
+        options.video.fps = require_number<int>(value(), argument);
+    } else if (argument == "--video-camera") {
+        options.video.camera = value();
+        options.video_camera_given = true;
+    } else if (argument == "--video-size") {
+        parse_size(value(), "--video-size", options.video.width, options.video.height);
+    } else if (argument == "--video-trail") {
+        options.video.trail = true;
+    } else if (argument == "--video-trail-color") {
+        parse_color(value(), argument, options.video.trail_color);
+        options.video.trail = true;
+    } else if (argument == "--video-tint") {
+        options.video.trail = true;
+        options.video.tint = true;
+    } else {
+        return false;
+    }
+
+    return true;
+}
+
+/**
+ * @brief Reject an option combination the run could not honour.
+ *
+ * @param options Options as parsed.
+ */
+void validate(const CliOptions& options) {
+    if (options.out.empty()) {
+        throw std::runtime_error("--out is required");
+    }
+
+    if (options.ticks.has_value() and *options.ticks == 0) {
+        throw std::runtime_error("--ticks must be at least 1");
+    }
+
+    if (options.seconds.has_value() and not(*options.seconds > 0.0)) {
+        throw std::runtime_error("--seconds must be strictly positive, got " + std::to_string(*options.seconds));
+    }
+
+    if (options.record_every == 0) {
+        throw std::runtime_error("--record-every must be at least 1");
+    }
+
+    if (options.viewer_enabled) {
+        if (options.viewer.width < 1 or options.viewer.height < 1) {
+            throw std::runtime_error("--viewer-size must be strictly positive");
+        }
+
+        if (options.viewer_fps < 1) {
+            throw std::runtime_error("--viewer-fps must be at least 1");
+        }
+    }
+
+    if (options.monitor_enabled and (options.monitor_port < 1 or options.monitor_port > 65535)) {
+        throw std::runtime_error("--monitor-port must be a TCP port");
+    }
+
+    if (not options.video_enabled) {
+        return;
+    }
+
+    if (options.video.fps < 1) {
+        throw std::runtime_error("--video-fps must be at least 1");
+    }
+
+    if (options.video.width < 1 or options.video.height < 1) {
+        throw std::runtime_error("--video-size must be strictly positive");
+    }
+}
+
+/**
+ * @brief Apply one option to the options being built.
+ *
+ * @param argument Name of the option.
+ * @param value Reader of the value that follows it.
+ * @param options Options to fill.
+ * @return False when the name is not an option at all.
+ */
+bool apply_option(const std::string& argument, const ValueReader& value, ParsedOptions& options) {
+    if (argument == "--out") {
+        options.parsed.out = value();
+    } else if (argument == "--scenario") {
+        options.parsed.scenario = value();
+    } else if (argument == "--maze") {
+        options.parsed.maze = value();
+    } else if (argument == "--seconds") {
+        options.parsed.seconds = require_number<double>(value(), argument);
+    } else if (argument == "--ticks") {
+        options.parsed.ticks = require_number<uint64_t>(value(), argument);
+    } else if (argument == "--seed") {
+        options.parsed.seed = require_number<uint64_t>(value(), argument);
+    } else if (argument == "--ideal") {
+        options.parsed.ideal = true;
+    } else if (argument == "--record-every") {
+        options.parsed.record_every = require_number<uint32_t>(value(), argument);
+    } else {
+        return apply_video_option(argument, value, options.parsed) or
+               apply_viewer_option(argument, value, options.parsed) or
+               apply_monitor_option(argument, value, options.parsed);
+    }
+
+    return true;
+}
+}  // namespace
+
+std::string Cli::usage(std::string_view program, std::span<const CliOption> target_options) {
+    const std::string indent(7 + program.size(), ' ');
+    std::string       text =
+        "usage: " + std::string(program) + " --out <dir> [--scenario <toml>] [--maze <name>|<txt>]\n" + indent +
+        "[--seconds <float> | --ticks <int>] [--seed <int>] [--ideal] [--record-every <ticks>]\n" + indent +
+        "[--video <out.mp4>] [--video-fps <int>] [--video-camera <name>|free]\n" + indent +
+        "[--video-size <width>x<height>] [--video-trail] [--video-trail-color <r,g,b>] [--video-tint]\n" + indent +
+        "[--viewer] [--viewer-camera <name>|free] [--viewer-fps <int>]\n" + indent +
+        "[--viewer-size <width>x<height>]\n" + indent + "[--monitor] [--monitor-port <int>]\n";
+
+    for (const CliOption& option : target_options) {
+        text += indent + "[" + option.name + (option.argument.empty() ? "" : " " + option.argument) + "]\n";
+    }
+
+    return text;
+}
+
+CliOptions Cli::parse(std::span<char*> arguments, std::span<const CliOption> target_options) {
+    ParsedOptions options;
+
+    for (std::size_t i = 1; i < arguments.size(); i++) {
+        const std::string argument = arguments[i];
+        const ValueReader value = [&arguments, &i] { return take_value(arguments, i); };
+
+        if (apply_option(argument, value, options)) {
+            continue;
+        }
+
+        const auto option = std::ranges::find(target_options, argument, &CliOption::name);
+
+        if (option == target_options.end()) {
+            throw std::runtime_error("unknown option " + argument);
+        }
+
+        option->apply(option->argument.empty() ? std::string{} : value());
+    }
+
+    validate(options.parsed);
+    return options.parsed;
+}
+}  // namespace micras::sim
diff --git a/engine/src/robot/robot_model.cpp b/engine/src/robot/robot_model.cpp
new file mode 100644
index 0000000..d4e2a8d
--- /dev/null
+++ b/engine/src/robot/robot_model.cpp
@@ -0,0 +1,248 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <cmath>
+#include <format>
+#include <string>
+
+#include "micras/sim/robot/robot_model.hpp"
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Format a vector for an MJCF attribute.
+ *
+ * @param vector The vector.
+ * @return Space separated components.
+ */
+std::string text(const Vector3& vector) {
+    return std::format("{:.9g} {:.9g} {:.9g}", vector[0], vector[1], vector[2]);
+}
+
+/**
+ * @brief Generate the geoms of the chassis.
+ *
+ * @param robot The description.
+ * @param names Names of the model.
+ * @return MJCF of the geoms.
+ */
+std::string chassis_geoms(const RobotDescription& robot, const RobotModelNames& names) {
+    const ChassisDescription& chassis = robot.chassis;
+    std::string               geoms = std::format(
+        "      <geom name=\"{}\" type=\"mesh\" mesh=\"{}_board\" material=\"{}_board\" friction=\"{:.9g}\"/>\n",
+        names.board, robot.name, robot.name, chassis.friction
+    );
+
+    for (const BoxPart& part : chassis.boxes) {
+        const Vector3 center{
+            (part.min[0] + part.max[0]) / 2, (part.min[1] + part.max[1]) / 2, (part.min[2] + part.max[2]) / 2
+        };
+        const Vector3 half{
+            std::abs(part.max[0] - part.min[0]) / 2, std::abs(part.max[1] - part.min[1]) / 2,
+            std::abs(part.max[2] - part.min[2]) / 2
+        };
+
+        geoms += std::format(
+            "      <geom name=\"{}\" type=\"box\" pos=\"{}\" size=\"{}\" material=\"{}_parts\"/>\n", part.name,
+            text(center), text(half), robot.name
+        );
+    }
+
+    for (const CylinderPart& part : chassis.cylinders) {
+        const Vector3 center{part.base[0], part.base[1], part.base[2] + part.height / 2};
+
+        geoms += std::format(
+            "      <geom name=\"{}\" type=\"cylinder\" pos=\"{}\" size=\"{:.9g} {:.9g}\" material=\"{}_parts\"/>\n",
+            part.name, text(center), part.radius, part.height / 2, robot.name
+        );
+    }
+
+    for (const SkidPart& part : chassis.skids) {
+        geoms += std::format(
+            "      <geom name=\"{}\" type=\"sphere\" pos=\"{}\" size=\"{:.9g}\" condim=\"1\" priority=\"1\" "
+            "material=\"{}_parts\"/>\n",
+            part.name, text(part.center), part.radius, robot.name
+        );
+    }
+
+    return geoms;
+}
+
+/**
+ * @brief Generate one wheel body.
+ *
+ * @param robot The description.
+ * @param name Name of the wheel's body, joint and geom.
+ * @param side +1 for the left wheel, -1 for the right one.
+ * @return MJCF of the wheel.
+ *
+ * @note The tyre has sliding and torsional friction but no rolling friction
+ *       (condim 4, not 6). MuJoCo's convex contact separates two surfaces in
+ *       proportion to how fast their friction is slipping, and a rolling wheel
+ *       keeps a rolling-friction constraint slipping all the time: with it the
+ *       tyres lost the floor on 18 % of steps at 0.4 m/s and 55 % at 1.5 m/s, at
+ *       any timestep. The same separation during a pivot, where the tyres really
+ *       do scrub, is absorbed by a soft enough tyre, which is part of why
+ *       contact_time_constant is what it is.
+ */
+std::string wheel_body(const RobotDescription& robot, const std::string& name, double side) {
+    const WheelsDescription& wheels = robot.wheels;
+    const DriveDescription&  drive = robot.drive;
+    const double             armature = drive.rotor_inertia * drive.gear_ratio * drive.gear_ratio;
+    const double             friction_torque = drive.torque_constant * drive.no_load_current * drive.gear_ratio;
+    const double transverse = wheels.mass * (3 * wheels.radius * wheels.radius + wheels.width * wheels.width) / 12;
+
+    return std::format(
+        "      <body name=\"{0}\" pos=\"0 {1:.9g} {2:.9g}\">\n"
+        "        <inertial pos=\"0 0 0\" mass=\"{3:.9g}\" diaginertia=\"{4:.9g} {5:.9g} {4:.9g}\"/>\n"
+        "        <joint name=\"{0}\" type=\"hinge\" axis=\"0 1 0\" armature=\"{6:.9g}\" frictionloss=\"{7:.9g}\"/>\n"
+        "        <geom name=\"{0}\" type=\"cylinder\" size=\"{2:.9g} {8:.9g}\" zaxis=\"0 1 0\" material=\"{9}_tyre\"\n"
+        "              condim=\"4\" priority=\"1\" friction=\"{10:.9g} {11:.9g}\" solref=\"{12:.9g} {13:.9g}\"/>\n"
+        "      </body>\n",
+        name, side * wheels.track / 2, wheels.radius, wheels.mass, transverse, wheels.spin_inertia, armature,
+        friction_torque, wheels.width / 2, robot.name, wheels.friction, wheels.torsional_friction,
+        wheels.contact_time_constant, wheels.contact_damping_ratio
+    );
+}
+
+/**
+ * @brief Generate the sites the devices sample at.
+ *
+ * @param robot The description.
+ * @param names Names of the model.
+ * @return MJCF of the sites.
+ */
+std::string sites(const RobotDescription& robot, const RobotModelNames& names) {
+    const ImuDescription& imu = robot.imu;
+    std::string           sites = std::format(
+        "      <site name=\"{}\" pos=\"{}\" xyaxes=\"{} {}\"/>\n"
+                  "      <site name=\"{}\" pos=\"{}\"/>\n",
+        names.imu, text(imu.position), text(imu.axes[0]), text(imu.axes[1]), names.fan, text(robot.fan.position)
+    );
+
+    for (const WallSensorDescription& sensor : robot.wall_sensors.sensors) {
+        sites += std::format(
+            "      <site name=\"{0}_emitter\" pos=\"{1}\" euler=\"0 0 {3:.9g}\" size=\"0.001\" rgba=\"1 0 0 1\"/>\n"
+            "      <site name=\"{0}_receiver\" pos=\"{2}\" euler=\"0 0 {3:.9g}\" size=\"0.001\" rgba=\"0 0 1 1\"/>\n",
+            sensor.name, text(sensor.emitter), text(sensor.receiver), sensor.yaw
+        );
+    }
+
+    return sites;
+}
+
+/**
+ * @brief Generate the board outline as a mesh, extruded between the board's faces.
+ *
+ * @param robot The description.
+ * @return Space separated vertices.
+ */
+std::string board_vertices(const RobotDescription& robot) {
+    std::string vertices;
+
+    for (const auto& point : robot.chassis.outline) {
+        vertices += std::format(
+            "{:.9g} {:.9g} {:.9g} {:.9g} {:.9g} {:.9g} ", point[0], point[1], robot.chassis.board_bottom, point[0],
+            point[1], robot.chassis.board_top
+        );
+    }
+
+    return vertices;
+}
+
+/**
+ * @brief Height of the onboard camera above the top of the board, in meters.
+ *
+ * @note Below the top of the walls of a maze, so that the view is the corridor the robot is in.
+ */
+constexpr double onboard_height{0.025};
+
+/**
+ * @brief Distance of the onboard camera ahead of the outline of the board, in meters.
+ *
+ * @note The sensor housings stand a little past the board, and would fill the bottom of the view.
+ */
+constexpr double onboard_lead{0.01};
+
+/**
+ * @brief Get where the onboard camera sits ahead of the body origin.
+ *
+ * @param robot The description.
+ * @return The largest forward coordinate of the outline, plus the lead of the camera.
+ */
+double front_of(const RobotDescription& robot) {
+    double front = 0.0;
+
+    for (const auto& point : robot.chassis.outline) {
+        front = std::max(front, static_cast<double>(point[0]));
+    }
+
+    return front + onboard_lead;
+}
+}  // namespace
+
+std::string robot_mjcf(const RobotDescription& robot) {
+    const RobotModelNames   names = RobotModelNames::of(robot);
+    const DriveDescription& drive = robot.drive;
+    const double            resistance = drive.resistance();
+    const double            gain = drive.gear_ratio * drive.gear_efficiency * drive.torque_constant / resistance;
+    const double            damping =
+        drive.gear_ratio * drive.gear_ratio * drive.torque_constant * drive.speed_constant / resistance;
+    const ChassisDescription& chassis = robot.chassis;
+
+    return std::format(
+        "<mujoco model=\"{0}\">\n"
+        "  <compiler angle=\"radian\"/>\n"
+        "  <option timestep=\"{1:.9g}\" integrator=\"implicitfast\" cone=\"elliptic\"/>\n"
+        "  <visual>\n"
+        "    <global offwidth=\"1920\" offheight=\"1080\"/>\n"
+        "    <map znear=\"0.001\"/>\n"
+        "  </visual>\n"
+        "  <default>\n"
+        "    <default class=\"{0}\">\n"
+        "      <geom group=\"{2}\"/>\n"
+        "    </default>\n"
+        "  </default>\n"
+        "  <asset>\n"
+        "    <mesh name=\"{0}_board\" vertex=\"{3}\"/>\n"
+        "    <material name=\"{0}_board\" rgba=\"0.08 0.3 0.12 1\"/>\n"
+        "    <material name=\"{0}_parts\" rgba=\"0.85 0.85 0.8 1\"/>\n"
+        "    <material name=\"{0}_tyre\" rgba=\"0.1 0.1 0.1 1\"/>\n"
+        "  </asset>\n"
+        "  <worldbody>\n"
+        "    <body name=\"{4}\" childclass=\"{0}\">\n"
+        "      <freejoint name=\"{4}\"/>\n"
+        "      <inertial pos=\"{5}\" mass=\"{6:.9g}\" diaginertia=\"{7}\"/>\n"
+        "{8}{9}{10}{11}"
+        "      <camera name=\"side tracking\" mode=\"trackcom\" pos=\"-0.3 0.2 0.25\" xyaxes=\"-0.55 -0.83 0 0.4 -0.27 "
+        "0.87\"/>\n"
+        "      <camera name=\"top tracking\" mode=\"trackcom\" pos=\"0 0 0.7\" xyaxes=\"1 0 0 0 1 0\"/>\n"
+        "      <camera name=\"onboard\" pos=\"{26:.9g} 0 {27:.9g}\" xyaxes=\"0 -1 0 0.174 0 0.985\" fovy=\"90\"/>\n"
+        "    </body>\n"
+        "    <site name=\"{25}\"/>\n"
+        "  </worldbody>\n"
+        "  <actuator>\n"
+        "    <general name=\"{12}\" joint=\"{14}\" gainprm=\"{16:.9g}\" biastype=\"affine\" biasprm=\"0 0 {17:.9g}\"\n"
+        "             ctrllimited=\"true\" ctrlrange=\"{18:.9g} {19:.9g}\"/>\n"
+        "    <general name=\"{13}\" joint=\"{15}\" gainprm=\"{16:.9g}\" biastype=\"affine\" biasprm=\"0 0 {17:.9g}\"\n"
+        "             ctrllimited=\"true\" ctrlrange=\"{18:.9g} {19:.9g}\"/>\n"
+        "    <general name=\"{20}\" site=\"{20}\" refsite=\"{25}\" gear=\"0 0 -1 0 0 0\" ctrllimited=\"true\" "
+        "ctrlrange=\"0 "
+        "{21:.9g}\"/>\n"
+        "  </actuator>\n"
+        "  <sensor>\n"
+        "    <gyro name=\"{22}\" site=\"{24}\"/>\n"
+        "    <accelerometer name=\"{23}\" site=\"{24}\"/>\n"
+        "  </sensor>\n"
+        "</mujoco>\n",
+        robot.name, robot.integration.timestep, RobotModelNames::robot_group, board_vertices(robot), names.body,
+        text(chassis.center_of_mass), chassis.mass, text(chassis.inertia), chassis_geoms(robot, names),
+        sites(robot, names), wheel_body(robot, names.left_wheel, 1.0), wheel_body(robot, names.right_wheel, -1.0),
+        names.left_motor, names.right_motor, names.left_wheel, names.right_wheel, gain, -damping,
+        -2 * drive.supply_voltage, 2 * drive.supply_voltage, names.fan, 4 * robot.fan.max_downforce, names.gyro,
+        names.accelerometer, names.imu, names.fan_reference, front_of(robot), chassis.board_top + onboard_height
+    );
+}
+}  // namespace micras::sim
diff --git a/view/include/micras/sim/view/control_panel.hpp b/view/include/micras/sim/view/control_panel.hpp
new file mode 100644
index 0000000..cb9446c
--- /dev/null
+++ b/view/include/micras/sim/view/control_panel.hpp
@@ -0,0 +1,245 @@
+/**
+ * @file
+ *
+ * @brief The panel a human drives the robot from.
+ */
+
+#ifndef MICRAS_SIM_VIEW_CONTROL_PANEL_HPP
+#define MICRAS_SIM_VIEW_CONTROL_PANEL_HPP
+
+#include <array>
+#include <cstddef>
+#include <cstdint>
+#include <string>
+#include <vector>
+
+#include "micras/sim/core/panel_spec.hpp"
+#include "micras/sim/core/simulation.hpp"
+#include "micras/sim/core/variable_source.hpp"
+
+struct GLFWwindow;
+
+namespace micras::sim {
+/**
+ * @brief What the human asked of the run through the panel.
+ */
+struct PanelRequest {
+    /**
+     * @brief Whether the run should stay paused, and whether the panel changed it.
+     */
+    ///@{
+    bool paused{false};
+    bool paused_changed{false};
+    ///@}
+
+    /**
+     * @brief Ticks the human asked to run while paused.
+     */
+    uint64_t steps{0};
+
+    /**
+     * @brief Simulated seconds allowed per wall second, zero for no limit.
+     */
+    double speed{0.0};
+
+    /**
+     * @brief Whether the human asked the run to end.
+     */
+    bool quit{false};
+};
+
+/**
+ * @brief A fixed length history of one plotted value.
+ */
+class PlotTrace {
+public:
+    /**
+     * @brief Number of samples kept.
+     */
+    static constexpr std::size_t capacity{2048};
+
+    /**
+     * @brief Name the plot and the firmware variable it follows.
+     *
+     * @param variable Firmware name of the variable.
+     */
+    explicit PlotTrace(std::string variable);
+
+    /**
+     * @brief Append the current value of the variable.
+     *
+     * @param time Simulated time of the sample.
+     * @param variables Where the value is read, or null when the robot reports none.
+     */
+    void sample(double time, const VariableSource* variables);
+
+    /**
+     * @brief Get the firmware name of the variable.
+     *
+     * @return The name.
+     */
+    const std::string& name() const { return this->variable; }
+
+    /**
+     * @brief Get the sample times, in storage order.
+     *
+     * @note Storage order is oldest first starting at oldest(), wrapping around.
+     *
+     * @return The first size() entries are valid.
+     */
+    const std::array<double, capacity>& times() const { return this->sample_times; }
+
+    /**
+     * @brief Get the sample values, in the same storage order as times().
+     *
+     * @return The first size() entries are valid.
+     */
+    const std::array<double, capacity>& values() const { return this->sample_values; }
+
+    /**
+     * @brief Get how many samples are kept.
+     *
+     * @return Number of valid entries, at most capacity.
+     */
+    std::size_t size() const { return this->count; }
+
+    /**
+     * @brief Get the storage index of the oldest sample.
+     *
+     * @return Index into times() and values().
+     */
+    std::size_t oldest() const { return this->count < capacity ? 0 : this->next; }
+
+private:
+    /**
+     * @brief Firmware name of the variable.
+     */
+    std::string variable;
+
+    /**
+     * @brief Ring buffers of the samples.
+     */
+    ///@{
+    std::array<double, capacity> sample_times{};
+    std::array<double, capacity> sample_values{};
+    ///@}
+
+    /**
+     * @brief Storage index the next sample is written to.
+     */
+    std::size_t next{0};
+
+    /**
+     * @brief Number of valid samples.
+     */
+    std::size_t count{0};
+};
+
+/**
+ * @brief Draws what the robot target declared, and turns clicks into its input.
+ *
+ * @note Runs on the simulation thread between ticks, like the viewer it shares
+ *       a window with. Buttons react to the press and release edges, never to
+ *       the held state: writing the held state every frame would overwrite a
+ *       scripted press. Touching a button or a switch marks the run
+ *       interactive, because nothing about it is reproducible from the command
+ *       line alone, and hands the board over from the script to the human.
+ */
+class ControlPanel {
+public:
+    /**
+     * @brief Attach ImGui and ImPlot to an existing window.
+     *
+     * @param window Window the panel is drawn in.
+     * @param title Title of the panel window.
+     * @param spec What the robot target shows and lets a human drive.
+     * @param variables Source of the plots and the state label, or null.
+     */
+    ControlPanel(GLFWwindow* window, std::string title, PanelSpec spec, const VariableSource* variables);
+
+    ControlPanel(const ControlPanel&) = delete;
+    ControlPanel(ControlPanel&&) = delete;
+    ControlPanel& operator=(const ControlPanel&) = delete;
+    ControlPanel& operator=(ControlPanel&&) = delete;
+
+    /**
+     * @brief Detach ImGui and ImPlot from the window.
+     */
+    ~ControlPanel();
+
+    /**
+     * @brief Append a sample to every plot.
+     *
+     * @param time Simulated time of the sample.
+     */
+    void sample(double time);
+
+    /**
+     * @brief Draw the panel over the current frame.
+     *
+     * @param simulation Run being driven.
+     * @param paused Whether the run is currently paused, which the viewer owns.
+     * @return What the human asked of the run.
+     */
+    PanelRequest draw(const Simulation& simulation, bool paused);
+
+    /**
+     * @brief Check whether a human touched anything the firmware can see.
+     *
+     * @return True once a control was used.
+     */
+    bool was_touched() const { return this->touched; }
+
+private:
+    /**
+     * @brief Draw the board controls and readouts.
+     *
+     * @param paused Whether the run is currently paused.
+     */
+    void draw_board(bool paused);
+
+    /**
+     * @brief Draw the plots of firmware variables.
+     */
+    void draw_plots();
+
+    /**
+     * @brief Record that a human has taken the board over from the script.
+     */
+    void take_over();
+
+    /**
+     * @brief Title of the panel window.
+     */
+    std::string title;
+
+    /**
+     * @brief What the robot target shows and lets a human drive.
+     */
+    PanelSpec spec;
+
+    /**
+     * @brief Source of the plots and the state label, or null.
+     *
+     * @note Owned by the robot target, which outlives the window.
+     */
+    const VariableSource* variables;
+
+    /**
+     * @brief Plots shown under the controls.
+     */
+    std::vector<PlotTrace> traces;
+
+    /**
+     * @brief What the human last asked of the run.
+     */
+    PanelRequest request;
+
+    /**
+     * @brief Whether a control has been used.
+     */
+    bool touched{false};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_VIEW_CONTROL_PANEL_HPP
diff --git a/view/include/micras/sim/view/mujoco_viewer.hpp b/view/include/micras/sim/view/mujoco_viewer.hpp
new file mode 100644
index 0000000..323d340
--- /dev/null
+++ b/view/include/micras/sim/view/mujoco_viewer.hpp
@@ -0,0 +1,270 @@
+/**
+ * @file
+ *
+ * @brief Live window onto a running simulation.
+ */
+
+#ifndef MICRAS_SIM_VIEW_MUJOCO_VIEWER_HPP
+#define MICRAS_SIM_VIEW_MUJOCO_VIEWER_HPP
+
+#include <cstdint>
+#include <memory>
+#include <string>
+
+#include <mujoco/mujoco.h>
+
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/panel_spec.hpp"
+#include "micras/sim/core/simulation.hpp"
+#include "micras/sim/core/variable_source.hpp"
+#include "micras/sim/view/control_panel.hpp"
+#include "micras/sim/view/view_options.hpp"
+
+struct GLFWwindow;
+
+namespace micras::sim {
+/**
+ * @brief Draws the simulation and lets a human steer the view and the pace.
+ *
+ * @note Runs on the simulation thread, between ticks: there is no render thread
+ *       and therefore no way to read a half written state. Everything it does
+ *       by itself only reads mjModel and mjData, so a run watched through an
+ *       untouched window produces the same data.csv as a headless one. Dragging
+ *       the robot applies a force, which is a real change to the run, so the
+ *       first drag marks the run interactive.
+ */
+class MujocoViewer : public IRunListener {
+public:
+    /**
+     * @brief Open a window and build the render context.
+     *
+     * @note Rangefinder rays are drawn from the start: range sensors are
+     *       usually the interesting part of a run.
+     *
+     * @param world World to draw.
+     * @param panel What the robot target shows on the panel.
+     * @param variables Source of the panel's plots and state label, or null.
+     * @param config Window configuration.
+     * @param error Filled with a human readable reason when creation fails.
+     * @return The viewer, or nullptr if no window could be opened.
+     */
+    static std::unique_ptr<MujocoViewer> create(
+        MujocoWorld& world, PanelSpec panel, const VariableSource* variables, const ViewerConfig& config,
+        std::string& error
+    );
+
+    MujocoViewer(const MujocoViewer&) = delete;
+    MujocoViewer(MujocoViewer&&) = delete;
+    MujocoViewer& operator=(const MujocoViewer&) = delete;
+    MujocoViewer& operator=(MujocoViewer&&) = delete;
+
+    /**
+     * @brief Release the render context and close the window.
+     */
+    ~MujocoViewer() override;
+
+    /**
+     * @brief Draw the initial state before the first tick.
+     *
+     * @param simulation Run about to start.
+     */
+    void on_start(const Simulation& simulation) override;
+
+    /**
+     * @brief Handle input, and block here while the run is paused.
+     *
+     * @param simulation Run about to advance.
+     * @return QUIT once the window is closed.
+     */
+    RunControl on_before_tick(const Simulation& simulation) override;
+
+    /**
+     * @brief Redraw the frame this tick falls on, if any.
+     *
+     * @param simulation Run that just advanced.
+     */
+    void on_after_tick(const Simulation& simulation) override;
+
+    /**
+     * @brief Draw the final state and let the run end.
+     *
+     * @note The window closes with the run rather than waiting to be dismissed,
+     *       so a scripted run is not held up by it. Pause before the end to
+     *       look at the final state.
+     *
+     * @param simulation Run that finished.
+     */
+    void on_finish(const Simulation& simulation) override;
+
+    /**
+     * @brief Check whether a human changed anything the run can see.
+     *
+     * @return True once the robot has been dragged or a control was used.
+     */
+    bool was_interactive() const;
+
+private:
+    MujocoViewer() = default;
+
+    /**
+     * @brief Draw one frame and present it.
+     *
+     * @param simulation Run being drawn, for the overlay.
+     */
+    void draw(const Simulation& simulation);
+
+    /**
+     * @brief Apply the drag force, if the robot is being dragged.
+     */
+    void apply_perturbation();
+
+    /**
+     * @brief Check whether the human asked the run to end.
+     *
+     * @return True once the window was closed or quit was pressed.
+     */
+    bool should_quit() const;
+
+    /**
+     * @brief Check whether the next tick is still held back by the speed limit.
+     *
+     * @note The only wall clock in a run, and it only decides when a tick
+     *       starts, never what it computes.
+     *
+     * @return True while the tick must wait.
+     */
+    bool wait_for_speed_limit() const;
+
+    /**
+     * @brief Point the camera at what the configuration asked for.
+     *
+     * @param name Model camera name, or "free".
+     * @param error Filled when the model has no such camera.
+     * @return False when the name was rejected.
+     */
+    bool select_camera(const std::string& name, std::string& error);
+
+    /**
+     * @brief Handle a key press.
+     *
+     * @param key GLFW key code.
+     */
+    void on_key(int key);
+
+    /**
+     * @brief Handle a mouse button change.
+     *
+     * @note Holding control and the left button drags the robot. Selecting its
+     *       body is enough, because the drag is applied as a force and never as
+     *       a pose, so the physics stays in charge of the result.
+     *
+     * @param button GLFW button code.
+     * @param pressed Whether it went down.
+     */
+    void on_mouse_button(int button, bool pressed);
+
+    /**
+     * @brief Handle a mouse move.
+     *
+     * @param x Cursor position in pixels.
+     * @param y Cursor position in pixels.
+     */
+    void on_mouse_move(double x, double y);
+
+    /**
+     * @brief Handle a scroll wheel step.
+     *
+     * @param offset Scroll amount.
+     */
+    void on_scroll(double offset);
+
+    /**
+     * @brief World being drawn.
+     */
+    MujocoWorld* world{nullptr};
+
+    /**
+     * @brief Window configuration.
+     */
+    ViewerConfig config;
+
+    /**
+     * @brief Window the frames go to.
+     */
+    GLFWwindow* window{nullptr};
+
+    /**
+     * @brief MuJoCo visualization state.
+     */
+    ///@{
+    mjvScene   scene{};
+    mjvCamera  camera{};
+    mjvOption  option{};
+    mjvPerturb perturb{};
+    mjrContext context{};
+    ///@}
+
+    /**
+     * @brief Whether the render context and scene were created.
+     */
+    bool context_ready{false};
+
+    /**
+     * @brief Whether the run is waiting for the human to let it continue.
+     */
+    bool paused{false};
+
+    /**
+     * @brief Number of ticks the human asked to run while paused.
+     */
+    uint64_t pending_steps{0};
+
+    /**
+     * @brief Whether the robot has been dragged at least once.
+     */
+    bool interactive{false};
+
+    /**
+     * @brief Whether the human asked the run to end.
+     */
+    bool quit_requested{false};
+
+    /**
+     * @brief Simulated seconds allowed per wall second, zero for no limit.
+     */
+    double speed{0.0};
+
+    /**
+     * @brief Steps already taken from the panel's running total.
+     */
+    uint64_t consumed_steps{0};
+
+    /**
+     * @brief Mouse state, in window coordinates.
+     */
+    ///@{
+    double last_x{0.0};
+    double last_y{0.0};
+    bool   left_held{false};
+    bool   right_held{false};
+    bool   middle_held{false};
+    ///@}
+
+    /**
+     * @brief Number of frames drawn.
+     */
+    uint64_t frames{0};
+
+    /**
+     * @brief The board and the plots, drawn over the scene.
+     */
+    std::unique_ptr<ControlPanel> panel;
+
+    /**
+     * @brief Wall time the last tick was allowed to start at.
+     */
+    double last_tick_at{0.0};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_VIEW_MUJOCO_VIEWER_HPP
diff --git a/view/include/micras/sim/view/video_recorder.hpp b/view/include/micras/sim/view/video_recorder.hpp
new file mode 100644
index 0000000..a48c7af
--- /dev/null
+++ b/view/include/micras/sim/view/video_recorder.hpp
@@ -0,0 +1,228 @@
+/**
+ * @file
+ *
+ * @brief Offscreen EGL video recorder piping raw frames to ffmpeg.
+ */
+
+#ifndef MICRAS_SIM_VIEW_VIDEO_RECORDER_HPP
+#define MICRAS_SIM_VIEW_VIDEO_RECORDER_HPP
+
+#include <array>
+#include <cstddef>
+#include <cstdint>
+#include <cstdio>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <mujoco/mujoco.h>
+
+#include "micras/sim/view/view_options.hpp"
+
+#include "micras/sim/core/panel_spec.hpp"
+#include "micras/sim/core/simulation.hpp"
+#include "micras/sim/core/variable_source.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Renders the simulation offscreen and streams it to ffmpeg.
+ *
+ * @note Rendering only reads mjModel/mjData, so a recorded run produces the
+ *       exact same data.csv as the same run without --video.
+ */
+class VideoRecorder : public IRunListener {
+public:
+    /**
+     * @brief Bring up EGL, the MuJoCo render context and the ffmpeg pipe.
+     *
+     * @note The caller must have set model->vis.global.offwidth/offheight to at
+     *       least the requested frame size before calling this, because
+     *       mjr_makeContext sizes the offscreen framebuffer from them.
+     *
+     * @param model Model to render.
+     * @param config Recording configuration.
+     * @param error Filled with a human readable reason when creation fails.
+     * @return The recorder, or nullptr if anything failed.
+     */
+    static std::unique_ptr<VideoRecorder> create(mjModel* model, const VideoConfig& config, std::string& error);
+
+    /**
+     * @brief Start recording a run, from the world and the variables the overlay prints.
+     *
+     * @param world World whose state is rendered.
+     * @param overlay What the robot target prints under the simulated time.
+     * @param variables Source of the overlay's values, or null.
+     * @param ticks_per_frame Number of firmware ticks between frames.
+     * @param trail_body Body whose path every frame draws behind it, or empty for none.
+     */
+    void attach(
+        MujocoWorld& world, OverlaySpec overlay, const VariableSource* variables, uint64_t ticks_per_frame,
+        const std::string& trail_body
+    );
+
+    /**
+     * @brief Extend the trail, then render the frame this tick falls on, if any.
+     *
+     * @note The trail is sampled every tick, a point every few millimeters, so that it follows
+     * the curves however far apart the frames are.
+     *
+     * @param simulation Run that just advanced.
+     */
+    void on_after_tick(const Simulation& simulation) override;
+
+    VideoRecorder(const VideoRecorder&) = delete;
+    VideoRecorder(VideoRecorder&&) = delete;
+    VideoRecorder& operator=(const VideoRecorder&) = delete;
+    VideoRecorder& operator=(VideoRecorder&&) = delete;
+
+    /**
+     * @brief Render one frame of the current state and write it to ffmpeg.
+     *
+     * @param data Simulation state to render; mjv_updateScene needs a mutable
+     *             pointer but never touches the physics state.
+     * @param labels Overlay labels, one per line.
+     * @param values Overlay values, one per line.
+     */
+    void capture(mjData* data, const std::string& labels, const std::string& values);
+
+    /**
+     * @brief Release the ffmpeg pipe, the render context and the EGL context.
+     */
+    ~VideoRecorder() override;
+
+    /**
+     * @brief Get how many frames were written so far.
+     *
+     * @return Frame count.
+     */
+    uint64_t frame_count() const { return this->frames; }
+
+private:
+    /**
+     * @brief Distance between two points of the trail, in meters.
+     */
+    static constexpr double trail_spacing{0.003};
+
+    /**
+     * @brief Largest number of points of the trail, beyond which every other point is dropped.
+     */
+    static constexpr std::size_t max_trail_points{12000};
+
+    /**
+     * @brief Width of the trail, in pixels.
+     */
+    static constexpr float trail_width{3.0F};
+
+    VideoRecorder() = default;
+
+    /**
+     * @brief Add the trail to the scene, as one line per pair of points.
+     */
+    void draw_trail();
+
+    /**
+     * @brief Blend the color of every geom of the robot with the color of its trail.
+     */
+    void tint_robot();
+
+    /**
+     * @brief Share of the trail color in the tinted robot, the rest being its own shading.
+     */
+    static constexpr float tint_share{0.75F};
+
+    /**
+     * @brief Make this recorder's offscreen context current.
+     *
+     * @note A window and a recorder can be open at the same time, and a thread
+     *       cannot hold an EGL and a GLX context at once, so the recorder takes
+     *       its context only while it draws and lets go afterwards.
+     */
+    void make_context_current() const;
+
+    /**
+     * @brief Let go of this recorder's offscreen context.
+     */
+    void release_context() const;
+
+    /**
+     * @brief Model being rendered, owned by the World.
+     */
+    mjModel* model{nullptr};
+
+    /**
+     * @brief Headless context the frames are rendered through.
+     */
+    ///@{
+    void* display{nullptr};
+    void* gl_context{nullptr};
+    ///@}
+
+    /**
+     * @brief Recording configuration.
+     */
+    VideoConfig config;
+
+    /**
+     * @brief MuJoCo visualization state.
+     */
+    ///@{
+    mjvScene   scene{};
+    mjvCamera  camera{};
+    mjvOption  option{};
+    mjrContext context{};
+    ///@}
+
+    /**
+     * @brief Pipe to the ffmpeg encoder.
+     */
+    std::FILE* encoder{nullptr};
+
+    /**
+     * @brief Frame buffers, bottom-up as read back and top-down as written out.
+     */
+    ///@{
+    std::vector<unsigned char> pixels;
+    std::vector<unsigned char> flipped;
+    ///@}
+
+    /**
+     * @brief Number of frames written.
+     */
+    uint64_t frames{0};
+
+    /**
+     * @brief World being rendered, set by attach().
+     */
+    MujocoWorld* world{nullptr};
+
+    /**
+     * @brief Source of the overlay's values, set by attach().
+     */
+    const VariableSource* variables{nullptr};
+
+    /**
+     * @brief What the overlay prints under the simulated time, set by attach().
+     */
+    OverlaySpec overlay;
+
+    /**
+     * @brief Number of firmware ticks between frames.
+     */
+    uint64_t ticks_per_frame{1};
+
+    /**
+     * @brief Body the trail follows, or -1 for no trail, and the points it has left.
+     */
+    ///@{
+    int                                trail_body{-1};
+    std::vector<std::array<double, 3>> trail;
+    ///@}
+
+    /**
+     * @brief Whether the render context and scene were created.
+     */
+    bool context_ready{false};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_VIEW_VIDEO_RECORDER_HPP
diff --git a/view/include/micras/sim/view/view_options.hpp b/view/include/micras/sim/view/view_options.hpp
new file mode 100644
index 0000000..a37635d
--- /dev/null
+++ b/view/include/micras/sim/view/view_options.hpp
@@ -0,0 +1,106 @@
+/**
+ * @file
+ *
+ * @brief What the command line can ask of the window and the recorder.
+ *
+ * @note A leaf header on purpose: the command line has to name these, and
+ *       nothing that only parses options should have to pull in MuJoCo, GLFW or
+ *       the run loop to do it.
+ */
+
+#ifndef MICRAS_SIM_VIEW_VIEW_OPTIONS_HPP
+#define MICRAS_SIM_VIEW_VIEW_OPTIONS_HPP
+
+#include <array>
+#include <cstdint>
+#include <string>
+
+namespace micras::sim {
+/**
+ * @brief Everything the command line can configure about a recording.
+ */
+struct VideoConfig {
+    /**
+     * @brief Path of the mp4 file ffmpeg writes.
+     */
+    std::string path;
+
+    /**
+     * @brief Model camera name, or "free" for the fixed whole-world view.
+     *
+     * @note A robot target may prefer one of its own cameras; the command line
+     *       overrides either.
+     */
+    std::string camera{"free"};
+
+    /**
+     * @brief Frame rate handed to ffmpeg.
+     */
+    int fps{30};
+
+    /**
+     * @brief Whether every frame draws the path the robot has traveled, as a line behind it.
+     */
+    bool trail{false};
+
+    /**
+     * @brief Color of the trail, red, green and blue in [0, 1].
+     */
+    std::array<float, 3> trail_color{1.0F, 0.35F, 0.05F};
+
+    /**
+     * @brief Whether the robot is drawn in the color of its trail, to tell apart two recordings of one maze.
+     */
+    bool tint{false};
+
+    /**
+     * @brief Frame size in pixels.
+     */
+    ///@{
+    int width{1280};
+    int height{720};
+    ///@}
+};
+
+/**
+ * @brief Everything the command line can configure about the window.
+ */
+struct ViewerConfig {
+    /**
+     * @brief Window title, the robot target's name.
+     */
+    std::string title;
+
+    /**
+     * @brief Body a ctrl-drag pushes, the robot's own.
+     */
+    std::string body;
+
+    /**
+     * @brief Window size in pixels.
+     */
+    ///@{
+    int width{1200};
+    int height{900};
+    ///@}
+
+    /**
+     * @brief Model camera name, or "free" for the orbiting camera.
+     */
+    std::string camera{"free"};
+
+    /**
+     * @brief Number of firmware ticks between redraws.
+     */
+    uint64_t ticks_per_frame{16};
+
+    /**
+     * @brief Duration of one firmware tick, which the speed limiter paces against.
+     *
+     * @note No default: it comes from the clock of the loaded run.
+     */
+    uint32_t us_per_tick{0};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_VIEW_VIEW_OPTIONS_HPP
diff --git a/view/src/control_panel.cpp b/view/src/control_panel.cpp
new file mode 100644
index 0000000..6f5a28f
--- /dev/null
+++ b/view/src/control_panel.cpp
@@ -0,0 +1,242 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <limits>
+#include <utility>
+
+#include "micras/sim/view/control_panel.hpp"
+
+namespace micras::sim {
+PlotTrace::PlotTrace(std::string variable) : variable{std::move(variable)} { }
+
+void PlotTrace::sample(double time, const VariableSource* variables) {
+    this->sample_times.at(this->next) = time;
+    this->sample_values.at(this->next) =
+        variables == nullptr ? std::numeric_limits<double>::quiet_NaN() : variables->value_of(this->variable);
+    this->next = (this->next + 1) % capacity;
+    this->count = std::min(this->count + 1, capacity);
+}
+}  // namespace micras::sim
+
+#ifdef MICRAS_VIEWER
+
+    #include <format>
+
+    #include <GLFW/glfw3.h>
+    #include <imgui.h>
+    #include <imgui_impl_glfw.h>
+    #include <imgui_impl_opengl3.h>
+    #include <implot.h>
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Range of the speed limiter, in simulated seconds per wall second.
+ *
+ * @note Zero means no limit, which is what a headless run does.
+ */
+///@{
+constexpr double speed_minimum{0.0};
+constexpr double speed_maximum{10.0};
+///@}
+
+/**
+ * @brief Switches drawn on one row before the next row starts.
+ */
+constexpr std::size_t switches_per_row{4};
+
+/**
+ * @brief Draw a colour swatch for one lamp.
+ *
+ * @param label Label shown beside it.
+ * @param colour Colour to show.
+ */
+void draw_swatch(const std::string& label, const Colour& colour) {
+    const ImVec4 value(colour.red / 255.0F, colour.green / 255.0F, colour.blue / 255.0F, 1.0F);
+    ImGui::ColorButton(label.c_str(), value, ImGuiColorEditFlags_NoTooltip, ImVec2(24, 24));
+    ImGui::SameLine();
+    ImGui::TextUnformatted(label.c_str());
+}
+}  // namespace
+
+ControlPanel::ControlPanel(GLFWwindow* window, std::string title, PanelSpec spec, const VariableSource* variables) :
+    title{std::move(title)}, spec{std::move(spec)}, variables{variables} {
+    IMGUI_CHECKVERSION();
+    ImGui::CreateContext();
+    ImGui::GetIO().IniFilename = nullptr;
+    ImPlot::CreateContext();
+    ImGui::StyleColorsDark();
+    ImGui_ImplGlfw_InitForOpenGL(window, true);
+    ImGui_ImplOpenGL3_Init("#version 130");
+
+    for (const std::string& variable : this->spec.plots) {
+        this->traces.emplace_back(variable);
+    }
+}
+
+ControlPanel::~ControlPanel() {
+    ImGui_ImplOpenGL3_Shutdown();
+    ImGui_ImplGlfw_Shutdown();
+    ImPlot::DestroyContext();
+    ImGui::DestroyContext();
+}
+
+void ControlPanel::take_over() {
+    if (not this->touched and this->spec.take_over) {
+        this->spec.take_over();
+    }
+
+    this->touched = true;
+}
+
+void ControlPanel::sample(double time) {
+    for (PlotTrace& trace : this->traces) {
+        trace.sample(time, this->variables);
+    }
+}
+
+PanelRequest ControlPanel::draw(const Simulation& simulation, bool paused) {
+    ImGui_ImplOpenGL3_NewFrame();
+    ImGui_ImplGlfw_NewFrame();
+    ImGui::NewFrame();
+
+    ImGui::SetNextWindowPos(ImVec2(10, 10), ImGuiCond_FirstUseEver);
+    ImGui::SetNextWindowSize(ImVec2(360, 620), ImGuiCond_FirstUseEver);
+    ImGui::Begin(this->title.c_str());
+
+    ImGui::TextUnformatted(std::format("tick {}", simulation.tick()).c_str());
+
+    if (this->spec.state.has_value()) {
+        const double state = this->variables == nullptr ? std::numeric_limits<double>::quiet_NaN() :
+                                                          this->variables->value_of(this->spec.state->variable);
+        ImGui::TextUnformatted(std::format("state {}", this->spec.state->name_of(state)).c_str());
+    }
+
+    ImGui::Separator();
+
+    this->request.paused_changed = false;
+    this->draw_board(paused);
+    ImGui::Separator();
+    this->draw_plots();
+
+    ImGui::End();
+    ImGui::Render();
+    ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
+
+    return this->request;
+}
+
+void ControlPanel::draw_board(bool paused) {
+    ImGui::TextUnformatted("run");
+    bool wanted = paused;
+
+    if (ImGui::Checkbox("paused", &wanted)) {
+        this->request.paused = wanted;
+        this->request.paused_changed = true;
+    }
+
+    ImGui::SameLine();
+
+    if (ImGui::Button("step")) {
+        this->request.steps++;
+    }
+
+    ImGui::SameLine();
+
+    if (ImGui::Button("quit")) {
+        this->request.quit = true;
+    }
+
+    ImGui::SliderScalar("speed", ImGuiDataType_Double, &this->request.speed, &speed_minimum, &speed_maximum, "%.1f x");
+
+    ImGui::Spacing();
+    ImGui::TextUnformatted("board");
+
+    for (const PanelButton& button : this->spec.buttons) {
+        ImGui::Button(button.name.c_str());
+
+        if (ImGui::IsItemActivated()) {
+            this->take_over();
+            button.press(true);
+        } else if (ImGui::IsItemDeactivated()) {
+            button.press(false);
+        }
+    }
+
+    for (std::size_t i = 0; i < this->spec.switches.size(); i++) {
+        const PanelSwitch& panel_switch = this->spec.switches.at(i);
+        bool               switched = panel_switch.state();
+
+        if (i % switches_per_row != 0) {
+            ImGui::SameLine();
+        }
+
+        if (ImGui::Checkbox(panel_switch.name.c_str(), &switched)) {
+            this->take_over();
+            panel_switch.set(switched);
+        }
+    }
+
+    if (not this->spec.lamps.empty()) {
+        ImGui::Spacing();
+        ImGui::TextUnformatted("shown");
+    }
+
+    for (const PanelLamp& lamp : this->spec.lamps) {
+        draw_swatch(lamp.name, lamp.colour());
+    }
+
+    if (not this->spec.readouts.empty()) {
+        ImGui::Spacing();
+        ImGui::TextUnformatted("driven");
+    }
+
+    for (const PanelReadout& readout : this->spec.readouts) {
+        ImGui::TextUnformatted(std::format("{} {}", readout.name, readout.text()).c_str());
+    }
+}
+
+void ControlPanel::draw_plots() {
+    for (const PlotTrace& trace : this->traces) {
+        if (not ImPlot::BeginPlot(trace.name().c_str(), ImVec2(-1, 110))) {
+            continue;
+        }
+
+        ImPlot::SetupAxes("s", nullptr, ImPlotAxisFlags_AutoFit, ImPlotAxisFlags_AutoFit);
+
+        if (trace.size() > 0) {
+            ImPlot::PlotLine(
+                trace.name().c_str(), trace.times().data(), trace.values().data(), static_cast<int>(trace.size()), 0,
+                static_cast<int>(trace.oldest())
+            );
+        }
+
+        ImPlot::EndPlot();
+    }
+}
+}  // namespace micras::sim
+
+#else  // MICRAS_VIEWER
+
+namespace micras::sim {
+ControlPanel::ControlPanel(GLFWwindow* /*window*/, std::string title, PanelSpec spec, const VariableSource* variables) :
+    title{std::move(title)}, spec{std::move(spec)}, variables{variables} { }
+
+ControlPanel::~ControlPanel() = default;
+
+void ControlPanel::sample(double /*time*/) { }
+
+PanelRequest ControlPanel::draw(const Simulation& /*simulation*/, bool /*paused*/) {
+    return this->request;
+}
+
+void ControlPanel::draw_board(bool /*paused*/) { }
+
+void ControlPanel::draw_plots() { }
+
+void ControlPanel::take_over() { }
+}  // namespace micras::sim
+
+#endif  // MICRAS_VIEWER
diff --git a/view/src/mujoco_viewer.cpp b/view/src/mujoco_viewer.cpp
new file mode 100644
index 0000000..af4d101
--- /dev/null
+++ b/view/src/mujoco_viewer.cpp
@@ -0,0 +1,470 @@
+/**
+ * @file
+ */
+
+#include "micras/sim/view/mujoco_viewer.hpp"
+
+#ifdef MICRAS_VIEWER
+
+    #include <algorithm>
+    #include <format>
+    #include <string>
+    #include <utility>
+
+    #include <GLFW/glfw3.h>
+    #include <imgui.h>
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief How far a drag moves the camera, as a fraction of the window.
+ */
+constexpr double drag_scale{1.0};
+
+/**
+ * @brief How much one scroll step zooms.
+ */
+constexpr double zoom_per_scroll{-0.05};
+
+/**
+ * @brief Get the viewer a GLFW window belongs to.
+ *
+ * @param window Window the event came from.
+ * @return The viewer.
+ */
+MujocoViewer* viewer_of(GLFWwindow* window) {
+    return static_cast<MujocoViewer*>(glfwGetWindowUserPointer(window));
+}
+
+/**
+ * @brief Count how many GLFW users are still up.
+ *
+ * @note Unsynchronised because viewers are only ever built and destroyed on the
+ *       simulation thread, which is also the only thread GLFW may be called
+ *       from.
+ */
+// NOLINTNEXTLINE(*-avoid-non-const-global-variables): GLFW itself is process wide.
+int glfw_users = 0;
+
+/**
+ * @brief Last message GLFW reported, so a failure says what actually happened.
+ */
+// NOLINTNEXTLINE(*-avoid-non-const-global-variables): the GLFW error callback takes no user pointer.
+std::string glfw_error;
+}  // namespace
+
+std::unique_ptr<MujocoViewer> MujocoViewer::create(
+    MujocoWorld& world, PanelSpec panel, const VariableSource* variables, const ViewerConfig& config, std::string& error
+) {
+    glfwSetErrorCallback([](int code, const char* description) {
+        glfw_error = std::format("GLFW error {}: {}", code, description == nullptr ? "?" : description);
+    });
+
+    if (glfw_users == 0 and glfwInit() == GLFW_FALSE) {
+        error = glfw_error.empty() ? "could not initialise GLFW; is a display available?" : glfw_error;
+        return nullptr;
+    }
+
+    glfw_users++;
+
+    std::unique_ptr<MujocoViewer> viewer(new MujocoViewer());
+    viewer->world = &world;
+    viewer->config = config;
+
+    viewer->window = glfwCreateWindow(config.width, config.height, config.title.c_str(), nullptr, nullptr);
+
+    if (viewer->window == nullptr) {
+        error = glfw_error.empty() ? "could not open a window; is a display available?" : glfw_error;
+        return nullptr;
+    }
+
+    glfwMakeContextCurrent(viewer->window);
+    glfwSwapInterval(0);
+    glfwSetWindowUserPointer(viewer->window, viewer.get());
+
+    glfwSetKeyCallback(viewer->window, [](GLFWwindow* window, int key, int, int action, int) {
+        if (action == GLFW_PRESS or action == GLFW_REPEAT) {
+            viewer_of(window)->on_key(key);
+        }
+    });
+
+    glfwSetMouseButtonCallback(viewer->window, [](GLFWwindow* window, int button, int action, int) {
+        viewer_of(window)->on_mouse_button(button, action == GLFW_PRESS);
+    });
+
+    glfwSetCursorPosCallback(viewer->window, [](GLFWwindow* window, double x, double y) {
+        viewer_of(window)->on_mouse_move(x, y);
+    });
+
+    glfwSetScrollCallback(viewer->window, [](GLFWwindow* window, double, double offset) {
+        viewer_of(window)->on_scroll(offset);
+    });
+
+    mjv_defaultCamera(&viewer->camera);
+    mjv_defaultOption(&viewer->option);
+    mjv_defaultScene(&viewer->scene);
+    mjv_defaultPerturb(&viewer->perturb);
+    mjr_defaultContext(&viewer->context);
+
+    viewer->option.flags[mjVIS_RANGEFINDER] = 1;
+    std::ranges::fill(viewer->option.geomgroup, 1);
+
+    mjv_makeScene(world.model(), &viewer->scene, 2000);
+    mjr_makeContext(world.model(), &viewer->context, mjFONTSCALE_150);
+    viewer->context_ready = true;
+
+    if (not viewer->select_camera(config.camera, error)) {
+        return nullptr;
+    }
+
+    viewer->panel = std::make_unique<ControlPanel>(viewer->window, config.title, std::move(panel), variables);
+    return viewer;
+}
+
+MujocoViewer::~MujocoViewer() {
+    if (this->window != nullptr) {
+        glfwMakeContextCurrent(this->window);
+    }
+
+    this->panel.reset();
+
+    if (this->context_ready) {
+        mjr_freeContext(&this->context);
+        mjv_freeScene(&this->scene);
+    }
+
+    if (this->window != nullptr) {
+        glfwDestroyWindow(this->window);
+    }
+
+    glfw_users--;
+
+    if (glfw_users == 0) {
+        glfwTerminate();
+    }
+}
+
+bool MujocoViewer::select_camera(const std::string& name, std::string& error) {
+    const mjModel* model = this->world->model();
+
+    if (name == "free") {
+        mjv_defaultFreeCamera(model, &this->camera);
+        return true;
+    }
+
+    const int id = mj_name2id(model, mjOBJ_CAMERA, name.c_str());
+
+    if (id < 0) {
+        error = "model has no camera named '" + name + "'; it has";
+
+        for (int i = 0; i < model->ncam; i++) {
+            const char* found = mj_id2name(model, mjOBJ_CAMERA, i);
+            error += std::string(" '") + (found == nullptr ? "?" : found) + "'";
+        }
+
+        error += " and 'free'";
+        return false;
+    }
+
+    this->camera.type = mjCAMERA_FIXED;
+    this->camera.fixedcamid = id;
+    return true;
+}
+
+void MujocoViewer::on_start(const Simulation& simulation) {
+    this->draw(simulation);
+}
+
+RunControl MujocoViewer::on_before_tick(const Simulation& simulation) {
+    glfwPollEvents();
+
+    while ((this->paused and this->pending_steps == 0) or this->wait_for_speed_limit()) {
+        if (this->should_quit()) {
+            return RunControl::QUIT;
+        }
+
+        this->draw(simulation);
+        glfwWaitEventsTimeout(0.005);
+    }
+
+    if (this->should_quit()) {
+        return RunControl::QUIT;
+    }
+
+    if (this->paused and this->pending_steps > 0) {
+        this->pending_steps--;
+    }
+
+    this->last_tick_at = glfwGetTime();
+    this->apply_perturbation();
+    return RunControl::RUN;
+}
+
+bool MujocoViewer::should_quit() const {
+    return glfwWindowShouldClose(this->window) != 0 or this->quit_requested;
+}
+
+bool MujocoViewer::wait_for_speed_limit() const {
+    if (this->speed <= 0.0) {
+        return false;
+    }
+
+    return glfwGetTime() - this->last_tick_at < this->config.us_per_tick * 1e-6 / this->speed;
+}
+
+bool MujocoViewer::was_interactive() const {
+    return this->interactive or (this->panel != nullptr and this->panel->was_touched());
+}
+
+void MujocoViewer::on_after_tick(const Simulation& simulation) {
+    if (simulation.tick() % this->config.ticks_per_frame != 0) {
+        return;
+    }
+
+    this->panel->sample(this->world->time());
+    this->draw(simulation);
+}
+
+void MujocoViewer::on_finish(const Simulation& simulation) {
+    this->draw(simulation);
+}
+
+void MujocoViewer::apply_perturbation() {
+    mjModel* model = this->world->model();
+    mjData*  data = this->world->data();
+
+    mju_zero(data->xfrc_applied, static_cast<int>(6 * model->nbody));
+
+    if (this->perturb.active == 0) {
+        return;
+    }
+
+    this->interactive = true;
+    mjv_applyPerturbForce(model, data, &this->perturb);
+}
+
+void MujocoViewer::draw(const Simulation& simulation) {
+    glfwMakeContextCurrent(this->window);
+
+    int width = 0;
+    int height = 0;
+    glfwGetFramebufferSize(this->window, &width, &height);
+
+    const mjrRect viewport{0, 0, width, height};
+
+    mjv_updateScene(
+        this->world->model(), this->world->data(), &this->option, &this->perturb, &this->camera, mjCAT_ALL, &this->scene
+    );
+    mjr_render(viewport, &this->scene, &this->context);
+
+    const std::string labels = "tick\ntime\nstate\nkeys";
+    const std::string values = std::format(
+        "{}\n{:.3f} s\n{}\nspace pause  right step  tab camera  esc quit", simulation.tick(), this->world->time(),
+        this->paused ? "paused" : "running"
+    );
+    mjr_overlay(mjFONT_NORMAL, mjGRID_TOPRIGHT, viewport, labels.c_str(), values.c_str(), &this->context);
+
+    const PanelRequest request = this->panel->draw(simulation, this->paused);
+
+    if (request.paused_changed) {
+        this->paused = request.paused;
+    }
+
+    this->speed = request.speed;
+    this->quit_requested = request.quit;
+
+    if (request.steps > this->consumed_steps) {
+        this->pending_steps += request.steps - this->consumed_steps;
+        this->consumed_steps = request.steps;
+    }
+
+    glfwSwapBuffers(this->window);
+    this->frames++;
+}
+
+void MujocoViewer::on_key(int key) {
+    if (this->panel != nullptr and ImGui::GetIO().WantCaptureKeyboard) {
+        return;
+    }
+
+    switch (key) {
+        case GLFW_KEY_SPACE:
+            this->paused = not this->paused;
+            break;
+
+        case GLFW_KEY_RIGHT:
+            this->pending_steps++;
+            break;
+
+        case GLFW_KEY_ESCAPE:
+            glfwSetWindowShouldClose(this->window, GLFW_TRUE);
+            break;
+
+        case GLFW_KEY_TAB:
+            this->camera.type = this->camera.type == mjCAMERA_FREE ? mjCAMERA_FIXED : mjCAMERA_FREE;
+            this->camera.fixedcamid =
+                (this->camera.fixedcamid + 1) % std::max(1, static_cast<int>(this->world->model()->ncam));
+            break;
+
+        case GLFW_KEY_C:
+            this->option.flags[mjVIS_CONTACTPOINT] = 1 - this->option.flags[mjVIS_CONTACTPOINT];
+            break;
+
+        case GLFW_KEY_F:
+            this->option.flags[mjVIS_CONTACTFORCE] = 1 - this->option.flags[mjVIS_CONTACTFORCE];
+            break;
+
+        case GLFW_KEY_T:
+            this->option.flags[mjVIS_TRANSPARENT] = 1 - this->option.flags[mjVIS_TRANSPARENT];
+            break;
+
+        case GLFW_KEY_R:
+            this->option.flags[mjVIS_RANGEFINDER] = 1 - this->option.flags[mjVIS_RANGEFINDER];
+            break;
+
+        default:
+            break;
+    }
+}
+
+void MujocoViewer::on_mouse_button(int button, bool pressed) {
+    if (this->panel != nullptr and ImGui::GetIO().WantCaptureMouse) {
+        this->left_held = false;
+        this->right_held = false;
+        this->middle_held = false;
+        this->perturb.active = 0;
+        return;
+    }
+
+    if (button == GLFW_MOUSE_BUTTON_LEFT) {
+        this->left_held = pressed;
+    } else if (button == GLFW_MOUSE_BUTTON_RIGHT) {
+        this->right_held = pressed;
+    } else if (button == GLFW_MOUSE_BUTTON_MIDDLE) {
+        this->middle_held = pressed;
+    }
+
+    glfwGetCursorPos(this->window, &this->last_x, &this->last_y);
+
+    const bool dragging = this->left_held and (glfwGetKey(this->window, GLFW_KEY_LEFT_CONTROL) == GLFW_PRESS);
+
+    if (not dragging) {
+        this->perturb.active = 0;
+        return;
+    }
+
+    const int body = mj_name2id(this->world->model(), mjOBJ_BODY, this->config.body.c_str());
+
+    if (body < 0) {
+        return;
+    }
+
+    this->perturb.select = body;
+    this->perturb.active = mjPERT_TRANSLATE;
+    mjv_initPerturb(this->world->model(), this->world->data(), &this->scene, &this->perturb);
+}
+
+void MujocoViewer::on_mouse_move(double x, double y) {
+    if (this->panel != nullptr and ImGui::GetIO().WantCaptureMouse) {
+        this->last_x = x;
+        this->last_y = y;
+        return;
+    }
+
+    const double dx = x - this->last_x;
+    const double dy = y - this->last_y;
+    this->last_x = x;
+    this->last_y = y;
+
+    if (not this->left_held and not this->right_held and not this->middle_held) {
+        return;
+    }
+
+    int width = 0;
+    int height = 0;
+    glfwGetWindowSize(this->window, &width, &height);
+
+    const double relative_x = drag_scale * dx / std::max(1, width);
+    const double relative_y = drag_scale * dy / std::max(1, height);
+
+    if (this->perturb.active != 0) {
+        mjv_movePerturb(
+            this->world->model(), this->world->data(), mjMOUSE_MOVE_H, relative_x, relative_y, &this->scene,
+            &this->perturb
+        );
+        return;
+    }
+
+    mjtMouse action = mjMOUSE_ROTATE_V;
+
+    if (this->right_held) {
+        action = mjMOUSE_MOVE_H;
+    } else if (this->middle_held) {
+        action = mjMOUSE_ZOOM;
+    }
+
+    mjv_moveCamera(this->world->model(), action, relative_x, relative_y, &this->camera);
+}
+
+void MujocoViewer::on_scroll(double offset) {
+    if (this->panel != nullptr and ImGui::GetIO().WantCaptureMouse) {
+        return;
+    }
+
+    mjv_moveCamera(this->world->model(), mjMOUSE_ZOOM, 0.0, zoom_per_scroll * offset, &this->camera);
+}
+}  // namespace micras::sim
+
+#else  // MICRAS_VIEWER
+
+namespace micras::sim {
+std::unique_ptr<MujocoViewer> MujocoViewer::create(
+    MujocoWorld& /*world*/, PanelSpec /*panel*/, const VariableSource* /*variables*/, const ViewerConfig& /*config*/,
+    std::string& error
+) {
+    error = "this binary was built with -DMICRAS_VIEWER=OFF";
+    return nullptr;
+}
+
+bool MujocoViewer::was_interactive() const {
+    return this->interactive;
+}
+
+bool MujocoViewer::should_quit() const {
+    return true;
+}
+
+bool MujocoViewer::wait_for_speed_limit() const {
+    return false;
+}
+
+MujocoViewer::~MujocoViewer() = default;
+
+void MujocoViewer::on_start(const Simulation& /*simulation*/) { }
+
+RunControl MujocoViewer::on_before_tick(const Simulation& /*simulation*/) {
+    return RunControl::RUN;
+}
+
+void MujocoViewer::on_after_tick(const Simulation& /*simulation*/) { }
+
+void MujocoViewer::on_finish(const Simulation& /*simulation*/) { }
+
+void MujocoViewer::draw(const Simulation& /*simulation*/) { }
+
+void MujocoViewer::apply_perturbation() { }
+
+bool MujocoViewer::select_camera(const std::string& /*name*/, std::string& /*error*/) {
+    return true;
+}
+
+void MujocoViewer::on_key(int /*key*/) { }
+
+void MujocoViewer::on_mouse_button(int /*button*/, bool /*pressed*/) { }
+
+void MujocoViewer::on_mouse_move(double /*x*/, double /*y*/) { }
+
+void MujocoViewer::on_scroll(double /*offset*/) { }
+}  // namespace micras::sim
+
+#endif  // MICRAS_VIEWER
diff --git a/view/src/video_recorder.cpp b/view/src/video_recorder.cpp
new file mode 100644
index 0000000..2183cb4
--- /dev/null
+++ b/view/src/video_recorder.cpp
@@ -0,0 +1,432 @@
+/**
+ * @file
+ *
+ * @brief Offscreen EGL video recorder piping raw frames to ffmpeg.
+ */
+
+#include "micras/sim/view/video_recorder.hpp"
+
+#ifdef MICRAS_VIDEO
+
+    #include <algorithm>
+    #include <array>
+    #include <cmath>
+    #include <format>
+    #include <limits>
+    #include <span>
+    #include <string>
+    #include <utility>
+    #include <vector>
+
+    #include <EGL/egl.h>
+    #include <EGL/eglext.h>
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Framebuffer configuration MuJoCo needs from EGL.
+ */
+const std::array<EGLint, 17> config_attributes{
+    EGL_RED_SIZE,
+    8,
+    EGL_GREEN_SIZE,
+    8,
+    EGL_BLUE_SIZE,
+    8,
+    EGL_ALPHA_SIZE,
+    8,
+    EGL_DEPTH_SIZE,
+    24,
+    EGL_STENCIL_SIZE,
+    8,
+    EGL_COLOR_BUFFER_TYPE,
+    EGL_RGB_BUFFER,
+    EGL_SURFACE_TYPE,
+    EGL_PBUFFER_BIT,
+    EGL_NONE
+};
+
+// NOLINTBEGIN(cppcoreguidelines-pro-type-reinterpret-cast, misc-misplaced-const): the EGL C API hands out its
+// extension entry points as void pointers and typedefs its handles as pointers.
+
+/**
+ * @brief Try to bring up a current OpenGL context on one EGL display.
+ *
+ * @param display Display to initialise.
+ * @return True when the context is current and usable.
+ */
+bool make_context_current(EGLDisplay display) {
+    if (display == EGL_NO_DISPLAY) {
+        return false;
+    }
+
+    EGLint major = 0;
+    EGLint minor = 0;
+
+    if (eglInitialize(display, &major, &minor) != EGL_TRUE) {
+        return false;
+    }
+
+    EGLint    count = 0;
+    EGLConfig config{};
+
+    if (eglChooseConfig(display, config_attributes.data(), &config, 1, &count) != EGL_TRUE or count < 1) {
+        eglTerminate(display);
+        return false;
+    }
+
+    if (eglBindAPI(EGL_OPENGL_API) != EGL_TRUE) {
+        eglTerminate(display);
+        return false;
+    }
+
+    const EGLContext context = eglCreateContext(display, config, EGL_NO_CONTEXT, nullptr);
+
+    if (context == EGL_NO_CONTEXT) {
+        eglTerminate(display);
+        return false;
+    }
+
+    if (eglMakeCurrent(display, EGL_NO_SURFACE, EGL_NO_SURFACE, context) != EGL_TRUE) {
+        eglDestroyContext(display, context);
+        eglTerminate(display);
+        return false;
+    }
+
+    return true;
+}
+
+/**
+ * @brief Make a headless OpenGL context current.
+ *
+ * @note The default display works on most drivers; when it does not (a common
+ *       failure with several EGL vendors installed) every enumerated EGL device
+ *       is tried in turn, which is what picks the NVIDIA one on this machine.
+ *
+ * @return True on success.
+ */
+bool init_opengl() {
+    if (make_context_current(eglGetDisplay(EGL_DEFAULT_DISPLAY))) {
+        return true;
+    }
+
+    auto query_devices = reinterpret_cast<PFNEGLQUERYDEVICESEXTPROC>(eglGetProcAddress("eglQueryDevicesEXT"));
+    auto get_platform_display =
+        reinterpret_cast<PFNEGLGETPLATFORMDISPLAYEXTPROC>(eglGetProcAddress("eglGetPlatformDisplayEXT"));
+
+    if (query_devices == nullptr or get_platform_display == nullptr) {
+        return false;
+    }
+
+    std::array<EGLDeviceEXT, 16> devices{};
+    EGLint                       device_count = 0;
+
+    if (query_devices(static_cast<EGLint>(devices.size()), devices.data(), &device_count) != EGL_TRUE) {
+        return false;
+    }
+
+    for (EGLint i = 0; i < device_count; i++) {
+        if (make_context_current(get_platform_display(EGL_PLATFORM_DEVICE_EXT, devices.at(i), nullptr))) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+/**
+ * @brief Release the current EGL context and its display.
+ */
+void close_opengl() {
+    const EGLDisplay display = eglGetCurrentDisplay();
+
+    if (display == EGL_NO_DISPLAY) {
+        return;
+    }
+
+    const EGLContext context = eglGetCurrentContext();
+    eglMakeCurrent(display, EGL_NO_SURFACE, EGL_NO_SURFACE, EGL_NO_CONTEXT);
+
+    if (context != EGL_NO_CONTEXT) {
+        eglDestroyContext(display, context);
+    }
+
+    eglTerminate(display);
+}
+
+// NOLINTEND(cppcoreguidelines-pro-type-reinterpret-cast, misc-misplaced-const)
+
+}  // namespace
+
+std::unique_ptr<VideoRecorder> VideoRecorder::create(mjModel* model, const VideoConfig& config, std::string& error) {
+    if (not init_opengl()) {
+        error = "could not create a headless EGL/OpenGL context";
+        return nullptr;
+    }
+
+    std::unique_ptr<VideoRecorder> recorder(new VideoRecorder());
+    recorder->model = model;
+    recorder->config = config;
+
+    mjv_defaultCamera(&recorder->camera);
+    mjv_defaultOption(&recorder->option);
+    mjv_defaultScene(&recorder->scene);
+    mjr_defaultContext(&recorder->context);
+
+    recorder->option.flags[mjVIS_RANGEFINDER] = 1;
+    std::ranges::fill(recorder->option.geomgroup, 1);
+
+    recorder->display = eglGetCurrentDisplay();
+    recorder->gl_context = eglGetCurrentContext();
+
+    mjv_makeScene(model, &recorder->scene, 2000 + static_cast<int>(max_trail_points));
+    mjr_makeContext(model, &recorder->context, mjFONTSCALE_150);
+    recorder->context_ready = true;
+
+    if (recorder->context.offWidth < config.width or recorder->context.offHeight < config.height) {
+        error = "offscreen framebuffer is " + std::to_string(recorder->context.offWidth) + "x" +
+                std::to_string(recorder->context.offHeight) + ", smaller than the requested " +
+                std::to_string(config.width) + "x" + std::to_string(config.height);
+        return nullptr;
+    }
+
+    if (config.camera == "free") {
+        mjv_defaultFreeCamera(model, &recorder->camera);
+        recorder->camera.type = mjCAMERA_FREE;
+        recorder->camera.lookat[0] = model->stat.center[0];
+        recorder->camera.lookat[1] = model->stat.center[1];
+        recorder->camera.lookat[2] = model->stat.center[2];
+        recorder->camera.distance = 1.6 * model->stat.extent;
+        recorder->camera.azimuth = 90.0;
+        recorder->camera.elevation = -65.0;
+    } else {
+        const int id = mj_name2id(model, mjOBJ_CAMERA, config.camera.c_str());
+
+        if (id < 0) {
+            error = "model has no camera named '" + config.camera + "'; it has";
+
+            for (int i = 0; i < model->ncam; i++) {
+                const char* name = mj_id2name(model, mjOBJ_CAMERA, i);
+                error += std::string(" '") + (name == nullptr ? "?" : name) + "'";
+            }
+
+            error += " and 'free'";
+            return nullptr;
+        }
+
+        recorder->camera.type = mjCAMERA_FIXED;
+        recorder->camera.fixedcamid = id;
+    }
+
+    const std::string command = "ffmpeg -y -loglevel error -f rawvideo -pixel_format rgb24 -video_size " +
+                                std::to_string(config.width) + "x" + std::to_string(config.height) + " -framerate " +
+                                std::to_string(config.fps) + " -i - -c:v libx264 -pix_fmt yuv420p -crf 20 '" +
+                                config.path + "'";
+
+    recorder->encoder = popen(command.c_str(), "w");
+
+    if (recorder->encoder == nullptr) {
+        error = "could not start ffmpeg";
+        return nullptr;
+    }
+
+    const std::size_t size = static_cast<std::size_t>(config.width) * static_cast<std::size_t>(config.height) * 3;
+    recorder->pixels.resize(size);
+    recorder->flipped.resize(size);
+
+    recorder->release_context();
+    return recorder;
+}
+
+VideoRecorder::~VideoRecorder() {
+    if (this->encoder != nullptr) {
+        pclose(this->encoder);
+    }
+
+    if (this->context_ready) {
+        this->make_context_current();
+        mjr_freeContext(&this->context);
+        mjv_freeScene(&this->scene);
+    }
+
+    close_opengl();
+}
+
+void VideoRecorder::attach(
+    MujocoWorld& world, OverlaySpec overlay, const VariableSource* variables, uint64_t ticks_per_frame,
+    const std::string& trail_body
+) {
+    this->world = &world;
+    this->overlay = std::move(overlay);
+    this->variables = variables;
+    this->ticks_per_frame = std::max<uint64_t>(1, ticks_per_frame);
+    this->trail_body = trail_body.empty() ? -1 : mj_name2id(world.model(), mjOBJ_BODY, trail_body.c_str());
+    this->trail.clear();
+}
+
+void VideoRecorder::on_after_tick(const Simulation& simulation) {
+    if (this->world == nullptr) {
+        return;
+    }
+
+    if (this->trail_body >= 0) {
+        const std::span<const mjtNum> positions{
+            this->world->data()->xpos, 3 * static_cast<std::size_t>(this->world->model()->nbody)
+        };
+        const std::span<const mjtNum> position = positions.subspan(3 * static_cast<std::size_t>(this->trail_body), 3);
+
+        if (this->trail.empty() or
+            std::hypot(position[0] - this->trail.back()[0], position[1] - this->trail.back()[1]) >= trail_spacing) {
+            if (this->trail.size() >= max_trail_points) {
+                std::size_t kept = 0;
+
+                for (std::size_t i = 0; i < this->trail.size(); i += 2) {
+                    this->trail[kept++] = this->trail[i];
+                }
+
+                this->trail.resize(kept);
+            }
+
+            this->trail.push_back({position[0], position[1], 0.002});
+        }
+    }
+
+    if (simulation.tick() % this->ticks_per_frame != 0) {
+        return;
+    }
+
+    const auto value_of = [this](const std::string& variable) {
+        return this->variables == nullptr ? std::numeric_limits<double>::quiet_NaN() :
+                                            this->variables->value_of(variable);
+    };
+
+    std::string labels = "time";
+    std::string values = std::format("{:.3f} s", this->world->time());
+
+    if (this->overlay.state.has_value()) {
+        labels += "\nstate";
+        values += "\n" + this->overlay.state->name_of(value_of(this->overlay.state->variable));
+    }
+
+    for (const OverlayLine& line : this->overlay.lines) {
+        labels += "\n" + line.label;
+        values += std::format("\n{:.3f} {}", value_of(line.variable), line.unit);
+    }
+
+    this->capture(this->world->data(), labels, values);
+}
+
+void VideoRecorder::draw_trail() {
+    const std::array<float, 4> color{
+        this->config.trail_color[0], this->config.trail_color[1], this->config.trail_color[2], 1.0F
+    };
+
+    const std::span<mjvGeom> geoms{this->scene.geoms, static_cast<std::size_t>(this->scene.maxgeom)};
+
+    for (std::size_t i = 1; i < this->trail.size() and this->scene.ngeom < this->scene.maxgeom; i++) {
+        mjvGeom* geom = &geoms[static_cast<std::size_t>(this->scene.ngeom)];
+
+        mjv_initGeom(geom, mjGEOM_NONE, nullptr, nullptr, nullptr, color.data());
+        mjv_connector(geom, mjGEOM_LINE, trail_width, this->trail[i - 1].data(), this->trail[i].data());
+        geom->category = mjCAT_DECOR;
+        this->scene.ngeom++;
+    }
+}
+
+void VideoRecorder::tint_robot() {
+    if (this->trail_body < 0) {
+        return;
+    }
+
+    const auto                 bodies = static_cast<std::size_t>(this->model->nbody);
+    const auto                 geoms_in_model = static_cast<std::size_t>(this->model->ngeom);
+    const std::span<const int> roots{this->model->body_rootid, bodies};
+    const std::span<const int> owners{this->model->geom_bodyid, geoms_in_model};
+    const std::span<mjvGeom>   geoms{this->scene.geoms, static_cast<std::size_t>(this->scene.ngeom)};
+    const int                  root = roots[static_cast<std::size_t>(this->trail_body)];
+
+    for (mjvGeom& geom : geoms) {
+        if (geom.objtype != mjOBJ_GEOM or geom.objid < 0 or
+            roots[static_cast<std::size_t>(owners[static_cast<std::size_t>(geom.objid)])] != root) {
+            continue;
+        }
+
+        const std::span<float, 4> rgba{geom.rgba};
+
+        for (std::size_t i = 0; i < 3; i++) {
+            rgba[i] = tint_share * this->config.trail_color.at(i) + (1.0F - tint_share) * rgba[i];
+        }
+    }
+}
+
+void VideoRecorder::make_context_current() const {
+    if (this->display != nullptr and this->gl_context != nullptr) {
+        eglMakeCurrent(this->display, EGL_NO_SURFACE, EGL_NO_SURFACE, this->gl_context);
+    }
+}
+
+void VideoRecorder::release_context() const {
+    if (this->display != nullptr) {
+        eglMakeCurrent(this->display, EGL_NO_SURFACE, EGL_NO_SURFACE, EGL_NO_CONTEXT);
+    }
+}
+
+void VideoRecorder::capture(mjData* data, const std::string& labels, const std::string& values) {
+    if (this->encoder == nullptr) {
+        return;
+    }
+
+    this->make_context_current();
+
+    const mjrRect viewport{0, 0, this->config.width, this->config.height};
+
+    mjv_updateScene(this->model, data, &this->option, nullptr, &this->camera, mjCAT_ALL, &this->scene);
+    this->draw_trail();
+
+    if (this->config.tint) {
+        this->tint_robot();
+    }
+    mjr_setBuffer(mjFB_OFFSCREEN, &this->context);
+    mjr_render(viewport, &this->scene, &this->context);
+
+    mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, viewport, labels.c_str(), values.c_str(), &this->context);
+
+    mjr_readPixels(this->pixels.data(), nullptr, viewport, &this->context);
+
+    const auto                     stride = static_cast<std::size_t>(this->config.width) * 3;
+    const auto                     rows = static_cast<std::size_t>(this->config.height);
+    const std::span<unsigned char> read_back(this->pixels);
+    const std::span<unsigned char> written(this->flipped);
+
+    for (std::size_t row = 0; row < rows; row++) {
+        std::ranges::copy(read_back.subspan((rows - 1 - row) * stride, stride), written.subspan(row * stride).begin());
+    }
+
+    std::fwrite(this->flipped.data(), 1, this->flipped.size(), this->encoder);
+    this->frames++;
+    this->release_context();
+}
+}  // namespace micras::sim
+
+#else  // MICRAS_VIDEO
+
+namespace micras::sim {
+std::unique_ptr<VideoRecorder>
+    VideoRecorder::create(mjModel* /*model*/, const VideoConfig& /*config*/, std::string& error) {
+    error = "this binary was built with -DMICRAS_VIDEO=OFF";
+    return nullptr;
+}
+
+VideoRecorder::~VideoRecorder() = default;
+
+void VideoRecorder::attach(
+    MujocoWorld& /*world*/, OverlaySpec /*overlay*/, const VariableSource* /*variables*/, uint64_t /*ticks_per_frame*/,
+    const std::string& /*trail_body*/
+) { }
+
+void VideoRecorder::on_after_tick(const Simulation& /*simulation*/) { }
+
+void VideoRecorder::capture(mjData* /*data*/, const std::string& /*labels*/, const std::string& /*values*/) { }
+}  // namespace micras::sim
+
+#endif  // MICRAS_VIDEO

From 5c81608cdc4c4203a8f048dbe3d71919ef81801d Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Fri, 25 Sep 2026 20:29:29 -0300
Subject: [PATCH 04/52] =?UTF-8?q?=E2=9C=A8=20Run=20the=20firmware=20with?=
 =?UTF-8?q?=20braking=20in=20turns=20and=20the=20racing=20line?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The firmware moves to its high-level-review branch with four commits: the
sensing, estimate and control errors the simulation found, the planner of labels
with the turns of two bends, turns braked and accelerated through as their
curvature allows, and a racing line through the cells of the route on the second
switch, which used to allow diagonals and now names the racing line. The
simulated switch follows, and the scenarios with every switch on turn it on.

FIRMWARE_CHANGES.md records every change the simulator made to the firmware,
with its evidence and what it means on the robot. On the ten mazes the whole
contest runs clean with the fan alone and with every switch on, where the fast
runs take 3.6 to 8.6 s.
---
 CLAUDE.md                                     | 629 +++++++++---------
 README.md                                     | 257 ++++---
 targets/micras/FIRMWARE_CHANGES.md            | 617 +++++++++++++++++
 targets/micras/MicrasFirmware                 |   2 +-
 targets/micras/scenarios/explore.toml         |  24 +
 targets/micras/scenarios/explore_link.toml    |  21 +
 targets/micras/scenarios/explore_solve.toml   |  41 ++
 .../micras/scenarios/explore_solve_all.toml   |  58 ++
 targets/micras/scenarios/idle.toml            |  12 +
 targets/micras/scenarios/solve.toml           |  31 +
 targets/micras/scenarios/solve_all.toml       |  46 ++
 targets/micras/src/micras_target.cpp          | 321 +++++++++
 12 files changed, 1652 insertions(+), 407 deletions(-)
 create mode 100644 targets/micras/FIRMWARE_CHANGES.md
 create mode 100644 targets/micras/scenarios/explore.toml
 create mode 100644 targets/micras/scenarios/explore_link.toml
 create mode 100644 targets/micras/scenarios/explore_solve.toml
 create mode 100644 targets/micras/scenarios/explore_solve_all.toml
 create mode 100644 targets/micras/scenarios/idle.toml
 create mode 100644 targets/micras/scenarios/solve.toml
 create mode 100644 targets/micras/scenarios/solve_all.toml
 create mode 100644 targets/micras/src/micras_target.cpp

diff --git a/CLAUDE.md b/CLAUDE.md
index a6ebc95..a57a13c 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -2,70 +2,90 @@
 
 `README.md` is how to use this. This file is why it is built the way it is: the
 invariants that hold it together, the subtleties that look like bugs and are
-not, and the measurements behind the numbers in `config/constants.hpp`.
+not, and the measurements behind the numbers in `targets/micras/robot.toml`.
 
 Linux only, by decision. `just` is the entry point; there is no Makefile.
+`SPEC_1_WORK.md` and `SPEC_2_DECISIONS.md` record the work that produced this
+layout and the fourteen decisions behind it.
 
 ## The rule everything else serves
 
 **A run is reproducible.** Two runs of the same binary with the same arguments
-produce byte-identical `data.csv` and `meta.json`. Nothing in `sim/` may make
+produce byte-identical `data.csv` and `meta.json`. Nothing in the engine may make
 the firmware's view of the world depend on wall time, on a window being open, on
-a client being connected, or on how fast the machine is.
+a client being connected, or on how fast the machine is. Noise is part of the
+world (D8) and is seeded: `--seed` picks the stream, `--ideal` turns it off.
 
-This is enforced, not hoped for. `just check` runs the same scenario headless
-and with a window, headless and with a bridge, and compares the two CSVs as
-bytes; and it compares the three standard scenarios against the recorded
-baselines in `baseline/`.
+This is enforced, not hoped for. `just micras check` runs the same scenario
+headless and with a window, with and without a video, and with a bridge nobody
+connects to, and compares each pair of CSVs as bytes (`tools/compare_run.py`).
 
-Two invariants govern the baselines:
+Baselines are summaries, not recordings (D10). `targets/micras/baselines/v5/`
+holds one `summary.json` per checked run: the hash of `data.csv`, the state
+timeline, and a handful of numbers with their tolerances (`tools/baseline.py`).
+On the machine that recorded it the hash matches; on another it will not, because
+the compiler, libm and the MuJoCo build all move the last bits, and the summary is
+what is compared. Two rules:
 
-- **A refactoring must not move a byte.** If `data.csv` differs from
-  `baseline/v2`, the refactoring is wrong. Revert it. Never re-record the
-  baseline to make a diff go away.
-- **An extension only appends columns.** Every row's prefix up to the first new
-  column stays byte-identical, and the previous baseline is kept and compared
-  with `--columns-subset`, so old recordings stay comparable forever. Note what
-  that check is: a header prefix. New columns therefore have to go at the very
-  end — appending a pool variable would shift every `proxy_*` column right and
-  break it.
+- **A refactoring must not move a byte.** On one machine, a refactoring leaves
+  the hash where it was. If it moves, the refactoring is wrong.
+- **Never re-record to make a difference go away.** `record-baseline` refuses to
+  overwrite a version; a change of behaviour is a new version, `v5`, with the
+  reason in the commit.
 
-## Architecture
+## Layers
 
-Five libraries. `micras_sim_app` sits on top of all of them; `micras_sim_view`
-links only the core, so nothing about drawing can reach the recording layer:
+Everything is in this repository, in three layers:
 
 ```
-micras_sim_core     world, clock, serial bus, proxy state, run loop, firmware thread
-micras_sim          + scenario, telemetry, recording          (links the firmware shadow)
-micras_sim_view       window, control panel, video recorder   (GLFW/ImGui/EGL, on core)
-micras_sim_bridge   + WebSocket server, monitor bridge        (IXWebSocket)
-micras_sim_app      + CLI, application wiring, crash reporter
+engine/, view/, bridge/, app/   the simulator: knows no robot and no HAL
+hal_host/                       micras_hal implemented on a PC: knows no physics
+targets/micras/                 the micromouse: firmware submodule, bindings, robot.toml
 ```
 
-`src/main.cpp` is one call; `Application::main` is the `try`. The application is the only layer
-that knows a run can have a window, so it is the only one that links the view.
+`just check-generic` greps everything outside `targets/` for names that belong to
+a robot and fails on any (M2). The root CMakeLists adds every folder of
+`targets/` that has a CMakeLists; nothing above `targets/` names one.
 
-`MICRAS_VIEWER`, `MICRAS_VIDEO`, `MICRAS_BRIDGE` and `MICRAS_TESTS` are all ON
-by default and all must still compile when OFF; `just check-options` configures
-every one of them off as part of the gate, because stale stubs are otherwise
-only found by whoever first tries to build without a GPU.
+Four engine libraries. `micras_sim_app` sits on top; `micras_sim_view` links only
+the engine, so nothing about drawing can reach the recording layer:
+
+```
+micras_sim_engine   world, clock, run loop, firmware thread, devices, arenas,
+                    robot description and model, scenarios, recording
+micras_sim_view     window, declarative panel and overlay, video (GLFW/ImGui/EGL)
+micras_sim_bridge   WebSocket server, monitor bridge (IXWebSocket)
+micras_sim_app      CLI, application wiring, crash reporter; the Target interface
+```
+
+A robot target implements `Target` (`app/include/micras/sim/app/target.hpp`): its
+name, firmware commit, loop period, options, robot file, ground truth columns and
+program, and `wire()`, which binds its devices to the host ports and returns what
+it adds to the run (`Wiring`: inputs, observers, columns, variables, panel,
+overlay, scenario hooks). Its `main` is one call to `micras::sim::run`.
+
+`MICRAS_VIEWER`, `MICRAS_VIDEO`, `MICRAS_BRIDGE` and `MICRAS_TESTS` are all ON by
+default and all must still compile when OFF; `just check-options` configures
+every one of them off, because stale stubs are otherwise only found by whoever
+first tries to build without a GPU.
 
 ### The run loop
 
 `Simulation::run` drives `IRunListener`s. Order per tick:
 
 ```
-on_before_tick   -> RunControl{RUN, QUIT}   crash reporter, scenario, monitor, pause
-firmware.run_until_yield()                  the firmware thread runs one loop
-world.step(steps_per_tick)                  2 x 0.000521 s = 1042 us
+on_before_tick   -> RunControl{RUN, QUIT}   crash reporter, scenario, target inputs, monitor
+firmware.run_until_yield()                  the firmware runs until its timer crosses a step
+device->actuate()                           motors, fan: from what the firmware wrote
+world.step(steps_per_tick)                  125 us, one MuJoCo step
 clock.advance()
-on_after_tick                               monitor, telemetry, recorder, video, viewer
+device->sample()                            encoders, IMU, wall sensors, ADCs, link
+on_after_tick                               target observers, event log, recorder, video, viewer
 ```
 
-Listeners run in registration order, which `Application` fixes. `Telemetry`
-overrides only `on_after_tick`, so the pool values a row carries are decoded
-after the tick they belong to and before the recorder writes it.
+Listeners run in registration order, which `Application` fixes. Devices sample
+after the step, so what the firmware reads in tick N+1 is the world at the end of
+tick N: the true boundary, not a rounding choice.
 
 `has_finished()` is checked both before `before_tick()` and after
 `run_until_yield()`, so a firmware that has exited gets no physics step and no
@@ -73,38 +93,48 @@ CSV row. A `FinishGuard` runs `finish()` however `run()` leaves, including
 through an exception from a listener; without it a thrown listener would leave
 the firmware thread parked on the handoff with nobody left to wake it.
 
-### The two threads
+### Time: the host timer hands over (D2)
+
+The firmware keeps its own notion of time through `micras_hal`'s timer, and
+`hal_host`'s `Clock` is the only place that time exists. **Every read of the
+timer costs one microsecond of simulated time**, since a read on the robot takes
+time too and a loop that polls the timer must see it advance. When a read
+crosses the end of a 125 us step, the clock calls its handover, which is the
+firmware thread's `yield_tick()`: the world advances one step and the read
+returns after it. So a busy wait runs the world exactly as long as it waits, the
+firmware's 125 us loop is one step, and the time inside one iteration is the
+number of timer reads times the quantum: deterministic, but not a measurement of
+anything. There are no spin guards and no special cases.
 
-The firmware runs `micras::Micras` in its own thread. This is not concurrency:
-it is a **strict handoff**, a mutex and a condition variable around a `Turn`
-flag, and the two threads are never runnable at the same time. The firmware
-thread runs until it calls `yield_tick()`, then blocks; the simulation thread
-advances physics, then wakes it. A ThreadSanitizer build reported no race, which
-is what the design predicts; nothing in the repo runs that build routinely.
+### The two threads
 
-The thread exists because the firmware's loop is a loop: `Micras::update()`
-busy-waits on its own stopwatch, and there is no way to return from the middle
-of it. Everything else — the window, the panel, the bridge callbacks that matter
-— is drained on the simulation thread.
+The firmware runs its own `main` (compiled as `micras_firmware_main`) in its own
+thread. This is not concurrency: it is a **strict handoff**, a mutex and a
+condition variable around a `Turn` flag, and the two threads are never runnable
+at the same time. The firmware thread runs until the host timer yields, then
+blocks; the simulation thread advances physics, then wakes it. A
+ThreadSanitizer build reported no race, which is what the design predicts;
+nothing in the repo runs that build routinely.
 
 `finish()` latches `stopping` before checking `joinable`, and if the program
 refuses to stop it says so on stderr and calls `std::_Exit`. It does not detach:
 a detached thread running over a destroyed world is worse than a loud exit.
 `yield_tick()` returns false instead of parking when the thread is stopping
-during unwinding, which is how a firmware test that throws gets to leave.
-
-The thread body is called `thread_body()` and not `main()`, because the hardware
-test executables compile the firmware's `main` under `-Dmain=micras_test_main`,
-which would rename a member called `main` too.
+during unwinding. The thread body is called `thread_body()` and not `main()`,
+because the firmware's `main` is renamed with `-Dmain=...`, which would rename a
+member called `main` too.
 
 ### The viewer draws on the simulation thread
 
-There is no render thread, and therefore no snapshot and no mutex around the
-proxy state — the snapshot only ever existed to protect a render thread that was
-never built. `MujocoViewer` draws inside `on_after_tick` and blocks inside
-`on_before_tick` while paused. Rendering dominated wall time when it was last
-measured, roughly 70 % of it; `--viewer-fps` is the lever, and the figure is an
-estimate rather than something the repo records.
+There is no render thread. `MujocoViewer` draws inside `on_after_tick` and
+blocks inside `on_before_tick` while paused; `--viewer-fps` is the lever on wall
+time. The panel and the overlay are declarative (D12): a target returns a
+`PanelSpec` of buttons, switches, lamps and readouts and an `OverlaySpec` of
+lines, and the view draws them without knowing the robot. The first touch of a
+board control hands the run over: the scenario stops driving the inputs and the
+run is marked `interactive`. Panel input uses ImGui **edges**
+(`IsItemActivated`/`IsItemDeactivated`); writing every frame from the held state
+would overwrite a scripted press.
 
 EGL and GLX contexts cannot both be current on one thread. `--viewer --video`
 therefore requires that `VideoRecorder` make its EGL context current in
@@ -112,271 +142,252 @@ therefore requires that `VideoRecorder` make its EGL context current in
 GLFW context current first. Without that pair the run dies with
 `BadAccess X_GLXMakeCurrent` and leaves an empty CSV.
 
-## The shadow proxy layer
-
-`config/` and `include/micras/proxy/` shadow the real `micras_proxy`. Include
-order matters: `config` and `include` come before `MicrasFirmware/include` so
-the firmware picks up ours. `MicrasFirmware/src/main.cpp`, `micras_hal` and
-`micras_proxy` are excluded from the build.
-
-Proxies are constructed as members of `Micras`, initialised at their
-declarations from the `*_config` globals in `config/target.hpp`. There is no
-constructor to inject anything into. So each `Config` carries a
-`sim::SimulationContext*`, and `SimulationContext::instance()` is a
-function-local static, so it is constructed on first use and never before
-whoever depends on it. Exactly three places name it: `config/target.hpp`, once
-per `Config`; `Application`'s member initialiser, which is where the process's
-one context is picked up; and the context's own file, for the yield helper the
-proxies call. **No proxy and nothing else in `sim/` may call it** — they receive
-the facet they need
-(`MujocoWorld&`, `Clock&`, `SerialBus&`, `ProxyState&`) through the `Config`. A
-proxy built without a context, or before a model is loaded, throws at
-construction. Tests build their own `SimulationContext` and pass it through the
-same field.
-
-`tests/unit/shadow_conformance_test.cpp` instantiates every shadow `Config` with
-the firmware's own designated initialisers, which is what catches a field that
-drifted (it already caught `Storage::Config`'s `start_page` against
-`start_sector`).
-
-`tools/check_config_drift.py` diffs `config/constants.hpp` and
-`config/target.hpp` against the firmware's field by field and fails on anything
-not in the allowlist at the top of the script. Entries still marked `TODO` there
-are known divergences not yet written into the `constants.hpp` `@note`.
-
-### Stopwatch, the one that bites
-
-`Stopwatch` reports **simulated** time, and it is honest: it returns what the
-clock actually says. That alone deadlocks, because the firmware busy-waits on it
-while physics is frozen. So it has spin guards, and they are deliberately
-asymmetric: `elapsed_time_us` yields on the **second** repeated read at the same
-simulated instant (`max_repeated_reads = 2`), `elapsed_time_ms` only on the
-**fourth** (`max_repeated_ms_reads = 4`), because the firmware legitimately reads
-the same millisecond twice in one tick when it classifies a button release.
-`sleep_us` yields until the target passes.
-
-`reset_us` and `reset_ms` move `counter`, which is the point of them. What
-deliberately **survives a reset** are `last_read_us` and the two spin counters.
-This looks wrong and is load-bearing: `Fan::update` resets its own stopwatch every call, so a counter
-that reset with it would never reach the threshold, and `test_fan` would spin
-forever. The constructor seeds `counter = now_us - us_per_tick`, so the
-firmware's first loop reads the nominal period instead of zero.
-
-## The CSV
-
-85 columns: the tick, the simulated time and the firmware's own loop time, then
-33 of MuJoCo ground truth, 29 from the firmware pool, and 20 of what crossed the
-proxy boundary.
+## The host HAL (D3, D4)
+
+`hal_host/` implements every `micras_hal` class the firmware uses on a PC, and
+includes nothing but `micras_hal` headers and its own. `Board` is a registry of
+ports (`GpioPort`, `PwmPort`, `PwmDmaPort`, `AdcPort`, `UartPort`, `FlashPort`,
+`McuPort`, `EncoderPort`, `SamplePort`) **keyed by the address of the Cube handle
+or GPIO port** that names them, so the firmware's own `target.hpp` is the key:
+`.handle = &htim4` there and `Board::pwm(&htim4, ...)` in a binding reach the same
+port. Nothing in `hal_host` knows a physics engine; the target's bindings connect
+ports to devices.
+
+A port the firmware used that no binding claimed is counted, reported on stdout
+and written to `meta.json` as `unbound_ports`; the gate expects zero. So do
+`watchdog_expiries` and `emergency_stops`, which `Mcu` counts instead of
+resetting a process.
+
+`hal_host/include/stm32_host.h` holds the handle types and HAL constants. The
+Cube layer the firmware includes (`main.h`, `tim.h`, `adc.h`, ...) is written by
+hand per robot in `targets/micras/cube/`, with the handles configured as
+CubeMX configures them on the board (timer clock 275 MHz, TIM4 centre-aligned at
+PSC 274 / ARR 250, and so on), because the host `Pwm` and `Timer` compute
+frequencies and duties from those registers.
+
+Of the firmware, everything compiles unchanged except `micras_hal` (replaced by
+`hal_host`) and the proxies of the two SPI chips, `Imu` and `RotarySensor`
+(replaced by `targets/micras/proxy/`): the IMU proxy reads the IMU device's
+samples from a `SamplePort`, the rotary sensor reads `hal::Encoder`.
+`FmacFilter` is left out because nothing uses it and it needs the FMAC.
+`hal::Spi` and `hal::Encoder` exist in `hal_host`; the host SPI is chipless.
+
+## The robot description (D7)
+
+`targets/micras/robot.toml` is the robot's physical truth, written by hand from
+the CAD, the board and the datasheets. Every value is either a number or
+`{ value, source }` naming where it came from, and `RobotDescription` rejects a
+missing key, an unknown key, a wrong type and an unknown schema version. The
+engine generates the MJCF from it (`robot_mjcf`) and composes it with the arena
+(`Maze::mjcf`, attached under the prefix `maze_`); the composed model is saved to
+`<out>/model.xml` and hashed into `meta.json`.
+
+`robot.hpp` in the firmware is the firmware's *belief*, and the two are never
+forced equal. `just micras robot-report` prints them side by side. Today they
+differ in the emitter half angle (3 deg datasheet against 5.2 deg with mounting
+tolerance), the gyro noise (datasheet against a third more), the maze wall
+thickness (12 mm arena against 12.6 mm) and the front length (53.5 mm board
+against 54.9 mm with the sensor housings), all on purpose.
+
+Things in `robot.toml` that look arbitrary and are not:
+
+- **The tyres have no rolling friction** (condim 4, not 6). MuJoCo's convex
+  contact separates two surfaces in proportion to how fast their friction is
+  slipping, and a rolling wheel keeps a rolling-friction constraint slipping all
+  the time. With it the tyres lost the floor on 18 % of steps at 0.4 m/s and 55 %
+  at 1.5 m/s, at every timestep tried (125, 62.5 and 31.25 us), and so did a
+  bare sphere. The same separation happens where tyres really slide, in a pivot;
+  a tyre soft enough (`contact_time_constant` 5 ms or more) absorbs it inside its
+  own deflection. 8 ms is the estimate for the 1 mm silicone band. With the old
+  2 ms the hopping wheels hardly scrubbed, and a pivot at 0.6 V spun at 3.2 rad/s
+  instead of 1.1.
+- **The timestep is 125 us**, one firmware loop (R3). Halving it changed neither
+  the contacts nor the trace.
+- **The chassis mass is 62 g**, not 70: the firmware's 70 g and 2.9e-5 kg m^2 are
+  the whole robot, and the wheels are modelled separately.
+- **Each wall sensor has a gain.** `tools/wall_calibration` places the robot
+  where the firmware calibrates (centred in a corridor for the side sensors,
+  facing a wall for the front ones) and sets each gain so that the simulated
+  reading equals the robot's `reference_readings` in `target.hpp`. Without the
+  gains the readings were about four times low and the localizer corrected
+  against them. `--sweep` shows how the firmware's distances then follow the
+  true ones.
+- **Two skids the CAD does not have.** The robot rests on the edges of its board:
+  the rear one at rest, since the centre of mass is 0.8 mm behind the axle, and
+  the front one with the fan on, since the fan pulls 17.5 mm ahead of it. Two
+  1 mm spheres stand in for those edges. They are frictionless because a sliding
+  frictional contact separates in MuJoCo like the tyres above; the board's own
+  friction would lift it off the floor.
+- **The fan pulls straight down**, not along the board's normal: its actuator's
+  reference is a site fixed in the world. With the fan on, the board tilts onto
+  its nose and a pull along its normal has a backward part, about 1 % of it. On
+  the robot the friction of the board edge holds that. On the frictionless skids
+  it rolled the robot 4 mm into the back wall while it waited 5 s for the fan.
+- **The fan's 3 N is the owner's figure**, at full speed on the charged pack
+  (`nominal_voltage` 12.3 V). The nose carries a third of it, so the tyres get
+  2 N, and they sink 0.15 mm into the floor under it. Their rolling radius is
+  then 0.6 % short of 11 mm, and the firmware's odometry runs 0.6 % long with the
+  fan on. The same is expected of the real band, so calibrate the wheel radius
+  with the fan running.
+
+## The CSV (D11)
+
+One row per tick, or per `--record-every` ticks. The engine's block first: the
+tick, the simulated time, the body pose and velocity. Then the robot's ground
+truth columns, then the firmware's own monitoring variables, then each device's
+columns. Two sources naming the same column is an error at the first row.
 
 - A MuJoCo free joint splits its six velocity dofs across two frames, so the
   linear columns are `vx_world`, `vy_world`, `vz_world` and the angular one is
   `wz_body`. `v_forward` is the world linear velocity projected on the body
-  forward axis, `-vx_world*sin(yaw) + vy_world*cos(yaw)`; the model's forward
-  axis is body +y.
-- `left_penetration` and `right_penetration` are `nan` on ticks where the geom
-  had no contact at all. `0` means "in contact, exactly touching".
-- The `proxy_*` block is what the firmware read and wrote at the **start** of
-  the tick, so those sensor columns are one tick behind the ground truth on the
-  same row. That is the true boundary, not a rounding choice.
-- `grid_pose` is the cell the robot is *moving into*, so it legitimately leads
-  the ground-truth cell by one cell for most of a run. `grid_pose_side` follows
-  `nav::Side` (RIGHT=0, UP=1, LEFT=2, DOWN=3) and `fsm_state` follows
-  `Micras::State` (INIT=0, IDLE=1, WAIT_FOR_RUN=2, RUN=3, WAIT_FOR_CALIBRATE=4,
-  CALIBRATE=5, ERROR=6).
-
-Columns the firmware never feeds are **not** in the CSV. The battery voltage and
-the LED/ARGB/buzzer block were removed once measured: this build never reads the
-battery, and the only call that reaches those proxies is the `buzzer->update()`
-in `Micras::update`, so the columns were constant. `ProxyState` still carries `interface_output`, because the panel shows
-it.
+  forward axis, which for this robot is body +x.
+- `*_penetration` is `nan` on ticks where the geom had no contact at all. `0`
+  means "in contact, exactly touching".
+- The variable columns come from the firmware's `VariablePool`, read through a
+  read-only accessor (D5), and are named from its own variable names. State ids
+  and names come from the firmware too (R6); nothing in the simulator hard-codes
+  them. The device columns are what the simulated hardware produced: the
+  `lsm6dsv_*` IMU samples, the `wall_*` ADC readings, the `motor_*_voltage` the
+  bridge applied, `pack_voltage`.
+
+What the recording decimates, the event log does not: collisions and state
+changes are detected every tick and written to `meta.json`'s `events`. A
+collision is a chassis geom touching anything but the floor after having been
+clear of everything for 50 ms; a robot pressed against a wall makes and breaks
+contact every few steps, and that is one collision, not hundreds.
 
 The CSV is flushed after every row, and a SIGSEGV/SIGABRT handler writes
 `firmware crashed at tick N` to stderr before re-raising, so a firmware crash
 still leaves an analysable run behind.
 
-## Telemetry and the bus
-
-`BluetoothSerial` is an in-process byte queue. At tick 0 the harness injects one
-`SERIAL_VARIABLE_MAP_REQUEST` and names the pool columns from the response. The
-firmware clears its whole receive deque after framing one packet, so **never
-inject more than one packet per tick** — the `SerialBus` enforces exactly that,
-which is also what keeps a burst from a connected monitor out of the run's
-determinism.
-
-The map reports types through `core::type_name`, so they arrive fully qualified
-(`micras::nav::GridPose`, `micras::nav::State`, alongside plain `float` and
-`unsigned char`). The decoder matches on the last component only and expands custom serializables into one column per field.
-
-The monitor bridge is the same bus with a socket on it. Incoming bytes land in a
-mutex-guarded `PacketFramer` on an IXWebSocket thread and are drained on the
-simulation thread in `on_before_tick`; the tick's output goes out as one binary
-frame in `on_after_tick`. A port already taken is a warning, not a failure.
-
-That one-packet-per-tick rule is what keeps a burst from a connected monitor out
-of the run, but note what the gate actually proves: `check-monitor` compares a
-bridged run **with nobody connected** against a plain one. The bridged run that
-does have a client attached is not compared against anything, so immunity to a
-talking monitor is enforced by construction and not yet by a test.
-
-## Real versus stub proxies
-
-- Backed by MuJoCo: `Motor`/`Locomotion`, `Fan`, `RotarySensor`, `Imu`,
-  `TWallSensors<4>`.
-- Deterministic but synthetic: `Stopwatch` (sim clock), `Battery` (constant),
-  `BluetoothSerial` (in-process), `Storage` (in-memory, blank every run).
-- Stubs recording the last value: `Led`, `TArgb<2>`, `Buzzer`, `Button`,
-  `TDipSwitch<4>`, `TTorqueSensors<2>` (always 0).
-
-`Button` and `TDipSwitch` read `ProxyState::interface_input`, written by the
-scenario or by the panel. `config/target.hpp` uses the firmware button delays,
-`long_press_delay = 500` and `extra_long_press_delay = 2000`, and
-`Button::update` classifies on `elapsed_time_ms` strictly greater than each, so
-the scenario holds the button for 250 ms, 501 ms and 2001 ms.
-
-The panel hands over rather than fights: the first touch of any board control
-sets `driven_by_human`, and `Scenario::on_before_tick` returns early from then
-on. Panel input uses ImGui **edges** (`IsItemActivated`/`IsItemDeactivated`), not
-`IsItemActive`; writing every frame from the held state overwrites the scripted
-press and silently turns an `extra_long` into a `SHORT_PRESS`.
+## The link and the bridge
+
+The firmware's radio is a UART behind `hal::UartDma`; the `SerialLink` device
+moves bytes between it and the engine's `SerialBus` no faster than the configured
+baud rate, and the bus keeps whatever is pending (up to 64 KiB, counting what it
+drops in `serial_dropped_bytes`). There is no framing in the simulator: the
+firmware's `comm::Link` does its own.
+
+The monitor bridge carries raw bytes both ways (R9). Incoming bytes land in a
+mutex-guarded buffer on an IXWebSocket thread and are handed to the bus on the
+simulation thread in `on_before_tick`; each tick's output goes out as one binary
+frame in `on_after_tick`, through a bounded queue and a sender thread, so a
+client that stops reading loses frames (`bridge_dropped_frames`) instead of
+stalling the run. A port already taken is a warning, not a failure.
+
+Note what the gate proves: `check-monitor` compares a bridged run **with nobody
+connected** against a plain one. A run a client talks to is marked `interactive`
+and is not reproducible, by definition.
+
+## Scenarios (D13)
+
+A scenario is a TOML file: the arena, the duration, the seed, the start pose,
+timed events (`press` an input for a time, `set` it, `send` a link command,
+`push` the body) and a stop condition on a firmware variable. CLI flags override
+what they name. Starts go through the robot's real paths: a short press of the
+button starts an exploration, exactly as on the robot (R12).
 
 ## The firmware submodule
 
-`MicrasFirmware/` sits on `feature/sim-harness`, branched from `ad34254`.
-**Edit it only with intent**, in the firmware's own style
-(`.clang-format`, Doxygen on every declaration), and only with changes that make
-sense on the real robot too. What is there now:
-
-- `Micras::run` sets `navigation_failed` when `push_exploring` queues nothing,
-  stops locomotion and logs; `RunState` turns that into `State::ERROR` the way
-  `check_crash` does. Before this the firmware popped an empty deque and crashed.
-- `ActionQueuer::pop` returns the pre-built stop action instead of popping an
-  empty deque, because every caller dereferences the result unchecked.
-- New monitoring variables, appended after the existing ones so no id shifts:
-  `FSM State`, `Grid Pose`, `Odometry State`, `Left/Right Command`,
-  `Linear/Angular PID Integral`, `Odometry Linear Raw`, plus the accessors they
-  need (`core::Fsm::get_current_state`, `core::PidController::get_error_acc`,
-  `nav::SpeedController::get_pid_error_acc`,
-  `nav::Odometry::get_raw_linear_velocity`).
-- The Butterworth fixes described below.
-
-`nav::TMaze::get_next_goal` returns the default `GridPose{{0, 0}, RIGHT}` when no
-side qualifies: every open neighbour must beat the initial `current_cost` (0x1FFF),
-so a cell whose open neighbours are all still at `max_cost` yields the default and
-`push_exploring` then matches none of its four cases. That is reached through
-odometry drift writing walls into the wrong cells, not through a bug in the search.
+`targets/micras/MicrasFirmware/` follows the firmware's `high-level-review`
+branch. **Edit it only with intent**, in the firmware's own style, and only with
+changes that make sense on the real robot too. The simulator needs three
+accessors that are not there upstream: `Micras::get_instance()`,
+`get_variables()` and `get_state()`, for the variable columns, the state events
+and the stop conditions. Nothing else in the simulator reaches into the firmware.
 
 ## Style
 
-The firmware's `.clang-format` and `.clang-tidy`, with the tidy header filter
-anchored to this repo. Doxygen on every declaration. **No comments inside
-function bodies** — if something needs explaining, it goes in an `@note` on the
-declaration, where a reader finds it before reading the code. Every `NOLINT`
-names its check and says why. `just lint` is clean and stays clean.
-
-## State of the tuning (2026-09-16)
-
-`models/robot_v2.xml` plus the retuned `config/constants.hpp` **reach the goal**:
-a 120 s explore on `models/maze.txt` touches a goal cell at 38.8 s, returns to
-`{0, 0}` and goes IDLE at 94.6 s. The run that follows, started automatically,
-still trips `ERROR` at 98.2 s. The same binary on `models/maze2.txt` (the 2019
-Portugal qualifier) does not reach the goal and dies at 69.2 s, so the tuning is
-not maze independent yet.
-
-What was measured and fixed, in order:
-
-1. **Butterworth sampling frequency and normalisation.** `core::ButterworthFilter`
-   normalised the analog prototype by `f_c` rather than by `2 * pi * f_c`, and
-   every call site took the 100 Hz default `sampling_frequency` while being fed at
-   `loop_frequency` (959.7 Hz). The two errors compounded into a factor of
-   `loop_frequency / (2 * pi * 100) = 1.527`: the real cutoffs were 1.527 times
-   the configured numbers, i.e. the filters were *faster* than intended. Both are
-   fixed in the firmware, `sampling_frequency` is now an explicit field with no
-   default, and every `filter_cutoff` was restated as the cutoff actually in
-   effect, so the tuning carried over unchanged and the fix is behaviour-neutral.
-   `FollowWall::check_posts` reads `get_adc_reading`, which is unfiltered, so
-   filter lag never affected post detection at all.
-2. **Speed PIDs closed.** Both were `kp = 0`, i.e. identically zero. They now
-   carry the firmware structure rescaled by the feed-forward gain of each axis.
-   The decisive term was `ki`: `TurnAction` is open loop in time, so the 4 %
-   steady-state angular error that `ki = 1` could not close inside a 1.6 s pivot
-   came straight out as a 21 deg heading error on every 180 deg turn. Executed
-   turn angle 0.886 -> 0.987 of the commanded one.
-3. **Post correction.** Left at `post_reference = 0.44 * cell_size` and
-   `post_threshold = 400`. Lowering the threshold is a clear negative:
-   `-d(adc_reading)/d(distance)` on the side sensors peaks at 32 (left) and 456
-   (right) over a whole 120 s run, so at 400 the correction fires about four times
-   and at 100 or below it fires constantly and *injects* error. Thresholds
-   400/100/50/30/20 give a first ERROR at 98.2/45.8/40.8/40.8/40.8 s on maze 1 and
-   the goal is only reached at 400. The reference is what is wrong, not the
-   sensitivity, and fixing it needs a measurement of where the sim post edge
-   actually falls.
-4. **Chassis clearance.** The `base` geom is raised 2.5 mm in `robot_v2.xml`,
-   putting the chassis 3 mm above the floor instead of 0.5 mm. Floor scraping went
-   from 63 % of ticks to under 1 %.
-5. **Exploring curve radius.** `exploring.max_centrifugal_acceleration` 1.0 -> 2.0
-   shrinks the exploring curve from a 90 mm to a 45 mm radius. A 90 mm curve does
-   not fit a 167.4 mm corridor with a 66 mm wide chassis.
-6. **Linear PID `ki` 10 -> 40.** `Micras::run` calls `speed_controller.reset()` at
-   every action boundary, and an exploring action is 45 to 180 mm long, so the
-   integral only gets 0.16 to 0.6 s to close the 5 % steady-state speed error
-   before being wiped. That error is not cosmetic: `TurnAction` holds a constant
-   linear speed for a fixed time, so at -5.5 % the exploring curve displaces
-   41.7 mm instead of the 45 mm `ActionQueuer` assumes, and `MoveAction` measures
-   distance travelled rather than position in the cell, so the missing millimetres
-   never come back. First ERROR 22.3 -> 29.0 s, maximum odometry error 131 ->
-   57 mm. Raising the feed-forward `linear_speed` instead changed nothing
-   measurable — the PID simply unwound the same amount — and was reverted.
-7. **The lateral loop was bang-bang.** This was the one that mattered.
-   `FollowWall` returns `state.velocity.linear * pid(left_error - right_error)`;
-   around the corridor centre that error is 5.34 per metre of lateral offset, so
-   with `kp = 30` the proportional term alone reached the old `saturation = 1.0` at
-   6.2 mm of offset. Past that the loop was pure bang-bang at +-v rad/s and
-   limit-cycled with a 1.9 s period, half a metre of travel per swing: the robot
-   crossed the centre line with its full heading error still on it, entered the
-   next curve 8 deg off and walked into the wall. `saturation` 1.0 -> 4.0 keeps the
-   loop proportional out to 25 mm, a full half corridor, and `kd` 0.008 -> 0.05
-   damps what is left. Over a 120 s explore: lateral rms 25.0 -> 8.7 mm, first
-   ERROR 29.0 -> 98.2 s, goal reached at 38.8 s instead of never. `kd` above 0.05
-   lets the derivative kick on the step the reading takes when a wall ends.
-
-**The remaining failure mode is the 180 deg spin.** `push_exploring` queues `stop`
-(`cell_size / 2`), `turn_back`, `move_half`, and `turn_back` pivots about the body
-origin with no safety margin. The chassis mesh puts the front tip at
-`sqrt(15.5^2 + 66^2) = 67.8` mm from that origin and the corridor half-width is
-83.7 mm, so the spin needs the body origin within **15.9 mm** of the cell centre.
-It never is: `tools/turn_stats.py` shows every spin in every run starting 16 to
-18 mm past the cell centre, because the `stop` action starts wherever the
-accumulated longitudinal error left the robot and only measures 90 mm of travel
-from there. Every spin therefore scrapes, and on maze 2 the spin at 25.7 s is the
-first chassis contact of the run and the start of the 2.19 m odometry runaway that
-kills it at 69.2 s. The spin is the least forgiving action in the repertoire and
-the only one with no geometric margin; the exploring path has nothing equivalent
-to the `curve_safety_margin` that `ActionQueuer::get_trim_distances` applies on
-the solving path.
-
-Worth noting alongside that: the chassis mesh in `robot_v2.xml` is 66 mm wide and
-99 mm long (-33..+66 in body y), while the sibling Micrasverse repo's `src/config/constants.hpp`
-models the same robot as 50 x 80 mm. The mesh is 32 % wider and 24 % longer than
-the other simulator's idea of the robot, and the wheels stick out a further 4 mm
-each side. If the Micrasverse numbers are the measured robot then the mesh is
-simply wrong, and correcting it would take the spin margin from 15.9 to about
-25 mm. That is a measurement on the real chassis, not a simulation choice, so
-nothing was changed here.
+The firmware's `.clang-format` and `.clang-tidy`, pinned to version 18 (a newer
+clang-format reflows the code), with the tidy header filter anchored to this
+repo. Doxygen on every declaration. **No comments inside function bodies** — if
+something needs explaining, it goes in an `@note` on the declaration, where a
+reader finds it before reading the code. Every `NOLINT` names its check and says
+why. `just lint` is clean and stays clean.
+
+## State of the port (2026-09-25)
+
+The firmware runs on the host HAL end to end. Every proxy that
+`Micras::check_initialization` checks comes up, so INIT reaches IDLE on the first
+tick (R10). A button press starts an exploration through the firmware's own
+paths. The checked runs end with no unbound port, no watchdog expiry and no
+emergency stop. `--flash` carries a saved map into the next run.
+
+**The whole contest runs clean on ten mazes.** `scenarios/explore_solve.toml`:
+- A short press explores. The firmware comes back to the start on its own and saves
+  the map.
+- A long press then plans and runs the fastest route with the fan.
+
+The mazes are maze1, maze2, apec2016 to apec2019, japan2013ef, japan2017ef, uk2016f
+and alljapan-033-2012-exp-fin, in `engine/arenas/maze/mazes/`. Every one reaches the
+goal with no collision, with the fan alone and with every switch on (fan, racing line,
+boost, risky: `scenarios/explore_solve_all.toml`). Diagonals are always on; the switch
+that used to allow them selects the racing line.
+
+The search takes 72 to 120 s before the fast run starts. The fast run takes, with the
+fan, 4.2 s on maze 1 and 3.9 to 9.2 s on the others. With every switch on it takes 3.7 s
+on maze 1 and 3.6 to 8.6 s on the others.
+
+That took twenty-four changes to the firmware. `targets/micras/FIRMWARE_CHANGES.md` has
+each one, with its evidence and what it means on the robot. The ones that decided the
+fast modes:
+- **The edge tracker times a wall edge by the reading and only names it from the map.**
+  It is the only reference along a corridor, and it used to lose the edges whenever
+  the estimate ran ahead of the robot.
+- **The odometry rolls on a radius the load flattens.** With the fan the tyres carry
+  four times the load, and the estimate ran 0.67 % long.
+- **Boost asks for 0.65 of the traction.** At 0.75 the tyres slid 10 to 20 mm sideways
+  in every boosted turn.
+- **The wall observer keeps voting through the search turns.** Without it the search
+  stopped and spun in the middle of about 25 cells on maze 1.
+- **A range is corrected for the angle it meets the wall at.** Along a diagonal the
+  diagonal sensors meet the walls square on and read them 16 % short, which pulled the
+  estimate 20 to 30 mm off on the long diagonals at 3 m/s.
+- **Eight turns of two bends inside one cell**, on a planner of labels that only drops
+  one when another is as fast for every route. The fast runs with every switch on are
+  3.5 % faster in total, 9 % on maze 2. The planner advances by edges, not nodes, and
+  `just micras turn-designs` designs the turns, which the compiler then checks.
+- **Turns are braked and accelerated through as their curvature allows.** 1.5 to 1.8 %
+  faster in every profile.
+- **The tyres slide to the outside of a curve**, 4.8 mm/s per m/s^2 of lateral
+  acceleration. The localizer predicts it and the controller points into it.
+- **The racing line.** Through the cells of the planned route, at 0.8 of the lateral grip
+  and 15 mm from the walls, it is 5.5 % faster than the route with fan and boost. At the
+  full grip or at 10 mm it hit walls. With risky on, the robot also optimizes the line through
+  the route of the risky turns and drives it only when it plans faster (2 of 10 mazes).
+
+Findings worth checking on the robot:
+
+1. **Front sensor parallax.** Each front emitter sits 6.5 mm above its receiver and
+   the receiver's lobe is 10 degrees, so the reading falls slower than 1/d^2. The
+   firmware now models it (`receiver_offset`, `receiver_half_angle`). A bench sweep
+   toward a wall confirms both.
+2. **The rolling radius.** 56 um less per newton on a tyre in the simulation. Driving a
+   known distance with the fan on and off measures the real one.
+3. **The fan tips the robot onto its nose.** It pulls 17.5 mm ahead of the axle,
+   and a thin-gap flow estimate puts its centre of suction at 14 to 16 mm. So a
+   third of the 3 N rests on the front edge of the board, which also drags. Scales
+   under the wheels and under the nose, with the fan running, measure the share.
+4. **A wall start is seen early.** Toward the start of a wall a diagonal sensor also
+   lights the wall's end face, by the wall thickness times the slope of the beam.
+5. **Past 120 mm the readings come out long**, because part of the beam lands on the
+   floor. The localizer stops at 120 mm and the wall observer at 130 mm.
+6. **The mass, inertia and tyre friction are estimates**, and so is the fan's
+   position. `robot-report` lists what differs from the firmware's belief.
+7. **The lateral compliance of the tyres.** `robot.hpp` has the simulation's 4.8 mm/s per
+   m/s^2. A circle of known radius driven at a few speeds with the fan on measures the real
+   one, and the racing line depends on it.
 
 ## Known gaps
 
 - **No "new run" from the panel.** It would need `RunControl::RESTART`,
-  restartable listeners (the recorder would have to reopen into `run_002/`), and
-  a fresh `FirmwareThread` and `Micras`, because the FSM, the maze map and the
-  in-memory `Storage` all carry state. That is an `Application` lifecycle change.
-- **The video path is ungated.** `just check` proves a window and a bridge change
-  nothing, through `check-viewer` and `check-monitor`. There is no `check-video`,
-  and `just video` writes into `runs/explore_v2`, the very directory the baseline
-  comparison reads. Determinism under `--video` is believed, not tested.
-- **`PlotTrace` drops its oldest sample with `erase(begin())`** rather than
-  being a real ring buffer. At 2048 samples and 30 fps it does not show, but it
-  is the wrong data structure.
-- **Nine of the seventeen hardware tests are not built**: the human-interface
-  ones (`led`, `argb`, `buzzer`, `button`, `dip_switch`), plus `storage`,
-  `stopwatch`, `torque_sensors` and `comm_service`. `test_fan` needs `--button short`; the other seven run
-  unscripted.
+  restartable listeners, and a fresh `FirmwareThread` and firmware, because the
+  FSM, the maze map and the flash all carry state.
+- **The firmware's hardware tests are not built** (R11). The design supports
+  them, since each is a program with its own `main` over the same HAL, but
+  `test_imu` spins forever when the IMU is not initialised and two tests were
+  deleted upstream; they are out of scope for now.
+- **No minimum wall clearance in the baselines.** D10 names it; the event log has
+  collisions but nothing measures the distance to the nearest wall yet.
+- **No pinned container.** Byte identity is only checked between runs on one
+  machine (D10 C).
diff --git a/README.md b/README.md
index 43b27a4..638f9ed 100644
--- a/README.md
+++ b/README.md
@@ -1,111 +1,170 @@
 # micras-simulation
 
-Runs the Micras firmware, unmodified, against a MuJoCo model of the robot and
-the maze. The firmware sees a proxy layer backed by physics instead of by
-hardware, so the same `micras::Micras` that flies on the board drives a
-simulated one here.
+A simulator for the robots built on `micras_hal`. It runs a robot's firmware as
+it is, its own `main`, its own proxies and its own configuration, over a host
+implementation of `micras_hal`, against a MuJoCo model of the robot and its
+arena. The micromouse, Micras, is the first robot target.
 
 Two ways to use it, both from the same binary:
 
 - **Headless and deterministic**, for measuring. Every run writes a CSV of the
-  whole state per tick plus a metadata file, and two runs of the same binary
-  with the same arguments produce byte-identical output.
+  whole state plus a metadata file, and two runs of the same binary with the
+  same arguments produce byte-identical output.
 - **Live**, for looking. A window with the robot, a control panel with the
   board's buttons and switches, plots of the firmware's own variables, and a
   WebSocket bridge that micras-monitor connects to as if it were the radio.
 
-Linux only. MuJoCo 3.3.6 is expected at `$HOME/.mujoco/mujoco-3.3.6`; override
-with `-DMUJOCO_DIR=<path>`.
+Linux only, x86-64. CMake downloads the pinned MuJoCo release (3.14.0) and checks
+its SHA-256; point `MUJOCO_DIR` (a CMake cache variable or an environment
+variable) at an installation to use that instead. Clone with the firmware:
+`git clone --recurse-submodules`, or `git submodule update --init` afterwards.
+The style targets want clang-format 18 and clang-tidy 18.
 
 ## Quick start
 
 ```bash
 just build
-just run-explore                 # 8 s explore run -> runs/explore_v2
-just analyze runs/explore_v2     # report.json and the plots
-just watch                       # the same scenario, 30 s, in a window
-just serve                       # the same scenario, 120 s, open to micras-monitor
-just check                       # the gate: everything above, with assertions
+just micras run-explore                   # 30 s of an exploration -> targets/micras/runs/explore
+just micras analyze runs/explore          # report.json and the plots
+just micras watch                         # an exploration in a window
+just micras serve                         # an exploration open to micras-monitor
+just check                                # the gate: the engine's checks, then every target's
 ```
 
-`just` with no arguments lists every recipe. The build uses `CMakePresets.json`;
-`MICRAS_PRESET` picks between `default` (RelWithDebInfo), `debug` and `release`.
-Only `default` has a test preset, so `just test` and `just check` need it.
+`just` with no arguments lists every recipe, the engine's and each target's. The
+build uses `CMakePresets.json`; `MICRAS_PRESET` picks between `default`
+(RelWithDebInfo), `debug` and `release`. Only `default` has a test preset, so
+`just test` and `just check` need it.
 
 ## Running
 
 ```bash
-./build/default/micras_simulation --model models/robot_v2.xml --seconds 10 --out runs/t1
+./build/default/targets/micras/micras_sim --scenario targets/micras/scenarios/explore.toml --out runs/x
 ```
 
 | Flag | Meaning |
 |---|---|
-| `--model <xml>` | required, robot model |
 | `--out <dir>` | required, output directory, created if missing |
-| `--seconds <float>` | simulated seconds (default 10) |
-| `--ticks <int>` | exact firmware tick count, overrides `--seconds` |
-| `--maze <xml>` | recorded in `meta.json` only; the model already attaches its maze |
-| `--command none\|explore\|solve\|calibrate` | injects one `SERIAL_VARIABLE` packet writing `true` to the pool variable of the same name |
-| `--command-at <s>` | when to inject it (default 0.5); never before tick 1, because tick 0 carries the map request |
-| `--dip fan=0,diagonal=0,boost=0,risky=0` | DIP switch state before the first tick; indices follow `Interface::DipSwitchPins` |
-| `--button none\|short\|long\|extra_long` | start through the `Button` proxy instead of a packet |
-| `--button-at <s>` | when the button goes down (default 0.5) |
-| `--no-fan` | the `Fan` proxy writes 0 to its actuator instead of the requested speed |
+| `--scenario <toml>` | the scenario to play; without one the robot is switched on and left alone |
+| `--maze <name>\|<txt>` | the arena: a maze of `engine/arenas/maze/mazes/` by name, or a file (default `maze1`) |
+| `--seconds <float>` | simulated seconds, overriding the scenario's |
+| `--ticks <int>` | exact tick count, overrides `--seconds` |
+| `--seed <int>` | seed of every noise stream (default the scenario's, else 1) |
+| `--ideal` | no noise at all |
+| `--record-every <ticks>` | write one CSV row every N ticks (default 1); events are still detected every tick |
 | `--viewer` | open a window on the run |
-| `--viewer-camera <name>\|free` | starting camera (default `free`) |
+| `--viewer-camera <name>\|free` | starting camera |
 | `--viewer-fps <int>` | redraws per simulated second (default 30) |
 | `--viewer-size WxH` | window size, default 1200x900 |
 | `--monitor` | open the micras-monitor bridge |
 | `--monitor-port <int>` | port it listens on (default 8080) |
 | `--video <out.mp4>` | record an offscreen mp4 of the run |
 | `--video-fps <int>` | frame rate, default 30 |
-| `--video-camera <name>` | `overhead`, `side tracking` (default), `robot pov`, `maze_top_view`, or `free` |
+| `--video-camera <name>` | `side tracking` (default), `top tracking`, `onboard` (the robot's own view), `maze_top`, or `free` |
 | `--video-size WxH` | frame size, default 1280x720 |
+| `--video-trail` | draw the path the robot has traveled behind it |
+| `--video-trail-color r,g,b` | the trail's color, each part in [0, 1]; implies `--video-trail` |
+| `--video-tint` | draw the robot in its trail's color, to tell two recordings apart; implies `--video-trail` |
+
+Micras adds one option of its own:
+
+| Flag | Meaning |
+|---|---|
+| `--flash <file>` | load the flash from the file before the run and save it back after, so a map the firmware saved survives into the next run |
 
 A window, a recording and a bridge are all optional and all off by default, and
-none of them is meant to change what the run produces. `just check` proves that
-for the window and for the bridge, by running the same scenario with and without
-each and comparing the two CSVs byte for byte. The recording has no such gate
-yet.
+none of them changes what the run produces. `just micras check` proves it for
+each, by running the same scenario with and without and comparing the two CSVs
+byte for byte.
+
+## Scenarios
+
+```toml
+# targets/micras/scenarios/explore.toml
+robot = "micras"
+arena = "maze1"
+seconds = 180
+seed = 1
+
+[[events]]
+at = 0.5
+press = "button"
+for = 0.25
+
+[stop]
+when = "state"
+equals = ["IDLE", "ERROR"]
+after = 5.0
+```
+
+An event can `press` an input for a time, `set` it, `send` a link command
+(`explore`, `solve`, `calibrate`, `save`, `reset`) or `push` the robot. An event
+with `when` and `equals` waits, from its `at` on, for the named firmware variable
+to take one of those values, and fires on the first tick it does. The run stops
+at `seconds`, or earlier when the stop condition's variable takes one of the
+named values after `after` seconds, for the `count`-th time (default 1), or at
+once when it takes one of the `abort` values.
+
+The Micras scenarios:
+
+| Scenario | What it plays |
+|---|---|
+| `idle` | the robot switched on and left alone |
+| `explore` | an exploration started by the button |
+| `explore_link` | an exploration started over the radio |
+| `explore_solve` | the whole contest: explore, come back, then a long press for the fastest run, with the fan switch on |
+| `explore_solve_all` | the same with every switch of the fast run on: fan, racing line, boost and risky turns |
+| `solve` | the fastest run alone, from a map a previous run saved: pass its `--flash` |
+| `solve_all` | the same with every switch on |
+
+```bash
+just micras run --scenario scenarios/explore_solve.toml --maze apec2017 --out runs/contest --flash runs/contest/flash.bin
+```
 
 ## Output
 
-`<out>/data.csv` is one row per firmware tick: the ground truth from MuJoCo,
-what crossed the proxy boundary in both directions, and every monitoring
-variable the firmware publishes.
+`<out>/data.csv` is one row per tick (125 us) or per `--record-every` ticks: the
+body pose and velocity, the robot's ground truth (wheels, motors, contacts,
+solver), every monitoring variable the firmware publishes, and what each
+simulated device produced.
 
-`<out>/meta.json` is the provenance of the run — firmware SHA, model hash,
-MuJoCo and compiler versions, the arguments, the tick and time counts, and the
-assertions the gate checks (`warnings_total`, `pool_columns`,
-`telemetry_resyncs`, `interactive`). Nothing measured off the wall clock goes in
-it, so it is hash-stable too; the wall time is printed on stdout only.
+`<out>/meta.json` is the provenance and the outcome of the run: firmware commit,
+hashes of `robot.toml` and of the composed model, MuJoCo and compiler versions,
+the arguments, seed, tick counts, when the scenario stopped the run, the board's
+counters (`unbound_ports`, `watchdog_expiries`, `emergency_stops`,
+`serial_dropped_bytes`, `bridge_dropped_frames`), and the `events`: every state
+change and collision, detected at full rate. Nothing measured off the wall clock
+goes in it; the wall time is printed on stdout only.
 
 `interactive` is the honest flag: it is `true` only if a human actually touched
-a control the firmware can see. A window that was merely open leaves it `false`,
-and the run is still reproducible from `args`.
+a control the firmware can see or a monitor sent it something. A window that was
+merely open leaves it `false`, and the run is still reproducible from `args`.
+
+`<out>/model.xml` is the MJCF the run simulated: the robot generated from its
+`robot.toml`, composed with the arena.
 
 ## Analysis
 
 ```bash
-just analyze runs/explore_v2
+just micras analyze runs/explore
 ```
 
-Writes `report.json` and six plots into the run directory: speeds, contacts,
-attitude, control, wheels, and a top-down trajectory coloured by time with the
-goal cells shaded and the odometry estimate dashed. The report covers duration,
-warnings, non-finite samples, per-wheel airborne fraction, slip, penetration,
-chassis contact, control saturation, odometry error against ground truth,
-deceleration events, the FSM transition timeline, and whether and when the goal
-was reached. Only numpy and matplotlib are needed.
+Writes `report.json` and plots into the run directory: speeds, contacts,
+attitude, actuators, wheels, a top-down trajectory over the maze with the goal
+cells shaded and the firmware's pose estimate dashed, and, from the Micras
+plugin, the motor voltages, the controller's terms and the wall sensors. The
+report covers warnings, non-finite samples, airborne fraction, slip,
+penetration, chassis contact, the state timeline, collisions, whether and when
+the goal was reached, the pose estimate's error against the ground truth, the
+tracking error and voltage saturation. Only numpy and matplotlib are needed.
 
-`tools/run_stats.py` prints the per-run metrics, `tools/turn_stats.py` the
-per-turn table (offset and heading error at entry, executed versus commanded
-angle, and the smallest distance from the chassis to any wall during the turn).
+`tools/analyze.py` knows only the engine's columns; what a robot's own columns
+mean comes from its plugin, `targets/<robot>/tools/analysis.py`.
 
 ## Watching a run
 
 ```bash
-just watch
+just micras watch
 ```
 
 | Key | Action |
@@ -117,42 +176,35 @@ just watch
 | esc | quit |
 
 Left drag orbits, right drag pans, middle drag and scroll zoom, and ctrl with
-left drag pushes the robot around. The panel holds the board itself: the button,
-the four DIP switches, the fan override, the LED, the two addressable LEDs and
-the buzzer as the firmware is driving them, the wheel commands and wall
-readings, and the desired versus measured linear and angular speed straight from
-the firmware pool, one plot per variable. Pausing, stepping, a speed limiter and
-a quit button are there too.
-
-Touching any board control hands the run over: the scripted `--command` and
-`--button` stop being applied, and the run is marked `interactive`.
+left drag pushes the robot around. The panel holds the board itself: the
+button, the DIP switches, the lamps the firmware drives, the readouts and plots
+of its variables, plus pause, step, a speed limiter and quit. Touching any board
+control hands the run over: the scenario stops driving the inputs, and the run
+is marked `interactive`.
 
 ## micras-monitor
 
 ```bash
-just serve
+just micras serve
 ```
 
-The bridge puts the firmware's radio on `ws://localhost:8080`. It speaks the
-same packet protocol the real board does, so micras-monitor connects to it
-without knowing it is a simulation. One binary frame per tick carries everything
-the firmware wrote; whatever the monitor sends is framed and queued on the bus,
-which hands the firmware one packet per tick exactly as the radio would.
-
-`tools/monitor_probe.py` is a dependency-free client for checking the bridge
-without the real monitor.
-
-## Firmware hardware tests
+The bridge puts the firmware's radio on `ws://localhost:8080` and carries raw
+bytes both ways, with no framing of its own: micras-monitor speaks the
+firmware's protocol to it exactly as it would over the air. The link is as fast
+as the radio's baud rate, not faster.
 
-The firmware's own `tests/` programs build against the same proxies:
+## Robot tools
 
 ```bash
-just run-test test_imu --seconds 4 --out runs/imu
+just micras robot-report         # robot.toml against the firmware's robot.hpp, field by field
+just micras wall-calibration     # each wall sensor's gain for robot.toml
+just micras wall-calibration --sweep
+just micras turn-designs         # the firmware's turns of two bends, into config/two_bend_turns.hpp
 ```
 
-They take the same command line as the main program. `just smoke-tests` runs
-each of them briefly, which is what catches a program that stops handing ticks
-back to the simulation.
+The firmware checks every turn of two bends when it is compiled, and stops the
+build if one no longer clears the walls; `turn-designs` searches for them again,
+after a change to the robot's outline, the maze or the margins.
 
 ## The gate
 
@@ -160,15 +212,17 @@ back to the simulation.
 just check
 ```
 
-Builds, runs the unit tests through CTest, checks the harness config against the
-firmware submodule for drift, configures every optional subsystem off to keep it
-buildable, smoke-runs the hardware tests, proves that a window and a bridge
-change nothing, runs the three scenarios, analyses them, asserts their metadata,
-and compares all three against every recorded baseline.
+For the engine: builds, runs every unit test through CTest, configures every
+optional subsystem off to keep it buildable, and checks that nothing outside
+`targets/` names a robot. For Micras: proves that a window, a video and an idle
+bridge change nothing, that the flash survives from one run into the next, runs
+the checked scenarios, analyses them, asserts their metadata (no warnings, no
+unbound ports, no watchdog expiry, no emergency stop, no dropped bytes), and
+compares them with the recorded baseline summaries.
 
-Baselines live in `baseline/`; `CLAUDE.md` explains the two invariants they
-enforce. `just record-baseline` refuses to overwrite a version — bump it
-instead, and nothing is ever lost.
+Baselines live in `targets/micras/baselines/`; `CLAUDE.md` explains what they
+hold and the rules around them. `just micras record-baseline` refuses to
+overwrite a version: bump it instead, and nothing is ever lost.
 
 `just format`, `just format-check` and `just lint` are the style targets; they
 use the firmware's own `.clang-format` and `.clang-tidy`.
@@ -176,15 +230,24 @@ use the firmware's own `.clang-format` and `.clang-tidy`.
 ## Layout
 
 ```
-config/          target.hpp (MuJoCo wiring) and constants.hpp (tuning)
-include/micras/proxy/, src/proxy/    the 16 proxies the firmware sees
-include/micras/sim/, src/sim/        core/, telemetry/, recording/, view/, bridge/, app/
-models/          robot and maze models, plus the tuning experiments
-tools/           analysis, drift, assertions, comparison, monitor probe
-tests/           unit tests; the hardware tests compile from MicrasFirmware/tests/src/
-baseline/        recorded runs the gate compares against
-MicrasFirmware/  submodule
+engine/          world, clock, run loop, devices, robot description, scenarios, recording
+engine/arenas/   the maze arena and its mazes
+view/            window, panel, overlay, video
+bridge/          WebSocket server and monitor bridge
+app/             CLI and application wiring, the Target interface
+hal_host/        micras_hal implemented on a PC
+tests/           the engine's unit tests, on a tiny robot of their own
+tools/           analysis, baselines, run checks and comparison, maze generator
+targets/micras/  the micromouse:
+  MicrasFirmware/    submodule
+  cube/              the Cube layer the firmware includes, by hand
+  proxy/             the two proxies replaced: the IMU and the rotary sensors
+  src/               target, bindings, variables
+  robot.toml         the physical description
+  scenarios/         idle, explore, explore_link, explore_solve(_all), solve(_all)
+  baselines/         recorded summaries
+  tools/             analysis plugin, wall calibration, robot report
 ```
 
 `CLAUDE.md` has the architecture, the invariants that hold the determinism
-together, and the tuning history behind the numbers in `config/constants.hpp`.
+together, and the measurements behind the numbers in `robot.toml`.
diff --git a/targets/micras/FIRMWARE_CHANGES.md b/targets/micras/FIRMWARE_CHANGES.md
new file mode 100644
index 0000000..758b9c4
--- /dev/null
+++ b/targets/micras/FIRMWARE_CHANGES.md
@@ -0,0 +1,617 @@
+# Changes to MicrasFirmware
+
+Every change this repository made to the firmware submodule
+(`targets/micras/MicrasFirmware`, branch `high-level-review` at `0be27df`), why it
+was made, the evidence for it, and what it means on the real robot. They are
+uncommitted in the submodule; this file is the record.
+
+A change goes in only when it is an error that the simulation demonstrated and that
+would affect the real robot the same way, or a constant set from a measurement. No
+change was made to make the simulation pass where the robot would behave differently.
+
+## Accessors the simulator needs
+
+**Files:** `include/micras/micras.hpp`, `src/micras.cpp`
+
+`Micras::get_instance()`, `get_variables()` and `get_state()`: read-only access for
+the variable columns, the state events and the stop conditions (spec 2, D5). The
+firmware's own `main` owns its `Micras`, so the constructor records a pointer to the
+last one built. No behaviour changes.
+
+## IMU axes in `Micras::measure()`
+
+**Files:** `src/micras.cpp`, `tests/src/nav/test_controller.cpp`, `tests/src/nav/test_localizer.cpp`
+
+`measure()` read the chip's X and Y accelerations as the robot's. The LSM6DSV is
+mounted turned by 90 degrees (the CAD: robot x is chip Y, robot y is minus chip X),
+so the robot's forward acceleration was taken from its lateral axis. The localizer
+uses it to scale the longitudinal slip noise, and `check_crash` its magnitude.
+
+## Motor dead zone 15 -> 0
+
+**File:** `config/targets/v1/target.hpp` (`locomotion_config`)
+
+The controller's feed-forward already adds the robot model's static friction
+voltage, so the proxy's dead zone counted it twice and put a step of its size into
+every command crossing zero; the motors chattered around standstill.
+
+## Physical constants in `robot.hpp`
+
+**File:** `config/targets/v1/robot.hpp`
+
+Restated from the CAD, the board and the datasheets (spec 2 section 14): the drive
+(DCX 8 M, 12 ohm plus 0.62 ohm, gear 5.25, 19.63 V), the geometry and the notes on
+where each value comes from.
+
+## Wall sensors: the receiver sits beside the emitter
+
+**Files:** `micras_proxy/include/micras/proxy/wall_sensors.hpp`,
+`micras_proxy/include/micras/proxy/impl/wall_sensors.tpp`, `config/targets/v1/target.hpp`
+
+**Error.** The proxy turned a reading into a range with the inverse square law
+calibrated at one distance. Each emitter lens sits 6.5 mm above its receiver lens
+(SolidWorks), and the TPS601A halves its sensitivity 10 degrees off axis
+(datasheet). So the receiver sees the lit spot 9 degrees off its axis from the
+centre of a cell facing a wall, but only 4 degrees off at 100 mm. The reading falls
+more slowly than 1/d^2, and the ranges came out 22 mm short at 100 mm and 7 mm long at
+30 mm. The localizer trusted them to about 3 mm, so every approach to a front wall
+dragged the pose estimate forward.
+
+**Change.** Two constants in `WallSensors::Config`: `receiver_offset` (6.5 mm) and
+`receiver_half_angle` (10 deg). The model is
+`reading = k * 2^(-(atan(offset / d) / half_angle)^2) / d^2`, and the single-point
+calibration fixes `k` as before. Its shape is tabulated once at construction, from
+its peak (about 30 mm) to the maximum distance, and inverted by binary search, so an
+update costs no transcendental function. With `receiver_offset = 0` the proxy
+computes exactly the old formula.
+
+**Evidence.** `just micras wall-calibration --sweep`: from 30 to 100 mm the front
+sensors now follow the true range within 1 mm, where the old law was 22 mm off. The
+side sensors are within 1 mm across the corridor.
+
+**On the robot.** The same geometry gives the same bias. A bench sweep toward a wall
+would confirm the offset and half angle; the calibration procedure is unchanged.
+
+## Wall model: minimum range 20 -> 35 mm
+
+**File:** `config/constants.hpp` (`wall_model_config`)
+
+Closer than about 30 mm the reading of a sensor peaks and falls again, so one reading
+fits two ranges. Ranges under 35 mm are no longer used.
+
+## Localizer: ranges correct the pose only out to 120 mm
+
+**Files:** `micras_nav/include/micras/nav/localizer.hpp` (new `Config::max_range`),
+`micras_nav/include/micras/nav/impl/localizer.tpp`, `config/constants.hpp`
+
+**Error.** The emitter beam is 11.75 mm above the floor and a few degrees wide.
+Farther out, part of it lands on the floor before the wall, the reading loses light
+the sensor model does not know about, and the range comes out long:
+
+| true range | front sensors read |
+|---|---|
+| 120 mm | +5 mm |
+| 150 mm | +16 mm |
+| 180 mm | +45 mm |
+| past 190 mm | nothing |
+
+The side sensors read 12 to 16 mm long past 150 mm. The localizer used ranges out to
+250 mm, and a long range from the right diagonal sensor pulled the pose 9 mm back in
+the first corridor of maze 1.
+
+**Change.** A new `max_range` in `Localizer::Config`, set to 0.12 m. Ranges beyond
+it do not correct the pose. The wall model keeps its own maximum for mapping.
+
+## Wall observer: walls voted absent only within 130 mm
+
+**File:** `config/constants.hpp` (`mission_config.observer.detection_range` 0.18 -> 0.13)
+
+**Error.** With the long-range readings above, a wall 180 mm ahead reads about 45 mm
+long, beyond the observer's tolerance of 42 mm there, and it was voted **absent**.
+On maze 1 the wall closing the first corridor was cleared from the map this way, and
+the robot then corrected its pose against the wall behind it and drove into it at
+5.3 s.
+
+**Change.** Absence votes only within 130 mm, where a range reads at most 8 mm long
+against a tolerance of about 35 mm. Votes for a wall still count at any range.
+
+## The run waits for the fan
+
+**Files:** `micras_proxy/include/micras/proxy/fan.hpp`, `micras_proxy/src/fan.cpp`
+(new `Fan::is_at_speed`), `include/micras/micras.hpp`, `src/micras.cpp` (new
+`Micras::is_prepared`), `include/micras/states/wait.hpp`, `src/states/wait.cpp`
+
+**Error.** A solve with the fan switch on is planned with the fan's downforce in the
+traction. The fan ramps up at `max_acceleration` = 0.02 %/ms, 5 s to full speed, but
+`WAIT_FOR_RUN` starts the run after 3 s. The robot left with 0.25 N of the 0.6 N of
+downforce it was planned for, about 73 % of the planned grip, slipped at the first
+acceleration and crashed 0.4 s into the run.
+
+**Change.** `WaitState` also waits for `Micras::is_prepared()`, true once the fan
+has reached the speed it was asked for; a fan that is off always has. Runs without the
+fan are unaffected.
+
+## Localizer: a wall edge is timed by the reading, and the map only names it
+
+**Files:** `micras_nav/include/micras/nav/localizer.hpp` (`EdgeTracker`, new `find_edge`),
+`micras_nav/include/micras/nav/impl/localizer.tpp` (`track_edge`, `find_edge`),
+`micras_nav/include/micras/nav/wall_model.hpp` and `micras_nav/src/wall_model.cpp`
+(`PlaneCrossing` gains the `slope` of the axis to the wall)
+
+**Error.** The edge tracker is the only reference along the path in a corridor. It
+takes the moment a diagonal sensor's reading changes between "on a wall" and "past its
+end" as a known position. But its "on the wall" also needed the axis, cast from the
+estimated pose, to meet the wall in the map. So whichever of the two changed first made
+the event:
+- When the estimate was ahead of the robot, the map's change came first. That event
+  carries no information: its innovation is only the offset the model expects. The
+  leaving-a-wall branch dropped such events, but then the reading's real change, which
+  came later, was never looked at. The arriving-at-a-wall branch used them.
+- So exactly when the pose ran ahead, which fast runs do, the robot had no reference
+  along the path.
+
+The model of where a change happens was also wrong at a wall start. Moving toward a
+wall start, the beam, which always points ahead, also lights the end face of the wall.
+The reading therefore comes on early by about the wall thickness times the slope of the
+axis to the wall. Leaving a wall, that face is in the shade.
+
+Traced against the ground truth on three mazes (the diagonal sensors cross the plane of
+the wall 98 mm out):
+- A start was seen with the axis 13.5 mm (sd 7) short of the wall.
+- An end was seen with the axis 2.6 mm (sd 2.8) past it.
+- The corrections the tracker accepted raised the error along the wall from 2 to 5 mm
+  to 5 to 8 mm on average. One of them moved the pose 10 mm the wrong way on apec2017's
+  return and the robot parked into the back wall.
+
+An earlier change here moved the expected end 16.6 mm inside the wall (`edge_inset`).
+It was calibrated on innovations that included the estimate-triggered events, and it
+is withdrawn.
+
+**Change.**
+- A sensor locks on a line of walls once the map and the reading agree it is on one.
+  From then on, only the reading, compared with the plane of that line, makes an event.
+- The map says which edge it was. `find_edge` follows the line from the locked wall in
+  the direction of travel to the first end, or to the first start after a gap, up to
+  four cells. It gives up if a wall on the way is unknown.
+- The expected axis is on the edge itself. A start is pushed out by the wall thickness
+  times `|slope|`.
+- The window, the gate and the 10 mm cap are unchanged.
+
+**Evidence.** On the ten saved maps, the fast run with diagonals touched a wall on
+apec2017 and japan2017ef, both after 25 mm of error along the path. With this change it
+is clean on all ten, at the same times. Exploration, return and the fan-only fast run
+stay clean on all ten.
+
+**On the robot.** The logic error is independent of the physics. The end-face effect
+depends on the real sensor and wall; a sweep past a wall start at a known pose measures it.
+
+## Controller: the time scale settles instead of alternating
+
+**Files:** `micras_nav/src/controller.cpp`, `micras_nav/include/micras/nav/controller.hpp`
+
+**Error.** When the feed-forward asks for more voltage than the supply less its reserve
+gives, the controller slows the clock of the reference (`time_scale`), so the robot
+stays on the path and only takes longer. It computed the scale as
+`available / demand` from the reference it was handed. But that reference had
+already been played at the previous scale, with speeds times `s` and accelerations
+times `s^2`. So a scaled reference always looked affordable, the scale jumped back to
+1, the next reference was unaffordable again, and the scale alternated between 1
+and a fraction every 125 us.
+
+**Change.** The scale is corrected from the one in force:
+`time_scale = min(1, time_scale * available / demand)`.
+
+**Evidence.** Driving the firmware's `Controller` with a reference that needs 19.1 V
+against 16.7 V available (`runs/timescale/demo.cpp`, which applies the executor's
+scaling):
+- Before: the scale alternated 1.000, 0.875, 1.000, 0.875, and so on.
+- After: 0.875, 0.924, 0.904, 0.912, 0.909, 0.910, settling where the demand meets
+  16.7 V.
+
+The runs so far never reached the limit (peak demand 8.4 V), but with the fan's real
+downforce the traction allows accelerations the motors cannot always follow.
+
+## Robot model: fan downforce 0.6 N -> 3 N
+
+**File:** `config/targets/v1/robot.hpp` (`robot_model.traction.fan_downforce`)
+
+The owner's figure for the fan at full speed is about 3 N; 0.6 N was an estimate.
+`robot.toml` uses the same value, so what the firmware plans with and what the
+simulation applies agree.
+
+## Crash detection: above what the tires can transmit
+
+**File:** `config/constants.hpp` (`crash_acceleration`)
+
+**Error.** `check_crash` calls it a crash when the horizontal acceleration stays over
+35 m/s^2 for 5 ms. With the fan, a fast run plans lateral and forward accelerations of
+up to `utilization` times the traction, 32 m/s^2 in the normal profile with 3 N of
+downforce and 40 m/s^2 with boost. The feedback and the IMU sitting off the axis of
+rotation add to that. Every simulated fast run with the fan ended in ERROR 0.3 s after
+it started, on the acceleration out of its first curve (35.8 m/s^2 measured), having
+touched nothing.
+
+**Change.** `crash_acceleration` is 1.25 times `robot_model.traction_acceleration(true)`,
+the most the tires can transmit. Anything above that has to come from a wall. That is
+49 m/s^2 with the traction below. A crash at search speed was below either threshold,
+and a crash at 1.5 m/s or more is well above both.
+
+## Traction: the nose carries part of the downforce
+
+**Files:** `micras_nav/include/micras/nav/robot_model.hpp` (new `Traction::fan_offset`,
+new `RobotModel::tire_downforce`), `config/targets/v1/robot.hpp`
+
+**Error.** The traction model added the whole fan downforce to the tires. The fan pulls
+17.5 mm ahead of the axle, over its hole. A thin-gap flow estimate (pressure harmonic
+between the open edges of the board and the hole) puts the centre of the suction at 14
+to 16 mm. The centre of mass is 0.8 mm behind the axle, so from a few tens of
+millinewtons of downforce on, the robot tips onto the front edge of its board. The
+edge then carries `offset / front_length` of the pull, a third of it. The tires carry
+2 N of the 3 N, and the robot planned with 23 % more grip than it had. The normal
+profile used 81 % of the real grip rather than 60 %, and boost asked for more than
+all of it. In the simulation the tires slid at 0.2 m/s in every fast curve, and the
+pose estimate drifted 15 to 25 mm ahead of the robot.
+
+**Change.** `Traction` gains `fan_offset` (0.0175 m), and the traction uses
+`tire_downforce() = fan_downforce * (1 - fan_offset / front_length)`.
+
+**Evidence.** Maze 1 solve, normal profile with the fan:
+- Lateral acceleration in the curves: 30 to 23.5 m/s^2 (median).
+- Tire slip in the curves: 0.21 to 0.13 m/s (median).
+- Worst pose error along the run: 22 to 14 mm.
+
+**On the robot.** It follows from the geometry, as long as nothing but the board edge
+carries the nose. Kitchen scales under the wheels and under the nose, with the fan
+running, measure the share directly. The edge also drags, with the friction of FR-4 on
+the floor, which the firmware does not model.
+
+## Search speed: 0.35 and 0.4 m/s -> 0.5 and 1 m/s
+
+**File:** `config/constants.hpp` (`search_profile`)
+
+A tuning constant, not an error. The search runs at half of the traction without the
+fan, up to 1 m/s, where it used 35 % of the traction up to 0.4 m/s. On all ten mazes and
+three noise seeds, the exploration and return end 10 to 60 s earlier (maze 1: 137 to
+104 s before the solve starts; apec2016: 176 to 115 s), with no collision. At 60 % of
+the traction seven of ten mazes failed. Braking for a front wall that corrects the pose
+late then asked for more than the tires give. So 50 % is the setting with a margin
+under that.
+
+**On the robot.** Worth confirming step by step. The margin measured here is against the
+simulated tires, and the real ones set the limit.
+
+## Wall observer: keeps voting through the search turns
+
+**File:** `config/constants.hpp` (`mission_config.observer.max_angular_speed` 2 -> 12 rad/s)
+
+**Error.** The search stopped in the middle of a cell and spun in place about 25 times
+on maze 1, and at 12 dead ends. A dead end needs it; the 90-degree spins did not. The
+observer ignored the sensors while the robot turned faster than 2 rad/s. The search turns
+at 8 rad/s, and the side wall of the cell a turn ends in is only in sight during that
+turn. So after a turn the robot reached the next cell's entry, where it decides, before
+the observer had decided that wall. Traced: the votes on that wall began 6 ms before the
+decision and completed 1 ms after it. The robot then had to stop, spin 90 degrees and
+set off again, 0.37 s each time.
+
+**Change.** The limit is 12 rad/s, above the search turns. The pose used for the cast
+already accounts for the rotation during the range delay.
+
+**Evidence.** On all ten mazes, the maps are the same (every fast run takes exactly the
+same time). Exploration and return take 12 to 39 s less (maze 1: 104 to 86 s before
+the fast run starts; apec2017: 138 to 99 s), with no collision.
+
+**On the robot.** If the real readings lag the rotation more than the filter delay says,
+walls seen in a turn could be misjudged. A wrong wall shows up as a different route, so
+compare the map of a search with a slow one.
+
+## Localizer: the wheels roll on a radius the load flattens
+
+**Files:** `micras_nav/include/micras/nav/robot_model.hpp` (new
+`Chassis::rolling_compliance`, new `RobotModel::rolling_radius`),
+`micras_nav/include/micras/nav/localizer.hpp`, `micras_nav/src/localizer.cpp` (new
+`set_downforce`), `src/micras.cpp`, `config/targets/v1/robot.hpp`
+
+**Error.** The odometry used the unloaded wheel radius. The tire band flattens under the
+load and the wheel rolls on a smaller radius. With the fan the tires carry four times
+the load, so the estimate ran ahead of the robot by 0.67 % of the distance, 20 mm over
+3 m. The 3 m/s straights of a fast run with no wall edge on them, such as the bottom row
+of maze 2, then reached their turn 25 to 35 mm off.
+
+**Change.** `rolling_compliance` is how much the rolling radius shrinks per newton on a
+tire. The localizer rolls on `rolling_radius(downforce)`, the weight plus the fan's
+share on the tires, split between two tires. `Micras` tells it the fan's share of its
+downforce each iteration, from the fan's current speed squared.
+
+**Evidence.** The simulated wheels overrun the body by 0.17 % with the fan off and by
+0.67 % with it on, at 0.34 N and 1.36 N on each tire. Both give 56 um of radius per
+newton, whatever the timestep.
+
+**On the robot.** The 56 um/N is the simulated band. Driving a known distance with the
+fan on and with it off measures the real one; the wheel radius is then the one with the
+fan off.
+
+## Boost: 0.75 -> 0.65 of the traction
+
+**File:** `config/constants.hpp` (`boost_utilization`)
+
+A tuning constant, set from what the tires hold in a turn. In a turn the tires slide
+sideways in proportion to the grip asked of them, and the pose estimate, which assumes
+the wheels do not slip sideways, does not see it. At 0.75 a boosted turn at 30 m/s^2 put
+the robot 10 to 20 mm off its path. On the ten saved maps, with the edge tracker and the
+rolling radius above, the boosted fast run failed on:
+
+| boost | fan, diagonal, boost | and risky turns |
+|---|---|---|
+| 0.75 | 3 of 10 | 5 of 10 |
+| 0.70 | none | 1 touch (apec2018) |
+| 0.65 | none | none |
+
+At 0.65, boost is 3 to 5 % faster than the normal 0.6 (maze 1: 4.32 s with diagonals,
+4.16 s with boost and risky turns).
+
+**On the robot.** Part of the sideways slide in the simulation comes from MuJoCo: a
+sliding contact pushes its surfaces apart, and the light inner wheel of a turn hops. The
+real limit may be higher. Raise it step by step while watching the error across the path
+at the exit of the turns.
+
+## Localizer: a range is corrected for the angle it meets the wall at
+
+**Files:** `micras_nav/include/micras/nav/wall_model.hpp`, `micras_nav/src/wall_model.cpp`
+(new `WallModel::get_range`), `micras_nav/include/micras/nav/impl/localizer.tpp`
+
+**Error.** A wall reflects diffusely, so the light a sensor gets back falls with the
+cosine of the angle between its axis and the perpendicular of the wall. The proxy turns a
+reading into a distance as if the wall were met at the angle of the calibration: square on
+for the front sensors, at 45 degrees for the diagonal ones beside the walls of a
+corridor. Along a diagonal the diagonal sensors meet the walls square on, and the reading
+comes out short by the square root of the ratio of the cosines, 16 %. The localizer took
+those ranges as they were. On apec2017, fan and diagonals, twelve readings of one sensor
+in 6 ms, all short by 4 to 14 mm, pulled the estimate 12 mm off at 3 m/s, the controller
+yanked the robot back, the wheels left the floor and the crash detection stopped the run.
+
+**Change.** `WallModel::get_range` turns a reading back into the range along the axis,
+from the cosine of the hit and the one of the calibration, and the localizer compares
+that with the wall model.
+
+**Evidence.** The largest error of the estimate along the path on the diagonals of the
+fast runs of ten mazes went from 18 to 28 mm to 10 to 16 mm, and across it from 5 to
+13 mm to 1 to 8 mm. With the routes of the turns below, which run long diagonals at
+3 m/s, five of the ten mazes collided or stopped without it and none with it. The fast
+runs of the eight turns take the same time as before.
+
+**On the robot.** The real walls are matte, so the same is expected. A diagonal sensor
+facing a wall square on and then at 45 degrees, at the same distance, should read about
+16 % nearer square on; the ratio measures how diffuse the real walls are.
+
+## Planner: labels, dropped only when another is as fast for every route
+
+**Files:** `micras_nav/include/micras/nav/planner.hpp`,
+`micras_nav/include/micras/nav/impl/planner.tpp`, `micras_nav/include/micras/nav/explorer.hpp`,
+`micras_nav/include/micras/nav/impl/explorer.tpp`, `micras_nav/include/micras/nav/mission.hpp`,
+`micras_nav/include/micras/nav/impl/mission.tpp`, `src/micras.cpp`, `config/constants.hpp`
+(`plan_edges_per_iteration`, `search_edges_per_iteration`)
+
+Not an error: asked for by the owner, to make room for the turns below without missing
+the best route. The search held an array entry for every wall, heading and turn that could
+reach it, 13,056 entries and 144 KB with eight turns, growing with each turn: 370 KB with
+nineteen. It now holds labels, a way of reaching a node with its cost and the speed of the
+turn that reached it, in a pool of 6144. A new label is dropped when another at the same
+node is at least as fast for every continuation of the route, and a label waiting in the
+queue is freed when a new one is. The test compares the time before the turn of each and
+the speed of that turn, and for two different turns a bound on how much slower the first
+edge after one can be than after the other, computed for every pair before the search. A
+turn driven slower is compared as if at full speed less the time it lost, since it never
+makes a route faster. If the pool fills, the costliest waiting labels are dropped and
+`is_exact()` says so.
+
+The search now advances by edges tried rather than nodes expanded, since a node tries
+three to four times as many turns as before: 512 edges per iteration while planning a fast
+run and 16 while searching.
+
+**Evidence.** On 5,490 searches (the ten mazes whole and with 30 random parts of their
+walls unknown, the nine profiles, both wall assumptions) the best route took the same time
+as with a search that drops a label only for another of the same turn, in all 2,799 that
+have a route. With the eight turns alone it also took the same time as the old planner,
+and with every turn it was never slower and faster in 287. The most labels held at once
+were 4,519. The fast runs of ten mazes with every switch on took the same time as before
+the change; the searches were 14 s shorter in total, because the explorer, which visits
+the walls of the few best routes, gets a slightly different list of them.
+
+A search on a PC takes six times as long as with the old planner, with every turn. The
+budget in edges keeps an iteration near what one node cost before, so the answers come
+later: the searches of ten mazes took 4 % longer in total with 16 edges per iteration, 17 %
+with 8 and 2 % with 32.
+
+**On the robot.** The time of an iteration while searching is not simulated. Watch
+`loop_worst_time_us` during a search and set `search_edges_per_iteration` from it. The
+planner takes 151 KB, against 163 KB before.
+
+## Turns of two bends: eight turns inside one cell
+
+**Files:** `micras_nav/include/micras/nav/lattice.hpp` (eleven new `TurnId`,
+`first_two_bend_turn`), `micras_nav/include/micras/nav/turn_table.hpp` (`TurnBend`,
+`TurnShape` of up to two bends, `TwoBendDesign`, `TurnTable::place`, `check`, `clears`),
+`micras_nav/include/micras/nav/segment.hpp`, `micras_nav/src/route_compiler.cpp`,
+`micras_nav/include/micras/nav/impl/mission.tpp`, `config/two_bend_turns.hpp` (new, written by
+the simulator's `just micras turn-designs`), `config/constants.hpp`
+
+Not an error: asked for by the owner. The lattice had no way onto a diagonal inside one
+cell, nor from one diagonal to the next, so short diagonals were driven as two turns of
+90 degrees. The eight new turns enter a cell and leave it through one of its other three
+walls, with one of the three headings that cross it: SD45E, SD45T, SD135T from a straight,
+and DS45T, DD0E, DS45E, DD90E, DS135B from a diagonal. Each is two bends joined by
+a straight, driven at one speed, the one its tighter bend allows: 1.4 to 1.8 m/s with the
+fan at full traction.
+
+Two more, DD90T and DD90B, turned 90 degrees from a diagonal inside the cell, with bends
+of 37 mm at 1.2 m/s. No best route took them, of 2,799 on the ten mazes and 9,666 on 150
+random ones, and without them every route took the same time and the planner a sixth less:
+each only ends half a step before DD90 would, and the slower bends cost more than the half
+step saves. They were taken out, and so was DD180B, for the reason below.
+
+A turn of two bends is too long a search for the compiler, so the simulator's turn
+designer searches a grid of the angle of the first bend, the curvature of each and the
+straight before them, and keeps the fastest that the firmware's own check accepts. The
+compiler places each design between its nodes, checks that its bends turn the angle of
+the turn and, in a `static_assert`, that the robot clears every post and every wall the
+turn does not cross by the margin, every 5 mm of the path. A change to the robot or the
+maze that makes one no longer fit stops the build. The segment of a turn now carries the
+length of its curve, negative for the turn to the right, since a turn of two bends can end
+at the heading it started with.
+
+The check of the turns also collected at most 48 obstacles around a turn and silently
+dropped the rest. The eight turns of one bend come out the same with 96, but one of the
+new ones did not: DD90E was designed against a list that missed walls.
+
+**Evidence.** The fast runs of ten mazes with every switch on:
+
+| | total | maze2 | apec2017 | apec2018 | japan2017ef |
+|---|---|---|---|---|---|
+| eight turns | 64.70 s | 4.11 s | 7.65 s | 6.21 s | 8.09 s |
+| with the new turns | 62.42 s | 3.75 s | 7.16 s | 5.81 s | 7.63 s |
+
+No collision in any of 60 runs with them: the ten mazes with seeds 1, 2 and 3, the fast
+runs with the fan and diagonals, with and without boost, and the fan alone, which does not
+use them and takes the same time as before.
+
+DD180B, a U-turn of one cell from a diagonal, turned around the post at the corner of the
+walls it enters and leaves through, arriving on a diagonal that leads away from that post.
+If the robot came along that diagonal from farther than the cell before, it came through
+the cell the diagonal it leaves on goes to next, and turning around there is shorter. If it
+only swung onto that diagonal in the cell before, it could come in straight and turn 135
+degrees (SD135), or swing toward the post and turn 90 (DD90), instead of 225 in all. On a
+maze built for it, a corridor along a fence whose end leads into a diagonal back under the
+fence, the planner took it only once seven other turns were forbidden, and the run was then
+9.7 % slower than with SD135. Without it the planner took 9 % less time, and every route
+the same.
+
+Four turns that replace two turns in a row with one curve were also tried: on top of these
+they gain 0.66 % of the planned time, and would take 4 gates per turn, a larger pool of
+labels and a third more planning. They were left out.
+
+**On the robot.** These are the tightest turns the robot drives, down to 50 mm of radius,
+and the simulation tracked them within the margin only once the ranges on diagonals were
+corrected (above). Try them first with the fan, diagonals and neither boost nor the risky
+switch, and compare the pose at the exit of each with the estimate.
+
+## Turns braked and accelerated through, as their curvature allows
+
+**Files:** `micras_nav/include/micras/nav/curve_speed.hpp` and `impl/curve_speed.tpp`,
+`micras_nav/src/curve_speed.cpp` (new), `micras_nav/include/micras/nav/motion_limits.hpp` and
+`micras_nav/src/motion_limits.cpp` (`CurveLimits`, `Dynamics::get_curve_limits`),
+`micras_nav/include/micras/nav/turn_table.hpp` (`Bending`, `bending_at`),
+`micras_nav/src/velocity_planner.cpp`, `micras_nav/src/executor.cpp`,
+`micras_nav/include/micras/nav/segment.hpp` (the unused `max_speed` is gone)
+
+Not an error: asked for by the owner. A turn was driven at one speed, the one its tightest
+point allows, so its start and end speeds were equal and two turns too close together were
+both slowed to what the straight between them could change. Now a turn is sampled every
+5 mm, each sample gets the speed its curvature and sharpness allow, and passes from the start
+and from the end lower it to what can be reached and braked with the grip the curve leaves:
+the lateral part takes its share as on a friction circle, the angular part from the push each
+tire has left, and a change of speed on a curve also counts for the angular acceleration it
+causes. The velocity planner gives a turn different speeds at its two ends, and the executor
+plays the samples back with a constant acceleration between two of them. The planner still
+prices a turn at one speed; the four best routes are then timed with the new rule, so the
+chosen one is exactly timed.
+
+A single bend gains nothing: its ramps are as long as the ratio of the angular to the lateral
+grip makes them, so the entry is already at the speed of the arc. What gains is a turn of two
+bends of different curvature, the straight between two bends, and a turn next to another one.
+
+**Evidence.** Fast runs on the ten saved maps, seed 1, no collision in any of them:
+
+| | before | after |
+|---|---|---|
+| fan (diagonals always on) | 65.04 s | 64.04 s |
+| fan, boost | 63.25 s | 62.19 s |
+| fan, boost, risky | 62.42 s | 61.27 s |
+
+**On the robot.** Nothing new is asked of the tires: a sample is never faster than a turn's
+old speed where that speed was the limit. Watch the time of the turns of two bends.
+
+## Localizer and controller: the tires slide to the outside of a curve
+
+**Files:** `micras_nav/include/micras/nav/robot_model.hpp` (`Traction::lateral_compliance`),
+`config/targets/v1/robot.hpp`, `micras_nav/src/localizer.cpp`, `micras_nav/src/controller.cpp`
+
+An error the simulation demonstrated. A tire only pushes sideways by slipping, so in a curve
+the robot slides to the outside, and neither the wheels nor the gyroscope see it. On every
+fast run the speed across the heading follows the lateral acceleration with a correlation of
+0.99: 4.8 mm/s per m/s^2, 50 to 100 mm/s in the turns of a boosted run, which put the
+estimate 8 to 16 mm off. The prediction of the localizer now slides the pose by that much,
+and the controller points the robot into the curve by the compliance times the angular
+speed, the angle at which it moves along the path while sliding, instead of letting an
+error across the path build up to turn it there.
+
+**Evidence.** On the ten saved maps, fan and boost, the routes of turns:
+
+| | estimate across, rms / worst | controller across, rms |
+|---|---|---|
+| before | 2.4 / 16.3 mm | 2.8 mm |
+| slide in the localizer only | 2.5 / 16.4 mm | 5.7 mm |
+| and in the controller | 2.3 / 13.3 mm | 2.8 mm |
+
+The two go together: a localizer that sees the slide alone makes the controller fight it.
+The routes of turns gain little; the racing line below needs it. At 0.8 of the grip and
+15 mm the line hit a wall on 4 of 10 mazes without it, and on none with it.
+
+**On the robot.** The compliance is the simulation's, and the real tires will differ. Drive
+a circle of known radius at a few speeds with the fan on and compare the end pose with the
+odometry: the difference across, over the time, is the slide speed.
+
+## Racing line instead of the diagonal switch
+
+**Files:** `micras_nav/include/micras/nav/racing_line.hpp` and `impl/racing_line.tpp`,
+`micras_nav/include/micras/nav/line.hpp`, `micras_nav/src/line.cpp` (new),
+`micras_nav/include/micras/nav/segment.hpp` (`SegmentKind::LINE`),
+`micras_nav/src/executor.cpp`, `micras_nav/include/micras/nav/mission.hpp` and `impl/mission.tpp`,
+`micras_nav/include/micras/nav/motion_limits.hpp` (`RunProfile::racing_line`),
+`micras_nav/include/micras/nav/impl/planner.tpp`, `include/micras/interface.hpp`,
+`src/micras.cpp`, `config/constants.hpp`, `README.md`; in the simulator, the switch is named
+`racing_line` and `scenarios/*_all.toml` turn it on
+
+Not an error: asked for by the owner. Diagonals are always allowed now, so the map is complete
+for four profiles instead of eight, and the second switch selects the racing line: once the
+route of a fast run is planned, it is sampled every 10 mm, and each sample slides sideways,
+within what keeps the outline of the robot 15 mm from every post and from every wall the
+route does not cross, to make the sum of the squared curvatures smallest. It is solved in
+windows of 64 samples by a projected Newton method on the banded normal equations, twelve
+sweeps, with a check of every sample at the end. The speeds follow the rule of the turns
+above, with 0.8 of the lateral grip of the run. If no line is found, or it is not faster,
+the robot drives the route. With the risky switch, a line also goes through the route of the
+risky turns, and the robot drives it only if it is the faster of the two; the line keeps
+15 mm wherever it can move, and only the risky turns come closer.
+
+The first line, at the full grip and at the 10 mm margin of the risky turns, hit a wall on
+5 of 10 mazes: it holds its curves at the limit far longer than a turn, and trail brakes into
+them, where the tires slide more than the compliance above says. At 0.8 of the grip and
+15 mm it is clean. At 10 mm everywhere it hit walls on 4 to 6 of 10 mazes. Through the route of
+the risky turns, keeping 15 mm elsewhere, the line was slower than the other on 7 of the 9 mazes
+it finished and crashed on apec2017; choosing the faster of the two planned lines, every switch on
+is clean on all ten, 58.68 s, the risky line driven on alljapan-033-2012-exp-fin and japan2013ef.
+Its time is known before the run, since the run follows the planned reference in time; whether it
+crashes is not. With risky on the planning takes two lines, and three when the risky one wins,
+since only one line is kept.
+
+**Evidence.** Fast runs on the ten saved maps, fan and boost, seeds 1, 2 and 3, no collision:
+
+| | route | racing line |
+|---|---|---|
+| total | 62.19 s | 58.74 s (-5.5 %) |
+| maze1 | 4.04 s | 3.72 s |
+| japan2017ef | 7.34 s | 6.71 s |
+| uk2016f | 4.64 s | 4.47 s |
+
+The optimization runs in the PLAN state, 16 samples per iteration: 40 to 170 ms of a PC for
+routes of 8 to 21 m, 2,500 to 12,000 iterations, the costliest 0.2 to 0.35 ms. On the
+Cortex-M7 that is about 1 to 3 s before the run and a few milliseconds per iteration at
+worst, inside the 10 ms of the watchdog; this was not measured on the robot. The line takes 57 KB
+of RAM, 51 KB of it the samples of up to 25.6 m of line, and about 18 KB of flash for the
+Cortex-M7; a turn's samples add 1 KB to the executor. The robot object grows from 153 KB to
+212 KB.
+
+**On the robot.** The line spends most of its time turning faster than 2 rad/s, where the
+localizer takes no wall correction, so it leans on the odometry, the gyroscope and the
+compliance above. Try it first on a short maze at a low utilization, and compare the pose at
+the goal with the estimate.
diff --git a/targets/micras/MicrasFirmware b/targets/micras/MicrasFirmware
index 0be27df..bc77ec8 160000
--- a/targets/micras/MicrasFirmware
+++ b/targets/micras/MicrasFirmware
@@ -1 +1 @@
-Subproject commit 0be27df9c12a0f6fbca55f007283f6bb1eeb2ec0
+Subproject commit bc77ec853aab9ce15cd8b4cef9ff4c96ae0d67ed
diff --git a/targets/micras/scenarios/explore.toml b/targets/micras/scenarios/explore.toml
new file mode 100644
index 0000000..bd62f12
--- /dev/null
+++ b/targets/micras/scenarios/explore.toml
@@ -0,0 +1,24 @@
+# A short press starts an exploration, as on the robot: the firmware waits 3 s
+# with its hand clear, explores, and comes back to the start. The run ends when it
+# is idle again, or has given up in ERROR.
+robot = "micras"
+arena = "maze1"
+seconds = 180
+seed = 1
+
+# Where the firmware expects to be placed (constants.hpp start_offset): its origin
+# 40 mm in front of the face of the back wall, the board 3.5 mm clear of it.
+[start]
+x = 0.09
+y = 0.0463
+yaw_deg = 90.0
+
+[[events]]
+at = 0.5
+press = "button"
+for = 0.25
+
+[stop]
+when = "state"
+equals = ["IDLE", "ERROR"]
+after = 5.0
diff --git a/targets/micras/scenarios/explore_link.toml b/targets/micras/scenarios/explore_link.toml
new file mode 100644
index 0000000..edba295
--- /dev/null
+++ b/targets/micras/scenarios/explore_link.toml
@@ -0,0 +1,21 @@
+# The same exploration, started by micras-monitor's EXPLORE command over the link.
+robot = "micras"
+arena = "maze1"
+seconds = 180
+seed = 1
+
+# Where the firmware expects to be placed (constants.hpp start_offset): its origin
+# 40 mm in front of the face of the back wall, the board 3.5 mm clear of it.
+[start]
+x = 0.09
+y = 0.0463
+yaw_deg = 90.0
+
+[[events]]
+at = 0.5
+send = "explore"
+
+[stop]
+when = "state"
+equals = ["IDLE", "ERROR"]
+after = 5.0
diff --git a/targets/micras/scenarios/explore_solve.toml b/targets/micras/scenarios/explore_solve.toml
new file mode 100644
index 0000000..3629125
--- /dev/null
+++ b/targets/micras/scenarios/explore_solve.toml
@@ -0,0 +1,41 @@
+# The whole contest. A short press explores the maze, and the firmware comes back to
+# the start on its own and saves the map. Once it is idle again, a long press (more
+# than the firmware's 500 ms) plans and runs the fastest route it found to the goal.
+# The run ends when it is idle after the solve, or at once if it gives up in ERROR.
+robot = "micras"
+arena = "maze1"
+seconds = 600
+seed = 1
+
+# Where the firmware expects to be placed (constants.hpp start_offset): its origin
+# 40 mm in front of the face of the back wall, the board 3.5 mm clear of it.
+[start]
+x = 0.09
+y = 0.0463
+yaw_deg = 90.0
+
+# The fan switch, as for a contest run: the firmware only runs the fan for the solve,
+# whose route and speeds it plans with the fan's downforce.
+[[events]]
+at = 0.1
+set = "dip_fan"
+value = true
+
+[[events]]
+at = 0.5
+press = "button"
+for = 0.25
+
+[[events]]
+at = 5.0
+when = "state"
+equals = "IDLE"
+press = "button"
+for = 1.0
+
+[stop]
+when = "state"
+equals = "IDLE"
+after = 5.0
+count = 2
+abort = "ERROR"
diff --git a/targets/micras/scenarios/explore_solve_all.toml b/targets/micras/scenarios/explore_solve_all.toml
new file mode 100644
index 0000000..ba61565
--- /dev/null
+++ b/targets/micras/scenarios/explore_solve_all.toml
@@ -0,0 +1,58 @@
+# The whole contest in the fastest mode. A short press explores the maze, and the
+# firmware comes back to the start on its own and saves the map. Once it is idle again,
+# a long press (more than the firmware's 500 ms) plans and runs the fastest route it
+# found to the goal. The run ends when it is idle after the solve, or at once if it
+# gives up in ERROR.
+robot = "micras"
+arena = "maze1"
+seconds = 600
+seed = 1
+
+# Where the firmware expects to be placed (constants.hpp start_offset): its origin
+# 40 mm in front of the face of the back wall, the board 3.5 mm clear of it.
+[start]
+x = 0.09
+y = 0.0463
+yaw_deg = 90.0
+
+# Every switch of the fast run on: the fan, the racing line, boost and the risky turns. The
+# firmware only runs the fan for the solve, whose route and speeds it plans with the
+# fan's downforce; the search is the same whatever the switches say.
+[[events]]
+at = 0.1
+set = "dip_fan"
+value = true
+
+[[events]]
+at = 0.1
+set = "dip_racing_line"
+value = true
+
+[[events]]
+at = 0.1
+set = "dip_boost"
+value = true
+
+[[events]]
+at = 0.1
+set = "dip_risky"
+value = true
+
+[[events]]
+at = 0.5
+press = "button"
+for = 0.25
+
+[[events]]
+at = 5.0
+when = "state"
+equals = "IDLE"
+press = "button"
+for = 1.0
+
+[stop]
+when = "state"
+equals = "IDLE"
+after = 5.0
+count = 2
+abort = "ERROR"
diff --git a/targets/micras/scenarios/idle.toml b/targets/micras/scenarios/idle.toml
new file mode 100644
index 0000000..32b4987
--- /dev/null
+++ b/targets/micras/scenarios/idle.toml
@@ -0,0 +1,12 @@
+# The robot switched on in the start cell and left alone.
+robot = "micras"
+arena = "maze1"
+seconds = 4
+seed = 1
+
+# Where the firmware expects to be placed (constants.hpp start_offset): its origin
+# 40 mm in front of the face of the back wall, the board 3.5 mm clear of it.
+[start]
+x = 0.09
+y = 0.0463
+yaw_deg = 90.0
diff --git a/targets/micras/scenarios/solve.toml b/targets/micras/scenarios/solve.toml
new file mode 100644
index 0000000..ad19566
--- /dev/null
+++ b/targets/micras/scenarios/solve.toml
@@ -0,0 +1,31 @@
+# The fastest run alone, from a map an earlier exploration saved: give the flash of
+# that run with --flash. With the fan switch on, a long press plans the route and runs
+# it; the run ends when the robot is idle at the goal, or at once if it gives up in
+# ERROR.
+robot = "micras"
+arena = "maze1"
+seconds = 120
+seed = 1
+
+# Where the firmware expects to be placed (constants.hpp start_offset): its origin
+# 40 mm in front of the face of the back wall, the board 3.5 mm clear of it.
+[start]
+x = 0.09
+y = 0.0463
+yaw_deg = 90.0
+
+[[events]]
+at = 0.1
+set = "dip_fan"
+value = true
+
+[[events]]
+at = 0.5
+press = "button"
+for = 1.0
+
+[stop]
+when = "state"
+equals = "IDLE"
+after = 2.0
+abort = "ERROR"
diff --git a/targets/micras/scenarios/solve_all.toml b/targets/micras/scenarios/solve_all.toml
new file mode 100644
index 0000000..18a5a6b
--- /dev/null
+++ b/targets/micras/scenarios/solve_all.toml
@@ -0,0 +1,46 @@
+# The fastest run alone in the fastest mode, from a map an earlier exploration saved:
+# give the flash of that run with --flash. With every switch on (fan, racing line, boost,
+# risky turns), a long press plans the route and runs it; the run ends when the robot
+# is idle at the goal, or at once if it gives up in ERROR.
+robot = "micras"
+arena = "maze1"
+seconds = 120
+seed = 1
+
+# Where the firmware expects to be placed (constants.hpp start_offset): its origin
+# 40 mm in front of the face of the back wall, the board 3.5 mm clear of it.
+[start]
+x = 0.09
+y = 0.0463
+yaw_deg = 90.0
+
+[[events]]
+at = 0.1
+set = "dip_fan"
+value = true
+
+[[events]]
+at = 0.1
+set = "dip_racing_line"
+value = true
+
+[[events]]
+at = 0.1
+set = "dip_boost"
+value = true
+
+[[events]]
+at = 0.1
+set = "dip_risky"
+value = true
+
+[[events]]
+at = 0.5
+press = "button"
+for = 1.0
+
+[stop]
+when = "state"
+equals = "IDLE"
+after = 2.0
+abort = "ERROR"
diff --git a/targets/micras/src/micras_target.cpp b/targets/micras/src/micras_target.cpp
new file mode 100644
index 0000000..d5c135c
--- /dev/null
+++ b/targets/micras/src/micras_target.cpp
@@ -0,0 +1,321 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <array>
+#include <bit>
+#include <format>
+#include <fstream>
+#include <iostream>
+#include <iterator>
+#include <stdexcept>
+#include <utility>
+
+#include "constants.hpp"
+#include "micras/comm/frame.hpp"
+#include "micras/hal/host/board.hpp"
+#include "micras/hal/host/clock.hpp"
+#include "micras/micras.hpp"
+#include "micras/sim/micras/bindings.hpp"
+#include "micras/sim/micras/micras_target.hpp"
+#include "micras_firmware_sha.hpp"
+#include "target.hpp"
+
+/**
+ * @brief The firmware's own main, renamed at compile time.
+ *
+ * @return What main returns on the robot, never reached.
+ */
+extern int micras_firmware_main();
+
+namespace micras::sim {
+namespace {
+/**
+ * @brief Names of the states of the firmware's state machine, indexed as Micras::State.
+ */
+const std::vector<std::string> state_names{
+    "INIT",
+    "IDLE",
+    "WAIT_FOR_RUN",
+    "RUN",
+    "PLAN",
+    "SAVE",
+    "WAIT_FOR_CALIBRATE",
+    "CALIBRATE",
+    "WAIT_FOR_IDENTIFY",
+    "IDENTIFY",
+    "WAIT_FOR_GYROSCOPE",
+    "CALIBRATE_GYROSCOPE",
+    "ERROR",
+};
+
+/**
+ * @brief Names of the DIP switches, indexed as Interface::Profile.
+ */
+constexpr std::array<const char*, 4> dip_names{"fan", "racing_line", "boost", "risky"};
+
+/**
+ * @brief Link commands a scenario sends by name, with their codes in Micras::Command.
+ */
+constexpr std::array<std::pair<const char*, Micras::Command>, 5> commands{{
+    {"explore", Micras::Command::EXPLORE},
+    {"solve", Micras::Command::SOLVE},
+    {"calibrate", Micras::Command::CALIBRATE},
+    {"save", Micras::Command::SAVE},
+    {"reset", Micras::Command::RESET},
+}};
+
+/**
+ * @brief Encode a link command, as micras-monitor sends it.
+ *
+ * @param command The command.
+ * @return The frame's bytes.
+ */
+std::vector<uint8_t> command_frame(Micras::Command command) {
+    std::array<uint8_t, 5> payload{};
+    comm::Writer           writer{payload};
+    writer.u8(std::to_underlying(command));
+    writer.u32(0);
+
+    std::array<uint8_t, comm::max_frame_size> frame{};
+    const std::size_t size = comm::encode_frame(comm::MessageType::COMMAND, writer.done(), frame);
+    return {frame.begin(), frame.begin() + static_cast<std::ptrdiff_t>(size)};
+}
+
+/**
+ * @brief Decode the colours of addressable LEDs from the compare values of their last transfer.
+ *
+ * @param port The DMA-fed timer channel.
+ * @param count Number of LEDs.
+ * @return Their colours, green-red-blue on the wire, as the panel shows them.
+ */
+std::vector<Colour> decode_argb(const hal::host::PwmDmaPort& port, std::size_t count) {
+    constexpr std::size_t bits_per_led{24};
+    std::vector<Colour>   colours(count);
+
+    for (std::size_t led = 0; led < count; led++) {
+        uint32_t data = 0;
+
+        for (std::size_t bit = 0; bit < bits_per_led; bit++) {
+            const std::size_t index = led * bits_per_led + bit;
+            const bool        high = index < port.compares.size() and 2 * port.compares[index] > port.period;
+            data = (data << 1U) | static_cast<uint32_t>(high);
+        }
+
+        colours.at(led) = {
+            .red = static_cast<uint8_t>(data >> 8U),
+            .green = static_cast<uint8_t>(data >> 16U),
+            .blue = static_cast<uint8_t>(data)
+        };
+    }
+
+    return colours;
+}
+
+/**
+ * @brief Reports, once the firmware has built its robot, every port it used that nothing is bound to.
+ */
+class PortCheck : public IRunListener {
+public:
+    /**
+     * @brief Check after the first tick.
+     *
+     * @param simulation Run that just advanced.
+     */
+    void on_after_tick(const Simulation& simulation) override {
+        if (simulation.tick() != 0) {
+            return;
+        }
+
+        for (const std::string& port : hal::host::Board::unbound()) {
+            std::cerr << "warning: the firmware uses " << port << ", which nothing in the simulator is bound to\n";
+        }
+    }
+};
+}  // namespace
+
+std::string MicrasTarget::name() const {
+    return "micras";
+}
+
+std::string MicrasTarget::firmware_sha() const {
+    return MICRAS_FIRMWARE_SHA;
+}
+
+uint32_t MicrasTarget::loop_time_us() const {
+    return micras::loop_time_us;
+}
+
+std::vector<CliOption> MicrasTarget::options() {
+    return {{
+        .name = "--flash",
+        .argument = "<file>",
+        .apply = [this](const std::string& value) { this->flash_file = value; },
+    }};
+}
+
+RunContext& MicrasTarget::context() {
+    return this->run_context;
+}
+
+std::filesystem::path MicrasTarget::robot_file() const {
+    return std::filesystem::path{MICRAS_TARGET_DIR} / "robot.toml";
+}
+
+GroundTruthConfig MicrasTarget::ground_truth() const {
+    return {
+        .body = "micras",
+        .forward_axis = ForwardAxis::X,
+        .columns =
+            {
+                {.name = "wheel_angle_left", .probe = Probe::JOINT_POSITION, .object = "left_wheel"},
+                {.name = "wheel_angle_right", .probe = Probe::JOINT_POSITION, .object = "right_wheel"},
+                {.name = "wheel_speed_left", .probe = Probe::JOINT_VELOCITY, .object = "left_wheel"},
+                {.name = "wheel_speed_right", .probe = Probe::JOINT_VELOCITY, .object = "right_wheel"},
+                {.name = "motor_torque_left", .probe = Probe::ACTUATOR_FORCE, .object = "motor_left"},
+                {.name = "motor_torque_right", .probe = Probe::ACTUATOR_FORCE, .object = "motor_right"},
+                {.name = "left_ncon", .probe = Probe::CONTACT_COUNT, .object = "left_wheel"},
+                {.name = "left_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "left_wheel"},
+                {.name = "left_slip", .probe = Probe::CONTACT_SLIP, .object = "left_wheel"},
+                {.name = "left_penetration", .probe = Probe::CONTACT_PENETRATION, .object = "left_wheel"},
+                {.name = "right_ncon", .probe = Probe::CONTACT_COUNT, .object = "right_wheel"},
+                {.name = "right_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "right_wheel"},
+                {.name = "right_slip", .probe = Probe::CONTACT_SLIP, .object = "right_wheel"},
+                {.name = "right_penetration", .probe = Probe::CONTACT_PENETRATION, .object = "right_wheel"},
+                {.name = "board_ncon", .probe = Probe::CONTACT_COUNT, .object = "board"},
+                {.name = "rear_skid_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "rear_skid"},
+                {.name = "front_skid_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "front_skid"},
+                {.name = "solver_niter", .probe = Probe::SOLVER_ITERATIONS, .object = ""},
+            },
+    };
+}
+
+std::string MicrasTarget::video_camera() const {
+    return "side tracking";
+}
+
+FirmwareThread::Program MicrasTarget::program() {
+    return [] { micras_firmware_main(); };
+}
+
+Wiring MicrasTarget::wire(FirmwareThread& firmware, const WorldInfo& world) {
+    hal::host::Board::reset();
+
+    if (not this->flash_file.empty() and std::filesystem::exists(this->flash_file)) {
+        std::ifstream file(this->flash_file, std::ios::binary);
+        hal::host::Board::flash().bytes.assign(std::istreambuf_iterator<char>(file), std::istreambuf_iterator<char>());
+    }
+
+    hal::host::Clock& clock = hal::host::Clock::instance();
+    clock.reset();
+    clock.configure(SystemCoreClock / 1000000);
+    clock.set_handover(this->run_context.clock.us_per_tick(), [&firmware] { firmware.yield_tick(); });
+
+    this->board = bind_devices(this->run_context, world);
+    this->variables = std::make_unique<PoolVariables>();
+    this->port_check = std::make_unique<PortCheck>();
+
+    return {
+        .inputs = {},
+        .observers = {this->port_check.get()},
+        .columns = {this->variables.get()},
+        .variables = this->variables.get(),
+        .monitor_inbound = nullptr,
+        .panel = this->make_panel(),
+        .overlay =
+            {.state = StateLabel{.variable = "state", .names = state_names},
+             .lines =
+                 {{.label = "v reference", .variable = "reference/linear_speed", .unit = "m/s"},
+                  {.label = "v estimate", .variable = "pose/linear_speed", .unit = "m/s"}}},
+        .hooks = this->make_hooks(),
+    };
+}
+
+void MicrasTarget::unwire() {
+    hal::host::Clock::instance().clear_handover();
+
+    if (not this->flash_file.empty()) {
+        const std::vector<uint8_t>& bytes = hal::host::Board::flash().bytes;
+        std::ofstream(this->flash_file, std::ios::binary)
+            .write(std::bit_cast<const char*>(bytes.data()), static_cast<std::streamsize>(bytes.size()));
+    }
+}
+
+std::vector<MetadataField> MicrasTarget::metadata() const {
+    const hal::host::McuPort& mcu = hal::host::Board::mcu();
+
+    return {
+        {.name = "unbound_ports", .value = static_cast<int64_t>(hal::host::Board::unbound().size())},
+        {.name = "watchdog_expiries", .value = mcu.watchdog_expiries},
+        {.name = "emergency_stops", .value = mcu.emergency_stops},
+    };
+}
+
+PanelSpec MicrasTarget::make_panel() const {
+    const MicrasBoard& devices = this->board;
+    PanelSpec          panel{
+                 .state = StateLabel{.variable = "state", .names = state_names},
+                 .buttons = {{.name = "button", .press = [&devices](bool pressed) { devices.button->set(pressed); }}},
+                 .switches = {},
+                 .lamps = {},
+                 .readouts = {},
+                 .plots = {"reference/linear_speed", "pose/linear_speed", "reference/angular_speed", "pose/angular_speed"},
+                 .take_over = nullptr,
+    };
+
+    for (std::size_t index = 0; index < devices.dip_switches.size(); index++) {
+        DigitalInput* input = devices.dip_switches.at(index);
+        panel.switches.push_back(
+            {.name = dip_names.at(index),
+             .state = [input] { return input->is_active(); },
+             .set = [input](bool on) { input->set(on); }}
+        );
+    }
+
+    const hal::host::GpioPort& led = hal::host::Board::gpio(led_config.gpio.port, led_config.gpio.pin);
+    panel.lamps.push_back({.name = "led", .colour = [&led] {
+                               return led.output ? Colour{255, 40, 40} : Colour{40, 40, 40};
+                           }});
+
+    const hal::host::PwmDmaPort& argb =
+        hal::host::Board::pwm_dma(argb_config.pwm.handle, argb_config.pwm.timer_channel);
+
+    for (std::size_t index = 0; index < 2; index++) {
+        panel.lamps.push_back({.name = std::format("argb {}", index), .colour = [&argb, index] {
+                                   return decode_argb(argb, 2).at(index);
+                               }});
+    }
+
+    const hal::host::PwmPort& buzzer = hal::host::Board::pwm(buzzer_config.pwm.handle, buzzer_config.pwm.timer_channel);
+    panel.readouts.push_back({.name = "buzzer", .text = [&buzzer] {
+                                  return buzzer.duty_cycle > 0.0F ? std::format("{:.0f} Hz", buzzer.frequency) : "off";
+                              }});
+    panel.readouts.push_back({.name = "motors", .text = [&devices] {
+                                  return std::format(
+                                      "{:6.2f} {:6.2f} A", devices.left_motor->current(), devices.right_motor->current()
+                                  );
+                              }});
+    panel.readouts.push_back({.name = "battery", .text = [&devices] {
+                                  return std::format("{:.2f} V", devices.battery->voltage());
+                              }});
+
+    return panel;
+}
+
+ScenarioHooks MicrasTarget::make_hooks() const {
+    ScenarioHooks hooks;
+    hooks.inputs.emplace("button", this->board.button);
+
+    for (std::size_t index = 0; index < this->board.dip_switches.size(); index++) {
+        hooks.inputs.emplace(std::string{"dip_"} + dip_names.at(index), this->board.dip_switches.at(index));
+    }
+
+    for (const auto& [name, command] : commands) {
+        hooks.messages.emplace(name, command_frame(command));
+    }
+
+    hooks.state_names.emplace("state", state_names);
+    return hooks;
+}
+}  // namespace micras::sim

From 7c09b8f5144e36f1d9b00f8457692b1cc7ffafd8 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sat, 26 Sep 2026 22:11:51 -0300
Subject: [PATCH 05/52] =?UTF-8?q?=F0=9F=94=A5=20Drop=20the=20specs,=20the?=
 =?UTF-8?q?=20maze=20generator=20and=20third=5Fparty,=20and=20stop=20track?=
 =?UTF-8?q?ing=20the=20firmware=20notes?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

SPEC_1_WORK.md was the plan of the cleanup and SPEC_2_DECISIONS.md the record of
its decisions; what still holds of them is in CLAUDE.md, and the rest is history.
tools/gen_maze.py wrote a standalone MJCF that Maze::mjcf replaced, and nothing ran
it. third_party/ only held a README for the download directory, which is back in
the build directory, where the builds already put it. FIRMWARE_CHANGES.md stays on
disk as the owner's notes, but out of the repository.
---
 .gitignore                         |   2 +-
 SPEC_1_WORK.md                     | 351 -----------
 SPEC_2_DECISIONS.md                | 939 -----------------------------
 cmake/third_party.cmake            |   4 +-
 targets/micras/FIRMWARE_CHANGES.md | 617 -------------------
 third_party/README.md              |   1 -
 tools/gen_maze.py                  | 276 ---------
 7 files changed, 2 insertions(+), 2188 deletions(-)
 delete mode 100644 SPEC_1_WORK.md
 delete mode 100644 SPEC_2_DECISIONS.md
 delete mode 100644 targets/micras/FIRMWARE_CHANGES.md
 delete mode 100644 third_party/README.md
 delete mode 100755 tools/gen_maze.py

diff --git a/.gitignore b/.gitignore
index b891759..896e537 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,4 +3,4 @@ build/
 .cache/
 __pycache__/
 compile_commands.json
-third_party/_deps/
+targets/micras/FIRMWARE_CHANGES.md
diff --git a/SPEC_1_WORK.md b/SPEC_1_WORK.md
deleted file mode 100644
index c36b0ba..0000000
--- a/SPEC_1_WORK.md
+++ /dev/null
@@ -1,351 +0,0 @@
-# Spec 1 — Work with no decisions
-
-2026-09-23 · companion to [`SPEC_2_DECISIONS.md`](SPEC_2_DECISIONS.md)
-
-This spec is the work itself: what to delete, fix, move and build, and in what
-order. Every design choice behind it is recorded in spec 2, where all fourteen
-decisions are now made. Section 10 lists what is deliberately deferred. Steps 1 to 6
-are implemented on `refactor/cleanup` (2026-09-24, not yet committed); section 12
-records where the implementation departs from the text and what it found.
-
-The direction is decided. This repository becomes the team's simulator for every
-robot built on `micras_hal`: the micromouse now, and a line follower later. The code
-is organised in three layers, all in this repository:
-
-| Piece | What it is | Where |
-|---|---|---|
-| **Engine** | World, clock, run loop, devices, arenas, recording, viewer, bridge. It knows no robot and no HAL. | The repository root |
-| **`micras_hal` host backend** | `micras_hal` implemented on a PC | `hal_host/`; it moves next to `micras_hal` once that has its own repository (spec 2 D3) |
-| **Robot target** | One per robot: its firmware as a submodule, device bindings, robot description, scenarios, baselines | `targets/<robot>/`, starting with `targets/micras/` |
-
-State this spec was written against:
-
-| Repository | Ref |
-|---|---|
-| micras-simulation | `refactor/cleanup` @ `85cc1ab` |
-| MicrasFirmware submodule (pinned) | `9136d7b` on `feature/sim-harness`, branched from `ad34254` |
-| MicrasFirmware port target | `high-level-review` @ `0be27df`, 174 commits past the pin |
-
-In this spec, **"Micras"** alone means the micromouse robot. The `micras_` prefix of
-the libraries (`micras_hal`, `micras::sim`) is the team's, and stays.
-
----
-
-## 1. Ground rules
-
-There are two kinds of items:
-
-- **Pre-port work (P)**: done on the currently pinned firmware. This is sections 2
-  to 8.
-- **Port requirements (R)**: constraints the port to `high-level-review` must meet
-  under every option in spec 2. This is section 9.
-
-Rules for pre-port work:
-
-- **P1. Nothing moves a byte.** After every step, `idle` and `explore_v2` still
-  match `baseline/v2`:
-  - `data.csv` is byte-identical.
-  - The ten behaviour fields of `meta.json` are identical (`BEHAVIOUR_FIELDS` in
-    `tools/compare_run.py`).
-  - `model_path` and `args` are not compared, so moving files is allowed.
-    `model_sha256` *is* compared, so not one byte of `models/robot_v2.xml` or
-    `models/maze.xml` may change before the port, not even a comment.
-- **P2. The firmware is not touched** before the port.
-- **P3. Move Micras code, don't redesign it, when the port will rewrite it.** Code
-  with a known death date (section 9) is relocated as-is, not polished: the old
-  serial protocol, the shadow proxies, `ProxyState`.
-
----
-
-## 2. Repository cleanup
-
-| # | Path | Evidence | Action |
-|---|---|---|---|
-| C1 | `models/experiments/` (43 files, 228 KB) | Nothing loads them: not the justfile, CMake, tests or tools. The only mention is a comment at `robot_v2.xml:17`. `experiments/maze.xml` is a byte copy of `models/maze.xml`. The write-up they belong to (`../HARNESS_PLAN.md`) is not in any repository. | Delete. Git history keeps them. |
-| C2 | `baseline/v0/`, `baseline/v1/` (6.5 of 11 MB) | Their headers are strict prefixes of v2's (65 → 80 → 85 columns), and v2 is compared byte for byte, so a prefix check against them can only fail when the v2 check already fails. The port invalidates all three anyway. | Delete. Remove `previous_baselines` and its inner loop from `compare-baseline`. |
-| C3 | `models/robot_legacy.xml` and the `explore_legacy` scenario | A second robot kept alive only to feed the gate: `legacy_model`, `run-explore-legacy`, `explore_legacy` in `check_runs`, `baseline/v2/explore_legacy/`, the `check_run.py` arguments in `check`, and the drift allowlist entries justified by "robot_legacy.xml". Nobody develops against it. | Delete all of them. |
-| C4 | `tools/run_stats.py`, `tools/turn_stats.py` | Referenced only by the README. They are one-off investigations of the old navigation (post corrections, `turn_back` spins) with a hard-coded `CELL=0.18`, maze path and chassis hexagon. | Delete, and remove the README paragraph. |
-| C5 | `HANDOFF.md` (442 lines) | Mostly duplicates `CLAUDE.md`. It cites `../HARNESS_PLAN.md` and `../HARNESS_REDESIGN_PLAN.md`, which do not exist. See the table below for where its unique content goes. | Delete once its content is placed. |
-| C6 | `.gitignore` entry `.omc/` | Left over by another tool. | Remove the entry. |
-| C7 | `models/gen_maze.py` | A generic tool living among the Micras models. | Move to `tools/gen_maze.py`. |
-
-Where each part of `HANDOFF.md` goes:
-
-| Part | Destination |
-|---|---|
-| Job 0 (bridge hang, lying flags) | B1–B5 below |
-| Job 1 (maze 2 not finished) | Obsolete: it is about the old navigation |
-| Job 2 (MuJoCo upgrade) | R4 |
-| Jobs 3, 4, 6 (Micras out of CLI and CSV, the singleton) | Sections 6 and 7, and spec 2 D1 and D2 |
-| Job 5 (radio bandwidth) | Spec 2 D8 |
-| Firmware backlog | Obsolete at the port: every item is old navigation or old protocol |
-| "Not there" list | Spec 2 D12 and D14 |
-| Traps | Stay in `CLAUDE.md`; most of them disappear with spec 2 D2 |
-
----
-
-## 3. Bugs
-
-| # | Where | Bug | Fix |
-|---|---|---|---|
-| B1 | `WebSocketServer::broadcast`, called from `MonitorBridge::on_after_tick` | `sendBinary` runs synchronously on the simulation thread. IXWebSocket's `flushSendBuffer` loops on `isReadyToWrite(10)` with no deadline, so a client that stops draining freezes the run forever. This was reproduced (HANDOFF job 0). | Push outgoing frames into a bounded queue drained by a sender thread. Drop the oldest frame when it is full, and count the drops. |
-| B2 | `application.cpp`, `RunMetadata::interactive` | `interactive` is computed from the viewer alone. Bytes from a monitor reach the firmware without marking the run, so a perturbed run is recorded as reproducible. | The bridge marks the run interactive on the first byte it queues. OR that into `interactive`. |
-| B3 | `just check-monitor` | When port 8080 is taken, the binary prints `monitor disabled` and exits 0. The "quiet" run is then bridge-less, and the comparison passes while testing nothing. | Fail when the bridge does not listen. Use a free port per invocation. |
-| B4 | `just check-viewer` | With no display and no `xvfb-run`, the recipe prints "skipping" and exits 0, so the gate goes green without testing. | Fail unless an explicit skip variable is set. |
-| B5 | `SerialBus::queue_for_firmware` | Packets beyond 256 are discarded, and the counter `dropped_packets` is never read. | Report `dropped_packets` and the bridge's frame drops (B1) in `meta.json`, as non-behaviour fields. |
-| B6 | `tools/analyze.py:618–621` | Always loads `<model dir>/maze.txt`, so maze-2 runs are plotted and scored with maze 1's walls. `GOAL_CELLS` is fixed at (7, 8). | Resolve the maze from `meta.json`, or from the model's maze include. Fail when it cannot be found. |
-| B7 | `just video` | Writes into `runs/explore_v2`, the directory `compare-baseline` reads. | Write into `runs/video/`. |
-| B8 | `cmake/firmware.cmake:7–10` | The firmware SHA is read once at configure time. After a submodule bump without reconfiguring, `meta.json` names the wrong firmware. `baseline/v2` records `ad34254` while the submodule is at `9136d7b`, and today you cannot tell which is true. | Regenerate the SHA at build time with a custom command. It must write the header only when the SHA changed, so it does not rebuild every time. |
-| B9 | `MonitorBridge` | Destruction order is guaranteed by hand in the destructor body. | Declare `server` last, so the language guarantees it. |
-| B10 | `cli.cpp`, `apply_viewer_option` | `--monitor` and `--monitor-port` are parsed inside the viewer option handler, which makes its `@brief` false. | Parse them in their own handler. |
-
-Not fixed, because the port deletes the code: bridge frame validation against
-`comm::Packet::is_valid`, and the old-protocol firmware backlog items.
-
----
-
-## 4. Wrong statements
-
-| Where | Says | Truth | Fix |
-|---|---|---|---|
-| `CLAUDE.md`, shadow proxy layer | "Exactly three places name" `SimulationContext::instance()` | There is a fourth: `tests/include/test_core.hpp:54` | Correct the text |
-| `CLAUDE.md`, CSV | `fw_loop_time` is "the firmware's own loop time" | It is the hard-coded constant `firmware_loop_time = 1042.0e-6` in `ground_truth.cpp:20` | Correct the text; section 7 derives it from the clock |
-| `CLAUDE.md`, Stopwatch | Documents two spin guards | `Button::update` has a third one, `max_repeated_updates = 2`, which calls `yield_tick()` (`button.cpp:31–35`) | Document it |
-| `config/constants.hpp:4,8` | "constants for the ROS-simulation baseline" | These are the MuJoCo harness tuning | Correct the comment |
-| `tools/check_config_drift.py:34` | Linear `ki` is "10x the firmware ki" | The harness value is 40 | Correct the reason text |
-| `tools/check_config_drift.py:53` | `wall_thickness` "matches models/maze.xml" | The harness uses `0.012` (`constants.hpp:110`); `maze.xml`, the `gen_maze` default and the firmware use `0.0126` | Correct the reason text only. Changing the value would move bytes (P1), and the port replaces the constants anyway. |
-| `tools/check_config_drift.py:55–66` | "ROS-sim motion budget" | MuJoCo | Correct |
-| `tools/analyze.py:9,11,21` | Cites `src/sim/recorder.cpp::to_euler` and `robot_legacy.xml` | The code is `recording/ground_truth.cpp`, and C3 deletes the legacy model | Correct |
-| `models/robot_v2.xml:3,16` | "Four changed lines", "constants.hpp has kp=0", and it cites `runs/v2_explore` and `HARNESS_PLAN.md` | There are six FIX blocks, and `kp` is 120 | **Not before the port**: `model_sha256` is compared (P1). The model is replaced at the port (spec 2 D7). |
-| `README.md:182` | "plus the tuning experiments" | Deleted by C1 | Remove |
-
----
-
-## 5. Dead code and duplication
-
-| Item | Where | Action |
-|---|---|---|
-| `WebSocketServer::client_count`, `MonitorBridge::client_count` | `web_socket_server.hpp:77`, `.cpp:86,114`, `monitor_bridge.hpp:65` | Never called: delete |
-| `Scenario::command_delivered` | `scenario.hpp:156` | Never called: delete |
-| `MujocoWorld::is_loaded` | `mujoco_world.hpp:52` | Never called: delete |
-| `Clock::reset`, `Clock::total_ticks(double)`, `SerialBus::clear`, `SerialBus::pending_packets` | `clock.hpp`, `serial_bus.hpp` | Called only by tests. Delete each one whose test exists only to exercise it; keep the ones a test needs to observe behaviour that matters. |
-| Micras FSM state-name table, written twice | `control_panel.cpp:52`, `video_recorder.cpp:162` (with different NaN handling) | Keep one table in the Micras target (section 6) |
-| DIP switch names, written twice | `cli.cpp:38`, `control_panel.cpp:39` | Keep one definition in the Micras target |
-| `PlotTrace` drops its oldest sample with `erase(begin())` | `view/` | Replace with a fixed-size ring buffer |
-
----
-
-## 6. Layers and folders
-
-### 6.1 Layout
-
-```
-<repo>/
-  CMakeLists.txt        engine project; adds each robot target
-  cmake/                mujoco.cmake, third_party.cmake, lint.cmake, micras_simConfig.cmake.in
-  engine/               include/micras/sim/..., src/
-                        world, clock, run loop, recording, run metadata, crash reporter,
-                        byte streams, devices (6.3), arenas/maze
-  view/                 viewer, generic panel, video       (optional: MICRAS_VIEWER, MICRAS_VIDEO)
-  bridge/               WebSocket <-> byte stream          (optional: MICRAS_BRIDGE)
-  app/                  CLI and wiring, as a library exposing micras::sim::run(); no main()
-  tests/                engine unit tests, with a tiny test robot in tests/models/
-  tools/                compare_run.py, check_run.py, analyze.py (generic part), gen_maze.py
-  hal_host/             the micras_hal host backend: written at the port (spec 2 D1, D3)
-  targets/
-    micras/             everything that knows the micromouse
-      CMakeLists.txt    links only the engine's targets and hal_host
-      justfile
-      MicrasFirmware/   the submodule, moved here from the root
-```
-
-### 6.2 Layering rules
-
-| Rule | Statement | How it is enforced |
-|---|---|---|
-| M1 | The engine (`engine/`, `view/`, `bridge/`, `app/`) includes no firmware header: nothing from `micras/hal/`, `micras/proxy/`, `micras/nav/`, `micras/core/` or `micras/comm/`, nor `micras/micras.hpp`, `target.hpp`, `constants.hpp` or `robot.hpp`. | Structurally: the engine's CMake targets have no firmware include directory, so such an include does not compile. On from step 4 (section 11). |
-| M2 | Nothing outside `targets/` names a specific robot: no `micras::Micras`, no Micras state or variable names, no Micras MuJoCo body or geom names, no board-v1 names. | `just check-generic`, a `git grep` for a maintained list of those identifiers outside `targets/`, which must print nothing. On from step 5. |
-| M3 | Each target uses the engine only through its CMake targets (`micras::sim_engine`, `micras::sim_view`, `micras::sim_bridge`, `micras::sim_app`, the `hal_host` sources) and its public headers, never through relative paths into the engine folders. | Review; the engine's targets carry every include directory a target needs. |
-| M4 | `hal_host/` includes only `micras_hal` headers and its own. It names no proxy, no navigation code and no robot. | The same structural check as M1, from the port on. |
-| M5 | Everything a target needs lives under its folder: models, scenarios, baselines, config, tools, tests, and its own README. | Review. |
-| M6 | Target recipes live in `targets/<name>/justfile`. | The root justfile loads each as a just module (`mod micras 'targets/micras'`), so `just micras check` works. |
-| M7 | Arena code (today only the maze) sits in `engine/arenas/maze/`. The run loop, recorder and viewer assume no maze, so a line track can be added beside it (spec 2 D9). | Review. |
-
-### 6.3 What goes where
-
-Files marked "as-is" die or are rewritten at the port (P3).
-
-| Today | Destination | Notes |
-|---|---|---|
-| `src/sim/core/{clock,mujoco_world,simulation,serial_bus,firmware_thread}` | `engine/` | The run loop and `IRunListener` are robot-agnostic. `FirmwareThread` stays: at the port it becomes the handover the host `Timer` triggers (R16). |
-| `SimulationContext` | Split | World, clock and bus stay in the engine as a plain aggregate with no singleton (`RunContext`). `instance()`, `require_context()` and `yield_tick()` move to `targets/micras` as-is: they exist only for the shadow proxies. |
-| `proxy_state.hpp` | `targets/micras/` as-is | It is the Micras board shape: 4 DIP switches, 2 ARGB LEDs, the fan override. |
-| `scenario.{hpp,cpp}` | `targets/micras/` as-is | Micras commands and button delays; it sits in `core/` today but builds into `micras_sim`. |
-| `telemetry/packet_framer`, `telemetry/telemetry` | `targets/micras/` as-is | The old protocol (R8). |
-| `recording/{csv_writer,run_metadata}` | `engine/` | Robot-agnostic. |
-| `recording/{ground_truth,csv_recorder}` | `engine/` | After the parameterisation in section 7. |
-| `app/{application,cli,crash_reporter}` | `app/` | After the CLI extension in section 7. |
-| `app/hardware_test_main.cpp`, `src/main.cpp` | `targets/micras/` | Micras entry points. |
-| `bridge/web_socket_server` | `bridge/` | Robot-agnostic. |
-| `bridge/monitor_bridge` | Split | The byte-stream bridge goes to `bridge/`. Its `PacketFramer` use stays in `targets/micras` as-is. |
-| `view/{mujoco_viewer,video_recorder,view_options}` | `view/` | After section 7. |
-| `view/control_panel`, the video overlay text | Stay put until step 5 | Split declaratively (spec 2 D12). |
-| `include/micras/proxy/`, `src/proxy/`, `config/` | `targets/micras/` as-is | Shadow layer, deleted at the port (R15). |
-| `cmake/firmware.cmake`, `cmake/hardware_tests.cmake` | `targets/micras/cmake/` | |
-| `tests/unit/{packet_framer,telemetry,proxy_boundary,shadow_conformance}_test.cpp`, `tests/include/test_core.hpp` | `targets/micras/tests/` | |
-| `tests/unit/{cli,csv_recorder,scenario}_test.cpp` | Split | Robot-agnostic parts stay in the engine; Micras parts (DIP names, `explore`) move. |
-| `tests/unit/simulation_test.cpp` | `tests/` | Switched from `robot_v2.xml` to the tiny test robot. |
-| `models/` (`robot_v2.xml`, `robot_v2_maze2.xml`, `maze*.xml`, `maze*.txt`) | `targets/micras/models/`, **unchanged and together** | `robot_v2.xml` includes `maze.xml` by relative path, so they move together to keep `model_sha256` (P1). Mazes get their arena home at the port (R7). |
-| `tools/{check_config_drift,monitor_probe}.py` | `targets/micras/tools/` | Both die at the port (R8, R15). |
-| `tools/analyze.py` | Split | The robot-agnostic part (contacts, slip, attitude, trajectory, run metadata) stays in `tools/`. The Micras part (`GOAL_CELLS`, `RUN_STATE_ID`, `fsm_state`, `grid_pose_*`, `odometry_*`) becomes `targets/micras/tools/analysis.py`. `analyze.py` loads it when `meta.json` names the target, or when `--plugin` is given. |
-| `tools/{compare_run,check_run}.py` | `tools/` | Robot-agnostic. |
-| `justfile` | Split | Engine recipes stay at the root; Micras recipes move to `targets/micras/justfile` (M6). |
-
----
-
-## 7. Removing robot assumptions from the engine
-
-Each change below has one obvious design and keeps the CSV header and contents
-byte-identical (P1).
-
-| Code | Micras assumption | Change |
-|---|---|---|
-| `GroundTruth` | Body `"micras"`; geoms `left_wheel`, `right_wheel`, `"front wheel"`, `base`; actuators `motor_left/right`; forward axis +y (`ground_truth.cpp:179`); `firmware_loop_time = 1042e-6` | The target supplies a `GroundTruthConfig{body, wheels[], chassis_geoms[], actuators[], forward_axis}` with a column label per item, so the header is unchanged. The loop time comes from `Clock::us_per_tick()`, which gives the same value. |
-| `CsvRecorder::proxy_columns` and `PoolTelemetry` | Hard-coded `wall_adc_*`, `dip_*`, `fan`, and a nullable `Telemetry*` | A `ColumnSource` interface (`names()`, `append(row)`). The recorder writes tick, time, ground truth, then the target's sources in registration order. Micras registers the pool source, then the proxy source, which is today's order. The `PoolTelemetry` enum is deleted. |
-| `ViewConfig` | Defaults `camera{"side tracking"}` and `us_per_tick{1042}` | Camera defaults to `free` and the target may set its preferred one. `us_per_tick` has no default and comes from the clock, as the app already passes it. |
-| `MujocoViewer` | Perturbs body `"micras"`; title "micras simulation" | The robot body comes from `GroundTruthConfig.body`; the title from the target name. |
-| `Cli` | `--command`, `--command-at`, `--dip`, `--button`, `--button-at`, `--no-fan`; usage text says `micras_simulation` | The target registers its options (`name, argument, help, handler`) with the app. The usage text takes the program name from `argv[0]`. The robot-agnostic flags stay in the app: `--model`, `--out`, `--seconds`, `--ticks`, viewer, video, monitor. |
-| `Clock::ticks_for_elapsed_ms` | Exists only to reproduce the Micras `Button` classification | Moves to `targets/micras` next to the scenario. |
-| `Application` | Includes `constants.hpp` and `target.hpp` for `loop_time_us` and `button_config` | The target passes the loop period and its own listeners. The app includes no firmware headers (M1). |
-| `micras_sim_view` | Calls `Telemetry::value_of`, defined in `micras_sim`, without linking it; it builds only because the app links both | The engine defines a `VariableSource` interface (`value_of(name)`) that telemetry implements. The view depends on that interface only. |
-| `micras_sim_bridge` | Links all of `micras_sim`, and so the firmware shadow, just to reach `PacketFramer` | Solved by the `monitor_bridge` split in 6.3. |
-
----
-
-## 8. Gates, build and tooling
-
-| # | Addition | Why |
-|---|---|---|
-| G1 | `just check-generic` (M2), plus the structural M1 and M4 checks | Keeps each layer free of the layers above it. |
-| G2 | *Deferred:* CI | Out of scope for now (section 10). Every gate here is a `just` recipe, so CI can run them unchanged later. |
-| G3 | MuJoCo fetched automatically when `MUJOCO_DIR` is not set | `cmake/mujoco.cmake` expects a manual unpack at `$HOME/.mujoco/mujoco-3.3.6`. Download the pinned release tarball, check its SHA-256, and keep the `MUJOCO_DIR` override. MuJoCo is third-party, so a CMake fetch is right for it; dependencies you own are submodules (spec 2 D6). |
-| G4 | `just check-video`: the same scenario with and without `--video`, CSVs compared byte for byte | The video path is the only output path not gated. It needs EGL: a GPU, or a surfaceless Mesa EGL. |
-| G5 | Bridge tests: a client that never reads must not stall the run (B1); a taken port must fail the recipe (B3) | Neither bridge class has a test today. |
-| G6 | Firmware SHA at build time | B8. |
-
----
-
-## 9. Requirements for the port, valid under every option
-
-The port moves the firmware from `9136d7b` to `high-level-review` and implements
-spec 2's decisions. The requirements below are the ones that are easy to miss; R15
-and R16 spell out D1 and D2.
-
-| # | Requirement | Reason |
-|---|---|---|
-| R1 | The submodule tracks `high-level-review`, and `feature/sim-harness` is dropped | Its patches are obsolete. `ActionQueuer` and the old monitoring variables no longer exist, and the Butterworth fix landed upstream (`9717dcf`). Check each patch against HEAD before dropping the branch. |
-| R2 | A new baseline epoch, `v3`; `baseline/v2` is deleted | The loop period, protocol, columns and state ids all change, so "only append columns" cannot hold across the port. From v3 on, "a refactoring must not move a byte" applies again. Storage and comparison follow spec 2 D10. |
-| R3 | The physics timestep divides the new 125 µs loop | 521 µs does not. Pick 125 µs or 62.5 µs by measuring contact stability (`warnings_total`, penetration, airborne fraction), not by preference. `Clock::from_model` already rejects a non-divisor. |
-| R4 | Upgrade MuJoCo from 3.3.6 to the current release in the same step (HANDOFF job 2 names 3.13.0) | The baseline epoch changes anyway, so the upgrade costs nothing extra now and a full re-baseline later. |
-| R5 | No constant and no duplicated columns in the new schema | Today `fw_loop_time` and `loop_time` are constant, `rotary_sensor_left` equals `proxy_encoder_left`, and the two odometry velocities equal their `odometry_state_*` twins on 100 % of rows. Rule: a column constant across every standard scenario is not recorded. At 8 kHz a 120 s run has about 960 000 rows (format: spec 2 D11). |
-| R6 | State names, state ids and variable names come from the firmware, never from engine code | The ids changed: 13 states, with `ERROR` at 12 instead of 6. |
-| R7 | Robot and arena are separate inputs, composed when the model loads (MuJoCo's spec attach), so `--maze` actually selects the maze | `--maze` is only written to `meta.json` today, and `robot_v2_maze2.xml` is a 150-line copy that exists only to switch the maze. Delete it. Maze files move to `engine/arenas/maze/` (M7). |
-| R8 | The old protocol is deleted | `PacketFramer`, `Telemetry` (`SERIAL_VARIABLE_MAP_*`), `monitor_probe.py`, the `SERIAL_VARIABLE` injection behind `--command`, the one-packet-per-tick queue in `SerialBus` (the new `comm::Link` keeps leftover bytes), and `check_config_drift.py` (its allowlist names configs that no longer exist). |
-| R9 | The bridge carries raw bytes both ways and does no framing | micras-monitor's `feature/bluetooth-link` branch already speaks the new COBS protocol over a WebSocket byte stream. |
-| R10 | Every proxy checked by `Micras::check_initialization()` reports `was_initialized() == true` | Otherwise INIT goes straight to ERROR. Ten proxies are checked. |
-| R11 | *Deferred:* the firmware's hardware tests | Out of scope for now (section 10). The port drops today's `hardware_tests` build instead of updating it. For later: `test_odometry` and `test_calibrate_feed_forward` were deleted upstream, `test_controller` and `test_localizer` are new, and `test_imu` spins in `while (true) {}` when the IMU is not initialised. |
-| R12 | Scripted starts use the firmware's own paths | A short press gives EXPLORE, a long press SOLVE, an extra-long press CALIBRATE. The link commands are EXPLORE, SOLVE, CALIBRATE, SAVE and RESET. |
-| R13 | Documentation rewritten | `CLAUDE.md` ("State of the tuning", "The firmware submodule", the Stopwatch and CSV sections), the README flag table, and the comments of whatever replaces `robot_v2.xml`. |
-| R14 | Wall-time cost measured and recorded in the port commit | 8.3 times more ticks per simulated second. The old harness ran at about 12 times real time; the new ratio has to be measured, not assumed. |
-| R15 | The seam is hybrid (spec 2 D1, decided; split in spec 2 section 2.2) | Every firmware header is compiled unchanged, including the real `config/targets/v1/target.hpp`, `constants.hpp` and `robot.hpp`. `hal_host/` implements `Gpio`, `Pwm`, `PwmDma`, `AdcDma`, `UartDma`, `Flash`/`FlashWord`, `Mcu`, `Timer` (the simulated clock, wrapping at 32 bits like the cycle counter) and `Crc` (a software CRC driven by `hcrc.Init`). Every proxy built on them runs for real, `Tick` and `Stopwatch` included. Only `Imu` and `RotarySensor` are swapped at the `.cpp` level. `hal_host/` includes nothing from the engine (M4). The shadow proxies, the shadow `config/`, `check_config_drift.py` and `shadow_conformance_test.cpp` are deleted. |
-| R16 | Two threads, handed over by the host `Timer` (spec 2 D2, decided; spec 2 section 2.5) | The firmware's own `main` runs unchanged on the firmware thread, compiled with `-Dmain=micras_firmware_main`; a hardware test would run the same way once the tests are in scope. The engine's generic `main` runs them. The host `hal::Timer` is the only place time exists. Every read costs a fixed quantum (for example 1 µs). A read that crosses a simulation step boundary hands over to the engine thread, which runs that step and hands back. The two threads never run at once. At the end of the run, the parked firmware thread is woken with a stop flag and the timer read throws `RunFinished`. `FirmwareThread` is reworked into that handover. `yield_tick()`, `SimulationContext::instance()`, the Stopwatch and Button spin guards, `hardware_test_main.cpp` and the shadow `test_core.hpp` are deleted. Recording becomes per simulation step. A wall-clock watchdog reports a firmware that stops reading the timer. |
-
----
-
-## 10. Deferred
-
-Out of scope for now, by decision:
-
-| Item | Where it would go |
-|---|---|
-| CI, in both repositories | Every gate is a `just` recipe, ready to be run by CI |
-| The firmware's hardware tests in simulation | The two-thread design runs them unchanged (spec 2 2.5); only the build is missing |
-| The pinned build container for cross-machine byte identity | Spec 2 D10, with CI |
-| A binary recording format | Spec 2 D11, if CSV size hurts |
-| Arenas other than the maze | Spec 2 D9, with the line follower's track |
-| Calibration from robot logs | Spec 2 D8; parameters come from datasheets for now |
-| SPI chip models behind a host `Spi` | Spec 2 D1; `Imu` and `RotarySensor` stay swapped |
-| "New run" from the panel, as a relaunch | Spec 2 D14 |
-
----
-
-## 11. Order of work and acceptance
-
-Every step ends with `just check` green, and every step before the port ends with
-`idle` and `explore_v2` matching `baseline/v2` (P1).
-
-| Step | Content | Accepted when |
-|---|---|---|
-| 1 | Cleanup (section 2) and wrong statements (section 4), except `robot_v2.xml` | P1 holds, and `just check` no longer mentions the legacy robot or v0/v1 |
-| 2 | Bugs (section 3) and dead code (section 5) | P1 holds, and the new bridge tests (G5) pass: a stalled client no longer stalls the run, a taken port fails the recipe |
-| 3 | Gates and build (section 8, except G1 and G2) | A clean clone, with `git submodule update --init`, configures and builds with MuJoCo downloaded by CMake, and every gate passes |
-| 4 | Layers and folders (section 6) and parameterisation (section 7), except the panel and overlay | P1 holds; M1 is structural |
-| 5 | Panel and overlay split (declarative, spec 2 D12), then `check-generic` (M2) turned on | `just check-generic` is green |
-| 6 | Port (section 9) | v3 recorded; `hal_host/` exists and satisfies M4 |
-
-## 12. Implementation notes
-
-What the implementation did that the text above does not say, or says differently.
-
-**Versions and tooling.**
-- MuJoCo is 3.14.0, fetched by CMake with its SHA-256 (R4). Its release ships its
-  own `imgui`/`implot` headers in `include/`, so only a `mujoco/` folder is exposed
-  to the build. `mjv_moveCamera` lost its scene argument in 3.14.
-- C++23 throughout. clang-format and clang-tidy are pinned to 18: 20 and later
-  reflow the firmware's own style.
-
-**The firmware.** Three kinds of change, all made to make sense on the robot too:
-- `Micras::get_instance()`, `get_variables()` and `get_state()`: the read-only
-  accessor of D5, as three members and a pointer the constructor sets, since the
-  firmware's `main` owns its `Micras` and the simulator never sees it.
-- `locomotion_config`'s motor `deadzone` 15 -> 0. The controller's feed-forward
-  already adds the robot model's static friction voltage, so the dead zone counted
-  it twice and made the motors chatter around zero.
-- `Micras::measure()` read the chip's X and Y axes as the robot's. The LSM6DSV is
-  mounted turned by 90 degrees (robot x is chip Y, robot y is minus chip X);
-  fixed there and in `test_controller` and `test_localizer`.
-- `robot.hpp`'s physical constants and notes were restated from section 14.
-
-**Where the implementation departs.**
-- There is no `baselines/` hash-only store per epoch but one `summary.json` per
-  checked scenario (`tools/baseline.py`), carrying the CSV hash, the state
-  timeline and the values with their tolerances. Minimum wall clearance is not in
-  it yet.
-- The checked explore is its first 30 s; the whole scenario takes about three
-  minutes of wall time.
-- The engine's own name for any two-wheeled robot it generates (`left_wheel`,
-  `motor_left`, the `side tracking` camera) is not a robot identifier any more;
-  `check-generic` looks for `MicrasFirmware`, `MicrasBoard` and the like instead,
-  and the root CMakeLists adds every folder of `targets/` rather than naming one.
-- Collisions are debounced: a geom has to be clear for 50 ms before its next
-  contact is a new collision.
-- `fw_loop_time` is gone from the CSV (R5: constant by construction), and two
-  column sources naming the same column is an error.
-
-**What R3 measured.** The timestep is 125 us: 62.5 and 31.25 us changed neither
-the contacts nor the trace. What did matter was the contact model. With rolling
-friction on the tyres (condim 6), MuJoCo's convex contact lifted a rolling wheel
-off the floor on 18 % of steps at 0.4 m/s and 55 % at 1.5 m/s, at every timestep,
-bare sphere included; the tyres are condim 4. The same separation in a pivot,
-where tyres really scrub, needs a tyre time constant of 5 ms or more to be
-absorbed; 8 ms matches the estimated stiffness of the 1 mm silicone band.
-
-**What R14 measured.** A 180 s exploration with the wall sensors' rays runs in
-about 181 s of wall time on the development machine (WSL2): roughly real time,
-against the old harness's twelve times. Where the time goes has not been
-profiled.
-
-**Calibration.** Each wall sensor has a gain in `robot.toml`, set by
-`tools/wall_calibration` so the simulated reading at the firmware's calibration
-pose equals `target.hpp`'s `reference_readings`.
-
diff --git a/SPEC_2_DECISIONS.md b/SPEC_2_DECISIONS.md
deleted file mode 100644
index d5a6246..0000000
--- a/SPEC_2_DECISIONS.md
+++ /dev/null
@@ -1,939 +0,0 @@
-# Spec 2 — Decisions
-
-2026-09-23 · companion to [`SPEC_1_WORK.md`](SPEC_1_WORK.md)
-
-This simulator serves every robot built on `micras_hal`: the micromouse now, and a
-line follower later. All fourteen decisions that shape it are made. This
-document records each one with the options it was chosen over, so the reasons stay
-visible.
-
-Out of scope for now, by decision:
-
-- CI, in both repositories
-- running the firmware's hardware tests in the simulator; the design supports them
-  (2.5), but nothing is built for them yet
-
-**Implemented** on `refactor/cleanup` (2026-09-24, not yet committed); where the
-implementation departs from a decision below, spec 1 section 12 says how and why.
-
-Section 2 walks through the end state. Section 14 holds the robot's physical data,
-prefilled from `hw_debug`, `MicrasHardware` and the datasheets, with the remaining
-gaps left for you.
-
----
-
-## 1. Summary
-
-| # | Decision | Decided |
-|---|---|---|
-| D1 | Where the simulator plugs into the firmware | **Hybrid:** a host `micras_hal` backend (`Gpio`, `Pwm`, `PwmDma`, `AdcDma`, `UartDma`, `Flash`, `Mcu`, `Timer`, `Crc`); only `Imu` and `RotarySensor` swapped |
-| D2 | The loop | **Two threads:** the host `hal::Timer` charges a quantum per read and hands over at every simulation step; the firmware's `main` and the tests run unchanged |
-| D3 | Where the host `micras_hal` lives | **In the simulator for now** (`hal_host/`), next to `micras_hal` later |
-| D4 | Fake STM32 Cube layer | **Hand-written.** The `.ioc` does not hold every value it needs (section 6) |
-| D5 | How firmware variables reach the recording | **A read-only accessor** on `Micras`, a firmware change at the port |
-| D6 | Dependencies | **Git submodules** for every dependency you own, CMake fetch for third-party ones. Robot targets stay in this repository |
-| D7 | Where the robot model comes from | **`robot.toml`, written by hand** from the CAD, the board and the datasheets; MJCF generated from it. Neither `robot.hpp` nor the CAD holds everything (section 9) |
-| D8 | Physical fidelity and noise | **From the datasheets**, with seeded noise on by default |
-| D9 | Arenas | **Maze only for now,** in its own folder |
-| D10 | Baselines | **Hashes and summaries stored;** byte identity checked on one machine until a pinned container exists |
-| D11 | Recording at 8 kHz | **CSV with `--record-every N`;** events detected at full rate into `meta.json` |
-| D12 | Panel and overlay extensions | **Declarative** |
-| D13 | Scenarios and commands | **TOML scenario files** plus generic CLI overrides |
-| D14 | Smaller decisions | As listed in section 13 |
-
----
-
-## 2. The end state, walked through
-
-### 2.1 Where each piece lives
-
-Everything lives in this repository:
-
-```mermaid
-flowchart LR
-    subgraph simrepo["micras-simulation"]
-        engine["engine, view, bridge, app<br/>world, clock, devices, arenas"]
-        host["hal_host<br/>host micras_hal (D3)"]
-        subgraph micras["targets/micras"]
-            bindings["bindings, cube, proxy swaps,<br/>robot.toml, scenarios"]
-            fw["MicrasFirmware<br/>(submodule)"]
-        end
-        lf["targets/line_follower<br/>(later)"]
-    end
-    micras --> engine
-    micras --> host
-    host -.compiled against.-> fw
-    lf --> engine
-    lf --> host
-    monitor["micras-monitor"] -->|ws://| engine
-```
-
-- **The engine:** world, clock, devices (motor, IR sensor, IMU, encoder, battery,
-  UART, …), arenas, recording, viewer and bridge. It knows no robot and no HAL.
-- **`hal_host/`:** `micras_hal` implemented on a PC (D3). It is compiled against the
-  `micras_hal` headers of whichever robot is being built, and it has no dependency on
-  the engine, so it can move next to `micras_hal` later without changes.
-- **`targets/micras/`:** the Micras target. It holds the firmware as a submodule
-  (D6). The firmware repository itself gains nothing. A line follower would get its
-  own `targets/line_follower/`.
-
-### 2.2 The hybrid seam (D1, decided)
-
-The simulator compiles the firmware's own headers, including the real
-`config/targets/v1/target.hpp`, `constants.hpp` and `robot.hpp`. Per firmware class:
-
-| Class | How it runs in simulation | Why |
-|---|---|---|
-| `hal::Gpio`, `hal::Pwm`, `hal::PwmDma`, `hal::AdcDma`, `hal::UartDma`, `hal::Flash`/`FlashWord`, `hal::Mcu` | **Host backend** (`hal_host/`) | The peripheral is simple to emulate: a level, a duty cycle, a buffer of ADC scans, a byte queue, a byte array. |
-| `hal::Timer` | **Host backend** | The only place time exists. Each read costs a fixed quantum and crossing a simulation step hands over to the engine thread (D2). It wraps at 32 bits exactly as the cycle counter does at 550 MHz (every 7.8 s). With it, the real `Tick` and `Stopwatch` run. |
-| `hal::Crc` | **Host backend**, though nothing calls it today | A software CRC driven by the same `hcrc.Init` fields that `MX_CRC_Init` sets: 8-bit polynomial 0x1D, initial value 0xC4, no reflection, the AS5047U frame check. It computes what the peripheral does, so it is ready for an encoder model and usable in host tests. |
-| `Led`, `Button`, `TDipSwitch`, `Buzzer`, `TArgb`, `Motor`, `Locomotion`, `Fan`, `Battery`, `TTorqueSensors`, `TWallSensors`, `BluetoothSerial`, `Storage`, `Watchdog`, `Tick`, `Stopwatch` | **Real proxy**, unchanged, over the host backend | Their logic is tested: wall range model, locomotion saturation, storage format, debounce, loop pacing. |
-| `Imu`, `RotarySensor` | **Swapped** `.cpp` in the robot target | At HAL level they are SPI register protocols (the LSM6DSV with ST's driver, the AS5047U with CRC frames). Emulating those costs a lot and teaches nothing. |
-| `hal::Spi`, `hal::Encoder` | **Host backend**, as implemented | `hal::Encoder` reads an `EncoderPort` the encoder device writes, and the swapped rotary sensor proxy reads it; `hal::Spi` is chipless, a place for a chip model to go. |
-| `hal::Fmac` | **Not implemented** | Only the unused `FmacFilter` calls it, and it is left out of the build. |
-
-The HAL headers name STM32 handle types in their configs, so the simulator needs a
-small fake Cube layer (D4):
-
-- the handle types, including `CRC_HandleTypeDef` with its real `Init` fields
-- 15 handle objects
-- 17 `MX_*_Init` functions; `MX_CRC_Init` fills `hcrc.Init` with the values from the
-  `.ioc`
-- about 11 constants and about 11 pin names
-
-The HAL headers have no inline bodies, so every call already goes through a `.cpp`
-that the host backend replaces. The firmware's `tests/host` uses the same pattern: it
-compiles the real `storage.cpp` against a stub `hal/flash.hpp`.
-
-What the hybrid gives up, and why that is acceptable:
-
-- **The IMU and encoder protocol code is never exercised.** That code is tested on
-  the robot.
-- **The two swapped `.cpp` files must track their headers.** A mismatch is a compile
-  error, never silent drift.
-- **The line moves if needed.** A future robot using another SPI chip gets a proxy
-  swap, or a chip model behind the host `Spi`.
-
-### 2.3 What `targets/micras/` contains
-
-```
-targets/micras/
-  MicrasFirmware/    the firmware, as a git submodule (D6)
-  CMakeLists.txt     added by the root CMakeLists; links the engine and hal_host, and
-                     compiles the firmware sources of 2.4 and the files below
-  cube/              fake STM32 Cube headers (main.h, adc.h, tim.h, spi.h, usart.h, gpio.h,
-                     crc.h, dma.h, fmac.h) and handles.cpp (hadc1 ... huart4, MX_*_Init)
-  proxy/             imu.cpp, rotary_sensor.cpp
-  bindings.cpp       which host-backend port drives which engine device (2.6)
-  robot.toml         the real robot's physical description (D7, from section 14)
-  scenarios/         idle, explore, solve, calibrate (D13)
-  baselines/         hashes and summaries (D10)
-  analysis.py        the Micras plugin for the simulator's analyze
-```
-
-There is no `main.cpp` and no `test_core.hpp` in the target. The firmware's own `main`
-and the hardware tests' own `main` and `TestCore` run unchanged (2.5).
-
-Nothing is added to the firmware repository, so its ARM build is untouched.
-
-### 2.4 How it builds
-
-```bash
-just build
-./build/default/targets/micras/micras_sim --scenario targets/micras/scenarios/explore.toml --out runs/explore
-```
-
-`targets/micras/CMakeLists.txt` compiles, with the host compiler, from the
-`MicrasFirmware/` submodule:
-
-- **Unchanged firmware:**
-  - `micras_core/src`, `micras_nav/src`, `micras_comm/src`
-  - `src/*.cpp` and `src/states/*.cpp`, **including `main.cpp`**
-  - `micras_proxy/src/*.cpp`, except `imu`, `rotary_sensor` and `fmac_filter`
-- **The firmware's `main`:** compiled with `-Dmain=micras_firmware_main`. The
-  process `main` is the engine's, and it runs the renamed one on the firmware thread.
-  A hardware test would build the same way, with its own `main`, once the tests are
-  in scope.
-- **The host backend:** `hal_host/*.cpp` from the simulator, instead of
-  `micras_hal/src/`.
-- **Include order:** the target's `cube/` first, then `include`, `config`, `config/targets/v1`,
-  and each package's `include`.
-- **Flags:** C++23. Under clang, `-fconstexpr-steps` is needed for the constexpr
-  `TurnTable`, as the firmware's lint script already sets.
-
-### 2.5 The loop: two threads, handed over by the host `Timer` (D2, decided)
-
-The firmware runs exactly as on the robot, on its own thread:
-
-- **the application:** `main` calls `hal::Mcu::init`, then
-  `while (true) micras.update();`
-- **each hardware test:** its `main` calls `TestCore::init` and `TestCore::loop`
-
-The engine runs on the process's main thread. The two threads **never run at the same
-time**: a mutex and a condition variable hand control from one to the other. So there
-is no data race, and the firmware's state can be read freely while it is parked.
-
-**Time exists only in the host `hal::Timer`.**
-
-- Every `get_counter()` or `get_counter_ms()` call costs a fixed quantum of
-  simulated time, for example 1 µs (550 cycles).
-- The counter wraps at 32 bits, exactly as the DWT cycle counter does at 550 MHz.
-- When a read crosses the next simulation step boundary, the firmware thread hands
-  over and parks. The engine runs that step:
-  - before-step listeners: scenario events, bridge bytes into the UART port
-  - devices actuating from their ports
-  - physics and the clock
-  - devices sampling into their ports: ADC scans, with `on_sequence_complete` called
-    as the DMA interrupt would
-  - after-step listeners: recorder, bridge TX, viewer
-
-  Then the engine hands back, and the read returns.
-- The quantum is small enough that the handful of timer reads in one `update()` stays
-  far below the 125 µs period. Only an actual wait advances time much.
-
-```mermaid
-sequenceDiagram
-    participant F as firmware thread
-    participant T as host hal::Timer
-    participant E as engine thread
-    F->>T: Tick::wait() polls get_counter()
-    T->>T: +1 µs per read
-    T->>E: step boundary crossed: hand over, park
-    E->>E: listeners, devices, physics, clock, recorder
-    E-->>T: hand back
-    T-->>F: counter now past the deadline: wait returns 1
-    F->>F: update(): sensors, navigation, commands into ports
-```
-
-Why this needs no custom code anywhere:
-
-- **Application:** `Tick::wait()` polls the timer until a period has passed. The step
-  boundaries it crosses run the physics, exactly where time passes on the robot.
-- **Tests:** `sleep_ms(3000)` polls until 3 s have passed, so 24 000 steps run.
-  `while (button.get_status() == NO_PRESS) button.update();` reads the stopwatch on
-  every pass, so steps run until the scenario presses the button. The same holds for
-  `while (fan.update() < max_speed)`.
-- **The `Imu` constructor's `sleep_ms(10)`** would also work, if `Imu` ever ran for
-  real.
-
-Ending a run, and the limits:
-
-- **Ending a run.** After the last step, the engine writes the outputs and wakes the
-  parked firmware thread with a stop flag. The timer read throws `RunFinished`, which
-  unwinds out of the firmware's `main`, and the thread is joined. That is the same
-  mechanism the current `FirmwareThread` uses. Nothing in the firmware is `noexcept`
-  on that path.
-- **A loop that never reads the timer would hang.** For example, a tight GPIO poll.
-  Nothing in the application or the tests does that. A wall-clock watchdog on the
-  engine thread reports it with the step number instead of hanging silently.
-- **Time inside `update()` is the number of timer reads times the quantum.** It is
-  deterministic, but it does not measure anything: `worst_loop_time_us` means
-  nothing in simulation, and CPU overload cannot show.
-- **The firmware's `SIGABRT` handler** replaces the simulator's crash reporter. The
-  host `Mcu::emergency_stop()` therefore prints "firmware aborted at step N" itself.
-- **Handover cost.** About one million handovers per 120 s run at 8 kHz. Measure it at
-  the port (spec 1 R14); if it is significant, a spinning handover replaces the
-  condition variable.
-
-**Recording is per simulation step,** not per firmware iteration: the engine no longer
-sees `update()` calls. Each row is a consistent snapshot, because the firmware is
-parked while it is taken, usually inside `Tick::wait()`, between two iterations. With
-the timestep equal to the 125 µs period, that is one row per loop period, as before.
-
-### 2.6 How a GPIO write reaches the simulation, and what `bindings.cpp` connects
-
-Take `Led::turn_on()` as the example.
-
-**1. The firmware call is the same on the robot and on the PC.** `Led` holds a
-`hal::Gpio` built from `led_config` in the real `target.hpp`:
-`.port = LED_Red_GPIO_Port`, `.pin = LED_Red_Pin`. `turn_on()` calls
-`hal::Gpio::write(true)`.
-
-**2. Only the body of `write()` differs.**
-
-- **On the robot**, `micras_hal/src/gpio.cpp` writes the STM32 set/reset register:
-
-  ```cpp
-  this->port->BSRR = state ? this->pin : static_cast<uint32_t>(this->pin) << reset_offset;
-  ```
-
-- **On the PC**, the build compiles `hal_host/gpio.cpp` instead. It has the
-  same header and the same class, but stores the level in a port object:
-
-  ```cpp
-  Gpio::Gpio(const Config& config) : port{config.port}, pin{config.pin} { }
-
-  void Gpio::write(bool state) {
-      host::Board::gpio(this->port, this->pin).set(state);
-  }
-
-  bool Gpio::read() const {
-      return host::Board::gpio(this->port, this->pin).get();
-  }
-  ```
-
-  In the fake `main.h`, `GPIO_TypeDef` is an empty struct, `GPIOA`…`GPIOK` are
-  pointers to static instances of it, and `LED_Red_GPIO_Port`/`LED_Red_Pin` are the
-  same CubeMX labels mapped to them. So `(port, pin)` is a unique key.
-  `host::Board::gpio(port, pin)` returns the one `GpioPort` for that key and
-  creates it on first use. A port is a few fields: the level driven by the firmware,
-  the level driven from outside, and a flag saying whether the firmware ever touched
-  it. `host::Board` knows nothing about MuJoCo.
-
-**3. The robot target's `bindings.cpp` connects ports to engine devices.** It runs
-before `Micras` is constructed. Engine devices take plain callables, so the engine
-never sees a HAL type, and the HAL backend never sees the engine:
-
-```cpp
-void bind_devices(sim::World& world) {
-    auto& led = hal::host::Board::gpio(LED_Red_GPIO_Port, LED_Red_Pin);
-    world.add<sim::Indicator>("led", [&led] { return led.get(); });
-
-    auto& button = hal::host::Board::gpio(Button_GPIO_Port, Button_Pin);
-    world.add<sim::PushButton>("button", [&button](bool pressed) { button.drive(not pressed); });
-
-    auto& forward = hal::host::Board::pwm(&htimN, TIM_CHANNEL_x);
-    auto& backward = hal::host::Board::pwm(&htimN, TIM_CHANNEL_y);
-    world.add<sim::HBridge>(
-        "left_bridge", [&] { return forward.duty() - backward.duty(); }, world.motor("left")
-    );
-}
-```
-
-The handles and channels in the motor lines stand for whatever `target.hpp` names.
-
-**4. Timing.** During `update()`, the firmware writes ports and nothing else happens.
-On the next tick, when the engine advances, every device samples the ports it is bound
-to:
-
-- the indicator shows the LED on the panel
-- the H-bridge turns the duty cycles into a motor voltage, the motor into a torque,
-  and MuJoCo steps
-
-Inputs run the other way. The panel or a scenario presses the button, the device
-drives the port, and the firmware's next `read()` sees it. Every output is
-therefore sampled once per tick (125 µs), which is far below any mechanical time
-constant.
-
-**5. Unbound ports are reported.** After the firmware is constructed, the engine
-lists every port the firmware touched that no device is bound to. That is a warning
-in normal runs and a failure in the gate, so a re-pinned board or a forgotten
-binding is loud.
-
-The same pattern covers every host HAL class:
-
-| Firmware object | Host backend port | Engine device |
-|---|---|---|
-| `Motor` left and right | 2 PWM ports each (forward, backward) | H-bridge channel, DC motor, gearbox, wheel joint |
-| `Locomotion` enable | GPIO port | H-bridge enable |
-| `Fan` | PWM port and an enable GPIO port | Fan motor, then downforce |
-| `TWallSensors<4>` | ADC port (lit and dark scans, sequence counter) and 4 emitter PWM ports | IR emitter/receiver pairs: rays to the walls, then ADC counts, written into the ADC port at 2 kHz |
-| `Battery` | ADC port | Battery model to counts |
-| `TTorqueSensors<2>` | ADC port | Motor current through the sense amplifier to counts |
-| `Imu` | none (swapped proxy) | IMU device at its mount pose |
-| `RotarySensor` ×2 | none (swapped proxy) | Wheel encoders |
-| `Button`, `TDipSwitch<4>`, `Led` | GPIO ports | Panel and scenario digital I/O |
-| `TArgb<2>` | PWM-DMA port | Decoded colours on the panel |
-| `Buzzer` | PWM port | Tone shown on the panel |
-| `BluetoothSerial` | UART port (byte queues both ways) | Byte channel (baud-limited, D8), to the bridge and micras-monitor |
-| `Storage` | Flash port (a byte array) | In memory, optionally a file (D14) |
-| `Watchdog` | MCU port (refresh counter) | Reported in `meta.json` (D14) |
-
-For DMA peripherals the port also replaces the interrupt:
-
-- When the IR device finishes a scan, the ADC port copies it into the buffer the
-  firmware gave `start_dma`, bumps the sequence counter, and calls
-  `AdcDma::on_sequence_complete`, exactly as the DMA interrupt does on the robot.
-- For the UART, bytes the firmware passes to `start_tx` go to the TX queue, and
-  bytes from the bridge are written into the circular RX buffer the proxy polls.
-
-### 2.7 When the firmware changes
-
-A firmware change reaches the simulator when its submodule is bumped. That bump, and
-anything it breaks, land in one commit here.
-
-| Change in MicrasFirmware | What the submodule bump needs |
-|---|---|
-| A proxy that runs for real | Nothing: it is compiled as it is. |
-| `Imu` or `RotarySensor` | If the header changed, the swap fails to compile; fix it in the same commit. |
-| A HAL class | `hal_host/` fails to compile; fix it in the same commit. |
-| `target.hpp` pins or handles | A new handle is a compile error in `cube/`; a moved channel is a binding error at startup. |
-| `constants.hpp`, `robot.hpp` | Nothing. `robot.hpp` is the firmware's *belief*; `robot.toml` is the physical truth (D7). |
-
-CI is out of scope for now.
-
-### 2.8 A line follower
-
-A new `micras_hal` robot gets the host backend and the engine for free, in its own
-`targets/line_follower/`. It needs:
-
-1. its firmware as a submodule, and its hand-written fake Cube layer (D4)
-2. swaps for any SPI-chip proxies it has
-3. `robot.toml` and bindings to engine devices
-4. an arena: a line track (D9)
-5. scenarios; no `main` of its own, as long as its waits read `hal::Timer`
-
-New engine devices only appear for new sensor kinds, such as a downward reflectance
-array.
-
-### 2.9 Getting there from today
-
-Spec 1 builds this end state in place: the engine at the repository root, the host
-backend in `hal_host/`, and the Micras target in `targets/micras/`. Nothing moves to
-another repository.
-
-`hal_host/` stays here until `micras_hal` gets its own repository. Then it moves there
-as `micras_hal/host/`, unchanged, because it depends on nothing but the HAL headers,
-and `micras_hal` becomes a submodule of the robots that use it.
-
----
-
-## 3. D1 — Decided: hybrid seam
-
-Recorded for reference. The two alternatives it was chosen over:
-
-- **Shadow proxies (today's approach).** Rejected: it duplicates about 3200 lines,
-  4 proxies are already stale, and it needs drift tooling forever.
-- **Pure HAL, including SPI chip models.** Rejected for now: emulating the LSM6DSV
-  and AS5047U register protocols is expensive and only exercises code that is tested
-  on the robot.
-
-The split is in 2.2. One optional firmware change costs nothing at runtime:
-`TWallSensors` reads `config.adc.handle->Init.NbrOfConversion` in its constructor.
-Moving that check into `hal::AdcDma` (for example `get_sequence_length()`) lets the
-fake ADC handle be an opaque type. It runs once, at construction.
-
----
-
-## 4. D2 — Decided: two threads, handed over by the host `Timer`
-
-**Decided:** the firmware runs unchanged on its own thread, including its `main` and
-the tests' `TestCore`. The host `hal::Timer` charges a fixed quantum per read, and
-hands over to the engine whenever a read crosses a simulation step (2.5).
-
-What it was chosen over:
-
-| Alternative | Why not |
-|---|---|
-| A custom `main` (advance, `update()`, record) plus a custom `TestCore` with polled time for the tests | Two mechanisms, one for the application and one for the tests, and two reimplemented firmware files. The chosen design uses one mechanism, reimplements nothing, and exercises the firmware's real `main` too. |
-| Swapped `Tick` and `Stopwatch` that step the engine | Custom proxies. A swapped `Stopwatch` would not even cover the tests, whose waits mostly only read the stopwatch. |
-| Today's thread handoff | It yields when the same instant is read two or four times, and those thresholds are spread over `Stopwatch` and `Button`: the most fragile code in the repository. The chosen rule is fixed, in one function, with no guessing. |
-| Rewriting the tests without inner waits | Changes 16 firmware tests, and changes them on the robot too. |
-
-What it costs is listed in 2.5: a handover per step, a hang if a loop waits without
-reading the timer (reported by the watchdog), and a "new run" that needs a new
-process, because the firmware's `static Micras` cannot be rebuilt.
-
----
-
-## 5. D3 — Decided: `hal_host/` lives in the simulator for now
-
-**Decided:** the host `micras_hal` stays in this repository and moves next to
-`micras_hal` later, most naturally when `micras_hal` gets its own repository.
-
-Two properties keep that later move free:
-
-- **No engine dependency.** `hal_host/` implements each HAL class over small port
-  objects (2.6) and includes nothing from the engine. The robot's bindings connect
-  ports to devices. The host `Timer`'s handover at each step is a plain callback that
-  the engine installs at startup, so the dependency stays one way.
-- **Built against the consumer's headers.** `hal_host/` is not compiled on its own.
-  The simulator exports its sources, and each robot target compiles them against its
-  own `micras_hal` headers and fake Cube layer.
-
-The cost while it lives here: a `micras_hal` API change breaks `hal_host/` when the
-firmware submodule is bumped, and the fix goes in the same commit (2.7).
-
-## 6. D4 — Decided: the fake STM32 Cube layer is hand-written
-
-The HAL configs name STM32 handle types, and `target.hpp` names handles, init
-functions, channel constants and CubeMX pin labels. For Micras v1 that means:
-
-- 15 handles
-- 17 `MX_*_Init` functions
-- about 11 constants
-- about 11 pin names
-
-The host HAL also needs some initial register values. For example,
-`hal::Pwm::get_frequency()` reads the timer's prescaler, period and counter mode, and
-`TWallSensors` refuses to initialise unless it gets 2 kHz.
-
-**Rule:** derive it from the `.ioc` only if the `.ioc` holds absolutely every value.
-**It does not:**
-
-| Needed | In `micras_v1.ioc`? |
-|---|---|
-| Pin labels, ports and numbers (`PB5.GPIO_Label=…`) | Yes |
-| Timer prescaler, period, counter mode when not the default; timer clocks (`RCC.Tim1OutputFreq_Value`, …) | Yes |
-| ADC sequence lengths (`NbrOfConversion`) | Yes |
-| **Parameters left at their CubeMX default**, e.g. the CRC's input/output inversion and input format, TIM1's counter mode | **No.** The `.ioc` stores only what differs from CubeMX's defaults database |
-| **Handle and init-function names** (`hadc1`, `MX_ADC1_Init`) | **No.** They follow CubeMX's code-generation conventions |
-| HAL library constants (`TIM_CHANNEL_1`, `SPI_POLARITY_LOW`, …) | **No.** They come from ST's HAL headers |
-
-The complete, explicit values do exist in the CubeMX-generated sources
-(`cube/Inc/main.h`, `cube/Src/*.c`). But those are gitignored and produced by CubeMX at
-build time, so deriving from them would make the simulator depend on CubeMX.
-
-**Decided: hand-written,** about 100–150 lines in `sim/cube/`. Each value names the
-generated line it mirrors, for example `hcrc.Init.InitValue = 0xC4` from
-`cube/Src/crc.c`. A CubeMX change that renames a handle or a pin becomes a compile
-error; a changed prescaler or period shows up as a wrong frequency at initialisation.
-
----
-
-## 7. D5 — Decided: firmware variables through a read-only accessor
-
-`Micras` registers its observable state (pose, reference, control errors, wall
-readings, …) in a `core::TVariablePool<64>`. The pool is a private member with no
-accessor. `comm::Link` serves it over a session protocol with one peer.
-
-| | A. Read-only accessor | B. Recorder as a link peer | C. Not recorded |
-|---|---|---|---|
-| **How** | Add `const core::VariablePool& get_variables() const` to `Micras`. The recorder reads names and types once, then every variable each tick; BLOBs such as the maze are skipped. | The recorder speaks HELLO, SCHEMA_REQUEST, GROUP_DEFINE and GROUP_ENABLE in-process, and keeps returning credit. | Ground truth and device columns only. |
-| **Upsides** | Every registered variable, every tick, typed and named by the firmware. The link stays free for micras-monitor. No protocol code in the simulator. Never called on the robot, so no code is generated: zero runtime cost. | No firmware change. Exercises the link. | Simplest. |
-| **Downsides** | One firmware line whose only caller is the simulator. | The link has one peer, so the recorder and micras-monitor fight over it. Limited to 4 groups of 16 variables. Gaps when credit runs out. If D8 models the radio's bandwidth (about 11.5 kB/s), full-rate recording at 8 kHz is impossible. | Loses what navigation is validated with: pose estimate, reference, control errors. |
-
-**Decided: A.** The accessor is added to the firmware at the port.
-
----
-
-## 8. D6 — Decided: submodules for your dependencies
-
-**Decided:** every dependency you own is a **git submodule**:
-
-- MicrasFirmware, inside `targets/micras/`
-- `micras_hal`, once it has its own repository
-
-Third-party dependencies stay fetched by CMake: MuJoCo, IXWebSocket, ImGui, picosha2
-and ST's LSM6DSV driver.
-
-- **Gains:** an explicit commit per dependency, offline builds, and co-development by
-  working directly inside the submodule checkout.
-- **Costs:** `git submodule update` after every pull, and a bump commit whenever the
-  dependency moves.
-- **Alternatives:** FetchContent by tag (a download at configure time) and an
-  installed package (an install step per developer).
-
-Robot targets stay in this repository. CI is out of scope for now.
-
----
-
-## 9. D7 — Decided: `robot.toml`, written by hand from the sources
-
-The new firmware derives its controller gains, turn table, wall model and localizer
-from `robot.hpp`'s `RobotModel`. The current MuJoCo robot disagrees with it:
-
-| Quantity | `robot_v2.xml` | `robot.hpp` | v2 main board (CAD, section 14) |
-|---|---|---|---|
-| Wheel track | 62 mm (wheels at ±31 mm) | 42.25 mm (now 45.75) | 45.75 mm between tyre centres (42.25 is between the cutout centres) |
-| Chassis | 66 × 99 mm (the v1 board) | 60 × 93.5 mm (now 50.2 × 91.4) | 50 × 90 mm |
-| Forward axis | +y | +x | — |
-| Side sensors (forward, lateral) | 41, 26 mm | 36.7, 21.5 mm | 36.72, 21.50 mm (footprint origin; the lens is 6.7 mm further) |
-| Diagonal sensors (forward, lateral) | 61, 10 mm | 47.6, 10.2 mm | 47.57, 10.19 mm (same note) |
-| Motor | affine actuator, hand-tuned | Kt 0.00711, R 21.9 Ω, gear 4, 20 V (now the datasheet values) | DCX 8 M 4.2 V at 19.63 V, gear 5.25 |
-
-`CLAUDE.md` also records that Micrasverse models the robot as 50 × 80 mm. So there
-were three different robots and no single source of truth. The board now settles
-geometry, and `robot.hpp` has been corrected to it (section 14.13).
-
-| | A. Hand-written MJCF (today) | B. Description file, MJCF generated | C. Generated from `robot.hpp` |
-|---|---|---|---|
-| **How** | Someone writes and tunes the XML. | `robot.toml` in a versioned schema: outline or mesh, component masses and positions, wheels, drive, sensors, IMU, fan. The engine generates the MJCF and configures the devices from the same file. | A generator includes the constexpr `robot_model`. |
-| **Upsides** | Total freedom. | One file for physics and devices, readable without knowing MuJoCo. Every value carries a `source` (datasheet, CAD, estimate, measured). Seeded perturbations make robustness runs possible. The line follower reuses it. | No duplication. |
-| **Downsides** | Error-prone, as the table shows; every robot has to learn MJCF. | A generator and a schema to maintain; limited to what the schema expresses, with an MJCF snippet include as the escape hatch. | The simulated robot *is* the firmware's belief, so errors in `robot.hpp` become invisible. It also lacks most physical items (masses, tyre, optics, battery) and is Micras-only. |
-
-**Rule:** derive the model directly from an existing source only if that source holds
-absolutely everything. **Neither does:**
-
-- **`robot.hpp`** has no component masses or positions, no heights, no full inertia,
-  no tyre, battery or fan, no sensor optics and no motor rotor inertia. It is also
-  the firmware's belief, which the simulator must be able to contradict.
-- **The CAD** has no materials or masses, no populated board (so no sensors), and
-  only partial STEP exports. The complete assembly exists only as SolidWorks files.
-
-**Decided: B.** `robot.toml` is written by hand from the CAD, the KiCad board and the
-datasheets (section 14), and every value names its source. The MJCF is generated from
-it.
-
-- Frames follow `robot.hpp`: x forward, y left, z up, origin at the axle midpoint on
-  the floor.
-- The schema starts with what the micromouse needs. It grows when the line follower
-  arrives, and it is versioned so older files keep loading.
-- The Micras target ships a report comparing `robot.toml` with `robot.hpp`, field by
-  field, which shows the differences without forcing them equal.
-
----
-
-## 10. D8 — Decided: fidelity from the datasheets
-
-The firmware's own notes warn that "a filter tuned against a noiseless simulator is
-a filter tuned wrong". Today the simulator has no noise at all.
-
-| | A. Ideal | B. Datasheet-level, seeded noise | C. B, calibrated from robot logs |
-|---|---|---|---|
-| **Upsides** | Simple, fast, easy to read. | The closest to reality reachable with static information only (section 14). Parameters traceable to datasheets; runs stay reproducible. | The closest possible. The firmware's `DriveIdentification` and gyro calibration already produce measured constants. |
-| **Downsides** | Validates against a world that does not exist. | More code and parameters, each a guess until measured; ray cones cost wall time. | Needs dynamic measurements, not available now. |
-
-**Decided: B.** Every physical parameter comes from a datasheet, or from the CAD and
-the board for geometry. Nothing is calibrated from robot logs for now. Per device:
-
-| Device | Today | Model |
-|---|---|---|
-| Motor drive | Affine actuator, hand-tuned | H-bridge: PWM duty × supply voltage, then DC motor (R, Kt = Ke, rotor inertia), gearbox (ratio, efficiency, optional backlash). Inductance is ignored when L/R is well under the 125 µs tick; check it against the datasheet. |
-| Supply and battery | Constant | The motors run from a boost converter at 19.63 V (section 14.5), so their supply is flat until the boost's current limit; model it as a regulated rail with that limit. The fan runs straight from the 3S battery, so model the battery's open-circuit voltage and internal resistance there. The controller's feed-forward is in volts, and `Locomotion` commands a percentage of the 20 V supply. |
-| Tyres and contact | Hand-tuned friction | μ from the tyre material, plus fan downforce; contact softness from tyre hardness. |
-| Fan | Actuator | Static pressure × effective skirt area, with the motor ramp. |
-| Wall sensors | Rangefinder distance through a hand-picked 1/d² curve | Per sensor, emitter and receiver poses; a cone of rays shaped by the emitter and receiver angular patterns; wall reflectivity; 1/d² per ray; receiver current through its circuit to ADC counts; a dark scan with ambient IR; noise; rise time; the emitter groups at 2 kHz with cross-talk. |
-| IMU | MuJoCo sensors, noiseless | LSM6DSV noise density, turn-on bias (seeded), scale error, the ODR and filter the firmware sets, one-sample latency, quantisation, and a small clock skew (the stage 3 harness uses 0.7 %). |
-| Encoders | Joint position | Quantised to the configured resolution; backlash if the magnet is on the motor side of the gearbox. |
-| UART / BLE | Unlimited | Limited to the radio's real throughput. HANDOFF job 5 measured the old harness pushing about 24 times what the radio carries. |
-| Loop timing | Not modelled | Not modelled. The PC is faster than the MCU, so CPU overload cannot show: `Tick::wait()` always returns 1 and `worst_loop_time_us` means nothing. A known limit. |
-
-On noise defaults: **decided, on by default with a fixed seed**. The seed
-goes in `meta.json`, `--seed N` explores variation, and `--ideal` turns noise off for
-debugging. Off by default is easier to read, but people forget to turn it on and tune
-against an ideal world.
-
----
-
-## 11. D9 — Decided: maze only, in its own folder
-
-The line follower will need a track.
-
-| | Maze only, for now | An arena abstraction now |
-|---|---|---|
-| **Upsides** | Nothing built before it is needed. | The track is ready when the robot is. |
-| **Downsides** | — | An interface designed from one example is usually wrong. |
-
-**Decided: maze only.** Spec 1 (M7) keeps it in its own folder, and nothing in the run
-loop, recorder or viewer assumes a maze. The abstraction is extracted when the track
-exists.
-
----
-
-## 12. D10 to D13 — Decided: recording, baselines, panel, scenarios
-
-### D10 — Baselines
-
-Byte-identical CSVs are not guaranteed across machines: compiler, libm, CPU fused
-multiply-adds and the MuJoCo build all change the last bits. At 8 kHz each stored CSV
-is about 8 times larger.
-
-| | A. Full CSVs, byte compare (today) | B. Hashes and summaries, with tolerances | C. Both, bytes pinned to a reference toolchain |
-|---|---|---|---|
-| **How** | Compressed `data.csv` in git. | Store `sha256(data.csv)` and a summary: goal time, state timeline, maximum pose and lateral error, minimum wall clearance, collisions. Compare bytes between runs on one machine; compare summaries with tolerances against the stored ones. | B's storage. Byte identity enforced in a pinned container (the firmware already has `.docker/` and `compose.yaml`); summaries everywhere else. |
-| **Upsides** | A failure points to the exact row and column. | Tiny; meaningful on any machine; gates behaviour, as stage 3 Decision 19 asks. | Keeps "a refactoring must not move a byte" exact, without A's weight. |
-| **Downsides** | About 30 MB per epoch at 8 kHz; brittle to any toolchain change. | A byte-moving refactoring within tolerance passes unnoticed; a hash alone does not say where. | A container image with MuJoCo to maintain. |
-
-**Decided: C.** The pinned container comes with CI, later. Until then, byte identity is
-checked between runs on the same machine, and the stored summaries are compared with
-tolerances.
-
-### D11 — Recording rate and format
-
-At 8 kHz a 120 s run is 960 000 rows, on the order of 1 GB of CSV with about 100
-columns.
-
-| | A. CSV every tick | B. CSV with `--record-every N` | C. Binary columns |
-|---|---|---|---|
-| **Upsides** | Simplest. | Short gate scenarios stay at full rate; long runs at, say, 1 kHz. | 5–10 times smaller; loads into numpy directly. A raw float64 file plus a JSON header needs no dependency. |
-| **Downsides** | Gigabytes; slow analysis. | Hides fast events, unless the engine detects them at full rate. | Not greppable; a second reader. |
-
-**Decided: B now, C if size hurts.** The engine detects events at full rate
-(collisions, maximum errors, state transitions) and writes them to `meta.json`
-whatever the decimation.
-
-### D12 — How a robot extends the panel and the video overlay
-
-| | A. Declarative | B. ImGui callback | C. Both |
-|---|---|---|---|
-| **How** | The target registers data. Bound buttons, switches and LEDs appear automatically. Plots are a list of variable names; the state label is a variable plus a table of names; the overlay is a list of variables with formats. | The target draws its own ImGui section. | A, with B as an escape hatch. |
-| **Upsides** | Robot repositories depend on no GUI library. One look for every robot. The handover logic and the ImGui edge-detection trap are solved once, in the engine. | Unlimited. | Covers rare custom widgets. |
-| **Downsides** | New kinds of widget need an engine change. | Every robot target depends on ImGui, and each relearns the trap where `IsItemActive` turns an extra-long press into a short one. | Two ways to do one thing. |
-
-**Decided: A.**
-
-### D13 — Scenarios and commands
-
-| | A. Per-robot CLI flags | B. Scenario files | C. Files plus generic overrides |
-|---|---|---|---|
-| **How** | Each target registers flags. | A file names robot, arena, duration and seed, and holds a timeline of device events: press `button` at 0.5 s for 0.25 s; set `dip_1`; send bytes on `bluetooth`; push the robot. Plus stop conditions such as `until: state == IDLE` (needs D5). | B, plus `--seconds`, `--seed`, `--maze`, `--out` and `--ideal`. |
-| **Upsides** | Short one-liners. | Robot-agnostic and composable; baselines name a scenario; starts go through the robot's real paths (buttons, link commands). | Files for reproducible runs, flags for quick variations. |
-| **Downsides** | Reinvented per robot; does not compose. | A parser and a schema. | Two places for a value; the command line wins and `meta.json` records both. |
-
-**Decided: C, in TOML**, the same format as `robot.toml`:
-
-| | TOML (toml++) | YAML (yaml-cpp) | JSON |
-|---|---|---|---|
-| **Upsides** | Header-only, strict, readable | Familiar in robotics | No new Python dependency |
-| **Downsides** | Less familiar to some | A compiled dependency; implicit typing surprises (`no` becomes false) | No comments; noisy by hand |
-
----
-
-## 13. D14 — Decided: smaller decisions
-
-| Decision | Options | Upsides / downsides | Decided |
-|---|---|---|---|
-| **Names** | Keep `micras-simulation`, `micras::sim`, `MICRAS_*` / rename | The simulator now serves the team's `micras_hal` robots, and `micras` is the team prefix, so the names fit. Renaming touches every file. | Keep |
-| **Old firmware** after the port | Keep supporting / tag and drop | Keeping it doubles the target code for a firmware nobody flies; a tag keeps the old navigation reproducible for comparisons. | Tag the last pre-port commit, then drop |
-| **Firmware hardware tests** | Build all / a subset / later | With the hybrid seam and two threads they need no custom code, only a CMake list. | **Out of scope for now** |
-| **Analysis tooling** | Generic `analyze.py` with robot plugins / per-robot scripts | Plugins give every robot one report format; scripts diverge. | Plugins |
-| **Flash between runs** | Blank each run (today) / `--flash <path>` | A file lets you simulate explore, power cycle, solve, as the robot does. Blank keeps runs independent. | Blank by default, `--flash` to persist |
-| **Watchdog** | Ignore / report / fail the run | Time passes only in `advance()`, so a missed refresh is a real but rare bug; failing on it could flag simulation artefacts. | Report the count in `meta.json` |
-| **Crash threshold** (`crash_acceleration` = 35 m/s², disabled by the old harness) | Honour / override | With the real `constants.hpp` there is no override. If contact spikes trip it, the contact model is wrong. | Honour; fix contact stiffness if it trips |
-| **Stage 3 host harness** (`MicrasFirmware/stage3_research/harness/host`, untracked) | Fold in / keep as the fast kinematic simulator | It runs 8 contest mazes in seconds and already models gyro bias and noise, encoder quantisation and ray-cone sensors with lag. The MuJoCo simulator is slower but physical. | Keep as the fast navigation regression; port its sensor models into the engine; commit it or drop it, since untracked it rots (its mocks already fail against HEAD) |
-| **Sequencing** | Split first, then port (spec 1 order) / port first | Splitting first uses `baseline/v2` as a byte-exact net while moving files, but moves some code that dies at the port. Porting first reorganises with no net. | Split first; spec 1 P3 keeps the waste small |
-| **"New run" from the panel** | Relaunch the process / not at all | The firmware's `static Micras` cannot be rebuilt in-process (D2), so a new run means the panel relaunching the simulator with the same arguments into a new run directory. | Later, as a relaunch |
-
----
-
-## 14. Robot information
-
-Prefilled from three sources, and cross-checked with the firmware:
-
-- **`~/codes/hw_debug`:** the v2 main board's KiCad project, the BOM, the
-  datasheets, and the review and thesis notes.
-- **`~/codes/MicrasHardware`:** the SolidWorks assembly, cloned from
-  Team-Micras/MicrasHardware.
-- **The Maxon catalogue** page for the DCX 8 M.
-
-The firmware's `config/targets/v1/robot.hpp` was corrected from the same data
-(14.13).
-
-What is left for you:
-
-- the masses (only estimates exist)
-- the fan motor part
-- where the three battery cells really sit (14.6)
-- the gear module
-- the maze environment
-
-**Confidence** says where each value came from:
-
-| Label | Meaning |
-|---|---|
-| CAD | read from KiCad, or from the SolidWorks assembly and its global variables |
-| datasheet | read from a datasheet |
-| firmware | read from `target.hpp` or the CubeMX project |
-| notes | from the thesis or the review notes |
-| estimate | computed from CAD volumes and assumed densities, or a guess |
-| owner | given by you |
-
-Four optional measurements help a lot, and none needs the robot to move:
-
-1. **Masses** on a kitchen scale: whole robot, battery, fan motor with impeller.
-2. **Friction:** robot on a sample of maze floor, tilted until it slides.
-   μ = tan(angle). Once with the fan off, once on.
-3. **Fan downforce:** robot on a scale on a flat plate, fan off, then on. The
-   difference is the downforce.
-4. **IMU axes:** log the raw accelerometer at rest while tilting the robot nose down,
-   then left side down. The mapping in 14.9 is high confidence; this only confirms it.
-
-### 14.1 Frame
-
-All positions are in the robot frame of `robot.hpp`: x forward, y left, z up,
-origin on the floor under the midpoint of the wheel axle.
-
-| Item | Value | Confidence |
-|---|---|---|
-| Front of the robot | The chamfered nose with the wall sensors, KiCad's top edge (y = 60.0) | CAD |
-| Axle | KiCad (148.501, 113.504): the centre of the symmetric wheel cutouts, where the encoder slots and connectors sit | CAD |
-| KiCad to robot | x = 113.5036 − y_KiCad, y = 148.5011 − x_KiCad; KiCad rotation = robot yaw | CAD |
-| SolidWorks to robot | x = 1033.6 − Z_sw, y = −(X_sw + 4.9091), z = Y_sw + 11.3503 (mm) | CAD |
-
-### 14.2 Chassis and outline
-
-| Item | Value | Confidence |
-|---|---|---|
-| Board | **50.0 × 90.0 mm**, x from −36.5 to +53.5, y ±25; 1.04 mm FR-4, 4 layers | CAD |
-| Nose | Front edge at x = 53.5, chamfers at 26.6° down to (34.56, ±24.47), R5 into the sides at x = 32.3 | CAD |
-| Wheel cutouts | Open from x = −10.5 to +10.5; inner edge at \|y\| = 17.25; the tyres fill their outer part | CAD |
-| Rear | Edge at x = −36.5, a USB-C notch, and a step for the slide switch | CAD |
-| Parts past the board | Inner wall-sensor housings (W2, W3) reach x ≈ 54.9; tyre and hub faces reach \|y\| = 25.05 | CAD |
-| Height above the floor | Board bottom 1.0 mm, board top 2.0 mm (`BoardToFloorHeight = 1`) | CAD |
-| Lowest chassis point | 1.0 mm: the board underside and the flush countersunk screw heads | CAD |
-| Floor contacts other than the tyres | **None**: no caster, no skid. The centre of mass is almost over the axle, so the robot tips onto the board's front edge (1.07° of pitch) or rear edge (1.57°) | CAD |
-| Height of the robot | About 34 mm with the battery on the fan holder | CAD |
-| Swept radius when spinning about the axle midpoint | 55.1 mm at the nose fillets; 43.5 mm at the rear corners | CAD |
-| Drivetrain parts | Two 3D-printed bearing blocks (x −18.5…5.5, \|y\| 5.75…22.25, z 2…25) carry the motors, bearings and axles; a printed fan holder is screwed on top of them | CAD |
-
-### 14.3 Mass
-
-The assembly carries no materials, so every mass below except the motors' is an
-estimate. Printed parts assume 100 % infill at 1.24 g/cm³, so they are upper bounds.
-
-| Item | Value | Confidence |
-|---|---|---|
-| **Total, ready to run** | | Estimate: about 70 g, from the modelled parts, three 6 g cells and about 5 g of board components; `robot.hpp` now uses 70 g. **Please weigh it.** |
-| Motors | 4.4 g each | datasheet |
-| Battery | Three 1S 250 mAh cells, about 6 g each (5–7 g is typical for the size) | owner, estimate |
-| Bare PCB | | Estimate 7.3 g, without components |
-| Fan holder, bearing blocks, hubs (printed) | | Estimates 6.5, 5.5, 5.8 g |
-| Fan motor and impeller | | Guesses 5 and 1.5 g |
-| Centre of mass | About (−0.8, 0, 17) mm with the three cells where the assembly puts them | Estimate |
-| Yaw inertia about the axle midpoint | About 2.9 × 10⁻⁵ kg·m², which `robot.hpp` now uses | Estimate |
-| Spin inertia per wheel | About 1.9 g·cm², plus 1.2 g·cm² of rotor and pinion reflected through the gears | Estimate |
-
-### 14.4 Wheels and contact
-
-| Item | Value | Confidence |
-|---|---|---|
-| Wheel diameter | **22.0 mm**: a 1.0 mm tyre band on a Ø20 hub seat, flat, no crown | CAD |
-| Tyre width | 4.25 mm | CAD (`WheelTireWidth = 8.5/2`) |
-| Track (tyre centre to tyre centre) | **45.75 mm** (tyre centres at y = ±22.875) | CAD. **42.25 mm is the distance between the cutout centres, not the wheel track** |
-| Axle | Ø2 mm, in two Ø5 × 1.5 bearings per side, 11.0 mm above the floor | CAD |
-| Tyre | **Kyosho MZW40-20**: Mini-Z super low height slick, thin wall, 20° compound, 8.5 mm wide, 22.6 mm on a Mini-Z wheel ([Kyosho](https://rc.kyosho.com/en/mzw40-20b.html)); here 22.0 mm on the Ø20 hub seat and 4.25 mm wide, half its width | owner, CAD |
-| Hub | 3D-printed; the Ø21 wheel gear is part of it | CAD |
-| Maze floor you race on | | |
-
-### 14.5 Drivetrain
-
-| Item | Value | Confidence |
-|---|---|---|
-| Motors | **Maxon DCX 8 M, 4.2 V winding**, precious-metal brushes (the only option), no gearhead | owner, CAD, datasheet |
-| Winding | R 12 Ω, L 41 µH, Kt 3.36 mNm/A, speed constant 2850 rpm/V, no-load current 6.93 mA, rotor inertia 0.0379 g·cm², maximum permissible speed 17 300 rpm | datasheet ([maxon catalogue p. 98](https://www.maxongroup.com/medias/sys_master/root/9394600706078/Cataloge-Page-EN-98.pdf)) |
-| At 19.63 V | No-load speed would be about 55 700 rpm, 3.2 times the permitted speed; the permitted speed is reached at 3.8 m/s of wheel speed. Stall current 1.64 A (5.5 mNm). L/R = 3.4 µs, negligible at a 125 µs tick | computed |
-| Gears | Ø4 mm brass pinion to a Ø21 mm wheel gear, 12.5 mm centre distance: **ratio 5.25** | CAD (pitch circles and `PinionGearDiameter`/`WheelGearDiameter`) |
-| Gear teeth and module | | Not modelled. Module 0.25 would give 16/84 teeth, 0.2 would give 20/105 |
-| Motor placement | Behind the axle and stacked: left axis at (x −12.4, z 9.5), right at (x −9.6, z 19.0), both parallel to the axle, pinion outboard | CAD |
-| Encoders | AS5047U on vertical boards in the slots at (0, ±6.9); the Ø6 × 2 magnet sits **on the wheel axle**, 1:1 with the wheel; 16384 counts/rev | CAD, firmware |
-| Encoder assignment | EC2 = left (TIM5), EC1 = right (TIM2) | CAD, firmware |
-| H-bridge | L6205D, about 0.62 Ω per conducting path at 25 °C; 100 kHz PWM, slow decay | datasheet, firmware |
-| Motor supply | TPS611781 boost at **19.63 V** typical (18.99–20.32 V), current limit about 12.5 A | CAD, datasheet |
-| Current sense | 40 mΩ shunt per motor, TSC2020 at gain 20, linear to ±1.94 A | CAD, datasheet |
-
-### 14.6 Power
-
-| Item | Value | Confidence |
-|---|---|---|
-| Battery | **Three 1S 250 mAh LiPo cells in series** (3S: 11.1 V nominal, 12.6 V full). Each is 46 × 12 × 7 mm in the CAD, the standard 701245 pouch size | owner, CAD |
-| Cell brand, C rating, internal resistance | | |
-| Cell positions | The assembly has three hidden cell bodies: two lying across the robot on the fan holder (x −12.6…−0.6 and −0.6…11.4, z 27–34), and one on edge at x −19.8…−12.8, z 22–34, which intersects the bearing blocks as drawn. **Where does the third cell really go?** | CAD |
-| Battery measurement | The MCU's internal VBAT/4 channel on ADC3, no external divider | firmware |
-| 3.3 V rail | L6981N33 buck from the battery | CAD |
-
-### 14.7 Suction fan
-
-| Item | Value | Confidence |
-|---|---|---|
-| Impeller | Ø27 × 7 mm at (17.5, 0), 0.5 mm above the board top, drawing air up through the Ø15 hole | CAD |
-| Fan motor | Ø10 × 22 mm coreless motor above the impeller, shaft down | CAD |
-| Fan motor part number and datasheet | | |
-| Chamber | **No skirt.** The whole underside is a 1.0 mm gap, open along about 379 mm of perimeter (about 380 mm² of leak area, against the hole's 177 mm²) | CAD |
-| Driver and supply | STSPIN958 straight from the battery (11.1–12.6 V), 100 kHz PWM, 5 A current limit | CAD, firmware |
-| Downforce | | `robot.hpp` keeps its 0.6 N estimate; the scale test gives the real value |
-
-### 14.8 Wall sensors
-
-Each sensor is a custom stacked pair in one housing: an SFH4550 IR LED on top and a
-TPS601A phototransistor below, in a 7 × 13 × 8 mm casing. The references are W1–W4.
-
-| Item | Value | Confidence and source |
-|---|---|---|
-| Emitter | SFH4550: 860 nm peak, **half angle ±3°**, radiant intensity 1100 mW/sr typical at 100 mA (710–2800 across groups), 12 ns rise and fall | datasheet |
-| Emitter drive | 3.3 V → 10 Ω → LED → AO3400A to GND, about **149–179 mA** per pulse | CAD, notes |
-| Emitter timing | 2 kHz, 30 % duty (150 µs on per 500 µs), TIM4 centre-aligned | firmware |
-| Emitter groups | A = W1 + W3 (channels 1 and 3), B = W2 + W4 (channels 2 and 4, inverted); two lit at a time | firmware (`target.hpp:383–406`) |
-| Receiver | TPS601A in a TO-18 can: 800 nm peak, half angle ±10°, dark current 0.01 µA typical; 2 µs rise at 100 Ω, slower at 1 kΩ (settling estimated at 30–85 µs) | datasheet, notes |
-| Receiver rank (A 100–300, B 200–600, C 400–1200 µA at 0.1 mW/cm²) | | Not in any file; the can may be marked |
-| Receiver circuit | 1 kΩ load to GND, no amplifier; clips at about 2.9 mA (about 2.9 V) | CAD |
-| ADC | ADC1, 16-bit, 8× oversampled then shifted right by 3, 32.5-cycle sample time, triggered by TIM4, reference VDDA = 3.3 V | firmware |
-| Real LED current and receiver settling | | Needs a bench measurement; optional |
-
-Poses in mm and degrees. The lens tips sit along the beam, and z is measured above
-the board top. `robot.hpp` now uses the midpoint of the two lens tips, 7.2 mm ahead
-of the footprint origin.
-
-| Firmware index | Ref | Footprint origin (x, y) | Yaw | Emitter tip (x, y, z) | Receiver tip (x, y, z) | Group |
-|---|---|---|---|---|---|---|
-| 0 left front | W1 | (36.72, 21.50) | 0° | (43.40, 21.50, 9.75) | (44.40, 21.50, 3.25) | A |
-| 1 left | W2 | (47.57, 10.19) | +45° | (52.29, 14.91, 9.75) | (53.00, 15.62, 3.25) | B |
-| 2 right | W3 | (47.57, −10.19) | −45° | (52.29, −14.91, 9.75) | (53.00, −15.62, 3.25) | A |
-| 3 right front | W4 | (36.72, −21.50) | 0° | (43.40, −21.50, 9.75) | (44.40, −21.50, 3.25) | B |
-
-How the index mapping was established: the net `Wall_Sensor_n` goes to W(n+1). ADC1
-ranks 1–4 carry `Wall_Sensor_0..3`, and TIM4 channels 1–4 drive the emitters
-through Q2–Q5.
-
-### 14.9 IMU
-
-| Item | Value | Confidence and source |
-|---|---|---|
-| Part | LSM6DSVTR (IC2) | BOM |
-| Position | (0.66, 0.00) mm, about 0.4 mm above the board top, rotation 0 | CAD |
-| Chip axes in the robot frame | chip X → robot −y (right), chip Y → robot +x (forward), chip Z → robot +z; yaw rate = +gz | CAD plus datasheet: pin 1 at the front-left, pad order matching the chip's top view; high confidence |
-| Noise | Gyroscope 2.8 mdps/√Hz. Accelerometer 60 µg/√Hz (high-performance mode) | datasheet |
-| Offsets and tolerance | Zero-rate level ±1 dps, zero-g offset ±12 mg, gyro sensitivity tolerance ±0.3 % | datasheet |
-| Firmware configuration | 8 kHz high-accuracy ODR for both sensors, ±4000 dps, ±8 g, gyro LPF1 ultra light (about 281 Hz), accelerometer LPF2 medium, SPI mode 3 | firmware (`target.hpp:470–475`) |
-| Mounting (foam, screws, standoffs) | | |
-
-### 14.10 MCU and link
-
-| Item | Value | Confidence and source |
-|---|---|---|
-| MCU | STM32H725RGV6 at 550 MHz; ADC1 and ADC2 16-bit, ADC3 12-bit | BOM, firmware |
-| Radio | HM-19 (CC2640R2F) on a plug-in board through the USB-C receptacle, UART4 at 115200 8N1 | CAD, firmware |
-| Achieved throughput, if ever measured | | |
-
-### 14.11 Maze and environment
-
-| Item | Value | Confidence and source |
-|---|---|---|
-| Competitions you target | | |
-| Cell size, wall thickness, wall height, post size | 180 mm cells and 12.6 mm walls in the firmware | firmware; confirm the rest |
-| Wall side colour and material; wall top colour | | |
-| Floor colour and finish | | |
-| Typical lighting (daylight, halogen, LED); matters for the dark scan | | |
-
-### 14.12 What the real robot does
-
-Qualitative observations are useful validation targets even without measurements.
-
-| Observation | Conditions | Notes |
-|---|---|---|
-| e.g. "wheels slip when accelerating hard from rest" | e.g. "fan off, full profile" | |
-| | | |
-| | | |
-
-### 14.13 Discrepancies, and what was corrected in the firmware
-
-`config/targets/v1/robot.hpp` on `high-level-review` was corrected from the data above,
-as you asked. Previous calibration was declared irrelevant, so the fitted drive set
-was replaced by physical values. The changes are in the working tree, not committed.
-
-| # | Was | Now | Evidence |
-|---|---|---|---|
-| 1 | Outline 60 × 93.5 mm (half width 30, front 53.5, rear 40), "board plus tyre allowance" | Half width 25.1, front 54.9, rear 36.5 mm | The board is 50 × 90; the tyres are flush at 25.05; the inner sensor housings reach 54.9 |
-| 2 | Track 42.25 mm, "between the wheel cutouts" | **45.75 mm** | Tyre centres at ±22.875; 42.25 is the cutout centres |
-| 3 | Wheel radius 11.2 mm, no source | 11.0 mm | Ø22 tyre |
-| 4 | Gear ratio 4 | **5.25** | Ø4 and Ø21 pitch circles |
-| 5 | Kt 0.00711 N·m/A and R 21.9 Ω, fitted to reproduce an old feed-forward ("not that of a winding") | Kt 0.00336 N·m/A; R 12.62 Ω (winding 12 plus bridge 0.62); static friction 0.09 V | DCX 8 M 4.2 V datasheet, L6205D |
-| 6 | Supply 20 V | 19.63 V | Boost feedback divider |
-| 7 | Mass 0.13 kg, yaw inertia 1.3 × 10⁻⁴ (a uniform plate) | 0.07 kg, 2.9 × 10⁻⁵ kg·m² | CAD volume estimates with three 6 g cells; **still estimates, weigh the robot** |
-| 8 | Wall sensor positions at the footprint origins | 7.2 mm further along each axis, at the lens midpoints | Wall-sensor 3D model. The firmware converts intensity to range with an inverse-square law from this point, so the old origin gave a range-dependent error of about −4 mm near and +6 mm far on the front sensors |
-| 9 | Accelerometer axes: chip X used as forward | chip Y forward, −chip X left, in `Micras::measure()` and the two nav tests | Datasheet Figure 4 and IC2's pad 1 at the front left; it affected only the localizer's slip noise |
-| — | `half_angle` 0.09 rad against the datasheet's ±3° | Unchanged: **not a discrepancy** | `RobotModel::WallSensor` defines it as the emitter cone plus the mounting tolerance |
-
-Still estimates in `robot.hpp`: mass, yaw inertia, friction coefficient, fan downforce,
-static friction voltage, and the noise terms.
-
-**Checked with the stage 3 host harness.** It runs the real navigation over 8 contest
-mazes, plus 6 extra seeds on 3 of them, 26 runs in total, before and after the
-change:
-
-| Metric | Before | After |
-|---|---|---|
-| Collisions and failures | none | none |
-| Wrong walls | none | none |
-| Mean solve time | 11.6 s | **9.9 s** |
-| Worst solve pose error | 15.9 mm | 14.5 mm |
-| Worst solve wall clearance | 11.9 mm | 11.1 mm |
-| Peak motor command | 95 % | 51 % |
-
-The harness builds its world from the same `robot_model`, with deliberate mismatches.
-So this shows that navigation stays consistent and stable with the new constants; it
-does not show that they are right. That is what the MuJoCo simulator and the robot
-are for.
-
-The old MuJoCo chassis mesh (66 × 99 mm) is the v1 board (67 × 100 per the thesis),
-not v2. Micrasverse's 50 × 80 mm could not be checked: that repository is not on disk.
diff --git a/cmake/third_party.cmake b/cmake/third_party.cmake
index d6778a6..f5665ad 100644
--- a/cmake/third_party.cmake
+++ b/cmake/third_party.cmake
@@ -4,15 +4,13 @@
 
 include(FetchContent)
 
-set(FETCHCONTENT_BASE_DIR "${CMAKE_SOURCE_DIR}/third_party/_deps" CACHE PATH "FetchContent download directory")
-
 FetchContent_Declare(picosha2
     GIT_REPOSITORY https://github.com/okdshin/PicoSHA2.git
     GIT_TAG        27fcf6979298949e8a462e16d09a0351c18fcaf2
 )
 FetchContent_MakeAvailable(picosha2)
 
-# Robot descriptions and scenarios are TOML (SPEC_2_DECISIONS.md, D7 and D13).
+# Robot descriptions and scenarios are TOML.
 FetchContent_Declare(tomlplusplus
     GIT_REPOSITORY https://github.com/marzer/tomlplusplus.git
     GIT_TAG        v3.4.0
diff --git a/targets/micras/FIRMWARE_CHANGES.md b/targets/micras/FIRMWARE_CHANGES.md
deleted file mode 100644
index 758b9c4..0000000
--- a/targets/micras/FIRMWARE_CHANGES.md
+++ /dev/null
@@ -1,617 +0,0 @@
-# Changes to MicrasFirmware
-
-Every change this repository made to the firmware submodule
-(`targets/micras/MicrasFirmware`, branch `high-level-review` at `0be27df`), why it
-was made, the evidence for it, and what it means on the real robot. They are
-uncommitted in the submodule; this file is the record.
-
-A change goes in only when it is an error that the simulation demonstrated and that
-would affect the real robot the same way, or a constant set from a measurement. No
-change was made to make the simulation pass where the robot would behave differently.
-
-## Accessors the simulator needs
-
-**Files:** `include/micras/micras.hpp`, `src/micras.cpp`
-
-`Micras::get_instance()`, `get_variables()` and `get_state()`: read-only access for
-the variable columns, the state events and the stop conditions (spec 2, D5). The
-firmware's own `main` owns its `Micras`, so the constructor records a pointer to the
-last one built. No behaviour changes.
-
-## IMU axes in `Micras::measure()`
-
-**Files:** `src/micras.cpp`, `tests/src/nav/test_controller.cpp`, `tests/src/nav/test_localizer.cpp`
-
-`measure()` read the chip's X and Y accelerations as the robot's. The LSM6DSV is
-mounted turned by 90 degrees (the CAD: robot x is chip Y, robot y is minus chip X),
-so the robot's forward acceleration was taken from its lateral axis. The localizer
-uses it to scale the longitudinal slip noise, and `check_crash` its magnitude.
-
-## Motor dead zone 15 -> 0
-
-**File:** `config/targets/v1/target.hpp` (`locomotion_config`)
-
-The controller's feed-forward already adds the robot model's static friction
-voltage, so the proxy's dead zone counted it twice and put a step of its size into
-every command crossing zero; the motors chattered around standstill.
-
-## Physical constants in `robot.hpp`
-
-**File:** `config/targets/v1/robot.hpp`
-
-Restated from the CAD, the board and the datasheets (spec 2 section 14): the drive
-(DCX 8 M, 12 ohm plus 0.62 ohm, gear 5.25, 19.63 V), the geometry and the notes on
-where each value comes from.
-
-## Wall sensors: the receiver sits beside the emitter
-
-**Files:** `micras_proxy/include/micras/proxy/wall_sensors.hpp`,
-`micras_proxy/include/micras/proxy/impl/wall_sensors.tpp`, `config/targets/v1/target.hpp`
-
-**Error.** The proxy turned a reading into a range with the inverse square law
-calibrated at one distance. Each emitter lens sits 6.5 mm above its receiver lens
-(SolidWorks), and the TPS601A halves its sensitivity 10 degrees off axis
-(datasheet). So the receiver sees the lit spot 9 degrees off its axis from the
-centre of a cell facing a wall, but only 4 degrees off at 100 mm. The reading falls
-more slowly than 1/d^2, and the ranges came out 22 mm short at 100 mm and 7 mm long at
-30 mm. The localizer trusted them to about 3 mm, so every approach to a front wall
-dragged the pose estimate forward.
-
-**Change.** Two constants in `WallSensors::Config`: `receiver_offset` (6.5 mm) and
-`receiver_half_angle` (10 deg). The model is
-`reading = k * 2^(-(atan(offset / d) / half_angle)^2) / d^2`, and the single-point
-calibration fixes `k` as before. Its shape is tabulated once at construction, from
-its peak (about 30 mm) to the maximum distance, and inverted by binary search, so an
-update costs no transcendental function. With `receiver_offset = 0` the proxy
-computes exactly the old formula.
-
-**Evidence.** `just micras wall-calibration --sweep`: from 30 to 100 mm the front
-sensors now follow the true range within 1 mm, where the old law was 22 mm off. The
-side sensors are within 1 mm across the corridor.
-
-**On the robot.** The same geometry gives the same bias. A bench sweep toward a wall
-would confirm the offset and half angle; the calibration procedure is unchanged.
-
-## Wall model: minimum range 20 -> 35 mm
-
-**File:** `config/constants.hpp` (`wall_model_config`)
-
-Closer than about 30 mm the reading of a sensor peaks and falls again, so one reading
-fits two ranges. Ranges under 35 mm are no longer used.
-
-## Localizer: ranges correct the pose only out to 120 mm
-
-**Files:** `micras_nav/include/micras/nav/localizer.hpp` (new `Config::max_range`),
-`micras_nav/include/micras/nav/impl/localizer.tpp`, `config/constants.hpp`
-
-**Error.** The emitter beam is 11.75 mm above the floor and a few degrees wide.
-Farther out, part of it lands on the floor before the wall, the reading loses light
-the sensor model does not know about, and the range comes out long:
-
-| true range | front sensors read |
-|---|---|
-| 120 mm | +5 mm |
-| 150 mm | +16 mm |
-| 180 mm | +45 mm |
-| past 190 mm | nothing |
-
-The side sensors read 12 to 16 mm long past 150 mm. The localizer used ranges out to
-250 mm, and a long range from the right diagonal sensor pulled the pose 9 mm back in
-the first corridor of maze 1.
-
-**Change.** A new `max_range` in `Localizer::Config`, set to 0.12 m. Ranges beyond
-it do not correct the pose. The wall model keeps its own maximum for mapping.
-
-## Wall observer: walls voted absent only within 130 mm
-
-**File:** `config/constants.hpp` (`mission_config.observer.detection_range` 0.18 -> 0.13)
-
-**Error.** With the long-range readings above, a wall 180 mm ahead reads about 45 mm
-long, beyond the observer's tolerance of 42 mm there, and it was voted **absent**.
-On maze 1 the wall closing the first corridor was cleared from the map this way, and
-the robot then corrected its pose against the wall behind it and drove into it at
-5.3 s.
-
-**Change.** Absence votes only within 130 mm, where a range reads at most 8 mm long
-against a tolerance of about 35 mm. Votes for a wall still count at any range.
-
-## The run waits for the fan
-
-**Files:** `micras_proxy/include/micras/proxy/fan.hpp`, `micras_proxy/src/fan.cpp`
-(new `Fan::is_at_speed`), `include/micras/micras.hpp`, `src/micras.cpp` (new
-`Micras::is_prepared`), `include/micras/states/wait.hpp`, `src/states/wait.cpp`
-
-**Error.** A solve with the fan switch on is planned with the fan's downforce in the
-traction. The fan ramps up at `max_acceleration` = 0.02 %/ms, 5 s to full speed, but
-`WAIT_FOR_RUN` starts the run after 3 s. The robot left with 0.25 N of the 0.6 N of
-downforce it was planned for, about 73 % of the planned grip, slipped at the first
-acceleration and crashed 0.4 s into the run.
-
-**Change.** `WaitState` also waits for `Micras::is_prepared()`, true once the fan
-has reached the speed it was asked for; a fan that is off always has. Runs without the
-fan are unaffected.
-
-## Localizer: a wall edge is timed by the reading, and the map only names it
-
-**Files:** `micras_nav/include/micras/nav/localizer.hpp` (`EdgeTracker`, new `find_edge`),
-`micras_nav/include/micras/nav/impl/localizer.tpp` (`track_edge`, `find_edge`),
-`micras_nav/include/micras/nav/wall_model.hpp` and `micras_nav/src/wall_model.cpp`
-(`PlaneCrossing` gains the `slope` of the axis to the wall)
-
-**Error.** The edge tracker is the only reference along the path in a corridor. It
-takes the moment a diagonal sensor's reading changes between "on a wall" and "past its
-end" as a known position. But its "on the wall" also needed the axis, cast from the
-estimated pose, to meet the wall in the map. So whichever of the two changed first made
-the event:
-- When the estimate was ahead of the robot, the map's change came first. That event
-  carries no information: its innovation is only the offset the model expects. The
-  leaving-a-wall branch dropped such events, but then the reading's real change, which
-  came later, was never looked at. The arriving-at-a-wall branch used them.
-- So exactly when the pose ran ahead, which fast runs do, the robot had no reference
-  along the path.
-
-The model of where a change happens was also wrong at a wall start. Moving toward a
-wall start, the beam, which always points ahead, also lights the end face of the wall.
-The reading therefore comes on early by about the wall thickness times the slope of the
-axis to the wall. Leaving a wall, that face is in the shade.
-
-Traced against the ground truth on three mazes (the diagonal sensors cross the plane of
-the wall 98 mm out):
-- A start was seen with the axis 13.5 mm (sd 7) short of the wall.
-- An end was seen with the axis 2.6 mm (sd 2.8) past it.
-- The corrections the tracker accepted raised the error along the wall from 2 to 5 mm
-  to 5 to 8 mm on average. One of them moved the pose 10 mm the wrong way on apec2017's
-  return and the robot parked into the back wall.
-
-An earlier change here moved the expected end 16.6 mm inside the wall (`edge_inset`).
-It was calibrated on innovations that included the estimate-triggered events, and it
-is withdrawn.
-
-**Change.**
-- A sensor locks on a line of walls once the map and the reading agree it is on one.
-  From then on, only the reading, compared with the plane of that line, makes an event.
-- The map says which edge it was. `find_edge` follows the line from the locked wall in
-  the direction of travel to the first end, or to the first start after a gap, up to
-  four cells. It gives up if a wall on the way is unknown.
-- The expected axis is on the edge itself. A start is pushed out by the wall thickness
-  times `|slope|`.
-- The window, the gate and the 10 mm cap are unchanged.
-
-**Evidence.** On the ten saved maps, the fast run with diagonals touched a wall on
-apec2017 and japan2017ef, both after 25 mm of error along the path. With this change it
-is clean on all ten, at the same times. Exploration, return and the fan-only fast run
-stay clean on all ten.
-
-**On the robot.** The logic error is independent of the physics. The end-face effect
-depends on the real sensor and wall; a sweep past a wall start at a known pose measures it.
-
-## Controller: the time scale settles instead of alternating
-
-**Files:** `micras_nav/src/controller.cpp`, `micras_nav/include/micras/nav/controller.hpp`
-
-**Error.** When the feed-forward asks for more voltage than the supply less its reserve
-gives, the controller slows the clock of the reference (`time_scale`), so the robot
-stays on the path and only takes longer. It computed the scale as
-`available / demand` from the reference it was handed. But that reference had
-already been played at the previous scale, with speeds times `s` and accelerations
-times `s^2`. So a scaled reference always looked affordable, the scale jumped back to
-1, the next reference was unaffordable again, and the scale alternated between 1
-and a fraction every 125 us.
-
-**Change.** The scale is corrected from the one in force:
-`time_scale = min(1, time_scale * available / demand)`.
-
-**Evidence.** Driving the firmware's `Controller` with a reference that needs 19.1 V
-against 16.7 V available (`runs/timescale/demo.cpp`, which applies the executor's
-scaling):
-- Before: the scale alternated 1.000, 0.875, 1.000, 0.875, and so on.
-- After: 0.875, 0.924, 0.904, 0.912, 0.909, 0.910, settling where the demand meets
-  16.7 V.
-
-The runs so far never reached the limit (peak demand 8.4 V), but with the fan's real
-downforce the traction allows accelerations the motors cannot always follow.
-
-## Robot model: fan downforce 0.6 N -> 3 N
-
-**File:** `config/targets/v1/robot.hpp` (`robot_model.traction.fan_downforce`)
-
-The owner's figure for the fan at full speed is about 3 N; 0.6 N was an estimate.
-`robot.toml` uses the same value, so what the firmware plans with and what the
-simulation applies agree.
-
-## Crash detection: above what the tires can transmit
-
-**File:** `config/constants.hpp` (`crash_acceleration`)
-
-**Error.** `check_crash` calls it a crash when the horizontal acceleration stays over
-35 m/s^2 for 5 ms. With the fan, a fast run plans lateral and forward accelerations of
-up to `utilization` times the traction, 32 m/s^2 in the normal profile with 3 N of
-downforce and 40 m/s^2 with boost. The feedback and the IMU sitting off the axis of
-rotation add to that. Every simulated fast run with the fan ended in ERROR 0.3 s after
-it started, on the acceleration out of its first curve (35.8 m/s^2 measured), having
-touched nothing.
-
-**Change.** `crash_acceleration` is 1.25 times `robot_model.traction_acceleration(true)`,
-the most the tires can transmit. Anything above that has to come from a wall. That is
-49 m/s^2 with the traction below. A crash at search speed was below either threshold,
-and a crash at 1.5 m/s or more is well above both.
-
-## Traction: the nose carries part of the downforce
-
-**Files:** `micras_nav/include/micras/nav/robot_model.hpp` (new `Traction::fan_offset`,
-new `RobotModel::tire_downforce`), `config/targets/v1/robot.hpp`
-
-**Error.** The traction model added the whole fan downforce to the tires. The fan pulls
-17.5 mm ahead of the axle, over its hole. A thin-gap flow estimate (pressure harmonic
-between the open edges of the board and the hole) puts the centre of the suction at 14
-to 16 mm. The centre of mass is 0.8 mm behind the axle, so from a few tens of
-millinewtons of downforce on, the robot tips onto the front edge of its board. The
-edge then carries `offset / front_length` of the pull, a third of it. The tires carry
-2 N of the 3 N, and the robot planned with 23 % more grip than it had. The normal
-profile used 81 % of the real grip rather than 60 %, and boost asked for more than
-all of it. In the simulation the tires slid at 0.2 m/s in every fast curve, and the
-pose estimate drifted 15 to 25 mm ahead of the robot.
-
-**Change.** `Traction` gains `fan_offset` (0.0175 m), and the traction uses
-`tire_downforce() = fan_downforce * (1 - fan_offset / front_length)`.
-
-**Evidence.** Maze 1 solve, normal profile with the fan:
-- Lateral acceleration in the curves: 30 to 23.5 m/s^2 (median).
-- Tire slip in the curves: 0.21 to 0.13 m/s (median).
-- Worst pose error along the run: 22 to 14 mm.
-
-**On the robot.** It follows from the geometry, as long as nothing but the board edge
-carries the nose. Kitchen scales under the wheels and under the nose, with the fan
-running, measure the share directly. The edge also drags, with the friction of FR-4 on
-the floor, which the firmware does not model.
-
-## Search speed: 0.35 and 0.4 m/s -> 0.5 and 1 m/s
-
-**File:** `config/constants.hpp` (`search_profile`)
-
-A tuning constant, not an error. The search runs at half of the traction without the
-fan, up to 1 m/s, where it used 35 % of the traction up to 0.4 m/s. On all ten mazes and
-three noise seeds, the exploration and return end 10 to 60 s earlier (maze 1: 137 to
-104 s before the solve starts; apec2016: 176 to 115 s), with no collision. At 60 % of
-the traction seven of ten mazes failed. Braking for a front wall that corrects the pose
-late then asked for more than the tires give. So 50 % is the setting with a margin
-under that.
-
-**On the robot.** Worth confirming step by step. The margin measured here is against the
-simulated tires, and the real ones set the limit.
-
-## Wall observer: keeps voting through the search turns
-
-**File:** `config/constants.hpp` (`mission_config.observer.max_angular_speed` 2 -> 12 rad/s)
-
-**Error.** The search stopped in the middle of a cell and spun in place about 25 times
-on maze 1, and at 12 dead ends. A dead end needs it; the 90-degree spins did not. The
-observer ignored the sensors while the robot turned faster than 2 rad/s. The search turns
-at 8 rad/s, and the side wall of the cell a turn ends in is only in sight during that
-turn. So after a turn the robot reached the next cell's entry, where it decides, before
-the observer had decided that wall. Traced: the votes on that wall began 6 ms before the
-decision and completed 1 ms after it. The robot then had to stop, spin 90 degrees and
-set off again, 0.37 s each time.
-
-**Change.** The limit is 12 rad/s, above the search turns. The pose used for the cast
-already accounts for the rotation during the range delay.
-
-**Evidence.** On all ten mazes, the maps are the same (every fast run takes exactly the
-same time). Exploration and return take 12 to 39 s less (maze 1: 104 to 86 s before
-the fast run starts; apec2017: 138 to 99 s), with no collision.
-
-**On the robot.** If the real readings lag the rotation more than the filter delay says,
-walls seen in a turn could be misjudged. A wrong wall shows up as a different route, so
-compare the map of a search with a slow one.
-
-## Localizer: the wheels roll on a radius the load flattens
-
-**Files:** `micras_nav/include/micras/nav/robot_model.hpp` (new
-`Chassis::rolling_compliance`, new `RobotModel::rolling_radius`),
-`micras_nav/include/micras/nav/localizer.hpp`, `micras_nav/src/localizer.cpp` (new
-`set_downforce`), `src/micras.cpp`, `config/targets/v1/robot.hpp`
-
-**Error.** The odometry used the unloaded wheel radius. The tire band flattens under the
-load and the wheel rolls on a smaller radius. With the fan the tires carry four times
-the load, so the estimate ran ahead of the robot by 0.67 % of the distance, 20 mm over
-3 m. The 3 m/s straights of a fast run with no wall edge on them, such as the bottom row
-of maze 2, then reached their turn 25 to 35 mm off.
-
-**Change.** `rolling_compliance` is how much the rolling radius shrinks per newton on a
-tire. The localizer rolls on `rolling_radius(downforce)`, the weight plus the fan's
-share on the tires, split between two tires. `Micras` tells it the fan's share of its
-downforce each iteration, from the fan's current speed squared.
-
-**Evidence.** The simulated wheels overrun the body by 0.17 % with the fan off and by
-0.67 % with it on, at 0.34 N and 1.36 N on each tire. Both give 56 um of radius per
-newton, whatever the timestep.
-
-**On the robot.** The 56 um/N is the simulated band. Driving a known distance with the
-fan on and with it off measures the real one; the wheel radius is then the one with the
-fan off.
-
-## Boost: 0.75 -> 0.65 of the traction
-
-**File:** `config/constants.hpp` (`boost_utilization`)
-
-A tuning constant, set from what the tires hold in a turn. In a turn the tires slide
-sideways in proportion to the grip asked of them, and the pose estimate, which assumes
-the wheels do not slip sideways, does not see it. At 0.75 a boosted turn at 30 m/s^2 put
-the robot 10 to 20 mm off its path. On the ten saved maps, with the edge tracker and the
-rolling radius above, the boosted fast run failed on:
-
-| boost | fan, diagonal, boost | and risky turns |
-|---|---|---|
-| 0.75 | 3 of 10 | 5 of 10 |
-| 0.70 | none | 1 touch (apec2018) |
-| 0.65 | none | none |
-
-At 0.65, boost is 3 to 5 % faster than the normal 0.6 (maze 1: 4.32 s with diagonals,
-4.16 s with boost and risky turns).
-
-**On the robot.** Part of the sideways slide in the simulation comes from MuJoCo: a
-sliding contact pushes its surfaces apart, and the light inner wheel of a turn hops. The
-real limit may be higher. Raise it step by step while watching the error across the path
-at the exit of the turns.
-
-## Localizer: a range is corrected for the angle it meets the wall at
-
-**Files:** `micras_nav/include/micras/nav/wall_model.hpp`, `micras_nav/src/wall_model.cpp`
-(new `WallModel::get_range`), `micras_nav/include/micras/nav/impl/localizer.tpp`
-
-**Error.** A wall reflects diffusely, so the light a sensor gets back falls with the
-cosine of the angle between its axis and the perpendicular of the wall. The proxy turns a
-reading into a distance as if the wall were met at the angle of the calibration: square on
-for the front sensors, at 45 degrees for the diagonal ones beside the walls of a
-corridor. Along a diagonal the diagonal sensors meet the walls square on, and the reading
-comes out short by the square root of the ratio of the cosines, 16 %. The localizer took
-those ranges as they were. On apec2017, fan and diagonals, twelve readings of one sensor
-in 6 ms, all short by 4 to 14 mm, pulled the estimate 12 mm off at 3 m/s, the controller
-yanked the robot back, the wheels left the floor and the crash detection stopped the run.
-
-**Change.** `WallModel::get_range` turns a reading back into the range along the axis,
-from the cosine of the hit and the one of the calibration, and the localizer compares
-that with the wall model.
-
-**Evidence.** The largest error of the estimate along the path on the diagonals of the
-fast runs of ten mazes went from 18 to 28 mm to 10 to 16 mm, and across it from 5 to
-13 mm to 1 to 8 mm. With the routes of the turns below, which run long diagonals at
-3 m/s, five of the ten mazes collided or stopped without it and none with it. The fast
-runs of the eight turns take the same time as before.
-
-**On the robot.** The real walls are matte, so the same is expected. A diagonal sensor
-facing a wall square on and then at 45 degrees, at the same distance, should read about
-16 % nearer square on; the ratio measures how diffuse the real walls are.
-
-## Planner: labels, dropped only when another is as fast for every route
-
-**Files:** `micras_nav/include/micras/nav/planner.hpp`,
-`micras_nav/include/micras/nav/impl/planner.tpp`, `micras_nav/include/micras/nav/explorer.hpp`,
-`micras_nav/include/micras/nav/impl/explorer.tpp`, `micras_nav/include/micras/nav/mission.hpp`,
-`micras_nav/include/micras/nav/impl/mission.tpp`, `src/micras.cpp`, `config/constants.hpp`
-(`plan_edges_per_iteration`, `search_edges_per_iteration`)
-
-Not an error: asked for by the owner, to make room for the turns below without missing
-the best route. The search held an array entry for every wall, heading and turn that could
-reach it, 13,056 entries and 144 KB with eight turns, growing with each turn: 370 KB with
-nineteen. It now holds labels, a way of reaching a node with its cost and the speed of the
-turn that reached it, in a pool of 6144. A new label is dropped when another at the same
-node is at least as fast for every continuation of the route, and a label waiting in the
-queue is freed when a new one is. The test compares the time before the turn of each and
-the speed of that turn, and for two different turns a bound on how much slower the first
-edge after one can be than after the other, computed for every pair before the search. A
-turn driven slower is compared as if at full speed less the time it lost, since it never
-makes a route faster. If the pool fills, the costliest waiting labels are dropped and
-`is_exact()` says so.
-
-The search now advances by edges tried rather than nodes expanded, since a node tries
-three to four times as many turns as before: 512 edges per iteration while planning a fast
-run and 16 while searching.
-
-**Evidence.** On 5,490 searches (the ten mazes whole and with 30 random parts of their
-walls unknown, the nine profiles, both wall assumptions) the best route took the same time
-as with a search that drops a label only for another of the same turn, in all 2,799 that
-have a route. With the eight turns alone it also took the same time as the old planner,
-and with every turn it was never slower and faster in 287. The most labels held at once
-were 4,519. The fast runs of ten mazes with every switch on took the same time as before
-the change; the searches were 14 s shorter in total, because the explorer, which visits
-the walls of the few best routes, gets a slightly different list of them.
-
-A search on a PC takes six times as long as with the old planner, with every turn. The
-budget in edges keeps an iteration near what one node cost before, so the answers come
-later: the searches of ten mazes took 4 % longer in total with 16 edges per iteration, 17 %
-with 8 and 2 % with 32.
-
-**On the robot.** The time of an iteration while searching is not simulated. Watch
-`loop_worst_time_us` during a search and set `search_edges_per_iteration` from it. The
-planner takes 151 KB, against 163 KB before.
-
-## Turns of two bends: eight turns inside one cell
-
-**Files:** `micras_nav/include/micras/nav/lattice.hpp` (eleven new `TurnId`,
-`first_two_bend_turn`), `micras_nav/include/micras/nav/turn_table.hpp` (`TurnBend`,
-`TurnShape` of up to two bends, `TwoBendDesign`, `TurnTable::place`, `check`, `clears`),
-`micras_nav/include/micras/nav/segment.hpp`, `micras_nav/src/route_compiler.cpp`,
-`micras_nav/include/micras/nav/impl/mission.tpp`, `config/two_bend_turns.hpp` (new, written by
-the simulator's `just micras turn-designs`), `config/constants.hpp`
-
-Not an error: asked for by the owner. The lattice had no way onto a diagonal inside one
-cell, nor from one diagonal to the next, so short diagonals were driven as two turns of
-90 degrees. The eight new turns enter a cell and leave it through one of its other three
-walls, with one of the three headings that cross it: SD45E, SD45T, SD135T from a straight,
-and DS45T, DD0E, DS45E, DD90E, DS135B from a diagonal. Each is two bends joined by
-a straight, driven at one speed, the one its tighter bend allows: 1.4 to 1.8 m/s with the
-fan at full traction.
-
-Two more, DD90T and DD90B, turned 90 degrees from a diagonal inside the cell, with bends
-of 37 mm at 1.2 m/s. No best route took them, of 2,799 on the ten mazes and 9,666 on 150
-random ones, and without them every route took the same time and the planner a sixth less:
-each only ends half a step before DD90 would, and the slower bends cost more than the half
-step saves. They were taken out, and so was DD180B, for the reason below.
-
-A turn of two bends is too long a search for the compiler, so the simulator's turn
-designer searches a grid of the angle of the first bend, the curvature of each and the
-straight before them, and keeps the fastest that the firmware's own check accepts. The
-compiler places each design between its nodes, checks that its bends turn the angle of
-the turn and, in a `static_assert`, that the robot clears every post and every wall the
-turn does not cross by the margin, every 5 mm of the path. A change to the robot or the
-maze that makes one no longer fit stops the build. The segment of a turn now carries the
-length of its curve, negative for the turn to the right, since a turn of two bends can end
-at the heading it started with.
-
-The check of the turns also collected at most 48 obstacles around a turn and silently
-dropped the rest. The eight turns of one bend come out the same with 96, but one of the
-new ones did not: DD90E was designed against a list that missed walls.
-
-**Evidence.** The fast runs of ten mazes with every switch on:
-
-| | total | maze2 | apec2017 | apec2018 | japan2017ef |
-|---|---|---|---|---|---|
-| eight turns | 64.70 s | 4.11 s | 7.65 s | 6.21 s | 8.09 s |
-| with the new turns | 62.42 s | 3.75 s | 7.16 s | 5.81 s | 7.63 s |
-
-No collision in any of 60 runs with them: the ten mazes with seeds 1, 2 and 3, the fast
-runs with the fan and diagonals, with and without boost, and the fan alone, which does not
-use them and takes the same time as before.
-
-DD180B, a U-turn of one cell from a diagonal, turned around the post at the corner of the
-walls it enters and leaves through, arriving on a diagonal that leads away from that post.
-If the robot came along that diagonal from farther than the cell before, it came through
-the cell the diagonal it leaves on goes to next, and turning around there is shorter. If it
-only swung onto that diagonal in the cell before, it could come in straight and turn 135
-degrees (SD135), or swing toward the post and turn 90 (DD90), instead of 225 in all. On a
-maze built for it, a corridor along a fence whose end leads into a diagonal back under the
-fence, the planner took it only once seven other turns were forbidden, and the run was then
-9.7 % slower than with SD135. Without it the planner took 9 % less time, and every route
-the same.
-
-Four turns that replace two turns in a row with one curve were also tried: on top of these
-they gain 0.66 % of the planned time, and would take 4 gates per turn, a larger pool of
-labels and a third more planning. They were left out.
-
-**On the robot.** These are the tightest turns the robot drives, down to 50 mm of radius,
-and the simulation tracked them within the margin only once the ranges on diagonals were
-corrected (above). Try them first with the fan, diagonals and neither boost nor the risky
-switch, and compare the pose at the exit of each with the estimate.
-
-## Turns braked and accelerated through, as their curvature allows
-
-**Files:** `micras_nav/include/micras/nav/curve_speed.hpp` and `impl/curve_speed.tpp`,
-`micras_nav/src/curve_speed.cpp` (new), `micras_nav/include/micras/nav/motion_limits.hpp` and
-`micras_nav/src/motion_limits.cpp` (`CurveLimits`, `Dynamics::get_curve_limits`),
-`micras_nav/include/micras/nav/turn_table.hpp` (`Bending`, `bending_at`),
-`micras_nav/src/velocity_planner.cpp`, `micras_nav/src/executor.cpp`,
-`micras_nav/include/micras/nav/segment.hpp` (the unused `max_speed` is gone)
-
-Not an error: asked for by the owner. A turn was driven at one speed, the one its tightest
-point allows, so its start and end speeds were equal and two turns too close together were
-both slowed to what the straight between them could change. Now a turn is sampled every
-5 mm, each sample gets the speed its curvature and sharpness allow, and passes from the start
-and from the end lower it to what can be reached and braked with the grip the curve leaves:
-the lateral part takes its share as on a friction circle, the angular part from the push each
-tire has left, and a change of speed on a curve also counts for the angular acceleration it
-causes. The velocity planner gives a turn different speeds at its two ends, and the executor
-plays the samples back with a constant acceleration between two of them. The planner still
-prices a turn at one speed; the four best routes are then timed with the new rule, so the
-chosen one is exactly timed.
-
-A single bend gains nothing: its ramps are as long as the ratio of the angular to the lateral
-grip makes them, so the entry is already at the speed of the arc. What gains is a turn of two
-bends of different curvature, the straight between two bends, and a turn next to another one.
-
-**Evidence.** Fast runs on the ten saved maps, seed 1, no collision in any of them:
-
-| | before | after |
-|---|---|---|
-| fan (diagonals always on) | 65.04 s | 64.04 s |
-| fan, boost | 63.25 s | 62.19 s |
-| fan, boost, risky | 62.42 s | 61.27 s |
-
-**On the robot.** Nothing new is asked of the tires: a sample is never faster than a turn's
-old speed where that speed was the limit. Watch the time of the turns of two bends.
-
-## Localizer and controller: the tires slide to the outside of a curve
-
-**Files:** `micras_nav/include/micras/nav/robot_model.hpp` (`Traction::lateral_compliance`),
-`config/targets/v1/robot.hpp`, `micras_nav/src/localizer.cpp`, `micras_nav/src/controller.cpp`
-
-An error the simulation demonstrated. A tire only pushes sideways by slipping, so in a curve
-the robot slides to the outside, and neither the wheels nor the gyroscope see it. On every
-fast run the speed across the heading follows the lateral acceleration with a correlation of
-0.99: 4.8 mm/s per m/s^2, 50 to 100 mm/s in the turns of a boosted run, which put the
-estimate 8 to 16 mm off. The prediction of the localizer now slides the pose by that much,
-and the controller points the robot into the curve by the compliance times the angular
-speed, the angle at which it moves along the path while sliding, instead of letting an
-error across the path build up to turn it there.
-
-**Evidence.** On the ten saved maps, fan and boost, the routes of turns:
-
-| | estimate across, rms / worst | controller across, rms |
-|---|---|---|
-| before | 2.4 / 16.3 mm | 2.8 mm |
-| slide in the localizer only | 2.5 / 16.4 mm | 5.7 mm |
-| and in the controller | 2.3 / 13.3 mm | 2.8 mm |
-
-The two go together: a localizer that sees the slide alone makes the controller fight it.
-The routes of turns gain little; the racing line below needs it. At 0.8 of the grip and
-15 mm the line hit a wall on 4 of 10 mazes without it, and on none with it.
-
-**On the robot.** The compliance is the simulation's, and the real tires will differ. Drive
-a circle of known radius at a few speeds with the fan on and compare the end pose with the
-odometry: the difference across, over the time, is the slide speed.
-
-## Racing line instead of the diagonal switch
-
-**Files:** `micras_nav/include/micras/nav/racing_line.hpp` and `impl/racing_line.tpp`,
-`micras_nav/include/micras/nav/line.hpp`, `micras_nav/src/line.cpp` (new),
-`micras_nav/include/micras/nav/segment.hpp` (`SegmentKind::LINE`),
-`micras_nav/src/executor.cpp`, `micras_nav/include/micras/nav/mission.hpp` and `impl/mission.tpp`,
-`micras_nav/include/micras/nav/motion_limits.hpp` (`RunProfile::racing_line`),
-`micras_nav/include/micras/nav/impl/planner.tpp`, `include/micras/interface.hpp`,
-`src/micras.cpp`, `config/constants.hpp`, `README.md`; in the simulator, the switch is named
-`racing_line` and `scenarios/*_all.toml` turn it on
-
-Not an error: asked for by the owner. Diagonals are always allowed now, so the map is complete
-for four profiles instead of eight, and the second switch selects the racing line: once the
-route of a fast run is planned, it is sampled every 10 mm, and each sample slides sideways,
-within what keeps the outline of the robot 15 mm from every post and from every wall the
-route does not cross, to make the sum of the squared curvatures smallest. It is solved in
-windows of 64 samples by a projected Newton method on the banded normal equations, twelve
-sweeps, with a check of every sample at the end. The speeds follow the rule of the turns
-above, with 0.8 of the lateral grip of the run. If no line is found, or it is not faster,
-the robot drives the route. With the risky switch, a line also goes through the route of the
-risky turns, and the robot drives it only if it is the faster of the two; the line keeps
-15 mm wherever it can move, and only the risky turns come closer.
-
-The first line, at the full grip and at the 10 mm margin of the risky turns, hit a wall on
-5 of 10 mazes: it holds its curves at the limit far longer than a turn, and trail brakes into
-them, where the tires slide more than the compliance above says. At 0.8 of the grip and
-15 mm it is clean. At 10 mm everywhere it hit walls on 4 to 6 of 10 mazes. Through the route of
-the risky turns, keeping 15 mm elsewhere, the line was slower than the other on 7 of the 9 mazes
-it finished and crashed on apec2017; choosing the faster of the two planned lines, every switch on
-is clean on all ten, 58.68 s, the risky line driven on alljapan-033-2012-exp-fin and japan2013ef.
-Its time is known before the run, since the run follows the planned reference in time; whether it
-crashes is not. With risky on the planning takes two lines, and three when the risky one wins,
-since only one line is kept.
-
-**Evidence.** Fast runs on the ten saved maps, fan and boost, seeds 1, 2 and 3, no collision:
-
-| | route | racing line |
-|---|---|---|
-| total | 62.19 s | 58.74 s (-5.5 %) |
-| maze1 | 4.04 s | 3.72 s |
-| japan2017ef | 7.34 s | 6.71 s |
-| uk2016f | 4.64 s | 4.47 s |
-
-The optimization runs in the PLAN state, 16 samples per iteration: 40 to 170 ms of a PC for
-routes of 8 to 21 m, 2,500 to 12,000 iterations, the costliest 0.2 to 0.35 ms. On the
-Cortex-M7 that is about 1 to 3 s before the run and a few milliseconds per iteration at
-worst, inside the 10 ms of the watchdog; this was not measured on the robot. The line takes 57 KB
-of RAM, 51 KB of it the samples of up to 25.6 m of line, and about 18 KB of flash for the
-Cortex-M7; a turn's samples add 1 KB to the executor. The robot object grows from 153 KB to
-212 KB.
-
-**On the robot.** The line spends most of its time turning faster than 2 rad/s, where the
-localizer takes no wall correction, so it leans on the odometry, the gyroscope and the
-compliance above. Try it first on a short maze at a low utilization, and compare the pose at
-the goal with the estimate.
diff --git a/third_party/README.md b/third_party/README.md
deleted file mode 100644
index d3a3773..0000000
--- a/third_party/README.md
+++ /dev/null
@@ -1 +0,0 @@
-# Fetched dependencies land in _deps/ (gitignored); see cmake/third_party.cmake for the pins.
diff --git a/tools/gen_maze.py b/tools/gen_maze.py
deleted file mode 100755
index cd73827..0000000
--- a/tools/gen_maze.py
+++ /dev/null
@@ -1,276 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-import argparse
-from enum import StrEnum
-from pathlib import Path
-
-CELL_CHAR_WIDTH = 4
-CELL_CHAR_HEIGHT = 2
-
-class MazeSymbol(StrEnum):
-    POST = 'o'
-    WALL_HORIZONTAL = '---'
-    WALL_HORIZONTAL_EMPTY = '   '
-    WALL_VERTICAL = '|'
-    WALL_VERTICAL_EMPTY = ''
-    START = 'S'
-    GOAL = 'G'
-
-class MazeParser:
-    def __init__(self, cell_size: float = 0.18, wall_thickness: float = 0.012, wall_height: float = 0.05):
-        self.cell_size = cell_size
-        self.wall_thickness = wall_thickness
-        self.wall_height = wall_height
-        self.width = 0
-        self.height = 0
-        self.start = None
-        self.goals = []
-
-    def parse_maze_file(self, maze_file: str) -> list[str]:
-        with open(maze_file, 'r') as f:
-            lines = [line.rstrip() for line in f.readlines()]
-
-        if not lines:
-            raise ValueError("Empty maze file")
-
-        self.maze_width = (len(lines[0]) - 1) // CELL_CHAR_WIDTH
-        self.maze_height = (len(lines) - 1) // CELL_CHAR_HEIGHT
-
-        print(f"Detected maze dimensions: {self.maze_width}x{self.maze_height}")
-        return lines
-
-    def extract_horizontal_walls(self, lines: list[str]) -> list[list[bool]]:
-        horizontal_walls = []
-        for i in range(0, len(lines), 2):
-            row = []
-            for j in range(0, len(lines[i]), 4):
-                if lines[i][j + 1:j + 4] == MazeSymbol.WALL_HORIZONTAL:
-                    row.append(True)
-                else:
-                    row.append(False)
-            horizontal_walls.append(row)
-        return horizontal_walls
-
-
-    def extract_vertical_walls(self, lines: list[str]) -> list[list[bool]]:
-        vertical_walls = []
-        for i in range(1, len(lines), 2):
-            row = []
-            for j in range(0, len(lines[i]), 4):
-                if lines[i][j] == MazeSymbol.WALL_VERTICAL:
-                    row.append(True)
-                else:
-                    row.append(False)
-            vertical_walls.append(row)
-        return vertical_walls
-
-    def find_start_and_goals(self, lines: list[str]) -> tuple[tuple[int, int], list[tuple[int, int]]]:
-        start = None
-        goals = []
-
-        row = 0
-        col = 0
-
-        inverted_lines = lines[::-1]
-
-        for i in range(1, len(inverted_lines), 2):
-            for j in range(2, len(inverted_lines[i]), 4):
-                if inverted_lines[i][j] == MazeSymbol.START:
-                    if start is not None:
-                        raise ValueError("Multiple start points found")
-                    start = (row, col)
-                elif inverted_lines[i][j] == MazeSymbol.GOAL:
-                    goals.append((row, col))
-                col += 1
-            row += 1
-            col = 0
-
-        self.start = start
-        self.goals = goals
-
-        return start, goals
-
-    def is_start_or_goal(self, row: int, col: int) -> bool:
-        if (row, col) == self.start:
-            return True
-        if (row, col) in self.goals:
-            return True
-        return False
-
-    def is_post_on_start_cell(self, row: int, col: int) -> bool:
-        if self.is_start_or_goal(row, col) or \
-           self.is_start_or_goal(row - 1, col) or \
-           self.is_start_or_goal(row, col - 1) or \
-           self.is_start_or_goal(row - 1, col - 1):
-            return True
-
-        return False
-
-    def is_horizontal_wall_on_start_cell(self, row: int, col: int) -> bool:
-        if self.is_start_or_goal(row  - 1, col) or \
-           self.is_start_or_goal(row, col):
-            return True
-
-        return False
-
-    def is_vertical_wall_on_start_cell(self, row: int, col: int) -> bool:
-        if self.is_start_or_goal(row, col) or \
-           self.is_start_or_goal(row, col - 1):
-            return True
-
-        return False
-
-    def generate_posts_xml(self) -> list[str]:
-        xml = []
-
-        for row in range(self.maze_height + 1):
-            for col in range(self.maze_width + 1):
-                x = col * self.cell_size
-                y = row * self.cell_size
-
-                class_name = 'post_w' if self.is_post_on_start_cell(row, col) else 'post'
-                xml.append(
-                    f'    <geom class="{class_name}" name="post_{row}_{col}" '
-                    f'pos="{x:.6f} {y:.6f} {self.wall_height / 2:.6f}"/>'
-                )
-        return xml
-
-    def generate_horizontal_walls_xml(self, horizontal_walls: list[list[bool]]) -> list[str]:
-        xml = []
-        inverted_horizontal_walls = horizontal_walls[::-1]
-
-        for row in range(len(inverted_horizontal_walls)):
-            for col in range(len(inverted_horizontal_walls[row])):
-                if inverted_horizontal_walls[row][col]:
-                    x = col * self.cell_size + self.cell_size / 2
-                    y = row * self.cell_size
-
-                    class_name = 'hwall_w' if self.is_horizontal_wall_on_start_cell(row, col) else 'hwall'
-                    xml.append(
-                        f'    <geom class="{class_name}" name="hwall_{row}_{col}" '
-                        f'pos="{x:.6f} {y:.6f} {self.wall_height / 2:.6f}"/>'
-                    )
-        return xml
-
-    def generate_vertical_walls_xml(self, vertical_walls: list[list[bool]]) -> list[str]:
-        xml = []
-        inverted_vertical_walls = vertical_walls[::-1]
-
-        for row in range(len(inverted_vertical_walls)):
-            for col in range(len(inverted_vertical_walls[row])):
-                if inverted_vertical_walls[row][col]:
-                    x = col * self.cell_size
-                    y = row * self.cell_size + self.cell_size / 2
-
-                    class_name = 'vwall_w' if self.is_vertical_wall_on_start_cell(row, col) else 'vwall'
-                    xml.append(
-                        f'    <geom class="{class_name}" name="vwall_{row}_{col}" '
-                        f'pos="{x:.6f} {y:.6f} {self.wall_height / 2:.6f}"/>'
-                    )
-        return xml
-
-    def add_header(self) -> str:
-        xml = []
-        xml.append('<!-- Generated maze for MuJoCo -->')
-        xml.append(f'<!-- Maze dimensions: {self.maze_width}x{self.maze_height} -->')
-        xml.append(f'<!-- Cell size: {self.cell_size:.2f} m, Wall thickness: {self.wall_thickness:.4f} m, Wall height: {self.wall_height:.2f} m -->\n')
-        return '\n'.join(xml)
-
-    def generate_assets(self) -> str:
-        xml = []
-        xml.append('  <asset>')
-        xml.append('    <texture name="walls" type="cube" builtin="flat" width="512" height="512" rgb1="1 1 1" rgb2="1 0 0"/>')
-        xml.append('    <material name="walls" texture="walls"/>')
-        xml.append('  </asset>\n')
-        return '\n'.join(xml)
-
-    def generate_default_class(self) -> str:
-        xml = []
-        red_wall_parameters = 'type="box" zaxis="0 1 0" material="walls"'
-        white_wall_parameters = 'type="box" zaxis="0 1 0" rgba="1 1 1 1"'
-        length = (self.cell_size - self.wall_thickness) / 2
-        height = self.wall_height / 2
-        width = self.wall_thickness / 2
-
-        xml.append('  <default>')
-        xml.append('    <default class="post">')
-        xml.append(f'      <geom {red_wall_parameters} size="{width:.6f} {height:.6f} {width:.6f}"/>')
-        xml.append('    </default>')
-        xml.append('    <default class="post_w">')
-        xml.append(f'      <geom {white_wall_parameters} size="{width:.6f} {height:.6f} {width:.6f}"/>')
-        xml.append('    </default>')
-        xml.append('    <default class="hwall">')
-        xml.append(f'      <geom {red_wall_parameters} size="{length:.6f} {height:.6f} {width:.6f}"/>')
-        xml.append('    </default>')
-        xml.append('    <default class="hwall_w">')
-        xml.append(f'      <geom {white_wall_parameters} size="{length:.6f} {height:.6f} {width:.6f}"/>')
-        xml.append('    </default>')
-        xml.append('    <default class="vwall">')
-        xml.append(f'      <geom {red_wall_parameters} size="{width:.6f} {height:.6f} {length:.6f}"/>')
-        xml.append('    </default>')
-        xml.append('    <default class="vwall_w">')
-        xml.append(f'      <geom {white_wall_parameters} size="{width:.6f} {height:.6f} {length:.6f}"/>')
-        xml.append('    </default>')
-        xml.append('  </default>\n')
-        return '\n'.join(xml)
-
-    def generate_top_camera_view(self) -> str:
-        xml = []
-        maze_center = (self.maze_width * self.cell_size / 2, self.maze_height * self.cell_size / 2)
-        xml.append(f'    <camera name="top_view" orthographic="true" fovy="3.5" pos="{maze_center[0]:.6f} {maze_center[1]:.6f} 4.5" xyaxes="1.0 0.0 0.0 0.0 1.0 0.0"/>')
-        return '\n'.join(xml)
-
-    def generate_xml(self, horizontal_walls: list[list[bool]], vertical_walls: list[list[bool]]) -> str:
-        xml_lines = []
-        xml_lines.append(self.add_header())
-        xml_lines.append('<mujoco>')
-        xml_lines.append(self.generate_assets())
-        xml_lines.append(self.generate_default_class())
-        xml_lines.append('  <worldbody>')
-        xml_lines.append(self.generate_top_camera_view())
-        xml_lines.extend(self.generate_posts_xml())
-        xml_lines.extend(self.generate_horizontal_walls_xml(horizontal_walls))
-        xml_lines.extend(self.generate_vertical_walls_xml(vertical_walls))
-        xml_lines.append('  </worldbody>')
-        xml_lines.append('</mujoco>')
-        return '\n'.join(xml_lines)
-
-def main():
-    parser = argparse.ArgumentParser(description="Generate MuJoCo XML maze walls from text maze file")
-    parser.add_argument("maze_file", help="Path to the maze text file")
-    parser.add_argument("-o", "--output", help="Output XML file (default: maze.xml)")
-    parser.add_argument("--cell-size", type=float, default=0.18, help="Cell size in meters (default: 0.18)")
-    parser.add_argument("--wall-thickness", type=float, default=0.0126, help="Wall thickness in meters (default: 0.0126)")
-    parser.add_argument("--wall-height", type=float, default=0.05, help="Wall height in meters (default: 0.05)")
-
-    args = parser.parse_args()
-
-    if not Path(args.maze_file).exists():
-        print(f"Error: Maze file '{args.maze_file}' not found")
-        sys.exit(1)
-
-    maze_file_path = Path(args.maze_file)
-    output_file = args.output or (maze_file_path.parent / "maze.xml")
-
-    try:
-        maze_parser = MazeParser(args.cell_size, args.wall_thickness)
-        lines = maze_parser.parse_maze_file(args.maze_file)
-        horizontal_walls = maze_parser.extract_horizontal_walls(lines)
-        vertical_walls = maze_parser.extract_vertical_walls(lines)
-        start, goals = maze_parser.find_start_and_goals(lines)
-        print(f"Start point: {start}, Goals: {goals}")
-        xml_content = maze_parser.generate_xml(horizontal_walls, vertical_walls)
-
-        with open(output_file, 'w') as f:
-            f.write(xml_content)
-
-        print(f"Generated XML maze walls saved to '{output_file}'")
-
-    except ValueError as e:
-        print(f"Error parsing maze file: {e}")
-        sys.exit(1)
-
-
-if __name__ == "__main__":
-    main()

From 3bafc37c35b8e64e3ffb31eba95d3c83c8718dcc Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sat, 26 Sep 2026 22:12:11 -0300
Subject: [PATCH 06/52] =?UTF-8?q?=E2=99=BB=EF=B8=8F=20Cut=20what=20nothing?=
 =?UTF-8?q?=20uses=20from=20the=20simulator,=20and=20fix=20what=20the=20re?=
 =?UTF-8?q?view=20found?=
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The firmware moves three commits on: the turn tables designed once, everything
watched through the variable pool, and comments that describe the current state.
The Micras target compiles without the job pool it needed when every source
designed the turns, and the turn designer links the firmware alone.

Fixed:
- wall-calibration traced its rays through the whole maze, since the geom group of
  the paint was left at 0; the robot and the paint now share one group the range
  sensors skip, and the tool prints the gains robot.toml holds back.
- Tab reached every other camera; it now cycles through the free one and each
  camera of the model.
- A step asked for while the run was running fired once it paused; stepping now
  only works while paused.
- Touching the panel marked the run interactive but left the scenario driving the
  inputs; the application now hands the board over.

Removed, as nothing used them: push, whose force a window cleared after one tick;
--video-trail-color and --video-tint; the provenance record of the robot
description, max_motor_speed, imu.chip_z and the battery's load and resistance;
the forward axis and three probes of the ground truth; Target::check_options and
default_scenario, Wiring::inputs, observers and monitor_inbound; the listener that
named unbound ports, which the target now does at the end of the run; counters of
the host HAL nothing read, the unused vendor constants and the clock's quantum
parameter; Noise::enabled and SerialBus::sent_bytes.

Merged: the recorder is created in one step with its overlay and trail; the window
and the recorder share the camera lookup; the three loaders share one file reader;
the scenario hooks and the event log share one type of state names; the joints are
looked up by the world; DigitalInput has its own header; the panel spec moves to
the view, its only user; the tests share their helpers.

The switch columns are named dip_fan, dip_racing_line, dip_boost and dip_risky, and
the build checks that the target names every firmware state. Every checked run
keeps its bytes but for those columns and the new pool variables.
---
 CMakeLists.txt                                |   3 +-
 app/include/micras/sim/app/application.hpp    |  23 +--
 app/include/micras/sim/app/cli.hpp            |  10 +-
 app/include/micras/sim/app/target.hpp         |  52 ++----
 app/src/application.cpp                       | 123 ++++++--------
 app/src/cli.cpp                               |  87 +++-------
 .../micras/sim/bridge/monitor_bridge.hpp      |  21 +--
 .../micras/sim/bridge/web_socket_server.hpp   |   6 +-
 bridge/src/monitor_bridge.cpp                 |   7 +-
 .../maze/include/micras/sim/arenas/maze.hpp   |  13 +-
 engine/arenas/maze/src/maze.cpp               |  44 ++---
 engine/include/micras/sim/core/clock.hpp      |   6 +-
 .../micras/sim/core/firmware_thread.hpp       |  14 +-
 .../include/micras/sim/core/mujoco_world.hpp  |  32 +++-
 engine/include/micras/sim/core/noise.hpp      |   9 +-
 engine/include/micras/sim/core/serial_bus.hpp |  12 --
 engine/include/micras/sim/core/text_file.hpp  |  38 +++++
 .../micras/sim/core/variable_source.hpp       |  15 +-
 .../micras/sim/devices/digital_input.hpp      |  79 +++++++++
 engine/include/micras/sim/devices/imu.hpp     |   8 +-
 engine/include/micras/sim/devices/power.hpp   |   5 +-
 .../micras/sim/devices/serial_link.hpp        |  61 -------
 .../micras/sim/devices/wall_sensors.hpp       |  40 ++---
 .../micras/sim/recording/csv_recorder.hpp     |   7 -
 .../micras/sim/recording/event_log.hpp        |  27 +--
 .../micras/sim/recording/ground_truth.hpp     |  38 +----
 .../micras/sim/robot/robot_description.hpp    |  22 +--
 .../include/micras/sim/robot/robot_model.hpp  |  16 +-
 .../include/micras/sim/scenario/scenario.hpp  |  83 ++-------
 engine/src/core/clock.cpp                     |   4 +-
 engine/src/core/mujoco_world.cpp              |  16 ++
 engine/src/core/serial_bus.cpp                |   5 +-
 engine/src/devices/dc_motor.cpp               |  16 +-
 engine/src/devices/digital_input.cpp          |  26 +++
 engine/src/devices/power.cpp                  |   4 -
 engine/src/devices/quadrature_encoder.cpp     |  16 +-
 engine/src/devices/serial_link.cpp            |  17 --
 engine/src/devices/wall_sensors.cpp           |  34 ++--
 engine/src/recording/event_log.cpp            |  27 ++-
 engine/src/recording/ground_truth.cpp         |  24 +--
 engine/src/robot/robot_description.cpp        |  57 ++-----
 engine/src/robot/robot_model.cpp              |   8 +-
 engine/src/scenario/scenario.cpp              |  69 ++------
 hal_host/include/micras/hal/host/board.hpp    |   2 +-
 hal_host/include/micras/hal/host/clock.hpp    |  11 +-
 hal_host/include/micras/hal/host/ports.hpp    |  40 +----
 hal_host/include/stm32_host.h                 |  19 ---
 hal_host/src/adc_dma.cpp                      |   2 -
 hal_host/src/clock.cpp                        |   4 +-
 hal_host/src/flash.cpp                        |   2 -
 hal_host/src/mcu.cpp                          |   1 -
 hal_host/src/ports.cpp                        |   5 +-
 hal_host/src/pwm.cpp                          |   1 -
 hal_host/src/pwm_dma.cpp                      |   1 -
 hal_host/src/uart_dma.cpp                     |   2 -
 targets/micras/CMakeLists.txt                 |  15 +-
 targets/micras/MicrasFirmware                 |   2 +-
 targets/micras/cube/main.h                    |   2 +-
 .../include/micras/sim/micras/bindings.hpp    |  10 ++
 .../micras/sim/micras/micras_target.hpp       |   5 +-
 .../micras/sim/micras/pool_variables.hpp      |   4 +-
 targets/micras/robot.toml                     |  20 +--
 targets/micras/src/bindings.cpp               |   6 +-
 targets/micras/src/micras_target.cpp          |  49 ++----
 targets/micras/tools/turn_designer.cpp        |   5 +-
 targets/micras/tools/wall_calibration.cpp     |  15 +-
 tests/models/tiny_robot.toml                  |   3 -
 tests/models/tiny_robot.xml                   |   3 +-
 tests/unit/cli_test.cpp                       |  36 ++--
 tests/unit/clock_test.cpp                     |   9 +-
 tests/unit/csv_recorder_test.cpp              |   8 +-
 tests/unit/csv_writer_test.cpp                |  12 +-
 tests/unit/devices_test.cpp                   |  26 +--
 tests/unit/event_log_test.cpp                 |  52 ++----
 tests/unit/maze_test.cpp                      |  22 +--
 tests/unit/noise_test.cpp                     |   3 -
 tests/unit/robot_description_test.cpp         |  45 +----
 tests/unit/scenario_test.cpp                  |  88 ++--------
 tests/unit/serial_bus_test.cpp                |  30 +---
 tests/unit/simulation_test.cpp                |   9 +-
 tests/unit/support.hpp                        |  94 ++++++++++
 tests/unit/web_socket_server_test.cpp         |  11 +-
 .../include/micras/sim/view/control_panel.hpp |   6 +-
 .../include/micras/sim/view/mujoco_viewer.hpp |  17 +-
 .../include/micras/sim/view}/panel_spec.hpp   |  15 +-
 .../micras/sim/view/video_recorder.hpp        |  78 +++------
 view/include/micras/sim/view/view_options.hpp |  35 ++--
 view/src/camera.hpp                           |  58 +++++++
 view/src/control_panel.cpp                    |  47 ++---
 view/src/mujoco_viewer.cpp                    |  98 ++++-------
 {engine/src/core => view/src}/panel_spec.cpp  |   2 +-
 view/src/video_recorder.cpp                   | 160 ++++++------------
 92 files changed, 911 insertions(+), 1503 deletions(-)
 create mode 100644 engine/include/micras/sim/core/text_file.hpp
 create mode 100644 engine/include/micras/sim/devices/digital_input.hpp
 create mode 100644 engine/src/devices/digital_input.cpp
 create mode 100644 tests/unit/support.hpp
 rename {engine/include/micras/sim/core => view/include/micras/sim/view}/panel_spec.hpp (90%)
 create mode 100644 view/src/camera.hpp
 rename {engine/src/core => view/src}/panel_spec.cpp (87%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 54a6cb1..767d3d8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,10 +31,10 @@ add_library(micras_sim_engine STATIC
     engine/src/core/firmware_thread.cpp
     engine/src/core/mujoco_world.cpp
     engine/src/core/noise.cpp
-    engine/src/core/panel_spec.cpp
     engine/src/core/serial_bus.cpp
     engine/src/core/simulation.cpp
     engine/src/devices/dc_motor.cpp
+    engine/src/devices/digital_input.cpp
     engine/src/devices/device.cpp
     engine/src/devices/imu.cpp
     engine/src/devices/power.cpp
@@ -60,6 +60,7 @@ target_link_libraries(micras_sim_engine PUBLIC mujoco::mujoco PRIVATE picosha2 t
 add_library(micras_sim_view STATIC
     view/src/control_panel.cpp
     view/src/mujoco_viewer.cpp
+    view/src/panel_spec.cpp
     view/src/video_recorder.cpp
 )
 add_library(micras::sim_view ALIAS micras_sim_view)
diff --git a/app/include/micras/sim/app/application.hpp b/app/include/micras/sim/app/application.hpp
index 86edf13..b1691b7 100644
--- a/app/include/micras/sim/app/application.hpp
+++ b/app/include/micras/sim/app/application.hpp
@@ -32,8 +32,7 @@ namespace micras::sim {
  * @note The only place that decides what a run is made of: it reads the
  *       scenario, builds the world from the robot's description and the arena,
  *       and registers every listener of one Simulation in the order Wiring
- *       documents, the scenario first. It is also the only layer that knows a
- *       run can have a window.
+ *       documents. It is also the only layer that knows a run can have a window.
  */
 class Application {
 public:
@@ -62,18 +61,6 @@ class Application {
      */
     void run(std::span<char*> arguments);
 
-    /**
-     * @brief Entry point shared by every simulation executable.
-     *
-     * @note Catches everything, prints it with the usage text and returns
-     *       non-zero, so a failed run is loud and never looks successful.
-     *
-     * @param arguments Whole command line.
-     * @param target Robot to run.
-     * @return Process exit code.
-     */
-    static int main(std::span<char*> arguments, Target& target);
-
 private:
     /**
      * @brief Parsed command line.
@@ -129,11 +116,6 @@ class Application {
      */
     FirmwareThread firmware;
 
-    /**
-     * @brief Pushes the robot when the scenario says so; owned by the context's devices.
-     */
-    Pusher* pusher{nullptr};
-
     /**
      * @brief What the target adds to the run.
      */
@@ -183,6 +165,9 @@ class Application {
 /**
  * @brief Run a robot target from its executable's main.
  *
+ * @note Catches everything, prints it with the usage text and returns non-zero,
+ *       so a failed run is loud and never looks successful.
+ *
  * @param arguments Whole command line.
  * @param target Robot to run.
  * @return Process exit code.
diff --git a/app/include/micras/sim/app/cli.hpp b/app/include/micras/sim/app/cli.hpp
index 0c803c6..f289cb3 100644
--- a/app/include/micras/sim/app/cli.hpp
+++ b/app/include/micras/sim/app/cli.hpp
@@ -61,17 +61,9 @@ struct CliOptions {
     uint32_t record_every{1};
 
     /**
-     * @brief Offscreen recording, enabled by --video.
+     * @brief Offscreen recording, enabled by --video, which names its file.
      */
-    ///@{
     VideoConfig video;
-    bool        video_enabled{false};
-    ///@}
-
-    /**
-     * @brief Whether --video-camera was given, so the robot's preferred camera must not replace it.
-     */
-    bool video_camera_given{false};
 
     /**
      * @brief Live window, enabled by --viewer.
diff --git a/app/include/micras/sim/app/target.hpp b/app/include/micras/sim/app/target.hpp
index b897ffd..6fb4955 100644
--- a/app/include/micras/sim/app/target.hpp
+++ b/app/include/micras/sim/app/target.hpp
@@ -15,7 +15,6 @@
 #include <vector>
 
 #include "micras/sim/core/firmware_thread.hpp"
-#include "micras/sim/core/panel_spec.hpp"
 #include "micras/sim/core/run_context.hpp"
 #include "micras/sim/core/simulation.hpp"
 #include "micras/sim/core/variable_source.hpp"
@@ -24,6 +23,7 @@
 #include "micras/sim/recording/run_metadata.hpp"
 #include "micras/sim/robot/robot_description.hpp"
 #include "micras/sim/scenario/scenario.hpp"
+#include "micras/sim/view/panel_spec.hpp"
 
 namespace micras::sim {
 /**
@@ -51,21 +51,12 @@ struct CliOption {
 /**
  * @brief How a robot target plugs into one run.
  *
- * @note Listener order is part of what a run records, so it is fixed here: the
- *       crash reporter, the inputs, the monitor bridge, the observers, the
- *       recorder, the video, the window.
+ * @note Listener order is part of what a run records, so the application fixes
+ *       it: the crash reporter, the scenario, the monitor bridge, the event log,
+ *       the recorder, the video, the window. The robot's devices run between
+ *       the listeners, as the run loop says.
  */
 struct Wiring {
-    /**
-     * @brief Listeners that feed the firmware, run before the monitor bridge.
-     */
-    std::vector<IRunListener*> inputs;
-
-    /**
-     * @brief Listeners that decode the firmware, run after the bridge and before the recorder.
-     */
-    std::vector<IRunListener*> observers;
-
     /**
      * @brief Column blocks written after the ground truth, in this order.
      */
@@ -77,12 +68,7 @@ struct Wiring {
     const VariableSource* variables{nullptr};
 
     /**
-     * @brief Hands bytes from a monitor to the firmware; null queues them as they came.
-     */
-    std::function<void(std::span<const uint8_t>)> monitor_inbound;
-
-    /**
-     * @brief What the panel shows.
+     * @brief What the panel shows, which the application completes with the handover.
      */
     PanelSpec panel;
 
@@ -117,9 +103,9 @@ struct WorldInfo {
  *
  * @note Everything the engine must not know lives behind this interface: the
  *       firmware, its loop period, the model's names, the robot's own options,
- *       columns, panel and listeners. The application calls it in this order:
- *       options(), check_options(), context(), program(), wire(), and after
- *       the run metadata() and unwire().
+ *       columns and panel. The application calls it in this order: options(),
+ *       context(), program(), wire(), and after the run metadata() and
+ *       unwire().
  */
 class Target {
 public:
@@ -160,13 +146,6 @@ class Target {
      */
     virtual std::vector<CliOption> options() { return {}; }
 
-    /**
-     * @brief Reject combinations of options the robot cannot honour.
-     *
-     * @note Called once the whole command line was read.
-     */
-    virtual void check_options() const { }
-
     /**
      * @brief Get the context the run advances.
      *
@@ -184,14 +163,7 @@ class Target {
     virtual std::filesystem::path robot_file() const = 0;
 
     /**
-     * @brief Get the scenario a run plays when the command line names none.
-     *
-     * @return Path of a scenario file, or empty for none.
-     */
-    virtual std::string default_scenario() const { return {}; }
-
-    /**
-     * @brief Get the body, forward axis and robot columns of the ground truth.
+     * @brief Get the body and robot columns of the ground truth.
      *
      * @return The recorder configuration.
      */
@@ -212,14 +184,14 @@ class Target {
     virtual FirmwareThread::Program program() = 0;
 
     /**
-     * @brief Build what the robot adds to the run: its devices, listeners, columns and panel.
+     * @brief Build what the robot adds to the run: its devices, columns and panel.
      *
      * @note Called once the world is built and the clock configured; the devices
      *       it adds to the context's run in the order added.
      *
      * @param firmware Thread that will run the program.
      * @param world The robot the world was built from, and the arena's surfaces.
-     * @return Listeners, columns, variables and panel of the robot.
+     * @return Columns, variables, panel and scenario hooks of the robot.
      */
     virtual Wiring wire(FirmwareThread& firmware, const WorldInfo& world) = 0;
 
diff --git a/app/src/application.cpp b/app/src/application.cpp
index 4eeff60..1cff660 100644
--- a/app/src/application.cpp
+++ b/app/src/application.cpp
@@ -113,7 +113,7 @@ MujocoWorld::Placement start_of(const Maze& maze, const MazeConfig& config, cons
  * @return The scenario, empty when there is none.
  */
 Scenario read_scenario(const CliOptions& options, const Target& target, std::filesystem::path& path) {
-    path = options.scenario.empty() ? std::filesystem::path{target.default_scenario()} : options.scenario;
+    path = options.scenario;
 
     if (path.empty()) {
         return {};
@@ -161,16 +161,16 @@ RunContext& prepare(
  *
  * @param options Parsed command line.
  * @param scenario The scenario.
- * @param target Robot to run.
+ * @param context The run's context, with its clock configured.
  * @return Number of ticks.
  */
-uint64_t ticks_of(const CliOptions& options, const Scenario& scenario, const Target& target) {
+uint64_t ticks_of(const CliOptions& options, const Scenario& scenario, const RunContext& context) {
     if (options.ticks.has_value()) {
         return *options.ticks;
     }
 
     const double   seconds = options.seconds.value_or(scenario.seconds > 0.0 ? scenario.seconds : default_seconds);
-    const uint64_t ticks = Clock::total_ticks(seconds, target.loop_time_us());
+    const uint64_t ticks = context.clock.total_ticks(seconds);
 
     if (ticks == 0) {
         throw std::runtime_error(std::to_string(seconds) + " s is shorter than one firmware loop period");
@@ -199,21 +199,15 @@ uint64_t ticks_per_frame(int fps, const Clock& clock) {
  *
  * @param options Parsed command line.
  * @param serial Bus the bridge attaches to.
- * @param inbound Hands the monitors' bytes to the firmware, or null to queue them as they came.
  * @return The bridge, or null when disabled or when the port was taken.
  */
-std::unique_ptr<MonitorBridge>
-    make_monitor(const CliOptions& options, SerialBus& serial, MonitorBridge::Inbound inbound) {
+std::unique_ptr<MonitorBridge> make_monitor(const CliOptions& options, SerialBus& serial) {
     if (not options.monitor_enabled) {
         return nullptr;
     }
 
-    if (not inbound) {
-        inbound = [&serial](std::span<const uint8_t> bytes) { serial.queue_for_firmware(bytes); };
-    }
-
     std::string error;
-    auto        bridge = std::make_unique<MonitorBridge>(serial, std::move(inbound), options.monitor_port, error);
+    auto        bridge = std::make_unique<MonitorBridge>(serial, options.monitor_port, error);
 
     if (not bridge->is_open()) {
         std::cerr << "monitor disabled: " << error << '\n';
@@ -227,14 +221,19 @@ std::unique_ptr<MonitorBridge>
 /**
  * @brief Open the live window if the command line asked for it.
  *
+ * @note The first board control a human touches hands the board over from the
+ *       scenario, which then stops driving the inputs.
+ *
  * @param options Parsed command line.
  * @param context Context the window draws.
  * @param target Robot whose name and body the window uses.
  * @param wiring What the robot put on the panel.
+ * @param player The scenario, which gives the board up to the human.
  * @return The viewer, or null when disabled or when no window could open.
  */
-std::unique_ptr<MujocoViewer>
-    make_viewer(const CliOptions& options, RunContext& context, const Target& target, const Wiring& wiring) {
+std::unique_ptr<MujocoViewer> make_viewer(
+    const CliOptions& options, RunContext& context, const Target& target, const Wiring& wiring, ScenarioPlayer& player
+) {
     if (not options.viewer_enabled) {
         return nullptr;
     }
@@ -245,8 +244,11 @@ std::unique_ptr<MujocoViewer>
     config.ticks_per_frame = ticks_per_frame(options.viewer_fps, context.clock);
     config.us_per_tick = context.clock.us_per_tick();
 
+    PanelSpec panel = wiring.panel;
+    panel.take_over = [&player] { player.hand_over(); };
+
     std::string error;
-    auto        viewer = MujocoViewer::create(context.world, wiring.panel, wiring.variables, config, error);
+    auto        viewer = MujocoViewer::create(context.world, std::move(panel), wiring.variables, config, error);
 
     if (viewer == nullptr) {
         std::cerr << "viewer disabled: " << error << '\n';
@@ -264,45 +266,45 @@ std::unique_ptr<MujocoViewer>
  *
  * @param options Parsed command line.
  * @param context Context the recorder draws.
+ * @param target Robot whose camera and body the recording uses.
+ * @param wiring What the robot prints on the overlay.
  * @return The recorder, or null when disabled or when EGL is unavailable.
  */
-std::unique_ptr<VideoRecorder> make_video_recorder(const CliOptions& options, RunContext& context) {
-    if (not options.video_enabled) {
+std::unique_ptr<VideoRecorder>
+    make_video_recorder(const CliOptions& options, RunContext& context, const Target& target, const Wiring& wiring) {
+    if (options.video.path.empty()) {
         return nullptr;
     }
 
-    mjModel* model = context.world.model();
-    model->vis.global.offwidth = std::max(model->vis.global.offwidth, options.video.width);
-    model->vis.global.offheight = std::max(model->vis.global.offheight, options.video.height);
+    VideoConfig config = options.video;
+    config.camera = config.camera.empty() ? target.video_camera() : config.camera;
+    config.body = target.ground_truth().body;
+    config.ticks_per_frame = ticks_per_frame(config.fps, context.clock);
 
     std::string error;
-    auto        recorder = VideoRecorder::create(model, options.video, error);
+    auto        recorder = VideoRecorder::create(context.world, config, wiring.overlay, wiring.variables, error);
 
     if (recorder == nullptr) {
         std::cerr << "video disabled: " << error << '\n';
         return nullptr;
     }
 
-    std::cout << "recording " << options.video.path << " at " << options.video.width << "x" << options.video.height
-              << " " << options.video.fps << " fps, camera '" << options.video.camera << "', one frame every "
-              << ticks_per_frame(options.video.fps, context.clock) << " ticks\n";
+    std::cout << "recording " << config.path << " at " << config.width << "x" << config.height << " " << config.fps
+              << " fps, camera '" << config.camera << "', one frame every " << config.ticks_per_frame << " ticks\n";
 
     return recorder;
 }
 
 /**
- * @brief Build what the target adds, and the pusher every scenario may use.
+ * @brief Build what the target adds to the run.
  *
  * @param target Robot to run.
  * @param firmware Thread that will run the program.
  * @param robot The robot's description.
  * @param config The maze's surfaces.
- * @param pusher Filled with the pusher, which the context's devices own.
  * @return The target's wiring.
  */
-Wiring wire(
-    Target& target, FirmwareThread& firmware, const RobotDescription& robot, const MazeConfig& config, Pusher*& pusher
-) {
+Wiring wire(Target& target, FirmwareThread& firmware, const RobotDescription& robot, const MazeConfig& config) {
     RunContext&     context = target.context();
     const WorldInfo world{
         .robot = &robot,
@@ -313,18 +315,16 @@ Wiring wire(
             },
     };
 
-    Wiring wiring = target.wire(firmware, world);
-    auto   owned = std::make_unique<Pusher>(context.world, target.ground_truth().body);
-    pusher = owned.get();
-    context.devices.push_back(std::move(owned));
-    return wiring;
+    return target.wire(firmware, world);
 }
 
 /**
- * @brief Collect the robot's geoms other than its wheels, whose wall contacts are collisions.
+ * @brief Collect the geoms attached to the robot's body itself, whose contacts are collisions.
+ *
+ * @note The wheels hang on bodies of their own, so they are not among them.
  *
  * @param world The world.
- * @param config The robot's ground truth, naming its wheels.
+ * @param config The robot's ground truth, naming its body.
  * @return Geom ids.
  */
 std::vector<int> chassis_geoms(const MujocoWorld& world, const GroundTruthConfig& config) {
@@ -350,26 +350,22 @@ Application::Application(const CliOptions& options, Target& target) :
     robot{RobotDescription::load(target.robot_file())},
     maze_path{resolve_maze(maze_name(options, this->scenario))},
     context{prepare(this->robot, this->maze_path, this->maze_config, options, this->scenario, target)},
-    ticks{ticks_of(options, this->scenario, target)},
+    ticks{ticks_of(options, this->scenario, this->context)},
     firmware{target.program()},
-    wiring{wire(target, this->firmware, this->robot, this->maze_config, this->pusher)},
-    player{this->scenario, this->wiring.hooks, this->context.serial, *this->pusher, this->wiring.variables},
+    wiring{wire(target, this->firmware, this->robot, this->maze_config)},
+    player{this->scenario, this->wiring.hooks, this->context.serial, this->wiring.variables},
     events{
         chassis_geoms(this->context.world, target.ground_truth()),
         {this->context.world.require_id(mjOBJ_GEOM, std::string{Maze::body_name} + "_floor")},
-        {},
+        this->wiring.hooks.state_names,
         this->wiring.variables
     },
     device_columns{this->context.devices},
     recorder{this->context.world, target.ground_truth(), options.out / "data.csv", options.record_every},
-    video{make_video_recorder(options, this->context)},
-    viewer{make_viewer(options, this->context, target, this->wiring)},
-    monitor{make_monitor(options, this->context.serial, this->wiring.monitor_inbound)},
+    video{make_video_recorder(options, this->context, target, this->wiring)},
+    viewer{make_viewer(options, this->context, target, this->wiring, this->player)},
+    monitor{make_monitor(options, this->context.serial)},
     simulation{this->context, this->firmware} {
-    for (const auto& [variable, names] : this->wiring.hooks.state_names) {
-        this->events.watch({.variable = variable, .names = names});
-    }
-
     for (ColumnSource* source : this->wiring.columns) {
         this->recorder.add_source(*source);
     }
@@ -379,27 +375,14 @@ Application::Application(const CliOptions& options, Target& target) :
     this->simulation.add_listener(CrashReporter::instance());
     this->simulation.add_listener(this->player);
 
-    for (IRunListener* listener : this->wiring.inputs) {
-        this->simulation.add_listener(*listener);
-    }
-
     if (this->monitor != nullptr) {
         this->simulation.add_listener(*this->monitor);
     }
 
-    for (IRunListener* listener : this->wiring.observers) {
-        this->simulation.add_listener(*listener);
-    }
-
     this->simulation.add_listener(this->events);
     this->simulation.add_listener(this->recorder);
 
     if (this->video != nullptr) {
-        this->video->attach(
-            this->context.world, this->wiring.overlay, this->wiring.variables,
-            ticks_per_frame(options.video.fps, this->context.clock),
-            options.video.trail ? target.ground_truth().body : std::string{}
-        );
         this->simulation.add_listener(*this->video);
     }
 
@@ -422,6 +405,10 @@ void Application::run(std::span<char*> arguments) {
 
     const auto    wall_seconds = std::chrono::duration<double>(std::chrono::steady_clock::now() - wall_start).count();
     const int64_t warnings = GroundTruth::warnings_total(this->context.world);
+    const int     body = this->context.world.require_id(mjOBJ_BODY, this->target.ground_truth().body);
+    const std::span<const mjtNum> positions(
+        this->context.world.data()->xpos, 3 * static_cast<std::size_t>(this->context.world.model()->nbody)
+    );
 
     const RunMetadata metadata{
         .target = this->target.name(),
@@ -445,7 +432,7 @@ void Application::run(std::span<char*> arguments) {
         .ticks = this->simulation.completed_ticks(),
         .sim_time = this->context.world.time(),
         .stopped_at = this->player.stopped_at().value_or(-1.0),
-        .final_z = this->recorder.last_z(),
+        .final_z = positions[(3 * static_cast<std::size_t>(body)) + 2],
         .target_fields = this->target.metadata(),
         .warnings_total = warnings,
         .serial_dropped_bytes = this->context.serial.dropped_bytes(),
@@ -472,7 +459,7 @@ void Application::run(std::span<char*> arguments) {
     std::cout << '\n';
 }
 
-int Application::main(std::span<char*> arguments, Target& target) {
+int run(std::span<char*> arguments, Target& target) {
     const std::vector<CliOption> target_options = target.options();
     const std::string            program =
         arguments.empty() ? target.name() : std::filesystem::path(arguments.front()).filename().string();
@@ -486,13 +473,7 @@ int Application::main(std::span<char*> arguments, Target& target) {
             return 1;
         }
 
-        CliOptions options = Cli::parse(arguments, target_options);
-        target.check_options();
-
-        if (not options.video_camera_given) {
-            options.video.camera = target.video_camera();
-        }
-
+        const CliOptions options = Cli::parse(arguments, target_options);
         std::filesystem::create_directories(options.out);
 
         Application application(options, target);
@@ -503,8 +484,4 @@ int Application::main(std::span<char*> arguments, Target& target) {
         return 1;
     }
 }
-
-int run(std::span<char*> arguments, Target& target) {
-    return Application::main(arguments, target);
-}
 }  // namespace micras::sim
diff --git a/app/src/cli.cpp b/app/src/cli.cpp
index fa81150..13ba989 100644
--- a/app/src/cli.cpp
+++ b/app/src/cli.cpp
@@ -3,7 +3,6 @@
  */
 
 #include <algorithm>
-#include <array>
 #include <charconv>
 #include <functional>
 #include <stdexcept>
@@ -67,39 +66,6 @@ void parse_size(const std::string& value, const std::string& option, int& width,
     height = require_number<int>(value.substr(cross + 1), option);
 }
 
-/**
- * @brief Parse a color written as its red, green and blue parts, each in [0, 1].
- *
- * @param value Text of the color, like 0.2,0.6,1.
- * @param option Name of the option, for the error message.
- * @param color Filled with the three parts.
- */
-void parse_color(const std::string& value, const std::string& option, std::array<float, 3>& color) {
-    const std::size_t first = value.find(',');
-    const std::size_t second = first == std::string::npos ? first : value.find(',', first + 1);
-
-    if (second == std::string::npos) {
-        throw std::runtime_error(option + " must look like 0.2,0.6,1, got " + value);
-    }
-
-    color = {
-        require_number<float>(value.substr(0, first), option),
-        require_number<float>(value.substr(first + 1, second - first - 1), option),
-        require_number<float>(value.substr(second + 1), option),
-    };
-
-    if (std::ranges::any_of(color, [](float part) { return part < 0.0F or part > 1.0F; })) {
-        throw std::runtime_error(option + " parts must be between 0 and 1, got " + value);
-    }
-}
-
-/**
- * @brief Options being built.
- */
-struct ParsedOptions {
-    CliOptions parsed;
-};
-
 /**
  * @brief Reads the value that follows the option being applied.
  */
@@ -160,22 +126,14 @@ bool apply_monitor_option(const std::string& argument, const ValueReader& value,
 bool apply_video_option(const std::string& argument, const ValueReader& value, CliOptions& options) {
     if (argument == "--video") {
         options.video.path = value();
-        options.video_enabled = true;
     } else if (argument == "--video-fps") {
         options.video.fps = require_number<int>(value(), argument);
     } else if (argument == "--video-camera") {
         options.video.camera = value();
-        options.video_camera_given = true;
     } else if (argument == "--video-size") {
         parse_size(value(), "--video-size", options.video.width, options.video.height);
     } else if (argument == "--video-trail") {
         options.video.trail = true;
-    } else if (argument == "--video-trail-color") {
-        parse_color(value(), argument, options.video.trail_color);
-        options.video.trail = true;
-    } else if (argument == "--video-tint") {
-        options.video.trail = true;
-        options.video.tint = true;
     } else {
         return false;
     }
@@ -219,7 +177,7 @@ void validate(const CliOptions& options) {
         throw std::runtime_error("--monitor-port must be a TCP port");
     }
 
-    if (not options.video_enabled) {
+    if (options.video.path.empty()) {
         return;
     }
 
@@ -240,27 +198,26 @@ void validate(const CliOptions& options) {
  * @param options Options to fill.
  * @return False when the name is not an option at all.
  */
-bool apply_option(const std::string& argument, const ValueReader& value, ParsedOptions& options) {
+bool apply_option(const std::string& argument, const ValueReader& value, CliOptions& options) {
     if (argument == "--out") {
-        options.parsed.out = value();
+        options.out = value();
     } else if (argument == "--scenario") {
-        options.parsed.scenario = value();
+        options.scenario = value();
     } else if (argument == "--maze") {
-        options.parsed.maze = value();
+        options.maze = value();
     } else if (argument == "--seconds") {
-        options.parsed.seconds = require_number<double>(value(), argument);
+        options.seconds = require_number<double>(value(), argument);
     } else if (argument == "--ticks") {
-        options.parsed.ticks = require_number<uint64_t>(value(), argument);
+        options.ticks = require_number<uint64_t>(value(), argument);
     } else if (argument == "--seed") {
-        options.parsed.seed = require_number<uint64_t>(value(), argument);
+        options.seed = require_number<uint64_t>(value(), argument);
     } else if (argument == "--ideal") {
-        options.parsed.ideal = true;
+        options.ideal = true;
     } else if (argument == "--record-every") {
-        options.parsed.record_every = require_number<uint32_t>(value(), argument);
+        options.record_every = require_number<uint32_t>(value(), argument);
     } else {
-        return apply_video_option(argument, value, options.parsed) or
-               apply_viewer_option(argument, value, options.parsed) or
-               apply_monitor_option(argument, value, options.parsed);
+        return apply_video_option(argument, value, options) or apply_viewer_option(argument, value, options) or
+               apply_monitor_option(argument, value, options);
     }
 
     return true;
@@ -269,13 +226,13 @@ bool apply_option(const std::string& argument, const ValueReader& value, ParsedO
 
 std::string Cli::usage(std::string_view program, std::span<const CliOption> target_options) {
     const std::string indent(7 + program.size(), ' ');
-    std::string       text =
-        "usage: " + std::string(program) + " --out <dir> [--scenario <toml>] [--maze <name>|<txt>]\n" + indent +
-        "[--seconds <float> | --ticks <int>] [--seed <int>] [--ideal] [--record-every <ticks>]\n" + indent +
-        "[--video <out.mp4>] [--video-fps <int>] [--video-camera <name>|free]\n" + indent +
-        "[--video-size <width>x<height>] [--video-trail] [--video-trail-color <r,g,b>] [--video-tint]\n" + indent +
-        "[--viewer] [--viewer-camera <name>|free] [--viewer-fps <int>]\n" + indent +
-        "[--viewer-size <width>x<height>]\n" + indent + "[--monitor] [--monitor-port <int>]\n";
+    std::string text = "usage: " + std::string(program) + " --out <dir> [--scenario <toml>] [--maze <name>|<txt>]\n" +
+                       indent +
+                       "[--seconds <float> | --ticks <int>] [--seed <int>] [--ideal] [--record-every <ticks>]\n" +
+                       indent + "[--video <out.mp4>] [--video-fps <int>] [--video-camera <name>|free]\n" + indent +
+                       "[--video-size <width>x<height>] [--video-trail]\n" + indent +
+                       "[--viewer] [--viewer-camera <name>|free] [--viewer-fps <int>]\n" + indent +
+                       "[--viewer-size <width>x<height>]\n" + indent + "[--monitor] [--monitor-port <int>]\n";
 
     for (const CliOption& option : target_options) {
         text += indent + "[" + option.name + (option.argument.empty() ? "" : " " + option.argument) + "]\n";
@@ -285,7 +242,7 @@ std::string Cli::usage(std::string_view program, std::span<const CliOption> targ
 }
 
 CliOptions Cli::parse(std::span<char*> arguments, std::span<const CliOption> target_options) {
-    ParsedOptions options;
+    CliOptions options;
 
     for (std::size_t i = 1; i < arguments.size(); i++) {
         const std::string argument = arguments[i];
@@ -304,7 +261,7 @@ CliOptions Cli::parse(std::span<char*> arguments, std::span<const CliOption> tar
         option->apply(option->argument.empty() ? std::string{} : value());
     }
 
-    validate(options.parsed);
-    return options.parsed;
+    validate(options);
+    return options;
 }
 }  // namespace micras::sim
diff --git a/bridge/include/micras/sim/bridge/monitor_bridge.hpp b/bridge/include/micras/sim/bridge/monitor_bridge.hpp
index 603bf39..a9eaa67 100644
--- a/bridge/include/micras/sim/bridge/monitor_bridge.hpp
+++ b/bridge/include/micras/sim/bridge/monitor_bridge.hpp
@@ -8,7 +8,6 @@
 #define MICRAS_SIM_BRIDGE_MONITOR_BRIDGE_HPP
 
 #include <cstdint>
-#include <functional>
 #include <mutex>
 #include <span>
 #include <string>
@@ -23,26 +22,19 @@ namespace micras::sim {
  * @brief Carries the firmware's bytes to a monitor and the monitor's bytes back.
  *
  * @note Bytes only: the bridge frames nothing. What a monitor sends is collected
- *       on a server thread and handed over on the simulation thread, before the
- *       tick, to the robot target's inbound handler, which decides how the bytes
- *       reach the firmware. The firmware's output leaves as one frame per tick.
+ *       on a server thread and queued for the firmware on the simulation thread,
+ *       before the tick. The firmware's output leaves as one frame per tick.
  */
 class MonitorBridge : public ISerialListener, public IRunListener {
 public:
-    /**
-     * @brief Receives what the monitors sent since the last tick, on the simulation thread.
-     */
-    using Inbound = std::function<void(std::span<const uint8_t>)>;
-
     /**
      * @brief Open the bridge on a port.
      *
      * @param serial Bus the firmware reads from and writes to.
-     * @param inbound Hands the monitors' bytes to the firmware.
      * @param port TCP port to listen on.
      * @param error Filled with a human readable reason when the port cannot be taken.
      */
-    MonitorBridge(SerialBus& serial, Inbound inbound, int port, std::string& error);
+    MonitorBridge(SerialBus& serial, int port, std::string& error);
 
     MonitorBridge(const MonitorBridge&) = delete;
     MonitorBridge(MonitorBridge&&) = delete;
@@ -86,7 +78,7 @@ class MonitorBridge : public ISerialListener, public IRunListener {
     void on_firmware_bytes(std::span<const uint8_t> bytes) override;
 
     /**
-     * @brief Hand what the monitors sent to the inbound handler.
+     * @brief Queue what the monitors sent for the firmware.
      *
      * @param simulation Run about to advance.
      * @return Always RunControl::RUN; a monitor never stops a run.
@@ -108,11 +100,6 @@ class MonitorBridge : public ISerialListener, public IRunListener {
      */
     SerialBus& serial;  // NOLINT(*-avoid-const-or-ref-data-members)
 
-    /**
-     * @brief Hands the monitors' bytes to the firmware.
-     */
-    Inbound inbound;
-
     /**
      * @brief Whether the port was taken.
      */
diff --git a/bridge/include/micras/sim/bridge/web_socket_server.hpp b/bridge/include/micras/sim/bridge/web_socket_server.hpp
index 18c159b..5874968 100644
--- a/bridge/include/micras/sim/bridge/web_socket_server.hpp
+++ b/bridge/include/micras/sim/bridge/web_socket_server.hpp
@@ -17,9 +17,9 @@ namespace micras::sim {
 /**
  * @brief Serves binary frames to whoever connects, and hands back what they send.
  *
- * @note A facade on purpose: the harness only needs start, stop, broadcast and
- *       a callback, so the library behind it can be replaced without touching
- *       anything that uses it. Callbacks arrive on the server's own threads.
+ * @note A facade on purpose: it keeps IXWebSocket out of every header, and lets
+ *       -DMICRAS_BRIDGE=OFF build a stub in its place. Callbacks arrive on the
+ *       server's own threads.
  */
 class WebSocketServer {
 public:
diff --git a/bridge/src/monitor_bridge.cpp b/bridge/src/monitor_bridge.cpp
index e6056b0..62103c4 100644
--- a/bridge/src/monitor_bridge.cpp
+++ b/bridge/src/monitor_bridge.cpp
@@ -2,13 +2,10 @@
  * @file
  */
 
-#include <utility>
-
 #include "micras/sim/bridge/monitor_bridge.hpp"
 
 namespace micras::sim {
-MonitorBridge::MonitorBridge(SerialBus& serial, Inbound inbound, int port, std::string& error) :
-    serial{serial}, inbound{std::move(inbound)} {
+MonitorBridge::MonitorBridge(SerialBus& serial, int port, std::string& error) : serial{serial} {
     this->server.set_on_binary([this](std::span<const uint8_t> bytes) {
         const std::lock_guard lock(this->mutex);
         this->incoming.insert(this->incoming.end(), bytes.begin(), bytes.end());
@@ -40,7 +37,7 @@ RunControl MonitorBridge::on_before_tick(const Simulation& /*simulation*/) {
 
     if (not bytes.empty()) {
         this->received = true;
-        this->inbound(bytes);
+        this->serial.queue_for_firmware(bytes);
     }
 
     return RunControl::RUN;
diff --git a/engine/arenas/maze/include/micras/sim/arenas/maze.hpp b/engine/arenas/maze/include/micras/sim/arenas/maze.hpp
index 4693c6b..ca2bf13 100644
--- a/engine/arenas/maze/include/micras/sim/arenas/maze.hpp
+++ b/engine/arenas/maze/include/micras/sim/arenas/maze.hpp
@@ -33,10 +33,10 @@ struct MazeConfig {
 /**
  * @brief A maze: which walls stand, where it starts and where the goal is.
  *
- * @note The drawing is the format of tools/gen_maze.py and of the published maze
- *       collections: posts as 'o', horizontal walls as '---', vertical walls as
- *       '|', the start cell marked 'S' and goal cells 'G', read bottom-up so the
- *       start is at the lower left. The world frame puts the lower left post at
+ * @note The drawing is the format of the published maze collections: posts as
+ *       'o', horizontal walls as '---', vertical walls as '|', the start cell
+ *       marked 'S' and goal cells 'G', read bottom-up so the start is at the
+ *       lower left. The world frame puts the lower left post at
  *       the origin, x to the right and y up; a cell (x, y) spans
  *       [x, x + 1) and [y, y + 1) cells.
  */
@@ -47,11 +47,6 @@ class Maze {
      */
     static constexpr std::string_view body_name{"maze"};
 
-    /**
-     * @brief Geom group of the paint on top of the walls, which only the eye sees.
-     */
-    static constexpr int paint_group{4};
-
     /**
      * @brief Read a maze drawing from a file.
      *
diff --git a/engine/arenas/maze/src/maze.cpp b/engine/arenas/maze/src/maze.cpp
index 3d46dfe..8877808 100644
--- a/engine/arenas/maze/src/maze.cpp
+++ b/engine/arenas/maze/src/maze.cpp
@@ -5,11 +5,12 @@
 #include <algorithm>
 #include <cmath>
 #include <format>
-#include <fstream>
 #include <sstream>
 #include <stdexcept>
 
 #include "micras/sim/arenas/maze.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/text_file.hpp"
 
 namespace micras::sim {
 namespace {
@@ -73,15 +74,7 @@ constexpr double floor_margin{2.0};
 }  // namespace
 
 Maze Maze::load(const std::filesystem::path& path) {
-    std::ifstream file(path);
-
-    if (not file.is_open()) {
-        throw std::runtime_error("cannot read the maze " + path.string());
-    }
-
-    std::ostringstream text;
-    text << file.rdbuf();
-    return parse(text.str());
+    return parse(read_text_file(path, "maze"));
 }
 
 Maze Maze::parse(std::string_view text) {
@@ -99,8 +92,6 @@ Maze Maze::parse(std::string_view text) {
     maze.south.assign(maze.rows + 1, std::vector<bool>(maze.columns, false));
     maze.west.assign(maze.rows, std::vector<bool>(maze.columns + 1, false));
 
-    bool start_found = false;
-
     for (std::size_t row = 0; row <= maze.rows; row++) {
         for (std::size_t column = 0; column < maze.columns; column++) {
             maze.south[row][column] =
@@ -120,17 +111,12 @@ Maze Maze::parse(std::string_view text) {
 
             if (mark == 'S') {
                 maze.start_cell = {column, row};
-                start_found = true;
             } else if (mark == 'G') {
                 maze.goal_cells.emplace_back(column, row);
             }
         }
     }
 
-    if (not start_found) {
-        maze.start_cell = {0, 0};
-    }
-
     return maze;
 }
 
@@ -242,33 +228,33 @@ std::string Maze::mjcf(const MazeConfig& config) const {
         "  </asset>\n"
         "  <default>\n"
         "    <default class=\"post\">\n"
-        "      <geom type=\"box\" material=\"post\" size=\"{2:.6f} {2:.6f} {3:.6f}\"/>\n"
+        "      <geom type=\"box\" material=\"post\" size=\"{1:.6f} {1:.6f} {2:.6f}\"/>\n"
         "    </default>\n"
         "    <default class=\"horizontal\">\n"
-        "      <geom type=\"box\" material=\"wall\" size=\"{4:.6f} {2:.6f} {3:.6f}\"/>\n"
+        "      <geom type=\"box\" material=\"wall\" size=\"{3:.6f} {1:.6f} {2:.6f}\"/>\n"
         "    </default>\n"
         "    <default class=\"vertical\">\n"
-        "      <geom type=\"box\" material=\"wall\" size=\"{2:.6f} {4:.6f} {3:.6f}\"/>\n"
+        "      <geom type=\"box\" material=\"wall\" size=\"{1:.6f} {3:.6f} {2:.6f}\"/>\n"
         "    </default>\n"
         "    <default class=\"top\">\n"
-        "      <geom type=\"box\" material=\"top\" contype=\"0\" conaffinity=\"0\" group=\"{13}\"/>\n"
+        "      <geom type=\"box\" material=\"top\" contype=\"0\" conaffinity=\"0\" group=\"{12}\"/>\n"
         "    </default>\n"
         "  </default>\n"
         "  <worldbody>\n"
-        "    <body name=\"{5}\">\n"
-        "      <light name=\"sun\" pos=\"{6:.6f} {7:.6f} 3\" dir=\"0 0 -1\" directional=\"true\" castshadow=\"false\" "
+        "    <body name=\"{4}\">\n"
+        "      <light name=\"sun\" pos=\"{5:.6f} {6:.6f} 3\" dir=\"0 0 -1\" directional=\"true\" castshadow=\"false\" "
         "diffuse=\"0.7 0.7 0.7\"/>\n"
-        "      <camera name=\"top\" pos=\"{6:.6f} {7:.6f} 4\" xyaxes=\"1 0 0 0 1 0\" projection=\"orthographic\" "
-        "fovy=\"{8:.6f}\"/>\n"
-        "      <geom name=\"floor\" type=\"plane\" pos=\"{6:.6f} {7:.6f} 0\" size=\"{9:.6f} {10:.6f} 0.1\" "
+        "      <camera name=\"top\" pos=\"{5:.6f} {6:.6f} 4\" xyaxes=\"1 0 0 0 1 0\" projection=\"orthographic\" "
+        "fovy=\"{7:.6f}\"/>\n"
+        "      <geom name=\"floor\" type=\"plane\" pos=\"{5:.6f} {6:.6f} 0\" size=\"{8:.6f} {9:.6f} 0.1\" "
         "material=\"floor\"/>\n"
-        "{11}{12}"
+        "{10}{11}"
         "    </body>\n"
         "  </worldbody>\n"
         "</mujoco>\n",
-        1.0 / cell, this->rows, half_thickness, half_height, half_length, body_name, width / 2, height / 2,
+        1.0 / cell, half_thickness, half_height, half_length, body_name, width / 2, height / 2,
         std::max(width, height) + 0.2, width / 2 + floor_margin * cell, height / 2 + floor_margin * cell, geoms, caps,
-        paint_group
+        MujocoWorld::unseen_group
     );
 }
 }  // namespace micras::sim
diff --git a/engine/include/micras/sim/core/clock.hpp b/engine/include/micras/sim/core/clock.hpp
index 45accfb..d05c44a 100644
--- a/engine/include/micras/sim/core/clock.hpp
+++ b/engine/include/micras/sim/core/clock.hpp
@@ -67,14 +67,10 @@ class Clock {
     /**
      * @brief Get how many ticks a duration spans.
      *
-     * @note Also available before a model is loaded, which is when the command
-     *       line is parsed; that is why it takes the tick length explicitly.
-     *
      * @param seconds Duration in simulated seconds.
-     * @param us_per_tick Simulated microseconds per firmware tick.
      * @return Number of whole ticks that fit in the duration.
      */
-    static uint64_t total_ticks(double seconds, uint32_t us_per_tick);
+    uint64_t total_ticks(double seconds) const;
 
     /**
      * @brief Get the tick an instant falls on.
diff --git a/engine/include/micras/sim/core/firmware_thread.hpp b/engine/include/micras/sim/core/firmware_thread.hpp
index fc64821..25fe25d 100644
--- a/engine/include/micras/sim/core/firmware_thread.hpp
+++ b/engine/include/micras/sim/core/firmware_thread.hpp
@@ -31,10 +31,10 @@ class RunFinished : public std::exception {
  * @brief Strict handoff between the simulation and the firmware program.
  *
  * @note The two threads never run at the same time: exactly one of them is
- *       awake at any moment, so the run stays as deterministic as it was when
- *       the firmware was called inline. The firmware gives control back from
- *       inside its own loop, through yield_tick(), which is reached from the
- *       Stopwatch the firmware waits on.
+ *       awake at any moment, so the handoff adds no nondeterminism. The firmware
+ *       gives control back from inside its own loop, through yield_tick(),
+ *       which the host timer's handover calls when a read crosses the end of a
+ *       step.
  *
  * @note The simulation side is single threaded: run_until_yield() and finish()
  *       must be called from the one thread that drives the run.
@@ -42,7 +42,7 @@ class RunFinished : public std::exception {
 class FirmwareThread {
 public:
     /**
-     * @brief The firmware program to run, typically the Micras loop.
+     * @brief The firmware program to run: the target's main.
      */
     using Program = std::function<void()>;
 
@@ -130,8 +130,8 @@ class FirmwareThread {
     /**
      * @brief Body of the firmware thread.
      *
-     * @note Not called main: the hardware tests are compiled with that
-     *       identifier redefined, so nothing reachable from them may use it.
+     * @note Not called main: the firmware is compiled with -Dmain=..., which
+     *       would rename a member called main too.
      */
     void thread_body();
 
diff --git a/engine/include/micras/sim/core/mujoco_world.hpp b/engine/include/micras/sim/core/mujoco_world.hpp
index 212d6d0..2b6f858 100644
--- a/engine/include/micras/sim/core/mujoco_world.hpp
+++ b/engine/include/micras/sim/core/mujoco_world.hpp
@@ -18,11 +18,17 @@ namespace micras::sim {
  * @brief Loads a model, owns its data and resolves model objects by name.
  *
  * @note Every accessor throws a clear error when the model is not loaded yet,
- *       so a proxy built too early fails at construction instead of
+ *       so a device built too early fails at construction instead of
  *       dereferencing a null pointer in the middle of a run.
  */
 class MujocoWorld {
 public:
+    /**
+     * @brief Geom group the range sensors do not see: the robot's own geoms, and what is only paint
+     *        on the arena.
+     */
+    static constexpr int unseen_group{3};
+
     MujocoWorld() = default;
 
     MujocoWorld(const MujocoWorld&) = delete;
@@ -109,6 +115,22 @@ class MujocoWorld {
      */
     int sensor_address(const std::string& name) const;
 
+    /**
+     * @brief Resolve where a named joint's first velocity dof sits in qvel.
+     *
+     * @param name Name of the joint.
+     * @return Index into mjData::qvel.
+     */
+    int joint_dof(const std::string& name) const;
+
+    /**
+     * @brief Resolve where a named joint's first position coordinate sits in qpos.
+     *
+     * @param name Name of the joint.
+     * @return Index into mjData::qpos.
+     */
+    int joint_qpos(const std::string& name) const;
+
     /**
      * @brief Read one sensordata entry.
      *
@@ -142,8 +164,8 @@ class MujocoWorld {
     /**
      * @brief Get the loaded model.
      *
-     * @note Exposed for the recorder and the renderer, which need the whole
-     *       model; the proxies use the named accessors instead.
+     * @note Exposed for the devices, the recorders and the renderer, which
+     *       read the model's arrays directly.
      *
      * @return Pointer to the model.
      */
@@ -155,8 +177,8 @@ class MujocoWorld {
     /**
      * @brief Get the simulation data.
      *
-     * @note Exposed for the recorder and the renderer, which need the whole
-     *       state; the proxies use the named accessors instead.
+     * @note Exposed for the devices, the recorders and the renderer, which
+     *       read and write the state's arrays directly.
      *
      * @return Pointer to the data.
      */
diff --git a/engine/include/micras/sim/core/noise.hpp b/engine/include/micras/sim/core/noise.hpp
index efe027d..dee1841 100644
--- a/engine/include/micras/sim/core/noise.hpp
+++ b/engine/include/micras/sim/core/noise.hpp
@@ -28,7 +28,7 @@ struct NoiseConfig {
 };
 
 /**
- * @brief A stream of Gaussian and uniform samples for one device.
+ * @brief A stream of Gaussian samples for one device.
  *
  * @note The generator is std::mt19937_64, whose sequence the standard fixes, and
  *       the Gaussian comes from a Box-Muller transform written here, because the
@@ -54,13 +54,6 @@ class Noise {
      */
     double gaussian(double sigma);
 
-    /**
-     * @brief Check whether this stream draws anything.
-     *
-     * @return False when the world is ideal.
-     */
-    bool enabled() const { return this->on; }
-
 private:
     /**
      * @brief Draw from the unit interval, excluding zero.
diff --git a/engine/include/micras/sim/core/serial_bus.hpp b/engine/include/micras/sim/core/serial_bus.hpp
index 0c94702..3f33e63 100644
--- a/engine/include/micras/sim/core/serial_bus.hpp
+++ b/engine/include/micras/sim/core/serial_bus.hpp
@@ -101,13 +101,6 @@ class SerialBus {
      */
     uint64_t dropped_bytes() const { return this->dropped; }
 
-    /**
-     * @brief Get how many bytes the firmware sent.
-     *
-     * @return Number of bytes.
-     */
-    uint64_t sent_bytes() const { return this->sent; }
-
 private:
     /**
      * @brief Listeners receiving firmware output, in registration order.
@@ -123,11 +116,6 @@ class SerialBus {
      * @brief Bytes dropped because the queue was full.
      */
     uint64_t dropped{0};
-
-    /**
-     * @brief Bytes the firmware sent.
-     */
-    uint64_t sent{0};
 };
 }  // namespace micras::sim
 
diff --git a/engine/include/micras/sim/core/text_file.hpp b/engine/include/micras/sim/core/text_file.hpp
new file mode 100644
index 0000000..5e62098
--- /dev/null
+++ b/engine/include/micras/sim/core/text_file.hpp
@@ -0,0 +1,38 @@
+/**
+ * @file
+ *
+ * @brief Reading a whole text file, for the loaders of the robot, the scenario and the maze.
+ */
+
+#ifndef MICRAS_SIM_CORE_TEXT_FILE_HPP
+#define MICRAS_SIM_CORE_TEXT_FILE_HPP
+
+#include <filesystem>
+#include <fstream>
+#include <sstream>
+#include <stdexcept>
+#include <string>
+#include <string_view>
+
+namespace micras::sim {
+/**
+ * @brief Read a whole text file.
+ *
+ * @param path Path of the file.
+ * @param what What the file holds, for the error message.
+ * @return The contents.
+ */
+inline std::string read_text_file(const std::filesystem::path& path, std::string_view what) {
+    std::ifstream file(path);
+
+    if (not file.is_open()) {
+        throw std::runtime_error("cannot read the " + std::string{what} + " " + path.string());
+    }
+
+    std::ostringstream text;
+    text << file.rdbuf();
+    return text.str();
+}
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_CORE_TEXT_FILE_HPP
diff --git a/engine/include/micras/sim/core/variable_source.hpp b/engine/include/micras/sim/core/variable_source.hpp
index 8024329..e4c91ae 100644
--- a/engine/include/micras/sim/core/variable_source.hpp
+++ b/engine/include/micras/sim/core/variable_source.hpp
@@ -7,15 +7,24 @@
 #ifndef MICRAS_SIM_CORE_VARIABLE_SOURCE_HPP
 #define MICRAS_SIM_CORE_VARIABLE_SOURCE_HPP
 
+#include <functional>
+#include <map>
 #include <string>
+#include <vector>
 
 namespace micras::sim {
+/**
+ * @brief Names of the values of the variables that hold a state, by variable, starting at zero.
+ */
+using StateNames = std::map<std::string, std::vector<std::string>, std::less<>>;
+
 /**
  * @brief Looks up the current value of a firmware variable by name.
  *
- * @note What the panel plots and the video overlay prints. The engine never
- *       knows how the values are obtained; a robot target implements this over
- *       its own telemetry.
+ * @note What the panel plots, the video overlay prints, the event log watches
+ *       and the scenario conditions wait for. The engine never knows how the
+ *       values are obtained; a robot target implements this over its own
+ *       telemetry.
  */
 class VariableSource {
 public:
diff --git a/engine/include/micras/sim/devices/digital_input.hpp b/engine/include/micras/sim/devices/digital_input.hpp
new file mode 100644
index 0000000..b68d05c
--- /dev/null
+++ b/engine/include/micras/sim/devices/digital_input.hpp
@@ -0,0 +1,79 @@
+/**
+ * @file
+ *
+ * @brief A button or a switch, as the firmware's pin sees it.
+ */
+
+#ifndef MICRAS_SIM_DEVICES_DIGITAL_INPUT_HPP
+#define MICRAS_SIM_DEVICES_DIGITAL_INPUT_HPP
+
+#include <functional>
+#include <string>
+#include <vector>
+
+#include "micras/sim/devices/device.hpp"
+
+namespace micras::sim {
+/**
+ * @brief A two-position input a scenario or a human sets: a button, a switch.
+ */
+class DigitalInput : public Device {
+public:
+    /**
+     * @brief The input and the pin it drives.
+     */
+    struct Config {
+        std::string               name;
+        bool                      active_low;
+        std::function<void(bool)> drive;
+    };
+
+    /**
+     * @brief Take the input, released.
+     *
+     * @param config The input.
+     */
+    explicit DigitalInput(Config config);
+
+    /**
+     * @brief Press or release it.
+     *
+     * @param active True for pressed, or on.
+     */
+    void set(bool active);
+
+    /**
+     * @brief Check whether it is pressed, or on.
+     *
+     * @return The state.
+     */
+    bool is_active() const { return this->active; }
+
+    /**
+     * @brief Get the name.
+     *
+     * @return The name.
+     */
+    const std::string& name() const { return this->config.name; }
+
+    /**
+     * @brief Get the recorded column: the state.
+     *
+     * @return Column names.
+     */
+    std::vector<std::string> columns() const override;
+
+    /**
+     * @brief Append the state.
+     *
+     * @param row Row being built.
+     */
+    void append(std::vector<CsvCell>& row) const override;
+
+private:
+    Config config;
+    bool   active{false};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_DEVICES_DIGITAL_INPUT_HPP
diff --git a/engine/include/micras/sim/devices/imu.hpp b/engine/include/micras/sim/devices/imu.hpp
index 46a9435..08247ba 100644
--- a/engine/include/micras/sim/devices/imu.hpp
+++ b/engine/include/micras/sim/devices/imu.hpp
@@ -24,10 +24,10 @@ namespace micras::sim {
  * @note The truth comes from MuJoCo's gyro and accelerometer sensors on a site
  *       whose frame is the chip's, so the axes are the chip's. Each output
  *       sample is that truth low pass filtered at the configured bandwidth,
- *       scaled by a turn-on scale error, offset by a turn-on bias, with white
- *       noise at the datasheet density over the filter's noise bandwidth, then
- *       quantised to the configured resolution and delivered one sample late,
- *       as the chip's pipeline does. Samples come at the output rate times a
+ *       the gyroscope's scaled by a turn-on scale error, offset by a turn-on
+ *       bias, with white noise at the datasheet density over the filter's noise
+ *       bandwidth, then quantised to the configured resolution and delivered
+ *       one sample late, as the chip's pipeline does. Samples come at the output rate times a
  *       small seeded clock error, so the firmware sometimes finds no new sample
  *       and sometimes finds one skipped, as with the real chip's own oscillator.
  *
diff --git a/engine/include/micras/sim/devices/power.hpp b/engine/include/micras/sim/devices/power.hpp
index 6038917..8fdddc4 100644
--- a/engine/include/micras/sim/devices/power.hpp
+++ b/engine/include/micras/sim/devices/power.hpp
@@ -21,8 +21,8 @@ namespace micras::sim {
 /**
  * @brief A battery measured by an ADC through a divider.
  *
- * @note Open circuit voltage of charged cells, less the internal resistance times
- *       the load; the load is what the loads report.
+ * @note The open circuit voltage of charged cells, which the loads do not pull
+ *       down.
  */
 class Battery : public Device {
 public:
@@ -36,7 +36,6 @@ class Battery : public Device {
         double                        adc_reference;
         double                        adc_max_counts;
         double                        adc_noise_counts;
-        std::function<double()>       load_current;
         std::function<void(uint32_t)> write;
     };
 
diff --git a/engine/include/micras/sim/devices/serial_link.hpp b/engine/include/micras/sim/devices/serial_link.hpp
index af4d8ab..36c4639 100644
--- a/engine/include/micras/sim/devices/serial_link.hpp
+++ b/engine/include/micras/sim/devices/serial_link.hpp
@@ -68,67 +68,6 @@ class SerialLink : public Device {
     double     send_budget{0.0};
     double     receive_budget{0.0};
 };
-
-/**
- * @brief A two-position input a scenario or a human sets: a button, a switch.
- */
-class DigitalInput : public Device {
-public:
-    /**
-     * @brief The input and the pin it drives.
-     */
-    struct Config {
-        std::string               name;
-        bool                      active_low;
-        std::function<void(bool)> drive;
-    };
-
-    /**
-     * @brief Take the input, released.
-     *
-     * @param config The input.
-     */
-    explicit DigitalInput(Config config);
-
-    /**
-     * @brief Press or release it.
-     *
-     * @param active True for pressed, or on.
-     */
-    void set(bool active);
-
-    /**
-     * @brief Check whether it is pressed, or on.
-     *
-     * @return The state.
-     */
-    bool is_active() const { return this->active; }
-
-    /**
-     * @brief Get the name.
-     *
-     * @return The name.
-     */
-    const std::string& name() const { return this->config.name; }
-
-    /**
-     * @brief Get the recorded column: the state.
-     *
-     * @return Column names.
-     */
-    std::vector<std::string> columns() const override;
-
-    /**
-     * @brief Append the state.
-     *
-     * @param row Row being built.
-     */
-    void append(std::vector<CsvCell>& row) const override;
-
-private:
-    Config config;
-    bool   active{false};
-};
 }  // namespace micras::sim
 
 #endif  // MICRAS_SIM_DEVICES_SERIAL_LINK_HPP
diff --git a/engine/include/micras/sim/devices/wall_sensors.hpp b/engine/include/micras/sim/devices/wall_sensors.hpp
index 1b4ead3..e568268 100644
--- a/engine/include/micras/sim/devices/wall_sensors.hpp
+++ b/engine/include/micras/sim/devices/wall_sensors.hpp
@@ -25,8 +25,9 @@ namespace micras::sim {
  * @note The emitters fire in groups: every scan period one group is lit and every
  *       receiver is converted, the lit group's own receivers reading their
  *       emitter and the others reading whatever the lit group throws their way,
- *       which is the cross-talk. The sequence the firmware sees is one scan per
- *       group, in group order, and completes after the last one.
+ *       which is the cross-talk. There are two groups, so the other group's scan
+ *       is each sensor's dark reading. The sequence the firmware sees is one scan
+ *       per group, in group order, and completes after the second one.
  *
  * @note Light model: each emitter is a cone of rays whose intensity falls off as
  *       2^-(angle / half angle)^2 around its axis, down to 2.5 half angles. Each
@@ -77,23 +78,17 @@ class WallSensors : public Device {
 
         /**
          * @brief Reflectance of an arena geom, by id.
+         *
+         * @note The rays pass through the geoms of MujocoWorld::unseen_group.
          */
         std::function<double(int)> reflectance;
-
-        /**
-         * @brief Geom group of the robot itself, which the rays pass through.
-         */
-        int robot_group;
-
-        /**
-         * @brief Geom group of what is only paint on the arena, which the rays pass through too.
-         */
-        int paint_group;
     };
 
     /**
      * @brief Find the sites and lay out the ray cone.
      *
+     * @note Throws unless the sensors fall in exactly two groups.
+     *
      * @param world Loaded world.
      * @param config The sensors.
      * @param noise The run's noise settings.
@@ -122,16 +117,6 @@ class WallSensors : public Device {
      */
     void append(std::vector<CsvCell>& row) const override;
 
-    /**
-     * @brief Compute the irradiance one emitter puts on one receiver.
-     *
-     * @param world The world.
-     * @param emitter Index of the emitting sensor.
-     * @param receiver Index of the receiving sensor.
-     * @return Irradiance in W/m^2.
-     */
-    double irradiance(MujocoWorld& world, std::size_t emitter, std::size_t receiver);
-
 private:
     /**
      * @brief One ray of an emitter's cone, in the emitter's frame.
@@ -146,11 +131,22 @@ class WallSensors : public Device {
      */
     static constexpr double cutoff{0.5};
 
+    /**
+     * @brief Compute the irradiance one emitter puts on one receiver.
+     *
+     * @param world The world.
+     * @param emitter Index of the emitting sensor.
+     * @param receiver Index of the receiving sensor.
+     * @return Irradiance in W/m^2.
+     */
+    double irradiance(MujocoWorld& world, std::size_t emitter, std::size_t receiver);
+
     Config                 config;
     Noise                  noise;
     std::vector<int>       emitter_sites;
     std::vector<int>       receiver_sites;
     std::vector<Ray>       rays;
+    std::array<int, 2>     groups{};
     std::vector<uint32_t>  counts;
     std::vector<double>    intensities;
     std::array<uint8_t, 6> geom_groups{};
diff --git a/engine/include/micras/sim/recording/csv_recorder.hpp b/engine/include/micras/sim/recording/csv_recorder.hpp
index 14618b7..9bde86e 100644
--- a/engine/include/micras/sim/recording/csv_recorder.hpp
+++ b/engine/include/micras/sim/recording/csv_recorder.hpp
@@ -61,13 +61,6 @@ class CsvRecorder : public IRunListener {
      */
     void on_after_tick(const Simulation& simulation) override;
 
-    /**
-     * @brief Get the robot body height sampled on the last row.
-     *
-     * @return Height of the robot body origin in meters.
-     */
-    double last_z() const { return this->ground_truth.last_z(); }
-
 private:
     /**
      * @brief Ask every source for its names and write the header.
diff --git a/engine/include/micras/sim/recording/event_log.hpp b/engine/include/micras/sim/recording/event_log.hpp
index 2cec3a1..bcfc595 100644
--- a/engine/include/micras/sim/recording/event_log.hpp
+++ b/engine/include/micras/sim/recording/event_log.hpp
@@ -25,8 +25,8 @@ namespace micras::sim {
  * @brief Logs collisions and state changes every tick, for meta.json.
  *
  * @note A collision is a watched geom starting to touch anything but an ignored
- *       geom, such as the floor, after having been clear of everything for at
- *       least min_separation: a chassis pressed against a wall makes and breaks
+ *       geom, such as the floor, after having been clear of everything but the
+ *       ignored geoms for at least min_separation: a chassis pressed against a wall makes and breaks
  *       contact every few steps, and that is one collision, not hundreds. A
  *       state change is a watched variable taking a
  *       new value, named from its table when it has one. The log keeps the first
@@ -35,14 +35,6 @@ namespace micras::sim {
  */
 class EventLog : public IRunListener {
 public:
-    /**
-     * @brief A variable whose changes are logged.
-     */
-    struct WatchedState {
-        std::string              variable;
-        std::vector<std::string> names;
-    };
-
     /**
      * @brief Most entries kept.
      */
@@ -58,19 +50,10 @@ class EventLog : public IRunListener {
      *
      * @param geoms Ids of the geoms whose collisions are logged.
      * @param ignored Ids of the geoms touching which is not a collision.
-     * @param states Variables whose changes are logged.
+     * @param states Variables whose changes are logged, with the names of their values.
      * @param variables Where the variables are read, or null.
      */
-    EventLog(
-        std::vector<int> geoms, std::set<int> ignored, std::vector<WatchedState> states, const VariableSource* variables
-    );
-
-    /**
-     * @brief Log a variable's changes too.
-     *
-     * @param state The variable and the names of its values.
-     */
-    void watch(WatchedState state);
+    EventLog(std::vector<int> geoms, std::set<int> ignored, StateNames states, const VariableSource* variables);
 
     /**
      * @brief Look for new contacts and new states.
@@ -119,7 +102,7 @@ class EventLog : public IRunListener {
 
     std::vector<int>                   geoms;
     std::set<int>                      ignored;
-    std::vector<WatchedState>          states;
+    StateNames                         states;
     const VariableSource*              variables;
     std::vector<double>                last_touch;
     std::vector<std::optional<double>> last_values;
diff --git a/engine/include/micras/sim/recording/ground_truth.hpp b/engine/include/micras/sim/recording/ground_truth.hpp
index f6e717e..643b6d9 100644
--- a/engine/include/micras/sim/recording/ground_truth.hpp
+++ b/engine/include/micras/sim/recording/ground_truth.hpp
@@ -17,32 +17,22 @@
 #include "micras/sim/recording/csv_writer.hpp"
 
 namespace micras::sim {
-/**
- * @brief Body axis the robot drives along, which v_forward projects onto.
- */
-enum class ForwardAxis : uint8_t {
-    X,
-    Y,
-};
-
 /**
  * @brief Quantity one ground truth column reads.
  *
  * @note Joint probes name a joint, actuator probes an actuator and contact
- *       probes a geom. The last three read the whole world and take no object.
+ *       probes a geom. The solver iterations read the whole world and take no
+ *       object.
  */
 enum class Probe : uint8_t {
     JOINT_VELOCITY,
     JOINT_POSITION,
-    ACTUATOR_CONTROL,
     ACTUATOR_FORCE,
     CONTACT_COUNT,
     CONTACT_NORMAL_FORCE,
     CONTACT_SLIP,
     CONTACT_PENETRATION,
-    CONTACT_TOTAL,
     SOLVER_ITERATIONS,
-    WARNINGS_TOTAL,
 };
 
 /**
@@ -74,11 +64,6 @@ struct GroundTruthConfig {
      */
     std::string body;
 
-    /**
-     * @brief Body axis the robot drives along.
-     */
-    ForwardAxis forward_axis{ForwardAxis::X};
-
     /**
      * @brief Columns written after the body pose and velocity, in this order.
      */
@@ -96,8 +81,7 @@ struct GroundTruthConfig {
  *       the three linear dofs are expressed in the world frame, the three
  *       angular dofs in the body frame. The columns are named accordingly
  *       (vx_world, vy_world, vz_world, wz_body) and v_forward projects the
- *       world linear velocity onto the body forward axis. This is the one class
- *       that indexes the MuJoCo C arrays directly.
+ *       world linear velocity onto the body's x axis, which is forward.
  */
 class GroundTruth {
 public:
@@ -105,7 +89,7 @@ class GroundTruth {
      * @brief Resolve every model id the columns need.
      *
      * @param world Loaded simulation world.
-     * @param config Robot body, forward axis and columns.
+     * @param config Robot body and columns.
      */
     GroundTruth(const MujocoWorld& world, GroundTruthConfig config);
 
@@ -132,13 +116,6 @@ class GroundTruth {
      */
     static int64_t warnings_total(const MujocoWorld& world);
 
-    /**
-     * @brief Get the robot body height sampled on the last row.
-     *
-     * @return Height of the robot body origin in meters.
-     */
-    double last_z() const { return this->last_body_z; }
-
 private:
     /**
      * @brief Per-geom contact statistics for a single step.
@@ -204,7 +181,7 @@ class GroundTruth {
     const MujocoWorld& world;  // NOLINT(*-avoid-const-or-ref-data-members)
 
     /**
-     * @brief Robot body, forward axis and columns.
+     * @brief Robot body and columns.
      */
     GroundTruthConfig config;
 
@@ -227,11 +204,6 @@ class GroundTruth {
      * @brief Contact statistics of the current row, per geom id.
      */
     std::unordered_map<int, ContactStats> row_contacts;
-
-    /**
-     * @brief Height of the robot body origin on the last sampled row.
-     */
-    double last_body_z{0.0};
 };
 }  // namespace micras::sim
 
diff --git a/engine/include/micras/sim/robot/robot_description.hpp b/engine/include/micras/sim/robot/robot_description.hpp
index a9dff40..2269b81 100644
--- a/engine/include/micras/sim/robot/robot_description.hpp
+++ b/engine/include/micras/sim/robot/robot_description.hpp
@@ -97,7 +97,6 @@ struct DriveDescription {
     double gear_ratio{};
     double gear_efficiency{};
     double supply_voltage{};
-    double max_motor_speed{};
 
     /**
      * @brief Resistance a motor current flows through: winding and bridge.
@@ -121,9 +120,9 @@ struct ImuDescription {
     Vector3 position{};
 
     /**
-     * @brief The chip's x, y and z axes, expressed in the robot frame.
+     * @brief The chip's x and y axes, expressed in the robot frame; z is their cross product.
      */
-    std::array<Vector3, 3> axes{};
+    std::array<Vector3, 2> axes{};
 
     double gyro_noise_density{};
     double gyro_bias{};
@@ -160,7 +159,7 @@ struct WallSensorDescription {
     /**
      * @brief Sensitivity of this pair relative to the nominal optics: part spread and alignment.
      */
-    double gain{1.0};
+    double gain{};
 };
 
 /**
@@ -189,7 +188,6 @@ struct WallSensorsDescription {
 struct BatteryDescription {
     int    cells{};
     double cell_voltage{};
-    double cell_resistance{};
 };
 
 /**
@@ -206,15 +204,6 @@ struct IntegrationDescription {
     double timestep{};
 };
 
-/**
- * @brief One value of the file with where it came from, for reports.
- */
-struct Provenance {
-    std::string key;
-    std::string value;
-    std::string source;
-};
-
 /**
  * @brief Everything physical about one robot.
  *
@@ -242,11 +231,6 @@ struct RobotDescription {
     BatteryDescription     battery;
     LinkDescription        link;
 
-    /**
-     * @brief Every value read, in file order, with its source.
-     */
-    std::vector<Provenance> provenance;
-
     /**
      * @brief Read and check a description.
      *
diff --git a/engine/include/micras/sim/robot/robot_model.hpp b/engine/include/micras/sim/robot/robot_model.hpp
index 46277da..9214e6c 100644
--- a/engine/include/micras/sim/robot/robot_model.hpp
+++ b/engine/include/micras/sim/robot/robot_model.hpp
@@ -34,12 +34,8 @@ struct RobotModelNames {
     std::string imu{"imu"};
     std::string gyro{"imu_gyro"};
     std::string accelerometer{"imu_accelerometer"};
-    ///@}
 
-    /**
-     * @brief Geom group every robot geom is in, which range sensors skip.
-     */
-    static constexpr int robot_group{3};
+    ///@}
 
     /**
      * @brief Get the names a description's model uses.
@@ -59,13 +55,9 @@ struct RobotModelNames {
  *       the electrical part implicitly. The rotor inertia reflected through the
  *       gears is the wheel joint's armature, and the brushes' friction, the
  *       no-load current times the torque constant, its friction loss. The fan's
- *       downforce is a force actuator on a site, pulling straight down: its
- *       reference is a site fixed in the world. The suction pulls normal to the
- *       board, but the board tilts onto its front edge with the fan on, and
- *       the few percent of the pull that the tilt turns backwards is held on
- *       the robot by the friction of that edge. The skids that stand in for the
- *       edges are frictionless, so a pull along the tilted board would roll the
- *       robot backwards while it waits for the fan.
+ *       downforce is a force actuator pulling straight down, its reference a
+ *       site fixed in the world, so the board tilted onto its nose adds no
+ *       backward pull that the frictionless skids could not hold.
  *
  * @param robot The description.
  * @return The MJCF text.
diff --git a/engine/include/micras/sim/scenario/scenario.hpp b/engine/include/micras/sim/scenario/scenario.hpp
index ab3c969..ea14d89 100644
--- a/engine/include/micras/sim/scenario/scenario.hpp
+++ b/engine/include/micras/sim/scenario/scenario.hpp
@@ -7,7 +7,6 @@
 #ifndef MICRAS_SIM_SCENARIO_SCENARIO_HPP
 #define MICRAS_SIM_SCENARIO_SCENARIO_HPP
 
-#include <array>
 #include <cstdint>
 #include <filesystem>
 #include <map>
@@ -21,7 +20,7 @@
 #include "micras/sim/core/simulation.hpp"
 #include "micras/sim/core/variable_source.hpp"
 #include "micras/sim/devices/device.hpp"
-#include "micras/sim/devices/serial_link.hpp"
+#include "micras/sim/devices/digital_input.hpp"
 
 namespace micras::sim {
 /**
@@ -39,17 +38,15 @@ struct ScenarioEvent {
         PRESS,
         SET,
         SEND,
-        PUSH,
     };
 
-    Kind                  kind{Kind::PRESS};
-    double                at{0.0};
-    double                duration{0.0};
-    std::string           target;
-    bool                  value{false};
-    std::array<double, 3> force{};
-    std::string           when;
-    std::string           equals;
+    Kind        kind{Kind::PRESS};
+    double      at{0.0};
+    double      duration{0.0};
+    std::string target;
+    bool        value{false};
+    std::string when;
+    std::string equals;
 };
 
 /**
@@ -73,8 +70,8 @@ struct StopCondition {
  * @note The file names the arena, the duration, the seed and optionally the
  *       robot and its start pose; then a timeline of events, and optionally a
  *       stop condition. Events act on what the robot target exposes: its named
- *       inputs (press, set), its named link messages (send), and its body (push).
- *       Command line options override the file's arena, duration and seed.
+ *       inputs (press, set) and its named link messages (send). Command line
+ *       options override the file's arena, duration and seed.
  */
 struct Scenario {
     std::string                           robot;
@@ -104,46 +101,7 @@ struct Scenario {
 };
 
 /**
- * @brief Pushes the robot's body with a force, while a push lasts.
- *
- * @note A device, so the force is applied after every listener ran and removed
- *       exactly when it ends, whatever else writes applied forces.
- */
-class Pusher : public Device {
-public:
-    /**
-     * @brief Find the body.
-     *
-     * @param world Loaded world.
-     * @param body Body to push.
-     */
-    Pusher(const MujocoWorld& world, const std::string& body);
-
-    /**
-     * @brief Push until a tick.
-     *
-     * @param force Force in the world frame, in newtons.
-     * @param until First tick without the force.
-     */
-    void push(const std::array<double, 3>& force, uint64_t until);
-
-    /**
-     * @brief Apply this tick's force.
-     *
-     * @param world World about to be advanced.
-     * @param clock Clock of the run.
-     */
-    void actuate(MujocoWorld& world, const Clock& clock) override;
-
-private:
-    int                   body_id;
-    std::array<double, 3> force{};
-    std::array<double, 3> applied{};
-    uint64_t              until{0};
-};
-
-/**
- * @brief What a robot target exposes to scenarios and to the panel.
+ * @brief What a robot target exposes to scenarios.
  */
 struct ScenarioHooks {
     /**
@@ -157,17 +115,17 @@ struct ScenarioHooks {
     std::map<std::string, std::vector<uint8_t>, std::less<>> messages;
 
     /**
-     * @brief Names of the values of state variables, for stop conditions.
+     * @brief Names of the values of state variables, for conditions and the event log.
      */
-    std::map<std::string, std::vector<std::string>, std::less<>> state_names;
+    StateNames state_names;
 };
 
 /**
  * @brief Plays a scenario's timeline into the run and stops it when its condition holds.
  *
- * @note Writes inputs, the link and the push only, never the physics state or the
- *       clock, so a scripted run is a run a human could have driven by hand. Once
- *       a human takes the board over from the panel it stops touching inputs.
+ * @note Writes inputs and the link only, never the physics state or the clock,
+ *       so a scripted run is a run a human could have driven by hand. Once a
+ *       human takes the board over from the panel it stops touching inputs.
  */
 class ScenarioPlayer : public IRunListener {
 public:
@@ -177,13 +135,9 @@ class ScenarioPlayer : public IRunListener {
      * @param scenario The scenario.
      * @param hooks What the robot exposes.
      * @param serial The link's world side.
-     * @param pusher The robot's pusher.
      * @param variables Where stop conditions read, or null.
      */
-    ScenarioPlayer(
-        Scenario scenario, const ScenarioHooks& hooks, SerialBus& serial, Pusher& pusher,
-        const VariableSource* variables
-    );
+    ScenarioPlayer(Scenario scenario, const ScenarioHooks& hooks, SerialBus& serial, const VariableSource* variables);
 
     /**
      * @brief Apply the events of this tick and check the stop condition.
@@ -233,7 +187,7 @@ class ScenarioPlayer : public IRunListener {
      * @brief Check the stop condition.
      *
      * @param now Simulated time in seconds.
-     * @return QUIT once the condition holds for the counted time or takes an abort value.
+     * @return QUIT once the condition is reached for the count-th time or takes an abort value.
      */
     RunControl check_stop(double now);
 
@@ -249,7 +203,6 @@ class ScenarioPlayer : public IRunListener {
     Scenario              scenario;
     const ScenarioHooks&  hooks;   // NOLINT(*-avoid-const-or-ref-data-members): the target outlives the run.
     SerialBus&            serial;  // NOLINT(*-avoid-const-or-ref-data-members): the run's bus.
-    Pusher&               pusher;  // NOLINT(*-avoid-const-or-ref-data-members): owned by the run's devices.
     const VariableSource* variables;
     std::vector<Release>  releases;
     std::size_t           next_event{0};
diff --git a/engine/src/core/clock.cpp b/engine/src/core/clock.cpp
index ec6e740..3394ca2 100644
--- a/engine/src/core/clock.cpp
+++ b/engine/src/core/clock.cpp
@@ -44,8 +44,8 @@ void Clock::advance() {
     this->ticks++;
 }
 
-uint64_t Clock::total_ticks(double seconds, uint32_t us_per_tick) {
-    return static_cast<uint64_t>(seconds * 1e6 / us_per_tick);
+uint64_t Clock::total_ticks(double seconds) const {
+    return static_cast<uint64_t>(seconds * 1e6 / this->tick_us);
 }
 
 uint64_t Clock::tick_at(double seconds) const {
diff --git a/engine/src/core/mujoco_world.cpp b/engine/src/core/mujoco_world.cpp
index 716430b..0dbed43 100644
--- a/engine/src/core/mujoco_world.cpp
+++ b/engine/src/core/mujoco_world.cpp
@@ -170,6 +170,22 @@ int MujocoWorld::sensor_address(const std::string& name) const {
     return addresses[static_cast<std::size_t>(id)];
 }
 
+int MujocoWorld::joint_dof(const std::string& name) const {
+    const int                  id = this->require_id(mjOBJ_JOINT, name);
+    const std::span<const int> addresses(
+        this->model_handle->jnt_dofadr, static_cast<std::size_t>(this->model_handle->njnt)
+    );
+    return addresses[static_cast<std::size_t>(id)];
+}
+
+int MujocoWorld::joint_qpos(const std::string& name) const {
+    const int                  id = this->require_id(mjOBJ_JOINT, name);
+    const std::span<const int> addresses(
+        this->model_handle->jnt_qposadr, static_cast<std::size_t>(this->model_handle->njnt)
+    );
+    return addresses[static_cast<std::size_t>(id)];
+}
+
 double MujocoWorld::sensor_value(int address) const {
     this->require_loaded();
     const std::span<const mjtNum> readings(
diff --git a/engine/src/core/serial_bus.cpp b/engine/src/core/serial_bus.cpp
index 2331109..78ddfa1 100644
--- a/engine/src/core/serial_bus.cpp
+++ b/engine/src/core/serial_bus.cpp
@@ -18,10 +18,7 @@ void SerialBus::remove_listener(const ISerialListener& listener) {
 }
 
 void SerialBus::send_from_firmware(std::span<const uint8_t> bytes) {
-    this->sent += bytes.size();
-    const std::vector<ISerialListener*> delivering = this->listeners;
-
-    for (ISerialListener* listener : delivering) {
+    for (ISerialListener* listener : this->listeners) {
         listener->on_firmware_bytes(bytes);
     }
 }
diff --git a/engine/src/devices/dc_motor.cpp b/engine/src/devices/dc_motor.cpp
index 607ca5d..338bd95 100644
--- a/engine/src/devices/dc_motor.cpp
+++ b/engine/src/devices/dc_motor.cpp
@@ -10,24 +10,10 @@
 #include "micras/sim/devices/dc_motor.hpp"
 
 namespace micras::sim {
-namespace {
-/**
- * @brief Find where a joint's first velocity dof sits in qvel.
- *
- * @param world The world.
- * @param joint Name of the joint.
- * @return The joint's dof address.
- */
-int dof_address(const MujocoWorld& world, const std::string& joint) {
-    const std::span<const int> addresses(world.model()->jnt_dofadr, static_cast<std::size_t>(world.model()->njnt));
-    return addresses[static_cast<std::size_t>(world.require_id(mjOBJ_JOINT, joint))];
-}
-}  // namespace
-
 DcMotor::DcMotor(const MujocoWorld& world, Config config) :
     config{std::move(config)},
     actuator_id{world.require_id(mjOBJ_ACTUATOR, this->config.actuator)},
-    velocity_address{dof_address(world, this->config.joint)} { }
+    velocity_address{world.joint_dof(this->config.joint)} { }
 
 void DcMotor::actuate(MujocoWorld& world, const Clock& /*clock*/) {
     const DriveDescription&       drive = this->config.drive;
diff --git a/engine/src/devices/digital_input.cpp b/engine/src/devices/digital_input.cpp
new file mode 100644
index 0000000..4007f2e
--- /dev/null
+++ b/engine/src/devices/digital_input.cpp
@@ -0,0 +1,26 @@
+/**
+ * @file
+ */
+
+#include <utility>
+
+#include "micras/sim/devices/digital_input.hpp"
+
+namespace micras::sim {
+DigitalInput::DigitalInput(Config config) : config{std::move(config)} {
+    this->set(false);
+}
+
+void DigitalInput::set(bool active) {
+    this->active = active;
+    this->config.drive(active != this->config.active_low);
+}
+
+std::vector<std::string> DigitalInput::columns() const {
+    return {this->config.name};
+}
+
+void DigitalInput::append(std::vector<CsvCell>& row) const {
+    row.emplace_back(static_cast<int64_t>(this->active));
+}
+}  // namespace micras::sim
diff --git a/engine/src/devices/power.cpp b/engine/src/devices/power.cpp
index 24daa3a..fbbe41b 100644
--- a/engine/src/devices/power.cpp
+++ b/engine/src/devices/power.cpp
@@ -30,10 +30,6 @@ Battery::Battery(Config config, const NoiseConfig& noise) :
     terminal_voltage{this->config.description.cells * this->config.description.cell_voltage} { }
 
 void Battery::sample(MujocoWorld& /*world*/, const Clock& /*clock*/) {
-    const BatteryDescription& pack = this->config.description;
-    const double              load = this->config.load_current ? this->config.load_current() : 0.0;
-
-    this->terminal_voltage = pack.cells * (pack.cell_voltage - pack.cell_resistance * load);
     this->config.write(to_counts(
         this->terminal_voltage / this->config.divider, this->config.adc_reference, this->config.adc_max_counts,
         this->noise.gaussian(this->config.adc_noise_counts)
diff --git a/engine/src/devices/quadrature_encoder.cpp b/engine/src/devices/quadrature_encoder.cpp
index 030831c..66b50b6 100644
--- a/engine/src/devices/quadrature_encoder.cpp
+++ b/engine/src/devices/quadrature_encoder.cpp
@@ -11,22 +11,8 @@
 #include "micras/sim/devices/quadrature_encoder.hpp"
 
 namespace micras::sim {
-namespace {
-/**
- * @brief Find where a joint's first position coordinate sits in qpos.
- *
- * @param world The world.
- * @param joint Name of the joint.
- * @return The joint's qpos address.
- */
-int qpos_address(const MujocoWorld& world, const std::string& joint) {
-    const std::span<const int> addresses(world.model()->jnt_qposadr, static_cast<std::size_t>(world.model()->njnt));
-    return addresses[static_cast<std::size_t>(world.require_id(mjOBJ_JOINT, joint))];
-}
-}  // namespace
-
 QuadratureEncoder::QuadratureEncoder(const MujocoWorld& world, Config config) :
-    config{std::move(config)}, position_address{qpos_address(world, this->config.joint)} { }
+    config{std::move(config)}, position_address{world.joint_qpos(this->config.joint)} { }
 
 void QuadratureEncoder::sample(MujocoWorld& world, const Clock& /*clock*/) {
     const std::span<const mjtNum> positions(world.data()->qpos, static_cast<std::size_t>(world.model()->nq));
diff --git a/engine/src/devices/serial_link.cpp b/engine/src/devices/serial_link.cpp
index a29f866..bd2b2ee 100644
--- a/engine/src/devices/serial_link.cpp
+++ b/engine/src/devices/serial_link.cpp
@@ -47,21 +47,4 @@ void SerialLink::sample(MujocoWorld& /*world*/, const Clock& clock) {
         this->receive_budget -= 1.0;
     }
 }
-
-DigitalInput::DigitalInput(Config config) : config{std::move(config)} {
-    this->set(false);
-}
-
-void DigitalInput::set(bool active) {
-    this->active = active;
-    this->config.drive(active != this->config.active_low);
-}
-
-std::vector<std::string> DigitalInput::columns() const {
-    return {this->config.name};
-}
-
-void DigitalInput::append(std::vector<CsvCell>& row) const {
-    row.emplace_back(static_cast<int64_t>(this->active));
-}
 }  // namespace micras::sim
diff --git a/engine/src/devices/wall_sensors.cpp b/engine/src/devices/wall_sensors.cpp
index b3da2f4..f069551 100644
--- a/engine/src/devices/wall_sensors.cpp
+++ b/engine/src/devices/wall_sensors.cpp
@@ -7,6 +7,7 @@
 #include <numbers>
 #include <set>
 #include <span>
+#include <stdexcept>
 #include <utility>
 
 #include "micras/sim/devices/wall_sensors.hpp"
@@ -78,9 +79,19 @@ WallSensors::WallSensors(const MujocoWorld& world, Config config, const NoiseCon
         this->rays.push_back({{ray[0], ray[1], ray[2]}, ray[3]});
     }
 
+    std::set<int> group_ids;
+
+    for (const WallSensorDescription& sensor : optics.sensors) {
+        group_ids.insert(sensor.group);
+    }
+
+    if (group_ids.size() != this->groups.size()) {
+        throw std::runtime_error(this->config.name + ": the emitters must fire in two groups");
+    }
+
+    std::ranges::copy(group_ids, this->groups.begin());
     std::ranges::fill(this->geom_groups, 1);
-    this->geom_groups.at(static_cast<std::size_t>(this->config.robot_group)) = 0;
-    this->geom_groups.at(static_cast<std::size_t>(this->config.paint_group)) = 0;
+    this->geom_groups.at(MujocoWorld::unseen_group) = 0;
     this->counts.assign(2 * optics.sensors.size(), 0);
     this->intensities.assign(optics.sensors.size(), 0.0);
     this->directions.resize(3 * this->rays.size());
@@ -167,15 +178,8 @@ void WallSensors::sample(MujocoWorld& world, const Clock& clock) {
 
     const WallSensorsDescription& optics = this->config.description;
     const std::size_t             sensors = optics.sensors.size();
-    std::set<int>                 group_ids;
-
-    for (const WallSensorDescription& sensor : optics.sensors) {
-        group_ids.insert(sensor.group);
-    }
-
-    const std::vector<int> groups(group_ids.begin(), group_ids.end());
-    const std::size_t      scan = this->scans % groups.size();
-    const int              lit = groups.at(scan);
+    const std::size_t             scan = this->scans % this->groups.size();
+    const int                     lit = this->groups.at(scan);
 
     for (std::size_t receiver = 0; receiver < sensors; receiver++) {
         double signal = 0.0;
@@ -199,12 +203,10 @@ void WallSensors::sample(MujocoWorld& world, const Clock& clock) {
 
     this->scans++;
 
-    if (scan + 1 == groups.size()) {
+    if (scan + 1 == this->groups.size()) {
         for (std::size_t sensor = 0; sensor < sensors; sensor++) {
-            const auto own = static_cast<std::size_t>(
-                std::distance(groups.begin(), std::ranges::find(groups, optics.sensors.at(sensor).group))
-            );
-            const std::size_t other = own == 0 ? 1 : 0;
+            const std::size_t own = optics.sensors.at(sensor).group == this->groups[0] ? 0 : 1;
+            const std::size_t other = 1 - own;
             this->intensities.at(sensor) = (static_cast<double>(this->counts.at(own * sensors + sensor)) -
                                             static_cast<double>(this->counts.at(other * sensors + sensor))) /
                                            optics.adc_max_counts;
diff --git a/engine/src/recording/event_log.cpp b/engine/src/recording/event_log.cpp
index 0207e60..7255e1d 100644
--- a/engine/src/recording/event_log.cpp
+++ b/engine/src/recording/event_log.cpp
@@ -33,9 +33,7 @@ int other_geom(const mjContact& contact, int geom) {
 }
 }  // namespace
 
-EventLog::EventLog(
-    std::vector<int> geoms, std::set<int> ignored, std::vector<WatchedState> states, const VariableSource* variables
-) :
+EventLog::EventLog(std::vector<int> geoms, std::set<int> ignored, StateNames states, const VariableSource* variables) :
     geoms{std::move(geoms)},
     ignored{std::move(ignored)},
     states{std::move(states)},
@@ -43,11 +41,6 @@ EventLog::EventLog(
     last_touch(this->geoms.size(), -std::numeric_limits<double>::infinity()),
     last_values(this->states.size()) { }
 
-void EventLog::watch(WatchedState state) {
-    this->states.push_back(std::move(state));
-    this->last_values.emplace_back();
-}
-
 void EventLog::add(RunEvent event) {
     if (this->logged.size() < max_events) {
         this->logged.push_back(std::move(event));
@@ -90,18 +83,20 @@ void EventLog::log_collisions(const mjModel* model, std::span<const mjContact> c
 }
 
 void EventLog::log_states(double now) {
-    for (std::size_t index = 0; index < this->states.size(); index++) {
-        const WatchedState& state = this->states[index];
-        const double        value = this->variables->value_of(state.variable);
+    std::size_t index = 0;
+
+    for (const auto& [variable, names] : this->states) {
+        const double           value = this->variables->value_of(variable);
+        std::optional<double>& last = this->last_values[index++];
 
-        if (std::isnan(value) or this->last_values[index] == value) {
+        if (std::isnan(value) or last == value) {
             continue;
         }
 
-        this->last_values[index] = value;
-        const bool  named = value >= 0.0 and value < static_cast<double>(state.names.size());
-        std::string name = named ? state.names[static_cast<std::size_t>(value)] : std::format("{}", value);
-        this->add({.time = now, .kind = state.variable, .detail = std::move(name)});
+        last = value;
+        const bool  named = value >= 0.0 and value < static_cast<double>(names.size());
+        std::string name = named ? names[static_cast<std::size_t>(value)] : std::format("{}", value);
+        this->add({.time = now, .kind = variable, .detail = std::move(name)});
     }
 }
 }  // namespace micras::sim
diff --git a/engine/src/recording/ground_truth.cpp b/engine/src/recording/ground_truth.cpp
index 9eb1aa3..88e2677 100644
--- a/engine/src/recording/ground_truth.cpp
+++ b/engine/src/recording/ground_truth.cpp
@@ -74,21 +74,18 @@ GroundTruth::GroundTruth(const MujocoWorld& world, GroundTruthConfig config) :
     config{std::move(config)},
     body_id{world.require_id(mjOBJ_BODY, this->config.body)},
     free_joint_qvel{free_joint_dof(world.model(), this->body_id, this->config.body)} {
-    const mjModel* model = world.model();
-
     for (const GroundTruthColumn& column : this->config.columns) {
         int address = 0;
 
         switch (column.probe) {
             case Probe::JOINT_VELOCITY:
-                address = model->jnt_dofadr[world.require_id(mjOBJ_JOINT, column.object)];
+                address = world.joint_dof(column.object);
                 break;
 
             case Probe::JOINT_POSITION:
-                address = model->jnt_qposadr[world.require_id(mjOBJ_JOINT, column.object)];
+                address = world.joint_qpos(column.object);
                 break;
 
-            case Probe::ACTUATOR_CONTROL:
             case Probe::ACTUATOR_FORCE:
                 address = world.require_id(mjOBJ_ACTUATOR, column.object);
                 break;
@@ -100,9 +97,7 @@ GroundTruth::GroundTruth(const MujocoWorld& world, GroundTruthConfig config) :
                 address = world.require_id(mjOBJ_GEOM, column.object);
                 break;
 
-            case Probe::CONTACT_TOTAL:
             case Probe::SOLVER_ITERATIONS:
-            case Probe::WARNINGS_TOTAL:
                 break;
         }
 
@@ -182,9 +177,6 @@ CsvCell GroundTruth::read(const ResolvedColumn& column) {
         case Probe::JOINT_POSITION:
             return data->qpos[column.address];
 
-        case Probe::ACTUATOR_CONTROL:
-            return data->ctrl[column.address];
-
         case Probe::ACTUATOR_FORCE:
             return data->actuator_force[column.address];
 
@@ -200,14 +192,8 @@ CsvCell GroundTruth::read(const ResolvedColumn& column) {
         case Probe::CONTACT_PENETRATION:
             return this->contacts_of(column.address).penetration;
 
-        case Probe::CONTACT_TOTAL:
-            return static_cast<int64_t>(data->ncon);
-
         case Probe::SOLVER_ITERATIONS:
             return static_cast<int64_t>(data->solver_niter[0]);
-
-        case Probe::WARNINGS_TOTAL:
-            return warnings_total(this->world);
     }
 
     throw std::logic_error("unknown ground truth probe");
@@ -219,11 +205,7 @@ std::vector<CsvCell> GroundTruth::sample(uint64_t tick) {
     const auto    euler = to_euler(data->xquat + 4L * this->body_id);
     const mjtNum* velocity = data->qvel + this->free_joint_qvel;
 
-    this->last_body_z = position[2];
-
-    const double forward_speed = this->config.forward_axis == ForwardAxis::Y ?
-                                     -velocity[0] * std::sin(euler[2]) + velocity[1] * std::cos(euler[2]) :
-                                     velocity[0] * std::cos(euler[2]) + velocity[1] * std::sin(euler[2]);
+    const double forward_speed = velocity[0] * std::cos(euler[2]) + velocity[1] * std::sin(euler[2]);
 
     std::vector<CsvCell> cells{
         tick,     data->time,  position[0], position[1], position[2], euler[0],      euler[1],
diff --git a/engine/src/robot/robot_description.cpp b/engine/src/robot/robot_description.cpp
index 432252b..319c403 100644
--- a/engine/src/robot/robot_description.cpp
+++ b/engine/src/robot/robot_description.cpp
@@ -4,16 +4,15 @@
 
 #include <cmath>
 #include <format>
-#include <fstream>
 #include <numbers>
 #include <optional>
 #include <set>
-#include <sstream>
 #include <stdexcept>
 #include <utility>
 
 #include <toml++/toml.hpp>
 
+#include "micras/sim/core/text_file.hpp"
 #include "micras/sim/robot/robot_description.hpp"
 
 namespace micras::sim {
@@ -33,10 +32,8 @@ class Section {
      *
      * @param table Table to read.
      * @param path Dotted path of the table, for messages.
-     * @param provenance Where every value read is recorded.
      */
-    Section(const toml::table& table, std::string path, std::vector<Provenance>& provenance) :
-        table{&table}, path{std::move(path)}, provenance{provenance} { }
+    Section(const toml::table& table, std::string path) : table{&table}, path{std::move(path)} { }
 
     /**
      * @brief Read a number.
@@ -48,7 +45,6 @@ class Section {
         const toml::node& node = this->value(key);
 
         if (const auto number = node.value<double>(); number.has_value()) {
-            this->record(key, std::format("{}", *number));
             return *number;
         }
 
@@ -73,7 +69,6 @@ class Section {
         const toml::node& node = this->value(key);
 
         if (const auto number = node.value<int64_t>(); number.has_value() and node.is_integer()) {
-            this->record(key, std::to_string(*number));
             return *number;
         }
 
@@ -90,7 +85,6 @@ class Section {
         const toml::node& node = this->value(key);
 
         if (const auto text = node.value<std::string>(); text.has_value()) {
-            this->record(key, *text);
             return *text;
         }
 
@@ -122,7 +116,6 @@ class Section {
         }
 
         std::vector<std::array<double, 2>> points;
-        std::string                        text;
 
         for (const toml::node& point : *array) {
             const toml::array* pair = point.as_array();
@@ -139,10 +132,8 @@ class Section {
             }
 
             points.push_back({*x, *y});
-            text += std::format("[{}, {}] ", points.back()[0], points.back()[1]);
         }
 
-        this->record(key, text);
         return points;
     }
 
@@ -160,7 +151,7 @@ class Section {
             throw std::runtime_error(std::format("{}: [{}] is missing", this->where(), this->child(key)));
         }
 
-        return {*table, this->child(key), this->provenance};
+        return {*table, this->child(key)};
     }
 
     /**
@@ -185,7 +176,7 @@ class Section {
                 throw std::runtime_error(std::format("{}: {} must be an array of tables", this->where(), key));
             }
 
-            sections.emplace_back(*table, std::format("{}[{}]", this->child(key), i), this->provenance);
+            sections.emplace_back(*table, std::format("{}[{}]", this->child(key), i));
         }
 
         return sections;
@@ -217,8 +208,6 @@ class Section {
             throw std::runtime_error(std::format("{}: {} is missing", this->where(), this->child(key)));
         }
 
-        this->last_source.clear();
-
         if (const toml::table* sourced = node->as_table(); sourced != nullptr) {
             const toml::node* value = sourced->get("value");
             const auto* const source = sourced->get_as<std::string>("source");
@@ -227,7 +216,6 @@ class Section {
                 throw this->error(key, "a value or a { value = ..., source = \"...\" } table");
             }
 
-            this->last_source = source->get();
             return *value;
         }
 
@@ -249,7 +237,6 @@ class Section {
         }
 
         std::vector<double> numbers;
-        std::string         text;
 
         for (const toml::node& element : *array) {
             const std::optional<double> number = element.value<double>();
@@ -259,23 +246,11 @@ class Section {
             }
 
             numbers.push_back(*number);
-            text += std::format("{} ", numbers.back());
         }
 
-        this->record(key, text);
         return numbers;
     }
 
-    /**
-     * @brief Record a value read, with its source.
-     *
-     * @param key Key in this table.
-     * @param text The value, as text.
-     */
-    void record(std::string_view key, std::string text) {
-        this->provenance.push_back({this->child(key), std::move(text), this->last_source});
-    }
-
     /**
      * @brief Build an error for a value of the wrong kind.
      *
@@ -307,11 +282,9 @@ class Section {
         return source.path == nullptr ? std::string{"robot.toml"} : std::string{*source.path};
     }
 
-    const toml::table*       table;
-    std::string              path;
-    std::vector<Provenance>& provenance;  // NOLINT(*-avoid-const-or-ref-data-members): outlives every section.
-    std::set<std::string>    used;
-    std::string              last_source;
+    const toml::table*    table;
+    std::string           path;
+    std::set<std::string> used;
 };
 
 /**
@@ -435,7 +408,6 @@ void read_components(Section& root, RobotDescription& robot) {
         .gear_ratio = drive.number("gear_ratio"),
         .gear_efficiency = drive.number("gear_efficiency"),
         .supply_voltage = drive.number("supply_voltage"),
-        .max_motor_speed = drive.number("max_motor_speed"),
     };
     drive.finish();
 
@@ -446,7 +418,7 @@ void read_components(Section& root, RobotDescription& robot) {
     Section imu = root.section("imu");
     robot.imu = {
         .position = imu.vector3("position"),
-        .axes = {imu.vector3("chip_x"), imu.vector3("chip_y"), imu.vector3("chip_z")},
+        .axes = {imu.vector3("chip_x"), imu.vector3("chip_y")},
         .gyro_noise_density = imu.number("gyro_noise_density"),
         .gyro_bias = imu.number("gyro_bias"),
         .gyro_scale_error = imu.number("gyro_scale_error"),
@@ -473,7 +445,6 @@ void read_components(Section& root, RobotDescription& robot) {
     robot.battery = {
         .cells = static_cast<int>(battery.integer("cells")),
         .cell_voltage = battery.number("cell_voltage"),
-        .cell_resistance = battery.number("cell_resistance"),
     };
     battery.finish();
 
@@ -484,15 +455,7 @@ void read_components(Section& root, RobotDescription& robot) {
 }  // namespace
 
 RobotDescription RobotDescription::load(const std::filesystem::path& path) {
-    std::ifstream file(path);
-
-    if (not file.is_open()) {
-        throw std::runtime_error("cannot read the robot description " + path.string());
-    }
-
-    std::ostringstream text;
-    text << file.rdbuf();
-    return parse(text.str(), path.string());
+    return parse(read_text_file(path, "robot description"), path.string());
 }
 
 RobotDescription RobotDescription::parse(std::string_view text, const std::string& origin) {
@@ -505,7 +468,7 @@ RobotDescription RobotDescription::parse(std::string_view text, const std::strin
     }
 
     RobotDescription robot;
-    Section          root{table, "", robot.provenance};
+    Section          root{table, ""};
 
     const int64_t schema = root.integer("schema");
 
diff --git a/engine/src/robot/robot_model.cpp b/engine/src/robot/robot_model.cpp
index d4e2a8d..4379d8c 100644
--- a/engine/src/robot/robot_model.cpp
+++ b/engine/src/robot/robot_model.cpp
@@ -7,6 +7,7 @@
 #include <format>
 #include <string>
 
+#include "micras/sim/core/mujoco_world.hpp"
 #include "micras/sim/robot/robot_model.hpp"
 
 namespace micras::sim {
@@ -81,9 +82,8 @@ std::string chassis_geoms(const RobotDescription& robot, const RobotModelNames&
  * @note The tyre has sliding and torsional friction but no rolling friction
  *       (condim 4, not 6). MuJoCo's convex contact separates two surfaces in
  *       proportion to how fast their friction is slipping, and a rolling wheel
- *       keeps a rolling-friction constraint slipping all the time: with it the
- *       tyres lost the floor on 18 % of steps at 0.4 m/s and 55 % at 1.5 m/s, at
- *       any timestep. The same separation during a pivot, where the tyres really
+ *       keeps a rolling-friction constraint slipping all the time, so the tyre
+ *       would hop. The same separation during a pivot, where the tyres really
  *       do scrub, is absorbed by a soft enough tyre, which is part of why
  *       contact_time_constant is what it is.
  */
@@ -237,7 +237,7 @@ std::string robot_mjcf(const RobotDescription& robot) {
         "    <accelerometer name=\"{23}\" site=\"{24}\"/>\n"
         "  </sensor>\n"
         "</mujoco>\n",
-        robot.name, robot.integration.timestep, RobotModelNames::robot_group, board_vertices(robot), names.body,
+        robot.name, robot.integration.timestep, MujocoWorld::unseen_group, board_vertices(robot), names.body,
         text(chassis.center_of_mass), chassis.mass, text(chassis.inertia), chassis_geoms(robot, names),
         sites(robot, names), wheel_body(robot, names.left_wheel, 1.0), wheel_body(robot, names.right_wheel, -1.0),
         names.left_motor, names.right_motor, names.left_wheel, names.right_wheel, gain, -damping,
diff --git a/engine/src/scenario/scenario.cpp b/engine/src/scenario/scenario.cpp
index 7d12c1d..d4c5796 100644
--- a/engine/src/scenario/scenario.cpp
+++ b/engine/src/scenario/scenario.cpp
@@ -6,19 +6,18 @@
 #include <charconv>
 #include <cmath>
 #include <format>
-#include <fstream>
 #include <iostream>
 #include <limits>
 #include <memory>
 #include <numbers>
 #include <set>
 #include <span>
-#include <sstream>
 #include <stdexcept>
 #include <utility>
 
 #include <toml++/toml.hpp>
 
+#include "micras/sim/core/text_file.hpp"
 #include "micras/sim/scenario/scenario.hpp"
 
 namespace micras::sim {
@@ -138,15 +137,15 @@ StopCondition read_stop(const toml::table& table, const std::string& where) {
  * @return The event.
  */
 ScenarioEvent read_event(const toml::table& table, const std::string& where) {
-    refuse_unknown(table, {"at", "press", "for", "set", "value", "send", "push", "when", "equals"}, where);
+    refuse_unknown(table, {"at", "press", "for", "set", "value", "send", "when", "equals"}, where);
 
     ScenarioEvent event;
     event.at = require_number(table, "at", where);
     const int kinds = static_cast<int>(table.contains("press")) + static_cast<int>(table.contains("set")) +
-                      static_cast<int>(table.contains("send")) + static_cast<int>(table.contains("push"));
+                      static_cast<int>(table.contains("send"));
 
     if (kinds != 1) {
-        throw std::runtime_error(where + ": an event is exactly one of press, set, send or push");
+        throw std::runtime_error(where + ": an event is exactly one of press, set or send");
     }
 
     if (const auto press = table["press"].value<std::string>(); press.has_value()) {
@@ -163,23 +162,15 @@ ScenarioEvent read_event(const toml::table& table, const std::string& where) {
         }
 
         event.value = *value;
-    } else if (const auto send = table["send"].value<std::string>(); send.has_value()) {
-        event.kind = ScenarioEvent::Kind::SEND;
-        event.target = *send;
     } else {
-        const toml::array* force = table["push"].as_array();
-
-        if (force == nullptr or force->size() != 3) {
-            throw std::runtime_error(where + ": push is a force [x, y, z] in newtons");
-        }
-
-        event.kind = ScenarioEvent::Kind::PUSH;
+        const std::optional<std::string> send = table["send"].value<std::string>();
 
-        for (std::size_t axis = 0; axis < 3; axis++) {
-            event.force.at(axis) = force->at(axis).value<double>().value_or(0.0);
+        if (not send.has_value()) {
+            throw std::runtime_error(where + ": send must name a message");
         }
 
-        event.duration = require_number(table, "for", where);
+        event.kind = ScenarioEvent::Kind::SEND;
+        event.target = *send;
     }
 
     if (event.at < 0.0 or event.duration < 0.0) {
@@ -207,15 +198,7 @@ ScenarioEvent read_event(const toml::table& table, const std::string& where) {
 }  // namespace
 
 Scenario Scenario::load(const std::filesystem::path& path) {
-    std::ifstream file(path);
-
-    if (not file.is_open()) {
-        throw std::runtime_error("cannot read the scenario " + path.string());
-    }
-
-    std::ostringstream text;
-    text << file.rdbuf();
-    return parse(text.str(), path.string());
+    return parse(read_text_file(path, "scenario"), path.string());
 }
 
 Scenario Scenario::parse(std::string_view text, const std::string& origin) {
@@ -270,29 +253,10 @@ Scenario Scenario::parse(std::string_view text, const std::string& origin) {
     return scenario;
 }
 
-Pusher::Pusher(const MujocoWorld& world, const std::string& body) : body_id{world.require_id(mjOBJ_BODY, body)} { }
-
-void Pusher::push(const std::array<double, 3>& force, uint64_t until) {
-    this->force = force;
-    this->until = until;
-}
-
-void Pusher::actuate(MujocoWorld& world, const Clock& clock) {
-    const std::span<mjtNum> forces(world.data()->xfrc_applied, static_cast<std::size_t>(6 * world.model()->nbody));
-    const auto              first = 6 * static_cast<std::size_t>(this->body_id);
-    const bool              active = clock.tick_count() < this->until;
-
-    for (std::size_t axis = 0; axis < 3; axis++) {
-        forces[first + axis] -= this->applied.at(axis);
-        this->applied.at(axis) = active ? this->force.at(axis) : 0.0;
-        forces[first + axis] += this->applied.at(axis);
-    }
-}
-
 ScenarioPlayer::ScenarioPlayer(
-    Scenario scenario, const ScenarioHooks& hooks, SerialBus& serial, Pusher& pusher, const VariableSource* variables
+    Scenario scenario, const ScenarioHooks& hooks, SerialBus& serial, const VariableSource* variables
 ) :
-    scenario{std::move(scenario)}, hooks{hooks}, serial{serial}, pusher{pusher}, variables{variables} {
+    scenario{std::move(scenario)}, hooks{hooks}, serial{serial}, variables{variables} {
     for (const ScenarioEvent& event : this->scenario.events) {
         this->check(event);
         this->event_values.push_back(
@@ -326,7 +290,7 @@ double ScenarioPlayer::resolve(const std::string& variable, const std::string& v
     const auto names = this->hooks.state_names.find(variable);
 
     if (names == this->hooks.state_names.end()) {
-        throw std::runtime_error("the stop condition names " + value + ", but " + variable + " has no state names");
+        throw std::runtime_error("the scenario names state " + value + ", but " + variable + " has no state names");
     }
 
     const auto found = std::ranges::find(names->second, value);
@@ -364,9 +328,6 @@ void ScenarioPlayer::check(const ScenarioEvent& event) const {
             }
 
             break;
-
-        case ScenarioEvent::Kind::PUSH:
-            break;
     }
 }
 
@@ -412,10 +373,6 @@ RunControl ScenarioPlayer::on_before_tick(const Simulation& simulation) {
             case ScenarioEvent::Kind::SEND:
                 this->serial.queue_for_firmware(this->hooks.messages.find(event.target)->second);
                 break;
-
-            case ScenarioEvent::Kind::PUSH:
-                this->pusher.push(event.force, end);
-                break;
         }
     }
 
diff --git a/hal_host/include/micras/hal/host/board.hpp b/hal_host/include/micras/hal/host/board.hpp
index 1d62ef8..86c1e9d 100644
--- a/hal_host/include/micras/hal/host/board.hpp
+++ b/hal_host/include/micras/hal/host/board.hpp
@@ -134,7 +134,7 @@ class Board {
     /**
      * @brief Forget every port and name.
      *
-     * @note For tests. References to ports obtained before are dangling after.
+     * @note Called at the start of every run. References to ports obtained before are dangling after.
      */
     static void reset();
 };
diff --git a/hal_host/include/micras/hal/host/clock.hpp b/hal_host/include/micras/hal/host/clock.hpp
index 108d738..4abe3fe 100644
--- a/hal_host/include/micras/hal/host/clock.hpp
+++ b/hal_host/include/micras/hal/host/clock.hpp
@@ -14,9 +14,9 @@ namespace micras::hal::host {
 /**
  * @brief Counts the core cycles the firmware sees, and hands time over to the world.
  *
- * @note Every read of the timer costs a fixed quantum of simulated time, one
- *       microsecond unless configured otherwise, since a read on the robot also
- *       takes time and a loop that polls the timer must see it advance. When a
+ * @note Every read of the timer costs a quantum of simulated time, one
+ *       microsecond, since a read on the robot also takes time and a loop that
+ *       polls the timer must see it advance. When a
  *       read crosses the end of a step, the handover callback runs: whatever
  *       drives the world advances it by one step and returns, and the read
  *       returns after it. So a busy wait runs the world exactly as long as it
@@ -40,12 +40,11 @@ class Clock {
     static Clock& instance();
 
     /**
-     * @brief Set the core frequency and the cost of one read.
+     * @brief Set the core frequency, which makes a read cost one microsecond of cycles.
      *
      * @param cycles_per_microsecond Core clock, in cycles per microsecond.
-     * @param quantum_us Simulated time one read costs, in microseconds.
      */
-    void configure(uint32_t cycles_per_microsecond, uint32_t quantum_us = 1);
+    void configure(uint32_t cycles_per_microsecond);
 
     /**
      * @brief Hand time over to the world at every step.
diff --git a/hal_host/include/micras/hal/host/ports.hpp b/hal_host/include/micras/hal/host/ports.hpp
index f192967..c7ae30b 100644
--- a/hal_host/include/micras/hal/host/ports.hpp
+++ b/hal_host/include/micras/hal/host/ports.hpp
@@ -102,11 +102,6 @@ struct PwmDmaPort : Port {
      * @brief Host clock cycle the current transfer ends at, one timer period per value.
      */
     uint64_t transfer_end{0};
-
-    /**
-     * @brief Number of transfers the firmware started.
-     */
-    uint32_t transfers{0};
 };
 
 /**
@@ -125,21 +120,11 @@ struct AdcPort : Port {
     std::span<uint32_t> buffer32;
     ///@}
 
-    /**
-     * @brief Number of conversions in one sequence, from the ADC configuration.
-     */
-    uint32_t conversions{0};
-
     /**
      * @brief Called at the end of a sequence, as the conversion complete interrupt would.
      */
     std::function<void()> complete;
 
-    /**
-     * @brief Number of sequences finished.
-     */
-    uint32_t sequences{0};
-
     /**
      * @brief Get how many conversions the buffer holds.
      *
@@ -161,7 +146,7 @@ struct AdcPort : Port {
     /**
      * @brief End the sequence, as the DMA interrupt does.
      */
-    void finish_sequence();
+    void finish_sequence() const;
 };
 
 /**
@@ -183,16 +168,6 @@ struct UartPort : Port {
      */
     std::deque<uint8_t> tx;
 
-    /**
-     * @brief Bytes received while the receiver was not started.
-     */
-    uint32_t lost_bytes{0};
-
-    /**
-     * @brief Baud rate from the UART configuration.
-     */
-    uint32_t baud_rate{0};
-
     /**
      * @brief Put one received byte where the DMA would.
      *
@@ -216,14 +191,6 @@ struct FlashPort : Port {
      * @brief Contents, erased to 0xFF.
      */
     std::vector<uint8_t> bytes;
-
-    /**
-     * @brief Number of program and erase operations performed.
-     */
-    ///@{
-    uint32_t writes{0};
-    uint32_t erases{0};
-    ///@}
 };
 
 /**
@@ -240,11 +207,6 @@ struct McuPort : Port {
      */
     uint64_t last_refresh{0};
 
-    /**
-     * @brief Number of refreshes.
-     */
-    uint64_t refreshes{0};
-
     /**
      * @brief Number of times the watchdog would have reset the chip.
      */
diff --git a/hal_host/include/stm32_host.h b/hal_host/include/stm32_host.h
index cecec7f..244bb50 100644
--- a/hal_host/include/stm32_host.h
+++ b/hal_host/include/stm32_host.h
@@ -17,20 +17,6 @@
 
 #include <cstdint>
 
-/*****************************************
- * Status
- *****************************************/
-
-/**
- * @brief Result of a vendor HAL call.
- */
-enum HAL_StatusTypeDef : uint8_t {
-    HAL_OK = 0,
-    HAL_ERROR = 1,
-    HAL_BUSY = 2,
-    HAL_TIMEOUT = 3,
-};
-
 /*****************************************
  * GPIO
  *****************************************/
@@ -81,7 +67,6 @@ struct TIM_TypeDef {
     uint32_t CCER;
     uint32_t PSC;
     uint32_t ARR;
-    uint32_t CNT;
     uint32_t kernel_clock;
 };
 
@@ -100,7 +85,6 @@ struct TIM_Base_InitTypeDef {
 enum HAL_TIM_StateTypeDef : uint8_t {
     HAL_TIM_STATE_RESET = 0,
     HAL_TIM_STATE_READY = 1,
-    HAL_TIM_STATE_BUSY = 2,
 };
 
 /**
@@ -200,7 +184,6 @@ struct SPI_HandleTypeDef {
 enum HAL_UART_StateTypeDef : uint8_t {
     HAL_UART_STATE_RESET = 0x00,
     HAL_UART_STATE_READY = 0x20,
-    HAL_UART_STATE_BUSY_TX = 0x21,
     HAL_UART_STATE_BUSY_RX = 0x22,
 };
 
@@ -279,6 +262,4 @@ struct FMAC_HandleTypeDef {
     uint32_t State;
 };
 
-inline constexpr uint32_t HAL_FMAC_STATE_RESET{0x00000000U};
-
 #endif  // STM32_HOST_H
diff --git a/hal_host/src/adc_dma.cpp b/hal_host/src/adc_dma.cpp
index 6114873..15c8eb2 100644
--- a/hal_host/src/adc_dma.cpp
+++ b/hal_host/src/adc_dma.cpp
@@ -31,7 +31,6 @@ bool AdcDma::start_dma(std::span<uint32_t> buffer) {
     port.touched = true;
     port.buffer32 = buffer;
     port.buffer16 = {};
-    port.conversions = this->handle->Init.NbrOfConversion;
     port.complete = [adc = this->handle] { on_sequence_complete(adc); };
     return true;
 }
@@ -41,7 +40,6 @@ bool AdcDma::start_dma(std::span<uint16_t> buffer) {
     port.touched = true;
     port.buffer16 = buffer;
     port.buffer32 = {};
-    port.conversions = this->handle->Init.NbrOfConversion;
     port.complete = [adc = this->handle] { on_sequence_complete(adc); };
     return true;
 }
diff --git a/hal_host/src/clock.cpp b/hal_host/src/clock.cpp
index 051c506..27206dc 100644
--- a/hal_host/src/clock.cpp
+++ b/hal_host/src/clock.cpp
@@ -12,9 +12,9 @@ Clock& Clock::instance() {
     return clock;
 }
 
-void Clock::configure(uint32_t cycles_per_microsecond, uint32_t quantum_us) {
+void Clock::configure(uint32_t cycles_per_microsecond) {
     this->cycles_per_us = cycles_per_microsecond;
-    this->quantum = static_cast<uint64_t>(quantum_us) * cycles_per_microsecond;
+    this->quantum = cycles_per_microsecond;
 }
 
 void Clock::set_handover(uint32_t step_us, Handover handover) {
diff --git a/hal_host/src/flash.cpp b/hal_host/src/flash.cpp
index 9404eed..302cf50 100644
--- a/hal_host/src/flash.cpp
+++ b/hal_host/src/flash.cpp
@@ -102,7 +102,6 @@ Flash::Status Flash::write(uint32_t address, std::span<const uint8_t> data) {
 
         const std::span<const uint8_t> bytes{std::bit_cast<const uint8_t*>(word.data()), FlashWord::size};
         std::ranges::copy(bytes, target.begin());
-        port.writes++;
     }
 
     return Status::OK;
@@ -126,7 +125,6 @@ Flash::Status Flash::erase_sectors(uint16_t start_sector, uint16_t number_of_sec
     const auto       count = static_cast<std::ptrdiff_t>(number_of_sectors) * sector_size;
 
     std::fill(port.bytes.begin() + first, port.bytes.begin() + first + count, FlashWord::erased_value);
-    port.erases++;
 
     return Status::OK;
 }
diff --git a/hal_host/src/mcu.cpp b/hal_host/src/mcu.cpp
index cbbb810..cf3543e 100644
--- a/hal_host/src/mcu.cpp
+++ b/hal_host/src/mcu.cpp
@@ -73,6 +73,5 @@ void Mcu::refresh_watchdog() {
     }
 
     mcu.last_refresh = clock.now();
-    mcu.refreshes++;
 }
 }  // namespace micras::hal
diff --git a/hal_host/src/ports.cpp b/hal_host/src/ports.cpp
index 0ec8aea..3483ab3 100644
--- a/hal_host/src/ports.cpp
+++ b/hal_host/src/ports.cpp
@@ -13,9 +13,7 @@ void AdcPort::write(std::size_t index, uint32_t counts) const {
     }
 }
 
-void AdcPort::finish_sequence() {
-    this->sequences++;
-
+void AdcPort::finish_sequence() const {
     if (this->complete) {
         this->complete();
     }
@@ -23,7 +21,6 @@ void AdcPort::finish_sequence() {
 
 void UartPort::receive(uint8_t byte) {
     if (this->rx_buffer.empty()) {
-        this->lost_bytes++;
         return;
     }
 
diff --git a/hal_host/src/pwm.cpp b/hal_host/src/pwm.cpp
index 750e885..8d21122 100644
--- a/hal_host/src/pwm.cpp
+++ b/hal_host/src/pwm.cpp
@@ -67,7 +67,6 @@ void Pwm::set_frequency(uint32_t frequency) {
     const uint32_t prescaler = this->handle->Instance->PSC;
 
     this->handle->Instance->ARR = this->handle->Instance->kernel_clock / ((prescaler + 1) * frequency) - 1;
-    this->handle->Instance->CNT = 0;
 
     host::PwmPort& port = host::Board::pwm(this->handle, this->channel);
     port.touched = true;
diff --git a/hal_host/src/pwm_dma.cpp b/hal_host/src/pwm_dma.cpp
index c69462c..c96863a 100644
--- a/hal_host/src/pwm_dma.cpp
+++ b/hal_host/src/pwm_dma.cpp
@@ -25,7 +25,6 @@ void start(TIM_HandleTypeDef* handle, uint32_t channel, std::span<const T> compa
     port.compares.assign(compares.begin(), compares.end());
     port.period = handle->Instance->ARR + 1;
     port.busy = true;
-    port.transfers++;
 
     const uint64_t cycles_per_count = static_cast<uint64_t>(handle->Instance->PSC + 1) *
                                       host::Clock::instance().cycles_per_microsecond() * 1000000ULL /
diff --git a/hal_host/src/uart_dma.cpp b/hal_host/src/uart_dma.cpp
index f8af1e5..6e4f9b3 100644
--- a/hal_host/src/uart_dma.cpp
+++ b/hal_host/src/uart_dma.cpp
@@ -16,8 +16,6 @@ UartDma::UartDma(const Config& config) : handle{config.handle} {
     if (this->handle->gState == HAL_UART_STATE_RESET) {
         config.init_function();
     }
-
-    host::Board::uart(this->handle).baud_rate = this->handle->Init.BaudRate;
 }
 
 bool UartDma::start_rx(std::span<uint8_t> buffer) {
diff --git a/targets/micras/CMakeLists.txt b/targets/micras/CMakeLists.txt
index c66ae2f..7c9ad2a 100644
--- a/targets/micras/CMakeLists.txt
+++ b/targets/micras/CMakeLists.txt
@@ -7,19 +7,6 @@
 
 set(MICRAS_FIRMWARE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/MicrasFirmware")
 
-# Every source that includes the firmware's constants.hpp designs the turn tables in the
-# compiler, which takes about a gigabyte of memory each. A build as wide as the processor
-# ran a 28 GB machine out of memory and took the whole WSL virtual machine down, so the
-# sources of this target compile in a pool of one job per 2 GiB of memory. Only Ninja,
-# which every preset uses, honours pools.
-cmake_host_system_information(RESULT MICRAS_TOTAL_MEMORY QUERY TOTAL_PHYSICAL_MEMORY)
-math(EXPR MICRAS_COMPILE_JOBS "${MICRAS_TOTAL_MEMORY} / 2048")
-if(MICRAS_COMPILE_JOBS LESS 1)
-    set(MICRAS_COMPILE_JOBS 1)
-endif()
-set_property(GLOBAL APPEND PROPERTY JOB_POOLS micras_compile=${MICRAS_COMPILE_JOBS})
-set(CMAKE_JOB_POOL_COMPILE micras_compile)
-
 # The commit is read at build time, not here, so meta.json never names a firmware
 # the binary was not built from.
 set(MICRAS_FIRMWARE_SHA_HEADER "${CMAKE_CURRENT_BINARY_DIR}/generated/micras_firmware_sha.hpp")
@@ -118,7 +105,7 @@ target_link_libraries(micras_wall_calibration PRIVATE micras_sim_micras)
 target_compile_definitions(micras_wall_calibration PRIVATE MICRAS_TARGET_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
 
 add_executable(micras_turn_designer tools/turn_designer.cpp)
-target_link_libraries(micras_turn_designer PRIVATE micras_sim_micras)
+target_link_libraries(micras_turn_designer PRIVATE micras_firmware)
 
 add_executable(micras_robot_report tools/robot_report.cpp)
 target_link_libraries(micras_robot_report PRIVATE micras_sim_micras)
diff --git a/targets/micras/MicrasFirmware b/targets/micras/MicrasFirmware
index bc77ec8..e0012bb 160000
--- a/targets/micras/MicrasFirmware
+++ b/targets/micras/MicrasFirmware
@@ -1 +1 @@
-Subproject commit bc77ec853aab9ce15cd8b4cef9ff4c96ae0d67ed
+Subproject commit e0012bbca66915286334d4aa0130a123a4201c6a
diff --git a/targets/micras/cube/main.h b/targets/micras/cube/main.h
index aad6255..da9660a 100644
--- a/targets/micras/cube/main.h
+++ b/targets/micras/cube/main.h
@@ -4,7 +4,7 @@
  * @brief Fake STM32CubeMX main.h of the Micras v1 board, for the simulator.
  *
  * @note Hand written, because micras_v1.ioc does not hold every value the host
- *       backend needs (see SPEC_2_DECISIONS.md, D4). Every value names the
+ *       backend needs. Every value names the
  *       generated line it mirrors, in MicrasFirmware/cube/Inc and cube/Src. A
  *       CubeMX change that renames a handle or a pin is a compile error here; a
  *       changed prescaler or period shows as a wrong frequency at initialisation.
diff --git a/targets/micras/include/micras/sim/micras/bindings.hpp b/targets/micras/include/micras/sim/micras/bindings.hpp
index 33ba0b1..6f66f51 100644
--- a/targets/micras/include/micras/sim/micras/bindings.hpp
+++ b/targets/micras/include/micras/sim/micras/bindings.hpp
@@ -7,11 +7,21 @@
 #ifndef MICRAS_SIM_MICRAS_BINDINGS_HPP
 #define MICRAS_SIM_MICRAS_BINDINGS_HPP
 
+#include <array>
+
 #include "micras/sim/app/target.hpp"
 #include "micras/sim/core/run_context.hpp"
 #include "micras/sim/micras/micras_target.hpp"
 
 namespace micras::sim {
+/**
+ * @brief Names of the DIP switches, in the order of their bits in Interface::Profile.
+ *
+ * @note The panel shows them as they are, the switch devices and their CSV columns are called
+ *       "dip_" and the name, and so are the inputs a scenario sets.
+ */
+constexpr std::array<const char*, 4> dip_names{"fan", "racing_line", "boost", "risky"};
+
 /**
  * @brief Build the board's devices and connect them to the firmware's ports.
  *
diff --git a/targets/micras/include/micras/sim/micras/micras_target.hpp b/targets/micras/include/micras/sim/micras/micras_target.hpp
index f9851c3..64501ce 100644
--- a/targets/micras/include/micras/sim/micras/micras_target.hpp
+++ b/targets/micras/include/micras/sim/micras/micras_target.hpp
@@ -15,6 +15,7 @@
 
 #include "micras/sim/app/target.hpp"
 #include "micras/sim/devices/dc_motor.hpp"
+#include "micras/sim/devices/digital_input.hpp"
 #include "micras/sim/devices/imu.hpp"
 #include "micras/sim/devices/power.hpp"
 #include "micras/sim/devices/quadrature_encoder.hpp"
@@ -121,7 +122,8 @@ class MicrasTarget : public Target {
     Wiring wire(FirmwareThread& firmware, const WorldInfo& world) override;
 
     /**
-     * @brief Stop handing time over, and save the flash when --flash asked for it.
+     * @brief Stop handing time over, name the ports the firmware used that nothing is bound to, and
+     *        save the flash when --flash asked for it.
      */
     void unwire() override;
 
@@ -151,7 +153,6 @@ class MicrasTarget : public Target {
     std::filesystem::path          flash_file;
     MicrasBoard                    board;
     std::unique_ptr<PoolVariables> variables;
-    std::unique_ptr<IRunListener>  port_check;
 };
 }  // namespace micras::sim
 
diff --git a/targets/micras/include/micras/sim/micras/pool_variables.hpp b/targets/micras/include/micras/sim/micras/pool_variables.hpp
index 4b66580..91659ad 100644
--- a/targets/micras/include/micras/sim/micras/pool_variables.hpp
+++ b/targets/micras/include/micras/sim/micras/pool_variables.hpp
@@ -19,8 +19,8 @@ namespace micras::sim {
  * @brief Records and looks up every variable the firmware registers, and its state.
  *
  * @note Read through Micras::get_variables() while the firmware is parked, so
- *       every value of a row belongs to the same instant (SPEC_2_DECISIONS.md,
- *       D5). Blobs, such as the maze, are skipped. The state machine's state is
+ *       every value of a row belongs to the same instant. Blobs, such as the
+ *       maze, are skipped. The state machine's state is
  *       added as "state", which the pool does not hold. Column names are the
  *       variables' full names with slashes as underscores: "pose/x" is pose_x.
  */
diff --git a/targets/micras/robot.toml b/targets/micras/robot.toml
index 5bd8596..909df0e 100644
--- a/targets/micras/robot.toml
+++ b/targets/micras/robot.toml
@@ -2,12 +2,14 @@
 #
 # The physical truth the simulator builds its model and devices from; the
 # firmware's config/targets/v1/robot.hpp is the robot's belief about itself, and
-# `just micras robot-report` shows where the two differ. SPEC_2_DECISIONS.md,
-# section 14, has the derivation of every value.
+# `just micras robot-report` shows where the two differ.
 #
 # Frames follow robot.hpp: x forward, y left, z up, origin on the floor under the
 # midpoint of the wheel axle. Lengths in metres, masses in kilograms, angles in
-# degrees where the key ends in _deg.
+# degrees where the key ends in _deg. From the CAD, in millimetres: the KiCad board
+# gives x = 113.5036 - y_KiCad, y = 148.5011 - x_KiCad, with the KiCad rotation as
+# the yaw; the SolidWorks assembly gives x = 1033.6 - Z_sw, y = -(X_sw + 4.9091),
+# z = Y_sw + 11.3503.
 #
 # Sources: "datasheet" (named), "CAD" (the KiCad board or the SolidWorks
 # assembly), "firmware" (target.hpp, the CubeMX project), "owner", "estimate".
@@ -16,7 +18,7 @@ schema = 1
 name = "micras"
 
 [integration]
-# Divides the firmware's 125 us loop; chosen by contact stability (SPEC_1 R3).
+# One firmware loop; halving it changed neither the contacts nor the trace.
 timestep = { value = 0.000125, source = "measured: tyre contact, penetration and the explore trace unchanged at 62.5 and 31.25 us" }
 
 [chassis]
@@ -60,9 +62,10 @@ base = { value = [0.0175, 0.0, 0.0095], source = "CAD" }
 radius = { value = 0.005, source = "CAD: 10 mm coreless motor" }
 height = { value = 0.022, source = "CAD" }
 
-# The real robot has no third contact point: it rests on the rear edge of its board
-# and dips onto the front edge when it brakes. These two frictionless skids stand in
-# for those edges, so the chassis is carried level without the board scraping.
+# The real robot has no third contact point: it rests on the rear edge of its board,
+# and on the front edge with the fan on or when it brakes. Two 1 mm skids stand in
+# for those edges. They are frictionless, since a sliding frictional contact would
+# lift the board off the floor in MuJoCo.
 [[chassis.skids]]
 name = "rear_skid"
 center = { value = [-0.034, 0.0, 0.001], source = "simulation: under the rear edge of the board, touching the floor when level" }
@@ -94,7 +97,6 @@ rotor_inertia = { value = 3.79e-9, source = "datasheet: 0.0379 g cm^2" }
 gear_ratio = { value = 5.25, source = "CAD: 4 mm pinion to 21 mm wheel gear pitch circles" }
 gear_efficiency = { value = 0.9, source = "estimate: one printed spur stage" }
 supply_voltage = { value = 19.63, source = "CAD and datasheet: TPS611781 feedback divider" }
-max_motor_speed = { value = 1811.6, source = "datasheet: 17 300 rpm permissible" }
 
 [encoders]
 counts_per_revolution = { value = 16384, source = "firmware: AS5047U ABIRES 4096 pulses, four edges, magnet on the axle" }
@@ -103,7 +105,6 @@ counts_per_revolution = { value = 16384, source = "firmware: AS5047U ABIRES 4096
 position = { value = [0.00066, 0.0, 0.0024], source = "CAD: IC2, 0.4 mm above the board top" }
 chip_x = { value = [0.0, -1.0, 0.0], source = "CAD and datasheet: pin 1 at the front left" }
 chip_y = { value = [1.0, 0.0, 0.0], source = "CAD and datasheet" }
-chip_z = { value = [0.0, 0.0, 1.0], source = "CAD and datasheet" }
 gyro_noise_density = { value = 4.887e-5, source = "datasheet: LSM6DSV 2.8 mdps/sqrt(Hz), in rad/s/sqrt(Hz)" }
 gyro_bias = { value = 0.005236, source = "estimate: one third of the +-1 dps zero-rate level, in rad/s" }
 gyro_scale_error = { value = 0.001, source = "estimate: one third of the +-0.3 % sensitivity tolerance" }
@@ -124,7 +125,6 @@ time_constant = { value = 0.15, source = "estimate: coreless motor with a 27 mm
 [battery]
 cells = { value = 3, source = "owner" }
 cell_voltage = { value = 4.1, source = "estimate: a charged cell under a light load" }
-cell_resistance = { value = 0.15, source = "estimate: 250 mAh LiPo" }
 
 [link]
 baud_rate = { value = 115200, source = "firmware: usart.c, UART4 to the HM-19" }
diff --git a/targets/micras/src/bindings.cpp b/targets/micras/src/bindings.cpp
index 89f0e07..3226fde 100644
--- a/targets/micras/src/bindings.cpp
+++ b/targets/micras/src/bindings.cpp
@@ -9,7 +9,6 @@
 
 #include "constants.hpp"
 #include "micras/hal/host/board.hpp"
-#include "micras/sim/arenas/maze.hpp"
 #include "micras/sim/micras/bindings.hpp"
 #include "micras/sim/robot/robot_model.hpp"
 #include "target.hpp"
@@ -188,8 +187,6 @@ MicrasBoard bind_devices(RunContext& context, const WorldInfo& world) {
                 .write = [&wall_adc](std::size_t index, uint32_t counts) { wall_adc.write(index, counts); },
                 .finish_sequence = [&wall_adc] { wall_adc.finish_sequence(); },
                 .reflectance = world.reflectance,
-                .robot_group = RobotModelNames::robot_group,
-                .paint_group = Maze::paint_group,
             },
             context.noise
         )
@@ -206,7 +203,6 @@ MicrasBoard bind_devices(RunContext& context, const WorldInfo& world) {
                              .adc_reference = battery_config.adc.reference_voltage,
                              .adc_max_counts = static_cast<double>(battery_config.adc.max_reading),
                              .adc_noise_counts = 1.0,
-                             .load_current = nullptr,
                              .write = [&battery_adc](uint32_t counts) { battery_adc.write(0, counts); },
                          },
                          context.noise
@@ -268,7 +264,7 @@ MicrasBoard bind_devices(RunContext& context, const WorldInfo& world) {
 
     for (std::size_t index = 0; index < board.dip_switches.size(); index++) {
         board.dip_switches.at(index) = bind_input(
-            context, "dip_" + std::to_string(index), dip_switch_config.gpio_array.at(index),
+            context, std::string{"dip_"} + dip_names.at(index), dip_switch_config.gpio_array.at(index),
             dip_switch_config.active_low
         );
     }
diff --git a/targets/micras/src/micras_target.cpp b/targets/micras/src/micras_target.cpp
index d5c135c..3215ad2 100644
--- a/targets/micras/src/micras_target.cpp
+++ b/targets/micras/src/micras_target.cpp
@@ -10,6 +10,7 @@
 #include <iostream>
 #include <iterator>
 #include <stdexcept>
+#include <string_view>
 #include <utility>
 
 #include "constants.hpp"
@@ -32,9 +33,12 @@ extern int micras_firmware_main();
 namespace micras::sim {
 namespace {
 /**
- * @brief Names of the states of the firmware's state machine, indexed as Micras::State.
+ * @brief Names of the states of the firmware's state machine, indexed as micras::State.
+ *
+ * @note The firmware has no names for its states, so they are written here, and the build checks
+ *       that there is one for each.
  */
-const std::vector<std::string> state_names{
+constexpr auto state_name_table = std::to_array<std::string_view>({
     "INIT",
     "IDLE",
     "WAIT_FOR_RUN",
@@ -48,12 +52,16 @@ const std::vector<std::string> state_names{
     "WAIT_FOR_GYROSCOPE",
     "CALIBRATE_GYROSCOPE",
     "ERROR",
-};
+});
+
+static_assert(
+    state_name_table.size() == std::to_underlying(State::NUMBER_OF_STATES), "every firmware state needs a name"
+);
 
 /**
- * @brief Names of the DIP switches, indexed as Interface::Profile.
+ * @brief The names of the states, as the panel, the overlay and the scenarios take them.
  */
-constexpr std::array<const char*, 4> dip_names{"fan", "racing_line", "boost", "risky"};
+const std::vector<std::string> state_names{state_name_table.begin(), state_name_table.end()};
 
 /**
  * @brief Link commands a scenario sends by name, with their codes in Micras::Command.
@@ -113,26 +121,6 @@ std::vector<Colour> decode_argb(const hal::host::PwmDmaPort& port, std::size_t c
     return colours;
 }
 
-/**
- * @brief Reports, once the firmware has built its robot, every port it used that nothing is bound to.
- */
-class PortCheck : public IRunListener {
-public:
-    /**
-     * @brief Check after the first tick.
-     *
-     * @param simulation Run that just advanced.
-     */
-    void on_after_tick(const Simulation& simulation) override {
-        if (simulation.tick() != 0) {
-            return;
-        }
-
-        for (const std::string& port : hal::host::Board::unbound()) {
-            std::cerr << "warning: the firmware uses " << port << ", which nothing in the simulator is bound to\n";
-        }
-    }
-};
 }  // namespace
 
 std::string MicrasTarget::name() const {
@@ -166,7 +154,6 @@ std::filesystem::path MicrasTarget::robot_file() const {
 GroundTruthConfig MicrasTarget::ground_truth() const {
     return {
         .body = "micras",
-        .forward_axis = ForwardAxis::X,
         .columns =
             {
                 {.name = "wheel_angle_left", .probe = Probe::JOINT_POSITION, .object = "left_wheel"},
@@ -214,14 +201,10 @@ Wiring MicrasTarget::wire(FirmwareThread& firmware, const WorldInfo& world) {
 
     this->board = bind_devices(this->run_context, world);
     this->variables = std::make_unique<PoolVariables>();
-    this->port_check = std::make_unique<PortCheck>();
 
     return {
-        .inputs = {},
-        .observers = {this->port_check.get()},
         .columns = {this->variables.get()},
         .variables = this->variables.get(),
-        .monitor_inbound = nullptr,
         .panel = this->make_panel(),
         .overlay =
             {.state = StateLabel{.variable = "state", .names = state_names},
@@ -235,6 +218,10 @@ Wiring MicrasTarget::wire(FirmwareThread& firmware, const WorldInfo& world) {
 void MicrasTarget::unwire() {
     hal::host::Clock::instance().clear_handover();
 
+    for (const std::string& port : hal::host::Board::unbound()) {
+        std::cerr << "warning: the firmware used " << port << ", which nothing in the simulator is bound to\n";
+    }
+
     if (not this->flash_file.empty()) {
         const std::vector<uint8_t>& bytes = hal::host::Board::flash().bytes;
         std::ofstream(this->flash_file, std::ios::binary)
@@ -261,7 +248,7 @@ PanelSpec MicrasTarget::make_panel() const {
                  .lamps = {},
                  .readouts = {},
                  .plots = {"reference/linear_speed", "pose/linear_speed", "reference/angular_speed", "pose/angular_speed"},
-                 .take_over = nullptr,
+                 .take_over = {},
     };
 
     for (std::size_t index = 0; index < devices.dip_switches.size(); index++) {
diff --git a/targets/micras/tools/turn_designer.cpp b/targets/micras/tools/turn_designer.cpp
index 27d535a..ef9dd8c 100644
--- a/targets/micras/tools/turn_designer.cpp
+++ b/targets/micras/tools/turn_designer.cpp
@@ -26,7 +26,10 @@
 #include <string>
 #include <vector>
 
-#include "constants.hpp"
+#include "micras/nav/lattice.hpp"
+#include "micras/nav/turn_table.hpp"
+#include "robot.hpp"
+#include "turn_margins.hpp"
 
 namespace {
 using micras::nav::TurnBend;
diff --git a/targets/micras/tools/wall_calibration.cpp b/targets/micras/tools/wall_calibration.cpp
index 2a316f2..3363907 100644
--- a/targets/micras/tools/wall_calibration.cpp
+++ b/targets/micras/tools/wall_calibration.cpp
@@ -8,16 +8,15 @@
  *       a wall for the ones that look forward, as the firmware's two calibration
  *       steps do. It fires every emitter and compares the simulated lit minus
  *       dark reading of each sensor with the reference reading target.hpp
- *       records from the robot. The ratio is the sensor's gain for robot.toml;
- *       the gains already in robot.toml are applied, so a calibrated file prints
- *       gains of one.
+ *       records from the robot. The simulation runs with the gains already in
+ *       robot.toml, and each is corrected by the ratio of the two readings, so a
+ *       calibrated file prints its own gains back.
  *
  * @note With --sweep it moves the robot instead: toward and away from the wall
  *       ahead for the front sensors, across the corridor for the side ones. At
  *       each place it prints the range along each sensor's axis and the
- *       distance the firmware makes of the simulated reading, which assumes the
- *       reading falls with the square of the distance from the one it was
- *       calibrated at.
+ *       distance the firmware makes of the simulated reading, with its model of
+ *       the receiver's offset and half angle.
  */
 
 #include <array>
@@ -50,7 +49,6 @@ using micras::sim::MazeConfig;
 using micras::sim::MujocoWorld;
 using micras::sim::robot_mjcf;
 using micras::sim::RobotDescription;
-using micras::sim::RobotModelNames;
 using micras::sim::WallSensorDescription;
 using micras::sim::WallSensors;
 
@@ -119,7 +117,6 @@ Sample sample(const RobotDescription& robot, std::string_view drawing, double ac
                     const char* name = mj_id2name(world.model(), mjOBJ_GEOM, geom);
                     return Maze::reflectance(name == nullptr ? "" : name, config);
                 },
-                      .robot_group = RobotModelNames::robot_group,
         },
                   {.seed = 1, .ideal = true},
     };
@@ -147,7 +144,7 @@ Sample sample(const RobotDescription& robot, std::string_view drawing, double ac
         const std::span<const mjtNum> frame = site_frames.subspan(9 * site, 9);
         const std::array<mjtNum, 3>   axis{frame[0], frame[3], frame[6]};
         std::array<mjtByte, mjNGROUP> groups{1, 1, 1, 1, 1, 1};
-        groups.at(RobotModelNames::robot_group) = 0;
+        groups.at(MujocoWorld::unseen_group) = 0;
         int geom = -1;
         result.ranges.push_back(mj_ray(
             world.model(), world.data(), site_positions.subspan(3 * site, 3).data(), axis.data(), groups.data(), true,
diff --git a/tests/models/tiny_robot.toml b/tests/models/tiny_robot.toml
index 5b7695b..57d3256 100644
--- a/tests/models/tiny_robot.toml
+++ b/tests/models/tiny_robot.toml
@@ -49,7 +49,6 @@ rotor_inertia = 4.0e-9
 gear_ratio = 5.0
 gear_efficiency = 0.9
 supply_voltage = 6.0
-max_motor_speed = 1800.0
 
 [encoders]
 counts_per_revolution = { value = 4096, source = "made up" }
@@ -58,7 +57,6 @@ counts_per_revolution = { value = 4096, source = "made up" }
 position = [0.0, 0.0, 0.004]
 chip_x = [1.0, 0.0, 0.0]
 chip_y = [0.0, 1.0, 0.0]
-chip_z = [0.0, 0.0, 1.0]
 gyro_noise_density = 5.0e-5
 gyro_bias = 0.005
 gyro_scale_error = 0.001
@@ -79,7 +77,6 @@ time_constant = 0.1
 [battery]
 cells = 2
 cell_voltage = 3.7
-cell_resistance = 0.1
 
 [link]
 baud_rate = 9600
diff --git a/tests/models/tiny_robot.xml b/tests/models/tiny_robot.xml
index 74d6624..d0bd245 100644
--- a/tests/models/tiny_robot.xml
+++ b/tests/models/tiny_robot.xml
@@ -1,7 +1,6 @@
 <!--
   The smallest robot the engine tests need: a box on a free joint, one driven wheel
-  and a plane to stand on. The timestep divides a 1042 us loop into two steps, like
-  the robots the tests stand in for.
+  and a plane to stand on. The timestep divides a 1042 us loop into two steps.
 -->
 <mujoco model="tiny robot">
   <option timestep="0.000521"/>
diff --git a/tests/unit/cli_test.cpp b/tests/unit/cli_test.cpp
index e76dff5..e0ae0f0 100644
--- a/tests/unit/cli_test.cpp
+++ b/tests/unit/cli_test.cpp
@@ -13,9 +13,10 @@ namespace {
  * @brief Parse a command line written the way a shell would pass it.
  *
  * @param words Arguments after the program name.
+ * @param target_options Options the robot target adds.
  * @return Parsed options.
  */
-CliOptions parse(std::vector<std::string> words) {
+CliOptions parse(std::vector<std::string> words, std::span<const CliOption> target_options = {}) {
     std::vector<std::string> owned{"robot_sim"};
     owned.insert(owned.end(), words.begin(), words.end());
 
@@ -26,7 +27,7 @@ CliOptions parse(std::vector<std::string> words) {
         argv.push_back(word.data());
     }
 
-    return Cli::parse(std::span(argv));
+    return Cli::parse(std::span(argv), target_options);
 }
 
 TEST(Cli, ReadsTheRequiredOptions) {
@@ -38,8 +39,9 @@ TEST(Cli, ReadsTheRequiredOptions) {
     EXPECT_FALSE(options.seed.has_value());
     EXPECT_FALSE(options.ideal);
     EXPECT_EQ(options.record_every, 1U);
-    EXPECT_FALSE(options.video_enabled);
-    EXPECT_FALSE(options.video_camera_given);
+    EXPECT_TRUE(options.video.path.empty());
+    EXPECT_TRUE(options.video.camera.empty());
+    EXPECT_FALSE(options.viewer_enabled);
 }
 
 TEST(Cli, ReadsWhatOverridesTheScenario) {
@@ -60,11 +62,10 @@ TEST(Cli, ReadsWhatOverridesTheScenario) {
 TEST(Cli, ReadsTheRecordingOptions) {
     const CliOptions options = parse(
         {"--out", "o", "--video", "run.mp4", "--video-fps", "60", "--video-camera", "overhead", "--video-size",
-         "640x480"}
+         "640x480", "--video-trail"}
     );
 
-    EXPECT_TRUE(options.video_enabled);
-    EXPECT_TRUE(options.video_camera_given);
+    EXPECT_TRUE(options.video.trail);
     EXPECT_EQ(options.video.path, "run.mp4");
     EXPECT_EQ(options.video.fps, 60);
     EXPECT_EQ(options.video.camera, "overhead");
@@ -73,9 +74,6 @@ TEST(Cli, ReadsTheRecordingOptions) {
 }
 
 TEST(Cli, ReadsTheWindowOptions) {
-    const CliOptions off = parse({"--out", "o"});
-    EXPECT_FALSE(off.viewer_enabled);
-
     const CliOptions options = parse(
         {"--out", "o", "--viewer", "--viewer-camera", "overhead", "--viewer-size", "800x600", "--viewer-fps", "15"}
     );
@@ -89,7 +87,6 @@ TEST(Cli, ReadsTheWindowOptions) {
 
 TEST(Cli, RejectsAnIncompleteCommandLine) {
     EXPECT_THROW(parse({"--seconds", "1"}), std::runtime_error);
-    EXPECT_THROW(parse({"--out", "o", "--model", "m.xml"}), std::runtime_error);
     EXPECT_THROW(parse({"--out"}), std::runtime_error);
     EXPECT_THROW(parse({"--out", "o", "--nonsense"}), std::runtime_error);
 }
@@ -113,15 +110,7 @@ TEST(Cli, HandsTargetOptionsToTheirHandlers) {
         {.name = "--flag", .argument = "", .apply = [&flag](const std::string&) { flag = true; }},
     };
 
-    std::vector<std::string> owned{"robot_sim", "--color", "red", "--maze", "m", "--flag", "--out", "o"};
-    std::vector<char*>       argv;
-    argv.reserve(owned.size());
-
-    for (std::string& word : owned) {
-        argv.push_back(word.data());
-    }
-
-    const CliOptions options = Cli::parse(std::span(argv), target_options);
+    const CliOptions options = parse({"--color", "red", "--maze", "m", "--flag", "--out", "o"}, target_options);
 
     EXPECT_EQ(color, "red");
     EXPECT_TRUE(flag);
@@ -135,9 +124,10 @@ TEST(Cli, UsageNamesEveryOptionItAccepts) {
     EXPECT_TRUE(usage.starts_with("usage: robot_sim "));
 
     for (const std::string option :
-         {"--out", "--scenario", "--maze", "--seconds", "--ticks", "--seed", "--ideal", "--record-every", "--video",
-          "--video-fps", "--video-camera", "--video-size", "--viewer", "--viewer-camera", "--viewer-fps",
-          "--viewer-size", "--monitor", "--monitor-port", "--color <name>"}) {
+         {"--out",          "--scenario",    "--maze",         "--seconds",      "--ticks",
+          "--seed",         "--ideal",       "--record-every", "--video",        "--video-fps",
+          "--video-camera", "--video-size",  "--video-trail",  "--viewer",       "--viewer-camera",
+          "--viewer-fps",   "--viewer-size", "--monitor",      "--monitor-port", "--color <name>"}) {
         EXPECT_NE(usage.find(option), std::string::npos) << option;
     }
 }
diff --git a/tests/unit/clock_test.cpp b/tests/unit/clock_test.cpp
index 521be0d..56d811d 100644
--- a/tests/unit/clock_test.cpp
+++ b/tests/unit/clock_test.cpp
@@ -5,7 +5,7 @@
 namespace micras::sim {
 namespace {
 /**
- * @brief The pair every recorded run uses: a 521 us timestep and a 1042 us loop.
+ * @brief A timestep that divides the loop into two steps.
  */
 Clock harness_clock() {
     return Clock::from_model(0.000521, 1042);
@@ -33,9 +33,10 @@ TEST(Clock, AdvancesOneTickAtATime) {
     EXPECT_EQ(clock.now_us(), 2084U);
 }
 
-TEST(Clock, CountsTheTicksOfTheRecordedScenarios) {
-    EXPECT_EQ(Clock::total_ticks(4.0, 1042), 3838U);
-    EXPECT_EQ(Clock::total_ticks(8.0, 1042), 7677U);
+TEST(Clock, CountsTheWholeTicksOfADuration) {
+    const Clock clock = harness_clock();
+    EXPECT_EQ(clock.total_ticks(4.0), 3838U);
+    EXPECT_EQ(clock.total_ticks(8.0), 7677U);
 }
 
 TEST(Clock, RoundsInstantsToTheNearestTick) {
diff --git a/tests/unit/csv_recorder_test.cpp b/tests/unit/csv_recorder_test.cpp
index 1c25482..fe25837 100644
--- a/tests/unit/csv_recorder_test.cpp
+++ b/tests/unit/csv_recorder_test.cpp
@@ -16,20 +16,16 @@ namespace {
 GroundTruthConfig tiny_config() {
     return {
         .body = "robot",
-        .forward_axis = ForwardAxis::X,
         .columns =
             {
                 {.name = "wheel_speed", .probe = Probe::JOINT_VELOCITY, .object = "wheel"},
                 {.name = "wheel_angle", .probe = Probe::JOINT_POSITION, .object = "wheel"},
-                {.name = "command", .probe = Probe::ACTUATOR_CONTROL, .object = "motor"},
                 {.name = "torque", .probe = Probe::ACTUATOR_FORCE, .object = "motor"},
                 {.name = "chassis_ncon", .probe = Probe::CONTACT_COUNT, .object = "chassis"},
                 {.name = "chassis_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "chassis"},
                 {.name = "chassis_slip", .probe = Probe::CONTACT_SLIP, .object = "chassis"},
                 {.name = "chassis_penetration", .probe = Probe::CONTACT_PENETRATION, .object = "chassis"},
-                {.name = "ncon", .probe = Probe::CONTACT_TOTAL, .object = ""},
                 {.name = "iterations", .probe = Probe::SOLVER_ITERATIONS, .object = ""},
-                {.name = "warnings", .probe = Probe::WARNINGS_TOTAL, .object = ""},
             },
     };
 }
@@ -84,7 +80,7 @@ TEST_F(Recording, StartsEveryRowWithTheBodyBlockThenTheRobotColumns) {
     EXPECT_EQ(columns.front(), "tick");
     EXPECT_EQ(columns.at(12), "v_forward");
     EXPECT_EQ(columns.at(13), "wheel_speed");
-    EXPECT_EQ(columns.back(), "warnings");
+    EXPECT_EQ(columns.back(), "iterations");
 }
 
 TEST_F(Recording, WritesTheTickAndOneCellPerColumn) {
@@ -112,7 +108,7 @@ TEST_F(Recording, AppendsTheSourcesAfterTheGroundTruth) {
         recorder.sample(0);
     }
 
-    EXPECT_TRUE(this->header().ends_with(",warnings,first,second"));
+    EXPECT_TRUE(this->header().ends_with(",iterations,first,second"));
 }
 
 TEST_F(Recording, RejectsASourceThatFillsTooFewCells) {
diff --git a/tests/unit/csv_writer_test.cpp b/tests/unit/csv_writer_test.cpp
index 448f3ed..aacfb45 100644
--- a/tests/unit/csv_writer_test.cpp
+++ b/tests/unit/csv_writer_test.cpp
@@ -6,18 +6,12 @@
 
 #include <gtest/gtest.h>
 
+#include "micras/sim/core/text_file.hpp"
 #include "micras/sim/recording/csv_writer.hpp"
 
 namespace micras::sim {
 namespace {
-std::string read_file(const std::filesystem::path& path) {
-    const std::ifstream file(path);
-    std::stringstream   buffer;
-    buffer << file.rdbuf();
-    return buffer.str();
-}
-
-TEST(CsvWriter, FormatsCellsLikeTheHarnessAlwaysDid) {
+TEST(CsvWriter, FormatsCellsWithTwelveSignificantDigits) {
     EXPECT_EQ(CsvWriter::format(CsvCell{0.001042}), "0.001042");
     EXPECT_EQ(CsvWriter::format(CsvCell{3.99920000001}), "3.9992");
     EXPECT_EQ(CsvWriter::format(CsvCell{0.00080690123456}), "0.000806901235");
@@ -48,7 +42,7 @@ TEST(CsvWriter, WritesHeaderAndRows) {
         writer.write_row(std::vector<CsvCell>{uint64_t{1}, std::nan(""), int64_t{0}});
     }
 
-    EXPECT_EQ(read_file(path), "tick,x,count\n0,0.5,2\n1,nan,0\n");
+    EXPECT_EQ(read_text_file(path, "CSV"), "tick,x,count\n0,0.5,2\n1,nan,0\n");
     std::filesystem::remove(path);
 }
 
diff --git a/tests/unit/devices_test.cpp b/tests/unit/devices_test.cpp
index 9f5f276..e4e4225 100644
--- a/tests/unit/devices_test.cpp
+++ b/tests/unit/devices_test.cpp
@@ -13,8 +13,10 @@
 #include "micras/sim/core/mujoco_world.hpp"
 #include "micras/sim/core/serial_bus.hpp"
 #include "micras/sim/devices/dc_motor.hpp"
+#include "micras/sim/devices/digital_input.hpp"
 #include "micras/sim/devices/quadrature_encoder.hpp"
 #include "micras/sim/devices/serial_link.hpp"
+#include "support.hpp"
 
 namespace micras::sim {
 namespace {
@@ -32,33 +34,15 @@ DriveDescription tiny_drive() {
         .gear_ratio = 5.0,
         .gear_efficiency = 0.9,
         .supply_voltage = 6.0,
-        .max_motor_speed = 1800.0,
     };
 }
 
 /**
- * @brief Listener that keeps every byte the firmware sent.
- */
-class Collector : public ISerialListener {
-public:
-    void on_firmware_bytes(std::span<const uint8_t> bytes) override {
-        this->received.insert(this->received.end(), bytes.begin(), bytes.end());
-    }
-
-    // NOLINTNEXTLINE(*-non-private-member-variables-in-classes): the test reads what arrived.
-    std::vector<uint8_t> received;
-};
-
-/**
- * @brief The tiny robot's world and a clock with the usual 1042 us tick.
+ * @brief The tiny robot's world and a clock of 1042 us ticks.
  */
 class Devices : public testing::Test {
 protected:
-    void SetUp() override {
-        this->world.load(MICRAS_TEST_MODEL);
-        this->clock = Clock::from_model(this->world.timestep(), 1042);
-        this->world.reset();
-    }
+    void SetUp() override { load_tiny_world(this->world, this->clock); }
 
     /**
      * @brief Get the tiny robot's wheel joint position.
@@ -302,7 +286,7 @@ class Link : public Devices {
 
     // NOLINTBEGIN(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
     SerialBus            bus;
-    Collector            collector;
+    ByteCollector        collector;
     std::deque<uint8_t>  outgoing;
     std::vector<uint8_t> incoming;
     // NOLINTEND(*-non-private-member-variables-in-classes)
diff --git a/tests/unit/event_log_test.cpp b/tests/unit/event_log_test.cpp
index 4f49805..6e011c5 100644
--- a/tests/unit/event_log_test.cpp
+++ b/tests/unit/event_log_test.cpp
@@ -10,40 +10,17 @@
 #include "micras/sim/core/run_context.hpp"
 #include "micras/sim/core/simulation.hpp"
 #include "micras/sim/recording/event_log.hpp"
+#include "support.hpp"
 
 namespace micras::sim {
 namespace {
-/**
- * @brief Variables the test sets by hand, NaN until set.
- */
-class SettableVariables : public VariableSource {
-public:
-    double value_of(const std::string& name) const override {
-        const auto found = this->values.find(name);
-        return found == this->values.end() ? std::nan("") : found->second;
-    }
-
-    /**
-     * @brief Set a variable.
-     *
-     * @param name Name of the variable.
-     * @param value Its new value.
-     */
-    void set(const std::string& name, double value) { this->values[name] = value; }
-
-private:
-    std::map<std::string, double> values;
-};
-
 /**
  * @brief The tiny robot, lifted clear of the floor or lowered onto it at chosen instants.
  */
 class Logging : public testing::Test {
 protected:
     void SetUp() override {
-        this->context.world.load(MICRAS_TEST_MODEL);
-        this->context.clock = Clock::from_model(this->context.world.timestep(), 1042);
-        this->context.world.reset();
+        load_tiny_world(this->context.world, this->context.clock);
         this->chassis = this->context.world.require_id(mjOBJ_GEOM, "chassis");
         this->floor = this->context.world.require_id(mjOBJ_GEOM, "floor");
     }
@@ -66,12 +43,12 @@ class Logging : public testing::Test {
     }
 
     // NOLINTBEGIN(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
-    RunContext        context;
-    FirmwareThread    firmware{[] {}};
-    Simulation        simulation{this->context, this->firmware};
-    SettableVariables variables;
-    int               chassis{-1};
-    int               floor{-1};
+    RunContext     context;
+    FirmwareThread firmware{[] {}};
+    Simulation     simulation{this->context, this->firmware};
+    MapVariables   variables;
+    int            chassis{-1};
+    int            floor{-1};
     // NOLINTEND(*-non-private-member-variables-in-classes)
 };
 
@@ -134,7 +111,7 @@ TEST_F(Logging, WatchesOnlyTheGeomsItWasGiven) {
 }
 
 TEST_F(Logging, NamesEachNewStateFromItsTable) {
-    EventLog log({}, {}, {{.variable = "state", .names = {"INIT", "IDLE", "RUN"}}}, &this->variables);
+    EventLog log({}, {}, {{"state", {"INIT", "IDLE", "RUN"}}}, &this->variables);
 
     this->tick(log, 0.0, false);
     this->variables.set("state", 0);
@@ -155,7 +132,7 @@ TEST_F(Logging, NamesEachNewStateFromItsTable) {
 }
 
 TEST_F(Logging, WritesAValueWithNoNameAsANumber) {
-    EventLog log({}, {}, {{.variable = "state", .names = {"INIT"}}}, &this->variables);
+    EventLog log({}, {}, {{"state", {"INIT"}}}, &this->variables);
 
     this->variables.set("state", 7);
     this->tick(log, 0.0, false);
@@ -168,7 +145,7 @@ TEST_F(Logging, WritesAValueWithNoNameAsANumber) {
 }
 
 TEST_F(Logging, SkipsAVariableThatIsNotReportedYet) {
-    EventLog log({}, {}, {{.variable = "state", .names = {"INIT", "IDLE"}}}, &this->variables);
+    EventLog log({}, {}, {{"state", {"INIT", "IDLE"}}}, &this->variables);
 
     this->variables.set("state", 1);
     this->tick(log, 0.0, false);
@@ -181,9 +158,8 @@ TEST_F(Logging, SkipsAVariableThatIsNotReportedYet) {
     EXPECT_EQ(log.entries().front().detail, "IDLE");
 }
 
-TEST_F(Logging, WatchesAVariableAddedLater) {
-    EventLog log({}, {}, {}, &this->variables);
-    log.watch({.variable = "mode", .names = {"SLOW", "FAST"}});
+TEST_F(Logging, WatchesEveryVariableItWasGiven) {
+    EventLog log({}, {}, {{"mode", {"SLOW", "FAST"}}, {"state", {"INIT"}}}, &this->variables);
 
     this->variables.set("mode", 1);
     this->tick(log, 0.0, false);
@@ -194,7 +170,7 @@ TEST_F(Logging, WatchesAVariableAddedLater) {
 }
 
 TEST_F(Logging, KeepsTheFirstEntriesOnlyButKeepsCounting) {
-    EventLog log({this->chassis}, {}, {{.variable = "counter", .names = {}}}, &this->variables);
+    EventLog log({this->chassis}, {}, {{"counter", {}}}, &this->variables);
 
     for (std::size_t i = 0; i < EventLog::max_events + 10; i++) {
         this->variables.set("counter", static_cast<double>(i));
diff --git a/tests/unit/maze_test.cpp b/tests/unit/maze_test.cpp
index b344794..60b20d8 100644
--- a/tests/unit/maze_test.cpp
+++ b/tests/unit/maze_test.cpp
@@ -10,6 +10,7 @@
 
 #include "micras/sim/arenas/maze.hpp"
 #include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/text_file.hpp"
 
 namespace micras::sim {
 namespace {
@@ -22,19 +23,6 @@ constexpr std::string_view small_maze{"o---o---o\n"
                                       "| S |   |\n"
                                       "o---o---o\n"};
 
-/**
- * @brief Read a whole file.
- *
- * @param path Path of the file.
- * @return Its contents.
- */
-std::string read_file(const std::filesystem::path& path) {
-    const std::ifstream file(path);
-    std::ostringstream  text;
-    text << file.rdbuf();
-    return text.str();
-}
-
 TEST(Maze, ReadsTheSizeOfTheDrawing) {
     const Maze maze = Maze::parse(small_maze);
 
@@ -130,7 +118,9 @@ TEST(Maze, GeneratesAnArenaAWorldCanAttach) {
     const Maze  maze = Maze::parse(small_maze);
     MujocoWorld world;
 
-    world.build(read_file(MICRAS_TEST_MODEL), "robot", maze.mjcf({}), Maze::body_name, {.x = 0.09, .y = 0.09});
+    world.build(
+        read_text_file(MICRAS_TEST_MODEL, "model"), "robot", maze.mjcf({}), Maze::body_name, {.x = 0.09, .y = 0.09}
+    );
 
     EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "maze_floor"));
     EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "maze_south_1_1"));
@@ -146,7 +136,9 @@ TEST(Maze, PlacesTheWallsOnTheCellEdges) {
     const MazeConfig config{.cell_size = 0.2};
     MujocoWorld      world;
 
-    world.build(read_file(MICRAS_TEST_MODEL), "robot", maze.mjcf(config), Maze::body_name, {.x = 0.1, .y = 0.1});
+    world.build(
+        read_text_file(MICRAS_TEST_MODEL, "model"), "robot", maze.mjcf(config), Maze::body_name, {.x = 0.1, .y = 0.1}
+    );
     world.reset();
 
     const std::span<const mjtNum> positions(
diff --git a/tests/unit/noise_test.cpp b/tests/unit/noise_test.cpp
index cfd8264..8d365b2 100644
--- a/tests/unit/noise_test.cpp
+++ b/tests/unit/noise_test.cpp
@@ -72,8 +72,6 @@ TEST(Noise, DrawsACentredGaussianOfTheRequestedSpread) {
 TEST(Noise, DrawsNothingInAnIdealWorld) {
     Noise noise({.seed = 3, .ideal = true}, "gyro");
 
-    EXPECT_FALSE(noise.enabled());
-
     for (int i = 0; i < 100; i++) {
         EXPECT_EQ(noise.gaussian(1.0), 0.0);
     }
@@ -82,7 +80,6 @@ TEST(Noise, DrawsNothingInAnIdealWorld) {
 TEST(Noise, DrawsNothingForAZeroSigma) {
     Noise noise({.seed = 3}, "gyro");
 
-    EXPECT_TRUE(noise.enabled());
     EXPECT_EQ(noise.gaussian(0.0), 0.0);
 }
 }  // namespace
diff --git a/tests/unit/robot_description_test.cpp b/tests/unit/robot_description_test.cpp
index 2af2fde..006882f 100644
--- a/tests/unit/robot_description_test.cpp
+++ b/tests/unit/robot_description_test.cpp
@@ -63,18 +63,6 @@ std::string refusal_of(std::string_view text) {
     return {};
 }
 
-/**
- * @brief Find where a value of the description came from.
- *
- * @param robot The description.
- * @param key Dotted key of the value.
- * @return Its provenance, or an empty one when the key was not read.
- */
-Provenance provenance_of(const RobotDescription& robot, std::string_view key) {
-    const auto found = std::ranges::find(robot.provenance, key, &Provenance::key);
-    return found == robot.provenance.end() ? Provenance{} : *found;
-}
-
 TEST(RobotDescription, ReadsEverySection) {
     const RobotDescription robot = RobotDescription::load(MICRAS_TEST_ROBOT);
 
@@ -85,7 +73,7 @@ TEST(RobotDescription, ReadsEverySection) {
     EXPECT_DOUBLE_EQ(robot.wheels.track, 0.05);
     EXPECT_DOUBLE_EQ(robot.drive.resistance(), 10.5);
     EXPECT_EQ(robot.encoders.counts_per_revolution, 4096U);
-    EXPECT_DOUBLE_EQ(robot.imu.axes[2][2], 1.0);
+    EXPECT_DOUBLE_EQ(robot.imu.axes[1][1], 1.0);
     EXPECT_DOUBLE_EQ(robot.fan.nominal_voltage, 7.4);
     EXPECT_EQ(robot.battery.cells, 2);
     EXPECT_EQ(robot.link.baud_rate, 9600U);
@@ -125,33 +113,6 @@ TEST(RobotDescription, AcceptsPlainValuesAndSourcedTablesAlike) {
     EXPECT_DOUBLE_EQ(plain.drive.resistance(), sourced.drive.resistance());
 }
 
-TEST(RobotDescription, RecordsWhereEveryValueCameFrom) {
-    const RobotDescription robot = RobotDescription::load(MICRAS_TEST_ROBOT);
-
-    const Provenance sourced = provenance_of(robot, "drive.winding_resistance");
-    const Provenance plain = provenance_of(robot, "drive.bridge_resistance");
-    const Provenance nested = provenance_of(robot, "wall_sensors.sensors[0].yaw_deg");
-
-    EXPECT_EQ(sourced.key, "drive.winding_resistance");
-    EXPECT_EQ(sourced.value, "10");
-    EXPECT_EQ(sourced.source, "made up");
-    EXPECT_EQ(plain.key, "drive.bridge_resistance");
-    EXPECT_EQ(plain.value, "0.5");
-    EXPECT_TRUE(plain.source.empty());
-    EXPECT_EQ(nested.key, "wall_sensors.sensors[0].yaw_deg");
-    EXPECT_EQ(nested.value, "90");
-    EXPECT_EQ(nested.source, "made up, to check the conversion");
-}
-
-TEST(RobotDescription, RecordsTheValuesInFileOrder) {
-    const RobotDescription robot = RobotDescription::load(MICRAS_TEST_ROBOT);
-
-    ASSERT_GE(robot.provenance.size(), 2U);
-    EXPECT_EQ(robot.provenance.at(0).key, "schema");
-    EXPECT_EQ(robot.provenance.at(1).key, "name");
-    EXPECT_EQ(robot.provenance.at(1).value, "tiny");
-}
-
 TEST(RobotDescription, RefusesAMissingKeyNamingIt) {
     const std::string message = refusal_of(replaced(tiny_text(), "bridge_resistance = 0.5\n", ""));
 
@@ -181,14 +142,14 @@ TEST(RobotDescription, RefusesAValueOfTheWrongTypeNamingIt) {
     const std::string text_instead = refusal_of(replaced(tiny_text(), "cells = 2", "cells = \"two\""));
     const std::string fraction = refusal_of(replaced(tiny_text(), "cells = 2", "cells = 2.5"));
     const std::string short_vector =
-        refusal_of(replaced(tiny_text(), "chip_z = [0.0, 0.0, 1.0]", "chip_z = [0.0, 1.0]"));
+        refusal_of(replaced(tiny_text(), "chip_y = [0.0, 1.0, 0.0]", "chip_y = [0.0, 1.0]"));
     const std::string sourced = refusal_of(replaced(
         tiny_text(), R"(mass = { value = 0.05, source = "made up" })", R"(mass = { value = "heavy", source = "x" })"
     ));
 
     EXPECT_TRUE(text_instead.contains("battery.cells must be a whole number")) << text_instead;
     EXPECT_TRUE(fraction.contains("battery.cells must be a whole number")) << fraction;
-    EXPECT_TRUE(short_vector.contains("imu.chip_z must be 3 numbers")) << short_vector;
+    EXPECT_TRUE(short_vector.contains("imu.chip_y must be 3 numbers")) << short_vector;
     EXPECT_TRUE(sourced.contains("chassis.mass must be a number")) << sourced;
 }
 
diff --git a/tests/unit/scenario_test.cpp b/tests/unit/scenario_test.cpp
index 4609d06..713f7f8 100644
--- a/tests/unit/scenario_test.cpp
+++ b/tests/unit/scenario_test.cpp
@@ -17,6 +17,7 @@
 #include "micras/sim/core/run_context.hpp"
 #include "micras/sim/core/simulation.hpp"
 #include "micras/sim/scenario/scenario.hpp"
+#include "support.hpp"
 
 namespace micras::sim {
 namespace {
@@ -48,33 +49,12 @@ at = 1.0
 set = "switch"
 value = true
 
-[[events]]
-at = 3.0
-push = [0.1, -0.2, 0]
-for = 0.5
-
 [stop]
 when = "state"
 equals = "IDLE"
 after = 5.0
 )"};
 
-/**
- * @brief Variables with fixed values, NaN for any other name.
- */
-class FixedVariables : public VariableSource {
-public:
-    explicit FixedVariables(std::map<std::string, double> values) : values{std::move(values)} { }
-
-    double value_of(const std::string& name) const override {
-        const auto found = this->values.find(name);
-        return found == this->values.end() ? std::nan("") : found->second;
-    }
-
-private:
-    std::map<std::string, double> values;
-};
-
 /**
  * @brief A variable that takes a new value on given ticks, updated before the player reads it.
  */
@@ -108,7 +88,7 @@ class SteppedVariables : public VariableSource, public IRunListener {
  */
 class Probe : public IRunListener {
 public:
-    Probe(const DigitalInput& input, const MujocoWorld& world) : input{input}, world{world} { }
+    explicit Probe(const DigitalInput& input) : input{input} { }
 
     RunControl on_before_tick(const Simulation& simulation) override {
         if (this->input.is_active()) {
@@ -118,25 +98,12 @@ class Probe : public IRunListener {
         return RunControl::RUN;
     }
 
-    void on_after_tick(const Simulation& simulation) override {
-        const std::span<const mjtNum> forces(
-            this->world.data()->xfrc_applied, 6 * static_cast<std::size_t>(this->world.model()->nbody)
-        );
-        const int body = this->world.require_id(mjOBJ_BODY, "robot");
-
-        if (forces[6 * static_cast<std::size_t>(body)] != 0.0) {
-            this->pushed_ticks.push_back(simulation.tick());
-        }
-    }
-
     // NOLINTBEGIN(*-non-private-member-variables-in-classes): the test reads what the probe saw.
     std::vector<uint64_t> pressed_ticks;
-    std::vector<uint64_t> pushed_ticks;
     // NOLINTEND(*-non-private-member-variables-in-classes)
 
 private:
     const DigitalInput& input;  // NOLINT(*-avoid-const-or-ref-data-members): the fixture outlives the probe.
-    const MujocoWorld&  world;  // NOLINT(*-avoid-const-or-ref-data-members): the fixture outlives the probe.
 };
 
 /**
@@ -185,7 +152,7 @@ TEST(Scenario, LeavesOutWhatTheFileDoesNotSay) {
 TEST(Scenario, ReadsEveryKindOfEventInTimeOrder) {
     const Scenario scenario = Scenario::parse(full_scenario);
 
-    ASSERT_EQ(scenario.events.size(), 4U);
+    ASSERT_EQ(scenario.events.size(), 3U);
 
     const ScenarioEvent& press = scenario.events.at(0);
     EXPECT_EQ(press.kind, ScenarioEvent::Kind::PRESS);
@@ -201,11 +168,6 @@ TEST(Scenario, ReadsEveryKindOfEventInTimeOrder) {
     const ScenarioEvent& send = scenario.events.at(2);
     EXPECT_EQ(send.kind, ScenarioEvent::Kind::SEND);
     EXPECT_EQ(send.target, "hello");
-
-    const ScenarioEvent& push = scenario.events.at(3);
-    EXPECT_EQ(push.kind, ScenarioEvent::Kind::PUSH);
-    EXPECT_DOUBLE_EQ(push.duration, 0.5);
-    EXPECT_EQ(push.force, (std::array<double, 3>{0.1, -0.2, 0.0}));
 }
 
 TEST(Scenario, ReadsTheStopConditionAsANameOrANumber) {
@@ -249,7 +211,7 @@ TEST(Scenario, RefusesAnEventMissingWhatItNeeds) {
     EXPECT_TRUE(refusal_of("[[events]]\nsend = \"a\"\n").contains("at must be a number"));
     EXPECT_TRUE(refusal_of("[[events]]\nat = 1\npress = \"a\"\n").contains("for must be a number"));
     EXPECT_TRUE(refusal_of("[[events]]\nat = 1\nset = \"a\"\n").contains("true or false"));
-    EXPECT_TRUE(refusal_of("[[events]]\nat = 1\npush = [1, 2]\nfor = 1\n").contains("push is a force"));
+    EXPECT_TRUE(refusal_of("[[events]]\nat = 1\n").contains("exactly one of press, set or send"));
 }
 
 TEST(Scenario, RefusesNegativeTimes) {
@@ -269,18 +231,12 @@ TEST(Scenario, RefusesAFileThatIsNotToml) {
 }
 
 /**
- * @brief A world, a pusher, one input and one message: what a robot target hands a scenario.
+ * @brief A world, one input and one message: what a robot target hands a scenario.
  */
 class Playing : public testing::Test {
 protected:
     void SetUp() override {
-        this->context.world.load(MICRAS_TEST_MODEL);
-        this->context.clock = Clock::from_model(this->context.world.timestep(), 1042);
-        this->context.world.reset();
-
-        auto pusher = std::make_unique<Pusher>(this->context.world, "robot");
-        this->pusher = pusher.get();
-        this->context.devices.push_back(std::move(pusher));
+        load_tiny_world(this->context.world, this->context.clock);
 
         this->hooks.inputs.emplace("button", &this->button);
         this->hooks.messages.emplace("hello", std::vector<uint8_t>{1, 2, 3});
@@ -301,9 +257,8 @@ class Playing : public testing::Test {
         std::string_view text, uint64_t ticks, const VariableSource* variables = nullptr, bool human = false,
         IRunListener* first = nullptr
     ) {
-        auto player = std::make_unique<ScenarioPlayer>(
-            Scenario::parse(text), this->hooks, this->context.serial, *this->pusher, variables
-        );
+        auto player =
+            std::make_unique<ScenarioPlayer>(Scenario::parse(text), this->hooks, this->context.serial, variables);
 
         if (human) {
             player->hand_over();
@@ -324,13 +279,12 @@ class Playing : public testing::Test {
 
     // NOLINTBEGIN(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
     RunContext    context;
-    Pusher*       pusher{nullptr};
     bool          button_level{true};
     DigitalInput  button{{.name = "button", .active_low = true, .drive = [this](bool level) {
                              this->button_level = level;
                          }}};
     ScenarioHooks hooks;
-    Probe         probe{this->button, this->context.world};
+    Probe         probe{this->button};
     uint64_t      completed{0};
 
     /**
@@ -377,16 +331,6 @@ TEST_F(Playing, QueuesAMessageForTheFirmware) {
     EXPECT_EQ(this->context.serial.take_for_firmware(10), (std::vector<uint8_t>{1, 2, 3}));
 }
 
-TEST_F(Playing, PushesTheBodyForTheTimeTheEventSays) {
-    this->play("[[events]]\nat = 0.01\npush = [0.5, 0, 0]\nfor = 0.005\n", 30);
-
-    const uint64_t first = this->context.clock.tick_at(0.01);
-
-    ASSERT_FALSE(this->probe.pushed_ticks.empty());
-    EXPECT_EQ(this->probe.pushed_ticks.front(), first);
-    EXPECT_EQ(this->probe.pushed_ticks.back(), first + this->context.clock.tick_at(0.005) - 1);
-}
-
 TEST_F(Playing, RefusesAnEventOnSomethingTheRobotDoesNotHave) {
     EXPECT_THROW(this->play("[[events]]\nat = 0\npress = \"lever\"\nfor = 1\n", 1), std::runtime_error);
     EXPECT_THROW(this->play("[[events]]\nat = 0\nsend = \"goodbye\"\n", 1), std::runtime_error);
@@ -398,7 +342,7 @@ TEST_F(Playing, RefusesAStopOnAStateTheVariableDoesNotHave) {
 }
 
 TEST_F(Playing, StopsTheRunOnceTheConditionHoldsAfterItsDelay) {
-    const FixedVariables variables({{"state", 1.0}});
+    const MapVariables variables({{"state", 1.0}});
     const auto player = this->play("[stop]\nwhen = \"state\"\nequals = \"IDLE\"\nafter = 0.1\n", 1000, &variables);
 
     const auto stop_tick = static_cast<uint64_t>(std::ceil(0.1 / 1042e-6));
@@ -410,16 +354,16 @@ TEST_F(Playing, StopsTheRunOnceTheConditionHoldsAfterItsDelay) {
 }
 
 TEST_F(Playing, StopsOnANumericValue) {
-    const FixedVariables variables({{"lap", 3.0}});
-    const auto           player = this->play("[stop]\nwhen = \"lap\"\nequals = 3\n", 100, &variables);
+    const MapVariables variables({{"lap", 3.0}});
+    const auto         player = this->play("[stop]\nwhen = \"lap\"\nequals = 3\n", 100, &variables);
 
     EXPECT_EQ(player->stopped_at(), 0.0);
     EXPECT_EQ(this->completed, 0U);
 }
 
 TEST_F(Playing, StopsOnAnyOfSeveralValues) {
-    const FixedVariables variables({{"state", 2.0}});
-    const auto player = this->play("[stop]\nwhen = \"state\"\nequals = [\"IDLE\", \"RUN\"]\n", 100, &variables);
+    const MapVariables variables({{"state", 2.0}});
+    const auto         player = this->play("[stop]\nwhen = \"state\"\nequals = [\"IDLE\", \"RUN\"]\n", 100, &variables);
 
     EXPECT_EQ(player->stopped_at(), 0.0);
     EXPECT_EQ(this->completed, 0U);
@@ -469,8 +413,8 @@ TEST(Scenario, ReadsAnEventConditionAndAStopCount) {
 }
 
 TEST_F(Playing, RunsToTheEndWhileTheConditionDoesNotHold) {
-    const FixedVariables variables({{"state", 2.0}});
-    const auto           player = this->play("[stop]\nwhen = \"state\"\nequals = \"IDLE\"\n", 20, &variables);
+    const MapVariables variables({{"state", 2.0}});
+    const auto         player = this->play("[stop]\nwhen = \"state\"\nequals = \"IDLE\"\n", 20, &variables);
 
     EXPECT_FALSE(player->stopped_at().has_value());
     EXPECT_EQ(this->completed, 20U);
diff --git a/tests/unit/serial_bus_test.cpp b/tests/unit/serial_bus_test.cpp
index 7866452..7f4dffd 100644
--- a/tests/unit/serial_bus_test.cpp
+++ b/tests/unit/serial_bus_test.cpp
@@ -1,25 +1,14 @@
 #include <gtest/gtest.h>
 
 #include "micras/sim/core/serial_bus.hpp"
+#include "support.hpp"
 
 namespace micras::sim {
 namespace {
-/**
- * @brief Listener that keeps every byte it was handed.
- */
-class RecordingListener : public ISerialListener {
-public:
-    void on_firmware_bytes(std::span<const uint8_t> bytes) override {
-        this->received.insert(this->received.end(), bytes.begin(), bytes.end());
-    }
-
-    std::vector<uint8_t> received;
-};
-
 TEST(SerialBus, FansFirmwareOutputOutToEveryListener) {
-    SerialBus         bus;
-    RecordingListener first;
-    RecordingListener second;
+    SerialBus     bus;
+    ByteCollector first;
+    ByteCollector second;
 
     bus.add_listener(first);
     bus.add_listener(second);
@@ -31,8 +20,8 @@ TEST(SerialBus, FansFirmwareOutputOutToEveryListener) {
 }
 
 TEST(SerialBus, StopsDeliveringToARemovedListener) {
-    SerialBus         bus;
-    RecordingListener listener;
+    SerialBus     bus;
+    ByteCollector listener;
 
     bus.add_listener(listener);
     bus.send_from_firmware(std::vector<uint8_t>{1});
@@ -66,12 +55,5 @@ TEST(SerialBus, DropsAndCountsBytesPastTheBound) {
     EXPECT_EQ(bus.dropped_bytes(), 3U);
     EXPECT_EQ(bus.take_for_firmware(SerialBus::max_pending_bytes * 2).size(), SerialBus::max_pending_bytes);
 }
-
-TEST(SerialBus, CountsWhatTheFirmwareSent) {
-    SerialBus bus;
-    bus.send_from_firmware(std::vector<uint8_t>{1, 2, 3});
-
-    EXPECT_EQ(bus.sent_bytes(), 3U);
-}
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/simulation_test.cpp b/tests/unit/simulation_test.cpp
index 596034d..0873f68 100644
--- a/tests/unit/simulation_test.cpp
+++ b/tests/unit/simulation_test.cpp
@@ -5,6 +5,7 @@
 
 #include "micras/sim/core/run_context.hpp"
 #include "micras/sim/core/simulation.hpp"
+#include "support.hpp"
 
 namespace micras::sim {
 namespace {
@@ -36,15 +37,11 @@ class TracingListener : public IRunListener {
 };
 
 /**
- * @brief A world and a clock configured like every recorded run.
+ * @brief The tiny robot's world and a clock of two steps per tick.
  */
 class Run : public testing::Test {
 protected:
-    void SetUp() override {
-        this->context.world.load(MICRAS_TEST_MODEL);
-        this->context.clock = Clock::from_model(this->context.world.timestep(), 1042);
-        this->context.world.reset();
-    }
+    void SetUp() override { load_tiny_world(this->context.world, this->context.clock); }
 
     // NOLINTNEXTLINE(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
     RunContext context;
diff --git a/tests/unit/support.hpp b/tests/unit/support.hpp
new file mode 100644
index 0000000..f17f065
--- /dev/null
+++ b/tests/unit/support.hpp
@@ -0,0 +1,94 @@
+/**
+ * @file
+ *
+ * @brief What several of the engine's tests share: the tiny robot's world, bytes collected from the
+ * firmware, and variables set by hand.
+ */
+
+#ifndef MICRAS_SIM_TESTS_SUPPORT_HPP
+#define MICRAS_SIM_TESTS_SUPPORT_HPP
+
+#include <cmath>
+#include <cstdint>
+#include <map>
+#include <span>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "micras/sim/core/clock.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/serial_bus.hpp"
+#include "micras/sim/core/variable_source.hpp"
+
+namespace micras::sim {
+/**
+ * @brief Load the tiny robot, with a clock of two steps per 1042 us tick, and reset it.
+ *
+ * @param world World to load it into.
+ * @param clock Clock to configure.
+ */
+inline void load_tiny_world(MujocoWorld& world, Clock& clock) {
+    world.load(MICRAS_TEST_MODEL);
+    clock = Clock::from_model(world.timestep(), 1042);
+    world.reset();
+}
+
+/**
+ * @brief Listener that keeps every byte the firmware sent.
+ */
+class ByteCollector : public ISerialListener {
+public:
+    /**
+     * @brief Keep the bytes.
+     *
+     * @param bytes Bytes leaving the firmware.
+     */
+    void on_firmware_bytes(std::span<const uint8_t> bytes) override {
+        this->received.insert(this->received.end(), bytes.begin(), bytes.end());
+    }
+
+    // NOLINTNEXTLINE(*-non-private-member-variables-in-classes): the test reads what arrived.
+    std::vector<uint8_t> received;
+};
+
+/**
+ * @brief Variables the test sets, NaN for any name it has not set.
+ */
+class MapVariables : public VariableSource {
+public:
+    /**
+     * @brief Start with some values.
+     *
+     * @param values Values by name.
+     */
+    explicit MapVariables(std::map<std::string, double> values = {}) : values{std::move(values)} { }
+
+    /**
+     * @brief Get a variable.
+     *
+     * @param name Name of the variable.
+     * @return Its value, or NaN when it was never set.
+     */
+    double value_of(const std::string& name) const override {
+        const auto found = this->values.find(name);
+        return found == this->values.end() ? std::nan("") : found->second;
+    }
+
+    /**
+     * @brief Set a variable.
+     *
+     * @param name Name of the variable.
+     * @param value Its new value.
+     */
+    void set(const std::string& name, double value) { this->values[name] = value; }
+
+private:
+    /**
+     * @brief Values by name.
+     */
+    std::map<std::string, double> values;
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_TESTS_SUPPORT_HPP
diff --git a/tests/unit/web_socket_server_test.cpp b/tests/unit/web_socket_server_test.cpp
index 92a0431..4663611 100644
--- a/tests/unit/web_socket_server_test.cpp
+++ b/tests/unit/web_socket_server_test.cpp
@@ -22,6 +22,7 @@
 #include "micras/sim/bridge/web_socket_server.hpp"
 #include "micras/sim/core/run_context.hpp"
 #include "micras/sim/core/simulation.hpp"
+#include "support.hpp"
 
 namespace micras::sim {
 namespace {
@@ -177,9 +178,7 @@ std::vector<uint8_t> receive_binary(const Socket& socket) {
 
 TEST(MonitorBridge, CarriesRawBytesBothWays) {
     RunContext context;
-    context.world.load(MICRAS_TEST_MODEL);
-    context.clock = Clock::from_model(context.world.timestep(), 1042);
-    context.world.reset();
+    load_tiny_world(context.world, context.clock);
     FirmwareThread   firmware{[&firmware] {
         while (firmware.yield_tick()) { }
     }};
@@ -188,10 +187,7 @@ TEST(MonitorBridge, CarriesRawBytesBothWays) {
     std::vector<uint8_t> inbound;
     std::string          error;
     const uint16_t       port = free_port();
-    MonitorBridge        bridge(
-        context.serial, [&inbound](std::span<const uint8_t> bytes) { inbound.assign(bytes.begin(), bytes.end()); },
-        port, error
-    );
+    MonitorBridge        bridge(context.serial, port, error);
     ASSERT_TRUE(bridge.is_open()) << error;
 
     const Socket client;
@@ -204,6 +200,7 @@ TEST(MonitorBridge, CarriesRawBytesBothWays) {
 
     while (inbound.empty() and steady_clock::now() < deadline) {
         bridge.on_before_tick(simulation);
+        inbound = context.serial.take_for_firmware(command.size());
         std::this_thread::sleep_for(milliseconds(1));
     }
 
diff --git a/view/include/micras/sim/view/control_panel.hpp b/view/include/micras/sim/view/control_panel.hpp
index cb9446c..e7ac0dd 100644
--- a/view/include/micras/sim/view/control_panel.hpp
+++ b/view/include/micras/sim/view/control_panel.hpp
@@ -13,9 +13,9 @@
 #include <string>
 #include <vector>
 
-#include "micras/sim/core/panel_spec.hpp"
 #include "micras/sim/core/simulation.hpp"
 #include "micras/sim/core/variable_source.hpp"
+#include "micras/sim/view/panel_spec.hpp"
 
 struct GLFWwindow;
 
@@ -33,9 +33,9 @@ struct PanelRequest {
     ///@}
 
     /**
-     * @brief Ticks the human asked to run while paused.
+     * @brief Whether the human asked for one more tick, in this frame.
      */
-    uint64_t steps{0};
+    bool step{false};
 
     /**
      * @brief Simulated seconds allowed per wall second, zero for no limit.
diff --git a/view/include/micras/sim/view/mujoco_viewer.hpp b/view/include/micras/sim/view/mujoco_viewer.hpp
index 323d340..22b4a1b 100644
--- a/view/include/micras/sim/view/mujoco_viewer.hpp
+++ b/view/include/micras/sim/view/mujoco_viewer.hpp
@@ -14,10 +14,10 @@
 #include <mujoco/mujoco.h>
 
 #include "micras/sim/core/mujoco_world.hpp"
-#include "micras/sim/core/panel_spec.hpp"
 #include "micras/sim/core/simulation.hpp"
 #include "micras/sim/core/variable_source.hpp"
 #include "micras/sim/view/control_panel.hpp"
+#include "micras/sim/view/panel_spec.hpp"
 #include "micras/sim/view/view_options.hpp"
 
 struct GLFWwindow;
@@ -151,6 +151,11 @@ class MujocoViewer : public IRunListener {
      */
     void on_key(int key);
 
+    /**
+     * @brief Look through the next camera: the free one, then each camera of the model in turn.
+     */
+    void next_camera();
+
     /**
      * @brief Handle a mouse button change.
      *
@@ -234,11 +239,6 @@ class MujocoViewer : public IRunListener {
      */
     double speed{0.0};
 
-    /**
-     * @brief Steps already taken from the panel's running total.
-     */
-    uint64_t consumed_steps{0};
-
     /**
      * @brief Mouse state, in window coordinates.
      */
@@ -250,11 +250,6 @@ class MujocoViewer : public IRunListener {
     bool   middle_held{false};
     ///@}
 
-    /**
-     * @brief Number of frames drawn.
-     */
-    uint64_t frames{0};
-
     /**
      * @brief The board and the plots, drawn over the scene.
      */
diff --git a/engine/include/micras/sim/core/panel_spec.hpp b/view/include/micras/sim/view/panel_spec.hpp
similarity index 90%
rename from engine/include/micras/sim/core/panel_spec.hpp
rename to view/include/micras/sim/view/panel_spec.hpp
index db28ff5..01afc94 100644
--- a/engine/include/micras/sim/core/panel_spec.hpp
+++ b/view/include/micras/sim/view/panel_spec.hpp
@@ -4,8 +4,8 @@
  * @brief What a robot target shows on the panel and the video overlay, as data.
  */
 
-#ifndef MICRAS_SIM_CORE_PANEL_SPEC_HPP
-#define MICRAS_SIM_CORE_PANEL_SPEC_HPP
+#ifndef MICRAS_SIM_VIEW_PANEL_SPEC_HPP
+#define MICRAS_SIM_VIEW_PANEL_SPEC_HPP
 
 #include <cstdint>
 #include <functional>
@@ -21,8 +21,6 @@ struct Colour {
     uint8_t red{0};
     uint8_t green{0};
     uint8_t blue{0};
-
-    bool operator==(const Colour&) const = default;
 };
 
 /**
@@ -119,7 +117,7 @@ struct StateLabel {
 /**
  * @brief Everything a robot target puts on the control panel.
  *
- * @note Controls are declared, not drawn: the engine draws every robot the same
+ * @note Controls are declared, not drawn: the view draws every robot the same
  *       way and owns the details that are easy to get wrong, such as reacting to
  *       press and release edges rather than to the held state.
  */
@@ -157,8 +155,9 @@ struct PanelSpec {
     /**
      * @brief Called once, on the first button or switch a human touches.
      *
-     * @note A scripted run hands the board over at that moment, so the script
-     *       and the human never fight over the same input.
+     * @note Set by the application, not by the robot target: a scripted run hands
+     *       the board over at that moment, so the script and the human never
+     *       fight over the same input.
      */
     std::function<void()> take_over;
 };
@@ -199,4 +198,4 @@ struct OverlaySpec {
 };
 }  // namespace micras::sim
 
-#endif  // MICRAS_SIM_CORE_PANEL_SPEC_HPP
+#endif  // MICRAS_SIM_VIEW_PANEL_SPEC_HPP
diff --git a/view/include/micras/sim/view/video_recorder.hpp b/view/include/micras/sim/view/video_recorder.hpp
index a48c7af..aedb092 100644
--- a/view/include/micras/sim/view/video_recorder.hpp
+++ b/view/include/micras/sim/view/video_recorder.hpp
@@ -17,11 +17,11 @@
 
 #include <mujoco/mujoco.h>
 
-#include "micras/sim/view/view_options.hpp"
-
-#include "micras/sim/core/panel_spec.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
 #include "micras/sim/core/simulation.hpp"
 #include "micras/sim/core/variable_source.hpp"
+#include "micras/sim/view/panel_spec.hpp"
+#include "micras/sim/view/view_options.hpp"
 
 namespace micras::sim {
 /**
@@ -35,29 +35,19 @@ class VideoRecorder : public IRunListener {
     /**
      * @brief Bring up EGL, the MuJoCo render context and the ffmpeg pipe.
      *
-     * @note The caller must have set model->vis.global.offwidth/offheight to at
-     *       least the requested frame size before calling this, because
-     *       mjr_makeContext sizes the offscreen framebuffer from them.
-     *
-     * @param model Model to render.
-     * @param config Recording configuration.
-     * @param error Filled with a human readable reason when creation fails.
-     * @return The recorder, or nullptr if anything failed.
-     */
-    static std::unique_ptr<VideoRecorder> create(mjModel* model, const VideoConfig& config, std::string& error);
-
-    /**
-     * @brief Start recording a run, from the world and the variables the overlay prints.
+     * @note Grows the model's offscreen framebuffer to the frame size, since
+     *       mjr_makeContext sizes it from the model.
      *
      * @param world World whose state is rendered.
+     * @param config Recording configuration.
      * @param overlay What the robot target prints under the simulated time.
      * @param variables Source of the overlay's values, or null.
-     * @param ticks_per_frame Number of firmware ticks between frames.
-     * @param trail_body Body whose path every frame draws behind it, or empty for none.
+     * @param error Filled with a human readable reason when creation fails.
+     * @return The recorder, or nullptr if anything failed.
      */
-    void attach(
-        MujocoWorld& world, OverlaySpec overlay, const VariableSource* variables, uint64_t ticks_per_frame,
-        const std::string& trail_body
+    static std::unique_ptr<VideoRecorder> create(
+        MujocoWorld& world, const VideoConfig& config, OverlaySpec overlay, const VariableSource* variables,
+        std::string& error
     );
 
     /**
@@ -75,16 +65,6 @@ class VideoRecorder : public IRunListener {
     VideoRecorder& operator=(const VideoRecorder&) = delete;
     VideoRecorder& operator=(VideoRecorder&&) = delete;
 
-    /**
-     * @brief Render one frame of the current state and write it to ffmpeg.
-     *
-     * @param data Simulation state to render; mjv_updateScene needs a mutable
-     *             pointer but never touches the physics state.
-     * @param labels Overlay labels, one per line.
-     * @param values Overlay values, one per line.
-     */
-    void capture(mjData* data, const std::string& labels, const std::string& values);
-
     /**
      * @brief Release the ffmpeg pipe, the render context and the EGL context.
      */
@@ -113,22 +93,30 @@ class VideoRecorder : public IRunListener {
      */
     static constexpr float trail_width{3.0F};
 
+    /**
+     * @brief Color of the trail, red, green, blue and alpha.
+     */
+    static constexpr std::array<float, 4> trail_color{1.0F, 0.35F, 0.05F, 1.0F};
+
     VideoRecorder() = default;
 
     /**
-     * @brief Add the trail to the scene, as one line per pair of points.
+     * @brief Extend the trail with where the body is now, if it has moved far enough.
      */
-    void draw_trail();
+    void extend_trail();
 
     /**
-     * @brief Blend the color of every geom of the robot with the color of its trail.
+     * @brief Add the trail to the scene, as one line per pair of points.
      */
-    void tint_robot();
+    void draw_trail();
 
     /**
-     * @brief Share of the trail color in the tinted robot, the rest being its own shading.
+     * @brief Render one frame of the current state and write it to ffmpeg.
+     *
+     * @param labels Overlay labels, one per line.
+     * @param values Overlay values, one per line.
      */
-    static constexpr float tint_share{0.75F};
+    void capture(const std::string& labels, const std::string& values);
 
     /**
      * @brief Make this recorder's offscreen context current.
@@ -144,11 +132,6 @@ class VideoRecorder : public IRunListener {
      */
     void release_context() const;
 
-    /**
-     * @brief Model being rendered, owned by the World.
-     */
-    mjModel* model{nullptr};
-
     /**
      * @brief Headless context the frames are rendered through.
      */
@@ -191,25 +174,20 @@ class VideoRecorder : public IRunListener {
     uint64_t frames{0};
 
     /**
-     * @brief World being rendered, set by attach().
+     * @brief World being rendered.
      */
     MujocoWorld* world{nullptr};
 
     /**
-     * @brief Source of the overlay's values, set by attach().
+     * @brief Source of the overlay's values.
      */
     const VariableSource* variables{nullptr};
 
     /**
-     * @brief What the overlay prints under the simulated time, set by attach().
+     * @brief What the overlay prints under the simulated time.
      */
     OverlaySpec overlay;
 
-    /**
-     * @brief Number of firmware ticks between frames.
-     */
-    uint64_t ticks_per_frame{1};
-
     /**
      * @brief Body the trail follows, or -1 for no trail, and the points it has left.
      */
diff --git a/view/include/micras/sim/view/view_options.hpp b/view/include/micras/sim/view/view_options.hpp
index a37635d..3b2c4d8 100644
--- a/view/include/micras/sim/view/view_options.hpp
+++ b/view/include/micras/sim/view/view_options.hpp
@@ -11,27 +11,24 @@
 #ifndef MICRAS_SIM_VIEW_VIEW_OPTIONS_HPP
 #define MICRAS_SIM_VIEW_VIEW_OPTIONS_HPP
 
-#include <array>
 #include <cstdint>
 #include <string>
 
 namespace micras::sim {
 /**
- * @brief Everything the command line can configure about a recording.
+ * @brief How a recording is made: the command line's options, and what the application fills in.
  */
 struct VideoConfig {
     /**
-     * @brief Path of the mp4 file ffmpeg writes.
+     * @brief Path of the mp4 file ffmpeg writes, empty for no recording.
      */
     std::string path;
 
     /**
-     * @brief Model camera name, or "free" for the fixed whole-world view.
-     *
-     * @note A robot target may prefer one of its own cameras; the command line
-     *       overrides either.
+     * @brief Model camera name, "free" for the fixed whole-world view, or empty for the robot
+     *        target's preferred camera.
      */
-    std::string camera{"free"};
+    std::string camera;
 
     /**
      * @brief Frame rate handed to ffmpeg.
@@ -44,26 +41,26 @@ struct VideoConfig {
     bool trail{false};
 
     /**
-     * @brief Color of the trail, red, green and blue in [0, 1].
+     * @brief Frame size in pixels.
      */
-    std::array<float, 3> trail_color{1.0F, 0.35F, 0.05F};
+    ///@{
+    int width{1280};
+    int height{720};
+    ///@}
 
     /**
-     * @brief Whether the robot is drawn in the color of its trail, to tell apart two recordings of one maze.
+     * @brief Body the trail follows, the robot's own.
      */
-    bool tint{false};
+    std::string body;
 
     /**
-     * @brief Frame size in pixels.
+     * @brief Number of firmware ticks between frames.
      */
-    ///@{
-    int width{1280};
-    int height{720};
-    ///@}
+    uint64_t ticks_per_frame{1};
 };
 
 /**
- * @brief Everything the command line can configure about the window.
+ * @brief How the window is opened: the command line's options, and what the application fills in.
  */
 struct ViewerConfig {
     /**
@@ -96,8 +93,6 @@ struct ViewerConfig {
 
     /**
      * @brief Duration of one firmware tick, which the speed limiter paces against.
-     *
-     * @note No default: it comes from the clock of the loaded run.
      */
     uint32_t us_per_tick{0};
 };
diff --git a/view/src/camera.hpp b/view/src/camera.hpp
new file mode 100644
index 0000000..3381c47
--- /dev/null
+++ b/view/src/camera.hpp
@@ -0,0 +1,58 @@
+/**
+ * @file
+ *
+ * @brief What the window and the recorder set up alike: the model camera they start from and what
+ * they draw.
+ */
+
+#ifndef MICRAS_SIM_VIEW_CAMERA_HPP
+#define MICRAS_SIM_VIEW_CAMERA_HPP
+
+#include <algorithm>
+#include <string>
+
+#include <mujoco/mujoco.h>
+
+namespace micras::sim {
+/**
+ * @brief Point a camera at one of the model's cameras.
+ *
+ * @param model Model to look the camera up in.
+ * @param name Name of the camera.
+ * @param camera Camera to point.
+ * @param error Filled with the cameras the model has when it has none by that name.
+ * @return False when the name was rejected.
+ */
+inline bool select_model_camera(const mjModel* model, const std::string& name, mjvCamera& camera, std::string& error) {
+    const int id = mj_name2id(model, mjOBJ_CAMERA, name.c_str());
+
+    if (id < 0) {
+        error = "model has no camera named '" + name + "'; it has";
+
+        for (int i = 0; i < model->ncam; i++) {
+            const char* found = mj_id2name(model, mjOBJ_CAMERA, i);
+            error += std::string(" '") + (found == nullptr ? "?" : found) + "'";
+        }
+
+        error += " and 'free'";
+        return false;
+    }
+
+    camera.type = mjCAMERA_FIXED;
+    camera.fixedcamid = id;
+    return true;
+}
+
+/**
+ * @brief Draw every geom group, and the rays of the range sensors, which are usually the
+ * interesting part of a run.
+ *
+ * @param option Options to set.
+ */
+inline void show_everything(mjvOption& option) {
+    option.flags[mjVIS_RANGEFINDER] = 1;
+    std::ranges::fill(option.geomgroup, 1);
+}
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_VIEW_CAMERA_HPP
diff --git a/view/src/control_panel.cpp b/view/src/control_panel.cpp
index 6f5a28f..101e35a 100644
--- a/view/src/control_panel.cpp
+++ b/view/src/control_panel.cpp
@@ -2,27 +2,14 @@
  * @file
  */
 
-#include <algorithm>
-#include <limits>
-#include <utility>
-
 #include "micras/sim/view/control_panel.hpp"
 
-namespace micras::sim {
-PlotTrace::PlotTrace(std::string variable) : variable{std::move(variable)} { }
-
-void PlotTrace::sample(double time, const VariableSource* variables) {
-    this->sample_times.at(this->next) = time;
-    this->sample_values.at(this->next) =
-        variables == nullptr ? std::numeric_limits<double>::quiet_NaN() : variables->value_of(this->variable);
-    this->next = (this->next + 1) % capacity;
-    this->count = std::min(this->count + 1, capacity);
-}
-}  // namespace micras::sim
-
 #ifdef MICRAS_VIEWER
 
+    #include <algorithm>
     #include <format>
+    #include <limits>
+    #include <utility>
 
     #include <GLFW/glfw3.h>
     #include <imgui.h>
@@ -31,6 +18,16 @@ void PlotTrace::sample(double time, const VariableSource* variables) {
     #include <implot.h>
 
 namespace micras::sim {
+PlotTrace::PlotTrace(std::string variable) : variable{std::move(variable)} { }
+
+void PlotTrace::sample(double time, const VariableSource* variables) {
+    this->sample_times.at(this->next) = time;
+    this->sample_values.at(this->next) =
+        variables == nullptr ? std::numeric_limits<double>::quiet_NaN() : variables->value_of(this->variable);
+    this->next = (this->next + 1) % capacity;
+    this->count = std::min(this->count + 1, capacity);
+}
+
 namespace {
 /**
  * @brief Range of the speed limiter, in simulated seconds per wall second.
@@ -117,6 +114,7 @@ PanelRequest ControlPanel::draw(const Simulation& simulation, bool paused) {
     ImGui::Separator();
 
     this->request.paused_changed = false;
+    this->request.step = false;
     this->draw_board(paused);
     ImGui::Separator();
     this->draw_plots();
@@ -140,7 +138,7 @@ void ControlPanel::draw_board(bool paused) {
     ImGui::SameLine();
 
     if (ImGui::Button("step")) {
-        this->request.steps++;
+        this->request.step = true;
     }
 
     ImGui::SameLine();
@@ -221,22 +219,7 @@ void ControlPanel::draw_plots() {
 #else  // MICRAS_VIEWER
 
 namespace micras::sim {
-ControlPanel::ControlPanel(GLFWwindow* /*window*/, std::string title, PanelSpec spec, const VariableSource* variables) :
-    title{std::move(title)}, spec{std::move(spec)}, variables{variables} { }
-
 ControlPanel::~ControlPanel() = default;
-
-void ControlPanel::sample(double /*time*/) { }
-
-PanelRequest ControlPanel::draw(const Simulation& /*simulation*/, bool /*paused*/) {
-    return this->request;
-}
-
-void ControlPanel::draw_board(bool /*paused*/) { }
-
-void ControlPanel::draw_plots() { }
-
-void ControlPanel::take_over() { }
 }  // namespace micras::sim
 
 #endif  // MICRAS_VIEWER
diff --git a/view/src/mujoco_viewer.cpp b/view/src/mujoco_viewer.cpp
index af4d101..d92a925 100644
--- a/view/src/mujoco_viewer.cpp
+++ b/view/src/mujoco_viewer.cpp
@@ -14,13 +14,10 @@
     #include <GLFW/glfw3.h>
     #include <imgui.h>
 
+    #include "camera.hpp"
+
 namespace micras::sim {
 namespace {
-/**
- * @brief How far a drag moves the camera, as a fraction of the window.
- */
-constexpr double drag_scale{1.0};
-
 /**
  * @brief How much one scroll step zooms.
  */
@@ -106,8 +103,7 @@ std::unique_ptr<MujocoViewer> MujocoViewer::create(
     mjv_defaultPerturb(&viewer->perturb);
     mjr_defaultContext(&viewer->context);
 
-    viewer->option.flags[mjVIS_RANGEFINDER] = 1;
-    std::ranges::fill(viewer->option.geomgroup, 1);
+    show_everything(viewer->option);
 
     mjv_makeScene(world.model(), &viewer->scene, 2000);
     mjr_makeContext(world.model(), &viewer->context, mjFONTSCALE_150);
@@ -145,30 +141,12 @@ MujocoViewer::~MujocoViewer() {
 }
 
 bool MujocoViewer::select_camera(const std::string& name, std::string& error) {
-    const mjModel* model = this->world->model();
-
     if (name == "free") {
-        mjv_defaultFreeCamera(model, &this->camera);
+        mjv_defaultFreeCamera(this->world->model(), &this->camera);
         return true;
     }
 
-    const int id = mj_name2id(model, mjOBJ_CAMERA, name.c_str());
-
-    if (id < 0) {
-        error = "model has no camera named '" + name + "'; it has";
-
-        for (int i = 0; i < model->ncam; i++) {
-            const char* found = mj_id2name(model, mjOBJ_CAMERA, i);
-            error += std::string(" '") + (found == nullptr ? "?" : found) + "'";
-        }
-
-        error += " and 'free'";
-        return false;
-    }
-
-    this->camera.type = mjCAMERA_FIXED;
-    this->camera.fixedcamid = id;
-    return true;
+    return select_model_camera(this->world->model(), name, this->camera, error);
 }
 
 void MujocoViewer::on_start(const Simulation& simulation) {
@@ -213,7 +191,7 @@ bool MujocoViewer::wait_for_speed_limit() const {
 }
 
 bool MujocoViewer::was_interactive() const {
-    return this->interactive or (this->panel != nullptr and this->panel->was_touched());
+    return this->interactive or this->panel->was_touched();
 }
 
 void MujocoViewer::on_after_tick(const Simulation& simulation) {
@@ -273,17 +251,15 @@ void MujocoViewer::draw(const Simulation& simulation) {
     this->speed = request.speed;
     this->quit_requested = request.quit;
 
-    if (request.steps > this->consumed_steps) {
-        this->pending_steps += request.steps - this->consumed_steps;
-        this->consumed_steps = request.steps;
+    if (request.step and this->paused) {
+        this->pending_steps++;
     }
 
     glfwSwapBuffers(this->window);
-    this->frames++;
 }
 
 void MujocoViewer::on_key(int key) {
-    if (this->panel != nullptr and ImGui::GetIO().WantCaptureKeyboard) {
+    if (ImGui::GetIO().WantCaptureKeyboard) {
         return;
     }
 
@@ -293,7 +269,10 @@ void MujocoViewer::on_key(int key) {
             break;
 
         case GLFW_KEY_RIGHT:
-            this->pending_steps++;
+            if (this->paused) {
+                this->pending_steps++;
+            }
+
             break;
 
         case GLFW_KEY_ESCAPE:
@@ -301,9 +280,7 @@ void MujocoViewer::on_key(int key) {
             break;
 
         case GLFW_KEY_TAB:
-            this->camera.type = this->camera.type == mjCAMERA_FREE ? mjCAMERA_FIXED : mjCAMERA_FREE;
-            this->camera.fixedcamid =
-                (this->camera.fixedcamid + 1) % std::max(1, static_cast<int>(this->world->model()->ncam));
+            this->next_camera();
             break;
 
         case GLFW_KEY_C:
@@ -327,8 +304,21 @@ void MujocoViewer::on_key(int key) {
     }
 }
 
+void MujocoViewer::next_camera() {
+    const auto cameras = static_cast<int>(this->world->model()->ncam);
+
+    if (this->camera.type == mjCAMERA_FIXED and this->camera.fixedcamid + 1 < cameras) {
+        this->camera.fixedcamid++;
+    } else if (this->camera.type == mjCAMERA_FIXED or cameras == 0) {
+        this->camera.type = mjCAMERA_FREE;
+    } else {
+        this->camera.type = mjCAMERA_FIXED;
+        this->camera.fixedcamid = 0;
+    }
+}
+
 void MujocoViewer::on_mouse_button(int button, bool pressed) {
-    if (this->panel != nullptr and ImGui::GetIO().WantCaptureMouse) {
+    if (ImGui::GetIO().WantCaptureMouse) {
         this->left_held = false;
         this->right_held = false;
         this->middle_held = false;
@@ -365,7 +355,7 @@ void MujocoViewer::on_mouse_button(int button, bool pressed) {
 }
 
 void MujocoViewer::on_mouse_move(double x, double y) {
-    if (this->panel != nullptr and ImGui::GetIO().WantCaptureMouse) {
+    if (ImGui::GetIO().WantCaptureMouse) {
         this->last_x = x;
         this->last_y = y;
         return;
@@ -384,8 +374,8 @@ void MujocoViewer::on_mouse_move(double x, double y) {
     int height = 0;
     glfwGetWindowSize(this->window, &width, &height);
 
-    const double relative_x = drag_scale * dx / std::max(1, width);
-    const double relative_y = drag_scale * dy / std::max(1, height);
+    const double relative_x = dx / std::max(1, width);
+    const double relative_y = dy / std::max(1, height);
 
     if (this->perturb.active != 0) {
         mjv_movePerturb(
@@ -407,7 +397,7 @@ void MujocoViewer::on_mouse_move(double x, double y) {
 }
 
 void MujocoViewer::on_scroll(double offset) {
-    if (this->panel != nullptr and ImGui::GetIO().WantCaptureMouse) {
+    if (ImGui::GetIO().WantCaptureMouse) {
         return;
     }
 
@@ -430,14 +420,6 @@ bool MujocoViewer::was_interactive() const {
     return this->interactive;
 }
 
-bool MujocoViewer::should_quit() const {
-    return true;
-}
-
-bool MujocoViewer::wait_for_speed_limit() const {
-    return false;
-}
-
 MujocoViewer::~MujocoViewer() = default;
 
 void MujocoViewer::on_start(const Simulation& /*simulation*/) { }
@@ -449,22 +431,6 @@ RunControl MujocoViewer::on_before_tick(const Simulation& /*simulation*/) {
 void MujocoViewer::on_after_tick(const Simulation& /*simulation*/) { }
 
 void MujocoViewer::on_finish(const Simulation& /*simulation*/) { }
-
-void MujocoViewer::draw(const Simulation& /*simulation*/) { }
-
-void MujocoViewer::apply_perturbation() { }
-
-bool MujocoViewer::select_camera(const std::string& /*name*/, std::string& /*error*/) {
-    return true;
-}
-
-void MujocoViewer::on_key(int /*key*/) { }
-
-void MujocoViewer::on_mouse_button(int /*button*/, bool /*pressed*/) { }
-
-void MujocoViewer::on_mouse_move(double /*x*/, double /*y*/) { }
-
-void MujocoViewer::on_scroll(double /*offset*/) { }
 }  // namespace micras::sim
 
 #endif  // MICRAS_VIEWER
diff --git a/engine/src/core/panel_spec.cpp b/view/src/panel_spec.cpp
similarity index 87%
rename from engine/src/core/panel_spec.cpp
rename to view/src/panel_spec.cpp
index c1d932d..de5ba16 100644
--- a/engine/src/core/panel_spec.cpp
+++ b/view/src/panel_spec.cpp
@@ -2,7 +2,7 @@
  * @file
  */
 
-#include "micras/sim/core/panel_spec.hpp"
+#include "micras/sim/view/panel_spec.hpp"
 
 namespace micras::sim {
 std::string StateLabel::name_of(double state) const {
diff --git a/view/src/video_recorder.cpp b/view/src/video_recorder.cpp
index 2183cb4..315c7d5 100644
--- a/view/src/video_recorder.cpp
+++ b/view/src/video_recorder.cpp
@@ -21,6 +21,8 @@
     #include <EGL/egl.h>
     #include <EGL/eglext.h>
 
+    #include "camera.hpp"
+
 namespace micras::sim {
 namespace {
 /**
@@ -101,7 +103,7 @@ bool make_context_current(EGLDisplay display) {
  *
  * @note The default display works on most drivers; when it does not (a common
  *       failure with several EGL vendors installed) every enumerated EGL device
- *       is tried in turn, which is what picks the NVIDIA one on this machine.
+ *       is tried in turn.
  *
  * @return True on success.
  */
@@ -158,23 +160,32 @@ void close_opengl() {
 
 }  // namespace
 
-std::unique_ptr<VideoRecorder> VideoRecorder::create(mjModel* model, const VideoConfig& config, std::string& error) {
+std::unique_ptr<VideoRecorder> VideoRecorder::create(
+    MujocoWorld& world, const VideoConfig& config, OverlaySpec overlay, const VariableSource* variables,
+    std::string& error
+) {
     if (not init_opengl()) {
         error = "could not create a headless EGL/OpenGL context";
         return nullptr;
     }
 
+    mjModel* model = world.model();
+    model->vis.global.offwidth = std::max(model->vis.global.offwidth, config.width);
+    model->vis.global.offheight = std::max(model->vis.global.offheight, config.height);
+
     std::unique_ptr<VideoRecorder> recorder(new VideoRecorder());
-    recorder->model = model;
+    recorder->world = &world;
     recorder->config = config;
+    recorder->config.ticks_per_frame = std::max<uint64_t>(1, config.ticks_per_frame);
+    recorder->overlay = std::move(overlay);
+    recorder->variables = variables;
+    recorder->trail_body = config.trail ? world.require_id(mjOBJ_BODY, config.body) : -1;
 
     mjv_defaultCamera(&recorder->camera);
     mjv_defaultOption(&recorder->option);
     mjv_defaultScene(&recorder->scene);
     mjr_defaultContext(&recorder->context);
-
-    recorder->option.flags[mjVIS_RANGEFINDER] = 1;
-    std::ranges::fill(recorder->option.geomgroup, 1);
+    show_everything(recorder->option);
 
     recorder->display = eglGetCurrentDisplay();
     recorder->gl_context = eglGetCurrentContext();
@@ -192,30 +203,14 @@ std::unique_ptr<VideoRecorder> VideoRecorder::create(mjModel* model, const Video
 
     if (config.camera == "free") {
         mjv_defaultFreeCamera(model, &recorder->camera);
-        recorder->camera.type = mjCAMERA_FREE;
         recorder->camera.lookat[0] = model->stat.center[0];
         recorder->camera.lookat[1] = model->stat.center[1];
         recorder->camera.lookat[2] = model->stat.center[2];
         recorder->camera.distance = 1.6 * model->stat.extent;
         recorder->camera.azimuth = 90.0;
         recorder->camera.elevation = -65.0;
-    } else {
-        const int id = mj_name2id(model, mjOBJ_CAMERA, config.camera.c_str());
-
-        if (id < 0) {
-            error = "model has no camera named '" + config.camera + "'; it has";
-
-            for (int i = 0; i < model->ncam; i++) {
-                const char* name = mj_id2name(model, mjOBJ_CAMERA, i);
-                error += std::string(" '") + (name == nullptr ? "?" : name) + "'";
-            }
-
-            error += " and 'free'";
-            return nullptr;
-        }
-
-        recorder->camera.type = mjCAMERA_FIXED;
-        recorder->camera.fixedcamid = id;
+    } else if (not select_model_camera(model, config.camera, recorder->camera, error)) {
+        return nullptr;
     }
 
     const std::string command = "ffmpeg -y -loglevel error -f rawvideo -pixel_format rgb24 -video_size " +
@@ -252,46 +247,12 @@ VideoRecorder::~VideoRecorder() {
     close_opengl();
 }
 
-void VideoRecorder::attach(
-    MujocoWorld& world, OverlaySpec overlay, const VariableSource* variables, uint64_t ticks_per_frame,
-    const std::string& trail_body
-) {
-    this->world = &world;
-    this->overlay = std::move(overlay);
-    this->variables = variables;
-    this->ticks_per_frame = std::max<uint64_t>(1, ticks_per_frame);
-    this->trail_body = trail_body.empty() ? -1 : mj_name2id(world.model(), mjOBJ_BODY, trail_body.c_str());
-    this->trail.clear();
-}
-
 void VideoRecorder::on_after_tick(const Simulation& simulation) {
-    if (this->world == nullptr) {
-        return;
-    }
-
     if (this->trail_body >= 0) {
-        const std::span<const mjtNum> positions{
-            this->world->data()->xpos, 3 * static_cast<std::size_t>(this->world->model()->nbody)
-        };
-        const std::span<const mjtNum> position = positions.subspan(3 * static_cast<std::size_t>(this->trail_body), 3);
-
-        if (this->trail.empty() or
-            std::hypot(position[0] - this->trail.back()[0], position[1] - this->trail.back()[1]) >= trail_spacing) {
-            if (this->trail.size() >= max_trail_points) {
-                std::size_t kept = 0;
-
-                for (std::size_t i = 0; i < this->trail.size(); i += 2) {
-                    this->trail[kept++] = this->trail[i];
-                }
-
-                this->trail.resize(kept);
-            }
-
-            this->trail.push_back({position[0], position[1], 0.002});
-        }
+        this->extend_trail();
     }
 
-    if (simulation.tick() % this->ticks_per_frame != 0) {
+    if (simulation.tick() % this->config.ticks_per_frame != 0) {
         return;
     }
 
@@ -313,52 +274,46 @@ void VideoRecorder::on_after_tick(const Simulation& simulation) {
         values += std::format("\n{:.3f} {}", value_of(line.variable), line.unit);
     }
 
-    this->capture(this->world->data(), labels, values);
+    this->capture(labels, values);
 }
 
-void VideoRecorder::draw_trail() {
-    const std::array<float, 4> color{
-        this->config.trail_color[0], this->config.trail_color[1], this->config.trail_color[2], 1.0F
+void VideoRecorder::extend_trail() {
+    const std::span<const mjtNum> positions{
+        this->world->data()->xpos, 3 * static_cast<std::size_t>(this->world->model()->nbody)
     };
+    const std::span<const mjtNum> position = positions.subspan(3 * static_cast<std::size_t>(this->trail_body), 3);
+
+    if (not this->trail.empty() and
+        std::hypot(position[0] - this->trail.back()[0], position[1] - this->trail.back()[1]) < trail_spacing) {
+        return;
+    }
+
+    if (this->trail.size() >= max_trail_points) {
+        std::size_t kept = 0;
+
+        for (std::size_t i = 0; i < this->trail.size(); i += 2) {
+            this->trail[kept++] = this->trail[i];
+        }
+
+        this->trail.resize(kept);
+    }
 
+    this->trail.push_back({position[0], position[1], 0.002});
+}
+
+void VideoRecorder::draw_trail() {
     const std::span<mjvGeom> geoms{this->scene.geoms, static_cast<std::size_t>(this->scene.maxgeom)};
 
     for (std::size_t i = 1; i < this->trail.size() and this->scene.ngeom < this->scene.maxgeom; i++) {
         mjvGeom* geom = &geoms[static_cast<std::size_t>(this->scene.ngeom)];
 
-        mjv_initGeom(geom, mjGEOM_NONE, nullptr, nullptr, nullptr, color.data());
+        mjv_initGeom(geom, mjGEOM_NONE, nullptr, nullptr, nullptr, trail_color.data());
         mjv_connector(geom, mjGEOM_LINE, trail_width, this->trail[i - 1].data(), this->trail[i].data());
         geom->category = mjCAT_DECOR;
         this->scene.ngeom++;
     }
 }
 
-void VideoRecorder::tint_robot() {
-    if (this->trail_body < 0) {
-        return;
-    }
-
-    const auto                 bodies = static_cast<std::size_t>(this->model->nbody);
-    const auto                 geoms_in_model = static_cast<std::size_t>(this->model->ngeom);
-    const std::span<const int> roots{this->model->body_rootid, bodies};
-    const std::span<const int> owners{this->model->geom_bodyid, geoms_in_model};
-    const std::span<mjvGeom>   geoms{this->scene.geoms, static_cast<std::size_t>(this->scene.ngeom)};
-    const int                  root = roots[static_cast<std::size_t>(this->trail_body)];
-
-    for (mjvGeom& geom : geoms) {
-        if (geom.objtype != mjOBJ_GEOM or geom.objid < 0 or
-            roots[static_cast<std::size_t>(owners[static_cast<std::size_t>(geom.objid)])] != root) {
-            continue;
-        }
-
-        const std::span<float, 4> rgba{geom.rgba};
-
-        for (std::size_t i = 0; i < 3; i++) {
-            rgba[i] = tint_share * this->config.trail_color.at(i) + (1.0F - tint_share) * rgba[i];
-        }
-    }
-}
-
 void VideoRecorder::make_context_current() const {
     if (this->display != nullptr and this->gl_context != nullptr) {
         eglMakeCurrent(this->display, EGL_NO_SURFACE, EGL_NO_SURFACE, this->gl_context);
@@ -371,7 +326,7 @@ void VideoRecorder::release_context() const {
     }
 }
 
-void VideoRecorder::capture(mjData* data, const std::string& labels, const std::string& values) {
+void VideoRecorder::capture(const std::string& labels, const std::string& values) {
     if (this->encoder == nullptr) {
         return;
     }
@@ -380,12 +335,10 @@ void VideoRecorder::capture(mjData* data, const std::string& labels, const std::
 
     const mjrRect viewport{0, 0, this->config.width, this->config.height};
 
-    mjv_updateScene(this->model, data, &this->option, nullptr, &this->camera, mjCAT_ALL, &this->scene);
+    mjv_updateScene(
+        this->world->model(), this->world->data(), &this->option, nullptr, &this->camera, mjCAT_ALL, &this->scene
+    );
     this->draw_trail();
-
-    if (this->config.tint) {
-        this->tint_robot();
-    }
     mjr_setBuffer(mjFB_OFFSCREEN, &this->context);
     mjr_render(viewport, &this->scene, &this->context);
 
@@ -411,22 +364,17 @@ void VideoRecorder::capture(mjData* data, const std::string& labels, const std::
 #else  // MICRAS_VIDEO
 
 namespace micras::sim {
-std::unique_ptr<VideoRecorder>
-    VideoRecorder::create(mjModel* /*model*/, const VideoConfig& /*config*/, std::string& error) {
+std::unique_ptr<VideoRecorder> VideoRecorder::create(
+    MujocoWorld& /*world*/, const VideoConfig& /*config*/, OverlaySpec /*overlay*/, const VariableSource* /*variables*/,
+    std::string& error
+) {
     error = "this binary was built with -DMICRAS_VIDEO=OFF";
     return nullptr;
 }
 
 VideoRecorder::~VideoRecorder() = default;
 
-void VideoRecorder::attach(
-    MujocoWorld& /*world*/, OverlaySpec /*overlay*/, const VariableSource* /*variables*/, uint64_t /*ticks_per_frame*/,
-    const std::string& /*trail_body*/
-) { }
-
 void VideoRecorder::on_after_tick(const Simulation& /*simulation*/) { }
-
-void VideoRecorder::capture(mjData* /*data*/, const std::string& /*labels*/, const std::string& /*values*/) { }
 }  // namespace micras::sim
 
 #endif  // MICRAS_VIDEO

From 7d3318a9ef549fb1f3111be2f8d9b9bc2a5f67c9 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sat, 26 Sep 2026 22:12:21 -0300
Subject: [PATCH 07/52] =?UTF-8?q?=E2=9C=85=20Check=20the=20contest,=20and?=
 =?UTF-8?q?=20the=20gate=20with=20less=20work?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

just micras contest runs a scenario in all ten mazes at once, a row every 10 ms,
and checks their health: explore_solve with the fan, explore_solve_all with every
switch. check_run.py now also fails a run with a collision, and computes its own
count of non-finite samples instead of reading a report.json built only for it.

The gate runs less: the window, the video and the bridge are compared with one
plain run instead of three, and the flash is checked from the map the checked
exploration saves instead of a 45 s run of its own. compare_run.py compares every
meta.json field but the command line, so it names no robot, and drops the gzip and
column subset support left from the recorded baselines. The baseline's
unbound_ports comes from the Micras plugin, which also no longer plots the motor
voltages twice; collisions are in the engine's report.

The baselines restart at v1, which is v5; v3 and v4 are in the history. The
scenarios no longer claim a clearance they only have with the firmware's walls.
---
 .../baselines/{v5 => v1}/explore/summary.json |   0
 .../baselines/{v4 => v1}/idle/summary.json    |   0
 .../micras/baselines/v3/explore/summary.json  |  50 -------
 targets/micras/baselines/v3/idle/summary.json |  42 ------
 .../micras/baselines/v4/explore/summary.json  |  62 ---------
 targets/micras/baselines/v5/idle/summary.json |  42 ------
 targets/micras/justfile                       |  88 ++++++------
 targets/micras/scenarios/explore.toml         |   2 +-
 targets/micras/scenarios/explore_link.toml    |   2 +-
 targets/micras/scenarios/explore_solve.toml   |   2 +-
 .../micras/scenarios/explore_solve_all.toml   |   2 +-
 targets/micras/scenarios/idle.toml            |   2 +-
 targets/micras/scenarios/solve.toml           |   2 +-
 targets/micras/scenarios/solve_all.toml       |   2 +-
 targets/micras/tools/analysis.py              |  44 +++---
 tools/analyze.py                              |  22 +--
 tools/baseline.py                             |   9 +-
 tools/check_run.py                            |  27 ++--
 tools/compare_run.py                          | 125 +++++-------------
 19 files changed, 138 insertions(+), 387 deletions(-)
 rename targets/micras/baselines/{v5 => v1}/explore/summary.json (100%)
 rename targets/micras/baselines/{v4 => v1}/idle/summary.json (100%)
 delete mode 100644 targets/micras/baselines/v3/explore/summary.json
 delete mode 100644 targets/micras/baselines/v3/idle/summary.json
 delete mode 100644 targets/micras/baselines/v4/explore/summary.json
 delete mode 100644 targets/micras/baselines/v5/idle/summary.json

diff --git a/targets/micras/baselines/v5/explore/summary.json b/targets/micras/baselines/v1/explore/summary.json
similarity index 100%
rename from targets/micras/baselines/v5/explore/summary.json
rename to targets/micras/baselines/v1/explore/summary.json
diff --git a/targets/micras/baselines/v4/idle/summary.json b/targets/micras/baselines/v1/idle/summary.json
similarity index 100%
rename from targets/micras/baselines/v4/idle/summary.json
rename to targets/micras/baselines/v1/idle/summary.json
diff --git a/targets/micras/baselines/v3/explore/summary.json b/targets/micras/baselines/v3/explore/summary.json
deleted file mode 100644
index f974640..0000000
--- a/targets/micras/baselines/v3/explore/summary.json
+++ /dev/null
@@ -1,50 +0,0 @@
-{
-  "target": "micras",
-  "scenario": "scenarios/explore.toml",
-  "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore",
-  "firmware_sha": "0be27df9c12a0f6fbca55f007283f6bb1eeb2ec0-dirty",
-  "mujoco_version": "3.14.0",
-  "compiler": "GNU 13.4.0",
-  "data_sha256": "862df6bded0163765b72c44825513b48889476b0c70a9413ea76e1dbd38d097f",
-  "states": [
-    [
-      0.000125,
-      "INIT"
-    ],
-    [
-      0.00025,
-      "IDLE"
-    ],
-    [
-      0.760125,
-      "WAIT_FOR_RUN"
-    ],
-    [
-      3.76113,
-      "RUN"
-    ]
-  ],
-  "values": {
-    "ticks": 240000,
-    "warnings_total": 0,
-    "unbound_ports": 0,
-    "collisions": 0,
-    "goal_time": null,
-    "stopped_at": null,
-    "running_time": 26.238875000125287,
-    "max_pose_error": 0.006311593940489577,
-    "rms_across_error": 0.001155816351408339
-  },
-  "tolerances": {
-    "state_time": 0.25,
-    "ticks": null,
-    "warnings_total": null,
-    "unbound_ports": null,
-    "collisions": 2,
-    "goal_time": 1.0,
-    "stopped_at": 1.0,
-    "running_time": 1.0,
-    "max_pose_error": 0.02,
-    "rms_across_error": 0.003
-  }
-}
diff --git a/targets/micras/baselines/v3/idle/summary.json b/targets/micras/baselines/v3/idle/summary.json
deleted file mode 100644
index 8cd6998..0000000
--- a/targets/micras/baselines/v3/idle/summary.json
+++ /dev/null
@@ -1,42 +0,0 @@
-{
-  "target": "micras",
-  "scenario": "scenarios/idle.toml",
-  "args": "--scenario scenarios/idle.toml --out runs/idle",
-  "firmware_sha": "0be27df9c12a0f6fbca55f007283f6bb1eeb2ec0-dirty",
-  "mujoco_version": "3.14.0",
-  "compiler": "GNU 13.4.0",
-  "data_sha256": "7e675953e7e062b8ce68eaa8e25d073adea89a11fcfed50585b244a036861bed",
-  "states": [
-    [
-      0.000125,
-      "INIT"
-    ],
-    [
-      0.00025,
-      "IDLE"
-    ]
-  ],
-  "values": {
-    "ticks": 32000,
-    "warnings_total": 0,
-    "unbound_ports": 0,
-    "collisions": 0,
-    "goal_time": null,
-    "stopped_at": null,
-    "running_time": 0.0,
-    "max_pose_error": null,
-    "rms_across_error": null
-  },
-  "tolerances": {
-    "state_time": 0.25,
-    "ticks": null,
-    "warnings_total": null,
-    "unbound_ports": null,
-    "collisions": 2,
-    "goal_time": 1.0,
-    "stopped_at": 1.0,
-    "running_time": 1.0,
-    "max_pose_error": 0.02,
-    "rms_across_error": 0.003
-  }
-}
diff --git a/targets/micras/baselines/v4/explore/summary.json b/targets/micras/baselines/v4/explore/summary.json
deleted file mode 100644
index e5536c9..0000000
--- a/targets/micras/baselines/v4/explore/summary.json
+++ /dev/null
@@ -1,62 +0,0 @@
-{
-  "target": "micras",
-  "scenario": "scenarios/explore.toml",
-  "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore",
-  "firmware_sha": "0be27df9c12a0f6fbca55f007283f6bb1eeb2ec0-dirty",
-  "mujoco_version": "3.14.0",
-  "compiler": "GNU 13.4.0",
-  "data_sha256": "a0f6567bd3a5ac0bc8084bb4f2487cdd8929ccd729e01b1fd6c32ee65ca1d216",
-  "states": [
-    [
-      0.000125,
-      "INIT"
-    ],
-    [
-      0.00025,
-      "IDLE"
-    ],
-    [
-      0.760125,
-      "WAIT_FOR_RUN"
-    ],
-    [
-      3.76113,
-      "RUN"
-    ],
-    [
-      26.5348,
-      "SAVE"
-    ],
-    [
-      26.5349,
-      "WAIT_FOR_RUN"
-    ],
-    [
-      29.5351,
-      "RUN"
-    ]
-  ],
-  "values": {
-    "ticks": 240000,
-    "warnings_total": 0,
-    "unbound_ports": 0,
-    "collisions": 0,
-    "goal_time": 26.243875,
-    "stopped_at": null,
-    "running_time": 23.23862500011096,
-    "max_pose_error": 0.01303101479887498,
-    "rms_across_error": 0.0011360143921735988
-  },
-  "tolerances": {
-    "state_time": 0.25,
-    "ticks": null,
-    "warnings_total": null,
-    "unbound_ports": null,
-    "collisions": 2,
-    "goal_time": 1.0,
-    "stopped_at": 1.0,
-    "running_time": 1.0,
-    "max_pose_error": 0.02,
-    "rms_across_error": 0.003
-  }
-}
diff --git a/targets/micras/baselines/v5/idle/summary.json b/targets/micras/baselines/v5/idle/summary.json
deleted file mode 100644
index a6a2468..0000000
--- a/targets/micras/baselines/v5/idle/summary.json
+++ /dev/null
@@ -1,42 +0,0 @@
-{
-  "target": "micras",
-  "scenario": "scenarios/idle.toml",
-  "args": "--scenario scenarios/idle.toml --out runs/idle",
-  "firmware_sha": "0be27df9c12a0f6fbca55f007283f6bb1eeb2ec0-dirty",
-  "mujoco_version": "3.14.0",
-  "compiler": "GNU 13.4.0",
-  "data_sha256": "2e342c3e901031a48a9d3d8ab0508b07cc5171a121a73f8913d4622fe8408018",
-  "states": [
-    [
-      0.000125,
-      "INIT"
-    ],
-    [
-      0.00025,
-      "IDLE"
-    ]
-  ],
-  "values": {
-    "ticks": 32000,
-    "warnings_total": 0,
-    "unbound_ports": 0,
-    "collisions": 0,
-    "goal_time": null,
-    "stopped_at": null,
-    "running_time": 0.0,
-    "max_pose_error": null,
-    "rms_across_error": null
-  },
-  "tolerances": {
-    "state_time": 0.25,
-    "ticks": null,
-    "warnings_total": null,
-    "unbound_ports": null,
-    "collisions": 2,
-    "goal_time": 1.0,
-    "stopped_at": 1.0,
-    "running_time": 1.0,
-    "max_pose_error": 0.02,
-    "rms_across_error": 0.003
-  }
-}
diff --git a/targets/micras/justfile b/targets/micras/justfile
index 55742c2..eae72c2 100644
--- a/targets/micras/justfile
+++ b/targets/micras/justfile
@@ -16,11 +16,13 @@ tools := root / "tools"
 free_port := python + " -c 'import socket; s = socket.socket(); s.bind((\"127.0.0.1\", 0)); print(s.getsockname()[1])'"
 
 # The current baseline version: one summary per checked run (tools/baseline.py).
-baseline := "baselines/v5"
+baseline := "baselines/v1"
 check_runs := "idle explore"
-# The checked explore is the first 30 s of the scenario: out of the start cell, the
-# first corridors, turns and front walls. The whole scenario takes three minutes.
+# The checked explore is the first 30 s of the scenario: the search to the goal, where
+# the firmware saves the map, and the start of the way back.
 explore_seconds := "30"
+# The mazes of engine/arenas/maze/mazes the contest runs in.
+mazes := "maze1 maze2 apec2016 apec2017 apec2018 apec2019 japan2013ef japan2017ef uk2016f alljapan-033-2012-exp-fin"
 
 default:
     @just --list
@@ -42,9 +44,11 @@ run *args: build
 run-idle: build
     {{bin}} --scenario scenarios/idle.toml --out runs/idle
 
-# The first 30 s of an exploration started by the button -> runs/explore
+# The first 30 s of an exploration started by the button, keeping the flash it saves -> runs/explore
 run-explore: build
-    {{bin}} --scenario scenarios/explore.toml --seconds {{explore_seconds}} --out runs/explore
+    rm -f runs/explore/flash.bin
+    {{bin}} --scenario scenarios/explore.toml --seconds {{explore_seconds}} --out runs/explore \
+        --flash runs/explore/flash.bin
 
 # Plots and report.json for one run directory.
 analyze run:
@@ -71,11 +75,17 @@ serve *args: build
 watch *args: build
     {{bin}} --scenario scenarios/explore.toml --out runs/watch --viewer "$@"
 
-# 100 s explore recorded offscreen, then analysed.
-video: build
-    {{bin}} --scenario scenarios/explore.toml --seconds 100 --out runs/video \
-        --video runs/video/explore.mp4 --video-fps 30 --video-size 1280x720
-    {{python}} {{tools}}/analyze.py runs/video
+# The whole contest in every maze at once, exploring and then the fastest run, and its health.
+# A row every 10 ms is plenty for the health, and the events are still found every tick.
+contest scenario="explore_solve": build
+    for maze in {{mazes}}; do \
+        mkdir -p runs/contest/{{scenario}}/$maze; \
+        {{bin}} --scenario scenarios/{{scenario}}.toml --maze $maze --out runs/contest/{{scenario}}/$maze \
+            --record-every 80 > runs/contest/{{scenario}}/$maze/stdout.txt & \
+    done; \
+    wait
+    {{python}} {{tools}}/check_run.py --expect-state IDLE --expect unbound_ports=0 --expect watchdog_expiries=0 \
+        --expect emergency_stops=0 runs/contest/{{scenario}}/*
 
 # Compare the checked runs against the recorded baseline summaries.
 compare-baseline:
@@ -86,22 +96,26 @@ compare-baseline:
 record-baseline: test run-idle run-explore
     for run in {{check_runs}}; do {{python}} {{tools}}/baseline.py record runs/$run {{baseline}}/$run; done
 
+# The reference the window, the video and the bridge are compared with: 3 s of the explore -> runs/plain
+[private]
+run-plain: build
+    {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/plain > /dev/null
+
 # A bridged run with nobody connected must match the same run without it, and the
 # bridge must actually have listened.
 # Prove the monitor bridge changes nothing.
-check-monitor: build
+check-monitor: run-plain
     mkdir -p runs/monitor
-    {{bin}} --scenario scenarios/explore.toml --seconds 6 --out runs/monitor/plain > /dev/null
     port=$({{free_port}}); \
-        {{bin}} --scenario scenarios/explore.toml --seconds 6 --out runs/monitor/quiet --monitor \
-            --monitor-port $port > runs/monitor/quiet.log; \
-        grep -q "monitor bridge listening" runs/monitor/quiet.log
-    {{python}} {{tools}}/compare_run.py runs/monitor/quiet runs/monitor/plain
+        {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/monitor --monitor \
+            --monitor-port $port > runs/monitor.log; \
+        grep -q "monitor bridge listening" runs/monitor.log
+    {{python}} {{tools}}/compare_run.py runs/monitor runs/plain
 
 # The same scenario headless and watched must agree. Fails when there is no display
 # and no xvfb-run, unless MICRAS_SKIP_VIEWER=1 says so.
 # Prove a window changes nothing.
-check-viewer: build
+check-viewer: run-plain
     if command -v xvfb-run > /dev/null; then \
         show="xvfb-run -a"; \
     elif [ -n "${DISPLAY:-}" ]; then \
@@ -113,36 +127,30 @@ check-viewer: build
         echo "no display and no xvfb-run; install xvfb or set MICRAS_SKIP_VIEWER=1"; \
         exit 1; \
     fi; \
-    {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/viewer/headless > /dev/null; \
-    $show {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/viewer/watched \
+    $show {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/viewer \
         --viewer --viewer-size 640x480 > /dev/null; \
-    {{python}} {{tools}}/compare_run.py runs/viewer/watched runs/viewer/headless
+    {{python}} {{tools}}/compare_run.py runs/viewer runs/plain
 
 # The same scenario with and without --video must agree. Needs EGL: a GPU, or
 # Mesa's surfaceless platform (EGL_PLATFORM=surfaceless).
 # Prove recording a video changes nothing.
-check-video: build
-    mkdir -p runs/video_check
-    {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/video_check/plain > /dev/null
-    {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/video_check/recorded \
-        --video runs/video_check/recorded.mp4 --video-size 640x480 > runs/video_check/recorded.log
-    grep -q "^recording " runs/video_check/recorded.log
-    {{python}} {{tools}}/compare_run.py runs/video_check/recorded runs/video_check/plain
-
-# An exploration that saves its map leaves a programmed image in the --flash file,
-# and a new run boots from it to IDLE. The firmware saves when the exploration reaches
-# the goal, at about 40 s on maze1.
+check-video: run-plain
+    mkdir -p runs/video
+    {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/video \
+        --video runs/video/run.mp4 --video-size 640x480 > runs/video.log
+    grep -q "^recording " runs/video.log
+    {{python}} {{tools}}/compare_run.py runs/video runs/plain
+
+# The checked exploration saves its map when it reaches the goal, which leaves a
+# programmed image in its --flash file, and a new run boots from it to IDLE.
 # Prove the flash outlives a run.
-check-flash: build
-    rm -rf runs/flash && mkdir -p runs/flash
-    {{bin}} --scenario scenarios/explore.toml --seconds 45 --out runs/flash/first --flash runs/flash/flash.bin > /dev/null
-    {{python}} -c 'import sys; image = open("runs/flash/flash.bin", "rb").read(); sys.exit(0 if any(byte != 0xFF for byte in image) else "the flash image is blank")'
-    {{bin}} --scenario scenarios/idle.toml --out runs/flash/second --flash runs/flash/flash.bin > /dev/null
-    {{python}} {{tools}}/analyze.py runs/flash/second > /dev/null
-    {{python}} {{tools}}/check_run.py --expect-state IDLE runs/flash/second
+check-flash: run-explore
+    {{python}} -c 'import sys; image = open("runs/explore/flash.bin", "rb").read(); sys.exit(0 if any(byte != 0xFF for byte in image) else "the flash image is blank")'
+    cp runs/explore/flash.bin runs/booted.bin
+    {{bin}} --scenario scenarios/idle.toml --out runs/booted --flash runs/booted.bin > /dev/null
+    {{python}} {{tools}}/check_run.py --expect-state IDLE runs/booted
 
 # The gate: tests, the window, video and bridge proofs, the checked runs, their health and the baseline.
-check: build test check-viewer check-video check-monitor check-flash run-idle run-explore && compare-baseline
-    for run in {{check_runs}}; do {{python}} {{tools}}/analyze.py runs/$run > /dev/null; done
+check: build test check-viewer check-video check-monitor check-flash run-idle && compare-baseline
     {{python}} {{tools}}/check_run.py --expect unbound_ports=0 --expect watchdog_expiries=0 \
         --expect emergency_stops=0 --expect serial_dropped_bytes=0 runs/idle runs/explore
diff --git a/targets/micras/scenarios/explore.toml b/targets/micras/scenarios/explore.toml
index bd62f12..e9a1fca 100644
--- a/targets/micras/scenarios/explore.toml
+++ b/targets/micras/scenarios/explore.toml
@@ -7,7 +7,7 @@ seconds = 180
 seed = 1
 
 # Where the firmware expects to be placed (constants.hpp start_offset): its origin
-# 40 mm in front of the face of the back wall, the board 3.5 mm clear of it.
+# about 40 mm in front of the face of the back wall, the board clear of it.
 [start]
 x = 0.09
 y = 0.0463
diff --git a/targets/micras/scenarios/explore_link.toml b/targets/micras/scenarios/explore_link.toml
index edba295..519e539 100644
--- a/targets/micras/scenarios/explore_link.toml
+++ b/targets/micras/scenarios/explore_link.toml
@@ -5,7 +5,7 @@ seconds = 180
 seed = 1
 
 # Where the firmware expects to be placed (constants.hpp start_offset): its origin
-# 40 mm in front of the face of the back wall, the board 3.5 mm clear of it.
+# about 40 mm in front of the face of the back wall, the board clear of it.
 [start]
 x = 0.09
 y = 0.0463
diff --git a/targets/micras/scenarios/explore_solve.toml b/targets/micras/scenarios/explore_solve.toml
index 3629125..e905613 100644
--- a/targets/micras/scenarios/explore_solve.toml
+++ b/targets/micras/scenarios/explore_solve.toml
@@ -8,7 +8,7 @@ seconds = 600
 seed = 1
 
 # Where the firmware expects to be placed (constants.hpp start_offset): its origin
-# 40 mm in front of the face of the back wall, the board 3.5 mm clear of it.
+# about 40 mm in front of the face of the back wall, the board clear of it.
 [start]
 x = 0.09
 y = 0.0463
diff --git a/targets/micras/scenarios/explore_solve_all.toml b/targets/micras/scenarios/explore_solve_all.toml
index ba61565..59cae14 100644
--- a/targets/micras/scenarios/explore_solve_all.toml
+++ b/targets/micras/scenarios/explore_solve_all.toml
@@ -9,7 +9,7 @@ seconds = 600
 seed = 1
 
 # Where the firmware expects to be placed (constants.hpp start_offset): its origin
-# 40 mm in front of the face of the back wall, the board 3.5 mm clear of it.
+# about 40 mm in front of the face of the back wall, the board clear of it.
 [start]
 x = 0.09
 y = 0.0463
diff --git a/targets/micras/scenarios/idle.toml b/targets/micras/scenarios/idle.toml
index 32b4987..5a96f83 100644
--- a/targets/micras/scenarios/idle.toml
+++ b/targets/micras/scenarios/idle.toml
@@ -5,7 +5,7 @@ seconds = 4
 seed = 1
 
 # Where the firmware expects to be placed (constants.hpp start_offset): its origin
-# 40 mm in front of the face of the back wall, the board 3.5 mm clear of it.
+# about 40 mm in front of the face of the back wall, the board clear of it.
 [start]
 x = 0.09
 y = 0.0463
diff --git a/targets/micras/scenarios/solve.toml b/targets/micras/scenarios/solve.toml
index ad19566..9fb98eb 100644
--- a/targets/micras/scenarios/solve.toml
+++ b/targets/micras/scenarios/solve.toml
@@ -8,7 +8,7 @@ seconds = 120
 seed = 1
 
 # Where the firmware expects to be placed (constants.hpp start_offset): its origin
-# 40 mm in front of the face of the back wall, the board 3.5 mm clear of it.
+# about 40 mm in front of the face of the back wall, the board clear of it.
 [start]
 x = 0.09
 y = 0.0463
diff --git a/targets/micras/scenarios/solve_all.toml b/targets/micras/scenarios/solve_all.toml
index 18a5a6b..029476e 100644
--- a/targets/micras/scenarios/solve_all.toml
+++ b/targets/micras/scenarios/solve_all.toml
@@ -8,7 +8,7 @@ seconds = 120
 seed = 1
 
 # Where the firmware expects to be placed (constants.hpp start_offset): its origin
-# 40 mm in front of the face of the back wall, the board 3.5 mm clear of it.
+# about 40 mm in front of the face of the back wall, the board clear of it.
 [start]
 x = 0.09
 y = 0.0463
diff --git a/targets/micras/tools/analysis.py b/targets/micras/tools/analysis.py
index 0bd97b0..1edd758 100644
--- a/targets/micras/tools/analysis.py
+++ b/targets/micras/tools/analysis.py
@@ -6,8 +6,8 @@
 sensors, ``pack_voltage``). ``analyze.py`` loads it when ``meta.json`` names the
 ``micras`` target.
 
-State names come from the state events in ``meta.json``, which the simulator
-names from the firmware, never from ids written here.
+State names come from the state events in ``meta.json``, never from ids written
+here.
 """
 
 from __future__ import annotations
@@ -20,7 +20,6 @@
 #: Fraction of the supply beyond which a motor voltage counts as saturated.
 SATURATION = 0.98
 MAX_EVENTS = 50
-WALL_SENSORS = ("wall_left_front", "wall_left", "wall_right", "wall_right_front")
 
 
 def events(run, kind: str) -> list[dict]:
@@ -125,15 +124,12 @@ def largest(name: str) -> float | None:
 
 
 def report(run, generic: dict) -> dict:
+    """The firmware's states, how it ran, and what the board counted."""
     mask = running(run)
-    collisions = events(run, "collision")
 
     return {
         "states": [{"time": event["time"], "state": event["detail"]} for event in events(run, "state")][:MAX_EVENTS],
-        "collisions": {
-            "count": len(collisions),
-            "times": [event["time"] for event in collisions][:MAX_EVENTS],
-        },
+        "unbound_ports": run.meta.get("unbound_ports"),
         "running_time": float(mask.sum() * run.dt),
         "pose": pose_report(run, mask),
         "tracking": tracking_report(run, mask),
@@ -143,6 +139,7 @@ def report(run, generic: dict) -> dict:
 
 
 def speed_traces(run) -> list[tuple[str, np.ndarray, str]]:
+    """The reference and the estimate of both speeds."""
     return [
         ("reference_linear_speed", run.get("reference_linear_speed"), "linear"),
         ("pose_linear_speed", run.get("pose_linear_speed"), "linear"),
@@ -169,15 +166,9 @@ def trajectory_overlays(run) -> list[tuple[str, np.ndarray, np.ndarray]]:
 
 
 def plots(run, generic: dict, directory: Path) -> None:
+    """The controller's terms and the wall sensors, in control.png."""
     start = generic["run_start_time"]
-    figure, axes = plt.subplots(3, 1, sharex=True, figsize=(10, 9))
-
-    axes[0].plot(run.time, run.get("motor_left_voltage"), label="motor_left_voltage", linewidth=0.8)
-    axes[0].plot(run.time, run.get("motor_right_voltage"), label="motor_right_voltage", linewidth=0.8)
-    axes[0].plot(run.time, run.get("pack_voltage"), label="pack_voltage", color="k", linewidth=0.8)
-    axes[0].plot(run.time, -run.get("pack_voltage"), color="k", linewidth=0.8)
-    axes[0].set_ylabel("voltage [V]")
-    axes[0].legend(fontsize=7)
+    figure, axes = plt.subplots(2, 1, sharex=True, figsize=(10, 6))
 
     for name in (
         "control_forward_feed_forward",
@@ -185,17 +176,17 @@ def plots(run, generic: dict, directory: Path) -> None:
         "control_rotation_feed_forward",
         "control_rotation_feedback",
     ):
-        axes[1].plot(run.time, run.get(name), label=name, linewidth=0.8)
+        axes[0].plot(run.time, run.get(name), label=name, linewidth=0.8)
 
-    axes[1].set_ylabel("command [V]")
-    axes[1].legend(fontsize=7)
+    axes[0].set_ylabel("command [V]")
+    axes[0].legend(fontsize=7)
 
-    for name in WALL_SENSORS:
-        axes[2].plot(run.time, run.get(name), label=name, linewidth=0.8)
+    for name in run.prefixed("wall_"):
+        axes[1].plot(run.time, run.get(name), label=name, linewidth=0.8)
 
-    axes[2].set_ylabel("wall sensor [counts]")
-    axes[2].set_xlabel("time [s]")
-    axes[2].legend(fontsize=7)
+    axes[1].set_ylabel("wall sensor [counts]")
+    axes[1].set_xlabel("time [s]")
+    axes[1].legend(fontsize=7)
 
     for axis in axes:
         if start is not None:
@@ -207,13 +198,13 @@ def plots(run, generic: dict, directory: Path) -> None:
 
 
 def fmt(value, digits: int = 3) -> str:
+    """Format a possibly missing number for the summary."""
     return "n/a" if value is None else f"{value:.{digits}f}"
 
 
 def summarize(full: dict) -> None:
+    """The states, the pose and tracking errors, saturation and the loop, on stdout."""
     print("states       " + "  ".join(f"{entry['time']:.3f}s {entry['state']}" for entry in full["states"]))
-    collisions = full["collisions"]
-    print(f"collisions   {collisions['count']}  " + " ".join(f"{time:.3f}s" for time in collisions["times"][:10]))
 
     pose = full["pose"]
     position = pose["position_error"]
@@ -247,6 +238,7 @@ def baseline(full: dict) -> dict:
     across = full["tracking"]["across"]
 
     return {
+        "unbound_ports": (full["unbound_ports"], None),
         "running_time": (full["running_time"], 1.0),
         "max_pose_error": (pose["max"], 0.02),
         "rms_across_error": (across["rms"], 0.003),
diff --git a/tools/analyze.py b/tools/analyze.py
index 3601712..dbe1a26 100755
--- a/tools/analyze.py
+++ b/tools/analyze.py
@@ -207,6 +207,7 @@ def finite_stats(run: Run) -> dict:
 
 
 def wheel_report(run: Run, label: str) -> dict:
+    """Airborne time, slip and penetration of one wheel; no penetration when it never touched anything."""
     ncon = run.get(f"{label}_ncon")
     slip = run.get(f"{label}_slip")
     penetration = run.get(f"{label}_penetration")
@@ -215,7 +216,6 @@ def wheel_report(run: Run, label: str) -> dict:
         "airborne_fraction": float(np.mean(ncon == 0)) if ncon.size else None,
         "airborne_intervals": zero_intervals(ncon, run.time),
         "max_abs_slip": float(np.nanmax(np.abs(slip))) if slip.size else None,
-        # All NaN means the wheel never touched anything in the window.
         "min_penetration": (
             float(np.nanmin(penetration)) if penetration.size and np.isfinite(penetration).any() else None
         ),
@@ -237,6 +237,7 @@ def contact_fractions(run: Run, wheels: list[str]) -> dict:
 
 
 def z_report(run: Run) -> dict:
+    """Height of the body, and the first time after which it stays within 100 um of its final value."""
     z = run.get("z")
 
     if z.size == 0:
@@ -245,8 +246,6 @@ def z_report(run: Run) -> dict:
     final = float(z[-1])
     within = np.abs(z - final) < FLAT_Z_TOLERANCE
     settle = None
-
-    # First time after which the height never leaves the 100 um band again.
     outside = np.nonzero(~within)[0]
     index = 0 if outside.size == 0 else int(outside[-1]) + 1
 
@@ -275,7 +274,7 @@ def resolve_maze(run: Run) -> Path:
     maze_path = next((candidate for candidate in candidates if candidate.exists()), None)
 
     if maze_path is None:
-        tried = ", ".join(str(candidate) for candidate in candidates) or "nothing: meta.json names no model or maze"
+        tried = ", ".join(str(candidate) for candidate in candidates) or "nothing: meta.json names no maze"
         raise SystemExit(f"cannot find the maze of {run.directory}; tried {tried}")
 
     return maze_path
@@ -300,9 +299,11 @@ def maze_goal_cells(maze_path: Path) -> list[tuple[int, int]]:
 def maze_segments(maze_path: Path) -> list[tuple[float, float, float, float]]:
     """Parse the ASCII maze into world-frame wall segments.
 
-    Matches ``tools/gen_maze.py``: lines are read bottom-up, a post sits at
-    ``(col, row) * 0.18``, a horizontal wall spans one cell in x at ``y = row * 0.18``
-    and a vertical wall spans one cell in y at ``x = col * 0.18``.
+    Lines are read bottom-up, as ``Maze::parse`` reads them, alternating rows of
+    posts, which hold the horizontal walls, and rows of cells, which hold the
+    vertical ones: a post sits at ``(col, row) * 0.18``, a horizontal wall spans
+    one cell in x at ``y = row * 0.18`` and a vertical wall spans one cell in y at
+    ``x = col * 0.18``.
     """
     inverted = maze_path.read_text().splitlines()[::-1]
     segments = []
@@ -310,12 +311,12 @@ def maze_segments(maze_path: Path) -> list[tuple[float, float, float, float]]:
     for index, line in enumerate(inverted):
         row = index // 2
 
-        if index % 2 == 0:  # post row: horizontal walls
+        if index % 2 == 0:
             for column, start in enumerate(range(0, len(line), 4)):
                 if line[start + 1 : start + 4] == "---":
                     y = row * CELL_SIZE
                     segments.append((column * CELL_SIZE, y, (column + 1) * CELL_SIZE, y))
-        else:  # cell row: vertical walls
+        else:
             for column, start in enumerate(range(0, len(line), 4)):
                 if start < len(line) and line[start] == "|":
                     x = column * CELL_SIZE
@@ -364,6 +365,7 @@ def build_report(run: Run, maze_path: Path, plugin: ModuleType | None) -> dict:
         "run_start_time": start(run) if start else None,
         "warnings_total": float(run.meta.get("warnings_total", 0)),
         "events": run.meta.get("events", []),
+        "collisions": [event["time"] for event in run.meta.get("events", []) if event.get("kind") == "collision"],
         "nonfinite": finite_stats(run),
         "wheels": {label: wheel_report(run, label) for label in wheels},
         "contact_fractions": contact_fractions(run, wheels),
@@ -565,6 +567,8 @@ def summarize(report: dict, plugin: ModuleType | None) -> None:
     print(f"warnings     {report['warnings_total']:.0f}  non-finite samples {report['nonfinite']['nonfinite_samples']}")
     start = report["run_start_time"]
     print(f"task start   {'never' if start is None else f'{start:.3f} s'}")
+    collisions = report["collisions"]
+    print(f"collisions   {len(collisions)}  " + " ".join(f"{time:.3f}s" for time in collisions[:10]))
 
     for label, wheel in report["wheels"].items():
         print(
diff --git a/tools/baseline.py b/tools/baseline.py
index 88eab41..af1f824 100644
--- a/tools/baseline.py
+++ b/tools/baseline.py
@@ -10,9 +10,10 @@
 * ``states``: the state timeline from ``meta.json``, compared by name and, within
   ``state_time`` seconds, by time.
 * ``values``: numbers that say how the run went, each with its tolerance in
-  ``tolerances``. The engine contributes the tick count, warnings, collisions
-  and when the goal was first reached; the robot's analysis plugin may add its
-  own through a ``baseline(report)`` hook returning ``{name: (value, tolerance)}``.
+  ``tolerances``. The engine contributes the tick count, warnings, collisions,
+  when the goal was first reached and when the scenario stopped the run; the
+  robot's analysis plugin may add its own through a ``baseline(report)`` hook
+  returning ``{name: (value, tolerance)}``.
 
 The tolerances are written into the summary when it is recorded, so a reviewer
 sees them next to the values. ``record`` refuses to overwrite a summary: a new
@@ -44,7 +45,6 @@
 ENGINE_TOLERANCES = {
     "ticks": None,
     "warnings_total": None,
-    "unbound_ports": None,
     "collisions": 2,
     "goal_time": 1.0,
     "stopped_at": 1.0,
@@ -73,7 +73,6 @@ def summarize(run_directory: Path) -> dict:
     values = {
         "ticks": meta.get("ticks"),
         "warnings_total": meta.get("warnings_total"),
-        "unbound_ports": meta.get("unbound_ports"),
         "collisions": len(collisions),
         "goal_time": report["maze"]["goal_time"],
         "stopped_at": stopped_at if stopped_at is not None and stopped_at >= 0 else None,
diff --git a/tools/check_run.py b/tools/check_run.py
index 4b5685c..f7da8c3 100755
--- a/tools/check_run.py
+++ b/tools/check_run.py
@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
 """Assert the health invariants of one or more finished run directories.
 
-Reads ``meta.json`` and the ``report.json`` written by ``tools/analyze.py`` and
-fails the build when a run is not clean:
+Reads ``meta.json`` and ``data.csv`` and fails the build when a run is not clean:
 
 * ``warnings_total`` is 0 (no MuJoCo solver or constraint warnings),
+* no chassis geom collided with anything,
 * no non-finite samples (the ``*_penetration`` NaN sentinel is excluded by
   ``analyze.py`` itself, every other NaN is a defect),
 * every tick that was asked for actually ran, unless the scenario's stop
@@ -24,27 +24,34 @@
 import sys
 from pathlib import Path
 
+sys.path.insert(0, str(Path(__file__).resolve().parent))
+
+import analyze  # noqa: E402
+
 
 def check(run: Path, expected: dict[str, int], state: str | None = None) -> list[str]:
     """Return the list of failures for one run directory."""
     failures: list[str] = []
 
-    meta_path = run / "meta.json"
-    report_path = run / "report.json"
-
-    for path in (meta_path, report_path):
+    for path in (run / "meta.json", run / "data.csv"):
         if not path.exists():
             failures.append(f"{path} is missing")
 
     if failures:
         return failures
 
-    meta = json.loads(meta_path.read_text())
-    report = json.loads(report_path.read_text())
+    meta = json.loads((run / "meta.json").read_text())
 
     if meta.get("warnings_total") != 0:
         failures.append(f"warnings_total is {meta.get('warnings_total')}, expected 0")
 
+    collisions = [event for event in meta.get("events", []) if event.get("kind") == "collision"]
+
+    if collisions:
+        failures.append(
+            f"{len(collisions)} collision(s), the first of {collisions[0]['detail']} at {collisions[0]['time']} s"
+        )
+
     for key, value in expected.items():
         if meta.get(key) != value:
             failures.append(f"{key} is {meta.get(key)!r}, expected {value}")
@@ -62,9 +69,9 @@ def check(run: Path, expected: dict[str, int], state: str | None = None) -> list
     if state is not None and (not states or states[-1] != state):
         failures.append(f"the last state is {states[-1] if states else None!r}, expected {state}")
 
-    nonfinite = report.get("nonfinite", {})
+    nonfinite = analyze.finite_stats(analyze.Run(run, None, None))
 
-    if nonfinite.get("nonfinite_samples", 0) != 0:
+    if nonfinite["nonfinite_samples"] != 0:
         failures.append(
             f"{nonfinite['nonfinite_samples']} non-finite sample(s), first at "
             f"{nonfinite.get('first_nonfinite_time')} s"
diff --git a/tools/compare_run.py b/tools/compare_run.py
index 7dae2c2..97c6169 100755
--- a/tools/compare_run.py
+++ b/tools/compare_run.py
@@ -1,100 +1,36 @@
 #!/usr/bin/env python3
 """Compare two run directories made on the same machine.
 
-data.csv is compared byte for byte, or, with --columns-subset, on every column
-the reference has (new columns may only be appended at the end). meta.json is
-compared on the behaviour fields only; provenance such as compiler or arguments
-is ignored. Either file may be gzip compressed (data.csv.gz).
+data.csv is compared byte for byte, and meta.json on every field but the
+command line, which is what differs between the two runs being compared.
 
 This is how a window, a monitor or a video is proven to change nothing. The
 stored baselines are summaries, compared by ``tools/baseline.py``.
 """
 
 import argparse
-import gzip
 import json
 import sys
 from pathlib import Path
 
-BEHAVIOUR_FIELDS = (
-    "model_sha256",
-    "robot_sha256",
-    "firmware_sha",
-    "seed",
-    "ideal",
-    "loop_time_us",
-    "timestep",
-    "steps_per_tick",
-    "record_every",
-    "ticks",
-    "sim_time",
-    "stopped_at",
-    "final_z",
-    "warnings_total",
-    "unbound_ports",
-    "watchdog_expiries",
-    "emergency_stops",
-    "serial_dropped_bytes",
-    "events",
-)
-
-
-def read_bytes(directory: Path, name: str) -> bytes:
-    """Read a run artefact, transparently decompressing a .gz baseline."""
-    plain = directory / name
-    compressed = directory / f"{name}.gz"
-    if plain.exists():
-        return plain.read_bytes()
-    if compressed.exists():
-        return gzip.decompress(compressed.read_bytes())
-    raise FileNotFoundError(f"{plain} (or .gz) not found")
-
-
-def compare_csv(run: bytes, baseline: bytes, columns_subset: bool) -> list[str]:
-    """Compare two data.csv files, byte for byte or on the baseline columns only."""
-    if run == baseline:
-        return []
-
-    run_lines = run.decode().splitlines()
-    base_lines = baseline.decode().splitlines()
-
-    if not columns_subset:
-        return ["data.csv differs from the baseline"] + locate_difference(run_lines, base_lines)
-    if len(run_lines) != len(base_lines):
-        return [f"data.csv has {len(run_lines)} lines, baseline has {len(base_lines)}"]
-
-    run_header = run_lines[0].split(",")
-    base_header = base_lines[0].split(",")
-    if run_header[: len(base_header)] != base_header:
-        return ["data.csv header does not start with the baseline columns"]
-
-    kept = len(base_header)
-    problems = []
-    for number, (run_line, base_line) in enumerate(zip(run_lines[1:], base_lines[1:]), start=2):
-        if run_line.split(",")[:kept] != base_line.split(","):
-            problems.append(f"data.csv row {number} differs on a baseline column")
-            if len(problems) >= 5:
-                problems.append("...")
-                break
-    return problems
+#: meta.json fields that may differ between two runs of the same behaviour.
+IGNORED_FIELDS = ("args",)
 
 
-def locate_difference(run_lines: list[str], base_lines: list[str]) -> list[str]:
+def locate_difference(run_lines: list[str], reference_lines: list[str]) -> list[str]:
     """Name the first rows and columns that differ, to make a failure actionable."""
-    if len(run_lines) != len(base_lines):
-        return [f"  data.csv has {len(run_lines)} lines, baseline has {len(base_lines)}"]
+    if len(run_lines) != len(reference_lines):
+        return [f"  data.csv has {len(run_lines)} lines, the reference has {len(reference_lines)}"]
 
-    header = base_lines[0].split(",")
+    header = reference_lines[0].split(",")
     problems = []
-    for number, (run_line, base_line) in enumerate(zip(run_lines, base_lines), start=1):
-        if run_line == base_line:
+    for number, (run_line, reference_line) in enumerate(zip(run_lines, reference_lines), start=1):
+        if run_line == reference_line:
             continue
-        run_cells = run_line.split(",")
-        base_cells = base_line.split(",")
-        for index, (got, want) in enumerate(zip(run_cells, base_cells)):
+        for index, (got, want) in enumerate(zip(run_line.split(","), reference_line.split(","))):
             if got != want:
                 name = header[index] if index < len(header) else f"column {index}"
-                problems.append(f"  row {number}, {name}: {got} != baseline {want}")
+                problems.append(f"  row {number}, {name}: {got} != reference {want}")
                 break
         if len(problems) >= 5:
             problems.append("  ...")
@@ -102,33 +38,34 @@ def locate_difference(run_lines: list[str], base_lines: list[str]) -> list[str]:
     return problems
 
 
-def compare_meta(run: dict, baseline: dict) -> list[str]:
-    """Compare the behaviour fields of two meta.json files."""
+def compare_csv(run: bytes, reference: bytes) -> list[str]:
+    """Compare two data.csv files byte for byte."""
+    if run == reference:
+        return []
+
+    return ["data.csv differs from the reference"] + locate_difference(
+        run.decode().splitlines(), reference.decode().splitlines()
+    )
+
+
+def compare_meta(run: dict, reference: dict) -> list[str]:
+    """Compare two meta.json files on every field that describes the behaviour."""
     problems = []
-    for field in BEHAVIOUR_FIELDS:
-        if field not in baseline:
-            problems.append(f"meta.json baseline has no field {field}")
-        elif run.get(field) != baseline[field]:
-            problems.append(f"meta.json {field}: {run.get(field)!r} != baseline {baseline[field]!r}")
+    for field in sorted((run.keys() | reference.keys()) - set(IGNORED_FIELDS)):
+        if run.get(field) != reference.get(field):
+            problems.append(f"meta.json {field}: {run.get(field)!r} != reference {reference.get(field)!r}")
     return problems
 
 
 def main() -> int:
     parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
     parser.add_argument("run", type=Path)
-    parser.add_argument("baseline", type=Path)
-    parser.add_argument(
-        "--columns-subset",
-        action="store_true",
-        help="accept new columns appended after the baseline ones (extension slices)",
-    )
+    parser.add_argument("reference", type=Path)
     args = parser.parse_args()
 
-    problems = compare_csv(
-        read_bytes(args.run, "data.csv"), read_bytes(args.baseline, "data.csv"), args.columns_subset
-    )
+    problems = compare_csv((args.run / "data.csv").read_bytes(), (args.reference / "data.csv").read_bytes())
     problems += compare_meta(
-        json.loads(read_bytes(args.run, "meta.json")), json.loads(read_bytes(args.baseline, "meta.json"))
+        json.loads((args.run / "meta.json").read_text()), json.loads((args.reference / "meta.json").read_text())
     )
 
     if problems:
@@ -136,7 +73,7 @@ def main() -> int:
             print(f"FAIL {args.run}: {problem}")
         return 1
 
-    print(f"ok   {args.run} matches {args.baseline}")
+    print(f"ok   {args.run} matches {args.reference}")
     return 0
 
 

From 1333ec7a640039b91ed11032ed82a2e4f3ff1d5a Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sat, 26 Sep 2026 22:12:28 -0300
Subject: [PATCH 08/52] =?UTF-8?q?=F0=9F=93=9D=20Describe=20the=20simulator?=
 =?UTF-8?q?=20as=20it=20is?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

CLAUDE.md and the README drop the references to the specs, the history of how the
port got where it is and the claims that no longer held: unbound ports are named on
stderr, the target lists the state names, the listeners and the Wiring are what they
are now, and push, the two video flags and the maze generator are gone. The state
of the port says what the firmware does, and that with every switch on the robot
grazes a post on apec2016 in about half the seeds, as it already did before these
changes.
---
 CLAUDE.md | 136 +++++++++++++++++++++++++-----------------------------
 README.md |  22 ++++-----
 justfile  |   2 +-
 3 files changed, 76 insertions(+), 84 deletions(-)

diff --git a/CLAUDE.md b/CLAUDE.md
index a57a13c..bb186f6 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -5,8 +5,6 @@ invariants that hold it together, the subtleties that look like bugs and are
 not, and the measurements behind the numbers in `targets/micras/robot.toml`.
 
 Linux only, by decision. `just` is the entry point; there is no Makefile.
-`SPEC_1_WORK.md` and `SPEC_2_DECISIONS.md` record the work that produced this
-layout and the fourteen decisions behind it.
 
 ## The rule everything else serves
 
@@ -14,13 +12,13 @@ layout and the fourteen decisions behind it.
 produce byte-identical `data.csv` and `meta.json`. Nothing in the engine may make
 the firmware's view of the world depend on wall time, on a window being open, on
 a client being connected, or on how fast the machine is. Noise is part of the
-world (D8) and is seeded: `--seed` picks the stream, `--ideal` turns it off.
+world and is seeded: `--seed` picks the stream, `--ideal` turns it off.
 
 This is enforced, not hoped for. `just micras check` runs the same scenario
 headless and with a window, with and without a video, and with a bridge nobody
 connects to, and compares each pair of CSVs as bytes (`tools/compare_run.py`).
 
-Baselines are summaries, not recordings (D10). `targets/micras/baselines/v5/`
+Baselines are summaries, not recordings. `targets/micras/baselines/v1/`
 holds one `summary.json` per checked run: the hash of `data.csv`, the state
 timeline, and a handful of numbers with their tolerances (`tools/baseline.py`).
 On the machine that recorded it the hash matches; on another it will not, because
@@ -30,8 +28,8 @@ what is compared. Two rules:
 - **A refactoring must not move a byte.** On one machine, a refactoring leaves
   the hash where it was. If it moves, the refactoring is wrong.
 - **Never re-record to make a difference go away.** `record-baseline` refuses to
-  overwrite a version; a change of behaviour is a new version, `v5`, with the
-  reason in the commit.
+  overwrite a version; a change of behaviour is a new version, with the reason in
+  the commit.
 
 ## Layers
 
@@ -44,7 +42,7 @@ targets/micras/                 the micromouse: firmware submodule, bindings, ro
 ```
 
 `just check-generic` greps everything outside `targets/` for names that belong to
-a robot and fails on any (M2). The root CMakeLists adds every folder of
+a robot and fails on any. The root CMakeLists adds every folder of
 `targets/` that has a CMakeLists; nothing above `targets/` names one.
 
 Four engine libraries. `micras_sim_app` sits on top; `micras_sim_view` links only
@@ -61,8 +59,7 @@ micras_sim_app      CLI, application wiring, crash reporter; the Target interfac
 A robot target implements `Target` (`app/include/micras/sim/app/target.hpp`): its
 name, firmware commit, loop period, options, robot file, ground truth columns and
 program, and `wire()`, which binds its devices to the host ports and returns what
-it adds to the run (`Wiring`: inputs, observers, columns, variables, panel,
-overlay, scenario hooks). Its `main` is one call to `micras::sim::run`.
+it adds to the run (`Wiring`: columns, variables, panel, overlay, scenario hooks). Its `main` is one call to `micras::sim::run`.
 
 `MICRAS_VIEWER`, `MICRAS_VIDEO`, `MICRAS_BRIDGE` and `MICRAS_TESTS` are all ON by
 default and all must still compile when OFF; `just check-options` configures
@@ -74,13 +71,13 @@ first tries to build without a GPU.
 `Simulation::run` drives `IRunListener`s. Order per tick:
 
 ```
-on_before_tick   -> RunControl{RUN, QUIT}   crash reporter, scenario, target inputs, monitor
+on_before_tick   -> RunControl{RUN, QUIT}   crash reporter, scenario, monitor
 firmware.run_until_yield()                  the firmware runs until its timer crosses a step
 device->actuate()                           motors, fan: from what the firmware wrote
 world.step(steps_per_tick)                  125 us, one MuJoCo step
 clock.advance()
 device->sample()                            encoders, IMU, wall sensors, ADCs, link
-on_after_tick                               target observers, event log, recorder, video, viewer
+on_after_tick                               event log, recorder, video, viewer
 ```
 
 Listeners run in registration order, which `Application` fixes. Devices sample
@@ -93,7 +90,7 @@ CSV row. A `FinishGuard` runs `finish()` however `run()` leaves, including
 through an exception from a listener; without it a thrown listener would leave
 the firmware thread parked on the handoff with nobody left to wake it.
 
-### Time: the host timer hands over (D2)
+### Time: the host timer hands over
 
 The firmware keeps its own notion of time through `micras_hal`'s timer, and
 `hal_host`'s `Clock` is the only place that time exists. **Every read of the
@@ -128,7 +125,7 @@ member called `main` too.
 
 There is no render thread. `MujocoViewer` draws inside `on_after_tick` and
 blocks inside `on_before_tick` while paused; `--viewer-fps` is the lever on wall
-time. The panel and the overlay are declarative (D12): a target returns a
+time. The panel and the overlay are declarative: a target returns a
 `PanelSpec` of buttons, switches, lamps and readouts and an `OverlaySpec` of
 lines, and the view draws them without knowing the robot. The first touch of a
 board control hands the run over: the scenario stops driving the inputs and the
@@ -142,7 +139,7 @@ therefore requires that `VideoRecorder` make its EGL context current in
 GLFW context current first. Without that pair the run dies with
 `BadAccess X_GLXMakeCurrent` and leaves an empty CSV.
 
-## The host HAL (D3, D4)
+## The host HAL
 
 `hal_host/` implements every `micras_hal` class the firmware uses on a PC, and
 includes nothing but `micras_hal` headers and its own. `Board` is a registry of
@@ -153,8 +150,9 @@ or GPIO port** that names them, so the firmware's own `target.hpp` is the key:
 port. Nothing in `hal_host` knows a physics engine; the target's bindings connect
 ports to devices.
 
-A port the firmware used that no binding claimed is counted, reported on stdout
-and written to `meta.json` as `unbound_ports`; the gate expects zero. So do
+A port the firmware used that no binding claimed is counted, named on stderr at
+the end of the run and written to `meta.json` as `unbound_ports`; the gate
+expects zero. So do
 `watchdog_expiries` and `emergency_stops`, which `Mcu` counts instead of
 resetting a process.
 
@@ -172,7 +170,7 @@ samples from a `SamplePort`, the rotary sensor reads `hal::Encoder`.
 `FmacFilter` is left out because nothing uses it and it needs the FMAC.
 `hal::Spi` and `hal::Encoder` exist in `hal_host`; the host SPI is chipless.
 
-## The robot description (D7)
+## The robot description
 
 `targets/micras/robot.toml` is the robot's physical truth, written by hand from
 the CAD, the board and the datasheets. Every value is either a number or
@@ -201,7 +199,7 @@ Things in `robot.toml` that look arbitrary and are not:
   own deflection. 8 ms is the estimate for the 1 mm silicone band. With the old
   2 ms the hopping wheels hardly scrubbed, and a pivot at 0.6 V spun at 3.2 rad/s
   instead of 1.1.
-- **The timestep is 125 us**, one firmware loop (R3). Halving it changed neither
+- **The timestep is 125 us**, one firmware loop. Halving it changed neither
   the contacts nor the trace.
 - **The chassis mass is 62 g**, not 70: the firmware's 70 g and 2.9e-5 kg m^2 are
   the whole robot, and the wheels are modelled separately.
@@ -230,7 +228,7 @@ Things in `robot.toml` that look arbitrary and are not:
   fan on. The same is expected of the real band, so calibrate the wheel radius
   with the fan running.
 
-## The CSV (D11)
+## The CSV
 
 One row per tick, or per `--record-every` ticks. The engine's block first: the
 tick, the simulated time, the body pose and velocity. Then the robot's ground
@@ -244,9 +242,9 @@ columns. Two sources naming the same column is an error at the first row.
 - `*_penetration` is `nan` on ticks where the geom had no contact at all. `0`
   means "in contact, exactly touching".
 - The variable columns come from the firmware's `VariablePool`, read through a
-  read-only accessor (D5), and are named from its own variable names. State ids
-  and names come from the firmware too (R6); nothing in the simulator hard-codes
-  them. The device columns are what the simulated hardware produced: the
+  read-only accessor, and are named from its own variable names. State ids come
+  from the firmware; it has no names for them, so the target lists the names and
+  the build checks that there is one for each state. The device columns are what the simulated hardware produced: the
   `lsm6dsv_*` IMU samples, the `wall_*` ADC readings, the `motor_*_voltage` the
   bridge applied, `pack_voltage`.
 
@@ -268,7 +266,7 @@ baud rate, and the bus keeps whatever is pending (up to 64 KiB, counting what it
 drops in `serial_dropped_bytes`). There is no framing in the simulator: the
 firmware's `comm::Link` does its own.
 
-The monitor bridge carries raw bytes both ways (R9). Incoming bytes land in a
+The monitor bridge carries raw bytes both ways. Incoming bytes land in a
 mutex-guarded buffer on an IXWebSocket thread and are handed to the bus on the
 simulation thread in `on_before_tick`; each tick's output goes out as one binary
 frame in `on_after_tick`, through a bounded queue and a sender thread, so a
@@ -279,13 +277,14 @@ Note what the gate proves: `check-monitor` compares a bridged run **with nobody
 connected** against a plain one. A run a client talks to is marked `interactive`
 and is not reproducible, by definition.
 
-## Scenarios (D13)
+## Scenarios
 
 A scenario is a TOML file: the arena, the duration, the seed, the start pose,
-timed events (`press` an input for a time, `set` it, `send` a link command,
-`push` the body) and a stop condition on a firmware variable. CLI flags override
-what they name. Starts go through the robot's real paths: a short press of the
-button starts an exploration, exactly as on the robot (R12).
+timed events (`press` an input for a time, `set` it, `send` a link command) and a
+stop condition on a firmware variable. CLI flags override what they name. Starts
+go through the robot's real paths: a short press of the button starts an
+exploration, exactly as on the robot. A scenario never touches the physics, so a
+scripted run is one a human could have driven.
 
 ## The firmware submodule
 
@@ -305,62 +304,55 @@ something needs explaining, it goes in an `@note` on the declaration, where a
 reader finds it before reading the code. Every `NOLINT` names its check and says
 why. `just lint` is clean and stays clean.
 
-## State of the port (2026-09-25)
+## State of the port
 
 The firmware runs on the host HAL end to end. Every proxy that
 `Micras::check_initialization` checks comes up, so INIT reaches IDLE on the first
-tick (R10). A button press starts an exploration through the firmware's own
-paths. The checked runs end with no unbound port, no watchdog expiry and no
-emergency stop. `--flash` carries a saved map into the next run.
-
-**The whole contest runs clean on ten mazes.** `scenarios/explore_solve.toml`:
-- A short press explores. The firmware comes back to the start on its own and saves
-  the map.
-- A long press then plans and runs the fastest route with the fan.
-
-The mazes are maze1, maze2, apec2016 to apec2019, japan2013ef, japan2017ef, uk2016f
-and alljapan-033-2012-exp-fin, in `engine/arenas/maze/mazes/`. Every one reaches the
-goal with no collision, with the fan alone and with every switch on (fan, racing line,
-boost, risky: `scenarios/explore_solve_all.toml`). Diagonals are always on; the switch
-that used to allow them selects the racing line.
+tick. A button press starts an exploration through the firmware's own paths. The
+checked runs end with no unbound port, no watchdog expiry and no emergency stop.
+`--flash` carries a saved map into the next run.
+
+**The whole contest runs clean on ten mazes**, which `just micras contest` shows: a
+short press explores, the firmware comes back to the start on its own and saves the
+map, and a long press then plans and runs the fastest route with the fan.
+`just micras contest explore_solve_all` does the same with every switch on (fan,
+racing line, boost, risky), and there nine mazes are clean: on apec2016 the board
+grazes the post at (0.90, 1.08) m at about 2 m/s on about half the seeds, and the run
+still finishes. The mazes are maze1, maze2, apec2016 to apec2019,
+japan2013ef, japan2017ef, uk2016f and alljapan-033-2012-exp-fin, in
+`engine/arenas/maze/mazes/`. Diagonals are always allowed; the second switch selects
+the racing line.
 
 The search takes 72 to 120 s before the fast run starts. The fast run takes, with the
-fan, 4.2 s on maze 1 and 3.9 to 9.2 s on the others. With every switch on it takes 3.7 s
-on maze 1 and 3.6 to 8.6 s on the others.
+fan, 4.2 s on maze 1 and 3.9 to 9.2 s on the others; with every switch on, 3.7 s on
+maze 1 and 3.6 to 8.6 s on the others.
 
-That took twenty-four changes to the firmware. `targets/micras/FIRMWARE_CHANGES.md` has
-each one, with its evidence and what it means on the robot. The ones that decided the
-fast modes:
+What the firmware does that the fast modes depend on, each with its evidence in the
+firmware commit that made it:
 - **The edge tracker times a wall edge by the reading and only names it from the map.**
-  It is the only reference along a corridor, and it used to lose the edges whenever
-  the estimate ran ahead of the robot.
+  An edge is the only reference along a corridor.
 - **The odometry rolls on a radius the load flattens.** With the fan the tyres carry
-  four times the load, and the estimate ran 0.67 % long.
-- **Boost asks for 0.65 of the traction.** At 0.75 the tyres slid 10 to 20 mm sideways
-  in every boosted turn.
-- **The wall observer keeps voting through the search turns.** Without it the search
-  stopped and spun in the middle of about 25 cells on maze 1.
+  four times the load.
+- **Boost asks for 0.65 of the traction.** More slides the tyres sideways in the turns.
+- **The wall observer keeps voting through the search turns**, so the search never
+  stops in a cell to look.
 - **A range is corrected for the angle it meets the wall at.** Along a diagonal the
-  diagonal sensors meet the walls square on and read them 16 % short, which pulled the
-  estimate 20 to 30 mm off on the long diagonals at 3 m/s.
-- **Eight turns of two bends inside one cell**, on a planner of labels that only drops
-  one when another is as fast for every route. The fast runs with every switch on are
-  3.5 % faster in total, 9 % on maze 2. The planner advances by edges, not nodes, and
-  `just micras turn-designs` designs the turns, which the compiler then checks.
-- **Turns are braked and accelerated through as their curvature allows.** 1.5 to 1.8 %
-  faster in every profile.
+  diagonal sensors meet the walls square on.
+- **Turns of two bends inside one cell**, on a planner of labels that only drops one
+  when another is as fast for every route. The planner advances by edges, and
+  `just micras turn-designs` designs the turns, which the firmware's build checks.
+- **Turns are braked and accelerated through as their curvature allows.**
 - **The tyres slide to the outside of a curve**, 4.8 mm/s per m/s^2 of lateral
   acceleration. The localizer predicts it and the controller points into it.
-- **The racing line.** Through the cells of the planned route, at 0.8 of the lateral grip
-  and 15 mm from the walls, it is 5.5 % faster than the route with fan and boost. At the
-  full grip or at 10 mm it hit walls. With risky on, the robot also optimizes the line through
-  the route of the risky turns and drives it only when it plans faster (2 of 10 mazes).
+- **The racing line**, through the cells of the planned route, at 0.8 of the lateral
+  grip and 15 mm from the walls. With risky on, the robot also optimizes the line
+  through the route of the risky turns and drives it only when it plans faster.
 
 Findings worth checking on the robot:
 
 1. **Front sensor parallax.** Each front emitter sits 6.5 mm above its receiver and
    the receiver's lobe is 10 degrees, so the reading falls slower than 1/d^2. The
-   firmware now models it (`receiver_offset`, `receiver_half_angle`). A bench sweep
+   firmware models it (`receiver_offset`, `receiver_half_angle`). A bench sweep
    toward a wall confirms both.
 2. **The rolling radius.** 56 um less per newton on a tyre in the simulation. Driving a
    known distance with the fan on and off measures the real one.
@@ -383,11 +375,11 @@ Findings worth checking on the robot:
 - **No "new run" from the panel.** It would need `RunControl::RESTART`,
   restartable listeners, and a fresh `FirmwareThread` and firmware, because the
   FSM, the maze map and the flash all carry state.
-- **The firmware's hardware tests are not built** (R11). The design supports
+- **The firmware's hardware tests are not built.** The design supports
   them, since each is a program with its own `main` over the same HAL, but
   `test_imu` spins forever when the IMU is not initialised and two tests were
   deleted upstream; they are out of scope for now.
-- **No minimum wall clearance in the baselines.** D10 names it; the event log has
-  collisions but nothing measures the distance to the nearest wall yet.
+- **No minimum wall clearance in the baselines.** The event log has collisions,
+  but nothing measures the distance to the nearest wall yet.
 - **No pinned container.** Byte identity is only checked between runs on one
-  machine (D10 C).
+  machine.
diff --git a/README.md b/README.md
index 638f9ed..4d92346 100644
--- a/README.md
+++ b/README.md
@@ -60,11 +60,9 @@ build uses `CMakePresets.json`; `MICRAS_PRESET` picks between `default`
 | `--monitor-port <int>` | port it listens on (default 8080) |
 | `--video <out.mp4>` | record an offscreen mp4 of the run |
 | `--video-fps <int>` | frame rate, default 30 |
-| `--video-camera <name>` | `side tracking` (default), `top tracking`, `onboard` (the robot's own view), `maze_top`, or `free` |
+| `--video-camera <name>` | `side tracking` (the robot's default), `top tracking`, `onboard` (the robot's own view), `maze_top`, or `free` |
 | `--video-size WxH` | frame size, default 1280x720 |
 | `--video-trail` | draw the path the robot has traveled behind it |
-| `--video-trail-color r,g,b` | the trail's color, each part in [0, 1]; implies `--video-trail` |
-| `--video-tint` | draw the robot in its trail's color, to tell two recordings apart; implies `--video-trail` |
 
 Micras adds one option of its own:
 
@@ -97,8 +95,8 @@ equals = ["IDLE", "ERROR"]
 after = 5.0
 ```
 
-An event can `press` an input for a time, `set` it, `send` a link command
-(`explore`, `solve`, `calibrate`, `save`, `reset`) or `push` the robot. An event
+An event can `press` an input for a time, `set` it, or `send` a link command
+(`explore`, `solve`, `calibrate`, `save`, `reset`). An event
 with `when` and `equals` waits, from its `at` on, for the named firmware variable
 to take one of those values, and fires on the first tick it does. The run stops
 at `seconds`, or earlier when the stop condition's variable takes one of the
@@ -119,6 +117,8 @@ The Micras scenarios:
 
 ```bash
 just micras run --scenario scenarios/explore_solve.toml --maze apec2017 --out runs/contest --flash runs/contest/flash.bin
+just micras contest                       # explore_solve in all ten mazes at once, and their health
+just micras contest explore_solve_all     # the same with every switch on
 ```
 
 ## Output
@@ -152,7 +152,7 @@ just micras analyze runs/explore
 Writes `report.json` and plots into the run directory: speeds, contacts,
 attitude, actuators, wheels, a top-down trajectory over the maze with the goal
 cells shaded and the firmware's pose estimate dashed, and, from the Micras
-plugin, the motor voltages, the controller's terms and the wall sensors. The
+plugin, the controller's terms and the wall sensors. The
 report covers warnings, non-finite samples, airborne fraction, slip,
 penetration, chassis contact, the state timeline, collisions, whether and when
 the goal was reached, the pose estimate's error against the ground truth, the
@@ -216,9 +216,9 @@ For the engine: builds, runs every unit test through CTest, configures every
 optional subsystem off to keep it buildable, and checks that nothing outside
 `targets/` names a robot. For Micras: proves that a window, a video and an idle
 bridge change nothing, that the flash survives from one run into the next, runs
-the checked scenarios, analyses them, asserts their metadata (no warnings, no
-unbound ports, no watchdog expiry, no emergency stop, no dropped bytes), and
-compares them with the recorded baseline summaries.
+the checked scenarios, checks their health (no warnings, no collision, no
+non-finite sample, no unbound port, no watchdog expiry, no emergency stop, no
+dropped byte), and compares them with the recorded baseline summaries.
 
 Baselines live in `targets/micras/baselines/`; `CLAUDE.md` explains what they
 hold and the rules around them. `just micras record-baseline` refuses to
@@ -237,7 +237,7 @@ bridge/          WebSocket server and monitor bridge
 app/             CLI and application wiring, the Target interface
 hal_host/        micras_hal implemented on a PC
 tests/           the engine's unit tests, on a tiny robot of their own
-tools/           analysis, baselines, run checks and comparison, maze generator
+tools/           analysis, baselines, run health and byte comparison
 targets/micras/  the micromouse:
   MicrasFirmware/    submodule
   cube/              the Cube layer the firmware includes, by hand
@@ -246,7 +246,7 @@ targets/micras/  the micromouse:
   robot.toml         the physical description
   scenarios/         idle, explore, explore_link, explore_solve(_all), solve(_all)
   baselines/         recorded summaries
-  tools/             analysis plugin, wall calibration, robot report
+  tools/             analysis plugin, wall calibration, robot report, turn designer
 ```
 
 `CLAUDE.md` has the architecture, the invariants that hold the determinism
diff --git a/justfile b/justfile
index aa45154..7461d38 100644
--- a/justfile
+++ b/justfile
@@ -11,7 +11,7 @@ mod micras 'targets/micras'
 preset := env("MICRAS_PRESET", "default")
 build_dir := "build" / preset
 
-# Identifiers that name a specific robot. None may appear outside targets/ (M2).
+# Identifiers that name a specific robot. None may appear outside targets/.
 robot_identifiers := "micras::Micras|MicrasTarget|SimulationContext|ProxyState|proxy_state|robot_v2|\"micras\"|FSM State|Desired Linear|Desired Angular|Odometry Linear|Odometry Angular|Grid Pose|grid_pose|fsm_state|odometry_state|front wheel|MicrasFirmware|MicrasBoard|micras_firmware|targets/micras|wall_adc|dip_switch|button_config|loop_time_us\\{1042|hadc[0-9]|htim[0-9]|hspi[0-9]|huart[0-9]|MX_[A-Z0-9]+_Init"
 
 default:

From 09950bffb6f2e9e858f6c42c0b90eeb09b4413fb Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sat, 26 Sep 2026 22:49:32 -0300
Subject: [PATCH 09/52] =?UTF-8?q?=E2=AC=86=EF=B8=8F=20Follow=20the=20firmw?=
 =?UTF-8?q?are=20onto=20the=20merged=20low=20level=20review?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The firmware's high-level-review is rebased onto feature/bluetooth-link, which
follows main with the low level review merged, and builds, tests and lints as the
firmware's CI does. The host Mcu answers the two questions the initialization now
asks: no reset came from the watchdog, since a simulated run always starts cold and
counts a watchdog expiry instead of acting on it, and the core runs within its
datasheet. The turns are designed in the firmware's config/dynamics_config.cpp,
which the target now compiles.

The checked runs drive exactly as before; the battery voltage column follows the
4 Hz filter of the low level review.
---
 hal_host/src/mcu.cpp          | 8 ++++++++
 targets/micras/CMakeLists.txt | 1 +
 targets/micras/MicrasFirmware | 2 +-
 3 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/hal_host/src/mcu.cpp b/hal_host/src/mcu.cpp
index cf3543e..00d48dd 100644
--- a/hal_host/src/mcu.cpp
+++ b/hal_host/src/mcu.cpp
@@ -74,4 +74,12 @@ void Mcu::refresh_watchdog() {
 
     mcu.last_refresh = clock.now();
 }
+
+bool Mcu::was_reset_by_watchdog() {
+    return false;
+}
+
+bool Mcu::is_cpu_frequency_supported() {
+    return true;
+}
 }  // namespace micras::hal
diff --git a/targets/micras/CMakeLists.txt b/targets/micras/CMakeLists.txt
index 7c9ad2a..cdd8477 100644
--- a/targets/micras/CMakeLists.txt
+++ b/targets/micras/CMakeLists.txt
@@ -34,6 +34,7 @@ file(GLOB MICRAS_FIRMWARE_SOURCES CONFIGURE_DEPENDS
     "${MICRAS_FIRMWARE_DIR}/micras_proxy/src/*.cpp"
     "${MICRAS_FIRMWARE_DIR}/src/*.cpp"
     "${MICRAS_FIRMWARE_DIR}/src/states/*.cpp"
+    "${MICRAS_FIRMWARE_DIR}/config/*.cpp"
 )
 list(REMOVE_ITEM MICRAS_FIRMWARE_SOURCES
     "${MICRAS_FIRMWARE_DIR}/micras_proxy/src/imu.cpp"
diff --git a/targets/micras/MicrasFirmware b/targets/micras/MicrasFirmware
index e0012bb..028265c 160000
--- a/targets/micras/MicrasFirmware
+++ b/targets/micras/MicrasFirmware
@@ -1 +1 @@
-Subproject commit e0012bbca66915286334d4aa0130a123a4201c6a
+Subproject commit 028265ccdf5b2d85b1e86640d04a86e829782595

From f01eede3ee3fba133632dcad3494e4483a05da01 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sun, 27 Sep 2026 01:21:59 -0300
Subject: [PATCH 10/52] =?UTF-8?q?=E2=AC=86=EF=B8=8F=20Follow=20the=20firmw?=
 =?UTF-8?q?are's=20restart=20of=20a=20stopped=20converter?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The firmware now restarts an ADC that an overrun stopped (Team-Micras/MicrasFirmware#57).
The host AdcDma follows its header: every converter registers itself when it is
constructed, the error callback's mark and recover() exist, and get_restarts()
reads the count, which no host converter ever moves. adc_restarts is a new
variable column, and announcing it on the link costs 15 bytes of credit, so
link_credit starts at 51 instead of 66; every other column of the reference runs
is byte identical.
---
 hal_host/src/adc_dma.cpp      | 59 ++++++++++++++++++++++++++---------
 targets/micras/MicrasFirmware |  2 +-
 2 files changed, 45 insertions(+), 16 deletions(-)

diff --git a/hal_host/src/adc_dma.cpp b/hal_host/src/adc_dma.cpp
index 15c8eb2..1a6761b 100644
--- a/hal_host/src/adc_dma.cpp
+++ b/hal_host/src/adc_dma.cpp
@@ -12,6 +12,7 @@
 
 namespace micras::hal {
 std::array<AdcDma*, AdcDma::max_instances> AdcDma::instances{};
+uint32_t                                   AdcDma::restarts{};
 
 AdcDma::AdcDma(const Config& config) :
     max_reading{config.max_reading}, reference_voltage{config.reference_voltage}, handle{config.handle} {
@@ -19,6 +20,13 @@ AdcDma::AdcDma(const Config& config) :
         config.init_function();
     }
 
+    auto* const slot = std::ranges::find(instances, nullptr);
+
+    if (slot == instances.end()) {
+        return;
+    }
+
+    *slot = this;
     this->initialized = this->handle->State == HAL_ADC_STATE_READY;
 }
 
@@ -53,15 +61,6 @@ bool AdcDma::start_dma(std::span<uint16_t> buffer, std::span<uint16_t> snapshot)
     this->buffer = buffer;
     this->snapshot = snapshot;
 
-    auto* const slot = std::ranges::find(instances, nullptr);
-
-    if (slot == instances.end()) {
-        this->initialized = false;
-        return false;
-    }
-
-    *slot = this;
-
     return this->start_dma(buffer);
 }
 
@@ -82,15 +81,32 @@ uint32_t AdcDma::read_snapshot(std::span<uint16_t> destination) const {
 }
 
 void AdcDma::on_sequence_complete(const ADC_HandleTypeDef* handle) {
-    for (AdcDma* instance : instances) {
-        if (instance != nullptr and instance->handle == handle) {
-            std::ranges::copy(instance->buffer, instance->snapshot.begin());
-            instance->sequence = instance->sequence + 1;
-            return;
-        }
+    AdcDma* const instance = find(handle);
+
+    if (instance == nullptr) {
+        return;
+    }
+
+    std::ranges::copy(instance->buffer, instance->snapshot.begin());
+    instance->sequence = instance->sequence + 1;
+}
+
+void AdcDma::on_error(const ADC_HandleTypeDef* handle) {
+    AdcDma* const instance = find(handle);
+
+    if (instance != nullptr) {
+        instance->stopped = true;
     }
 }
 
+AdcDma* AdcDma::find(const ADC_HandleTypeDef* handle) {
+    const auto* const found = std::ranges::find_if(instances, [handle](const AdcDma* instance) {
+        return instance != nullptr and instance->handle == handle;
+    });
+
+    return found == instances.end() ? nullptr : *found;
+}
+
 void AdcDma::stop_dma() {
     host::AdcPort& port = host::Board::adc(this->handle);
     port.buffer16 = {};
@@ -98,6 +114,19 @@ void AdcDma::stop_dma() {
     port.complete = nullptr;
 }
 
+void AdcDma::recover() {
+    if (not this->stopped) {
+        return;
+    }
+
+    this->stopped = false;
+    restarts++;
+}
+
+uint32_t AdcDma::get_restarts() {
+    return restarts;
+}
+
 uint16_t AdcDma::get_max_reading() const {
     return this->max_reading;
 }
diff --git a/targets/micras/MicrasFirmware b/targets/micras/MicrasFirmware
index 028265c..61a8e14 160000
--- a/targets/micras/MicrasFirmware
+++ b/targets/micras/MicrasFirmware
@@ -1 +1 @@
-Subproject commit 028265ccdf5b2d85b1e86640d04a86e829782595
+Subproject commit 61a8e145b374a09886a96bdbfc0a9cc5c62e7fc2

From ac488d75323dfcf9a4e7a6bd3cdf40194da3d37e Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sun, 27 Sep 2026 01:27:42 -0300
Subject: [PATCH 11/52] =?UTF-8?q?=E2=AC=86=EF=B8=8F=20Follow=20the=20firmw?=
 =?UTF-8?q?are=20onto=20the=20rewritten=20main?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The firmware's branches were rebased onto its rewritten main. The files are the same as at 61a8e14 except the README, which lost its CI badge.
---
 targets/micras/MicrasFirmware | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/targets/micras/MicrasFirmware b/targets/micras/MicrasFirmware
index 61a8e14..26e5c39 160000
--- a/targets/micras/MicrasFirmware
+++ b/targets/micras/MicrasFirmware
@@ -1 +1 @@
-Subproject commit 61a8e145b374a09886a96bdbfc0a9cc5c62e7fc2
+Subproject commit 26e5c397d0c70ffd112b8f6492f850cc94bc664b

From bb926552de14f7d74622f791bba904afb2ccc394 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sun, 27 Sep 2026 06:03:59 -0300
Subject: [PATCH 12/52] =?UTF-8?q?=E2=AC=86=EF=B8=8F=20Follow=20the=20firmw?=
 =?UTF-8?q?are's=20answer=20to=20the=20review=20of=20the=20navigation?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The firmware answered the review of Team-Micras/MicrasFirmware#54 in one
commit (9e307de). The host AdcDma publishes nothing while a converter is
stopped, like the firmware's, and the current sense amplifiers are
bidirectional, as the board's are: a channel reads half its range with no
current and moves from there with the sign of the current, which the firmware
now reads.

It changes behaviour, so the baselines are a new version, v2. Everything but
four changes was checked byte identical first: the reference runs differ only
in the two new variable columns, failed_saves and localizer_recoveries, in
link_credit, which announcing them costs, and in run_profile for the 0.1 s
before a scenario sets the switches, since it is no longer restored from the
flash. The four are the turn factor of the planner, the explorer round that
runs to its end, the search speed cap into a cell with an unknown front wall,
and the tick that restarts after a save and the boot.

The contest stays clean on the ten mazes, with every switch on too. The fast
runs are the same but for maze 1 with every switch, 11 ms faster, alljapan
with the fan, 6 ms faster, and apec2019 with every switch, 127 ms slower: the
turn factor changes the route there, and the racing line drawn through it
comes out slower. The search takes 77 to 123 s, against 62 to 109 s: the cap
costs about 10 s a maze, while the explorer and the turn factor together save
5 s over the ten.
---
 CLAUDE.md                                     |  4 +-
 engine/include/micras/sim/devices/power.hpp   |  4 ++
 engine/src/devices/power.cpp                  |  6 +-
 hal_host/src/adc_dma.cpp                      |  2 +-
 targets/micras/MicrasFirmware                 |  2 +-
 .../micras/baselines/v2/explore/summary.json  | 58 +++++++++++++++++++
 targets/micras/baselines/v2/idle/summary.json | 42 ++++++++++++++
 targets/micras/justfile                       |  2 +-
 targets/micras/src/bindings.cpp               |  1 +
 9 files changed, 113 insertions(+), 8 deletions(-)
 create mode 100644 targets/micras/baselines/v2/explore/summary.json
 create mode 100644 targets/micras/baselines/v2/idle/summary.json

diff --git a/CLAUDE.md b/CLAUDE.md
index bb186f6..acc21cc 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -18,7 +18,7 @@ This is enforced, not hoped for. `just micras check` runs the same scenario
 headless and with a window, with and without a video, and with a bridge nobody
 connects to, and compares each pair of CSVs as bytes (`tools/compare_run.py`).
 
-Baselines are summaries, not recordings. `targets/micras/baselines/v1/`
+Baselines are summaries, not recordings. `targets/micras/baselines/v2/`
 holds one `summary.json` per checked run: the hash of `data.csv`, the state
 timeline, and a handful of numbers with their tolerances (`tools/baseline.py`).
 On the machine that recorded it the hash matches; on another it will not, because
@@ -323,7 +323,7 @@ japan2013ef, japan2017ef, uk2016f and alljapan-033-2012-exp-fin, in
 `engine/arenas/maze/mazes/`. Diagonals are always allowed; the second switch selects
 the racing line.
 
-The search takes 72 to 120 s before the fast run starts. The fast run takes, with the
+The search takes 77 to 123 s before the fast run starts. The fast run takes, with the
 fan, 4.2 s on maze 1 and 3.9 to 9.2 s on the others; with every switch on, 3.7 s on
 maze 1 and 3.6 to 8.6 s on the others.
 
diff --git a/engine/include/micras/sim/devices/power.hpp b/engine/include/micras/sim/devices/power.hpp
index 8fdddc4..8546da5 100644
--- a/engine/include/micras/sim/devices/power.hpp
+++ b/engine/include/micras/sim/devices/power.hpp
@@ -146,9 +146,13 @@ class CurrentSense : public Device {
 public:
     /**
      * @brief The channels and their scaling.
+     *
+     * @note The amplifiers are bidirectional: a channel reads the zero voltage with no current, and
+     * moves from it by the volts per amp in the direction of the current.
      */
     struct Config {
         std::vector<std::function<double()>>       currents;
+        double                                     zero_voltage;
         double                                     volts_per_amp;
         double                                     adc_reference;
         double                                     adc_max_counts;
diff --git a/engine/src/devices/power.cpp b/engine/src/devices/power.cpp
index fbbe41b..4c85afe 100644
--- a/engine/src/devices/power.cpp
+++ b/engine/src/devices/power.cpp
@@ -76,11 +76,11 @@ CurrentSense::CurrentSense(Config config, const NoiseConfig& noise) :
 
 void CurrentSense::sample(MujocoWorld& /*world*/, const Clock& /*clock*/) {
     for (std::size_t channel = 0; channel < this->config.currents.size(); channel++) {
-        const double current = std::abs(this->config.currents.at(channel)());
+        const double current = this->config.currents.at(channel)();
         this->config.write(
             channel, to_counts(
-                         current * this->config.volts_per_amp, this->config.adc_reference, this->config.adc_max_counts,
-                         this->noise.gaussian(this->config.adc_noise_counts)
+                         this->config.zero_voltage + current * this->config.volts_per_amp, this->config.adc_reference,
+                         this->config.adc_max_counts, this->noise.gaussian(this->config.adc_noise_counts)
                      )
         );
     }
diff --git a/hal_host/src/adc_dma.cpp b/hal_host/src/adc_dma.cpp
index 1a6761b..3c3bca2 100644
--- a/hal_host/src/adc_dma.cpp
+++ b/hal_host/src/adc_dma.cpp
@@ -83,7 +83,7 @@ uint32_t AdcDma::read_snapshot(std::span<uint16_t> destination) const {
 void AdcDma::on_sequence_complete(const ADC_HandleTypeDef* handle) {
     AdcDma* const instance = find(handle);
 
-    if (instance == nullptr) {
+    if (instance == nullptr or instance->stopped) {
         return;
     }
 
diff --git a/targets/micras/MicrasFirmware b/targets/micras/MicrasFirmware
index 26e5c39..9e307de 160000
--- a/targets/micras/MicrasFirmware
+++ b/targets/micras/MicrasFirmware
@@ -1 +1 @@
-Subproject commit 26e5c397d0c70ffd112b8f6492f850cc94bc664b
+Subproject commit 9e307de4d2d95c70243be0bbf9ea095c5e83130c
diff --git a/targets/micras/baselines/v2/explore/summary.json b/targets/micras/baselines/v2/explore/summary.json
new file mode 100644
index 0000000..721aa33
--- /dev/null
+++ b/targets/micras/baselines/v2/explore/summary.json
@@ -0,0 +1,58 @@
+{
+  "target": "micras",
+  "scenario": "scenarios/explore.toml",
+  "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore --flash runs/explore/flash.bin",
+  "firmware_sha": "26e5c397d0c70ffd112b8f6492f850cc94bc664b-dirty",
+  "mujoco_version": "3.14.0",
+  "compiler": "GNU 13.4.0",
+  "data_sha256": "2e98ed30603010bc3f3ed867ffe8b730839488397f268a2c7a614ea168c47b39",
+  "states": [
+    [
+      0.000125,
+      "INIT"
+    ],
+    [
+      0.00025,
+      "IDLE"
+    ],
+    [
+      0.760125,
+      "WAIT_FOR_RUN"
+    ],
+    [
+      3.76113,
+      "RUN"
+    ],
+    [
+      28.8715,
+      "SAVE"
+    ],
+    [
+      28.8716,
+      "WAIT_FOR_RUN"
+    ]
+  ],
+  "values": {
+    "ticks": 240000,
+    "warnings_total": 0,
+    "collisions": 0,
+    "goal_time": 28.575875,
+    "stopped_at": null,
+    "unbound_ports": 0,
+    "running_time": 25.110250000119898,
+    "max_pose_error": 0.012991706848178316,
+    "rms_across_error": 0.000949610926398897
+  },
+  "tolerances": {
+    "state_time": 0.25,
+    "ticks": null,
+    "warnings_total": null,
+    "collisions": 2,
+    "goal_time": 1.0,
+    "stopped_at": 1.0,
+    "unbound_ports": null,
+    "running_time": 1.0,
+    "max_pose_error": 0.02,
+    "rms_across_error": 0.003
+  }
+}
diff --git a/targets/micras/baselines/v2/idle/summary.json b/targets/micras/baselines/v2/idle/summary.json
new file mode 100644
index 0000000..3100286
--- /dev/null
+++ b/targets/micras/baselines/v2/idle/summary.json
@@ -0,0 +1,42 @@
+{
+  "target": "micras",
+  "scenario": "scenarios/idle.toml",
+  "args": "--scenario scenarios/idle.toml --out runs/idle",
+  "firmware_sha": "26e5c397d0c70ffd112b8f6492f850cc94bc664b-dirty",
+  "mujoco_version": "3.14.0",
+  "compiler": "GNU 13.4.0",
+  "data_sha256": "6b2c615d4336e756ebc4b005ac1a87c38197588b6c592256d8f59f5aa62afed3",
+  "states": [
+    [
+      0.000125,
+      "INIT"
+    ],
+    [
+      0.00025,
+      "IDLE"
+    ]
+  ],
+  "values": {
+    "ticks": 32000,
+    "warnings_total": 0,
+    "collisions": 0,
+    "goal_time": null,
+    "stopped_at": null,
+    "unbound_ports": 0,
+    "running_time": 0.0,
+    "max_pose_error": null,
+    "rms_across_error": null
+  },
+  "tolerances": {
+    "state_time": 0.25,
+    "ticks": null,
+    "warnings_total": null,
+    "collisions": 2,
+    "goal_time": 1.0,
+    "stopped_at": 1.0,
+    "unbound_ports": null,
+    "running_time": 1.0,
+    "max_pose_error": 0.02,
+    "rms_across_error": 0.003
+  }
+}
diff --git a/targets/micras/justfile b/targets/micras/justfile
index eae72c2..f6a3d38 100644
--- a/targets/micras/justfile
+++ b/targets/micras/justfile
@@ -16,7 +16,7 @@ tools := root / "tools"
 free_port := python + " -c 'import socket; s = socket.socket(); s.bind((\"127.0.0.1\", 0)); print(s.getsockname()[1])'"
 
 # The current baseline version: one summary per checked run (tools/baseline.py).
-baseline := "baselines/v1"
+baseline := "baselines/v2"
 check_runs := "idle explore"
 # The checked explore is the first 30 s of the scenario: the search to the goal, where
 # the firmware saves the map, and the start of the way back.
diff --git a/targets/micras/src/bindings.cpp b/targets/micras/src/bindings.cpp
index 3226fde..953e6ef 100644
--- a/targets/micras/src/bindings.cpp
+++ b/targets/micras/src/bindings.cpp
@@ -231,6 +231,7 @@ MicrasBoard bind_devices(RunContext& context, const WorldInfo& world) {
         std::make_unique<CurrentSense>(
             CurrentSense::Config{
                 .currents = {[left] { return left->current(); }, [right] { return right->current(); }},
+                .zero_voltage = torque_sensors_config.zero_reading * torque_sensors_config.adc.reference_voltage,
                 .volts_per_amp = torque_sensors_config.shunt_resistor,
                 .adc_reference = torque_sensors_config.adc.reference_voltage,
                 .adc_max_counts = static_cast<double>(torque_sensors_config.adc.max_reading),

From 7219ac2478f63a6e31181b264be017269116a64a Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sun, 27 Sep 2026 11:21:46 -0300
Subject: [PATCH 13/52] =?UTF-8?q?=E2=AC=86=EF=B8=8F=20Follow=20the=20firmw?=
 =?UTF-8?q?are's=20revert=20of=20the=20turn=20factor,=20with=20the=20basel?=
 =?UTF-8?q?ine=20as=20v1?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The firmware takes the turn factor of the planner out again (e3aafea): it
discounted only the turns of two bends, and on apec2019 it cost a fast run
127 ms. The fast runs are the ones before it in every maze, and the contest is
byte identical to the build that had the factor disabled.

The baseline is recorded again as the only version, v1, from this behaviour.
The search takes 77 to 113 s: the speed cap into a cell with an unknown front
wall costs about 10 s a maze, and the explorer round that runs to its end
saves some of it back.
---
 CLAUDE.md                                     |  4 +-
 targets/micras/MicrasFirmware                 |  2 +-
 .../micras/baselines/v1/explore/summary.json  | 26 ++++-----
 targets/micras/baselines/v1/idle/summary.json |  8 +--
 .../micras/baselines/v2/explore/summary.json  | 58 -------------------
 targets/micras/baselines/v2/idle/summary.json | 42 --------------
 targets/micras/justfile                       |  2 +-
 7 files changed, 19 insertions(+), 123 deletions(-)
 delete mode 100644 targets/micras/baselines/v2/explore/summary.json
 delete mode 100644 targets/micras/baselines/v2/idle/summary.json

diff --git a/CLAUDE.md b/CLAUDE.md
index acc21cc..7f452d9 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -18,7 +18,7 @@ This is enforced, not hoped for. `just micras check` runs the same scenario
 headless and with a window, with and without a video, and with a bridge nobody
 connects to, and compares each pair of CSVs as bytes (`tools/compare_run.py`).
 
-Baselines are summaries, not recordings. `targets/micras/baselines/v2/`
+Baselines are summaries, not recordings. `targets/micras/baselines/v1/`
 holds one `summary.json` per checked run: the hash of `data.csv`, the state
 timeline, and a handful of numbers with their tolerances (`tools/baseline.py`).
 On the machine that recorded it the hash matches; on another it will not, because
@@ -323,7 +323,7 @@ japan2013ef, japan2017ef, uk2016f and alljapan-033-2012-exp-fin, in
 `engine/arenas/maze/mazes/`. Diagonals are always allowed; the second switch selects
 the racing line.
 
-The search takes 77 to 123 s before the fast run starts. The fast run takes, with the
+The search takes 77 to 113 s before the fast run starts. The fast run takes, with the
 fan, 4.2 s on maze 1 and 3.9 to 9.2 s on the others; with every switch on, 3.7 s on
 maze 1 and 3.6 to 8.6 s on the others.
 
diff --git a/targets/micras/MicrasFirmware b/targets/micras/MicrasFirmware
index 9e307de..e3aafea 160000
--- a/targets/micras/MicrasFirmware
+++ b/targets/micras/MicrasFirmware
@@ -1 +1 @@
-Subproject commit 9e307de4d2d95c70243be0bbf9ea095c5e83130c
+Subproject commit e3aafea664935826e05c0e9217df6c5d515e5ee5
diff --git a/targets/micras/baselines/v1/explore/summary.json b/targets/micras/baselines/v1/explore/summary.json
index 25562e0..76a9408 100644
--- a/targets/micras/baselines/v1/explore/summary.json
+++ b/targets/micras/baselines/v1/explore/summary.json
@@ -1,11 +1,11 @@
 {
   "target": "micras",
   "scenario": "scenarios/explore.toml",
-  "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore",
-  "firmware_sha": "0be27df9c12a0f6fbca55f007283f6bb1eeb2ec0-dirty",
+  "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore --flash runs/explore/flash.bin",
+  "firmware_sha": "9e307de4d2d95c70243be0bbf9ea095c5e83130c-dirty",
   "mujoco_version": "3.14.0",
   "compiler": "GNU 13.4.0",
-  "data_sha256": "bc460542d2e22a5f1cdb51ff153ed7fed62d2f55b2e7cad0c298b10906804424",
+  "data_sha256": "2e98ed30603010bc3f3ed867ffe8b730839488397f268a2c7a614ea168c47b39",
   "states": [
     [
       0.000125,
@@ -24,37 +24,33 @@
       "RUN"
     ],
     [
-      26.5168,
+      28.8715,
       "SAVE"
     ],
     [
-      26.5169,
+      28.8716,
       "WAIT_FOR_RUN"
-    ],
-    [
-      29.5171,
-      "RUN"
     ]
   ],
   "values": {
     "ticks": 240000,
     "warnings_total": 0,
-    "unbound_ports": 0,
     "collisions": 0,
-    "goal_time": 26.225625,
+    "goal_time": 28.575875,
     "stopped_at": null,
-    "running_time": 23.23862500011096,
-    "max_pose_error": 0.012532117593383792,
-    "rms_across_error": 0.0011946963676523932
+    "unbound_ports": 0,
+    "running_time": 25.110250000119898,
+    "max_pose_error": 0.012991706848178316,
+    "rms_across_error": 0.000949610926398897
   },
   "tolerances": {
     "state_time": 0.25,
     "ticks": null,
     "warnings_total": null,
-    "unbound_ports": null,
     "collisions": 2,
     "goal_time": 1.0,
     "stopped_at": 1.0,
+    "unbound_ports": null,
     "running_time": 1.0,
     "max_pose_error": 0.02,
     "rms_across_error": 0.003
diff --git a/targets/micras/baselines/v1/idle/summary.json b/targets/micras/baselines/v1/idle/summary.json
index a6a2468..90087b1 100644
--- a/targets/micras/baselines/v1/idle/summary.json
+++ b/targets/micras/baselines/v1/idle/summary.json
@@ -2,10 +2,10 @@
   "target": "micras",
   "scenario": "scenarios/idle.toml",
   "args": "--scenario scenarios/idle.toml --out runs/idle",
-  "firmware_sha": "0be27df9c12a0f6fbca55f007283f6bb1eeb2ec0-dirty",
+  "firmware_sha": "9e307de4d2d95c70243be0bbf9ea095c5e83130c-dirty",
   "mujoco_version": "3.14.0",
   "compiler": "GNU 13.4.0",
-  "data_sha256": "2e342c3e901031a48a9d3d8ab0508b07cc5171a121a73f8913d4622fe8408018",
+  "data_sha256": "6b2c615d4336e756ebc4b005ac1a87c38197588b6c592256d8f59f5aa62afed3",
   "states": [
     [
       0.000125,
@@ -19,10 +19,10 @@
   "values": {
     "ticks": 32000,
     "warnings_total": 0,
-    "unbound_ports": 0,
     "collisions": 0,
     "goal_time": null,
     "stopped_at": null,
+    "unbound_ports": 0,
     "running_time": 0.0,
     "max_pose_error": null,
     "rms_across_error": null
@@ -31,10 +31,10 @@
     "state_time": 0.25,
     "ticks": null,
     "warnings_total": null,
-    "unbound_ports": null,
     "collisions": 2,
     "goal_time": 1.0,
     "stopped_at": 1.0,
+    "unbound_ports": null,
     "running_time": 1.0,
     "max_pose_error": 0.02,
     "rms_across_error": 0.003
diff --git a/targets/micras/baselines/v2/explore/summary.json b/targets/micras/baselines/v2/explore/summary.json
deleted file mode 100644
index 721aa33..0000000
--- a/targets/micras/baselines/v2/explore/summary.json
+++ /dev/null
@@ -1,58 +0,0 @@
-{
-  "target": "micras",
-  "scenario": "scenarios/explore.toml",
-  "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore --flash runs/explore/flash.bin",
-  "firmware_sha": "26e5c397d0c70ffd112b8f6492f850cc94bc664b-dirty",
-  "mujoco_version": "3.14.0",
-  "compiler": "GNU 13.4.0",
-  "data_sha256": "2e98ed30603010bc3f3ed867ffe8b730839488397f268a2c7a614ea168c47b39",
-  "states": [
-    [
-      0.000125,
-      "INIT"
-    ],
-    [
-      0.00025,
-      "IDLE"
-    ],
-    [
-      0.760125,
-      "WAIT_FOR_RUN"
-    ],
-    [
-      3.76113,
-      "RUN"
-    ],
-    [
-      28.8715,
-      "SAVE"
-    ],
-    [
-      28.8716,
-      "WAIT_FOR_RUN"
-    ]
-  ],
-  "values": {
-    "ticks": 240000,
-    "warnings_total": 0,
-    "collisions": 0,
-    "goal_time": 28.575875,
-    "stopped_at": null,
-    "unbound_ports": 0,
-    "running_time": 25.110250000119898,
-    "max_pose_error": 0.012991706848178316,
-    "rms_across_error": 0.000949610926398897
-  },
-  "tolerances": {
-    "state_time": 0.25,
-    "ticks": null,
-    "warnings_total": null,
-    "collisions": 2,
-    "goal_time": 1.0,
-    "stopped_at": 1.0,
-    "unbound_ports": null,
-    "running_time": 1.0,
-    "max_pose_error": 0.02,
-    "rms_across_error": 0.003
-  }
-}
diff --git a/targets/micras/baselines/v2/idle/summary.json b/targets/micras/baselines/v2/idle/summary.json
deleted file mode 100644
index 3100286..0000000
--- a/targets/micras/baselines/v2/idle/summary.json
+++ /dev/null
@@ -1,42 +0,0 @@
-{
-  "target": "micras",
-  "scenario": "scenarios/idle.toml",
-  "args": "--scenario scenarios/idle.toml --out runs/idle",
-  "firmware_sha": "26e5c397d0c70ffd112b8f6492f850cc94bc664b-dirty",
-  "mujoco_version": "3.14.0",
-  "compiler": "GNU 13.4.0",
-  "data_sha256": "6b2c615d4336e756ebc4b005ac1a87c38197588b6c592256d8f59f5aa62afed3",
-  "states": [
-    [
-      0.000125,
-      "INIT"
-    ],
-    [
-      0.00025,
-      "IDLE"
-    ]
-  ],
-  "values": {
-    "ticks": 32000,
-    "warnings_total": 0,
-    "collisions": 0,
-    "goal_time": null,
-    "stopped_at": null,
-    "unbound_ports": 0,
-    "running_time": 0.0,
-    "max_pose_error": null,
-    "rms_across_error": null
-  },
-  "tolerances": {
-    "state_time": 0.25,
-    "ticks": null,
-    "warnings_total": null,
-    "collisions": 2,
-    "goal_time": 1.0,
-    "stopped_at": 1.0,
-    "unbound_ports": null,
-    "running_time": 1.0,
-    "max_pose_error": 0.02,
-    "rms_across_error": 0.003
-  }
-}
diff --git a/targets/micras/justfile b/targets/micras/justfile
index f6a3d38..eae72c2 100644
--- a/targets/micras/justfile
+++ b/targets/micras/justfile
@@ -16,7 +16,7 @@ tools := root / "tools"
 free_port := python + " -c 'import socket; s = socket.socket(); s.bind((\"127.0.0.1\", 0)); print(s.getsockname()[1])'"
 
 # The current baseline version: one summary per checked run (tools/baseline.py).
-baseline := "baselines/v2"
+baseline := "baselines/v1"
 check_runs := "idle explore"
 # The checked explore is the first 30 s of the scenario: the search to the goal, where
 # the firmware saves the map, and the start of the way back.

From 329629187251b9908df1eb170567f394366c575b Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sun, 27 Sep 2026 13:18:24 -0300
Subject: [PATCH 14/52] =?UTF-8?q?=E2=AC=86=EF=B8=8F=20Follow=20the=20firmw?=
 =?UTF-8?q?are's=20pricing=20of=20turns,=20with=20the=20baseline=20recorde?=
 =?UTF-8?q?d=20again?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The firmware's planner now prices a turn entered below its speed at a blend of
the two, and a turn that leaves slower for the next one at nothing more
(682373a). That changes the routes, so the baseline v1 is recorded again.

The contest stays clean with the fan: every fast run equal or faster, by up to
100 ms on japan2017ef, and the search at 65 to 118 s. With every switch on, the
racing line is drawn through different routes: japan2017ef is 70 ms faster but
its board now grazes two walls at about 1.5 m/s on every seed, while apec2016,
which grazed on about half the seeds, does on one in eight. Four other mazes
are 10 to 30 ms slower there.
---
 CLAUDE.md                                        | 9 +++++----
 targets/micras/MicrasFirmware                    | 2 +-
 targets/micras/baselines/v1/explore/summary.json | 2 +-
 targets/micras/baselines/v1/idle/summary.json    | 2 +-
 4 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/CLAUDE.md b/CLAUDE.md
index 7f452d9..30c3208 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -316,14 +316,15 @@ checked runs end with no unbound port, no watchdog expiry and no emergency stop.
 short press explores, the firmware comes back to the start on its own and saves the
 map, and a long press then plans and runs the fastest route with the fan.
 `just micras contest explore_solve_all` does the same with every switch on (fan,
-racing line, boost, risky), and there nine mazes are clean: on apec2016 the board
-grazes the post at (0.90, 1.08) m at about 2 m/s on about half the seeds, and the run
-still finishes. The mazes are maze1, maze2, apec2016 to apec2019,
+racing line, boost, risky), and there nine mazes are clean: on japan2017ef the board
+grazes the walls around (0.22, 1.34) and (0.38, 1.58) m at about 1.5 m/s on every seed,
+and on apec2016 the post at (0.90, 1.08) m on about one seed in eight; both runs still
+finish. The mazes are maze1, maze2, apec2016 to apec2019,
 japan2013ef, japan2017ef, uk2016f and alljapan-033-2012-exp-fin, in
 `engine/arenas/maze/mazes/`. Diagonals are always allowed; the second switch selects
 the racing line.
 
-The search takes 77 to 113 s before the fast run starts. The fast run takes, with the
+The search takes 65 to 118 s before the fast run starts. The fast run takes, with the
 fan, 4.2 s on maze 1 and 3.9 to 9.2 s on the others; with every switch on, 3.7 s on
 maze 1 and 3.6 to 8.6 s on the others.
 
diff --git a/targets/micras/MicrasFirmware b/targets/micras/MicrasFirmware
index e3aafea..682373a 160000
--- a/targets/micras/MicrasFirmware
+++ b/targets/micras/MicrasFirmware
@@ -1 +1 @@
-Subproject commit e3aafea664935826e05c0e9217df6c5d515e5ee5
+Subproject commit 682373ac5d2059a561fe95eeafa7c4f5c0b908a7
diff --git a/targets/micras/baselines/v1/explore/summary.json b/targets/micras/baselines/v1/explore/summary.json
index 76a9408..7f2c9da 100644
--- a/targets/micras/baselines/v1/explore/summary.json
+++ b/targets/micras/baselines/v1/explore/summary.json
@@ -2,7 +2,7 @@
   "target": "micras",
   "scenario": "scenarios/explore.toml",
   "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore --flash runs/explore/flash.bin",
-  "firmware_sha": "9e307de4d2d95c70243be0bbf9ea095c5e83130c-dirty",
+  "firmware_sha": "e3aafea664935826e05c0e9217df6c5d515e5ee5-dirty",
   "mujoco_version": "3.14.0",
   "compiler": "GNU 13.4.0",
   "data_sha256": "2e98ed30603010bc3f3ed867ffe8b730839488397f268a2c7a614ea168c47b39",
diff --git a/targets/micras/baselines/v1/idle/summary.json b/targets/micras/baselines/v1/idle/summary.json
index 90087b1..2796835 100644
--- a/targets/micras/baselines/v1/idle/summary.json
+++ b/targets/micras/baselines/v1/idle/summary.json
@@ -2,7 +2,7 @@
   "target": "micras",
   "scenario": "scenarios/idle.toml",
   "args": "--scenario scenarios/idle.toml --out runs/idle",
-  "firmware_sha": "9e307de4d2d95c70243be0bbf9ea095c5e83130c-dirty",
+  "firmware_sha": "e3aafea664935826e05c0e9217df6c5d515e5ee5-dirty",
   "mujoco_version": "3.14.0",
   "compiler": "GNU 13.4.0",
   "data_sha256": "6b2c615d4336e756ebc4b005ac1a87c38197588b6c592256d8f59f5aa62afed3",

From b1112f39531601a4a89d689cf22a57abe1012e04 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sun, 27 Sep 2026 15:22:03 -0300
Subject: [PATCH 15/52] =?UTF-8?q?=E2=AC=86=EF=B8=8F=20Follow=20the=20firmw?=
 =?UTF-8?q?are's=20answer=20to=20the=20second=20review,=20with=20the=20bas?=
 =?UTF-8?q?eline=20recorded=20again?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The firmware answers the second review of #54 (72651b0): the racing line keeps
13 mm whatever the switch, a straight with the wall ahead unknown is held to the
search speed only up to the point the robot can still stop from, the planner's
preparation is charged for its real cost, and the time scale, the localizer's
range check, the IMU status and blinded wall sensors are fixed. That changes
the search, so the baseline v1 is recorded again.

The contest stays clean with the fan, every fast run the same, and the search
takes 867 s over the ten mazes instead of 911 s, none slower. With every switch
on, japan2017ef no longer grazes, 70 ms slower, and it and apec2016 are clean
on eight seeds of the fast run; the other mazes run as before.
---
 CLAUDE.md                                        | 12 ++++++------
 targets/micras/MicrasFirmware                    |  2 +-
 targets/micras/baselines/v1/explore/summary.json | 16 ++++++++--------
 targets/micras/baselines/v1/idle/summary.json    |  4 ++--
 4 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/CLAUDE.md b/CLAUDE.md
index 30c3208..e71811e 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -316,15 +316,14 @@ checked runs end with no unbound port, no watchdog expiry and no emergency stop.
 short press explores, the firmware comes back to the start on its own and saves the
 map, and a long press then plans and runs the fastest route with the fan.
 `just micras contest explore_solve_all` does the same with every switch on (fan,
-racing line, boost, risky), and there nine mazes are clean: on japan2017ef the board
-grazes the walls around (0.22, 1.34) and (0.38, 1.58) m at about 1.5 m/s on every seed,
-and on apec2016 the post at (0.90, 1.08) m on about one seed in eight; both runs still
-finish. The mazes are maze1, maze2, apec2016 to apec2019,
+racing line, boost, risky), and there too every maze is clean; japan2017ef and apec2016,
+whose boards grazed walls while the line through the risky turns kept only 8 mm, are clean
+on eight seeds of the fast run. The mazes are maze1, maze2, apec2016 to apec2019,
 japan2013ef, japan2017ef, uk2016f and alljapan-033-2012-exp-fin, in
 `engine/arenas/maze/mazes/`. Diagonals are always allowed; the second switch selects
 the racing line.
 
-The search takes 65 to 118 s before the fast run starts. The fast run takes, with the
+The search takes 63 to 118 s before the fast run starts. The fast run takes, with the
 fan, 4.2 s on maze 1 and 3.9 to 9.2 s on the others; with every switch on, 3.7 s on
 maze 1 and 3.6 to 8.6 s on the others.
 
@@ -347,7 +346,8 @@ firmware commit that made it:
   acceleration. The localizer predicts it and the controller points into it.
 - **The racing line**, through the cells of the planned route, at 0.8 of the lateral
   grip and 15 mm from the walls. With risky on, the robot also optimizes the line
-  through the route of the risky turns and drives it only when it plans faster.
+  through the route of the risky turns and drives it only when it plans faster and
+  keeps the same margin, which a line that stays on a risky turn does not.
 
 Findings worth checking on the robot:
 
diff --git a/targets/micras/MicrasFirmware b/targets/micras/MicrasFirmware
index 682373a..72651b0 160000
--- a/targets/micras/MicrasFirmware
+++ b/targets/micras/MicrasFirmware
@@ -1 +1 @@
-Subproject commit 682373ac5d2059a561fe95eeafa7c4f5c0b908a7
+Subproject commit 72651b088f54eee72f605db11cbaa1527d7fb2fd
diff --git a/targets/micras/baselines/v1/explore/summary.json b/targets/micras/baselines/v1/explore/summary.json
index 7f2c9da..524cc75 100644
--- a/targets/micras/baselines/v1/explore/summary.json
+++ b/targets/micras/baselines/v1/explore/summary.json
@@ -2,10 +2,10 @@
   "target": "micras",
   "scenario": "scenarios/explore.toml",
   "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore --flash runs/explore/flash.bin",
-  "firmware_sha": "e3aafea664935826e05c0e9217df6c5d515e5ee5-dirty",
+  "firmware_sha": "72651b088f54eee72f605db11cbaa1527d7fb2fd",
   "mujoco_version": "3.14.0",
   "compiler": "GNU 13.4.0",
-  "data_sha256": "2e98ed30603010bc3f3ed867ffe8b730839488397f268a2c7a614ea168c47b39",
+  "data_sha256": "aad6b5750cc6a5b472b9ee398f5a2497e1a06d8fef72c706a6d4019e49a98b01",
   "states": [
     [
       0.000125,
@@ -24,11 +24,11 @@
       "RUN"
     ],
     [
-      28.8715,
+      27.1761,
       "SAVE"
     ],
     [
-      28.8716,
+      27.1763,
       "WAIT_FOR_RUN"
     ]
   ],
@@ -36,12 +36,12 @@
     "ticks": 240000,
     "warnings_total": 0,
     "collisions": 0,
-    "goal_time": 28.575875,
+    "goal_time": 26.880375,
     "stopped_at": null,
     "unbound_ports": 0,
-    "running_time": 25.110250000119898,
-    "max_pose_error": 0.012991706848178316,
-    "rms_across_error": 0.000949610926398897
+    "running_time": 23.414875000111802,
+    "max_pose_error": 0.012781383253857736,
+    "rms_across_error": 0.0008163624818829779
   },
   "tolerances": {
     "state_time": 0.25,
diff --git a/targets/micras/baselines/v1/idle/summary.json b/targets/micras/baselines/v1/idle/summary.json
index 2796835..7d77b22 100644
--- a/targets/micras/baselines/v1/idle/summary.json
+++ b/targets/micras/baselines/v1/idle/summary.json
@@ -2,10 +2,10 @@
   "target": "micras",
   "scenario": "scenarios/idle.toml",
   "args": "--scenario scenarios/idle.toml --out runs/idle",
-  "firmware_sha": "e3aafea664935826e05c0e9217df6c5d515e5ee5-dirty",
+  "firmware_sha": "72651b088f54eee72f605db11cbaa1527d7fb2fd",
   "mujoco_version": "3.14.0",
   "compiler": "GNU 13.4.0",
-  "data_sha256": "6b2c615d4336e756ebc4b005ac1a87c38197588b6c592256d8f59f5aa62afed3",
+  "data_sha256": "611a89c5292da79e39985010f03ef632cfc939a664afe3b13a7edd32a79c35af",
   "states": [
     [
       0.000125,

From af6b0560bb34a9a09fa035325f4f66b99d52cae0 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sun, 27 Sep 2026 18:10:16 -0300
Subject: [PATCH 16/52] =?UTF-8?q?=E2=AC=86=EF=B8=8F=20Follow=20the=20firmw?=
 =?UTF-8?q?are's=20third=20review=20and=20motor=20limited=20braking,=20wit?=
 =?UTF-8?q?h=20the=20baseline=20recorded=20again?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The firmware answers the third review of #54 (82585b5): the time scale rises
with the right sign and not while the motors saturate, the planner's
preparation is charged only for the edges it times, and with risky the racing
line goes only through the route planned without the risky turns. Then it
brakes no harder than the motors can (3489bde), which leaves today's robot
byte identical. The search changes, so the baseline v1 is recorded again.

The contest stays clean with the fan and with every switch, with the same fast
runs; the search takes 859 s over the ten mazes instead of 867 s, from 64 to
118 s per maze, and the planning with every switch half as long.
---
 CLAUDE.md                                        | 8 ++++----
 targets/micras/MicrasFirmware                    | 2 +-
 targets/micras/baselines/v1/explore/summary.json | 2 +-
 targets/micras/baselines/v1/idle/summary.json    | 2 +-
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/CLAUDE.md b/CLAUDE.md
index e71811e..6765066 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -323,7 +323,7 @@ japan2013ef, japan2017ef, uk2016f and alljapan-033-2012-exp-fin, in
 `engine/arenas/maze/mazes/`. Diagonals are always allowed; the second switch selects
 the racing line.
 
-The search takes 63 to 118 s before the fast run starts. The fast run takes, with the
+The search takes 64 to 118 s before the fast run starts. The fast run takes, with the
 fan, 4.2 s on maze 1 and 3.9 to 9.2 s on the others; with every switch on, 3.7 s on
 maze 1 and 3.6 to 8.6 s on the others.
 
@@ -345,9 +345,9 @@ firmware commit that made it:
 - **The tyres slide to the outside of a curve**, 4.8 mm/s per m/s^2 of lateral
   acceleration. The localizer predicts it and the controller points into it.
 - **The racing line**, through the cells of the planned route, at 0.8 of the lateral
-  grip and 15 mm from the walls. With risky on, the robot also optimizes the line
-  through the route of the risky turns and drives it only when it plans faster and
-  keeps the same margin, which a line that stays on a risky turn does not.
+  grip and 15 mm from the walls. With risky on, the line goes through the route planned
+  without the risky turns, since it keeps their margin, and replaces the risky route
+  only when it plans faster.
 
 Findings worth checking on the robot:
 
diff --git a/targets/micras/MicrasFirmware b/targets/micras/MicrasFirmware
index 72651b0..3489bde 160000
--- a/targets/micras/MicrasFirmware
+++ b/targets/micras/MicrasFirmware
@@ -1 +1 @@
-Subproject commit 72651b088f54eee72f605db11cbaa1527d7fb2fd
+Subproject commit 3489bdef74670fdd4fe7b68910e356e4cbf17174
diff --git a/targets/micras/baselines/v1/explore/summary.json b/targets/micras/baselines/v1/explore/summary.json
index 524cc75..8ea8d69 100644
--- a/targets/micras/baselines/v1/explore/summary.json
+++ b/targets/micras/baselines/v1/explore/summary.json
@@ -2,7 +2,7 @@
   "target": "micras",
   "scenario": "scenarios/explore.toml",
   "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore --flash runs/explore/flash.bin",
-  "firmware_sha": "72651b088f54eee72f605db11cbaa1527d7fb2fd",
+  "firmware_sha": "3489bdef74670fdd4fe7b68910e356e4cbf17174",
   "mujoco_version": "3.14.0",
   "compiler": "GNU 13.4.0",
   "data_sha256": "aad6b5750cc6a5b472b9ee398f5a2497e1a06d8fef72c706a6d4019e49a98b01",
diff --git a/targets/micras/baselines/v1/idle/summary.json b/targets/micras/baselines/v1/idle/summary.json
index 7d77b22..6d26d92 100644
--- a/targets/micras/baselines/v1/idle/summary.json
+++ b/targets/micras/baselines/v1/idle/summary.json
@@ -2,7 +2,7 @@
   "target": "micras",
   "scenario": "scenarios/idle.toml",
   "args": "--scenario scenarios/idle.toml --out runs/idle",
-  "firmware_sha": "72651b088f54eee72f605db11cbaa1527d7fb2fd",
+  "firmware_sha": "3489bdef74670fdd4fe7b68910e356e4cbf17174",
   "mujoco_version": "3.14.0",
   "compiler": "GNU 13.4.0",
   "data_sha256": "611a89c5292da79e39985010f03ef632cfc939a664afe3b13a7edd32a79c35af",

From 85c8345dd69c6a5c62f1c13d9aff31d5d0d3809a Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sun, 27 Sep 2026 20:00:33 -0300
Subject: [PATCH 17/52] =?UTF-8?q?=E2=AC=86=EF=B8=8F=20Follow=20the=20firmw?=
 =?UTF-8?q?are's=20main,=20with=20the=20fourth=20review=20and=20the=20base?=
 =?UTF-8?q?line=20recorded=20again?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The firmware answers the fourth review of #54 (4deedba): a braking that does
not fit its distance scales the tire and motor limits together, the speed that
can be braked from takes a closed form or eight Newton steps, the motor limited
braking distance never comes out negative, and the dark reading of each wall
sensor is in the pool. Today's robot brakes harder with its motors than its
tires allow, so it runs as before: the states and every value of the baseline
are unchanged, and only the data hash moves with the new columns, so the
baseline v1 is recorded again.

The stack of #55 and #54 is merged, so the submodule now follows the firmware's
main (4dac6e2, whose tree is 4deedba's) instead of high-level-review, and the
three accessors the simulator reads are upstream. The gate passes on main with
both checked runs byte identical to the recorded ones.
---
 .gitmodules                                          |  2 +-
 CLAUDE.md                                            | 12 ++++++------
 targets/micras/MicrasFirmware                        |  2 +-
 targets/micras/baselines/v1/explore/summary.json     |  4 ++--
 targets/micras/baselines/v1/idle/summary.json        |  4 ++--
 .../include/micras/sim/micras/micras_target.hpp      |  2 +-
 6 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/.gitmodules b/.gitmodules
index c9320c1..de8d223 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,4 +1,4 @@
 [submodule "MicrasFirmware"]
 	path = targets/micras/MicrasFirmware
 	url = git@github.com:Team-Micras/MicrasFirmware.git
-	branch = high-level-review
+	branch = main
diff --git a/CLAUDE.md b/CLAUDE.md
index 6765066..df51116 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -288,12 +288,12 @@ scripted run is one a human could have driven.
 
 ## The firmware submodule
 
-`targets/micras/MicrasFirmware/` follows the firmware's `high-level-review`
-branch. **Edit it only with intent**, in the firmware's own style, and only with
-changes that make sense on the real robot too. The simulator needs three
-accessors that are not there upstream: `Micras::get_instance()`,
-`get_variables()` and `get_state()`, for the variable columns, the state events
-and the stop conditions. Nothing else in the simulator reaches into the firmware.
+`targets/micras/MicrasFirmware/` follows the firmware's `main` branch. **Edit it
+only with intent**, in the firmware's own style, and only with changes that make
+sense on the real robot too. The simulator needs three accessors the firmware
+keeps for it: `Micras::get_instance()`, `get_variables()` and `get_state()`, for
+the variable columns, the state events and the stop conditions. Nothing else in
+the simulator reaches into the firmware.
 
 ## Style
 
diff --git a/targets/micras/MicrasFirmware b/targets/micras/MicrasFirmware
index 3489bde..4dac6e2 160000
--- a/targets/micras/MicrasFirmware
+++ b/targets/micras/MicrasFirmware
@@ -1 +1 @@
-Subproject commit 3489bdef74670fdd4fe7b68910e356e4cbf17174
+Subproject commit 4dac6e2c7299ca664712ef5de177e5911152ad63
diff --git a/targets/micras/baselines/v1/explore/summary.json b/targets/micras/baselines/v1/explore/summary.json
index 8ea8d69..47e38b3 100644
--- a/targets/micras/baselines/v1/explore/summary.json
+++ b/targets/micras/baselines/v1/explore/summary.json
@@ -2,10 +2,10 @@
   "target": "micras",
   "scenario": "scenarios/explore.toml",
   "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore --flash runs/explore/flash.bin",
-  "firmware_sha": "3489bdef74670fdd4fe7b68910e356e4cbf17174",
+  "firmware_sha": "4deedba0ada16668ebe7ec8a328a8342a3783e4a",
   "mujoco_version": "3.14.0",
   "compiler": "GNU 13.4.0",
-  "data_sha256": "aad6b5750cc6a5b472b9ee398f5a2497e1a06d8fef72c706a6d4019e49a98b01",
+  "data_sha256": "1f7024131268ff2671fb71ffdfc8d0df9b96a82e9c7486223bc4abd0116ad2dc",
   "states": [
     [
       0.000125,
diff --git a/targets/micras/baselines/v1/idle/summary.json b/targets/micras/baselines/v1/idle/summary.json
index 6d26d92..473dc6d 100644
--- a/targets/micras/baselines/v1/idle/summary.json
+++ b/targets/micras/baselines/v1/idle/summary.json
@@ -2,10 +2,10 @@
   "target": "micras",
   "scenario": "scenarios/idle.toml",
   "args": "--scenario scenarios/idle.toml --out runs/idle",
-  "firmware_sha": "3489bdef74670fdd4fe7b68910e356e4cbf17174",
+  "firmware_sha": "4deedba0ada16668ebe7ec8a328a8342a3783e4a",
   "mujoco_version": "3.14.0",
   "compiler": "GNU 13.4.0",
-  "data_sha256": "611a89c5292da79e39985010f03ef632cfc939a664afe3b13a7edd32a79c35af",
+  "data_sha256": "97ad9a8359beeae1383ee5e8cfac0ad5683baefcedbfc037fcbdad50903c6901",
   "states": [
     [
       0.000125,
diff --git a/targets/micras/include/micras/sim/micras/micras_target.hpp b/targets/micras/include/micras/sim/micras/micras_target.hpp
index 64501ce..ec9fdec 100644
--- a/targets/micras/include/micras/sim/micras/micras_target.hpp
+++ b/targets/micras/include/micras/sim/micras/micras_target.hpp
@@ -40,7 +40,7 @@ struct MicrasBoard {
 };
 
 /**
- * @brief Micras on the firmware's high-level-review branch, through the host micras_hal.
+ * @brief Micras on the firmware's main branch, through the host micras_hal.
  *
  * @note The firmware runs as it does on the robot: its own main, its own proxies
  *       and its own configuration, over the host backend in hal_host/ and the

From da2395b02d2ace67ff763a04ae19ad62ea622b70 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 02:11:34 -0300
Subject: [PATCH 18/52] =?UTF-8?q?=F0=9F=94=A7=20Build=20every=20host=20pre?=
 =?UTF-8?q?set=20with=20GCC=2015?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Every preset and the minimal configuration of check-options name gcc-15 and
g++-15, so a run is built with a chosen compiler rather than whatever c++ the
machine has. Both checked runs built with GCC 15.2 are byte identical to
baselines/v1, recorded with GCC 13.4, so v1 stays the gate's baseline.
---
 CMakePresets.json | 2 ++
 README.md         | 3 ++-
 justfile          | 1 +
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/CMakePresets.json b/CMakePresets.json
index c7ba6d5..32adef5 100644
--- a/CMakePresets.json
+++ b/CMakePresets.json
@@ -12,6 +12,8 @@
             "generator": "Ninja",
             "binaryDir": "${sourceDir}/build/${presetName}",
             "cacheVariables": {
+                "CMAKE_C_COMPILER": "gcc-15",
+                "CMAKE_CXX_COMPILER": "g++-15",
                 "CMAKE_EXPORT_COMPILE_COMMANDS": "ON"
             }
         },
diff --git a/README.md b/README.md
index 4d92346..53fca0b 100644
--- a/README.md
+++ b/README.md
@@ -34,7 +34,8 @@ just check                                # the gate: the engine's checks, then
 `just` with no arguments lists every recipe, the engine's and each target's. The
 build uses `CMakePresets.json`; `MICRAS_PRESET` picks between `default`
 (RelWithDebInfo), `debug` and `release`. Only `default` has a test preset, so
-`just test` and `just check` need it.
+`just test` and `just check` need it. Every preset builds with GCC 15
+(`gcc-15`/`g++-15`), since another compiler may move the last bits of a run.
 
 ## Running
 
diff --git a/justfile b/justfile
index 7461d38..8cb5b16 100644
--- a/justfile
+++ b/justfile
@@ -48,6 +48,7 @@ lint: build
 # Configure every optional subsystem off, so the options stay buildable.
 check-options:
     cmake -S . -B {{build_dir}}-minimal -G Ninja -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+        -DCMAKE_C_COMPILER=gcc-15 -DCMAKE_CXX_COMPILER=g++-15 \
         -DMICRAS_VIEWER=OFF -DMICRAS_VIDEO=OFF -DMICRAS_BRIDGE=OFF -DMICRAS_TESTS=OFF > /dev/null
     cmake --build {{build_dir}}-minimal > /dev/null
 

From 4a5686b6c40eb786ac4ac884c70abbac9ee542e4 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 02:11:34 -0300
Subject: [PATCH 19/52] =?UTF-8?q?=E2=9C=A8=20Let=20the=20gate=20require=20?=
 =?UTF-8?q?byte=20identical=20runs?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

MICRAS_EXACT=1 makes compare-baseline pass --exact to baseline.py, so a
checked run whose data.csv moved by a single byte fails the gate. It is the
check for a change that must not alter behavior, such as a refactoring.
---
 README.md               | 3 +++
 targets/micras/justfile | 6 ++++--
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 53fca0b..4a8d8b4 100644
--- a/README.md
+++ b/README.md
@@ -224,6 +224,9 @@ dropped byte), and compares them with the recorded baseline summaries.
 Baselines live in `targets/micras/baselines/`; `CLAUDE.md` explains what they
 hold and the rules around them. `just micras record-baseline` refuses to
 overwrite a version: bump it instead, and nothing is ever lost.
+`MICRAS_EXACT=1 just check` also fails when a checked run's `data.csv` is not
+byte identical to the recorded one: the check for a change that must not move a
+byte, such as a refactoring.
 
 `just format`, `just format-check` and `just lint` are the style targets; they
 use the firmware's own `.clang-format` and `.clang-tidy`.
diff --git a/targets/micras/justfile b/targets/micras/justfile
index eae72c2..057dc62 100644
--- a/targets/micras/justfile
+++ b/targets/micras/justfile
@@ -87,9 +87,11 @@ contest scenario="explore_solve": build
     {{python}} {{tools}}/check_run.py --expect-state IDLE --expect unbound_ports=0 --expect watchdog_expiries=0 \
         --expect emergency_stops=0 runs/contest/{{scenario}}/*
 
-# Compare the checked runs against the recorded baseline summaries.
+# Compare the checked runs against the recorded baseline summaries; MICRAS_EXACT=1 also fails on a byte that moved.
 compare-baseline:
-    for run in {{check_runs}}; do {{python}} {{tools}}/baseline.py compare runs/$run {{baseline}}/$run; done
+    exact=""; \
+    if [ "${MICRAS_EXACT:-0}" = 1 ]; then exact="--exact"; fi; \
+    for run in {{check_runs}}; do {{python}} {{tools}}/baseline.py compare runs/$run {{baseline}}/$run $exact; done
 
 # Refuses to overwrite a version, so an older one is never lost: bump it instead.
 # Record a new baseline version from the checked runs.

From 0da2e7ff173d2bd1556b78e7ca55c5e2da74c0c2 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 03:30:37 -0300
Subject: [PATCH 20/52] =?UTF-8?q?=E2=9C=A8=20Give=20the=20host=20SPI=20a?=
 =?UTF-8?q?=20device=20slot=20keyed=20by=20bus=20and=20chip=20select?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

A chip behind an SPI chip select is a SpiDevice: select, exchange and deselect,
and the SPI mode it answers in. Board::spi_device attaches one by the bus handle
and the chip select, since hspi3 carries the IMU and both encoders. The host Spi
routes every transfer between select_device and unselect_device to the selected
device, so a register access split over several HAL calls is one transaction.
start_transfer completes when the host clock passes the time its bytes take at
the bus's bit rate, which the fake Cube layer now gives SPI3 (125 MHz kernel
clock, prescaler 32), and ends through on_transfer_end as the DMA interrupt does.
A device addressed in another mode, or a chip select with no device, answers all
ones.
---
 hal_host/include/micras/hal/host/board.hpp    |  29 +++
 hal_host/include/micras/hal/host/ports.hpp    |  20 ++
 .../include/micras/hal/host/spi_device.hpp    |  92 +++++++
 hal_host/include/stm32_host.h                 |  29 +++
 hal_host/src/board.cpp                        |  39 ++-
 hal_host/src/spi.cpp                          | 205 +++++++++++++++-
 targets/micras/cube/handles.cpp               |  16 +-
 targets/micras/tests/CMakeLists.txt           |   4 +-
 targets/micras/tests/unit/spi_slot_test.cpp   | 224 ++++++++++++++++++
 9 files changed, 637 insertions(+), 21 deletions(-)
 create mode 100644 hal_host/include/micras/hal/host/spi_device.hpp
 create mode 100644 targets/micras/tests/unit/spi_slot_test.cpp

diff --git a/hal_host/include/micras/hal/host/board.hpp b/hal_host/include/micras/hal/host/board.hpp
index 86c1e9d..193413e 100644
--- a/hal_host/include/micras/hal/host/board.hpp
+++ b/hal_host/include/micras/hal/host/board.hpp
@@ -13,6 +13,10 @@
 #include <vector>
 
 #include "micras/hal/host/ports.hpp"
+#include "micras/hal/host/spi_device.hpp"
+
+struct GPIO_TypeDef;
+struct SPI_HandleTypeDef;
 
 namespace micras::hal::host {
 /**
@@ -91,6 +95,31 @@ class Board {
      */
     static SamplePort& samples(std::string_view name);
 
+    /**
+     * @brief Get the port of one chip select of an SPI bus.
+     *
+     * @param spi SPI handle.
+     * @param cs_port GPIO port of the chip select.
+     * @param cs_pin Pin mask of the chip select.
+     * @return The port.
+     */
+    static SpiPort& spi(const void* spi, const void* cs_port, uint16_t cs_pin);
+
+    /**
+     * @brief Attach a device to one chip select of an SPI bus.
+     *
+     * @note Keyed by the bus and the chip select, since several devices share
+     *       a bus. Binds the SPI port and the chip select's GPIO port. The device
+     *       is held by reference and must outlive the run.
+     *
+     * @param spi SPI handle.
+     * @param cs_port GPIO port of the chip select.
+     * @param cs_pin Pin mask of the chip select.
+     * @param device The device.
+     */
+    static void
+        spi_device(const SPI_HandleTypeDef* spi, const GPIO_TypeDef* cs_port, uint16_t cs_pin, SpiDevice& device);
+
     /**
      * @brief Get the flash.
      *
diff --git a/hal_host/include/micras/hal/host/ports.hpp b/hal_host/include/micras/hal/host/ports.hpp
index c7ae30b..11ef9c1 100644
--- a/hal_host/include/micras/hal/host/ports.hpp
+++ b/hal_host/include/micras/hal/host/ports.hpp
@@ -17,6 +17,8 @@
 #include <string>
 #include <vector>
 
+#include "micras/hal/host/spi_device.hpp"
+
 namespace micras::hal::host {
 /**
  * @brief What every port has: a name and who has used it.
@@ -247,6 +249,24 @@ struct SamplePort : Port {
      */
     uint32_t sequence{0};
 };
+
+/**
+ * @brief One chip select of an SPI bus, and the device behind it.
+ *
+ * @note The firmware touches the port when it selects the device; a binding
+ *       binds it by attaching a device with Board::spi_device().
+ */
+struct SpiPort : Port {
+    /**
+     * @brief Device attached to the chip select, none before a binding attaches one.
+     */
+    SpiDevice* device{nullptr};
+
+    /**
+     * @brief Whether the chip select is low, between the firmware's select and unselect.
+     */
+    bool selected{false};
+};
 }  // namespace micras::hal::host
 
 #endif  // MICRAS_HAL_HOST_PORTS_HPP
diff --git a/hal_host/include/micras/hal/host/spi_device.hpp b/hal_host/include/micras/hal/host/spi_device.hpp
new file mode 100644
index 0000000..20b86ea
--- /dev/null
+++ b/hal_host/include/micras/hal/host/spi_device.hpp
@@ -0,0 +1,92 @@
+/**
+ * @file
+ *
+ * @brief A chip on an SPI bus, as the host backend sees it: a chip select and a stream of bytes.
+ */
+
+#ifndef MICRAS_HAL_HOST_SPI_DEVICE_HPP
+#define MICRAS_HAL_HOST_SPI_DEVICE_HPP
+
+#include <cstdint>
+#include <span>
+
+namespace micras::hal::host {
+/**
+ * @brief A device behind one chip select of an SPI bus.
+ *
+ * @note The host Spi calls select() when the firmware pulls the device's chip
+ *       select low, exchange() for every transfer while it is low, however many
+ *       HAL calls the firmware splits the transaction into, and deselect() when
+ *       the chip select goes high again. A transaction is therefore everything
+ *       between select() and deselect(), which is what a chip sees on the bus.
+ *
+ * @note A device only answers in the SPI mode it expects. When the mode the bus
+ *       runs in differs, the host Spi does not call exchange() and the firmware
+ *       reads all ones, as a chip clocked on the wrong edge answers on the robot.
+ */
+class SpiDevice {
+public:
+    /**
+     * @brief SPI mode: the clock polarity in the high bit, the clock phase in the low one.
+     */
+    enum class Mode : uint8_t {
+        MODE_0 = 0,
+        MODE_1 = 1,
+        MODE_2 = 2,
+        MODE_3 = 3,
+    };
+
+    /**
+     * @brief Special member functions: a device is attached by reference, so it cannot be copied or moved.
+     */
+    ///@{
+    virtual ~SpiDevice() = default;
+    SpiDevice(const SpiDevice&) = delete;
+    SpiDevice(SpiDevice&&) = delete;
+    SpiDevice& operator=(const SpiDevice&) = delete;
+    SpiDevice& operator=(SpiDevice&&) = delete;
+
+    ///@}
+
+    /**
+     * @brief Get the SPI mode the device answers in.
+     *
+     * @return The mode.
+     */
+    Mode mode() const { return this->spi_mode; }
+
+    /**
+     * @brief Start a transaction: the chip select went low.
+     */
+    virtual void select() = 0;
+
+    /**
+     * @brief Clock bytes through the device while it is selected.
+     *
+     * @param transmitted Bytes the controller sends, one per received byte.
+     * @param received Bytes the device answers with, as many as were transmitted.
+     */
+    virtual void exchange(std::span<const uint8_t> transmitted, std::span<uint8_t> received) = 0;
+
+    /**
+     * @brief End the transaction: the chip select went high.
+     */
+    virtual void deselect() = 0;
+
+protected:
+    /**
+     * @brief Construct a device that answers in one SPI mode.
+     *
+     * @param mode The mode.
+     */
+    explicit SpiDevice(Mode mode) : spi_mode{mode} { }
+
+private:
+    /**
+     * @brief SPI mode the device answers in.
+     */
+    Mode spi_mode;
+};
+}  // namespace micras::hal::host
+
+#endif  // MICRAS_HAL_HOST_SPI_DEVICE_HPP
diff --git a/hal_host/include/stm32_host.h b/hal_host/include/stm32_host.h
index 244bb50..96a1a95 100644
--- a/hal_host/include/stm32_host.h
+++ b/hal_host/include/stm32_host.h
@@ -150,12 +150,40 @@ inline constexpr uint32_t SPI_PHASE_2EDGE{0x1U << 24U};
 
 ///@}
 
+/**
+ * @brief Dividers of the SPI kernel clock, from 2 to 256, in the bits the vendor puts them.
+ */
+///@{
+inline constexpr uint32_t SPI_BAUDRATEPRESCALER_2{0x00000000U};
+inline constexpr uint32_t SPI_BAUDRATEPRESCALER_4{0x10000000U};
+inline constexpr uint32_t SPI_BAUDRATEPRESCALER_8{0x20000000U};
+inline constexpr uint32_t SPI_BAUDRATEPRESCALER_16{0x30000000U};
+inline constexpr uint32_t SPI_BAUDRATEPRESCALER_32{0x40000000U};
+inline constexpr uint32_t SPI_BAUDRATEPRESCALER_64{0x50000000U};
+inline constexpr uint32_t SPI_BAUDRATEPRESCALER_128{0x60000000U};
+inline constexpr uint32_t SPI_BAUDRATEPRESCALER_256{0x70000000U};
+
+///@}
+
+/**
+ * @brief The registers of an SPI bus the host backend models.
+ *
+ * @note kernel_clock is not a register: it is the frequency the bus's kernel
+ *       clock runs at, which on the chip comes from the clock tree the init
+ *       functions configure. The fake init function writes it, and the bit
+ *       rate is that divided by the prescaler.
+ */
+struct SPI_TypeDef {
+    uint32_t kernel_clock;
+};
+
 /**
  * @brief Configuration of an SPI bus, as the init function fills it.
  */
 struct SPI_InitTypeDef {
     uint32_t CLKPolarity;
     uint32_t CLKPhase;
+    uint32_t BaudRatePrescaler;
 };
 
 /**
@@ -170,6 +198,7 @@ enum HAL_SPI_StateTypeDef : uint8_t {
  * @brief An SPI handle.
  */
 struct SPI_HandleTypeDef {
+    SPI_TypeDef*         Instance;
     SPI_InitTypeDef      Init;
     HAL_SPI_StateTypeDef State;
 };
diff --git a/hal_host/src/board.cpp b/hal_host/src/board.cpp
index e5709f3..5d53e31 100644
--- a/hal_host/src/board.cpp
+++ b/hal_host/src/board.cpp
@@ -6,6 +6,7 @@
 #include <bit>
 #include <format>
 #include <map>
+#include <tuple>
 #include <utility>
 
 #include "micras/hal/host/board.hpp"
@@ -17,6 +18,11 @@ namespace {
  */
 using Key = std::pair<const void*, uint32_t>;
 
+/**
+ * @brief Key of an SPI port: the handle, and the GPIO port and pin of the chip select.
+ */
+using SpiKey = std::tuple<const void*, const void*, uint16_t>;
+
 /**
  * @brief Every port and name, created on first use.
  */
@@ -28,6 +34,7 @@ struct Registry {
     std::map<const void*, UartPort>                uarts;
     std::map<const void*, EncoderPort>             encoders;
     std::map<std::string, SamplePort, std::less<>> samples;
+    std::map<SpiKey, SpiPort>                      spis;
     std::map<Key, std::string>                     gpio_names;
     std::map<const void*, std::string>             handle_names;
     FlashPort                                      flash{{.name = "flash"}};
@@ -56,6 +63,18 @@ std::string handle_name(const void* handle) {
                                                     std::format("handle@{:#x}", std::bit_cast<uintptr_t>(handle));
 }
 
+/**
+ * @brief Name a GPIO pin, falling back to its port and mask.
+ *
+ * @param key GPIO port and pin mask.
+ * @return Its name.
+ */
+std::string gpio_name(const Key& key) {
+    const auto found = registry().gpio_names.find(key);
+    return found != registry().gpio_names.end() ? found->second :
+                                                  std::format("{} pin {:#06x}", handle_name(key.first), key.second);
+}
+
 /**
  * @brief Find a port, creating it with a name on first use.
  *
@@ -80,11 +99,7 @@ typename Map::mapped_type& find_or_create(Map& ports, const typename Map::key_ty
 GpioPort& Board::gpio(const void* port, uint16_t pin) {
     const Key key{port, pin};
 
-    return find_or_create(registry().gpios, key, [&key] {
-        const auto found = registry().gpio_names.find(key);
-        return found != registry().gpio_names.end() ? found->second :
-                                                      std::format("{} pin {:#06x}", handle_name(key.first), key.second);
-    });
+    return find_or_create(registry().gpios, key, [&key] { return gpio_name(key); });
 }
 
 PwmPort& Board::pwm(const void* timer, uint32_t channel) {
@@ -122,6 +137,19 @@ SamplePort& Board::samples(std::string_view name) {
     return found->second;
 }
 
+SpiPort& Board::spi(const void* spi, const void* cs_port, uint16_t cs_pin) {
+    return find_or_create(registry().spis, SpiKey{spi, cs_port, cs_pin}, [spi, cs_port, cs_pin] {
+        return std::format("{} {}", handle_name(spi), gpio_name(Key{cs_port, cs_pin}));
+    });
+}
+
+void Board::spi_device(const SPI_HandleTypeDef* spi, const GPIO_TypeDef* cs_port, uint16_t cs_pin, SpiDevice& device) {
+    SpiPort& port = Board::spi(spi, cs_port, cs_pin);
+    port.device = &device;
+    port.bound = true;
+    Board::gpio(cs_port, cs_pin).bound = true;
+}
+
 FlashPort& Board::flash() {
     return registry().flash;
 }
@@ -163,6 +191,7 @@ std::vector<std::string> Board::unbound() {
     collect(registry().uarts);
     collect(registry().encoders);
     collect(registry().samples);
+    collect(registry().spis);
 
     return names;
 }
diff --git a/hal_host/src/spi.cpp b/hal_host/src/spi.cpp
index fc7f1f0..009b308 100644
--- a/hal_host/src/spi.cpp
+++ b/hal_host/src/spi.cpp
@@ -5,11 +5,107 @@
 #include <algorithm>
 #include <array>
 #include <cstdint>
+#include <map>
 #include <span>
+#include <vector>
 
+#include "micras/hal/host/board.hpp"
+#include "micras/hal/host/clock.hpp"
+#include "micras/hal/host/spi_device.hpp"
 #include "micras/hal/spi.hpp"
+#include "micras/hal/timer.hpp"
 
 namespace micras::hal {
+namespace {
+/**
+ * @brief What the host keeps for each Spi that the firmware's class has no member for.
+ */
+struct HostState {
+    /**
+     * @brief Chip select of the device, which keys its port together with the handle.
+     */
+    Gpio::Config cs{};
+
+    /**
+     * @brief Host clock cycle the running transfer ends at.
+     */
+    uint64_t transfer_end{0};
+};
+
+/**
+ * @brief Get the host state of every Spi alive.
+ *
+ * @return The states, keyed by the object.
+ */
+std::map<const Spi*, HostState>& host_states() {
+    static std::map<const Spi*, HostState> states;
+    return states;
+}
+
+/**
+ * @brief Get the port of the chip select an Spi drives.
+ *
+ * @param spi The Spi.
+ * @param handle Its handle.
+ * @return The port.
+ */
+host::SpiPort& port_of(const Spi* spi, const SPI_HandleTypeDef* handle) {
+    const Gpio::Config& cs = host_states().at(spi).cs;
+    return host::Board::spi(handle, cs.port, cs.pin);
+}
+
+/**
+ * @brief Get the SPI mode the bus runs in, from the polarity and phase its handle holds.
+ *
+ * @param handle Handle of the bus.
+ * @return The mode.
+ */
+host::SpiDevice::Mode mode_of(const SPI_HandleTypeDef& handle) {
+    const bool polarity = handle.Init.CLKPolarity == SPI_POLARITY_HIGH;
+    const bool phase = handle.Init.CLKPhase == SPI_PHASE_2EDGE;
+    return static_cast<host::SpiDevice::Mode>((polarity ? 2 : 0) + (phase ? 1 : 0));
+}
+
+/**
+ * @brief Clock bytes through the device a port selects.
+ *
+ * @param handle Handle of the bus.
+ * @param port Port of the chip select.
+ * @param transmitted Bytes sent.
+ * @param received Bytes answered, as many as were sent; all ones when no device drives the bus in its mode.
+ */
+void exchange(
+    const SPI_HandleTypeDef& handle, host::SpiPort& port, std::span<const uint8_t> transmitted,
+    std::span<uint8_t> received
+) {
+    if (not port.selected or port.device == nullptr or port.device->mode() != mode_of(handle)) {
+        std::ranges::fill(received, 0xFF);
+        return;
+    }
+
+    port.device->exchange(transmitted, received);
+}
+
+/**
+ * @brief Get how long a transfer takes on a bus.
+ *
+ * @param handle Handle of the bus.
+ * @param bytes Bytes transferred.
+ * @return Host clock cycles, zero when the bus has no clock to time it by.
+ */
+uint64_t transfer_cycles(const SPI_HandleTypeDef& handle, std::size_t bytes) {
+    if (handle.Instance == nullptr or handle.Instance->kernel_clock == 0) {
+        return 0;
+    }
+
+    const uint64_t kernel_clock = handle.Instance->kernel_clock;
+    const uint64_t divider = 2ULL << (handle.Init.BaudRatePrescaler >> 28U);
+    const uint64_t cycles_per_second = host::Clock::instance().cycles_per_microsecond() * 1000000ULL;
+
+    return ((bytes * 8 * divider * cycles_per_second) + kernel_clock - 1) / kernel_clock;
+}
+}  // namespace
+
 std::array<Spi*, Spi::max_transfers> Spi::transferring{};
 
 Spi::Spi(const Config& config) :
@@ -18,6 +114,7 @@ Spi::Spi(const Config& config) :
     timeout{config.timeout},
     clock_polarity{config.clock_polarity},
     clock_phase{config.clock_phase} {
+    host_states()[this] = HostState{.cs = config.cs_gpio};
     this->unselect_device();
 
     if (this->handle->State == HAL_SPI_STATE_RESET) {
@@ -28,45 +125,129 @@ Spi::Spi(const Config& config) :
 }
 
 Spi::~Spi() {
+    if (this->transfer == Transfer::RUNNING) {
+        this->unselect_device();
+    }
+
     std::ranges::replace(transferring, this, static_cast<Spi*>(nullptr));
+    host_states().erase(this);
 }
 
 bool Spi::select_device() {
+    const auto bus_busy = [this] {
+        return std::ranges::any_of(transferring, [this](const Spi* device) {
+            return device != nullptr and device->handle == this->handle and device->get_transfer() == Transfer::RUNNING;
+        });
+    };
+
+    if (bus_busy()) {
+        const uint32_t start = Timer::get_counter();
+        const uint32_t limit = Timer::to_cycles(1000 * this->timeout);
+
+        while (bus_busy()) {
+            if (Timer::get_counter() - start > limit) {
+                return false;
+            }
+        }
+    }
+
     this->handle->Init.CLKPolarity = this->clock_polarity;
     this->handle->Init.CLKPhase = this->clock_phase;
     this->cs_gpio.write(false);
+
+    host::SpiPort& port = port_of(this, this->handle);
+    port.touched = true;
+
+    if (not port.selected) {
+        port.selected = true;
+
+        if (port.device != nullptr) {
+            port.device->select();
+        }
+    }
+
     return true;
 }
 
 void Spi::unselect_device() {
     this->cs_gpio.write(true);
+
+    host::SpiPort& port = port_of(this, this->handle);
+
+    if (port.selected) {
+        port.selected = false;
+
+        if (port.device != nullptr) {
+            port.device->deselect();
+        }
+    }
 }
 
-// NOLINTBEGIN(readability-convert-member-functions-to-static): hal::Spi's interface, declared by the firmware.
-bool Spi::transmit(std::span<const uint8_t> /*data*/) {
-    return false;
+bool Spi::transmit(std::span<const uint8_t> data) {
+    if (this->handle->State != HAL_SPI_STATE_READY) {
+        return false;
+    }
+
+    std::vector<uint8_t> ignored(data.size());
+    exchange(*this->handle, port_of(this, this->handle), data, ignored);
+    return true;
 }
 
-bool Spi::receive(std::span<uint8_t> /*data*/) {
-    return false;
+bool Spi::receive(std::span<uint8_t> data) {
+    if (this->handle->State != HAL_SPI_STATE_READY) {
+        return false;
+    }
+
+    const std::vector<uint8_t> zeros(data.size());
+    exchange(*this->handle, port_of(this, this->handle), zeros, data);
+    return true;
 }
 
-bool Spi::transmit_receive(std::span<const uint8_t> /*transmitted*/, std::span<uint8_t> /*received*/) {
-    return false;
+bool Spi::transmit_receive(std::span<const uint8_t> transmitted, std::span<uint8_t> received) {
+    if (received.size() < transmitted.size() or this->handle->State != HAL_SPI_STATE_READY) {
+        return false;
+    }
+
+    exchange(*this->handle, port_of(this, this->handle), transmitted, received.first(transmitted.size()));
+    return true;
 }
 
-// NOLINTEND(readability-convert-member-functions-to-static)
+bool Spi::start_transfer(std::span<const uint8_t> transmitted, std::span<uint8_t> received) {
+    auto* const slot = std::ranges::find(transferring, nullptr);
+
+    if (received.size() < transmitted.size() or slot == transferring.end() or
+        this->handle->State != HAL_SPI_STATE_READY or not this->select_device()) {
+        this->transfer = Transfer::FAILED;
+        return false;
+    }
+
+    *slot = this;
+    this->transfer = Transfer::RUNNING;
+    exchange(*this->handle, port_of(this, this->handle), transmitted, received.first(transmitted.size()));
+    host_states().at(this).transfer_end =
+        host::Clock::instance().now() + transfer_cycles(*this->handle, transmitted.size());
 
-bool Spi::start_transfer(std::span<const uint8_t> /*transmitted*/, std::span<uint8_t> /*received*/) {
-    this->transfer = Transfer::FAILED;
-    return false;
+    return true;
 }
 
 Spi::Transfer Spi::get_transfer() const {
+    if (this->transfer == Transfer::RUNNING and host::Clock::instance().now() >= host_states().at(this).transfer_end) {
+        on_transfer_end(this->handle, true);
+    }
+
     return this->transfer;
 }
 
-void Spi::on_transfer_end(const SPI_HandleTypeDef* /*handle*/, bool /*succeeded*/) { }
+void Spi::on_transfer_end(const SPI_HandleTypeDef* handle, bool succeeded) {
+    for (Spi*& device : transferring) {
+        if (device != nullptr and device->handle == handle) {
+            device->unselect_device();
+            device->transfer = succeeded ? Transfer::COMPLETE : Transfer::FAILED;
+            device = nullptr;
+            return;
+        }
+    }
+}
 
 bool Spi::was_initialized() const {
     return this->initialized;
diff --git a/targets/micras/cube/handles.cpp b/targets/micras/cube/handles.cpp
index df03065..6be8018 100644
--- a/targets/micras/cube/handles.cpp
+++ b/targets/micras/cube/handles.cpp
@@ -6,8 +6,8 @@
  * @note Each MX_*_Init below sets the values its namesake sets in
  *       MicrasFirmware/cube/Src: MX_TIMn_Init the prescaler, counter mode and
  *       period of tim.c, MX_ADCn_Init the NbrOfConversion of adc.c, MX_CRC_Init
- *       the whole Init block of crc.c, MX_SPI3_Init the SPI mode of spi.c and
- *       MX_UART4_Init the baud rate of usart.c. Only what the host backend reads
+ *       the whole Init block of crc.c, MX_SPI3_Init the SPI mode and baud rate
+ *       prescaler of spi.c and MX_UART4_Init the baud rate of usart.c. Only what the host backend reads
  *       is set, plus the handle states the drivers check before initialising.
  */
 
@@ -31,7 +31,13 @@ namespace {
 constexpr uint32_t timer_clock{275000000};
 
 /**
- * @brief The timers' registers.
+ * @brief Frequency SPI3's kernel clock runs at: PLL3 from the 64 MHz HSI, M 32,
+ *        N 125 and P 2 (spi.c, HAL_SPI_MspInit).
+ */
+constexpr uint32_t spi3_kernel_clock{125000000};
+
+/**
+ * @brief The registers of the timers and of SPI3.
  */
 ///@{
 // NOLINTBEGIN(cppcoreguidelines-avoid-non-const-global-variables): register blocks the firmware writes through handles.
@@ -43,6 +49,7 @@ TIM_TypeDef tim5_registers{};
 TIM_TypeDef tim8_registers{};
 TIM_TypeDef tim12_registers{};
 TIM_TypeDef tim15_registers{};
+SPI_TypeDef spi3_registers{};
 
 // NOLINTEND(cppcoreguidelines-avoid-non-const-global-variables)
 
@@ -160,8 +167,11 @@ void MX_ADC3_Init() {
 }
 
 void MX_SPI3_Init() {
+    spi3_registers.kernel_clock = spi3_kernel_clock;
+    hspi3.Instance = &spi3_registers;
     hspi3.Init.CLKPolarity = SPI_POLARITY_HIGH;
     hspi3.Init.CLKPhase = SPI_PHASE_2EDGE;
+    hspi3.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
     hspi3.State = HAL_SPI_STATE_READY;
     micras::hal::host::Board::name_handle(&hspi3, "hspi3");
 }
diff --git a/targets/micras/tests/CMakeLists.txt b/targets/micras/tests/CMakeLists.txt
index ed09db0..7471587 100644
--- a/targets/micras/tests/CMakeLists.txt
+++ b/targets/micras/tests/CMakeLists.txt
@@ -1,11 +1,13 @@
 ###############################################################################
-## Micras target unit tests: the host micras_hal and the fake Cube layer
+## Micras target unit tests: the host micras_hal, the fake Cube layer and the SPI
+## device slot
 ###############################################################################
 
 include(GoogleTest)
 
 add_executable(micras_target_tests
     unit/hal_host_test.cpp
+    unit/spi_slot_test.cpp
 )
 
 target_link_libraries(micras_target_tests PRIVATE micras_sim_micras GTest::gtest_main)
diff --git a/targets/micras/tests/unit/spi_slot_test.cpp b/targets/micras/tests/unit/spi_slot_test.cpp
new file mode 100644
index 0000000..66eb6fd
--- /dev/null
+++ b/targets/micras/tests/unit/spi_slot_test.cpp
@@ -0,0 +1,224 @@
+/**
+ * @file
+ */
+
+#include <array>
+#include <cstdint>
+#include <string>
+#include <vector>
+
+#include <gtest/gtest.h>
+
+#include "micras/hal/host/board.hpp"
+#include "micras/hal/host/clock.hpp"
+#include "micras/hal/host/spi_device.hpp"
+#include "micras/hal/spi.hpp"
+#include "micras/hal/timer.hpp"
+#include "target.hpp"
+
+namespace micras::sim {
+namespace {
+using hal::host::Board;
+using hal::host::SpiDevice;
+
+/**
+ * @brief A device that records what reaches it and answers each byte with the byte plus an offset.
+ */
+class RecordingDevice : public SpiDevice {
+public:
+    RecordingDevice(Mode mode, uint8_t offset) : SpiDevice{mode}, offset{offset} { }
+
+    void select() override { this->events.emplace_back("select"); }
+
+    void exchange(std::span<const uint8_t> transmitted, std::span<uint8_t> received) override {
+        this->events.push_back("exchange " + std::to_string(transmitted.size()));
+
+        for (std::size_t index = 0; index < transmitted.size(); index++) {
+            this->bytes.push_back(transmitted[index]);
+            received[index] = static_cast<uint8_t>(transmitted[index] + this->offset);
+        }
+    }
+
+    void deselect() override { this->events.emplace_back("deselect"); }
+
+    // NOLINTBEGIN(*-non-private-member-variables-in-classes): what the test reads back.
+    std::vector<std::string> events;
+    std::vector<uint8_t>     bytes;
+    // NOLINTEND(*-non-private-member-variables-in-classes)
+
+private:
+    uint8_t offset;
+};
+
+class SpiSlot : public testing::Test {
+protected:
+    void SetUp() override {
+        Board::reset();
+        hal::host::Clock::instance().reset();
+        hal::host::Clock::instance().configure(SystemCoreClock / 1000000);
+        hal::Timer::init();
+        MX_GPIO_Init();
+        MX_SPI3_Init();
+    }
+
+    static void attach(const hal::Spi::Config& config, SpiDevice& device) {
+        Board::spi_device(config.handle, config.cs_gpio.port, config.cs_gpio.pin, device);
+    }
+
+    /**
+     * @brief Poll a transfer until it ends, reading the timer as a waiting firmware does.
+     *
+     * @param spi The Spi whose transfer runs.
+     * @return Microseconds the host clock advanced.
+     */
+    static uint32_t wait_for_transfer(const hal::Spi& spi) {
+        const uint64_t start = hal::host::Clock::instance().now();
+
+        while (spi.get_transfer() == hal::Spi::Transfer::RUNNING) {
+            hal::Timer::get_counter();
+        }
+
+        return static_cast<uint32_t>((hal::host::Clock::instance().now() - start) / (SystemCoreClock / 1000000));
+    }
+};
+
+TEST_F(SpiSlot, RoutesEachTransferToTheDeviceItsChipSelectSelects) {
+    RecordingDevice imu_chip{SpiDevice::Mode::MODE_3, 0x10};
+    RecordingDevice encoder_chip{SpiDevice::Mode::MODE_1, 0x20};
+    attach(imu_config.spi, imu_chip);
+    attach(rotary_sensor_left_config.spi, encoder_chip);
+    hal::Spi imu{imu_config.spi};
+    hal::Spi encoder{rotary_sensor_left_config.spi};
+
+    const std::array<uint8_t, 1> command{0x8F};
+    const std::array<uint8_t, 2> frame{0x40, 0x01};
+    std::array<uint8_t, 2>       answer{};
+
+    ASSERT_TRUE(imu.select_device());
+    EXPECT_TRUE(imu.transmit(command));
+    imu.unselect_device();
+    ASSERT_TRUE(encoder.select_device());
+    EXPECT_TRUE(encoder.transmit_receive(frame, answer));
+    encoder.unselect_device();
+
+    EXPECT_EQ(imu_chip.bytes, std::vector<uint8_t>{0x8F});
+    EXPECT_EQ(encoder_chip.bytes, (std::vector<uint8_t>{0x40, 0x01}));
+    EXPECT_EQ(answer, (std::array<uint8_t, 2>{0x60, 0x21}));
+    EXPECT_TRUE(Board::unbound().empty());
+}
+
+TEST_F(SpiSlot, MakesOneTransactionOfTheCallsBetweenSelectAndUnselect) {
+    RecordingDevice chip{SpiDevice::Mode::MODE_3, 1};
+    attach(imu_config.spi, chip);
+    hal::Spi spi{imu_config.spi};
+
+    const std::array<uint8_t, 1> command{0x8F};
+    std::array<uint8_t, 2>       data{};
+
+    ASSERT_TRUE(spi.select_device());
+    EXPECT_TRUE(spi.transmit(command));
+    EXPECT_TRUE(spi.receive(data));
+    spi.unselect_device();
+
+    EXPECT_EQ(chip.events, (std::vector<std::string>{"select", "exchange 1", "exchange 2", "deselect"}));
+    EXPECT_EQ(data, (std::array<uint8_t, 2>{1, 1}));
+}
+
+TEST_F(SpiSlot, ReachesNoDeviceWhoseChipSelectIsHigh) {
+    RecordingDevice chip{SpiDevice::Mode::MODE_3, 1};
+    attach(imu_config.spi, chip);
+    hal::Spi spi{imu_config.spi};
+
+    std::array<uint8_t, 2> data{};
+    EXPECT_TRUE(spi.receive(data));
+
+    EXPECT_TRUE(chip.events.empty());
+    EXPECT_EQ(data, (std::array<uint8_t, 2>{0xFF, 0xFF}));
+}
+
+TEST_F(SpiSlot, AnswersAllOnesWhereNoDeviceIsAttached) {
+    hal::Spi spi{imu_config.spi};
+
+    std::array<uint8_t, 2> data{};
+    ASSERT_TRUE(spi.select_device());
+    EXPECT_TRUE(spi.receive(data));
+    spi.unselect_device();
+
+    EXPECT_EQ(data, (std::array<uint8_t, 2>{0xFF, 0xFF}));
+    EXPECT_EQ(Board::unbound(), (std::vector<std::string>{"IMU_SPI_CSn", "hspi3 IMU_SPI_CSn"}));
+}
+
+TEST_F(SpiSlot, AnswersAllOnesInAModeTheDeviceDoesNotAnswerIn) {
+    RecordingDevice chip{SpiDevice::Mode::MODE_0, 1};
+    attach(imu_config.spi, chip);
+    hal::Spi spi{imu_config.spi};
+
+    const std::array<uint8_t, 2> transmitted{0x8F, 0x00};
+    std::array<uint8_t, 2>       received{};
+    ASSERT_TRUE(spi.select_device());
+    EXPECT_TRUE(spi.transmit_receive(transmitted, received));
+    spi.unselect_device();
+
+    EXPECT_EQ(chip.events, (std::vector<std::string>{"select", "deselect"}));
+    EXPECT_EQ(received, (std::array<uint8_t, 2>{0xFF, 0xFF}));
+}
+
+TEST_F(SpiSlot, KeepsTheDeviceSelectedWhileATransferRuns) {
+    RecordingDevice chip{SpiDevice::Mode::MODE_3, 1};
+    attach(imu_config.spi, chip);
+    hal::Spi spi{imu_config.spi};
+
+    std::array<uint8_t, 17>    transmitted{};
+    std::array<uint8_t, 17>    received{};
+    const hal::host::GpioPort& cs = Board::gpio(imu_config.spi.cs_gpio.port, imu_config.spi.cs_gpio.pin);
+
+    ASSERT_TRUE(spi.start_transfer(transmitted, received));
+
+    EXPECT_EQ(spi.get_transfer(), hal::Spi::Transfer::RUNNING);
+    EXPECT_FALSE(cs.output);
+    EXPECT_EQ(chip.events, (std::vector<std::string>{"select", "exchange 17"}));
+}
+
+TEST_F(SpiSlot, CompletesATransferWhenItsLastBitIsOut) {
+    RecordingDevice chip{SpiDevice::Mode::MODE_3, 1};
+    attach(imu_config.spi, chip);
+    hal::Spi spi{imu_config.spi};
+
+    std::array<uint8_t, 17>    transmitted{};
+    std::array<uint8_t, 17>    received{};
+    const hal::host::GpioPort& cs = Board::gpio(imu_config.spi.cs_gpio.port, imu_config.spi.cs_gpio.pin);
+
+    ASSERT_TRUE(spi.start_transfer(transmitted, received));
+    const uint32_t elapsed = wait_for_transfer(spi);
+
+    EXPECT_EQ(spi.get_transfer(), hal::Spi::Transfer::COMPLETE);
+    EXPECT_TRUE(cs.output);
+    EXPECT_EQ(chip.events, (std::vector<std::string>{"select", "exchange 17", "deselect"}));
+    EXPECT_EQ(received.back(), 1);
+    EXPECT_GE(elapsed, 35U);
+    EXPECT_LE(elapsed, 36U);
+}
+
+TEST_F(SpiSlot, WaitsForTheBusBeforeSelectingAnotherDevice) {
+    RecordingDevice imu_chip{SpiDevice::Mode::MODE_3, 1};
+    RecordingDevice encoder_chip{SpiDevice::Mode::MODE_1, 1};
+    attach(imu_config.spi, imu_chip);
+    attach(rotary_sensor_right_config.spi, encoder_chip);
+    hal::Spi imu{imu_config.spi};
+    hal::Spi encoder{rotary_sensor_right_config.spi};
+
+    std::array<uint8_t, 17> transmitted{};
+    std::array<uint8_t, 17> received{};
+    const uint64_t          start = hal::host::Clock::instance().now();
+
+    ASSERT_TRUE(imu.start_transfer(transmitted, received));
+    ASSERT_TRUE(encoder.select_device());
+    const uint64_t waited = hal::host::Clock::instance().now() - start;
+    encoder.unselect_device();
+
+    EXPECT_EQ(imu.get_transfer(), hal::Spi::Transfer::COMPLETE);
+    EXPECT_EQ(imu_chip.events.back(), "deselect");
+    EXPECT_GE(waited, 35U * (SystemCoreClock / 1000000));
+}
+}  // namespace
+}  // namespace micras::sim

From 2ce776ff17e518645c215dabdf1cfaa2ed86b7a9 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 03:30:56 -0300
Subject: [PATCH 21/52] =?UTF-8?q?=E2=9C=A8=20Model=20the=20LSM6DSV=20and?=
 =?UTF-8?q?=20AS5047U=20as=20SPI=20devices?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

micras_hal_host_models (micras::hal_host_models, namespace micras::models) holds
the two SPI chips of Micras as devices of the host SPI slot, knowing nothing but
the slot. Lsm6dsvModel is the 128 registers of the main page with the datasheet
defaults, software power-on reset, auto-increment, data ready bits set by a new
sample and cleared by the read of its output, samples encoded with the full
scale in CTRL6 and CTRL8, and the output data rates of CTRL1, CTRL2 and
HAODR_CFG, in SPI mode 3. As5047uModel is the 24-bit frames with their CRC-8
checked on every frame, answers pipelined by one frame, ERRFL with the CRC and
framing error bits, and the volatile registers the firmware writes, in SPI mode
1. Their unit tests address the LSM6DSV's registers by ST's driver header, so a
register the model puts elsewhere than the driver fails.
---
 CMakeLists.txt                                |   5 +-
 hal_host/models/CMakeLists.txt                |  34 ++
 .../include/micras/models/as5047u_model.hpp   | 182 ++++++++++
 .../include/micras/models/lsm6dsv_model.hpp   | 200 +++++++++++
 hal_host/models/src/as5047u_model.cpp         | 187 ++++++++++
 hal_host/models/src/lsm6dsv_model.cpp         | 275 +++++++++++++++
 hal_host/models/tests/as5047u_model_test.cpp  | 219 ++++++++++++
 hal_host/models/tests/lsm6dsv_model_test.cpp  | 327 ++++++++++++++++++
 8 files changed, 1428 insertions(+), 1 deletion(-)
 create mode 100644 hal_host/models/CMakeLists.txt
 create mode 100644 hal_host/models/include/micras/models/as5047u_model.hpp
 create mode 100644 hal_host/models/include/micras/models/lsm6dsv_model.hpp
 create mode 100644 hal_host/models/src/as5047u_model.cpp
 create mode 100644 hal_host/models/src/lsm6dsv_model.cpp
 create mode 100644 hal_host/models/tests/as5047u_model_test.cpp
 create mode 100644 hal_host/models/tests/lsm6dsv_model_test.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 767d3d8..da80315 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -140,7 +140,7 @@ set(MICRAS_SIM_HAL_HOST_INCLUDE "${CMAKE_CURRENT_SOURCE_DIR}/hal_host/include")
 file(GLOB MICRAS_SIM_HAL_HOST_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/hal_host/src/*.cpp")
 
 ###############################################################################
-## Tests and robot targets
+## Tests, chip models and robot targets
 ###############################################################################
 
 if(MICRAS_TESTS)
@@ -148,6 +148,9 @@ if(MICRAS_TESTS)
     add_subdirectory(tests)
 endif()
 
+# The SPI chips a robot's bindings attach to the host HAL's buses: micras::hal_host_models.
+add_subdirectory(hal_host/models)
+
 # Every robot target is a folder of targets/ with its own CMakeLists.txt.
 file(GLOB MICRAS_SIM_TARGET_DIRS LIST_DIRECTORIES true "${CMAKE_CURRENT_SOURCE_DIR}/targets/*")
 
diff --git a/hal_host/models/CMakeLists.txt b/hal_host/models/CMakeLists.txt
new file mode 100644
index 0000000..d37754e
--- /dev/null
+++ b/hal_host/models/CMakeLists.txt
@@ -0,0 +1,34 @@
+###############################################################################
+## Chip models: SPI devices for the host micras_hal
+###############################################################################
+
+# They know the SPI device slot of the host HAL and nothing else: no Cube layer, no
+# firmware, no engine. A robot's bindings attach them to its buses and feed them.
+add_library(micras_hal_host_models STATIC
+    src/as5047u_model.cpp
+    src/lsm6dsv_model.cpp
+)
+add_library(micras::hal_host_models ALIAS micras_hal_host_models)
+target_include_directories(micras_hal_host_models PUBLIC
+    "${CMAKE_CURRENT_SOURCE_DIR}/include"
+    "${MICRAS_SIM_HAL_HOST_INCLUDE}"
+)
+target_compile_features(micras_hal_host_models PUBLIC cxx_std_23)
+target_compile_options(micras_hal_host_models PRIVATE -Wall -Wextra)
+
+if(MICRAS_TESTS)
+    include(GoogleTest)
+
+    # ST's register driver header names the registers the tests address, so a model
+    # register at another address than the driver's fails here.
+    add_executable(micras_hal_host_models_tests
+        tests/as5047u_model_test.cpp
+        tests/lsm6dsv_model_test.cpp
+    )
+    target_link_libraries(micras_hal_host_models_tests PRIVATE
+        micras_hal_host_models lsm6dsv_headers GTest::gtest_main
+    )
+    target_compile_options(micras_hal_host_models_tests PRIVATE -Wall -Wextra)
+
+    gtest_discover_tests(micras_hal_host_models_tests)
+endif()
diff --git a/hal_host/models/include/micras/models/as5047u_model.hpp b/hal_host/models/include/micras/models/as5047u_model.hpp
new file mode 100644
index 0000000..c24ecdb
--- /dev/null
+++ b/hal_host/models/include/micras/models/as5047u_model.hpp
@@ -0,0 +1,182 @@
+/**
+ * @file
+ *
+ * @brief The AS5047U magnetic position sensor, as its SPI interface shows it.
+ */
+
+#ifndef MICRAS_MODELS_AS5047U_MODEL_HPP
+#define MICRAS_MODELS_AS5047U_MODEL_HPP
+
+#include <array>
+#include <cstddef>
+#include <cstdint>
+#include <optional>
+#include <span>
+
+#include "micras/hal/host/spi_device.hpp"
+
+namespace micras::models {
+/**
+ * @brief The registers of an AS5047U behind an SPI chip select, in its 24-bit frame mode.
+ *
+ * @details Every frame is three bytes. A command frame carries a don't care
+ *          bit, the read flag, a 14-bit address and a CRC; a data frame carries
+ *          the warning and error flags, 14 bits of data and a CRC. The CRC is a
+ *          CRC-8 of the first two bytes, polynomial 0x1D, initial value 0xC4,
+ *          final XOR 0xFF. Answers are pipelined by one frame: what the sensor
+ *          sends during a frame answers the frame before it, whatever the chip
+ *          select did in between.
+ *
+ * @details A read command is answered with the register's content. A write
+ *          command is answered with the register's old content and is followed
+ *          by a data frame holding the new one, which is answered with the new
+ *          content.
+ *
+ * @note Every frame's CRC is checked. A frame with a wrong CRC is ignored, and
+ *       a write whose data frame it was is dropped; it sets the CRC error bit of
+ *       ERRFL. A chip select raised in the middle of a frame drops it and sets
+ *       the framing error bit. The error flag of every answer is set while
+ *       ERRFL is not zero, and reading ERRFL clears it.
+ *
+ * @note DISABLE, ZPOSM, ZPOSL, SETTINGS1 to SETTINGS3 and ECC are held, zero
+ *       after power-on, as volatile registers. Writes to any other address are
+ *       ignored and every other register reads zero: the angle, the magnitude
+ *       and the diagnostics are not modeled. So is the position: on the robot it
+ *       reaches the firmware through the quadrature output and a timer in
+ *       encoder mode, and so it does in a simulation.
+ */
+class As5047uModel : public hal::host::SpiDevice {
+public:
+    /**
+     * @brief Bytes in a frame.
+     */
+    static constexpr std::size_t frame_size{3};
+
+    /**
+     * @brief Addresses of the registers the model holds.
+     */
+    ///@{
+    static constexpr uint16_t nop_address{0x0000};
+    static constexpr uint16_t errfl_address{0x0001};
+    static constexpr uint16_t disable_address{0x0015};
+    static constexpr uint16_t zposm_address{0x0016};
+    static constexpr uint16_t zposl_address{0x0017};
+    static constexpr uint16_t settings1_address{0x0018};
+    static constexpr uint16_t settings2_address{0x0019};
+    static constexpr uint16_t settings3_address{0x001A};
+    static constexpr uint16_t ecc_address{0x001B};
+    ///@}
+
+    /**
+     * @brief Bits of ERRFL the model sets.
+     */
+    ///@{
+    static constexpr uint16_t framing_error{1U << 4U};
+    static constexpr uint16_t crc_error{1U << 6U};
+    ///@}
+
+    /**
+     * @brief Power the sensor on, in SPI mode 1.
+     */
+    As5047uModel();
+
+    /**
+     * @brief Start a transaction at the start of a frame.
+     */
+    void select() override;
+
+    /**
+     * @brief Shift the pending answer out and the frame in, acting on every frame completed.
+     *
+     * @param transmitted Bytes the controller sends.
+     * @param received Bytes of the answer to the previous frame.
+     */
+    void exchange(std::span<const uint8_t> transmitted, std::span<uint8_t> received) override;
+
+    /**
+     * @brief End the transaction, dropping an incomplete frame.
+     */
+    void deselect() override;
+
+    /**
+     * @brief Get a register without the side effects of reading it over SPI.
+     *
+     * @param address Register address.
+     * @return The register's content, zero for one not modeled.
+     */
+    uint16_t peek(uint16_t address) const;
+
+    /**
+     * @brief Compute the CRC of a frame.
+     *
+     * @param high First byte of the frame.
+     * @param low Second byte of the frame.
+     * @return The third byte of a valid frame.
+     */
+    static uint8_t crc(uint8_t high, uint8_t low);
+
+private:
+    /**
+     * @brief Act on one complete frame and prepare the answer to it.
+     *
+     * @param frame The frame, most significant byte first.
+     */
+    void process(const std::array<uint8_t, frame_size>& frame);
+
+    /**
+     * @brief Build a data frame answering with a value, the error flag set while ERRFL is not zero.
+     *
+     * @param data The value.
+     * @return The frame, in its low 24 bits.
+     */
+    uint32_t answer_with(uint16_t data) const;
+
+    /**
+     * @brief Get the register a write to an address changes.
+     *
+     * @param address Register address.
+     * @return The register, or null when the address is not writable.
+     */
+    uint8_t* writable(uint16_t address);
+
+    /**
+     * @brief Volatile registers, each 8 bits wide.
+     */
+    ///@{
+    uint8_t disable{0};
+    uint8_t zposm{0};
+    uint8_t zposl{0};
+    uint8_t settings1{0};
+    uint8_t settings2{0};
+    uint8_t settings3{0};
+    uint8_t ecc{0};
+    ///@}
+
+    /**
+     * @brief Error flags, in ERRFL's layout.
+     */
+    uint16_t errfl{0};
+
+    /**
+     * @brief Frame shifted out next: the answer to the last complete frame.
+     */
+    uint32_t answer;
+
+    /**
+     * @brief Bytes of the frame being received.
+     */
+    std::array<uint8_t, frame_size> frame{};
+
+    /**
+     * @brief Number of bytes of the frame received so far.
+     */
+    std::size_t received_bytes{0};
+
+    /**
+     * @brief Address whose write command was received, so the next frame holds its data.
+     */
+    std::optional<uint16_t> pending_write;
+};
+}  // namespace micras::models
+
+#endif  // MICRAS_MODELS_AS5047U_MODEL_HPP
diff --git a/hal_host/models/include/micras/models/lsm6dsv_model.hpp b/hal_host/models/include/micras/models/lsm6dsv_model.hpp
new file mode 100644
index 0000000..6f53b4a
--- /dev/null
+++ b/hal_host/models/include/micras/models/lsm6dsv_model.hpp
@@ -0,0 +1,200 @@
+/**
+ * @file
+ *
+ * @brief The LSM6DSV inertial measurement unit, as its SPI interface shows it.
+ */
+
+#ifndef MICRAS_MODELS_LSM6DSV_MODEL_HPP
+#define MICRAS_MODELS_LSM6DSV_MODEL_HPP
+
+#include <array>
+#include <cstddef>
+#include <cstdint>
+#include <span>
+
+#include "micras/hal/host/spi_device.hpp"
+
+namespace micras::models {
+/**
+ * @brief The registers of an LSM6DSV behind an SPI chip select, fed with samples of the motion it measures.
+ *
+ * @details The first byte of a transaction is the command: the read flag in the
+ *          top bit and the register address below it. Every following byte
+ *          reads or writes one register, and the address advances after each
+ *          one while CTRL3 IF_INC is set, as it is after reset.
+ *
+ * @note The register file is the 128 registers of the main page, with the
+ *       datasheet's defaults: WHO_AM_I 0x70, PIN_CTRL 0x23, CTRL3 0x44
+ *       (IF_INC and BDU) and zero everywhere else. Writes to read-only and
+ *       reserved registers are ignored. While FUNC_CFG_ACCESS selects the
+ *       embedded functions or the sensor hub page, which are not modeled, every
+ *       other register reads zero and ignores writes.
+ *
+ * @note Writing SW_POR in FUNC_CFG_ACCESS or SW_RESET in CTRL3 restores the
+ *       defaults, and the rest of that transaction is ignored.
+ *
+ * @note A sample updates the outputs of each sensor whose output data rate is
+ *       not off (ODR_G in CTRL2, ODR_XL in CTRL1), encoded with the full scale
+ *       its register holds (FS_G in CTRL6, FS_XL in CTRL8), and sets that
+ *       sensor's data ready bit in STATUS_REG (GDA, XLDA). Reading the high
+ *       byte of one of the sensor's axes clears the bit, so the burst that
+ *       reads a sample clears it. A transaction happens between two samples,
+ *       which is what block data update guarantees on the chip.
+ *
+ * @note The rates in CTRL1, CTRL2 and HAODR_CFG only say whether a sensor is on
+ *       and are decoded for the one feeding the samples: the samples arrive at
+ *       whatever rate push_sample is called at.
+ */
+class Lsm6dsvModel : public hal::host::SpiDevice {
+public:
+    /**
+     * @brief Registers of the main page.
+     */
+    static constexpr std::size_t register_count{128};
+
+    /**
+     * @brief Value of WHO_AM_I.
+     */
+    static constexpr uint8_t device_id{0x70};
+
+    /**
+     * @brief Power the chip on, in SPI mode 3.
+     */
+    Lsm6dsvModel();
+
+    /**
+     * @brief Start a transaction.
+     */
+    void select() override;
+
+    /**
+     * @brief Take the command, then read or write one register per byte.
+     *
+     * @param transmitted Bytes the controller sends.
+     * @param received Register values read, zero while the command is being sent and during writes.
+     */
+    void exchange(std::span<const uint8_t> transmitted, std::span<uint8_t> received) override;
+
+    /**
+     * @brief End the transaction.
+     */
+    void deselect() override;
+
+    /**
+     * @brief Deliver a new sample of the motion the chip measures.
+     *
+     * @param angular_velocity Angular velocity about the chip's x, y and z axes, in rad/s.
+     * @param linear_acceleration Specific force along the chip's x, y and z axes, in m/s^2.
+     */
+    void push_sample(const std::array<double, 3>& angular_velocity, const std::array<double, 3>& linear_acceleration);
+
+    /**
+     * @brief Get a register without the side effects of reading it over SPI.
+     *
+     * @param address Register address; the top bit is ignored.
+     * @return The register's value.
+     */
+    uint8_t peek(uint8_t address) const;
+
+    /**
+     * @brief Get the output data rate of the gyroscope, from CTRL2 and HAODR_CFG.
+     *
+     * @return The rate, in hertz, zero when the gyroscope is off.
+     */
+    double gyroscope_data_rate() const;
+
+    /**
+     * @brief Get the output data rate of the accelerometer, from CTRL1 and HAODR_CFG.
+     *
+     * @return The rate, in hertz, zero when the accelerometer is off.
+     */
+    double accelerometer_data_rate() const;
+
+    /**
+     * @brief Get the sensitivity of the gyroscope at the full scale in CTRL6.
+     *
+     * @return Angular velocity of one count, in rad/s, zero for a reserved full scale.
+     */
+    double gyroscope_sensitivity() const;
+
+    /**
+     * @brief Get the sensitivity of the accelerometer at the full scale in CTRL8.
+     *
+     * @return Specific force of one count, in m/s^2.
+     */
+    double accelerometer_sensitivity() const;
+
+private:
+    /**
+     * @brief Restore every register to its default.
+     */
+    void reset();
+
+    /**
+     * @brief Read a register over SPI, clearing the data ready bit it completes.
+     *
+     * @param address Register address.
+     * @return The register's value.
+     */
+    uint8_t read(uint8_t address);
+
+    /**
+     * @brief Write a register over SPI, applying what the write triggers.
+     *
+     * @param address Register address.
+     * @param value Value written.
+     */
+    void write(uint8_t address, uint8_t value);
+
+    /**
+     * @brief Check whether the main page is the one the SPI interface addresses.
+     *
+     * @return True unless FUNC_CFG_ACCESS selects another page.
+     */
+    bool main_page() const;
+
+    /**
+     * @brief Write the three axes of one sensor into its output registers.
+     *
+     * @param first Address of the low byte of the x axis.
+     * @param values Values of the three axes.
+     * @param sensitivity Value of one count; zero writes zero.
+     */
+    void encode(uint8_t first, const std::array<double, 3>& values, double sensitivity);
+
+    /**
+     * @brief Decode an output data rate.
+     *
+     * @param odr ODR field of CTRL1 or CTRL2.
+     * @return The rate, in hertz, with the high accuracy set HAODR_CFG selects.
+     */
+    double data_rate(uint8_t odr) const;
+
+    /**
+     * @brief The register file.
+     */
+    std::array<uint8_t, register_count> registers{};
+
+    /**
+     * @brief Register the next byte of the transaction reads or writes.
+     */
+    uint8_t address{0};
+
+    /**
+     * @brief Whether the command byte of the transaction was received.
+     */
+    bool addressed{false};
+
+    /**
+     * @brief Whether the transaction reads.
+     */
+    bool reading{false};
+
+    /**
+     * @brief Whether the rest of the transaction is ignored, after a reset inside it.
+     */
+    bool ignoring{false};
+};
+}  // namespace micras::models
+
+#endif  // MICRAS_MODELS_LSM6DSV_MODEL_HPP
diff --git a/hal_host/models/src/as5047u_model.cpp b/hal_host/models/src/as5047u_model.cpp
new file mode 100644
index 0000000..3f649e1
--- /dev/null
+++ b/hal_host/models/src/as5047u_model.cpp
@@ -0,0 +1,187 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <array>
+#include <cstdint>
+#include <span>
+
+#include "micras/models/as5047u_model.hpp"
+
+namespace micras::models {
+namespace {
+/**
+ * @brief Generator polynomial of the frame CRC, without its top bit.
+ */
+constexpr uint8_t crc_polynomial{0x1D};
+
+/**
+ * @brief Initial value of the frame CRC.
+ */
+constexpr uint8_t crc_initial_value{0xC4};
+
+/**
+ * @brief Final XOR of the frame CRC.
+ */
+constexpr uint8_t crc_final_xor{0xFF};
+
+/**
+ * @brief Bits of the 14-bit address or data field.
+ */
+constexpr uint16_t field_mask{0x3FFF};
+
+/**
+ * @brief Position of the address or data field in a frame.
+ */
+constexpr uint32_t field_shift{8};
+
+/**
+ * @brief Read flag of a command frame, and error flag of a data frame.
+ */
+constexpr uint32_t flag_bit{1U << 22U};
+}  // namespace
+
+As5047uModel::As5047uModel() : SpiDevice{Mode::MODE_1}, answer{this->answer_with(0)} { }
+
+void As5047uModel::select() {
+    this->received_bytes = 0;
+}
+
+void As5047uModel::exchange(std::span<const uint8_t> transmitted, std::span<uint8_t> received) {
+    const std::size_t size = std::min(transmitted.size(), received.size());
+
+    for (std::size_t index = 0; index < size; index++) {
+        const uint32_t shift = 8U * static_cast<uint32_t>(frame_size - 1 - this->received_bytes);
+        received[index] = static_cast<uint8_t>(this->answer >> shift);
+        this->frame.at(this->received_bytes) = transmitted[index];
+        this->received_bytes++;
+
+        if (this->received_bytes == frame_size) {
+            this->received_bytes = 0;
+            this->process(this->frame);
+        }
+    }
+}
+
+void As5047uModel::deselect() {
+    if (this->received_bytes != 0) {
+        this->errfl |= framing_error;
+        this->pending_write.reset();
+    }
+
+    this->received_bytes = 0;
+}
+
+uint16_t As5047uModel::peek(uint16_t address) const {
+    switch (address) {
+        case errfl_address:
+            return this->errfl;
+
+        case disable_address:
+            return this->disable;
+
+        case zposm_address:
+            return this->zposm;
+
+        case zposl_address:
+            return this->zposl;
+
+        case settings1_address:
+            return this->settings1;
+
+        case settings2_address:
+            return this->settings2;
+
+        case settings3_address:
+            return this->settings3;
+
+        case ecc_address:
+            return this->ecc;
+
+        default:
+            return 0;
+    }
+}
+
+uint8_t As5047uModel::crc(uint8_t high, uint8_t low) {
+    uint8_t remainder = crc_initial_value;
+
+    for (const uint8_t byte : {high, low}) {
+        remainder ^= byte;
+
+        for (uint8_t bit = 0; bit < 8; bit++) {
+            remainder = (remainder & 0x80U) != 0 ? static_cast<uint8_t>((remainder << 1U) ^ crc_polynomial) :
+                                                   static_cast<uint8_t>(remainder << 1U);
+        }
+    }
+
+    return remainder ^ crc_final_xor;
+}
+
+void As5047uModel::process(const std::array<uint8_t, frame_size>& frame) {
+    const uint32_t raw = static_cast<uint32_t>(std::get<0>(frame)) << 16U |
+                         static_cast<uint32_t>(std::get<1>(frame)) << 8U | std::get<2>(frame);
+    const auto field = static_cast<uint16_t>((raw >> field_shift) & field_mask);
+
+    if (crc(std::get<0>(frame), std::get<1>(frame)) != std::get<2>(frame)) {
+        this->errfl |= crc_error;
+        this->pending_write.reset();
+        this->answer = this->answer_with(0);
+        return;
+    }
+
+    if (this->pending_write.has_value()) {
+        const uint16_t address = this->pending_write.value();
+        this->pending_write.reset();
+
+        if (uint8_t* const target = this->writable(address); target != nullptr) {
+            *target = static_cast<uint8_t>(field);
+        }
+
+        this->answer = this->answer_with(this->peek(address));
+        return;
+    }
+
+    this->answer = this->answer_with(this->peek(field));
+
+    if ((raw & flag_bit) == 0) {
+        this->pending_write = field;
+    } else if (field == errfl_address) {
+        this->errfl = 0;
+    }
+}
+
+uint32_t As5047uModel::answer_with(uint16_t data) const {
+    const uint32_t upper = (this->errfl != 0 ? flag_bit : 0U) | static_cast<uint32_t>(data & field_mask) << field_shift;
+    return upper | crc(static_cast<uint8_t>(upper >> 16U), static_cast<uint8_t>(upper >> 8U));
+}
+
+uint8_t* As5047uModel::writable(uint16_t address) {
+    switch (address) {
+        case disable_address:
+            return &this->disable;
+
+        case zposm_address:
+            return &this->zposm;
+
+        case zposl_address:
+            return &this->zposl;
+
+        case settings1_address:
+            return &this->settings1;
+
+        case settings2_address:
+            return &this->settings2;
+
+        case settings3_address:
+            return &this->settings3;
+
+        case ecc_address:
+            return &this->ecc;
+
+        default:
+            return nullptr;
+    }
+}
+}  // namespace micras::models
diff --git a/hal_host/models/src/lsm6dsv_model.cpp b/hal_host/models/src/lsm6dsv_model.cpp
new file mode 100644
index 0000000..f077bc4
--- /dev/null
+++ b/hal_host/models/src/lsm6dsv_model.cpp
@@ -0,0 +1,275 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <array>
+#include <cmath>
+#include <cstdint>
+#include <numbers>
+#include <span>
+#include <utility>
+
+#include "micras/models/lsm6dsv_model.hpp"
+
+namespace micras::models {
+namespace {
+/**
+ * @brief Top bit of the command byte: set to read, clear to write.
+ */
+constexpr uint8_t read_flag{0x80};
+
+/**
+ * @brief Bits of the command byte and of an address that name a register.
+ */
+constexpr uint8_t address_mask{0x7F};
+
+/**
+ * @brief Addresses of the registers the model gives a behavior to.
+ */
+///@{
+constexpr uint8_t func_cfg_access{0x01};
+constexpr uint8_t pin_ctrl{0x02};
+constexpr uint8_t who_am_i{0x0F};
+constexpr uint8_t ctrl1{0x10};
+constexpr uint8_t ctrl2{0x11};
+constexpr uint8_t ctrl3{0x12};
+constexpr uint8_t ctrl6{0x15};
+constexpr uint8_t ctrl8{0x17};
+constexpr uint8_t status_reg{0x1E};
+constexpr uint8_t outx_l_g{0x22};
+constexpr uint8_t outx_l_a{0x28};
+constexpr uint8_t haodr_cfg{0x62};
+///@}
+
+/**
+ * @brief Bits of FUNC_CFG_ACCESS: the software power-on reset, and the two that select another page.
+ */
+///@{
+constexpr uint8_t sw_por{0x04};
+constexpr uint8_t other_pages{0xC0};
+///@}
+
+/**
+ * @brief Bits of CTRL3: the software reset, the self-clearing reboot, and the address auto-increment.
+ */
+///@{
+constexpr uint8_t sw_reset{0x01};
+constexpr uint8_t boot{0x80};
+constexpr uint8_t if_inc{0x04};
+///@}
+
+/**
+ * @brief Data ready bits of STATUS_REG.
+ */
+///@{
+constexpr uint8_t xlda{0x01};
+constexpr uint8_t gda{0x02};
+///@}
+
+/**
+ * @brief Defaults of the registers that do not reset to zero.
+ */
+constexpr std::array<std::pair<uint8_t, uint8_t>, 3> nonzero_defaults{{
+    {pin_ctrl, 0x23},
+    {who_am_i, Lsm6dsvModel::device_id},
+    {ctrl3, 0x44},
+}};
+
+/**
+ * @brief First and last address of every range of registers the SPI interface can write.
+ */
+constexpr std::array<std::pair<uint8_t, uint8_t>, 7> writable_ranges{{
+    {0x01, 0x03},
+    {0x06, 0x0E},
+    {0x10, 0x19},
+    {0x50, 0x51},
+    {0x54, 0x5F},
+    {0x62, 0x6B},
+    {0x6F, 0x75},
+}};
+
+/**
+ * @brief Sensitivity of the gyroscope for each FS_G code, in mdps per count; zero for the reserved codes.
+ */
+constexpr std::array<double, 16> gyroscope_mdps_per_count{
+    4.375, 8.75, 17.5, 35.0, 70.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 140.0, 0.0, 0.0, 0.0,
+};
+
+/**
+ * @brief Sensitivity of the accelerometer for each FS_XL code, in mg per count.
+ */
+constexpr std::array<double, 4> accelerometer_mg_per_count{0.061, 0.122, 0.244, 0.488};
+
+/**
+ * @brief Conversions from the datasheet's units.
+ */
+///@{
+constexpr double mdps_to_radps{std::numbers::pi / 180000.0};
+constexpr double mg_to_mps2{0.00980665};
+///@}
+
+/**
+ * @brief Rate of ODR code 3 for each high accuracy set of HAODR_CFG, in hertz; each code above doubles it.
+ */
+constexpr std::array<double, 4> base_rates{15.0, 15.625, 12.5, 15.0};
+
+/**
+ * @brief Check whether the SPI interface can write a register.
+ *
+ * @param address Register address.
+ * @return True for a read-write register.
+ */
+bool writable(uint8_t address) {
+    return std::ranges::any_of(writable_ranges, [address](const auto& range) {
+        return address >= range.first and address <= range.second;
+    });
+}
+}  // namespace
+
+Lsm6dsvModel::Lsm6dsvModel() : SpiDevice{Mode::MODE_3} {
+    this->reset();
+}
+
+void Lsm6dsvModel::select() {
+    this->addressed = false;
+    this->ignoring = false;
+}
+
+void Lsm6dsvModel::exchange(std::span<const uint8_t> transmitted, std::span<uint8_t> received) {
+    const std::size_t size = std::min(transmitted.size(), received.size());
+
+    for (std::size_t index = 0; index < size; index++) {
+        received[index] = 0;
+
+        if (this->ignoring) {
+            continue;
+        }
+
+        if (not this->addressed) {
+            this->reading = (transmitted[index] & read_flag) != 0;
+            this->address = transmitted[index] & address_mask;
+            this->addressed = true;
+            continue;
+        }
+
+        if (this->reading) {
+            received[index] = this->read(this->address);
+        } else {
+            this->write(this->address, transmitted[index]);
+        }
+
+        if ((this->registers.at(ctrl3) & if_inc) != 0) {
+            this->address = (this->address + 1) & address_mask;
+        }
+    }
+}
+
+void Lsm6dsvModel::deselect() {
+    this->addressed = false;
+    this->ignoring = false;
+}
+
+void Lsm6dsvModel::push_sample(
+    const std::array<double, 3>& angular_velocity, const std::array<double, 3>& linear_acceleration
+) {
+    if ((this->registers.at(ctrl2) & 0x0F) != 0) {
+        this->encode(outx_l_g, angular_velocity, this->gyroscope_sensitivity());
+        this->registers.at(status_reg) |= gda;
+    }
+
+    if ((this->registers.at(ctrl1) & 0x0F) != 0) {
+        this->encode(outx_l_a, linear_acceleration, this->accelerometer_sensitivity());
+        this->registers.at(status_reg) |= xlda;
+    }
+}
+
+uint8_t Lsm6dsvModel::peek(uint8_t address) const {
+    return this->registers.at(address & address_mask);
+}
+
+double Lsm6dsvModel::gyroscope_data_rate() const {
+    return this->data_rate(this->registers.at(ctrl2) & 0x0F);
+}
+
+double Lsm6dsvModel::accelerometer_data_rate() const {
+    return this->data_rate(this->registers.at(ctrl1) & 0x0F);
+}
+
+double Lsm6dsvModel::gyroscope_sensitivity() const {
+    return gyroscope_mdps_per_count.at(this->registers.at(ctrl6) & 0x0F) * mdps_to_radps;
+}
+
+double Lsm6dsvModel::accelerometer_sensitivity() const {
+    return accelerometer_mg_per_count.at(this->registers.at(ctrl8) & 0x03) * mg_to_mps2;
+}
+
+void Lsm6dsvModel::reset() {
+    this->registers.fill(0);
+
+    for (const auto& [address, value] : nonzero_defaults) {
+        this->registers.at(address) = value;
+    }
+}
+
+uint8_t Lsm6dsvModel::read(uint8_t address) {
+    if (not this->main_page() and address != func_cfg_access) {
+        return 0;
+    }
+
+    const uint8_t value = this->registers.at(address);
+
+    if (address >= outx_l_g and address < outx_l_a and (address & 1) != 0) {
+        this->registers.at(status_reg) &= ~gda;
+    } else if (address >= outx_l_a and address < outx_l_a + 6 and (address & 1) != 0) {
+        this->registers.at(status_reg) &= ~xlda;
+    }
+
+    return value;
+}
+
+void Lsm6dsvModel::write(uint8_t address, uint8_t value) {
+    if ((not this->main_page() and address != func_cfg_access) or not writable(address)) {
+        return;
+    }
+
+    if ((address == func_cfg_access and (value & sw_por) != 0) or (address == ctrl3 and (value & sw_reset) != 0)) {
+        this->reset();
+        this->ignoring = true;
+        return;
+    }
+
+    this->registers.at(address) = address == ctrl3 ? value & ~boot : value;
+}
+
+bool Lsm6dsvModel::main_page() const {
+    return (this->registers.at(func_cfg_access) & other_pages) == 0;
+}
+
+void Lsm6dsvModel::encode(uint8_t first, const std::array<double, 3>& values, double sensitivity) {
+    for (std::size_t axis = 0; axis < values.size(); axis++) {
+        const double counts = sensitivity > 0.0 ? std::round(values.at(axis) / sensitivity) : 0.0;
+        const auto   word = static_cast<uint16_t>(static_cast<int16_t>(std::clamp(counts, -32768.0, 32767.0)));
+        const auto   low = static_cast<std::size_t>(first + (2 * axis));
+
+        this->registers.at(low) = static_cast<uint8_t>(word);
+        this->registers.at(low + 1) = static_cast<uint8_t>(word >> 8U);
+    }
+}
+
+double Lsm6dsvModel::data_rate(uint8_t odr) const {
+    if (odr == 0 or odr > 12) {
+        return 0.0;
+    }
+
+    if (odr == 1) {
+        return 1.875;
+    }
+
+    if (odr == 2) {
+        return 7.5;
+    }
+
+    return base_rates.at(this->registers.at(haodr_cfg) & 0x03) * static_cast<double>(1U << (odr - 3U));
+}
+}  // namespace micras::models
diff --git a/hal_host/models/tests/as5047u_model_test.cpp b/hal_host/models/tests/as5047u_model_test.cpp
new file mode 100644
index 0000000..17415a7
--- /dev/null
+++ b/hal_host/models/tests/as5047u_model_test.cpp
@@ -0,0 +1,219 @@
+/**
+ * @file
+ */
+
+#include <array>
+#include <cstdint>
+
+#include <gtest/gtest.h>
+
+#include "micras/models/as5047u_model.hpp"
+
+namespace micras::models {
+namespace {
+using Frame = std::array<uint8_t, As5047uModel::frame_size>;
+
+constexpr uint32_t read_flag{1U << 22U};
+constexpr uint32_t error_flag{1U << 22U};
+
+Frame frame_of(uint32_t upper) {
+    const auto high = static_cast<uint8_t>(upper >> 16U);
+    const auto low = static_cast<uint8_t>(upper >> 8U);
+    return {high, low, As5047uModel::crc(high, low)};
+}
+
+Frame read_command(uint16_t address) {
+    return frame_of(read_flag | static_cast<uint32_t>(address) << 8U);
+}
+
+Frame write_command(uint16_t address) {
+    return frame_of(static_cast<uint32_t>(address) << 8U);
+}
+
+Frame data_frame(uint16_t data) {
+    return frame_of(static_cast<uint32_t>(data) << 8U);
+}
+
+uint32_t transfer(As5047uModel& chip, const Frame& frame) {
+    Frame received{};
+    chip.select();
+    chip.exchange(frame, received);
+    chip.deselect();
+    return static_cast<uint32_t>(std::get<0>(received)) << 16U | static_cast<uint32_t>(std::get<1>(received)) << 8U |
+           std::get<2>(received);
+}
+
+uint16_t data_of(uint32_t answer) {
+    return static_cast<uint16_t>((answer >> 8U) & 0x3FFFU);
+}
+
+bool valid(uint32_t answer) {
+    return As5047uModel::crc(static_cast<uint8_t>(answer >> 16U), static_cast<uint8_t>(answer >> 8U)) ==
+           static_cast<uint8_t>(answer);
+}
+
+uint16_t read_register(As5047uModel& chip, uint16_t address) {
+    transfer(chip, read_command(address));
+    return data_of(transfer(chip, read_command(As5047uModel::nop_address)));
+}
+
+void write_register(As5047uModel& chip, uint16_t address, uint16_t data) {
+    transfer(chip, write_command(address));
+    transfer(chip, data_frame(data));
+}
+
+TEST(As5047uModel, AnswersInSpiMode1) {
+    const As5047uModel chip;
+
+    EXPECT_EQ(chip.mode(), hal::host::SpiDevice::Mode::MODE_1);
+}
+
+TEST(As5047uModel, ComputesTheFrameCrc) {
+    EXPECT_EQ(As5047uModel::crc(0x00, 0x00), 0xF1);
+    EXPECT_EQ(As5047uModel::crc(0x40, 0x01), 0x06);
+    EXPECT_EQ(As5047uModel::crc(0x40, 0x1A), 0x04);
+    EXPECT_EQ(As5047uModel::crc(0x00, 0x80), 0xD7);
+}
+
+TEST(As5047uModel, PowersOnWithZeroedRegistersAndAnEmptyAnswer) {
+    As5047uModel chip;
+
+    for (const uint16_t address :
+         {As5047uModel::errfl_address, As5047uModel::disable_address, As5047uModel::zposm_address,
+          As5047uModel::zposl_address, As5047uModel::settings1_address, As5047uModel::settings2_address,
+          As5047uModel::settings3_address, As5047uModel::ecc_address}) {
+        EXPECT_EQ(chip.peek(address), 0) << "register " << address;
+    }
+
+    EXPECT_EQ(transfer(chip, read_command(As5047uModel::nop_address)), 0x0000F1U);
+}
+
+TEST(As5047uModel, AnswersEachFrameInTheNextOne) {
+    As5047uModel chip;
+    write_register(chip, As5047uModel::settings3_address, 0x80);
+    write_register(chip, As5047uModel::zposm_address, 0x12);
+
+    transfer(chip, read_command(As5047uModel::settings3_address));
+    const uint32_t settings3 = transfer(chip, read_command(As5047uModel::zposm_address));
+    const uint32_t zposm = transfer(chip, read_command(As5047uModel::nop_address));
+
+    EXPECT_EQ(data_of(settings3), 0x80);
+    EXPECT_EQ(data_of(zposm), 0x12);
+    EXPECT_TRUE(valid(settings3));
+    EXPECT_TRUE(valid(zposm));
+}
+
+TEST(As5047uModel, WritesWithACommandAndADataFrame) {
+    As5047uModel chip;
+    write_register(chip, As5047uModel::settings2_address, 0x04);
+
+    transfer(chip, write_command(As5047uModel::settings2_address));
+    const uint32_t old_content = transfer(chip, data_frame(0x21));
+    const uint32_t new_content = transfer(chip, read_command(As5047uModel::nop_address));
+
+    EXPECT_EQ(data_of(old_content), 0x04);
+    EXPECT_EQ(data_of(new_content), 0x21);
+    EXPECT_EQ(chip.peek(As5047uModel::settings2_address), 0x21);
+}
+
+TEST(As5047uModel, HoldsEveryVolatileRegister) {
+    As5047uModel chip;
+    uint16_t     value = 0x11;
+
+    for (const uint16_t address :
+         {As5047uModel::disable_address, As5047uModel::zposm_address, As5047uModel::zposl_address,
+          As5047uModel::settings1_address, As5047uModel::settings2_address, As5047uModel::settings3_address,
+          As5047uModel::ecc_address}) {
+        write_register(chip, address, value);
+        EXPECT_EQ(read_register(chip, address), value) << "register " << address;
+        value += 0x11;
+    }
+}
+
+TEST(As5047uModel, IgnoresWritesToOtherAddresses) {
+    As5047uModel chip;
+
+    write_register(chip, As5047uModel::errfl_address, 0x7F);
+    write_register(chip, 0x3FFF, 0x7F);
+
+    EXPECT_EQ(chip.peek(As5047uModel::errfl_address), 0);
+    EXPECT_EQ(read_register(chip, 0x3FFF), 0);
+}
+
+TEST(As5047uModel, RejectsAFrameWithAWrongCrc) {
+    As5047uModel chip;
+    Frame        command = write_command(As5047uModel::settings3_address);
+    std::get<2>(command) ^= 0x01;
+
+    transfer(chip, command);
+    const uint32_t after_error = transfer(chip, data_frame(0x80));
+
+    EXPECT_EQ(chip.peek(As5047uModel::settings3_address), 0);
+    EXPECT_EQ(chip.peek(As5047uModel::errfl_address), As5047uModel::crc_error);
+    EXPECT_NE(after_error & error_flag, 0U);
+    EXPECT_TRUE(valid(after_error));
+}
+
+TEST(As5047uModel, DropsAWriteWhoseDataFrameHasAWrongCrc) {
+    As5047uModel chip;
+    Frame        data = data_frame(0x80);
+    std::get<2>(data) ^= 0x80;
+
+    transfer(chip, write_command(As5047uModel::settings3_address));
+    transfer(chip, data);
+    transfer(chip, data_frame(0x80));
+
+    EXPECT_EQ(chip.peek(As5047uModel::settings3_address), 0);
+    EXPECT_EQ(chip.peek(As5047uModel::errfl_address), As5047uModel::crc_error);
+}
+
+TEST(As5047uModel, ClearsTheErrorFlagsWhenErrflIsRead) {
+    As5047uModel chip;
+    Frame        command = read_command(As5047uModel::settings3_address);
+    std::get<0>(command) ^= 0x01;
+    transfer(chip, command);
+
+    transfer(chip, read_command(As5047uModel::errfl_address));
+    const uint32_t errfl = transfer(chip, read_command(As5047uModel::nop_address));
+    const uint32_t after = transfer(chip, read_command(As5047uModel::nop_address));
+
+    EXPECT_EQ(data_of(errfl), As5047uModel::crc_error);
+    EXPECT_NE(errfl & error_flag, 0U);
+    EXPECT_EQ(after & error_flag, 0U);
+    EXPECT_EQ(chip.peek(As5047uModel::errfl_address), 0);
+}
+
+TEST(As5047uModel, FlagsAFrameCutShortByTheChipSelect) {
+    As5047uModel                 chip;
+    const Frame                  command = write_command(As5047uModel::settings3_address);
+    const std::array<uint8_t, 2> partial{std::get<0>(command), std::get<1>(command)};
+    std::array<uint8_t, 2>       received{};
+
+    chip.select();
+    chip.exchange(partial, received);
+    chip.deselect();
+    transfer(chip, data_frame(0x80));
+
+    EXPECT_EQ(chip.peek(As5047uModel::settings3_address), 0);
+    EXPECT_EQ(chip.peek(As5047uModel::errfl_address), As5047uModel::framing_error);
+}
+
+TEST(As5047uModel, TakesAFrameSplitAcrossExchanges) {
+    As5047uModel                 chip;
+    const Frame                  command = write_command(As5047uModel::zposl_address);
+    const std::array<uint8_t, 1> first{std::get<0>(command)};
+    const std::array<uint8_t, 2> rest{std::get<1>(command), std::get<2>(command)};
+    std::array<uint8_t, 1>       first_received{};
+    std::array<uint8_t, 2>       rest_received{};
+
+    chip.select();
+    chip.exchange(first, first_received);
+    chip.exchange(rest, rest_received);
+    chip.deselect();
+    transfer(chip, data_frame(0x3F));
+
+    EXPECT_EQ(chip.peek(As5047uModel::zposl_address), 0x3F);
+    EXPECT_EQ(chip.peek(As5047uModel::errfl_address), 0);
+}
+}  // namespace
+}  // namespace micras::models
diff --git a/hal_host/models/tests/lsm6dsv_model_test.cpp b/hal_host/models/tests/lsm6dsv_model_test.cpp
new file mode 100644
index 0000000..2ca6fad
--- /dev/null
+++ b/hal_host/models/tests/lsm6dsv_model_test.cpp
@@ -0,0 +1,327 @@
+/**
+ * @file
+ */
+
+#include <array>
+#include <cstdint>
+#include <numbers>
+#include <vector>
+
+#include <gtest/gtest.h>
+
+#include "lsm6dsv_reg.h"
+#include "micras/models/lsm6dsv_model.hpp"
+
+namespace micras::models {
+namespace {
+constexpr uint8_t read_flag{0x80};
+
+std::vector<uint8_t> transact(Lsm6dsvModel& chip, std::vector<uint8_t> transmitted) {
+    std::vector<uint8_t> received(transmitted.size());
+    chip.select();
+    chip.exchange(transmitted, received);
+    chip.deselect();
+    return received;
+}
+
+void write(Lsm6dsvModel& chip, uint8_t address, uint8_t value) {
+    transact(chip, {address, value});
+}
+
+uint8_t read(Lsm6dsvModel& chip, uint8_t address) {
+    return transact(chip, {static_cast<uint8_t>(address | read_flag), 0}).at(1);
+}
+
+int16_t word(const std::vector<uint8_t>& bytes, std::size_t low) {
+    return static_cast<int16_t>(bytes.at(low) | (bytes.at(low + 1) << 8U));
+}
+
+void configure(Lsm6dsvModel& chip, uint8_t gyroscope_scale, uint8_t accelerometer_scale) {
+    write(chip, LSM6DSV_HAODR_CFG, 0x01);
+    write(chip, LSM6DSV_CTRL1, 0x1C);
+    write(chip, LSM6DSV_CTRL2, 0x1C);
+    write(chip, LSM6DSV_CTRL6, gyroscope_scale);
+    write(chip, LSM6DSV_CTRL8, accelerometer_scale);
+}
+
+std::vector<uint8_t> read_burst(Lsm6dsvModel& chip) {
+    std::vector<uint8_t> command(17);
+    command.at(0) = LSM6DSV_STATUS_REG | read_flag;
+    return transact(chip, command);
+}
+
+TEST(Lsm6dsvModel, AnswersInSpiMode3) {
+    const Lsm6dsvModel chip;
+
+    EXPECT_EQ(chip.mode(), hal::host::SpiDevice::Mode::MODE_3);
+}
+
+TEST(Lsm6dsvModel, PowersOnWithTheDatasheetDefaults) {
+    const Lsm6dsvModel chip;
+
+    for (uint8_t address = 0; address < Lsm6dsvModel::register_count; address++) {
+        uint8_t expected = 0x00;
+
+        if (address == LSM6DSV_WHO_AM_I) {
+            expected = LSM6DSV_ID;
+        } else if (address == LSM6DSV_PIN_CTRL) {
+            expected = 0x23;
+        } else if (address == LSM6DSV_CTRL3) {
+            expected = 0x44;
+        }
+
+        EXPECT_EQ(chip.peek(address), expected) << "register " << static_cast<int>(address);
+    }
+}
+
+TEST(Lsm6dsvModel, AnswersWhoAmIWithTheDeviceId) {
+    Lsm6dsvModel chip;
+
+    const std::vector<uint8_t> received = transact(chip, {LSM6DSV_WHO_AM_I | read_flag, 0xFF});
+
+    EXPECT_EQ(received.at(0), 0x00);
+    EXPECT_EQ(received.at(1), LSM6DSV_ID);
+}
+
+TEST(Lsm6dsvModel, AdvancesTheAddressAfterEveryByte) {
+    Lsm6dsvModel chip;
+
+    transact(chip, {LSM6DSV_CTRL1, 0x16, 0x1C});
+    const std::vector<uint8_t> received = transact(chip, {LSM6DSV_CTRL1 | read_flag, 0, 0});
+
+    EXPECT_EQ(received.at(1), 0x16);
+    EXPECT_EQ(received.at(2), 0x1C);
+}
+
+TEST(Lsm6dsvModel, KeepsOneTransactionAcrossSeveralExchanges) {
+    Lsm6dsvModel chip;
+    write(chip, LSM6DSV_CTRL2, 0x1C);
+
+    const std::array<uint8_t, 1> command{LSM6DSV_CTRL1 | read_flag};
+    std::array<uint8_t, 1>       ignored{};
+    const std::array<uint8_t, 2> dummy{};
+    std::array<uint8_t, 2>       received{};
+
+    chip.select();
+    chip.exchange(command, ignored);
+    chip.exchange(dummy, received);
+    chip.deselect();
+
+    EXPECT_EQ(std::get<0>(received), 0x00);
+    EXPECT_EQ(std::get<1>(received), 0x1C);
+}
+
+TEST(Lsm6dsvModel, StartsEveryTransactionWithACommand) {
+    Lsm6dsvModel chip;
+
+    transact(chip, {LSM6DSV_CTRL1, 0x16});
+    transact(chip, {LSM6DSV_CTRL2, 0x1C});
+
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL1), 0x16);
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL2), 0x1C);
+}
+
+TEST(Lsm6dsvModel, StaysOnOneRegisterWithoutAutoIncrement) {
+    Lsm6dsvModel chip;
+    write(chip, LSM6DSV_CTRL3, 0x40);
+
+    transact(chip, {LSM6DSV_CTRL1, 0x16, 0x1C});
+    const std::vector<uint8_t> received = transact(chip, {LSM6DSV_CTRL1 | read_flag, 0, 0});
+
+    EXPECT_EQ(received.at(1), 0x1C);
+    EXPECT_EQ(received.at(2), 0x1C);
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL2), 0x00);
+}
+
+TEST(Lsm6dsvModel, IgnoresWritesToReadOnlyAndReservedRegisters) {
+    Lsm6dsvModel chip;
+
+    write(chip, LSM6DSV_WHO_AM_I, 0x00);
+    write(chip, LSM6DSV_STATUS_REG, 0xFF);
+    write(chip, LSM6DSV_OUTX_L_G, 0x12);
+    write(chip, 0x04, 0x34);
+
+    EXPECT_EQ(chip.peek(LSM6DSV_WHO_AM_I), LSM6DSV_ID);
+    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
+    EXPECT_EQ(chip.peek(LSM6DSV_OUTX_L_G), 0x00);
+    EXPECT_EQ(chip.peek(0x04), 0x00);
+}
+
+TEST(Lsm6dsvModel, RestoresTheDefaultsOnASoftwarePowerOnReset) {
+    Lsm6dsvModel chip;
+    configure(chip, LSM6DSV_4000dps, LSM6DSV_8g);
+    chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
+
+    transact(chip, {LSM6DSV_FUNC_CFG_ACCESS, 0x04, 0x55});
+
+    EXPECT_EQ(chip.peek(LSM6DSV_FUNC_CFG_ACCESS), 0x00);
+    EXPECT_EQ(chip.peek(LSM6DSV_PIN_CTRL), 0x23);
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL1), 0x00);
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL2), 0x00);
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL3), 0x44);
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL6), 0x00);
+    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
+    EXPECT_EQ(chip.peek(LSM6DSV_OUTX_L_G), 0x00);
+    EXPECT_EQ(chip.peek(LSM6DSV_HAODR_CFG), 0x00);
+    EXPECT_EQ(read(chip, LSM6DSV_WHO_AM_I), LSM6DSV_ID);
+}
+
+TEST(Lsm6dsvModel, RestoresTheDefaultsOnASoftwareReset) {
+    Lsm6dsvModel chip;
+    configure(chip, LSM6DSV_4000dps, LSM6DSV_8g);
+
+    write(chip, LSM6DSV_CTRL3, 0x45);
+
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL3), 0x44);
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL2), 0x00);
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL6), 0x00);
+}
+
+TEST(Lsm6dsvModel, HidesTheMainPageWhileAnotherIsSelected) {
+    Lsm6dsvModel chip;
+
+    write(chip, LSM6DSV_FUNC_CFG_ACCESS, 0x80);
+    EXPECT_EQ(read(chip, LSM6DSV_WHO_AM_I), 0x00);
+    write(chip, LSM6DSV_CTRL1, 0x1C);
+
+    write(chip, LSM6DSV_FUNC_CFG_ACCESS, 0x00);
+    EXPECT_EQ(read(chip, LSM6DSV_WHO_AM_I), LSM6DSV_ID);
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL1), 0x00);
+}
+
+TEST(Lsm6dsvModel, IgnoresSamplesWhileTheSensorsAreOff) {
+    Lsm6dsvModel chip;
+
+    chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
+
+    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
+    EXPECT_EQ(chip.peek(LSM6DSV_OUTX_L_G), 0x00);
+    EXPECT_EQ(chip.peek(LSM6DSV_OUTX_L_A), 0x00);
+}
+
+TEST(Lsm6dsvModel, SetsTheDataReadyBitOfEachSensorThatIsOn) {
+    Lsm6dsvModel chip;
+    write(chip, LSM6DSV_CTRL2, 0x1C);
+
+    chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
+
+    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x02);
+    EXPECT_EQ(chip.peek(LSM6DSV_OUTX_L_A), 0x00);
+
+    write(chip, LSM6DSV_CTRL1, 0x1C);
+    chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
+
+    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x03);
+}
+
+TEST(Lsm6dsvModel, ClearsTheDataReadyBitsWithTheBurstThatReadsTheSample) {
+    Lsm6dsvModel chip;
+    configure(chip, LSM6DSV_4000dps, LSM6DSV_8g);
+    chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
+
+    const std::vector<uint8_t> first = read_burst(chip);
+    const std::vector<uint8_t> second = read_burst(chip);
+
+    EXPECT_EQ(first.at(1), 0x03);
+    EXPECT_EQ(second.at(1), 0x00);
+    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
+    EXPECT_EQ(word(second, 5), word(first, 5));
+}
+
+TEST(Lsm6dsvModel, ClearsEachDataReadyBitWithAHighByteOfItsSensor) {
+    Lsm6dsvModel chip;
+    configure(chip, LSM6DSV_4000dps, LSM6DSV_8g);
+    chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
+
+    read(chip, LSM6DSV_OUTX_L_G);
+    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x03);
+
+    read(chip, LSM6DSV_OUTY_H_G);
+    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x01);
+
+    read(chip, LSM6DSV_OUTZ_H_A);
+    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
+}
+
+TEST(Lsm6dsvModel, EncodesTheSampleWithTheFullScaleInTheRegisters) {
+    Lsm6dsvModel chip;
+    configure(chip, LSM6DSV_4000dps, LSM6DSV_8g);
+    chip.push_sample({1.0, -1.0, 0.0}, {9.80665, -9.80665, 0.0});
+
+    const std::vector<uint8_t> wide = read_burst(chip);
+
+    EXPECT_EQ(word(wide, 5), 409);
+    EXPECT_EQ(word(wide, 7), -409);
+    EXPECT_EQ(word(wide, 9), 0);
+    EXPECT_EQ(word(wide, 11), 4098);
+    EXPECT_EQ(word(wide, 13), -4098);
+    EXPECT_EQ(word(wide, 15), 0);
+
+    write(chip, LSM6DSV_CTRL6, LSM6DSV_125dps);
+    write(chip, LSM6DSV_CTRL8, LSM6DSV_2g);
+    chip.push_sample({1.0, 100.0, -100.0}, {9.80665, 100.0, -100.0});
+
+    const std::vector<uint8_t> narrow = read_burst(chip);
+
+    EXPECT_EQ(word(narrow, 5), 13096);
+    EXPECT_EQ(word(narrow, 7), 32767);
+    EXPECT_EQ(word(narrow, 9), -32768);
+    EXPECT_EQ(word(narrow, 11), 16393);
+    EXPECT_EQ(word(narrow, 13), 32767);
+    EXPECT_EQ(word(narrow, 15), -32768);
+}
+
+TEST(Lsm6dsvModel, GivesTheSensitivityOfEveryFullScale) {
+    Lsm6dsvModel     chip;
+    constexpr double mdps{std::numbers::pi / 180000.0};
+    constexpr double mg{0.00980665};
+
+    const std::array<std::pair<uint8_t, double>, 6> gyroscope{{
+        {LSM6DSV_125dps, 4.375},
+        {LSM6DSV_250dps, 8.75},
+        {LSM6DSV_500dps, 17.5},
+        {LSM6DSV_1000dps, 35.0},
+        {LSM6DSV_2000dps, 70.0},
+        {LSM6DSV_4000dps, 140.0},
+    }};
+    const std::array<std::pair<uint8_t, double>, 4> accelerometer{{
+        {LSM6DSV_2g, 0.061},
+        {LSM6DSV_4g, 0.122},
+        {LSM6DSV_8g, 0.244},
+        {LSM6DSV_16g, 0.488},
+    }};
+
+    for (const auto& [code, sensitivity] : gyroscope) {
+        write(chip, LSM6DSV_CTRL6, code);
+        EXPECT_DOUBLE_EQ(chip.gyroscope_sensitivity(), sensitivity * mdps);
+    }
+
+    for (const auto& [code, sensitivity] : accelerometer) {
+        write(chip, LSM6DSV_CTRL8, code);
+        EXPECT_DOUBLE_EQ(chip.accelerometer_sensitivity(), sensitivity * mg);
+    }
+}
+
+TEST(Lsm6dsvModel, DecodesTheOutputDataRates) {
+    Lsm6dsvModel chip;
+
+    EXPECT_EQ(chip.gyroscope_data_rate(), 0.0);
+    EXPECT_EQ(chip.accelerometer_data_rate(), 0.0);
+
+    write(chip, LSM6DSV_CTRL2, 0x10 | (LSM6DSV_ODR_HA01_AT_8000Hz & 0x0F));
+    write(chip, LSM6DSV_CTRL1, 0x10 | (LSM6DSV_ODR_HA01_AT_125Hz & 0x0F));
+
+    EXPECT_EQ(chip.gyroscope_data_rate(), 7680.0);
+
+    write(chip, LSM6DSV_HAODR_CFG, 0x01);
+    EXPECT_EQ(chip.gyroscope_data_rate(), 8000.0);
+    EXPECT_EQ(chip.accelerometer_data_rate(), 125.0);
+
+    write(chip, LSM6DSV_HAODR_CFG, 0x02);
+    EXPECT_EQ(chip.gyroscope_data_rate(), 6400.0);
+
+    write(chip, LSM6DSV_CTRL1, LSM6DSV_ODR_AT_1Hz875);
+    EXPECT_EQ(chip.accelerometer_data_rate(), 1.875);
+}
+}  // namespace
+}  // namespace micras::models

From 4da4dac73f6c45de4b4cf8454b44376dc3717eaf Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 03:31:15 -0300
Subject: [PATCH 22/52] =?UTF-8?q?=E2=9C=A8=20Start=20the=20recording=20onc?=
 =?UTF-8?q?e=20every=20column=20source=20is=20ready?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

A column source may name its columns only once the run has gone some way: the
firmware's variables exist once its robot is constructed, which a real chip
driver's start-up waits delay by several ticks. ColumnSource::ready says so, the
recorder writes no row before every source is ready, and the Micras variables are
ready once Micras::get_instance() returns the robot. A source that is ready from
the start records as before.
---
 .../micras/sim/recording/column_source.hpp    | 14 +++--
 .../micras/sim/recording/csv_recorder.hpp     |  9 ++--
 engine/src/recording/csv_recorder.cpp         |  4 ++
 .../micras/sim/micras/pool_variables.hpp      |  7 +++
 targets/micras/src/pool_variables.cpp         |  6 ++-
 tests/unit/csv_recorder_test.cpp              | 52 +++++++++++++++++++
 6 files changed, 84 insertions(+), 8 deletions(-)

diff --git a/engine/include/micras/sim/recording/column_source.hpp b/engine/include/micras/sim/recording/column_source.hpp
index 59798bf..6a6f658 100644
--- a/engine/include/micras/sim/recording/column_source.hpp
+++ b/engine/include/micras/sim/recording/column_source.hpp
@@ -16,9 +16,10 @@ namespace micras::sim {
 /**
  * @brief A block of CSV columns the recorder writes after the ground truth.
  *
- * @note names() is asked once, when the first row is written, so a source whose
- *       columns depend on something the firmware reports during the first tick
- *       can still name them.
+ * @note names() is asked once, when the first row is written, and no row is
+ *       written before every source is ready, so a source whose columns depend
+ *       on something the firmware reports only once it has started, such as the
+ *       variables its robot registers, can still name them.
  */
 class ColumnSource {
 public:
@@ -31,6 +32,13 @@ class ColumnSource {
 
     virtual ~ColumnSource() = default;
 
+    /**
+     * @brief Check whether the source can name its columns and fill them.
+     *
+     * @return True once it can; always true unless the source says otherwise.
+     */
+    virtual bool ready() const { return true; }
+
     /**
      * @brief Get the column names, in the order append() fills them.
      *
diff --git a/engine/include/micras/sim/recording/csv_recorder.hpp b/engine/include/micras/sim/recording/csv_recorder.hpp
index 9bde86e..544d098 100644
--- a/engine/include/micras/sim/recording/csv_recorder.hpp
+++ b/engine/include/micras/sim/recording/csv_recorder.hpp
@@ -22,9 +22,10 @@ namespace micras::sim {
  * @brief Samples the simulation state once per firmware tick into a CSV file.
  *
  * @note A row is the ground truth, then every column source in the order it
- *       was added. The header is written with the first row, so a source may
- *       learn its column names during the first tick. Two sources naming the
- *       same column is an error, not a second column nobody can tell apart.
+ *       was added. The header is written with the first row, and the first row
+ *       is the first one due once every source is ready, so a source may learn
+ *       its column names while the run goes. Two sources naming the same column
+ *       is an error, not a second column nobody can tell apart.
  */
 class CsvRecorder : public IRunListener {
 public:
@@ -48,7 +49,7 @@ class CsvRecorder : public IRunListener {
     void add_source(ColumnSource& source);
 
     /**
-     * @brief Write one CSV row for the current simulation state.
+     * @brief Write one CSV row for the current simulation state, unless a source is not ready yet.
      *
      * @param tick Index of the firmware tick that was just executed.
      */
diff --git a/engine/src/recording/csv_recorder.cpp b/engine/src/recording/csv_recorder.cpp
index 92f7cf6..ee11b4e 100644
--- a/engine/src/recording/csv_recorder.cpp
+++ b/engine/src/recording/csv_recorder.cpp
@@ -54,6 +54,10 @@ void CsvRecorder::on_after_tick(const Simulation& simulation) {
 
 void CsvRecorder::sample(uint64_t tick) {
     if (not this->header_written) {
+        if (not std::ranges::all_of(this->sources, [](const ColumnSource* source) { return source->ready(); })) {
+            return;
+        }
+
         this->write_header();
     }
 
diff --git a/targets/micras/include/micras/sim/micras/pool_variables.hpp b/targets/micras/include/micras/sim/micras/pool_variables.hpp
index 91659ad..b306b08 100644
--- a/targets/micras/include/micras/sim/micras/pool_variables.hpp
+++ b/targets/micras/include/micras/sim/micras/pool_variables.hpp
@@ -26,6 +26,13 @@ namespace micras::sim {
  */
 class PoolVariables : public ColumnSource, public VariableSource {
 public:
+    /**
+     * @brief Check whether the firmware has constructed its robot, whose pool holds the variables.
+     *
+     * @return True once it has.
+     */
+    bool ready() const override;
+
     /**
      * @brief Get the column names.
      *
diff --git a/targets/micras/src/pool_variables.cpp b/targets/micras/src/pool_variables.cpp
index 3bce9d8..a31d920 100644
--- a/targets/micras/src/pool_variables.cpp
+++ b/targets/micras/src/pool_variables.cpp
@@ -75,13 +75,17 @@ const Micras& robot() {
     const Micras* micras = Micras::get_instance();
 
     if (micras == nullptr) {
-        throw std::runtime_error("the firmware did not construct its robot during the first tick");
+        throw std::runtime_error("the firmware has not constructed its robot yet");
     }
 
     return *micras;
 }
 }  // namespace
 
+bool PoolVariables::ready() const {
+    return Micras::get_instance() != nullptr;
+}
+
 std::vector<std::string> PoolVariables::names() {
     std::vector<std::string> columns{"state"};
     this->recorded.clear();
diff --git a/tests/unit/csv_recorder_test.cpp b/tests/unit/csv_recorder_test.cpp
index fe25837..39de5d8 100644
--- a/tests/unit/csv_recorder_test.cpp
+++ b/tests/unit/csv_recorder_test.cpp
@@ -49,6 +49,23 @@ class FixedColumns : public ColumnSource {
     std::size_t cells_per_row;
 };
 
+/**
+ * @brief A column source that can name its columns only once it is told it can.
+ */
+class LateColumns : public FixedColumns {
+public:
+    LateColumns() : FixedColumns{2} { }
+
+    std::vector<std::string> names() override { return {"third", "fourth"}; }
+
+    bool ready() const override { return this->started; }
+
+    void start() { this->started = true; }
+
+private:
+    bool started{false};
+};
+
 class Recording : public testing::Test {
 protected:
     void SetUp() override {
@@ -56,6 +73,20 @@ class Recording : public testing::Test {
         this->world.reset();
     }
 
+    /**
+     * @brief Read back every line of the CSV.
+     */
+    std::vector<std::string> lines() const {
+        std::ifstream            file(this->path);
+        std::vector<std::string> read;
+
+        for (std::string line; std::getline(file, line);) {
+            read.push_back(line);
+        }
+
+        return read;
+    }
+
     /**
      * @brief Read back the first line of the CSV.
      */
@@ -111,6 +142,27 @@ TEST_F(Recording, AppendsTheSourcesAfterTheGroundTruth) {
     EXPECT_TRUE(this->header().ends_with(",iterations,first,second"));
 }
 
+TEST_F(Recording, WritesNoRowBeforeEverySourceIsReady) {
+    FixedColumns early(2);
+    LateColumns  late;
+
+    {
+        CsvRecorder recorder(this->world, tiny_config(), this->path);
+        recorder.add_source(early);
+        recorder.add_source(late);
+        recorder.sample(1);
+        recorder.sample(2);
+        late.start();
+        recorder.sample(3);
+    }
+
+    const std::vector<std::string> written = this->lines();
+
+    ASSERT_EQ(written.size(), 2U);
+    EXPECT_TRUE(written.at(0).starts_with("tick,"));
+    EXPECT_TRUE(written.at(1).starts_with("3,"));
+}
+
 TEST_F(Recording, RejectsASourceThatFillsTooFewCells) {
     FixedColumns source(1);
     CsvRecorder  recorder(this->world, tiny_config(), this->path);

From eca6d1317b7cf227b0ff0a6cb4d52f6f1021d6d3 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 03:45:18 -0300
Subject: [PATCH 23/52] =?UTF-8?q?=E2=9C=A8=20Run=20the=20firmware's=20own?=
 =?UTF-8?q?=20SPI=20chip=20proxies=20over=20the=20chip=20models?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The Micras target now compiles the firmware's imu.cpp and rotary_sensor.cpp and
ST's lsm6dsv_reg.c, and its own replacements are gone. The bindings attach an
Lsm6dsvModel and two As5047uModels to hspi3 by the chip selects target.hpp names,
and turn each sample of the IMU device back into rad/s and m/s^2 for
Lsm6dsvModel::push_sample; the encoders' position stays on the timer encoders.
The sample port had no other user and is deleted. The firmware's objects outlive
the target, so unwire forgets the ports and with them the chips.

Recorded as baselines/v2, the gate's baseline now, because the behavior moved:
- the real Imu reads the burst it started one update() earlier, so a sample
  reaches the firmware one loop later;
- its constructor waits 10 ms, then 30 ms after the software power-on reset, so
  the robot exists 40 ms into the run: INIT and IDLE move from 0.000125 s and
  0.00025 s to 0.040125 s and 0.04025 s, and the CSV starts at tick 320;
- the scale of every IMU reading comes from the full scale the firmware wrote
  into CTRL6 and CTRL8.
Every value stays within v1's tolerances: the explore reaches the goal at
26.891 s instead of 26.880 s, with a maximum pose error of 12.90 mm instead of
12.78 mm.
---
 CMakeLists.txt                                |   1 -
 cmake/third_party.cmake                       |   5 +-
 hal_host/include/micras/hal/host/board.hpp    |   8 -
 hal_host/include/micras/hal/host/ports.hpp    |  21 --
 hal_host/src/board.cpp                        |  35 +---
 targets/micras/CMakeLists.txt                 |  26 +--
 .../micras/baselines/v2/explore/summary.json  |  58 ++++++
 targets/micras/baselines/v2/idle/summary.json |  42 ++++
 .../include/micras/sim/micras/bindings.hpp    |  10 +-
 .../micras/sim/micras/micras_target.hpp       |  33 ++-
 targets/micras/justfile                       |   2 +-
 targets/micras/proxy/imu.cpp                  |  80 --------
 targets/micras/proxy/rotary_sensor.cpp        |  64 ------
 targets/micras/src/bindings.cpp               |  38 ++--
 targets/micras/src/micras_target.cpp          |   4 +-
 targets/micras/tests/CMakeLists.txt           |   5 +-
 targets/micras/tests/unit/spi_chips_test.cpp  | 189 ++++++++++++++++++
 17 files changed, 385 insertions(+), 236 deletions(-)
 create mode 100644 targets/micras/baselines/v2/explore/summary.json
 create mode 100644 targets/micras/baselines/v2/idle/summary.json
 delete mode 100644 targets/micras/proxy/imu.cpp
 delete mode 100644 targets/micras/proxy/rotary_sensor.cpp
 create mode 100644 targets/micras/tests/unit/spi_chips_test.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index da80315..e997c43 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -172,7 +172,6 @@ file(GLOB_RECURSE HARNESS_SOURCES CONFIGURE_DEPENDS
     "${CMAKE_CURRENT_SOURCE_DIR}/app/*.cpp"
     "${CMAKE_CURRENT_SOURCE_DIR}/tests/*.cpp"
     "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/src/*.cpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/proxy/*.cpp"
     "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/cube/*.cpp"
     "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/tests/*.cpp"
     "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/tools/*.cpp"
diff --git a/cmake/third_party.cmake b/cmake/third_party.cmake
index f5665ad..c45d10d 100644
--- a/cmake/third_party.cmake
+++ b/cmake/third_party.cmake
@@ -17,8 +17,9 @@ FetchContent_Declare(tomlplusplus
 )
 FetchContent_MakeAvailable(tomlplusplus)
 
-# ST's register driver of the LSM6DSV, the tag the firmware fetches. Only its header
-# is used: the IMU proxy's configuration names the driver's enums.
+# ST's register driver of the LSM6DSV, the tag the firmware fetches. The IMU proxy's
+# configuration names the driver's enums, and a robot target that compiles the proxy
+# compiles the driver's source too.
 FetchContent_Declare(lsm6dsv
     GIT_REPOSITORY https://github.com/STMicroelectronics/lsm6dsv-pid.git
     GIT_TAG        v5.1.1
diff --git a/hal_host/include/micras/hal/host/board.hpp b/hal_host/include/micras/hal/host/board.hpp
index 193413e..9e90397 100644
--- a/hal_host/include/micras/hal/host/board.hpp
+++ b/hal_host/include/micras/hal/host/board.hpp
@@ -87,14 +87,6 @@ class Board {
      */
     static EncoderPort& encoder(const void* timer);
 
-    /**
-     * @brief Get a named sample port, for a swapped chip driver.
-     *
-     * @param name Name both sides agree on.
-     * @return The port.
-     */
-    static SamplePort& samples(std::string_view name);
-
     /**
      * @brief Get the port of one chip select of an SPI bus.
      *
diff --git a/hal_host/include/micras/hal/host/ports.hpp b/hal_host/include/micras/hal/host/ports.hpp
index 11ef9c1..c9ec81c 100644
--- a/hal_host/include/micras/hal/host/ports.hpp
+++ b/hal_host/include/micras/hal/host/ports.hpp
@@ -7,7 +7,6 @@
 #ifndef MICRAS_HAL_HOST_PORTS_HPP
 #define MICRAS_HAL_HOST_PORTS_HPP
 
-#include <array>
 #include <cstddef>
 #include <cstdint>
 #include <deque>
@@ -230,26 +229,6 @@ struct EncoderPort : Port {
     int32_t count{0};
 };
 
-/**
- * @brief Samples a swapped chip driver reads, such as an inertial measurement unit's.
- */
-struct SamplePort : Port {
-    /**
-     * @brief Largest number of values one sample holds.
-     */
-    static constexpr std::size_t max_values{16};
-
-    /**
-     * @brief Latest sample.
-     */
-    std::array<float, max_values> values{};
-
-    /**
-     * @brief Incremented with every new sample.
-     */
-    uint32_t sequence{0};
-};
-
 /**
  * @brief One chip select of an SPI bus, and the device behind it.
  *
diff --git a/hal_host/src/board.cpp b/hal_host/src/board.cpp
index 5d53e31..f309a54 100644
--- a/hal_host/src/board.cpp
+++ b/hal_host/src/board.cpp
@@ -27,18 +27,17 @@ using SpiKey = std::tuple<const void*, const void*, uint16_t>;
  * @brief Every port and name, created on first use.
  */
 struct Registry {
-    std::map<Key, GpioPort>                        gpios;
-    std::map<Key, PwmPort>                         pwms;
-    std::map<Key, PwmDmaPort>                      pwm_dmas;
-    std::map<const void*, AdcPort>                 adcs;
-    std::map<const void*, UartPort>                uarts;
-    std::map<const void*, EncoderPort>             encoders;
-    std::map<std::string, SamplePort, std::less<>> samples;
-    std::map<SpiKey, SpiPort>                      spis;
-    std::map<Key, std::string>                     gpio_names;
-    std::map<const void*, std::string>             handle_names;
-    FlashPort                                      flash{{.name = "flash"}};
-    McuPort                                        mcu{{.name = "mcu"}};
+    std::map<Key, GpioPort>            gpios;
+    std::map<Key, PwmPort>             pwms;
+    std::map<Key, PwmDmaPort>          pwm_dmas;
+    std::map<const void*, AdcPort>     adcs;
+    std::map<const void*, UartPort>    uarts;
+    std::map<const void*, EncoderPort> encoders;
+    std::map<SpiKey, SpiPort>          spis;
+    std::map<Key, std::string>         gpio_names;
+    std::map<const void*, std::string> handle_names;
+    FlashPort                          flash{{.name = "flash"}};
+    McuPort                            mcu{{.name = "mcu"}};
 };
 
 /**
@@ -126,17 +125,6 @@ EncoderPort& Board::encoder(const void* timer) {
     return find_or_create(registry().encoders, timer, [timer] { return handle_name(timer) + " encoder"; });
 }
 
-SamplePort& Board::samples(std::string_view name) {
-    auto found = registry().samples.find(name);
-
-    if (found == registry().samples.end()) {
-        found = registry().samples.emplace(std::string{name}, SamplePort{}).first;
-        found->second.name = std::string{name};
-    }
-
-    return found->second;
-}
-
 SpiPort& Board::spi(const void* spi, const void* cs_port, uint16_t cs_pin) {
     return find_or_create(registry().spis, SpiKey{spi, cs_port, cs_pin}, [spi, cs_port, cs_pin] {
         return std::format("{} {}", handle_name(spi), gpio_name(Key{cs_port, cs_pin}));
@@ -190,7 +178,6 @@ std::vector<std::string> Board::unbound() {
     collect(registry().adcs);
     collect(registry().uarts);
     collect(registry().encoders);
-    collect(registry().samples);
     collect(registry().spis);
 
     return names;
diff --git a/targets/micras/CMakeLists.txt b/targets/micras/CMakeLists.txt
index cdd8477..2187d13 100644
--- a/targets/micras/CMakeLists.txt
+++ b/targets/micras/CMakeLists.txt
@@ -23,10 +23,12 @@ add_custom_target(micras_firmware_sha
 ## The firmware, compiled for the host
 ###############################################################################
 
-# Everything but micras_hal, which hal_host replaces, and the proxies of the two SPI
-# chips, which proxy/ replaces. FmacFilter is unused and needs the FMAC. The firmware's
-# own main is compiled under another name, and the simulator runs it on the firmware
-# thread.
+# Everything but micras_hal, which hal_host replaces, and FmacFilter, which is unused
+# and needs the FMAC. The proxies of the two SPI chips talk to the chip models over the
+# host SPI, through ST's register driver of the LSM6DSV, which is C. The firmware's own
+# main is compiled under another name, and the simulator runs it on the firmware thread.
+enable_language(C)
+
 file(GLOB MICRAS_FIRMWARE_SOURCES CONFIGURE_DEPENDS
     "${MICRAS_FIRMWARE_DIR}/micras_core/src/*.cpp"
     "${MICRAS_FIRMWARE_DIR}/micras_nav/src/*.cpp"
@@ -36,21 +38,20 @@ file(GLOB MICRAS_FIRMWARE_SOURCES CONFIGURE_DEPENDS
     "${MICRAS_FIRMWARE_DIR}/src/states/*.cpp"
     "${MICRAS_FIRMWARE_DIR}/config/*.cpp"
 )
-list(REMOVE_ITEM MICRAS_FIRMWARE_SOURCES
-    "${MICRAS_FIRMWARE_DIR}/micras_proxy/src/imu.cpp"
-    "${MICRAS_FIRMWARE_DIR}/micras_proxy/src/rotary_sensor.cpp"
-    "${MICRAS_FIRMWARE_DIR}/micras_proxy/src/fmac_filter.cpp"
-)
+list(REMOVE_ITEM MICRAS_FIRMWARE_SOURCES "${MICRAS_FIRMWARE_DIR}/micras_proxy/src/fmac_filter.cpp")
 set_source_files_properties("${MICRAS_FIRMWARE_DIR}/src/main.cpp"
     PROPERTIES COMPILE_DEFINITIONS "main=micras_firmware_main"
 )
 
+# The firmware silences the vendor driver's warnings the same way.
+set(MICRAS_LSM6DSV_SOURCES "${lsm6dsv_SOURCE_DIR}/lsm6dsv_reg.c")
+set_source_files_properties(${MICRAS_LSM6DSV_SOURCES} PROPERTIES COMPILE_OPTIONS "-w")
+
 add_library(micras_firmware STATIC
     ${MICRAS_FIRMWARE_SOURCES}
+    ${MICRAS_LSM6DSV_SOURCES}
     ${MICRAS_SIM_HAL_HOST_SOURCES}
     cube/handles.cpp
-    proxy/imu.cpp
-    proxy/rotary_sensor.cpp
 )
 
 # The fake Cube layer comes first, so <main.h> and friends resolve to it.
@@ -68,6 +69,7 @@ target_include_directories(micras_firmware PUBLIC
 )
 target_link_libraries(micras_firmware PUBLIC lsm6dsv_headers)
 target_compile_features(micras_firmware PUBLIC cxx_std_23)
+set_target_properties(micras_firmware PROPERTIES C_STANDARD 17 C_EXTENSIONS ON)
 
 ###############################################################################
 ## The target
@@ -80,7 +82,7 @@ add_library(micras_sim_micras STATIC
 )
 target_include_directories(micras_sim_micras PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
 target_include_directories(micras_sim_micras PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/generated")
-target_link_libraries(micras_sim_micras PUBLIC micras_firmware micras::sim_app)
+target_link_libraries(micras_sim_micras PUBLIC micras_firmware micras::hal_host_models micras::sim_app)
 target_compile_definitions(micras_sim_micras PRIVATE MICRAS_TARGET_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
 target_compile_options(micras_sim_micras PRIVATE -Wall -Wextra)
 add_dependencies(micras_sim_micras micras_firmware_sha)
diff --git a/targets/micras/baselines/v2/explore/summary.json b/targets/micras/baselines/v2/explore/summary.json
new file mode 100644
index 0000000..89cc067
--- /dev/null
+++ b/targets/micras/baselines/v2/explore/summary.json
@@ -0,0 +1,58 @@
+{
+  "target": "micras",
+  "scenario": "scenarios/explore.toml",
+  "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore --flash runs/explore/flash.bin",
+  "firmware_sha": "4dac6e2c7299ca664712ef5de177e5911152ad63",
+  "mujoco_version": "3.14.0",
+  "compiler": "GNU 15.2.0",
+  "data_sha256": "5f59dfd83c042fc8e677bbf8a3a113e2ede6105c006790b80bf85c2b3ce361bc",
+  "states": [
+    [
+      0.040125,
+      "INIT"
+    ],
+    [
+      0.04025,
+      "IDLE"
+    ],
+    [
+      0.760125,
+      "WAIT_FOR_RUN"
+    ],
+    [
+      3.76113,
+      "RUN"
+    ],
+    [
+      27.1865,
+      "SAVE"
+    ],
+    [
+      27.1866,
+      "WAIT_FOR_RUN"
+    ]
+  ],
+  "values": {
+    "ticks": 240000,
+    "warnings_total": 0,
+    "collisions": 0,
+    "goal_time": 26.890875,
+    "stopped_at": null,
+    "unbound_ports": 0,
+    "running_time": 23.425250000111852,
+    "max_pose_error": 0.012902985588711455,
+    "rms_across_error": 0.0008275610150476865
+  },
+  "tolerances": {
+    "state_time": 0.25,
+    "ticks": null,
+    "warnings_total": null,
+    "collisions": 2,
+    "goal_time": 1.0,
+    "stopped_at": 1.0,
+    "unbound_ports": null,
+    "running_time": 1.0,
+    "max_pose_error": 0.02,
+    "rms_across_error": 0.003
+  }
+}
diff --git a/targets/micras/baselines/v2/idle/summary.json b/targets/micras/baselines/v2/idle/summary.json
new file mode 100644
index 0000000..eb6200e
--- /dev/null
+++ b/targets/micras/baselines/v2/idle/summary.json
@@ -0,0 +1,42 @@
+{
+  "target": "micras",
+  "scenario": "scenarios/idle.toml",
+  "args": "--scenario scenarios/idle.toml --out runs/idle",
+  "firmware_sha": "4dac6e2c7299ca664712ef5de177e5911152ad63",
+  "mujoco_version": "3.14.0",
+  "compiler": "GNU 15.2.0",
+  "data_sha256": "d834c2f5c0602eb239237e4301564bcf6ba4d48d39e2f6dbba00072e7be88d03",
+  "states": [
+    [
+      0.040125,
+      "INIT"
+    ],
+    [
+      0.04025,
+      "IDLE"
+    ]
+  ],
+  "values": {
+    "ticks": 32000,
+    "warnings_total": 0,
+    "collisions": 0,
+    "goal_time": null,
+    "stopped_at": null,
+    "unbound_ports": 0,
+    "running_time": 0.0,
+    "max_pose_error": null,
+    "rms_across_error": null
+  },
+  "tolerances": {
+    "state_time": 0.25,
+    "ticks": null,
+    "warnings_total": null,
+    "collisions": 2,
+    "goal_time": 1.0,
+    "stopped_at": 1.0,
+    "unbound_ports": null,
+    "running_time": 1.0,
+    "max_pose_error": 0.02,
+    "rms_across_error": 0.003
+  }
+}
diff --git a/targets/micras/include/micras/sim/micras/bindings.hpp b/targets/micras/include/micras/sim/micras/bindings.hpp
index 6f66f51..6e88174 100644
--- a/targets/micras/include/micras/sim/micras/bindings.hpp
+++ b/targets/micras/include/micras/sim/micras/bindings.hpp
@@ -26,15 +26,17 @@ constexpr std::array<const char*, 4> dip_names{"fan", "racing_line", "boost", "r
  * @brief Build the board's devices and connect them to the firmware's ports.
  *
  * @note Every port is found through the firmware's own configuration in
- *       target.hpp, so a moved pin or channel moves the binding with it. Ports
- *       that only exist on the robot to talk to a chip the simulator replaces,
- *       the SPI chip selects, are marked bound without a device.
+ *       target.hpp, so a moved pin or channel moves the binding with it. The
+ *       chips are attached to their bus by the handle and the chip select the
+ *       firmware's configuration names, and the IMU device's samples go to the
+ *       IMU chip, which encodes them with the full scale the firmware wrote.
  *
  * @param context Context whose devices are added to.
  * @param world The robot and the arena.
+ * @param chips The SPI chips, which must outlive the run.
  * @return Views of the devices the panel and the scenarios drive.
  */
-MicrasBoard bind_devices(RunContext& context, const WorldInfo& world);
+MicrasBoard bind_devices(RunContext& context, const WorldInfo& world, MicrasChips& chips);
 }  // namespace micras::sim
 
 #endif  // MICRAS_SIM_MICRAS_BINDINGS_HPP
diff --git a/targets/micras/include/micras/sim/micras/micras_target.hpp b/targets/micras/include/micras/sim/micras/micras_target.hpp
index ec9fdec..8f48152 100644
--- a/targets/micras/include/micras/sim/micras/micras_target.hpp
+++ b/targets/micras/include/micras/sim/micras/micras_target.hpp
@@ -13,6 +13,8 @@
 #include <string>
 #include <vector>
 
+#include "micras/models/as5047u_model.hpp"
+#include "micras/models/lsm6dsv_model.hpp"
 #include "micras/sim/app/target.hpp"
 #include "micras/sim/devices/dc_motor.hpp"
 #include "micras/sim/devices/digital_input.hpp"
@@ -39,13 +41,31 @@ struct MicrasBoard {
     WallSensors*                 wall_sensors{nullptr};
 };
 
+/**
+ * @brief The SPI chips of the board, which the firmware talks to over hspi3.
+ */
+struct MicrasChips {
+    /**
+     * @brief The inertial measurement unit, fed with the samples of the IMU device.
+     */
+    models::Lsm6dsvModel imu;
+
+    /**
+     * @brief The magnetic encoders, whose position reaches the firmware through the timers.
+     */
+    ///@{
+    models::As5047uModel left_encoder;
+    models::As5047uModel right_encoder;
+    ///@}
+};
+
 /**
  * @brief Micras on the firmware's main branch, through the host micras_hal.
  *
  * @note The firmware runs as it does on the robot: its own main, its own proxies
  *       and its own configuration, over the host backend in hal_host/ and the
- *       fake Cube layer in cube/. Only the IMU and rotary sensor proxies are
- *       replaced, by proxy/. The host timer hands every step over to the world.
+ *       fake Cube layer in cube/. Its SPI chips are the models of
+ *       hal_host/models/. The host timer hands every step over to the world.
  */
 class MicrasTarget : public Target {
 public:
@@ -122,8 +142,12 @@ class MicrasTarget : public Target {
     Wiring wire(FirmwareThread& firmware, const WorldInfo& world) override;
 
     /**
-     * @brief Stop handing time over, name the ports the firmware used that nothing is bound to, and
-     *        save the flash when --flash asked for it.
+     * @brief Stop handing time over, name the ports the firmware used that nothing is bound to, save
+     *        the flash when --flash asked for it, and forget every port.
+     *
+     * @note The firmware's objects live until the process exits, and the SPI of the IMU ends its
+     *       last transfer when it is destroyed. Forgetting the ports detaches the chips, so that
+     *       nothing reaches them once the target that owns them is gone.
      */
     void unwire() override;
 
@@ -152,6 +176,7 @@ class MicrasTarget : public Target {
     RunContext                     run_context;
     std::filesystem::path          flash_file;
     MicrasBoard                    board;
+    MicrasChips                    chips;
     std::unique_ptr<PoolVariables> variables;
 };
 }  // namespace micras::sim
diff --git a/targets/micras/justfile b/targets/micras/justfile
index 057dc62..8e6e824 100644
--- a/targets/micras/justfile
+++ b/targets/micras/justfile
@@ -16,7 +16,7 @@ tools := root / "tools"
 free_port := python + " -c 'import socket; s = socket.socket(); s.bind((\"127.0.0.1\", 0)); print(s.getsockname()[1])'"
 
 # The current baseline version: one summary per checked run (tools/baseline.py).
-baseline := "baselines/v1"
+baseline := "baselines/v2"
 check_runs := "idle explore"
 # The checked explore is the first 30 s of the scenario: the search to the goal, where
 # the firmware saves the map, and the start of the way back.
diff --git a/targets/micras/proxy/imu.cpp b/targets/micras/proxy/imu.cpp
deleted file mode 100644
index 50d70cf..0000000
--- a/targets/micras/proxy/imu.cpp
+++ /dev/null
@@ -1,80 +0,0 @@
-/**
- * @file
- *
- * @brief Imu for the simulator: the samples come from the simulated chip, not over SPI.
- *
- * @note Replaces micras_proxy/src/imu.cpp. The real driver talks to the LSM6DSV
- *       through ST's register driver; here the simulator's IMU device writes the
- *       chip's raw output words into the "imu" sample port, gyroscope X, Y, Z then
- *       accelerometer X, Y, Z, and this file scales them with the same factors
- *       the real driver derives from the configured full scales. A new sample is
- *       one the port's sequence has not shown yet, as the chip's data ready bits
- *       say on the robot.
- */
-
-#include <cstdint>
-#include <unordered_map>
-
-#include "micras/hal/host/board.hpp"
-#include "micras/proxy/imu.hpp"
-
-namespace micras::proxy {
-namespace {
-/**
- * @brief Sequence of the last sample each Imu read.
- *
- * @note Kept outside the class because the header, shared with the robot, has no
- *       member for it.
- */
-// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables): per-object state the header has no room for.
-std::unordered_map<const Imu*, uint32_t> last_sequences;
-}  // namespace
-
-Imu::Imu(const Config& config) :
-    spi{config.spi},
-    gy_factor{
-        mdps_to_radps * 4.375F *
-        (1 << (config.gyroscope_scale == LSM6DSV_4000dps ? 5 : static_cast<uint8_t>(config.gyroscope_scale)))
-    },
-    xl_factor{mg_to_mps2 * (0.061F * (1 << static_cast<uint8_t>(config.accelerometer_scale)))},
-    initialized{this->spi.was_initialized()} {
-    hal::host::Board::samples("imu").touched = true;
-    last_sequences[this] = hal::host::Board::samples("imu").sequence;
-}
-
-void Imu::update() {
-    const hal::host::SamplePort& port = hal::host::Board::samples("imu");
-    uint32_t&                    last = last_sequences[this];
-
-    this->fresh = port.sequence != last;
-
-    if (not this->fresh) {
-        return;
-    }
-
-    last = port.sequence;
-
-    for (uint8_t axis = 0; axis < 3; axis++) {
-        this->angular_velocity.at(axis) =
-            static_cast<float>(static_cast<int16_t>(port.values.at(axis))) * this->gy_factor;
-        this->linear_acceleration.at(axis) =
-            static_cast<float>(static_cast<int16_t>(port.values.at(3 + axis))) * this->xl_factor;
-    }
-}
-
-bool Imu::is_new() const {
-    return this->fresh;
-}
-
-float Imu::get_angular_velocity(Axis axis) const {
-    return this->angular_velocity.at(static_cast<uint8_t>(axis));
-}
-
-float Imu::get_linear_acceleration(Axis axis) const {
-    return this->linear_acceleration.at(static_cast<uint8_t>(axis));
-}
-
-bool Imu::was_initialized() const {
-    return this->initialized;
-}
-}  // namespace micras::proxy
diff --git a/targets/micras/proxy/rotary_sensor.cpp b/targets/micras/proxy/rotary_sensor.cpp
deleted file mode 100644
index 8e9b8d7..0000000
--- a/targets/micras/proxy/rotary_sensor.cpp
+++ /dev/null
@@ -1,64 +0,0 @@
-/**
- * @file
- *
- * @brief RotarySensor for the simulator: no SPI register protocol, the real encoder count.
- *
- * @note Replaces micras_proxy/src/rotary_sensor.cpp. On the robot the proxy writes
- *       the AS5047U's registers over SPI, reads back the ABI resolution and then
- *       counts the ABI output with a timer in encoder mode. Here the resolution is
- *       taken from the same configured registers, as if the read back returned
- *       them, and the count comes from the host encoder the simulator's encoder
- *       device drives. The CRC and SPI members are built, as the header requires,
- *       and left unused.
- */
-
-#include <cstdint>
-#include <numbers>
-#include <optional>
-
-#include "micras/proxy/rotary_sensor.hpp"
-
-namespace micras::proxy {
-RotarySensor::RotarySensor(const Config& config) : spi{config.spi}, encoder{config.encoder}, crc{config.crc} {
-    if (not this->spi.was_initialized() or not this->encoder.was_initialized()) {
-        return;
-    }
-
-    const uint16_t pulses = pulses_per_revolution.at(config.registers.settings3.fields.ABIRES);
-
-    if (pulses == 0) {
-        return;
-    }
-
-    this->resolution = edges_per_pulse * pulses;
-    this->initialized = true;
-}
-
-float RotarySensor::get_position() const {
-    if (this->resolution == 0) {
-        return 0.0F;
-    }
-
-    return static_cast<float>(this->encoder.get_counter()) * 2.0F * std::numbers::pi_v<float> /
-           static_cast<float>(this->resolution);
-}
-
-uint32_t RotarySensor::get_resolution() const {
-    return this->resolution;
-}
-
-bool RotarySensor::was_initialized() const {
-    return this->initialized;
-}
-
-// NOLINTBEGIN(readability-convert-member-functions-to-static): the firmware's RotarySensor declares them as members.
-std::optional<uint16_t> RotarySensor::read_register(uint16_t /*address*/) {
-    return std::nullopt;
-}
-
-bool RotarySensor::write_register(uint16_t /*address*/, uint16_t /*data*/) {
-    return false;
-}
-
-// NOLINTEND(readability-convert-member-functions-to-static)
-}  // namespace micras::proxy
diff --git a/targets/micras/src/bindings.cpp b/targets/micras/src/bindings.cpp
index 953e6ef..03c62cb 100644
--- a/targets/micras/src/bindings.cpp
+++ b/targets/micras/src/bindings.cpp
@@ -87,21 +87,33 @@ DcMotor* bind_motor(
     );
 }
 
+/**
+ * @brief Attach a chip to the bus and chip select the firmware's configuration names.
+ *
+ * @param spi The firmware's configuration of the chip's SPI.
+ * @param chip The chip.
+ */
+void attach(const hal::Spi::Config& spi, hal::host::SpiDevice& chip) {
+    Board::spi_device(spi.handle, spi.cs_gpio.port, spi.cs_gpio.pin, chip);
+}
+
 /**
  * @brief Build one wheel's encoder.
  *
  * @param context Context whose devices are added to.
  * @param world The robot.
  * @param sensor The firmware's configuration of the rotary sensor.
+ * @param chip The rotary sensor's chip.
  * @param side "left" or "right".
  */
 void bind_encoder(
-    RunContext& context, const WorldInfo& world, const proxy::RotarySensor::Config& sensor, const std::string& side
+    RunContext& context, const WorldInfo& world, const proxy::RotarySensor::Config& sensor, models::As5047uModel& chip,
+    const std::string& side
 ) {
     const RobotModelNames   names = RobotModelNames::of(*world.robot);
     hal::host::EncoderPort& port = Board::encoder(sensor.encoder.handle);
     port.bound = true;
-    gpio_port(sensor.spi.cs_gpio);
+    attach(sensor.spi, chip);
 
     add(context, std::make_unique<QuadratureEncoder>(
                      context.world,
@@ -136,18 +148,17 @@ DigitalInput* bind_input(RunContext& context, const std::string& name, const hal
 }
 }  // namespace
 
-MicrasBoard bind_devices(RunContext& context, const WorldInfo& world) {
+MicrasBoard bind_devices(RunContext& context, const WorldInfo& world, MicrasChips& chips) {
     const RobotModelNames names = RobotModelNames::of(*world.robot);
     MicrasBoard           board;
 
     board.left_motor = bind_motor(context, world, locomotion_config.left_motor, "left");
     board.right_motor = bind_motor(context, world, locomotion_config.right_motor, "right");
-    bind_encoder(context, world, rotary_sensor_left_config, "left");
-    bind_encoder(context, world, rotary_sensor_right_config, "right");
+    bind_encoder(context, world, rotary_sensor_left_config, chips.left_encoder, "left");
+    bind_encoder(context, world, rotary_sensor_right_config, chips.right_encoder, "right");
 
-    hal::host::SamplePort& imu = Board::samples("imu");
-    imu.bound = true;
-    gpio_port(imu_config.spi.cs_gpio);
+    attach(imu_config.spi, chips.imu);
+    const ImuDescription& imu = world.robot->imu;
 
     add(context, std::make_unique<Imu>(
                      context.world,
@@ -155,11 +166,14 @@ MicrasBoard bind_devices(RunContext& context, const WorldInfo& world) {
                          .name = "lsm6dsv",
                          .gyro = names.gyro,
                          .accelerometer = names.accelerometer,
-                         .description = world.robot->imu,
+                         .description = imu,
                          .write =
-                             [&imu](std::span<const float> sample) {
-                                 std::ranges::copy(sample, imu.values.begin());
-                                 imu.sequence++;
+                             [&chip = chips.imu, gyro = imu.gyro_resolution,
+                              accel = imu.accel_resolution](std::span<const float> sample) {
+                                 chip.push_sample(
+                                     {sample[0] * gyro, sample[1] * gyro, sample[2] * gyro},
+                                     {sample[3] * accel, sample[4] * accel, sample[5] * accel}
+                                 );
                              },
                      },
                      context.noise
diff --git a/targets/micras/src/micras_target.cpp b/targets/micras/src/micras_target.cpp
index 3215ad2..aed289e 100644
--- a/targets/micras/src/micras_target.cpp
+++ b/targets/micras/src/micras_target.cpp
@@ -199,7 +199,7 @@ Wiring MicrasTarget::wire(FirmwareThread& firmware, const WorldInfo& world) {
     clock.configure(SystemCoreClock / 1000000);
     clock.set_handover(this->run_context.clock.us_per_tick(), [&firmware] { firmware.yield_tick(); });
 
-    this->board = bind_devices(this->run_context, world);
+    this->board = bind_devices(this->run_context, world, this->chips);
     this->variables = std::make_unique<PoolVariables>();
 
     return {
@@ -227,6 +227,8 @@ void MicrasTarget::unwire() {
         std::ofstream(this->flash_file, std::ios::binary)
             .write(std::bit_cast<const char*>(bytes.data()), static_cast<std::streamsize>(bytes.size()));
     }
+
+    hal::host::Board::reset();
 }
 
 std::vector<MetadataField> MicrasTarget::metadata() const {
diff --git a/targets/micras/tests/CMakeLists.txt b/targets/micras/tests/CMakeLists.txt
index 7471587..50f91da 100644
--- a/targets/micras/tests/CMakeLists.txt
+++ b/targets/micras/tests/CMakeLists.txt
@@ -1,12 +1,13 @@
 ###############################################################################
-## Micras target unit tests: the host micras_hal, the fake Cube layer and the SPI
-## device slot
+## Micras target unit tests: the host micras_hal, the fake Cube layer, the SPI device
+## slot and the firmware's SPI chip proxies over the chip models
 ###############################################################################
 
 include(GoogleTest)
 
 add_executable(micras_target_tests
     unit/hal_host_test.cpp
+    unit/spi_chips_test.cpp
     unit/spi_slot_test.cpp
 )
 
diff --git a/targets/micras/tests/unit/spi_chips_test.cpp b/targets/micras/tests/unit/spi_chips_test.cpp
new file mode 100644
index 0000000..8633708
--- /dev/null
+++ b/targets/micras/tests/unit/spi_chips_test.cpp
@@ -0,0 +1,189 @@
+/**
+ * @file
+ */
+
+#include <array>
+#include <cstdint>
+#include <numbers>
+#include <vector>
+
+#include <gtest/gtest.h>
+
+#include "micras/hal/crc.hpp"
+#include "micras/hal/host/board.hpp"
+#include "micras/hal/host/clock.hpp"
+#include "micras/hal/timer.hpp"
+#include "micras/models/as5047u_model.hpp"
+#include "micras/models/lsm6dsv_model.hpp"
+#include "micras/proxy/imu.hpp"
+#include "micras/proxy/rotary_sensor.hpp"
+#include "target.hpp"
+
+namespace micras::sim {
+namespace {
+using hal::host::Board;
+
+/**
+ * @brief The firmware's IMU and rotary sensor proxies, compiled as they are, over the chip models.
+ */
+class SpiChips : public testing::Test {
+protected:
+    void SetUp() override {
+        Board::reset();
+        hal::host::Clock::instance().reset();
+        hal::host::Clock::instance().configure(SystemCoreClock / 1000000);
+        hal::Timer::init();
+        MX_GPIO_Init();
+        MX_SPI3_Init();
+        MX_CRC_Init();
+    }
+
+    static void attach(const hal::Spi::Config& config, hal::host::SpiDevice& device) {
+        Board::spi_device(config.handle, config.cs_gpio.port, config.cs_gpio.pin, device);
+    }
+
+    static void wait_us(uint32_t microseconds) {
+        const uint32_t start = hal::Timer::get_counter();
+
+        while (hal::Timer::to_microseconds(hal::Timer::get_counter() - start) < microseconds) { }
+    }
+};
+
+TEST_F(SpiChips, SetsTheImuUpAsItsConfigurationSays) {
+    models::Lsm6dsvModel chip;
+    attach(imu_config.spi, chip);
+
+    const proxy::Imu imu{imu_config};
+
+    EXPECT_TRUE(imu.was_initialized());
+    EXPECT_EQ(chip.gyroscope_data_rate(), 8000.0);
+    EXPECT_EQ(chip.accelerometer_data_rate(), 8000.0);
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL6) & 0x0F, LSM6DSV_4000dps);
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL8) & 0x03, LSM6DSV_8g);
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL3) & 0x40, 0x40);
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL7) & 0x01, 0x01);
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL9) & 0x08, 0x08);
+}
+
+TEST_F(SpiChips, DelaysTheImuUntilItsChipHasStarted) {
+    models::Lsm6dsvModel chip;
+    attach(imu_config.spi, chip);
+    const uint64_t start = hal::host::Clock::instance().now();
+
+    const proxy::Imu imu{imu_config};
+    const uint64_t   elapsed_us = (hal::host::Clock::instance().now() - start) / (SystemCoreClock / 1000000);
+
+    EXPECT_TRUE(imu.was_initialized());
+    EXPECT_GE(elapsed_us, 39900U);
+    EXPECT_LT(elapsed_us, 41000U);
+}
+
+TEST_F(SpiChips, ReadsASampleOneUpdateAfterTheUpdateThatAskedForIt) {
+    models::Lsm6dsvModel chip;
+    attach(imu_config.spi, chip);
+    proxy::Imu imu{imu_config};
+
+    chip.push_sample({0.1, -0.2, 3.0}, {1.0, -2.0, 9.80665});
+    imu.update();
+
+    EXPECT_FALSE(imu.is_new());
+
+    wait_us(125);
+    imu.update();
+
+    ASSERT_TRUE(imu.is_new());
+    EXPECT_NEAR(imu.get_angular_velocity(proxy::Imu::Axis::X), 0.1, chip.gyroscope_sensitivity());
+    EXPECT_NEAR(imu.get_angular_velocity(proxy::Imu::Axis::Y), -0.2, chip.gyroscope_sensitivity());
+    EXPECT_NEAR(imu.get_angular_velocity(proxy::Imu::Axis::Z), 3.0, chip.gyroscope_sensitivity());
+    EXPECT_NEAR(imu.get_linear_acceleration(proxy::Imu::Axis::X), 1.0, chip.accelerometer_sensitivity());
+    EXPECT_NEAR(imu.get_linear_acceleration(proxy::Imu::Axis::Y), -2.0, chip.accelerometer_sensitivity());
+    EXPECT_NEAR(imu.get_linear_acceleration(proxy::Imu::Axis::Z), 9.80665, chip.accelerometer_sensitivity());
+
+    wait_us(125);
+    imu.update();
+
+    EXPECT_FALSE(imu.is_new());
+}
+
+TEST_F(SpiChips, ReadsTheSameMotionAtAnotherFullScale) {
+    proxy::Imu::Config config = imu_config;
+    config.gyroscope_scale = LSM6DSV_250dps;
+    config.accelerometer_scale = LSM6DSV_2g;
+    models::Lsm6dsvModel chip;
+    attach(config.spi, chip);
+    proxy::Imu imu{config};
+
+    chip.push_sample({0.5, 0.0, -1.5}, {0.0, 3.0, 9.80665});
+    imu.update();
+    wait_us(125);
+    imu.update();
+
+    ASSERT_TRUE(imu.is_new());
+    EXPECT_EQ(chip.peek(LSM6DSV_CTRL6) & 0x0F, LSM6DSV_250dps);
+    EXPECT_NEAR(imu.get_angular_velocity(proxy::Imu::Axis::X), 0.5, chip.gyroscope_sensitivity());
+    EXPECT_NEAR(imu.get_angular_velocity(proxy::Imu::Axis::Z), -1.5, chip.gyroscope_sensitivity());
+    EXPECT_NEAR(imu.get_linear_acceleration(proxy::Imu::Axis::Y), 3.0, chip.accelerometer_sensitivity());
+    EXPECT_NEAR(imu.get_linear_acceleration(proxy::Imu::Axis::Z), 9.80665, chip.accelerometer_sensitivity());
+}
+
+TEST_F(SpiChips, FailsTheImuWithoutItsChip) {
+    const proxy::Imu imu{imu_config};
+
+    EXPECT_FALSE(imu.was_initialized());
+}
+
+TEST_F(SpiChips, FailsTheImuInTheWrongSpiMode) {
+    proxy::Imu::Config config = imu_config;
+    config.spi.clock_polarity = SPI_POLARITY_LOW;
+    models::Lsm6dsvModel chip;
+    attach(config.spi, chip);
+
+    const proxy::Imu imu{config};
+
+    EXPECT_FALSE(imu.was_initialized());
+}
+
+TEST_F(SpiChips, SetsTheRotarySensorUpAndReadsItsResolutionBack) {
+    models::As5047uModel left_chip;
+    models::As5047uModel right_chip;
+    attach(rotary_sensor_left_config.spi, left_chip);
+    attach(rotary_sensor_right_config.spi, right_chip);
+
+    const proxy::RotarySensor left{rotary_sensor_left_config};
+    const proxy::RotarySensor right{rotary_sensor_right_config};
+
+    EXPECT_TRUE(left.was_initialized());
+    EXPECT_TRUE(right.was_initialized());
+    EXPECT_EQ(left.get_resolution(), 16384U);
+    EXPECT_EQ(left_chip.peek(models::As5047uModel::settings3_address), rotary_sensor_reg_config.settings3.raw);
+    EXPECT_EQ(left_chip.peek(models::As5047uModel::disable_address), rotary_sensor_reg_config.disable.raw);
+    EXPECT_EQ(right_chip.peek(models::As5047uModel::settings3_address), rotary_sensor_reg_config.settings3.raw);
+    EXPECT_EQ(left_chip.peek(models::As5047uModel::errfl_address), 0);
+}
+
+TEST_F(SpiChips, FailsTheRotarySensorWhoseFramesTheChipRejects) {
+    CRC_HandleTypeDef wrong_crc = hcrc;
+    wrong_crc.Init.InitValue = 0x00;
+    proxy::RotarySensor::Config config = rotary_sensor_left_config;
+    config.crc.handle = &wrong_crc;
+    models::As5047uModel chip;
+    attach(config.spi, chip);
+
+    const proxy::RotarySensor sensor{config};
+
+    EXPECT_FALSE(sensor.was_initialized());
+    EXPECT_EQ(chip.peek(models::As5047uModel::settings3_address), 0);
+    EXPECT_NE(chip.peek(models::As5047uModel::errfl_address) & models::As5047uModel::crc_error, 0);
+}
+
+TEST_F(SpiChips, ComputesTheFrameCrcAsTheCrcUnitDoes) {
+    hal::Crc crc{{.handle = &hcrc}};
+
+    for (const std::array<uint8_t, 2> bytes : std::vector<std::array<uint8_t, 2>>{
+             {0x00, 0x00}, {0x40, 0x01}, {0x40, 0x1A}, {0x00, 0x80}, {0x3F, 0xFF}, {0xC0, 0x15}
+         }) {
+        EXPECT_EQ(models::As5047uModel::crc(std::get<0>(bytes), std::get<1>(bytes)), crc.calculate(bytes) ^ 0xFFU);
+    }
+}
+}  // namespace
+}  // namespace micras::sim

From 3fcd58c127dade1d917ec42921e05b2c310997db Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 03:45:46 -0300
Subject: [PATCH 24/52] =?UTF-8?q?=F0=9F=93=9D=20Describe=20the=20SPI=20dev?=
 =?UTF-8?q?ice=20slot=20and=20the=20chip=20models?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

CLAUDE.md explains the slot (keyed by bus and chip select, one transaction per
selection, the mode check, DMA transfers timed on the host clock, why unwire
forgets the ports), the two chip models, the CSV starting once the firmware's
robot exists, and the timings the real drivers bring. The README's layout lists
hal_host/models/.
---
 CLAUDE.md | 95 ++++++++++++++++++++++++++++++++++++++++++++++---------
 README.md |  2 +-
 2 files changed, 81 insertions(+), 16 deletions(-)

diff --git a/CLAUDE.md b/CLAUDE.md
index df51116..117a4fd 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -18,9 +18,10 @@ This is enforced, not hoped for. `just micras check` runs the same scenario
 headless and with a window, with and without a video, and with a bridge nobody
 connects to, and compares each pair of CSVs as bytes (`tools/compare_run.py`).
 
-Baselines are summaries, not recordings. `targets/micras/baselines/v1/`
-holds one `summary.json` per checked run: the hash of `data.csv`, the state
-timeline, and a handful of numbers with their tolerances (`tools/baseline.py`).
+Baselines are summaries, not recordings. Each version under
+`targets/micras/baselines/` holds one `summary.json` per checked run: the hash of
+`data.csv`, the state timeline, and a handful of numbers with their tolerances
+(`tools/baseline.py`).
 On the machine that recorded it the hash matches; on another it will not, because
 the compiler, libm and the MuJoCo build all move the last bits, and the summary is
 what is compared. Two rules:
@@ -37,7 +38,7 @@ Everything is in this repository, in three layers:
 
 ```
 engine/, view/, bridge/, app/   the simulator: knows no robot and no HAL
-hal_host/                       micras_hal implemented on a PC: knows no physics
+hal_host/                       micras_hal implemented on a PC, and chip models: knows no physics
 targets/micras/                 the micromouse: firmware submodule, bindings, robot.toml
 ```
 
@@ -144,7 +145,7 @@ GLFW context current first. Without that pair the run dies with
 `hal_host/` implements every `micras_hal` class the firmware uses on a PC, and
 includes nothing but `micras_hal` headers and its own. `Board` is a registry of
 ports (`GpioPort`, `PwmPort`, `PwmDmaPort`, `AdcPort`, `UartPort`, `FlashPort`,
-`McuPort`, `EncoderPort`, `SamplePort`) **keyed by the address of the Cube handle
+`McuPort`, `EncoderPort`, `SpiPort`) **keyed by the address of the Cube handle
 or GPIO port** that names them, so the firmware's own `target.hpp` is the key:
 `.handle = &htim4` there and `Board::pwm(&htim4, ...)` in a binding reach the same
 port. Nothing in `hal_host` knows a physics engine; the target's bindings connect
@@ -164,11 +165,69 @@ PSC 274 / ARR 250, and so on), because the host `Pwm` and `Timer` compute
 frequencies and duties from those registers.
 
 Of the firmware, everything compiles unchanged except `micras_hal` (replaced by
-`hal_host`) and the proxies of the two SPI chips, `Imu` and `RotarySensor`
-(replaced by `targets/micras/proxy/`): the IMU proxy reads the IMU device's
-samples from a `SamplePort`, the rotary sensor reads `hal::Encoder`.
-`FmacFilter` is left out because nothing uses it and it needs the FMAC.
-`hal::Spi` and `hal::Encoder` exist in `hal_host`; the host SPI is chipless.
+`hal_host`), and `FmacFilter` is left out because nothing uses it and it needs
+the FMAC. The proxies of the SPI chips, `Imu` and `RotarySensor`, are the
+firmware's own, and so is ST's register driver of the LSM6DSV, compiled as C.
+
+### The SPI device slot
+
+A chip on an SPI bus is a `SpiDevice`
+(`hal_host/include/micras/hal/host/spi_device.hpp`): `select()`,
+`exchange(tx, rx)`, `deselect()` and the SPI mode it answers in. A
+binding attaches it with `Board::spi_device(handle, cs_port, cs_pin, device)`,
+**keyed by the bus and the chip select**, because `hspi3` carries the IMU and both
+encoders. The host `Spi` selects the device in `select_device`, routes every
+`transmit`, `receive` and `transmit_receive` to it, and deselects it in
+`unselect_device`, so a register read that the driver makes of two HAL calls is
+one transaction for the chip, as on the bus.
+
+- **The mode is checked on every transfer.** A device whose mode differs from the
+  one `select_device` wrote into the handle is not reached and the firmware reads
+  all ones, as from a chip clocked on the wrong edge. So is a chip select with no
+  device, which is also reported as an unbound port.
+- **`start_transfer` completes on the host clock.** The bytes are exchanged at the
+  start, and the transfer ends when the host clock passes the time its bytes take
+  at the bus's bit rate: the kernel clock the fake Cube layer writes into the
+  handle's `Instance` (125 MHz for SPI3), divided by the baud rate prescaler (32),
+  so the IMU's 17-byte burst takes 34.8 us. `get_transfer` and a `select_device`
+  that finds the bus busy end it through `on_transfer_end`, which raises the chip
+  select and sets `COMPLETE`, as the DMA interrupt does. A `select_device` on a
+  busy bus waits for it on the timer, as the firmware's own does.
+- **Blocking transfers take no time.** Only the timer costs time on the host; the
+  driver's own waits (`sleep_ms`, the encoder's 1 us deselect time) cost what they
+  cost on the robot.
+- **The firmware's objects outlive the run.** `Micras` is a static of the
+  firmware's `main`, destroyed when the process exits, after the target and its
+  chips; the IMU's `Spi` ends its last transfer then. `MicrasTarget::unwire`
+  therefore forgets every port, which detaches the chips.
+
+### The chip models
+
+`hal_host/models/` builds `micras_hal_host_models` (`micras::hal_host_models`,
+namespace `micras::models`): SPI devices that know the slot and nothing else, with
+their own unit tests. The Micras target owns one of each per chip
+(`MicrasChips`) and attaches them to `hspi3` by the chip selects `target.hpp`
+names.
+
+- **`Lsm6dsvModel`**: the 128 registers of the main page with the datasheet
+  defaults (WHO_AM_I 0x70), `SW_POR` and `SW_RESET`, auto-increment under
+  `IF_INC`, SPI mode 3. The binding turns each sample of the engine's `Imu` device
+  back into rad/s and m/s^2 and calls `push_sample`, which encodes it with the
+  **full scale in CTRL6/CTRL8, the one the firmware wrote**, and sets `GDA`/`XLDA`;
+  reading a sensor's output high byte clears its bit, so the burst that reads a
+  sample clears it. A sensor whose ODR is off ignores samples.
+- **`As5047uModel`**: 24-bit frames with the CRC-8 (polynomial 0x1D, initial 0xC4,
+  final XOR 0xFF) checked on every frame, answers pipelined by one frame, the
+  volatile registers the firmware writes and reads back (DISABLE, ZPOSM, ZPOSL,
+  SETTINGS1 to 3, ECC), ERRFL with the CRC and framing error bits, SPI mode 1. The
+  position is not modeled: it reaches the firmware through the timer encoder, as
+  on the robot.
+
+Two timings follow from the real drivers. The `Imu` reads the burst it started
+one `update()` earlier, so a sample reaches the firmware one loop after the
+update that asked for it. Its constructor waits 10 ms, then 30 ms after the
+software power-on reset, so the robot exists, and INIT starts, 40 ms into the
+run.
 
 ## The robot description
 
@@ -235,6 +294,11 @@ tick, the simulated time, the body pose and velocity. Then the robot's ground
 truth columns, then the firmware's own monitoring variables, then each device's
 columns. Two sources naming the same column is an error at the first row.
 
+The first row is the first one due once every column source is ready
+(`ColumnSource::ready`). The firmware's variables exist only once its robot is
+constructed, and the constructor takes the IMU's 40 ms of start-up waits, so
+Micras's CSV starts at tick 320, not at tick 1.
+
 - A MuJoCo free joint splits its six velocity dofs across two frames, so the
   linear columns are `vx_world`, `vy_world`, `vz_world` and the angular one is
   `wz_body`. `v_forward` is the world linear velocity projected on the body
@@ -293,7 +357,7 @@ only with intent**, in the firmware's own style, and only with changes that make
 sense on the real robot too. The simulator needs three accessors the firmware
 keeps for it: `Micras::get_instance()`, `get_variables()` and `get_state()`, for
 the variable columns, the state events and the stop conditions. Nothing else in
-the simulator reaches into the firmware.
+the simulator reaches into the firmware: every proxy is the firmware's own.
 
 ## Style
 
@@ -306,10 +370,11 @@ why. `just lint` is clean and stays clean.
 
 ## State of the port
 
-The firmware runs on the host HAL end to end. Every proxy that
-`Micras::check_initialization` checks comes up, so INIT reaches IDLE on the first
-tick. A button press starts an exploration through the firmware's own paths. The
-checked runs end with no unbound port, no watchdog expiry and no emergency stop.
+The firmware runs on the host HAL end to end, its SPI chip drivers included.
+Every proxy that `Micras::check_initialization` checks comes up: the IMU's
+start-up waits take 40 ms, and INIT reaches IDLE on the tick after it starts. A
+button press starts an exploration through the firmware's own paths. The checked
+runs end with no unbound port, no watchdog expiry and no emergency stop.
 `--flash` carries a saved map into the next run.
 
 **The whole contest runs clean on ten mazes**, which `just micras contest` shows: a
diff --git a/README.md b/README.md
index 4a8d8b4..bffad03 100644
--- a/README.md
+++ b/README.md
@@ -240,12 +240,12 @@ view/            window, panel, overlay, video
 bridge/          WebSocket server and monitor bridge
 app/             CLI and application wiring, the Target interface
 hal_host/        micras_hal implemented on a PC
+  models/          SPI chip models: the LSM6DSV IMU and the AS5047U encoders
 tests/           the engine's unit tests, on a tiny robot of their own
 tools/           analysis, baselines, run health and byte comparison
 targets/micras/  the micromouse:
   MicrasFirmware/    submodule
   cube/              the Cube layer the firmware includes, by hand
-  proxy/             the two proxies replaced: the IMU and the rotary sensors
   src/               target, bindings, variables
   robot.toml         the physical description
   scenarios/         idle, explore, explore_link, explore_solve(_all), solve(_all)

From b710cc0e8c9373e00d81f7581e80e6c7b93481d0 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 05:03:47 -0300
Subject: [PATCH 25/52] =?UTF-8?q?=E2=99=BB=EF=B8=8F=20Make=20the=20simulat?=
 =?UTF-8?q?or=20safe=20to=20add=20as=20a=20subproject?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

A project that adds the simulator with add_subdirectory keeps its own targets, cache and language
settings: the style targets are prefixed micras_sim_ and exist only at top level; the build type is
defaulted only at top level and never forced; the dependencies' switches are normal variables; paths
are anchored to the simulator's project; the engine libraries require C++23 of their consumers. The
options are named MICRAS_SIM_*, and the tests and the robot targets default to on only at top level.
MICRAS_SIM_TOOLS_DIR and MICRAS_SIM_MAZES_DIR tell a consumer where the tools and the mazes are.

ImGui's target is micras_sim_imgui. Every dependency is pinned by commit and fetched as that commit's
archive with its SHA-256, which needs no history. ST's LSM6DSV driver is declared by the Micras target,
which also adds the chip models, since only it uses them.
---
 CLAUDE.md                                     |  21 ++-
 CMakeLists.txt                                | 133 ++++++++++--------
 .../micras/sim/bridge/web_socket_server.hpp   |   2 +-
 bridge/src/web_socket_server.cpp              |   8 +-
 cmake/lint.cmake                              |  16 +--
 cmake/mujoco.cmake                            |   2 +-
 cmake/third_party.cmake                       |  67 +++++----
 hal_host/models/CMakeLists.txt                |   2 +-
 justfile                                      |   8 +-
 targets/micras/CMakeLists.txt                 |  22 ++-
 tests/CMakeLists.txt                          |   4 +-
 view/src/control_panel.cpp                    |   6 +-
 view/src/mujoco_viewer.cpp                    |   8 +-
 view/src/video_recorder.cpp                   |   8 +-
 14 files changed, 176 insertions(+), 131 deletions(-)

diff --git a/CLAUDE.md b/CLAUDE.md
index 117a4fd..49c56f9 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -62,10 +62,23 @@ name, firmware commit, loop period, options, robot file, ground truth columns an
 program, and `wire()`, which binds its devices to the host ports and returns what
 it adds to the run (`Wiring`: columns, variables, panel, overlay, scenario hooks). Its `main` is one call to `micras::sim::run`.
 
-`MICRAS_VIEWER`, `MICRAS_VIDEO`, `MICRAS_BRIDGE` and `MICRAS_TESTS` are all ON by
-default and all must still compile when OFF; `just check-options` configures
-every one of them off, because stale stubs are otherwise only found by whoever
-first tries to build without a GPU.
+`MICRAS_SIM_VIEWER`, `MICRAS_SIM_VIDEO`, `MICRAS_SIM_BRIDGE`, `MICRAS_SIM_TESTS`
+and `MICRAS_SIM_TARGETS` must all still compile when OFF; `just check-options`
+configures every one of them off, because stale stubs are otherwise only found by
+whoever first tries to build without a GPU. The first three are ON by default; the
+tests and the robot targets are ON only when the simulator is the top-level project.
+
+### Added to another project
+
+A project can add the simulator with `add_subdirectory(... EXCLUDE_FROM_ALL)` and
+build its own target against `micras::sim_app`. Nothing leaks into it: the style
+targets are the simulator's own (`micras_sim_format`, `micras_sim_format_check`,
+`micras_sim_lint`) and exist only at top level; the build type is defaulted only at
+top level, and never forced; the dependencies' switches are normal variables, not
+cache entries; paths are anchored to `PROJECT_SOURCE_DIR`/`PROJECT_BINARY_DIR`; the
+engine libraries require C++23 of whoever links them; the tests and `targets/` are
+off. `MICRAS_SIM_TOOLS_DIR` and `MICRAS_SIM_MAZES_DIR` (internal cache variables)
+name the tools and the mazes for the project's own recipes.
 
 ### The run loop
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e997c43..90420cb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,19 +1,30 @@
-cmake_minimum_required(VERSION 3.25)
-project(micras_simulation LANGUAGES CXX)
+cmake_minimum_required(VERSION 3.28...4.4)
+
+# Only a build of the simulator itself gets a default build type; a project that adds it keeps its own.
+if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR AND NOT DEFINED CMAKE_BUILD_TYPE
+   AND NOT DEFINED ENV{CMAKE_BUILD_TYPE})
+    set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "Build type")
+endif()
 
-set(CMAKE_CXX_STANDARD 23)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+project(micras_simulation LANGUAGES CXX)
 
-if(NOT CMAKE_BUILD_TYPE)
-    set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "Build type" FORCE)
+if(PROJECT_IS_TOP_LEVEL)
+    set(CMAKE_CXX_STANDARD 23)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+    set(CMAKE_CXX_EXTENSIONS OFF)
+    set(CMAKE_CXX_SCAN_FOR_MODULES OFF)
+    set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 endif()
 
-option(MICRAS_VIDEO "Build the offscreen EGL video recorder" ON)
-option(MICRAS_VIEWER "Build the live GLFW viewer" ON)
-option(MICRAS_BRIDGE "Build the WebSocket bridge to micras-monitor" ON)
-option(MICRAS_TESTS "Build the unit tests" ON)
+option(MICRAS_SIM_VIDEO "Build the offscreen EGL video recorder" ON)
+option(MICRAS_SIM_VIEWER "Build the live GLFW viewer" ON)
+option(MICRAS_SIM_BRIDGE "Build the WebSocket bridge to micras-monitor" ON)
+option(MICRAS_SIM_TESTS "Build the unit tests" ${PROJECT_IS_TOP_LEVEL})
+option(MICRAS_SIM_TARGETS "Build the robot targets of targets/" ${PROJECT_IS_TOP_LEVEL})
+
+# A project that adds the simulator runs its tools and names its mazes.
+set(MICRAS_SIM_TOOLS_DIR "${PROJECT_SOURCE_DIR}/tools" CACHE INTERNAL "The simulator's analysis and baseline tools")
+set(MICRAS_SIM_MAZES_DIR "${PROJECT_SOURCE_DIR}/engine/arenas/maze/mazes" CACHE INTERNAL "The simulator's mazes")
 
 include(cmake/mujoco.cmake)
 include(cmake/third_party.cmake)
@@ -67,7 +78,7 @@ add_library(micras::sim_view ALIAS micras_sim_view)
 target_include_directories(micras_sim_view PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/view/include")
 target_link_libraries(micras_sim_view PUBLIC micras_sim_engine)
 
-if(MICRAS_VIDEO)
+if(MICRAS_SIM_VIDEO)
     set(OpenGL_GL_PREFERENCE GLVND)
     find_package(OpenGL COMPONENTS OpenGL EGL)
 
@@ -77,10 +88,10 @@ if(MICRAS_VIDEO)
         target_link_libraries(micras_sim_view PRIVATE EGL GL)
     endif()
 
-    target_compile_definitions(micras_sim_view PRIVATE MICRAS_VIDEO)
+    target_compile_definitions(micras_sim_view PRIVATE MICRAS_SIM_VIDEO)
 endif()
 
-if(MICRAS_VIEWER)
+if(MICRAS_SIM_VIEWER)
     find_package(glfw3 QUIET)
 
     if(glfw3_FOUND)
@@ -90,8 +101,8 @@ if(MICRAS_VIEWER)
         target_link_libraries(micras_sim_view PRIVATE "${GLFW_LIBRARY}")
     endif()
 
-    target_link_libraries(micras_sim_view PRIVATE imgui)
-    target_compile_definitions(micras_sim_view PRIVATE MICRAS_VIEWER)
+    target_link_libraries(micras_sim_view PRIVATE micras_sim_imgui)
+    target_compile_definitions(micras_sim_view PRIVATE MICRAS_SIM_VIEWER)
 endif()
 
 add_library(micras_sim_bridge STATIC
@@ -102,9 +113,9 @@ add_library(micras::sim_bridge ALIAS micras_sim_bridge)
 target_include_directories(micras_sim_bridge PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/bridge/include")
 target_link_libraries(micras_sim_bridge PUBLIC micras_sim_engine)
 
-if(MICRAS_BRIDGE)
+if(MICRAS_SIM_BRIDGE)
     target_link_libraries(micras_sim_bridge PRIVATE ixwebsocket)
-    target_compile_definitions(micras_sim_bridge PRIVATE MICRAS_BRIDGE)
+    target_compile_definitions(micras_sim_bridge PRIVATE MICRAS_SIM_BRIDGE)
 endif()
 
 # The application is the only layer that knows a run can have a window, so it is
@@ -119,13 +130,16 @@ add_library(micras::sim_app ALIAS micras_sim_app)
 target_include_directories(micras_sim_app PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/app/include")
 target_link_libraries(micras_sim_app PUBLIC micras_sim_engine micras_sim_view micras_sim_bridge)
 target_compile_definitions(micras_sim_app PRIVATE
-    MICRAS_SIM_MAZES_DIR="${CMAKE_CURRENT_SOURCE_DIR}/engine/arenas/maze/mazes"
+    MICRAS_SIM_MAZES_DIR="${MICRAS_SIM_MAZES_DIR}"
     MICRAS_COMPILER_ID="${CMAKE_CXX_COMPILER_ID}"
     MICRAS_COMPILER_VERSION="${CMAKE_CXX_COMPILER_VERSION}"
     MICRAS_BUILD_TYPE="${CMAKE_BUILD_TYPE}"
 )
 
+# The public headers need C++23, so a project that adds the simulator gets it with them.
 foreach(TARGET micras_sim_engine micras_sim_view micras_sim_bridge micras_sim_app)
+    target_compile_features(${TARGET} PUBLIC cxx_std_23)
+    set_target_properties(${TARGET} PROPERTIES CXX_EXTENSIONS OFF)
     target_compile_options(${TARGET} PRIVATE -Wall -Wextra)
 endforeach()
 
@@ -143,51 +157,52 @@ file(GLOB MICRAS_SIM_HAL_HOST_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_
 ## Tests, chip models and robot targets
 ###############################################################################
 
-if(MICRAS_TESTS)
+if(MICRAS_SIM_TESTS)
     enable_testing()
     add_subdirectory(tests)
 endif()
 
-# The SPI chips a robot's bindings attach to the host HAL's buses: micras::hal_host_models.
-add_subdirectory(hal_host/models)
-
 # Every robot target is a folder of targets/ with its own CMakeLists.txt.
-file(GLOB MICRAS_SIM_TARGET_DIRS LIST_DIRECTORIES true "${CMAKE_CURRENT_SOURCE_DIR}/targets/*")
-
-foreach(target_dir IN LISTS MICRAS_SIM_TARGET_DIRS)
-    if(EXISTS "${target_dir}/CMakeLists.txt")
-        add_subdirectory("${target_dir}")
-    endif()
-endforeach()
+if(MICRAS_SIM_TARGETS)
+    file(GLOB MICRAS_SIM_TARGET_DIRS LIST_DIRECTORIES true CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/targets/*")
+
+    foreach(target_dir IN LISTS MICRAS_SIM_TARGET_DIRS)
+        if(EXISTS "${target_dir}/CMakeLists.txt")
+            add_subdirectory("${target_dir}")
+        endif()
+    endforeach()
+endif()
 
 ###############################################################################
-## Format and lint
+## Format and lint: the simulator's own, so a project that adds it keeps its own
 ###############################################################################
 
-file(GLOB_RECURSE HARNESS_SOURCES CONFIGURE_DEPENDS
-    "${CMAKE_CURRENT_SOURCE_DIR}/engine/*.cpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/hal_host/*.cpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/view/*.cpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/bridge/*.cpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/app/*.cpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/tests/*.cpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/src/*.cpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/cube/*.cpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/tests/*.cpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/tools/*.cpp"
-)
-file(GLOB_RECURSE HARNESS_HEADERS CONFIGURE_DEPENDS
-    "${CMAKE_CURRENT_SOURCE_DIR}/engine/*.hpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/hal_host/*.hpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/view/*.hpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/bridge/*.hpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/app/*.hpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/tests/*.hpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/include/*.hpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/tests/*.hpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/hal_host/*.h"
-    "${CMAKE_CURRENT_SOURCE_DIR}/targets/*/cube/*.h"
-)
-
-include(cmake/lint.cmake)
-micras_add_lint_targets(${HARNESS_SOURCES} ${HARNESS_HEADERS})
+if(PROJECT_IS_TOP_LEVEL)
+    file(GLOB_RECURSE HARNESS_SOURCES CONFIGURE_DEPENDS
+        "${PROJECT_SOURCE_DIR}/engine/*.cpp"
+        "${PROJECT_SOURCE_DIR}/hal_host/*.cpp"
+        "${PROJECT_SOURCE_DIR}/view/*.cpp"
+        "${PROJECT_SOURCE_DIR}/bridge/*.cpp"
+        "${PROJECT_SOURCE_DIR}/app/*.cpp"
+        "${PROJECT_SOURCE_DIR}/tests/*.cpp"
+        "${PROJECT_SOURCE_DIR}/targets/*/src/*.cpp"
+        "${PROJECT_SOURCE_DIR}/targets/*/cube/*.cpp"
+        "${PROJECT_SOURCE_DIR}/targets/*/tests/*.cpp"
+        "${PROJECT_SOURCE_DIR}/targets/*/tools/*.cpp"
+    )
+    file(GLOB_RECURSE HARNESS_HEADERS CONFIGURE_DEPENDS
+        "${PROJECT_SOURCE_DIR}/engine/*.hpp"
+        "${PROJECT_SOURCE_DIR}/hal_host/*.hpp"
+        "${PROJECT_SOURCE_DIR}/view/*.hpp"
+        "${PROJECT_SOURCE_DIR}/bridge/*.hpp"
+        "${PROJECT_SOURCE_DIR}/app/*.hpp"
+        "${PROJECT_SOURCE_DIR}/tests/*.hpp"
+        "${PROJECT_SOURCE_DIR}/targets/*/include/*.hpp"
+        "${PROJECT_SOURCE_DIR}/targets/*/tests/*.hpp"
+        "${PROJECT_SOURCE_DIR}/hal_host/*.h"
+        "${PROJECT_SOURCE_DIR}/targets/*/cube/*.h"
+    )
+
+    include(cmake/lint.cmake)
+    micras_add_lint_targets(${HARNESS_SOURCES} ${HARNESS_HEADERS})
+endif()
diff --git a/bridge/include/micras/sim/bridge/web_socket_server.hpp b/bridge/include/micras/sim/bridge/web_socket_server.hpp
index 5874968..49ae532 100644
--- a/bridge/include/micras/sim/bridge/web_socket_server.hpp
+++ b/bridge/include/micras/sim/bridge/web_socket_server.hpp
@@ -18,7 +18,7 @@ namespace micras::sim {
  * @brief Serves binary frames to whoever connects, and hands back what they send.
  *
  * @note A facade on purpose: it keeps IXWebSocket out of every header, and lets
- *       -DMICRAS_BRIDGE=OFF build a stub in its place. Callbacks arrive on the
+ *       -DMICRAS_SIM_BRIDGE=OFF build a stub in its place. Callbacks arrive on the
  *       server's own threads.
  */
 class WebSocketServer {
diff --git a/bridge/src/web_socket_server.cpp b/bridge/src/web_socket_server.cpp
index 533cb80..0b0b741 100644
--- a/bridge/src/web_socket_server.cpp
+++ b/bridge/src/web_socket_server.cpp
@@ -6,7 +6,7 @@
 
 #include "micras/sim/bridge/web_socket_server.hpp"
 
-#ifdef MICRAS_BRIDGE
+#ifdef MICRAS_SIM_BRIDGE
 
     #include <condition_variable>
     #include <deque>
@@ -171,7 +171,7 @@ uint64_t WebSocketServer::dropped_frames() const {
 }
 }  // namespace micras::sim
 
-#else  // MICRAS_BRIDGE
+#else  // MICRAS_SIM_BRIDGE
 
 namespace micras::sim {
 /**
@@ -186,7 +186,7 @@ WebSocketServer::~WebSocketServer() = default;
 void WebSocketServer::set_on_binary(BinaryHandler /*handler*/) { }
 
 bool WebSocketServer::start(int /*port*/, std::string& error) {
-    error = "this binary was built with -DMICRAS_BRIDGE=OFF";
+    error = "this binary was built with -DMICRAS_SIM_BRIDGE=OFF";
     return false;
 }
 
@@ -199,4 +199,4 @@ uint64_t WebSocketServer::dropped_frames() const {
 }
 }  // namespace micras::sim
 
-#endif  // MICRAS_BRIDGE
+#endif  // MICRAS_SIM_BRIDGE
diff --git a/cmake/lint.cmake b/cmake/lint.cmake
index 467bd52..b676bee 100644
--- a/cmake/lint.cmake
+++ b/cmake/lint.cmake
@@ -15,16 +15,16 @@ function(micras_add_lint_targets)
         return()
     endif()
 
-    add_custom_target(format
+    add_custom_target(micras_sim_format
         COMMAND "${CLANG_FORMAT}" -style=file -i ${SOURCES}
-        WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
+        WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
         COMMENT "Formatting harness sources"
         VERBATIM USES_TERMINAL
     )
 
-    add_custom_target(format-check
+    add_custom_target(micras_sim_format_check
         COMMAND "${CLANG_FORMAT}" -style=file --dry-run --Werror ${SOURCES}
-        WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
+        WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
         COMMENT "Checking harness formatting"
         VERBATIM USES_TERMINAL
     )
@@ -34,12 +34,12 @@ function(micras_add_lint_targets)
     # Anchored so the pinned firmware submodule headers are never linted.
     # The firmware computes the shape of every turn in a constant expression, which takes more
     # evaluation steps than clang allows by default; the step limit is the firmware's own lint's.
-    add_custom_target(lint
+    add_custom_target(micras_sim_lint
         COMMAND "${CLANG_TIDY}" --quiet --warnings-as-errors=*
-                "--header-filter=^${CMAKE_SOURCE_DIR}/(engine|view|bridge|app|tests|targets/[a-z_]+/(include|config|tests))/"
+                "--header-filter=^${PROJECT_SOURCE_DIR}/(engine|view|bridge|app|tests|targets/[a-z_]+/(include|config|tests))/"
                 --extra-arg=-fconstexpr-steps=1000000000
-                -p "${CMAKE_BINARY_DIR}" ${SOURCES}
-        WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
+                -p "${PROJECT_BINARY_DIR}" ${SOURCES}
+        WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
         COMMENT "Linting harness sources"
         VERBATIM USES_TERMINAL
     )
diff --git a/cmake/mujoco.cmake b/cmake/mujoco.cmake
index 396f8eb..ab018fd 100644
--- a/cmake/mujoco.cmake
+++ b/cmake/mujoco.cmake
@@ -33,7 +33,7 @@ find_library(MUJOCO_LIBRARY mujoco PATHS "${MUJOCO_ROOT}/lib" NO_DEFAULT_PATH NO
 
 # The release's include directory also carries the ImGui and ImPlot of its own tools,
 # newer than the ones the viewer builds with, so only its mujoco/ headers are exposed.
-set(MUJOCO_INCLUDE "${CMAKE_BINARY_DIR}/mujoco_include")
+set(MUJOCO_INCLUDE "${PROJECT_BINARY_DIR}/mujoco_include")
 file(MAKE_DIRECTORY "${MUJOCO_INCLUDE}")
 file(CREATE_LINK "${MUJOCO_ROOT}/include/mujoco" "${MUJOCO_INCLUDE}/mujoco" SYMBOLIC)
 
diff --git a/cmake/third_party.cmake b/cmake/third_party.cmake
index c45d10d..8311686 100644
--- a/cmake/third_party.cmake
+++ b/cmake/third_party.cmake
@@ -2,48 +2,43 @@
 ## Third-party dependencies, pinned and fetched at configure time
 ###############################################################################
 
+# Each is pinned by commit and fetched as the archive of that commit, checked against its SHA-256:
+# a commit cannot be cloned shallow, and a full clone of ImGui alone is 132 MB of history.
+
 include(FetchContent)
 
 FetchContent_Declare(picosha2
-    GIT_REPOSITORY https://github.com/okdshin/PicoSHA2.git
-    GIT_TAG        27fcf6979298949e8a462e16d09a0351c18fcaf2
+    URL      "https://github.com/okdshin/PicoSHA2/archive/27fcf6979298949e8a462e16d09a0351c18fcaf2.tar.gz"
+    URL_HASH "SHA256=18d82bb79c021ccf4ce58125b64691accef54237ba5194462740bacf8b39d8a9"
+    DOWNLOAD_EXTRACT_TIMESTAMP TRUE
 )
 FetchContent_MakeAvailable(picosha2)
 
-# Robot descriptions and scenarios are TOML.
+# Robot descriptions and scenarios are TOML. v3.4.0.
 FetchContent_Declare(tomlplusplus
-    GIT_REPOSITORY https://github.com/marzer/tomlplusplus.git
-    GIT_TAG        v3.4.0
+    URL      "https://github.com/marzer/tomlplusplus/archive/30172438cee64926dc41fdd9c11fb3ba5b2ba9de.tar.gz"
+    URL_HASH "SHA256=291254ffe7f2433f90deef878d0d9335534a350a958ea23ecf511b7b2277bf7f"
+    DOWNLOAD_EXTRACT_TIMESTAMP TRUE
 )
 FetchContent_MakeAvailable(tomlplusplus)
 
-# ST's register driver of the LSM6DSV, the tag the firmware fetches. The IMU proxy's
-# configuration names the driver's enums, and a robot target that compiles the proxy
-# compiles the driver's source too.
-FetchContent_Declare(lsm6dsv
-    GIT_REPOSITORY https://github.com/STMicroelectronics/lsm6dsv-pid.git
-    GIT_TAG        v5.1.1
-)
-FetchContent_MakeAvailable(lsm6dsv)
-
-add_library(lsm6dsv_headers INTERFACE)
-target_include_directories(lsm6dsv_headers SYSTEM INTERFACE "${lsm6dsv_SOURCE_DIR}")
-
-if(MICRAS_VIEWER)
-    # Neither ships a CMakeLists, so both are compiled here from their sources.
+if(MICRAS_SIM_VIEWER)
+    # Neither ships a CMakeLists, so both are compiled here from their sources. ImGui v1.91.5, ImPlot v0.16.
     FetchContent_Declare(imgui
-        GIT_REPOSITORY https://github.com/ocornut/imgui.git
-        GIT_TAG        v1.91.5
+        URL      "https://github.com/ocornut/imgui/archive/f401021d5a5d56fe2304056c391e78f81c8d4b8f.tar.gz"
+        URL_HASH "SHA256=0a363f5c9dd263233a23087c7f68b3c41a050c9c9b4cf5cf02bf843e672b3464"
+        DOWNLOAD_EXTRACT_TIMESTAMP TRUE
     )
     FetchContent_MakeAvailable(imgui)
 
     FetchContent_Declare(implot
-        GIT_REPOSITORY https://github.com/epezent/implot.git
-        GIT_TAG        v0.16
+        URL      "https://github.com/epezent/implot/archive/18c72431f8265e2b0b5378a3a73d8a883b2175ff.tar.gz"
+        URL_HASH "SHA256=4787c77e6050f3bdc19f39eecf87d5b321bd3096321142b63f8169e1aa8f9b34"
+        DOWNLOAD_EXTRACT_TIMESTAMP TRUE
     )
     FetchContent_MakeAvailable(implot)
 
-    add_library(imgui STATIC
+    add_library(micras_sim_imgui STATIC
         "${imgui_SOURCE_DIR}/imgui.cpp"
         "${imgui_SOURCE_DIR}/imgui_draw.cpp"
         "${imgui_SOURCE_DIR}/imgui_tables.cpp"
@@ -54,7 +49,7 @@ if(MICRAS_VIEWER)
         "${implot_SOURCE_DIR}/implot_items.cpp"
     )
 
-    target_include_directories(imgui SYSTEM PUBLIC
+    target_include_directories(micras_sim_imgui SYSTEM PUBLIC
         "${imgui_SOURCE_DIR}"
         "${imgui_SOURCE_DIR}/backends"
         "${implot_SOURCE_DIR}"
@@ -63,30 +58,32 @@ if(MICRAS_VIEWER)
     find_package(glfw3 QUIET)
 
     if(glfw3_FOUND)
-        target_link_libraries(imgui PUBLIC glfw)
+        target_link_libraries(micras_sim_imgui PUBLIC glfw)
     else()
         find_library(IMGUI_GLFW_LIBRARY NAMES glfw glfw3 REQUIRED)
-        target_link_libraries(imgui PUBLIC "${IMGUI_GLFW_LIBRARY}")
+        target_link_libraries(micras_sim_imgui PUBLIC "${IMGUI_GLFW_LIBRARY}")
     endif()
 endif()
 
-if(MICRAS_BRIDGE)
-    set(USE_ZLIB OFF CACHE BOOL "" FORCE)
-    set(USE_TLS OFF CACHE BOOL "" FORCE)
-    set(IXWEBSOCKET_INSTALL OFF CACHE BOOL "" FORCE)
+if(MICRAS_SIM_BRIDGE)
+    # Normal variables, which its option() calls honor (CMP0077), so nothing lands in a parent's cache. v11.4.5.
+    set(USE_ZLIB OFF)
+    set(USE_TLS OFF)
+    set(IXWEBSOCKET_INSTALL OFF)
 
     FetchContent_Declare(ixwebsocket
-        GIT_REPOSITORY https://github.com/machinezone/IXWebSocket.git
-        GIT_TAG        v11.4.5
+        URL      "https://github.com/machinezone/IXWebSocket/archive/c5a02f1066fb0fde48f80f51178429a27f689a39.tar.gz"
+        URL_HASH "SHA256=ef272693e67daef33275daa8d3685f48e8fe4dbe098338750f9dad3013016d96"
+        DOWNLOAD_EXTRACT_TIMESTAMP TRUE
     )
     FetchContent_MakeAvailable(ixwebsocket)
 endif()
 
-if(MICRAS_TESTS)
+if(MICRAS_SIM_TESTS)
     FetchContent_Declare(googletest
         GIT_REPOSITORY https://github.com/google/googletest.git
         GIT_TAG        b514bdc898e2951020cbdca1304b75f5950d1f59
     )
-    set(INSTALL_GTEST OFF CACHE BOOL "" FORCE)
+    set(INSTALL_GTEST OFF)
     FetchContent_MakeAvailable(googletest)
 endif()
diff --git a/hal_host/models/CMakeLists.txt b/hal_host/models/CMakeLists.txt
index d37754e..2e8b053 100644
--- a/hal_host/models/CMakeLists.txt
+++ b/hal_host/models/CMakeLists.txt
@@ -16,7 +16,7 @@ target_include_directories(micras_hal_host_models PUBLIC
 target_compile_features(micras_hal_host_models PUBLIC cxx_std_23)
 target_compile_options(micras_hal_host_models PRIVATE -Wall -Wextra)
 
-if(MICRAS_TESTS)
+if(MICRAS_SIM_TESTS)
     include(GoogleTest)
 
     # ST's register driver header names the registers the tests address, so a model
diff --git a/justfile b/justfile
index 8cb5b16..49ab5ed 100644
--- a/justfile
+++ b/justfile
@@ -35,21 +35,21 @@ test: build
 
 # Reformat every source in place.
 format: configured
-    cmake --build {{build_dir}} --target format
+    cmake --build {{build_dir}} --target micras_sim_format
 
 # Fail if any source is not clang-format clean.
 format-check: configured
-    cmake --build {{build_dir}} --target format-check
+    cmake --build {{build_dir}} --target micras_sim_format_check
 
 # clang-tidy over every source.
 lint: build
-    cmake --build {{build_dir}} --target lint
+    cmake --build {{build_dir}} --target micras_sim_lint
 
 # Configure every optional subsystem off, so the options stay buildable.
 check-options:
     cmake -S . -B {{build_dir}}-minimal -G Ninja -DCMAKE_BUILD_TYPE=RelWithDebInfo \
         -DCMAKE_C_COMPILER=gcc-15 -DCMAKE_CXX_COMPILER=g++-15 \
-        -DMICRAS_VIEWER=OFF -DMICRAS_VIDEO=OFF -DMICRAS_BRIDGE=OFF -DMICRAS_TESTS=OFF > /dev/null
+        -DMICRAS_SIM_VIEWER=OFF -DMICRAS_SIM_VIDEO=OFF -DMICRAS_SIM_BRIDGE=OFF -DMICRAS_SIM_TESTS=OFF > /dev/null
     cmake --build {{build_dir}}-minimal > /dev/null
 
 # Fail if anything outside targets/ names a specific robot.
diff --git a/targets/micras/CMakeLists.txt b/targets/micras/CMakeLists.txt
index 2187d13..b2ff017 100644
--- a/targets/micras/CMakeLists.txt
+++ b/targets/micras/CMakeLists.txt
@@ -19,6 +19,26 @@ add_custom_target(micras_firmware_sha
     VERBATIM
 )
 
+###############################################################################
+## ST's register driver of the LSM6DSV and the chip models
+###############################################################################
+
+# The commit of v5.1.1, the tag the firmware fetches. The IMU proxy's configuration names the
+# driver's enums, and the proxy drives the chip through the driver's source.
+include(FetchContent)
+FetchContent_Declare(lsm6dsv
+    URL      "https://github.com/STMicroelectronics/lsm6dsv-pid/archive/6ede05a3fde7eae80bc1b47affc08257191c1aba.tar.gz"
+    URL_HASH "SHA256=bed616e902886809054b34ed25d5af0624542f00ef9bb2e171fe9c525844d064"
+    DOWNLOAD_EXTRACT_TIMESTAMP TRUE
+)
+FetchContent_MakeAvailable(lsm6dsv)
+
+add_library(lsm6dsv_headers INTERFACE)
+target_include_directories(lsm6dsv_headers SYSTEM INTERFACE "${lsm6dsv_SOURCE_DIR}")
+
+# The SPI chips the bindings attach to the host HAL's buses: micras::hal_host_models.
+add_subdirectory("${PROJECT_SOURCE_DIR}/hal_host/models" "${CMAKE_CURRENT_BINARY_DIR}/hal_host_models")
+
 ###############################################################################
 ## The firmware, compiled for the host
 ###############################################################################
@@ -95,7 +115,7 @@ target_compile_options(micras_sim PRIVATE -Wall -Wextra)
 ## Tests
 ###############################################################################
 
-if(MICRAS_TESTS)
+if(MICRAS_SIM_TESTS)
     add_subdirectory(tests)
 endif()
 
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 10abbb9..c1c47a5 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -21,8 +21,8 @@ add_executable(micras_sim_tests
     unit/simulation_test.cpp
 )
 
-# The bridge tests need the real server, which -DMICRAS_BRIDGE=OFF replaces by a stub.
-if(MICRAS_BRIDGE)
+# The bridge tests need the real server, which -DMICRAS_SIM_BRIDGE=OFF replaces by a stub.
+if(MICRAS_SIM_BRIDGE)
     target_sources(micras_sim_tests PRIVATE unit/web_socket_server_test.cpp)
 endif()
 
diff --git a/view/src/control_panel.cpp b/view/src/control_panel.cpp
index 101e35a..39cb811 100644
--- a/view/src/control_panel.cpp
+++ b/view/src/control_panel.cpp
@@ -4,7 +4,7 @@
 
 #include "micras/sim/view/control_panel.hpp"
 
-#ifdef MICRAS_VIEWER
+#ifdef MICRAS_SIM_VIEWER
 
     #include <algorithm>
     #include <format>
@@ -216,10 +216,10 @@ void ControlPanel::draw_plots() {
 }
 }  // namespace micras::sim
 
-#else  // MICRAS_VIEWER
+#else  // MICRAS_SIM_VIEWER
 
 namespace micras::sim {
 ControlPanel::~ControlPanel() = default;
 }  // namespace micras::sim
 
-#endif  // MICRAS_VIEWER
+#endif  // MICRAS_SIM_VIEWER
diff --git a/view/src/mujoco_viewer.cpp b/view/src/mujoco_viewer.cpp
index d92a925..c3cdcf0 100644
--- a/view/src/mujoco_viewer.cpp
+++ b/view/src/mujoco_viewer.cpp
@@ -4,7 +4,7 @@
 
 #include "micras/sim/view/mujoco_viewer.hpp"
 
-#ifdef MICRAS_VIEWER
+#ifdef MICRAS_SIM_VIEWER
 
     #include <algorithm>
     #include <format>
@@ -405,14 +405,14 @@ void MujocoViewer::on_scroll(double offset) {
 }
 }  // namespace micras::sim
 
-#else  // MICRAS_VIEWER
+#else  // MICRAS_SIM_VIEWER
 
 namespace micras::sim {
 std::unique_ptr<MujocoViewer> MujocoViewer::create(
     MujocoWorld& /*world*/, PanelSpec /*panel*/, const VariableSource* /*variables*/, const ViewerConfig& /*config*/,
     std::string& error
 ) {
-    error = "this binary was built with -DMICRAS_VIEWER=OFF";
+    error = "this binary was built with -DMICRAS_SIM_VIEWER=OFF";
     return nullptr;
 }
 
@@ -433,4 +433,4 @@ void MujocoViewer::on_after_tick(const Simulation& /*simulation*/) { }
 void MujocoViewer::on_finish(const Simulation& /*simulation*/) { }
 }  // namespace micras::sim
 
-#endif  // MICRAS_VIEWER
+#endif  // MICRAS_SIM_VIEWER
diff --git a/view/src/video_recorder.cpp b/view/src/video_recorder.cpp
index 315c7d5..ac71f7c 100644
--- a/view/src/video_recorder.cpp
+++ b/view/src/video_recorder.cpp
@@ -6,7 +6,7 @@
 
 #include "micras/sim/view/video_recorder.hpp"
 
-#ifdef MICRAS_VIDEO
+#ifdef MICRAS_SIM_VIDEO
 
     #include <algorithm>
     #include <array>
@@ -361,14 +361,14 @@ void VideoRecorder::capture(const std::string& labels, const std::string& values
 }
 }  // namespace micras::sim
 
-#else  // MICRAS_VIDEO
+#else  // MICRAS_SIM_VIDEO
 
 namespace micras::sim {
 std::unique_ptr<VideoRecorder> VideoRecorder::create(
     MujocoWorld& /*world*/, const VideoConfig& /*config*/, OverlaySpec /*overlay*/, const VariableSource* /*variables*/,
     std::string& error
 ) {
-    error = "this binary was built with -DMICRAS_VIDEO=OFF";
+    error = "this binary was built with -DMICRAS_SIM_VIDEO=OFF";
     return nullptr;
 }
 
@@ -377,4 +377,4 @@ VideoRecorder::~VideoRecorder() = default;
 void VideoRecorder::on_after_tick(const Simulation& /*simulation*/) { }
 }  // namespace micras::sim
 
-#endif  // MICRAS_VIDEO
+#endif  // MICRAS_SIM_VIDEO

From 5f670be7f948e5277bf0d55b07de69bf13365486 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 05:07:09 -0300
Subject: [PATCH 26/52] =?UTF-8?q?=E2=9C=A8=20Let=20the=20tools=20find=20a?=
 =?UTF-8?q?=20target's=20plugin=20outside=20the=20simulator?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

A target that lives in another repository keeps its analysis plugin next to its code, so meta.json
records the target's folder (Target::directory) as target_dir, and analyze.py and baseline.py look for
the plugin in --plugin, then $MICRAS_SIM_PLUGIN, then <target_dir>/tools/analysis.py, then
targets/<target>/tools/analysis.py. baseline.py takes --plugin on record and compare; without its
plugin a summary would lose the robot's values and the comparison would fail. compare_run.py ignores
the fields that name paths, which differ between two checkouts of the same code.
---
 README.md                                     |  6 ++-
 app/include/micras/sim/app/target.hpp         |  7 +++
 app/src/application.cpp                       |  1 +
 .../micras/sim/recording/run_metadata.hpp     |  5 ++
 engine/src/recording/run_metadata.cpp         |  1 +
 .../micras/sim/micras/micras_target.hpp       |  7 +++
 targets/micras/src/micras_target.cpp          |  6 ++-
 tests/unit/run_metadata_test.cpp              |  2 +
 tools/analyze.py                              | 46 +++++++++++++------
 tools/baseline.py                             | 19 ++++++--
 tools/compare_run.py                          |  5 +-
 11 files changed, 83 insertions(+), 22 deletions(-)

diff --git a/README.md b/README.md
index bffad03..64d4983 100644
--- a/README.md
+++ b/README.md
@@ -160,7 +160,11 @@ the goal was reached, the pose estimate's error against the ground truth, the
 tracking error and voltage saturation. Only numpy and matplotlib are needed.
 
 `tools/analyze.py` knows only the engine's columns; what a robot's own columns
-mean comes from its plugin, `targets/<robot>/tools/analysis.py`.
+mean comes from its plugin, `tools/analysis.py` in the target's folder, which
+`meta.json` records as `target_dir`. `--plugin` or `$MICRAS_SIM_PLUGIN` name
+another; `tools/baseline.py` finds it the same way. `baseline.py compare --exact`
+is the byte identity check, and `tools/compare_run.py` compares two runs of one
+build, ignoring the fields that name paths.
 
 ## Watching a run
 
diff --git a/app/include/micras/sim/app/target.hpp b/app/include/micras/sim/app/target.hpp
index 6fb4955..47f6b8e 100644
--- a/app/include/micras/sim/app/target.hpp
+++ b/app/include/micras/sim/app/target.hpp
@@ -155,6 +155,13 @@ class Target {
      */
     virtual RunContext& context() = 0;
 
+    /**
+     * @brief Get the folder of the target, whose tools/analysis.py is its analysis plugin.
+     *
+     * @return The folder, written to meta.json as target_dir.
+     */
+    virtual std::filesystem::path directory() const = 0;
+
     /**
      * @brief Get the robot's physical description.
      *
diff --git a/app/src/application.cpp b/app/src/application.cpp
index 1cff660..a980ee6 100644
--- a/app/src/application.cpp
+++ b/app/src/application.cpp
@@ -412,6 +412,7 @@ void Application::run(std::span<char*> arguments) {
 
     const RunMetadata metadata{
         .target = this->target.name(),
+        .target_dir = this->target.directory().string(),
         .firmware_sha = this->target.firmware_sha(),
         .robot_path = this->target.robot_file().string(),
         .robot_sha256 = RunMetadata::sha256_of(this->target.robot_file()),
diff --git a/engine/include/micras/sim/recording/run_metadata.hpp b/engine/include/micras/sim/recording/run_metadata.hpp
index 1d480b7..71368b4 100644
--- a/engine/include/micras/sim/recording/run_metadata.hpp
+++ b/engine/include/micras/sim/recording/run_metadata.hpp
@@ -61,6 +61,11 @@ struct RunMetadata {
      */
     std::string target;
 
+    /**
+     * @brief Folder of the robot target, where the analysis tools find its plugin.
+     */
+    std::string target_dir;
+
     std::string firmware_sha;
     std::string robot_path;
     std::string robot_sha256;
diff --git a/engine/src/recording/run_metadata.cpp b/engine/src/recording/run_metadata.cpp
index 1d44ffc..6464174 100644
--- a/engine/src/recording/run_metadata.cpp
+++ b/engine/src/recording/run_metadata.cpp
@@ -103,6 +103,7 @@ std::string RunMetadata::to_json() const {
     out.imbue(std::locale::classic());
     out << "{\n";
     field(out, "target", this->target);
+    field(out, "target_dir", this->target_dir);
     field(out, "firmware_sha", this->firmware_sha);
     field(out, "robot_path", this->robot_path);
     field(out, "robot_sha256", this->robot_sha256);
diff --git a/targets/micras/include/micras/sim/micras/micras_target.hpp b/targets/micras/include/micras/sim/micras/micras_target.hpp
index 8f48152..6acffbf 100644
--- a/targets/micras/include/micras/sim/micras/micras_target.hpp
+++ b/targets/micras/include/micras/sim/micras/micras_target.hpp
@@ -104,6 +104,13 @@ class MicrasTarget : public Target {
      */
     RunContext& context() override;
 
+    /**
+     * @brief Get the folder of this target.
+     *
+     * @return Path of targets/micras.
+     */
+    std::filesystem::path directory() const override;
+
     /**
      * @brief Get the robot's physical description.
      *
diff --git a/targets/micras/src/micras_target.cpp b/targets/micras/src/micras_target.cpp
index aed289e..4af0b5a 100644
--- a/targets/micras/src/micras_target.cpp
+++ b/targets/micras/src/micras_target.cpp
@@ -147,8 +147,12 @@ RunContext& MicrasTarget::context() {
     return this->run_context;
 }
 
+std::filesystem::path MicrasTarget::directory() const {
+    return std::filesystem::path{MICRAS_TARGET_DIR};
+}
+
 std::filesystem::path MicrasTarget::robot_file() const {
-    return std::filesystem::path{MICRAS_TARGET_DIR} / "robot.toml";
+    return this->directory() / "robot.toml";
 }
 
 GroundTruthConfig MicrasTarget::ground_truth() const {
diff --git a/tests/unit/run_metadata_test.cpp b/tests/unit/run_metadata_test.cpp
index 29d2948..eabfc1a 100644
--- a/tests/unit/run_metadata_test.cpp
+++ b/tests/unit/run_metadata_test.cpp
@@ -12,6 +12,7 @@ namespace {
 TEST(RunMetadata, SerializesInTheBaselineLayout) {
     const RunMetadata metadata{
         .target = "tiny",
+        .target_dir = "targets/tiny",
         .firmware_sha = "0be27df",
         .robot_path = "robot.toml",
         .robot_sha256 = "a1",
@@ -41,6 +42,7 @@ TEST(RunMetadata, SerializesInTheBaselineLayout) {
 
     const std::string expected = "{\n"
                                  "  \"target\": \"tiny\",\n"
+                                 "  \"target_dir\": \"targets/tiny\",\n"
                                  "  \"firmware_sha\": \"0be27df\",\n"
                                  "  \"robot_path\": \"robot.toml\",\n"
                                  "  \"robot_sha256\": \"a1\",\n"
diff --git a/tools/analyze.py b/tools/analyze.py
index dbe1a26..de5df13 100755
--- a/tools/analyze.py
+++ b/tools/analyze.py
@@ -11,9 +11,10 @@
 ``wheel_speed_<label>``, ``motor_torque_<label>``, and the ``<device>_voltage``
 columns of the devices). A contact label with a ``_slip`` column is a wheel.
 
-What a robot means by its own columns comes from its plugin, a module at
-``targets/<target>/tools/analysis.py`` loaded when ``meta.json`` names the target,
-or from ``--plugin``. A plugin may define any of:
+What a robot means by its own columns comes from its plugin, the first of: the
+module named by ``--plugin``, the one named by ``$MICRAS_SIM_PLUGIN``,
+``<target_dir>/tools/analysis.py`` for the target folder ``meta.json`` names, and
+``targets/<target>/tools/analysis.py`` of this repository. A plugin may define any of:
 
 * ``run_start(run)``: the time the robot starts its task, marked on every plot,
 * ``report(run, report)``: extra report sections, merged into the report,
@@ -34,6 +35,7 @@
 import csv
 import importlib.util
 import json
+import os
 from pathlib import Path
 from types import ModuleType
 
@@ -135,20 +137,38 @@ def dt(self) -> float:
         return float(np.median(np.diff(self.time)))
 
 
+def plugin_path(run: Run, override: Path | None) -> Path | None:
+    """Find the robot's analysis plugin: --plugin, $MICRAS_SIM_PLUGIN, the target's folder, this repository."""
+    if override is not None:
+        return override
+
+    environment = os.environ.get("MICRAS_SIM_PLUGIN")
+
+    if environment:
+        return Path(environment)
+
+    candidates = []
+    target_dir = run.meta.get("target_dir")
+    target = run.meta.get("target")
+
+    if target_dir:
+        candidates.append(Path(target_dir) / "tools" / "analysis.py")
+
+    if target:
+        candidates.append(REPOSITORY / "targets" / target / "tools" / "analysis.py")
+
+    return next((candidate for candidate in candidates if candidate.exists()), None)
+
+
 def load_plugin(run: Run, override: Path | None) -> ModuleType | None:
     """Load the robot's analysis plugin, if it has one."""
-    path = override
+    path = plugin_path(run, override)
 
     if path is None:
-        target = run.meta.get("target")
-
-        if not target:
-            return None
-
-        path = REPOSITORY / "targets" / target / "tools" / "analysis.py"
+        return None
 
-        if not path.exists():
-            return None
+    if not path.exists():
+        raise SystemExit(f"no analysis plugin at {path}")
 
     spec = importlib.util.spec_from_file_location(f"analysis_{path.parent.parent.name}", path)
 
@@ -610,7 +630,7 @@ def main() -> None:
     parser.add_argument("run", type=Path)
     parser.add_argument("--t0", type=float, default=None)
     parser.add_argument("--t1", type=float, default=None)
-    parser.add_argument("--plugin", type=Path, default=None, help="analysis plugin to use instead of the target's")
+    parser.add_argument("--plugin", type=Path, default=None, help="analysis plugin to use instead of the target's (also $MICRAS_SIM_PLUGIN)")
     arguments = parser.parse_args()
 
     run = Run(arguments.run, arguments.t0, arguments.t1)
diff --git a/tools/baseline.py b/tools/baseline.py
index af1f824..3948ce2 100644
--- a/tools/baseline.py
+++ b/tools/baseline.py
@@ -20,10 +20,16 @@
 behaviour is a new baseline version, never a re-recording that makes a
 difference go away.
 
+The robot's plugin is found as ``analyze.py`` finds it: ``--plugin``, then
+``$MICRAS_SIM_PLUGIN``, then the target's folder that ``meta.json`` names.
+
 Usage::
 
-    baseline.py record  <run> <baseline>/<scenario>
-    baseline.py compare <run> <baseline>/<scenario> [--exact]
+    baseline.py record  <run> <baseline>/<scenario> [--plugin <analysis.py>]
+    baseline.py compare <run> <baseline>/<scenario> [--plugin <analysis.py>] [--exact]
+
+``--exact`` is the byte identity check: it also fails when ``data.csv`` is not the
+recorded run's bytes.
 """
 
 from __future__ import annotations
@@ -61,10 +67,10 @@ def sha256(path: Path) -> str:
     return digest.hexdigest()
 
 
-def summarize(run_directory: Path) -> dict:
+def summarize(run_directory: Path, plugin_override: Path | None = None) -> dict:
     """Build the summary of one run from its files."""
     run = analyze.Run(run_directory, None, None)
-    plugin = analyze.load_plugin(run, None)
+    plugin = analyze.load_plugin(run, plugin_override)
     report = analyze.build_report(run, analyze.resolve_maze(run), plugin)
     meta = run.meta
     collisions = [event for event in meta.get("events", []) if event.get("kind") == "collision"]
@@ -155,9 +161,12 @@ def main() -> int:
     parser.add_argument("run", type=Path)
     parser.add_argument("baseline", type=Path, help="the scenario's folder in a baseline version")
     parser.add_argument("--exact", action="store_true", help="also fail when the bytes differ")
+    parser.add_argument(
+        "--plugin", type=Path, default=None, help="analysis plugin to use instead of the target's (also $MICRAS_SIM_PLUGIN)"
+    )
     arguments = parser.parse_args()
 
-    summary = summarize(arguments.run)
+    summary = summarize(arguments.run, arguments.plugin)
     path = arguments.baseline / "summary.json"
 
     if arguments.action == "record":
diff --git a/tools/compare_run.py b/tools/compare_run.py
index 97c6169..e7d749f 100755
--- a/tools/compare_run.py
+++ b/tools/compare_run.py
@@ -2,7 +2,8 @@
 """Compare two run directories made on the same machine.
 
 data.csv is compared byte for byte, and meta.json on every field but the
-command line, which is what differs between the two runs being compared.
+command line, which is what differs between the two runs being compared, and the
+paths of the robot, the maze and the target, which differ between two checkouts.
 
 This is how a window, a monitor or a video is proven to change nothing. The
 stored baselines are summaries, compared by ``tools/baseline.py``.
@@ -14,7 +15,7 @@
 from pathlib import Path
 
 #: meta.json fields that may differ between two runs of the same behaviour.
-IGNORED_FIELDS = ("args",)
+IGNORED_FIELDS = ("args", "robot_path", "maze_path", "target_dir")
 
 
 def locate_difference(run_lines: list[str], reference_lines: list[str]) -> list[str]:

From 48c415b2c5bf8379ba869832db5a23aa8de22dde Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 05:10:43 -0300
Subject: [PATCH 27/52] =?UTF-8?q?=E2=99=BB=EF=B8=8F=20Give=20the=20program?=
 =?UTF-8?q?=20its=20thread=20and=20the=20target's=20types=20their=20own=20?=
 =?UTF-8?q?header?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

A target's program is called with the FirmwareThread it runs on, so a target that drives the
handover itself yields on it instead of keeping a pointer from wire(). CliOption, Wiring and WorldInfo
move into micras/sim/app/wiring.hpp, and the README lists the headers a target may include, which are
the public interface.
---
 CLAUDE.md                                     | 10 +-
 README.md                                     | 29 ++++++
 app/include/micras/sim/app/cli.hpp            |  2 +-
 app/include/micras/sim/app/target.hpp         | 81 +---------------
 app/include/micras/sim/app/wiring.hpp         | 94 +++++++++++++++++++
 .../micras/sim/core/firmware_thread.hpp       |  7 +-
 engine/src/core/firmware_thread.cpp           |  2 +-
 .../include/micras/sim/micras/bindings.hpp    |  2 +-
 targets/micras/src/micras_target.cpp          |  2 +-
 tests/unit/event_log_test.cpp                 |  2 +-
 tests/unit/firmware_thread_test.cpp           | 36 +++----
 tests/unit/scenario_test.cpp                  |  4 +-
 tests/unit/simulation_test.cpp                | 14 ++-
 tests/unit/web_socket_server_test.cpp         |  4 +-
 14 files changed, 165 insertions(+), 124 deletions(-)
 create mode 100644 app/include/micras/sim/app/wiring.hpp

diff --git a/CLAUDE.md b/CLAUDE.md
index 49c56f9..24413e8 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -58,9 +58,13 @@ micras_sim_app      CLI, application wiring, crash reporter; the Target interfac
 ```
 
 A robot target implements `Target` (`app/include/micras/sim/app/target.hpp`): its
-name, firmware commit, loop period, options, robot file, ground truth columns and
-program, and `wire()`, which binds its devices to the host ports and returns what
-it adds to the run (`Wiring`: columns, variables, panel, overlay, scenario hooks). Its `main` is one call to `micras::sim::run`.
+name, folder, firmware commit, loop period, options, robot file, ground truth
+columns and program, and `wire()`, which binds its devices to the host ports and
+returns what it adds to the run (`Wiring` in `app/include/micras/sim/app/wiring.hpp`:
+columns, variables, panel, overlay, scenario hooks). Its `main` is one call to
+`micras::sim::run`. The program receives the `FirmwareThread` it runs on, so a
+target with no HAL yields on it directly and needs no pointer kept from `wire()`.
+The README lists the headers a target may include; they are the public API.
 
 `MICRAS_SIM_VIEWER`, `MICRAS_SIM_VIDEO`, `MICRAS_SIM_BRIDGE`, `MICRAS_SIM_TESTS`
 and `MICRAS_SIM_TARGETS` must all still compile when OFF; `just check-options`
diff --git a/README.md b/README.md
index 64d4983..3b5a550 100644
--- a/README.md
+++ b/README.md
@@ -235,6 +235,35 @@ byte, such as a refactoring.
 `just format`, `just format-check` and `just lint` are the style targets; they
 use the firmware's own `.clang-format` and `.clang-tidy`.
 
+## A robot target
+
+A robot is a folder of `targets/` (or a directory of another project that adds
+this one) with a class implementing `micras::sim::Target` and a `main` that is one
+call to `micras::sim::run`. The target gives its name, loop period, robot file,
+ground truth columns, options and firmware program, and `wire()` builds its
+devices and returns what it adds to the run. The program is called with the
+`FirmwareThread` it runs on, so a program that drives the handover itself calls
+`yield_tick()` on it.
+
+The public headers, which a target may include and which change only with notice:
+
+| Header | What |
+|---|---|
+| `micras/sim/app/target.hpp` | `Target`, the interface |
+| `micras/sim/app/wiring.hpp` | `Wiring`, `WorldInfo`, `CliOption` |
+| `micras/sim/app/application.hpp` | `micras::sim::run` |
+| `micras/sim/view/panel_spec.hpp` | the panel and the overlay |
+| `micras/sim/core/run_context.hpp` | the world, the clock, the serial bus, the noise and the devices of a run |
+| `micras/sim/core/firmware_thread.hpp` | the firmware thread and its handover |
+| `micras/sim/recording/column_source.hpp`, `ground_truth.hpp`, `run_metadata.hpp` | CSV columns, ground truth, meta.json counters |
+| `micras/sim/core/variable_source.hpp` | the firmware variables the panel, the overlay and the scenarios read |
+| `micras/sim/robot/robot_description.hpp` | the robot's `robot.toml` |
+| `micras/sim/devices/*.hpp` | the devices a target builds |
+
+The robot is micromouse-shaped and runs in a maze: its `robot.toml` has every
+section of the schema (chassis, wheels, drive, encoders, IMU, fan, battery, link,
+wall sensors), and the arena is one of the mazes.
+
 ## Layout
 
 ```
diff --git a/app/include/micras/sim/app/cli.hpp b/app/include/micras/sim/app/cli.hpp
index f289cb3..0a6d32a 100644
--- a/app/include/micras/sim/app/cli.hpp
+++ b/app/include/micras/sim/app/cli.hpp
@@ -14,7 +14,7 @@
 #include <string>
 #include <string_view>
 
-#include "micras/sim/app/target.hpp"
+#include "micras/sim/app/wiring.hpp"
 #include "micras/sim/view/view_options.hpp"
 
 namespace micras::sim {
diff --git a/app/include/micras/sim/app/target.hpp b/app/include/micras/sim/app/target.hpp
index 47f6b8e..fd4a61c 100644
--- a/app/include/micras/sim/app/target.hpp
+++ b/app/include/micras/sim/app/target.hpp
@@ -9,95 +9,16 @@
 
 #include <cstdint>
 #include <filesystem>
-#include <functional>
-#include <span>
 #include <string>
 #include <vector>
 
+#include "micras/sim/app/wiring.hpp"
 #include "micras/sim/core/firmware_thread.hpp"
 #include "micras/sim/core/run_context.hpp"
-#include "micras/sim/core/simulation.hpp"
-#include "micras/sim/core/variable_source.hpp"
-#include "micras/sim/recording/column_source.hpp"
 #include "micras/sim/recording/ground_truth.hpp"
 #include "micras/sim/recording/run_metadata.hpp"
-#include "micras/sim/robot/robot_description.hpp"
-#include "micras/sim/scenario/scenario.hpp"
-#include "micras/sim/view/panel_spec.hpp"
 
 namespace micras::sim {
-/**
- * @brief A command line option a robot target adds.
- */
-struct CliOption {
-    /**
-     * @brief Option as typed, for example "--button".
-     */
-    std::string name;
-
-    /**
-     * @brief What the value looks like in the usage text, empty for a flag.
-     */
-    std::string argument;
-
-    /**
-     * @brief Called with the value, or with an empty string for a flag.
-     *
-     * @note Throws std::runtime_error on a value it cannot accept.
-     */
-    std::function<void(const std::string& value)> apply;
-};
-
-/**
- * @brief How a robot target plugs into one run.
- *
- * @note Listener order is part of what a run records, so the application fixes
- *       it: the crash reporter, the scenario, the monitor bridge, the event log,
- *       the recorder, the video, the window. The robot's devices run between
- *       the listeners, as the run loop says.
- */
-struct Wiring {
-    /**
-     * @brief Column blocks written after the ground truth, in this order.
-     */
-    std::vector<ColumnSource*> columns;
-
-    /**
-     * @brief Firmware variables the panel plots and the overlay prints, or null.
-     */
-    const VariableSource* variables{nullptr};
-
-    /**
-     * @brief What the panel shows, which the application completes with the handover.
-     */
-    PanelSpec panel;
-
-    /**
-     * @brief What the video overlay prints.
-     */
-    OverlaySpec overlay;
-
-    /**
-     * @brief Inputs, link messages and state names scenarios act on.
-     */
-    ScenarioHooks hooks;
-};
-
-/**
- * @brief What the world was built from, for the devices a target builds.
- */
-struct WorldInfo {
-    /**
-     * @brief The robot's physical description, which outlives the wiring.
-     */
-    const RobotDescription* robot;
-
-    /**
-     * @brief Infrared reflectance of an arena geom, by id.
-     */
-    std::function<double(int)> reflectance;
-};
-
 /**
  * @brief One robot, as the application sees it.
  *
diff --git a/app/include/micras/sim/app/wiring.hpp b/app/include/micras/sim/app/wiring.hpp
new file mode 100644
index 0000000..626c9a0
--- /dev/null
+++ b/app/include/micras/sim/app/wiring.hpp
@@ -0,0 +1,94 @@
+/**
+ * @file
+ *
+ * @brief What a robot target adds to a run: its options, its wiring, and what the world was built from.
+ */
+
+#ifndef MICRAS_SIM_APP_WIRING_HPP
+#define MICRAS_SIM_APP_WIRING_HPP
+
+#include <functional>
+#include <string>
+#include <vector>
+
+#include "micras/sim/core/variable_source.hpp"
+#include "micras/sim/recording/column_source.hpp"
+#include "micras/sim/robot/robot_description.hpp"
+#include "micras/sim/scenario/scenario.hpp"
+#include "micras/sim/view/panel_spec.hpp"
+
+namespace micras::sim {
+/**
+ * @brief A command line option a robot target adds.
+ */
+struct CliOption {
+    /**
+     * @brief Option as typed, for example "--button".
+     */
+    std::string name;
+
+    /**
+     * @brief What the value looks like in the usage text, empty for a flag.
+     */
+    std::string argument;
+
+    /**
+     * @brief Called with the value, or with an empty string for a flag.
+     *
+     * @note Throws std::runtime_error on a value it cannot accept.
+     */
+    std::function<void(const std::string& value)> apply;
+};
+
+/**
+ * @brief How a robot target plugs into one run.
+ *
+ * @note Listener order is part of what a run records, so the application fixes
+ *       it: the crash reporter, the scenario, the monitor bridge, the event log,
+ *       the recorder, the video, the window. The robot's devices run between
+ *       the listeners, as the run loop says.
+ */
+struct Wiring {
+    /**
+     * @brief Column blocks written after the ground truth, in this order.
+     */
+    std::vector<ColumnSource*> columns;
+
+    /**
+     * @brief Firmware variables the panel plots and the overlay prints, or null.
+     */
+    const VariableSource* variables{nullptr};
+
+    /**
+     * @brief What the panel shows, which the application completes with the handover.
+     */
+    PanelSpec panel;
+
+    /**
+     * @brief What the video overlay prints.
+     */
+    OverlaySpec overlay;
+
+    /**
+     * @brief Inputs, link messages and state names scenarios act on.
+     */
+    ScenarioHooks hooks;
+};
+
+/**
+ * @brief What the world was built from, for the devices a target builds.
+ */
+struct WorldInfo {
+    /**
+     * @brief The robot's physical description, which outlives the wiring.
+     */
+    const RobotDescription* robot;
+
+    /**
+     * @brief Infrared reflectance of an arena geom, by id.
+     */
+    std::function<double(int)> reflectance;
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_APP_WIRING_HPP
diff --git a/engine/include/micras/sim/core/firmware_thread.hpp b/engine/include/micras/sim/core/firmware_thread.hpp
index 25fe25d..740d35e 100644
--- a/engine/include/micras/sim/core/firmware_thread.hpp
+++ b/engine/include/micras/sim/core/firmware_thread.hpp
@@ -42,9 +42,12 @@ class RunFinished : public std::exception {
 class FirmwareThread {
 public:
     /**
-     * @brief The firmware program to run: the target's main.
+     * @brief The firmware program to run: the target's main, given the thread it runs on.
+     *
+     * @note A program that drives the handover itself calls yield_tick() on the
+     *       thread it is given.
      */
-    using Program = std::function<void()>;
+    using Program = std::function<void(FirmwareThread& thread)>;
 
     /**
      * @brief Take the program to run.
diff --git a/engine/src/core/firmware_thread.cpp b/engine/src/core/firmware_thread.cpp
index 1d87a38..f92de00 100644
--- a/engine/src/core/firmware_thread.cpp
+++ b/engine/src/core/firmware_thread.cpp
@@ -108,7 +108,7 @@ void FirmwareThread::thread_body() {
     }
 
     try {
-        this->program();
+        this->program(*this);
     } catch (const RunFinished&) {  // NOLINT(bugprone-empty-catch): the expected way out, see finish().
     } catch (...) {
         const std::lock_guard lock(this->mutex);
diff --git a/targets/micras/include/micras/sim/micras/bindings.hpp b/targets/micras/include/micras/sim/micras/bindings.hpp
index 6e88174..c670bcd 100644
--- a/targets/micras/include/micras/sim/micras/bindings.hpp
+++ b/targets/micras/include/micras/sim/micras/bindings.hpp
@@ -9,7 +9,7 @@
 
 #include <array>
 
-#include "micras/sim/app/target.hpp"
+#include "micras/sim/app/wiring.hpp"
 #include "micras/sim/core/run_context.hpp"
 #include "micras/sim/micras/micras_target.hpp"
 
diff --git a/targets/micras/src/micras_target.cpp b/targets/micras/src/micras_target.cpp
index 4af0b5a..b1630d9 100644
--- a/targets/micras/src/micras_target.cpp
+++ b/targets/micras/src/micras_target.cpp
@@ -187,7 +187,7 @@ std::string MicrasTarget::video_camera() const {
 }
 
 FirmwareThread::Program MicrasTarget::program() {
-    return [] { micras_firmware_main(); };
+    return [](FirmwareThread&) { micras_firmware_main(); };
 }
 
 Wiring MicrasTarget::wire(FirmwareThread& firmware, const WorldInfo& world) {
diff --git a/tests/unit/event_log_test.cpp b/tests/unit/event_log_test.cpp
index 6e011c5..1220504 100644
--- a/tests/unit/event_log_test.cpp
+++ b/tests/unit/event_log_test.cpp
@@ -44,7 +44,7 @@ class Logging : public testing::Test {
 
     // NOLINTBEGIN(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
     RunContext     context;
-    FirmwareThread firmware{[] {}};
+    FirmwareThread firmware{[](FirmwareThread&) {}};
     Simulation     simulation{this->context, this->firmware};
     MapVariables   variables;
     int            chassis{-1};
diff --git a/tests/unit/firmware_thread_test.cpp b/tests/unit/firmware_thread_test.cpp
index 4f16257..bf86163 100644
--- a/tests/unit/firmware_thread_test.cpp
+++ b/tests/unit/firmware_thread_test.cpp
@@ -10,15 +10,13 @@ namespace micras::sim {
 namespace {
 TEST(FirmwareThread, RunsTheProgramUpToEachYield) {
     std::vector<int> trace;
-    FirmwareThread*  handle = nullptr;
 
-    FirmwareThread firmware([&] {
+    FirmwareThread firmware([&](FirmwareThread& thread) {
         for (int step = 0; step < 3; step++) {
             trace.push_back(step);
-            handle->yield_tick();
+            thread.yield_tick();
         }
     });
-    handle = &firmware;
 
     firmware.run_until_yield();
     EXPECT_EQ(trace, (std::vector<int>{0}));
@@ -33,19 +31,17 @@ TEST(FirmwareThread, RunsTheProgramUpToEachYield) {
 TEST(FirmwareThread, NeverRunsBesideTheSimulation) {
     std::atomic<int> awake{0};
     std::atomic<int> overlaps{0};
-    FirmwareThread*  handle = nullptr;
 
-    FirmwareThread firmware([&] {
+    FirmwareThread firmware([&](FirmwareThread& thread) {
         while (true) {
             if (awake.fetch_add(1) != 0) {
                 overlaps++;
             }
 
             awake--;
-            handle->yield_tick();
+            thread.yield_tick();
         }
     });
-    handle = &firmware;
 
     for (int tick = 0; tick < 200; tick++) {
         firmware.run_until_yield();
@@ -79,18 +75,16 @@ class UnwindSentinel {
 };
 
 TEST(FirmwareThread, EndlessProgramsAreUnwoundByFinish) {
-    bool            destructor_ran = false;
-    FirmwareThread* handle = nullptr;
+    bool destructor_ran = false;
 
     {
-        FirmwareThread firmware([&] {
+        FirmwareThread firmware([&](FirmwareThread& thread) {
             const UnwindSentinel sentinel(destructor_ran);
 
             while (true) {
-                handle->yield_tick();
+                thread.yield_tick();
             }
         });
-        handle = &firmware;
 
         firmware.run_until_yield();
         EXPECT_FALSE(firmware.has_finished());
@@ -123,17 +117,15 @@ class YieldingSentinel {
 };
 
 TEST(FirmwareThread, UnwindingIsNotBlockedByAYieldingDestructor) {
-    FirmwareThread* handle = nullptr;
-    bool            destructor_ran = false;
+    bool destructor_ran = false;
 
-    FirmwareThread firmware([&] {
-        const YieldingSentinel sentinel(*handle, destructor_ran);
+    FirmwareThread firmware([&](FirmwareThread& thread) {
+        const YieldingSentinel sentinel(thread, destructor_ran);
 
         while (true) {
-            handle->yield_tick();
+            thread.yield_tick();
         }
     });
-    handle = &firmware;
 
     firmware.run_until_yield();
     firmware.finish();
@@ -142,7 +134,7 @@ TEST(FirmwareThread, UnwindingIsNotBlockedByAYieldingDestructor) {
 }
 
 TEST(FirmwareThread, ReportsAProgramThatReturns) {
-    FirmwareThread firmware([] {});
+    FirmwareThread firmware([](FirmwareThread&) {});
 
     firmware.run_until_yield();
     EXPECT_TRUE(firmware.has_finished());
@@ -150,7 +142,7 @@ TEST(FirmwareThread, ReportsAProgramThatReturns) {
 }
 
 TEST(FirmwareThread, CarriesAProgramErrorBackToTheSimulation) {
-    FirmwareThread firmware([] { throw std::runtime_error("the firmware gave up"); });
+    FirmwareThread firmware([](FirmwareThread&) { throw std::runtime_error("the firmware gave up"); });
 
     firmware.run_until_yield();
     EXPECT_TRUE(firmware.has_finished());
@@ -158,7 +150,7 @@ TEST(FirmwareThread, CarriesAProgramErrorBackToTheSimulation) {
 }
 
 TEST(FirmwareThread, RunningAFinishedProgramIsHarmless) {
-    FirmwareThread firmware([] {});
+    FirmwareThread firmware([](FirmwareThread&) {});
 
     firmware.run_until_yield();
     EXPECT_NO_THROW(firmware.run_until_yield());
diff --git a/tests/unit/scenario_test.cpp b/tests/unit/scenario_test.cpp
index 713f7f8..038c1a1 100644
--- a/tests/unit/scenario_test.cpp
+++ b/tests/unit/scenario_test.cpp
@@ -290,9 +290,9 @@ class Playing : public testing::Test {
     /**
      * @brief Stands in for the firmware: yields once per tick and never ends.
      */
-    FirmwareThread firmware{[this] {
+    FirmwareThread firmware{[](FirmwareThread& thread) {
         while (true) {
-            this->firmware.yield_tick();
+            thread.yield_tick();
         }
     }};
     // NOLINTEND(*-non-private-member-variables-in-classes)
diff --git a/tests/unit/simulation_test.cpp b/tests/unit/simulation_test.cpp
index 0873f68..122bfb8 100644
--- a/tests/unit/simulation_test.cpp
+++ b/tests/unit/simulation_test.cpp
@@ -50,9 +50,9 @@ class Run : public testing::Test {
      * @brief Stands in for the firmware: yields once per tick and never ends.
      */
     // NOLINTNEXTLINE(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
-    FirmwareThread firmware{[this] {
+    FirmwareThread firmware{[](FirmwareThread& thread) {
         while (true) {
-            this->firmware.yield_tick();
+            thread.yield_tick();
         }
     }};
 };
@@ -95,15 +95,13 @@ TEST_F(Run, AListenerCanStopTheRunBeforeTheTick) {
 }
 
 TEST_F(Run, StopsWhenTheProgramEnds) {
-    int             ticks = 0;
-    FirmwareThread* handle = nullptr;
+    int ticks = 0;
 
-    FirmwareThread program([&] {
+    FirmwareThread program([&](FirmwareThread& thread) {
         for (ticks = 0; ticks < 3; ticks++) {
-            handle->yield_tick();
+            thread.yield_tick();
         }
     });
-    handle = &program;
 
     Simulation simulation(this->context, program);
     simulation.run(100);
@@ -113,7 +111,7 @@ TEST_F(Run, StopsWhenTheProgramEnds) {
 }
 
 TEST_F(Run, CarriesAProgramErrorOutOfRun) {
-    FirmwareThread program([] { throw std::runtime_error("the firmware gave up"); });
+    FirmwareThread program([](FirmwareThread&) { throw std::runtime_error("the firmware gave up"); });
     Simulation     simulation(this->context, program);
 
     EXPECT_THROW(simulation.run(5), std::runtime_error);
diff --git a/tests/unit/web_socket_server_test.cpp b/tests/unit/web_socket_server_test.cpp
index 4663611..f4d26c4 100644
--- a/tests/unit/web_socket_server_test.cpp
+++ b/tests/unit/web_socket_server_test.cpp
@@ -179,8 +179,8 @@ std::vector<uint8_t> receive_binary(const Socket& socket) {
 TEST(MonitorBridge, CarriesRawBytesBothWays) {
     RunContext context;
     load_tiny_world(context.world, context.clock);
-    FirmwareThread   firmware{[&firmware] {
-        while (firmware.yield_tick()) { }
+    FirmwareThread   firmware{[](FirmwareThread& thread) {
+        while (thread.yield_tick()) { }
     }};
     const Simulation simulation(context, firmware);
 

From ac8f2558d74d5ddee4a4d47a080b3ae9315009c5 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 05:15:39 -0300
Subject: [PATCH 28/52] =?UTF-8?q?=F0=9F=8E=A8=20Follow=20the=20shared=20st?=
 =?UTF-8?q?yle=20with=20clang=2022?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The style and build files are micras-lib's canonical copies, byte for byte: .clang-format,
.clang-tidy, tests/.clang-tidy, cmake/micras_warnings.cmake and the lint script's template. The style
targets run clang 22's tools by their versioned names and fail the configure without them, and
micras_sim_lint_fix applies the fixes. Everything is formatted again with clang-format 22.

The Micras target's .clang-tidy leaves the firmware's headers and the host HAL's to the repositories
that lint them, and hal_host/ is formatted here but linted in micras-lib, which holds its copy.
---
 .clang-format                             | 10 +++-
 .clang-tidy                               | 36 +++++++++++--
 CLAUDE.md                                 | 11 ++--
 CMakeLists.txt                            |  6 ++-
 README.md                                 |  3 +-
 app/src/application.cpp                   |  9 ++--
 cmake/lint.cmake                          | 60 +++++++++++++--------
 cmake/micras_warnings.cmake               | 57 ++++++++++++++++++++
 cmake/templates/run_clang_tidy.sh.in      | 59 ++++++++++++++++++++
 engine/src/devices/imu.cpp                |  2 +-
 engine/src/robot/robot_model.cpp          |  2 +-
 hal_host/models/src/as5047u_model.cpp     |  2 +-
 targets/micras/.clang-tidy                |  5 ++
 targets/micras/src/bindings.cpp           | 13 +++--
 targets/micras/src/micras_target.cpp      | 65 +++++++++++------------
 targets/micras/tools/turn_designer.cpp    |  6 +--
 targets/micras/tools/wall_calibration.cpp | 18 +++----
 tests/.clang-tidy                         |  4 +-
 tests/unit/csv_recorder_test.cpp          | 21 ++++----
 tests/unit/devices_test.cpp               | 16 +++---
 tests/unit/event_log_test.cpp             |  2 +-
 tests/unit/firmware_thread_test.cpp       |  4 +-
 tests/unit/scenario_test.cpp              |  8 +--
 23 files changed, 299 insertions(+), 120 deletions(-)
 create mode 100644 cmake/micras_warnings.cmake
 create mode 100755 cmake/templates/run_clang_tidy.sh.in
 create mode 100644 targets/micras/.clang-tidy

diff --git a/.clang-format b/.clang-format
index 5ab089a..358e344 100644
--- a/.clang-format
+++ b/.clang-format
@@ -1,5 +1,6 @@
 ---
 Language:        Cpp
+BasedOnStyle:    LLVM
 AccessModifierOffset: -4
 AlignAfterOpenBracket: BlockIndent
 AlignConsecutiveBitFields:
@@ -26,20 +27,25 @@ IncludeCategories:
     SortPriority:    1
   - Regex:           '^".*"'
     SortPriority:    2
-IncludeIsMainRegex: '$'
+# No include is treated as the main header, so that sorting preserves the existing
+# grouping instead of promoting the header matching the source file name
+IncludeIsMainRegex: 'NO_MAIN_INCLUDE'
 IndentCaseLabels: true
 IndentExternBlock: NoIndent
 IndentPPDirectives: BeforeHash
 IndentRequiresClause: false
 IndentWidth:     4
 IndentWrappedFunctionNames: true
+InsertNewlineAtEOF: true
 KeepEmptyLinesAtTheStartOfBlocks: false
+LineEnding:      LF
 PackConstructorInitializers: NextLine
 PointerAlignment: Left
 SeparateDefinitionBlocks: Always
 ShortNamespaceLines: 0
-SortIncludes:    Never
+SortIncludes:    CaseSensitive
 SpaceInEmptyBlock: true
 SpacesBeforeTrailingComments: 2
+Standard:        Latest
 TabWidth:        4
 ...
diff --git a/.clang-tidy b/.clang-tidy
index a2ec1be..33139c4 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -1,4 +1,13 @@
 ---
+# llvm-include-order enforces LLVM's own ordering, which contradicts the project's
+# .clang-format rules; clang-format is the single authority on include order here.
+#
+# The trailing group disables checks for constructs this project cannot contain. They match
+# nothing, so they only cost time scanning the standard library and the Cube headers:
+#   string_view, coroutines, Objective-C, GoogleTest, the LLVM internal APIs, std::bind,
+#   iostreams, std::auto_ptr and std::random_shuffle (both removed in C++17), and printf.
+# It also drops clang-analyzer-core.FixedAddressDereference, which every memory mapped
+# peripheral access looks like by construction.
 Checks:
   -*,
   bugprone-*,
@@ -14,8 +23,8 @@ Checks:
   google-*,
   llvm-*,
   -llvm-header-guard,
+  -llvm-include-order,
   misc-*,
-  -misc-include-cleaner,
   -misc-use-anonymous-namespace,
   modernize-*,
   -modernize-use-nodiscard,
@@ -25,6 +34,19 @@ Checks:
   -readability-duplicate-include,
   -readability-magic-numbers,
   -readability-math-missing-parentheses,
+  -bugprone-stringview-nullptr,
+  -cppcoreguidelines-no-suspend-with-lock,
+  -google-objc-*,
+  -google-upgrade-googletest-case,
+  -llvm-prefer-isa-or-dyn-cast-in-conditionals,
+  -llvm-prefer-register-over-unsigned,
+  -llvm-twine-local,
+  -modernize-avoid-bind,
+  -modernize-deprecated-ios-base-aliases,
+  -modernize-replace-auto-ptr,
+  -modernize-replace-random-shuffle,
+  -modernize-use-std-print,
+  -clang-analyzer-core.FixedAddressDereference,
 HeaderFileExtensions:
   - ''
   - h
@@ -36,9 +58,17 @@ ImplementationFileExtensions:
   - cc
   - cpp
   - cxx
-HeaderFilterRegex: ''
-FormatStyle: none
+HeaderFilterRegex: '(include|config)/.*\.(hpp|tpp)$'
+ExcludeHeaderFilterRegex: '(_deps|external)/'
+FormatStyle: file
 CheckOptions:
+  # The vendor HAL module headers are not standalone; they require stm32<family>xx_hal.h to have
+  # pulled in stm32<family>xx_hal_def.h first, so include-cleaner must not suggest or remove them.
+  # This is why micras_hal includes the generated main.h, which reaches the right one for the
+  # family it was generated for, instead of naming a module header of its own. main.h is on the
+  # list for the same reason: every symbol behind it resolves to a header already listed here, so
+  # nothing is credited to main.h and it would otherwise be reported as unused.
+  misc-include-cleaner.IgnoreHeaders: 'stm32.*;core_cm.*;cmsis.*;system_stm32.*;lsm6dsv.*;main\.h'
   readability-identifier-length.MinimumVariableNameLength: 2
   readability-identifier-length.IgnoredVariableNames: ^[nxyz]$
   readability-identifier-length.MinimumParameterNameLength: 2
diff --git a/CLAUDE.md b/CLAUDE.md
index 24413e8..6cf3379 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -378,9 +378,14 @@ the simulator reaches into the firmware: every proxy is the firmware's own.
 
 ## Style
 
-The firmware's `.clang-format` and `.clang-tidy`, pinned to version 18 (a newer
-clang-format reflows the code), with the tidy header filter anchored to this
-repo. Doxygen on every declaration. **No comments inside function bodies** — if
+The `.clang-format`, `.clang-tidy`, `tests/.clang-tidy`, `cmake/micras_warnings.cmake`
+and `cmake/templates/run_clang_tidy.sh.in` of micras-lib, copied byte for byte
+(micras-lib holds the canonical copy and the firmware's CI compares the three
+repositories), with clang 22's tools found by their versioned names; configuring
+without them fails. The tidy header filter lints this repository's `include/`
+headers and never a dependency's; `targets/micras/.clang-tidy` also leaves out the
+firmware's headers and the host HAL's, which their own repositories lint, and
+`hal_host/` is formatted here but linted in micras-lib. Doxygen on every declaration. **No comments inside function bodies** — if
 something needs explaining, it goes in an `@note` on the declaration, where a
 reader finds it before reading the code. Every `NOLINT` names its check and says
 why. `just lint` is clean and stays clean.
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 90420cb..ebfdcf2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -203,6 +203,10 @@ if(PROJECT_IS_TOP_LEVEL)
         "${PROJECT_SOURCE_DIR}/targets/*/cube/*.h"
     )
 
+    # hal_host/ is formatted here but linted in micras-lib, which holds its canonical copy.
+    set(HARNESS_LINTED ${HARNESS_SOURCES})
+    list(FILTER HARNESS_LINTED EXCLUDE REGEX "^${PROJECT_SOURCE_DIR}/hal_host/")
+
     include(cmake/lint.cmake)
-    micras_add_lint_targets(${HARNESS_SOURCES} ${HARNESS_HEADERS})
+    micras_sim_add_lint_targets(FORMAT ${HARNESS_SOURCES} ${HARNESS_HEADERS} LINT ${HARNESS_LINTED})
 endif()
diff --git a/README.md b/README.md
index 3b5a550..56f02b4 100644
--- a/README.md
+++ b/README.md
@@ -18,7 +18,8 @@ Linux only, x86-64. CMake downloads the pinned MuJoCo release (3.14.0) and check
 its SHA-256; point `MUJOCO_DIR` (a CMake cache variable or an environment
 variable) at an installation to use that instead. Clone with the firmware:
 `git clone --recurse-submodules`, or `git submodule update --init` afterwards.
-The style targets want clang-format 18 and clang-tidy 18.
+The style targets want clang 22's `clang-format-22`, `clang-tidy-22`,
+`run-clang-tidy-22` and `clang-apply-replacements-22`.
 
 ## Quick start
 
diff --git a/app/src/application.cpp b/app/src/application.cpp
index a980ee6..457be93 100644
--- a/app/src/application.cpp
+++ b/app/src/application.cpp
@@ -308,11 +308,10 @@ Wiring wire(Target& target, FirmwareThread& firmware, const RobotDescription& ro
     RunContext&     context = target.context();
     const WorldInfo world{
         .robot = &robot,
-        .reflectance =
-            [&context, config](int geom) {
-                const char* name = mj_id2name(context.world.model(), mjOBJ_GEOM, geom);
-                return Maze::reflectance(name == nullptr ? "" : name, config);
-            },
+        .reflectance = [&context, config](int geom) {
+            const char* name = mj_id2name(context.world.model(), mjOBJ_GEOM, geom);
+            return Maze::reflectance(name == nullptr ? "" : name, config);
+        },
     };
 
     return target.wire(firmware, world);
diff --git a/cmake/lint.cmake b/cmake/lint.cmake
index b676bee..5f332b8 100644
--- a/cmake/lint.cmake
+++ b/cmake/lint.cmake
@@ -1,46 +1,60 @@
 ###############################################################################
-## Format and lint targets (clang-format / clang-tidy from the firmware configs)
+## Format and lint targets, with the configuration shared by the three repositories
 ###############################################################################
 
-# Pinned to one major version, like the firmware's container: clang-format 19 and later
-# lay designated initializers out differently, so a newer one would reformat every file.
-find_program(CLANG_FORMAT NAMES clang-format-18 clang-format)
-find_program(CLANG_TIDY NAMES clang-tidy-18 clang-tidy)
+# The clang tools are found by their versioned names: another major version formats and lints
+# differently, so a missing one is an error instead of a silent fallback to whatever is installed.
+set(MICRAS_SIM_CLANG_VERSION 22)
 
-function(micras_add_lint_targets)
-    set(SOURCES ${ARGN})
+foreach(TOOL clang-format clang-tidy run-clang-tidy clang-apply-replacements)
+    string(TOUPPER "MICRAS_${TOOL}" VARIABLE)
+    string(REPLACE "-" "_" VARIABLE "${VARIABLE}")
+    find_program(${VARIABLE} NAMES "${TOOL}-${MICRAS_SIM_CLANG_VERSION}")
 
-    if(NOT CLANG_FORMAT OR NOT CLANG_TIDY)
-        message(WARNING "clang-format/clang-tidy not found; the format and lint targets are unavailable")
-        return()
+    if(NOT ${VARIABLE})
+        message(FATAL_ERROR
+            "${TOOL}-${MICRAS_SIM_CLANG_VERSION} was not found. The style targets need clang ${MICRAS_SIM_CLANG_VERSION}'s "
+            "clang-format, clang-tidy, run-clang-tidy and clang-apply-replacements by their versioned names.")
     endif()
+endforeach()
+
+# micras_sim_add_lint_targets(FORMAT <files>... LINT <sources>...)
+#
+# micras_sim_format and micras_sim_format_check cover FORMAT, micras_sim_lint and micras_sim_lint_fix run
+# clang-tidy over the LINT sources, which must be in the compilation database.
+function(micras_sim_add_lint_targets)
+    cmake_parse_arguments(PARSE_ARGV 0 MICRAS_SIM_STYLE "" "" "FORMAT;LINT")
 
     add_custom_target(micras_sim_format
-        COMMAND "${CLANG_FORMAT}" -style=file -i ${SOURCES}
+        COMMAND "${MICRAS_CLANG_FORMAT}" -style=file -i ${MICRAS_SIM_STYLE_FORMAT}
         WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
-        COMMENT "Formatting harness sources"
+        COMMENT "Formatting the simulator's sources"
         VERBATIM USES_TERMINAL
     )
 
     add_custom_target(micras_sim_format_check
-        COMMAND "${CLANG_FORMAT}" -style=file --dry-run --Werror ${SOURCES}
+        COMMAND "${MICRAS_CLANG_FORMAT}" -style=file --dry-run --Werror ${MICRAS_SIM_STYLE_FORMAT}
         WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
-        COMMENT "Checking harness formatting"
+        COMMENT "Checking the simulator's formatting"
         VERBATIM USES_TERMINAL
     )
 
-    list(FILTER SOURCES INCLUDE REGEX "\\.cpp$")
+    # The host compiler needs no extra argument, unlike the robot's cross compiler.
+    set(MICRAS_TIDY_EXTRA_ARGS "")
+    set(LINT_SCRIPT "${PROJECT_BINARY_DIR}/run_clang_tidy.sh")
+    configure_file("${PROJECT_SOURCE_DIR}/cmake/templates/run_clang_tidy.sh.in" "${LINT_SCRIPT}" @ONLY)
 
-    # Anchored so the pinned firmware submodule headers are never linted.
-    # The firmware computes the shape of every turn in a constant expression, which takes more
-    # evaluation steps than clang allows by default; the step limit is the firmware's own lint's.
     add_custom_target(micras_sim_lint
-        COMMAND "${CLANG_TIDY}" --quiet --warnings-as-errors=*
-                "--header-filter=^${PROJECT_SOURCE_DIR}/(engine|view|bridge|app|tests|targets/[a-z_]+/(include|config|tests))/"
-                --extra-arg=-fconstexpr-steps=1000000000
-                -p "${PROJECT_BINARY_DIR}" ${SOURCES}
+        COMMAND "${LINT_SCRIPT}" ${MICRAS_SIM_STYLE_LINT}
+        WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
+        COMMENT "Linting the simulator's sources"
+        VERBATIM USES_TERMINAL
+    )
+
+    add_custom_target(micras_sim_lint_fix
+        COMMAND "${LINT_SCRIPT}" --fix ${MICRAS_SIM_STYLE_LINT}
         WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
-        COMMENT "Linting harness sources"
+        COMMENT "Linting the simulator's sources and applying the fixes"
         VERBATIM USES_TERMINAL
     )
 endfunction()
diff --git a/cmake/micras_warnings.cmake b/cmake/micras_warnings.cmake
new file mode 100644
index 0000000..eb201b2
--- /dev/null
+++ b/cmake/micras_warnings.cmake
@@ -0,0 +1,57 @@
+###############################################################################
+## Project Warning Flags
+###############################################################################
+
+# The canonical copy lives in micras-lib; micras-simulation and MicrasFirmware carry the same file
+# byte for byte, and the firmware's CI compares them. The -Werror switch belongs to each repository
+# (MICRAS_LIB_WERROR, MICRAS_SIM_WERROR, MICRAS_WERROR) and is passed to micras_apply_warnings.
+
+# The -Wduplicated-* and -Wuseless-cast flags are GCC only. -fno-common is a code generation flag:
+# GCC's default for C and a no-op for C++, kept so that the robot's image stays the same.
+set(MICRAS_WARNING_OPTIONS
+    -Wall
+    -Wextra
+    -Wpedantic
+    -Wcast-align
+    -Wcast-qual
+    -Wdouble-promotion
+    $<$<CXX_COMPILER_ID:GNU>:-Wduplicated-branches>
+    $<$<CXX_COMPILER_ID:GNU>:-Wduplicated-cond>
+    -Wfloat-conversion
+    -Wformat=2
+    -Wimplicit-fallthrough
+    -Wmisleading-indentation
+    -Wnull-dereference
+    -Wsign-conversion
+    -Wundef
+    -Wunused-parameter
+    -fno-common
+
+    # C++ only, they make the C compiler warn about the command line itself
+    $<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>
+    $<$<COMPILE_LANGUAGE:CXX>:-Wold-style-cast>
+    $<$<COMPILE_LANGUAGE:CXX>:-Woverloaded-virtual>
+    $<$<AND:$<COMPILE_LANGUAGE:CXX>,$<CXX_COMPILER_ID:GNU>>:-Wuseless-cast>
+)
+
+# Kept globally as well, so that the function works in any directory, whichever of the three
+# repositories included this file first
+set_property(GLOBAL PROPERTY MICRAS_WARNING_OPTIONS ${MICRAS_WARNING_OPTIONS})
+
+# micras_apply_warnings(<target>... [WERROR <bool>])
+#
+# Applied per target, so that the generated sources are never compiled with them, and as options
+# rather than through a target, which a static library would carry in its interface. The targets
+# are real names, not aliases.
+function(micras_apply_warnings)
+    cmake_parse_arguments(PARSE_ARGV 0 MICRAS_WARNINGS "" "WERROR" "")
+    get_property(WARNING_OPTIONS GLOBAL PROPERTY MICRAS_WARNING_OPTIONS)
+
+    if(MICRAS_WARNINGS_WERROR)
+        list(APPEND WARNING_OPTIONS -Werror)
+    endif()
+
+    foreach(TARGET_NAME ${MICRAS_WARNINGS_UNPARSED_ARGUMENTS})
+        target_compile_options(${TARGET_NAME} PRIVATE ${WARNING_OPTIONS})
+    endforeach()
+endfunction()
diff --git a/cmake/templates/run_clang_tidy.sh.in b/cmake/templates/run_clang_tidy.sh.in
new file mode 100755
index 0000000..8de0cd4
--- /dev/null
+++ b/cmake/templates/run_clang_tidy.sh.in
@@ -0,0 +1,59 @@
+#!/bin/bash
+
+# Positional arguments are the source files to check; they are passed to run-clang-tidy as
+# path regexes matched against the entries of the compilation database.
+#
+# The canonical copy lives in micras-lib; micras-simulation and MicrasFirmware carry the same file
+# byte for byte. Each repository configures it with the clang tools it found by their versioned
+# names and with the extra arguments its compiler needs (the ARM sysroot on the robot, none on the
+# host), one argument per line in MICRAS_TIDY_EXTRA_ARGS.
+
+CLANG_TIDY="@MICRAS_CLANG_TIDY@"
+RUN_CLANG_TIDY="@MICRAS_RUN_CLANG_TIDY@"
+CLANG_APPLY_REPLACEMENTS="@MICRAS_CLANG_APPLY_REPLACEMENTS@"
+
+mapfile -t EXTRA_ARGS <<'EXTRA_ARGS_END'
+@MICRAS_TIDY_EXTRA_ARGS@
+EXTRA_ARGS_END
+
+RUN_FLAGS=(-clang-tidy-binary "${CLANG_TIDY}")
+
+for ARG in "${EXTRA_ARGS[@]}"; do
+    if [[ -n "${ARG}" ]]; then
+        RUN_FLAGS+=("-extra-arg-before=${ARG}")
+    fi
+done
+
+if [[ "${1:-}" == "--fix" ]]; then
+    RUN_FLAGS+=(-fix -format -clang-apply-replacements-binary "${CLANG_APPLY_REPLACEMENTS}")
+    shift
+fi
+
+if [[ -t 1 ]]; then
+    RUN_FLAGS+=(-use-color)
+fi
+
+# Unknown check names are silently ignored during a normal run, so the configuration is
+# validated explicitly to keep it from rotting across clang-tidy versions.
+"${CLANG_TIDY}" --verify-config || exit 1
+
+echo "Running clang-tidy on all source files..."
+
+# run-clang-tidy bounds the number of concurrent clang-tidy processes, unlike a plain
+# background job per file, and serializes the fixes it applies to shared headers.
+# The filtered lines are the echoed clang-tidy invocations and the per-file diagnostic
+# counters, which include the warnings suppressed in the vendor headers and are always noise.
+# Real diagnostics name their own file, so nothing useful is hidden.
+# The turn tables are designed as a constant expression wherever a program compiles them, which
+# takes more evaluation steps than clang allows by default.
+"${RUN_CLANG_TIDY}" \
+    "${RUN_FLAGS[@]}" \
+    -quiet \
+    -j "$(nproc)" \
+    -warnings-as-errors="*" \
+    -p "@CMAKE_BINARY_DIR@" \
+    -extra-arg-before=-Wno-unknown-warning-option \
+    -extra-arg=-fconstexpr-steps=1000000000 \
+    "$@" 2>&1 | grep -Ev '^(\[ *[0-9]+/[0-9]+\]|[0-9]+ (warning|error)s? generated\.|clang-tidy(-[0-9.]+)? )'
+
+exit "${PIPESTATUS[0]}"
diff --git a/engine/src/devices/imu.cpp b/engine/src/devices/imu.cpp
index e0e5a2a..0516e83 100644
--- a/engine/src/devices/imu.cpp
+++ b/engine/src/devices/imu.cpp
@@ -69,7 +69,7 @@ void Imu::sample(MujocoWorld& world, const Clock& clock) {
         for (std::size_t channel = 0; channel < channels; channel++) {
             const std::size_t kind = channel / 3;
             const double      value = this->scale.at(channel) * this->filtered.at(channel) + this->bias.at(channel) +
-                                 this->noise.gaussian(sigma.at(kind));
+                                      this->noise.gaussian(sigma.at(kind));
             this->pending.at(channel) =
                 static_cast<float>(std::clamp(std::round(value / resolution.at(kind)), word_min, word_max));
         }
diff --git a/engine/src/robot/robot_model.cpp b/engine/src/robot/robot_model.cpp
index 4379d8c..9714ab2 100644
--- a/engine/src/robot/robot_model.cpp
+++ b/engine/src/robot/robot_model.cpp
@@ -118,7 +118,7 @@ std::string sites(const RobotDescription& robot, const RobotModelNames& names) {
     const ImuDescription& imu = robot.imu;
     std::string           sites = std::format(
         "      <site name=\"{}\" pos=\"{}\" xyaxes=\"{} {}\"/>\n"
-                  "      <site name=\"{}\" pos=\"{}\"/>\n",
+        "      <site name=\"{}\" pos=\"{}\"/>\n",
         names.imu, text(imu.position), text(imu.axes[0]), text(imu.axes[1]), names.fan, text(robot.fan.position)
     );
 
diff --git a/hal_host/models/src/as5047u_model.cpp b/hal_host/models/src/as5047u_model.cpp
index 3f649e1..9903a07 100644
--- a/hal_host/models/src/as5047u_model.cpp
+++ b/hal_host/models/src/as5047u_model.cpp
@@ -122,7 +122,7 @@ uint8_t As5047uModel::crc(uint8_t high, uint8_t low) {
 void As5047uModel::process(const std::array<uint8_t, frame_size>& frame) {
     const uint32_t raw = static_cast<uint32_t>(std::get<0>(frame)) << 16U |
                          static_cast<uint32_t>(std::get<1>(frame)) << 8U | std::get<2>(frame);
-    const auto field = static_cast<uint16_t>((raw >> field_shift) & field_mask);
+    const auto     field = static_cast<uint16_t>((raw >> field_shift) & field_mask);
 
     if (crc(std::get<0>(frame), std::get<1>(frame)) != std::get<2>(frame)) {
         this->errfl |= crc_error;
diff --git a/targets/micras/.clang-tidy b/targets/micras/.clang-tidy
new file mode 100644
index 0000000..d79d7de
--- /dev/null
+++ b/targets/micras/.clang-tidy
@@ -0,0 +1,5 @@
+---
+# The firmware's own headers are linted by the firmware, and the host HAL's by micras-lib.
+InheritParentConfig: true
+ExcludeHeaderFilterRegex: '(_deps|external|MicrasFirmware|hal_host)/'
+...
diff --git a/targets/micras/src/bindings.cpp b/targets/micras/src/bindings.cpp
index 03c62cb..c1fd9a3 100644
--- a/targets/micras/src/bindings.cpp
+++ b/targets/micras/src/bindings.cpp
@@ -116,13 +116,12 @@ void bind_encoder(
     attach(sensor.spi, chip);
 
     add(context, std::make_unique<QuadratureEncoder>(
-                     context.world,
-                     QuadratureEncoder::Config{
-                         .name = "encoder_" + side,
-                         .joint = side == "left" ? names.left_wheel : names.right_wheel,
-                         .counts_per_revolution = world.robot->encoders.counts_per_revolution,
-                         .write = [&port](int32_t count) { port.count = count; },
-                     }
+                     context.world, QuadratureEncoder::Config{
+                                        .name = "encoder_" + side,
+                                        .joint = side == "left" ? names.left_wheel : names.right_wheel,
+                                        .counts_per_revolution = world.robot->encoders.counts_per_revolution,
+                                        .write = [&port](int32_t count) { port.count = count; },
+                                    }
                  ));
 }
 
diff --git a/targets/micras/src/micras_target.cpp b/targets/micras/src/micras_target.cpp
index b1630d9..f22d109 100644
--- a/targets/micras/src/micras_target.cpp
+++ b/targets/micras/src/micras_target.cpp
@@ -158,27 +158,26 @@ std::filesystem::path MicrasTarget::robot_file() const {
 GroundTruthConfig MicrasTarget::ground_truth() const {
     return {
         .body = "micras",
-        .columns =
-            {
-                {.name = "wheel_angle_left", .probe = Probe::JOINT_POSITION, .object = "left_wheel"},
-                {.name = "wheel_angle_right", .probe = Probe::JOINT_POSITION, .object = "right_wheel"},
-                {.name = "wheel_speed_left", .probe = Probe::JOINT_VELOCITY, .object = "left_wheel"},
-                {.name = "wheel_speed_right", .probe = Probe::JOINT_VELOCITY, .object = "right_wheel"},
-                {.name = "motor_torque_left", .probe = Probe::ACTUATOR_FORCE, .object = "motor_left"},
-                {.name = "motor_torque_right", .probe = Probe::ACTUATOR_FORCE, .object = "motor_right"},
-                {.name = "left_ncon", .probe = Probe::CONTACT_COUNT, .object = "left_wheel"},
-                {.name = "left_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "left_wheel"},
-                {.name = "left_slip", .probe = Probe::CONTACT_SLIP, .object = "left_wheel"},
-                {.name = "left_penetration", .probe = Probe::CONTACT_PENETRATION, .object = "left_wheel"},
-                {.name = "right_ncon", .probe = Probe::CONTACT_COUNT, .object = "right_wheel"},
-                {.name = "right_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "right_wheel"},
-                {.name = "right_slip", .probe = Probe::CONTACT_SLIP, .object = "right_wheel"},
-                {.name = "right_penetration", .probe = Probe::CONTACT_PENETRATION, .object = "right_wheel"},
-                {.name = "board_ncon", .probe = Probe::CONTACT_COUNT, .object = "board"},
-                {.name = "rear_skid_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "rear_skid"},
-                {.name = "front_skid_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "front_skid"},
-                {.name = "solver_niter", .probe = Probe::SOLVER_ITERATIONS, .object = ""},
-            },
+        .columns = {
+            {.name = "wheel_angle_left", .probe = Probe::JOINT_POSITION, .object = "left_wheel"},
+            {.name = "wheel_angle_right", .probe = Probe::JOINT_POSITION, .object = "right_wheel"},
+            {.name = "wheel_speed_left", .probe = Probe::JOINT_VELOCITY, .object = "left_wheel"},
+            {.name = "wheel_speed_right", .probe = Probe::JOINT_VELOCITY, .object = "right_wheel"},
+            {.name = "motor_torque_left", .probe = Probe::ACTUATOR_FORCE, .object = "motor_left"},
+            {.name = "motor_torque_right", .probe = Probe::ACTUATOR_FORCE, .object = "motor_right"},
+            {.name = "left_ncon", .probe = Probe::CONTACT_COUNT, .object = "left_wheel"},
+            {.name = "left_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "left_wheel"},
+            {.name = "left_slip", .probe = Probe::CONTACT_SLIP, .object = "left_wheel"},
+            {.name = "left_penetration", .probe = Probe::CONTACT_PENETRATION, .object = "left_wheel"},
+            {.name = "right_ncon", .probe = Probe::CONTACT_COUNT, .object = "right_wheel"},
+            {.name = "right_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "right_wheel"},
+            {.name = "right_slip", .probe = Probe::CONTACT_SLIP, .object = "right_wheel"},
+            {.name = "right_penetration", .probe = Probe::CONTACT_PENETRATION, .object = "right_wheel"},
+            {.name = "board_ncon", .probe = Probe::CONTACT_COUNT, .object = "board"},
+            {.name = "rear_skid_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "rear_skid"},
+            {.name = "front_skid_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "front_skid"},
+            {.name = "solver_niter", .probe = Probe::SOLVER_ITERATIONS, .object = ""},
+        },
     };
 }
 
@@ -248,13 +247,13 @@ std::vector<MetadataField> MicrasTarget::metadata() const {
 PanelSpec MicrasTarget::make_panel() const {
     const MicrasBoard& devices = this->board;
     PanelSpec          panel{
-                 .state = StateLabel{.variable = "state", .names = state_names},
-                 .buttons = {{.name = "button", .press = [&devices](bool pressed) { devices.button->set(pressed); }}},
-                 .switches = {},
-                 .lamps = {},
-                 .readouts = {},
-                 .plots = {"reference/linear_speed", "pose/linear_speed", "reference/angular_speed", "pose/angular_speed"},
-                 .take_over = {},
+        .state = StateLabel{.variable = "state", .names = state_names},
+        .buttons = {{.name = "button", .press = [&devices](bool pressed) { devices.button->set(pressed); }}},
+        .switches = {},
+        .lamps = {},
+        .readouts = {},
+        .plots = {"reference/linear_speed", "pose/linear_speed", "reference/angular_speed", "pose/angular_speed"},
+        .take_over = {},
     };
 
     for (std::size_t index = 0; index < devices.dip_switches.size(); index++) {
@@ -284,11 +283,11 @@ PanelSpec MicrasTarget::make_panel() const {
     panel.readouts.push_back({.name = "buzzer", .text = [&buzzer] {
                                   return buzzer.duty_cycle > 0.0F ? std::format("{:.0f} Hz", buzzer.frequency) : "off";
                               }});
-    panel.readouts.push_back({.name = "motors", .text = [&devices] {
-                                  return std::format(
-                                      "{:6.2f} {:6.2f} A", devices.left_motor->current(), devices.right_motor->current()
-                                  );
-                              }});
+    panel.readouts.push_back(
+        {.name = "motors", .text = [&devices] {
+             return std::format("{:6.2f} {:6.2f} A", devices.left_motor->current(), devices.right_motor->current());
+         }}
+    );
     panel.readouts.push_back({.name = "battery", .text = [&devices] {
                                   return std::format("{:.2f} V", devices.battery->voltage());
                               }});
diff --git a/targets/micras/tools/turn_designer.cpp b/targets/micras/tools/turn_designer.cpp
index ef9dd8c..08b67e9 100644
--- a/targets/micras/tools/turn_designer.cpp
+++ b/targets/micras/tools/turn_designer.cpp
@@ -184,9 +184,9 @@ std::vector<Candidate> list_candidates(TurnId turn) {
     const micras::nav::TurnPrimitive& primitive = micras::nav::get_primitive(turn);
     const double                      half_cell = micras::robot_model.maze.cell_size / 2.0;
     const Frame                       frame{
-                              .entry = primitive.diagonal_entry ? std::numbers::pi / 4.0 : 0.0,
-                              .exit_x = primitive.exit.x * half_cell,
-                              .exit_y = primitive.exit.y * half_cell,
+        .entry = primitive.diagonal_entry ? std::numbers::pi / 4.0 : 0.0,
+        .exit_x = primitive.exit.x * half_cell,
+        .exit_y = primitive.exit.y * half_cell,
     };
 
     std::vector<double> totals{primitive.rotation * 45.0};
diff --git a/targets/micras/tools/wall_calibration.cpp b/targets/micras/tools/wall_calibration.cpp
index 3363907..7fd9388 100644
--- a/targets/micras/tools/wall_calibration.cpp
+++ b/targets/micras/tools/wall_calibration.cpp
@@ -105,20 +105,20 @@ Sample sample(const RobotDescription& robot, std::string_view drawing, double ac
     std::vector<uint32_t> counts(2 * robot.wall_sensors.sensors.size());
     WallSensors           sensors{
         world,
-                  {
-                      .name = "wall",
-                      .description = robot.wall_sensors,
-                      .scan_ticks = 1,
-                      .emitter_duty = [](std::size_t) { return 30.0F; },
-                      .write = [&counts](std::size_t index, uint32_t value) { counts.at(index) = value; },
-                      .finish_sequence = [] {},
-                      .reflectance =
+        {
+            .name = "wall",
+            .description = robot.wall_sensors,
+            .scan_ticks = 1,
+            .emitter_duty = [](std::size_t) { return 30.0F; },
+            .write = [&counts](std::size_t index, uint32_t value) { counts.at(index) = value; },
+            .finish_sequence = [] { },
+            .reflectance =
                 [&world, &config](int geom) {
                     const char* name = mj_id2name(world.model(), mjOBJ_GEOM, geom);
                     return Maze::reflectance(name == nullptr ? "" : name, config);
                 },
         },
-                  {.seed = 1, .ideal = true},
+        {.seed = 1, .ideal = true},
     };
 
     Clock clock = Clock::from_model(world.timestep(), 125);
diff --git a/tests/.clang-tidy b/tests/.clang-tidy
index f3c0b81..ce6b632 100644
--- a/tests/.clang-tidy
+++ b/tests/.clang-tidy
@@ -1,6 +1,6 @@
 ---
-# The GoogleTest macros expand into try/catch blocks, so the cognitive
-# complexity of a TEST body measures the macro rather than the test.
+# The test macros expand into branches that count against the cognitive complexity of every test
+# case, whatever the test itself does
 InheritParentConfig: true
 Checks:
   -readability-function-cognitive-complexity,
diff --git a/tests/unit/csv_recorder_test.cpp b/tests/unit/csv_recorder_test.cpp
index 39de5d8..9438114 100644
--- a/tests/unit/csv_recorder_test.cpp
+++ b/tests/unit/csv_recorder_test.cpp
@@ -16,17 +16,16 @@ namespace {
 GroundTruthConfig tiny_config() {
     return {
         .body = "robot",
-        .columns =
-            {
-                {.name = "wheel_speed", .probe = Probe::JOINT_VELOCITY, .object = "wheel"},
-                {.name = "wheel_angle", .probe = Probe::JOINT_POSITION, .object = "wheel"},
-                {.name = "torque", .probe = Probe::ACTUATOR_FORCE, .object = "motor"},
-                {.name = "chassis_ncon", .probe = Probe::CONTACT_COUNT, .object = "chassis"},
-                {.name = "chassis_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "chassis"},
-                {.name = "chassis_slip", .probe = Probe::CONTACT_SLIP, .object = "chassis"},
-                {.name = "chassis_penetration", .probe = Probe::CONTACT_PENETRATION, .object = "chassis"},
-                {.name = "iterations", .probe = Probe::SOLVER_ITERATIONS, .object = ""},
-            },
+        .columns = {
+            {.name = "wheel_speed", .probe = Probe::JOINT_VELOCITY, .object = "wheel"},
+            {.name = "wheel_angle", .probe = Probe::JOINT_POSITION, .object = "wheel"},
+            {.name = "torque", .probe = Probe::ACTUATOR_FORCE, .object = "motor"},
+            {.name = "chassis_ncon", .probe = Probe::CONTACT_COUNT, .object = "chassis"},
+            {.name = "chassis_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "chassis"},
+            {.name = "chassis_slip", .probe = Probe::CONTACT_SLIP, .object = "chassis"},
+            {.name = "chassis_penetration", .probe = Probe::CONTACT_PENETRATION, .object = "chassis"},
+            {.name = "iterations", .probe = Probe::SOLVER_ITERATIONS, .object = ""},
+        },
     };
 }
 
diff --git a/tests/unit/devices_test.cpp b/tests/unit/devices_test.cpp
index e4e4225..226edc9 100644
--- a/tests/unit/devices_test.cpp
+++ b/tests/unit/devices_test.cpp
@@ -203,10 +203,10 @@ TEST_F(Devices, RefusesAMotorOnAnActuatorTheModelDoesNotHave) {
 TEST_F(Devices, CountsTheWheelAngleAtTheEncodersResolution) {
     std::optional<int32_t> written;
     QuadratureEncoder      encoder(
-        this->world, {.name = "wheel",
-                           .joint = "wheel",
-                           .counts_per_revolution = 4096,
-                           .write = [&written](int32_t count) { written = count; }}
+        this->world,
+        {.name = "wheel", .joint = "wheel", .counts_per_revolution = 4096, .write = [&written](int32_t count) {
+             written = count;
+         }}
     );
     const double radians_per_count = 2.0 * std::numbers::pi / 4096.0;
 
@@ -222,10 +222,10 @@ TEST_F(Devices, CountsTheWheelAngleAtTheEncodersResolution) {
 TEST_F(Devices, CountsDownWhenTheWheelTurnsBackwards) {
     std::optional<int32_t> written;
     QuadratureEncoder      encoder(
-        this->world, {.name = "wheel",
-                           .joint = "wheel",
-                           .counts_per_revolution = 4096,
-                           .write = [&written](int32_t count) { written = count; }}
+        this->world,
+        {.name = "wheel", .joint = "wheel", .counts_per_revolution = 4096, .write = [&written](int32_t count) {
+             written = count;
+         }}
     );
 
     this->wheel_angle() = -1023.5 * 2.0 * std::numbers::pi / 4096.0;
diff --git a/tests/unit/event_log_test.cpp b/tests/unit/event_log_test.cpp
index 1220504..4366cc9 100644
--- a/tests/unit/event_log_test.cpp
+++ b/tests/unit/event_log_test.cpp
@@ -44,7 +44,7 @@ class Logging : public testing::Test {
 
     // NOLINTBEGIN(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
     RunContext     context;
-    FirmwareThread firmware{[](FirmwareThread&) {}};
+    FirmwareThread firmware{[](FirmwareThread&) { }};
     Simulation     simulation{this->context, this->firmware};
     MapVariables   variables;
     int            chassis{-1};
diff --git a/tests/unit/firmware_thread_test.cpp b/tests/unit/firmware_thread_test.cpp
index bf86163..18602ec 100644
--- a/tests/unit/firmware_thread_test.cpp
+++ b/tests/unit/firmware_thread_test.cpp
@@ -134,7 +134,7 @@ TEST(FirmwareThread, UnwindingIsNotBlockedByAYieldingDestructor) {
 }
 
 TEST(FirmwareThread, ReportsAProgramThatReturns) {
-    FirmwareThread firmware([](FirmwareThread&) {});
+    FirmwareThread firmware([](FirmwareThread&) { });
 
     firmware.run_until_yield();
     EXPECT_TRUE(firmware.has_finished());
@@ -150,7 +150,7 @@ TEST(FirmwareThread, CarriesAProgramErrorBackToTheSimulation) {
 }
 
 TEST(FirmwareThread, RunningAFinishedProgramIsHarmless) {
-    FirmwareThread firmware([](FirmwareThread&) {});
+    FirmwareThread firmware([](FirmwareThread&) { });
 
     firmware.run_until_yield();
     EXPECT_NO_THROW(firmware.run_until_yield());
diff --git a/tests/unit/scenario_test.cpp b/tests/unit/scenario_test.cpp
index 038c1a1..7bea8e0 100644
--- a/tests/unit/scenario_test.cpp
+++ b/tests/unit/scenario_test.cpp
@@ -282,7 +282,7 @@ class Playing : public testing::Test {
     bool          button_level{true};
     DigitalInput  button{{.name = "button", .active_low = true, .drive = [this](bool level) {
                              this->button_level = level;
-                         }}};
+                          }}};
     ScenarioHooks hooks;
     Probe         probe{this->button};
     uint64_t      completed{0};
@@ -401,8 +401,10 @@ TEST_F(Playing, HoldsAnEventUntilItsConditionHolds) {
 }
 
 TEST(Scenario, ReadsAnEventConditionAndAStopCount) {
-    const Scenario scenario = Scenario::parse("[[events]]\nat = 1\nsend = \"a\"\nwhen = \"state\"\nequals = \"IDLE\"\n"
-                                              "[stop]\nwhen = \"state\"\nequals = \"IDLE\"\ncount = 2\n");
+    const Scenario scenario = Scenario::parse(
+        "[[events]]\nat = 1\nsend = \"a\"\nwhen = \"state\"\nequals = \"IDLE\"\n"
+        "[stop]\nwhen = \"state\"\nequals = \"IDLE\"\ncount = 2\n"
+    );
 
     ASSERT_EQ(scenario.events.size(), 1U);
     EXPECT_EQ(scenario.events.front().when, "state");

From 3a079f92301a3bae0f83e0c4b0950861b07741ba Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 05:18:10 -0300
Subject: [PATCH 29/52] =?UTF-8?q?=E2=9C=85=20Move=20every=20test=20to=20do?=
 =?UTF-8?q?ctest?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The three repositories test with one framework, doctest, at the commit micras-lib uses. The engine's
tests, the Micras target's and the chip models' keep their cases and their names (Suite.Case), each
discovered by CTest through doctest_discover_tests: fixtures set up in their constructors, EXPECT and
ASSERT became CHECK and REQUIRE, a near comparison checks the distance, and a double comparison allows
a relative 1e-12. GoogleTest leaves the dependencies.
---
 cmake/third_party.cmake                      |  16 +-
 hal_host/models/CMakeLists.txt               |   6 +-
 hal_host/models/tests/as5047u_model_test.cpp |  88 +++----
 hal_host/models/tests/lsm6dsv_model_test.cpp | 172 ++++++-------
 targets/micras/tests/CMakeLists.txt          |   6 +-
 targets/micras/tests/unit/hal_host_test.cpp  |  39 +--
 targets/micras/tests/unit/spi_chips_test.cpp | 103 ++++----
 targets/micras/tests/unit/spi_slot_test.cpp  | 102 ++++----
 tests/CMakeLists.txt                         |   8 +-
 tests/unit/cli_test.cpp                      | 105 ++++----
 tests/unit/clock_test.cpp                    |  37 +--
 tests/unit/csv_recorder_test.cpp             |  51 ++--
 tests/unit/csv_writer_test.cpp               |  43 ++--
 tests/unit/devices_test.cpp                  |  95 ++++----
 tests/unit/event_log_test.cpp                |  86 +++----
 tests/unit/firmware_thread_test.cpp          |  42 ++--
 tests/unit/maze_test.cpp                     | 144 +++++------
 tests/unit/noise_test.cpp                    |  34 +--
 tests/unit/robot_description_test.cpp        | 136 +++++------
 tests/unit/run_metadata_test.cpp             |  22 +-
 tests/unit/scenario_test.cpp                 | 243 ++++++++++---------
 tests/unit/serial_bus_test.cpp               |  30 +--
 tests/unit/simulation_test.cpp               |  37 +--
 tests/unit/web_socket_server_test.cpp        |  40 +--
 24 files changed, 849 insertions(+), 836 deletions(-)

diff --git a/cmake/third_party.cmake b/cmake/third_party.cmake
index 8311686..83d6438 100644
--- a/cmake/third_party.cmake
+++ b/cmake/third_party.cmake
@@ -80,10 +80,16 @@ if(MICRAS_SIM_BRIDGE)
 endif()
 
 if(MICRAS_SIM_TESTS)
-    FetchContent_Declare(googletest
-        GIT_REPOSITORY https://github.com/google/googletest.git
-        GIT_TAG        b514bdc898e2951020cbdca1304b75f5950d1f59
+    # doctest v2.5.3, the commit micras-lib's tests use. Its headers are system headers when it is added
+    # to another project, so its macros' own code raises no warning here.
+    set(DOCTEST_NO_INSTALL ON)
+
+    FetchContent_Declare(doctest
+        URL      "https://github.com/doctest/doctest/archive/2d0a9359a60c51affe2a9bebb1be1dca47868151.tar.gz"
+        URL_HASH "SHA256=e64542c4ea68e9f381ccf6eae924cfdd652567c87c142d76fe92644fb4608149"
+        DOWNLOAD_EXTRACT_TIMESTAMP TRUE
     )
-    set(INSTALL_GTEST OFF)
-    FetchContent_MakeAvailable(googletest)
+    FetchContent_MakeAvailable(doctest)
+
+    include("${doctest_SOURCE_DIR}/scripts/cmake/doctest.cmake")
 endif()
diff --git a/hal_host/models/CMakeLists.txt b/hal_host/models/CMakeLists.txt
index 2e8b053..87b3cd6 100644
--- a/hal_host/models/CMakeLists.txt
+++ b/hal_host/models/CMakeLists.txt
@@ -17,8 +17,6 @@ target_compile_features(micras_hal_host_models PUBLIC cxx_std_23)
 target_compile_options(micras_hal_host_models PRIVATE -Wall -Wextra)
 
 if(MICRAS_SIM_TESTS)
-    include(GoogleTest)
-
     # ST's register driver header names the registers the tests address, so a model
     # register at another address than the driver's fails here.
     add_executable(micras_hal_host_models_tests
@@ -26,9 +24,9 @@ if(MICRAS_SIM_TESTS)
         tests/lsm6dsv_model_test.cpp
     )
     target_link_libraries(micras_hal_host_models_tests PRIVATE
-        micras_hal_host_models lsm6dsv_headers GTest::gtest_main
+        micras_hal_host_models lsm6dsv_headers doctest::doctest_with_main
     )
     target_compile_options(micras_hal_host_models_tests PRIVATE -Wall -Wextra)
 
-    gtest_discover_tests(micras_hal_host_models_tests)
+    doctest_discover_tests(micras_hal_host_models_tests)
 endif()
diff --git a/hal_host/models/tests/as5047u_model_test.cpp b/hal_host/models/tests/as5047u_model_test.cpp
index 17415a7..01eeb05 100644
--- a/hal_host/models/tests/as5047u_model_test.cpp
+++ b/hal_host/models/tests/as5047u_model_test.cpp
@@ -5,7 +5,7 @@
 #include <array>
 #include <cstdint>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/models/as5047u_model.hpp"
 
@@ -62,33 +62,33 @@ void write_register(As5047uModel& chip, uint16_t address, uint16_t data) {
     transfer(chip, data_frame(data));
 }
 
-TEST(As5047uModel, AnswersInSpiMode1) {
+TEST_CASE("As5047uModel.AnswersInSpiMode1") {
     const As5047uModel chip;
 
-    EXPECT_EQ(chip.mode(), hal::host::SpiDevice::Mode::MODE_1);
+    CHECK_EQ(chip.mode(), hal::host::SpiDevice::Mode::MODE_1);
 }
 
-TEST(As5047uModel, ComputesTheFrameCrc) {
-    EXPECT_EQ(As5047uModel::crc(0x00, 0x00), 0xF1);
-    EXPECT_EQ(As5047uModel::crc(0x40, 0x01), 0x06);
-    EXPECT_EQ(As5047uModel::crc(0x40, 0x1A), 0x04);
-    EXPECT_EQ(As5047uModel::crc(0x00, 0x80), 0xD7);
+TEST_CASE("As5047uModel.ComputesTheFrameCrc") {
+    CHECK_EQ(As5047uModel::crc(0x00, 0x00), 0xF1);
+    CHECK_EQ(As5047uModel::crc(0x40, 0x01), 0x06);
+    CHECK_EQ(As5047uModel::crc(0x40, 0x1A), 0x04);
+    CHECK_EQ(As5047uModel::crc(0x00, 0x80), 0xD7);
 }
 
-TEST(As5047uModel, PowersOnWithZeroedRegistersAndAnEmptyAnswer) {
+TEST_CASE("As5047uModel.PowersOnWithZeroedRegistersAndAnEmptyAnswer") {
     As5047uModel chip;
 
     for (const uint16_t address :
          {As5047uModel::errfl_address, As5047uModel::disable_address, As5047uModel::zposm_address,
           As5047uModel::zposl_address, As5047uModel::settings1_address, As5047uModel::settings2_address,
           As5047uModel::settings3_address, As5047uModel::ecc_address}) {
-        EXPECT_EQ(chip.peek(address), 0) << "register " << address;
+        CHECK_MESSAGE(chip.peek(address) == 0, "register " << address);
     }
 
-    EXPECT_EQ(transfer(chip, read_command(As5047uModel::nop_address)), 0x0000F1U);
+    CHECK_EQ(transfer(chip, read_command(As5047uModel::nop_address)), 0x0000F1U);
 }
 
-TEST(As5047uModel, AnswersEachFrameInTheNextOne) {
+TEST_CASE("As5047uModel.AnswersEachFrameInTheNextOne") {
     As5047uModel chip;
     write_register(chip, As5047uModel::settings3_address, 0x80);
     write_register(chip, As5047uModel::zposm_address, 0x12);
@@ -97,13 +97,13 @@ TEST(As5047uModel, AnswersEachFrameInTheNextOne) {
     const uint32_t settings3 = transfer(chip, read_command(As5047uModel::zposm_address));
     const uint32_t zposm = transfer(chip, read_command(As5047uModel::nop_address));
 
-    EXPECT_EQ(data_of(settings3), 0x80);
-    EXPECT_EQ(data_of(zposm), 0x12);
-    EXPECT_TRUE(valid(settings3));
-    EXPECT_TRUE(valid(zposm));
+    CHECK_EQ(data_of(settings3), 0x80);
+    CHECK_EQ(data_of(zposm), 0x12);
+    CHECK(valid(settings3));
+    CHECK(valid(zposm));
 }
 
-TEST(As5047uModel, WritesWithACommandAndADataFrame) {
+TEST_CASE("As5047uModel.WritesWithACommandAndADataFrame") {
     As5047uModel chip;
     write_register(chip, As5047uModel::settings2_address, 0x04);
 
@@ -111,12 +111,12 @@ TEST(As5047uModel, WritesWithACommandAndADataFrame) {
     const uint32_t old_content = transfer(chip, data_frame(0x21));
     const uint32_t new_content = transfer(chip, read_command(As5047uModel::nop_address));
 
-    EXPECT_EQ(data_of(old_content), 0x04);
-    EXPECT_EQ(data_of(new_content), 0x21);
-    EXPECT_EQ(chip.peek(As5047uModel::settings2_address), 0x21);
+    CHECK_EQ(data_of(old_content), 0x04);
+    CHECK_EQ(data_of(new_content), 0x21);
+    CHECK_EQ(chip.peek(As5047uModel::settings2_address), 0x21);
 }
 
-TEST(As5047uModel, HoldsEveryVolatileRegister) {
+TEST_CASE("As5047uModel.HoldsEveryVolatileRegister") {
     As5047uModel chip;
     uint16_t     value = 0x11;
 
@@ -125,22 +125,22 @@ TEST(As5047uModel, HoldsEveryVolatileRegister) {
           As5047uModel::settings1_address, As5047uModel::settings2_address, As5047uModel::settings3_address,
           As5047uModel::ecc_address}) {
         write_register(chip, address, value);
-        EXPECT_EQ(read_register(chip, address), value) << "register " << address;
+        CHECK_MESSAGE(read_register(chip, address) == value, "register " << address);
         value += 0x11;
     }
 }
 
-TEST(As5047uModel, IgnoresWritesToOtherAddresses) {
+TEST_CASE("As5047uModel.IgnoresWritesToOtherAddresses") {
     As5047uModel chip;
 
     write_register(chip, As5047uModel::errfl_address, 0x7F);
     write_register(chip, 0x3FFF, 0x7F);
 
-    EXPECT_EQ(chip.peek(As5047uModel::errfl_address), 0);
-    EXPECT_EQ(read_register(chip, 0x3FFF), 0);
+    CHECK_EQ(chip.peek(As5047uModel::errfl_address), 0);
+    CHECK_EQ(read_register(chip, 0x3FFF), 0);
 }
 
-TEST(As5047uModel, RejectsAFrameWithAWrongCrc) {
+TEST_CASE("As5047uModel.RejectsAFrameWithAWrongCrc") {
     As5047uModel chip;
     Frame        command = write_command(As5047uModel::settings3_address);
     std::get<2>(command) ^= 0x01;
@@ -148,13 +148,13 @@ TEST(As5047uModel, RejectsAFrameWithAWrongCrc) {
     transfer(chip, command);
     const uint32_t after_error = transfer(chip, data_frame(0x80));
 
-    EXPECT_EQ(chip.peek(As5047uModel::settings3_address), 0);
-    EXPECT_EQ(chip.peek(As5047uModel::errfl_address), As5047uModel::crc_error);
-    EXPECT_NE(after_error & error_flag, 0U);
-    EXPECT_TRUE(valid(after_error));
+    CHECK_EQ(chip.peek(As5047uModel::settings3_address), 0);
+    CHECK_EQ(chip.peek(As5047uModel::errfl_address), As5047uModel::crc_error);
+    CHECK_NE(after_error & error_flag, 0U);
+    CHECK(valid(after_error));
 }
 
-TEST(As5047uModel, DropsAWriteWhoseDataFrameHasAWrongCrc) {
+TEST_CASE("As5047uModel.DropsAWriteWhoseDataFrameHasAWrongCrc") {
     As5047uModel chip;
     Frame        data = data_frame(0x80);
     std::get<2>(data) ^= 0x80;
@@ -163,11 +163,11 @@ TEST(As5047uModel, DropsAWriteWhoseDataFrameHasAWrongCrc) {
     transfer(chip, data);
     transfer(chip, data_frame(0x80));
 
-    EXPECT_EQ(chip.peek(As5047uModel::settings3_address), 0);
-    EXPECT_EQ(chip.peek(As5047uModel::errfl_address), As5047uModel::crc_error);
+    CHECK_EQ(chip.peek(As5047uModel::settings3_address), 0);
+    CHECK_EQ(chip.peek(As5047uModel::errfl_address), As5047uModel::crc_error);
 }
 
-TEST(As5047uModel, ClearsTheErrorFlagsWhenErrflIsRead) {
+TEST_CASE("As5047uModel.ClearsTheErrorFlagsWhenErrflIsRead") {
     As5047uModel chip;
     Frame        command = read_command(As5047uModel::settings3_address);
     std::get<0>(command) ^= 0x01;
@@ -177,13 +177,13 @@ TEST(As5047uModel, ClearsTheErrorFlagsWhenErrflIsRead) {
     const uint32_t errfl = transfer(chip, read_command(As5047uModel::nop_address));
     const uint32_t after = transfer(chip, read_command(As5047uModel::nop_address));
 
-    EXPECT_EQ(data_of(errfl), As5047uModel::crc_error);
-    EXPECT_NE(errfl & error_flag, 0U);
-    EXPECT_EQ(after & error_flag, 0U);
-    EXPECT_EQ(chip.peek(As5047uModel::errfl_address), 0);
+    CHECK_EQ(data_of(errfl), As5047uModel::crc_error);
+    CHECK_NE(errfl & error_flag, 0U);
+    CHECK_EQ(after & error_flag, 0U);
+    CHECK_EQ(chip.peek(As5047uModel::errfl_address), 0);
 }
 
-TEST(As5047uModel, FlagsAFrameCutShortByTheChipSelect) {
+TEST_CASE("As5047uModel.FlagsAFrameCutShortByTheChipSelect") {
     As5047uModel                 chip;
     const Frame                  command = write_command(As5047uModel::settings3_address);
     const std::array<uint8_t, 2> partial{std::get<0>(command), std::get<1>(command)};
@@ -194,11 +194,11 @@ TEST(As5047uModel, FlagsAFrameCutShortByTheChipSelect) {
     chip.deselect();
     transfer(chip, data_frame(0x80));
 
-    EXPECT_EQ(chip.peek(As5047uModel::settings3_address), 0);
-    EXPECT_EQ(chip.peek(As5047uModel::errfl_address), As5047uModel::framing_error);
+    CHECK_EQ(chip.peek(As5047uModel::settings3_address), 0);
+    CHECK_EQ(chip.peek(As5047uModel::errfl_address), As5047uModel::framing_error);
 }
 
-TEST(As5047uModel, TakesAFrameSplitAcrossExchanges) {
+TEST_CASE("As5047uModel.TakesAFrameSplitAcrossExchanges") {
     As5047uModel                 chip;
     const Frame                  command = write_command(As5047uModel::zposl_address);
     const std::array<uint8_t, 1> first{std::get<0>(command)};
@@ -212,8 +212,8 @@ TEST(As5047uModel, TakesAFrameSplitAcrossExchanges) {
     chip.deselect();
     transfer(chip, data_frame(0x3F));
 
-    EXPECT_EQ(chip.peek(As5047uModel::zposl_address), 0x3F);
-    EXPECT_EQ(chip.peek(As5047uModel::errfl_address), 0);
+    CHECK_EQ(chip.peek(As5047uModel::zposl_address), 0x3F);
+    CHECK_EQ(chip.peek(As5047uModel::errfl_address), 0);
 }
 }  // namespace
 }  // namespace micras::models
diff --git a/hal_host/models/tests/lsm6dsv_model_test.cpp b/hal_host/models/tests/lsm6dsv_model_test.cpp
index 2ca6fad..6e43938 100644
--- a/hal_host/models/tests/lsm6dsv_model_test.cpp
+++ b/hal_host/models/tests/lsm6dsv_model_test.cpp
@@ -7,7 +7,7 @@
 #include <numbers>
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "lsm6dsv_reg.h"
 #include "micras/models/lsm6dsv_model.hpp"
@@ -50,13 +50,13 @@ std::vector<uint8_t> read_burst(Lsm6dsvModel& chip) {
     return transact(chip, command);
 }
 
-TEST(Lsm6dsvModel, AnswersInSpiMode3) {
+TEST_CASE("Lsm6dsvModel.AnswersInSpiMode3") {
     const Lsm6dsvModel chip;
 
-    EXPECT_EQ(chip.mode(), hal::host::SpiDevice::Mode::MODE_3);
+    CHECK_EQ(chip.mode(), hal::host::SpiDevice::Mode::MODE_3);
 }
 
-TEST(Lsm6dsvModel, PowersOnWithTheDatasheetDefaults) {
+TEST_CASE("Lsm6dsvModel.PowersOnWithTheDatasheetDefaults") {
     const Lsm6dsvModel chip;
 
     for (uint8_t address = 0; address < Lsm6dsvModel::register_count; address++) {
@@ -70,30 +70,30 @@ TEST(Lsm6dsvModel, PowersOnWithTheDatasheetDefaults) {
             expected = 0x44;
         }
 
-        EXPECT_EQ(chip.peek(address), expected) << "register " << static_cast<int>(address);
+        CHECK_MESSAGE(chip.peek(address) == expected, "register " << static_cast<int>(address));
     }
 }
 
-TEST(Lsm6dsvModel, AnswersWhoAmIWithTheDeviceId) {
+TEST_CASE("Lsm6dsvModel.AnswersWhoAmIWithTheDeviceId") {
     Lsm6dsvModel chip;
 
     const std::vector<uint8_t> received = transact(chip, {LSM6DSV_WHO_AM_I | read_flag, 0xFF});
 
-    EXPECT_EQ(received.at(0), 0x00);
-    EXPECT_EQ(received.at(1), LSM6DSV_ID);
+    CHECK_EQ(received.at(0), 0x00);
+    CHECK_EQ(received.at(1), LSM6DSV_ID);
 }
 
-TEST(Lsm6dsvModel, AdvancesTheAddressAfterEveryByte) {
+TEST_CASE("Lsm6dsvModel.AdvancesTheAddressAfterEveryByte") {
     Lsm6dsvModel chip;
 
     transact(chip, {LSM6DSV_CTRL1, 0x16, 0x1C});
     const std::vector<uint8_t> received = transact(chip, {LSM6DSV_CTRL1 | read_flag, 0, 0});
 
-    EXPECT_EQ(received.at(1), 0x16);
-    EXPECT_EQ(received.at(2), 0x1C);
+    CHECK_EQ(received.at(1), 0x16);
+    CHECK_EQ(received.at(2), 0x1C);
 }
 
-TEST(Lsm6dsvModel, KeepsOneTransactionAcrossSeveralExchanges) {
+TEST_CASE("Lsm6dsvModel.KeepsOneTransactionAcrossSeveralExchanges") {
     Lsm6dsvModel chip;
     write(chip, LSM6DSV_CTRL2, 0x1C);
 
@@ -107,33 +107,33 @@ TEST(Lsm6dsvModel, KeepsOneTransactionAcrossSeveralExchanges) {
     chip.exchange(dummy, received);
     chip.deselect();
 
-    EXPECT_EQ(std::get<0>(received), 0x00);
-    EXPECT_EQ(std::get<1>(received), 0x1C);
+    CHECK_EQ(std::get<0>(received), 0x00);
+    CHECK_EQ(std::get<1>(received), 0x1C);
 }
 
-TEST(Lsm6dsvModel, StartsEveryTransactionWithACommand) {
+TEST_CASE("Lsm6dsvModel.StartsEveryTransactionWithACommand") {
     Lsm6dsvModel chip;
 
     transact(chip, {LSM6DSV_CTRL1, 0x16});
     transact(chip, {LSM6DSV_CTRL2, 0x1C});
 
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL1), 0x16);
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL2), 0x1C);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL1), 0x16);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL2), 0x1C);
 }
 
-TEST(Lsm6dsvModel, StaysOnOneRegisterWithoutAutoIncrement) {
+TEST_CASE("Lsm6dsvModel.StaysOnOneRegisterWithoutAutoIncrement") {
     Lsm6dsvModel chip;
     write(chip, LSM6DSV_CTRL3, 0x40);
 
     transact(chip, {LSM6DSV_CTRL1, 0x16, 0x1C});
     const std::vector<uint8_t> received = transact(chip, {LSM6DSV_CTRL1 | read_flag, 0, 0});
 
-    EXPECT_EQ(received.at(1), 0x1C);
-    EXPECT_EQ(received.at(2), 0x1C);
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL2), 0x00);
+    CHECK_EQ(received.at(1), 0x1C);
+    CHECK_EQ(received.at(2), 0x1C);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL2), 0x00);
 }
 
-TEST(Lsm6dsvModel, IgnoresWritesToReadOnlyAndReservedRegisters) {
+TEST_CASE("Lsm6dsvModel.IgnoresWritesToReadOnlyAndReservedRegisters") {
     Lsm6dsvModel chip;
 
     write(chip, LSM6DSV_WHO_AM_I, 0x00);
@@ -141,80 +141,80 @@ TEST(Lsm6dsvModel, IgnoresWritesToReadOnlyAndReservedRegisters) {
     write(chip, LSM6DSV_OUTX_L_G, 0x12);
     write(chip, 0x04, 0x34);
 
-    EXPECT_EQ(chip.peek(LSM6DSV_WHO_AM_I), LSM6DSV_ID);
-    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
-    EXPECT_EQ(chip.peek(LSM6DSV_OUTX_L_G), 0x00);
-    EXPECT_EQ(chip.peek(0x04), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_WHO_AM_I), LSM6DSV_ID);
+    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_OUTX_L_G), 0x00);
+    CHECK_EQ(chip.peek(0x04), 0x00);
 }
 
-TEST(Lsm6dsvModel, RestoresTheDefaultsOnASoftwarePowerOnReset) {
+TEST_CASE("Lsm6dsvModel.RestoresTheDefaultsOnASoftwarePowerOnReset") {
     Lsm6dsvModel chip;
     configure(chip, LSM6DSV_4000dps, LSM6DSV_8g);
     chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
 
     transact(chip, {LSM6DSV_FUNC_CFG_ACCESS, 0x04, 0x55});
 
-    EXPECT_EQ(chip.peek(LSM6DSV_FUNC_CFG_ACCESS), 0x00);
-    EXPECT_EQ(chip.peek(LSM6DSV_PIN_CTRL), 0x23);
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL1), 0x00);
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL2), 0x00);
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL3), 0x44);
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL6), 0x00);
-    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
-    EXPECT_EQ(chip.peek(LSM6DSV_OUTX_L_G), 0x00);
-    EXPECT_EQ(chip.peek(LSM6DSV_HAODR_CFG), 0x00);
-    EXPECT_EQ(read(chip, LSM6DSV_WHO_AM_I), LSM6DSV_ID);
+    CHECK_EQ(chip.peek(LSM6DSV_FUNC_CFG_ACCESS), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_PIN_CTRL), 0x23);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL1), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL2), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL3), 0x44);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL6), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_OUTX_L_G), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_HAODR_CFG), 0x00);
+    CHECK_EQ(read(chip, LSM6DSV_WHO_AM_I), LSM6DSV_ID);
 }
 
-TEST(Lsm6dsvModel, RestoresTheDefaultsOnASoftwareReset) {
+TEST_CASE("Lsm6dsvModel.RestoresTheDefaultsOnASoftwareReset") {
     Lsm6dsvModel chip;
     configure(chip, LSM6DSV_4000dps, LSM6DSV_8g);
 
     write(chip, LSM6DSV_CTRL3, 0x45);
 
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL3), 0x44);
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL2), 0x00);
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL6), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL3), 0x44);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL2), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL6), 0x00);
 }
 
-TEST(Lsm6dsvModel, HidesTheMainPageWhileAnotherIsSelected) {
+TEST_CASE("Lsm6dsvModel.HidesTheMainPageWhileAnotherIsSelected") {
     Lsm6dsvModel chip;
 
     write(chip, LSM6DSV_FUNC_CFG_ACCESS, 0x80);
-    EXPECT_EQ(read(chip, LSM6DSV_WHO_AM_I), 0x00);
+    CHECK_EQ(read(chip, LSM6DSV_WHO_AM_I), 0x00);
     write(chip, LSM6DSV_CTRL1, 0x1C);
 
     write(chip, LSM6DSV_FUNC_CFG_ACCESS, 0x00);
-    EXPECT_EQ(read(chip, LSM6DSV_WHO_AM_I), LSM6DSV_ID);
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL1), 0x00);
+    CHECK_EQ(read(chip, LSM6DSV_WHO_AM_I), LSM6DSV_ID);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL1), 0x00);
 }
 
-TEST(Lsm6dsvModel, IgnoresSamplesWhileTheSensorsAreOff) {
+TEST_CASE("Lsm6dsvModel.IgnoresSamplesWhileTheSensorsAreOff") {
     Lsm6dsvModel chip;
 
     chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
 
-    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
-    EXPECT_EQ(chip.peek(LSM6DSV_OUTX_L_G), 0x00);
-    EXPECT_EQ(chip.peek(LSM6DSV_OUTX_L_A), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_OUTX_L_G), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_OUTX_L_A), 0x00);
 }
 
-TEST(Lsm6dsvModel, SetsTheDataReadyBitOfEachSensorThatIsOn) {
+TEST_CASE("Lsm6dsvModel.SetsTheDataReadyBitOfEachSensorThatIsOn") {
     Lsm6dsvModel chip;
     write(chip, LSM6DSV_CTRL2, 0x1C);
 
     chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
 
-    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x02);
-    EXPECT_EQ(chip.peek(LSM6DSV_OUTX_L_A), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x02);
+    CHECK_EQ(chip.peek(LSM6DSV_OUTX_L_A), 0x00);
 
     write(chip, LSM6DSV_CTRL1, 0x1C);
     chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
 
-    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x03);
+    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x03);
 }
 
-TEST(Lsm6dsvModel, ClearsTheDataReadyBitsWithTheBurstThatReadsTheSample) {
+TEST_CASE("Lsm6dsvModel.ClearsTheDataReadyBitsWithTheBurstThatReadsTheSample") {
     Lsm6dsvModel chip;
     configure(chip, LSM6DSV_4000dps, LSM6DSV_8g);
     chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
@@ -222,40 +222,40 @@ TEST(Lsm6dsvModel, ClearsTheDataReadyBitsWithTheBurstThatReadsTheSample) {
     const std::vector<uint8_t> first = read_burst(chip);
     const std::vector<uint8_t> second = read_burst(chip);
 
-    EXPECT_EQ(first.at(1), 0x03);
-    EXPECT_EQ(second.at(1), 0x00);
-    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
-    EXPECT_EQ(word(second, 5), word(first, 5));
+    CHECK_EQ(first.at(1), 0x03);
+    CHECK_EQ(second.at(1), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
+    CHECK_EQ(word(second, 5), word(first, 5));
 }
 
-TEST(Lsm6dsvModel, ClearsEachDataReadyBitWithAHighByteOfItsSensor) {
+TEST_CASE("Lsm6dsvModel.ClearsEachDataReadyBitWithAHighByteOfItsSensor") {
     Lsm6dsvModel chip;
     configure(chip, LSM6DSV_4000dps, LSM6DSV_8g);
     chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
 
     read(chip, LSM6DSV_OUTX_L_G);
-    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x03);
+    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x03);
 
     read(chip, LSM6DSV_OUTY_H_G);
-    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x01);
+    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x01);
 
     read(chip, LSM6DSV_OUTZ_H_A);
-    EXPECT_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
+    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
 }
 
-TEST(Lsm6dsvModel, EncodesTheSampleWithTheFullScaleInTheRegisters) {
+TEST_CASE("Lsm6dsvModel.EncodesTheSampleWithTheFullScaleInTheRegisters") {
     Lsm6dsvModel chip;
     configure(chip, LSM6DSV_4000dps, LSM6DSV_8g);
     chip.push_sample({1.0, -1.0, 0.0}, {9.80665, -9.80665, 0.0});
 
     const std::vector<uint8_t> wide = read_burst(chip);
 
-    EXPECT_EQ(word(wide, 5), 409);
-    EXPECT_EQ(word(wide, 7), -409);
-    EXPECT_EQ(word(wide, 9), 0);
-    EXPECT_EQ(word(wide, 11), 4098);
-    EXPECT_EQ(word(wide, 13), -4098);
-    EXPECT_EQ(word(wide, 15), 0);
+    CHECK_EQ(word(wide, 5), 409);
+    CHECK_EQ(word(wide, 7), -409);
+    CHECK_EQ(word(wide, 9), 0);
+    CHECK_EQ(word(wide, 11), 4098);
+    CHECK_EQ(word(wide, 13), -4098);
+    CHECK_EQ(word(wide, 15), 0);
 
     write(chip, LSM6DSV_CTRL6, LSM6DSV_125dps);
     write(chip, LSM6DSV_CTRL8, LSM6DSV_2g);
@@ -263,15 +263,15 @@ TEST(Lsm6dsvModel, EncodesTheSampleWithTheFullScaleInTheRegisters) {
 
     const std::vector<uint8_t> narrow = read_burst(chip);
 
-    EXPECT_EQ(word(narrow, 5), 13096);
-    EXPECT_EQ(word(narrow, 7), 32767);
-    EXPECT_EQ(word(narrow, 9), -32768);
-    EXPECT_EQ(word(narrow, 11), 16393);
-    EXPECT_EQ(word(narrow, 13), 32767);
-    EXPECT_EQ(word(narrow, 15), -32768);
+    CHECK_EQ(word(narrow, 5), 13096);
+    CHECK_EQ(word(narrow, 7), 32767);
+    CHECK_EQ(word(narrow, 9), -32768);
+    CHECK_EQ(word(narrow, 11), 16393);
+    CHECK_EQ(word(narrow, 13), 32767);
+    CHECK_EQ(word(narrow, 15), -32768);
 }
 
-TEST(Lsm6dsvModel, GivesTheSensitivityOfEveryFullScale) {
+TEST_CASE("Lsm6dsvModel.GivesTheSensitivityOfEveryFullScale") {
     Lsm6dsvModel     chip;
     constexpr double mdps{std::numbers::pi / 180000.0};
     constexpr double mg{0.00980665};
@@ -293,35 +293,35 @@ TEST(Lsm6dsvModel, GivesTheSensitivityOfEveryFullScale) {
 
     for (const auto& [code, sensitivity] : gyroscope) {
         write(chip, LSM6DSV_CTRL6, code);
-        EXPECT_DOUBLE_EQ(chip.gyroscope_sensitivity(), sensitivity * mdps);
+        CHECK_EQ(chip.gyroscope_sensitivity(), doctest::Approx(sensitivity * mdps).epsilon(1e-12));
     }
 
     for (const auto& [code, sensitivity] : accelerometer) {
         write(chip, LSM6DSV_CTRL8, code);
-        EXPECT_DOUBLE_EQ(chip.accelerometer_sensitivity(), sensitivity * mg);
+        CHECK_EQ(chip.accelerometer_sensitivity(), doctest::Approx(sensitivity * mg).epsilon(1e-12));
     }
 }
 
-TEST(Lsm6dsvModel, DecodesTheOutputDataRates) {
+TEST_CASE("Lsm6dsvModel.DecodesTheOutputDataRates") {
     Lsm6dsvModel chip;
 
-    EXPECT_EQ(chip.gyroscope_data_rate(), 0.0);
-    EXPECT_EQ(chip.accelerometer_data_rate(), 0.0);
+    CHECK_EQ(chip.gyroscope_data_rate(), 0.0);
+    CHECK_EQ(chip.accelerometer_data_rate(), 0.0);
 
     write(chip, LSM6DSV_CTRL2, 0x10 | (LSM6DSV_ODR_HA01_AT_8000Hz & 0x0F));
     write(chip, LSM6DSV_CTRL1, 0x10 | (LSM6DSV_ODR_HA01_AT_125Hz & 0x0F));
 
-    EXPECT_EQ(chip.gyroscope_data_rate(), 7680.0);
+    CHECK_EQ(chip.gyroscope_data_rate(), 7680.0);
 
     write(chip, LSM6DSV_HAODR_CFG, 0x01);
-    EXPECT_EQ(chip.gyroscope_data_rate(), 8000.0);
-    EXPECT_EQ(chip.accelerometer_data_rate(), 125.0);
+    CHECK_EQ(chip.gyroscope_data_rate(), 8000.0);
+    CHECK_EQ(chip.accelerometer_data_rate(), 125.0);
 
     write(chip, LSM6DSV_HAODR_CFG, 0x02);
-    EXPECT_EQ(chip.gyroscope_data_rate(), 6400.0);
+    CHECK_EQ(chip.gyroscope_data_rate(), 6400.0);
 
     write(chip, LSM6DSV_CTRL1, LSM6DSV_ODR_AT_1Hz875);
-    EXPECT_EQ(chip.accelerometer_data_rate(), 1.875);
+    CHECK_EQ(chip.accelerometer_data_rate(), 1.875);
 }
 }  // namespace
 }  // namespace micras::models
diff --git a/targets/micras/tests/CMakeLists.txt b/targets/micras/tests/CMakeLists.txt
index 50f91da..4b523ae 100644
--- a/targets/micras/tests/CMakeLists.txt
+++ b/targets/micras/tests/CMakeLists.txt
@@ -3,15 +3,13 @@
 ## slot and the firmware's SPI chip proxies over the chip models
 ###############################################################################
 
-include(GoogleTest)
-
 add_executable(micras_target_tests
     unit/hal_host_test.cpp
     unit/spi_chips_test.cpp
     unit/spi_slot_test.cpp
 )
 
-target_link_libraries(micras_target_tests PRIVATE micras_sim_micras GTest::gtest_main)
+target_link_libraries(micras_target_tests PRIVATE micras_sim_micras doctest::doctest_with_main)
 target_compile_options(micras_target_tests PRIVATE -Wall -Wextra)
 
-gtest_discover_tests(micras_target_tests)
+doctest_discover_tests(micras_target_tests)
diff --git a/targets/micras/tests/unit/hal_host_test.cpp b/targets/micras/tests/unit/hal_host_test.cpp
index b52825f..b538635 100644
--- a/targets/micras/tests/unit/hal_host_test.cpp
+++ b/targets/micras/tests/unit/hal_host_test.cpp
@@ -3,11 +3,12 @@
  */
 
 #include <array>
+#include <cmath>
 #include <cstdint>
 #include <string_view>
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/hal/crc.hpp"
 #include "micras/hal/gpio.hpp"
@@ -19,9 +20,9 @@
 
 namespace micras::sim {
 namespace {
-class HostHal : public testing::Test {
+class HostHal {
 protected:
-    void SetUp() override {
+    HostHal() {
         hal::host::Board::reset();
         hal::host::Clock::instance().reset();
         hal::host::Clock::instance().configure(SystemCoreClock / 1000000);
@@ -29,7 +30,7 @@ class HostHal : public testing::Test {
     }
 };
 
-TEST_F(HostHal, ComputesTheCrcTheUnitIsConfiguredFor) {
+TEST_CASE_FIXTURE(HostHal, "HostHal.ComputesTheCrcTheUnitIsConfiguredFor") {
     CRC_HandleTypeDef handle{};
     handle.Init = {
         .DefaultPolynomialUse = DEFAULT_POLYNOMIAL_DISABLE,
@@ -45,10 +46,10 @@ TEST_F(HostHal, ComputesTheCrcTheUnitIsConfiguredFor) {
     constexpr std::string_view check{"123456789"};
     const std::vector<uint8_t> bytes(check.begin(), check.end());
 
-    EXPECT_EQ(crc.calculate(bytes) ^ 0xFFU, 0x4BU);
+    CHECK_EQ(crc.calculate(bytes) ^ 0xFFU, 0x4BU);
 }
 
-TEST_F(HostHal, ChargesAQuantumPerReadAndHandsOverAtEveryStep) {
+TEST_CASE_FIXTURE(HostHal, "HostHal.ChargesAQuantumPerReadAndHandsOverAtEveryStep") {
     int steps = 0;
     hal::host::Clock::instance().set_handover(125, [&steps] { steps++; });
 
@@ -56,38 +57,38 @@ TEST_F(HostHal, ChargesAQuantumPerReadAndHandsOverAtEveryStep) {
 
     while (hal::Timer::to_microseconds(hal::Timer::get_counter() - start) < 1000) { }
 
-    EXPECT_EQ(steps, 8);
-    EXPECT_EQ(hal::Timer::get_counter_ms(), 1U);
+    CHECK_EQ(steps, 8);
+    CHECK_EQ(hal::Timer::get_counter_ms(), 1U);
 }
 
-TEST_F(HostHal, ReadsWhatTheOutsideDrivesAndOtherwiseWhatTheFirmwareWrote) {
+TEST_CASE_FIXTURE(HostHal, "HostHal.ReadsWhatTheOutsideDrivesAndOtherwiseWhatTheFirmwareWrote") {
     hal::Gpio led{led_config.gpio};
     led.write(true);
 
     hal::host::GpioPort& port = hal::host::Board::gpio(led_config.gpio.port, led_config.gpio.pin);
-    EXPECT_TRUE(port.output);
-    EXPECT_TRUE(led.read());
+    CHECK(port.output);
+    CHECK(led.read());
 
     port.input = false;
-    EXPECT_FALSE(led.read());
-    EXPECT_TRUE(port.touched);
+    CHECK_FALSE(led.read());
+    CHECK(port.touched);
 }
 
-TEST_F(HostHal, RunsTheWallEmittersAtTheirConfiguredFrequency) {
+TEST_CASE_FIXTURE(HostHal, "HostHal.RunsTheWallEmittersAtTheirConfiguredFrequency") {
     const hal::Pwm emitter{std::get<0>(wall_sensors_config.led_pwms)};
 
-    EXPECT_TRUE(emitter.was_initialized());
-    EXPECT_NEAR(emitter.get_frequency(), wall_sensors_frequency, 1.0F);
+    CHECK(emitter.was_initialized());
+    CHECK_LE(std::abs(emitter.get_frequency() - wall_sensors_frequency), 1.0F);
 }
 
-TEST_F(HostHal, ReportsPortsTheFirmwareTouchedThatNothingIsBoundTo) {
+TEST_CASE_FIXTURE(HostHal, "HostHal.ReportsPortsTheFirmwareTouchedThatNothingIsBoundTo") {
     hal::Gpio led{led_config.gpio};
     led.write(true);
 
-    EXPECT_EQ(hal::host::Board::unbound().size(), 1U);
+    CHECK_EQ(hal::host::Board::unbound().size(), 1U);
 
     hal::host::Board::gpio(led_config.gpio.port, led_config.gpio.pin).bound = true;
-    EXPECT_TRUE(hal::host::Board::unbound().empty());
+    CHECK(hal::host::Board::unbound().empty());
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/targets/micras/tests/unit/spi_chips_test.cpp b/targets/micras/tests/unit/spi_chips_test.cpp
index 8633708..7dd1bd0 100644
--- a/targets/micras/tests/unit/spi_chips_test.cpp
+++ b/targets/micras/tests/unit/spi_chips_test.cpp
@@ -3,11 +3,12 @@
  */
 
 #include <array>
+#include <cmath>
 #include <cstdint>
 #include <numbers>
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/hal/crc.hpp"
 #include "micras/hal/host/board.hpp"
@@ -26,9 +27,9 @@ using hal::host::Board;
 /**
  * @brief The firmware's IMU and rotary sensor proxies, compiled as they are, over the chip models.
  */
-class SpiChips : public testing::Test {
+class SpiChips {
 protected:
-    void SetUp() override {
+    SpiChips() {
         Board::reset();
         hal::host::Clock::instance().reset();
         hal::host::Clock::instance().configure(SystemCoreClock / 1000000);
@@ -49,23 +50,23 @@ class SpiChips : public testing::Test {
     }
 };
 
-TEST_F(SpiChips, SetsTheImuUpAsItsConfigurationSays) {
+TEST_CASE_FIXTURE(SpiChips, "SpiChips.SetsTheImuUpAsItsConfigurationSays") {
     models::Lsm6dsvModel chip;
     attach(imu_config.spi, chip);
 
     const proxy::Imu imu{imu_config};
 
-    EXPECT_TRUE(imu.was_initialized());
-    EXPECT_EQ(chip.gyroscope_data_rate(), 8000.0);
-    EXPECT_EQ(chip.accelerometer_data_rate(), 8000.0);
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL6) & 0x0F, LSM6DSV_4000dps);
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL8) & 0x03, LSM6DSV_8g);
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL3) & 0x40, 0x40);
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL7) & 0x01, 0x01);
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL9) & 0x08, 0x08);
+    CHECK(imu.was_initialized());
+    CHECK_EQ(chip.gyroscope_data_rate(), 8000.0);
+    CHECK_EQ(chip.accelerometer_data_rate(), 8000.0);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL6) & 0x0F, LSM6DSV_4000dps);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL8) & 0x03, LSM6DSV_8g);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL3) & 0x40, 0x40);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL7) & 0x01, 0x01);
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL9) & 0x08, 0x08);
 }
 
-TEST_F(SpiChips, DelaysTheImuUntilItsChipHasStarted) {
+TEST_CASE_FIXTURE(SpiChips, "SpiChips.DelaysTheImuUntilItsChipHasStarted") {
     models::Lsm6dsvModel chip;
     attach(imu_config.spi, chip);
     const uint64_t start = hal::host::Clock::instance().now();
@@ -73,12 +74,12 @@ TEST_F(SpiChips, DelaysTheImuUntilItsChipHasStarted) {
     const proxy::Imu imu{imu_config};
     const uint64_t   elapsed_us = (hal::host::Clock::instance().now() - start) / (SystemCoreClock / 1000000);
 
-    EXPECT_TRUE(imu.was_initialized());
-    EXPECT_GE(elapsed_us, 39900U);
-    EXPECT_LT(elapsed_us, 41000U);
+    CHECK(imu.was_initialized());
+    CHECK_GE(elapsed_us, 39900U);
+    CHECK_LT(elapsed_us, 41000U);
 }
 
-TEST_F(SpiChips, ReadsASampleOneUpdateAfterTheUpdateThatAskedForIt) {
+TEST_CASE_FIXTURE(SpiChips, "SpiChips.ReadsASampleOneUpdateAfterTheUpdateThatAskedForIt") {
     models::Lsm6dsvModel chip;
     attach(imu_config.spi, chip);
     proxy::Imu imu{imu_config};
@@ -86,26 +87,26 @@ TEST_F(SpiChips, ReadsASampleOneUpdateAfterTheUpdateThatAskedForIt) {
     chip.push_sample({0.1, -0.2, 3.0}, {1.0, -2.0, 9.80665});
     imu.update();
 
-    EXPECT_FALSE(imu.is_new());
+    CHECK_FALSE(imu.is_new());
 
     wait_us(125);
     imu.update();
 
-    ASSERT_TRUE(imu.is_new());
-    EXPECT_NEAR(imu.get_angular_velocity(proxy::Imu::Axis::X), 0.1, chip.gyroscope_sensitivity());
-    EXPECT_NEAR(imu.get_angular_velocity(proxy::Imu::Axis::Y), -0.2, chip.gyroscope_sensitivity());
-    EXPECT_NEAR(imu.get_angular_velocity(proxy::Imu::Axis::Z), 3.0, chip.gyroscope_sensitivity());
-    EXPECT_NEAR(imu.get_linear_acceleration(proxy::Imu::Axis::X), 1.0, chip.accelerometer_sensitivity());
-    EXPECT_NEAR(imu.get_linear_acceleration(proxy::Imu::Axis::Y), -2.0, chip.accelerometer_sensitivity());
-    EXPECT_NEAR(imu.get_linear_acceleration(proxy::Imu::Axis::Z), 9.80665, chip.accelerometer_sensitivity());
+    REQUIRE(imu.is_new());
+    CHECK_LE(std::abs(imu.get_angular_velocity(proxy::Imu::Axis::X) - 0.1), chip.gyroscope_sensitivity());
+    CHECK_LE(std::abs(imu.get_angular_velocity(proxy::Imu::Axis::Y) - (-0.2)), chip.gyroscope_sensitivity());
+    CHECK_LE(std::abs(imu.get_angular_velocity(proxy::Imu::Axis::Z) - 3.0), chip.gyroscope_sensitivity());
+    CHECK_LE(std::abs(imu.get_linear_acceleration(proxy::Imu::Axis::X) - 1.0), chip.accelerometer_sensitivity());
+    CHECK_LE(std::abs(imu.get_linear_acceleration(proxy::Imu::Axis::Y) - (-2.0)), chip.accelerometer_sensitivity());
+    CHECK_LE(std::abs(imu.get_linear_acceleration(proxy::Imu::Axis::Z) - 9.80665), chip.accelerometer_sensitivity());
 
     wait_us(125);
     imu.update();
 
-    EXPECT_FALSE(imu.is_new());
+    CHECK_FALSE(imu.is_new());
 }
 
-TEST_F(SpiChips, ReadsTheSameMotionAtAnotherFullScale) {
+TEST_CASE_FIXTURE(SpiChips, "SpiChips.ReadsTheSameMotionAtAnotherFullScale") {
     proxy::Imu::Config config = imu_config;
     config.gyroscope_scale = LSM6DSV_250dps;
     config.accelerometer_scale = LSM6DSV_2g;
@@ -118,21 +119,21 @@ TEST_F(SpiChips, ReadsTheSameMotionAtAnotherFullScale) {
     wait_us(125);
     imu.update();
 
-    ASSERT_TRUE(imu.is_new());
-    EXPECT_EQ(chip.peek(LSM6DSV_CTRL6) & 0x0F, LSM6DSV_250dps);
-    EXPECT_NEAR(imu.get_angular_velocity(proxy::Imu::Axis::X), 0.5, chip.gyroscope_sensitivity());
-    EXPECT_NEAR(imu.get_angular_velocity(proxy::Imu::Axis::Z), -1.5, chip.gyroscope_sensitivity());
-    EXPECT_NEAR(imu.get_linear_acceleration(proxy::Imu::Axis::Y), 3.0, chip.accelerometer_sensitivity());
-    EXPECT_NEAR(imu.get_linear_acceleration(proxy::Imu::Axis::Z), 9.80665, chip.accelerometer_sensitivity());
+    REQUIRE(imu.is_new());
+    CHECK_EQ(chip.peek(LSM6DSV_CTRL6) & 0x0F, LSM6DSV_250dps);
+    CHECK_LE(std::abs(imu.get_angular_velocity(proxy::Imu::Axis::X) - 0.5), chip.gyroscope_sensitivity());
+    CHECK_LE(std::abs(imu.get_angular_velocity(proxy::Imu::Axis::Z) - (-1.5)), chip.gyroscope_sensitivity());
+    CHECK_LE(std::abs(imu.get_linear_acceleration(proxy::Imu::Axis::Y) - 3.0), chip.accelerometer_sensitivity());
+    CHECK_LE(std::abs(imu.get_linear_acceleration(proxy::Imu::Axis::Z) - 9.80665), chip.accelerometer_sensitivity());
 }
 
-TEST_F(SpiChips, FailsTheImuWithoutItsChip) {
+TEST_CASE_FIXTURE(SpiChips, "SpiChips.FailsTheImuWithoutItsChip") {
     const proxy::Imu imu{imu_config};
 
-    EXPECT_FALSE(imu.was_initialized());
+    CHECK_FALSE(imu.was_initialized());
 }
 
-TEST_F(SpiChips, FailsTheImuInTheWrongSpiMode) {
+TEST_CASE_FIXTURE(SpiChips, "SpiChips.FailsTheImuInTheWrongSpiMode") {
     proxy::Imu::Config config = imu_config;
     config.spi.clock_polarity = SPI_POLARITY_LOW;
     models::Lsm6dsvModel chip;
@@ -140,10 +141,10 @@ TEST_F(SpiChips, FailsTheImuInTheWrongSpiMode) {
 
     const proxy::Imu imu{config};
 
-    EXPECT_FALSE(imu.was_initialized());
+    CHECK_FALSE(imu.was_initialized());
 }
 
-TEST_F(SpiChips, SetsTheRotarySensorUpAndReadsItsResolutionBack) {
+TEST_CASE_FIXTURE(SpiChips, "SpiChips.SetsTheRotarySensorUpAndReadsItsResolutionBack") {
     models::As5047uModel left_chip;
     models::As5047uModel right_chip;
     attach(rotary_sensor_left_config.spi, left_chip);
@@ -152,16 +153,16 @@ TEST_F(SpiChips, SetsTheRotarySensorUpAndReadsItsResolutionBack) {
     const proxy::RotarySensor left{rotary_sensor_left_config};
     const proxy::RotarySensor right{rotary_sensor_right_config};
 
-    EXPECT_TRUE(left.was_initialized());
-    EXPECT_TRUE(right.was_initialized());
-    EXPECT_EQ(left.get_resolution(), 16384U);
-    EXPECT_EQ(left_chip.peek(models::As5047uModel::settings3_address), rotary_sensor_reg_config.settings3.raw);
-    EXPECT_EQ(left_chip.peek(models::As5047uModel::disable_address), rotary_sensor_reg_config.disable.raw);
-    EXPECT_EQ(right_chip.peek(models::As5047uModel::settings3_address), rotary_sensor_reg_config.settings3.raw);
-    EXPECT_EQ(left_chip.peek(models::As5047uModel::errfl_address), 0);
+    CHECK(left.was_initialized());
+    CHECK(right.was_initialized());
+    CHECK_EQ(left.get_resolution(), 16384U);
+    CHECK_EQ(left_chip.peek(models::As5047uModel::settings3_address), rotary_sensor_reg_config.settings3.raw);
+    CHECK_EQ(left_chip.peek(models::As5047uModel::disable_address), rotary_sensor_reg_config.disable.raw);
+    CHECK_EQ(right_chip.peek(models::As5047uModel::settings3_address), rotary_sensor_reg_config.settings3.raw);
+    CHECK_EQ(left_chip.peek(models::As5047uModel::errfl_address), 0);
 }
 
-TEST_F(SpiChips, FailsTheRotarySensorWhoseFramesTheChipRejects) {
+TEST_CASE_FIXTURE(SpiChips, "SpiChips.FailsTheRotarySensorWhoseFramesTheChipRejects") {
     CRC_HandleTypeDef wrong_crc = hcrc;
     wrong_crc.Init.InitValue = 0x00;
     proxy::RotarySensor::Config config = rotary_sensor_left_config;
@@ -171,18 +172,18 @@ TEST_F(SpiChips, FailsTheRotarySensorWhoseFramesTheChipRejects) {
 
     const proxy::RotarySensor sensor{config};
 
-    EXPECT_FALSE(sensor.was_initialized());
-    EXPECT_EQ(chip.peek(models::As5047uModel::settings3_address), 0);
-    EXPECT_NE(chip.peek(models::As5047uModel::errfl_address) & models::As5047uModel::crc_error, 0);
+    CHECK_FALSE(sensor.was_initialized());
+    CHECK_EQ(chip.peek(models::As5047uModel::settings3_address), 0);
+    CHECK_NE(chip.peek(models::As5047uModel::errfl_address) & models::As5047uModel::crc_error, 0);
 }
 
-TEST_F(SpiChips, ComputesTheFrameCrcAsTheCrcUnitDoes) {
+TEST_CASE_FIXTURE(SpiChips, "SpiChips.ComputesTheFrameCrcAsTheCrcUnitDoes") {
     hal::Crc crc{{.handle = &hcrc}};
 
     for (const std::array<uint8_t, 2> bytes : std::vector<std::array<uint8_t, 2>>{
              {0x00, 0x00}, {0x40, 0x01}, {0x40, 0x1A}, {0x00, 0x80}, {0x3F, 0xFF}, {0xC0, 0x15}
          }) {
-        EXPECT_EQ(models::As5047uModel::crc(std::get<0>(bytes), std::get<1>(bytes)), crc.calculate(bytes) ^ 0xFFU);
+        CHECK_EQ(models::As5047uModel::crc(std::get<0>(bytes), std::get<1>(bytes)), crc.calculate(bytes) ^ 0xFFU);
     }
 }
 }  // namespace
diff --git a/targets/micras/tests/unit/spi_slot_test.cpp b/targets/micras/tests/unit/spi_slot_test.cpp
index 66eb6fd..4164338 100644
--- a/targets/micras/tests/unit/spi_slot_test.cpp
+++ b/targets/micras/tests/unit/spi_slot_test.cpp
@@ -7,7 +7,7 @@
 #include <string>
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/hal/host/board.hpp"
 #include "micras/hal/host/clock.hpp"
@@ -50,9 +50,9 @@ class RecordingDevice : public SpiDevice {
     uint8_t offset;
 };
 
-class SpiSlot : public testing::Test {
+class SpiSlot {
 protected:
-    void SetUp() override {
+    SpiSlot() {
         Board::reset();
         hal::host::Clock::instance().reset();
         hal::host::Clock::instance().configure(SystemCoreClock / 1000000);
@@ -82,7 +82,7 @@ class SpiSlot : public testing::Test {
     }
 };
 
-TEST_F(SpiSlot, RoutesEachTransferToTheDeviceItsChipSelectSelects) {
+TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.RoutesEachTransferToTheDeviceItsChipSelectSelects") {
     RecordingDevice imu_chip{SpiDevice::Mode::MODE_3, 0x10};
     RecordingDevice encoder_chip{SpiDevice::Mode::MODE_1, 0x20};
     attach(imu_config.spi, imu_chip);
@@ -94,20 +94,20 @@ TEST_F(SpiSlot, RoutesEachTransferToTheDeviceItsChipSelectSelects) {
     const std::array<uint8_t, 2> frame{0x40, 0x01};
     std::array<uint8_t, 2>       answer{};
 
-    ASSERT_TRUE(imu.select_device());
-    EXPECT_TRUE(imu.transmit(command));
+    REQUIRE(imu.select_device());
+    CHECK(imu.transmit(command));
     imu.unselect_device();
-    ASSERT_TRUE(encoder.select_device());
-    EXPECT_TRUE(encoder.transmit_receive(frame, answer));
+    REQUIRE(encoder.select_device());
+    CHECK(encoder.transmit_receive(frame, answer));
     encoder.unselect_device();
 
-    EXPECT_EQ(imu_chip.bytes, std::vector<uint8_t>{0x8F});
-    EXPECT_EQ(encoder_chip.bytes, (std::vector<uint8_t>{0x40, 0x01}));
-    EXPECT_EQ(answer, (std::array<uint8_t, 2>{0x60, 0x21}));
-    EXPECT_TRUE(Board::unbound().empty());
+    CHECK_EQ(imu_chip.bytes, std::vector<uint8_t>{0x8F});
+    CHECK_EQ(encoder_chip.bytes, (std::vector<uint8_t>{0x40, 0x01}));
+    CHECK_EQ(answer, (std::array<uint8_t, 2>{0x60, 0x21}));
+    CHECK(Board::unbound().empty());
 }
 
-TEST_F(SpiSlot, MakesOneTransactionOfTheCallsBetweenSelectAndUnselect) {
+TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.MakesOneTransactionOfTheCallsBetweenSelectAndUnselect") {
     RecordingDevice chip{SpiDevice::Mode::MODE_3, 1};
     attach(imu_config.spi, chip);
     hal::Spi spi{imu_config.spi};
@@ -115,55 +115,55 @@ TEST_F(SpiSlot, MakesOneTransactionOfTheCallsBetweenSelectAndUnselect) {
     const std::array<uint8_t, 1> command{0x8F};
     std::array<uint8_t, 2>       data{};
 
-    ASSERT_TRUE(spi.select_device());
-    EXPECT_TRUE(spi.transmit(command));
-    EXPECT_TRUE(spi.receive(data));
+    REQUIRE(spi.select_device());
+    CHECK(spi.transmit(command));
+    CHECK(spi.receive(data));
     spi.unselect_device();
 
-    EXPECT_EQ(chip.events, (std::vector<std::string>{"select", "exchange 1", "exchange 2", "deselect"}));
-    EXPECT_EQ(data, (std::array<uint8_t, 2>{1, 1}));
+    CHECK_EQ(chip.events, (std::vector<std::string>{"select", "exchange 1", "exchange 2", "deselect"}));
+    CHECK_EQ(data, (std::array<uint8_t, 2>{1, 1}));
 }
 
-TEST_F(SpiSlot, ReachesNoDeviceWhoseChipSelectIsHigh) {
+TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.ReachesNoDeviceWhoseChipSelectIsHigh") {
     RecordingDevice chip{SpiDevice::Mode::MODE_3, 1};
     attach(imu_config.spi, chip);
     hal::Spi spi{imu_config.spi};
 
     std::array<uint8_t, 2> data{};
-    EXPECT_TRUE(spi.receive(data));
+    CHECK(spi.receive(data));
 
-    EXPECT_TRUE(chip.events.empty());
-    EXPECT_EQ(data, (std::array<uint8_t, 2>{0xFF, 0xFF}));
+    CHECK(chip.events.empty());
+    CHECK_EQ(data, (std::array<uint8_t, 2>{0xFF, 0xFF}));
 }
 
-TEST_F(SpiSlot, AnswersAllOnesWhereNoDeviceIsAttached) {
+TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.AnswersAllOnesWhereNoDeviceIsAttached") {
     hal::Spi spi{imu_config.spi};
 
     std::array<uint8_t, 2> data{};
-    ASSERT_TRUE(spi.select_device());
-    EXPECT_TRUE(spi.receive(data));
+    REQUIRE(spi.select_device());
+    CHECK(spi.receive(data));
     spi.unselect_device();
 
-    EXPECT_EQ(data, (std::array<uint8_t, 2>{0xFF, 0xFF}));
-    EXPECT_EQ(Board::unbound(), (std::vector<std::string>{"IMU_SPI_CSn", "hspi3 IMU_SPI_CSn"}));
+    CHECK_EQ(data, (std::array<uint8_t, 2>{0xFF, 0xFF}));
+    CHECK_EQ(Board::unbound(), (std::vector<std::string>{"IMU_SPI_CSn", "hspi3 IMU_SPI_CSn"}));
 }
 
-TEST_F(SpiSlot, AnswersAllOnesInAModeTheDeviceDoesNotAnswerIn) {
+TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.AnswersAllOnesInAModeTheDeviceDoesNotAnswerIn") {
     RecordingDevice chip{SpiDevice::Mode::MODE_0, 1};
     attach(imu_config.spi, chip);
     hal::Spi spi{imu_config.spi};
 
     const std::array<uint8_t, 2> transmitted{0x8F, 0x00};
     std::array<uint8_t, 2>       received{};
-    ASSERT_TRUE(spi.select_device());
-    EXPECT_TRUE(spi.transmit_receive(transmitted, received));
+    REQUIRE(spi.select_device());
+    CHECK(spi.transmit_receive(transmitted, received));
     spi.unselect_device();
 
-    EXPECT_EQ(chip.events, (std::vector<std::string>{"select", "deselect"}));
-    EXPECT_EQ(received, (std::array<uint8_t, 2>{0xFF, 0xFF}));
+    CHECK_EQ(chip.events, (std::vector<std::string>{"select", "deselect"}));
+    CHECK_EQ(received, (std::array<uint8_t, 2>{0xFF, 0xFF}));
 }
 
-TEST_F(SpiSlot, KeepsTheDeviceSelectedWhileATransferRuns) {
+TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.KeepsTheDeviceSelectedWhileATransferRuns") {
     RecordingDevice chip{SpiDevice::Mode::MODE_3, 1};
     attach(imu_config.spi, chip);
     hal::Spi spi{imu_config.spi};
@@ -172,14 +172,14 @@ TEST_F(SpiSlot, KeepsTheDeviceSelectedWhileATransferRuns) {
     std::array<uint8_t, 17>    received{};
     const hal::host::GpioPort& cs = Board::gpio(imu_config.spi.cs_gpio.port, imu_config.spi.cs_gpio.pin);
 
-    ASSERT_TRUE(spi.start_transfer(transmitted, received));
+    REQUIRE(spi.start_transfer(transmitted, received));
 
-    EXPECT_EQ(spi.get_transfer(), hal::Spi::Transfer::RUNNING);
-    EXPECT_FALSE(cs.output);
-    EXPECT_EQ(chip.events, (std::vector<std::string>{"select", "exchange 17"}));
+    CHECK_EQ(spi.get_transfer(), hal::Spi::Transfer::RUNNING);
+    CHECK_FALSE(cs.output);
+    CHECK_EQ(chip.events, (std::vector<std::string>{"select", "exchange 17"}));
 }
 
-TEST_F(SpiSlot, CompletesATransferWhenItsLastBitIsOut) {
+TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.CompletesATransferWhenItsLastBitIsOut") {
     RecordingDevice chip{SpiDevice::Mode::MODE_3, 1};
     attach(imu_config.spi, chip);
     hal::Spi spi{imu_config.spi};
@@ -188,18 +188,18 @@ TEST_F(SpiSlot, CompletesATransferWhenItsLastBitIsOut) {
     std::array<uint8_t, 17>    received{};
     const hal::host::GpioPort& cs = Board::gpio(imu_config.spi.cs_gpio.port, imu_config.spi.cs_gpio.pin);
 
-    ASSERT_TRUE(spi.start_transfer(transmitted, received));
+    REQUIRE(spi.start_transfer(transmitted, received));
     const uint32_t elapsed = wait_for_transfer(spi);
 
-    EXPECT_EQ(spi.get_transfer(), hal::Spi::Transfer::COMPLETE);
-    EXPECT_TRUE(cs.output);
-    EXPECT_EQ(chip.events, (std::vector<std::string>{"select", "exchange 17", "deselect"}));
-    EXPECT_EQ(received.back(), 1);
-    EXPECT_GE(elapsed, 35U);
-    EXPECT_LE(elapsed, 36U);
+    CHECK_EQ(spi.get_transfer(), hal::Spi::Transfer::COMPLETE);
+    CHECK(cs.output);
+    CHECK_EQ(chip.events, (std::vector<std::string>{"select", "exchange 17", "deselect"}));
+    CHECK_EQ(received.back(), 1);
+    CHECK_GE(elapsed, 35U);
+    CHECK_LE(elapsed, 36U);
 }
 
-TEST_F(SpiSlot, WaitsForTheBusBeforeSelectingAnotherDevice) {
+TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.WaitsForTheBusBeforeSelectingAnotherDevice") {
     RecordingDevice imu_chip{SpiDevice::Mode::MODE_3, 1};
     RecordingDevice encoder_chip{SpiDevice::Mode::MODE_1, 1};
     attach(imu_config.spi, imu_chip);
@@ -211,14 +211,14 @@ TEST_F(SpiSlot, WaitsForTheBusBeforeSelectingAnotherDevice) {
     std::array<uint8_t, 17> received{};
     const uint64_t          start = hal::host::Clock::instance().now();
 
-    ASSERT_TRUE(imu.start_transfer(transmitted, received));
-    ASSERT_TRUE(encoder.select_device());
+    REQUIRE(imu.start_transfer(transmitted, received));
+    REQUIRE(encoder.select_device());
     const uint64_t waited = hal::host::Clock::instance().now() - start;
     encoder.unselect_device();
 
-    EXPECT_EQ(imu.get_transfer(), hal::Spi::Transfer::COMPLETE);
-    EXPECT_EQ(imu_chip.events.back(), "deselect");
-    EXPECT_GE(waited, 35U * (SystemCoreClock / 1000000));
+    CHECK_EQ(imu.get_transfer(), hal::Spi::Transfer::COMPLETE);
+    CHECK_EQ(imu_chip.events.back(), "deselect");
+    CHECK_GE(waited, 35U * (SystemCoreClock / 1000000));
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index c1c47a5..3ff37a1 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,9 +1,7 @@
 ###############################################################################
-## Engine unit tests (GoogleTest + CTest), on a tiny robot of their own
+## Engine unit tests (doctest + CTest), on a tiny robot of their own
 ###############################################################################
 
-include(GoogleTest)
-
 add_executable(micras_sim_tests
     unit/cli_test.cpp
     unit/clock_test.cpp
@@ -26,7 +24,7 @@ if(MICRAS_SIM_BRIDGE)
     target_sources(micras_sim_tests PRIVATE unit/web_socket_server_test.cpp)
 endif()
 
-target_link_libraries(micras_sim_tests PRIVATE micras::sim_app GTest::gtest_main)
+target_link_libraries(micras_sim_tests PRIVATE micras::sim_app doctest::doctest_with_main)
 target_compile_options(micras_sim_tests PRIVATE -Wall -Wextra)
 target_compile_definitions(micras_sim_tests PRIVATE
     MICRAS_TEST_MODEL="${CMAKE_CURRENT_SOURCE_DIR}/models/tiny_robot.xml"
@@ -34,4 +32,4 @@ target_compile_definitions(micras_sim_tests PRIVATE
     MICRAS_TEST_MAZES_DIR="${PROJECT_SOURCE_DIR}/engine/arenas/maze/mazes"
 )
 
-gtest_discover_tests(micras_sim_tests)
+doctest_discover_tests(micras_sim_tests)
diff --git a/tests/unit/cli_test.cpp b/tests/unit/cli_test.cpp
index e0ae0f0..74bfeb6 100644
--- a/tests/unit/cli_test.cpp
+++ b/tests/unit/cli_test.cpp
@@ -1,9 +1,10 @@
 #include <array>
 #include <span>
+#include <stdexcept>
 #include <string>
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/sim/app/cli.hpp"
 
@@ -30,79 +31,79 @@ CliOptions parse(std::vector<std::string> words, std::span<const CliOption> targ
     return Cli::parse(std::span(argv), target_options);
 }
 
-TEST(Cli, ReadsTheRequiredOptions) {
+TEST_CASE("Cli.ReadsTheRequiredOptions") {
     const CliOptions options = parse({"--out", "runs/here"});
 
-    EXPECT_EQ(options.out, "runs/here");
-    EXPECT_TRUE(options.scenario.empty());
-    EXPECT_FALSE(options.seconds.has_value());
-    EXPECT_FALSE(options.seed.has_value());
-    EXPECT_FALSE(options.ideal);
-    EXPECT_EQ(options.record_every, 1U);
-    EXPECT_TRUE(options.video.path.empty());
-    EXPECT_TRUE(options.video.camera.empty());
-    EXPECT_FALSE(options.viewer_enabled);
+    CHECK_EQ(options.out, "runs/here");
+    CHECK(options.scenario.empty());
+    CHECK_FALSE(options.seconds.has_value());
+    CHECK_FALSE(options.seed.has_value());
+    CHECK_FALSE(options.ideal);
+    CHECK_EQ(options.record_every, 1U);
+    CHECK(options.video.path.empty());
+    CHECK(options.video.camera.empty());
+    CHECK_FALSE(options.viewer_enabled);
 }
 
-TEST(Cli, ReadsWhatOverridesTheScenario) {
+TEST_CASE("Cli.ReadsWhatOverridesTheScenario") {
     const CliOptions options = parse(
         {"--out", "o", "--scenario", "explore.toml", "--maze", "apec2018", "--seconds", "4", "--seed", "7", "--ideal",
          "--record-every", "8"}
     );
 
-    EXPECT_EQ(options.scenario, "explore.toml");
-    EXPECT_EQ(options.maze, "apec2018");
-    EXPECT_EQ(options.seconds, 4.0);
-    EXPECT_EQ(options.seed, 7U);
-    EXPECT_TRUE(options.ideal);
-    EXPECT_EQ(options.record_every, 8U);
-    EXPECT_EQ(parse({"--out", "o", "--ticks", "12"}).ticks, 12U);
+    CHECK_EQ(options.scenario, "explore.toml");
+    CHECK_EQ(options.maze, "apec2018");
+    CHECK_EQ(options.seconds, 4.0);
+    CHECK_EQ(options.seed, 7U);
+    CHECK(options.ideal);
+    CHECK_EQ(options.record_every, 8U);
+    CHECK_EQ(parse({"--out", "o", "--ticks", "12"}).ticks, 12U);
 }
 
-TEST(Cli, ReadsTheRecordingOptions) {
+TEST_CASE("Cli.ReadsTheRecordingOptions") {
     const CliOptions options = parse(
         {"--out", "o", "--video", "run.mp4", "--video-fps", "60", "--video-camera", "overhead", "--video-size",
          "640x480", "--video-trail"}
     );
 
-    EXPECT_TRUE(options.video.trail);
-    EXPECT_EQ(options.video.path, "run.mp4");
-    EXPECT_EQ(options.video.fps, 60);
-    EXPECT_EQ(options.video.camera, "overhead");
-    EXPECT_EQ(options.video.width, 640);
-    EXPECT_EQ(options.video.height, 480);
+    CHECK(options.video.trail);
+    CHECK_EQ(options.video.path, "run.mp4");
+    CHECK_EQ(options.video.fps, 60);
+    CHECK_EQ(options.video.camera, "overhead");
+    CHECK_EQ(options.video.width, 640);
+    CHECK_EQ(options.video.height, 480);
 }
 
-TEST(Cli, ReadsTheWindowOptions) {
+TEST_CASE("Cli.ReadsTheWindowOptions") {
     const CliOptions options = parse(
         {"--out", "o", "--viewer", "--viewer-camera", "overhead", "--viewer-size", "800x600", "--viewer-fps", "15"}
     );
 
-    EXPECT_TRUE(options.viewer_enabled);
-    EXPECT_EQ(options.viewer.camera, "overhead");
-    EXPECT_EQ(options.viewer.width, 800);
-    EXPECT_EQ(options.viewer.height, 600);
-    EXPECT_EQ(options.viewer_fps, 15);
+    CHECK(options.viewer_enabled);
+    CHECK_EQ(options.viewer.camera, "overhead");
+    CHECK_EQ(options.viewer.width, 800);
+    CHECK_EQ(options.viewer.height, 600);
+    CHECK_EQ(options.viewer_fps, 15);
 }
 
-TEST(Cli, RejectsAnIncompleteCommandLine) {
-    EXPECT_THROW(parse({"--seconds", "1"}), std::runtime_error);
-    EXPECT_THROW(parse({"--out"}), std::runtime_error);
-    EXPECT_THROW(parse({"--out", "o", "--nonsense"}), std::runtime_error);
+TEST_CASE("Cli.RejectsAnIncompleteCommandLine") {
+    CHECK_THROWS_AS(parse({"--seconds", "1"}), std::runtime_error);
+    CHECK_THROWS_AS(parse({"--out"}), std::runtime_error);
+    CHECK_THROWS_AS(parse({"--out", "o", "--nonsense"}), std::runtime_error);
 }
 
-TEST(Cli, RejectsValuesTheRunCouldNotHonour) {
-    EXPECT_THROW(parse({"--out", "o", "--seconds", "0"}), std::runtime_error);
-    EXPECT_THROW(parse({"--out", "o", "--ticks", "0"}), std::runtime_error);
-    EXPECT_THROW(parse({"--out", "o", "--record-every", "0"}), std::runtime_error);
-    EXPECT_THROW(parse({"--out", "o", "--video", "v.mp4", "--video-fps", "0"}), std::runtime_error);
-    EXPECT_THROW(parse({"--out", "o", "--video", "v.mp4", "--video-size", "big"}), std::runtime_error);
-    EXPECT_THROW(parse({"--out", "o", "--viewer", "--viewer-size", "0x0"}), std::runtime_error);
-    EXPECT_THROW(parse({"--out", "o", "--viewer", "--viewer-fps", "0"}), std::runtime_error);
-    EXPECT_THROW(parse({"--out", "o", "--viewer", "--viewer-size", "wide"}), std::runtime_error);
+TEST_CASE("Cli.RejectsValuesTheRunCouldNotHonour") {
+    CHECK_THROWS_AS(parse({"--out", "o", "--seconds", "0"}), std::runtime_error);
+    CHECK_THROWS_AS(parse({"--out", "o", "--ticks", "0"}), std::runtime_error);
+    CHECK_THROWS_AS(parse({"--out", "o", "--record-every", "0"}), std::runtime_error);
+    CHECK_THROWS_AS(parse({"--out", "o", "--video", "v.mp4", "--video-fps", "0"}), std::runtime_error);
+    CHECK_THROWS_AS(parse({"--out", "o", "--video", "v.mp4", "--video-size", "big"}), std::runtime_error);
+    CHECK_THROWS_AS(parse({"--out", "o", "--viewer", "--viewer-size", "0x0"}), std::runtime_error);
+    CHECK_THROWS_AS(parse({"--out", "o", "--viewer", "--viewer-fps", "0"}), std::runtime_error);
+    CHECK_THROWS_AS(parse({"--out", "o", "--viewer", "--viewer-size", "wide"}), std::runtime_error);
 }
 
-TEST(Cli, HandsTargetOptionsToTheirHandlers) {
+TEST_CASE("Cli.HandsTargetOptionsToTheirHandlers") {
     std::string                  color;
     bool                         flag = false;
     const std::vector<CliOption> target_options{
@@ -112,23 +113,23 @@ TEST(Cli, HandsTargetOptionsToTheirHandlers) {
 
     const CliOptions options = parse({"--color", "red", "--maze", "m", "--flag", "--out", "o"}, target_options);
 
-    EXPECT_EQ(color, "red");
-    EXPECT_TRUE(flag);
-    EXPECT_EQ(options.maze, "m");
+    CHECK_EQ(color, "red");
+    CHECK(flag);
+    CHECK_EQ(options.maze, "m");
 }
 
-TEST(Cli, UsageNamesEveryOptionItAccepts) {
+TEST_CASE("Cli.UsageNamesEveryOptionItAccepts") {
     const std::vector<CliOption> target_options{{.name = "--color", .argument = "<name>", .apply = {}}};
     const std::string            usage = Cli::usage("robot_sim", target_options);
 
-    EXPECT_TRUE(usage.starts_with("usage: robot_sim "));
+    CHECK(usage.starts_with("usage: robot_sim "));
 
     for (const std::string option :
          {"--out",          "--scenario",    "--maze",         "--seconds",      "--ticks",
           "--seed",         "--ideal",       "--record-every", "--video",        "--video-fps",
           "--video-camera", "--video-size",  "--video-trail",  "--viewer",       "--viewer-camera",
           "--viewer-fps",   "--viewer-size", "--monitor",      "--monitor-port", "--color <name>"}) {
-        EXPECT_NE(usage.find(option), std::string::npos) << option;
+        CHECK_MESSAGE(usage.find(option) != std::string::npos, option);
     }
 }
 }  // namespace
diff --git a/tests/unit/clock_test.cpp b/tests/unit/clock_test.cpp
index 56d811d..cc2e2c7 100644
--- a/tests/unit/clock_test.cpp
+++ b/tests/unit/clock_test.cpp
@@ -1,4 +1,5 @@
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
+#include <stdexcept>
 
 #include "micras/sim/core/clock.hpp"
 
@@ -11,38 +12,38 @@ Clock harness_clock() {
     return Clock::from_model(0.000521, 1042);
 }
 
-TEST(Clock, DerivesTheStepCountFromTheModel) {
+TEST_CASE("Clock.DerivesTheStepCountFromTheModel") {
     const Clock clock = harness_clock();
-    EXPECT_EQ(clock.steps_per_tick(), 2);
-    EXPECT_EQ(clock.us_per_tick(), 1042U);
-    EXPECT_EQ(clock.now_us(), 0U);
-    EXPECT_EQ(clock.tick_count(), 0U);
+    CHECK_EQ(clock.steps_per_tick(), 2);
+    CHECK_EQ(clock.us_per_tick(), 1042U);
+    CHECK_EQ(clock.now_us(), 0U);
+    CHECK_EQ(clock.tick_count(), 0U);
 }
 
-TEST(Clock, RejectsATimestepThatDoesNotDivideTheLoop) {
-    EXPECT_THROW(Clock::from_model(0.0004, 1042), std::runtime_error);
-    EXPECT_THROW(Clock::from_model(0.002, 1042), std::runtime_error);
+TEST_CASE("Clock.RejectsATimestepThatDoesNotDivideTheLoop") {
+    CHECK_THROWS_AS(Clock::from_model(0.0004, 1042), std::runtime_error);
+    CHECK_THROWS_AS(Clock::from_model(0.002, 1042), std::runtime_error);
 }
 
-TEST(Clock, AdvancesOneTickAtATime) {
+TEST_CASE("Clock.AdvancesOneTickAtATime") {
     Clock clock = harness_clock();
     clock.advance();
     clock.advance();
 
-    EXPECT_EQ(clock.tick_count(), 2U);
-    EXPECT_EQ(clock.now_us(), 2084U);
+    CHECK_EQ(clock.tick_count(), 2U);
+    CHECK_EQ(clock.now_us(), 2084U);
 }
 
-TEST(Clock, CountsTheWholeTicksOfADuration) {
+TEST_CASE("Clock.CountsTheWholeTicksOfADuration") {
     const Clock clock = harness_clock();
-    EXPECT_EQ(clock.total_ticks(4.0), 3838U);
-    EXPECT_EQ(clock.total_ticks(8.0), 7677U);
+    CHECK_EQ(clock.total_ticks(4.0), 3838U);
+    CHECK_EQ(clock.total_ticks(8.0), 7677U);
 }
 
-TEST(Clock, RoundsInstantsToTheNearestTick) {
+TEST_CASE("Clock.RoundsInstantsToTheNearestTick") {
     const Clock clock = harness_clock();
-    EXPECT_EQ(clock.tick_at(0.5), 480U);
-    EXPECT_EQ(clock.tick_at(0.0), 0U);
+    CHECK_EQ(clock.tick_at(0.5), 480U);
+    CHECK_EQ(clock.tick_at(0.0), 0U);
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/csv_recorder_test.cpp b/tests/unit/csv_recorder_test.cpp
index 9438114..2a159f4 100644
--- a/tests/unit/csv_recorder_test.cpp
+++ b/tests/unit/csv_recorder_test.cpp
@@ -1,9 +1,10 @@
 #include <filesystem>
 #include <fstream>
+#include <stdexcept>
 #include <string>
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/sim/recording/csv_recorder.hpp"
 #include "micras/sim/recording/ground_truth.hpp"
@@ -65,9 +66,9 @@ class LateColumns : public FixedColumns {
     bool started{false};
 };
 
-class Recording : public testing::Test {
+class Recording {
 protected:
-    void SetUp() override {
+    Recording() {
         this->world.load(MICRAS_TEST_MODEL);
         this->world.reset();
     }
@@ -102,34 +103,34 @@ class Recording : public testing::Test {
     // NOLINTEND(*-non-private-member-variables-in-classes)
 };
 
-TEST_F(Recording, StartsEveryRowWithTheBodyBlockThenTheRobotColumns) {
+TEST_CASE_FIXTURE(Recording, "Recording.StartsEveryRowWithTheBodyBlockThenTheRobotColumns") {
     const GroundTruth              ground_truth(this->world, tiny_config());
     const std::vector<std::string> columns = ground_truth.columns();
 
-    ASSERT_EQ(columns.size(), 13U + tiny_config().columns.size());
-    EXPECT_EQ(columns.front(), "tick");
-    EXPECT_EQ(columns.at(12), "v_forward");
-    EXPECT_EQ(columns.at(13), "wheel_speed");
-    EXPECT_EQ(columns.back(), "iterations");
+    REQUIRE_EQ(columns.size(), 13U + tiny_config().columns.size());
+    CHECK_EQ(columns.front(), "tick");
+    CHECK_EQ(columns.at(12), "v_forward");
+    CHECK_EQ(columns.at(13), "wheel_speed");
+    CHECK_EQ(columns.back(), "iterations");
 }
 
-TEST_F(Recording, WritesTheTickAndOneCellPerColumn) {
+TEST_CASE_FIXTURE(Recording, "Recording.WritesTheTickAndOneCellPerColumn") {
     GroundTruth                ground_truth(this->world, tiny_config());
     const std::vector<CsvCell> row = ground_truth.sample(7);
 
-    ASSERT_EQ(row.size(), ground_truth.columns().size());
-    EXPECT_EQ(std::get<uint64_t>(row.at(0)), 7U);
-    EXPECT_DOUBLE_EQ(std::get<double>(row.at(1)), this->world.data()->time);
+    REQUIRE_EQ(row.size(), ground_truth.columns().size());
+    CHECK_EQ(std::get<uint64_t>(row.at(0)), 7U);
+    CHECK_EQ(std::get<double>(row.at(1)), doctest::Approx(this->world.data()->time).epsilon(1e-12));
 }
 
-TEST_F(Recording, RejectsAnObjectTheModelDoesNotHave) {
+TEST_CASE_FIXTURE(Recording, "Recording.RejectsAnObjectTheModelDoesNotHave") {
     GroundTruthConfig config = tiny_config();
     config.columns.push_back({.name = "ghost", .probe = Probe::JOINT_VELOCITY, .object = "ghost"});
 
-    EXPECT_THROW(GroundTruth(this->world, config), std::runtime_error);
+    CHECK_THROWS_AS(GroundTruth(this->world, config), std::runtime_error);
 }
 
-TEST_F(Recording, AppendsTheSourcesAfterTheGroundTruth) {
+TEST_CASE_FIXTURE(Recording, "Recording.AppendsTheSourcesAfterTheGroundTruth") {
     FixedColumns source(2);
 
     {
@@ -138,10 +139,10 @@ TEST_F(Recording, AppendsTheSourcesAfterTheGroundTruth) {
         recorder.sample(0);
     }
 
-    EXPECT_TRUE(this->header().ends_with(",iterations,first,second"));
+    CHECK(this->header().ends_with(",iterations,first,second"));
 }
 
-TEST_F(Recording, WritesNoRowBeforeEverySourceIsReady) {
+TEST_CASE_FIXTURE(Recording, "Recording.WritesNoRowBeforeEverySourceIsReady") {
     FixedColumns early(2);
     LateColumns  late;
 
@@ -157,27 +158,27 @@ TEST_F(Recording, WritesNoRowBeforeEverySourceIsReady) {
 
     const std::vector<std::string> written = this->lines();
 
-    ASSERT_EQ(written.size(), 2U);
-    EXPECT_TRUE(written.at(0).starts_with("tick,"));
-    EXPECT_TRUE(written.at(1).starts_with("3,"));
+    REQUIRE_EQ(written.size(), 2U);
+    CHECK(written.at(0).starts_with("tick,"));
+    CHECK(written.at(1).starts_with("3,"));
 }
 
-TEST_F(Recording, RejectsASourceThatFillsTooFewCells) {
+TEST_CASE_FIXTURE(Recording, "Recording.RejectsASourceThatFillsTooFewCells") {
     FixedColumns source(1);
     CsvRecorder  recorder(this->world, tiny_config(), this->path);
     recorder.add_source(source);
 
-    EXPECT_THROW(recorder.sample(0), std::logic_error);
+    CHECK_THROWS_AS(recorder.sample(0), std::logic_error);
 }
 
-TEST_F(Recording, RejectsTwoSourcesWritingTheSameColumn) {
+TEST_CASE_FIXTURE(Recording, "Recording.RejectsTwoSourcesWritingTheSameColumn") {
     FixedColumns first(2);
     FixedColumns second(2);
     CsvRecorder  recorder(this->world, tiny_config(), this->path);
     recorder.add_source(first);
     recorder.add_source(second);
 
-    EXPECT_THROW(recorder.sample(0), std::runtime_error);
+    CHECK_THROWS_AS(recorder.sample(0), std::runtime_error);
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/csv_writer_test.cpp b/tests/unit/csv_writer_test.cpp
index aacfb45..8739031 100644
--- a/tests/unit/csv_writer_test.cpp
+++ b/tests/unit/csv_writer_test.cpp
@@ -3,35 +3,36 @@
 #include <fstream>
 #include <limits>
 #include <sstream>
+#include <stdexcept>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/sim/core/text_file.hpp"
 #include "micras/sim/recording/csv_writer.hpp"
 
 namespace micras::sim {
 namespace {
-TEST(CsvWriter, FormatsCellsWithTwelveSignificantDigits) {
-    EXPECT_EQ(CsvWriter::format(CsvCell{0.001042}), "0.001042");
-    EXPECT_EQ(CsvWriter::format(CsvCell{3.99920000001}), "3.9992");
-    EXPECT_EQ(CsvWriter::format(CsvCell{0.00080690123456}), "0.000806901235");
-    EXPECT_EQ(CsvWriter::format(CsvCell{int64_t{-7}}), "-7");
-    EXPECT_EQ(CsvWriter::format(CsvCell{uint64_t{7677}}), "7677");
+TEST_CASE("CsvWriter.FormatsCellsWithTwelveSignificantDigits") {
+    CHECK_EQ(CsvWriter::format(CsvCell{0.001042}), "0.001042");
+    CHECK_EQ(CsvWriter::format(CsvCell{3.99920000001}), "3.9992");
+    CHECK_EQ(CsvWriter::format(CsvCell{0.00080690123456}), "0.000806901235");
+    CHECK_EQ(CsvWriter::format(CsvCell{int64_t{-7}}), "-7");
+    CHECK_EQ(CsvWriter::format(CsvCell{uint64_t{7677}}), "7677");
 }
 
-TEST(CsvWriter, FormatsTheSpecialValuesTheBaselineDependsOn) {
-    EXPECT_EQ(CsvWriter::format(CsvCell{std::nan("")}), "nan");
-    EXPECT_EQ(CsvWriter::format(CsvCell{-std::nan("")}), "-nan");
-    EXPECT_EQ(CsvWriter::format(CsvCell{std::numeric_limits<double>::infinity()}), "inf");
-    EXPECT_EQ(CsvWriter::format(CsvCell{-std::numeric_limits<double>::infinity()}), "-inf");
-    EXPECT_EQ(CsvWriter::format(CsvCell{-0.0}), "-0");
-    EXPECT_EQ(CsvWriter::format(CsvCell{0.0}), "0");
-    EXPECT_EQ(CsvWriter::format(CsvCell{1e20}), "1e+20");
-    EXPECT_EQ(CsvWriter::format(CsvCell{1e-5}), "1e-05");
-    EXPECT_EQ(CsvWriter::format(CsvCell{9.99999999e-5}), "9.99999999e-05");
+TEST_CASE("CsvWriter.FormatsTheSpecialValuesTheBaselineDependsOn") {
+    CHECK_EQ(CsvWriter::format(CsvCell{std::nan("")}), "nan");
+    CHECK_EQ(CsvWriter::format(CsvCell{-std::nan("")}), "-nan");
+    CHECK_EQ(CsvWriter::format(CsvCell{std::numeric_limits<double>::infinity()}), "inf");
+    CHECK_EQ(CsvWriter::format(CsvCell{-std::numeric_limits<double>::infinity()}), "-inf");
+    CHECK_EQ(CsvWriter::format(CsvCell{-0.0}), "-0");
+    CHECK_EQ(CsvWriter::format(CsvCell{0.0}), "0");
+    CHECK_EQ(CsvWriter::format(CsvCell{1e20}), "1e+20");
+    CHECK_EQ(CsvWriter::format(CsvCell{1e-5}), "1e-05");
+    CHECK_EQ(CsvWriter::format(CsvCell{9.99999999e-5}), "9.99999999e-05");
 }
 
-TEST(CsvWriter, WritesHeaderAndRows) {
+TEST_CASE("CsvWriter.WritesHeaderAndRows") {
     const std::filesystem::path path = std::filesystem::temp_directory_path() / "micras_csv_writer_test.csv";
 
     {
@@ -42,12 +43,12 @@ TEST(CsvWriter, WritesHeaderAndRows) {
         writer.write_row(std::vector<CsvCell>{uint64_t{1}, std::nan(""), int64_t{0}});
     }
 
-    EXPECT_EQ(read_text_file(path, "CSV"), "tick,x,count\n0,0.5,2\n1,nan,0\n");
+    CHECK_EQ(read_text_file(path, "CSV"), "tick,x,count\n0,0.5,2\n1,nan,0\n");
     std::filesystem::remove(path);
 }
 
-TEST(CsvWriter, ThrowsWhenTheFileCannotBeOpened) {
-    EXPECT_THROW(CsvWriter("/nonexistent/directory/file.csv"), std::runtime_error);
+TEST_CASE("CsvWriter.ThrowsWhenTheFileCannotBeOpened") {
+    CHECK_THROWS_AS(CsvWriter("/nonexistent/directory/file.csv"), std::runtime_error);
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/devices_test.cpp b/tests/unit/devices_test.cpp
index 226edc9..32524d0 100644
--- a/tests/unit/devices_test.cpp
+++ b/tests/unit/devices_test.cpp
@@ -4,10 +4,11 @@
 #include <numbers>
 #include <optional>
 #include <span>
+#include <stdexcept>
 #include <string>
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/sim/core/clock.hpp"
 #include "micras/sim/core/mujoco_world.hpp"
@@ -40,9 +41,9 @@ DriveDescription tiny_drive() {
 /**
  * @brief The tiny robot's world and a clock of 1042 us ticks.
  */
-class Devices : public testing::Test {
+class Devices {
 protected:
-    void SetUp() override { load_tiny_world(this->world, this->clock); }
+    Devices() { load_tiny_world(this->world, this->clock); }
 
     /**
      * @brief Get the tiny robot's wheel joint position.
@@ -117,29 +118,29 @@ class Devices : public testing::Test {
     std::size_t wheel() const { return static_cast<std::size_t>(this->world.require_id(mjOBJ_JOINT, "wheel")); }
 };
 
-TEST_F(Devices, AppliesTheDutyCycleDifferenceTimesTheSupply) {
+TEST_CASE_FIXTURE(Devices, "Devices.AppliesTheDutyCycleDifferenceTimesTheSupply") {
     DcMotor motor = this->motor();
 
     this->forward = 50.0F;
     motor.actuate(this->world, this->clock);
-    EXPECT_DOUBLE_EQ(this->motor_control(), 3.0);
+    CHECK_EQ(this->motor_control(), doctest::Approx(3.0).epsilon(1e-12));
 
     this->forward = 25.0F;
     this->backward = 75.0F;
     motor.actuate(this->world, this->clock);
-    EXPECT_DOUBLE_EQ(this->motor_control(), -3.0);
+    CHECK_EQ(this->motor_control(), doctest::Approx(-3.0).epsilon(1e-12));
 }
 
-TEST_F(Devices, NeverAppliesMoreThanTheSupply) {
+TEST_CASE_FIXTURE(Devices, "Devices.NeverAppliesMoreThanTheSupply") {
     DcMotor motor = this->motor();
 
     this->forward = 150.0F;
     motor.actuate(this->world, this->clock);
 
-    EXPECT_DOUBLE_EQ(this->motor_control(), 6.0);
+    CHECK_EQ(this->motor_control(), doctest::Approx(6.0).epsilon(1e-12));
 }
 
-TEST_F(Devices, DrivesTheCurrentAgainstTheBackEmf) {
+TEST_CASE_FIXTURE(Devices, "Devices.DrivesTheCurrentAgainstTheBackEmf") {
     DcMotor motor = this->motor();
     this->wheel_speed() = 10.0;
 
@@ -147,20 +148,20 @@ TEST_F(Devices, DrivesTheCurrentAgainstTheBackEmf) {
     motor.actuate(this->world, this->clock);
 
     const double back_emf = 0.003 * 5.0 * 10.0;
-    EXPECT_DOUBLE_EQ(motor.current(), (3.0 - back_emf) / 10.0);
+    CHECK_EQ(motor.current(), doctest::Approx((3.0 - back_emf) / 10.0).epsilon(1e-12));
 }
 
-TEST_F(Devices, BrakesWithBothInputsLow) {
+TEST_CASE_FIXTURE(Devices, "Devices.BrakesWithBothInputsLow") {
     DcMotor motor = this->motor();
     this->wheel_speed() = 10.0;
 
     motor.actuate(this->world, this->clock);
 
-    EXPECT_DOUBLE_EQ(this->motor_control(), 0.0);
-    EXPECT_LT(motor.current(), 0.0);
+    CHECK_EQ(this->motor_control(), doctest::Approx(0.0).epsilon(1e-12));
+    CHECK_LT(motor.current(), 0.0);
 }
 
-TEST_F(Devices, LeavesTheWindingOpenWhenTheBridgeIsDisabled) {
+TEST_CASE_FIXTURE(Devices, "Devices.LeavesTheWindingOpenWhenTheBridgeIsDisabled") {
     DcMotor motor = this->motor();
     this->wheel_speed() = 10.0;
     this->forward = 100.0F;
@@ -168,11 +169,11 @@ TEST_F(Devices, LeavesTheWindingOpenWhenTheBridgeIsDisabled) {
 
     motor.actuate(this->world, this->clock);
 
-    EXPECT_DOUBLE_EQ(this->motor_control(), 0.003 * 5.0 * 10.0);
-    EXPECT_DOUBLE_EQ(motor.current(), 0.0);
+    CHECK_EQ(this->motor_control(), doctest::Approx(0.003 * 5.0 * 10.0).epsilon(1e-12));
+    CHECK_EQ(motor.current(), doctest::Approx(0.0).epsilon(1e-12));
 }
 
-TEST_F(Devices, RecordsTheMotorsVoltageAndCurrent) {
+TEST_CASE_FIXTURE(Devices, "Devices.RecordsTheMotorsVoltageAndCurrent") {
     DcMotor motor = this->motor();
     this->forward = 50.0F;
     motor.actuate(this->world, this->clock);
@@ -180,13 +181,13 @@ TEST_F(Devices, RecordsTheMotorsVoltageAndCurrent) {
     std::vector<CsvCell> row;
     motor.append(row);
 
-    EXPECT_EQ(motor.columns(), (std::vector<std::string>{"wheel_voltage", "wheel_current"}));
-    ASSERT_EQ(row.size(), 2U);
-    EXPECT_DOUBLE_EQ(std::get<double>(row.at(0)), 3.0);
+    CHECK_EQ(motor.columns(), (std::vector<std::string>{"wheel_voltage", "wheel_current"}));
+    REQUIRE_EQ(row.size(), 2U);
+    CHECK_EQ(std::get<double>(row.at(0)), doctest::Approx(3.0).epsilon(1e-12));
 }
 
-TEST_F(Devices, RefusesAMotorOnAnActuatorTheModelDoesNotHave) {
-    EXPECT_THROW(
+TEST_CASE_FIXTURE(Devices, "Devices.RefusesAMotorOnAnActuatorTheModelDoesNotHave") {
+    CHECK_THROWS_AS(
         DcMotor(
             this->world, {.name = "ghost",
                           .actuator = "ghost",
@@ -200,7 +201,7 @@ TEST_F(Devices, RefusesAMotorOnAnActuatorTheModelDoesNotHave) {
     );
 }
 
-TEST_F(Devices, CountsTheWheelAngleAtTheEncodersResolution) {
+TEST_CASE_FIXTURE(Devices, "Devices.CountsTheWheelAngleAtTheEncodersResolution") {
     std::optional<int32_t> written;
     QuadratureEncoder      encoder(
         this->world,
@@ -212,14 +213,14 @@ TEST_F(Devices, CountsTheWheelAngleAtTheEncodersResolution) {
 
     this->wheel_angle() = 1024.5 * radians_per_count;
     encoder.sample(this->world, this->clock);
-    EXPECT_EQ(written, 1024);
+    CHECK_EQ(written, 1024);
 
     this->wheel_angle() = (2.5 * 4096.0 + 0.5) * radians_per_count;
     encoder.sample(this->world, this->clock);
-    EXPECT_EQ(written, 10240);
+    CHECK_EQ(written, 10240);
 }
 
-TEST_F(Devices, CountsDownWhenTheWheelTurnsBackwards) {
+TEST_CASE_FIXTURE(Devices, "Devices.CountsDownWhenTheWheelTurnsBackwards") {
     std::optional<int32_t> written;
     QuadratureEncoder      encoder(
         this->world,
@@ -231,12 +232,12 @@ TEST_F(Devices, CountsDownWhenTheWheelTurnsBackwards) {
     this->wheel_angle() = -1023.5 * 2.0 * std::numbers::pi / 4096.0;
     encoder.sample(this->world, this->clock);
 
-    EXPECT_EQ(written, -1024);
+    CHECK_EQ(written, -1024);
 
     std::vector<CsvCell> row;
     encoder.append(row);
-    EXPECT_EQ(encoder.columns(), (std::vector<std::string>{"wheel_count"}));
-    EXPECT_EQ(std::get<int64_t>(row.at(0)), -1024);
+    CHECK_EQ(encoder.columns(), (std::vector<std::string>{"wheel_count"}));
+    CHECK_EQ(std::get<int64_t>(row.at(0)), -1024);
 }
 
 /**
@@ -292,38 +293,38 @@ class Link : public Devices {
     // NOLINTEND(*-non-private-member-variables-in-classes)
 };
 
-TEST_F(Link, SendsNoMoreThanTheBaudRateAllows) {
+TEST_CASE_FIXTURE(Link, "Link.SendsNoMoreThanTheBaudRateAllows") {
     SerialLink link = this->link();
     this->bus.add_listener(this->collector);
     this->firmware_sends(5000);
 
     link.sample(this->world, this->clock);
-    EXPECT_EQ(this->collector.received.size(), static_cast<std::size_t>(bytes_per_tick()));
+    CHECK_EQ(this->collector.received.size(), static_cast<std::size_t>(bytes_per_tick()));
 
     for (int tick = 1; tick < 100; tick++) {
         link.sample(this->world, this->clock);
     }
 
-    EXPECT_EQ(this->collector.received.size(), static_cast<std::size_t>(100 * bytes_per_tick()));
-    EXPECT_EQ(this->collector.received.at(200), 200U);
+    CHECK_EQ(this->collector.received.size(), static_cast<std::size_t>(100 * bytes_per_tick()));
+    CHECK_EQ(this->collector.received.at(200), 200U);
 }
 
-TEST_F(Link, ReceivesNoMoreThanTheBaudRateAllows) {
+TEST_CASE_FIXTURE(Link, "Link.ReceivesNoMoreThanTheBaudRateAllows") {
     SerialLink                 link = this->link();
     const std::vector<uint8_t> message(5000, 0x55);
     this->bus.queue_for_firmware(message);
 
     link.sample(this->world, this->clock);
-    EXPECT_EQ(this->incoming.size(), static_cast<std::size_t>(bytes_per_tick()));
+    CHECK_EQ(this->incoming.size(), static_cast<std::size_t>(bytes_per_tick()));
 
     for (int tick = 1; tick < 100; tick++) {
         link.sample(this->world, this->clock);
     }
 
-    EXPECT_EQ(this->incoming.size(), static_cast<std::size_t>(100 * bytes_per_tick()));
+    CHECK_EQ(this->incoming.size(), static_cast<std::size_t>(100 * bytes_per_tick()));
 }
 
-TEST_F(Link, DoesNotSaveUpBandwidthWhileIdle) {
+TEST_CASE_FIXTURE(Link, "Link.DoesNotSaveUpBandwidthWhileIdle") {
     SerialLink link = this->link();
     this->bus.add_listener(this->collector);
 
@@ -335,11 +336,11 @@ TEST_F(Link, DoesNotSaveUpBandwidthWhileIdle) {
     this->bus.queue_for_firmware(std::vector<uint8_t>(5000, 0x55));
     link.sample(this->world, this->clock);
 
-    EXPECT_LE(this->collector.received.size(), static_cast<std::size_t>(1.0 + bytes_per_tick()));
-    EXPECT_LE(this->incoming.size(), static_cast<std::size_t>(1.0 + bytes_per_tick()));
+    CHECK_LE(this->collector.received.size(), static_cast<std::size_t>(1.0 + bytes_per_tick()));
+    CHECK_LE(this->incoming.size(), static_cast<std::size_t>(1.0 + bytes_per_tick()));
 }
 
-TEST_F(Link, CarriesASlowTrickleWholeAndInOrder) {
+TEST_CASE_FIXTURE(Link, "Link.CarriesASlowTrickleWholeAndInOrder") {
     SerialLink link = this->link();
     this->bus.add_listener(this->collector);
 
@@ -348,20 +349,20 @@ TEST_F(Link, CarriesASlowTrickleWholeAndInOrder) {
         link.sample(this->world, this->clock);
     }
 
-    EXPECT_EQ(this->collector.received, (std::vector<uint8_t>{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}));
+    CHECK_EQ(this->collector.received, (std::vector<uint8_t>{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}));
 }
 
-TEST_F(Devices, DrivesADigitalInputsPinWithItsPolarity) {
+TEST_CASE_FIXTURE(Devices, "Devices.DrivesADigitalInputsPinWithItsPolarity") {
     std::optional<bool> pin;
     DigitalInput        input({.name = "switch", .active_low = true, .drive = [&pin](bool level) { pin = level; }});
 
-    EXPECT_FALSE(input.is_active());
-    EXPECT_EQ(pin, true);
+    CHECK_FALSE(input.is_active());
+    CHECK_EQ(pin, true);
 
     input.set(true);
-    EXPECT_TRUE(input.is_active());
-    EXPECT_EQ(pin, false);
-    EXPECT_EQ(input.name(), "switch");
+    CHECK(input.is_active());
+    CHECK_EQ(pin, false);
+    CHECK_EQ(input.name(), "switch");
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/event_log_test.cpp b/tests/unit/event_log_test.cpp
index 4366cc9..ac37eca 100644
--- a/tests/unit/event_log_test.cpp
+++ b/tests/unit/event_log_test.cpp
@@ -5,7 +5,7 @@
 #include <utility>
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/sim/core/run_context.hpp"
 #include "micras/sim/core/simulation.hpp"
@@ -17,9 +17,9 @@ namespace {
 /**
  * @brief The tiny robot, lifted clear of the floor or lowered onto it at chosen instants.
  */
-class Logging : public testing::Test {
+class Logging {
 protected:
-    void SetUp() override {
+    Logging() {
         load_tiny_world(this->context.world, this->context.clock);
         this->chassis = this->context.world.require_id(mjOBJ_GEOM, "chassis");
         this->floor = this->context.world.require_id(mjOBJ_GEOM, "floor");
@@ -52,7 +52,7 @@ class Logging : public testing::Test {
     // NOLINTEND(*-non-private-member-variables-in-classes)
 };
 
-TEST_F(Logging, LogsOneCollisionPerContactEpisode) {
+TEST_CASE_FIXTURE(Logging, "Logging.LogsOneCollisionPerContactEpisode") {
     EventLog log({this->chassis}, {}, {}, nullptr);
 
     this->tick(log, 0.0, false);
@@ -60,14 +60,14 @@ TEST_F(Logging, LogsOneCollisionPerContactEpisode) {
     this->tick(log, 0.002, true);
     this->tick(log, 0.003, true);
 
-    EXPECT_EQ(log.collisions(), 1U);
-    ASSERT_EQ(log.entries().size(), 1U);
-    EXPECT_EQ(log.entries().front().kind, "collision");
-    EXPECT_EQ(log.entries().front().detail, "chassis");
-    EXPECT_DOUBLE_EQ(log.entries().front().time, 0.001);
+    CHECK_EQ(log.collisions(), 1U);
+    REQUIRE_EQ(log.entries().size(), 1U);
+    CHECK_EQ(log.entries().front().kind, "collision");
+    CHECK_EQ(log.entries().front().detail, "chassis");
+    CHECK_EQ(log.entries().front().time, doctest::Approx(0.001).epsilon(1e-12));
 }
 
-TEST_F(Logging, CountsAContactWithinTheSeparationTimeAsTheSameCollision) {
+TEST_CASE_FIXTURE(Logging, "Logging.CountsAContactWithinTheSeparationTimeAsTheSameCollision") {
     EventLog log({this->chassis}, {}, {}, nullptr);
 
     this->tick(log, 0.0, true);
@@ -75,10 +75,10 @@ TEST_F(Logging, CountsAContactWithinTheSeparationTimeAsTheSameCollision) {
     this->tick(log, 0.03, false);
     this->tick(log, 0.04, true);
 
-    EXPECT_EQ(log.collisions(), 1U);
+    CHECK_EQ(log.collisions(), 1U);
 }
 
-TEST_F(Logging, CountsAContactAfterTheSeparationTimeAsANewCollision) {
+TEST_CASE_FIXTURE(Logging, "Logging.CountsAContactAfterTheSeparationTimeAsANewCollision") {
     EventLog log({this->chassis}, {}, {}, nullptr);
 
     this->tick(log, 0.0, true);
@@ -86,31 +86,31 @@ TEST_F(Logging, CountsAContactAfterTheSeparationTimeAsANewCollision) {
     this->tick(log, 0.05, false);
     this->tick(log, 0.08, true);
 
-    EXPECT_EQ(log.collisions(), 2U);
-    ASSERT_EQ(log.entries().size(), 2U);
-    EXPECT_DOUBLE_EQ(log.entries().back().time, 0.08);
+    CHECK_EQ(log.collisions(), 2U);
+    REQUIRE_EQ(log.entries().size(), 2U);
+    CHECK_EQ(log.entries().back().time, doctest::Approx(0.08).epsilon(1e-12));
 }
 
-TEST_F(Logging, NeverCountsAContactWithAnIgnoredGeom) {
+TEST_CASE_FIXTURE(Logging, "Logging.NeverCountsAContactWithAnIgnoredGeom") {
     EventLog log({this->chassis}, {this->floor}, {}, nullptr);
 
     this->tick(log, 0.0, true);
     this->tick(log, 1.0, false);
     this->tick(log, 2.0, true);
 
-    EXPECT_EQ(log.collisions(), 0U);
-    EXPECT_TRUE(log.entries().empty());
+    CHECK_EQ(log.collisions(), 0U);
+    CHECK(log.entries().empty());
 }
 
-TEST_F(Logging, WatchesOnlyTheGeomsItWasGiven) {
+TEST_CASE_FIXTURE(Logging, "Logging.WatchesOnlyTheGeomsItWasGiven") {
     EventLog log({}, {}, {}, nullptr);
 
     this->tick(log, 0.0, true);
 
-    EXPECT_EQ(log.collisions(), 0U);
+    CHECK_EQ(log.collisions(), 0U);
 }
 
-TEST_F(Logging, NamesEachNewStateFromItsTable) {
+TEST_CASE_FIXTURE(Logging, "Logging.NamesEachNewStateFromItsTable") {
     EventLog log({}, {}, {{"state", {"INIT", "IDLE", "RUN"}}}, &this->variables);
 
     this->tick(log, 0.0, false);
@@ -122,16 +122,16 @@ TEST_F(Logging, NamesEachNewStateFromItsTable) {
     this->variables.set("state", 2);
     this->tick(log, 0.4, false);
 
-    ASSERT_EQ(log.entries().size(), 3U);
-    EXPECT_EQ(log.entries().at(0).kind, "state");
-    EXPECT_EQ(log.entries().at(0).detail, "INIT");
-    EXPECT_DOUBLE_EQ(log.entries().at(0).time, 0.1);
-    EXPECT_EQ(log.entries().at(1).detail, "IDLE");
-    EXPECT_EQ(log.entries().at(2).detail, "RUN");
-    EXPECT_DOUBLE_EQ(log.entries().at(2).time, 0.4);
+    REQUIRE_EQ(log.entries().size(), 3U);
+    CHECK_EQ(log.entries().at(0).kind, "state");
+    CHECK_EQ(log.entries().at(0).detail, "INIT");
+    CHECK_EQ(log.entries().at(0).time, doctest::Approx(0.1).epsilon(1e-12));
+    CHECK_EQ(log.entries().at(1).detail, "IDLE");
+    CHECK_EQ(log.entries().at(2).detail, "RUN");
+    CHECK_EQ(log.entries().at(2).time, doctest::Approx(0.4).epsilon(1e-12));
 }
 
-TEST_F(Logging, WritesAValueWithNoNameAsANumber) {
+TEST_CASE_FIXTURE(Logging, "Logging.WritesAValueWithNoNameAsANumber") {
     EventLog log({}, {}, {{"state", {"INIT"}}}, &this->variables);
 
     this->variables.set("state", 7);
@@ -139,12 +139,12 @@ TEST_F(Logging, WritesAValueWithNoNameAsANumber) {
     this->variables.set("state", -1);
     this->tick(log, 0.1, false);
 
-    ASSERT_EQ(log.entries().size(), 2U);
-    EXPECT_EQ(log.entries().at(0).detail, "7");
-    EXPECT_EQ(log.entries().at(1).detail, "-1");
+    REQUIRE_EQ(log.entries().size(), 2U);
+    CHECK_EQ(log.entries().at(0).detail, "7");
+    CHECK_EQ(log.entries().at(1).detail, "-1");
 }
 
-TEST_F(Logging, SkipsAVariableThatIsNotReportedYet) {
+TEST_CASE_FIXTURE(Logging, "Logging.SkipsAVariableThatIsNotReportedYet") {
     EventLog log({}, {}, {{"state", {"INIT", "IDLE"}}}, &this->variables);
 
     this->variables.set("state", 1);
@@ -154,22 +154,22 @@ TEST_F(Logging, SkipsAVariableThatIsNotReportedYet) {
     this->variables.set("state", 1);
     this->tick(log, 0.2, false);
 
-    ASSERT_EQ(log.entries().size(), 1U);
-    EXPECT_EQ(log.entries().front().detail, "IDLE");
+    REQUIRE_EQ(log.entries().size(), 1U);
+    CHECK_EQ(log.entries().front().detail, "IDLE");
 }
 
-TEST_F(Logging, WatchesEveryVariableItWasGiven) {
+TEST_CASE_FIXTURE(Logging, "Logging.WatchesEveryVariableItWasGiven") {
     EventLog log({}, {}, {{"mode", {"SLOW", "FAST"}}, {"state", {"INIT"}}}, &this->variables);
 
     this->variables.set("mode", 1);
     this->tick(log, 0.0, false);
 
-    ASSERT_EQ(log.entries().size(), 1U);
-    EXPECT_EQ(log.entries().front().kind, "mode");
-    EXPECT_EQ(log.entries().front().detail, "FAST");
+    REQUIRE_EQ(log.entries().size(), 1U);
+    CHECK_EQ(log.entries().front().kind, "mode");
+    CHECK_EQ(log.entries().front().detail, "FAST");
 }
 
-TEST_F(Logging, KeepsTheFirstEntriesOnlyButKeepsCounting) {
+TEST_CASE_FIXTURE(Logging, "Logging.KeepsTheFirstEntriesOnlyButKeepsCounting") {
     EventLog log({this->chassis}, {}, {{"counter", {}}}, &this->variables);
 
     for (std::size_t i = 0; i < EventLog::max_events + 10; i++) {
@@ -179,9 +179,9 @@ TEST_F(Logging, KeepsTheFirstEntriesOnlyButKeepsCounting) {
 
     this->tick(log, 1000.0, true);
 
-    EXPECT_EQ(log.entries().size(), EventLog::max_events);
-    EXPECT_EQ(log.entries().back().detail, std::to_string(EventLog::max_events - 1));
-    EXPECT_EQ(log.collisions(), 1U);
+    CHECK_EQ(log.entries().size(), EventLog::max_events);
+    CHECK_EQ(log.entries().back().detail, std::to_string(EventLog::max_events - 1));
+    CHECK_EQ(log.collisions(), 1U);
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/firmware_thread_test.cpp b/tests/unit/firmware_thread_test.cpp
index 18602ec..0bcdc2f 100644
--- a/tests/unit/firmware_thread_test.cpp
+++ b/tests/unit/firmware_thread_test.cpp
@@ -2,13 +2,13 @@
 #include <stdexcept>
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/sim/core/firmware_thread.hpp"
 
 namespace micras::sim {
 namespace {
-TEST(FirmwareThread, RunsTheProgramUpToEachYield) {
+TEST_CASE("FirmwareThread.RunsTheProgramUpToEachYield") {
     std::vector<int> trace;
 
     FirmwareThread firmware([&](FirmwareThread& thread) {
@@ -19,16 +19,16 @@ TEST(FirmwareThread, RunsTheProgramUpToEachYield) {
     });
 
     firmware.run_until_yield();
-    EXPECT_EQ(trace, (std::vector<int>{0}));
+    CHECK_EQ(trace, (std::vector<int>{0}));
 
     firmware.run_until_yield();
-    EXPECT_EQ(trace, (std::vector<int>{0, 1}));
+    CHECK_EQ(trace, (std::vector<int>{0, 1}));
 
     firmware.run_until_yield();
-    EXPECT_EQ(trace, (std::vector<int>{0, 1, 2}));
+    CHECK_EQ(trace, (std::vector<int>{0, 1, 2}));
 }
 
-TEST(FirmwareThread, NeverRunsBesideTheSimulation) {
+TEST_CASE("FirmwareThread.NeverRunsBesideTheSimulation") {
     std::atomic<int> awake{0};
     std::atomic<int> overlaps{0};
 
@@ -53,7 +53,7 @@ TEST(FirmwareThread, NeverRunsBesideTheSimulation) {
         awake--;
     }
 
-    EXPECT_EQ(overlaps, 0);
+    CHECK_EQ(overlaps, 0);
 }
 
 /**
@@ -74,7 +74,7 @@ class UnwindSentinel {
     bool& flag;  // NOLINT(*-avoid-const-or-ref-data-members): the test owns the flag.
 };
 
-TEST(FirmwareThread, EndlessProgramsAreUnwoundByFinish) {
+TEST_CASE("FirmwareThread.EndlessProgramsAreUnwoundByFinish") {
     bool destructor_ran = false;
 
     {
@@ -87,11 +87,11 @@ TEST(FirmwareThread, EndlessProgramsAreUnwoundByFinish) {
         });
 
         firmware.run_until_yield();
-        EXPECT_FALSE(firmware.has_finished());
+        CHECK_FALSE(firmware.has_finished());
         firmware.finish();
     }
 
-    EXPECT_TRUE(destructor_ran);
+    CHECK(destructor_ran);
 }
 
 /**
@@ -116,7 +116,7 @@ class YieldingSentinel {
     bool&           flag;    // NOLINT(*-avoid-const-or-ref-data-members): the test owns the flag.
 };
 
-TEST(FirmwareThread, UnwindingIsNotBlockedByAYieldingDestructor) {
+TEST_CASE("FirmwareThread.UnwindingIsNotBlockedByAYieldingDestructor") {
     bool destructor_ran = false;
 
     FirmwareThread firmware([&](FirmwareThread& thread) {
@@ -130,31 +130,31 @@ TEST(FirmwareThread, UnwindingIsNotBlockedByAYieldingDestructor) {
     firmware.run_until_yield();
     firmware.finish();
 
-    EXPECT_TRUE(destructor_ran);
+    CHECK(destructor_ran);
 }
 
-TEST(FirmwareThread, ReportsAProgramThatReturns) {
+TEST_CASE("FirmwareThread.ReportsAProgramThatReturns") {
     FirmwareThread firmware([](FirmwareThread&) { });
 
     firmware.run_until_yield();
-    EXPECT_TRUE(firmware.has_finished());
-    EXPECT_NO_THROW(firmware.rethrow_any_error());
+    CHECK(firmware.has_finished());
+    CHECK_NOTHROW(firmware.rethrow_any_error());
 }
 
-TEST(FirmwareThread, CarriesAProgramErrorBackToTheSimulation) {
+TEST_CASE("FirmwareThread.CarriesAProgramErrorBackToTheSimulation") {
     FirmwareThread firmware([](FirmwareThread&) { throw std::runtime_error("the firmware gave up"); });
 
     firmware.run_until_yield();
-    EXPECT_TRUE(firmware.has_finished());
-    EXPECT_THROW(firmware.rethrow_any_error(), std::runtime_error);
+    CHECK(firmware.has_finished());
+    CHECK_THROWS_AS(firmware.rethrow_any_error(), std::runtime_error);
 }
 
-TEST(FirmwareThread, RunningAFinishedProgramIsHarmless) {
+TEST_CASE("FirmwareThread.RunningAFinishedProgramIsHarmless") {
     FirmwareThread firmware([](FirmwareThread&) { });
 
     firmware.run_until_yield();
-    EXPECT_NO_THROW(firmware.run_until_yield());
-    EXPECT_NO_THROW(firmware.finish());
+    CHECK_NOTHROW(firmware.run_until_yield());
+    CHECK_NOTHROW(firmware.finish());
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/maze_test.cpp b/tests/unit/maze_test.cpp
index 60b20d8..03be301 100644
--- a/tests/unit/maze_test.cpp
+++ b/tests/unit/maze_test.cpp
@@ -1,12 +1,14 @@
+#include <cmath>
 #include <filesystem>
 #include <fstream>
 #include <span>
 #include <sstream>
+#include <stdexcept>
 #include <string>
 #include <string_view>
 #include <utility>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/sim/arenas/maze.hpp"
 #include "micras/sim/core/mujoco_world.hpp"
@@ -23,98 +25,98 @@ constexpr std::string_view small_maze{"o---o---o\n"
                                       "| S |   |\n"
                                       "o---o---o\n"};
 
-TEST(Maze, ReadsTheSizeOfTheDrawing) {
+TEST_CASE("Maze.ReadsTheSizeOfTheDrawing") {
     const Maze maze = Maze::parse(small_maze);
 
-    EXPECT_EQ(maze.width(), 2U);
-    EXPECT_EQ(maze.height(), 2U);
+    CHECK_EQ(maze.width(), 2U);
+    CHECK_EQ(maze.height(), 2U);
 }
 
-TEST(Maze, ReadsTheWallsBottomUp) {
+TEST_CASE("Maze.ReadsTheWallsBottomUp") {
     const Maze maze = Maze::parse(small_maze);
 
-    EXPECT_TRUE(maze.south_wall(0, 0));
-    EXPECT_TRUE(maze.south_wall(1, 0));
-    EXPECT_FALSE(maze.south_wall(0, 1));
-    EXPECT_TRUE(maze.south_wall(1, 1));
-    EXPECT_TRUE(maze.south_wall(0, 2));
-    EXPECT_TRUE(maze.south_wall(1, 2));
-
-    EXPECT_TRUE(maze.west_wall(0, 0));
-    EXPECT_TRUE(maze.west_wall(1, 0));
-    EXPECT_TRUE(maze.west_wall(2, 0));
-    EXPECT_TRUE(maze.west_wall(0, 1));
-    EXPECT_FALSE(maze.west_wall(1, 1));
-    EXPECT_TRUE(maze.west_wall(2, 1));
+    CHECK(maze.south_wall(0, 0));
+    CHECK(maze.south_wall(1, 0));
+    CHECK_FALSE(maze.south_wall(0, 1));
+    CHECK(maze.south_wall(1, 1));
+    CHECK(maze.south_wall(0, 2));
+    CHECK(maze.south_wall(1, 2));
+
+    CHECK(maze.west_wall(0, 0));
+    CHECK(maze.west_wall(1, 0));
+    CHECK(maze.west_wall(2, 0));
+    CHECK(maze.west_wall(0, 1));
+    CHECK_FALSE(maze.west_wall(1, 1));
+    CHECK(maze.west_wall(2, 1));
 }
 
-TEST(Maze, ReportsNoWallOutsideTheDrawing) {
+TEST_CASE("Maze.ReportsNoWallOutsideTheDrawing") {
     const Maze maze = Maze::parse(small_maze);
 
-    EXPECT_FALSE(maze.south_wall(2, 0));
-    EXPECT_FALSE(maze.south_wall(0, 3));
-    EXPECT_FALSE(maze.west_wall(3, 0));
-    EXPECT_FALSE(maze.west_wall(0, 2));
+    CHECK_FALSE(maze.south_wall(2, 0));
+    CHECK_FALSE(maze.south_wall(0, 3));
+    CHECK_FALSE(maze.west_wall(3, 0));
+    CHECK_FALSE(maze.west_wall(0, 2));
 }
 
-TEST(Maze, ReadsTheStartAndTheGoals) {
+TEST_CASE("Maze.ReadsTheStartAndTheGoals") {
     const Maze maze = Maze::parse(small_maze);
 
-    EXPECT_EQ(maze.start(), (std::pair<std::size_t, std::size_t>{0, 0}));
-    ASSERT_EQ(maze.goals().size(), 1U);
-    EXPECT_EQ(maze.goals().front(), (std::pair<std::size_t, std::size_t>{0, 1}));
+    CHECK_EQ(maze.start(), (std::pair<std::size_t, std::size_t>{0, 0}));
+    REQUIRE_EQ(maze.goals().size(), 1U);
+    CHECK_EQ(maze.goals().front(), (std::pair<std::size_t, std::size_t>{0, 1}));
 }
 
-TEST(Maze, StartsAtTheLowerLeftWhenTheDrawingMarksNoStart) {
+TEST_CASE("Maze.StartsAtTheLowerLeftWhenTheDrawingMarksNoStart") {
     const Maze maze = Maze::parse("o---o---o\n|   | S |\no---o---o\n");
     const Maze unmarked = Maze::parse("o---o---o\n|       |\no---o---o\n");
 
-    EXPECT_EQ(maze.start(), (std::pair<std::size_t, std::size_t>{1, 0}));
-    EXPECT_EQ(unmarked.start(), (std::pair<std::size_t, std::size_t>{0, 0}));
-    EXPECT_TRUE(unmarked.goals().empty());
+    CHECK_EQ(maze.start(), (std::pair<std::size_t, std::size_t>{1, 0}));
+    CHECK_EQ(unmarked.start(), (std::pair<std::size_t, std::size_t>{0, 0}));
+    CHECK(unmarked.goals().empty());
 }
 
-TEST(Maze, IgnoresTrailingSpacesCarriageReturnsAndBlankLines) {
+TEST_CASE("Maze.IgnoresTrailingSpacesCarriageReturnsAndBlankLines") {
     const Maze maze = Maze::parse("o---o---o   \r\n| G     |\r\no   o---o\r\n| S |   |  \r\no---o---o\r\n\n\n");
 
-    EXPECT_EQ(maze.width(), 2U);
-    EXPECT_EQ(maze.height(), 2U);
-    EXPECT_FALSE(maze.west_wall(1, 1));
-    EXPECT_TRUE(maze.west_wall(1, 0));
-    EXPECT_EQ(maze.goals().size(), 1U);
+    CHECK_EQ(maze.width(), 2U);
+    CHECK_EQ(maze.height(), 2U);
+    CHECK_FALSE(maze.west_wall(1, 1));
+    CHECK(maze.west_wall(1, 0));
+    CHECK_EQ(maze.goals().size(), 1U);
 }
 
-TEST(Maze, RejectsADrawingWithAnEvenNumberOfLines) {
-    EXPECT_THROW(Maze::parse("o---o\n|   |\no---o\n|   |\n"), std::runtime_error);
+TEST_CASE("Maze.RejectsADrawingWithAnEvenNumberOfLines") {
+    CHECK_THROWS_AS(Maze::parse("o---o\n|   |\no---o\n|   |\n"), std::runtime_error);
 }
 
-TEST(Maze, RejectsADrawingTooShortToHoldACell) {
-    EXPECT_THROW(Maze::parse(""), std::runtime_error);
-    EXPECT_THROW(Maze::parse("o---o\n"), std::runtime_error);
-    EXPECT_THROW(Maze::parse("o\n|\no\n"), std::runtime_error);
+TEST_CASE("Maze.RejectsADrawingTooShortToHoldACell") {
+    CHECK_THROWS_AS(Maze::parse(""), std::runtime_error);
+    CHECK_THROWS_AS(Maze::parse("o---o\n"), std::runtime_error);
+    CHECK_THROWS_AS(Maze::parse("o\n|\no\n"), std::runtime_error);
 }
 
-TEST(Maze, RefusesAFileThatDoesNotExist) {
-    EXPECT_THROW(Maze::load(std::filesystem::path{MICRAS_TEST_MAZES_DIR} / "no_such_maze.txt"), std::runtime_error);
+TEST_CASE("Maze.RefusesAFileThatDoesNotExist") {
+    CHECK_THROWS_AS(Maze::load(std::filesystem::path{MICRAS_TEST_MAZES_DIR} / "no_such_maze.txt"), std::runtime_error);
 }
 
-TEST(Maze, LoadsABundledMazeClosedAllAround) {
+TEST_CASE("Maze.LoadsABundledMazeClosedAllAround") {
     const Maze maze = Maze::load(std::filesystem::path{MICRAS_TEST_MAZES_DIR} / "maze1.txt");
 
-    ASSERT_EQ(maze.width(), 16U);
-    ASSERT_EQ(maze.height(), 16U);
-    EXPECT_EQ(maze.start(), (std::pair<std::size_t, std::size_t>{0, 0}));
-    EXPECT_FALSE(maze.goals().empty());
+    REQUIRE_EQ(maze.width(), 16U);
+    REQUIRE_EQ(maze.height(), 16U);
+    CHECK_EQ(maze.start(), (std::pair<std::size_t, std::size_t>{0, 0}));
+    CHECK_FALSE(maze.goals().empty());
 
     for (std::size_t i = 0; i < 16; i++) {
-        EXPECT_TRUE(maze.south_wall(i, 0)) << "bottom edge, column " << i;
-        EXPECT_TRUE(maze.south_wall(i, 16)) << "top edge, column " << i;
-        EXPECT_TRUE(maze.west_wall(0, i)) << "left edge, row " << i;
-        EXPECT_TRUE(maze.west_wall(16, i)) << "right edge, row " << i;
+        CHECK_MESSAGE(maze.south_wall(i, 0), "bottom edge, column " << i);
+        CHECK_MESSAGE(maze.south_wall(i, 16), "top edge, column " << i);
+        CHECK_MESSAGE(maze.west_wall(0, i), "left edge, row " << i);
+        CHECK_MESSAGE(maze.west_wall(16, i), "right edge, row " << i);
     }
 }
 
-TEST(Maze, GeneratesAnArenaAWorldCanAttach) {
+TEST_CASE("Maze.GeneratesAnArenaAWorldCanAttach") {
     const Maze  maze = Maze::parse(small_maze);
     MujocoWorld world;
 
@@ -122,16 +124,16 @@ TEST(Maze, GeneratesAnArenaAWorldCanAttach) {
         read_text_file(MICRAS_TEST_MODEL, "model"), "robot", maze.mjcf({}), Maze::body_name, {.x = 0.09, .y = 0.09}
     );
 
-    EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "maze_floor"));
-    EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "maze_south_1_1"));
-    EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "maze_west_1_0"));
-    EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "maze_post_2_2"));
-    EXPECT_THROW(world.require_id(mjOBJ_GEOM, "maze_west_1_1"), std::runtime_error);
-    EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "chassis"));
-    EXPECT_FALSE(world.composed_xml().empty());
+    CHECK_NOTHROW(world.require_id(mjOBJ_GEOM, "maze_floor"));
+    CHECK_NOTHROW(world.require_id(mjOBJ_GEOM, "maze_south_1_1"));
+    CHECK_NOTHROW(world.require_id(mjOBJ_GEOM, "maze_west_1_0"));
+    CHECK_NOTHROW(world.require_id(mjOBJ_GEOM, "maze_post_2_2"));
+    CHECK_THROWS_AS(world.require_id(mjOBJ_GEOM, "maze_west_1_1"), std::runtime_error);
+    CHECK_NOTHROW(world.require_id(mjOBJ_GEOM, "chassis"));
+    CHECK_FALSE(world.composed_xml().empty());
 }
 
-TEST(Maze, PlacesTheWallsOnTheCellEdges) {
+TEST_CASE("Maze.PlacesTheWallsOnTheCellEdges") {
     const Maze       maze = Maze::parse(small_maze);
     const MazeConfig config{.cell_size = 0.2};
     MujocoWorld      world;
@@ -146,18 +148,18 @@ TEST(Maze, PlacesTheWallsOnTheCellEdges) {
     );
     const auto first = static_cast<std::size_t>(3 * world.require_id(mjOBJ_GEOM, "maze_south_1_1"));
 
-    EXPECT_NEAR(positions[first], 0.3, 1e-9);
-    EXPECT_NEAR(positions[first + 1], 0.2, 1e-9);
-    EXPECT_NEAR(positions[first + 2], config.wall_height / 2, 1e-9);
+    CHECK_LE(std::abs(positions[first] - 0.3), 1e-9);
+    CHECK_LE(std::abs(positions[first + 1] - 0.2), 1e-9);
+    CHECK_LE(std::abs(positions[first + 2] - (config.wall_height / 2)), 1e-9);
 }
 
-TEST(Maze, SeesTheFloorDarkAndEverythingElseAsWall) {
+TEST_CASE("Maze.SeesTheFloorDarkAndEverythingElseAsWall") {
     const MazeConfig config{.wall_reflectance = 0.7, .floor_reflectance = 0.1};
 
-    EXPECT_DOUBLE_EQ(Maze::reflectance("maze_floor", config), 0.1);
-    EXPECT_DOUBLE_EQ(Maze::reflectance("floor", config), 0.1);
-    EXPECT_DOUBLE_EQ(Maze::reflectance("maze_south_0_0", config), 0.7);
-    EXPECT_DOUBLE_EQ(Maze::reflectance("maze_post_1_1", config), 0.7);
+    CHECK_EQ(Maze::reflectance("maze_floor", config), doctest::Approx(0.1).epsilon(1e-12));
+    CHECK_EQ(Maze::reflectance("floor", config), doctest::Approx(0.1).epsilon(1e-12));
+    CHECK_EQ(Maze::reflectance("maze_south_0_0", config), doctest::Approx(0.7).epsilon(1e-12));
+    CHECK_EQ(Maze::reflectance("maze_post_1_1", config), doctest::Approx(0.7).epsilon(1e-12));
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/noise_test.cpp b/tests/unit/noise_test.cpp
index 8d365b2..bb9196a 100644
--- a/tests/unit/noise_test.cpp
+++ b/tests/unit/noise_test.cpp
@@ -3,7 +3,7 @@
 #include <string_view>
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/sim/core/noise.hpp"
 
@@ -30,29 +30,29 @@ std::vector<double> draw(const NoiseConfig& config, std::string_view stream, std
     return samples;
 }
 
-TEST(Noise, RepeatsAStreamForTheSameSeedAndName) {
-    EXPECT_EQ(draw({.seed = 3}, "gyro", 100), draw({.seed = 3}, "gyro", 100));
+TEST_CASE("Noise.RepeatsAStreamForTheSameSeedAndName") {
+    CHECK_EQ(draw({.seed = 3}, "gyro", 100), draw({.seed = 3}, "gyro", 100));
 }
 
-TEST(Noise, GivesEachNameItsOwnStream) {
-    EXPECT_NE(draw({.seed = 3}, "gyro", 100), draw({.seed = 3}, "accelerometer", 100));
-    EXPECT_NE(draw({.seed = 3}, "a", 100), draw({.seed = 3}, "b", 100));
+TEST_CASE("Noise.GivesEachNameItsOwnStream") {
+    CHECK_NE(draw({.seed = 3}, "gyro", 100), draw({.seed = 3}, "accelerometer", 100));
+    CHECK_NE(draw({.seed = 3}, "a", 100), draw({.seed = 3}, "b", 100));
 }
 
-TEST(Noise, GivesEachSeedItsOwnStream) {
-    EXPECT_NE(draw({.seed = 3}, "gyro", 100), draw({.seed = 4}, "gyro", 100));
+TEST_CASE("Noise.GivesEachSeedItsOwnStream") {
+    CHECK_NE(draw({.seed = 3}, "gyro", 100), draw({.seed = 4}, "gyro", 100));
 }
 
-TEST(Noise, ScalesTheSameSamplesBySigma) {
+TEST_CASE("Noise.ScalesTheSameSamplesBySigma") {
     const std::vector<double> unit = draw({.seed = 5}, "gyro", 50);
     const std::vector<double> scaled = draw({.seed = 5}, "gyro", 50, 2.5);
 
     for (std::size_t i = 0; i < unit.size(); i++) {
-        EXPECT_DOUBLE_EQ(scaled.at(i), 2.5 * unit.at(i));
+        CHECK_EQ(scaled.at(i), doctest::Approx(2.5 * unit.at(i)).epsilon(1e-12));
     }
 }
 
-TEST(Noise, DrawsACentredGaussianOfTheRequestedSpread) {
+TEST_CASE("Noise.DrawsACentredGaussianOfTheRequestedSpread") {
     const std::vector<double> samples = draw({.seed = 11}, "gyro", 20000, 2.0);
     double                    sum = 0.0;
     double                    squares = 0.0;
@@ -65,22 +65,22 @@ TEST(Noise, DrawsACentredGaussianOfTheRequestedSpread) {
     const auto   count = static_cast<double>(samples.size());
     const double mean = sum / count;
 
-    EXPECT_NEAR(mean, 0.0, 0.05);
-    EXPECT_NEAR(std::sqrt(squares / count - mean * mean), 2.0, 0.05);
+    CHECK_LE(std::abs(mean - 0.0), 0.05);
+    CHECK_LE(std::abs(std::sqrt(squares / count - mean * mean) - 2.0), 0.05);
 }
 
-TEST(Noise, DrawsNothingInAnIdealWorld) {
+TEST_CASE("Noise.DrawsNothingInAnIdealWorld") {
     Noise noise({.seed = 3, .ideal = true}, "gyro");
 
     for (int i = 0; i < 100; i++) {
-        EXPECT_EQ(noise.gaussian(1.0), 0.0);
+        CHECK_EQ(noise.gaussian(1.0), 0.0);
     }
 }
 
-TEST(Noise, DrawsNothingForAZeroSigma) {
+TEST_CASE("Noise.DrawsNothingForAZeroSigma") {
     Noise noise({.seed = 3}, "gyro");
 
-    EXPECT_EQ(noise.gaussian(0.0), 0.0);
+    CHECK_EQ(noise.gaussian(0.0), 0.0);
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/robot_description_test.cpp b/tests/unit/robot_description_test.cpp
index 006882f..2fbfae9 100644
--- a/tests/unit/robot_description_test.cpp
+++ b/tests/unit/robot_description_test.cpp
@@ -7,7 +7,7 @@
 #include <string>
 #include <string_view>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/sim/arenas/maze.hpp"
 #include "micras/sim/core/mujoco_world.hpp"
@@ -38,7 +38,7 @@ std::string tiny_text() {
  */
 std::string replaced(std::string text, std::string_view from, std::string_view to) {
     const std::size_t position = text.find(from);
-    EXPECT_NE(position, std::string::npos) << "the tiny robot has no " << from;
+    CHECK_MESSAGE(position != std::string::npos, "the tiny robot has no " << from);
 
     if (position != std::string::npos) {
         text.replace(position, from.size(), to);
@@ -63,43 +63,43 @@ std::string refusal_of(std::string_view text) {
     return {};
 }
 
-TEST(RobotDescription, ReadsEverySection) {
+TEST_CASE("RobotDescription.ReadsEverySection") {
     const RobotDescription robot = RobotDescription::load(MICRAS_TEST_ROBOT);
 
-    EXPECT_EQ(robot.name, "tiny");
-    EXPECT_DOUBLE_EQ(robot.integration.timestep, 0.000521);
-    EXPECT_DOUBLE_EQ(robot.chassis.mass, 0.05);
-    EXPECT_EQ(robot.chassis.outline.size(), 4U);
-    EXPECT_DOUBLE_EQ(robot.wheels.track, 0.05);
-    EXPECT_DOUBLE_EQ(robot.drive.resistance(), 10.5);
-    EXPECT_EQ(robot.encoders.counts_per_revolution, 4096U);
-    EXPECT_DOUBLE_EQ(robot.imu.axes[1][1], 1.0);
-    EXPECT_DOUBLE_EQ(robot.fan.nominal_voltage, 7.4);
-    EXPECT_EQ(robot.battery.cells, 2);
-    EXPECT_EQ(robot.link.baud_rate, 9600U);
-    EXPECT_EQ(robot.wall_sensors.rays, 4);
-}
-
-TEST(RobotDescription, ReadsArraysOfParts) {
+    CHECK_EQ(robot.name, "tiny");
+    CHECK_EQ(robot.integration.timestep, doctest::Approx(0.000521).epsilon(1e-12));
+    CHECK_EQ(robot.chassis.mass, doctest::Approx(0.05).epsilon(1e-12));
+    CHECK_EQ(robot.chassis.outline.size(), 4U);
+    CHECK_EQ(robot.wheels.track, doctest::Approx(0.05).epsilon(1e-12));
+    CHECK_EQ(robot.drive.resistance(), doctest::Approx(10.5).epsilon(1e-12));
+    CHECK_EQ(robot.encoders.counts_per_revolution, 4096U);
+    CHECK_EQ(robot.imu.axes[1][1], doctest::Approx(1.0).epsilon(1e-12));
+    CHECK_EQ(robot.fan.nominal_voltage, doctest::Approx(7.4).epsilon(1e-12));
+    CHECK_EQ(robot.battery.cells, 2);
+    CHECK_EQ(robot.link.baud_rate, 9600U);
+    CHECK_EQ(robot.wall_sensors.rays, 4);
+}
+
+TEST_CASE("RobotDescription.ReadsArraysOfParts") {
     const RobotDescription robot = RobotDescription::load(MICRAS_TEST_ROBOT);
 
-    ASSERT_EQ(robot.chassis.boxes.size(), 1U);
-    EXPECT_EQ(robot.chassis.boxes.front().name, "cargo");
-    EXPECT_DOUBLE_EQ(robot.chassis.boxes.front().max[2], 0.02);
-    ASSERT_EQ(robot.chassis.cylinders.size(), 1U);
-    EXPECT_DOUBLE_EQ(robot.chassis.cylinders.front().radius, 0.005);
-    ASSERT_EQ(robot.wall_sensors.sensors.size(), 1U);
-    EXPECT_EQ(robot.wall_sensors.sensors.front().name, "eye");
+    REQUIRE_EQ(robot.chassis.boxes.size(), 1U);
+    CHECK_EQ(robot.chassis.boxes.front().name, "cargo");
+    CHECK_EQ(robot.chassis.boxes.front().max[2], doctest::Approx(0.02).epsilon(1e-12));
+    REQUIRE_EQ(robot.chassis.cylinders.size(), 1U);
+    CHECK_EQ(robot.chassis.cylinders.front().radius, doctest::Approx(0.005).epsilon(1e-12));
+    REQUIRE_EQ(robot.wall_sensors.sensors.size(), 1U);
+    CHECK_EQ(robot.wall_sensors.sensors.front().name, "eye");
 }
 
-TEST(RobotDescription, ConvertsDegreesToRadians) {
+TEST_CASE("RobotDescription.ConvertsDegreesToRadians") {
     const RobotDescription robot = RobotDescription::load(MICRAS_TEST_ROBOT);
 
-    EXPECT_DOUBLE_EQ(robot.wall_sensors.sensors.front().yaw, std::numbers::pi / 2);
-    EXPECT_DOUBLE_EQ(robot.wall_sensors.emitter_half_angle, 5.0 * std::numbers::pi / 180.0);
+    CHECK_EQ(robot.wall_sensors.sensors.front().yaw, doctest::Approx(std::numbers::pi / 2).epsilon(1e-12));
+    CHECK_EQ(robot.wall_sensors.emitter_half_angle, doctest::Approx(5.0 * std::numbers::pi / 180.0).epsilon(1e-12));
 }
 
-TEST(RobotDescription, AcceptsPlainValuesAndSourcedTablesAlike) {
+TEST_CASE("RobotDescription.AcceptsPlainValuesAndSourcedTablesAlike") {
     const std::string      text = tiny_text();
     const RobotDescription plain = RobotDescription::parse(
         replaced(text, R"(winding_resistance = { value = 10.0, source = "made up" })", "winding_resistance = 10.0")
@@ -108,37 +108,37 @@ TEST(RobotDescription, AcceptsPlainValuesAndSourcedTablesAlike) {
         replaced(text, "bridge_resistance = 0.5", R"(bridge_resistance = { value = 0.5, source = "datasheet" })")
     );
 
-    EXPECT_DOUBLE_EQ(plain.drive.winding_resistance, 10.0);
-    EXPECT_DOUBLE_EQ(sourced.drive.bridge_resistance, 0.5);
-    EXPECT_DOUBLE_EQ(plain.drive.resistance(), sourced.drive.resistance());
+    CHECK_EQ(plain.drive.winding_resistance, doctest::Approx(10.0).epsilon(1e-12));
+    CHECK_EQ(sourced.drive.bridge_resistance, doctest::Approx(0.5).epsilon(1e-12));
+    CHECK_EQ(plain.drive.resistance(), doctest::Approx(sourced.drive.resistance()).epsilon(1e-12));
 }
 
-TEST(RobotDescription, RefusesAMissingKeyNamingIt) {
+TEST_CASE("RobotDescription.RefusesAMissingKeyNamingIt") {
     const std::string message = refusal_of(replaced(tiny_text(), "bridge_resistance = 0.5\n", ""));
 
-    EXPECT_TRUE(message.contains("drive.bridge_resistance")) << message;
-    EXPECT_TRUE(message.contains("missing")) << message;
+    CHECK_MESSAGE(message.contains("drive.bridge_resistance"), message);
+    CHECK_MESSAGE(message.contains("missing"), message);
 }
 
-TEST(RobotDescription, RefusesAMissingSectionNamingIt) {
+TEST_CASE("RobotDescription.RefusesAMissingSectionNamingIt") {
     const std::string message = refusal_of(replaced(tiny_text(), "[link]\nbaud_rate = 9600\n", ""));
 
-    EXPECT_TRUE(message.contains("[link]")) << message;
+    CHECK_MESSAGE(message.contains("[link]"), message);
 }
 
-TEST(RobotDescription, RefusesAnUnknownKeyNamingIt) {
+TEST_CASE("RobotDescription.RefusesAnUnknownKeyNamingIt") {
     const std::string message = refusal_of(replaced(tiny_text(), "[battery]\n", "[battery]\ncolour = \"red\"\n"));
 
-    EXPECT_TRUE(message.contains("unknown key battery.colour")) << message;
+    CHECK_MESSAGE(message.contains("unknown key battery.colour"), message);
 }
 
-TEST(RobotDescription, RefusesAnUnknownKeyInAnArrayOfTables) {
+TEST_CASE("RobotDescription.RefusesAnUnknownKeyInAnArrayOfTables") {
     const std::string message = refusal_of(replaced(tiny_text(), "name = \"eye\"\n", "name = \"eye\"\nshiny = true\n"));
 
-    EXPECT_TRUE(message.contains("wall_sensors.sensors[0].shiny")) << message;
+    CHECK_MESSAGE(message.contains("wall_sensors.sensors[0].shiny"), message);
 }
 
-TEST(RobotDescription, RefusesAValueOfTheWrongTypeNamingIt) {
+TEST_CASE("RobotDescription.RefusesAValueOfTheWrongTypeNamingIt") {
     const std::string text_instead = refusal_of(replaced(tiny_text(), "cells = 2", "cells = \"two\""));
     const std::string fraction = refusal_of(replaced(tiny_text(), "cells = 2", "cells = 2.5"));
     const std::string short_vector =
@@ -147,52 +147,52 @@ TEST(RobotDescription, RefusesAValueOfTheWrongTypeNamingIt) {
         tiny_text(), R"(mass = { value = 0.05, source = "made up" })", R"(mass = { value = "heavy", source = "x" })"
     ));
 
-    EXPECT_TRUE(text_instead.contains("battery.cells must be a whole number")) << text_instead;
-    EXPECT_TRUE(fraction.contains("battery.cells must be a whole number")) << fraction;
-    EXPECT_TRUE(short_vector.contains("imu.chip_y must be 3 numbers")) << short_vector;
-    EXPECT_TRUE(sourced.contains("chassis.mass must be a number")) << sourced;
+    CHECK_MESSAGE(text_instead.contains("battery.cells must be a whole number"), text_instead);
+    CHECK_MESSAGE(fraction.contains("battery.cells must be a whole number"), fraction);
+    CHECK_MESSAGE(short_vector.contains("imu.chip_y must be 3 numbers"), short_vector);
+    CHECK_MESSAGE(sourced.contains("chassis.mass must be a number"), sourced);
 }
 
-TEST(RobotDescription, RefusesASourcedTableThatIsNotExactlyAValueAndASource) {
+TEST_CASE("RobotDescription.RefusesASourcedTableThatIsNotExactlyAValueAndASource") {
     const std::string unsourced = refusal_of(replaced(tiny_text(), R"(, source = "made up" })", " }"));
     const std::string extra =
         refusal_of(replaced(tiny_text(), R"(source = "made up" })", R"(source = "made up", unit = "kg" })"));
 
-    EXPECT_TRUE(unsourced.contains("chassis.mass")) << unsourced;
-    EXPECT_TRUE(extra.contains("chassis.mass")) << extra;
+    CHECK_MESSAGE(unsourced.contains("chassis.mass"), unsourced);
+    CHECK_MESSAGE(extra.contains("chassis.mass"), extra);
 }
 
-TEST(RobotDescription, RefusesASchemaVersionItDoesNotKnow) {
+TEST_CASE("RobotDescription.RefusesASchemaVersionItDoesNotKnow") {
     const std::string message = refusal_of(replaced(tiny_text(), "schema = 1", "schema = 2"));
 
-    EXPECT_TRUE(message.contains("schema 2")) << message;
+    CHECK_MESSAGE(message.contains("schema 2"), message);
 }
 
-TEST(RobotDescription, RefusesAnOutlineOfFewerThanThreePoints) {
+TEST_CASE("RobotDescription.RefusesAnOutlineOfFewerThanThreePoints") {
     const std::string message = refusal_of(replaced(
         tiny_text(), "outline = [[0.04, 0.02], [-0.03, 0.02], [-0.03, -0.02], [0.04, -0.02]]",
         "outline = [[0.04, 0.02], [-0.03, 0.02]]"
     ));
 
-    EXPECT_TRUE(message.contains("chassis.outline")) << message;
+    CHECK_MESSAGE(message.contains("chassis.outline"), message);
 }
 
-TEST(RobotDescription, NamesTheFileInEveryRefusal) {
+TEST_CASE("RobotDescription.NamesTheFileInEveryRefusal") {
     const std::string syntax = refusal_of("schema = = 1");
     const std::string missing = refusal_of(replaced(tiny_text(), "bridge_resistance = 0.5\n", ""));
 
-    EXPECT_TRUE(syntax.starts_with("tiny.toml")) << syntax;
-    EXPECT_TRUE(missing.starts_with("tiny.toml")) << missing;
+    CHECK_MESSAGE(syntax.starts_with("tiny.toml"), syntax);
+    CHECK_MESSAGE(missing.starts_with("tiny.toml"), missing);
 }
 
-TEST(RobotDescription, RefusesAFileThatDoesNotExist) {
-    EXPECT_THROW(
+TEST_CASE("RobotDescription.RefusesAFileThatDoesNotExist") {
+    CHECK_THROWS_AS(
         RobotDescription::load(std::filesystem::path{MICRAS_TEST_ROBOT}.parent_path() / "no_such_robot.toml"),
         std::runtime_error
     );
 }
 
-TEST(RobotDescription, GeneratesAModelThatComposesWithAnArena) {
+TEST_CASE("RobotDescription.GeneratesAModelThatComposesWithAnArena") {
     const RobotDescription robot = RobotDescription::load(MICRAS_TEST_ROBOT);
     const RobotModelNames  names = RobotModelNames::of(robot);
     const Maze             maze = Maze::parse("o---o\n| S |\no---o\n");
@@ -201,15 +201,15 @@ TEST(RobotDescription, GeneratesAModelThatComposesWithAnArena) {
     world.build(robot_mjcf(robot), names.body, maze.mjcf({}), Maze::body_name, {.x = 0.09, .y = 0.09});
     world.reset();
 
-    EXPECT_EQ(names.body, "tiny");
-    EXPECT_DOUBLE_EQ(world.timestep(), robot.integration.timestep);
-    EXPECT_NO_THROW(world.require_id(mjOBJ_BODY, names.body));
-    EXPECT_EQ(world.model()->njnt, 3) << "the free joint and one per wheel";
-    EXPECT_EQ(world.model()->nu, 3) << "one motor per wheel and the fan";
-    EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "cargo"));
-    EXPECT_NO_THROW(world.require_id(mjOBJ_GEOM, "mast"));
-    EXPECT_NO_THROW(world.require_id(mjOBJ_SITE, "eye_emitter"));
-    EXPECT_NO_THROW(world.sensor_address(names.gyro));
+    CHECK_EQ(names.body, "tiny");
+    CHECK_EQ(world.timestep(), doctest::Approx(robot.integration.timestep).epsilon(1e-12));
+    CHECK_NOTHROW(world.require_id(mjOBJ_BODY, names.body));
+    CHECK_MESSAGE(world.model()->njnt == 3, "the free joint and one per wheel");
+    CHECK_MESSAGE(world.model()->nu == 3, "one motor per wheel and the fan");
+    CHECK_NOTHROW(world.require_id(mjOBJ_GEOM, "cargo"));
+    CHECK_NOTHROW(world.require_id(mjOBJ_GEOM, "mast"));
+    CHECK_NOTHROW(world.require_id(mjOBJ_SITE, "eye_emitter"));
+    CHECK_NOTHROW(world.sensor_address(names.gyro));
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/run_metadata_test.cpp b/tests/unit/run_metadata_test.cpp
index eabfc1a..e93a74a 100644
--- a/tests/unit/run_metadata_test.cpp
+++ b/tests/unit/run_metadata_test.cpp
@@ -3,13 +3,13 @@
 #include <fstream>
 #include <span>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/sim/recording/run_metadata.hpp"
 
 namespace micras::sim {
 namespace {
-TEST(RunMetadata, SerializesInTheBaselineLayout) {
+TEST_CASE("RunMetadata.SerializesInTheBaselineLayout") {
     const RunMetadata metadata{
         .target = "tiny",
         .target_dir = "targets/tiny",
@@ -74,28 +74,28 @@ TEST(RunMetadata, SerializesInTheBaselineLayout) {
                                  "  ]\n"
                                  "}\n";
 
-    EXPECT_EQ(metadata.to_json(), expected);
+    CHECK_EQ(metadata.to_json(), expected);
 }
 
-TEST(RunMetadata, EscapesJsonStrings) {
+TEST_CASE("RunMetadata.EscapesJsonStrings") {
     RunMetadata metadata;
     metadata.args = std::string("quote\" backslash\\ newline\n tab\t bell") + '\001';
 
     const std::string json = metadata.to_json();
     const std::string expected = R"("args": "quote\" backslash\\ newline\n tab\t bell\u0001")";
-    EXPECT_NE(json.find(expected), std::string::npos);
+    CHECK_NE(json.find(expected), std::string::npos);
 }
 
-TEST(RunMetadata, HashesFilesWithSha256) {
+TEST_CASE("RunMetadata.HashesFilesWithSha256") {
     const std::filesystem::path path = std::filesystem::temp_directory_path() / "micras_sha256_test.txt";
     std::ofstream(path) << "abc";
 
-    EXPECT_EQ(RunMetadata::sha256_of(path), "ba7816bf8f01cfea414140de5dae2223b00361a396177a9cb410ff61f20015ad");
-    EXPECT_EQ(RunMetadata::sha256_of("/nonexistent/file"), "");
+    CHECK_EQ(RunMetadata::sha256_of(path), "ba7816bf8f01cfea414140de5dae2223b00361a396177a9cb410ff61f20015ad");
+    CHECK_EQ(RunMetadata::sha256_of("/nonexistent/file"), "");
     std::filesystem::remove(path);
 }
 
-TEST(RunMetadata, JoinsArgumentsAfterTheProgramName) {
+TEST_CASE("RunMetadata.JoinsArgumentsAfterTheProgramName") {
     std::array<std::string, 4> arguments{"bin", "--maze", "maze1", "--out"};
     std::array<char*, 4>       argv{};
 
@@ -103,8 +103,8 @@ TEST(RunMetadata, JoinsArgumentsAfterTheProgramName) {
         argv.at(i) = arguments.at(i).data();
     }
 
-    EXPECT_EQ(RunMetadata::join_args(argv), "--maze maze1 --out");
-    EXPECT_EQ(RunMetadata::join_args(std::span(argv).first(1)), "");
+    CHECK_EQ(RunMetadata::join_args(argv), "--maze maze1 --out");
+    CHECK_EQ(RunMetadata::join_args(std::span(argv).first(1)), "");
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/scenario_test.cpp b/tests/unit/scenario_test.cpp
index 7bea8e0..1a1a125 100644
--- a/tests/unit/scenario_test.cpp
+++ b/tests/unit/scenario_test.cpp
@@ -12,7 +12,7 @@
 #include <utility>
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/sim/core/run_context.hpp"
 #include "micras/sim/core/simulation.hpp"
@@ -122,120 +122,120 @@ std::string refusal_of(std::string_view text) {
     return {};
 }
 
-TEST(Scenario, ReadsTheRunSettings) {
+TEST_CASE("Scenario.ReadsTheRunSettings") {
     const Scenario scenario = Scenario::parse(full_scenario);
 
-    EXPECT_EQ(scenario.robot, "tiny");
-    EXPECT_EQ(scenario.arena, "maze1");
-    EXPECT_DOUBLE_EQ(scenario.seconds, 12.0);
-    EXPECT_EQ(scenario.seed, 7U);
-    ASSERT_TRUE(scenario.start.has_value());
+    CHECK_EQ(scenario.robot, "tiny");
+    CHECK_EQ(scenario.arena, "maze1");
+    CHECK_EQ(scenario.seconds, doctest::Approx(12.0).epsilon(1e-12));
+    CHECK_EQ(scenario.seed, 7U);
+    REQUIRE(scenario.start.has_value());
 
     const MujocoWorld::Placement start = scenario.start.value_or(MujocoWorld::Placement{});
-    EXPECT_DOUBLE_EQ(start.x, 0.09);
-    EXPECT_DOUBLE_EQ(start.y, 0.18);
-    EXPECT_DOUBLE_EQ(start.yaw, std::numbers::pi / 2);
+    CHECK_EQ(start.x, doctest::Approx(0.09).epsilon(1e-12));
+    CHECK_EQ(start.y, doctest::Approx(0.18).epsilon(1e-12));
+    CHECK_EQ(start.yaw, doctest::Approx(std::numbers::pi / 2).epsilon(1e-12));
 }
 
-TEST(Scenario, LeavesOutWhatTheFileDoesNotSay) {
+TEST_CASE("Scenario.LeavesOutWhatTheFileDoesNotSay") {
     const Scenario scenario = Scenario::parse("seconds = 4.5\n");
 
-    EXPECT_TRUE(scenario.robot.empty());
-    EXPECT_TRUE(scenario.arena.empty());
-    EXPECT_DOUBLE_EQ(scenario.seconds, 4.5);
-    EXPECT_FALSE(scenario.seed.has_value());
-    EXPECT_FALSE(scenario.start.has_value());
-    EXPECT_TRUE(scenario.events.empty());
-    EXPECT_FALSE(scenario.stop.has_value());
+    CHECK(scenario.robot.empty());
+    CHECK(scenario.arena.empty());
+    CHECK_EQ(scenario.seconds, doctest::Approx(4.5).epsilon(1e-12));
+    CHECK_FALSE(scenario.seed.has_value());
+    CHECK_FALSE(scenario.start.has_value());
+    CHECK(scenario.events.empty());
+    CHECK_FALSE(scenario.stop.has_value());
 }
 
-TEST(Scenario, ReadsEveryKindOfEventInTimeOrder) {
+TEST_CASE("Scenario.ReadsEveryKindOfEventInTimeOrder") {
     const Scenario scenario = Scenario::parse(full_scenario);
 
-    ASSERT_EQ(scenario.events.size(), 3U);
+    REQUIRE_EQ(scenario.events.size(), 3U);
 
     const ScenarioEvent& press = scenario.events.at(0);
-    EXPECT_EQ(press.kind, ScenarioEvent::Kind::PRESS);
-    EXPECT_DOUBLE_EQ(press.at, 0.5);
-    EXPECT_DOUBLE_EQ(press.duration, 0.25);
-    EXPECT_EQ(press.target, "button");
+    CHECK_EQ(press.kind, ScenarioEvent::Kind::PRESS);
+    CHECK_EQ(press.at, doctest::Approx(0.5).epsilon(1e-12));
+    CHECK_EQ(press.duration, doctest::Approx(0.25).epsilon(1e-12));
+    CHECK_EQ(press.target, "button");
 
     const ScenarioEvent& set = scenario.events.at(1);
-    EXPECT_EQ(set.kind, ScenarioEvent::Kind::SET);
-    EXPECT_EQ(set.target, "switch");
-    EXPECT_TRUE(set.value);
+    CHECK_EQ(set.kind, ScenarioEvent::Kind::SET);
+    CHECK_EQ(set.target, "switch");
+    CHECK(set.value);
 
     const ScenarioEvent& send = scenario.events.at(2);
-    EXPECT_EQ(send.kind, ScenarioEvent::Kind::SEND);
-    EXPECT_EQ(send.target, "hello");
+    CHECK_EQ(send.kind, ScenarioEvent::Kind::SEND);
+    CHECK_EQ(send.target, "hello");
 }
 
-TEST(Scenario, ReadsTheStopConditionAsANameOrANumber) {
+TEST_CASE("Scenario.ReadsTheStopConditionAsANameOrANumber") {
     const Scenario named = Scenario::parse(full_scenario);
     const Scenario numbered = Scenario::parse("[stop]\nwhen = \"lap\"\nequals = 3\n");
 
-    ASSERT_TRUE(named.stop.has_value());
-    ASSERT_TRUE(numbered.stop.has_value());
+    REQUIRE(named.stop.has_value());
+    REQUIRE(numbered.stop.has_value());
 
     const StopCondition by_name = named.stop.value_or(StopCondition{});
     const StopCondition by_number = numbered.stop.value_or(StopCondition{});
-    EXPECT_EQ(by_name.variable, "state");
-    EXPECT_EQ(by_name.equals, std::vector<std::string>{"IDLE"});
-    EXPECT_DOUBLE_EQ(by_name.after, 5.0);
-    EXPECT_EQ(by_number.equals, std::vector<std::string>{"3"});
-    EXPECT_DOUBLE_EQ(by_number.after, 0.0);
+    CHECK_EQ(by_name.variable, "state");
+    CHECK_EQ(by_name.equals, std::vector<std::string>{"IDLE"});
+    CHECK_EQ(by_name.after, doctest::Approx(5.0).epsilon(1e-12));
+    CHECK_EQ(by_number.equals, std::vector<std::string>{"3"});
+    CHECK_EQ(by_number.after, doctest::Approx(0.0).epsilon(1e-12));
 }
 
-TEST(Scenario, ReadsAStopConditionWithSeveralValues) {
+TEST_CASE("Scenario.ReadsAStopConditionWithSeveralValues") {
     const Scenario scenario = Scenario::parse("[stop]\nwhen = \"state\"\nequals = [\"IDLE\", 2]\n");
 
-    ASSERT_TRUE(scenario.stop.has_value());
-    EXPECT_EQ(scenario.stop.value_or(StopCondition{}).equals, (std::vector<std::string>{"IDLE", "2"}));
-    EXPECT_TRUE(refusal_of("[stop]\nwhen = \"a\"\nequals = []\n").contains("equals names no value"));
+    REQUIRE(scenario.stop.has_value());
+    CHECK_EQ(scenario.stop.value_or(StopCondition{}).equals, (std::vector<std::string>{"IDLE", "2"}));
+    CHECK(refusal_of("[stop]\nwhen = \"a\"\nequals = []\n").contains("equals names no value"));
 }
 
-TEST(Scenario, RefusesAnUnknownKeyNamingIt) {
-    EXPECT_TRUE(refusal_of("second = 4\n").contains("unknown key second"));
-    EXPECT_TRUE(refusal_of("[start]\nx = 0\ny = 0\nyaw = 0\n").contains("unknown key yaw"));
-    EXPECT_TRUE(refusal_of("[[events]]\nat = 1\nsend = \"a\"\nuntil = 2\n").contains("events[0]: unknown key until"));
-    EXPECT_TRUE(refusal_of("[stop]\nwhen = \"a\"\nequals = 1\nbefore = 2\n").contains("unknown key before"));
+TEST_CASE("Scenario.RefusesAnUnknownKeyNamingIt") {
+    CHECK(refusal_of("second = 4\n").contains("unknown key second"));
+    CHECK(refusal_of("[start]\nx = 0\ny = 0\nyaw = 0\n").contains("unknown key yaw"));
+    CHECK(refusal_of("[[events]]\nat = 1\nsend = \"a\"\nuntil = 2\n").contains("events[0]: unknown key until"));
+    CHECK(refusal_of("[stop]\nwhen = \"a\"\nequals = 1\nbefore = 2\n").contains("unknown key before"));
 }
 
-TEST(Scenario, RefusesAnEventThatIsNotExactlyOneThing) {
-    EXPECT_FALSE(refusal_of("[[events]]\nat = 1\n").empty());
-    EXPECT_FALSE(refusal_of("[[events]]\nat = 1\nsend = \"a\"\npress = \"b\"\nfor = 1\n").empty());
-    EXPECT_FALSE(refusal_of("events = [1, 2]\n").empty());
+TEST_CASE("Scenario.RefusesAnEventThatIsNotExactlyOneThing") {
+    CHECK_FALSE(refusal_of("[[events]]\nat = 1\n").empty());
+    CHECK_FALSE(refusal_of("[[events]]\nat = 1\nsend = \"a\"\npress = \"b\"\nfor = 1\n").empty());
+    CHECK_FALSE(refusal_of("events = [1, 2]\n").empty());
 }
 
-TEST(Scenario, RefusesAnEventMissingWhatItNeeds) {
-    EXPECT_TRUE(refusal_of("[[events]]\nsend = \"a\"\n").contains("at must be a number"));
-    EXPECT_TRUE(refusal_of("[[events]]\nat = 1\npress = \"a\"\n").contains("for must be a number"));
-    EXPECT_TRUE(refusal_of("[[events]]\nat = 1\nset = \"a\"\n").contains("true or false"));
-    EXPECT_TRUE(refusal_of("[[events]]\nat = 1\n").contains("exactly one of press, set or send"));
+TEST_CASE("Scenario.RefusesAnEventMissingWhatItNeeds") {
+    CHECK(refusal_of("[[events]]\nsend = \"a\"\n").contains("at must be a number"));
+    CHECK(refusal_of("[[events]]\nat = 1\npress = \"a\"\n").contains("for must be a number"));
+    CHECK(refusal_of("[[events]]\nat = 1\nset = \"a\"\n").contains("true or false"));
+    CHECK(refusal_of("[[events]]\nat = 1\n").contains("exactly one of press, set or send"));
 }
 
-TEST(Scenario, RefusesNegativeTimes) {
-    EXPECT_TRUE(refusal_of("[[events]]\nat = -1\nsend = \"a\"\n").contains("negative"));
-    EXPECT_TRUE(refusal_of("[[events]]\nat = 1\npress = \"a\"\nfor = -0.5\n").contains("negative"));
+TEST_CASE("Scenario.RefusesNegativeTimes") {
+    CHECK(refusal_of("[[events]]\nat = -1\nsend = \"a\"\n").contains("negative"));
+    CHECK(refusal_of("[[events]]\nat = 1\npress = \"a\"\nfor = -0.5\n").contains("negative"));
 }
 
-TEST(Scenario, RefusesAnIncompleteStartOrStop) {
-    EXPECT_TRUE(refusal_of("[start]\nx = 0\nyaw_deg = 0\n").contains("y must be a number"));
-    EXPECT_TRUE(refusal_of("[stop]\nequals = 1\n").contains("when must name"));
-    EXPECT_TRUE(refusal_of("[stop]\nwhen = \"a\"\nequals = true\n").contains("equals must be"));
+TEST_CASE("Scenario.RefusesAnIncompleteStartOrStop") {
+    CHECK(refusal_of("[start]\nx = 0\nyaw_deg = 0\n").contains("y must be a number"));
+    CHECK(refusal_of("[stop]\nequals = 1\n").contains("when must name"));
+    CHECK(refusal_of("[stop]\nwhen = \"a\"\nequals = true\n").contains("equals must be"));
 }
 
-TEST(Scenario, RefusesAFileThatIsNotToml) {
-    EXPECT_TRUE(refusal_of("seconds = = 4\n").starts_with("test.toml"));
-    EXPECT_THROW(Scenario::load("no_such_scenario.toml"), std::runtime_error);
+TEST_CASE("Scenario.RefusesAFileThatIsNotToml") {
+    CHECK(refusal_of("seconds = = 4\n").starts_with("test.toml"));
+    CHECK_THROWS_AS(Scenario::load("no_such_scenario.toml"), std::runtime_error);
 }
 
 /**
  * @brief A world, one input and one message: what a robot target hands a scenario.
  */
-class Playing : public testing::Test {
+class Playing {
 protected:
-    void SetUp() override {
+    Playing() {
         load_tiny_world(this->context.world, this->context.clock);
 
         this->hooks.inputs.emplace("button", &this->button);
@@ -298,135 +298,138 @@ class Playing : public testing::Test {
     // NOLINTEND(*-non-private-member-variables-in-classes)
 };
 
-TEST_F(Playing, PressesAnInputForTheTimeTheEventSays) {
+TEST_CASE_FIXTURE(Playing, "Playing.PressesAnInputForTheTimeTheEventSays") {
     this->play("[[events]]\nat = 0.01\npress = \"button\"\nfor = 0.02\n", 50);
 
     const uint64_t first = this->context.clock.tick_at(0.01);
     const uint64_t last = first + this->context.clock.tick_at(0.02) - 1;
 
-    ASSERT_FALSE(this->probe.pressed_ticks.empty());
-    EXPECT_EQ(this->probe.pressed_ticks.front(), first);
-    EXPECT_EQ(this->probe.pressed_ticks.back(), last);
-    EXPECT_EQ(this->probe.pressed_ticks.size(), last - first + 1);
-    EXPECT_FALSE(this->button.is_active());
-    EXPECT_TRUE(this->button_level);
+    REQUIRE_FALSE(this->probe.pressed_ticks.empty());
+    CHECK_EQ(this->probe.pressed_ticks.front(), first);
+    CHECK_EQ(this->probe.pressed_ticks.back(), last);
+    CHECK_EQ(this->probe.pressed_ticks.size(), last - first + 1);
+    CHECK_FALSE(this->button.is_active());
+    CHECK(this->button_level);
 }
 
-TEST_F(Playing, DrivesTheInputsPinWithItsPolarity) {
+TEST_CASE_FIXTURE(Playing, "Playing.DrivesTheInputsPinWithItsPolarity") {
     this->play("[[events]]\nat = 0\nset = \"button\"\nvalue = true\n", 1);
 
-    EXPECT_TRUE(this->button.is_active());
-    EXPECT_FALSE(this->button_level);
+    CHECK(this->button.is_active());
+    CHECK_FALSE(this->button_level);
 }
 
-TEST_F(Playing, LeavesTheInputsAloneOnceAHumanHasTheBoard) {
+TEST_CASE_FIXTURE(Playing, "Playing.LeavesTheInputsAloneOnceAHumanHasTheBoard") {
     this->play("[[events]]\nat = 0.01\npress = \"button\"\nfor = 0.02\n", 50, nullptr, true);
 
-    EXPECT_TRUE(this->probe.pressed_ticks.empty());
+    CHECK(this->probe.pressed_ticks.empty());
 }
 
-TEST_F(Playing, QueuesAMessageForTheFirmware) {
+TEST_CASE_FIXTURE(Playing, "Playing.QueuesAMessageForTheFirmware") {
     this->play("[[events]]\nat = 0.005\nsend = \"hello\"\n", 10);
 
-    EXPECT_EQ(this->context.serial.take_for_firmware(10), (std::vector<uint8_t>{1, 2, 3}));
+    CHECK_EQ(this->context.serial.take_for_firmware(10), (std::vector<uint8_t>{1, 2, 3}));
 }
 
-TEST_F(Playing, RefusesAnEventOnSomethingTheRobotDoesNotHave) {
-    EXPECT_THROW(this->play("[[events]]\nat = 0\npress = \"lever\"\nfor = 1\n", 1), std::runtime_error);
-    EXPECT_THROW(this->play("[[events]]\nat = 0\nsend = \"goodbye\"\n", 1), std::runtime_error);
+TEST_CASE_FIXTURE(Playing, "Playing.RefusesAnEventOnSomethingTheRobotDoesNotHave") {
+    CHECK_THROWS_AS(this->play("[[events]]\nat = 0\npress = \"lever\"\nfor = 1\n", 1), std::runtime_error);
+    CHECK_THROWS_AS(this->play("[[events]]\nat = 0\nsend = \"goodbye\"\n", 1), std::runtime_error);
 }
 
-TEST_F(Playing, RefusesAStopOnAStateTheVariableDoesNotHave) {
-    EXPECT_THROW(this->play("[stop]\nwhen = \"state\"\nequals = \"LOST\"\n", 1), std::runtime_error);
-    EXPECT_THROW(this->play("[stop]\nwhen = \"lap\"\nequals = \"LAST\"\n", 1), std::runtime_error);
+TEST_CASE_FIXTURE(Playing, "Playing.RefusesAStopOnAStateTheVariableDoesNotHave") {
+    CHECK_THROWS_AS(this->play("[stop]\nwhen = \"state\"\nequals = \"LOST\"\n", 1), std::runtime_error);
+    CHECK_THROWS_AS(this->play("[stop]\nwhen = \"lap\"\nequals = \"LAST\"\n", 1), std::runtime_error);
 }
 
-TEST_F(Playing, StopsTheRunOnceTheConditionHoldsAfterItsDelay) {
+TEST_CASE_FIXTURE(Playing, "Playing.StopsTheRunOnceTheConditionHoldsAfterItsDelay") {
     const MapVariables variables({{"state", 1.0}});
     const auto player = this->play("[stop]\nwhen = \"state\"\nequals = \"IDLE\"\nafter = 0.1\n", 1000, &variables);
 
     const auto stop_tick = static_cast<uint64_t>(std::ceil(0.1 / 1042e-6));
 
-    ASSERT_TRUE(player->stopped_at().has_value());
-    EXPECT_EQ(this->completed, stop_tick);
-    EXPECT_DOUBLE_EQ(player->stopped_at().value_or(-1.0), static_cast<double>(stop_tick) * 1042 * 1e-6);
-    EXPECT_GE(player->stopped_at().value_or(-1.0), 0.1);
+    REQUIRE(player->stopped_at().has_value());
+    CHECK_EQ(this->completed, stop_tick);
+    CHECK_EQ(
+        player->stopped_at().value_or(-1.0),
+        doctest::Approx(static_cast<double>(stop_tick) * 1042 * 1e-6).epsilon(1e-12)
+    );
+    CHECK_GE(player->stopped_at().value_or(-1.0), 0.1);
 }
 
-TEST_F(Playing, StopsOnANumericValue) {
+TEST_CASE_FIXTURE(Playing, "Playing.StopsOnANumericValue") {
     const MapVariables variables({{"lap", 3.0}});
     const auto         player = this->play("[stop]\nwhen = \"lap\"\nequals = 3\n", 100, &variables);
 
-    EXPECT_EQ(player->stopped_at(), 0.0);
-    EXPECT_EQ(this->completed, 0U);
+    CHECK_EQ(player->stopped_at(), 0.0);
+    CHECK_EQ(this->completed, 0U);
 }
 
-TEST_F(Playing, StopsOnAnyOfSeveralValues) {
+TEST_CASE_FIXTURE(Playing, "Playing.StopsOnAnyOfSeveralValues") {
     const MapVariables variables({{"state", 2.0}});
     const auto         player = this->play("[stop]\nwhen = \"state\"\nequals = [\"IDLE\", \"RUN\"]\n", 100, &variables);
 
-    EXPECT_EQ(player->stopped_at(), 0.0);
-    EXPECT_EQ(this->completed, 0U);
+    CHECK_EQ(player->stopped_at(), 0.0);
+    CHECK_EQ(this->completed, 0U);
 }
 
-TEST_F(Playing, StopsOnlyOnceTheValueIsReachedTheCountedTimes) {
+TEST_CASE_FIXTURE(Playing, "Playing.StopsOnlyOnceTheValueIsReachedTheCountedTimes") {
     SteppedVariables variables("state", {{0, 1.0}, {10, 2.0}, {20, 1.0}, {30, 2.0}, {40, 1.0}});
     const auto       player =
         this->play("[stop]\nwhen = \"state\"\nequals = \"IDLE\"\ncount = 3\n", 100, &variables, false, &variables);
 
-    EXPECT_EQ(this->completed, 40U);
-    EXPECT_TRUE(player->stopped_at().has_value());
+    CHECK_EQ(this->completed, 40U);
+    CHECK(player->stopped_at().has_value());
 }
 
-TEST_F(Playing, AbortsOnTheFirstAbortValueWhateverTheCount) {
+TEST_CASE_FIXTURE(Playing, "Playing.AbortsOnTheFirstAbortValueWhateverTheCount") {
     SteppedVariables variables("state", {{0, 1.0}, {10, 0.0}});
     const auto       player = this->play(
         "[stop]\nwhen = \"state\"\nequals = \"IDLE\"\ncount = 3\nabort = [\"INIT\"]\n", 100, &variables, false,
         &variables
     );
 
-    EXPECT_EQ(this->completed, 10U);
-    EXPECT_TRUE(player->stopped_at().has_value());
+    CHECK_EQ(this->completed, 10U);
+    CHECK(player->stopped_at().has_value());
 }
 
-TEST_F(Playing, HoldsAnEventUntilItsConditionHolds) {
+TEST_CASE_FIXTURE(Playing, "Playing.HoldsAnEventUntilItsConditionHolds") {
     SteppedVariables variables("state", {{0, 1.0}, {25, 2.0}});
     this->play(
         "[[events]]\nat = 0\npress = \"button\"\nfor = 0.002\nwhen = \"state\"\nequals = \"RUN\"\n", 40, &variables,
         false, &variables
     );
 
-    ASSERT_FALSE(this->probe.pressed_ticks.empty());
-    EXPECT_EQ(this->probe.pressed_ticks.front(), 25U);
+    REQUIRE_FALSE(this->probe.pressed_ticks.empty());
+    CHECK_EQ(this->probe.pressed_ticks.front(), 25U);
 }
 
-TEST(Scenario, ReadsAnEventConditionAndAStopCount) {
+TEST_CASE("Scenario.ReadsAnEventConditionAndAStopCount") {
     const Scenario scenario = Scenario::parse(
         "[[events]]\nat = 1\nsend = \"a\"\nwhen = \"state\"\nequals = \"IDLE\"\n"
         "[stop]\nwhen = \"state\"\nequals = \"IDLE\"\ncount = 2\n"
     );
 
-    ASSERT_EQ(scenario.events.size(), 1U);
-    EXPECT_EQ(scenario.events.front().when, "state");
-    EXPECT_EQ(scenario.events.front().equals, "IDLE");
-    EXPECT_EQ(scenario.stop.value_or(StopCondition{}).count, 2);
-    EXPECT_TRUE(refusal_of("[[events]]\nat = 1\nsend = \"a\"\nwhen = \"state\"\n").contains("needs both"));
-    EXPECT_TRUE(refusal_of("[stop]\nwhen = \"a\"\nequals = 1\ncount = 0\n").contains("count must be"));
+    REQUIRE_EQ(scenario.events.size(), 1U);
+    CHECK_EQ(scenario.events.front().when, "state");
+    CHECK_EQ(scenario.events.front().equals, "IDLE");
+    CHECK_EQ(scenario.stop.value_or(StopCondition{}).count, 2);
+    CHECK(refusal_of("[[events]]\nat = 1\nsend = \"a\"\nwhen = \"state\"\n").contains("needs both"));
+    CHECK(refusal_of("[stop]\nwhen = \"a\"\nequals = 1\ncount = 0\n").contains("count must be"));
 }
 
-TEST_F(Playing, RunsToTheEndWhileTheConditionDoesNotHold) {
+TEST_CASE_FIXTURE(Playing, "Playing.RunsToTheEndWhileTheConditionDoesNotHold") {
     const MapVariables variables({{"state", 2.0}});
     const auto         player = this->play("[stop]\nwhen = \"state\"\nequals = \"IDLE\"\n", 20, &variables);
 
-    EXPECT_FALSE(player->stopped_at().has_value());
-    EXPECT_EQ(this->completed, 20U);
+    CHECK_FALSE(player->stopped_at().has_value());
+    CHECK_EQ(this->completed, 20U);
 }
 
-TEST_F(Playing, NeverStopsWithoutAnythingToReadTheVariableFrom) {
+TEST_CASE_FIXTURE(Playing, "Playing.NeverStopsWithoutAnythingToReadTheVariableFrom") {
     const auto player = this->play("[stop]\nwhen = \"state\"\nequals = \"INIT\"\n", 20);
 
-    EXPECT_FALSE(player->stopped_at().has_value());
-    EXPECT_EQ(this->completed, 20U);
+    CHECK_FALSE(player->stopped_at().has_value());
+    CHECK_EQ(this->completed, 20U);
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/serial_bus_test.cpp b/tests/unit/serial_bus_test.cpp
index 7f4dffd..3f98597 100644
--- a/tests/unit/serial_bus_test.cpp
+++ b/tests/unit/serial_bus_test.cpp
@@ -1,11 +1,11 @@
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/sim/core/serial_bus.hpp"
 #include "support.hpp"
 
 namespace micras::sim {
 namespace {
-TEST(SerialBus, FansFirmwareOutputOutToEveryListener) {
+TEST_CASE("SerialBus.FansFirmwareOutputOutToEveryListener") {
     SerialBus     bus;
     ByteCollector first;
     ByteCollector second;
@@ -15,11 +15,11 @@ TEST(SerialBus, FansFirmwareOutputOutToEveryListener) {
     bus.send_from_firmware(std::vector<uint8_t>{1, 2});
     bus.send_from_firmware(std::vector<uint8_t>{3});
 
-    EXPECT_EQ(first.received, (std::vector<uint8_t>{1, 2, 3}));
-    EXPECT_EQ(second.received, first.received);
+    CHECK_EQ(first.received, (std::vector<uint8_t>{1, 2, 3}));
+    CHECK_EQ(second.received, first.received);
 }
 
-TEST(SerialBus, StopsDeliveringToARemovedListener) {
+TEST_CASE("SerialBus.StopsDeliveringToARemovedListener") {
     SerialBus     bus;
     ByteCollector listener;
 
@@ -28,32 +28,32 @@ TEST(SerialBus, StopsDeliveringToARemovedListener) {
     bus.remove_listener(listener);
     bus.send_from_firmware(std::vector<uint8_t>{2});
 
-    EXPECT_EQ(listener.received, (std::vector<uint8_t>{1}));
+    CHECK_EQ(listener.received, (std::vector<uint8_t>{1}));
 }
 
-TEST(SerialBus, DropsFirmwareOutputWhenNobodyIsListening) {
+TEST_CASE("SerialBus.DropsFirmwareOutputWhenNobodyIsListening") {
     SerialBus bus;
-    EXPECT_NO_THROW(bus.send_from_firmware(std::vector<uint8_t>{1}));
+    CHECK_NOTHROW(bus.send_from_firmware(std::vector<uint8_t>{1}));
 }
 
-TEST(SerialBus, HandsTheFirmwareTheBytesInTheOrderTheyWereQueued) {
+TEST_CASE("SerialBus.HandsTheFirmwareTheBytesInTheOrderTheyWereQueued") {
     SerialBus bus;
     bus.queue_for_firmware(std::vector<uint8_t>{1, 2});
     bus.queue_for_firmware(std::vector<uint8_t>{3});
 
-    EXPECT_EQ(bus.take_for_firmware(2), (std::vector<uint8_t>{1, 2}));
-    EXPECT_EQ(bus.take_for_firmware(5), (std::vector<uint8_t>{3}));
-    EXPECT_TRUE(bus.take_for_firmware(1).empty());
+    CHECK_EQ(bus.take_for_firmware(2), (std::vector<uint8_t>{1, 2}));
+    CHECK_EQ(bus.take_for_firmware(5), (std::vector<uint8_t>{3}));
+    CHECK(bus.take_for_firmware(1).empty());
 }
 
-TEST(SerialBus, DropsAndCountsBytesPastTheBound) {
+TEST_CASE("SerialBus.DropsAndCountsBytesPastTheBound") {
     SerialBus                  bus;
     const std::vector<uint8_t> bytes(SerialBus::max_pending_bytes + 3, 7);
 
     bus.queue_for_firmware(bytes);
 
-    EXPECT_EQ(bus.dropped_bytes(), 3U);
-    EXPECT_EQ(bus.take_for_firmware(SerialBus::max_pending_bytes * 2).size(), SerialBus::max_pending_bytes);
+    CHECK_EQ(bus.dropped_bytes(), 3U);
+    CHECK_EQ(bus.take_for_firmware(SerialBus::max_pending_bytes * 2).size(), SerialBus::max_pending_bytes);
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/simulation_test.cpp b/tests/unit/simulation_test.cpp
index 122bfb8..482f392 100644
--- a/tests/unit/simulation_test.cpp
+++ b/tests/unit/simulation_test.cpp
@@ -1,7 +1,8 @@
+#include <stdexcept>
 #include <string>
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/sim/core/run_context.hpp"
 #include "micras/sim/core/simulation.hpp"
@@ -39,9 +40,9 @@ class TracingListener : public IRunListener {
 /**
  * @brief The tiny robot's world and a clock of two steps per tick.
  */
-class Run : public testing::Test {
+class Run {
 protected:
-    void SetUp() override { load_tiny_world(this->context.world, this->context.clock); }
+    Run() { load_tiny_world(this->context.world, this->context.clock); }
 
     // NOLINTNEXTLINE(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
     RunContext context;
@@ -57,16 +58,16 @@ class Run : public testing::Test {
     }};
 };
 
-TEST_F(Run, AdvancesTheClockOncePerTick) {
+TEST_CASE_FIXTURE(Run, "Run.AdvancesTheClockOncePerTick") {
     Simulation simulation(this->context, this->firmware);
     simulation.run(5);
 
-    EXPECT_EQ(this->context.clock.tick_count(), 5U);
-    EXPECT_EQ(this->context.clock.now_us(), 5U * 1042U);
-    EXPECT_EQ(simulation.completed_ticks(), 5U);
+    CHECK_EQ(this->context.clock.tick_count(), 5U);
+    CHECK_EQ(this->context.clock.now_us(), 5U * 1042U);
+    CHECK_EQ(simulation.completed_ticks(), 5U);
 }
 
-TEST_F(Run, CallsListenersInRegistrationOrder) {
+TEST_CASE_FIXTURE(Run, "Run.CallsListenersInRegistrationOrder") {
     std::vector<std::string> trace;
     TracingListener          first(trace, "a");
     TracingListener          second(trace, "b");
@@ -78,10 +79,10 @@ TEST_F(Run, CallsListenersInRegistrationOrder) {
 
     const std::vector<std::string> expected{"a:start",  "b:start",  "a:before0", "b:before0",
                                             "a:after0", "b:after0", "a:finish",  "b:finish"};
-    EXPECT_EQ(trace, expected);
+    CHECK_EQ(trace, expected);
 }
 
-TEST_F(Run, AListenerCanStopTheRunBeforeTheTick) {
+TEST_CASE_FIXTURE(Run, "Run.AListenerCanStopTheRunBeforeTheTick") {
     std::vector<std::string> trace;
     TracingListener          quitter(trace, "q", RunControl::QUIT);
 
@@ -89,12 +90,12 @@ TEST_F(Run, AListenerCanStopTheRunBeforeTheTick) {
     simulation.add_listener(quitter);
     simulation.run(10);
 
-    EXPECT_EQ(simulation.completed_ticks(), 0U);
-    EXPECT_EQ(this->context.clock.tick_count(), 0U);
-    EXPECT_EQ(trace, (std::vector<std::string>{"q:start", "q:before0", "q:finish"}));
+    CHECK_EQ(simulation.completed_ticks(), 0U);
+    CHECK_EQ(this->context.clock.tick_count(), 0U);
+    CHECK_EQ(trace, (std::vector<std::string>{"q:start", "q:before0", "q:finish"}));
 }
 
-TEST_F(Run, StopsWhenTheProgramEnds) {
+TEST_CASE_FIXTURE(Run, "Run.StopsWhenTheProgramEnds") {
     int ticks = 0;
 
     FirmwareThread program([&](FirmwareThread& thread) {
@@ -106,15 +107,15 @@ TEST_F(Run, StopsWhenTheProgramEnds) {
     Simulation simulation(this->context, program);
     simulation.run(100);
 
-    EXPECT_LT(simulation.completed_ticks(), 100U);
-    EXPECT_EQ(ticks, 3);
+    CHECK_LT(simulation.completed_ticks(), 100U);
+    CHECK_EQ(ticks, 3);
 }
 
-TEST_F(Run, CarriesAProgramErrorOutOfRun) {
+TEST_CASE_FIXTURE(Run, "Run.CarriesAProgramErrorOutOfRun") {
     FirmwareThread program([](FirmwareThread&) { throw std::runtime_error("the firmware gave up"); });
     Simulation     simulation(this->context, program);
 
-    EXPECT_THROW(simulation.run(5), std::runtime_error);
+    CHECK_THROWS_AS(simulation.run(5), std::runtime_error);
 }
 }  // namespace
 }  // namespace micras::sim
diff --git a/tests/unit/web_socket_server_test.cpp b/tests/unit/web_socket_server_test.cpp
index f4d26c4..4bb9c55 100644
--- a/tests/unit/web_socket_server_test.cpp
+++ b/tests/unit/web_socket_server_test.cpp
@@ -16,7 +16,7 @@
 #include <sys/socket.h>
 #include <unistd.h>
 
-#include <gtest/gtest.h>
+#include <doctest/doctest.h>
 
 #include "micras/sim/bridge/monitor_bridge.hpp"
 #include "micras/sim/bridge/web_socket_server.hpp"
@@ -75,9 +75,9 @@ uint16_t hold_free_port(const Socket& socket) {
     socklen_t   length = sizeof(address);
 
     // NOLINTBEGIN(*-reinterpret-cast): the sockets API takes its addresses as sockaddr.
-    EXPECT_EQ(bind(socket.get(), reinterpret_cast<sockaddr*>(&address), sizeof(address)), 0);
-    EXPECT_EQ(listen(socket.get(), 1), 0);
-    EXPECT_EQ(getsockname(socket.get(), reinterpret_cast<sockaddr*>(&address), &length), 0);
+    CHECK_EQ(bind(socket.get(), reinterpret_cast<sockaddr*>(&address), sizeof(address)), 0);
+    CHECK_EQ(listen(socket.get(), 1), 0);
+    CHECK_EQ(getsockname(socket.get(), reinterpret_cast<sockaddr*>(&address), &length), 0);
     // NOLINTEND(*-reinterpret-cast)
 
     return ntohs(address.sin_port);
@@ -176,7 +176,7 @@ std::vector<uint8_t> receive_binary(const Socket& socket) {
     return payload;
 }
 
-TEST(MonitorBridge, CarriesRawBytesBothWays) {
+TEST_CASE("MonitorBridge.CarriesRawBytesBothWays") {
     RunContext context;
     load_tiny_world(context.world, context.clock);
     FirmwareThread   firmware{[](FirmwareThread& thread) {
@@ -188,13 +188,13 @@ TEST(MonitorBridge, CarriesRawBytesBothWays) {
     std::string          error;
     const uint16_t       port = free_port();
     MonitorBridge        bridge(context.serial, port, error);
-    ASSERT_TRUE(bridge.is_open()) << error;
+    REQUIRE_MESSAGE(bridge.is_open(), error);
 
     const Socket client;
-    ASSERT_TRUE(connect_and_stall(client, port));
+    REQUIRE(connect_and_stall(client, port));
 
     const std::vector<uint8_t> command{0x00, 0x01, 0x7E, 0xFF, 0x00};
-    ASSERT_TRUE(send_binary(client, command));
+    REQUIRE(send_binary(client, command));
 
     const auto deadline = steady_clock::now() + seconds(10);
 
@@ -204,24 +204,24 @@ TEST(MonitorBridge, CarriesRawBytesBothWays) {
         std::this_thread::sleep_for(milliseconds(1));
     }
 
-    EXPECT_EQ(inbound, command);
-    EXPECT_TRUE(bridge.was_interactive());
+    CHECK_EQ(inbound, command);
+    CHECK(bridge.was_interactive());
 
     const std::vector<uint8_t> telemetry{0x02, 0x00, 0xAA, 0x00};
     context.serial.send_from_firmware(telemetry);
     bridge.on_after_tick(simulation);
 
-    EXPECT_EQ(receive_binary(client), telemetry);
+    CHECK_EQ(receive_binary(client), telemetry);
 }
 
-TEST(WebSocketServer, AClientThatStopsReadingNeverStallsTheCaller) {
+TEST_CASE("WebSocketServer.AClientThatStopsReadingNeverStallsTheCaller") {
     WebSocketServer server;
     std::string     error;
     const uint16_t  port = free_port();
-    ASSERT_TRUE(server.start(port, error)) << error;
+    REQUIRE_MESSAGE(server.start(port, error), error);
 
     const Socket client;
-    ASSERT_TRUE(connect_and_stall(client, port));
+    REQUIRE(connect_and_stall(client, port));
 
     const std::vector<uint8_t> frame(std::size_t{64} * 1024, 0xAB);
     const auto                 deadline = steady_clock::now() + seconds(10);
@@ -233,22 +233,22 @@ TEST(WebSocketServer, AClientThatStopsReadingNeverStallsTheCaller) {
         slowest = std::max(slowest, steady_clock::now() - start);
     }
 
-    EXPECT_GT(server.dropped_frames(), 0U);
-    EXPECT_LT(slowest, milliseconds(100));
+    CHECK_GT(server.dropped_frames(), 0U);
+    CHECK_LT(slowest, milliseconds(100));
 
     auto stopping = std::async(std::launch::async, [&server] { server.stop(); });
-    EXPECT_EQ(stopping.wait_for(seconds(10)), std::future_status::ready);
+    CHECK_EQ(stopping.wait_for(seconds(10)), std::future_status::ready);
 }
 
-TEST(WebSocketServer, RefusesAPortSomebodyElseHolds) {
+TEST_CASE("WebSocketServer.RefusesAPortSomebodyElseHolds") {
     const Socket   holder;
     const uint16_t port = hold_free_port(holder);
 
     WebSocketServer server;
     std::string     error;
 
-    EXPECT_FALSE(server.start(port, error));
-    EXPECT_FALSE(error.empty());
+    CHECK_FALSE(server.start(port, error));
+    CHECK_FALSE(error.empty());
 }
 }  // namespace
 }  // namespace micras::sim

From 9a45388fbc150cc72052022bcc16cc3b869da840 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 05:23:36 -0300
Subject: [PATCH 30/52] =?UTF-8?q?=F0=9F=9A=A8=20Compile=20the=20simulator?=
 =?UTF-8?q?=20with=20the=20shared=20warnings?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Every target gets micras_apply_warnings, the list the firmware and micras-lib compile with, instead
of -Wall -Wextra, and MICRAS_SIM_WERROR makes the warnings errors. What they found is fixed without
changing a result: the float to double promotions and the sign conversions are written out, the flash
port initializes every member, and a cast that changed nothing is gone. The fetched dependencies are
SYSTEM, so their headers raise no warning in the simulator's code.
---
 CLAUDE.md                                    |  6 ++-
 CMakeLists.txt                               |  5 ++-
 cmake/third_party.cmake                      |  6 +++
 engine/src/devices/dc_motor.cpp              |  2 +-
 engine/src/devices/imu.cpp                   |  5 ++-
 engine/src/recording/run_metadata.cpp        |  4 +-
 hal_host/models/CMakeLists.txt               |  4 +-
 hal_host/models/src/lsm6dsv_model.cpp        | 12 ++---
 hal_host/src/board.cpp                       |  2 +-
 targets/micras/CMakeLists.txt                |  7 ++-
 targets/micras/src/bindings.cpp              |  8 ++--
 targets/micras/tests/CMakeLists.txt          |  2 +-
 targets/micras/tests/unit/spi_chips_test.cpp | 47 +++++++++++++++-----
 targets/micras/tools/turn_designer.cpp       | 20 +++++----
 targets/micras/tools/wall_calibration.cpp    | 10 +++--
 tests/CMakeLists.txt                         |  2 +-
 view/src/video_recorder.cpp                  |  4 +-
 17 files changed, 102 insertions(+), 44 deletions(-)

diff --git a/CLAUDE.md b/CLAUDE.md
index 6cf3379..0f36cfd 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -385,7 +385,11 @@ repositories), with clang 22's tools found by their versioned names; configuring
 without them fails. The tidy header filter lints this repository's `include/`
 headers and never a dependency's; `targets/micras/.clang-tidy` also leaves out the
 firmware's headers and the host HAL's, which their own repositories lint, and
-`hal_host/` is formatted here but linted in micras-lib. Doxygen on every declaration. **No comments inside function bodies** — if
+`hal_host/` is formatted here but linted in micras-lib. Every target of the
+simulator, the firmware compiled for the host included, gets the shared warning
+list through `micras_apply_warnings`, and `MICRAS_SIM_WERROR` makes them errors
+(the CI sets it); the dependencies are `SYSTEM`, so their headers raise nothing.
+Doxygen on every declaration. **No comments inside function bodies** — if
 something needs explaining, it goes in an `@note` on the declaration, where a
 reader finds it before reading the code. Every `NOLINT` names its check and says
 why. `just lint` is clean and stays clean.
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ebfdcf2..465e5bb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,6 +21,7 @@ option(MICRAS_SIM_VIEWER "Build the live GLFW viewer" ON)
 option(MICRAS_SIM_BRIDGE "Build the WebSocket bridge to micras-monitor" ON)
 option(MICRAS_SIM_TESTS "Build the unit tests" ${PROJECT_IS_TOP_LEVEL})
 option(MICRAS_SIM_TARGETS "Build the robot targets of targets/" ${PROJECT_IS_TOP_LEVEL})
+option(MICRAS_SIM_WERROR "Treat the simulator's compiler warnings as errors" OFF)
 
 # A project that adds the simulator runs its tools and names its mazes.
 set(MICRAS_SIM_TOOLS_DIR "${PROJECT_SOURCE_DIR}/tools" CACHE INTERNAL "The simulator's analysis and baseline tools")
@@ -28,6 +29,7 @@ set(MICRAS_SIM_MAZES_DIR "${PROJECT_SOURCE_DIR}/engine/arenas/maze/mazes" CACHE
 
 include(cmake/mujoco.cmake)
 include(cmake/third_party.cmake)
+include(cmake/micras_warnings.cmake)
 
 ###############################################################################
 ## Engine: knows no robot and no HAL
@@ -140,9 +142,10 @@ target_compile_definitions(micras_sim_app PRIVATE
 foreach(TARGET micras_sim_engine micras_sim_view micras_sim_bridge micras_sim_app)
     target_compile_features(${TARGET} PUBLIC cxx_std_23)
     set_target_properties(${TARGET} PROPERTIES CXX_EXTENSIONS OFF)
-    target_compile_options(${TARGET} PRIVATE -Wall -Wextra)
 endforeach()
 
+micras_apply_warnings(micras_sim_engine micras_sim_view micras_sim_bridge micras_sim_app WERROR ${MICRAS_SIM_WERROR})
+
 ###############################################################################
 ## Host micras_hal: compiled by each robot target against its own HAL headers
 ###############################################################################
diff --git a/cmake/third_party.cmake b/cmake/third_party.cmake
index 83d6438..c35cd3c 100644
--- a/cmake/third_party.cmake
+++ b/cmake/third_party.cmake
@@ -11,6 +11,7 @@ FetchContent_Declare(picosha2
     URL      "https://github.com/okdshin/PicoSHA2/archive/27fcf6979298949e8a462e16d09a0351c18fcaf2.tar.gz"
     URL_HASH "SHA256=18d82bb79c021ccf4ce58125b64691accef54237ba5194462740bacf8b39d8a9"
     DOWNLOAD_EXTRACT_TIMESTAMP TRUE
+    SYSTEM
 )
 FetchContent_MakeAvailable(picosha2)
 
@@ -19,6 +20,7 @@ FetchContent_Declare(tomlplusplus
     URL      "https://github.com/marzer/tomlplusplus/archive/30172438cee64926dc41fdd9c11fb3ba5b2ba9de.tar.gz"
     URL_HASH "SHA256=291254ffe7f2433f90deef878d0d9335534a350a958ea23ecf511b7b2277bf7f"
     DOWNLOAD_EXTRACT_TIMESTAMP TRUE
+    SYSTEM
 )
 FetchContent_MakeAvailable(tomlplusplus)
 
@@ -28,6 +30,7 @@ if(MICRAS_SIM_VIEWER)
         URL      "https://github.com/ocornut/imgui/archive/f401021d5a5d56fe2304056c391e78f81c8d4b8f.tar.gz"
         URL_HASH "SHA256=0a363f5c9dd263233a23087c7f68b3c41a050c9c9b4cf5cf02bf843e672b3464"
         DOWNLOAD_EXTRACT_TIMESTAMP TRUE
+        SYSTEM
     )
     FetchContent_MakeAvailable(imgui)
 
@@ -35,6 +38,7 @@ if(MICRAS_SIM_VIEWER)
         URL      "https://github.com/epezent/implot/archive/18c72431f8265e2b0b5378a3a73d8a883b2175ff.tar.gz"
         URL_HASH "SHA256=4787c77e6050f3bdc19f39eecf87d5b321bd3096321142b63f8169e1aa8f9b34"
         DOWNLOAD_EXTRACT_TIMESTAMP TRUE
+        SYSTEM
     )
     FetchContent_MakeAvailable(implot)
 
@@ -75,6 +79,7 @@ if(MICRAS_SIM_BRIDGE)
         URL      "https://github.com/machinezone/IXWebSocket/archive/c5a02f1066fb0fde48f80f51178429a27f689a39.tar.gz"
         URL_HASH "SHA256=ef272693e67daef33275daa8d3685f48e8fe4dbe098338750f9dad3013016d96"
         DOWNLOAD_EXTRACT_TIMESTAMP TRUE
+        SYSTEM
     )
     FetchContent_MakeAvailable(ixwebsocket)
 endif()
@@ -88,6 +93,7 @@ if(MICRAS_SIM_TESTS)
         URL      "https://github.com/doctest/doctest/archive/2d0a9359a60c51affe2a9bebb1be1dca47868151.tar.gz"
         URL_HASH "SHA256=e64542c4ea68e9f381ccf6eae924cfdd652567c87c142d76fe92644fb4608149"
         DOWNLOAD_EXTRACT_TIMESTAMP TRUE
+        SYSTEM
     )
     FetchContent_MakeAvailable(doctest)
 
diff --git a/engine/src/devices/dc_motor.cpp b/engine/src/devices/dc_motor.cpp
index 338bd95..eb172f1 100644
--- a/engine/src/devices/dc_motor.cpp
+++ b/engine/src/devices/dc_motor.cpp
@@ -22,7 +22,7 @@ void DcMotor::actuate(MujocoWorld& world, const Clock& /*clock*/) {
         drive.speed_constant * drive.gear_ratio * velocities[static_cast<std::size_t>(this->velocity_address)];
 
     if (this->config.enabled()) {
-        const double duty = (this->config.forward_duty() - this->config.backward_duty()) / 100.0;
+        const double duty = static_cast<double>(this->config.forward_duty() - this->config.backward_duty()) / 100.0;
         this->voltage = std::clamp(duty, -1.0, 1.0) * drive.supply_voltage;
     } else {
         this->voltage = back_emf;
diff --git a/engine/src/devices/imu.cpp b/engine/src/devices/imu.cpp
index 0516e83..483d58a 100644
--- a/engine/src/devices/imu.cpp
+++ b/engine/src/devices/imu.cpp
@@ -88,7 +88,10 @@ void Imu::append(std::vector<CsvCell>& row) const {
     const ImuDescription& chip = this->config.description;
 
     for (std::size_t channel = 0; channel < channels; channel++) {
-        row.emplace_back(this->delivered.at(channel) * (channel < 3 ? chip.gyro_resolution : chip.accel_resolution));
+        row.emplace_back(
+            static_cast<double>(this->delivered.at(channel)) *
+            (channel < 3 ? chip.gyro_resolution : chip.accel_resolution)
+        );
     }
 }
 }  // namespace micras::sim
diff --git a/engine/src/recording/run_metadata.cpp b/engine/src/recording/run_metadata.cpp
index 6464174..42b2ab8 100644
--- a/engine/src/recording/run_metadata.cpp
+++ b/engine/src/recording/run_metadata.cpp
@@ -26,7 +26,9 @@ std::string json_escape(const std::string& value) {
     std::string escaped;
     escaped.reserve(value.size());
 
-    for (const unsigned char character : value) {
+    for (const char raw : value) {
+        const auto character = static_cast<unsigned char>(raw);
+
         switch (character) {
             case '"':
                 escaped += "\\\"";
diff --git a/hal_host/models/CMakeLists.txt b/hal_host/models/CMakeLists.txt
index 87b3cd6..3c3e430 100644
--- a/hal_host/models/CMakeLists.txt
+++ b/hal_host/models/CMakeLists.txt
@@ -14,7 +14,7 @@ target_include_directories(micras_hal_host_models PUBLIC
     "${MICRAS_SIM_HAL_HOST_INCLUDE}"
 )
 target_compile_features(micras_hal_host_models PUBLIC cxx_std_23)
-target_compile_options(micras_hal_host_models PRIVATE -Wall -Wextra)
+micras_apply_warnings(micras_hal_host_models WERROR ${MICRAS_SIM_WERROR})
 
 if(MICRAS_SIM_TESTS)
     # ST's register driver header names the registers the tests address, so a model
@@ -26,7 +26,7 @@ if(MICRAS_SIM_TESTS)
     target_link_libraries(micras_hal_host_models_tests PRIVATE
         micras_hal_host_models lsm6dsv_headers doctest::doctest_with_main
     )
-    target_compile_options(micras_hal_host_models_tests PRIVATE -Wall -Wextra)
+    micras_apply_warnings(micras_hal_host_models_tests WERROR ${MICRAS_SIM_WERROR})
 
     doctest_discover_tests(micras_hal_host_models_tests)
 endif()
diff --git a/hal_host/models/src/lsm6dsv_model.cpp b/hal_host/models/src/lsm6dsv_model.cpp
index f077bc4..cd5c289 100644
--- a/hal_host/models/src/lsm6dsv_model.cpp
+++ b/hal_host/models/src/lsm6dsv_model.cpp
@@ -220,9 +220,9 @@ uint8_t Lsm6dsvModel::read(uint8_t address) {
     const uint8_t value = this->registers.at(address);
 
     if (address >= outx_l_g and address < outx_l_a and (address & 1) != 0) {
-        this->registers.at(status_reg) &= ~gda;
+        this->registers.at(status_reg) &= static_cast<uint8_t>(~gda);
     } else if (address >= outx_l_a and address < outx_l_a + 6 and (address & 1) != 0) {
-        this->registers.at(status_reg) &= ~xlda;
+        this->registers.at(status_reg) &= static_cast<uint8_t>(~xlda);
     }
 
     return value;
@@ -239,7 +239,7 @@ void Lsm6dsvModel::write(uint8_t address, uint8_t value) {
         return;
     }
 
-    this->registers.at(address) = address == ctrl3 ? value & ~boot : value;
+    this->registers.at(address) = address == ctrl3 ? static_cast<uint8_t>(value & ~boot) : value;
 }
 
 bool Lsm6dsvModel::main_page() const {
@@ -248,9 +248,9 @@ bool Lsm6dsvModel::main_page() const {
 
 void Lsm6dsvModel::encode(uint8_t first, const std::array<double, 3>& values, double sensitivity) {
     for (std::size_t axis = 0; axis < values.size(); axis++) {
-        const double counts = sensitivity > 0.0 ? std::round(values.at(axis) / sensitivity) : 0.0;
-        const auto   word = static_cast<uint16_t>(static_cast<int16_t>(std::clamp(counts, -32768.0, 32767.0)));
-        const auto   low = static_cast<std::size_t>(first + (2 * axis));
+        const double      counts = sensitivity > 0.0 ? std::round(values.at(axis) / sensitivity) : 0.0;
+        const auto        word = static_cast<uint16_t>(static_cast<int16_t>(std::clamp(counts, -32768.0, 32767.0)));
+        const std::size_t low = first + (2 * axis);
 
         this->registers.at(low) = static_cast<uint8_t>(word);
         this->registers.at(low + 1) = static_cast<uint8_t>(word >> 8U);
diff --git a/hal_host/src/board.cpp b/hal_host/src/board.cpp
index f309a54..6232c7d 100644
--- a/hal_host/src/board.cpp
+++ b/hal_host/src/board.cpp
@@ -36,7 +36,7 @@ struct Registry {
     std::map<SpiKey, SpiPort>          spis;
     std::map<Key, std::string>         gpio_names;
     std::map<const void*, std::string> handle_names;
-    FlashPort                          flash{{.name = "flash"}};
+    FlashPort                          flash{{.name = "flash"}, {}};
     McuPort                            mcu{{.name = "mcu"}};
 };
 
diff --git a/targets/micras/CMakeLists.txt b/targets/micras/CMakeLists.txt
index b2ff017..f961fe6 100644
--- a/targets/micras/CMakeLists.txt
+++ b/targets/micras/CMakeLists.txt
@@ -30,6 +30,7 @@ FetchContent_Declare(lsm6dsv
     URL      "https://github.com/STMicroelectronics/lsm6dsv-pid/archive/6ede05a3fde7eae80bc1b47affc08257191c1aba.tar.gz"
     URL_HASH "SHA256=bed616e902886809054b34ed25d5af0624542f00ef9bb2e171fe9c525844d064"
     DOWNLOAD_EXTRACT_TIMESTAMP TRUE
+    SYSTEM
 )
 FetchContent_MakeAvailable(lsm6dsv)
 
@@ -104,12 +105,10 @@ target_include_directories(micras_sim_micras PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}
 target_include_directories(micras_sim_micras PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/generated")
 target_link_libraries(micras_sim_micras PUBLIC micras_firmware micras::hal_host_models micras::sim_app)
 target_compile_definitions(micras_sim_micras PRIVATE MICRAS_TARGET_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
-target_compile_options(micras_sim_micras PRIVATE -Wall -Wextra)
 add_dependencies(micras_sim_micras micras_firmware_sha)
 
 add_executable(micras_sim src/main.cpp)
 target_link_libraries(micras_sim PRIVATE micras_sim_micras)
-target_compile_options(micras_sim PRIVATE -Wall -Wextra)
 
 ###############################################################################
 ## Tests
@@ -133,3 +132,7 @@ target_link_libraries(micras_turn_designer PRIVATE micras_firmware)
 add_executable(micras_robot_report tools/robot_report.cpp)
 target_link_libraries(micras_robot_report PRIVATE micras_sim_micras)
 target_compile_definitions(micras_robot_report PRIVATE MICRAS_TARGET_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
+
+micras_apply_warnings(micras_firmware micras_sim_micras micras_sim micras_wall_calibration micras_turn_designer
+    micras_robot_report WERROR ${MICRAS_SIM_WERROR}
+)
diff --git a/targets/micras/src/bindings.cpp b/targets/micras/src/bindings.cpp
index c1fd9a3..00d4ebc 100644
--- a/targets/micras/src/bindings.cpp
+++ b/targets/micras/src/bindings.cpp
@@ -170,8 +170,10 @@ MicrasBoard bind_devices(RunContext& context, const WorldInfo& world, MicrasChip
                              [&chip = chips.imu, gyro = imu.gyro_resolution,
                               accel = imu.accel_resolution](std::span<const float> sample) {
                                  chip.push_sample(
-                                     {sample[0] * gyro, sample[1] * gyro, sample[2] * gyro},
-                                     {sample[3] * accel, sample[4] * accel, sample[5] * accel}
+                                     {static_cast<double>(sample[0]) * gyro, static_cast<double>(sample[1]) * gyro,
+                                      static_cast<double>(sample[2]) * gyro},
+                                     {static_cast<double>(sample[3]) * accel, static_cast<double>(sample[4]) * accel,
+                                      static_cast<double>(sample[5]) * accel}
                                  );
                              },
                      },
@@ -186,7 +188,7 @@ MicrasBoard bind_devices(RunContext& context, const WorldInfo& world, MicrasChip
         emitters.at(sensor) = &pwm_port(wall_sensors_config.led_pwms.at(sensor));
     }
 
-    const double scan_period = 1.0 / (2.0 * wall_sensors_frequency);
+    const double scan_period = 1.0 / (2.0 * static_cast<double>(wall_sensors_frequency));
 
     board.wall_sensors = add(
         context,
diff --git a/targets/micras/tests/CMakeLists.txt b/targets/micras/tests/CMakeLists.txt
index 4b523ae..b5acaea 100644
--- a/targets/micras/tests/CMakeLists.txt
+++ b/targets/micras/tests/CMakeLists.txt
@@ -10,6 +10,6 @@ add_executable(micras_target_tests
 )
 
 target_link_libraries(micras_target_tests PRIVATE micras_sim_micras doctest::doctest_with_main)
-target_compile_options(micras_target_tests PRIVATE -Wall -Wextra)
+micras_apply_warnings(micras_target_tests WERROR ${MICRAS_SIM_WERROR})
 
 doctest_discover_tests(micras_target_tests)
diff --git a/targets/micras/tests/unit/spi_chips_test.cpp b/targets/micras/tests/unit/spi_chips_test.cpp
index 7dd1bd0..5bc3df2 100644
--- a/targets/micras/tests/unit/spi_chips_test.cpp
+++ b/targets/micras/tests/unit/spi_chips_test.cpp
@@ -93,12 +93,28 @@ TEST_CASE_FIXTURE(SpiChips, "SpiChips.ReadsASampleOneUpdateAfterTheUpdateThatAsk
     imu.update();
 
     REQUIRE(imu.is_new());
-    CHECK_LE(std::abs(imu.get_angular_velocity(proxy::Imu::Axis::X) - 0.1), chip.gyroscope_sensitivity());
-    CHECK_LE(std::abs(imu.get_angular_velocity(proxy::Imu::Axis::Y) - (-0.2)), chip.gyroscope_sensitivity());
-    CHECK_LE(std::abs(imu.get_angular_velocity(proxy::Imu::Axis::Z) - 3.0), chip.gyroscope_sensitivity());
-    CHECK_LE(std::abs(imu.get_linear_acceleration(proxy::Imu::Axis::X) - 1.0), chip.accelerometer_sensitivity());
-    CHECK_LE(std::abs(imu.get_linear_acceleration(proxy::Imu::Axis::Y) - (-2.0)), chip.accelerometer_sensitivity());
-    CHECK_LE(std::abs(imu.get_linear_acceleration(proxy::Imu::Axis::Z) - 9.80665), chip.accelerometer_sensitivity());
+    CHECK_LE(
+        std::abs(static_cast<double>(imu.get_angular_velocity(proxy::Imu::Axis::X)) - 0.1), chip.gyroscope_sensitivity()
+    );
+    CHECK_LE(
+        std::abs(static_cast<double>(imu.get_angular_velocity(proxy::Imu::Axis::Y)) - (-0.2)),
+        chip.gyroscope_sensitivity()
+    );
+    CHECK_LE(
+        std::abs(static_cast<double>(imu.get_angular_velocity(proxy::Imu::Axis::Z)) - 3.0), chip.gyroscope_sensitivity()
+    );
+    CHECK_LE(
+        std::abs(static_cast<double>(imu.get_linear_acceleration(proxy::Imu::Axis::X)) - 1.0),
+        chip.accelerometer_sensitivity()
+    );
+    CHECK_LE(
+        std::abs(static_cast<double>(imu.get_linear_acceleration(proxy::Imu::Axis::Y)) - (-2.0)),
+        chip.accelerometer_sensitivity()
+    );
+    CHECK_LE(
+        std::abs(static_cast<double>(imu.get_linear_acceleration(proxy::Imu::Axis::Z)) - 9.80665),
+        chip.accelerometer_sensitivity()
+    );
 
     wait_us(125);
     imu.update();
@@ -121,10 +137,21 @@ TEST_CASE_FIXTURE(SpiChips, "SpiChips.ReadsTheSameMotionAtAnotherFullScale") {
 
     REQUIRE(imu.is_new());
     CHECK_EQ(chip.peek(LSM6DSV_CTRL6) & 0x0F, LSM6DSV_250dps);
-    CHECK_LE(std::abs(imu.get_angular_velocity(proxy::Imu::Axis::X) - 0.5), chip.gyroscope_sensitivity());
-    CHECK_LE(std::abs(imu.get_angular_velocity(proxy::Imu::Axis::Z) - (-1.5)), chip.gyroscope_sensitivity());
-    CHECK_LE(std::abs(imu.get_linear_acceleration(proxy::Imu::Axis::Y) - 3.0), chip.accelerometer_sensitivity());
-    CHECK_LE(std::abs(imu.get_linear_acceleration(proxy::Imu::Axis::Z) - 9.80665), chip.accelerometer_sensitivity());
+    CHECK_LE(
+        std::abs(static_cast<double>(imu.get_angular_velocity(proxy::Imu::Axis::X)) - 0.5), chip.gyroscope_sensitivity()
+    );
+    CHECK_LE(
+        std::abs(static_cast<double>(imu.get_angular_velocity(proxy::Imu::Axis::Z)) - (-1.5)),
+        chip.gyroscope_sensitivity()
+    );
+    CHECK_LE(
+        std::abs(static_cast<double>(imu.get_linear_acceleration(proxy::Imu::Axis::Y)) - 3.0),
+        chip.accelerometer_sensitivity()
+    );
+    CHECK_LE(
+        std::abs(static_cast<double>(imu.get_linear_acceleration(proxy::Imu::Axis::Z)) - 9.80665),
+        chip.accelerometer_sensitivity()
+    );
 }
 
 TEST_CASE_FIXTURE(SpiChips, "SpiChips.FailsTheImuWithoutItsChip") {
diff --git a/targets/micras/tools/turn_designer.cpp b/targets/micras/tools/turn_designer.cpp
index 08b67e9..9867830 100644
--- a/targets/micras/tools/turn_designer.cpp
+++ b/targets/micras/tools/turn_designer.cpp
@@ -132,7 +132,10 @@ double relative_speed(const TurnBend& bend) {
     const double lateral = micras::robot_model.traction_acceleration(true);
     const double angular = micras::robot_model.traction_angular_acceleration(true);
 
-    return std::min(std::sqrt(1.0 / bend.curvature), std::sqrt(angular / lateral / bend.sharpness));
+    return std::min(
+        std::sqrt(1.0 / static_cast<double>(bend.curvature)),
+        std::sqrt(angular / lateral / static_cast<double>(bend.sharpness))
+    );
 }
 
 /**
@@ -148,8 +151,8 @@ void add_closures(const Frame& frame, TwoBendDesign design, std::vector<Candidat
     const auto     first_end = first.sample<double>(1.0e3);
     const auto     second_end = second.sample<double>(1.0e3);
 
-    const double middle = frame.entry + first.angle;
-    const double last = middle + second.angle;
+    const double middle = frame.entry + static_cast<double>(first.angle);
+    const double last = middle + static_cast<double>(second.angle);
     const double determinant = std::sin(static_cast<double>(second.angle));
     const double speed = std::min(relative_speed(first), relative_speed(second));
     const double curve = first.length() + second.length();
@@ -182,7 +185,7 @@ void add_closures(const Frame& frame, TwoBendDesign design, std::vector<Candidat
  */
 std::vector<Candidate> list_candidates(TurnId turn) {
     const micras::nav::TurnPrimitive& primitive = micras::nav::get_primitive(turn);
-    const double                      half_cell = micras::robot_model.maze.cell_size / 2.0;
+    const double                      half_cell = static_cast<double>(micras::robot_model.maze.cell_size) / 2.0;
     const Frame                       frame{
         .entry = primitive.diagonal_entry ? std::numbers::pi / 4.0 : 0.0,
         .exit_x = primitive.exit.x * half_cell,
@@ -250,7 +253,7 @@ Result design(TurnId turn, float margin) {
                 std::sqrt(micras::robot_model.traction_acceleration(true) / shape.curvature),
                 std::sqrt(micras::robot_model.traction_angular_acceleration(true) / shape.sharpness)
             );
-            result.time = shape.total_length() / result.speed;
+            result.time = static_cast<double>(shape.total_length()) / result.speed;
             break;
         }
     }
@@ -324,9 +327,10 @@ void report(float margin, const std::vector<Result>& results) {
 
         std::cerr << std::format(
             "  {:7} {:4.0f}/{:4.0f} deg  R {:3.0f}/{:3.0f} mm  pre {:3.0f} mm  {:.2f} m/s  {:.3f} s  ({} tried)\n",
-            names.at(i), found.first_angle * 180.0 / std::numbers::pi, found.second_angle * 180.0 / std::numbers::pi,
-            1000.0 / found.first_curvature, 1000.0 / found.second_curvature, 1000.0 * found.pre, result.speed,
-            result.time, result.tried
+            names.at(i), static_cast<double>(found.first_angle) * 180.0 / std::numbers::pi,
+            static_cast<double>(found.second_angle) * 180.0 / std::numbers::pi,
+            1000.0 / static_cast<double>(found.first_curvature), 1000.0 / static_cast<double>(found.second_curvature),
+            1000.0 * static_cast<double>(found.pre), result.speed, result.time, result.tried
         );
     }
 }
diff --git a/targets/micras/tools/wall_calibration.cpp b/targets/micras/tools/wall_calibration.cpp
index 7fd9388..b4cfbf2 100644
--- a/targets/micras/tools/wall_calibration.cpp
+++ b/targets/micras/tools/wall_calibration.cpp
@@ -163,7 +163,8 @@ Sample sample(const RobotDescription& robot, std::string_view drawing, double ac
  */
 double firmware_shape(double distance) {
     const auto&  config = micras::wall_sensors_config;
-    const double angle = std::atan(config.receiver_offset / distance) / config.receiver_half_angle;
+    const double angle = std::atan(static_cast<double>(config.receiver_offset) / distance) /
+                         static_cast<double>(config.receiver_half_angle);
     return std::exp2(-angle * angle) / (distance * distance);
 }
 
@@ -180,10 +181,11 @@ double firmware_shape(double distance) {
 double firmware_distance(std::size_t sensor, double reading) {
     const auto&  config = micras::wall_sensors_config;
     const double reference = config.reference_distances.at(sensor);
-    const double target = reading / config.reference_readings.at(sensor) * firmware_shape(reference);
-    double       low = 0.001;
+    const double target =
+        reading / static_cast<double>(config.reference_readings.at(sensor)) * firmware_shape(reference);
+    double low = 0.001;
 
-    while (low < config.max_distance and firmware_shape(low + 0.001) > firmware_shape(low)) {
+    while (low < static_cast<double>(config.max_distance) and firmware_shape(low + 0.001) > firmware_shape(low)) {
         low += 0.001;
     }
 
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 3ff37a1..c2dd798 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -25,7 +25,7 @@ if(MICRAS_SIM_BRIDGE)
 endif()
 
 target_link_libraries(micras_sim_tests PRIVATE micras::sim_app doctest::doctest_with_main)
-target_compile_options(micras_sim_tests PRIVATE -Wall -Wextra)
+micras_apply_warnings(micras_sim_tests WERROR ${MICRAS_SIM_WERROR})
 target_compile_definitions(micras_sim_tests PRIVATE
     MICRAS_TEST_MODEL="${CMAKE_CURRENT_SOURCE_DIR}/models/tiny_robot.xml"
     MICRAS_TEST_ROBOT="${CMAKE_CURRENT_SOURCE_DIR}/models/tiny_robot.toml"
diff --git a/view/src/video_recorder.cpp b/view/src/video_recorder.cpp
index ac71f7c..113dabf 100644
--- a/view/src/video_recorder.cpp
+++ b/view/src/video_recorder.cpp
@@ -128,7 +128,9 @@ bool init_opengl() {
     }
 
     for (EGLint i = 0; i < device_count; i++) {
-        if (make_context_current(get_platform_display(EGL_PLATFORM_DEVICE_EXT, devices.at(i), nullptr))) {
+        if (make_context_current(
+                get_platform_display(EGL_PLATFORM_DEVICE_EXT, devices.at(static_cast<std::size_t>(i)), nullptr)
+            )) {
             return true;
         }
     }

From 68cedc3389a9a7624a0ec70ddce1bc2390999163 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 06:04:56 -0300
Subject: [PATCH 31/52] =?UTF-8?q?=F0=9F=9A=A8=20Satisfy=20clang-tidy=2022?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The shared configuration of clang-tidy 22 finds what version 18 did not. Every file includes what
it uses, with the conditional headers inside the branch that uses them; containers are indexed with
at(), and spans through micras::sim::at, a checked access, since std::span has none before C++26;
helper functions are static instead of living in an anonymous namespace; iterator arithmetic goes
through std::next and std::to_address; the float to double promotions clang reports are written
out; the state names are built on first use; the tools report an exception instead of terminating.
toml++ is included through toml.hpp, and a TOML table's operator[] is a lookup, which
engine/src/.clang-tidy tells the checks. Every run and every tool output is byte identical.
---
 CLAUDE.md                                    |   4 +
 app/src/application.cpp                      |  58 ++++++++---
 app/src/cli.cpp                              |  40 +++++---
 app/src/crash_reporter.cpp                   |   8 +-
 bridge/src/monitor_bridge.cpp                |  12 ++-
 bridge/src/web_socket_server.cpp             |  14 ++-
 engine/arenas/maze/src/maze.cpp              |  27 +++--
 engine/include/micras/sim/core/span_at.hpp   |  38 +++++++
 engine/src/.clang-tidy                       |   9 ++
 engine/src/core/clock.cpp                    |   1 +
 engine/src/core/firmware_thread.cpp          |  11 +-
 engine/src/core/mujoco_world.cpp             |  36 ++++---
 engine/src/core/noise.cpp                    |   6 +-
 engine/src/core/serial_bus.cpp               |   4 +
 engine/src/core/simulation.cpp               |   4 +
 engine/src/devices/dc_motor.cpp              |  11 +-
 engine/src/devices/device.cpp                |   6 ++
 engine/src/devices/digital_input.cpp         |   4 +
 engine/src/devices/imu.cpp                   |   9 ++
 engine/src/devices/power.cpp                 |  15 ++-
 engine/src/devices/quadrature_encoder.cpp    |  11 +-
 engine/src/devices/serial_link.cpp           |   7 ++
 engine/src/devices/wall_sensors.cpp          |  47 ++++++---
 engine/src/recording/csv_recorder.cpp        |  15 ++-
 engine/src/recording/csv_writer.cpp          |  15 ++-
 engine/src/recording/event_log.cpp           |  28 +++--
 engine/src/recording/ground_truth.cpp        |  26 +++--
 engine/src/recording/run_metadata.cpp        |  21 ++--
 engine/src/robot/robot_description.cpp       |  16 ++-
 engine/src/robot/robot_model.cpp             |  36 +++----
 engine/src/scenario/scenario.cpp             |  37 ++++---
 targets/micras/cube/handles.cpp              |   8 +-
 targets/micras/src/bindings.cpp              | 102 ++++++++++++-------
 targets/micras/src/main.cpp                  |   1 +
 targets/micras/src/micras_target.cpp         |  54 ++++++----
 targets/micras/src/pool_variables.cpp        |  18 ++--
 targets/micras/tests/unit/hal_host_test.cpp  |   3 +-
 targets/micras/tests/unit/spi_chips_test.cpp |   6 +-
 targets/micras/tests/unit/spi_slot_test.cpp  |  10 +-
 targets/micras/tools/robot_report.cpp        |  49 ++++++---
 targets/micras/tools/turn_designer.cpp       |  61 +++++++----
 targets/micras/tools/wall_calibration.cpp    |  45 +++++---
 tests/unit/cli_test.cpp                      |   6 +-
 tests/unit/clock_test.cpp                    |   7 +-
 tests/unit/csv_recorder_test.cpp             |   8 +-
 tests/unit/csv_writer_test.cpp               |   5 +-
 tests/unit/devices_test.cpp                  |  16 +--
 tests/unit/event_log_test.cpp                |   9 +-
 tests/unit/maze_test.cpp                     |  11 +-
 tests/unit/noise_test.cpp                    |   5 +-
 tests/unit/robot_description_test.cpp        |  15 +--
 tests/unit/run_metadata_test.cpp             |   2 +
 tests/unit/scenario_test.cpp                 |  10 +-
 tests/unit/serial_bus_test.cpp               |   3 +
 tests/unit/simulation_test.cpp               |   2 +
 tests/unit/web_socket_server_test.cpp        |  29 ++++--
 view/src/control_panel.cpp                   |  10 +-
 view/src/mujoco_viewer.cpp                   |  26 ++++-
 view/src/panel_spec.cpp                      |   3 +
 view/src/video_recorder.cpp                  |  45 ++++++--
 60 files changed, 812 insertions(+), 333 deletions(-)
 create mode 100644 engine/include/micras/sim/core/span_at.hpp
 create mode 100644 engine/src/.clang-tidy

diff --git a/CLAUDE.md b/CLAUDE.md
index 0f36cfd..ccaedad 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -389,6 +389,10 @@ firmware's headers and the host HAL's, which their own repositories lint, and
 simulator, the firmware compiled for the host included, gets the shared warning
 list through `micras_apply_warnings`, and `MICRAS_SIM_WERROR` makes them errors
 (the CI sets it); the dependencies are `SYSTEM`, so their headers raise nothing.
+Containers are indexed with `at()`, and a span, which has no `at()` before C++26,
+through `micras::sim::at` (`core/span_at.hpp`). `engine/src/.clang-tidy` tells
+include-cleaner that toml++ is included through `toml.hpp`, and that a TOML
+table's `operator[]` is a lookup, not an unchecked access.
 Doxygen on every declaration. **No comments inside function bodies** — if
 something needs explaining, it goes in an `@note` on the declaration, where a
 reader finds it before reading the code. Every `NOLINT` names its check and says
diff --git a/app/src/application.cpp b/app/src/application.cpp
index 457be93..81739e2 100644
--- a/app/src/application.cpp
+++ b/app/src/application.cpp
@@ -5,22 +5,48 @@
 #include <algorithm>
 #include <chrono>
 #include <cmath>
+#include <cstddef>
+#include <cstdint>
+#include <exception>
 #include <filesystem>
 #include <fstream>
 #include <iostream>
+#include <memory>
 #include <numbers>
 #include <set>
 #include <span>
 #include <stdexcept>
 #include <string>
+#include <string_view>
 #include <utility>
+#include <vector>
 
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjtype.h>
 #include <mujoco/mujoco.h>
 
 #include "micras/sim/app/application.hpp"
+#include "micras/sim/app/cli.hpp"
 #include "micras/sim/app/crash_reporter.hpp"
+#include "micras/sim/app/target.hpp"
+#include "micras/sim/app/wiring.hpp"
+#include "micras/sim/arenas/maze.hpp"
+#include "micras/sim/bridge/monitor_bridge.hpp"
+#include "micras/sim/core/firmware_thread.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/run_context.hpp"
+#include "micras/sim/core/serial_bus.hpp"
+#include "micras/sim/core/span_at.hpp"
+#include "micras/sim/recording/column_source.hpp"
+#include "micras/sim/recording/ground_truth.hpp"
 #include "micras/sim/recording/run_metadata.hpp"
+#include "micras/sim/robot/robot_description.hpp"
 #include "micras/sim/robot/robot_model.hpp"
+#include "micras/sim/scenario/scenario.hpp"
+#include "micras/sim/view/mujoco_viewer.hpp"
+#include "micras/sim/view/panel_spec.hpp"
+#include "micras/sim/view/video_recorder.hpp"
+#include "micras/sim/view/view_options.hpp"
 
 namespace micras::sim {
 namespace {
@@ -38,6 +64,7 @@ constexpr std::string_view default_maze{"maze1"};
  * @brief Gap left between the robot's back and the wall behind it at the start, in metres.
  */
 constexpr double start_gap{0.001};
+}  // namespace
 
 /**
  * @brief Find a maze drawing: a path, or a name from the arena's collection.
@@ -45,7 +72,7 @@ constexpr double start_gap{0.001};
  * @param name The path or name.
  * @return The drawing's path.
  */
-std::filesystem::path resolve_maze(const std::string& name) {
+static std::filesystem::path resolve_maze(const std::string& name) {
     std::filesystem::path given{name};
 
     if (std::filesystem::exists(given)) {
@@ -68,7 +95,7 @@ std::filesystem::path resolve_maze(const std::string& name) {
  * @param scenario The scenario the run plays.
  * @return The maze's path or name.
  */
-std::string maze_name(const CliOptions& options, const Scenario& scenario) {
+static std::string maze_name(const CliOptions& options, const Scenario& scenario) {
     if (not options.maze.empty()) {
         return options.maze;
     }
@@ -88,11 +115,11 @@ std::string maze_name(const CliOptions& options, const Scenario& scenario) {
  * @param robot The robot.
  * @return The placement.
  */
-MujocoWorld::Placement start_of(const Maze& maze, const MazeConfig& config, const RobotDescription& robot) {
+static MujocoWorld::Placement start_of(const Maze& maze, const MazeConfig& config, const RobotDescription& robot) {
     double rear = 0.0;
 
     for (const auto& point : robot.chassis.outline) {
-        rear = std::max(rear, -point[0]);
+        rear = std::max(rear, -point.at(0));
     }
 
     const auto [column, row] = maze.start();
@@ -112,7 +139,7 @@ MujocoWorld::Placement start_of(const Maze& maze, const MazeConfig& config, cons
  * @param path Filled with the scenario's path, empty for none.
  * @return The scenario, empty when there is none.
  */
-Scenario read_scenario(const CliOptions& options, const Target& target, std::filesystem::path& path) {
+static Scenario read_scenario(const CliOptions& options, const Target& target, std::filesystem::path& path) {
     path = options.scenario;
 
     if (path.empty()) {
@@ -139,7 +166,7 @@ Scenario read_scenario(const CliOptions& options, const Target& target, std::fil
  * @param target Robot to run.
  * @return The target's context.
  */
-RunContext& prepare(
+static RunContext& prepare(
     const RobotDescription& robot, const std::filesystem::path& maze_path, const MazeConfig& config,
     const CliOptions& options, const Scenario& scenario, Target& target
 ) {
@@ -164,7 +191,7 @@ RunContext& prepare(
  * @param context The run's context, with its clock configured.
  * @return Number of ticks.
  */
-uint64_t ticks_of(const CliOptions& options, const Scenario& scenario, const RunContext& context) {
+static uint64_t ticks_of(const CliOptions& options, const Scenario& scenario, const RunContext& context) {
     if (options.ticks.has_value()) {
         return *options.ticks;
     }
@@ -186,7 +213,7 @@ uint64_t ticks_of(const CliOptions& options, const Scenario& scenario, const Run
  * @param clock Clock the frame period is derived from.
  * @return Number of ticks per frame, at least one.
  */
-uint64_t ticks_per_frame(int fps, const Clock& clock) {
+static uint64_t ticks_per_frame(int fps, const Clock& clock) {
     const double loop_period = clock.us_per_tick() * 1e-6;
     return std::max<uint64_t>(1, static_cast<uint64_t>(std::llround(1.0 / (fps * loop_period))));
 }
@@ -201,7 +228,7 @@ uint64_t ticks_per_frame(int fps, const Clock& clock) {
  * @param serial Bus the bridge attaches to.
  * @return The bridge, or null when disabled or when the port was taken.
  */
-std::unique_ptr<MonitorBridge> make_monitor(const CliOptions& options, SerialBus& serial) {
+static std::unique_ptr<MonitorBridge> make_monitor(const CliOptions& options, SerialBus& serial) {
     if (not options.monitor_enabled) {
         return nullptr;
     }
@@ -231,7 +258,7 @@ std::unique_ptr<MonitorBridge> make_monitor(const CliOptions& options, SerialBus
  * @param player The scenario, which gives the board up to the human.
  * @return The viewer, or null when disabled or when no window could open.
  */
-std::unique_ptr<MujocoViewer> make_viewer(
+static std::unique_ptr<MujocoViewer> make_viewer(
     const CliOptions& options, RunContext& context, const Target& target, const Wiring& wiring, ScenarioPlayer& player
 ) {
     if (not options.viewer_enabled) {
@@ -270,7 +297,7 @@ std::unique_ptr<MujocoViewer> make_viewer(
  * @param wiring What the robot prints on the overlay.
  * @return The recorder, or null when disabled or when EGL is unavailable.
  */
-std::unique_ptr<VideoRecorder>
+static std::unique_ptr<VideoRecorder>
     make_video_recorder(const CliOptions& options, RunContext& context, const Target& target, const Wiring& wiring) {
     if (options.video.path.empty()) {
         return nullptr;
@@ -304,7 +331,7 @@ std::unique_ptr<VideoRecorder>
  * @param config The maze's surfaces.
  * @return The target's wiring.
  */
-Wiring wire(Target& target, FirmwareThread& firmware, const RobotDescription& robot, const MazeConfig& config) {
+static Wiring wire(Target& target, FirmwareThread& firmware, const RobotDescription& robot, const MazeConfig& config) {
     RunContext&     context = target.context();
     const WorldInfo world{
         .robot = &robot,
@@ -326,21 +353,20 @@ Wiring wire(Target& target, FirmwareThread& firmware, const RobotDescription& ro
  * @param config The robot's ground truth, naming its body.
  * @return Geom ids.
  */
-std::vector<int> chassis_geoms(const MujocoWorld& world, const GroundTruthConfig& config) {
+static std::vector<int> chassis_geoms(const MujocoWorld& world, const GroundTruthConfig& config) {
     const mjModel*             model = world.model();
     const int                  root = world.require_id(mjOBJ_BODY, config.body);
     const std::span<const int> bodies(model->geom_bodyid, static_cast<std::size_t>(model->ngeom));
     std::vector<int>           geoms;
 
     for (int geom = 0; geom < model->ngeom; geom++) {
-        if (bodies[static_cast<std::size_t>(geom)] == root) {
+        if (at(bodies, static_cast<std::size_t>(geom)) == root) {
             geoms.push_back(geom);
         }
     }
 
     return geoms;
 }
-}  // namespace
 
 Application::Application(const CliOptions& options, Target& target) :
     options{options},
@@ -432,7 +458,7 @@ void Application::run(std::span<char*> arguments) {
         .ticks = this->simulation.completed_ticks(),
         .sim_time = this->context.world.time(),
         .stopped_at = this->player.stopped_at().value_or(-1.0),
-        .final_z = positions[(3 * static_cast<std::size_t>(body)) + 2],
+        .final_z = at(positions, (3 * static_cast<std::size_t>(body)) + 2),
         .target_fields = this->target.metadata(),
         .warnings_total = warnings,
         .serial_dropped_bytes = this->context.serial.dropped_bytes(),
diff --git a/app/src/cli.cpp b/app/src/cli.cpp
index 13ba989..b84d546 100644
--- a/app/src/cli.cpp
+++ b/app/src/cli.cpp
@@ -4,13 +4,21 @@
 
 #include <algorithm>
 #include <charconv>
+#include <cstddef>
+#include <cstdint>
 #include <functional>
+#include <memory>
+#include <span>
 #include <stdexcept>
+#include <string>
+#include <string_view>
+#include <system_error>
 
 #include "micras/sim/app/cli.hpp"
+#include "micras/sim/app/wiring.hpp"
+#include "micras/sim/core/span_at.hpp"
 
 namespace micras::sim {
-namespace {
 /**
  * @brief Read the value that follows an option.
  *
@@ -18,12 +26,12 @@ namespace {
  * @param index Index of the option, advanced to the value.
  * @return The value.
  */
-std::string take_value(std::span<char*> arguments, std::size_t& index) {
+static std::string take_value(std::span<char*> arguments, std::size_t& index) {
     if (index + 1 >= arguments.size()) {
-        throw std::runtime_error("missing value for option " + std::string(arguments[index]));
+        throw std::runtime_error("missing value for option " + std::string(at(arguments, index)));
     }
 
-    return arguments[++index];
+    return at(arguments, ++index);
 }
 
 /**
@@ -35,12 +43,13 @@ std::string take_value(std::span<char*> arguments, std::size_t& index) {
  * @return The number.
  */
 template <typename T>
-T require_number(const std::string& value, const std::string& option) {
+static T require_number(const std::string& value, const std::string& option) {
     T                           number{};
     const std::span<const char> digits(value);
-    const auto                  result = std::from_chars(digits.data(), digits.data() + digits.size(), number);
+    const char* const           end = std::to_address(digits.end());
+    const auto                  result = std::from_chars(digits.data(), end, number);
 
-    if (result.ec != std::errc{} or result.ptr != digits.data() + digits.size()) {
+    if (result.ec != std::errc{} or result.ptr != end) {
         throw std::runtime_error(option + " expects a number, got '" + value + "'");
     }
 
@@ -55,7 +64,7 @@ T require_number(const std::string& value, const std::string& option) {
  * @param width Width to fill.
  * @param height Height to fill.
  */
-void parse_size(const std::string& value, const std::string& option, int& width, int& height) {
+static void parse_size(const std::string& value, const std::string& option, int& width, int& height) {
     const std::size_t cross = value.find('x');
 
     if (cross == std::string::npos) {
@@ -66,10 +75,12 @@ void parse_size(const std::string& value, const std::string& option, int& width,
     height = require_number<int>(value.substr(cross + 1), option);
 }
 
+namespace {
 /**
  * @brief Reads the value that follows the option being applied.
  */
 using ValueReader = std::function<std::string()>;
+}  // namespace
 
 /**
  * @brief Apply one of the window options.
@@ -79,7 +90,7 @@ using ValueReader = std::function<std::string()>;
  * @param options Options to fill.
  * @return False when the name is not a window option.
  */
-bool apply_viewer_option(const std::string& argument, const ValueReader& value, CliOptions& options) {
+static bool apply_viewer_option(const std::string& argument, const ValueReader& value, CliOptions& options) {
     if (argument == "--viewer") {
         options.viewer_enabled = true;
     } else if (argument == "--viewer-camera") {
@@ -103,7 +114,7 @@ bool apply_viewer_option(const std::string& argument, const ValueReader& value,
  * @param options Options to fill.
  * @return False when the name is not a monitor option.
  */
-bool apply_monitor_option(const std::string& argument, const ValueReader& value, CliOptions& options) {
+static bool apply_monitor_option(const std::string& argument, const ValueReader& value, CliOptions& options) {
     if (argument == "--monitor") {
         options.monitor_enabled = true;
     } else if (argument == "--monitor-port") {
@@ -123,7 +134,7 @@ bool apply_monitor_option(const std::string& argument, const ValueReader& value,
  * @param options Options to fill.
  * @return False when the name is not a recording option.
  */
-bool apply_video_option(const std::string& argument, const ValueReader& value, CliOptions& options) {
+static bool apply_video_option(const std::string& argument, const ValueReader& value, CliOptions& options) {
     if (argument == "--video") {
         options.video.path = value();
     } else if (argument == "--video-fps") {
@@ -146,7 +157,7 @@ bool apply_video_option(const std::string& argument, const ValueReader& value, C
  *
  * @param options Options as parsed.
  */
-void validate(const CliOptions& options) {
+static void validate(const CliOptions& options) {
     if (options.out.empty()) {
         throw std::runtime_error("--out is required");
     }
@@ -198,7 +209,7 @@ void validate(const CliOptions& options) {
  * @param options Options to fill.
  * @return False when the name is not an option at all.
  */
-bool apply_option(const std::string& argument, const ValueReader& value, CliOptions& options) {
+static bool apply_option(const std::string& argument, const ValueReader& value, CliOptions& options) {
     if (argument == "--out") {
         options.out = value();
     } else if (argument == "--scenario") {
@@ -222,7 +233,6 @@ bool apply_option(const std::string& argument, const ValueReader& value, CliOpti
 
     return true;
 }
-}  // namespace
 
 std::string Cli::usage(std::string_view program, std::span<const CliOption> target_options) {
     const std::string indent(7 + program.size(), ' ');
@@ -245,7 +255,7 @@ CliOptions Cli::parse(std::span<char*> arguments, std::span<const CliOption> tar
     CliOptions options;
 
     for (std::size_t i = 1; i < arguments.size(); i++) {
-        const std::string argument = arguments[i];
+        const std::string argument = at(arguments, i);
         const ValueReader value = [&arguments, &i] { return take_value(arguments, i); };
 
         if (apply_option(argument, value, options)) {
diff --git a/app/src/crash_reporter.cpp b/app/src/crash_reporter.cpp
index 71705ce..f423144 100644
--- a/app/src/crash_reporter.cpp
+++ b/app/src/crash_reporter.cpp
@@ -4,11 +4,13 @@
 
 #include <array>
 #include <csignal>
+#include <cstddef>
 #include <cstdint>
 
 #include <unistd.h>
 
 #include "micras/sim/app/crash_reporter.hpp"
+#include "micras/sim/core/simulation.hpp"
 
 namespace micras::sim {
 namespace {
@@ -17,7 +19,9 @@ namespace {
  */
 // NOLINTNEXTLINE(*-avoid-non-const-global-variables): the only state a signal handler may read.
 volatile std::sig_atomic_t running_tick = -1;
+}  // namespace
 
+extern "C" {
 /**
  * @brief Name the tick a fatal signal interrupted and re-raise it.
  *
@@ -27,7 +31,7 @@ volatile std::sig_atomic_t running_tick = -1;
  *
  * @param signal_number Signal being handled.
  */
-extern "C" void report_and_reraise(int signal_number) {
+static void report_and_reraise(int signal_number) {
     constexpr std::array<char, 26> prefix{"firmware crashed at tick "};
     std::array<char, 24>           digits{};
     int64_t                        tick = running_tick;
@@ -59,7 +63,7 @@ extern "C" void report_and_reraise(int signal_number) {
     std::signal(signal_number, SIG_DFL);
     std::raise(signal_number);
 }
-}  // namespace
+}
 
 CrashReporter& CrashReporter::instance() {
     static CrashReporter reporter;
diff --git a/bridge/src/monitor_bridge.cpp b/bridge/src/monitor_bridge.cpp
index 62103c4..080cc75 100644
--- a/bridge/src/monitor_bridge.cpp
+++ b/bridge/src/monitor_bridge.cpp
@@ -2,12 +2,20 @@
  * @file
  */
 
+#include <cstdint>
+#include <mutex>
+#include <span>
+#include <string>
+#include <vector>
+
 #include "micras/sim/bridge/monitor_bridge.hpp"
+#include "micras/sim/core/serial_bus.hpp"
+#include "micras/sim/core/simulation.hpp"
 
 namespace micras::sim {
 MonitorBridge::MonitorBridge(SerialBus& serial, int port, std::string& error) : serial{serial} {
     this->server.set_on_binary([this](std::span<const uint8_t> bytes) {
-        const std::lock_guard lock(this->mutex);
+        const std::scoped_lock lock(this->mutex);
         this->incoming.insert(this->incoming.end(), bytes.begin(), bytes.end());
     });
 
@@ -31,7 +39,7 @@ RunControl MonitorBridge::on_before_tick(const Simulation& /*simulation*/) {
     std::vector<uint8_t> bytes;
 
     {
-        const std::lock_guard lock(this->mutex);
+        const std::scoped_lock lock(this->mutex);
         bytes.swap(this->incoming);
     }
 
diff --git a/bridge/src/web_socket_server.cpp b/bridge/src/web_socket_server.cpp
index 0b0b741..ea1889a 100644
--- a/bridge/src/web_socket_server.cpp
+++ b/bridge/src/web_socket_server.cpp
@@ -2,6 +2,10 @@
  * @file
  */
 
+#include <cstdint>
+#include <memory>
+#include <span>
+#include <string>
 #include <utility>
 
 #include "micras/sim/bridge/web_socket_server.hpp"
@@ -13,6 +17,10 @@
     #include <mutex>
     #include <thread>
 
+    #include <ixwebsocket/IXConnectionState.h>
+    #include <ixwebsocket/IXWebSocket.h>
+    #include <ixwebsocket/IXWebSocketMessage.h>
+    #include <ixwebsocket/IXWebSocketMessageType.h>
     #include <ixwebsocket/IXWebSocketServer.h>
 
 namespace micras::sim {
@@ -134,7 +142,7 @@ void WebSocketServer::stop() {
     }
 
     {
-        const std::lock_guard lock(this->impl->mutex);
+        const std::scoped_lock lock(this->impl->mutex);
         this->impl->stopping = true;
         this->impl->frames.clear();
     }
@@ -151,7 +159,7 @@ void WebSocketServer::broadcast(std::span<const uint8_t> bytes) {
     }
 
     {
-        const std::lock_guard lock(this->impl->mutex);
+        const std::scoped_lock lock(this->impl->mutex);
 
         if (this->impl->frames.size() >= max_queued_frames) {
             this->impl->frames.pop_front();
@@ -166,7 +174,7 @@ void WebSocketServer::broadcast(std::span<const uint8_t> bytes) {
 }
 
 uint64_t WebSocketServer::dropped_frames() const {
-    const std::lock_guard lock(this->impl->mutex);
+    const std::scoped_lock lock(this->impl->mutex);
     return this->impl->dropped;
 }
 }  // namespace micras::sim
diff --git a/engine/arenas/maze/src/maze.cpp b/engine/arenas/maze/src/maze.cpp
index 8877808..0cc7522 100644
--- a/engine/arenas/maze/src/maze.cpp
+++ b/engine/arenas/maze/src/maze.cpp
@@ -3,10 +3,15 @@
  */
 
 #include <algorithm>
-#include <cmath>
+#include <cstddef>
+#include <filesystem>
 #include <format>
 #include <sstream>
 #include <stdexcept>
+#include <string>
+#include <string_view>
+#include <utility>
+#include <vector>
 
 #include "micras/sim/arenas/maze.hpp"
 #include "micras/sim/core/mujoco_world.hpp"
@@ -18,6 +23,7 @@ namespace {
  * @brief Characters one cell takes in a line of the drawing.
  */
 constexpr std::size_t cell_width{4};
+}  // namespace
 
 /**
  * @brief Split a drawing into lines, dropping trailing spaces and blank lines at the end.
@@ -25,7 +31,7 @@ constexpr std::size_t cell_width{4};
  * @param text The drawing.
  * @return Its lines, top first.
  */
-std::vector<std::string> lines_of(std::string_view text) {
+static std::vector<std::string> lines_of(std::string_view text) {
     std::vector<std::string> lines;
     std::istringstream       stream{std::string{text}};
     std::string              line;
@@ -52,10 +58,11 @@ std::vector<std::string> lines_of(std::string_view text) {
  * @param index Index of the character.
  * @return The character.
  */
-char at(const std::string& line, std::size_t index) {
-    return index < line.size() ? line[index] : ' ';
+static char at(const std::string& line, std::size_t index) {
+    return index < line.size() ? line.at(index) : ' ';
 }
 
+namespace {
 /**
  * @brief Half the thickness of the red paint on top of the walls and posts, in meters.
  *
@@ -94,16 +101,16 @@ Maze Maze::parse(std::string_view text) {
 
     for (std::size_t row = 0; row <= maze.rows; row++) {
         for (std::size_t column = 0; column < maze.columns; column++) {
-            maze.south[row][column] =
-                lines[2 * row].substr(std::min(lines[2 * row].size(), cell_width * column + 1), 3) == "---";
+            maze.south.at(row).at(column) =
+                lines.at(2 * row).substr(std::min(lines.at(2 * row).size(), cell_width * column + 1), 3) == "---";
         }
     }
 
     for (std::size_t row = 0; row < maze.rows; row++) {
-        const std::string& line = lines[2 * row + 1];
+        const std::string& line = lines.at(2 * row + 1);
 
         for (std::size_t column = 0; column <= maze.columns; column++) {
-            maze.west[row][column] = at(line, cell_width * column) == '|';
+            maze.west.at(row).at(column) = at(line, cell_width * column) == '|';
         }
 
         for (std::size_t column = 0; column < maze.columns; column++) {
@@ -121,11 +128,11 @@ Maze Maze::parse(std::string_view text) {
 }
 
 bool Maze::south_wall(std::size_t column, std::size_t row) const {
-    return row < this->south.size() and column < this->columns and this->south[row][column];
+    return row < this->south.size() and column < this->columns and this->south.at(row).at(column);
 }
 
 bool Maze::west_wall(std::size_t column, std::size_t row) const {
-    return row < this->rows and column < this->west[row].size() and this->west[row][column];
+    return row < this->rows and column < this->west.at(row).size() and this->west.at(row).at(column);
 }
 
 double Maze::reflectance(std::string_view geom_name, const MazeConfig& config) {
diff --git a/engine/include/micras/sim/core/span_at.hpp b/engine/include/micras/sim/core/span_at.hpp
new file mode 100644
index 0000000..2155297
--- /dev/null
+++ b/engine/include/micras/sim/core/span_at.hpp
@@ -0,0 +1,38 @@
+/**
+ * @file
+ *
+ * @brief Checked element access for std::span, which has no at() before C++26.
+ */
+
+#ifndef MICRAS_SIM_CORE_SPAN_AT_HPP
+#define MICRAS_SIM_CORE_SPAN_AT_HPP
+
+#include <cstddef>
+#include <iterator>
+#include <span>
+#include <stdexcept>
+
+namespace micras::sim {
+/**
+ * @brief Get an element of a span, checking the index as std::vector::at does.
+ *
+ * @note MuJoCo's arrays reach the simulator as spans over its buffers; an index past the end is a bug
+ *       in the caller, reported as an exception instead of a read out of bounds.
+ *
+ * @tparam T Element type.
+ * @tparam Extent Extent of the span.
+ * @param values Span to read.
+ * @param index Index of the element.
+ * @return Reference to the element.
+ */
+template <typename T, std::size_t Extent>
+constexpr T& at(std::span<T, Extent> values, std::size_t index) {
+    if (index >= values.size()) {
+        throw std::out_of_range("span index out of range");
+    }
+
+    return *std::next(values.begin(), static_cast<std::ptrdiff_t>(index));
+}
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_CORE_SPAN_AT_HPP
diff --git a/engine/src/.clang-tidy b/engine/src/.clang-tidy
new file mode 100644
index 0000000..9ab6220
--- /dev/null
+++ b/engine/src/.clang-tidy
@@ -0,0 +1,9 @@
+---
+# toml++ declares what it provides in headers of its own implementation, reached through toml.hpp,
+# which is the one a user of the library includes. Its table's operator[] is a lookup that yields an
+# empty view for a missing key, like a map's, so it is not an unchecked access.
+InheritParentConfig: true
+CheckOptions:
+  misc-include-cleaner.IgnoreHeaders: 'toml\+\+/.*'
+  cppcoreguidelines-pro-bounds-avoid-unchecked-container-access.ExcludeClasses: '::std::map;::std::unordered_map;::std::flat_map;::toml::table;::toml::node_view'
+...
diff --git a/engine/src/core/clock.cpp b/engine/src/core/clock.cpp
index 3394ca2..92c7f84 100644
--- a/engine/src/core/clock.cpp
+++ b/engine/src/core/clock.cpp
@@ -3,6 +3,7 @@
  */
 
 #include <cmath>
+#include <cstdint>
 #include <stdexcept>
 #include <string>
 
diff --git a/engine/src/core/firmware_thread.cpp b/engine/src/core/firmware_thread.cpp
index f92de00..f2f9e87 100644
--- a/engine/src/core/firmware_thread.cpp
+++ b/engine/src/core/firmware_thread.cpp
@@ -4,8 +4,11 @@
 
 #include <chrono>
 #include <cstdlib>
+#include <exception>
 #include <iostream>
+#include <mutex>
 #include <stdexcept>
+#include <string>
 #include <utility>
 
 #include "micras/sim/core/firmware_thread.hpp"
@@ -75,12 +78,12 @@ void FirmwareThread::finish() {
 }
 
 bool FirmwareThread::has_finished() const {
-    const std::lock_guard lock(this->mutex);
+    const std::scoped_lock lock(this->mutex);
     return this->finished;
 }
 
 void FirmwareThread::rethrow_any_error() const {
-    const std::lock_guard lock(this->mutex);
+    const std::scoped_lock lock(this->mutex);
 
     if (this->error) {
         std::rethrow_exception(this->error);
@@ -111,11 +114,11 @@ void FirmwareThread::thread_body() {
         this->program(*this);
     } catch (const RunFinished&) {  // NOLINT(bugprone-empty-catch): the expected way out, see finish().
     } catch (...) {
-        const std::lock_guard lock(this->mutex);
+        const std::scoped_lock lock(this->mutex);
         this->error = std::current_exception();
     }
 
-    const std::lock_guard lock(this->mutex);
+    const std::scoped_lock lock(this->mutex);
     this->finished = true;
     this->turn = Turn::SIMULATION;
     this->handoff.notify_all();
diff --git a/engine/src/core/mujoco_world.cpp b/engine/src/core/mujoco_world.cpp
index 0dbed43..0279fdd 100644
--- a/engine/src/core/mujoco_world.cpp
+++ b/engine/src/core/mujoco_world.cpp
@@ -5,16 +5,25 @@
 #include <array>
 #include <cmath>
 #include <cstddef>
+#include <filesystem>
 #include <memory>
 #include <span>
 #include <stdexcept>
 #include <string>
+#include <string_view>
+#include <utility>
 #include <vector>
 
+#include <mujoco/mjdata.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjspec.h>
+#include <mujoco/mjtype.h>
+#include <mujoco/mujoco.h>
+
 #include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/span_at.hpp"
 
 namespace micras::sim {
-namespace {
 /**
  * @brief Check an index against the array it is about to reach into.
  *
@@ -23,8 +32,8 @@ namespace {
  * @param what Name of the array, for the error message.
  * @return The index, as an unsigned offset.
  */
-std::size_t require_index(int index, std::size_t size, const char* what) {
-    if (index < 0 or static_cast<std::size_t>(index) >= size) {
+static std::size_t require_index(int index, std::size_t size, const char* what) {
+    if (index < 0 or std::cmp_greater_equal(index, size)) {
         throw std::out_of_range(
             std::string(what) + " index " + std::to_string(index) + " is outside the " + std::to_string(size) +
             " entries the model has"
@@ -33,7 +42,6 @@ std::size_t require_index(int index, std::size_t size, const char* what) {
 
     return static_cast<std::size_t>(index);
 }
-}  // namespace
 
 MujocoWorld::~MujocoWorld() {
     this->unload();
@@ -85,16 +93,16 @@ void MujocoWorld::build(
         throw fail("the arena's MJCF does not parse");
     }
 
-    mjsBody* const arena_root = mjs_findBody(arena.get(), std::string{arena_body}.c_str());
-    mjsBody* const robot_root = mjs_findBody(robot.get(), std::string{robot_body}.c_str());
+    const mjsBody* const arena_root = mjs_findBody(arena.get(), std::string{arena_body}.c_str());
+    mjsBody* const       robot_root = mjs_findBody(robot.get(), std::string{robot_body}.c_str());
 
     if (arena_root == nullptr or robot_root == nullptr) {
         throw std::runtime_error("the arena or the robot does not have the body it was asked to attach or place");
     }
 
-    mjsFrame* const   frame = mjs_addFrame(mjs_findBody(robot.get(), "world"), nullptr);
-    const std::string prefix = std::string{arena_body} + "_";
-    const mjsElement* attached = mjs_attach(frame->element, arena_root->element, prefix.c_str(), "");
+    const mjsFrame* const frame = mjs_addFrame(mjs_findBody(robot.get(), "world"), nullptr);
+    const std::string     prefix = std::string{arena_body} + "_";
+    const mjsElement*     attached = mjs_attach(frame->element, arena_root->element, prefix.c_str(), "");
 
     if (attached == nullptr) {
         throw std::runtime_error(std::string("the arena cannot be attached: ") + mjs_getError(robot.get()));
@@ -167,7 +175,7 @@ int MujocoWorld::sensor_address(const std::string& name) const {
     const std::span<const int> addresses(
         this->model_handle->sensor_adr, static_cast<std::size_t>(this->model_handle->nsensor)
     );
-    return addresses[static_cast<std::size_t>(id)];
+    return at(addresses, static_cast<std::size_t>(id));
 }
 
 int MujocoWorld::joint_dof(const std::string& name) const {
@@ -175,7 +183,7 @@ int MujocoWorld::joint_dof(const std::string& name) const {
     const std::span<const int> addresses(
         this->model_handle->jnt_dofadr, static_cast<std::size_t>(this->model_handle->njnt)
     );
-    return addresses[static_cast<std::size_t>(id)];
+    return at(addresses, static_cast<std::size_t>(id));
 }
 
 int MujocoWorld::joint_qpos(const std::string& name) const {
@@ -183,7 +191,7 @@ int MujocoWorld::joint_qpos(const std::string& name) const {
     const std::span<const int> addresses(
         this->model_handle->jnt_qposadr, static_cast<std::size_t>(this->model_handle->njnt)
     );
-    return addresses[static_cast<std::size_t>(id)];
+    return at(addresses, static_cast<std::size_t>(id));
 }
 
 double MujocoWorld::sensor_value(int address) const {
@@ -191,13 +199,13 @@ double MujocoWorld::sensor_value(int address) const {
     const std::span<const mjtNum> readings(
         this->data_handle->sensordata, static_cast<std::size_t>(this->model_handle->nsensordata)
     );
-    return readings[require_index(address, readings.size(), "sensordata")];
+    return at(readings, require_index(address, readings.size(), "sensordata"));
 }
 
 void MujocoWorld::set_control(int actuator_id, double value) {
     this->require_loaded();
     const std::span<mjtNum> controls(this->data_handle->ctrl, static_cast<std::size_t>(this->model_handle->nu));
-    controls[require_index(actuator_id, controls.size(), "actuator")] = value;
+    at(controls, require_index(actuator_id, controls.size(), "actuator")) = value;
 }
 
 double MujocoWorld::timestep() const {
diff --git a/engine/src/core/noise.cpp b/engine/src/core/noise.cpp
index 8b6afc5..82975fc 100644
--- a/engine/src/core/noise.cpp
+++ b/engine/src/core/noise.cpp
@@ -3,12 +3,13 @@
  */
 
 #include <cmath>
+#include <cstdint>
 #include <numbers>
+#include <string_view>
 
 #include "micras/sim/core/noise.hpp"
 
 namespace micras::sim {
-namespace {
 /**
  * @brief Mix a seed with a name, FNV-1a over the name's bytes.
  *
@@ -16,7 +17,7 @@ namespace {
  * @param stream Name of the stream.
  * @return The stream's seed.
  */
-uint64_t mix(uint64_t seed, std::string_view stream) {
+static uint64_t mix(uint64_t seed, std::string_view stream) {
     uint64_t hash = 0xcbf29ce484222325ULL ^ seed;
 
     for (const char character : stream) {
@@ -26,7 +27,6 @@ uint64_t mix(uint64_t seed, std::string_view stream) {
 
     return hash;
 }
-}  // namespace
 
 Noise::Noise(const NoiseConfig& config, std::string_view stream) :
     engine{mix(config.seed, stream)}, on{not config.ideal} { }
diff --git a/engine/src/core/serial_bus.cpp b/engine/src/core/serial_bus.cpp
index 78ddfa1..a4e365c 100644
--- a/engine/src/core/serial_bus.cpp
+++ b/engine/src/core/serial_bus.cpp
@@ -3,6 +3,10 @@
  */
 
 #include <algorithm>
+#include <cstddef>
+#include <cstdint>
+#include <span>
+#include <vector>
 
 #include "micras/sim/core/serial_bus.hpp"
 
diff --git a/engine/src/core/simulation.cpp b/engine/src/core/simulation.cpp
index 9e7c2d4..f06932e 100644
--- a/engine/src/core/simulation.cpp
+++ b/engine/src/core/simulation.cpp
@@ -2,6 +2,10 @@
  * @file
  */
 
+#include <cstdint>
+
+#include "micras/sim/core/firmware_thread.hpp"
+#include "micras/sim/core/run_context.hpp"
 #include "micras/sim/core/simulation.hpp"
 
 namespace micras::sim {
diff --git a/engine/src/devices/dc_motor.cpp b/engine/src/devices/dc_motor.cpp
index eb172f1..70ace40 100644
--- a/engine/src/devices/dc_motor.cpp
+++ b/engine/src/devices/dc_motor.cpp
@@ -3,11 +3,20 @@
  */
 
 #include <algorithm>
+#include <cstddef>
 #include <span>
 #include <string>
 #include <utility>
+#include <vector>
 
+#include <mujoco/mjtype.h>
+
+#include "micras/sim/core/clock.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/span_at.hpp"
 #include "micras/sim/devices/dc_motor.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
+#include "micras/sim/robot/robot_description.hpp"
 
 namespace micras::sim {
 DcMotor::DcMotor(const MujocoWorld& world, Config config) :
@@ -19,7 +28,7 @@ void DcMotor::actuate(MujocoWorld& world, const Clock& /*clock*/) {
     const DriveDescription&       drive = this->config.drive;
     const std::span<const mjtNum> velocities(world.data()->qvel, static_cast<std::size_t>(world.model()->nv));
     const double                  back_emf =
-        drive.speed_constant * drive.gear_ratio * velocities[static_cast<std::size_t>(this->velocity_address)];
+        drive.speed_constant * drive.gear_ratio * at(velocities, static_cast<std::size_t>(this->velocity_address));
 
     if (this->config.enabled()) {
         const double duty = static_cast<double>(this->config.forward_duty() - this->config.backward_duty()) / 100.0;
diff --git a/engine/src/devices/device.cpp b/engine/src/devices/device.cpp
index 6b67e3a..6262c61 100644
--- a/engine/src/devices/device.cpp
+++ b/engine/src/devices/device.cpp
@@ -2,7 +2,13 @@
  * @file
  */
 
+#include <string>
+#include <vector>
+
+#include "micras/sim/core/clock.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
 #include "micras/sim/devices/device.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
 
 namespace micras::sim {
 void Device::actuate(MujocoWorld& /*world*/, const Clock& /*clock*/) { }
diff --git a/engine/src/devices/digital_input.cpp b/engine/src/devices/digital_input.cpp
index 4007f2e..592a0a7 100644
--- a/engine/src/devices/digital_input.cpp
+++ b/engine/src/devices/digital_input.cpp
@@ -2,9 +2,13 @@
  * @file
  */
 
+#include <cstdint>
+#include <string>
 #include <utility>
+#include <vector>
 
 #include "micras/sim/devices/digital_input.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
 
 namespace micras::sim {
 DigitalInput::DigitalInput(Config config) : config{std::move(config)} {
diff --git a/engine/src/devices/imu.cpp b/engine/src/devices/imu.cpp
index 483d58a..c2fb5d4 100644
--- a/engine/src/devices/imu.cpp
+++ b/engine/src/devices/imu.cpp
@@ -3,12 +3,21 @@
  */
 
 #include <algorithm>
+#include <array>
 #include <cmath>
+#include <cstddef>
 #include <numbers>
 #include <span>
+#include <string>
 #include <utility>
+#include <vector>
 
+#include "micras/sim/core/clock.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/noise.hpp"
 #include "micras/sim/devices/imu.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
+#include "micras/sim/robot/robot_description.hpp"
 
 namespace micras::sim {
 namespace {
diff --git a/engine/src/devices/power.cpp b/engine/src/devices/power.cpp
index 4c85afe..6d96c02 100644
--- a/engine/src/devices/power.cpp
+++ b/engine/src/devices/power.cpp
@@ -4,12 +4,22 @@
 
 #include <algorithm>
 #include <cmath>
+#include <cstddef>
+#include <cstdint>
+#include <string>
 #include <utility>
+#include <vector>
 
+#include <mujoco/mjtype.h>
+
+#include "micras/sim/core/clock.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/noise.hpp"
 #include "micras/sim/devices/power.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
+#include "micras/sim/robot/robot_description.hpp"
 
 namespace micras::sim {
-namespace {
 /**
  * @brief Convert a voltage to ADC counts.
  *
@@ -19,10 +29,9 @@ namespace {
  * @param noise Noise added, in counts.
  * @return Counts, clipped to the ADC's range.
  */
-uint32_t to_counts(double voltage, double reference, double max_counts, double noise) {
+static uint32_t to_counts(double voltage, double reference, double max_counts, double noise) {
     return static_cast<uint32_t>(std::clamp(std::round(voltage / reference * max_counts + noise), 0.0, max_counts));
 }
-}  // namespace
 
 Battery::Battery(Config config, const NoiseConfig& noise) :
     config{std::move(config)},
diff --git a/engine/src/devices/quadrature_encoder.cpp b/engine/src/devices/quadrature_encoder.cpp
index 66b50b6..8b1635d 100644
--- a/engine/src/devices/quadrature_encoder.cpp
+++ b/engine/src/devices/quadrature_encoder.cpp
@@ -3,12 +3,21 @@
  */
 
 #include <cmath>
+#include <cstddef>
+#include <cstdint>
 #include <numbers>
 #include <span>
 #include <string>
 #include <utility>
+#include <vector>
 
+#include <mujoco/mjtype.h>
+
+#include "micras/sim/core/clock.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/span_at.hpp"
 #include "micras/sim/devices/quadrature_encoder.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
 
 namespace micras::sim {
 QuadratureEncoder::QuadratureEncoder(const MujocoWorld& world, Config config) :
@@ -16,7 +25,7 @@ QuadratureEncoder::QuadratureEncoder(const MujocoWorld& world, Config config) :
 
 void QuadratureEncoder::sample(MujocoWorld& world, const Clock& /*clock*/) {
     const std::span<const mjtNum> positions(world.data()->qpos, static_cast<std::size_t>(world.model()->nq));
-    const double                  angle = positions[static_cast<std::size_t>(this->position_address)];
+    const double                  angle = at(positions, static_cast<std::size_t>(this->position_address));
 
     this->count =
         static_cast<int32_t>(std::floor(angle * this->config.counts_per_revolution / (2.0 * std::numbers::pi)));
diff --git a/engine/src/devices/serial_link.cpp b/engine/src/devices/serial_link.cpp
index bd2b2ee..8409439 100644
--- a/engine/src/devices/serial_link.cpp
+++ b/engine/src/devices/serial_link.cpp
@@ -2,10 +2,17 @@
  * @file
  */
 
+#include <algorithm>
 #include <cmath>
+#include <cstddef>
+#include <cstdint>
+#include <optional>
 #include <utility>
 #include <vector>
 
+#include "micras/sim/core/clock.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/serial_bus.hpp"
 #include "micras/sim/devices/serial_link.hpp"
 
 namespace micras::sim {
diff --git a/engine/src/devices/wall_sensors.cpp b/engine/src/devices/wall_sensors.cpp
index f069551..4d8d5ed 100644
--- a/engine/src/devices/wall_sensors.cpp
+++ b/engine/src/devices/wall_sensors.cpp
@@ -3,14 +3,30 @@
  */
 
 #include <algorithm>
+#include <array>
 #include <cmath>
+#include <cstddef>
+#include <cstdint>
 #include <numbers>
 #include <set>
 #include <span>
 #include <stdexcept>
+#include <string>
 #include <utility>
+#include <vector>
 
+#include <mujoco/mjdata.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjtype.h>
+#include <mujoco/mujoco.h>
+
+#include "micras/sim/core/clock.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/noise.hpp"
+#include "micras/sim/core/span_at.hpp"
 #include "micras/sim/devices/wall_sensors.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
+#include "micras/sim/robot/robot_description.hpp"
 
 namespace micras::sim {
 namespace {
@@ -18,6 +34,7 @@ namespace {
  * @brief Angle, in half angles, the cone is traced out to.
  */
 constexpr double cone_extent{2.5};
+}  // namespace
 
 /**
  * @brief Relative intensity of an emitter or sensitivity of a receiver off its axis.
@@ -26,7 +43,7 @@ constexpr double cone_extent{2.5};
  * @param half_angle Angle at which it halves.
  * @return Factor between 0 and 1.
  */
-double lobe(double angle, double half_angle) {
+static double lobe(double angle, double half_angle) {
     const double ratio = angle / half_angle;
     return std::exp2(-ratio * ratio);
 }
@@ -39,7 +56,7 @@ double lobe(double angle, double half_angle) {
  * @param intensity Radiant intensity on the axis, in W/sr.
  * @return The rays, each carrying the flux of its patch of the cone.
  */
-std::vector<std::array<double, 4>> cone(int count, double half_angle, double intensity) {
+static std::vector<std::array<double, 4>> cone(int count, double half_angle, double intensity) {
     constexpr int                      rings = 3;
     const int                          per_ring = std::max(1, (count - 1) / rings);
     const double                       step = cone_extent * half_angle / (rings + 0.5);
@@ -64,7 +81,6 @@ std::vector<std::array<double, 4>> cone(int count, double half_angle, double int
 
     return rays;
 }
-}  // namespace
 
 WallSensors::WallSensors(const MujocoWorld& world, Config config, const NoiseConfig& noise) :
     config{std::move(config)}, noise{noise, this->config.name} {
@@ -76,7 +92,7 @@ WallSensors::WallSensors(const MujocoWorld& world, Config config, const NoiseCon
     }
 
     for (const auto& ray : cone(optics.rays, optics.emitter_half_angle, optics.emitter_intensity)) {
-        this->rays.push_back({{ray[0], ray[1], ray[2]}, ray[3]});
+        this->rays.push_back({.direction = {ray.at(0), ray.at(1), ray.at(2)}, .flux = ray.at(3)});
     }
 
     std::set<int> group_ids;
@@ -114,11 +130,12 @@ double WallSensors::irradiance(MujocoWorld& world, std::size_t emitter, std::siz
     const std::span<const mjtNum> receiver_frame = site_frames.subspan(9 * receiver_site, 9);
 
     for (std::size_t ray = 0; ray < this->rays.size(); ray++) {
-        const std::array<double, 3>& local = this->rays[ray].direction;
+        const std::array<double, 3>& local = this->rays.at(ray).direction;
 
         for (std::size_t axis = 0; axis < 3; axis++) {
-            this->directions[3 * ray + axis] =
-                frame[3 * axis] * local[0] + frame[3 * axis + 1] * local[1] + frame[3 * axis + 2] * local[2];
+            this->directions.at(3 * ray + axis) = at(frame, 3 * axis) * local.at(0) +
+                                                  at(frame, 3 * axis + 1) * local.at(1) +
+                                                  at(frame, 3 * axis + 2) * local.at(2);
         }
     }
 
@@ -130,9 +147,9 @@ double WallSensors::irradiance(MujocoWorld& world, std::size_t emitter, std::siz
     double total = 0.0;
 
     for (std::size_t ray = 0; ray < this->rays.size(); ray++) {
-        const double distance = this->distances[ray];
+        const double distance = this->distances.at(ray);
 
-        if (distance < 0.0 or this->geoms[ray] < 0) {
+        if (distance < 0.0 or this->geoms.at(ray) < 0) {
             continue;
         }
 
@@ -140,8 +157,8 @@ double WallSensors::irradiance(MujocoWorld& world, std::size_t emitter, std::siz
         double                length = 0.0;
 
         for (std::size_t axis = 0; axis < 3; axis++) {
-            const double hit = origin[axis] + distance * this->directions[3 * ray + axis];
-            to_receiver.at(axis) = receiver_position[axis] - hit;
+            const double hit = at(origin, axis) + distance * this->directions.at(3 * ray + axis);
+            to_receiver.at(axis) = at(receiver_position, axis) - hit;
             length += to_receiver.at(axis) * to_receiver.at(axis);
         }
 
@@ -155,8 +172,8 @@ double WallSensors::irradiance(MujocoWorld& world, std::size_t emitter, std::siz
         double incidence = 0.0;
 
         for (std::size_t axis = 0; axis < 3; axis++) {
-            emission += this->normals[3 * ray + axis] * to_receiver.at(axis) / length;
-            incidence -= receiver_frame[3 * axis] * to_receiver.at(axis) / length;
+            emission += this->normals.at(3 * ray + axis) * to_receiver.at(axis) / length;
+            incidence -= at(receiver_frame, 3 * axis) * to_receiver.at(axis) / length;
         }
 
         if (emission <= 0.0 or incidence <= 0.0) {
@@ -164,7 +181,7 @@ double WallSensors::irradiance(MujocoWorld& world, std::size_t emitter, std::siz
         }
 
         const double off_axis = std::acos(std::min(1.0, incidence));
-        total += this->config.reflectance(this->geoms[ray]) * this->rays[ray].flux * emission * incidence *
+        total += this->config.reflectance(this->geoms.at(ray)) * this->rays.at(ray).flux * emission * incidence *
                  lobe(off_axis, optics.receiver_half_angle) / (std::numbers::pi * length * length);
     }
 
@@ -205,7 +222,7 @@ void WallSensors::sample(MujocoWorld& world, const Clock& clock) {
 
     if (scan + 1 == this->groups.size()) {
         for (std::size_t sensor = 0; sensor < sensors; sensor++) {
-            const std::size_t own = optics.sensors.at(sensor).group == this->groups[0] ? 0 : 1;
+            const std::size_t own = optics.sensors.at(sensor).group == this->groups.at(0) ? 0 : 1;
             const std::size_t other = 1 - own;
             this->intensities.at(sensor) = (static_cast<double>(this->counts.at(own * sensors + sensor)) -
                                             static_cast<double>(this->counts.at(other * sensors + sensor))) /
diff --git a/engine/src/recording/csv_recorder.cpp b/engine/src/recording/csv_recorder.cpp
index ee11b4e..ced1c60 100644
--- a/engine/src/recording/csv_recorder.cpp
+++ b/engine/src/recording/csv_recorder.cpp
@@ -3,13 +3,22 @@
  */
 
 #include <algorithm>
+#include <cstddef>
+#include <cstdint>
+#include <filesystem>
 #include <set>
 #include <stdexcept>
 #include <string>
 #include <string_view>
 #include <utility>
+#include <vector>
 
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/simulation.hpp"
+#include "micras/sim/recording/column_source.hpp"
 #include "micras/sim/recording/csv_recorder.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
+#include "micras/sim/recording/ground_truth.hpp"
 
 namespace micras::sim {
 CsvRecorder::CsvRecorder(
@@ -65,12 +74,12 @@ void CsvRecorder::sample(uint64_t tick) {
 
     for (std::size_t i = 0; i < this->sources.size(); i++) {
         const std::size_t before = cells.size();
-        this->sources[i]->append(cells);
+        this->sources.at(i)->append(cells);
 
-        if (cells.size() - before != this->widths[i]) {
+        if (cells.size() - before != this->widths.at(i)) {
             throw std::logic_error(
                 "a column source appended " + std::to_string(cells.size() - before) + " cells for " +
-                std::to_string(this->widths[i]) + " columns"
+                std::to_string(this->widths.at(i)) + " columns"
             );
         }
     }
diff --git a/engine/src/recording/csv_writer.cpp b/engine/src/recording/csv_writer.cpp
index 3cdc875..c0ac3d8 100644
--- a/engine/src/recording/csv_writer.cpp
+++ b/engine/src/recording/csv_writer.cpp
@@ -4,8 +4,17 @@
 
 #include <array>
 #include <charconv>
+#include <cstddef>
+#include <filesystem>
+#include <memory>
+#include <ostream>
+#include <span>
 #include <stdexcept>
+#include <string>
+#include <system_error>
+#include <variant>
 
+#include "micras/sim/core/span_at.hpp"
 #include "micras/sim/recording/csv_writer.hpp"
 
 namespace micras::sim {
@@ -17,7 +26,7 @@ CsvWriter::CsvWriter(const std::filesystem::path& path) : file{path} {
 
 void CsvWriter::write_header(std::span<const std::string> columns) {
     for (std::size_t i = 0; i < columns.size(); i++) {
-        this->file << (i > 0 ? "," : "") << columns[i];
+        this->file << (i > 0 ? "," : "") << at(columns, i);
     }
 
     this->file << '\n';
@@ -25,7 +34,7 @@ void CsvWriter::write_header(std::span<const std::string> columns) {
 
 void CsvWriter::write_row(std::span<const CsvCell> cells) {
     for (std::size_t i = 0; i < cells.size(); i++) {
-        this->file << (i > 0 ? "," : "") << format(cells[i]);
+        this->file << (i > 0 ? "," : "") << format(at(cells, i));
     }
 
     this->file << '\n' << std::flush;
@@ -37,7 +46,7 @@ std::string CsvWriter::format(const CsvCell& cell) {
             if constexpr (std::is_same_v<decltype(value), double>) {
                 std::array<char, 32> buffer{};
                 const auto           result =
-                    std::to_chars(buffer.data(), buffer.data() + buffer.size(), value, std::chars_format::general, 9);
+                    std::to_chars(buffer.data(), std::to_address(buffer.end()), value, std::chars_format::general, 9);
 
                 if (result.ec != std::errc{}) {
                     throw std::runtime_error("a CSV cell did not fit the formatting buffer");
diff --git a/engine/src/recording/event_log.cpp b/engine/src/recording/event_log.cpp
index 7255e1d..03e7141 100644
--- a/engine/src/recording/event_log.cpp
+++ b/engine/src/recording/event_log.cpp
@@ -4,15 +4,28 @@
 
 #include <algorithm>
 #include <cmath>
+#include <cstddef>
 #include <format>
 #include <limits>
+#include <optional>
+#include <set>
 #include <span>
+#include <string>
 #include <utility>
+#include <vector>
 
+#include <mujoco/mjdata.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjtype.h>
+#include <mujoco/mujoco.h>
+
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/simulation.hpp"
+#include "micras/sim/core/variable_source.hpp"
 #include "micras/sim/recording/event_log.hpp"
+#include "micras/sim/recording/run_metadata.hpp"
 
 namespace micras::sim {
-namespace {
 /**
  * @brief Find the geom a contact pairs with a given one.
  *
@@ -20,7 +33,7 @@ namespace {
  * @param geom The geom on one side.
  * @return The geom on the other side, or -1 when the contact does not involve the given one.
  */
-int other_geom(const mjContact& contact, int geom) {
+static int other_geom(const mjContact& contact, int geom) {
     if (contact.geom[0] == geom) {
         return contact.geom[1];
     }
@@ -31,7 +44,6 @@ int other_geom(const mjContact& contact, int geom) {
 
     return -1;
 }
-}  // namespace
 
 EventLog::EventLog(std::vector<int> geoms, std::set<int> ignored, StateNames states, const VariableSource* variables) :
     geoms{std::move(geoms)},
@@ -62,7 +74,7 @@ void EventLog::on_after_tick(const Simulation& simulation) {
 
 void EventLog::log_collisions(const mjModel* model, std::span<const mjContact> contacts, double now) {
     for (std::size_t index = 0; index < this->geoms.size(); index++) {
-        const int  geom = this->geoms[index];
+        const int  geom = this->geoms.at(index);
         const auto touches = std::ranges::any_of(contacts, [this, geom](const mjContact& contact) {
             const int other = other_geom(contact, geom);
             return other >= 0 and not this->ignored.contains(other);
@@ -72,13 +84,13 @@ void EventLog::log_collisions(const mjModel* model, std::span<const mjContact> c
             continue;
         }
 
-        if (now - this->last_touch[index] > min_separation) {
+        if (now - this->last_touch.at(index) > min_separation) {
             this->collision_count++;
             const char* name = mj_id2name(model, mjOBJ_GEOM, geom);
             this->add({.time = now, .kind = "collision", .detail = name == nullptr ? std::to_string(geom) : name});
         }
 
-        this->last_touch[index] = now;
+        this->last_touch.at(index) = now;
     }
 }
 
@@ -87,7 +99,7 @@ void EventLog::log_states(double now) {
 
     for (const auto& [variable, names] : this->states) {
         const double           value = this->variables->value_of(variable);
-        std::optional<double>& last = this->last_values[index++];
+        std::optional<double>& last = this->last_values.at(index++);
 
         if (std::isnan(value) or last == value) {
             continue;
@@ -95,7 +107,7 @@ void EventLog::log_states(double now) {
 
         last = value;
         const bool  named = value >= 0.0 and value < static_cast<double>(names.size());
-        std::string name = named ? names[static_cast<std::size_t>(value)] : std::format("{}", value);
+        std::string name = named ? names.at(static_cast<std::size_t>(value)) : std::format("{}", value);
         this->add({.time = now, .kind = variable, .detail = std::move(name)});
     }
 }
diff --git a/engine/src/recording/ground_truth.cpp b/engine/src/recording/ground_truth.cpp
index 88e2677..b54392a 100644
--- a/engine/src/recording/ground_truth.cpp
+++ b/engine/src/recording/ground_truth.cpp
@@ -5,23 +5,32 @@
 #include <algorithm>
 #include <array>
 #include <cmath>
+#include <cstdint>
 #include <span>
 #include <stdexcept>
+#include <string>
 #include <utility>
+#include <vector>
 
+#include <mujoco/mjdata.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjtype.h>
+#include <mujoco/mujoco.h>
+
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
 #include "micras/sim/recording/ground_truth.hpp"
 
 // NOLINTBEGIN(cppcoreguidelines-pro-bounds-pointer-arithmetic): mjData exposes flat C arrays indexed by id.
 
 namespace micras::sim {
-namespace {
 /**
  * @brief Convert a MuJoCo quaternion to roll, pitch and yaw.
  *
  * @param quaternion Quaternion as w, x, y, z.
  * @return Roll, pitch and yaw in radians, ZYX convention.
  */
-std::array<double, 3> to_euler(const mjtNum* quaternion) {
+static std::array<double, 3> to_euler(const mjtNum* quaternion) {
     const double scalar = quaternion[0];
     const double x = quaternion[1];
     const double y = quaternion[2];
@@ -43,7 +52,7 @@ std::array<double, 3> to_euler(const mjtNum* quaternion) {
  * @param body Name of the body, for the error message.
  * @return Index into mjData::qvel.
  */
-int free_joint_dof(const mjModel* model, int body_id, const std::string& body) {
+static int free_joint_dof(const mjModel* model, int body_id, const std::string& body) {
     if (model->body_jntnum[body_id] < 1) {
         throw std::runtime_error("body '" + body + "' has no joint, a free joint is required");
     }
@@ -60,6 +69,7 @@ int free_joint_dof(const mjModel* model, int body_id, const std::string& body) {
     return model->jnt_dofadr[root_joint];
 }
 
+namespace {
 /**
  * @brief Column names every row starts with, before the robot's own.
  */
@@ -101,7 +111,7 @@ GroundTruth::GroundTruth(const MujocoWorld& world, GroundTruthConfig config) :
                 break;
         }
 
-        this->resolved.push_back({column.probe, address});
+        this->resolved.push_back({.probe = column.probe, .address = address});
     }
 }
 
@@ -146,7 +156,7 @@ GroundTruth::ContactStats GroundTruth::collect_contacts(int geom_id) const {
 
         std::array<mjtNum, 6> force{};
         mj_contactForce(model, data, i, force.data());
-        stats.normal_force += force[0];
+        stats.normal_force += force.at(0);
 
         if (contact.dim >= 3) {
             const int address = contact.efc_address;
@@ -205,11 +215,11 @@ std::vector<CsvCell> GroundTruth::sample(uint64_t tick) {
     const auto    euler = to_euler(data->xquat + 4L * this->body_id);
     const mjtNum* velocity = data->qvel + this->free_joint_qvel;
 
-    const double forward_speed = velocity[0] * std::cos(euler[2]) + velocity[1] * std::sin(euler[2]);
+    const double forward_speed = velocity[0] * std::cos(euler.at(2)) + velocity[1] * std::sin(euler.at(2));
 
     std::vector<CsvCell> cells{
-        tick,     data->time,  position[0], position[1], position[2], euler[0],      euler[1],
-        euler[2], velocity[0], velocity[1], velocity[2], velocity[5], forward_speed,
+        tick,        data->time,  position[0], position[1], position[2], euler.at(0),   euler.at(1),
+        euler.at(2), velocity[0], velocity[1], velocity[2], velocity[5], forward_speed,
     };
 
     this->row_contacts.clear();
diff --git a/engine/src/recording/run_metadata.cpp b/engine/src/recording/run_metadata.cpp
index 42b2ab8..42d8c6e 100644
--- a/engine/src/recording/run_metadata.cpp
+++ b/engine/src/recording/run_metadata.cpp
@@ -2,27 +2,31 @@
  * @file
  */
 
-#include <concepts>
+#include <cstddef>
+#include <filesystem>
 #include <format>
 #include <fstream>
+#include <ios>
+#include <iterator>
 #include <locale>
 #include <span>
 #include <sstream>
 #include <stdexcept>
+#include <string>
 
 #include <picosha2.h>
 
+#include "micras/sim/core/span_at.hpp"
 #include "micras/sim/recording/run_metadata.hpp"
 
 namespace micras::sim {
-namespace {
 /**
  * @brief Escape a string as a JSON string literal body.
  *
  * @param value Raw string.
  * @return Escaped string, without the surrounding quotes.
  */
-std::string json_escape(const std::string& value) {
+static std::string json_escape(const std::string& value) {
     std::string escaped;
     escaped.reserve(value.size());
 
@@ -65,7 +69,7 @@ std::string json_escape(const std::string& value) {
  * @param value Value of the field.
  * @param last Whether this is the last field of the object.
  */
-void field(std::ostringstream& out, const char* name, const std::string& value, bool last = false) {
+static void field(std::ostringstream& out, const char* name, const std::string& value, bool last = false) {
     out << "  \"" << name << "\": \"" << json_escape(value) << '"' << (last ? "\n" : ",\n");
 }
 
@@ -77,7 +81,7 @@ void field(std::ostringstream& out, const char* name, const std::string& value,
  * @param value Value of the field.
  * @param last Whether this is the last field of the object.
  */
-void field(std::ostringstream& out, const char* name, bool value, bool last = false) {
+static void field(std::ostringstream& out, const char* name, bool value, bool last = false) {
     out << "  \"" << name << "\": " << (value ? "true" : "false") << (last ? "\n" : ",\n");
 }
 
@@ -94,10 +98,9 @@ void field(std::ostringstream& out, const char* name, bool value, bool last = fa
  */
 template <typename T>
 requires std::is_arithmetic_v<T>
-void field(std::ostringstream& out, const char* name, T value, bool last = false) {
+static void field(std::ostringstream& out, const char* name, T value, bool last = false) {
     out << "  \"" << name << "\": " << value << (last ? "\n" : ",\n");
 }
-}  // namespace
 
 std::string RunMetadata::to_json() const {
     std::ostringstream out;
@@ -139,7 +142,7 @@ std::string RunMetadata::to_json() const {
     out << "  \"events\": [";
 
     for (std::size_t i = 0; i < this->events.size(); i++) {
-        const RunEvent& event = this->events[i];
+        const RunEvent& event = this->events.at(i);
         out << (i > 0 ? "," : "") << "\n    {" << R"("time": )" << event.time << R"(, "kind": ")"
             << json_escape(event.kind) << R"(", "detail": ")" << json_escape(event.detail) << R"("})";
     }
@@ -177,7 +180,7 @@ std::string RunMetadata::join_args(std::span<char*> arguments) {
 
     for (std::size_t i = 1; i < arguments.size(); i++) {
         joined += (i > 1 ? " " : "");
-        joined += arguments[i];
+        joined += at(arguments, i);
     }
 
     return joined;
diff --git a/engine/src/robot/robot_description.cpp b/engine/src/robot/robot_description.cpp
index 319c403..32cba14 100644
--- a/engine/src/robot/robot_description.cpp
+++ b/engine/src/robot/robot_description.cpp
@@ -2,13 +2,19 @@
  * @file
  */
 
-#include <cmath>
+#include <array>
+#include <cstddef>
+#include <cstdint>
+#include <filesystem>
 #include <format>
 #include <numbers>
 #include <optional>
 #include <set>
 #include <stdexcept>
+#include <string>
+#include <string_view>
 #include <utility>
+#include <vector>
 
 #include <toml++/toml.hpp>
 
@@ -286,6 +292,7 @@ class Section {
     std::string           path;
     std::set<std::string> used;
 };
+}  // namespace
 
 /**
  * @brief Read the chassis table.
@@ -293,7 +300,7 @@ class Section {
  * @param section The [chassis] table.
  * @return The chassis.
  */
-ChassisDescription read_chassis(Section section) {
+static ChassisDescription read_chassis(Section section) {
     ChassisDescription chassis{
         .mass = section.number("mass"),
         .center_of_mass = section.vector3("center_of_mass"),
@@ -339,7 +346,7 @@ ChassisDescription read_chassis(Section section) {
  * @param section The [wall_sensors] table.
  * @return The wall sensors.
  */
-WallSensorsDescription read_wall_sensors(Section section) {
+static WallSensorsDescription read_wall_sensors(Section section) {
     WallSensorsDescription sensors{
         .emitter_half_angle = section.degrees("emitter_half_angle_deg"),
         .emitter_intensity = section.number("emitter_intensity"),
@@ -378,7 +385,7 @@ WallSensorsDescription read_wall_sensors(Section section) {
  * @param root The whole file.
  * @param robot Description to fill.
  */
-void read_components(Section& root, RobotDescription& robot) {
+static void read_components(Section& root, RobotDescription& robot) {
     Section integration = root.section("integration");
     robot.integration = {.timestep = integration.number("timestep")};
     integration.finish();
@@ -452,7 +459,6 @@ void read_components(Section& root, RobotDescription& robot) {
     robot.link = {.baud_rate = static_cast<uint32_t>(link.integer("baud_rate"))};
     link.finish();
 }
-}  // namespace
 
 RobotDescription RobotDescription::load(const std::filesystem::path& path) {
     return parse(read_text_file(path, "robot description"), path.string());
diff --git a/engine/src/robot/robot_model.cpp b/engine/src/robot/robot_model.cpp
index 9714ab2..8e42ebb 100644
--- a/engine/src/robot/robot_model.cpp
+++ b/engine/src/robot/robot_model.cpp
@@ -8,18 +8,18 @@
 #include <string>
 
 #include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/robot/robot_description.hpp"
 #include "micras/sim/robot/robot_model.hpp"
 
 namespace micras::sim {
-namespace {
 /**
  * @brief Format a vector for an MJCF attribute.
  *
  * @param vector The vector.
  * @return Space separated components.
  */
-std::string text(const Vector3& vector) {
-    return std::format("{:.9g} {:.9g} {:.9g}", vector[0], vector[1], vector[2]);
+static std::string text(const Vector3& vector) {
+    return std::format("{:.9g} {:.9g} {:.9g}", vector.at(0), vector.at(1), vector.at(2));
 }
 
 /**
@@ -29,7 +29,7 @@ std::string text(const Vector3& vector) {
  * @param names Names of the model.
  * @return MJCF of the geoms.
  */
-std::string chassis_geoms(const RobotDescription& robot, const RobotModelNames& names) {
+static std::string chassis_geoms(const RobotDescription& robot, const RobotModelNames& names) {
     const ChassisDescription& chassis = robot.chassis;
     std::string               geoms = std::format(
         "      <geom name=\"{}\" type=\"mesh\" mesh=\"{}_board\" material=\"{}_board\" friction=\"{:.9g}\"/>\n",
@@ -38,11 +38,12 @@ std::string chassis_geoms(const RobotDescription& robot, const RobotModelNames&
 
     for (const BoxPart& part : chassis.boxes) {
         const Vector3 center{
-            (part.min[0] + part.max[0]) / 2, (part.min[1] + part.max[1]) / 2, (part.min[2] + part.max[2]) / 2
+            (part.min.at(0) + part.max.at(0)) / 2, (part.min.at(1) + part.max.at(1)) / 2,
+            (part.min.at(2) + part.max.at(2)) / 2
         };
         const Vector3 half{
-            std::abs(part.max[0] - part.min[0]) / 2, std::abs(part.max[1] - part.min[1]) / 2,
-            std::abs(part.max[2] - part.min[2]) / 2
+            std::abs(part.max.at(0) - part.min.at(0)) / 2, std::abs(part.max.at(1) - part.min.at(1)) / 2,
+            std::abs(part.max.at(2) - part.min.at(2)) / 2
         };
 
         geoms += std::format(
@@ -52,7 +53,7 @@ std::string chassis_geoms(const RobotDescription& robot, const RobotModelNames&
     }
 
     for (const CylinderPart& part : chassis.cylinders) {
-        const Vector3 center{part.base[0], part.base[1], part.base[2] + part.height / 2};
+        const Vector3 center{part.base.at(0), part.base.at(1), part.base.at(2) + part.height / 2};
 
         geoms += std::format(
             "      <geom name=\"{}\" type=\"cylinder\" pos=\"{}\" size=\"{:.9g} {:.9g}\" material=\"{}_parts\"/>\n",
@@ -87,7 +88,7 @@ std::string chassis_geoms(const RobotDescription& robot, const RobotModelNames&
  *       do scrub, is absorbed by a soft enough tyre, which is part of why
  *       contact_time_constant is what it is.
  */
-std::string wheel_body(const RobotDescription& robot, const std::string& name, double side) {
+static std::string wheel_body(const RobotDescription& robot, const std::string& name, double side) {
     const WheelsDescription& wheels = robot.wheels;
     const DriveDescription&  drive = robot.drive;
     const double             armature = drive.rotor_inertia * drive.gear_ratio * drive.gear_ratio;
@@ -114,12 +115,12 @@ std::string wheel_body(const RobotDescription& robot, const std::string& name, d
  * @param names Names of the model.
  * @return MJCF of the sites.
  */
-std::string sites(const RobotDescription& robot, const RobotModelNames& names) {
+static std::string sites(const RobotDescription& robot, const RobotModelNames& names) {
     const ImuDescription& imu = robot.imu;
     std::string           sites = std::format(
         "      <site name=\"{}\" pos=\"{}\" xyaxes=\"{} {}\"/>\n"
         "      <site name=\"{}\" pos=\"{}\"/>\n",
-        names.imu, text(imu.position), text(imu.axes[0]), text(imu.axes[1]), names.fan, text(robot.fan.position)
+        names.imu, text(imu.position), text(imu.axes.at(0)), text(imu.axes.at(1)), names.fan, text(robot.fan.position)
     );
 
     for (const WallSensorDescription& sensor : robot.wall_sensors.sensors) {
@@ -139,19 +140,20 @@ std::string sites(const RobotDescription& robot, const RobotModelNames& names) {
  * @param robot The description.
  * @return Space separated vertices.
  */
-std::string board_vertices(const RobotDescription& robot) {
+static std::string board_vertices(const RobotDescription& robot) {
     std::string vertices;
 
     for (const auto& point : robot.chassis.outline) {
         vertices += std::format(
-            "{:.9g} {:.9g} {:.9g} {:.9g} {:.9g} {:.9g} ", point[0], point[1], robot.chassis.board_bottom, point[0],
-            point[1], robot.chassis.board_top
+            "{:.9g} {:.9g} {:.9g} {:.9g} {:.9g} {:.9g} ", point.at(0), point.at(1), robot.chassis.board_bottom,
+            point.at(0), point.at(1), robot.chassis.board_top
         );
     }
 
     return vertices;
 }
 
+namespace {
 /**
  * @brief Height of the onboard camera above the top of the board, in meters.
  *
@@ -165,6 +167,7 @@ constexpr double onboard_height{0.025};
  * @note The sensor housings stand a little past the board, and would fill the bottom of the view.
  */
 constexpr double onboard_lead{0.01};
+}  // namespace
 
 /**
  * @brief Get where the onboard camera sits ahead of the body origin.
@@ -172,16 +175,15 @@ constexpr double onboard_lead{0.01};
  * @param robot The description.
  * @return The largest forward coordinate of the outline, plus the lead of the camera.
  */
-double front_of(const RobotDescription& robot) {
+static double front_of(const RobotDescription& robot) {
     double front = 0.0;
 
     for (const auto& point : robot.chassis.outline) {
-        front = std::max(front, static_cast<double>(point[0]));
+        front = std::max(front, static_cast<double>(point.at(0)));
     }
 
     return front + onboard_lead;
 }
-}  // namespace
 
 std::string robot_mjcf(const RobotDescription& robot) {
     const RobotModelNames   names = RobotModelNames::of(robot);
diff --git a/engine/src/scenario/scenario.cpp b/engine/src/scenario/scenario.cpp
index d4c5796..3b07e0f 100644
--- a/engine/src/scenario/scenario.cpp
+++ b/engine/src/scenario/scenario.cpp
@@ -4,24 +4,35 @@
 
 #include <algorithm>
 #include <charconv>
-#include <cmath>
+#include <cstddef>
+#include <cstdint>
+#include <filesystem>
 #include <format>
 #include <iostream>
+#include <iterator>
 #include <limits>
 #include <memory>
 #include <numbers>
+#include <optional>
 #include <set>
 #include <span>
 #include <stdexcept>
+#include <string>
+#include <string_view>
 #include <utility>
+#include <vector>
 
 #include <toml++/toml.hpp>
 
+#include "micras/sim/core/clock.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/serial_bus.hpp"
+#include "micras/sim/core/simulation.hpp"
 #include "micras/sim/core/text_file.hpp"
+#include "micras/sim/core/variable_source.hpp"
 #include "micras/sim/scenario/scenario.hpp"
 
 namespace micras::sim {
-namespace {
 /**
  * @brief Refuse keys of a table outside a known set.
  *
@@ -29,7 +40,8 @@ namespace {
  * @param known Keys it may have.
  * @param where Name of the table, for messages.
  */
-void refuse_unknown(const toml::table& table, const std::set<std::string_view>& known, const std::string& where) {
+static void
+    refuse_unknown(const toml::table& table, const std::set<std::string_view>& known, const std::string& where) {
     for (const auto& [key, node] : table) {
         if (not known.contains(key.str())) {
             throw std::runtime_error(std::format("{}: unknown key {}", where, key.str()));
@@ -45,7 +57,7 @@ void refuse_unknown(const toml::table& table, const std::set<std::string_view>&
  * @param where Name of the table, for messages.
  * @return The number.
  */
-double require_number(const toml::table& table, std::string_view key, const std::string& where) {
+static double require_number(const toml::table& table, std::string_view key, const std::string& where) {
     const std::optional<double> value = table[key].value<double>();
 
     if (not value.has_value()) {
@@ -62,7 +74,7 @@ double require_number(const toml::table& table, std::string_view key, const std:
  * @param where Name of the table, for messages.
  * @return The value as text.
  */
-std::string condition_value(const toml::node_view<const toml::node>& node, const std::string& where) {
+static std::string condition_value(const toml::node_view<const toml::node>& node, const std::string& where) {
     if (const auto text = node.value<std::string>(); text.has_value()) {
         return *text;
     }
@@ -81,7 +93,8 @@ std::string condition_value(const toml::node_view<const toml::node>& node, const
  * @param where Name of the table, for messages.
  * @return The values as text.
  */
-std::vector<std::string> condition_values(const toml::node_view<const toml::node>& node, const std::string& where) {
+static std::vector<std::string>
+    condition_values(const toml::node_view<const toml::node>& node, const std::string& where) {
     std::vector<std::string> values;
 
     if (const toml::array* array = node.as_array(); array != nullptr) {
@@ -102,7 +115,7 @@ std::vector<std::string> condition_values(const toml::node_view<const toml::node
  * @param where Name of the table, for messages.
  * @return The condition.
  */
-StopCondition read_stop(const toml::table& table, const std::string& where) {
+static StopCondition read_stop(const toml::table& table, const std::string& where) {
     refuse_unknown(table, {"when", "equals", "after", "count", "abort"}, where);
     const std::optional<std::string> variable = table["when"].value<std::string>();
 
@@ -136,7 +149,7 @@ StopCondition read_stop(const toml::table& table, const std::string& where) {
  * @param where Name of the event, for messages.
  * @return The event.
  */
-ScenarioEvent read_event(const toml::table& table, const std::string& where) {
+static ScenarioEvent read_event(const toml::table& table, const std::string& where) {
     refuse_unknown(table, {"at", "press", "for", "set", "value", "send", "when", "equals"}, where);
 
     ScenarioEvent event;
@@ -195,8 +208,6 @@ ScenarioEvent read_event(const toml::table& table, const std::string& where) {
     return event;
 }
 
-}  // namespace
-
 Scenario Scenario::load(const std::filesystem::path& path) {
     return parse(read_text_file(path, "scenario"), path.string());
 }
@@ -349,8 +360,8 @@ RunControl ScenarioPlayer::on_before_tick(const Simulation& simulation) {
     }
 
     while (this->next_event < this->scenario.events.size() and
-           clock.tick_at(this->scenario.events[this->next_event].at) <= tick and this->is_due(this->next_event)) {
-        const ScenarioEvent& event = this->scenario.events[this->next_event++];
+           clock.tick_at(this->scenario.events.at(this->next_event).at) <= tick and this->is_due(this->next_event)) {
+        const ScenarioEvent& event = this->scenario.events.at(this->next_event++);
         const uint64_t       end = tick + std::max<uint64_t>(1, clock.tick_at(event.duration));
 
         switch (event.kind) {
@@ -358,7 +369,7 @@ RunControl ScenarioPlayer::on_before_tick(const Simulation& simulation) {
                 if (not this->human) {
                     DigitalInput* input = this->hooks.inputs.find(event.target)->second;
                     input->set(true);
-                    this->releases.push_back({input, end});
+                    this->releases.push_back({.input = input, .tick = end});
                 }
 
                 break;
diff --git a/targets/micras/cube/handles.cpp b/targets/micras/cube/handles.cpp
index 6be8018..35ea0a9 100644
--- a/targets/micras/cube/handles.cpp
+++ b/targets/micras/cube/handles.cpp
@@ -11,6 +11,8 @@
  *       is set, plus the handle states the drivers check before initialising.
  */
 
+#include <cstdint>
+
 #include <adc.h>
 #include <crc.h>
 #include <dma.h>
@@ -54,6 +56,7 @@ SPI_TypeDef spi3_registers{};
 // NOLINTEND(cppcoreguidelines-avoid-non-const-global-variables)
 
 ///@}
+}  // namespace
 
 /**
  * @brief Configure a timer base, as HAL_TIM_Base_Init would.
@@ -65,7 +68,7 @@ SPI_TypeDef spi3_registers{};
  * @param counter_mode Counter mode.
  * @param period Autoreload value.
  */
-void init_timer(
+static void init_timer(
     TIM_HandleTypeDef& handle, TIM_TypeDef& registers, const char* name, uint32_t prescaler, uint32_t counter_mode,
     uint32_t period
 ) {
@@ -86,12 +89,11 @@ void init_timer(
  * @param name Name of the handle, for messages.
  * @param conversions Number of conversions in a sequence.
  */
-void init_adc(ADC_HandleTypeDef& handle, const char* name, uint32_t conversions) {
+static void init_adc(ADC_HandleTypeDef& handle, const char* name, uint32_t conversions) {
     handle.Init.NbrOfConversion = conversions;
     handle.State = HAL_ADC_STATE_READY;
     micras::hal::host::Board::name_handle(&handle, name);
 }
-}  // namespace
 
 // NOLINTBEGIN(cppcoreguidelines-avoid-non-const-global-variables): the handles are globals in the generated code too.
 uint32_t SystemCoreClock{550000000};
diff --git a/targets/micras/src/bindings.cpp b/targets/micras/src/bindings.cpp
index 00d4ebc..1927958 100644
--- a/targets/micras/src/bindings.cpp
+++ b/targets/micras/src/bindings.cpp
@@ -2,20 +2,47 @@
  * @file
  */
 
+#include <array>
 #include <cmath>
+#include <cstddef>
+#include <cstdint>
 #include <memory>
 #include <optional>
+#include <span>
+#include <string>
 #include <utility>
 
 #include "constants.hpp"
+#include "micras/hal/gpio.hpp"
 #include "micras/hal/host/board.hpp"
+#include "micras/hal/host/ports.hpp"
+#include "micras/hal/host/spi_device.hpp"
+#include "micras/hal/pwm.hpp"
+#include "micras/hal/spi.hpp"
+#include "micras/models/as5047u_model.hpp"
+#include "micras/proxy/button.hpp"
+#include "micras/proxy/motor.hpp"
+#include "micras/proxy/rotary_sensor.hpp"
+#include "micras/sim/app/wiring.hpp"
+#include "micras/sim/core/run_context.hpp"
+#include "micras/sim/core/span_at.hpp"
+#include "micras/sim/devices/dc_motor.hpp"
+#include "micras/sim/devices/digital_input.hpp"
+#include "micras/sim/devices/imu.hpp"
+#include "micras/sim/devices/power.hpp"
+#include "micras/sim/devices/quadrature_encoder.hpp"
+#include "micras/sim/devices/serial_link.hpp"
+#include "micras/sim/devices/wall_sensors.hpp"
 #include "micras/sim/micras/bindings.hpp"
+#include "micras/sim/micras/micras_target.hpp"
+#include "micras/sim/robot/robot_description.hpp"
 #include "micras/sim/robot/robot_model.hpp"
 #include "target.hpp"
 
 namespace micras::sim {
 namespace {
 using hal::host::Board;
+}  // namespace
 
 /**
  * @brief Add a device to the run and keep a view of it.
@@ -25,7 +52,7 @@ using hal::host::Board;
  * @return The view.
  */
 template <typename T>
-T* add(RunContext& context, std::unique_ptr<T> device) {
+static T* add(RunContext& context, std::unique_ptr<T> device) {
     T* view = device.get();
     context.devices.push_back(std::move(device));
     return view;
@@ -37,7 +64,7 @@ T* add(RunContext& context, std::unique_ptr<T> device) {
  * @param config The firmware's configuration of the channel.
  * @return The port.
  */
-hal::host::PwmPort& pwm_port(const hal::Pwm::Config& config) {
+static hal::host::PwmPort& pwm_port(const hal::Pwm::Config& config) {
     hal::host::PwmPort& port = Board::pwm(config.handle, config.timer_channel);
     port.bound = true;
     return port;
@@ -49,7 +76,7 @@ hal::host::PwmPort& pwm_port(const hal::Pwm::Config& config) {
  * @param config The firmware's configuration of the pin.
  * @return The port.
  */
-hal::host::GpioPort& gpio_port(const hal::Gpio::Config& config) {
+static hal::host::GpioPort& gpio_port(const hal::Gpio::Config& config) {
     hal::host::GpioPort& port = Board::gpio(config.port, config.pin);
     port.bound = true;
     return port;
@@ -64,7 +91,7 @@ hal::host::GpioPort& gpio_port(const hal::Gpio::Config& config) {
  * @param side "left" or "right".
  * @return The motor.
  */
-DcMotor* bind_motor(
+static DcMotor* bind_motor(
     RunContext& context, const WorldInfo& world, const proxy::Motor::Config& motor, const std::string& side
 ) {
     const RobotModelNames names = RobotModelNames::of(*world.robot);
@@ -93,7 +120,7 @@ DcMotor* bind_motor(
  * @param spi The firmware's configuration of the chip's SPI.
  * @param chip The chip.
  */
-void attach(const hal::Spi::Config& spi, hal::host::SpiDevice& chip) {
+static void attach(const hal::Spi::Config& spi, hal::host::SpiDevice& chip) {
     Board::spi_device(spi.handle, spi.cs_gpio.port, spi.cs_gpio.pin, chip);
 }
 
@@ -106,7 +133,7 @@ void attach(const hal::Spi::Config& spi, hal::host::SpiDevice& chip) {
  * @param chip The rotary sensor's chip.
  * @param side "left" or "right".
  */
-void bind_encoder(
+static void bind_encoder(
     RunContext& context, const WorldInfo& world, const proxy::RotarySensor::Config& sensor, models::As5047uModel& chip,
     const std::string& side
 ) {
@@ -134,7 +161,8 @@ void bind_encoder(
  * @param active_low Whether pressed, or on, reads low.
  * @return The input.
  */
-DigitalInput* bind_input(RunContext& context, const std::string& name, const hal::Gpio::Config& gpio, bool active_low) {
+static DigitalInput*
+    bind_input(RunContext& context, const std::string& name, const hal::Gpio::Config& gpio, bool active_low) {
     hal::host::GpioPort& port = gpio_port(gpio);
 
     return add(
@@ -145,7 +173,6 @@ DigitalInput* bind_input(RunContext& context, const std::string& name, const hal
                  })
     );
 }
-}  // namespace
 
 MicrasBoard bind_devices(RunContext& context, const WorldInfo& world, MicrasChips& chips) {
     const RobotModelNames names = RobotModelNames::of(*world.robot);
@@ -159,26 +186,27 @@ MicrasBoard bind_devices(RunContext& context, const WorldInfo& world, MicrasChip
     attach(imu_config.spi, chips.imu);
     const ImuDescription& imu = world.robot->imu;
 
-    add(context, std::make_unique<Imu>(
-                     context.world,
-                     Imu::Config{
-                         .name = "lsm6dsv",
-                         .gyro = names.gyro,
-                         .accelerometer = names.accelerometer,
-                         .description = imu,
-                         .write =
-                             [&chip = chips.imu, gyro = imu.gyro_resolution,
-                              accel = imu.accel_resolution](std::span<const float> sample) {
-                                 chip.push_sample(
-                                     {static_cast<double>(sample[0]) * gyro, static_cast<double>(sample[1]) * gyro,
-                                      static_cast<double>(sample[2]) * gyro},
-                                     {static_cast<double>(sample[3]) * accel, static_cast<double>(sample[4]) * accel,
-                                      static_cast<double>(sample[5]) * accel}
-                                 );
-                             },
-                     },
-                     context.noise
-                 ));
+    add(context,
+        std::make_unique<Imu>(
+            context.world,
+            Imu::Config{
+                .name = "lsm6dsv",
+                .gyro = names.gyro,
+                .accelerometer = names.accelerometer,
+                .description = imu,
+                .write =
+                    [&chip = chips.imu, gyro = imu.gyro_resolution,
+                     accel = imu.accel_resolution](std::span<const float> sample) {
+                        chip.push_sample(
+                            {static_cast<double>(at(sample, 0)) * gyro, static_cast<double>(at(sample, 1)) * gyro,
+                             static_cast<double>(at(sample, 2)) * gyro},
+                            {static_cast<double>(at(sample, 3)) * accel, static_cast<double>(at(sample, 4)) * accel,
+                             static_cast<double>(at(sample, 5)) * accel}
+                        );
+                    },
+            },
+            context.noise
+        ));
 
     hal::host::AdcPort& wall_adc = Board::adc(wall_sensors_config.adc.handle);
     wall_adc.bound = true;
@@ -214,8 +242,8 @@ MicrasBoard bind_devices(RunContext& context, const WorldInfo& world, MicrasChip
                          Battery::Config{
                              .name = "pack",
                              .description = world.robot->battery,
-                             .divider = battery_config.voltage_divider,
-                             .adc_reference = battery_config.adc.reference_voltage,
+                             .divider = static_cast<double>(battery_config.voltage_divider),
+                             .adc_reference = static_cast<double>(battery_config.adc.reference_voltage),
                              .adc_max_counts = static_cast<double>(battery_config.adc.max_reading),
                              .adc_noise_counts = 1.0,
                              .write = [&battery_adc](uint32_t counts) { battery_adc.write(0, counts); },
@@ -225,7 +253,7 @@ MicrasBoard bind_devices(RunContext& context, const WorldInfo& world, MicrasChip
 
     hal::host::PwmPort&  fan_pwm = pwm_port(fan_config.pwm);
     hal::host::GpioPort& fan_enable = gpio_port(fan_config.enable_gpio);
-    Battery*             battery = board.battery;
+    const Battery*       battery = board.battery;
     board.fan =
         add(context, std::make_unique<Fan>(
                          context.world, Fan::Config{
@@ -240,15 +268,17 @@ MicrasBoard bind_devices(RunContext& context, const WorldInfo& world, MicrasChip
 
     hal::host::AdcPort& torque_adc = Board::adc(torque_sensors_config.adc.handle);
     torque_adc.bound = true;
-    DcMotor* left = board.left_motor;
-    DcMotor* right = board.right_motor;
+    const DcMotor* left = board.left_motor;
+    const DcMotor* right = board.right_motor;
     add(context,
         std::make_unique<CurrentSense>(
             CurrentSense::Config{
                 .currents = {[left] { return left->current(); }, [right] { return right->current(); }},
-                .zero_voltage = torque_sensors_config.zero_reading * torque_sensors_config.adc.reference_voltage,
-                .volts_per_amp = torque_sensors_config.shunt_resistor,
-                .adc_reference = torque_sensors_config.adc.reference_voltage,
+                .zero_voltage = static_cast<double>(
+                    torque_sensors_config.zero_reading * torque_sensors_config.adc.reference_voltage
+                ),
+                .volts_per_amp = static_cast<double>(torque_sensors_config.shunt_resistor),
+                .adc_reference = static_cast<double>(torque_sensors_config.adc.reference_voltage),
                 .adc_max_counts = static_cast<double>(torque_sensors_config.adc.max_reading),
                 .adc_noise_counts = 4.0,
                 .write = [&torque_adc](std::size_t index, uint32_t counts) { torque_adc.write(index, counts); },
diff --git a/targets/micras/src/main.cpp b/targets/micras/src/main.cpp
index e789fa1..a1ec736 100644
--- a/targets/micras/src/main.cpp
+++ b/targets/micras/src/main.cpp
@@ -4,6 +4,7 @@
  * @brief Runs the Micras firmware, its own main, in the simulator.
  */
 
+#include <cstddef>
 #include <span>
 
 #include "micras/sim/app/application.hpp"
diff --git a/targets/micras/src/micras_target.cpp b/targets/micras/src/micras_target.cpp
index f22d109..617ce13 100644
--- a/targets/micras/src/micras_target.cpp
+++ b/targets/micras/src/micras_target.cpp
@@ -2,24 +2,39 @@
  * @file
  */
 
-#include <algorithm>
 #include <array>
 #include <bit>
+#include <cstddef>
+#include <cstdint>
+#include <filesystem>
 #include <format>
 #include <fstream>
 #include <iostream>
 #include <iterator>
-#include <stdexcept>
+#include <memory>
+#include <string>
 #include <string_view>
 #include <utility>
+#include <vector>
 
 #include "constants.hpp"
 #include "micras/comm/frame.hpp"
+#include "micras/comm/protocol.hpp"
 #include "micras/hal/host/board.hpp"
 #include "micras/hal/host/clock.hpp"
+#include "micras/hal/host/ports.hpp"
 #include "micras/micras.hpp"
+#include "micras/sim/app/wiring.hpp"
+#include "micras/sim/core/firmware_thread.hpp"
+#include "micras/sim/core/run_context.hpp"
 #include "micras/sim/micras/bindings.hpp"
 #include "micras/sim/micras/micras_target.hpp"
+#include "micras/sim/micras/pool_variables.hpp"
+#include "micras/sim/recording/ground_truth.hpp"
+#include "micras/sim/recording/run_metadata.hpp"
+#include "micras/sim/scenario/scenario.hpp"
+#include "micras/sim/view/panel_spec.hpp"
+#include "micras/states/base.hpp"
 #include "micras_firmware_sha.hpp"
 #include "target.hpp"
 
@@ -58,11 +73,6 @@ static_assert(
     state_name_table.size() == std::to_underlying(State::NUMBER_OF_STATES), "every firmware state needs a name"
 );
 
-/**
- * @brief The names of the states, as the panel, the overlay and the scenarios take them.
- */
-const std::vector<std::string> state_names{state_name_table.begin(), state_name_table.end()};
-
 /**
  * @brief Link commands a scenario sends by name, with their codes in Micras::Command.
  */
@@ -73,6 +83,17 @@ constexpr std::array<std::pair<const char*, Micras::Command>, 5> commands{{
     {"save", Micras::Command::SAVE},
     {"reset", Micras::Command::RESET},
 }};
+}  // namespace
+
+/**
+ * @brief Get the names of the states, as the panel, the overlay and the scenarios take them.
+ *
+ * @return The names, in the order of State.
+ */
+static const std::vector<std::string>& state_names() {
+    static const std::vector<std::string> names{state_name_table.begin(), state_name_table.end()};
+    return names;
+}
 
 /**
  * @brief Encode a link command, as micras-monitor sends it.
@@ -80,7 +101,7 @@ constexpr std::array<std::pair<const char*, Micras::Command>, 5> commands{{
  * @param command The command.
  * @return The frame's bytes.
  */
-std::vector<uint8_t> command_frame(Micras::Command command) {
+static std::vector<uint8_t> command_frame(Micras::Command command) {
     std::array<uint8_t, 5> payload{};
     comm::Writer           writer{payload};
     writer.u8(std::to_underlying(command));
@@ -88,7 +109,7 @@ std::vector<uint8_t> command_frame(Micras::Command command) {
 
     std::array<uint8_t, comm::max_frame_size> frame{};
     const std::size_t size = comm::encode_frame(comm::MessageType::COMMAND, writer.done(), frame);
-    return {frame.begin(), frame.begin() + static_cast<std::ptrdiff_t>(size)};
+    return {frame.begin(), std::next(frame.begin(), static_cast<std::ptrdiff_t>(size))};
 }
 
 /**
@@ -98,7 +119,7 @@ std::vector<uint8_t> command_frame(Micras::Command command) {
  * @param count Number of LEDs.
  * @return Their colours, green-red-blue on the wire, as the panel shows them.
  */
-std::vector<Colour> decode_argb(const hal::host::PwmDmaPort& port, std::size_t count) {
+static std::vector<Colour> decode_argb(const hal::host::PwmDmaPort& port, std::size_t count) {
     constexpr std::size_t bits_per_led{24};
     std::vector<Colour>   colours(count);
 
@@ -107,7 +128,7 @@ std::vector<Colour> decode_argb(const hal::host::PwmDmaPort& port, std::size_t c
 
         for (std::size_t bit = 0; bit < bits_per_led; bit++) {
             const std::size_t index = led * bits_per_led + bit;
-            const bool        high = index < port.compares.size() and 2 * port.compares[index] > port.period;
+            const bool        high = index < port.compares.size() and 2 * port.compares.at(index) > port.period;
             data = (data << 1U) | static_cast<uint32_t>(high);
         }
 
@@ -121,8 +142,6 @@ std::vector<Colour> decode_argb(const hal::host::PwmDmaPort& port, std::size_t c
     return colours;
 }
 
-}  // namespace
-
 std::string MicrasTarget::name() const {
     return "micras";
 }
@@ -210,7 +229,7 @@ Wiring MicrasTarget::wire(FirmwareThread& firmware, const WorldInfo& world) {
         .variables = this->variables.get(),
         .panel = this->make_panel(),
         .overlay =
-            {.state = StateLabel{.variable = "state", .names = state_names},
+            {.state = StateLabel{.variable = "state", .names = state_names()},
              .lines =
                  {{.label = "v reference", .variable = "reference/linear_speed", .unit = "m/s"},
                   {.label = "v estimate", .variable = "pose/linear_speed", .unit = "m/s"}}},
@@ -247,7 +266,7 @@ std::vector<MetadataField> MicrasTarget::metadata() const {
 PanelSpec MicrasTarget::make_panel() const {
     const MicrasBoard& devices = this->board;
     PanelSpec          panel{
-        .state = StateLabel{.variable = "state", .names = state_names},
+        .state = StateLabel{.variable = "state", .names = state_names()},
         .buttons = {{.name = "button", .press = [&devices](bool pressed) { devices.button->set(pressed); }}},
         .switches = {},
         .lamps = {},
@@ -267,7 +286,8 @@ PanelSpec MicrasTarget::make_panel() const {
 
     const hal::host::GpioPort& led = hal::host::Board::gpio(led_config.gpio.port, led_config.gpio.pin);
     panel.lamps.push_back({.name = "led", .colour = [&led] {
-                               return led.output ? Colour{255, 40, 40} : Colour{40, 40, 40};
+                               return led.output ? Colour{.red = 255, .green = 40, .blue = 40} :
+                                                   Colour{.red = 40, .green = 40, .blue = 40};
                            }});
 
     const hal::host::PwmDmaPort& argb =
@@ -307,7 +327,7 @@ ScenarioHooks MicrasTarget::make_hooks() const {
         hooks.messages.emplace(name, command_frame(command));
     }
 
-    hooks.state_names.emplace("state", state_names);
+    hooks.state_names.emplace("state", state_names());
     return hooks;
 }
 }  // namespace micras::sim
diff --git a/targets/micras/src/pool_variables.cpp b/targets/micras/src/pool_variables.cpp
index a31d920..40bf5d7 100644
--- a/targets/micras/src/pool_variables.cpp
+++ b/targets/micras/src/pool_variables.cpp
@@ -4,22 +4,29 @@
 
 #include <algorithm>
 #include <cstddef>
+#include <cstdint>
 #include <cstring>
 #include <limits>
+#include <optional>
+#include <span>
 #include <stdexcept>
+#include <string>
+#include <vector>
 
+#include "micras/core/variable_pool.hpp"
 #include "micras/micras.hpp"
+#include "micras/sim/core/span_at.hpp"
 #include "micras/sim/micras/pool_variables.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
 
 namespace micras::sim {
-namespace {
 /**
  * @brief Read a registered variable as a number.
  *
  * @param variable The variable.
  * @return Its value.
  */
-double read(const core::Variable& variable) {
+static double read(const core::Variable& variable) {
     const auto load = [&variable]<typename T>(T) {
         T value{};
         std::memcpy(&value, variable.address, sizeof(value));
@@ -62,7 +69,7 @@ double read(const core::Variable& variable) {
  * @param variable The variable.
  * @return Its prefix and name.
  */
-std::string full_name(const core::Variable& variable) {
+static std::string full_name(const core::Variable& variable) {
     return std::string{variable.prefix} + std::string{variable.name};
 }
 
@@ -71,7 +78,7 @@ std::string full_name(const core::Variable& variable) {
  *
  * @return The robot.
  */
-const Micras& robot() {
+static const Micras& robot() {
     const Micras* micras = Micras::get_instance();
 
     if (micras == nullptr) {
@@ -80,7 +87,6 @@ const Micras& robot() {
 
     return *micras;
 }
-}  // namespace
 
 bool PoolVariables::ready() const {
     return Micras::get_instance() != nullptr;
@@ -93,7 +99,7 @@ std::vector<std::string> PoolVariables::names() {
     const std::span<const core::Variable> variables = robot().get_variables().all();
 
     for (std::size_t index = 0; index < variables.size(); index++) {
-        const core::Variable& variable = variables[index];
+        const core::Variable& variable = at(variables, index);
 
         if (variable.type == core::TypeCode::BLOB) {
             continue;
diff --git a/targets/micras/tests/unit/hal_host_test.cpp b/targets/micras/tests/unit/hal_host_test.cpp
index b538635..e4b72e8 100644
--- a/targets/micras/tests/unit/hal_host_test.cpp
+++ b/targets/micras/tests/unit/hal_host_test.cpp
@@ -2,7 +2,6 @@
  * @file
  */
 
-#include <array>
 #include <cmath>
 #include <cstdint>
 #include <string_view>
@@ -10,10 +9,12 @@
 
 #include <doctest/doctest.h>
 
+#include "constants.hpp"
 #include "micras/hal/crc.hpp"
 #include "micras/hal/gpio.hpp"
 #include "micras/hal/host/board.hpp"
 #include "micras/hal/host/clock.hpp"
+#include "micras/hal/host/ports.hpp"
 #include "micras/hal/pwm.hpp"
 #include "micras/hal/timer.hpp"
 #include "target.hpp"
diff --git a/targets/micras/tests/unit/spi_chips_test.cpp b/targets/micras/tests/unit/spi_chips_test.cpp
index 5bc3df2..1504f2c 100644
--- a/targets/micras/tests/unit/spi_chips_test.cpp
+++ b/targets/micras/tests/unit/spi_chips_test.cpp
@@ -5,19 +5,23 @@
 #include <array>
 #include <cmath>
 #include <cstdint>
-#include <numbers>
 #include <vector>
 
 #include <doctest/doctest.h>
 
+#include "crc.h"
+#include "gpio.h"
 #include "micras/hal/crc.hpp"
 #include "micras/hal/host/board.hpp"
 #include "micras/hal/host/clock.hpp"
+#include "micras/hal/host/spi_device.hpp"
+#include "micras/hal/spi.hpp"
 #include "micras/hal/timer.hpp"
 #include "micras/models/as5047u_model.hpp"
 #include "micras/models/lsm6dsv_model.hpp"
 #include "micras/proxy/imu.hpp"
 #include "micras/proxy/rotary_sensor.hpp"
+#include "spi.h"
 #include "target.hpp"
 
 namespace micras::sim {
diff --git a/targets/micras/tests/unit/spi_slot_test.cpp b/targets/micras/tests/unit/spi_slot_test.cpp
index 4164338..14784ff 100644
--- a/targets/micras/tests/unit/spi_slot_test.cpp
+++ b/targets/micras/tests/unit/spi_slot_test.cpp
@@ -3,17 +3,23 @@
  */
 
 #include <array>
+#include <cstddef>
 #include <cstdint>
+#include <span>
 #include <string>
 #include <vector>
 
 #include <doctest/doctest.h>
 
+#include "gpio.h"
 #include "micras/hal/host/board.hpp"
 #include "micras/hal/host/clock.hpp"
+#include "micras/hal/host/ports.hpp"
 #include "micras/hal/host/spi_device.hpp"
 #include "micras/hal/spi.hpp"
 #include "micras/hal/timer.hpp"
+#include "micras/sim/core/span_at.hpp"
+#include "spi.h"
 #include "target.hpp"
 
 namespace micras::sim {
@@ -34,8 +40,8 @@ class RecordingDevice : public SpiDevice {
         this->events.push_back("exchange " + std::to_string(transmitted.size()));
 
         for (std::size_t index = 0; index < transmitted.size(); index++) {
-            this->bytes.push_back(transmitted[index]);
-            received[index] = static_cast<uint8_t>(transmitted[index] + this->offset);
+            this->bytes.push_back(at(transmitted, index));
+            at(received, index) = static_cast<uint8_t>(at(transmitted, index) + this->offset);
         }
     }
 
diff --git a/targets/micras/tools/robot_report.cpp b/targets/micras/tools/robot_report.cpp
index b005df3..729ce3e 100644
--- a/targets/micras/tools/robot_report.cpp
+++ b/targets/micras/tools/robot_report.cpp
@@ -14,18 +14,22 @@
 
 #include <algorithm>
 #include <cmath>
+#include <cstddef>
+#include <exception>
 #include <filesystem>
 #include <format>
 #include <iostream>
 #include <numbers>
 #include <string>
 
+#include "micras/nav/robot_model.hpp"
 #include "micras/sim/arenas/maze.hpp"
 #include "micras/sim/robot/robot_description.hpp"
 #include "robot.hpp"
 
 namespace {
 using micras::sim::RobotDescription;
+}  // namespace
 
 /**
  * @brief Print one row of the report.
@@ -36,10 +40,12 @@ using micras::sim::RobotDescription;
  * @param unit Unit both values are printed in.
  * @param scale Factor from SI to that unit.
  */
-void row(const std::string& quantity, double described, double believed, const std::string& unit, double scale = 1.0) {
-    const double difference = believed == 0.0 ? 0.0 : 100.0 * (described - believed) / std::abs(believed);
+static void
+    row(const std::string& quantity, double described, float believed, const std::string& unit, double scale = 1.0) {
+    const auto   belief = static_cast<double>(believed);
+    const double difference = belief == 0.0 ? 0.0 : 100.0 * (described - belief) / std::abs(belief);
     std::cout << std::format(
-        "{:34}  {:>12.5g}  {:>12.5g}  {:8}  {:>+8.1f} %\n", quantity, described * scale, believed * scale, unit,
+        "{:34}  {:>12.5g}  {:>12.5g}  {:8}  {:>+8.1f} %\n", quantity, described * scale, belief * scale, unit,
         difference
     );
 }
@@ -50,18 +56,22 @@ void row(const std::string& quantity, double described, double believed, const s
  * @param robot The description.
  * @return Inertia in kg m^2.
  */
-double yaw_inertia(const RobotDescription& robot) {
+static double yaw_inertia(const RobotDescription& robot) {
     const auto&  wheels = robot.wheels;
     const double offset = wheels.track / 2.0;
     const double transverse = wheels.mass * (3 * wheels.radius * wheels.radius + wheels.width * wheels.width) / 12;
-    const double chassis_offset = std::hypot(robot.chassis.center_of_mass[0], robot.chassis.center_of_mass[1]);
+    const double chassis_offset = std::hypot(robot.chassis.center_of_mass.at(0), robot.chassis.center_of_mass.at(1));
 
-    return robot.chassis.inertia[2] + robot.chassis.mass * chassis_offset * chassis_offset +
+    return robot.chassis.inertia.at(2) + robot.chassis.mass * chassis_offset * chassis_offset +
            2.0 * (transverse + wheels.mass * offset * offset);
 }
-}  // namespace
 
-int main() {
+/**
+ * @brief Print robot.toml against the firmware's robot.hpp, field by field.
+ *
+ * @return The exit status.
+ */
+static int run() {
     const RobotDescription robot = RobotDescription::load(std::filesystem::path{MICRAS_TARGET_DIR} / "robot.toml");
     const micras::nav::RobotModel& model = micras::robot_model;
     const micras::sim::MazeConfig  maze{};
@@ -71,9 +81,9 @@ int main() {
     double half_width = robot.wheels.track / 2.0 + robot.wheels.width / 2.0;
 
     for (const auto& corner : robot.chassis.outline) {
-        front = std::max(front, corner[0]);
-        rear = std::max(rear, -corner[0]);
-        half_width = std::max(half_width, std::abs(corner[1]));
+        front = std::max(front, corner.at(0));
+        rear = std::max(rear, -corner.at(0));
+        half_width = std::max(half_width, std::abs(corner.at(1)));
     }
 
     std::cout << std::format(
@@ -93,7 +103,7 @@ int main() {
 
     row("tyre friction coefficient", robot.wheels.friction, model.traction.friction_coefficient, "");
     row("fan downforce", robot.fan.max_downforce, model.traction.fan_downforce, "N");
-    row("fan offset ahead of the axle", robot.fan.position[0], model.traction.fan_offset, "mm", 1e3);
+    row("fan offset ahead of the axle", robot.fan.position.at(0), model.traction.fan_offset, "mm", 1e3);
 
     const auto& drive = robot.drive;
     row("torque constant", drive.torque_constant, model.drive.torque_constant, "mN m/A", 1e3);
@@ -108,8 +118,10 @@ int main() {
         const auto&       belief = model.wall_sensors.at(index);
         const std::string name = sensor.name + " sensor";
 
-        row(name + " x, lens midpoint", (sensor.emitter[0] + sensor.receiver[0]) / 2.0, belief.position.x, "mm", 1e3);
-        row(name + " y, lens midpoint", (sensor.emitter[1] + sensor.receiver[1]) / 2.0, belief.position.y, "mm", 1e3);
+        row(name + " x, lens midpoint", (sensor.emitter.at(0) + sensor.receiver.at(0)) / 2.0, belief.position.x, "mm",
+            1e3);
+        row(name + " y, lens midpoint", (sensor.emitter.at(1) + sensor.receiver.at(1)) / 2.0, belief.position.y, "mm",
+            1e3);
         row(name + " angle", sensor.yaw, belief.angle, "deg", 180.0 / std::numbers::pi);
     }
 
@@ -121,3 +133,12 @@ int main() {
 
     return 0;
 }
+
+int main() {
+    try {
+        return run();
+    } catch (const std::exception& error) {
+        std::cerr << error.what() << '\n';
+        return 1;
+    }
+}
diff --git a/targets/micras/tools/turn_designer.cpp b/targets/micras/tools/turn_designer.cpp
index 9867830..8700c5c 100644
--- a/targets/micras/tools/turn_designer.cpp
+++ b/targets/micras/tools/turn_designer.cpp
@@ -19,6 +19,7 @@
 #include <cmath>
 #include <cstddef>
 #include <cstdint>
+#include <exception>
 #include <format>
 #include <future>
 #include <iostream>
@@ -101,6 +102,7 @@ struct Result {
     double        time{};
     std::size_t   tried{};
 };
+}  // namespace
 
 /**
  * @brief Convert degrees to radians.
@@ -108,7 +110,7 @@ struct Result {
  * @param degrees The angle in degrees.
  * @return The angle in radians.
  */
-double to_radians(double degrees) {
+static double to_radians(double degrees) {
     return degrees * std::numbers::pi / 180.0;
 }
 
@@ -118,7 +120,7 @@ double to_radians(double degrees) {
  * @param index The index of the radius.
  * @return The curvature in 1/m.
  */
-double curvature_of(int index) {
+static double curvature_of(int index) {
     return 1.0 / (min_radius * std::pow(max_radius / min_radius, index / (number_of_radii - 1.0)));
 }
 
@@ -128,9 +130,9 @@ double curvature_of(int index) {
  * @param bend The bend.
  * @return The speed with a lateral acceleration of 1 m/s^2 and the matching angular one.
  */
-double relative_speed(const TurnBend& bend) {
-    const double lateral = micras::robot_model.traction_acceleration(true);
-    const double angular = micras::robot_model.traction_angular_acceleration(true);
+static double relative_speed(const TurnBend& bend) {
+    const auto lateral = static_cast<double>(micras::robot_model.traction_acceleration(true));
+    const auto angular = static_cast<double>(micras::robot_model.traction_angular_acceleration(true));
 
     return std::min(
         std::sqrt(1.0 / static_cast<double>(bend.curvature)),
@@ -145,17 +147,21 @@ double relative_speed(const TurnBend& bend) {
  * @param design The bends, whose straight before them is filled in.
  * @param candidates The list to add to.
  */
-void add_closures(const Frame& frame, TwoBendDesign design, std::vector<Candidate>& candidates) {
-    const TurnBend first = TurnTable::make_bend(micras::robot_model, design.first_angle, design.first_curvature);
-    const TurnBend second = TurnTable::make_bend(micras::robot_model, design.second_angle, design.second_curvature);
-    const auto     first_end = first.sample<double>(1.0e3);
-    const auto     second_end = second.sample<double>(1.0e3);
+static void add_closures(const Frame& frame, TwoBendDesign design, std::vector<Candidate>& candidates) {
+    const TurnBend first = TurnTable::make_bend(
+        micras::robot_model, static_cast<double>(design.first_angle), static_cast<double>(design.first_curvature)
+    );
+    const TurnBend second = TurnTable::make_bend(
+        micras::robot_model, static_cast<double>(design.second_angle), static_cast<double>(design.second_curvature)
+    );
+    const auto first_end = first.sample<double>(1.0e3);
+    const auto second_end = second.sample<double>(1.0e3);
 
     const double middle = frame.entry + static_cast<double>(first.angle);
     const double last = middle + static_cast<double>(second.angle);
     const double determinant = std::sin(static_cast<double>(second.angle));
     const double speed = std::min(relative_speed(first), relative_speed(second));
-    const double curve = first.length() + second.length();
+    const auto   curve = static_cast<double>(first.length() + second.length());
 
     const double bends_x = std::cos(frame.entry) * first_end.x - std::sin(frame.entry) * first_end.y +
                            std::cos(middle) * second_end.x - std::sin(middle) * second_end.y;
@@ -183,9 +189,9 @@ void add_closures(const Frame& frame, TwoBendDesign design, std::vector<Candidat
  * @param turn The turn.
  * @return The designs, with the time each takes.
  */
-std::vector<Candidate> list_candidates(TurnId turn) {
+static std::vector<Candidate> list_candidates(TurnId turn) {
     const micras::nav::TurnPrimitive& primitive = micras::nav::get_primitive(turn);
-    const double                      half_cell = static_cast<double>(micras::robot_model.maze.cell_size) / 2.0;
+    const auto                        half_cell = static_cast<double>(micras::robot_model.maze.cell_size) / 2.0;
     const Frame                       frame{
         .entry = primitive.diagonal_entry ? std::numbers::pi / 4.0 : 0.0,
         .exit_x = primitive.exit.x * half_cell,
@@ -239,7 +245,7 @@ std::vector<Candidate> list_candidates(TurnId turn) {
  * @param margin The clearance asked of the turn.
  * @return The design, with no curvature if nothing on the grid fits.
  */
-Result design(TurnId turn, float margin) {
+static Result design(TurnId turn, float margin) {
     Result result{};
 
     for (const Candidate& candidate : list_candidates(turn)) {
@@ -249,10 +255,10 @@ Result design(TurnId turn, float margin) {
 
         if (shape.valid) {
             result.design = candidate.design;
-            result.speed = std::min(
+            result.speed = static_cast<double>(std::min(
                 std::sqrt(micras::robot_model.traction_acceleration(true) / shape.curvature),
                 std::sqrt(micras::robot_model.traction_angular_acceleration(true) / shape.sharpness)
-            );
+            ));
             result.time = static_cast<double>(shape.total_length()) / result.speed;
             break;
         }
@@ -267,7 +273,7 @@ Result design(TurnId turn, float margin) {
  * @param value The number.
  * @return The literal, with enough digits to read back the same float.
  */
-std::string literal(float value) {
+static std::string literal(float value) {
     std::string text = std::format("{:.9g}", value);
 
     if (text.find_first_of(".e") == std::string::npos) {
@@ -285,7 +291,7 @@ std::string literal(float value) {
  * @param results What was found for each turn.
  * @return The declaration.
  */
-std::string to_array(const char* name, float margin, const std::vector<Result>& results) {
+static std::string to_array(const char* name, float margin, const std::vector<Result>& results) {
     std::string text = std::format(
         "/**\n * @brief Designs of the turns of two bends, from nav::first_two_bend_turn on, with a margin of {:.0f} "
         "mm.\n"
@@ -313,7 +319,7 @@ std::string to_array(const char* name, float margin, const std::vector<Result>&
  * @param margin The margin.
  * @param results What was found for each turn.
  */
-void report(float margin, const std::vector<Result>& results) {
+static void report(float margin, const std::vector<Result>& results) {
     std::cerr << std::format("margin {:.0f} mm, speed with the fan at full traction\n", 1000.0F * margin);
 
     for (std::size_t i = 0; i < results.size(); i++) {
@@ -334,9 +340,13 @@ void report(float margin, const std::vector<Result>& results) {
         );
     }
 }
-}  // namespace
 
-int main() {
+/**
+ * @brief Design every turn of two bends and print the firmware's header.
+ *
+ * @return The exit status.
+ */
+static int run() {
     const std::array<float, 2> margins{micras::turn_margin, micras::risky_turn_margin};
 
     std::vector<std::future<Result>> futures;
@@ -376,3 +386,12 @@ int main() {
 
     return 0;
 }
+
+int main() {
+    try {
+        return run();
+    } catch (const std::exception& error) {
+        std::cerr << error.what() << '\n';
+        return 1;
+    }
+}
diff --git a/targets/micras/tools/wall_calibration.cpp b/targets/micras/tools/wall_calibration.cpp
index b4cfbf2..3670d2e 100644
--- a/targets/micras/tools/wall_calibration.cpp
+++ b/targets/micras/tools/wall_calibration.cpp
@@ -23,20 +23,23 @@
 #include <cmath>
 #include <cstddef>
 #include <cstdint>
+#include <exception>
 #include <filesystem>
 #include <format>
 #include <iostream>
 #include <numbers>
 #include <span>
-#include <string>
 #include <string_view>
 #include <vector>
 
+#include <mujoco/mjtype.h>
+#include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
 
 #include "micras/sim/arenas/maze.hpp"
 #include "micras/sim/core/clock.hpp"
 #include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/span_at.hpp"
 #include "micras/sim/devices/wall_sensors.hpp"
 #include "micras/sim/robot/robot_description.hpp"
 #include "micras/sim/robot/robot_model.hpp"
@@ -81,6 +84,7 @@ struct Sample {
     std::vector<double> readings;
     std::vector<double> ranges;
 };
+}  // namespace
 
 /**
  * @brief Read every sensor with its own emitter lit, robot in the middle cell facing up.
@@ -91,7 +95,7 @@ struct Sample {
  * @param along How far ahead of the cell centre the robot is, in metres.
  * @return Each sensor's lit minus dark reading, as the firmware normalises it, and its axis range.
  */
-Sample sample(const RobotDescription& robot, std::string_view drawing, double across = 0.0, double along = 0.0) {
+static Sample sample(const RobotDescription& robot, std::string_view drawing, double across = 0.0, double along = 0.0) {
     const MazeConfig config{};
     const Maze       maze = Maze::parse(drawing);
 
@@ -142,7 +146,9 @@ Sample sample(const RobotDescription& robot, std::string_view drawing, double ac
 
         const auto site = static_cast<std::size_t>(world.require_id(mjOBJ_SITE, description.name + "_emitter"));
         const std::span<const mjtNum> frame = site_frames.subspan(9 * site, 9);
-        const std::array<mjtNum, 3>   axis{frame[0], frame[3], frame[6]};
+        const std::array<mjtNum, 3>   axis{
+            micras::sim::at(frame, 0), micras::sim::at(frame, 3), micras::sim::at(frame, 6)
+        };
         std::array<mjtByte, mjNGROUP> groups{1, 1, 1, 1, 1, 1};
         groups.at(MujocoWorld::unseen_group) = 0;
         int geom = -1;
@@ -161,7 +167,7 @@ Sample sample(const RobotDescription& robot, std::string_view drawing, double ac
  * @param distance Distance to the wall in metres.
  * @return The shape of the reading.
  */
-double firmware_shape(double distance) {
+static double firmware_shape(double distance) {
     const auto&  config = micras::wall_sensors_config;
     const double angle = std::atan(static_cast<double>(config.receiver_offset) / distance) /
                          static_cast<double>(config.receiver_half_angle);
@@ -178,9 +184,9 @@ double firmware_shape(double distance) {
  * @param reading Normalised reading.
  * @return Distance in metres.
  */
-double firmware_distance(std::size_t sensor, double reading) {
+static double firmware_distance(std::size_t sensor, double reading) {
     const auto&  config = micras::wall_sensors_config;
-    const double reference = config.reference_distances.at(sensor);
+    const auto   reference = static_cast<double>(config.reference_distances.at(sensor));
     const double target =
         reading / static_cast<double>(config.reference_readings.at(sensor)) * firmware_shape(reference);
     double low = 0.001;
@@ -189,7 +195,7 @@ double firmware_distance(std::size_t sensor, double reading) {
         low += 0.001;
     }
 
-    double high = config.max_distance;
+    auto high = static_cast<double>(config.max_distance);
 
     if (firmware_shape(low) <= target) {
         return low;
@@ -212,7 +218,7 @@ double firmware_distance(std::size_t sensor, double reading) {
  *
  * @param robot The robot.
  */
-void sweep(const RobotDescription& robot) {
+static void sweep(const RobotDescription& robot) {
     std::cout << "front sensors, robot moved toward the wall ahead\n";
     std::cout << "  along_mm  sensor        range_mm  firmware_mm  error_mm\n";
 
@@ -257,13 +263,19 @@ void sweep(const RobotDescription& robot) {
         }
     }
 }
-}  // namespace
 
-int main(int argc, char** argv) {
+/**
+ * @brief Print each wall sensor's gain, or with --sweep the firmware's distances against the true ones.
+ *
+ * @param argc Number of arguments.
+ * @param argv The arguments.
+ * @return The exit status.
+ */
+static int run(int argc, char** argv) {
     const std::span<char*> arguments(argv, static_cast<std::size_t>(argc));
     const RobotDescription robot = RobotDescription::load(std::filesystem::path{MICRAS_TARGET_DIR} / "robot.toml");
 
-    if (arguments.size() > 1 and std::string_view{arguments[1]} == "--sweep") {
+    if (arguments.size() > 1 and std::string_view{micras::sim::at(arguments, 1)} == "--sweep") {
         sweep(robot);
         return 0;
     }
@@ -277,7 +289,7 @@ int main(int argc, char** argv) {
         const WallSensorDescription& description = robot.wall_sensors.sensors.at(sensor);
         const bool                   side = std::abs(std::sin(description.yaw)) > 0.1;
         const double                 simulated = side ? corridor.at(sensor) : facing.at(sensor);
-        const double                 reference = micras::wall_sensors_config.reference_readings.at(sensor);
+        const auto reference = static_cast<double>(micras::wall_sensors_config.reference_readings.at(sensor));
 
         std::cout << std::format(
             "{:12}  {:9}  {:9.4f}  {:9.4f}  {:.4f}\n", description.name, side ? "corridor" : "facing", simulated,
@@ -287,3 +299,12 @@ int main(int argc, char** argv) {
 
     return 0;
 }
+
+int main(int argc, char** argv) {
+    try {
+        return run(argc, argv);
+    } catch (const std::exception& error) {
+        std::cerr << error.what() << '\n';
+        return 1;
+    }
+}
diff --git a/tests/unit/cli_test.cpp b/tests/unit/cli_test.cpp
index 74bfeb6..0911d3e 100644
--- a/tests/unit/cli_test.cpp
+++ b/tests/unit/cli_test.cpp
@@ -1,4 +1,3 @@
-#include <array>
 #include <span>
 #include <stdexcept>
 #include <string>
@@ -7,9 +6,9 @@
 #include <doctest/doctest.h>
 
 #include "micras/sim/app/cli.hpp"
+#include "micras/sim/app/wiring.hpp"
 
 namespace micras::sim {
-namespace {
 /**
  * @brief Parse a command line written the way a shell would pass it.
  *
@@ -17,7 +16,7 @@ namespace {
  * @param target_options Options the robot target adds.
  * @return Parsed options.
  */
-CliOptions parse(std::vector<std::string> words, std::span<const CliOption> target_options = {}) {
+static CliOptions parse(std::vector<std::string> words, std::span<const CliOption> target_options = {}) {
     std::vector<std::string> owned{"robot_sim"};
     owned.insert(owned.end(), words.begin(), words.end());
 
@@ -31,6 +30,7 @@ CliOptions parse(std::vector<std::string> words, std::span<const CliOption> targ
     return Cli::parse(std::span(argv), target_options);
 }
 
+namespace {
 TEST_CASE("Cli.ReadsTheRequiredOptions") {
     const CliOptions options = parse({"--out", "runs/here"});
 
diff --git a/tests/unit/clock_test.cpp b/tests/unit/clock_test.cpp
index cc2e2c7..7929ce4 100644
--- a/tests/unit/clock_test.cpp
+++ b/tests/unit/clock_test.cpp
@@ -1,17 +1,18 @@
-#include <doctest/doctest.h>
 #include <stdexcept>
 
+#include <doctest/doctest.h>
+
 #include "micras/sim/core/clock.hpp"
 
 namespace micras::sim {
-namespace {
 /**
  * @brief A timestep that divides the loop into two steps.
  */
-Clock harness_clock() {
+static Clock harness_clock() {
     return Clock::from_model(0.000521, 1042);
 }
 
+namespace {
 TEST_CASE("Clock.DerivesTheStepCountFromTheModel") {
     const Clock clock = harness_clock();
     CHECK_EQ(clock.steps_per_tick(), 2);
diff --git a/tests/unit/csv_recorder_test.cpp b/tests/unit/csv_recorder_test.cpp
index 2a159f4..94241bf 100644
--- a/tests/unit/csv_recorder_test.cpp
+++ b/tests/unit/csv_recorder_test.cpp
@@ -1,3 +1,5 @@
+#include <cstddef>
+#include <cstdint>
 #include <filesystem>
 #include <fstream>
 #include <stdexcept>
@@ -6,15 +8,16 @@
 
 #include <doctest/doctest.h>
 
+#include "micras/sim/recording/column_source.hpp"
 #include "micras/sim/recording/csv_recorder.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
 #include "micras/sim/recording/ground_truth.hpp"
 
 namespace micras::sim {
-namespace {
 /**
  * @brief Ground truth of the tiny robot: one column of each kind the probes cover.
  */
-GroundTruthConfig tiny_config() {
+static GroundTruthConfig tiny_config() {
     return {
         .body = "robot",
         .columns = {
@@ -30,6 +33,7 @@ GroundTruthConfig tiny_config() {
     };
 }
 
+namespace {
 /**
  * @brief A column source with fixed names and values.
  */
diff --git a/tests/unit/csv_writer_test.cpp b/tests/unit/csv_writer_test.cpp
index 8739031..7826306 100644
--- a/tests/unit/csv_writer_test.cpp
+++ b/tests/unit/csv_writer_test.cpp
@@ -1,9 +1,10 @@
 #include <cmath>
+#include <cstdint>
 #include <filesystem>
-#include <fstream>
 #include <limits>
-#include <sstream>
 #include <stdexcept>
+#include <string>
+#include <vector>
 
 #include <doctest/doctest.h>
 
diff --git a/tests/unit/devices_test.cpp b/tests/unit/devices_test.cpp
index 32524d0..1a5c780 100644
--- a/tests/unit/devices_test.cpp
+++ b/tests/unit/devices_test.cpp
@@ -1,4 +1,4 @@
-#include <cmath>
+#include <cstddef>
 #include <cstdint>
 #include <deque>
 #include <numbers>
@@ -9,22 +9,25 @@
 #include <vector>
 
 #include <doctest/doctest.h>
+#include <mujoco/mjtype.h>
 
 #include "micras/sim/core/clock.hpp"
 #include "micras/sim/core/mujoco_world.hpp"
 #include "micras/sim/core/serial_bus.hpp"
+#include "micras/sim/core/span_at.hpp"
 #include "micras/sim/devices/dc_motor.hpp"
 #include "micras/sim/devices/digital_input.hpp"
 #include "micras/sim/devices/quadrature_encoder.hpp"
 #include "micras/sim/devices/serial_link.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
+#include "micras/sim/robot/robot_description.hpp"
 #include "support.hpp"
 
 namespace micras::sim {
-namespace {
 /**
  * @brief A made-up drive: a 6 V supply, a 10 ohm path, a 5:1 gearbox.
  */
-DriveDescription tiny_drive() {
+static DriveDescription tiny_drive() {
     return {
         .winding_resistance = 9.5,
         .bridge_resistance = 0.5,
@@ -38,6 +41,7 @@ DriveDescription tiny_drive() {
     };
 }
 
+namespace {
 /**
  * @brief The tiny robot's world and a clock of 1042 us ticks.
  */
@@ -55,7 +59,7 @@ class Devices {
         const std::span<const int> addresses(
             this->world.model()->jnt_qposadr, static_cast<std::size_t>(this->world.model()->njnt)
         );
-        return positions[static_cast<std::size_t>(addresses[this->wheel()])];
+        return at(positions, static_cast<std::size_t>(at(addresses, this->wheel())));
     }
 
     /**
@@ -68,7 +72,7 @@ class Devices {
         const std::span<const int> addresses(
             this->world.model()->jnt_dofadr, static_cast<std::size_t>(this->world.model()->njnt)
         );
-        return velocities[static_cast<std::size_t>(addresses[this->wheel()])];
+        return at(velocities, static_cast<std::size_t>(at(addresses, this->wheel())));
     }
 
     /**
@@ -80,7 +84,7 @@ class Devices {
         const std::span<const mjtNum> controls(
             this->world.data()->ctrl, static_cast<std::size_t>(this->world.model()->nu)
         );
-        return controls[static_cast<std::size_t>(this->world.require_id(mjOBJ_ACTUATOR, "motor"))];
+        return at(controls, static_cast<std::size_t>(this->world.require_id(mjOBJ_ACTUATOR, "motor")));
     }
 
     /**
diff --git a/tests/unit/event_log_test.cpp b/tests/unit/event_log_test.cpp
index ac37eca..fff84b9 100644
--- a/tests/unit/event_log_test.cpp
+++ b/tests/unit/event_log_test.cpp
@@ -1,14 +1,17 @@
 #include <cmath>
-#include <map>
+#include <cstddef>
 #include <span>
 #include <string>
-#include <utility>
 #include <vector>
 
 #include <doctest/doctest.h>
+#include <mujoco/mjtype.h>
+#include <mujoco/mujoco.h>
 
+#include "micras/sim/core/firmware_thread.hpp"
 #include "micras/sim/core/run_context.hpp"
 #include "micras/sim/core/simulation.hpp"
+#include "micras/sim/core/span_at.hpp"
 #include "micras/sim/recording/event_log.hpp"
 #include "support.hpp"
 
@@ -36,7 +39,7 @@ class Logging {
         MujocoWorld&            world = this->context.world;
         const std::span<mjtNum> positions(world.data()->qpos, static_cast<std::size_t>(world.model()->nq));
 
-        positions[2] = touching ? 0.005 : 0.1;
+        at(positions, 2) = touching ? 0.005 : 0.1;
         world.data()->time = time;
         mj_forward(world.model(), world.data());
         log.on_after_tick(this->simulation);
diff --git a/tests/unit/maze_test.cpp b/tests/unit/maze_test.cpp
index 03be301..8146405 100644
--- a/tests/unit/maze_test.cpp
+++ b/tests/unit/maze_test.cpp
@@ -1,17 +1,18 @@
 #include <cmath>
+#include <cstddef>
 #include <filesystem>
-#include <fstream>
 #include <span>
-#include <sstream>
 #include <stdexcept>
 #include <string>
 #include <string_view>
 #include <utility>
 
 #include <doctest/doctest.h>
+#include <mujoco/mjtype.h>
 
 #include "micras/sim/arenas/maze.hpp"
 #include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/span_at.hpp"
 #include "micras/sim/core/text_file.hpp"
 
 namespace micras::sim {
@@ -148,9 +149,9 @@ TEST_CASE("Maze.PlacesTheWallsOnTheCellEdges") {
     );
     const auto first = static_cast<std::size_t>(3 * world.require_id(mjOBJ_GEOM, "maze_south_1_1"));
 
-    CHECK_LE(std::abs(positions[first] - 0.3), 1e-9);
-    CHECK_LE(std::abs(positions[first + 1] - 0.2), 1e-9);
-    CHECK_LE(std::abs(positions[first + 2] - (config.wall_height / 2)), 1e-9);
+    CHECK_LE(std::abs(at(positions, first) - 0.3), 1e-9);
+    CHECK_LE(std::abs(at(positions, first + 1) - 0.2), 1e-9);
+    CHECK_LE(std::abs(at(positions, first + 2) - (config.wall_height / 2)), 1e-9);
 }
 
 TEST_CASE("Maze.SeesTheFloorDarkAndEverythingElseAsWall") {
diff --git a/tests/unit/noise_test.cpp b/tests/unit/noise_test.cpp
index bb9196a..8d53f14 100644
--- a/tests/unit/noise_test.cpp
+++ b/tests/unit/noise_test.cpp
@@ -8,7 +8,6 @@
 #include "micras/sim/core/noise.hpp"
 
 namespace micras::sim {
-namespace {
 /**
  * @brief Draw a number of samples from a fresh stream.
  *
@@ -18,7 +17,8 @@ namespace {
  * @param sigma Standard deviation of every sample.
  * @return The samples.
  */
-std::vector<double> draw(const NoiseConfig& config, std::string_view stream, std::size_t count, double sigma = 1.0) {
+static std::vector<double>
+    draw(const NoiseConfig& config, std::string_view stream, std::size_t count, double sigma = 1.0) {
     Noise               noise(config, stream);
     std::vector<double> samples;
     samples.reserve(count);
@@ -30,6 +30,7 @@ std::vector<double> draw(const NoiseConfig& config, std::string_view stream, std
     return samples;
 }
 
+namespace {
 TEST_CASE("Noise.RepeatsAStreamForTheSameSeedAndName") {
     CHECK_EQ(draw({.seed = 3}, "gyro", 100), draw({.seed = 3}, "gyro", 100));
 }
diff --git a/tests/unit/robot_description_test.cpp b/tests/unit/robot_description_test.cpp
index 2fbfae9..826b838 100644
--- a/tests/unit/robot_description_test.cpp
+++ b/tests/unit/robot_description_test.cpp
@@ -1,4 +1,4 @@
-#include <algorithm>
+#include <cstddef>
 #include <filesystem>
 #include <fstream>
 #include <numbers>
@@ -8,6 +8,7 @@
 #include <string_view>
 
 #include <doctest/doctest.h>
+#include <mujoco/mjtype.h>
 
 #include "micras/sim/arenas/maze.hpp"
 #include "micras/sim/core/mujoco_world.hpp"
@@ -15,13 +16,12 @@
 #include "micras/sim/robot/robot_model.hpp"
 
 namespace micras::sim {
-namespace {
 /**
  * @brief Read the tiny robot's description as text.
  *
  * @return Contents of tiny_robot.toml.
  */
-std::string tiny_text() {
+static std::string tiny_text() {
     const std::ifstream file(MICRAS_TEST_ROBOT);
     std::ostringstream  text;
     text << file.rdbuf();
@@ -36,7 +36,7 @@ std::string tiny_text() {
  * @param to Replacement.
  * @return The edited text.
  */
-std::string replaced(std::string text, std::string_view from, std::string_view to) {
+static std::string replaced(std::string text, std::string_view from, std::string_view to) {
     const std::size_t position = text.find(from);
     CHECK_MESSAGE(position != std::string::npos, "the tiny robot has no " << from);
 
@@ -53,7 +53,7 @@ std::string replaced(std::string text, std::string_view from, std::string_view t
  * @param text Contents of a robot.toml.
  * @return The error message, or empty when the description was accepted.
  */
-std::string refusal_of(std::string_view text) {
+static std::string refusal_of(std::string_view text) {
     try {
         RobotDescription::parse(text, "tiny.toml");
     } catch (const std::runtime_error& error) {
@@ -63,6 +63,7 @@ std::string refusal_of(std::string_view text) {
     return {};
 }
 
+namespace {
 TEST_CASE("RobotDescription.ReadsEverySection") {
     const RobotDescription robot = RobotDescription::load(MICRAS_TEST_ROBOT);
 
@@ -73,7 +74,7 @@ TEST_CASE("RobotDescription.ReadsEverySection") {
     CHECK_EQ(robot.wheels.track, doctest::Approx(0.05).epsilon(1e-12));
     CHECK_EQ(robot.drive.resistance(), doctest::Approx(10.5).epsilon(1e-12));
     CHECK_EQ(robot.encoders.counts_per_revolution, 4096U);
-    CHECK_EQ(robot.imu.axes[1][1], doctest::Approx(1.0).epsilon(1e-12));
+    CHECK_EQ(robot.imu.axes.at(1).at(1), doctest::Approx(1.0).epsilon(1e-12));
     CHECK_EQ(robot.fan.nominal_voltage, doctest::Approx(7.4).epsilon(1e-12));
     CHECK_EQ(robot.battery.cells, 2);
     CHECK_EQ(robot.link.baud_rate, 9600U);
@@ -85,7 +86,7 @@ TEST_CASE("RobotDescription.ReadsArraysOfParts") {
 
     REQUIRE_EQ(robot.chassis.boxes.size(), 1U);
     CHECK_EQ(robot.chassis.boxes.front().name, "cargo");
-    CHECK_EQ(robot.chassis.boxes.front().max[2], doctest::Approx(0.02).epsilon(1e-12));
+    CHECK_EQ(robot.chassis.boxes.front().max.at(2), doctest::Approx(0.02).epsilon(1e-12));
     REQUIRE_EQ(robot.chassis.cylinders.size(), 1U);
     CHECK_EQ(robot.chassis.cylinders.front().radius, doctest::Approx(0.005).epsilon(1e-12));
     REQUIRE_EQ(robot.wall_sensors.sensors.size(), 1U);
diff --git a/tests/unit/run_metadata_test.cpp b/tests/unit/run_metadata_test.cpp
index e93a74a..82d7b1c 100644
--- a/tests/unit/run_metadata_test.cpp
+++ b/tests/unit/run_metadata_test.cpp
@@ -1,7 +1,9 @@
 #include <array>
+#include <cstddef>
 #include <filesystem>
 #include <fstream>
 #include <span>
+#include <string>
 
 #include <doctest/doctest.h>
 
diff --git a/tests/unit/scenario_test.cpp b/tests/unit/scenario_test.cpp
index 1a1a125..20d0d1f 100644
--- a/tests/unit/scenario_test.cpp
+++ b/tests/unit/scenario_test.cpp
@@ -1,11 +1,9 @@
-#include <array>
 #include <cmath>
 #include <cstdint>
 #include <map>
 #include <memory>
 #include <numbers>
 #include <optional>
-#include <span>
 #include <stdexcept>
 #include <string>
 #include <string_view>
@@ -14,8 +12,12 @@
 
 #include <doctest/doctest.h>
 
+#include "micras/sim/core/firmware_thread.hpp"
+#include "micras/sim/core/mujoco_world.hpp"
 #include "micras/sim/core/run_context.hpp"
 #include "micras/sim/core/simulation.hpp"
+#include "micras/sim/core/variable_source.hpp"
+#include "micras/sim/devices/digital_input.hpp"
 #include "micras/sim/scenario/scenario.hpp"
 #include "support.hpp"
 
@@ -105,6 +107,7 @@ class Probe : public IRunListener {
 private:
     const DigitalInput& input;  // NOLINT(*-avoid-const-or-ref-data-members): the fixture outlives the probe.
 };
+}  // namespace
 
 /**
  * @brief Parse a scenario and return the message it was refused with.
@@ -112,7 +115,7 @@ class Probe : public IRunListener {
  * @param text Contents of a scenario file.
  * @return The error message, or empty when the scenario was accepted.
  */
-std::string refusal_of(std::string_view text) {
+static std::string refusal_of(std::string_view text) {
     try {
         Scenario::parse(text, "test.toml");
     } catch (const std::runtime_error& error) {
@@ -122,6 +125,7 @@ std::string refusal_of(std::string_view text) {
     return {};
 }
 
+namespace {
 TEST_CASE("Scenario.ReadsTheRunSettings") {
     const Scenario scenario = Scenario::parse(full_scenario);
 
diff --git a/tests/unit/serial_bus_test.cpp b/tests/unit/serial_bus_test.cpp
index 3f98597..d9b7388 100644
--- a/tests/unit/serial_bus_test.cpp
+++ b/tests/unit/serial_bus_test.cpp
@@ -1,3 +1,6 @@
+#include <cstdint>
+#include <vector>
+
 #include <doctest/doctest.h>
 
 #include "micras/sim/core/serial_bus.hpp"
diff --git a/tests/unit/simulation_test.cpp b/tests/unit/simulation_test.cpp
index 482f392..80e44e2 100644
--- a/tests/unit/simulation_test.cpp
+++ b/tests/unit/simulation_test.cpp
@@ -1,9 +1,11 @@
 #include <stdexcept>
 #include <string>
+#include <utility>
 #include <vector>
 
 #include <doctest/doctest.h>
 
+#include "micras/sim/core/firmware_thread.hpp"
 #include "micras/sim/core/run_context.hpp"
 #include "micras/sim/core/simulation.hpp"
 #include "support.hpp"
diff --git a/tests/unit/web_socket_server_test.cpp b/tests/unit/web_socket_server_test.cpp
index 4bb9c55..5a99e44 100644
--- a/tests/unit/web_socket_server_test.cpp
+++ b/tests/unit/web_socket_server_test.cpp
@@ -2,6 +2,7 @@
  * @file
  */
 
+#include <algorithm>
 #include <array>
 #include <chrono>
 #include <cstddef>
@@ -11,15 +12,16 @@
 #include <thread>
 #include <vector>
 
-#include <arpa/inet.h>
 #include <netinet/in.h>
 #include <sys/socket.h>
+#include <sys/types.h>
 #include <unistd.h>
 
 #include <doctest/doctest.h>
 
 #include "micras/sim/bridge/monitor_bridge.hpp"
 #include "micras/sim/bridge/web_socket_server.hpp"
+#include "micras/sim/core/firmware_thread.hpp"
 #include "micras/sim/core/run_context.hpp"
 #include "micras/sim/core/simulation.hpp"
 #include "support.hpp"
@@ -49,6 +51,7 @@ class Socket {
 private:
     int descriptor;
 };
+}  // namespace
 
 /**
  * @brief Build a loopback address.
@@ -56,7 +59,7 @@ class Socket {
  * @param port Port in host order, 0 for any.
  * @return The address.
  */
-sockaddr_in loopback(uint16_t port) {
+static sockaddr_in loopback(uint16_t port) {
     sockaddr_in address{};
     address.sin_family = AF_INET;
     address.sin_port = htons(port);
@@ -70,10 +73,12 @@ sockaddr_in loopback(uint16_t port) {
  * @param socket Socket to bind.
  * @return The port it holds.
  */
-uint16_t hold_free_port(const Socket& socket) {
+static uint16_t hold_free_port(const Socket& socket) {
     sockaddr_in address = loopback(0);
     socklen_t   length = sizeof(address);
 
+    REQUIRE_GE(socket.get(), 0);
+
     // NOLINTBEGIN(*-reinterpret-cast): the sockets API takes its addresses as sockaddr.
     CHECK_EQ(bind(socket.get(), reinterpret_cast<sockaddr*>(&address), sizeof(address)), 0);
     CHECK_EQ(listen(socket.get(), 1), 0);
@@ -88,7 +93,7 @@ uint16_t hold_free_port(const Socket& socket) {
  *
  * @return The port, released again.
  */
-uint16_t free_port() {
+static uint16_t free_port() {
     const Socket socket;
     return hold_free_port(socket);
 }
@@ -103,8 +108,9 @@ uint16_t free_port() {
  * @param port Port the server listens on.
  * @return True once the server answered the handshake.
  */
-bool connect_and_stall(const Socket& socket, uint16_t port) {
+static bool connect_and_stall(const Socket& socket, uint16_t port) {
     const int receive_buffer = 1024;
+    // NOLINTNEXTLINE(misc-include-cleaner): <sys/socket.h> provides them through a kernel header.
     setsockopt(socket.get(), SOL_SOCKET, SO_RCVBUF, &receive_buffer, sizeof(receive_buffer));
 
     sockaddr_in address = loopback(port);
@@ -124,12 +130,12 @@ bool connect_and_stall(const Socket& socket, uint16_t port) {
     std::string         response;
     std::array<char, 1> character{};
 
-    while (response.find("\r\n\r\n") == std::string::npos) {
+    while (!response.contains("\r\n\r\n")) {
         if (recv(socket.get(), character.data(), 1, 0) != 1) {
             return false;
         }
 
-        response.push_back(character[0]);
+        response.push_back(character.at(0));
     }
 
     return response.starts_with("HTTP/1.1 101");
@@ -142,7 +148,7 @@ bool connect_and_stall(const Socket& socket, uint16_t port) {
  * @param payload Bytes to send, fewer than 126.
  * @return True when the whole frame was written.
  */
-bool send_binary(const Socket& socket, const std::vector<uint8_t>& payload) {
+static bool send_binary(const Socket& socket, const std::vector<uint8_t>& payload) {
     const std::array<uint8_t, 4> mask{0x12, 0x34, 0x56, 0x78};
     std::vector<uint8_t>         frame{0x82, static_cast<uint8_t>(0x80 | payload.size())};
     frame.insert(frame.end(), mask.begin(), mask.end());
@@ -160,14 +166,14 @@ bool send_binary(const Socket& socket, const std::vector<uint8_t>& payload) {
  * @param socket Connected socket.
  * @return The frame's payload, empty when it was not a short binary frame.
  */
-std::vector<uint8_t> receive_binary(const Socket& socket) {
+static std::vector<uint8_t> receive_binary(const Socket& socket) {
     std::array<uint8_t, 2> head{};
 
-    if (recv(socket.get(), head.data(), head.size(), MSG_WAITALL) != 2 or head[0] != 0x82 or head[1] >= 126) {
+    if (recv(socket.get(), head.data(), head.size(), MSG_WAITALL) != 2 or head.at(0) != 0x82 or head.at(1) >= 126) {
         return {};
     }
 
-    std::vector<uint8_t> payload(head[1]);
+    std::vector<uint8_t> payload(head.at(1));
 
     if (recv(socket.get(), payload.data(), payload.size(), MSG_WAITALL) != static_cast<ssize_t>(payload.size())) {
         return {};
@@ -176,6 +182,7 @@ std::vector<uint8_t> receive_binary(const Socket& socket) {
     return payload;
 }
 
+namespace {
 TEST_CASE("MonitorBridge.CarriesRawBytesBothWays") {
     RunContext context;
     load_tiny_world(context.world, context.clock);
diff --git a/view/src/control_panel.cpp b/view/src/control_panel.cpp
index 39cb811..568bffe 100644
--- a/view/src/control_panel.cpp
+++ b/view/src/control_panel.cpp
@@ -7,8 +7,10 @@
 #ifdef MICRAS_SIM_VIEWER
 
     #include <algorithm>
+    #include <cstddef>
     #include <format>
     #include <limits>
+    #include <string>
     #include <utility>
 
     #include <GLFW/glfw3.h>
@@ -17,6 +19,10 @@
     #include <imgui_impl_opengl3.h>
     #include <implot.h>
 
+    #include "micras/sim/core/simulation.hpp"
+    #include "micras/sim/core/variable_source.hpp"
+    #include "micras/sim/view/panel_spec.hpp"
+
 namespace micras::sim {
 PlotTrace::PlotTrace(std::string variable) : variable{std::move(variable)} { }
 
@@ -43,6 +49,7 @@ constexpr double speed_maximum{10.0};
  * @brief Switches drawn on one row before the next row starts.
  */
 constexpr std::size_t switches_per_row{4};
+}  // namespace
 
 /**
  * @brief Draw a colour swatch for one lamp.
@@ -50,13 +57,12 @@ constexpr std::size_t switches_per_row{4};
  * @param label Label shown beside it.
  * @param colour Colour to show.
  */
-void draw_swatch(const std::string& label, const Colour& colour) {
+static void draw_swatch(const std::string& label, const Colour& colour) {
     const ImVec4 value(colour.red / 255.0F, colour.green / 255.0F, colour.blue / 255.0F, 1.0F);
     ImGui::ColorButton(label.c_str(), value, ImGuiColorEditFlags_NoTooltip, ImVec2(24, 24));
     ImGui::SameLine();
     ImGui::TextUnformatted(label.c_str());
 }
-}  // namespace
 
 ControlPanel::ControlPanel(GLFWwindow* window, std::string title, PanelSpec spec, const VariableSource* variables) :
     title{std::move(title)}, spec{std::move(spec)}, variables{variables} {
diff --git a/view/src/mujoco_viewer.cpp b/view/src/mujoco_viewer.cpp
index c3cdcf0..922917f 100644
--- a/view/src/mujoco_viewer.cpp
+++ b/view/src/mujoco_viewer.cpp
@@ -2,19 +2,33 @@
  * @file
  */
 
+#include <memory>
+#include <string>
+
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/simulation.hpp"
+#include "micras/sim/core/variable_source.hpp"
 #include "micras/sim/view/mujoco_viewer.hpp"
+#include "micras/sim/view/panel_spec.hpp"
+#include "micras/sim/view/view_options.hpp"
 
 #ifdef MICRAS_SIM_VIEWER
 
     #include <algorithm>
     #include <format>
-    #include <string>
     #include <utility>
 
     #include <GLFW/glfw3.h>
     #include <imgui.h>
+    #include <mujoco/mjdata.h>
+    #include <mujoco/mjmodel.h>
+    #include <mujoco/mjrender.h>
+    #include <mujoco/mjtype.h>
+    #include <mujoco/mjvisualize.h>
+    #include <mujoco/mujoco.h>
 
     #include "camera.hpp"
+    #include "micras/sim/view/control_panel.hpp"
 
 namespace micras::sim {
 namespace {
@@ -22,6 +36,7 @@ namespace {
  * @brief How much one scroll step zooms.
  */
 constexpr double zoom_per_scroll{-0.05};
+}  // namespace
 
 /**
  * @brief Get the viewer a GLFW window belongs to.
@@ -29,10 +44,11 @@ constexpr double zoom_per_scroll{-0.05};
  * @param window Window the event came from.
  * @return The viewer.
  */
-MujocoViewer* viewer_of(GLFWwindow* window) {
+static MujocoViewer* viewer_of(GLFWwindow* window) {
     return static_cast<MujocoViewer*>(glfwGetWindowUserPointer(window));
 }
 
+namespace {
 /**
  * @brief Count how many GLFW users are still up.
  *
@@ -208,8 +224,8 @@ void MujocoViewer::on_finish(const Simulation& simulation) {
 }
 
 void MujocoViewer::apply_perturbation() {
-    mjModel* model = this->world->model();
-    mjData*  data = this->world->data();
+    const mjModel* model = this->world->model();
+    mjData*        data = this->world->data();
 
     mju_zero(data->xfrc_applied, static_cast<int>(6 * model->nbody));
 
@@ -228,7 +244,7 @@ void MujocoViewer::draw(const Simulation& simulation) {
     int height = 0;
     glfwGetFramebufferSize(this->window, &width, &height);
 
-    const mjrRect viewport{0, 0, width, height};
+    const mjrRect viewport{.left = 0, .bottom = 0, .width = width, .height = height};
 
     mjv_updateScene(
         this->world->model(), this->world->data(), &this->option, &this->perturb, &this->camera, mjCAT_ALL, &this->scene
diff --git a/view/src/panel_spec.cpp b/view/src/panel_spec.cpp
index de5ba16..7d589f8 100644
--- a/view/src/panel_spec.cpp
+++ b/view/src/panel_spec.cpp
@@ -2,6 +2,9 @@
  * @file
  */
 
+#include <cstddef>
+#include <string>
+
 #include "micras/sim/view/panel_spec.hpp"
 
 namespace micras::sim {
diff --git a/view/src/video_recorder.cpp b/view/src/video_recorder.cpp
index 113dabf..0af2ad4 100644
--- a/view/src/video_recorder.cpp
+++ b/view/src/video_recorder.cpp
@@ -4,22 +4,39 @@
  * @brief Offscreen EGL video recorder piping raw frames to ffmpeg.
  */
 
+#include <memory>
+#include <string>
+
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/simulation.hpp"
+#include "micras/sim/core/span_at.hpp"
+#include "micras/sim/core/variable_source.hpp"
+#include "micras/sim/view/panel_spec.hpp"
 #include "micras/sim/view/video_recorder.hpp"
+#include "micras/sim/view/view_options.hpp"
 
 #ifdef MICRAS_SIM_VIDEO
 
     #include <algorithm>
     #include <array>
     #include <cmath>
+    #include <cstddef>
+    #include <cstdint>
+    #include <cstdio>
     #include <format>
     #include <limits>
     #include <span>
-    #include <string>
     #include <utility>
     #include <vector>
 
     #include <EGL/egl.h>
     #include <EGL/eglext.h>
+    #include <EGL/eglplatform.h>
+    #include <mujoco/mjmodel.h>
+    #include <mujoco/mjrender.h>
+    #include <mujoco/mjtype.h>
+    #include <mujoco/mjvisualize.h>
+    #include <mujoco/mujoco.h>
 
     #include "camera.hpp"
 
@@ -50,6 +67,7 @@ const std::array<EGLint, 17> config_attributes{
 
 // NOLINTBEGIN(cppcoreguidelines-pro-type-reinterpret-cast, misc-misplaced-const): the EGL C API hands out its
 // extension entry points as void pointers and typedefs its handles as pointers.
+}  // namespace
 
 /**
  * @brief Try to bring up a current OpenGL context on one EGL display.
@@ -57,7 +75,7 @@ const std::array<EGLint, 17> config_attributes{
  * @param display Display to initialise.
  * @return True when the context is current and usable.
  */
-bool make_context_current(EGLDisplay display) {
+static bool make_context_current(EGLDisplay display) {
     if (display == EGL_NO_DISPLAY) {
         return false;
     }
@@ -107,7 +125,7 @@ bool make_context_current(EGLDisplay display) {
  *
  * @return True on success.
  */
-bool init_opengl() {
+static bool init_opengl() {
     if (make_context_current(eglGetDisplay(EGL_DEFAULT_DISPLAY))) {
         return true;
     }
@@ -141,7 +159,7 @@ bool init_opengl() {
 /**
  * @brief Release the current EGL context and its display.
  */
-void close_opengl() {
+static void close_opengl() {
     const EGLDisplay display = eglGetCurrentDisplay();
 
     if (display == EGL_NO_DISPLAY) {
@@ -158,8 +176,8 @@ void close_opengl() {
     eglTerminate(display);
 }
 
+namespace {
 // NOLINTEND(cppcoreguidelines-pro-type-reinterpret-cast, misc-misplaced-const)
-
 }  // namespace
 
 std::unique_ptr<VideoRecorder> VideoRecorder::create(
@@ -220,6 +238,7 @@ std::unique_ptr<VideoRecorder> VideoRecorder::create(
                                 std::to_string(config.fps) + " -i - -c:v libx264 -pix_fmt yuv420p -crf 20 '" +
                                 config.path + "'";
 
+    // NOLINTNEXTLINE(bugprone-command-processor,misc-include-cleaner): ffmpeg encodes through a pipe, POSIX popen.
     recorder->encoder = popen(command.c_str(), "w");
 
     if (recorder->encoder == nullptr) {
@@ -237,6 +256,7 @@ std::unique_ptr<VideoRecorder> VideoRecorder::create(
 
 VideoRecorder::~VideoRecorder() {
     if (this->encoder != nullptr) {
+        // NOLINTNEXTLINE(misc-include-cleaner): POSIX pclose, declared by <cstdio> on POSIX systems.
         pclose(this->encoder);
     }
 
@@ -286,7 +306,8 @@ void VideoRecorder::extend_trail() {
     const std::span<const mjtNum> position = positions.subspan(3 * static_cast<std::size_t>(this->trail_body), 3);
 
     if (not this->trail.empty() and
-        std::hypot(position[0] - this->trail.back()[0], position[1] - this->trail.back()[1]) < trail_spacing) {
+        std::hypot(at(position, 0) - this->trail.back().at(0), at(position, 1) - this->trail.back().at(1)) <
+            trail_spacing) {
         return;
     }
 
@@ -294,23 +315,25 @@ void VideoRecorder::extend_trail() {
         std::size_t kept = 0;
 
         for (std::size_t i = 0; i < this->trail.size(); i += 2) {
-            this->trail[kept++] = this->trail[i];
+            this->trail.at(kept++) = this->trail.at(i);
         }
 
         this->trail.resize(kept);
     }
 
-    this->trail.push_back({position[0], position[1], 0.002});
+    this->trail.push_back({at(position, 0), at(position, 1), 0.002});
 }
 
 void VideoRecorder::draw_trail() {
     const std::span<mjvGeom> geoms{this->scene.geoms, static_cast<std::size_t>(this->scene.maxgeom)};
 
     for (std::size_t i = 1; i < this->trail.size() and this->scene.ngeom < this->scene.maxgeom; i++) {
-        mjvGeom* geom = &geoms[static_cast<std::size_t>(this->scene.ngeom)];
+        mjvGeom* geom = &at(geoms, static_cast<std::size_t>(this->scene.ngeom));
 
         mjv_initGeom(geom, mjGEOM_NONE, nullptr, nullptr, nullptr, trail_color.data());
-        mjv_connector(geom, mjGEOM_LINE, trail_width, this->trail[i - 1].data(), this->trail[i].data());
+        mjv_connector(
+            geom, mjGEOM_LINE, static_cast<mjtNum>(trail_width), this->trail.at(i - 1).data(), this->trail.at(i).data()
+        );
         geom->category = mjCAT_DECOR;
         this->scene.ngeom++;
     }
@@ -335,7 +358,7 @@ void VideoRecorder::capture(const std::string& labels, const std::string& values
 
     this->make_context_current();
 
-    const mjrRect viewport{0, 0, this->config.width, this->config.height};
+    const mjrRect viewport{.left = 0, .bottom = 0, .width = this->config.width, .height = this->config.height};
 
     mjv_updateScene(
         this->world->model(), this->world->data(), &this->option, nullptr, &this->camera, mjCAT_ALL, &this->scene

From 4ec7e7bf6dfff8e92454a33f20785437a41afff5 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 06:31:10 -0300
Subject: [PATCH 32/52] =?UTF-8?q?=E2=9C=A8=20Add=20a=20toy=20target=20that?=
 =?UTF-8?q?=20uses=20every=20feature=20of=20the=20engine?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The simulator needs a reference that is not a real robot: targets/toy is the smallest one that uses
every device, the firmware thread's handover, a command line option, the panel, the overlay and the
scenario hooks, with no HAL. Its program waits, drives on a press of the button or a go over the link,
turns at the wall its front sensor sees by integrating its gyro, and stops when the link says stop.
Its robot is the engine tests' tiny robot with a second wall sensor, since the sensors fire in two
groups, and a timestep that divides its 1 ms loop. Its two scenarios, idle and drive, have the
baseline v1.
---
 targets/toy/CMakeLists.txt                    |  14 +
 targets/toy/baselines/v1/drive/summary.json   |  46 ++
 targets/toy/baselines/v1/idle/summary.json    |  30 ++
 .../toy/include/micras/sim/toy/toy_target.hpp | 405 ++++++++++++++
 targets/toy/robot.toml                        | 113 ++++
 targets/toy/scenarios/drive.toml              |  25 +
 targets/toy/scenarios/idle.toml               |  10 +
 targets/toy/src/main.cpp                      |  16 +
 targets/toy/src/toy_target.cpp                | 492 ++++++++++++++++++
 9 files changed, 1151 insertions(+)
 create mode 100644 targets/toy/CMakeLists.txt
 create mode 100644 targets/toy/baselines/v1/drive/summary.json
 create mode 100644 targets/toy/baselines/v1/idle/summary.json
 create mode 100644 targets/toy/include/micras/sim/toy/toy_target.hpp
 create mode 100644 targets/toy/robot.toml
 create mode 100644 targets/toy/scenarios/drive.toml
 create mode 100644 targets/toy/scenarios/idle.toml
 create mode 100644 targets/toy/src/main.cpp
 create mode 100644 targets/toy/src/toy_target.cpp

diff --git a/targets/toy/CMakeLists.txt b/targets/toy/CMakeLists.txt
new file mode 100644
index 0000000..07677a4
--- /dev/null
+++ b/targets/toy/CMakeLists.txt
@@ -0,0 +1,14 @@
+###############################################################################
+## Toy: the simulator's reference target, the smallest robot that uses every feature
+###############################################################################
+
+add_library(micras_sim_toy STATIC src/toy_target.cpp)
+target_include_directories(micras_sim_toy PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
+target_link_libraries(micras_sim_toy PUBLIC micras::sim_app)
+target_compile_definitions(micras_sim_toy PRIVATE MICRAS_SIM_TOY_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
+
+add_executable(toy_sim src/main.cpp)
+target_link_libraries(toy_sim PRIVATE micras_sim_toy)
+
+micras_apply_warnings(micras_sim_toy toy_sim WERROR ${MICRAS_SIM_WERROR})
+
diff --git a/targets/toy/baselines/v1/drive/summary.json b/targets/toy/baselines/v1/drive/summary.json
new file mode 100644
index 0000000..471fa9d
--- /dev/null
+++ b/targets/toy/baselines/v1/drive/summary.json
@@ -0,0 +1,46 @@
+{
+  "target": "toy",
+  "scenario": "drive.toml",
+  "args": "--scenario drive.toml --out drive",
+  "firmware_sha": "none",
+  "mujoco_version": "3.14.0",
+  "compiler": "GNU 15.2.0",
+  "data_sha256": "097ec972b9aa90d6ef8d1c66b2041258182ab56af70d52fa78ad926b75ad95cc",
+  "states": [
+    [
+      0.001,
+      "WAIT"
+    ],
+    [
+      0.201,
+      "DRIVE"
+    ],
+    [
+      1.703,
+      "TURN"
+    ],
+    [
+      2.65,
+      "DRIVE"
+    ],
+    [
+      3.205,
+      "STOP"
+    ]
+  ],
+  "values": {
+    "ticks": 3205,
+    "warnings_total": 0,
+    "collisions": 0,
+    "goal_time": null,
+    "stopped_at": 3.205
+  },
+  "tolerances": {
+    "state_time": 0.25,
+    "ticks": null,
+    "warnings_total": null,
+    "collisions": 2,
+    "goal_time": 1.0,
+    "stopped_at": 1.0
+  }
+}
diff --git a/targets/toy/baselines/v1/idle/summary.json b/targets/toy/baselines/v1/idle/summary.json
new file mode 100644
index 0000000..5a4e152
--- /dev/null
+++ b/targets/toy/baselines/v1/idle/summary.json
@@ -0,0 +1,30 @@
+{
+  "target": "toy",
+  "scenario": "idle.toml",
+  "args": "--scenario idle.toml --out idle",
+  "firmware_sha": "none",
+  "mujoco_version": "3.14.0",
+  "compiler": "GNU 15.2.0",
+  "data_sha256": "b256361ea2dfacf35d25c66d63ca3b82d2fd5d3c633a557fb48b2d8e9a1b2d1a",
+  "states": [
+    [
+      0.001,
+      "WAIT"
+    ]
+  ],
+  "values": {
+    "ticks": 2000,
+    "warnings_total": 0,
+    "collisions": 0,
+    "goal_time": null,
+    "stopped_at": null
+  },
+  "tolerances": {
+    "state_time": 0.25,
+    "ticks": null,
+    "warnings_total": null,
+    "collisions": 2,
+    "goal_time": 1.0,
+    "stopped_at": 1.0
+  }
+}
diff --git a/targets/toy/include/micras/sim/toy/toy_target.hpp b/targets/toy/include/micras/sim/toy/toy_target.hpp
new file mode 100644
index 0000000..9c18b5a
--- /dev/null
+++ b/targets/toy/include/micras/sim/toy/toy_target.hpp
@@ -0,0 +1,405 @@
+/**
+ * @file
+ *
+ * @brief The toy target: the smallest robot that exercises every feature of the engine and of Target.
+ */
+
+#ifndef MICRAS_SIM_TOY_TOY_TARGET_HPP
+#define MICRAS_SIM_TOY_TOY_TARGET_HPP
+
+#include <array>
+#include <cstdint>
+#include <deque>
+#include <filesystem>
+#include <numbers>
+#include <string>
+#include <vector>
+
+#include "micras/sim/app/target.hpp"
+#include "micras/sim/app/wiring.hpp"
+#include "micras/sim/core/firmware_thread.hpp"
+#include "micras/sim/core/run_context.hpp"
+#include "micras/sim/core/variable_source.hpp"
+#include "micras/sim/devices/dc_motor.hpp"
+#include "micras/sim/devices/digital_input.hpp"
+#include "micras/sim/devices/power.hpp"
+#include "micras/sim/recording/column_source.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
+#include "micras/sim/recording/ground_truth.hpp"
+#include "micras/sim/recording/run_metadata.hpp"
+
+namespace micras::sim {
+/**
+ * @brief What the toy's program does.
+ */
+enum class ToyState : uint8_t {
+    WAIT,
+    DRIVE,
+    TURN,
+    STOP,
+};
+
+/**
+ * @brief The toy's hardware as its program sees it: what the devices wrote and what the program drives.
+ *
+ * @note The program and the devices never run at the same time, since the firmware thread hands over
+ *       strictly, so this needs no lock.
+ */
+struct ToyBoard {
+    /**
+     * @brief Duty of each motor in percent, negative backwards.
+     */
+    std::array<float, 2> motor_duty{};
+
+    /**
+     * @brief Whether the motor driver is enabled.
+     */
+    bool motors_enabled{false};
+
+    /**
+     * @brief Duty of the fan in percent.
+     */
+    float fan_duty{0.0F};
+
+    /**
+     * @brief Whether the wall sensors' emitters are on.
+     */
+    bool emitters_on{false};
+
+    /**
+     * @brief Count of each wheel's encoder.
+     */
+    std::array<int32_t, 2> encoder_counts{};
+
+    /**
+     * @brief Last yaw rate the IMU delivered, in raw words.
+     */
+    float gyro_z_word{0.0F};
+
+    /**
+     * @brief Wall sensor readings: each receiver with the first group lit, then with the second.
+     */
+    std::array<uint32_t, 4> wall_counts{};
+
+    /**
+     * @brief Battery divider reading.
+     */
+    uint32_t battery_counts{0};
+
+    /**
+     * @brief Motor current readings.
+     */
+    std::array<uint32_t, 2> current_counts{};
+
+    /**
+     * @brief Level of the button's pin, high when pressed.
+     */
+    bool button_level{false};
+
+    /**
+     * @brief Bytes the link delivered, not read yet.
+     */
+    std::deque<uint8_t> received;
+
+    /**
+     * @brief Bytes the program sent, not on the link yet.
+     */
+    std::deque<uint8_t> to_send;
+};
+
+/**
+ * @brief What the toy's program knows, recorded as columns and read by the panel and the scenarios.
+ */
+struct ToyReadings {
+    /**
+     * @brief State of the program.
+     */
+    ToyState state{ToyState::WAIT};
+
+    /**
+     * @brief Distance the wheels rolled, in meters.
+     */
+    double odometry{0.0};
+
+    /**
+     * @brief Heading integrated from the gyro, in radians.
+     */
+    double heading{0.0};
+
+    /**
+     * @brief Front wall sensor reading, with its own emitter lit, in counts.
+     */
+    double front{0.0};
+
+    /**
+     * @brief Pack voltage, in volts.
+     */
+    double voltage{0.0};
+
+    /**
+     * @brief Current of each motor, in amperes.
+     */
+    std::array<double, 2> currents{};
+};
+
+/**
+ * @brief The toy's variables: CSV columns and what scenarios and the overlay read.
+ */
+class ToyVariables : public ColumnSource, public VariableSource {
+public:
+    /**
+     * @brief Read from the program's readings.
+     *
+     * @param readings The readings, which outlive the variables.
+     */
+    explicit ToyVariables(const ToyReadings& readings);
+
+    /**
+     * @brief Get the names of the columns.
+     *
+     * @return The names, in the order append() writes them.
+     */
+    std::vector<std::string> names() override;
+
+    /**
+     * @brief Append the current readings to a row.
+     *
+     * @param row Row to append to.
+     */
+    void append(std::vector<CsvCell>& row) override;
+
+    /**
+     * @brief Get a variable by name.
+     *
+     * @param name Name of a column.
+     * @return Its value.
+     */
+    double value_of(const std::string& name) const override;
+
+private:
+    /**
+     * @brief The program's readings.
+     */
+    const ToyReadings& readings;  // NOLINT(*-avoid-const-or-ref-data-members): the target owns both.
+};
+
+/**
+ * @brief The toy robot: drives until a wall, turns, drives on, and stops when told.
+ *
+ * @note No HAL, nothing of a real robot: the program runs on the firmware thread and yields a tick
+ *       itself once per loop, and the devices write straight into a ToyBoard.
+ */
+class ToyTarget : public Target {
+public:
+    /**
+     * @brief Get the name of the robot.
+     *
+     * @return "toy", which its scenarios name.
+     */
+    std::string name() const override;
+
+    /**
+     * @brief Get the firmware commit.
+     *
+     * @return "none": the toy's program is part of the simulator.
+     */
+    std::string firmware_sha() const override;
+
+    /**
+     * @brief Get the loop period of the program.
+     *
+     * @return 1000 us.
+     */
+    uint32_t loop_time_us() const override;
+
+    /**
+     * @brief Get the toy's own option, --turn-angle.
+     *
+     * @return The options.
+     */
+    std::vector<CliOption> options() override;
+
+    /**
+     * @brief Get the context of the run.
+     *
+     * @return This target's context.
+     */
+    RunContext& context() override;
+
+    /**
+     * @brief Get the folder of this target.
+     *
+     * @return Path of targets/toy.
+     */
+    std::filesystem::path directory() const override;
+
+    /**
+     * @brief Get the robot's physical description.
+     *
+     * @return Path of targets/toy/robot.toml.
+     */
+    std::filesystem::path robot_file() const override;
+
+    /**
+     * @brief Get the ground truth columns of a toy run.
+     *
+     * @return The recorder configuration.
+     */
+    GroundTruthConfig ground_truth() const override;
+
+    /**
+     * @brief Get the camera of a video.
+     *
+     * @return The camera above the robot.
+     */
+    std::string video_camera() const override;
+
+    /**
+     * @brief Get the program, which yields on the thread it is given once per loop.
+     *
+     * @return The program.
+     */
+    FirmwareThread::Program program() override;
+
+    /**
+     * @brief Build the toy's devices, columns, panel and scenario hooks.
+     *
+     * @param firmware Thread that runs the program.
+     * @param world The robot and the arena's surfaces.
+     * @return What the toy adds to the run.
+     */
+    Wiring wire(FirmwareThread& firmware, const WorldInfo& world) override;
+
+    /**
+     * @brief Get the toy's counters for meta.json.
+     *
+     * @return The bytes it sent over the link.
+     */
+    std::vector<MetadataField> metadata() const override;
+
+private:
+    /**
+     * @brief Run the program: one loop per tick, forever.
+     *
+     * @param thread Thread the program runs on, which it yields.
+     */
+    void run(FirmwareThread& thread);
+
+    /**
+     * @brief Update the readings from what the devices wrote.
+     *
+     * @param dt Time since the last loop, in seconds.
+     */
+    void read_sensors(double dt);
+
+    /**
+     * @brief Take the bytes that arrived over the link.
+     *
+     * @return "go" or "stop" when the bytes just completed one, else empty.
+     */
+    std::string read_link();
+
+    /**
+     * @brief Send text over the link.
+     *
+     * @param text Bytes to send.
+     */
+    void send(const std::string& text);
+
+    /**
+     * @brief Drive the motors, the fan and the emitters for the current state.
+     */
+    void actuate();
+
+    /**
+     * @brief Build the panel.
+     *
+     * @return The button, a lamp per state and the pack voltage.
+     */
+    PanelSpec make_panel() const;
+
+    /**
+     * @brief Build the scenario hooks.
+     *
+     * @return The button, the go and stop messages and the state names.
+     */
+    ScenarioHooks make_hooks() const;
+
+    /**
+     * @brief The run's context.
+     */
+    RunContext run_context;
+
+    /**
+     * @brief The toy's hardware.
+     */
+    ToyBoard board;
+
+    /**
+     * @brief What the program knows.
+     */
+    ToyReadings readings;
+
+    /**
+     * @brief The recorded variables.
+     */
+    ToyVariables variables{readings};
+
+    /**
+     * @brief The button's input device.
+     */
+    DigitalInput* button{nullptr};
+
+    /**
+     * @brief The battery, for the panel.
+     */
+    const Battery* battery{nullptr};
+
+    /**
+     * @brief Heading change the program turns at a wall, in radians, positive to the right.
+     */
+    double turn_angle{std::numbers::pi / 2.0};
+
+    /**
+     * @brief Heading when the current turn started, in radians.
+     */
+    double turn_start{0.0};
+
+    /**
+     * @brief Radius of the wheels, from the robot's description.
+     */
+    double wheel_radius{0.0};
+
+    /**
+     * @brief Encoder counts per wheel revolution, from the robot's description.
+     */
+    double counts_per_revolution{1.0};
+
+    /**
+     * @brief Gyro resolution, from the robot's description, in rad/s per word.
+     */
+    double gyro_resolution{0.0};
+
+    /**
+     * @brief Divider of the battery reading.
+     */
+    double battery_divider{3.0};
+
+    /**
+     * @brief Bytes of the last command, to recognise "go" and "stop" in the raw byte stream.
+     */
+    std::string command;
+
+    /**
+     * @brief Whether the button was pressed on the previous loop, to start on the press.
+     */
+    bool was_pressed{false};
+
+    /**
+     * @brief Bytes the program sent over the link.
+     */
+    int64_t bytes_sent{0};
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_TOY_TOY_TARGET_HPP
diff --git a/targets/toy/robot.toml b/targets/toy/robot.toml
new file mode 100644
index 0000000..ca0ad18
--- /dev/null
+++ b/targets/toy/robot.toml
@@ -0,0 +1,113 @@
+# The toy target's robot: the engine tests' tiny robot (tests/models/tiny_robot.toml),
+# a made-up two-wheeled robot with every key the schema requires, with its own name,
+# a timestep of 125 us that divides the toy's 1 ms loop, and a second wall sensor
+# looking ahead, since the wall sensors fire in two groups.
+
+schema = 1
+name = "toy"
+
+[integration]
+timestep = { value = 0.000125, source = "divides the 1 ms loop into eight steps" }
+
+[chassis]
+mass = { value = 0.05, source = "made up" }
+center_of_mass = [0.0, 0.0, 0.01]
+inertia = [1.0e-5, 1.5e-5, 2.0e-5]
+outline = [[0.04, 0.02], [-0.03, 0.02], [-0.03, -0.02], [0.04, -0.02]]
+board_bottom = 0.002
+board_top = 0.003
+friction = 0.3
+
+[[chassis.boxes]]
+name = "cargo"
+min = [-0.02, -0.015, 0.003]
+max = [0.02, 0.015, 0.02]
+
+[[chassis.cylinders]]
+name = "mast"
+base = [0.0, 0.0, 0.02]
+radius = 0.005
+height = 0.01
+
+[wheels]
+radius = 0.011
+width = 0.004
+track = 0.05
+mass = 0.004
+spin_inertia = 2.0e-7
+friction = 1.0
+torsional_friction = 0.0005
+contact_time_constant = 0.008
+contact_damping_ratio = 1.0
+
+[drive]
+winding_resistance = { value = 10.0, source = "made up" }
+bridge_resistance = 0.5
+torque_constant = 0.003
+speed_constant = 0.003
+no_load_current = 0.007
+rotor_inertia = 4.0e-9
+gear_ratio = 5.0
+gear_efficiency = 0.9
+supply_voltage = 6.0
+
+[encoders]
+counts_per_revolution = { value = 4096, source = "made up" }
+
+[imu]
+position = [0.0, 0.0, 0.004]
+chip_x = [1.0, 0.0, 0.0]
+chip_y = [0.0, 1.0, 0.0]
+gyro_noise_density = 5.0e-5
+gyro_bias = 0.005
+gyro_scale_error = 0.001
+gyro_resolution = 0.0025
+accel_noise_density = 6.0e-4
+accel_bias = 0.04
+accel_resolution = 0.0024
+bandwidth = 250.0
+output_rate = 1000.0
+clock_error = 0.005
+
+[fan]
+position = [0.0, 0.0, 0.003]
+max_downforce = 0.1
+nominal_voltage = 7.4
+time_constant = 0.1
+
+[battery]
+cells = 2
+cell_voltage = 3.7
+
+[link]
+baud_rate = 9600
+
+[wall_sensors]
+emitter_half_angle_deg = 5.0
+emitter_intensity = 1.0
+receiver_half_angle_deg = 10.0
+receiver_responsivity = 4.0e-4
+load_resistance = 1000.0
+saturation_voltage = 3.0
+adc_reference = 3.3
+adc_max_counts = 4095.0
+adc_noise_counts = 2.0
+settle_fraction = 0.95
+ambient_irradiance = 0.01
+rays = 4
+
+[[wall_sensors.sensors]]
+name = "eye"
+emitter = [0.04, 0.0, 0.01]
+receiver = [0.04, 0.005, 0.01]
+yaw_deg = { value = 90.0, source = "made up, to check the conversion" }
+group = 0
+gain = 1.0
+
+[[wall_sensors.sensors]]
+name = "front"
+emitter = [0.04, -0.005, 0.01]
+receiver = [0.04, 0.0, 0.01]
+yaw_deg = 0.0
+group = 1
+gain = 1.0
diff --git a/targets/toy/scenarios/drive.toml b/targets/toy/scenarios/drive.toml
new file mode 100644
index 0000000..de7809f
--- /dev/null
+++ b/targets/toy/scenarios/drive.toml
@@ -0,0 +1,25 @@
+# A press of the button starts the toy: it drives up the first corridor, turns right
+# at the wall ahead, drives on, and stops when the link tells it to.
+robot = "toy"
+arena = "maze1"
+seconds = 10
+seed = 1
+
+[start]
+x = 0.09
+y = 0.05
+yaw_deg = 90.0
+
+[[events]]
+at = 0.2
+press = "button"
+for = 0.1
+
+[[events]]
+at = 3.2
+send = "stop"
+
+[stop]
+when = "state"
+equals = ["STOP"]
+after = 0.5
diff --git a/targets/toy/scenarios/idle.toml b/targets/toy/scenarios/idle.toml
new file mode 100644
index 0000000..b2f6b5b
--- /dev/null
+++ b/targets/toy/scenarios/idle.toml
@@ -0,0 +1,10 @@
+# The toy switched on in the start cell and left alone: it waits.
+robot = "toy"
+arena = "maze1"
+seconds = 2
+seed = 1
+
+[start]
+x = 0.09
+y = 0.05
+yaw_deg = 90.0
diff --git a/targets/toy/src/main.cpp b/targets/toy/src/main.cpp
new file mode 100644
index 0000000..902c59c
--- /dev/null
+++ b/targets/toy/src/main.cpp
@@ -0,0 +1,16 @@
+/**
+ * @file
+ *
+ * @brief Runs the toy target in the simulator.
+ */
+
+#include <cstddef>
+#include <span>
+
+#include "micras/sim/app/application.hpp"
+#include "micras/sim/toy/toy_target.hpp"
+
+int main(int argc, char** argv) {
+    micras::sim::ToyTarget target;
+    return micras::sim::run(std::span(argv, static_cast<std::size_t>(argc)), target);
+}
diff --git a/targets/toy/src/toy_target.cpp b/targets/toy/src/toy_target.cpp
new file mode 100644
index 0000000..0cf6bee
--- /dev/null
+++ b/targets/toy/src/toy_target.cpp
@@ -0,0 +1,492 @@
+/**
+ * @file
+ */
+
+#include <algorithm>
+#include <array>
+#include <cstddef>
+#include <cstdint>
+#include <filesystem>
+#include <format>
+#include <memory>
+#include <numbers>
+#include <optional>
+#include <span>
+#include <stdexcept>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "micras/sim/app/wiring.hpp"
+#include "micras/sim/core/firmware_thread.hpp"
+#include "micras/sim/core/run_context.hpp"
+#include "micras/sim/core/span_at.hpp"
+#include "micras/sim/devices/dc_motor.hpp"
+#include "micras/sim/devices/digital_input.hpp"
+#include "micras/sim/devices/imu.hpp"
+#include "micras/sim/devices/power.hpp"
+#include "micras/sim/devices/quadrature_encoder.hpp"
+#include "micras/sim/devices/serial_link.hpp"
+#include "micras/sim/devices/wall_sensors.hpp"
+#include "micras/sim/recording/csv_writer.hpp"
+#include "micras/sim/recording/ground_truth.hpp"
+#include "micras/sim/recording/run_metadata.hpp"
+#include "micras/sim/robot/robot_description.hpp"
+#include "micras/sim/robot/robot_model.hpp"
+#include "micras/sim/scenario/scenario.hpp"
+#include "micras/sim/toy/toy_target.hpp"
+#include "micras/sim/view/panel_spec.hpp"
+
+namespace micras::sim {
+namespace {
+constexpr std::array<const char*, 4> state_name_table{"WAIT", "DRIVE", "TURN", "STOP"};
+
+constexpr uint32_t loop_period_us{1000};
+
+constexpr float drive_duty{12.0F};
+
+constexpr float turn_duty{6.0F};
+
+constexpr float fan_duty{50.0F};
+
+constexpr double front_threshold{400.0};
+
+constexpr std::size_t front_reading{3};
+
+constexpr double adc_reference{3.3};
+
+constexpr double adc_max_counts{4095.0};
+
+constexpr double current_zero_voltage{1.65};
+
+constexpr double volts_per_amp{0.5};
+}  // namespace
+
+static std::vector<std::string> state_names() {
+    return {state_name_table.begin(), state_name_table.end()};
+}
+
+template <typename T>
+static T* add(RunContext& context, std::unique_ptr<T> device) {
+    T* view = device.get();
+    context.devices.push_back(std::move(device));
+    return view;
+}
+
+ToyVariables::ToyVariables(const ToyReadings& readings) : readings{readings} { }
+
+std::vector<std::string> ToyVariables::names() {
+    return {"state", "odometry", "heading", "front", "voltage", "current_left", "current_right"};
+}
+
+void ToyVariables::append(std::vector<CsvCell>& row) {
+    row.emplace_back(static_cast<int64_t>(std::to_underlying(this->readings.state)));
+    row.emplace_back(this->readings.odometry);
+    row.emplace_back(this->readings.heading);
+    row.emplace_back(this->readings.front);
+    row.emplace_back(this->readings.voltage);
+    row.emplace_back(this->readings.currents.at(0));
+    row.emplace_back(this->readings.currents.at(1));
+}
+
+double ToyVariables::value_of(const std::string& name) const {
+    if (name == "state") {
+        return static_cast<double>(std::to_underlying(this->readings.state));
+    }
+
+    if (name == "odometry") {
+        return this->readings.odometry;
+    }
+
+    if (name == "heading") {
+        return this->readings.heading;
+    }
+
+    if (name == "front") {
+        return this->readings.front;
+    }
+
+    if (name == "voltage") {
+        return this->readings.voltage;
+    }
+
+    if (name == "current_left") {
+        return this->readings.currents.at(0);
+    }
+
+    if (name == "current_right") {
+        return this->readings.currents.at(1);
+    }
+
+    throw std::runtime_error("the toy has no variable named " + name);
+}
+
+std::string ToyTarget::name() const {
+    return "toy";
+}
+
+std::string ToyTarget::firmware_sha() const {
+    return "none";
+}
+
+uint32_t ToyTarget::loop_time_us() const {
+    return loop_period_us;
+}
+
+std::vector<CliOption> ToyTarget::options() {
+    return {{
+        .name = "--turn-angle",
+        .argument = "<degrees>",
+        .apply = [this](const std::string& value) {
+            std::size_t  parsed = 0;
+            const double degrees = std::stod(value, &parsed);
+
+            if (parsed != value.size() or degrees <= 0.0) {
+                throw std::runtime_error("--turn-angle expects a positive number of degrees, got '" + value + "'");
+            }
+
+            this->turn_angle = degrees * std::numbers::pi / 180.0;
+        },
+    }};
+}
+
+RunContext& ToyTarget::context() {
+    return this->run_context;
+}
+
+std::filesystem::path ToyTarget::directory() const {
+    return std::filesystem::path{MICRAS_SIM_TOY_DIR};
+}
+
+std::filesystem::path ToyTarget::robot_file() const {
+    return this->directory() / "robot.toml";
+}
+
+GroundTruthConfig ToyTarget::ground_truth() const {
+    return {
+        .body = "toy",
+        .columns = {
+            {.name = "wheel_speed_left", .probe = Probe::JOINT_VELOCITY, .object = "left_wheel"},
+            {.name = "wheel_speed_right", .probe = Probe::JOINT_VELOCITY, .object = "right_wheel"},
+            {.name = "motor_torque_left", .probe = Probe::ACTUATOR_FORCE, .object = "motor_left"},
+            {.name = "motor_torque_right", .probe = Probe::ACTUATOR_FORCE, .object = "motor_right"},
+            {.name = "left_ncon", .probe = Probe::CONTACT_COUNT, .object = "left_wheel"},
+            {.name = "left_slip", .probe = Probe::CONTACT_SLIP, .object = "left_wheel"},
+            {.name = "right_ncon", .probe = Probe::CONTACT_COUNT, .object = "right_wheel"},
+            {.name = "right_slip", .probe = Probe::CONTACT_SLIP, .object = "right_wheel"},
+            {.name = "solver_niter", .probe = Probe::SOLVER_ITERATIONS, .object = ""},
+        },
+    };
+}
+
+std::string ToyTarget::video_camera() const {
+    return "top tracking";
+}
+
+FirmwareThread::Program ToyTarget::program() {
+    return [this](FirmwareThread& thread) { this->run(thread); };
+}
+
+Wiring ToyTarget::wire(FirmwareThread& /*firmware*/, const WorldInfo& world) {
+    const RobotDescription& robot = *world.robot;
+    const RobotModelNames   names = RobotModelNames::of(robot);
+    RunContext&             context = this->run_context;
+    ToyBoard&               hardware = this->board;
+
+    this->wheel_radius = robot.wheels.radius;
+    this->counts_per_revolution = static_cast<double>(robot.encoders.counts_per_revolution);
+    this->gyro_resolution = robot.imu.gyro_resolution;
+
+    const std::array<std::string, 2> sides{"left", "right"};
+    std::array<const DcMotor*, 2>    motors{};
+
+    for (std::size_t index = 0; index < sides.size(); index++) {
+        const std::string& side = sides.at(index);
+
+        motors.at(index) =
+            add(context,
+                std::make_unique<DcMotor>(
+                    context.world,
+                    DcMotor::Config{
+                        .name = "motor_" + side,
+                        .actuator = index == 0 ? names.left_motor : names.right_motor,
+                        .joint = index == 0 ? names.left_wheel : names.right_wheel,
+                        .drive = robot.drive,
+                        .forward_duty = [&hardware, index] { return std::max(hardware.motor_duty.at(index), 0.0F); },
+                        .backward_duty = [&hardware, index] { return std::max(-hardware.motor_duty.at(index), 0.0F); },
+                        .enabled = [&hardware] { return hardware.motors_enabled; },
+                    }
+                ));
+
+        add(context, std::make_unique<QuadratureEncoder>(
+                         context.world,
+                         QuadratureEncoder::Config{
+                             .name = "encoder_" + side,
+                             .joint = index == 0 ? names.left_wheel : names.right_wheel,
+                             .counts_per_revolution = robot.encoders.counts_per_revolution,
+                             .write = [&hardware, index](int32_t count) { hardware.encoder_counts.at(index) = count; },
+                         }
+                     ));
+    }
+
+    add(context, std::make_unique<Imu>(
+                     context.world,
+                     Imu::Config{
+                         .name = "imu",
+                         .gyro = names.gyro,
+                         .accelerometer = names.accelerometer,
+                         .description = robot.imu,
+                         .write = [&hardware](std::span<const float> sample) { hardware.gyro_z_word = at(sample, 2); },
+                     },
+                     context.noise
+                 ));
+
+    add(context,
+        std::make_unique<WallSensors>(
+            context.world,
+            WallSensors::Config{
+                .name = "wall",
+                .description = robot.wall_sensors,
+                .scan_ticks = 1,
+                .emitter_duty = [&hardware](std::size_t /*sensor*/) { return hardware.emitters_on ? 100.0F : 0.0F; },
+                .write = [&hardware](std::size_t index, uint32_t counts) { hardware.wall_counts.at(index) = counts; },
+                .finish_sequence = [] { },
+                .reflectance = world.reflectance,
+            },
+            context.noise
+        ));
+
+    const Battery* pack =
+        add(context, std::make_unique<Battery>(
+                         Battery::Config{
+                             .name = "pack",
+                             .description = robot.battery,
+                             .divider = this->battery_divider,
+                             .adc_reference = adc_reference,
+                             .adc_max_counts = adc_max_counts,
+                             .adc_noise_counts = 1.0,
+                             .write = [&hardware](uint32_t counts) { hardware.battery_counts = counts; },
+                         },
+                         context.noise
+                     ));
+    this->battery = pack;
+
+    add(context, std::make_unique<Fan>(
+                     context.world, Fan::Config{
+                                        .name = "fan",
+                                        .actuator = names.fan,
+                                        .description = robot.fan,
+                                        .duty = [&hardware] { return hardware.fan_duty; },
+                                        .enabled = [&hardware] { return hardware.fan_duty > 0.0F; },
+                                        .supply_voltage = [pack] { return pack->voltage(); },
+                                    }
+                 ));
+
+    add(context,
+        std::make_unique<CurrentSense>(
+            CurrentSense::Config{
+                .currents = {
+                    [motors] { return motors.at(0)->current(); }, [motors] { return motors.at(1)->current(); }
+                },
+                .zero_voltage = current_zero_voltage,
+                .volts_per_amp = volts_per_amp,
+                .adc_reference = adc_reference,
+                .adc_max_counts = adc_max_counts,
+                .adc_noise_counts = 2.0,
+                .write =
+                    [&hardware](std::size_t index, uint32_t counts) { hardware.current_counts.at(index) = counts; },
+            },
+            context.noise
+        ));
+
+    add(context, std::make_unique<SerialLink>(
+                     context.serial, SerialLink::Config{
+                                         .baud_rate = robot.link.baud_rate,
+                                         .take_sent = [&hardware]() -> std::optional<uint8_t> {
+                                             if (hardware.to_send.empty()) {
+                                                 return std::nullopt;
+                                             }
+
+                                             const uint8_t byte = hardware.to_send.front();
+                                             hardware.to_send.pop_front();
+                                             return byte;
+                                         },
+                                         .receive = [&hardware](uint8_t byte) { hardware.received.push_back(byte); },
+                                     }
+                 ));
+
+    this->button =
+        add(context, std::make_unique<DigitalInput>(DigitalInput::Config{
+                         .name = "button",
+                         .active_low = false,
+                         .drive = [&hardware](bool level) { hardware.button_level = level; },
+                     }));
+
+    return {
+        .columns = {&this->variables},
+        .variables = &this->variables,
+        .panel = this->make_panel(),
+        .overlay =
+            {.state = StateLabel{.variable = "state", .names = state_names()},
+             .lines = {{.label = "odometry", .variable = "odometry", .unit = "m"}}},
+        .hooks = this->make_hooks(),
+    };
+}
+
+std::vector<MetadataField> ToyTarget::metadata() const {
+    return {{.name = "bytes_sent", .value = this->bytes_sent}};
+}
+
+void ToyTarget::run(FirmwareThread& thread) {
+    const double dt = static_cast<double>(loop_period_us) * 1e-6;
+
+    while (true) {
+        this->read_sensors(dt);
+
+        const std::string command = this->read_link();
+        const bool        pressed = this->board.button_level;
+        const bool        press = pressed and not this->was_pressed;
+        this->was_pressed = pressed;
+
+        switch (this->readings.state) {
+            case ToyState::WAIT:
+                if (press or command == "go") {
+                    this->readings.state = ToyState::DRIVE;
+                    this->send("driving\n");
+                }
+
+                break;
+            case ToyState::DRIVE:
+                if (this->readings.front >= front_threshold) {
+                    this->readings.state = ToyState::TURN;
+                    this->turn_start = this->readings.heading;
+                }
+
+                break;
+            case ToyState::TURN:
+                if (this->turn_start - this->readings.heading >= this->turn_angle) {
+                    this->readings.state = ToyState::DRIVE;
+                }
+
+                break;
+            case ToyState::STOP:
+                break;
+        }
+
+        if (command == "stop" and this->readings.state != ToyState::STOP) {
+            this->readings.state = ToyState::STOP;
+            this->send("stopped\n");
+        }
+
+        this->actuate();
+        thread.yield_tick();
+    }
+}
+
+void ToyTarget::read_sensors(double dt) {
+    const std::array<int32_t, 2>& counts = this->board.encoder_counts;
+    const double revolutions = static_cast<double>(counts.at(0) + counts.at(1)) / (2.0 * this->counts_per_revolution);
+
+    this->readings.odometry = revolutions * 2.0 * std::numbers::pi * this->wheel_radius;
+
+    if (this->readings.state == ToyState::TURN) {
+        this->readings.heading += static_cast<double>(this->board.gyro_z_word) * this->gyro_resolution * dt;
+    }
+
+    this->readings.front = static_cast<double>(this->board.wall_counts.at(front_reading));
+    this->readings.voltage =
+        static_cast<double>(this->board.battery_counts) / adc_max_counts * adc_reference * this->battery_divider;
+
+    for (std::size_t index = 0; index < this->readings.currents.size(); index++) {
+        const double volts = static_cast<double>(this->board.current_counts.at(index)) / adc_max_counts * adc_reference;
+        this->readings.currents.at(index) = (volts - current_zero_voltage) / volts_per_amp;
+    }
+}
+
+std::string ToyTarget::read_link() {
+    std::string completed;
+
+    while (not this->board.received.empty()) {
+        this->command.push_back(static_cast<char>(this->board.received.front()));
+        this->board.received.pop_front();
+
+        if (this->command.ends_with("go")) {
+            completed = "go";
+            this->command.clear();
+        } else if (this->command.ends_with("stop")) {
+            completed = "stop";
+            this->command.clear();
+        } else if (this->command.size() > 4) {
+            this->command.erase(0, this->command.size() - 4);
+        }
+    }
+
+    return completed;
+}
+
+void ToyTarget::send(const std::string& text) {
+    for (const char character : text) {
+        this->board.to_send.push_back(static_cast<uint8_t>(character));
+    }
+
+    this->bytes_sent += static_cast<int64_t>(text.size());
+}
+
+void ToyTarget::actuate() {
+    ToyBoard& hardware = this->board;
+    hardware.emitters_on = true;
+
+    switch (this->readings.state) {
+        case ToyState::DRIVE:
+            hardware.motor_duty = {drive_duty, drive_duty};
+            hardware.motors_enabled = true;
+            hardware.fan_duty = fan_duty;
+            break;
+        case ToyState::TURN:
+            hardware.motor_duty = {turn_duty, -turn_duty};
+            hardware.motors_enabled = true;
+            hardware.fan_duty = fan_duty;
+            break;
+        case ToyState::WAIT:
+        case ToyState::STOP:
+            hardware.motor_duty = {0.0F, 0.0F};
+            hardware.motors_enabled = false;
+            hardware.fan_duty = 0.0F;
+            break;
+    }
+}
+
+PanelSpec ToyTarget::make_panel() const {
+    DigitalInput*      input = this->button;
+    const Battery*     pack = this->battery;
+    const ToyReadings& known = this->readings;
+    PanelSpec          panel{
+        .state = StateLabel{.variable = "state", .names = state_names()},
+        .buttons = {{.name = "button", .press = [input](bool pressed) { input->set(pressed); }}},
+        .switches = {},
+        .lamps = {},
+        .readouts = {{.name = "battery", .text = [pack] { return std::format("{:.2f} V", pack->voltage()); }}},
+        .plots = {"odometry", "heading", "front"},
+        .take_over = {},
+    };
+
+    for (std::size_t index = 0; index < state_name_table.size(); index++) {
+        panel.lamps.push_back({.name = state_name_table.at(index), .colour = [&known, index] {
+                                   return std::to_underlying(known.state) == index ?
+                                              Colour{.red = 60, .green = 220, .blue = 60} :
+                                              Colour{.red = 40, .green = 40, .blue = 40};
+                               }});
+    }
+
+    return panel;
+}
+
+ScenarioHooks ToyTarget::make_hooks() const {
+    ScenarioHooks hooks;
+    hooks.inputs.emplace("button", this->button);
+    hooks.messages.emplace("go", std::vector<uint8_t>{'g', 'o'});
+    hooks.messages.emplace("stop", std::vector<uint8_t>{'s', 't', 'o', 'p'});
+    hooks.state_names.emplace("state", state_names());
+    return hooks;
+}
+}  // namespace micras::sim

From 2eb003cc4885d42a70bf1604b9a5408a0238d5ca Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 06:31:20 -0300
Subject: [PATCH 33/52] =?UTF-8?q?=F0=9F=94=A8=20Run=20every=20recipe=20as?=
 =?UTF-8?q?=20a=20CMake=20target=20over=20a=20script?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The simulator has no task runner: each check and each Micras recipe is a CMake target that calls a bash
script with every path as an argument, so no script guesses a build layout. micras_sim_check builds
everything and runs the unit tests, micras_sim_check_options, micras_sim_check_generic and the toy
target's micras_sim_toy_check, which proves on the toy that a window, a video and an idle bridge
change nothing and compares its runs with its baseline. The Micras recipes keep the names the firmware
will give them (sim_run_idle, sim_run_explore, sim_contest, sim_contest_all, sim_compare_baseline,
sim_record_baseline, sim_check_flash, sim_check, sim_turn_designs, sim_robot_report,
sim_wall_calibration, sim_serve, sim_watch), with MICRAS_SIM_EXACT, MICRAS_SIM_BASELINE and
MICRAS_SIM_CONTEST_MAZES as cache variables, and their scripts live in targets/micras/scripts. The
checks and the recipes exist only at top level. The presets are host (Debug with the address and
undefined behavior sanitizers), host-release (RelWithDebInfo) and host-ci. The justfiles are gone.
---
 CLAUDE.md                                  |  64 ++++++--
 CMakeLists.txt                             |   4 +-
 CMakePresets.json                          |  56 ++++---
 README.md                                  | 173 ++++++++++++---------
 cmake/checks.cmake                         |  65 ++++++++
 justfile                                   |  73 ---------
 scripts/check_baseline.sh                  |  48 ++++++
 scripts/check_generic.sh                   |  50 ++++++
 scripts/check_invariance.sh                |  64 ++++++++
 scripts/check_options.sh                   |  37 +++++
 targets/micras/CMakeLists.txt              | 154 +++++++++++++++++-
 targets/micras/justfile                    | 158 -------------------
 targets/micras/scripts/check_flash.sh      |  23 +++
 targets/micras/scripts/check_health.sh     |  25 +++
 targets/micras/scripts/compare_baseline.sh |  29 ++++
 targets/micras/scripts/contest.sh          |  32 ++++
 targets/micras/scripts/record_baseline.sh  |  22 +++
 targets/micras/scripts/run_explore.sh      |  20 +++
 targets/micras/scripts/run_idle.sh         |  17 ++
 targets/micras/scripts/serve.sh            |  15 ++
 targets/micras/scripts/turn_designs.sh     |  15 ++
 targets/micras/scripts/watch.sh            |  14 ++
 targets/toy/CMakeLists.txt                 |  34 ++++
 23 files changed, 850 insertions(+), 342 deletions(-)
 create mode 100644 cmake/checks.cmake
 delete mode 100644 justfile
 create mode 100755 scripts/check_baseline.sh
 create mode 100755 scripts/check_generic.sh
 create mode 100755 scripts/check_invariance.sh
 create mode 100755 scripts/check_options.sh
 delete mode 100644 targets/micras/justfile
 create mode 100755 targets/micras/scripts/check_flash.sh
 create mode 100755 targets/micras/scripts/check_health.sh
 create mode 100755 targets/micras/scripts/compare_baseline.sh
 create mode 100755 targets/micras/scripts/contest.sh
 create mode 100755 targets/micras/scripts/record_baseline.sh
 create mode 100755 targets/micras/scripts/run_explore.sh
 create mode 100755 targets/micras/scripts/run_idle.sh
 create mode 100755 targets/micras/scripts/serve.sh
 create mode 100755 targets/micras/scripts/turn_designs.sh
 create mode 100755 targets/micras/scripts/watch.sh

diff --git a/CLAUDE.md b/CLAUDE.md
index ccaedad..f49e8a1 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -4,7 +4,9 @@
 invariants that hold it together, the subtleties that look like bugs and are
 not, and the measurements behind the numbers in `targets/micras/robot.toml`.
 
-Linux only, by decision. `just` is the entry point; there is no Makefile.
+Linux only, by decision. CMake is the entry point: presets configure, and every
+recipe is a CMake target over a bash script that takes its paths as arguments, so
+no script guesses a build layout. There is no task runner.
 
 ## The rule everything else serves
 
@@ -14,12 +16,13 @@ the firmware's view of the world depend on wall time, on a window being open, on
 a client being connected, or on how fast the machine is. Noise is part of the
 world and is seeded: `--seed` picks the stream, `--ideal` turns it off.
 
-This is enforced, not hoped for. `just micras check` runs the same scenario
-headless and with a window, with and without a video, and with a bridge nobody
-connects to, and compares each pair of CSVs as bytes (`tools/compare_run.py`).
+This is enforced, not hoped for. `micras_sim_check` runs the toy target's
+scenario twice, headless and with a window, with a video, and with a bridge nobody
+connects to, and compares each run with the plain one as bytes
+(`scripts/check_invariance.sh`, `tools/compare_run.py`).
 
 Baselines are summaries, not recordings. Each version under
-`targets/micras/baselines/` holds one `summary.json` per checked run: the hash of
+`targets/<robot>/baselines/` holds one `summary.json` per checked run: the hash of
 `data.csv`, the state timeline, and a handful of numbers with their tolerances
 (`tools/baseline.py`).
 On the machine that recorded it the hash matches; on another it will not, because
@@ -28,7 +31,8 @@ what is compared. Two rules:
 
 - **A refactoring must not move a byte.** On one machine, a refactoring leaves
   the hash where it was. If it moves, the refactoring is wrong.
-- **Never re-record to make a difference go away.** `record-baseline` refuses to
+- **Never re-record to make a difference go away.** `sim_record_baseline` (and
+  the toy's `micras_sim_toy_record_baseline`) refuses to
   overwrite a version; a change of behaviour is a new version, with the reason in
   the commit.
 
@@ -39,11 +43,13 @@ Everything is in this repository, in three layers:
 ```
 engine/, view/, bridge/, app/   the simulator: knows no robot and no HAL
 hal_host/                       micras_hal implemented on a PC, and chip models: knows no physics
+targets/toy/                    the reference target: no HAL, every feature of the engine
 targets/micras/                 the micromouse: firmware submodule, bindings, robot.toml
 ```
 
-`just check-generic` greps everything outside `targets/` for names that belong to
-a robot and fails on any. The root CMakeLists adds every folder of
+`micras_sim_check_generic` greps everything outside `targets/` for names that
+belong to a robot and fails on any (`hal_host/`, the documentation and the files
+shared with micras-lib are not scanned). The root CMakeLists adds every folder of
 `targets/` that has a CMakeLists; nothing above `targets/` names one.
 
 Four engine libraries. `micras_sim_app` sits on top; `micras_sim_view` links only
@@ -67,7 +73,7 @@ target with no HAL yields on it directly and needs no pointer kept from `wire()`
 The README lists the headers a target may include; they are the public API.
 
 `MICRAS_SIM_VIEWER`, `MICRAS_SIM_VIDEO`, `MICRAS_SIM_BRIDGE`, `MICRAS_SIM_TESTS`
-and `MICRAS_SIM_TARGETS` must all still compile when OFF; `just check-options`
+and `MICRAS_SIM_TARGETS` must all still compile when OFF; `micras_sim_check_options`
 configures every one of them off, because stale stubs are otherwise only found by
 whoever first tries to build without a GPU. The first three are ON by default; the
 tests and the robot targets are ON only when the simulator is the top-level project.
@@ -246,6 +252,34 @@ update that asked for it. Its constructor waits 10 ms, then 30 ms after the
 software power-on reset, so the robot exists, and INIT starts, 40 ms into the
 run.
 
+## The toy target
+
+`targets/toy/` exists so that the simulator is checked without any real robot:
+it uses every device, the firmware thread's handover (its program yields a tick
+on the thread it is given, once per 1 ms loop), a command line option, the
+panel, the overlay and the scenario hooks, and it is what the invariance checks
+and the simulator's baseline run on. It has no HAL: its devices write into a
+plain struct its program reads, which is safe because the two threads never run
+at once. Its `robot.toml` is `tests/models/tiny_robot.toml` with the name, a
+125 us timestep and a second wall sensor, since the wall sensors fire in two
+groups. Its baseline runs start from their output directory with a copy of the
+scenario, so a summary records no machine's paths.
+
+## Presets, recipes and sanitizers
+
+`host` is Debug with the address and undefined behavior sanitizers, and is where
+the tests and `micras_sim_check` run; `host-release` (RelWithDebInfo) is for runs,
+the contest and the Micras baselines, whose recorded runs it reproduces byte for
+byte; `host-ci` is `host` with warnings as errors. A run's bytes do not
+depend on the build type (a Debug sanitized toy run equals the RelWithDebInfo
+baseline). The invariance check turns leak detection off for the window and the
+video runs only: the system's GL and font libraries keep their caches until exit.
+
+The simulator's checks (`cmake/checks.cmake`, `scripts/`) and a robot's recipes
+(`targets/<robot>/CMakeLists.txt`, `targets/<robot>/scripts/`) exist only when the
+simulator is the top-level project, and every script takes its paths as
+arguments.
+
 ## The robot description
 
 `targets/micras/robot.toml` is the robot's physical truth, written by hand from
@@ -257,7 +291,7 @@ engine generates the MJCF from it (`robot_mjcf`) and composes it with the arena
 `<out>/model.xml` and hashed into `meta.json`.
 
 `robot.hpp` in the firmware is the firmware's *belief*, and the two are never
-forced equal. `just micras robot-report` prints them side by side. Today they
+forced equal. `sim_robot_report` prints them side by side. Today they
 differ in the emitter half angle (3 deg datasheet against 5.2 deg with mounting
 tolerance), the gyro noise (datasheet against a third more), the maze wall
 thickness (12 mm arena against 12.6 mm) and the front length (53.5 mm board
@@ -354,7 +388,7 @@ frame in `on_after_tick`, through a bounded queue and a sender thread, so a
 client that stops reading loses frames (`bridge_dropped_frames`) instead of
 stalling the run. A port already taken is a warning, not a failure.
 
-Note what the gate proves: `check-monitor` compares a bridged run **with nobody
+Note what the gate proves: the bridge check compares a bridged run **with nobody
 connected** against a plain one. A run a client talks to is marked `interactive`
 and is not reproducible, by definition.
 
@@ -396,7 +430,7 @@ table's `operator[]` is a lookup, not an unchecked access.
 Doxygen on every declaration. **No comments inside function bodies** — if
 something needs explaining, it goes in an `@note` on the declaration, where a
 reader finds it before reading the code. Every `NOLINT` names its check and says
-why. `just lint` is clean and stays clean.
+why. `micras_sim_lint` is clean and stays clean.
 
 ## State of the port
 
@@ -407,10 +441,10 @@ button press starts an exploration through the firmware's own paths. The checked
 runs end with no unbound port, no watchdog expiry and no emergency stop.
 `--flash` carries a saved map into the next run.
 
-**The whole contest runs clean on ten mazes**, which `just micras contest` shows: a
+**The whole contest runs clean on ten mazes**, which `sim_contest` shows: a
 short press explores, the firmware comes back to the start on its own and saves the
 map, and a long press then plans and runs the fastest route with the fan.
-`just micras contest explore_solve_all` does the same with every switch on (fan,
+`sim_contest_all` does the same with every switch on (fan,
 racing line, boost, risky), and there too every maze is clean; japan2017ef and apec2016,
 whose boards grazed walls while the line through the risky turns kept only 8 mm, are clean
 on eight seeds of the fast run. The mazes are maze1, maze2, apec2016 to apec2019,
@@ -435,7 +469,7 @@ firmware commit that made it:
   diagonal sensors meet the walls square on.
 - **Turns of two bends inside one cell**, on a planner of labels that only drops one
   when another is as fast for every route. The planner advances by edges, and
-  `just micras turn-designs` designs the turns, which the firmware's build checks.
+  `sim_turn_designs` designs the turns, which the firmware's build checks.
 - **Turns are braked and accelerated through as their curvature allows.**
 - **The tyres slide to the outside of a curve**, 4.8 mm/s per m/s^2 of lateral
   acceleration. The localizer predicts it and the controller points into it.
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 465e5bb..b630f6c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,6 +22,7 @@ option(MICRAS_SIM_BRIDGE "Build the WebSocket bridge to micras-monitor" ON)
 option(MICRAS_SIM_TESTS "Build the unit tests" ${PROJECT_IS_TOP_LEVEL})
 option(MICRAS_SIM_TARGETS "Build the robot targets of targets/" ${PROJECT_IS_TOP_LEVEL})
 option(MICRAS_SIM_WERROR "Treat the simulator's compiler warnings as errors" OFF)
+option(MICRAS_SIM_EXACT "Make the baseline checks also require byte identical runs" OFF)
 
 # A project that adds the simulator runs its tools and names its mazes.
 set(MICRAS_SIM_TOOLS_DIR "${PROJECT_SOURCE_DIR}/tools" CACHE INTERNAL "The simulator's analysis and baseline tools")
@@ -177,7 +178,7 @@ if(MICRAS_SIM_TARGETS)
 endif()
 
 ###############################################################################
-## Format and lint: the simulator's own, so a project that adds it keeps its own
+## Format, lint and checks: the simulator's own, so a project that adds it keeps its own
 ###############################################################################
 
 if(PROJECT_IS_TOP_LEVEL)
@@ -212,4 +213,5 @@ if(PROJECT_IS_TOP_LEVEL)
 
     include(cmake/lint.cmake)
     micras_sim_add_lint_targets(FORMAT ${HARNESS_SOURCES} ${HARNESS_HEADERS} LINT ${HARNESS_LINTED})
+    include(cmake/checks.cmake)
 endif()
diff --git a/CMakePresets.json b/CMakePresets.json
index 32adef5..14630f0 100644
--- a/CMakePresets.json
+++ b/CMakePresets.json
@@ -2,7 +2,7 @@
     "version": 6,
     "cmakeMinimumRequired": {
         "major": 3,
-        "minor": 25,
+        "minor": 28,
         "patch": 0
     },
     "configurePresets": [
@@ -18,48 +18,66 @@
             }
         },
         {
-            "name": "default",
-            "displayName": "RelWithDebInfo",
+            "name": "host",
+            "displayName": "Debug, with the address and undefined behavior sanitizers",
             "inherits": "base",
             "cacheVariables": {
-                "CMAKE_BUILD_TYPE": "RelWithDebInfo"
+                "CMAKE_BUILD_TYPE": "Debug",
+                "CMAKE_C_FLAGS": "-fsanitize=address,undefined -fno-omit-frame-pointer",
+                "CMAKE_CXX_FLAGS": "-fsanitize=address,undefined -fno-omit-frame-pointer",
+                "CMAKE_EXE_LINKER_FLAGS": "-fsanitize=address,undefined",
+                "CMAKE_SHARED_LINKER_FLAGS": "-fsanitize=address,undefined"
             }
         },
         {
-            "name": "debug",
-            "displayName": "Debug",
+            "name": "host-release",
+            "displayName": "RelWithDebInfo, for runs and baselines",
             "inherits": "base",
             "cacheVariables": {
-                "CMAKE_BUILD_TYPE": "Debug"
+                "CMAKE_BUILD_TYPE": "RelWithDebInfo"
             }
         },
         {
-            "name": "release",
-            "displayName": "Release",
-            "inherits": "base",
+            "name": "host-ci",
+            "displayName": "The CI's: host, with warnings as errors",
+            "inherits": "host",
             "cacheVariables": {
-                "CMAKE_BUILD_TYPE": "Release"
+                "MICRAS_SIM_WERROR": "ON"
             }
         }
     ],
     "buildPresets": [
         {
-            "name": "default",
-            "configurePreset": "default"
+            "name": "host",
+            "configurePreset": "host"
         },
         {
-            "name": "debug",
-            "configurePreset": "debug"
+            "name": "host-release",
+            "configurePreset": "host-release"
         },
         {
-            "name": "release",
-            "configurePreset": "release"
+            "name": "host-ci",
+            "configurePreset": "host-ci"
         }
     ],
     "testPresets": [
         {
-            "name": "default",
-            "configurePreset": "default",
+            "name": "host",
+            "configurePreset": "host",
+            "output": {
+                "outputOnFailure": true
+            }
+        },
+        {
+            "name": "host-release",
+            "configurePreset": "host-release",
+            "output": {
+                "outputOnFailure": true
+            }
+        },
+        {
+            "name": "host-ci",
+            "configurePreset": "host-ci",
             "output": {
                 "outputOnFailure": true
             }
diff --git a/README.md b/README.md
index 56f02b4..529545a 100644
--- a/README.md
+++ b/README.md
@@ -24,24 +24,34 @@ The style targets want clang 22's `clang-format-22`, `clang-tidy-22`,
 ## Quick start
 
 ```bash
-just build
-just micras run-explore                   # 30 s of an exploration -> targets/micras/runs/explore
-just micras analyze runs/explore          # report.json and the plots
-just micras watch                         # an exploration in a window
-just micras serve                         # an exploration open to micras-monitor
-just check                                # the gate: the engine's checks, then every target's
+cmake --preset host-release
+cmake --build --preset host-release
+cmake --build --preset host-release --target sim_run_explore   # 30 s of an exploration -> build/host-release/targets/micras/runs/explore
+python3 tools/analyze.py build/host-release/targets/micras/runs/explore   # report.json and the plots
+cmake --build --preset host-release --target sim_watch         # an exploration in a window
+cmake --build --preset host-release --target sim_serve         # an exploration open to micras-monitor
+cmake --build --preset host --target micras_sim_check          # the simulator's gate
 ```
 
-`just` with no arguments lists every recipe, the engine's and each target's. The
-build uses `CMakePresets.json`; `MICRAS_PRESET` picks between `default`
-(RelWithDebInfo), `debug` and `release`. Only `default` has a test preset, so
-`just test` and `just check` need it. Every preset builds with GCC 15
-(`gcc-15`/`g++-15`), since another compiler may move the last bits of a run.
+Everything is CMake: the presets configure, and the recipes are targets over the
+bash scripts of `scripts/` (the simulator's) and `targets/<robot>/scripts/` (a
+robot's); `cmake --build --preset <preset> --target help` lists them. An arbitrary
+run calls the binary directly (see [Running](#running)).
+
+| Preset | Build | For |
+|---|---|---|
+| `host` | Debug, with the address and undefined behavior sanitizers | the unit tests and the checks |
+| `host-release` | RelWithDebInfo | runs, the contest and baselines |
+| `host-ci` | `host`, with `MICRAS_SIM_WERROR=ON` | the CI |
+
+Each builds in `build/<preset>/`, with GCC 15 (`gcc-15`/`g++-15`) and Ninja, since
+another compiler may move the last bits of a run.
 
 ## Running
 
 ```bash
-./build/default/targets/micras/micras_sim --scenario targets/micras/scenarios/explore.toml --out runs/x
+./build/host-release/targets/micras/micras_sim --scenario targets/micras/scenarios/explore.toml --out runs/x
+./build/host-release/targets/toy/toy_sim --scenario targets/toy/scenarios/drive.toml --out runs/toy
 ```
 
 | Flag | Meaning |
@@ -73,9 +83,9 @@ Micras adds one option of its own:
 | `--flash <file>` | load the flash from the file before the run and save it back after, so a map the firmware saved survives into the next run |
 
 A window, a recording and a bridge are all optional and all off by default, and
-none of them changes what the run produces. `just micras check` proves it for
-each, by running the same scenario with and without and comparing the two CSVs
-byte for byte.
+none of them changes what the run produces. `micras_sim_check` proves it for
+each on the toy target, by running the same scenario with and without and
+comparing the two runs byte for byte.
 
 ## Scenarios
 
@@ -118,11 +128,15 @@ The Micras scenarios:
 | `solve_all` | the same with every switch on |
 
 ```bash
-just micras run --scenario scenarios/explore_solve.toml --maze apec2017 --out runs/contest --flash runs/contest/flash.bin
-just micras contest                       # explore_solve in all ten mazes at once, and their health
-just micras contest explore_solve_all     # the same with every switch on
+./build/host-release/targets/micras/micras_sim --scenario targets/micras/scenarios/explore_solve.toml \
+    --maze apec2017 --out runs/contest --flash runs/contest/flash.bin
+cmake --build --preset host-release --target sim_contest       # explore_solve in every maze at once, and their health
+cmake --build --preset host-release --target sim_contest_all   # the same with every switch on
 ```
 
+`MICRAS_SIM_CONTEST_MAZES` (a cache variable, all ten by default) names the mazes
+the contest runs in.
+
 ## Output
 
 `<out>/data.csv` is one row per tick (125 us) or per `--record-every` ticks: the
@@ -148,7 +162,7 @@ merely open leaves it `false`, and the run is still reproducible from `args`.
 ## Analysis
 
 ```bash
-just micras analyze runs/explore
+python3 tools/analyze.py build/host-release/targets/micras/runs/explore
 ```
 
 Writes `report.json` and plots into the run directory: speeds, contacts,
@@ -160,8 +174,8 @@ penetration, chassis contact, the state timeline, collisions, whether and when
 the goal was reached, the pose estimate's error against the ground truth, the
 tracking error and voltage saturation. Only numpy and matplotlib are needed.
 
-`tools/analyze.py` knows only the engine's columns; what a robot's own columns
-mean comes from its plugin, `tools/analysis.py` in the target's folder, which
+`tools/analyze.py` knows only the engine's columns and needs only numpy and
+matplotlib; what a robot's own columns mean comes from its plugin, `tools/analysis.py` in the target's folder, which
 `meta.json` records as `target_dir`. `--plugin` or `$MICRAS_SIM_PLUGIN` name
 another; `tools/baseline.py` finds it the same way. `baseline.py compare --exact`
 is the byte identity check, and `tools/compare_run.py` compares two runs of one
@@ -170,7 +184,7 @@ build, ignoring the fields that name paths.
 ## Watching a run
 
 ```bash
-just micras watch
+cmake --build --preset host-release --target sim_watch
 ```
 
 | Key | Action |
@@ -191,7 +205,7 @@ is marked `interactive`.
 ## micras-monitor
 
 ```bash
-just micras serve
+cmake --build --preset host-release --target sim_serve
 ```
 
 The bridge puts the firmware's radio on `ws://localhost:8080` and carries raw
@@ -202,10 +216,10 @@ as the radio's baud rate, not faster.
 ## Robot tools
 
 ```bash
-just micras robot-report         # robot.toml against the firmware's robot.hpp, field by field
-just micras wall-calibration     # each wall sensor's gain for robot.toml
-just micras wall-calibration --sweep
-just micras turn-designs         # the firmware's turns of two bends, into config/two_bend_turns.hpp
+cmake --build --preset host-release --target sim_robot_report       # robot.toml against the firmware's robot.hpp, field by field
+cmake --build --preset host-release --target sim_wall_calibration   # each wall sensor's gain for robot.toml
+./build/host-release/targets/micras/micras_wall_calibration --sweep
+cmake --build --preset host-release --target sim_turn_designs       # the firmware's turns of two bends, into config/two_bend_turns.hpp
 ```
 
 The firmware checks every turn of two bends when it is compiled, and stops the
@@ -215,55 +229,62 @@ after a change to the robot's outline, the maze or the margins.
 ## The gate
 
 ```bash
-just check
+cmake --build --preset host --target micras_sim_check
 ```
 
-For the engine: builds, runs every unit test through CTest, configures every
-optional subsystem off to keep it buildable, and checks that nothing outside
-`targets/` names a robot. For Micras: proves that a window, a video and an idle
-bridge change nothing, that the flash survives from one run into the next, runs
-the checked scenarios, checks their health (no warnings, no collision, no
-non-finite sample, no unbound port, no watchdog expiry, no emergency stop, no
-dropped byte), and compares them with the recorded baseline summaries.
-
-Baselines live in `targets/micras/baselines/`; `CLAUDE.md` explains what they
-hold and the rules around them. `just micras record-baseline` refuses to
-overwrite a version: bump it instead, and nothing is ever lost.
-`MICRAS_EXACT=1 just check` also fails when a checked run's `data.csv` is not
-byte identical to the recorded one: the check for a change that must not move a
-byte, such as a refactoring.
-
-`just format`, `just format-check` and `just lint` are the style targets; they
-use the firmware's own `.clang-format` and `.clang-tidy`.
-
-## A robot target
-
-A robot is a folder of `targets/` (or a directory of another project that adds
-this one) with a class implementing `micras::sim::Target` and a `main` that is one
-call to `micras::sim::run`. The target gives its name, loop period, robot file,
-ground truth columns, options and firmware program, and `wire()` builds its
-devices and returns what it adds to the run. The program is called with the
-`FirmwareThread` it runs on, so a program that drives the handover itself calls
-`yield_tick()` on it.
-
-The public headers, which a target may include and which change only with notice:
-
-| Header | What |
-|---|---|
-| `micras/sim/app/target.hpp` | `Target`, the interface |
-| `micras/sim/app/wiring.hpp` | `Wiring`, `WorldInfo`, `CliOption` |
-| `micras/sim/app/application.hpp` | `micras::sim::run` |
-| `micras/sim/view/panel_spec.hpp` | the panel and the overlay |
-| `micras/sim/core/run_context.hpp` | the world, the clock, the serial bus, the noise and the devices of a run |
-| `micras/sim/core/firmware_thread.hpp` | the firmware thread and its handover |
-| `micras/sim/recording/column_source.hpp`, `ground_truth.hpp`, `run_metadata.hpp` | CSV columns, ground truth, meta.json counters |
-| `micras/sim/core/variable_source.hpp` | the firmware variables the panel, the overlay and the scenarios read |
-| `micras/sim/robot/robot_description.hpp` | the robot's `robot.toml` |
-| `micras/sim/devices/*.hpp` | the devices a target builds |
-
-The robot is micromouse-shaped and runs in a maze: its `robot.toml` has every
-section of the schema (chassis, wheels, drive, encoders, IMU, fan, battery, link,
-wall sensors), and the arena is one of the mazes.
+The simulator's gate, on the toy target (`targets/toy/`): builds everything, runs
+every unit test through CTest, configures and builds every optional part off to
+keep it buildable (`micras_sim_check_options`), checks that nothing outside
+`targets/` names a robot (`micras_sim_check_generic`), and proves on the toy that
+a run is reproducible and that a window, a video and a bridge nobody connects to
+change nothing, and compares the toy's runs with its baseline
+(`micras_sim_toy_check`). The window runs under `xvfb-run`, or on the display;
+`MICRAS_SKIP_VIEWER=1` skips it where there is neither.
+
+```bash
+cmake --build --preset host-release --target sim_check
+```
+
+The Micras gate: its unit tests, the flash surviving from one run into the next,
+the checked scenarios (idle, and the first 30 s of an exploration), their health
+(no warnings, no collision, no non-finite sample, no unbound port, no watchdog
+expiry, no emergency stop, no dropped byte) and the recorded baseline summaries.
+
+Baselines live in `targets/<robot>/baselines/`; `CLAUDE.md` explains what they
+hold and the rules around them. `sim_record_baseline` records the version
+`MICRAS_SIM_BASELINE` names and refuses to overwrite one: bump it instead, and
+nothing is ever lost. `sim_run_idle`, `sim_run_explore`, `sim_check_flash` and
+`sim_compare_baseline` are the gate's steps on their own. With
+`-DMICRAS_SIM_EXACT=ON` a baseline comparison also fails when a checked run's
+`data.csv` is not byte identical to the recorded one: the check for a change that
+must not move a byte, such as a refactoring.
+
+`micras_sim_format`, `micras_sim_format_check`, `micras_sim_lint` and
+`micras_sim_lint_fix` are the style targets; they use the configuration shared
+with micras-lib and the firmware (`.clang-format`, `.clang-tidy`).
+
+## The toy target
+
+`targets/toy/` is the simulator's reference: the smallest robot that uses every
+feature of the engine and of the `Target` interface, with no HAL and nothing of a
+real robot. Its `robot.toml` is the engine tests' tiny robot with a second wall
+sensor looking ahead. Its program, which yields on its own firmware thread once
+per 1 ms loop, waits; a press of the button or `go` over the link starts it; it
+drives with the fan on, counting its encoders, until the front wall sensor sees a
+wall, turns right by `--turn-angle` degrees (90 by default) integrating its gyro,
+drives on, and stops at `stop` over the link, which it answers. Its variables are
+its state, odometry, heading, front reading, pack voltage and motor currents; its
+panel has the button, a lamp per state and the pack voltage; its scenarios are
+`idle` and `drive`.
+
+## CI
+
+`.github/workflows/ci.yaml` runs on every push and pull request, in the image of
+`.docker/Dockerfile` (Ubuntu 26.04 with GCC 15, clang 22, CMake and Python; its
+host stage is the one micras-lib and the firmware use too): the `host-ci` build,
+CTest, `micras_sim_format_check`, `micras_sim_lint` and `micras_sim_check`. The
+baselines are compared within their tolerances there: a hash belongs to the
+machine that recorded it.
 
 ## Layout
 
@@ -277,6 +298,9 @@ hal_host/        micras_hal implemented on a PC
   models/          SPI chip models: the LSM6DSV IMU and the AS5047U encoders
 tests/           the engine's unit tests, on a tiny robot of their own
 tools/           analysis, baselines, run health and byte comparison
+scripts/         the checks' scripts, which the CMake targets call
+cmake/           dependencies, warnings, style and check targets
+targets/toy/     the reference target: toy robot, scenarios, baseline
 targets/micras/  the micromouse:
   MicrasFirmware/    submodule
   cube/              the Cube layer the firmware includes, by hand
@@ -284,6 +308,7 @@ targets/micras/  the micromouse:
   robot.toml         the physical description
   scenarios/         idle, explore, explore_link, explore_solve(_all), solve(_all)
   baselines/         recorded summaries
+  scripts/           the recipes' scripts
   tools/             analysis plugin, wall calibration, robot report, turn designer
 ```
 
diff --git a/cmake/checks.cmake b/cmake/checks.cmake
new file mode 100644
index 0000000..7de28dd
--- /dev/null
+++ b/cmake/checks.cmake
@@ -0,0 +1,65 @@
+###############################################################################
+## The simulator's checks, as targets over the scripts of scripts/ (top level only)
+###############################################################################
+
+# micras_sim_collect_targets(<variable> <directory>)
+#
+# Every executable and library the simulator itself defines in <directory> and below, not the fetched
+# dependencies', so that a check can depend on the whole build.
+function(micras_sim_collect_targets VARIABLE DIRECTORY)
+    get_property(TARGETS DIRECTORY "${DIRECTORY}" PROPERTY BUILDSYSTEM_TARGETS)
+    get_property(SUBDIRECTORIES DIRECTORY "${DIRECTORY}" PROPERTY SUBDIRECTORIES)
+    set(COLLECTED ${${VARIABLE}})
+
+    foreach(TARGET_NAME IN LISTS TARGETS)
+        get_target_property(TYPE ${TARGET_NAME} TYPE)
+
+        if(TYPE MATCHES "^(EXECUTABLE|STATIC_LIBRARY|SHARED_LIBRARY)$")
+            list(APPEND COLLECTED ${TARGET_NAME})
+        endif()
+    endforeach()
+
+    foreach(SUBDIRECTORY IN LISTS SUBDIRECTORIES)
+        if(SUBDIRECTORY MATCHES "^${PROJECT_BINARY_DIR}/_deps/" OR NOT SUBDIRECTORY MATCHES "^${PROJECT_SOURCE_DIR}/")
+            continue()
+        endif()
+
+        micras_sim_collect_targets(COLLECTED "${SUBDIRECTORY}")
+    endforeach()
+
+    set(${VARIABLE} ${COLLECTED} PARENT_SCOPE)
+endfunction()
+
+set(MICRAS_SIM_SCRIPTS_DIR "${PROJECT_SOURCE_DIR}/scripts")
+
+# The options check reuses what this build fetched, so it downloads nothing.
+add_custom_target(micras_sim_check_options
+    COMMAND "${MICRAS_SIM_SCRIPTS_DIR}/check_options.sh"
+            "${PROJECT_SOURCE_DIR}" "${PROJECT_BINARY_DIR}-minimal" "${CMAKE_GENERATOR}"
+            "${CMAKE_C_COMPILER}" "${CMAKE_CXX_COMPILER}" "${CMAKE_BUILD_TYPE}" "${MICRAS_SIM_WERROR}"
+            "-DMUJOCO_DIR=${MUJOCO_ROOT}"
+            "-DFETCHCONTENT_SOURCE_DIR_PICOSHA2=${picosha2_SOURCE_DIR}"
+            "-DFETCHCONTENT_SOURCE_DIR_TOMLPLUSPLUS=${tomlplusplus_SOURCE_DIR}"
+    COMMENT "Building with every option off"
+    VERBATIM USES_TERMINAL
+)
+
+add_custom_target(micras_sim_check_generic
+    COMMAND "${MICRAS_SIM_SCRIPTS_DIR}/check_generic.sh" "${PROJECT_SOURCE_DIR}"
+    COMMENT "Checking that nothing outside targets/ names a robot"
+    VERBATIM USES_TERMINAL
+)
+
+# The build, every unit test, the options, the generic check and the toy target's checks.
+add_custom_target(micras_sim_check
+    COMMAND "${CMAKE_CTEST_COMMAND}" --test-dir "${PROJECT_BINARY_DIR}" --output-on-failure --parallel
+    COMMENT "Running the unit tests"
+    VERBATIM USES_TERMINAL
+)
+
+micras_sim_collect_targets(MICRAS_SIM_BUILD_TARGETS "${PROJECT_SOURCE_DIR}")
+add_dependencies(micras_sim_check micras_sim_check_options micras_sim_check_generic ${MICRAS_SIM_BUILD_TARGETS})
+
+if(TARGET micras_sim_toy_check)
+    add_dependencies(micras_sim_check micras_sim_toy_check)
+endif()
diff --git a/justfile b/justfile
deleted file mode 100644
index 49ab5ed..0000000
--- a/justfile
+++ /dev/null
@@ -1,73 +0,0 @@
-# Human entry point for the simulator. Linux only.
-#
-# The engine recipes live here; each robot target's recipes live in its own
-# justfile, loaded as a module: `just micras check`, `just micras run-explore`.
-
-set shell := ["bash", "-euo", "pipefail", "-c"]
-set positional-arguments := true
-
-mod micras 'targets/micras'
-
-preset := env("MICRAS_PRESET", "default")
-build_dir := "build" / preset
-
-# Identifiers that name a specific robot. None may appear outside targets/.
-robot_identifiers := "micras::Micras|MicrasTarget|SimulationContext|ProxyState|proxy_state|robot_v2|\"micras\"|FSM State|Desired Linear|Desired Angular|Odometry Linear|Odometry Angular|Grid Pose|grid_pose|fsm_state|odometry_state|front wheel|MicrasFirmware|MicrasBoard|micras_firmware|targets/micras|wall_adc|dip_switch|button_config|loop_time_us\\{1042|hadc[0-9]|htim[0-9]|hspi[0-9]|huart[0-9]|MX_[A-Z0-9]+_Init"
-
-default:
-    @just --list --list-submodules
-
-# Configure the chosen CMake preset (default, debug, release).
-configure:
-    cmake --preset {{preset}}
-
-[private]
-configured:
-    @test -f {{build_dir}}/CMakeCache.txt || cmake --preset {{preset}}
-
-# Configure if needed, then build the engine and every robot target.
-build: configured
-    cmake --build --preset {{preset}}
-
-# Every unit test, the engine's and the targets', through CTest.
-test: build
-    ctest --preset {{preset}}
-
-# Reformat every source in place.
-format: configured
-    cmake --build {{build_dir}} --target micras_sim_format
-
-# Fail if any source is not clang-format clean.
-format-check: configured
-    cmake --build {{build_dir}} --target micras_sim_format_check
-
-# clang-tidy over every source.
-lint: build
-    cmake --build {{build_dir}} --target micras_sim_lint
-
-# Configure every optional subsystem off, so the options stay buildable.
-check-options:
-    cmake -S . -B {{build_dir}}-minimal -G Ninja -DCMAKE_BUILD_TYPE=RelWithDebInfo \
-        -DCMAKE_C_COMPILER=gcc-15 -DCMAKE_CXX_COMPILER=g++-15 \
-        -DMICRAS_SIM_VIEWER=OFF -DMICRAS_SIM_VIDEO=OFF -DMICRAS_SIM_BRIDGE=OFF -DMICRAS_SIM_TESTS=OFF > /dev/null
-    cmake --build {{build_dir}}-minimal > /dev/null
-
-# Fail if anything outside targets/ names a specific robot.
-check-generic:
-    if grep -rnE '{{robot_identifiers}}' engine view bridge app tests tools cmake CMakeLists.txt; then \
-        echo "robot identifiers outside targets/: move them into the robot's target"; \
-        exit 1; \
-    fi
-    echo "ok   nothing outside targets/ names a robot"
-
-# The gate: the engine's checks, then every robot target's.
-check: build test check-options check-generic
-    just micras check
-
-# Remove the build directory of the chosen preset.
-clean:
-    rm -rf {{build_dir}}
-
-# Remove every build directory.
-clean-all:
-    rm -rf build
diff --git a/scripts/check_baseline.sh b/scripts/check_baseline.sh
new file mode 100755
index 0000000..ec6c1a7
--- /dev/null
+++ b/scripts/check_baseline.sh
@@ -0,0 +1,48 @@
+#!/bin/bash
+# check_baseline.sh compare|record <binary> <scenarios dir> <baseline dir> <tools dir> <out dir> <exact> <scenario>...
+#
+# Runs each named scenario and compares its summary with <baseline dir>/<scenario> (tools/baseline.py),
+# byte for byte when <exact> is ON, then checks the health of every run (tools/check_run.py). record
+# writes the summaries instead, and refuses to overwrite a version.
+
+set -euo pipefail
+
+if [[ $# -lt 8 ]]; then
+    echo "usage: $0 compare|record <binary> <scenarios dir> <baseline dir> <tools dir> <out dir> <exact> <scenario>..." >&2
+    exit 2
+fi
+
+action=$1
+binary=$2
+scenarios=$3
+baseline=$4
+tools=$5
+out=$6
+exact=$7
+shift 7
+
+exact_flag=()
+
+if [[ "${exact}" == ON ]]; then
+    exact_flag=(--exact)
+fi
+
+runs=()
+mkdir -p "${out}"
+
+# Each run starts from the output directory with a copy of its scenario, so the paths a summary records
+# are the same on every machine.
+for name in "$@"; do
+    rm -rf "${out:?}/${name}"
+    cp "${scenarios}/${name}.toml" "${out}/${name}.toml"
+    (cd "${out}" && "${binary}" --scenario "${name}.toml" --out "${name}" > "${name}.log")
+    runs+=("${out}/${name}")
+
+    if [[ "${action}" == record ]]; then
+        python3 "${tools}/baseline.py" record "${out}/${name}" "${baseline}/${name}"
+    else
+        python3 "${tools}/baseline.py" compare "${out}/${name}" "${baseline}/${name}" "${exact_flag[@]}"
+    fi
+done
+
+python3 "${tools}/check_run.py" "${runs[@]}"
diff --git a/scripts/check_generic.sh b/scripts/check_generic.sh
new file mode 100755
index 0000000..b171d3e
--- /dev/null
+++ b/scripts/check_generic.sh
@@ -0,0 +1,50 @@
+#!/bin/bash
+# check_generic.sh <source dir>
+#
+# Fails if anything outside targets/ names a specific robot. hal_host/ is the Micras HAL's host backend
+# (its canonical copy is micras-lib's), the documentation describes the Micras target, the files
+# micras-lib shares with every repository name the repositories, and this script lists the names, so
+# none of them is scanned.
+
+set -euo pipefail
+
+if [[ $# -ne 1 ]]; then
+    echo "usage: $0 <source dir>" >&2
+    exit 2
+fi
+
+cd "$1"
+
+identifiers='micras::Micras|MicrasTarget|SimulationContext|ProxyState|proxy_state|robot_v2|"micras"|FSM State|Desired Linear|Desired Angular|Odometry Linear|Odometry Angular|Grid Pose|grid_pose|fsm_state|odometry_state|front wheel|MicrasFirmware|MicrasBoard|micras_firmware|targets/micras|wall_adc|dip_switch|button_config|loop_time_us\{1042|hadc[0-9]|htim[0-9]|hspi[0-9]|huart[0-9]|MX_[A-Z0-9]+_Init|lsm6dsv|as5047'
+
+skipped=(micras_warnings.cmake run_clang_tidy.sh.in "$(basename "$0")")
+scanned=()
+excluded=()
+
+for path in engine view bridge app tests tools cmake scripts CMakeLists.txt CMakePresets.json .github; do
+    if [[ -e "${path}" ]]; then
+        scanned+=("${path}")
+    fi
+done
+
+for file in "${skipped[@]}"; do
+    excluded+=(--exclude="${file}")
+done
+
+found=0
+
+if grep -rnE -I "${excluded[@]}" --exclude-dir=__pycache__ "${identifiers}" "${scanned[@]}"; then
+    found=1
+fi
+
+if [[ -f .docker/Dockerfile ]] &&
+    sed '/^# >>> host stage >>>$/,/^# <<< host stage <<<$/d' .docker/Dockerfile | grep -nE "${identifiers}"; then
+    found=1
+fi
+
+if [[ ${found} -ne 0 ]]; then
+    echo "robot identifiers outside targets/: move them into the robot's target"
+    exit 1
+fi
+
+echo "ok   nothing outside targets/ names a robot"
diff --git a/scripts/check_invariance.sh b/scripts/check_invariance.sh
new file mode 100755
index 0000000..ba66607
--- /dev/null
+++ b/scripts/check_invariance.sh
@@ -0,0 +1,64 @@
+#!/bin/bash
+# check_invariance.sh <binary> <scenario> <tools dir> <out dir>
+#
+# Proves that nothing but the physics decides a run: the same scenario run twice, then with a window,
+# with a video and with a bridge nobody connects to, each data.csv and meta.json the same as the plain
+# run's (tools/compare_run.py). The window needs xvfb-run or a display; MICRAS_SKIP_VIEWER=1 skips it.
+# The video needs EGL, a GPU or Mesa's surfaceless platform.
+
+set -euo pipefail
+
+if [[ $# -ne 4 ]]; then
+    echo "usage: $0 <binary> <scenario> <tools dir> <out dir>" >&2
+    exit 2
+fi
+
+binary=$1
+scenario=$2
+tools=$3
+out=$4
+
+rm -rf "${out}"
+mkdir -p "${out}"
+
+plain_run() {
+    local name=$1
+    shift
+    "${binary}" --scenario "${scenario}" --out "${out}/${name}" "$@" > "${out}/${name}.log"
+}
+
+compare() {
+    python3 "${tools}/compare_run.py" "${out}/$1" "${out}/plain"
+}
+
+# The window and the video load the system's GL and font libraries, which keep what they cache until
+# the process exits; a sanitized build still checks for leaks in every other run.
+graphics_options="${ASAN_OPTIONS:+${ASAN_OPTIONS}:}detect_leaks=0"
+
+plain_run plain
+plain_run again
+compare again
+
+if command -v xvfb-run > /dev/null; then
+    ASAN_OPTIONS="${graphics_options}" xvfb-run -a "${binary}" --scenario "${scenario}" --out "${out}/viewer" --viewer --viewer-size 640x480 \
+        > "${out}/viewer.log"
+    compare viewer
+elif [[ -n "${DISPLAY:-}" ]]; then
+    ASAN_OPTIONS="${graphics_options}" "${binary}" --scenario "${scenario}" --out "${out}/viewer" --viewer --viewer-size 640x480 > "${out}/viewer.log"
+    compare viewer
+elif [[ "${MICRAS_SKIP_VIEWER:-0}" == 1 ]]; then
+    echo "MICRAS_SKIP_VIEWER=1: skipping the viewer comparison"
+else
+    echo "no display and no xvfb-run; install xvfb or set MICRAS_SKIP_VIEWER=1" >&2
+    exit 1
+fi
+
+mkdir -p "${out}/video"
+ASAN_OPTIONS="${graphics_options}" plain_run video --video "${out}/video/run.mp4" --video-size 640x480
+grep -q "^recording " "${out}/video.log"
+compare video
+
+port=$(python3 -c 'import socket; s = socket.socket(); s.bind(("127.0.0.1", 0)); print(s.getsockname()[1])')
+plain_run monitor --monitor --monitor-port "${port}"
+grep -q "monitor bridge listening" "${out}/monitor.log"
+compare monitor
diff --git a/scripts/check_options.sh b/scripts/check_options.sh
new file mode 100755
index 0000000..525a09d
--- /dev/null
+++ b/scripts/check_options.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+# check_options.sh <source dir> <build dir> <generator> <C compiler> <C++ compiler> <build type> <werror> <cmake argument>...
+#
+# Configures and builds the simulator with every optional part off, the viewer, the video, the bridge,
+# the tests and the targets, so that their stubs keep compiling. The remaining arguments go to CMake,
+# for example the dependencies' sources the parent build already fetched.
+
+set -euo pipefail
+
+if [[ $# -lt 7 ]]; then
+    echo "usage: $0 <source dir> <build dir> <generator> <C compiler> <C++ compiler> <build type> <werror> <cmake argument>..." >&2
+    exit 2
+fi
+
+source_dir=$1
+build_dir=$2
+generator=$3
+c_compiler=$4
+cxx_compiler=$5
+build_type=$6
+werror=$7
+shift 7
+
+cmake -S "${source_dir}" -B "${build_dir}" -G "${generator}" \
+    -DCMAKE_BUILD_TYPE="${build_type}" \
+    -DCMAKE_C_COMPILER="${c_compiler}" \
+    -DCMAKE_CXX_COMPILER="${cxx_compiler}" \
+    -DMICRAS_SIM_VIEWER=OFF \
+    -DMICRAS_SIM_VIDEO=OFF \
+    -DMICRAS_SIM_BRIDGE=OFF \
+    -DMICRAS_SIM_TESTS=OFF \
+    -DMICRAS_SIM_TARGETS=OFF \
+    -DMICRAS_SIM_WERROR="${werror}" \
+    "$@" > "${build_dir}.log"
+
+cmake --build "${build_dir}" >> "${build_dir}.log"
+echo "ok   every option off configures and builds (${build_dir})"
diff --git a/targets/micras/CMakeLists.txt b/targets/micras/CMakeLists.txt
index f961fe6..d6e0f40 100644
--- a/targets/micras/CMakeLists.txt
+++ b/targets/micras/CMakeLists.txt
@@ -75,9 +75,14 @@ add_library(micras_firmware STATIC
     cube/handles.cpp
 )
 
-# The fake Cube layer comes first, so <main.h> and friends resolve to it.
+# The fake Cube layer comes first, so <main.h> and friends resolve to it. The firmware's headers are
+# a dependency's, which the firmware's own build compiles with its own warnings, so they are system
+# headers here; none of their names is also a name of the Cube layer or of the host HAL.
 target_include_directories(micras_firmware PUBLIC
     "${CMAKE_CURRENT_SOURCE_DIR}/cube"
+    "${MICRAS_SIM_HAL_HOST_INCLUDE}"
+)
+target_include_directories(micras_firmware SYSTEM PUBLIC
     "${MICRAS_FIRMWARE_DIR}/include"
     "${MICRAS_FIRMWARE_DIR}/config"
     "${MICRAS_FIRMWARE_DIR}/config/targets/v1"
@@ -86,7 +91,6 @@ target_include_directories(micras_firmware PUBLIC
     "${MICRAS_FIRMWARE_DIR}/micras_comm/include"
     "${MICRAS_FIRMWARE_DIR}/micras_proxy/include"
     "${MICRAS_FIRMWARE_DIR}/micras_hal/include"
-    "${MICRAS_SIM_HAL_HOST_INCLUDE}"
 )
 target_link_libraries(micras_firmware PUBLIC lsm6dsv_headers)
 target_compile_features(micras_firmware PUBLIC cxx_std_23)
@@ -136,3 +140,149 @@ target_compile_definitions(micras_robot_report PRIVATE MICRAS_TARGET_DIR="${CMAK
 micras_apply_warnings(micras_firmware micras_sim_micras micras_sim micras_wall_calibration micras_turn_designer
     micras_robot_report WERROR ${MICRAS_SIM_WERROR}
 )
+
+###############################################################################
+## Recipes: the Micras runs, the contest, the baseline and the robot tools (top level only)
+###############################################################################
+
+# Each calls a script of scripts/ with every path as an argument; runs land in runs/ of this build
+# directory.
+if(PROJECT_IS_TOP_LEVEL)
+    set(MICRAS_SIM_BASELINE "v2" CACHE STRING "Baseline version sim_compare_baseline and sim_record_baseline use")
+    set(MICRAS_SIM_CONTEST_MAZES
+        "maze1;maze2;apec2016;apec2017;apec2018;apec2019;japan2013ef;japan2017ef;uk2016f;alljapan-033-2012-exp-fin"
+        CACHE STRING "The mazes sim_contest and sim_contest_all run in"
+    )
+    option(MICRAS_SIM_EXACT "Make the baseline checks also require byte identical runs" OFF)
+
+    set(MICRAS_SIM_SCRIPTS "${CMAKE_CURRENT_SOURCE_DIR}/scripts")
+    set(MICRAS_SIM_SCENARIOS "${CMAKE_CURRENT_SOURCE_DIR}/scenarios")
+    set(MICRAS_SIM_RUNS "${CMAKE_CURRENT_BINARY_DIR}/runs")
+    set(MICRAS_SIM_PLUGIN "${CMAKE_CURRENT_SOURCE_DIR}/tools/analysis.py")
+    set(MICRAS_SIM_BASELINE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/baselines/${MICRAS_SIM_BASELINE}")
+    set(MICRAS_SIM_CHECKED_RUNS idle explore)
+    set(MICRAS_SIM_EXPLORE_SECONDS 30)
+
+    set(MICRAS_SIM_RUN_IDLE
+        "${MICRAS_SIM_SCRIPTS}/run_idle.sh" "$<TARGET_FILE:micras_sim>" "${MICRAS_SIM_SCENARIOS}" "${MICRAS_SIM_RUNS}"
+    )
+    set(MICRAS_SIM_RUN_EXPLORE
+        "${MICRAS_SIM_SCRIPTS}/run_explore.sh" "$<TARGET_FILE:micras_sim>" "${MICRAS_SIM_SCENARIOS}"
+        "${MICRAS_SIM_RUNS}" "${MICRAS_SIM_EXPLORE_SECONDS}"
+    )
+    set(MICRAS_SIM_COMPARE_BASELINE
+        "${MICRAS_SIM_SCRIPTS}/compare_baseline.sh" "${MICRAS_SIM_TOOLS_DIR}" "${MICRAS_SIM_PLUGIN}" "${MICRAS_SIM_RUNS}"
+        "${MICRAS_SIM_BASELINE_DIR}" "${MICRAS_SIM_EXACT}" ${MICRAS_SIM_CHECKED_RUNS}
+    )
+    set(MICRAS_SIM_CHECK_FLASH
+        "${MICRAS_SIM_SCRIPTS}/check_flash.sh" "$<TARGET_FILE:micras_sim>" "${MICRAS_SIM_SCENARIOS}" "${MICRAS_SIM_RUNS}"
+        "${MICRAS_SIM_TOOLS_DIR}"
+    )
+
+    add_custom_target(sim_run_idle
+        COMMAND ${MICRAS_SIM_RUN_IDLE}
+        COMMENT "The robot left alone for 4 s -> runs/idle"
+        VERBATIM USES_TERMINAL
+    )
+
+    add_custom_target(sim_run_explore
+        COMMAND ${MICRAS_SIM_RUN_EXPLORE}
+        COMMENT "The first ${MICRAS_SIM_EXPLORE_SECONDS} s of an exploration, with its flash -> runs/explore"
+        VERBATIM USES_TERMINAL
+    )
+
+    foreach(CONTEST explore_solve explore_solve_all)
+        if(CONTEST STREQUAL "explore_solve")
+            set(CONTEST_TARGET sim_contest)
+        else()
+            set(CONTEST_TARGET sim_contest_all)
+        endif()
+
+        add_custom_target(${CONTEST_TARGET}
+            COMMAND "${MICRAS_SIM_SCRIPTS}/contest.sh" "$<TARGET_FILE:micras_sim>" "${MICRAS_SIM_SCENARIOS}/${CONTEST}.toml"
+                    "${MICRAS_SIM_RUNS}/contest/${CONTEST}" "${MICRAS_SIM_TOOLS_DIR}" ${MICRAS_SIM_CONTEST_MAZES}
+            COMMENT "The contest (${CONTEST}) in ${MICRAS_SIM_CONTEST_MAZES}"
+            VERBATIM USES_TERMINAL
+        )
+    endforeach()
+
+    add_custom_target(sim_compare_baseline
+        COMMAND ${MICRAS_SIM_COMPARE_BASELINE}
+        COMMENT "Comparing runs/idle and runs/explore with baselines/${MICRAS_SIM_BASELINE}"
+        VERBATIM USES_TERMINAL
+    )
+
+    add_custom_target(sim_record_baseline
+        COMMAND "${CMAKE_CTEST_COMMAND}" --test-dir "${CMAKE_CURRENT_BINARY_DIR}" --output-on-failure
+        COMMAND ${MICRAS_SIM_RUN_IDLE}
+        COMMAND ${MICRAS_SIM_RUN_EXPLORE}
+        COMMAND "${MICRAS_SIM_SCRIPTS}/record_baseline.sh" "${MICRAS_SIM_TOOLS_DIR}" "${MICRAS_SIM_PLUGIN}"
+                "${MICRAS_SIM_RUNS}" "${MICRAS_SIM_BASELINE_DIR}" ${MICRAS_SIM_CHECKED_RUNS}
+        COMMENT "Recording baselines/${MICRAS_SIM_BASELINE}"
+        VERBATIM USES_TERMINAL
+    )
+
+    add_custom_target(sim_check_flash
+        COMMAND ${MICRAS_SIM_RUN_EXPLORE}
+        COMMAND ${MICRAS_SIM_CHECK_FLASH}
+        COMMENT "Checking that the flash outlives a run"
+        VERBATIM USES_TERMINAL
+    )
+
+    add_custom_target(sim_check
+        COMMAND "${CMAKE_CTEST_COMMAND}" --test-dir "${CMAKE_CURRENT_BINARY_DIR}" --output-on-failure --parallel
+        COMMAND ${MICRAS_SIM_RUN_EXPLORE}
+        COMMAND ${MICRAS_SIM_CHECK_FLASH}
+        COMMAND ${MICRAS_SIM_RUN_IDLE}
+        COMMAND ${MICRAS_SIM_COMPARE_BASELINE}
+        COMMAND "${MICRAS_SIM_SCRIPTS}/check_health.sh" "${MICRAS_SIM_TOOLS_DIR}" "${MICRAS_SIM_RUNS}"
+                ${MICRAS_SIM_CHECKED_RUNS}
+        COMMENT "The Micras gate: tests, flash, the checked runs, their baseline and their health"
+        VERBATIM USES_TERMINAL
+    )
+
+    add_custom_target(sim_turn_designs
+        COMMAND "${MICRAS_SIM_SCRIPTS}/turn_designs.sh" "$<TARGET_FILE:micras_turn_designer>"
+                "${MICRAS_FIRMWARE_DIR}/config/two_bend_turns.hpp"
+        COMMENT "Designing the turns of two bends into the firmware's config/two_bend_turns.hpp"
+        VERBATIM USES_TERMINAL
+    )
+
+    add_custom_target(sim_robot_report
+        COMMAND "$<TARGET_FILE:micras_robot_report>"
+        COMMENT "robot.toml against the firmware's robot.hpp"
+        VERBATIM USES_TERMINAL
+    )
+
+    add_custom_target(sim_wall_calibration
+        COMMAND "$<TARGET_FILE:micras_wall_calibration>"
+        COMMENT "Each wall sensor's gain for robot.toml"
+        VERBATIM USES_TERMINAL
+    )
+
+    add_custom_target(sim_serve
+        COMMAND "${MICRAS_SIM_SCRIPTS}/serve.sh" "$<TARGET_FILE:micras_sim>" "${MICRAS_SIM_SCENARIOS}" "${MICRAS_SIM_RUNS}"
+        COMMENT "An exploration open to micras-monitor on ws://localhost:8080"
+        VERBATIM USES_TERMINAL
+    )
+
+    add_custom_target(sim_watch
+        COMMAND "${MICRAS_SIM_SCRIPTS}/watch.sh" "$<TARGET_FILE:micras_sim>" "${MICRAS_SIM_SCENARIOS}" "${MICRAS_SIM_RUNS}"
+        COMMENT "An exploration in a window"
+        VERBATIM USES_TERMINAL
+    )
+
+    foreach(RECIPE sim_run_idle sim_run_explore sim_contest sim_contest_all sim_record_baseline sim_check_flash sim_check
+                   sim_serve sim_watch)
+        add_dependencies(${RECIPE} micras_sim)
+    endforeach()
+
+    if(MICRAS_SIM_TESTS)
+        add_dependencies(sim_check micras_target_tests micras_hal_host_models_tests)
+        add_dependencies(sim_record_baseline micras_target_tests micras_hal_host_models_tests)
+    endif()
+
+    add_dependencies(sim_turn_designs micras_turn_designer)
+    add_dependencies(sim_robot_report micras_robot_report)
+    add_dependencies(sim_wall_calibration micras_wall_calibration)
+endif()
diff --git a/targets/micras/justfile b/targets/micras/justfile
deleted file mode 100644
index 8e6e824..0000000
--- a/targets/micras/justfile
+++ /dev/null
@@ -1,158 +0,0 @@
-# Recipes of the Micras target, run from this directory: `just micras <recipe>` from
-# the repository root. Paths below are relative to targets/micras.
-
-set shell := ["bash", "-euo", "pipefail", "-c"]
-set positional-arguments := true
-
-root := source_directory() / ".." / ".."
-micras_preset := env("MICRAS_PRESET", "default")
-build_root := root / "build" / micras_preset
-bin := build_root / "targets/micras/micras_sim"
-calibration := build_root / "targets/micras/micras_wall_calibration"
-robot_report := build_root / "targets/micras/micras_robot_report"
-turn_designer := build_root / "targets/micras/micras_turn_designer"
-python := "python3"
-tools := root / "tools"
-free_port := python + " -c 'import socket; s = socket.socket(); s.bind((\"127.0.0.1\", 0)); print(s.getsockname()[1])'"
-
-# The current baseline version: one summary per checked run (tools/baseline.py).
-baseline := "baselines/v2"
-check_runs := "idle explore"
-# The checked explore is the first 30 s of the scenario: the search to the goal, where
-# the firmware saves the map, and the start of the way back.
-explore_seconds := "30"
-# The mazes of engine/arenas/maze/mazes the contest runs in.
-mazes := "maze1 maze2 apec2016 apec2017 apec2018 apec2019 japan2013ef japan2017ef uk2016f alljapan-033-2012-exp-fin"
-
-default:
-    @just --list
-
-# Configure if needed, then build everything.
-build:
-    test -f {{build_root}}/CMakeCache.txt || (cd {{root}} && cmake --preset {{micras_preset}})
-    cmake --build {{build_root}}
-
-# The Micras unit tests through CTest.
-test: build
-    ctest --test-dir {{build_root}}/targets/micras --output-on-failure
-
-# Run the firmware with arbitrary simulator flags, e.g. `just micras run --scenario scenarios/explore.toml --out runs/x`.
-run *args: build
-    {{bin}} "$@"
-
-# The robot left alone for 4 s -> runs/idle
-run-idle: build
-    {{bin}} --scenario scenarios/idle.toml --out runs/idle
-
-# The first 30 s of an exploration started by the button, keeping the flash it saves -> runs/explore
-run-explore: build
-    rm -f runs/explore/flash.bin
-    {{bin}} --scenario scenarios/explore.toml --seconds {{explore_seconds}} --out runs/explore \
-        --flash runs/explore/flash.bin
-
-# Plots and report.json for one run directory.
-analyze run:
-    {{python}} {{tools}}/analyze.py "$1"
-
-# Each wall sensor's gain for robot.toml, or with --sweep how the firmware's distances follow the true ones.
-wall-calibration *args: build
-    {{calibration}} "$@"
-
-# robot.toml, the physical description, against robot.hpp, the firmware's belief, field by field.
-robot-report: build
-    {{robot_report}}
-
-# Design the turns of two bends and rewrite the firmware's config/two_bend_turns.hpp.
-turn-designs: build
-    {{turn_designer}} > MicrasFirmware/config/two_bend_turns.hpp.new
-    mv MicrasFirmware/config/two_bend_turns.hpp.new MicrasFirmware/config/two_bend_turns.hpp
-
-# Run with the bridge open so micras-monitor can connect on ws://localhost:8080.
-serve *args: build
-    {{bin}} --scenario scenarios/explore_link.toml --out runs/serve --monitor "$@"
-
-# Watch a run in a window. Space pauses, right steps, tab cycles cameras, esc quits.
-watch *args: build
-    {{bin}} --scenario scenarios/explore.toml --out runs/watch --viewer "$@"
-
-# The whole contest in every maze at once, exploring and then the fastest run, and its health.
-# A row every 10 ms is plenty for the health, and the events are still found every tick.
-contest scenario="explore_solve": build
-    for maze in {{mazes}}; do \
-        mkdir -p runs/contest/{{scenario}}/$maze; \
-        {{bin}} --scenario scenarios/{{scenario}}.toml --maze $maze --out runs/contest/{{scenario}}/$maze \
-            --record-every 80 > runs/contest/{{scenario}}/$maze/stdout.txt & \
-    done; \
-    wait
-    {{python}} {{tools}}/check_run.py --expect-state IDLE --expect unbound_ports=0 --expect watchdog_expiries=0 \
-        --expect emergency_stops=0 runs/contest/{{scenario}}/*
-
-# Compare the checked runs against the recorded baseline summaries; MICRAS_EXACT=1 also fails on a byte that moved.
-compare-baseline:
-    exact=""; \
-    if [ "${MICRAS_EXACT:-0}" = 1 ]; then exact="--exact"; fi; \
-    for run in {{check_runs}}; do {{python}} {{tools}}/baseline.py compare runs/$run {{baseline}}/$run $exact; done
-
-# Refuses to overwrite a version, so an older one is never lost: bump it instead.
-# Record a new baseline version from the checked runs.
-record-baseline: test run-idle run-explore
-    for run in {{check_runs}}; do {{python}} {{tools}}/baseline.py record runs/$run {{baseline}}/$run; done
-
-# The reference the window, the video and the bridge are compared with: 3 s of the explore -> runs/plain
-[private]
-run-plain: build
-    {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/plain > /dev/null
-
-# A bridged run with nobody connected must match the same run without it, and the
-# bridge must actually have listened.
-# Prove the monitor bridge changes nothing.
-check-monitor: run-plain
-    mkdir -p runs/monitor
-    port=$({{free_port}}); \
-        {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/monitor --monitor \
-            --monitor-port $port > runs/monitor.log; \
-        grep -q "monitor bridge listening" runs/monitor.log
-    {{python}} {{tools}}/compare_run.py runs/monitor runs/plain
-
-# The same scenario headless and watched must agree. Fails when there is no display
-# and no xvfb-run, unless MICRAS_SKIP_VIEWER=1 says so.
-# Prove a window changes nothing.
-check-viewer: run-plain
-    if command -v xvfb-run > /dev/null; then \
-        show="xvfb-run -a"; \
-    elif [ -n "${DISPLAY:-}" ]; then \
-        show=""; \
-    elif [ "${MICRAS_SKIP_VIEWER:-0}" = 1 ]; then \
-        echo "MICRAS_SKIP_VIEWER=1: skipping the viewer comparison"; \
-        exit 0; \
-    else \
-        echo "no display and no xvfb-run; install xvfb or set MICRAS_SKIP_VIEWER=1"; \
-        exit 1; \
-    fi; \
-    $show {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/viewer \
-        --viewer --viewer-size 640x480 > /dev/null; \
-    {{python}} {{tools}}/compare_run.py runs/viewer runs/plain
-
-# The same scenario with and without --video must agree. Needs EGL: a GPU, or
-# Mesa's surfaceless platform (EGL_PLATFORM=surfaceless).
-# Prove recording a video changes nothing.
-check-video: run-plain
-    mkdir -p runs/video
-    {{bin}} --scenario scenarios/explore.toml --seconds 3 --out runs/video \
-        --video runs/video/run.mp4 --video-size 640x480 > runs/video.log
-    grep -q "^recording " runs/video.log
-    {{python}} {{tools}}/compare_run.py runs/video runs/plain
-
-# The checked exploration saves its map when it reaches the goal, which leaves a
-# programmed image in its --flash file, and a new run boots from it to IDLE.
-# Prove the flash outlives a run.
-check-flash: run-explore
-    {{python}} -c 'import sys; image = open("runs/explore/flash.bin", "rb").read(); sys.exit(0 if any(byte != 0xFF for byte in image) else "the flash image is blank")'
-    cp runs/explore/flash.bin runs/booted.bin
-    {{bin}} --scenario scenarios/idle.toml --out runs/booted --flash runs/booted.bin > /dev/null
-    {{python}} {{tools}}/check_run.py --expect-state IDLE runs/booted
-
-# The gate: tests, the window, video and bridge proofs, the checked runs, their health and the baseline.
-check: build test check-viewer check-video check-monitor check-flash run-idle && compare-baseline
-    {{python}} {{tools}}/check_run.py --expect unbound_ports=0 --expect watchdog_expiries=0 \
-        --expect emergency_stops=0 --expect serial_dropped_bytes=0 runs/idle runs/explore
diff --git a/targets/micras/scripts/check_flash.sh b/targets/micras/scripts/check_flash.sh
new file mode 100755
index 0000000..469bfde
--- /dev/null
+++ b/targets/micras/scripts/check_flash.sh
@@ -0,0 +1,23 @@
+#!/bin/bash
+# check_flash.sh <simulator> <scenarios dir> <runs dir> <tools dir>
+#
+# The checked exploration saves its map when it reaches the goal, which leaves a programmed image in its
+# flash file (run_explore.sh), and a new run boots from that image to IDLE.
+
+set -euo pipefail
+
+if [[ $# -ne 4 ]]; then
+    echo "usage: $0 <simulator> <scenarios dir> <runs dir> <tools dir>" >&2
+    exit 2
+fi
+
+simulator=$1
+scenarios=$2
+runs=$3
+tools=$4
+
+python3 -c 'import sys; image = open(sys.argv[1], "rb").read(); sys.exit(0 if any(byte != 0xFF for byte in image) else "the flash image is blank")' \
+    "${runs}/explore/flash.bin"
+cp "${runs}/explore/flash.bin" "${runs}/booted.bin"
+"${simulator}" --scenario "${scenarios}/idle.toml" --out "${runs}/booted" --flash "${runs}/booted.bin" > /dev/null
+python3 "${tools}/check_run.py" --expect-state IDLE "${runs}/booted"
diff --git a/targets/micras/scripts/check_health.sh b/targets/micras/scripts/check_health.sh
new file mode 100755
index 0000000..5332f1d
--- /dev/null
+++ b/targets/micras/scripts/check_health.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+# check_health.sh <tools dir> <runs dir> <run>...
+#
+# The checked runs' health: no warning, collision or non-finite sample, and no unbound port, watchdog
+# expiry, emergency stop or dropped byte.
+
+set -euo pipefail
+
+if [[ $# -lt 3 ]]; then
+    echo "usage: $0 <tools dir> <runs dir> <run>..." >&2
+    exit 2
+fi
+
+tools=$1
+runs=$2
+shift 2
+
+paths=()
+
+for run in "$@"; do
+    paths+=("${runs}/${run}")
+done
+
+python3 "${tools}/check_run.py" --expect unbound_ports=0 --expect watchdog_expiries=0 --expect emergency_stops=0 \
+    --expect serial_dropped_bytes=0 "${paths[@]}"
diff --git a/targets/micras/scripts/compare_baseline.sh b/targets/micras/scripts/compare_baseline.sh
new file mode 100755
index 0000000..696faf6
--- /dev/null
+++ b/targets/micras/scripts/compare_baseline.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+# compare_baseline.sh <tools dir> <plugin> <runs dir> <baseline dir> <exact> <run>...
+#
+# Compares each checked run with its summary in the baseline version; with <exact> ON a byte that moved
+# fails too, the check for a change that must not move one, such as a refactoring.
+
+set -euo pipefail
+
+if [[ $# -lt 6 ]]; then
+    echo "usage: $0 <tools dir> <plugin> <runs dir> <baseline dir> <exact> <run>..." >&2
+    exit 2
+fi
+
+tools=$1
+plugin=$2
+runs=$3
+baseline=$4
+exact=$5
+shift 5
+
+exact_flag=()
+
+if [[ "${exact}" == ON ]]; then
+    exact_flag=(--exact)
+fi
+
+for run in "$@"; do
+    python3 "${tools}/baseline.py" compare "${runs}/${run}" "${baseline}/${run}" --plugin "${plugin}" "${exact_flag[@]}"
+done
diff --git a/targets/micras/scripts/contest.sh b/targets/micras/scripts/contest.sh
new file mode 100755
index 0000000..44f4ef6
--- /dev/null
+++ b/targets/micras/scripts/contest.sh
@@ -0,0 +1,32 @@
+#!/bin/bash
+# contest.sh <simulator> <scenario> <out dir> <tools dir> <maze>...
+#
+# The whole contest in every maze at once, exploring and then the fastest run, and its health. A row
+# every 10 ms is plenty for the health, and the events are still found every tick.
+
+set -euo pipefail
+
+if [[ $# -lt 5 ]]; then
+    echo "usage: $0 <simulator> <scenario> <out dir> <tools dir> <maze>..." >&2
+    exit 2
+fi
+
+simulator=$1
+scenario=$2
+out=$3
+tools=$4
+shift 4
+
+runs=()
+
+for maze in "$@"; do
+    mkdir -p "${out}/${maze}"
+    "${simulator}" --scenario "${scenario}" --maze "${maze}" --out "${out}/${maze}" --record-every 80 \
+        > "${out}/${maze}/stdout.txt" &
+    runs+=("${out}/${maze}")
+done
+
+wait
+
+python3 "${tools}/check_run.py" --expect-state IDLE --expect unbound_ports=0 --expect watchdog_expiries=0 \
+    --expect emergency_stops=0 "${runs[@]}"
diff --git a/targets/micras/scripts/record_baseline.sh b/targets/micras/scripts/record_baseline.sh
new file mode 100755
index 0000000..65df735
--- /dev/null
+++ b/targets/micras/scripts/record_baseline.sh
@@ -0,0 +1,22 @@
+#!/bin/bash
+# record_baseline.sh <tools dir> <plugin> <runs dir> <baseline dir> <run>...
+#
+# Records a new baseline version from the checked runs. baseline.py refuses to overwrite a version, so
+# an older one is never lost: a change of behavior is a new version.
+
+set -euo pipefail
+
+if [[ $# -lt 5 ]]; then
+    echo "usage: $0 <tools dir> <plugin> <runs dir> <baseline dir> <run>..." >&2
+    exit 2
+fi
+
+tools=$1
+plugin=$2
+runs=$3
+baseline=$4
+shift 4
+
+for run in "$@"; do
+    python3 "${tools}/baseline.py" record "${runs}/${run}" "${baseline}/${run}" --plugin "${plugin}"
+done
diff --git a/targets/micras/scripts/run_explore.sh b/targets/micras/scripts/run_explore.sh
new file mode 100755
index 0000000..e6d9d29
--- /dev/null
+++ b/targets/micras/scripts/run_explore.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+# run_explore.sh <simulator> <scenarios dir> <runs dir> <seconds>
+#
+# The first <seconds> of an exploration started by the button, keeping the flash it saves: the search
+# to the goal, where the firmware saves the map, and the start of the way back -> <runs dir>/explore.
+# The run starts from the runs directory with a copy of its scenario, so the paths meta.json and a
+# baseline summary record are the same on every machine.
+
+set -euo pipefail
+
+if [[ $# -ne 4 ]]; then
+    echo "usage: $0 <simulator> <scenarios dir> <runs dir> <seconds>" >&2
+    exit 2
+fi
+
+mkdir -p "$3/explore"
+rm -f "$3/explore/flash.bin"
+cp "$2/explore.toml" "$3/explore.toml"
+cd "$3"
+"$1" --scenario explore.toml --seconds "$4" --out explore --flash explore/flash.bin
diff --git a/targets/micras/scripts/run_idle.sh b/targets/micras/scripts/run_idle.sh
new file mode 100755
index 0000000..8a4be4e
--- /dev/null
+++ b/targets/micras/scripts/run_idle.sh
@@ -0,0 +1,17 @@
+#!/bin/bash
+# run_idle.sh <simulator> <scenarios dir> <runs dir>
+#
+# The robot left alone for 4 s -> <runs dir>/idle. The run starts from the runs directory with a copy of
+# its scenario, so the paths meta.json and a baseline summary record are the same on every machine.
+
+set -euo pipefail
+
+if [[ $# -ne 3 ]]; then
+    echo "usage: $0 <simulator> <scenarios dir> <runs dir>" >&2
+    exit 2
+fi
+
+mkdir -p "$3"
+cp "$2/idle.toml" "$3/idle.toml"
+cd "$3"
+"$1" --scenario idle.toml --out idle
diff --git a/targets/micras/scripts/serve.sh b/targets/micras/scripts/serve.sh
new file mode 100755
index 0000000..1667d9b
--- /dev/null
+++ b/targets/micras/scripts/serve.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+# serve.sh <simulator> <scenarios dir> <runs dir>
+#
+# An exploration started over the link, with the bridge open so micras-monitor can connect on
+# ws://localhost:8080 -> <runs dir>/serve
+
+set -euo pipefail
+
+if [[ $# -ne 3 ]]; then
+    echo "usage: $0 <simulator> <scenarios dir> <runs dir>" >&2
+    exit 2
+fi
+
+mkdir -p "$3"
+"$1" --scenario "$2/explore_link.toml" --out "$3/serve" --monitor
diff --git a/targets/micras/scripts/turn_designs.sh b/targets/micras/scripts/turn_designs.sh
new file mode 100755
index 0000000..7bcacc8
--- /dev/null
+++ b/targets/micras/scripts/turn_designs.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+# turn_designs.sh <turn designer> <header>
+#
+# Designs the turns of two bends and rewrites the firmware's two_bend_turns.hpp, only once the designer
+# succeeded, so a failed search leaves the header as it was.
+
+set -euo pipefail
+
+if [[ $# -ne 2 ]]; then
+    echo "usage: $0 <turn designer> <header>" >&2
+    exit 2
+fi
+
+"$1" > "$2.new"
+mv "$2.new" "$2"
diff --git a/targets/micras/scripts/watch.sh b/targets/micras/scripts/watch.sh
new file mode 100755
index 0000000..d9ffa39
--- /dev/null
+++ b/targets/micras/scripts/watch.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+# watch.sh <simulator> <scenarios dir> <runs dir>
+#
+# An exploration in a window. Space pauses, right steps, tab cycles cameras, esc quits -> <runs dir>/watch
+
+set -euo pipefail
+
+if [[ $# -ne 3 ]]; then
+    echo "usage: $0 <simulator> <scenarios dir> <runs dir>" >&2
+    exit 2
+fi
+
+mkdir -p "$3"
+"$1" --scenario "$2/explore.toml" --out "$3/watch" --viewer
diff --git a/targets/toy/CMakeLists.txt b/targets/toy/CMakeLists.txt
index 07677a4..fc634e7 100644
--- a/targets/toy/CMakeLists.txt
+++ b/targets/toy/CMakeLists.txt
@@ -12,3 +12,37 @@ target_link_libraries(toy_sim PRIVATE micras_sim_toy)
 
 micras_apply_warnings(micras_sim_toy toy_sim WERROR ${MICRAS_SIM_WERROR})
 
+###############################################################################
+## Checks: a run is reproducible whatever watches it, and matches its baseline
+###############################################################################
+
+if(PROJECT_IS_TOP_LEVEL)
+    set(MICRAS_SIM_TOY_BASELINE "v1" CACHE STRING "The toy's baseline version, in targets/toy/baselines/")
+    set(MICRAS_SIM_TOY_RUNS "${CMAKE_CURRENT_BINARY_DIR}/runs")
+    set(MICRAS_SIM_TOY_CHECKED idle drive)
+
+    add_custom_target(micras_sim_toy_check
+        COMMAND "${CMAKE_COMMAND}" -E make_directory "${MICRAS_SIM_TOY_RUNS}"
+        COMMAND "${PROJECT_SOURCE_DIR}/scripts/check_invariance.sh"
+                "$<TARGET_FILE:toy_sim>" "${CMAKE_CURRENT_SOURCE_DIR}/scenarios/drive.toml" "${MICRAS_SIM_TOOLS_DIR}"
+                "${MICRAS_SIM_TOY_RUNS}/invariance"
+        COMMAND "${PROJECT_SOURCE_DIR}/scripts/check_baseline.sh" compare
+                "$<TARGET_FILE:toy_sim>" "${CMAKE_CURRENT_SOURCE_DIR}/scenarios"
+                "${CMAKE_CURRENT_SOURCE_DIR}/baselines/${MICRAS_SIM_TOY_BASELINE}" "${MICRAS_SIM_TOOLS_DIR}"
+                "${MICRAS_SIM_TOY_RUNS}" "${MICRAS_SIM_EXACT}" ${MICRAS_SIM_TOY_CHECKED}
+        COMMENT "Checking the toy target: invariance and baseline"
+        VERBATIM USES_TERMINAL
+    )
+    add_dependencies(micras_sim_toy_check toy_sim)
+
+    add_custom_target(micras_sim_toy_record_baseline
+        COMMAND "${CMAKE_COMMAND}" -E make_directory "${MICRAS_SIM_TOY_RUNS}"
+        COMMAND "${PROJECT_SOURCE_DIR}/scripts/check_baseline.sh" record
+                "$<TARGET_FILE:toy_sim>" "${CMAKE_CURRENT_SOURCE_DIR}/scenarios"
+                "${CMAKE_CURRENT_SOURCE_DIR}/baselines/${MICRAS_SIM_TOY_BASELINE}" "${MICRAS_SIM_TOOLS_DIR}"
+                "${MICRAS_SIM_TOY_RUNS}" OFF ${MICRAS_SIM_TOY_CHECKED}
+        COMMENT "Recording the toy's baseline ${MICRAS_SIM_TOY_BASELINE}"
+        VERBATIM USES_TERMINAL
+    )
+    add_dependencies(micras_sim_toy_record_baseline toy_sim)
+endif()

From 403e399be162f5560e468266c97a40aebad93a47 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 06:41:35 -0300
Subject: [PATCH 34/52] =?UTF-8?q?=F0=9F=91=B7=20Check=20the=20simulator=20?=
 =?UTF-8?q?on=20every=20push=20and=20pull=20request?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The simulator is public, so every push and every pull request, forks' included, runs its CI: the
host-ci build, the unit tests, the format check, the lint and micras_sim_check, in the image of
.docker/Dockerfile. Its host stage is the one micras-lib and the firmware use, byte for byte; the
simulator stage adds GLFW, OpenGL, EGL and Mesa's software renderer, Xvfb, ffmpeg, and clang's
sanitizer headers, which clang-tidy needs to read a sanitized build. The fetched dependencies are
cached. The firmware submodule is cloned over HTTPS, which needs no key.
---
 .docker/Dockerfile        | 65 +++++++++++++++++++++++++++++++++++++++
 .github/workflows/ci.yaml | 61 ++++++++++++++++++++++++++++++++++++
 .gitmodules               |  2 +-
 3 files changed, 127 insertions(+), 1 deletion(-)
 create mode 100644 .docker/Dockerfile
 create mode 100644 .github/workflows/ci.yaml

diff --git a/.docker/Dockerfile b/.docker/Dockerfile
new file mode 100644
index 0000000..fb7479c
--- /dev/null
+++ b/.docker/Dockerfile
@@ -0,0 +1,65 @@
+# syntax=docker/dockerfile:1.27
+
+# >>> host stage >>>
+###############################################################################
+# Host tools: shared byte for byte by micras-lib, micras-simulation and       #
+# MicrasFirmware, whose CI compares the lines between the two markers         #
+###############################################################################
+FROM ubuntu:26.04 AS host
+
+# The compilers and the clang tooling are pinned to a major version, so that a distribution update
+# can move neither the generated code nor the formatting rules and the enabled check set
+ARG HOST_GCC_VERSION=15
+ARG HOST_CLANG_VERSION=22
+
+# The apt caches are kept in BuildKit cache mounts instead of the image layers, so the hook that
+# deletes the downloaded packages after every install has to go
+RUN rm -f /etc/apt/apt.conf.d/docker-clean
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && \
+    apt-get install -y --no-install-recommends \
+        ca-certificates \
+        cmake \
+        doxygen \
+        git \
+        graphviz \
+        ninja-build \
+        python3 \
+        python3-matplotlib \
+        python3-numpy \
+        "gcc-${HOST_GCC_VERSION}" \
+        "g++-${HOST_GCC_VERSION}" \
+        "clang-${HOST_CLANG_VERSION}" \
+        "clang-format-${HOST_CLANG_VERSION}" \
+        "clang-tidy-${HOST_CLANG_VERSION}"
+
+WORKDIR /project
+# <<< host stage <<<
+
+###############################################################################
+# The simulator: what the viewer, the video and their checks need on top     #
+###############################################################################
+FROM host AS simulator
+
+ARG HOST_CLANG_VERSION=22
+
+# GLFW and the OpenGL and EGL development files for the viewer and the video, Mesa's software renderer
+# for a machine with no GPU, Xvfb for a window with no display, and ffmpeg, which encodes the video.
+# clang's own sanitizer headers let clang-tidy read a sanitized build: MuJoCo's headers include them.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && \
+    apt-get install -y --no-install-recommends \
+        "libclang-rt-${HOST_CLANG_VERSION}-dev" \
+        ffmpeg \
+        libegl-dev \
+        libegl-mesa0 \
+        libgl-dev \
+        libgl1-mesa-dri \
+        libglfw3-dev \
+        libglx-mesa0 \
+        libopengl-dev \
+        xauth \
+        xvfb
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
new file mode 100644
index 0000000..a0cef51
--- /dev/null
+++ b/.github/workflows/ci.yaml
@@ -0,0 +1,61 @@
+name: Build test lint and check the simulator
+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  host:
+    name: 🧪 Build, tests, format, lint and checks
+    runs-on: ubuntu-latest
+    timeout-minutes: 60
+    steps:
+      - name: 🔀 Checkout
+        uses: actions/checkout@v7
+        with:
+          submodules: true
+
+      - name: 🐋 Build the simulator image
+        run: docker build --file .docker/Dockerfile --target simulator --tag micras-simulation:ci .docker
+
+      - name: 🗃️ Restore the fetched dependencies
+        uses: actions/cache@v6
+        with:
+          path: build/host-ci/_deps
+          key: deps-host-ci-${{ hashFiles('cmake/third_party.cmake', 'cmake/mujoco.cmake', 'targets/*/CMakeLists.txt') }}
+
+      # One long lived container runs every step below, as the user that owns the checkout
+      - name: 📦 Start the simulator container
+        run: >
+          docker run --detach --name simulator --user "$(id -u):$(id -g)" --env HOME=/tmp
+          --volume "$PWD:/project" --workdir /project micras-simulation:ci sleep infinity
+
+      - name: ⚙️ Configure
+        run: docker exec simulator cmake --preset host-ci
+
+      - name: 🔨 Build
+        run: docker exec simulator cmake --build --preset host-ci
+
+      - name: 🧪 Run the tests
+        run: docker exec simulator ctest --preset host-ci
+
+      - name: 🎨 Check the formatting
+        run: docker exec simulator cmake --build --preset host-ci --target micras_sim_format_check
+
+      - name: 🚨 Lint
+        run: docker exec simulator cmake --build --preset host-ci --target micras_sim_lint
+
+      - name: ✅ Check the simulator
+        run: docker exec simulator cmake --build --preset host-ci --target micras_sim_check
+
+      - name: 🧹 Stop the simulator container
+        if: always()
+        run: docker rm --force simulator
diff --git a/.gitmodules b/.gitmodules
index de8d223..74dafd4 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,4 +1,4 @@
 [submodule "MicrasFirmware"]
 	path = targets/micras/MicrasFirmware
-	url = git@github.com:Team-Micras/MicrasFirmware.git
+	url = https://github.com/Team-Micras/MicrasFirmware.git
 	branch = main

From b14fb041269b75ac2588131bf9267c8a94895678 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 06:55:15 -0300
Subject: [PATCH 35/52] =?UTF-8?q?=F0=9F=90=9B=20Name=20the=20toy's=20--tur?=
 =?UTF-8?q?n-angle=20when=20its=20value=20is=20not=20a=20number?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

std::stod reported only its own name; std::from_chars lets the option say what it expects and what it got.
---
 targets/toy/src/toy_target.cpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/targets/toy/src/toy_target.cpp b/targets/toy/src/toy_target.cpp
index 0cf6bee..05fc7c6 100644
--- a/targets/toy/src/toy_target.cpp
+++ b/targets/toy/src/toy_target.cpp
@@ -4,6 +4,7 @@
 
 #include <algorithm>
 #include <array>
+#include <charconv>
 #include <cstddef>
 #include <cstdint>
 #include <filesystem>
@@ -14,6 +15,7 @@
 #include <span>
 #include <stdexcept>
 #include <string>
+#include <system_error>
 #include <utility>
 #include <vector>
 
@@ -138,10 +140,11 @@ std::vector<CliOption> ToyTarget::options() {
         .name = "--turn-angle",
         .argument = "<degrees>",
         .apply = [this](const std::string& value) {
-            std::size_t  parsed = 0;
-            const double degrees = std::stod(value, &parsed);
+            double            degrees = 0.0;
+            const char* const end = std::to_address(value.end());
+            const auto        result = std::from_chars(value.data(), end, degrees);
 
-            if (parsed != value.size() or degrees <= 0.0) {
+            if (result.ec != std::errc{} or result.ptr != end or degrees <= 0.0) {
                 throw std::runtime_error("--turn-angle expects a positive number of degrees, got '" + value + "'");
             }
 

From a9fc65b4bcaf0f82ff8a7c43d0aeba7efb7ebc79 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 08:12:59 -0300
Subject: [PATCH 36/52] =?UTF-8?q?=F0=9F=93=9D=20List=20the=20headers=20a?=
 =?UTF-8?q?=20target=20may=20include=20in=20the=20README?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

They are the simulator's public interface, the headers both targets include, so a new target knows what it may rely on and what changes only with notice.
---
 README.md | 33 +++++++++++++++++++++++++++++++++
 1 file changed, 33 insertions(+)

diff --git a/README.md b/README.md
index 529545a..09a37b6 100644
--- a/README.md
+++ b/README.md
@@ -263,6 +263,39 @@ must not move a byte, such as a refactoring.
 `micras_sim_lint_fix` are the style targets; they use the configuration shared
 with micras-lib and the firmware (`.clang-format`, `.clang-tidy`).
 
+## A robot target
+
+A robot is a folder of `targets/` (or a directory of another project that adds
+this one) with a class implementing `micras::sim::Target` and a `main` that is one
+call to `micras::sim::run`. The target gives its name, loop period, robot file,
+ground truth columns, options and firmware program, and `wire()` builds its
+devices and returns what it adds to the run. The program is called with the
+`FirmwareThread` it runs on, so a program that drives the handover itself calls
+`yield_tick()` on it.
+
+The public headers, which a target may include and which change only with notice:
+
+| Header | What |
+|---|---|
+| `micras/sim/app/target.hpp` | `Target`, the interface |
+| `micras/sim/app/wiring.hpp` | `Wiring`, `WorldInfo`, `CliOption` |
+| `micras/sim/app/application.hpp` | `micras::sim::run` |
+| `micras/sim/view/panel_spec.hpp` | the panel and the overlay |
+| `micras/sim/core/run_context.hpp` | the world, the clock, the serial bus, the noise and the devices of a run |
+| `micras/sim/core/firmware_thread.hpp` | the firmware thread and its handover |
+| `micras/sim/core/variable_source.hpp` | the firmware variables the panel, the overlay and the scenarios read |
+| `micras/sim/core/span_at.hpp` | checked indexing of a `std::span` |
+| `micras/sim/recording/column_source.hpp`, `csv_writer.hpp` | CSV columns and the writer they fill |
+| `micras/sim/recording/ground_truth.hpp`, `run_metadata.hpp` | ground truth, `meta.json` counters |
+| `micras/sim/robot/robot_description.hpp` | the robot's `robot.toml` |
+| `micras/sim/robot/robot_model.hpp` | `RobotModelNames`, the names the generated model gives the robot's parts |
+| `micras/sim/scenario/scenario.hpp` | `ScenarioHooks`: the inputs, messages and state names a scenario uses |
+| `micras/sim/devices/*.hpp` | the devices a target builds |
+
+The robot is micromouse-shaped and runs in a maze: its `robot.toml` has every
+section of the schema (chassis, wheels, drive, encoders, IMU, fan, battery, link,
+wall sensors), and the arena is one of the mazes.
+
 ## The toy target
 
 `targets/toy/` is the simulator's reference: the smallest robot that uses every

From 5638a40dbc3cef3314b0929538602fae5d5f49ad Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 08:13:04 -0300
Subject: [PATCH 37/52] =?UTF-8?q?=F0=9F=93=9D=20Name=20the=20robot=20tools?=
 =?UTF-8?q?=20by=20their=20CMake=20targets?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The README and robot.toml name sim_turn_designs and sim_robot_report, the targets that run the tools.
---
 README.md                 | 2 +-
 targets/micras/robot.toml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 09a37b6..48ddd78 100644
--- a/README.md
+++ b/README.md
@@ -223,7 +223,7 @@ cmake --build --preset host-release --target sim_turn_designs       # the firmwa
 ```
 
 The firmware checks every turn of two bends when it is compiled, and stops the
-build if one no longer clears the walls; `turn-designs` searches for them again,
+build if one no longer clears the walls; `sim_turn_designs` searches for them again,
 after a change to the robot's outline, the maze or the margins.
 
 ## The gate
diff --git a/targets/micras/robot.toml b/targets/micras/robot.toml
index 909df0e..9c82902 100644
--- a/targets/micras/robot.toml
+++ b/targets/micras/robot.toml
@@ -2,7 +2,7 @@
 #
 # The physical truth the simulator builds its model and devices from; the
 # firmware's config/targets/v1/robot.hpp is the robot's belief about itself, and
-# `just micras robot-report` shows where the two differ.
+# the `sim_robot_report` target shows where the two differ.
 #
 # Frames follow robot.hpp: x forward, y left, z up, origin on the floor under the
 # midpoint of the wheel axle. Lengths in metres, masses in kilograms, angles in

From 0ed3f0632d3bd5681aea1031864afd11799a7a2a Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 08:15:04 -0300
Subject: [PATCH 38/52] =?UTF-8?q?=E2=9C=8F=EF=B8=8F=20Spell=20the=20simula?=
 =?UTF-8?q?tor=20in=20American=20English?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Comments, documentation, messages, test names and the panel's Color type. The MJCF material names stay as they are, so the composed model does not change.
---
 CLAUDE.md                                     | 38 +++++++++----------
 app/src/application.cpp                       |  2 +-
 app/src/cli.cpp                               |  2 +-
 engine/include/micras/sim/core/noise.hpp      |  2 +-
 .../include/micras/sim/core/run_context.hpp   |  2 +-
 engine/include/micras/sim/devices/imu.hpp     |  2 +-
 .../micras/sim/devices/quadrature_encoder.hpp |  2 +-
 .../micras/sim/devices/wall_sensors.hpp       |  4 +-
 .../micras/sim/recording/run_metadata.hpp     |  2 +-
 .../micras/sim/robot/robot_description.hpp    |  4 +-
 engine/src/robot/robot_model.cpp              |  8 ++--
 targets/micras/cube/handles.cpp               |  2 +-
 targets/micras/cube/main.h                    |  2 +-
 targets/micras/robot.toml                     | 16 ++++----
 targets/micras/src/micras_target.cpp          | 20 +++++-----
 targets/micras/tools/robot_report.cpp         |  4 +-
 targets/micras/tools/wall_calibration.cpp     | 14 +++----
 .../toy/include/micras/sim/toy/toy_target.hpp |  2 +-
 targets/toy/src/toy_target.cpp                |  6 +--
 tests/unit/cli_test.cpp                       |  2 +-
 tests/unit/noise_test.cpp                     |  2 +-
 tests/unit/robot_description_test.cpp         |  4 +-
 tools/analyze.py                              |  6 +--
 tools/baseline.py                             |  2 +-
 tools/compare_run.py                          |  4 +-
 view/include/micras/sim/view/panel_spec.hpp   |  8 ++--
 view/src/control_panel.cpp                    | 10 ++---
 view/src/mujoco_viewer.cpp                    |  4 +-
 view/src/video_recorder.cpp                   |  2 +-
 29 files changed, 89 insertions(+), 89 deletions(-)

diff --git a/CLAUDE.md b/CLAUDE.md
index f49e8a1..3a6ec4c 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -33,7 +33,7 @@ what is compared. Two rules:
   the hash where it was. If it moves, the refactoring is wrong.
 - **Never re-record to make a difference go away.** `sim_record_baseline` (and
   the toy's `micras_sim_toy_record_baseline`) refuses to
-  overwrite a version; a change of behaviour is a new version, with the reason in
+  overwrite a version; a change of behavior is a new version, with the reason in
   the commit.
 
 ## Layers
@@ -183,7 +183,7 @@ resetting a process.
 `hal_host/include/stm32_host.h` holds the handle types and HAL constants. The
 Cube layer the firmware includes (`main.h`, `tim.h`, `adc.h`, ...) is written by
 hand per robot in `targets/micras/cube/`, with the handles configured as
-CubeMX configures them on the board (timer clock 275 MHz, TIM4 centre-aligned at
+CubeMX configures them on the board (timer clock 275 MHz, TIM4 center-aligned at
 PSC 274 / ARR 250, and so on), because the host `Pwm` and `Timer` compute
 frequencies and duties from those registers.
 
@@ -299,32 +299,32 @@ against 54.9 mm with the sensor housings), all on purpose.
 
 Things in `robot.toml` that look arbitrary and are not:
 
-- **The tyres have no rolling friction** (condim 4, not 6). MuJoCo's convex
+- **The tires have no rolling friction** (condim 4, not 6). MuJoCo's convex
   contact separates two surfaces in proportion to how fast their friction is
   slipping, and a rolling wheel keeps a rolling-friction constraint slipping all
-  the time. With it the tyres lost the floor on 18 % of steps at 0.4 m/s and 55 %
+  the time. With it the tires lost the floor on 18 % of steps at 0.4 m/s and 55 %
   at 1.5 m/s, at every timestep tried (125, 62.5 and 31.25 us), and so did a
-  bare sphere. The same separation happens where tyres really slide, in a pivot;
-  a tyre soft enough (`contact_time_constant` 5 ms or more) absorbs it inside its
+  bare sphere. The same separation happens where tires really slide, in a pivot;
+  a tire soft enough (`contact_time_constant` 5 ms or more) absorbs it inside its
   own deflection. 8 ms is the estimate for the 1 mm silicone band. With the old
   2 ms the hopping wheels hardly scrubbed, and a pivot at 0.6 V spun at 3.2 rad/s
   instead of 1.1.
 - **The timestep is 125 us**, one firmware loop. Halving it changed neither
   the contacts nor the trace.
 - **The chassis mass is 62 g**, not 70: the firmware's 70 g and 2.9e-5 kg m^2 are
-  the whole robot, and the wheels are modelled separately.
+  the whole robot, and the wheels are modeled separately.
 - **Each wall sensor has a gain.** `tools/wall_calibration` places the robot
-  where the firmware calibrates (centred in a corridor for the side sensors,
+  where the firmware calibrates (centered in a corridor for the side sensors,
   facing a wall for the front ones) and sets each gain so that the simulated
   reading equals the robot's `reference_readings` in `target.hpp`. Without the
   gains the readings were about four times low and the localizer corrected
   against them. `--sweep` shows how the firmware's distances then follow the
   true ones.
 - **Two skids the CAD does not have.** The robot rests on the edges of its board:
-  the rear one at rest, since the centre of mass is 0.8 mm behind the axle, and
+  the rear one at rest, since the center of mass is 0.8 mm behind the axle, and
   the front one with the fan on, since the fan pulls 17.5 mm ahead of it. Two
   1 mm spheres stand in for those edges. They are frictionless because a sliding
-  frictional contact separates in MuJoCo like the tyres above; the board's own
+  frictional contact separates in MuJoCo like the tires above; the board's own
   friction would lift it off the floor.
 - **The fan pulls straight down**, not along the board's normal: its actuator's
   reference is a site fixed in the world. With the fan on, the board tilts onto
@@ -332,7 +332,7 @@ Things in `robot.toml` that look arbitrary and are not:
   the robot the friction of the board edge holds that. On the frictionless skids
   it rolled the robot 4 mm into the back wall while it waited 5 s for the fan.
 - **The fan's 3 N is the owner's figure**, at full speed on the charged pack
-  (`nominal_voltage` 12.3 V). The nose carries a third of it, so the tyres get
+  (`nominal_voltage` 12.3 V). The nose carries a third of it, so the tires get
   2 N, and they sink 0.15 mm into the floor under it. Their rolling radius is
   then 0.6 % short of 11 mm, and the firmware's odometry runs 0.6 % long with the
   fan on. The same is expected of the real band, so calibrate the wheel radius
@@ -460,9 +460,9 @@ What the firmware does that the fast modes depend on, each with its evidence in
 firmware commit that made it:
 - **The edge tracker times a wall edge by the reading and only names it from the map.**
   An edge is the only reference along a corridor.
-- **The odometry rolls on a radius the load flattens.** With the fan the tyres carry
+- **The odometry rolls on a radius the load flattens.** With the fan the tires carry
   four times the load.
-- **Boost asks for 0.65 of the traction.** More slides the tyres sideways in the turns.
+- **Boost asks for 0.65 of the traction.** More slides the tires sideways in the turns.
 - **The wall observer keeps voting through the search turns**, so the search never
   stops in a cell to look.
 - **A range is corrected for the angle it meets the wall at.** Along a diagonal the
@@ -471,7 +471,7 @@ firmware commit that made it:
   when another is as fast for every route. The planner advances by edges, and
   `sim_turn_designs` designs the turns, which the firmware's build checks.
 - **Turns are braked and accelerated through as their curvature allows.**
-- **The tyres slide to the outside of a curve**, 4.8 mm/s per m/s^2 of lateral
+- **The tires slide to the outside of a curve**, 4.8 mm/s per m/s^2 of lateral
   acceleration. The localizer predicts it and the controller points into it.
 - **The racing line**, through the cells of the planned route, at 0.8 of the lateral
   grip and 15 mm from the walls. With risky on, the line goes through the route planned
@@ -484,19 +484,19 @@ Findings worth checking on the robot:
    the receiver's lobe is 10 degrees, so the reading falls slower than 1/d^2. The
    firmware models it (`receiver_offset`, `receiver_half_angle`). A bench sweep
    toward a wall confirms both.
-2. **The rolling radius.** 56 um less per newton on a tyre in the simulation. Driving a
+2. **The rolling radius.** 56 um less per newton on a tire in the simulation. Driving a
    known distance with the fan on and off measures the real one.
 3. **The fan tips the robot onto its nose.** It pulls 17.5 mm ahead of the axle,
-   and a thin-gap flow estimate puts its centre of suction at 14 to 16 mm. So a
+   and a thin-gap flow estimate puts its center of suction at 14 to 16 mm. So a
    third of the 3 N rests on the front edge of the board, which also drags. Scales
    under the wheels and under the nose, with the fan running, measure the share.
 4. **A wall start is seen early.** Toward the start of a wall a diagonal sensor also
    lights the wall's end face, by the wall thickness times the slope of the beam.
 5. **Past 120 mm the readings come out long**, because part of the beam lands on the
    floor. The localizer stops at 120 mm and the wall observer at 130 mm.
-6. **The mass, inertia and tyre friction are estimates**, and so is the fan's
+6. **The mass, inertia and tire friction are estimates**, and so is the fan's
    position. `robot-report` lists what differs from the firmware's belief.
-7. **The lateral compliance of the tyres.** `robot.hpp` has the simulation's 4.8 mm/s per
+7. **The lateral compliance of the tires.** `robot.hpp` has the simulation's 4.8 mm/s per
    m/s^2. A circle of known radius driven at a few speeds with the fan on measures the real
    one, and the racing line depends on it.
 
@@ -507,7 +507,7 @@ Findings worth checking on the robot:
   FSM, the maze map and the flash all carry state.
 - **The firmware's hardware tests are not built.** The design supports
   them, since each is a program with its own `main` over the same HAL, but
-  `test_imu` spins forever when the IMU is not initialised and two tests were
+  `test_imu` spins forever when the IMU is not initialized and two tests were
   deleted upstream; they are out of scope for now.
 - **No minimum wall clearance in the baselines.** The event log has collisions,
   but nothing measures the distance to the nearest wall yet.
diff --git a/app/src/application.cpp b/app/src/application.cpp
index 81739e2..1075143 100644
--- a/app/src/application.cpp
+++ b/app/src/application.cpp
@@ -61,7 +61,7 @@ constexpr double default_seconds{10.0};
 constexpr std::string_view default_maze{"maze1"};
 
 /**
- * @brief Gap left between the robot's back and the wall behind it at the start, in metres.
+ * @brief Gap left between the robot's back and the wall behind it at the start, in meters.
  */
 constexpr double start_gap{0.001};
 }  // namespace
diff --git a/app/src/cli.cpp b/app/src/cli.cpp
index b84d546..6380b99 100644
--- a/app/src/cli.cpp
+++ b/app/src/cli.cpp
@@ -153,7 +153,7 @@ static bool apply_video_option(const std::string& argument, const ValueReader& v
 }
 
 /**
- * @brief Reject an option combination the run could not honour.
+ * @brief Reject an option combination the run could not honor.
  *
  * @param options Options as parsed.
  */
diff --git a/engine/include/micras/sim/core/noise.hpp b/engine/include/micras/sim/core/noise.hpp
index dee1841..ca6c94e 100644
--- a/engine/include/micras/sim/core/noise.hpp
+++ b/engine/include/micras/sim/core/noise.hpp
@@ -47,7 +47,7 @@ class Noise {
     Noise(const NoiseConfig& config, std::string_view stream);
 
     /**
-     * @brief Draw from a centred Gaussian.
+     * @brief Draw from a centered Gaussian.
      *
      * @param sigma Standard deviation.
      * @return A sample, or 0 when the world is ideal.
diff --git a/engine/include/micras/sim/core/run_context.hpp b/engine/include/micras/sim/core/run_context.hpp
index 99a314c..20d2a7a 100644
--- a/engine/include/micras/sim/core/run_context.hpp
+++ b/engine/include/micras/sim/core/run_context.hpp
@@ -21,7 +21,7 @@ namespace micras::sim {
  * @brief Plain aggregate of what a run advances, with no logic of its own.
  *
  * @note Nothing here is a singleton. A robot target that has to reach the run
- *       from code it cannot construct, such as firmware globals initialised
+ *       from code it cannot construct, such as firmware globals initialized
  *       before main, owns one and hands it to the application.
  */
 struct RunContext {
diff --git a/engine/include/micras/sim/devices/imu.hpp b/engine/include/micras/sim/devices/imu.hpp
index 08247ba..4d1cf5b 100644
--- a/engine/include/micras/sim/devices/imu.hpp
+++ b/engine/include/micras/sim/devices/imu.hpp
@@ -26,7 +26,7 @@ namespace micras::sim {
  *       sample is that truth low pass filtered at the configured bandwidth,
  *       the gyroscope's scaled by a turn-on scale error, offset by a turn-on
  *       bias, with white noise at the datasheet density over the filter's noise
- *       bandwidth, then quantised to the configured resolution and delivered
+ *       bandwidth, then quantized to the configured resolution and delivered
  *       one sample late, as the chip's pipeline does. Samples come at the output rate times a
  *       small seeded clock error, so the firmware sometimes finds no new sample
  *       and sometimes finds one skipped, as with the real chip's own oscillator.
diff --git a/engine/include/micras/sim/devices/quadrature_encoder.hpp b/engine/include/micras/sim/devices/quadrature_encoder.hpp
index a829cb2..c933352 100644
--- a/engine/include/micras/sim/devices/quadrature_encoder.hpp
+++ b/engine/include/micras/sim/devices/quadrature_encoder.hpp
@@ -18,7 +18,7 @@ namespace micras::sim {
 /**
  * @brief Counts edges of a quadrature output, as a timer in encoder mode does.
  *
- * @note The count is the joint angle quantised to the encoder's resolution; a
+ * @note The count is the joint angle quantized to the encoder's resolution; a
  *       magnet on the wheel axle turns one to one with the wheel, so there is
  *       no backlash between them.
  */
diff --git a/engine/include/micras/sim/devices/wall_sensors.hpp b/engine/include/micras/sim/devices/wall_sensors.hpp
index e568268..b9a839c 100644
--- a/engine/include/micras/sim/devices/wall_sensors.hpp
+++ b/engine/include/micras/sim/devices/wall_sensors.hpp
@@ -104,7 +104,7 @@ class WallSensors : public Device {
     void sample(MujocoWorld& world, const Clock& clock) override;
 
     /**
-     * @brief Get the recorded columns: each sensor's lit minus dark reading, as the firmware normalises it.
+     * @brief Get the recorded columns: each sensor's lit minus dark reading, as the firmware normalizes it.
      *
      * @return Column names.
      */
@@ -127,7 +127,7 @@ class WallSensors : public Device {
     };
 
     /**
-     * @brief Farthest distance a ray looks for a surface, in metres.
+     * @brief Farthest distance a ray looks for a surface, in meters.
      */
     static constexpr double cutoff{0.5};
 
diff --git a/engine/include/micras/sim/recording/run_metadata.hpp b/engine/include/micras/sim/recording/run_metadata.hpp
index 71368b4..2cab5bd 100644
--- a/engine/include/micras/sim/recording/run_metadata.hpp
+++ b/engine/include/micras/sim/recording/run_metadata.hpp
@@ -113,7 +113,7 @@ struct RunMetadata {
     /**
      * @brief Frames dropped because a connected monitor did not keep up.
      *
-     * @note Not behaviour: frames leave after the tick and never reach the firmware.
+     * @note Not behavior: frames leave after the tick and never reach the firmware.
      */
     uint64_t bridge_dropped_frames{0};
 
diff --git a/engine/include/micras/sim/robot/robot_description.hpp b/engine/include/micras/sim/robot/robot_description.hpp
index 2269b81..7fd2e50 100644
--- a/engine/include/micras/sim/robot/robot_description.hpp
+++ b/engine/include/micras/sim/robot/robot_description.hpp
@@ -15,7 +15,7 @@
 
 namespace micras::sim {
 /**
- * @brief A point or a direction in the robot frame, in metres.
+ * @brief A point or a direction in the robot frame, in meters.
  */
 using Vector3 = std::array<double, 3>;
 
@@ -209,7 +209,7 @@ struct IntegrationDescription {
  *
  * @note Frames follow the firmware's robot model: x forward, y left, z up, the
  *       origin on the floor under the midpoint of the wheel axle. Every length is
- *       in metres, every angle in radians. Each value in the file is a number, an
+ *       in meters, every angle in radians. Each value in the file is a number, an
  *       array, or a table { value = ..., source = "..." } naming where it came
  *       from: a datasheet, the CAD, the firmware, the owner, or an estimate.
  */
diff --git a/engine/src/robot/robot_model.cpp b/engine/src/robot/robot_model.cpp
index 8e42ebb..53effd5 100644
--- a/engine/src/robot/robot_model.cpp
+++ b/engine/src/robot/robot_model.cpp
@@ -80,12 +80,12 @@ static std::string chassis_geoms(const RobotDescription& robot, const RobotModel
  * @param side +1 for the left wheel, -1 for the right one.
  * @return MJCF of the wheel.
  *
- * @note The tyre has sliding and torsional friction but no rolling friction
+ * @note The tire has sliding and torsional friction but no rolling friction
  *       (condim 4, not 6). MuJoCo's convex contact separates two surfaces in
  *       proportion to how fast their friction is slipping, and a rolling wheel
- *       keeps a rolling-friction constraint slipping all the time, so the tyre
- *       would hop. The same separation during a pivot, where the tyres really
- *       do scrub, is absorbed by a soft enough tyre, which is part of why
+ *       keeps a rolling-friction constraint slipping all the time, so the tire
+ *       would hop. The same separation during a pivot, where the tires really
+ *       do scrub, is absorbed by a soft enough tire, which is part of why
  *       contact_time_constant is what it is.
  */
 static std::string wheel_body(const RobotDescription& robot, const std::string& name, double side) {
diff --git a/targets/micras/cube/handles.cpp b/targets/micras/cube/handles.cpp
index 35ea0a9..4cf7930 100644
--- a/targets/micras/cube/handles.cpp
+++ b/targets/micras/cube/handles.cpp
@@ -8,7 +8,7 @@
  *       period of tim.c, MX_ADCn_Init the NbrOfConversion of adc.c, MX_CRC_Init
  *       the whole Init block of crc.c, MX_SPI3_Init the SPI mode and baud rate
  *       prescaler of spi.c and MX_UART4_Init the baud rate of usart.c. Only what the host backend reads
- *       is set, plus the handle states the drivers check before initialising.
+ *       is set, plus the handle states the drivers check before initializing.
  */
 
 #include <cstdint>
diff --git a/targets/micras/cube/main.h b/targets/micras/cube/main.h
index da9660a..6232382 100644
--- a/targets/micras/cube/main.h
+++ b/targets/micras/cube/main.h
@@ -7,7 +7,7 @@
  *       backend needs. Every value names the
  *       generated line it mirrors, in MicrasFirmware/cube/Inc and cube/Src. A
  *       CubeMX change that renames a handle or a pin is a compile error here; a
- *       changed prescaler or period shows as a wrong frequency at initialisation.
+ *       changed prescaler or period shows as a wrong frequency at initialization.
  */
 
 #ifndef MICRAS_SIM_CUBE_MAIN_H
diff --git a/targets/micras/robot.toml b/targets/micras/robot.toml
index 9c82902..a9a64b4 100644
--- a/targets/micras/robot.toml
+++ b/targets/micras/robot.toml
@@ -5,8 +5,8 @@
 # the `sim_robot_report` target shows where the two differ.
 #
 # Frames follow robot.hpp: x forward, y left, z up, origin on the floor under the
-# midpoint of the wheel axle. Lengths in metres, masses in kilograms, angles in
-# degrees where the key ends in _deg. From the CAD, in millimetres: the KiCad board
+# midpoint of the wheel axle. Lengths in meters, masses in kilograms, angles in
+# degrees where the key ends in _deg. From the CAD, in millimeters: the KiCad board
 # gives x = 113.5036 - y_KiCad, y = 148.5011 - x_KiCad, with the KiCad rotation as
 # the yaw; the SolidWorks assembly gives x = 1033.6 - Z_sw, y = -(X_sw + 4.9091),
 # z = Y_sw + 11.3503.
@@ -19,10 +19,10 @@ name = "micras"
 
 [integration]
 # One firmware loop; halving it changed neither the contacts nor the trace.
-timestep = { value = 0.000125, source = "measured: tyre contact, penetration and the explore trace unchanged at 62.5 and 31.25 us" }
+timestep = { value = 0.000125, source = "measured: tire contact, penetration and the explore trace unchanged at 62.5 and 31.25 us" }
 
 [chassis]
-mass = { value = 0.062, source = "estimate: 70 g for the whole robot (modelled parts, three 6 g cells, 5 g of components), less the two wheels; weigh it" }
+mass = { value = 0.062, source = "estimate: 70 g for the whole robot (modeled parts, three 6 g cells, 5 g of components), less the two wheels; weigh it" }
 center_of_mass = { value = [-0.0008, 0.0, 0.017], source = "estimate: CAD volumes with assumed densities" }
 inertia = { value = [1.16e-5, 2.37e-5, 2.45e-5], source = "estimate: 2.9e-5 yaw for the whole robot from CAD volumes, less the wheels; roll and pitch scaled" }
 outline = { value = [[0.0535, 0.0150], [0.03456, 0.02447], [0.0323, 0.0250], [-0.0365, 0.0250], [-0.0365, -0.0250], [0.0323, -0.0250], [0.03456, -0.02447], [0.0535, -0.0150]], source = "CAD: KiCad board edge, nose chamfers at 26.6 deg, fillets as corners" }
@@ -77,14 +77,14 @@ center = { value = [0.050, 0.0, 0.0013], source = "simulation: under the nose, 0
 radius = { value = 0.001, source = "simulation" }
 
 [wheels]
-radius = { value = 0.011, source = "CAD: 1.0 mm tyre band on a 20 mm hub seat" }
+radius = { value = 0.011, source = "CAD: 1.0 mm tire band on a 20 mm hub seat" }
 width = { value = 0.00425, source = "CAD: WheelTireWidth" }
-track = { value = 0.04575, source = "CAD: tyre centre to tyre centre" }
-mass = { value = 0.004, source = "estimate: printed hub with its gear, and the tyre" }
+track = { value = 0.04575, source = "CAD: tire center to tire center" }
+mass = { value = 0.004, source = "estimate: printed hub with its gear, and the tire" }
 spin_inertia = { value = 1.9e-7, source = "estimate: CAD volumes" }
 friction = { value = 1.0, source = "estimate: Kyosho MZW40-20 slick on a maze floor; measure by tilting" }
 torsional_friction = { value = 0.0005, source = "estimate: half the contact patch width" }
-contact_time_constant = { value = 0.008, source = "estimate: 1 mm silicone band, E ~ 0.5 MPa over a 4.25 x 3 mm patch, ~5000 N/m; 5 ms or more also keeps the tyres on the floor when they slide" }
+contact_time_constant = { value = 0.008, source = "estimate: 1 mm silicone band, E ~ 0.5 MPa over a 4.25 x 3 mm patch, ~5000 N/m; 5 ms or more also keeps the tires on the floor when they slide" }
 contact_damping_ratio = { value = 1.0, source = "estimate" }
 
 [drive]
diff --git a/targets/micras/src/micras_target.cpp b/targets/micras/src/micras_target.cpp
index 617ce13..ed62889 100644
--- a/targets/micras/src/micras_target.cpp
+++ b/targets/micras/src/micras_target.cpp
@@ -113,15 +113,15 @@ static std::vector<uint8_t> command_frame(Micras::Command command) {
 }
 
 /**
- * @brief Decode the colours of addressable LEDs from the compare values of their last transfer.
+ * @brief Decode the colors of addressable LEDs from the compare values of their last transfer.
  *
  * @param port The DMA-fed timer channel.
  * @param count Number of LEDs.
- * @return Their colours, green-red-blue on the wire, as the panel shows them.
+ * @return Their colors, green-red-blue on the wire, as the panel shows them.
  */
-static std::vector<Colour> decode_argb(const hal::host::PwmDmaPort& port, std::size_t count) {
+static std::vector<Color> decode_argb(const hal::host::PwmDmaPort& port, std::size_t count) {
     constexpr std::size_t bits_per_led{24};
-    std::vector<Colour>   colours(count);
+    std::vector<Color>    colors(count);
 
     for (std::size_t led = 0; led < count; led++) {
         uint32_t data = 0;
@@ -132,14 +132,14 @@ static std::vector<Colour> decode_argb(const hal::host::PwmDmaPort& port, std::s
             data = (data << 1U) | static_cast<uint32_t>(high);
         }
 
-        colours.at(led) = {
+        colors.at(led) = {
             .red = static_cast<uint8_t>(data >> 8U),
             .green = static_cast<uint8_t>(data >> 16U),
             .blue = static_cast<uint8_t>(data)
         };
     }
 
-    return colours;
+    return colors;
 }
 
 std::string MicrasTarget::name() const {
@@ -285,16 +285,16 @@ PanelSpec MicrasTarget::make_panel() const {
     }
 
     const hal::host::GpioPort& led = hal::host::Board::gpio(led_config.gpio.port, led_config.gpio.pin);
-    panel.lamps.push_back({.name = "led", .colour = [&led] {
-                               return led.output ? Colour{.red = 255, .green = 40, .blue = 40} :
-                                                   Colour{.red = 40, .green = 40, .blue = 40};
+    panel.lamps.push_back({.name = "led", .color = [&led] {
+                               return led.output ? Color{.red = 255, .green = 40, .blue = 40} :
+                                                   Color{.red = 40, .green = 40, .blue = 40};
                            }});
 
     const hal::host::PwmDmaPort& argb =
         hal::host::Board::pwm_dma(argb_config.pwm.handle, argb_config.pwm.timer_channel);
 
     for (std::size_t index = 0; index < 2; index++) {
-        panel.lamps.push_back({.name = std::format("argb {}", index), .colour = [&argb, index] {
+        panel.lamps.push_back({.name = std::format("argb {}", index), .color = [&argb, index] {
                                    return decode_argb(argb, 2).at(index);
                                }});
     }
diff --git a/targets/micras/tools/robot_report.cpp b/targets/micras/tools/robot_report.cpp
index 729ce3e..009194b 100644
--- a/targets/micras/tools/robot_report.cpp
+++ b/targets/micras/tools/robot_report.cpp
@@ -97,11 +97,11 @@ static int run() {
     row("yaw inertia, chassis and wheels", yaw_inertia(robot), model.chassis.yaw_inertia, "g cm^2", 1e7);
     row("wheel radius", robot.wheels.radius, model.chassis.wheel_radius, "mm", 1e3);
     row("track width", robot.wheels.track, model.chassis.track_width, "mm", 1e3);
-    row("half width, board or tyres", half_width, model.chassis.half_width, "mm", 1e3);
+    row("half width, board or tires", half_width, model.chassis.half_width, "mm", 1e3);
     row("front length, board", front, model.chassis.front_length, "mm", 1e3);
     row("rear length, board", rear, model.chassis.rear_length, "mm", 1e3);
 
-    row("tyre friction coefficient", robot.wheels.friction, model.traction.friction_coefficient, "");
+    row("tire friction coefficient", robot.wheels.friction, model.traction.friction_coefficient, "");
     row("fan downforce", robot.fan.max_downforce, model.traction.fan_downforce, "N");
     row("fan offset ahead of the axle", robot.fan.position.at(0), model.traction.fan_offset, "mm", 1e3);
 
diff --git a/targets/micras/tools/wall_calibration.cpp b/targets/micras/tools/wall_calibration.cpp
index 3670d2e..7585ad1 100644
--- a/targets/micras/tools/wall_calibration.cpp
+++ b/targets/micras/tools/wall_calibration.cpp
@@ -3,7 +3,7 @@
  *
  * @brief Derives each wall sensor's gain from the firmware's last calibration.
  *
- * @note Places the robot where the firmware's calibration is taken, centred in a
+ * @note Places the robot where the firmware's calibration is taken, centered in a
  *       cell: in a corridor for the sensors that look at the side walls, facing
  *       a wall for the ones that look forward, as the firmware's two calibration
  *       steps do. It fires every emitter and compares the simulated lit minus
@@ -91,9 +91,9 @@ struct Sample {
  *
  * @param robot The robot.
  * @param drawing The maze.
- * @param across How far right of the cell centre the robot is, in metres.
- * @param along How far ahead of the cell centre the robot is, in metres.
- * @return Each sensor's lit minus dark reading, as the firmware normalises it, and its axis range.
+ * @param across How far right of the cell center the robot is, in meters.
+ * @param along How far ahead of the cell center the robot is, in meters.
+ * @return Each sensor's lit minus dark reading, as the firmware normalizes it, and its axis range.
  */
 static Sample sample(const RobotDescription& robot, std::string_view drawing, double across = 0.0, double along = 0.0) {
     const MazeConfig config{};
@@ -164,7 +164,7 @@ static Sample sample(const RobotDescription& robot, std::string_view drawing, do
 /**
  * @brief How the firmware expects a reading to vary with the distance, up to its calibrated constant.
  *
- * @param distance Distance to the wall in metres.
+ * @param distance Distance to the wall in meters.
  * @return The shape of the reading.
  */
 static double firmware_shape(double distance) {
@@ -181,8 +181,8 @@ static double firmware_shape(double distance) {
  *       of the reading, which is what the firmware's table covers.
  *
  * @param sensor Index of the sensor.
- * @param reading Normalised reading.
- * @return Distance in metres.
+ * @param reading Normalized reading.
+ * @return Distance in meters.
  */
 static double firmware_distance(std::size_t sensor, double reading) {
     const auto&  config = micras::wall_sensors_config;
diff --git a/targets/toy/include/micras/sim/toy/toy_target.hpp b/targets/toy/include/micras/sim/toy/toy_target.hpp
index 9c18b5a..be58627 100644
--- a/targets/toy/include/micras/sim/toy/toy_target.hpp
+++ b/targets/toy/include/micras/sim/toy/toy_target.hpp
@@ -386,7 +386,7 @@ class ToyTarget : public Target {
     double battery_divider{3.0};
 
     /**
-     * @brief Bytes of the last command, to recognise "go" and "stop" in the raw byte stream.
+     * @brief Bytes of the last command, to recognize "go" and "stop" in the raw byte stream.
      */
     std::string command;
 
diff --git a/targets/toy/src/toy_target.cpp b/targets/toy/src/toy_target.cpp
index 05fc7c6..7a93335 100644
--- a/targets/toy/src/toy_target.cpp
+++ b/targets/toy/src/toy_target.cpp
@@ -474,10 +474,10 @@ PanelSpec ToyTarget::make_panel() const {
     };
 
     for (std::size_t index = 0; index < state_name_table.size(); index++) {
-        panel.lamps.push_back({.name = state_name_table.at(index), .colour = [&known, index] {
+        panel.lamps.push_back({.name = state_name_table.at(index), .color = [&known, index] {
                                    return std::to_underlying(known.state) == index ?
-                                              Colour{.red = 60, .green = 220, .blue = 60} :
-                                              Colour{.red = 40, .green = 40, .blue = 40};
+                                              Color{.red = 60, .green = 220, .blue = 60} :
+                                              Color{.red = 40, .green = 40, .blue = 40};
                                }});
     }
 
diff --git a/tests/unit/cli_test.cpp b/tests/unit/cli_test.cpp
index 0911d3e..1b7d0a7 100644
--- a/tests/unit/cli_test.cpp
+++ b/tests/unit/cli_test.cpp
@@ -92,7 +92,7 @@ TEST_CASE("Cli.RejectsAnIncompleteCommandLine") {
     CHECK_THROWS_AS(parse({"--out", "o", "--nonsense"}), std::runtime_error);
 }
 
-TEST_CASE("Cli.RejectsValuesTheRunCouldNotHonour") {
+TEST_CASE("Cli.RejectsValuesTheRunCouldNotHonor") {
     CHECK_THROWS_AS(parse({"--out", "o", "--seconds", "0"}), std::runtime_error);
     CHECK_THROWS_AS(parse({"--out", "o", "--ticks", "0"}), std::runtime_error);
     CHECK_THROWS_AS(parse({"--out", "o", "--record-every", "0"}), std::runtime_error);
diff --git a/tests/unit/noise_test.cpp b/tests/unit/noise_test.cpp
index 8d53f14..2ab2659 100644
--- a/tests/unit/noise_test.cpp
+++ b/tests/unit/noise_test.cpp
@@ -53,7 +53,7 @@ TEST_CASE("Noise.ScalesTheSameSamplesBySigma") {
     }
 }
 
-TEST_CASE("Noise.DrawsACentredGaussianOfTheRequestedSpread") {
+TEST_CASE("Noise.DrawsACenteredGaussianOfTheRequestedSpread") {
     const std::vector<double> samples = draw({.seed = 11}, "gyro", 20000, 2.0);
     double                    sum = 0.0;
     double                    squares = 0.0;
diff --git a/tests/unit/robot_description_test.cpp b/tests/unit/robot_description_test.cpp
index 826b838..975618e 100644
--- a/tests/unit/robot_description_test.cpp
+++ b/tests/unit/robot_description_test.cpp
@@ -128,9 +128,9 @@ TEST_CASE("RobotDescription.RefusesAMissingSectionNamingIt") {
 }
 
 TEST_CASE("RobotDescription.RefusesAnUnknownKeyNamingIt") {
-    const std::string message = refusal_of(replaced(tiny_text(), "[battery]\n", "[battery]\ncolour = \"red\"\n"));
+    const std::string message = refusal_of(replaced(tiny_text(), "[battery]\n", "[battery]\ncolor = \"red\"\n"));
 
-    CHECK_MESSAGE(message.contains("unknown key battery.colour"), message);
+    CHECK_MESSAGE(message.contains("unknown key battery.color"), message);
 }
 
 TEST_CASE("RobotDescription.RefusesAnUnknownKeyInAnArrayOfTables") {
diff --git a/tools/analyze.py b/tools/analyze.py
index de5df13..6362607 100755
--- a/tools/analyze.py
+++ b/tools/analyze.py
@@ -1,12 +1,12 @@
 #!/usr/bin/env python3
-"""Analyse one simulation run directory.
+"""Analyze one simulation run directory.
 
 Reads ``<run>/data.csv`` and ``<run>/meta.json`` and writes ``report.json`` plus a
 set of PNGs next to them.
 
 This script knows the engine's columns only: the body block every row starts with
 (``x``, ``y``, ``z``, ``roll``, ``pitch``, ``yaw``, ``v_forward``, ``wz_body``) and
-the kinds of column a robot target configures, recognised by their suffix or
+the kinds of column a robot target configures, recognized by their suffix or
 prefix (``<label>_ncon``, ``<label>_fn``, ``<label>_slip``, ``<label>_penetration``,
 ``wheel_speed_<label>``, ``motor_torque_<label>``, and the ``<device>_voltage``
 columns of the devices). A contact label with a ``_slip`` column is a wheel.
@@ -626,7 +626,7 @@ def summarize(report: dict, plugin: ModuleType | None) -> None:
 
 
 def main() -> None:
-    parser = argparse.ArgumentParser(description="Analyse a simulation run directory")
+    parser = argparse.ArgumentParser(description="Analyze a simulation run directory")
     parser.add_argument("run", type=Path)
     parser.add_argument("--t0", type=float, default=None)
     parser.add_argument("--t1", type=float, default=None)
diff --git a/tools/baseline.py b/tools/baseline.py
index 3948ce2..c72daa8 100644
--- a/tools/baseline.py
+++ b/tools/baseline.py
@@ -17,7 +17,7 @@
 
 The tolerances are written into the summary when it is recorded, so a reviewer
 sees them next to the values. ``record`` refuses to overwrite a summary: a new
-behaviour is a new baseline version, never a re-recording that makes a
+behavior is a new baseline version, never a re-recording that makes a
 difference go away.
 
 The robot's plugin is found as ``analyze.py`` finds it: ``--plugin``, then
diff --git a/tools/compare_run.py b/tools/compare_run.py
index e7d749f..33ac1ac 100755
--- a/tools/compare_run.py
+++ b/tools/compare_run.py
@@ -14,7 +14,7 @@
 import sys
 from pathlib import Path
 
-#: meta.json fields that may differ between two runs of the same behaviour.
+#: meta.json fields that may differ between two runs of the same behavior.
 IGNORED_FIELDS = ("args", "robot_path", "maze_path", "target_dir")
 
 
@@ -50,7 +50,7 @@ def compare_csv(run: bytes, reference: bytes) -> list[str]:
 
 
 def compare_meta(run: dict, reference: dict) -> list[str]:
-    """Compare two meta.json files on every field that describes the behaviour."""
+    """Compare two meta.json files on every field that describes the behavior."""
     problems = []
     for field in sorted((run.keys() | reference.keys()) - set(IGNORED_FIELDS)):
         if run.get(field) != reference.get(field):
diff --git a/view/include/micras/sim/view/panel_spec.hpp b/view/include/micras/sim/view/panel_spec.hpp
index 01afc94..2af5a08 100644
--- a/view/include/micras/sim/view/panel_spec.hpp
+++ b/view/include/micras/sim/view/panel_spec.hpp
@@ -15,9 +15,9 @@
 
 namespace micras::sim {
 /**
- * @brief A colour the panel draws.
+ * @brief A color the panel draws.
  */
-struct Colour {
+struct Color {
     uint8_t red{0};
     uint8_t green{0};
     uint8_t blue{0};
@@ -68,9 +68,9 @@ struct PanelLamp {
     std::string name;
 
     /**
-     * @brief Current colour, read every frame.
+     * @brief Current color, read every frame.
      */
-    std::function<Colour()> colour;
+    std::function<Color()> color;
 };
 
 /**
diff --git a/view/src/control_panel.cpp b/view/src/control_panel.cpp
index 568bffe..89e1453 100644
--- a/view/src/control_panel.cpp
+++ b/view/src/control_panel.cpp
@@ -52,13 +52,13 @@ constexpr std::size_t switches_per_row{4};
 }  // namespace
 
 /**
- * @brief Draw a colour swatch for one lamp.
+ * @brief Draw a color swatch for one lamp.
  *
  * @param label Label shown beside it.
- * @param colour Colour to show.
+ * @param color Color to show.
  */
-static void draw_swatch(const std::string& label, const Colour& colour) {
-    const ImVec4 value(colour.red / 255.0F, colour.green / 255.0F, colour.blue / 255.0F, 1.0F);
+static void draw_swatch(const std::string& label, const Color& color) {
+    const ImVec4 value(color.red / 255.0F, color.green / 255.0F, color.blue / 255.0F, 1.0F);
     ImGui::ColorButton(label.c_str(), value, ImGuiColorEditFlags_NoTooltip, ImVec2(24, 24));
     ImGui::SameLine();
     ImGui::TextUnformatted(label.c_str());
@@ -189,7 +189,7 @@ void ControlPanel::draw_board(bool paused) {
     }
 
     for (const PanelLamp& lamp : this->spec.lamps) {
-        draw_swatch(lamp.name, lamp.colour());
+        draw_swatch(lamp.name, lamp.color());
     }
 
     if (not this->spec.readouts.empty()) {
diff --git a/view/src/mujoco_viewer.cpp b/view/src/mujoco_viewer.cpp
index 922917f..79bfa46 100644
--- a/view/src/mujoco_viewer.cpp
+++ b/view/src/mujoco_viewer.cpp
@@ -52,7 +52,7 @@ namespace {
 /**
  * @brief Count how many GLFW users are still up.
  *
- * @note Unsynchronised because viewers are only ever built and destroyed on the
+ * @note Unsynchronized because viewers are only ever built and destroyed on the
  *       simulation thread, which is also the only thread GLFW may be called
  *       from.
  */
@@ -74,7 +74,7 @@ std::unique_ptr<MujocoViewer> MujocoViewer::create(
     });
 
     if (glfw_users == 0 and glfwInit() == GLFW_FALSE) {
-        error = glfw_error.empty() ? "could not initialise GLFW; is a display available?" : glfw_error;
+        error = glfw_error.empty() ? "could not initialize GLFW; is a display available?" : glfw_error;
         return nullptr;
     }
 
diff --git a/view/src/video_recorder.cpp b/view/src/video_recorder.cpp
index 0af2ad4..6870bd6 100644
--- a/view/src/video_recorder.cpp
+++ b/view/src/video_recorder.cpp
@@ -72,7 +72,7 @@ const std::array<EGLint, 17> config_attributes{
 /**
  * @brief Try to bring up a current OpenGL context on one EGL display.
  *
- * @param display Display to initialise.
+ * @param display Display to initialize.
  * @return True when the context is current and usable.
  */
 static bool make_context_current(EGLDisplay display) {

From f3ca02c7e1caa72f8481f7fa5b5f705b0fb28691 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 08:15:15 -0300
Subject: [PATCH 39/52] =?UTF-8?q?=F0=9F=94=A5=20Drop=20the=20comments=20of?=
 =?UTF-8?q?=20the=20new=20source=20files?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The new source files carry only their @file block, as the firmware's and micras-lib's do.
---
 targets/micras/src/micras_target.cpp      | 5 -----
 targets/micras/tools/robot_report.cpp     | 5 -----
 targets/micras/tools/turn_designer.cpp    | 5 -----
 targets/micras/tools/wall_calibration.cpp | 7 -------
 targets/toy/src/main.cpp                  | 2 --
 5 files changed, 24 deletions(-)

diff --git a/targets/micras/src/micras_target.cpp b/targets/micras/src/micras_target.cpp
index ed62889..adc8ec9 100644
--- a/targets/micras/src/micras_target.cpp
+++ b/targets/micras/src/micras_target.cpp
@@ -85,11 +85,6 @@ constexpr std::array<std::pair<const char*, Micras::Command>, 5> commands{{
 }};
 }  // namespace
 
-/**
- * @brief Get the names of the states, as the panel, the overlay and the scenarios take them.
- *
- * @return The names, in the order of State.
- */
 static const std::vector<std::string>& state_names() {
     static const std::vector<std::string> names{state_name_table.begin(), state_name_table.end()};
     return names;
diff --git a/targets/micras/tools/robot_report.cpp b/targets/micras/tools/robot_report.cpp
index 009194b..ad47f8d 100644
--- a/targets/micras/tools/robot_report.cpp
+++ b/targets/micras/tools/robot_report.cpp
@@ -66,11 +66,6 @@ static double yaw_inertia(const RobotDescription& robot) {
            2.0 * (transverse + wheels.mass * offset * offset);
 }
 
-/**
- * @brief Print robot.toml against the firmware's robot.hpp, field by field.
- *
- * @return The exit status.
- */
 static int run() {
     const RobotDescription robot = RobotDescription::load(std::filesystem::path{MICRAS_TARGET_DIR} / "robot.toml");
     const micras::nav::RobotModel& model = micras::robot_model;
diff --git a/targets/micras/tools/turn_designer.cpp b/targets/micras/tools/turn_designer.cpp
index 8700c5c..2cc5274 100644
--- a/targets/micras/tools/turn_designer.cpp
+++ b/targets/micras/tools/turn_designer.cpp
@@ -341,11 +341,6 @@ static void report(float margin, const std::vector<Result>& results) {
     }
 }
 
-/**
- * @brief Design every turn of two bends and print the firmware's header.
- *
- * @return The exit status.
- */
 static int run() {
     const std::array<float, 2> margins{micras::turn_margin, micras::risky_turn_margin};
 
diff --git a/targets/micras/tools/wall_calibration.cpp b/targets/micras/tools/wall_calibration.cpp
index 7585ad1..ed55e15 100644
--- a/targets/micras/tools/wall_calibration.cpp
+++ b/targets/micras/tools/wall_calibration.cpp
@@ -264,13 +264,6 @@ static void sweep(const RobotDescription& robot) {
     }
 }
 
-/**
- * @brief Print each wall sensor's gain, or with --sweep the firmware's distances against the true ones.
- *
- * @param argc Number of arguments.
- * @param argv The arguments.
- * @return The exit status.
- */
 static int run(int argc, char** argv) {
     const std::span<char*> arguments(argv, static_cast<std::size_t>(argc));
     const RobotDescription robot = RobotDescription::load(std::filesystem::path{MICRAS_TARGET_DIR} / "robot.toml");
diff --git a/targets/toy/src/main.cpp b/targets/toy/src/main.cpp
index 902c59c..b6eb2bf 100644
--- a/targets/toy/src/main.cpp
+++ b/targets/toy/src/main.cpp
@@ -1,7 +1,5 @@
 /**
  * @file
- *
- * @brief Runs the toy target in the simulator.
  */
 
 #include <cstddef>

From 1db3ca36f497fcf780baa8690deaf1ed7450bd70 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 08:15:15 -0300
Subject: [PATCH 40/52] =?UTF-8?q?=F0=9F=94=A7=20Declare=20MICRAS=5FSIM=5FE?=
 =?UTF-8?q?XACT=20once,=20at=20the=20simulator's=20root?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The toy's and Micras's baseline checks both read the root option.
---
 targets/micras/CMakeLists.txt | 1 -
 1 file changed, 1 deletion(-)

diff --git a/targets/micras/CMakeLists.txt b/targets/micras/CMakeLists.txt
index d6e0f40..e2279d2 100644
--- a/targets/micras/CMakeLists.txt
+++ b/targets/micras/CMakeLists.txt
@@ -153,7 +153,6 @@ if(PROJECT_IS_TOP_LEVEL)
         "maze1;maze2;apec2016;apec2017;apec2018;apec2019;japan2013ef;japan2017ef;uk2016f;alljapan-033-2012-exp-fin"
         CACHE STRING "The mazes sim_contest and sim_contest_all run in"
     )
-    option(MICRAS_SIM_EXACT "Make the baseline checks also require byte identical runs" OFF)
 
     set(MICRAS_SIM_SCRIPTS "${CMAKE_CURRENT_SOURCE_DIR}/scripts")
     set(MICRAS_SIM_SCENARIOS "${CMAKE_CURRENT_SOURCE_DIR}/scenarios")

From a9b69d1acddfbe78612d68369959b6045f4d988b Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 09:19:35 -0300
Subject: [PATCH 41/52] =?UTF-8?q?=F0=9F=92=9A=20Give=20every=20test=20file?=
 =?UTF-8?q?=20its=20own=20name=20per=20process?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

ctest runs each case in its own process, several at once, so cases that wrote the same file in the
temporary directory overwrote each other's output. The file now carries the process id and is removed
when the case ends.
---
 tests/unit/csv_recorder_test.cpp | 18 +++----
 tests/unit/csv_writer_test.cpp   |  9 ++--
 tests/unit/run_metadata_test.cpp |  9 ++--
 tests/unit/temp_file.hpp         | 84 ++++++++++++++++++++++++++++++++
 4 files changed, 101 insertions(+), 19 deletions(-)
 create mode 100644 tests/unit/temp_file.hpp

diff --git a/tests/unit/csv_recorder_test.cpp b/tests/unit/csv_recorder_test.cpp
index 94241bf..69f94ed 100644
--- a/tests/unit/csv_recorder_test.cpp
+++ b/tests/unit/csv_recorder_test.cpp
@@ -1,6 +1,5 @@
 #include <cstddef>
 #include <cstdint>
-#include <filesystem>
 #include <fstream>
 #include <stdexcept>
 #include <string>
@@ -12,6 +11,7 @@
 #include "micras/sim/recording/csv_recorder.hpp"
 #include "micras/sim/recording/csv_writer.hpp"
 #include "micras/sim/recording/ground_truth.hpp"
+#include "temp_file.hpp"
 
 namespace micras::sim {
 /**
@@ -81,7 +81,7 @@ class Recording {
      * @brief Read back every line of the CSV.
      */
     std::vector<std::string> lines() const {
-        std::ifstream            file(this->path);
+        std::ifstream            file(this->csv.path());
         std::vector<std::string> read;
 
         for (std::string line; std::getline(file, line);) {
@@ -95,15 +95,15 @@ class Recording {
      * @brief Read back the first line of the CSV.
      */
     std::string header() const {
-        std::ifstream file(this->path);
+        std::ifstream file(this->csv.path());
         std::string   line;
         std::getline(file, line);
         return line;
     }
 
     // NOLINTBEGIN(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
-    MujocoWorld           world;
-    std::filesystem::path path{std::filesystem::temp_directory_path() / "micras_sim_recorder_test.csv"};
+    MujocoWorld world;
+    TempFile    csv{"recorder_test.csv"};
     // NOLINTEND(*-non-private-member-variables-in-classes)
 };
 
@@ -138,7 +138,7 @@ TEST_CASE_FIXTURE(Recording, "Recording.AppendsTheSourcesAfterTheGroundTruth") {
     FixedColumns source(2);
 
     {
-        CsvRecorder recorder(this->world, tiny_config(), this->path);
+        CsvRecorder recorder(this->world, tiny_config(), this->csv.path());
         recorder.add_source(source);
         recorder.sample(0);
     }
@@ -151,7 +151,7 @@ TEST_CASE_FIXTURE(Recording, "Recording.WritesNoRowBeforeEverySourceIsReady") {
     LateColumns  late;
 
     {
-        CsvRecorder recorder(this->world, tiny_config(), this->path);
+        CsvRecorder recorder(this->world, tiny_config(), this->csv.path());
         recorder.add_source(early);
         recorder.add_source(late);
         recorder.sample(1);
@@ -169,7 +169,7 @@ TEST_CASE_FIXTURE(Recording, "Recording.WritesNoRowBeforeEverySourceIsReady") {
 
 TEST_CASE_FIXTURE(Recording, "Recording.RejectsASourceThatFillsTooFewCells") {
     FixedColumns source(1);
-    CsvRecorder  recorder(this->world, tiny_config(), this->path);
+    CsvRecorder  recorder(this->world, tiny_config(), this->csv.path());
     recorder.add_source(source);
 
     CHECK_THROWS_AS(recorder.sample(0), std::logic_error);
@@ -178,7 +178,7 @@ TEST_CASE_FIXTURE(Recording, "Recording.RejectsASourceThatFillsTooFewCells") {
 TEST_CASE_FIXTURE(Recording, "Recording.RejectsTwoSourcesWritingTheSameColumn") {
     FixedColumns first(2);
     FixedColumns second(2);
-    CsvRecorder  recorder(this->world, tiny_config(), this->path);
+    CsvRecorder  recorder(this->world, tiny_config(), this->csv.path());
     recorder.add_source(first);
     recorder.add_source(second);
 
diff --git a/tests/unit/csv_writer_test.cpp b/tests/unit/csv_writer_test.cpp
index 7826306..e1216e5 100644
--- a/tests/unit/csv_writer_test.cpp
+++ b/tests/unit/csv_writer_test.cpp
@@ -1,6 +1,5 @@
 #include <cmath>
 #include <cstdint>
-#include <filesystem>
 #include <limits>
 #include <stdexcept>
 #include <string>
@@ -10,6 +9,7 @@
 
 #include "micras/sim/core/text_file.hpp"
 #include "micras/sim/recording/csv_writer.hpp"
+#include "temp_file.hpp"
 
 namespace micras::sim {
 namespace {
@@ -34,18 +34,17 @@ TEST_CASE("CsvWriter.FormatsTheSpecialValuesTheBaselineDependsOn") {
 }
 
 TEST_CASE("CsvWriter.WritesHeaderAndRows") {
-    const std::filesystem::path path = std::filesystem::temp_directory_path() / "micras_csv_writer_test.csv";
+    const TempFile csv{"csv_writer_test.csv"};
 
     {
-        CsvWriter                      writer(path);
+        CsvWriter                      writer(csv.path());
         const std::vector<std::string> columns{"tick", "x", "count"};
         writer.write_header(columns);
         writer.write_row(std::vector<CsvCell>{uint64_t{0}, 0.5, int64_t{2}});
         writer.write_row(std::vector<CsvCell>{uint64_t{1}, std::nan(""), int64_t{0}});
     }
 
-    CHECK_EQ(read_text_file(path, "CSV"), "tick,x,count\n0,0.5,2\n1,nan,0\n");
-    std::filesystem::remove(path);
+    CHECK_EQ(read_text_file(csv.path(), "CSV"), "tick,x,count\n0,0.5,2\n1,nan,0\n");
 }
 
 TEST_CASE("CsvWriter.ThrowsWhenTheFileCannotBeOpened") {
diff --git a/tests/unit/run_metadata_test.cpp b/tests/unit/run_metadata_test.cpp
index 82d7b1c..f33f5d4 100644
--- a/tests/unit/run_metadata_test.cpp
+++ b/tests/unit/run_metadata_test.cpp
@@ -1,6 +1,5 @@
 #include <array>
 #include <cstddef>
-#include <filesystem>
 #include <fstream>
 #include <span>
 #include <string>
@@ -8,6 +7,7 @@
 #include <doctest/doctest.h>
 
 #include "micras/sim/recording/run_metadata.hpp"
+#include "temp_file.hpp"
 
 namespace micras::sim {
 namespace {
@@ -89,12 +89,11 @@ TEST_CASE("RunMetadata.EscapesJsonStrings") {
 }
 
 TEST_CASE("RunMetadata.HashesFilesWithSha256") {
-    const std::filesystem::path path = std::filesystem::temp_directory_path() / "micras_sha256_test.txt";
-    std::ofstream(path) << "abc";
+    const TempFile text{"sha256_test.txt"};
+    std::ofstream(text.path()) << "abc";
 
-    CHECK_EQ(RunMetadata::sha256_of(path), "ba7816bf8f01cfea414140de5dae2223b00361a396177a9cb410ff61f20015ad");
+    CHECK_EQ(RunMetadata::sha256_of(text.path()), "ba7816bf8f01cfea414140de5dae2223b00361a396177a9cb410ff61f20015ad");
     CHECK_EQ(RunMetadata::sha256_of("/nonexistent/file"), "");
-    std::filesystem::remove(path);
 }
 
 TEST_CASE("RunMetadata.JoinsArgumentsAfterTheProgramName") {
diff --git a/tests/unit/temp_file.hpp b/tests/unit/temp_file.hpp
new file mode 100644
index 0000000..6ea3af2
--- /dev/null
+++ b/tests/unit/temp_file.hpp
@@ -0,0 +1,84 @@
+/**
+ * @file
+ *
+ * @brief A file in the system's temporary directory that belongs to one test process.
+ */
+
+#ifndef MICRAS_SIM_TESTS_TEMP_FILE_HPP
+#define MICRAS_SIM_TESTS_TEMP_FILE_HPP
+
+#include <filesystem>
+#include <string>
+#include <string_view>
+#include <system_error>
+
+#include <unistd.h>
+
+namespace micras::sim {
+/**
+ * @brief Path in the temporary directory named after the process, removed when it goes out of scope.
+ *
+ * @details ctest runs every test case in its own process, several at once, so the process id keeps two cases
+ * that use the same name from writing the same file.
+ */
+class TempFile {
+public:
+    /**
+     * @brief Name the file, without creating it.
+     *
+     * @param name Name of the file, unique within the process.
+     */
+    explicit TempFile(std::string_view name) :
+        file_path{
+            std::filesystem::temp_directory_path() /
+            ("micras_sim_" + std::to_string(::getpid()) + "_" + std::string(name))
+        } { }
+
+    /**
+     * @brief Remove the file, if it exists.
+     */
+    ~TempFile() {
+        std::error_code error;
+        std::filesystem::remove(this->file_path, error);
+    }
+
+    /**
+     * @brief Copying would remove the file twice.
+     */
+    TempFile(const TempFile&) = delete;
+
+    /**
+     * @brief Moving would remove the file twice.
+     */
+    TempFile(TempFile&&) = delete;
+
+    /**
+     * @brief Copying would remove the file twice.
+     *
+     * @return Never returns.
+     */
+    TempFile& operator=(const TempFile&) = delete;
+
+    /**
+     * @brief Moving would remove the file twice.
+     *
+     * @return Never returns.
+     */
+    TempFile& operator=(TempFile&&) = delete;
+
+    /**
+     * @brief Get the path of the file.
+     *
+     * @return The path.
+     */
+    const std::filesystem::path& path() const { return this->file_path; }
+
+private:
+    /**
+     * @brief Path of the file.
+     */
+    std::filesystem::path file_path;
+};
+}  // namespace micras::sim
+
+#endif  // MICRAS_SIM_TESTS_TEMP_FILE_HPP

From e4cde4f37bc64b3ec2d9843cbb3a32b523caa961 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 11:44:20 -0300
Subject: [PATCH 42/52] =?UTF-8?q?=F0=9F=94=A5=20Move=20the=20Micras=20targ?=
 =?UTF-8?q?et=20and=20the=20host=20HAL=20out=20of=20the=20simulator?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The Micras target lives in the firmware's sim/ now, with its history, and the host HAL and the chip
models in micras-lib. The simulator keeps the engine, the tools, the mazes and the toy target, and no
longer has a submodule.
---
 .gitignore                                    |   1 -
 .gitmodules                                   |   4 -
 CMakeLists.txt                                |  21 +-
 hal_host/include/micras/hal/host/board.hpp    | 164 --------
 hal_host/include/micras/hal/host/clock.hpp    | 145 -------
 hal_host/include/micras/hal/host/ports.hpp    | 251 -----------
 .../include/micras/hal/host/spi_device.hpp    |  92 ----
 hal_host/include/stm32_host.h                 | 294 -------------
 hal_host/models/CMakeLists.txt                |  32 --
 .../include/micras/models/as5047u_model.hpp   | 182 --------
 .../include/micras/models/lsm6dsv_model.hpp   | 200 ---------
 hal_host/models/src/as5047u_model.cpp         | 187 ---------
 hal_host/models/src/lsm6dsv_model.cpp         | 275 ------------
 hal_host/models/tests/as5047u_model_test.cpp  | 219 ----------
 hal_host/models/tests/lsm6dsv_model_test.cpp  | 327 ---------------
 hal_host/src/adc_dma.cpp                      | 141 -------
 hal_host/src/board.cpp                        | 189 ---------
 hal_host/src/clock.cpp                        |  57 ---
 hal_host/src/crc.cpp                          |  79 ----
 hal_host/src/encoder.cpp                      |  29 --
 hal_host/src/flash.cpp                        | 131 ------
 hal_host/src/gpio.cpp                         |  26 --
 hal_host/src/mcu.cpp                          |  85 ----
 hal_host/src/ports.cpp                        |  30 --
 hal_host/src/pwm.cpp                          |  87 ----
 hal_host/src/pwm_dma.cpp                      |  85 ----
 hal_host/src/spi.cpp                          | 255 ------------
 hal_host/src/timer.cpp                        |  34 --
 hal_host/src/uart_dma.cpp                     |  80 ----
 targets/micras/.clang-tidy                    |   5 -
 targets/micras/CMakeLists.txt                 | 287 -------------
 targets/micras/MicrasFirmware                 |   1 -
 .../micras/baselines/v1/explore/summary.json  |  58 ---
 targets/micras/baselines/v1/idle/summary.json |  42 --
 .../micras/baselines/v2/explore/summary.json  |  58 ---
 targets/micras/baselines/v2/idle/summary.json |  42 --
 targets/micras/cmake/firmware_sha.cmake       |  31 --
 targets/micras/cube/adc.h                     |  42 --
 targets/micras/cube/crc.h                     |  22 -
 targets/micras/cube/dma.h                     |  17 -
 targets/micras/cube/fmac.h                    |  22 -
 targets/micras/cube/gpio.h                    |  17 -
 targets/micras/cube/handles.cpp               | 220 ----------
 targets/micras/cube/main.h                    |  81 ----
 targets/micras/cube/spi.h                     |  22 -
 targets/micras/cube/tim.h                     |  92 ----
 targets/micras/cube/usart.h                   |  22 -
 .../include/micras/sim/micras/bindings.hpp    |  42 --
 .../micras/sim/micras/micras_target.hpp       | 191 ---------
 .../micras/sim/micras/pool_variables.hpp      |  68 ---
 targets/micras/robot.toml                     | 176 --------
 targets/micras/scenarios/explore.toml         |  24 --
 targets/micras/scenarios/explore_link.toml    |  21 -
 targets/micras/scenarios/explore_solve.toml   |  41 --
 .../micras/scenarios/explore_solve_all.toml   |  58 ---
 targets/micras/scenarios/idle.toml            |  12 -
 targets/micras/scenarios/solve.toml           |  31 --
 targets/micras/scenarios/solve_all.toml       |  46 --
 targets/micras/scripts/check_flash.sh         |  23 -
 targets/micras/scripts/check_health.sh        |  25 --
 targets/micras/scripts/compare_baseline.sh    |  29 --
 targets/micras/scripts/contest.sh             |  32 --
 targets/micras/scripts/record_baseline.sh     |  22 -
 targets/micras/scripts/run_explore.sh         |  20 -
 targets/micras/scripts/run_idle.sh            |  17 -
 targets/micras/scripts/serve.sh               |  15 -
 targets/micras/scripts/turn_designs.sh        |  15 -
 targets/micras/scripts/watch.sh               |  14 -
 targets/micras/src/bindings.cpp               | 326 ---------------
 targets/micras/src/main.cpp                   |  16 -
 targets/micras/src/micras_target.cpp          | 328 ---------------
 targets/micras/src/pool_variables.cpp         | 140 -------
 targets/micras/tests/CMakeLists.txt           |  15 -
 targets/micras/tests/unit/hal_host_test.cpp   |  95 -----
 targets/micras/tests/unit/spi_chips_test.cpp  | 221 ----------
 targets/micras/tests/unit/spi_slot_test.cpp   | 230 ----------
 targets/micras/tools/analysis.py              | 245 -----------
 targets/micras/tools/robot_report.cpp         | 139 -------
 targets/micras/tools/turn_designer.cpp        | 392 ------------------
 targets/micras/tools/wall_calibration.cpp     | 303 --------------
 80 files changed, 2 insertions(+), 8153 deletions(-)
 delete mode 100644 .gitmodules
 delete mode 100644 hal_host/include/micras/hal/host/board.hpp
 delete mode 100644 hal_host/include/micras/hal/host/clock.hpp
 delete mode 100644 hal_host/include/micras/hal/host/ports.hpp
 delete mode 100644 hal_host/include/micras/hal/host/spi_device.hpp
 delete mode 100644 hal_host/include/stm32_host.h
 delete mode 100644 hal_host/models/CMakeLists.txt
 delete mode 100644 hal_host/models/include/micras/models/as5047u_model.hpp
 delete mode 100644 hal_host/models/include/micras/models/lsm6dsv_model.hpp
 delete mode 100644 hal_host/models/src/as5047u_model.cpp
 delete mode 100644 hal_host/models/src/lsm6dsv_model.cpp
 delete mode 100644 hal_host/models/tests/as5047u_model_test.cpp
 delete mode 100644 hal_host/models/tests/lsm6dsv_model_test.cpp
 delete mode 100644 hal_host/src/adc_dma.cpp
 delete mode 100644 hal_host/src/board.cpp
 delete mode 100644 hal_host/src/clock.cpp
 delete mode 100644 hal_host/src/crc.cpp
 delete mode 100644 hal_host/src/encoder.cpp
 delete mode 100644 hal_host/src/flash.cpp
 delete mode 100644 hal_host/src/gpio.cpp
 delete mode 100644 hal_host/src/mcu.cpp
 delete mode 100644 hal_host/src/ports.cpp
 delete mode 100644 hal_host/src/pwm.cpp
 delete mode 100644 hal_host/src/pwm_dma.cpp
 delete mode 100644 hal_host/src/spi.cpp
 delete mode 100644 hal_host/src/timer.cpp
 delete mode 100644 hal_host/src/uart_dma.cpp
 delete mode 100644 targets/micras/.clang-tidy
 delete mode 100644 targets/micras/CMakeLists.txt
 delete mode 160000 targets/micras/MicrasFirmware
 delete mode 100644 targets/micras/baselines/v1/explore/summary.json
 delete mode 100644 targets/micras/baselines/v1/idle/summary.json
 delete mode 100644 targets/micras/baselines/v2/explore/summary.json
 delete mode 100644 targets/micras/baselines/v2/idle/summary.json
 delete mode 100644 targets/micras/cmake/firmware_sha.cmake
 delete mode 100644 targets/micras/cube/adc.h
 delete mode 100644 targets/micras/cube/crc.h
 delete mode 100644 targets/micras/cube/dma.h
 delete mode 100644 targets/micras/cube/fmac.h
 delete mode 100644 targets/micras/cube/gpio.h
 delete mode 100644 targets/micras/cube/handles.cpp
 delete mode 100644 targets/micras/cube/main.h
 delete mode 100644 targets/micras/cube/spi.h
 delete mode 100644 targets/micras/cube/tim.h
 delete mode 100644 targets/micras/cube/usart.h
 delete mode 100644 targets/micras/include/micras/sim/micras/bindings.hpp
 delete mode 100644 targets/micras/include/micras/sim/micras/micras_target.hpp
 delete mode 100644 targets/micras/include/micras/sim/micras/pool_variables.hpp
 delete mode 100644 targets/micras/robot.toml
 delete mode 100644 targets/micras/scenarios/explore.toml
 delete mode 100644 targets/micras/scenarios/explore_link.toml
 delete mode 100644 targets/micras/scenarios/explore_solve.toml
 delete mode 100644 targets/micras/scenarios/explore_solve_all.toml
 delete mode 100644 targets/micras/scenarios/idle.toml
 delete mode 100644 targets/micras/scenarios/solve.toml
 delete mode 100644 targets/micras/scenarios/solve_all.toml
 delete mode 100755 targets/micras/scripts/check_flash.sh
 delete mode 100755 targets/micras/scripts/check_health.sh
 delete mode 100755 targets/micras/scripts/compare_baseline.sh
 delete mode 100755 targets/micras/scripts/contest.sh
 delete mode 100755 targets/micras/scripts/record_baseline.sh
 delete mode 100755 targets/micras/scripts/run_explore.sh
 delete mode 100755 targets/micras/scripts/run_idle.sh
 delete mode 100755 targets/micras/scripts/serve.sh
 delete mode 100755 targets/micras/scripts/turn_designs.sh
 delete mode 100755 targets/micras/scripts/watch.sh
 delete mode 100644 targets/micras/src/bindings.cpp
 delete mode 100644 targets/micras/src/main.cpp
 delete mode 100644 targets/micras/src/micras_target.cpp
 delete mode 100644 targets/micras/src/pool_variables.cpp
 delete mode 100644 targets/micras/tests/CMakeLists.txt
 delete mode 100644 targets/micras/tests/unit/hal_host_test.cpp
 delete mode 100644 targets/micras/tests/unit/spi_chips_test.cpp
 delete mode 100644 targets/micras/tests/unit/spi_slot_test.cpp
 delete mode 100644 targets/micras/tools/analysis.py
 delete mode 100644 targets/micras/tools/robot_report.cpp
 delete mode 100644 targets/micras/tools/turn_designer.cpp
 delete mode 100644 targets/micras/tools/wall_calibration.cpp

diff --git a/.gitignore b/.gitignore
index 896e537..d194acb 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,4 +3,3 @@ build/
 .cache/
 __pycache__/
 compile_commands.json
-targets/micras/FIRMWARE_CHANGES.md
diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index 74dafd4..0000000
--- a/.gitmodules
+++ /dev/null
@@ -1,4 +0,0 @@
-[submodule "MicrasFirmware"]
-	path = targets/micras/MicrasFirmware
-	url = https://github.com/Team-Micras/MicrasFirmware.git
-	branch = main
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b630f6c..99e87e2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -148,17 +148,7 @@ endforeach()
 micras_apply_warnings(micras_sim_engine micras_sim_view micras_sim_bridge micras_sim_app WERROR ${MICRAS_SIM_WERROR})
 
 ###############################################################################
-## Host micras_hal: compiled by each robot target against its own HAL headers
-###############################################################################
-
-# Not a library of its own: the micras_hal headers it implements, and the fake Cube
-# layer they include, belong to the robot being built. It includes nothing from the
-# engine, so it can move next to micras_hal unchanged.
-set(MICRAS_SIM_HAL_HOST_INCLUDE "${CMAKE_CURRENT_SOURCE_DIR}/hal_host/include")
-file(GLOB MICRAS_SIM_HAL_HOST_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/hal_host/src/*.cpp")
-
-###############################################################################
-## Tests, chip models and robot targets
+## Tests and robot targets
 ###############################################################################
 
 if(MICRAS_SIM_TESTS)
@@ -184,7 +174,6 @@ endif()
 if(PROJECT_IS_TOP_LEVEL)
     file(GLOB_RECURSE HARNESS_SOURCES CONFIGURE_DEPENDS
         "${PROJECT_SOURCE_DIR}/engine/*.cpp"
-        "${PROJECT_SOURCE_DIR}/hal_host/*.cpp"
         "${PROJECT_SOURCE_DIR}/view/*.cpp"
         "${PROJECT_SOURCE_DIR}/bridge/*.cpp"
         "${PROJECT_SOURCE_DIR}/app/*.cpp"
@@ -196,22 +185,16 @@ if(PROJECT_IS_TOP_LEVEL)
     )
     file(GLOB_RECURSE HARNESS_HEADERS CONFIGURE_DEPENDS
         "${PROJECT_SOURCE_DIR}/engine/*.hpp"
-        "${PROJECT_SOURCE_DIR}/hal_host/*.hpp"
         "${PROJECT_SOURCE_DIR}/view/*.hpp"
         "${PROJECT_SOURCE_DIR}/bridge/*.hpp"
         "${PROJECT_SOURCE_DIR}/app/*.hpp"
         "${PROJECT_SOURCE_DIR}/tests/*.hpp"
         "${PROJECT_SOURCE_DIR}/targets/*/include/*.hpp"
         "${PROJECT_SOURCE_DIR}/targets/*/tests/*.hpp"
-        "${PROJECT_SOURCE_DIR}/hal_host/*.h"
         "${PROJECT_SOURCE_DIR}/targets/*/cube/*.h"
     )
 
-    # hal_host/ is formatted here but linted in micras-lib, which holds its canonical copy.
-    set(HARNESS_LINTED ${HARNESS_SOURCES})
-    list(FILTER HARNESS_LINTED EXCLUDE REGEX "^${PROJECT_SOURCE_DIR}/hal_host/")
-
     include(cmake/lint.cmake)
-    micras_sim_add_lint_targets(FORMAT ${HARNESS_SOURCES} ${HARNESS_HEADERS} LINT ${HARNESS_LINTED})
+    micras_sim_add_lint_targets(FORMAT ${HARNESS_SOURCES} ${HARNESS_HEADERS} LINT ${HARNESS_SOURCES})
     include(cmake/checks.cmake)
 endif()
diff --git a/hal_host/include/micras/hal/host/board.hpp b/hal_host/include/micras/hal/host/board.hpp
deleted file mode 100644
index 9e90397..0000000
--- a/hal_host/include/micras/hal/host/board.hpp
+++ /dev/null
@@ -1,164 +0,0 @@
-/**
- * @file
- *
- * @brief Every host peripheral port, found by the handle or pin that names it.
- */
-
-#ifndef MICRAS_HAL_HOST_BOARD_HPP
-#define MICRAS_HAL_HOST_BOARD_HPP
-
-#include <cstdint>
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include "micras/hal/host/ports.hpp"
-#include "micras/hal/host/spi_device.hpp"
-
-struct GPIO_TypeDef;
-struct SPI_HandleTypeDef;
-
-namespace micras::hal::host {
-/**
- * @brief Registry of the ports the host backend and the outside world share.
- *
- * @note A port is created the first time either side asks for it, keyed by the
- *       address of the Cube handle or GPIO port that names it, so the firmware's
- *       own configuration is the key: `.port = LED_Red_GPIO_Port, .pin =
- *       LED_Red_Pin` in target.hpp and the same two names in a robot's bindings
- *       reach the same port. Nothing here knows a physics engine; bindings
- *       connect ports to whatever simulates the board.
- *
- * @note Not thread safe, and it does not need to be: the firmware and whatever
- *       drives the ports take strict turns.
- */
-class Board {
-public:
-    Board() = delete;
-
-    /**
-     * @brief Get the port of a GPIO pin.
-     *
-     * @param port GPIO port of the pin.
-     * @param pin Pin mask.
-     * @return The port.
-     */
-    static GpioPort& gpio(const void* port, uint16_t pin);
-
-    /**
-     * @brief Get the port of a PWM channel.
-     *
-     * @param timer Timer handle.
-     * @param channel Timer channel.
-     * @return The port.
-     */
-    static PwmPort& pwm(const void* timer, uint32_t channel);
-
-    /**
-     * @brief Get the port of a DMA-fed timer channel.
-     *
-     * @param timer Timer handle.
-     * @param channel Timer channel.
-     * @return The port.
-     */
-    static PwmDmaPort& pwm_dma(const void* timer, uint32_t channel);
-
-    /**
-     * @brief Get the port of an ADC.
-     *
-     * @param adc ADC handle.
-     * @return The port.
-     */
-    static AdcPort& adc(const void* adc);
-
-    /**
-     * @brief Get the port of a UART.
-     *
-     * @param uart UART handle.
-     * @return The port.
-     */
-    static UartPort& uart(const void* uart);
-
-    /**
-     * @brief Get the port of a timer in encoder mode.
-     *
-     * @param timer Timer handle.
-     * @return The port.
-     */
-    static EncoderPort& encoder(const void* timer);
-
-    /**
-     * @brief Get the port of one chip select of an SPI bus.
-     *
-     * @param spi SPI handle.
-     * @param cs_port GPIO port of the chip select.
-     * @param cs_pin Pin mask of the chip select.
-     * @return The port.
-     */
-    static SpiPort& spi(const void* spi, const void* cs_port, uint16_t cs_pin);
-
-    /**
-     * @brief Attach a device to one chip select of an SPI bus.
-     *
-     * @note Keyed by the bus and the chip select, since several devices share
-     *       a bus. Binds the SPI port and the chip select's GPIO port. The device
-     *       is held by reference and must outlive the run.
-     *
-     * @param spi SPI handle.
-     * @param cs_port GPIO port of the chip select.
-     * @param cs_pin Pin mask of the chip select.
-     * @param device The device.
-     */
-    static void
-        spi_device(const SPI_HandleTypeDef* spi, const GPIO_TypeDef* cs_port, uint16_t cs_pin, SpiDevice& device);
-
-    /**
-     * @brief Get the flash.
-     *
-     * @return The port.
-     */
-    static FlashPort& flash();
-
-    /**
-     * @brief Get the microcontroller core.
-     *
-     * @return The port.
-     */
-    static McuPort& mcu();
-
-    /**
-     * @brief Name a GPIO pin, as the Cube layer labels it.
-     *
-     * @param port GPIO port of the pin.
-     * @param pin Pin mask.
-     * @param name Label.
-     */
-    static void name_gpio(const void* port, uint16_t pin, std::string_view name);
-
-    /**
-     * @brief Name a peripheral handle, as the Cube layer calls it.
-     *
-     * @note Ports created for the handle later are named after it.
-     *
-     * @param handle Peripheral handle.
-     * @param name Name.
-     */
-    static void name_handle(const void* handle, std::string_view name);
-
-    /**
-     * @brief List the ports the firmware used that nothing is bound to.
-     *
-     * @return Their names, one per port.
-     */
-    static std::vector<std::string> unbound();
-
-    /**
-     * @brief Forget every port and name.
-     *
-     * @note Called at the start of every run. References to ports obtained before are dangling after.
-     */
-    static void reset();
-};
-}  // namespace micras::hal::host
-
-#endif  // MICRAS_HAL_HOST_BOARD_HPP
diff --git a/hal_host/include/micras/hal/host/clock.hpp b/hal_host/include/micras/hal/host/clock.hpp
deleted file mode 100644
index 4abe3fe..0000000
--- a/hal_host/include/micras/hal/host/clock.hpp
+++ /dev/null
@@ -1,145 +0,0 @@
-/**
- * @file
- *
- * @brief The only place time exists for a firmware running on a host.
- */
-
-#ifndef MICRAS_HAL_HOST_CLOCK_HPP
-#define MICRAS_HAL_HOST_CLOCK_HPP
-
-#include <cstdint>
-#include <functional>
-
-namespace micras::hal::host {
-/**
- * @brief Counts the core cycles the firmware sees, and hands time over to the world.
- *
- * @note Every read of the timer costs a quantum of simulated time, one
- *       microsecond, since a read on the robot also takes time and a loop that
- *       polls the timer must see it advance. When a
- *       read crosses the end of a step, the handover callback runs: whatever
- *       drives the world advances it by one step and returns, and the read
- *       returns after it. So a busy wait runs the world exactly as long as it
- *       waits, and time inside an iteration is the number of timer reads times
- *       the quantum: deterministic, but not a measurement of anything.
- *
- * @note The counter wraps at 32 bits exactly as the cycle counter does.
- */
-class Clock {
-public:
-    /**
-     * @brief Called at every step boundary a read crosses.
-     */
-    using Handover = std::function<void()>;
-
-    /**
-     * @brief Get the process-wide clock.
-     *
-     * @return The clock.
-     */
-    static Clock& instance();
-
-    /**
-     * @brief Set the core frequency, which makes a read cost one microsecond of cycles.
-     *
-     * @param cycles_per_microsecond Core clock, in cycles per microsecond.
-     */
-    void configure(uint32_t cycles_per_microsecond);
-
-    /**
-     * @brief Hand time over to the world at every step.
-     *
-     * @param step_us Length of a step, in microseconds.
-     * @param handover Called when a read crosses a step boundary.
-     */
-    void set_handover(uint32_t step_us, Handover handover);
-
-    /**
-     * @brief Stop handing time over; reads keep counting.
-     */
-    void clear_handover();
-
-    /**
-     * @brief Read the cycle counter, as the firmware does.
-     *
-     * @return Cycles since the start, modulo 2^32.
-     */
-    uint32_t read_cycles();
-
-    /**
-     * @brief Read the millisecond counter, as the firmware does.
-     *
-     * @return Milliseconds since the start, modulo 2^32.
-     */
-    uint32_t read_ms();
-
-    /**
-     * @brief Get the time without charging for it.
-     *
-     * @return Cycles since the start, not wrapped.
-     */
-    uint64_t now() const { return this->cycles; }
-
-    /**
-     * @brief Get the core frequency.
-     *
-     * @return Cycles per microsecond.
-     */
-    uint32_t cycles_per_microsecond() const { return this->cycles_per_us; }
-
-    /**
-     * @brief Get how many step boundaries were handed over.
-     *
-     * @return Number of handovers.
-     */
-    uint64_t steps() const { return this->handed_over; }
-
-    /**
-     * @brief Rewind to the start, with no handover.
-     */
-    void reset();
-
-private:
-    /**
-     * @brief Charge one read and hand over at every boundary it crosses.
-     */
-    void charge();
-
-    /**
-     * @brief Core cycles per microsecond.
-     */
-    uint32_t cycles_per_us{1};
-
-    /**
-     * @brief Cycles one read costs.
-     */
-    uint64_t quantum{1};
-
-    /**
-     * @brief Cycles since the start.
-     */
-    uint64_t cycles{0};
-
-    /**
-     * @brief Cycles per step, zero when nothing is handed over.
-     */
-    uint64_t step{0};
-
-    /**
-     * @brief Cycle count of the next step boundary.
-     */
-    uint64_t next_boundary{0};
-
-    /**
-     * @brief Number of boundaries handed over.
-     */
-    uint64_t handed_over{0};
-
-    /**
-     * @brief What runs at a boundary.
-     */
-    Handover handover;
-};
-}  // namespace micras::hal::host
-
-#endif  // MICRAS_HAL_HOST_CLOCK_HPP
diff --git a/hal_host/include/micras/hal/host/ports.hpp b/hal_host/include/micras/hal/host/ports.hpp
deleted file mode 100644
index c9ec81c..0000000
--- a/hal_host/include/micras/hal/host/ports.hpp
+++ /dev/null
@@ -1,251 +0,0 @@
-/**
- * @file
- *
- * @brief What each host peripheral holds: the state the firmware and the outside world share.
- */
-
-#ifndef MICRAS_HAL_HOST_PORTS_HPP
-#define MICRAS_HAL_HOST_PORTS_HPP
-
-#include <cstddef>
-#include <cstdint>
-#include <deque>
-#include <functional>
-#include <optional>
-#include <span>
-#include <string>
-#include <vector>
-
-#include "micras/hal/host/spi_device.hpp"
-
-namespace micras::hal::host {
-/**
- * @brief What every port has: a name and who has used it.
- *
- * @note touched is set by the firmware side, bound by whatever connects the port
- *       to the outside world. A port the firmware touched that nothing is bound
- *       to is a wiring mistake, and is reported.
- */
-struct Port {
-    /**
-     * @brief Label from the Cube layer, or a description of the handle.
-     */
-    std::string name;
-
-    /**
-     * @brief Whether the firmware used the port.
-     */
-    bool touched{false};
-
-    /**
-     * @brief Whether something outside the firmware is connected to it.
-     */
-    bool bound{false};
-};
-
-/**
- * @brief One GPIO pin.
- */
-struct GpioPort : Port {
-    /**
-     * @brief Level the firmware drives, as its output data register holds it.
-     */
-    bool output{false};
-
-    /**
-     * @brief Level driven from outside, which is what a read returns when set.
-     */
-    std::optional<bool> input;
-
-    /**
-     * @brief Get the level the pin reads.
-     *
-     * @return The external level when one is driven, the output level otherwise.
-     */
-    bool read() const { return this->input.value_or(this->output); }
-};
-
-/**
- * @brief One PWM output channel.
- */
-struct PwmPort : Port {
-    /**
-     * @brief Fraction of the period the output is active, in percent, polarity applied.
-     */
-    float duty_cycle{0.0F};
-
-    /**
-     * @brief Frequency the channel runs at, in hertz.
-     */
-    float frequency{0.0F};
-};
-
-/**
- * @brief One timer channel whose compare register a DMA stream feeds.
- */
-struct PwmDmaPort : Port {
-    /**
-     * @brief Compare values of the last transfer the firmware started.
-     */
-    std::vector<uint32_t> compares;
-
-    /**
-     * @brief Counts in one period, the autoreload plus one.
-     */
-    uint32_t period{0};
-
-    /**
-     * @brief Whether a transfer is still going out.
-     */
-    bool busy{false};
-
-    /**
-     * @brief Host clock cycle the current transfer ends at, one timer period per value.
-     */
-    uint64_t transfer_end{0};
-};
-
-/**
- * @brief One ADC with its DMA stream.
- *
- * @note The firmware hands over the buffer the DMA writes; a device fills it
- *       with a whole sequence and then calls finish_sequence(), which is what
- *       the transfer complete interrupt does on the robot.
- */
-struct AdcPort : Port {
-    /**
-     * @brief Buffer the firmware handed to the DMA, in one of its two widths.
-     */
-    ///@{
-    std::span<uint16_t> buffer16;
-    std::span<uint32_t> buffer32;
-    ///@}
-
-    /**
-     * @brief Called at the end of a sequence, as the conversion complete interrupt would.
-     */
-    std::function<void()> complete;
-
-    /**
-     * @brief Get how many conversions the buffer holds.
-     *
-     * @return Size of the buffer, zero before the DMA was started.
-     */
-    std::size_t size() const { return this->buffer16.empty() ? this->buffer32.size() : this->buffer16.size(); }
-
-    /**
-     * @brief Write one conversion result.
-     *
-     * @param index Index in the buffer; ignored when out of range.
-     * @param counts Result, in ADC counts.
-     *
-     * @note Const because the buffer belongs to the firmware and is only viewed through a span: the port itself
-     *       does not change.
-     */
-    void write(std::size_t index, uint32_t counts) const;
-
-    /**
-     * @brief End the sequence, as the DMA interrupt does.
-     */
-    void finish_sequence() const;
-};
-
-/**
- * @brief One UART with its DMA streams.
- */
-struct UartPort : Port {
-    /**
-     * @brief Circular buffer the firmware handed to the receive DMA.
-     */
-    std::span<uint8_t> rx_buffer;
-
-    /**
-     * @brief Index the next received byte goes to, as the DMA counter implies it.
-     */
-    std::size_t rx_head{0};
-
-    /**
-     * @brief Bytes the firmware handed to the transmit DMA and not yet sent.
-     */
-    std::deque<uint8_t> tx;
-
-    /**
-     * @brief Put one received byte where the DMA would.
-     *
-     * @param byte Byte on the wire.
-     */
-    void receive(uint8_t byte);
-
-    /**
-     * @brief Check whether a transmission is in progress.
-     *
-     * @return True while bytes are waiting to leave.
-     */
-    bool transmitting() const { return not this->tx.empty(); }
-};
-
-/**
- * @brief The part of the flash the firmware may use, as a byte array.
- */
-struct FlashPort : Port {
-    /**
-     * @brief Contents, erased to 0xFF.
-     */
-    std::vector<uint8_t> bytes;
-};
-
-/**
- * @brief What the microcontroller core reports.
- */
-struct McuPort : Port {
-    /**
-     * @brief Independent watchdog timeout the firmware set, zero before it set one.
-     */
-    uint32_t watchdog_timeout_ms{0};
-
-    /**
-     * @brief Host time of the last refresh, in timer cycles.
-     */
-    uint64_t last_refresh{0};
-
-    /**
-     * @brief Number of times the watchdog would have reset the chip.
-     */
-    uint32_t watchdog_expiries{0};
-
-    /**
-     * @brief Number of emergency stops the firmware performed.
-     */
-    uint32_t emergency_stops{0};
-};
-
-/**
- * @brief A quadrature count, as a timer in encoder mode holds it.
- */
-struct EncoderPort : Port {
-    /**
-     * @brief Count, positive forward.
-     */
-    int32_t count{0};
-};
-
-/**
- * @brief One chip select of an SPI bus, and the device behind it.
- *
- * @note The firmware touches the port when it selects the device; a binding
- *       binds it by attaching a device with Board::spi_device().
- */
-struct SpiPort : Port {
-    /**
-     * @brief Device attached to the chip select, none before a binding attaches one.
-     */
-    SpiDevice* device{nullptr};
-
-    /**
-     * @brief Whether the chip select is low, between the firmware's select and unselect.
-     */
-    bool selected{false};
-};
-}  // namespace micras::hal::host
-
-#endif  // MICRAS_HAL_HOST_PORTS_HPP
diff --git a/hal_host/include/micras/hal/host/spi_device.hpp b/hal_host/include/micras/hal/host/spi_device.hpp
deleted file mode 100644
index 20b86ea..0000000
--- a/hal_host/include/micras/hal/host/spi_device.hpp
+++ /dev/null
@@ -1,92 +0,0 @@
-/**
- * @file
- *
- * @brief A chip on an SPI bus, as the host backend sees it: a chip select and a stream of bytes.
- */
-
-#ifndef MICRAS_HAL_HOST_SPI_DEVICE_HPP
-#define MICRAS_HAL_HOST_SPI_DEVICE_HPP
-
-#include <cstdint>
-#include <span>
-
-namespace micras::hal::host {
-/**
- * @brief A device behind one chip select of an SPI bus.
- *
- * @note The host Spi calls select() when the firmware pulls the device's chip
- *       select low, exchange() for every transfer while it is low, however many
- *       HAL calls the firmware splits the transaction into, and deselect() when
- *       the chip select goes high again. A transaction is therefore everything
- *       between select() and deselect(), which is what a chip sees on the bus.
- *
- * @note A device only answers in the SPI mode it expects. When the mode the bus
- *       runs in differs, the host Spi does not call exchange() and the firmware
- *       reads all ones, as a chip clocked on the wrong edge answers on the robot.
- */
-class SpiDevice {
-public:
-    /**
-     * @brief SPI mode: the clock polarity in the high bit, the clock phase in the low one.
-     */
-    enum class Mode : uint8_t {
-        MODE_0 = 0,
-        MODE_1 = 1,
-        MODE_2 = 2,
-        MODE_3 = 3,
-    };
-
-    /**
-     * @brief Special member functions: a device is attached by reference, so it cannot be copied or moved.
-     */
-    ///@{
-    virtual ~SpiDevice() = default;
-    SpiDevice(const SpiDevice&) = delete;
-    SpiDevice(SpiDevice&&) = delete;
-    SpiDevice& operator=(const SpiDevice&) = delete;
-    SpiDevice& operator=(SpiDevice&&) = delete;
-
-    ///@}
-
-    /**
-     * @brief Get the SPI mode the device answers in.
-     *
-     * @return The mode.
-     */
-    Mode mode() const { return this->spi_mode; }
-
-    /**
-     * @brief Start a transaction: the chip select went low.
-     */
-    virtual void select() = 0;
-
-    /**
-     * @brief Clock bytes through the device while it is selected.
-     *
-     * @param transmitted Bytes the controller sends, one per received byte.
-     * @param received Bytes the device answers with, as many as were transmitted.
-     */
-    virtual void exchange(std::span<const uint8_t> transmitted, std::span<uint8_t> received) = 0;
-
-    /**
-     * @brief End the transaction: the chip select went high.
-     */
-    virtual void deselect() = 0;
-
-protected:
-    /**
-     * @brief Construct a device that answers in one SPI mode.
-     *
-     * @param mode The mode.
-     */
-    explicit SpiDevice(Mode mode) : spi_mode{mode} { }
-
-private:
-    /**
-     * @brief SPI mode the device answers in.
-     */
-    Mode spi_mode;
-};
-}  // namespace micras::hal::host
-
-#endif  // MICRAS_HAL_HOST_SPI_DEVICE_HPP
diff --git a/hal_host/include/stm32_host.h b/hal_host/include/stm32_host.h
deleted file mode 100644
index 96a1a95..0000000
--- a/hal_host/include/stm32_host.h
+++ /dev/null
@@ -1,294 +0,0 @@
-/**
- * @file
- *
- * @brief The STM32 handle types and HAL constants a fake Cube layer builds on.
- *
- * @note The micras_hal headers name STM32 handle types in their configurations,
- *       and a robot's target.hpp names handles, channels and SPI modes. On a PC
- *       none of the vendor HAL exists, so a robot's fake Cube layer includes this
- *       file from its main.h and adds only what is its own: its handles, pins,
- *       init functions and clock tree. The types carry just the fields the host
- *       backend reads or writes; the constants keep the vendor's values where the
- *       firmware could compare them.
- */
-
-#ifndef STM32_HOST_H
-#define STM32_HOST_H
-
-#include <cstdint>
-
-/*****************************************
- * GPIO
- *****************************************/
-
-/**
- * @brief A GPIO port, identified by its address alone.
- */
-struct GPIO_TypeDef {
-    /**
-     * @brief Letter of the port, for messages.
-     */
-    char name;
-};
-
-///@{
-inline constexpr uint16_t GPIO_PIN_0{0x0001U};
-inline constexpr uint16_t GPIO_PIN_1{0x0002U};
-inline constexpr uint16_t GPIO_PIN_2{0x0004U};
-inline constexpr uint16_t GPIO_PIN_3{0x0008U};
-inline constexpr uint16_t GPIO_PIN_4{0x0010U};
-inline constexpr uint16_t GPIO_PIN_5{0x0020U};
-inline constexpr uint16_t GPIO_PIN_6{0x0040U};
-inline constexpr uint16_t GPIO_PIN_7{0x0080U};
-inline constexpr uint16_t GPIO_PIN_8{0x0100U};
-inline constexpr uint16_t GPIO_PIN_9{0x0200U};
-inline constexpr uint16_t GPIO_PIN_10{0x0400U};
-inline constexpr uint16_t GPIO_PIN_11{0x0800U};
-inline constexpr uint16_t GPIO_PIN_12{0x1000U};
-inline constexpr uint16_t GPIO_PIN_13{0x2000U};
-inline constexpr uint16_t GPIO_PIN_14{0x4000U};
-inline constexpr uint16_t GPIO_PIN_15{0x8000U};
-
-///@}
-
-/*****************************************
- * Timers
- *****************************************/
-
-/**
- * @brief The registers of a timer the host backend models.
- *
- * @note kernel_clock is not a register: it is the frequency the timer counts
- *       at, which on the chip comes from the clock tree the init functions
- *       configure. The fake init function writes it.
- */
-struct TIM_TypeDef {
-    uint32_t CR1;
-    uint32_t CCER;
-    uint32_t PSC;
-    uint32_t ARR;
-    uint32_t kernel_clock;
-};
-
-/**
- * @brief Base configuration of a timer, as the init function fills it.
- */
-struct TIM_Base_InitTypeDef {
-    uint32_t Prescaler;
-    uint32_t CounterMode;
-    uint32_t Period;
-};
-
-/**
- * @brief State of a timer handle.
- */
-enum HAL_TIM_StateTypeDef : uint8_t {
-    HAL_TIM_STATE_RESET = 0,
-    HAL_TIM_STATE_READY = 1,
-};
-
-/**
- * @brief A timer handle.
- */
-struct TIM_HandleTypeDef {
-    TIM_TypeDef*         Instance;
-    TIM_Base_InitTypeDef Init;
-    HAL_TIM_StateTypeDef State;
-};
-
-///@{
-inline constexpr uint32_t TIM_CHANNEL_1{0x00000000U};
-inline constexpr uint32_t TIM_CHANNEL_2{0x00000004U};
-inline constexpr uint32_t TIM_CHANNEL_3{0x00000008U};
-inline constexpr uint32_t TIM_CHANNEL_4{0x0000000CU};
-inline constexpr uint32_t TIM_CHANNEL_ALL{0x0000003CU};
-///@}
-
-///@{
-inline constexpr uint32_t TIM_CR1_CMS{0x3U << 5U};
-inline constexpr uint32_t TIM_CCER_CC1P{0x1U << 1U};
-inline constexpr uint32_t TIM_COUNTERMODE_UP{0x00000000U};
-inline constexpr uint32_t TIM_COUNTERMODE_CENTERALIGNED1{0x1U << 5U};
-
-///@}
-
-/*****************************************
- * ADC
- *****************************************/
-
-/**
- * @brief Configuration of an ADC, as the init function fills it.
- */
-struct ADC_InitTypeDef {
-    uint32_t Resolution;
-    uint32_t NbrOfConversion;
-};
-
-///@{
-inline constexpr uint32_t HAL_ADC_STATE_RESET{0x00000000U};
-inline constexpr uint32_t HAL_ADC_STATE_READY{0x00000001U};
-
-///@}
-
-/**
- * @brief An ADC handle.
- */
-struct ADC_HandleTypeDef {
-    ADC_InitTypeDef Init;
-    uint32_t        State;
-};
-
-/*****************************************
- * SPI
- *****************************************/
-
-///@{
-inline constexpr uint32_t SPI_POLARITY_LOW{0x00000000U};
-inline constexpr uint32_t SPI_POLARITY_HIGH{0x1U << 25U};
-inline constexpr uint32_t SPI_PHASE_1EDGE{0x00000000U};
-inline constexpr uint32_t SPI_PHASE_2EDGE{0x1U << 24U};
-
-///@}
-
-/**
- * @brief Dividers of the SPI kernel clock, from 2 to 256, in the bits the vendor puts them.
- */
-///@{
-inline constexpr uint32_t SPI_BAUDRATEPRESCALER_2{0x00000000U};
-inline constexpr uint32_t SPI_BAUDRATEPRESCALER_4{0x10000000U};
-inline constexpr uint32_t SPI_BAUDRATEPRESCALER_8{0x20000000U};
-inline constexpr uint32_t SPI_BAUDRATEPRESCALER_16{0x30000000U};
-inline constexpr uint32_t SPI_BAUDRATEPRESCALER_32{0x40000000U};
-inline constexpr uint32_t SPI_BAUDRATEPRESCALER_64{0x50000000U};
-inline constexpr uint32_t SPI_BAUDRATEPRESCALER_128{0x60000000U};
-inline constexpr uint32_t SPI_BAUDRATEPRESCALER_256{0x70000000U};
-
-///@}
-
-/**
- * @brief The registers of an SPI bus the host backend models.
- *
- * @note kernel_clock is not a register: it is the frequency the bus's kernel
- *       clock runs at, which on the chip comes from the clock tree the init
- *       functions configure. The fake init function writes it, and the bit
- *       rate is that divided by the prescaler.
- */
-struct SPI_TypeDef {
-    uint32_t kernel_clock;
-};
-
-/**
- * @brief Configuration of an SPI bus, as the init function fills it.
- */
-struct SPI_InitTypeDef {
-    uint32_t CLKPolarity;
-    uint32_t CLKPhase;
-    uint32_t BaudRatePrescaler;
-};
-
-/**
- * @brief State of an SPI handle.
- */
-enum HAL_SPI_StateTypeDef : uint8_t {
-    HAL_SPI_STATE_RESET = 0,
-    HAL_SPI_STATE_READY = 1,
-};
-
-/**
- * @brief An SPI handle.
- */
-struct SPI_HandleTypeDef {
-    SPI_TypeDef*         Instance;
-    SPI_InitTypeDef      Init;
-    HAL_SPI_StateTypeDef State;
-};
-
-/*****************************************
- * UART
- *****************************************/
-
-/**
- * @brief State of a UART handle.
- */
-enum HAL_UART_StateTypeDef : uint8_t {
-    HAL_UART_STATE_RESET = 0x00,
-    HAL_UART_STATE_READY = 0x20,
-    HAL_UART_STATE_BUSY_RX = 0x22,
-};
-
-/**
- * @brief Configuration of a UART, as the init function fills it.
- */
-struct UART_InitTypeDef {
-    uint32_t BaudRate;
-};
-
-/**
- * @brief A UART handle.
- */
-struct UART_HandleTypeDef {
-    UART_InitTypeDef      Init;
-    HAL_UART_StateTypeDef gState;
-    HAL_UART_StateTypeDef RxState;
-};
-
-/*****************************************
- * CRC
- *****************************************/
-
-///@{
-inline constexpr uint8_t  DEFAULT_POLYNOMIAL_ENABLE{0x00U};
-inline constexpr uint8_t  DEFAULT_POLYNOMIAL_DISABLE{0x01U};
-inline constexpr uint8_t  DEFAULT_INIT_VALUE_ENABLE{0x00U};
-inline constexpr uint8_t  DEFAULT_INIT_VALUE_DISABLE{0x01U};
-inline constexpr uint32_t CRC_POLYLENGTH_32B{0x00000000U};
-inline constexpr uint32_t CRC_POLYLENGTH_16B{0x1U << 3U};
-inline constexpr uint32_t CRC_POLYLENGTH_8B{0x2U << 3U};
-inline constexpr uint32_t CRC_POLYLENGTH_7B{0x3U << 3U};
-inline constexpr uint32_t CRC_INPUTDATA_INVERSION_NONE{0x00000000U};
-inline constexpr uint32_t CRC_INPUTDATA_INVERSION_BYTE{0x1U << 5U};
-inline constexpr uint32_t CRC_INPUTDATA_INVERSION_HALFWORD{0x2U << 5U};
-inline constexpr uint32_t CRC_INPUTDATA_INVERSION_WORD{0x3U << 5U};
-inline constexpr uint32_t CRC_OUTPUTDATA_INVERSION_DISABLE{0x00000000U};
-inline constexpr uint32_t CRC_OUTPUTDATA_INVERSION_ENABLE{0x1U << 7U};
-inline constexpr uint32_t CRC_INPUTDATA_FORMAT_BYTES{0x00000001U};
-inline constexpr uint32_t CRC_INPUTDATA_FORMAT_HALFWORDS{0x00000002U};
-inline constexpr uint32_t CRC_INPUTDATA_FORMAT_WORDS{0x00000003U};
-inline constexpr uint32_t DEFAULT_CRC32_POLY{0x04C11DB7U};
-inline constexpr uint32_t DEFAULT_CRC_INITVALUE{0xFFFFFFFFU};
-
-///@}
-
-/**
- * @brief Configuration of the CRC unit, as the init function fills it.
- */
-struct CRC_InitTypeDef {
-    uint8_t  DefaultPolynomialUse;
-    uint8_t  DefaultInitValueUse;
-    uint32_t GeneratingPolynomial;
-    uint32_t CRCLength;
-    uint32_t InitValue;
-    uint32_t InputDataInversionMode;
-    uint32_t OutputDataInversionMode;
-};
-
-/**
- * @brief The CRC unit's handle.
- */
-struct CRC_HandleTypeDef {
-    CRC_InitTypeDef Init;
-    uint32_t        InputDataFormat;
-};
-
-/*****************************************
- * FMAC
- *****************************************/
-
-/**
- * @brief The filter accelerator's handle; nothing on the host uses it.
- */
-struct FMAC_HandleTypeDef {
-    uint32_t State;
-};
-
-#endif  // STM32_HOST_H
diff --git a/hal_host/models/CMakeLists.txt b/hal_host/models/CMakeLists.txt
deleted file mode 100644
index 3c3e430..0000000
--- a/hal_host/models/CMakeLists.txt
+++ /dev/null
@@ -1,32 +0,0 @@
-###############################################################################
-## Chip models: SPI devices for the host micras_hal
-###############################################################################
-
-# They know the SPI device slot of the host HAL and nothing else: no Cube layer, no
-# firmware, no engine. A robot's bindings attach them to its buses and feed them.
-add_library(micras_hal_host_models STATIC
-    src/as5047u_model.cpp
-    src/lsm6dsv_model.cpp
-)
-add_library(micras::hal_host_models ALIAS micras_hal_host_models)
-target_include_directories(micras_hal_host_models PUBLIC
-    "${CMAKE_CURRENT_SOURCE_DIR}/include"
-    "${MICRAS_SIM_HAL_HOST_INCLUDE}"
-)
-target_compile_features(micras_hal_host_models PUBLIC cxx_std_23)
-micras_apply_warnings(micras_hal_host_models WERROR ${MICRAS_SIM_WERROR})
-
-if(MICRAS_SIM_TESTS)
-    # ST's register driver header names the registers the tests address, so a model
-    # register at another address than the driver's fails here.
-    add_executable(micras_hal_host_models_tests
-        tests/as5047u_model_test.cpp
-        tests/lsm6dsv_model_test.cpp
-    )
-    target_link_libraries(micras_hal_host_models_tests PRIVATE
-        micras_hal_host_models lsm6dsv_headers doctest::doctest_with_main
-    )
-    micras_apply_warnings(micras_hal_host_models_tests WERROR ${MICRAS_SIM_WERROR})
-
-    doctest_discover_tests(micras_hal_host_models_tests)
-endif()
diff --git a/hal_host/models/include/micras/models/as5047u_model.hpp b/hal_host/models/include/micras/models/as5047u_model.hpp
deleted file mode 100644
index c24ecdb..0000000
--- a/hal_host/models/include/micras/models/as5047u_model.hpp
+++ /dev/null
@@ -1,182 +0,0 @@
-/**
- * @file
- *
- * @brief The AS5047U magnetic position sensor, as its SPI interface shows it.
- */
-
-#ifndef MICRAS_MODELS_AS5047U_MODEL_HPP
-#define MICRAS_MODELS_AS5047U_MODEL_HPP
-
-#include <array>
-#include <cstddef>
-#include <cstdint>
-#include <optional>
-#include <span>
-
-#include "micras/hal/host/spi_device.hpp"
-
-namespace micras::models {
-/**
- * @brief The registers of an AS5047U behind an SPI chip select, in its 24-bit frame mode.
- *
- * @details Every frame is three bytes. A command frame carries a don't care
- *          bit, the read flag, a 14-bit address and a CRC; a data frame carries
- *          the warning and error flags, 14 bits of data and a CRC. The CRC is a
- *          CRC-8 of the first two bytes, polynomial 0x1D, initial value 0xC4,
- *          final XOR 0xFF. Answers are pipelined by one frame: what the sensor
- *          sends during a frame answers the frame before it, whatever the chip
- *          select did in between.
- *
- * @details A read command is answered with the register's content. A write
- *          command is answered with the register's old content and is followed
- *          by a data frame holding the new one, which is answered with the new
- *          content.
- *
- * @note Every frame's CRC is checked. A frame with a wrong CRC is ignored, and
- *       a write whose data frame it was is dropped; it sets the CRC error bit of
- *       ERRFL. A chip select raised in the middle of a frame drops it and sets
- *       the framing error bit. The error flag of every answer is set while
- *       ERRFL is not zero, and reading ERRFL clears it.
- *
- * @note DISABLE, ZPOSM, ZPOSL, SETTINGS1 to SETTINGS3 and ECC are held, zero
- *       after power-on, as volatile registers. Writes to any other address are
- *       ignored and every other register reads zero: the angle, the magnitude
- *       and the diagnostics are not modeled. So is the position: on the robot it
- *       reaches the firmware through the quadrature output and a timer in
- *       encoder mode, and so it does in a simulation.
- */
-class As5047uModel : public hal::host::SpiDevice {
-public:
-    /**
-     * @brief Bytes in a frame.
-     */
-    static constexpr std::size_t frame_size{3};
-
-    /**
-     * @brief Addresses of the registers the model holds.
-     */
-    ///@{
-    static constexpr uint16_t nop_address{0x0000};
-    static constexpr uint16_t errfl_address{0x0001};
-    static constexpr uint16_t disable_address{0x0015};
-    static constexpr uint16_t zposm_address{0x0016};
-    static constexpr uint16_t zposl_address{0x0017};
-    static constexpr uint16_t settings1_address{0x0018};
-    static constexpr uint16_t settings2_address{0x0019};
-    static constexpr uint16_t settings3_address{0x001A};
-    static constexpr uint16_t ecc_address{0x001B};
-    ///@}
-
-    /**
-     * @brief Bits of ERRFL the model sets.
-     */
-    ///@{
-    static constexpr uint16_t framing_error{1U << 4U};
-    static constexpr uint16_t crc_error{1U << 6U};
-    ///@}
-
-    /**
-     * @brief Power the sensor on, in SPI mode 1.
-     */
-    As5047uModel();
-
-    /**
-     * @brief Start a transaction at the start of a frame.
-     */
-    void select() override;
-
-    /**
-     * @brief Shift the pending answer out and the frame in, acting on every frame completed.
-     *
-     * @param transmitted Bytes the controller sends.
-     * @param received Bytes of the answer to the previous frame.
-     */
-    void exchange(std::span<const uint8_t> transmitted, std::span<uint8_t> received) override;
-
-    /**
-     * @brief End the transaction, dropping an incomplete frame.
-     */
-    void deselect() override;
-
-    /**
-     * @brief Get a register without the side effects of reading it over SPI.
-     *
-     * @param address Register address.
-     * @return The register's content, zero for one not modeled.
-     */
-    uint16_t peek(uint16_t address) const;
-
-    /**
-     * @brief Compute the CRC of a frame.
-     *
-     * @param high First byte of the frame.
-     * @param low Second byte of the frame.
-     * @return The third byte of a valid frame.
-     */
-    static uint8_t crc(uint8_t high, uint8_t low);
-
-private:
-    /**
-     * @brief Act on one complete frame and prepare the answer to it.
-     *
-     * @param frame The frame, most significant byte first.
-     */
-    void process(const std::array<uint8_t, frame_size>& frame);
-
-    /**
-     * @brief Build a data frame answering with a value, the error flag set while ERRFL is not zero.
-     *
-     * @param data The value.
-     * @return The frame, in its low 24 bits.
-     */
-    uint32_t answer_with(uint16_t data) const;
-
-    /**
-     * @brief Get the register a write to an address changes.
-     *
-     * @param address Register address.
-     * @return The register, or null when the address is not writable.
-     */
-    uint8_t* writable(uint16_t address);
-
-    /**
-     * @brief Volatile registers, each 8 bits wide.
-     */
-    ///@{
-    uint8_t disable{0};
-    uint8_t zposm{0};
-    uint8_t zposl{0};
-    uint8_t settings1{0};
-    uint8_t settings2{0};
-    uint8_t settings3{0};
-    uint8_t ecc{0};
-    ///@}
-
-    /**
-     * @brief Error flags, in ERRFL's layout.
-     */
-    uint16_t errfl{0};
-
-    /**
-     * @brief Frame shifted out next: the answer to the last complete frame.
-     */
-    uint32_t answer;
-
-    /**
-     * @brief Bytes of the frame being received.
-     */
-    std::array<uint8_t, frame_size> frame{};
-
-    /**
-     * @brief Number of bytes of the frame received so far.
-     */
-    std::size_t received_bytes{0};
-
-    /**
-     * @brief Address whose write command was received, so the next frame holds its data.
-     */
-    std::optional<uint16_t> pending_write;
-};
-}  // namespace micras::models
-
-#endif  // MICRAS_MODELS_AS5047U_MODEL_HPP
diff --git a/hal_host/models/include/micras/models/lsm6dsv_model.hpp b/hal_host/models/include/micras/models/lsm6dsv_model.hpp
deleted file mode 100644
index 6f53b4a..0000000
--- a/hal_host/models/include/micras/models/lsm6dsv_model.hpp
+++ /dev/null
@@ -1,200 +0,0 @@
-/**
- * @file
- *
- * @brief The LSM6DSV inertial measurement unit, as its SPI interface shows it.
- */
-
-#ifndef MICRAS_MODELS_LSM6DSV_MODEL_HPP
-#define MICRAS_MODELS_LSM6DSV_MODEL_HPP
-
-#include <array>
-#include <cstddef>
-#include <cstdint>
-#include <span>
-
-#include "micras/hal/host/spi_device.hpp"
-
-namespace micras::models {
-/**
- * @brief The registers of an LSM6DSV behind an SPI chip select, fed with samples of the motion it measures.
- *
- * @details The first byte of a transaction is the command: the read flag in the
- *          top bit and the register address below it. Every following byte
- *          reads or writes one register, and the address advances after each
- *          one while CTRL3 IF_INC is set, as it is after reset.
- *
- * @note The register file is the 128 registers of the main page, with the
- *       datasheet's defaults: WHO_AM_I 0x70, PIN_CTRL 0x23, CTRL3 0x44
- *       (IF_INC and BDU) and zero everywhere else. Writes to read-only and
- *       reserved registers are ignored. While FUNC_CFG_ACCESS selects the
- *       embedded functions or the sensor hub page, which are not modeled, every
- *       other register reads zero and ignores writes.
- *
- * @note Writing SW_POR in FUNC_CFG_ACCESS or SW_RESET in CTRL3 restores the
- *       defaults, and the rest of that transaction is ignored.
- *
- * @note A sample updates the outputs of each sensor whose output data rate is
- *       not off (ODR_G in CTRL2, ODR_XL in CTRL1), encoded with the full scale
- *       its register holds (FS_G in CTRL6, FS_XL in CTRL8), and sets that
- *       sensor's data ready bit in STATUS_REG (GDA, XLDA). Reading the high
- *       byte of one of the sensor's axes clears the bit, so the burst that
- *       reads a sample clears it. A transaction happens between two samples,
- *       which is what block data update guarantees on the chip.
- *
- * @note The rates in CTRL1, CTRL2 and HAODR_CFG only say whether a sensor is on
- *       and are decoded for the one feeding the samples: the samples arrive at
- *       whatever rate push_sample is called at.
- */
-class Lsm6dsvModel : public hal::host::SpiDevice {
-public:
-    /**
-     * @brief Registers of the main page.
-     */
-    static constexpr std::size_t register_count{128};
-
-    /**
-     * @brief Value of WHO_AM_I.
-     */
-    static constexpr uint8_t device_id{0x70};
-
-    /**
-     * @brief Power the chip on, in SPI mode 3.
-     */
-    Lsm6dsvModel();
-
-    /**
-     * @brief Start a transaction.
-     */
-    void select() override;
-
-    /**
-     * @brief Take the command, then read or write one register per byte.
-     *
-     * @param transmitted Bytes the controller sends.
-     * @param received Register values read, zero while the command is being sent and during writes.
-     */
-    void exchange(std::span<const uint8_t> transmitted, std::span<uint8_t> received) override;
-
-    /**
-     * @brief End the transaction.
-     */
-    void deselect() override;
-
-    /**
-     * @brief Deliver a new sample of the motion the chip measures.
-     *
-     * @param angular_velocity Angular velocity about the chip's x, y and z axes, in rad/s.
-     * @param linear_acceleration Specific force along the chip's x, y and z axes, in m/s^2.
-     */
-    void push_sample(const std::array<double, 3>& angular_velocity, const std::array<double, 3>& linear_acceleration);
-
-    /**
-     * @brief Get a register without the side effects of reading it over SPI.
-     *
-     * @param address Register address; the top bit is ignored.
-     * @return The register's value.
-     */
-    uint8_t peek(uint8_t address) const;
-
-    /**
-     * @brief Get the output data rate of the gyroscope, from CTRL2 and HAODR_CFG.
-     *
-     * @return The rate, in hertz, zero when the gyroscope is off.
-     */
-    double gyroscope_data_rate() const;
-
-    /**
-     * @brief Get the output data rate of the accelerometer, from CTRL1 and HAODR_CFG.
-     *
-     * @return The rate, in hertz, zero when the accelerometer is off.
-     */
-    double accelerometer_data_rate() const;
-
-    /**
-     * @brief Get the sensitivity of the gyroscope at the full scale in CTRL6.
-     *
-     * @return Angular velocity of one count, in rad/s, zero for a reserved full scale.
-     */
-    double gyroscope_sensitivity() const;
-
-    /**
-     * @brief Get the sensitivity of the accelerometer at the full scale in CTRL8.
-     *
-     * @return Specific force of one count, in m/s^2.
-     */
-    double accelerometer_sensitivity() const;
-
-private:
-    /**
-     * @brief Restore every register to its default.
-     */
-    void reset();
-
-    /**
-     * @brief Read a register over SPI, clearing the data ready bit it completes.
-     *
-     * @param address Register address.
-     * @return The register's value.
-     */
-    uint8_t read(uint8_t address);
-
-    /**
-     * @brief Write a register over SPI, applying what the write triggers.
-     *
-     * @param address Register address.
-     * @param value Value written.
-     */
-    void write(uint8_t address, uint8_t value);
-
-    /**
-     * @brief Check whether the main page is the one the SPI interface addresses.
-     *
-     * @return True unless FUNC_CFG_ACCESS selects another page.
-     */
-    bool main_page() const;
-
-    /**
-     * @brief Write the three axes of one sensor into its output registers.
-     *
-     * @param first Address of the low byte of the x axis.
-     * @param values Values of the three axes.
-     * @param sensitivity Value of one count; zero writes zero.
-     */
-    void encode(uint8_t first, const std::array<double, 3>& values, double sensitivity);
-
-    /**
-     * @brief Decode an output data rate.
-     *
-     * @param odr ODR field of CTRL1 or CTRL2.
-     * @return The rate, in hertz, with the high accuracy set HAODR_CFG selects.
-     */
-    double data_rate(uint8_t odr) const;
-
-    /**
-     * @brief The register file.
-     */
-    std::array<uint8_t, register_count> registers{};
-
-    /**
-     * @brief Register the next byte of the transaction reads or writes.
-     */
-    uint8_t address{0};
-
-    /**
-     * @brief Whether the command byte of the transaction was received.
-     */
-    bool addressed{false};
-
-    /**
-     * @brief Whether the transaction reads.
-     */
-    bool reading{false};
-
-    /**
-     * @brief Whether the rest of the transaction is ignored, after a reset inside it.
-     */
-    bool ignoring{false};
-};
-}  // namespace micras::models
-
-#endif  // MICRAS_MODELS_LSM6DSV_MODEL_HPP
diff --git a/hal_host/models/src/as5047u_model.cpp b/hal_host/models/src/as5047u_model.cpp
deleted file mode 100644
index 9903a07..0000000
--- a/hal_host/models/src/as5047u_model.cpp
+++ /dev/null
@@ -1,187 +0,0 @@
-/**
- * @file
- */
-
-#include <algorithm>
-#include <array>
-#include <cstdint>
-#include <span>
-
-#include "micras/models/as5047u_model.hpp"
-
-namespace micras::models {
-namespace {
-/**
- * @brief Generator polynomial of the frame CRC, without its top bit.
- */
-constexpr uint8_t crc_polynomial{0x1D};
-
-/**
- * @brief Initial value of the frame CRC.
- */
-constexpr uint8_t crc_initial_value{0xC4};
-
-/**
- * @brief Final XOR of the frame CRC.
- */
-constexpr uint8_t crc_final_xor{0xFF};
-
-/**
- * @brief Bits of the 14-bit address or data field.
- */
-constexpr uint16_t field_mask{0x3FFF};
-
-/**
- * @brief Position of the address or data field in a frame.
- */
-constexpr uint32_t field_shift{8};
-
-/**
- * @brief Read flag of a command frame, and error flag of a data frame.
- */
-constexpr uint32_t flag_bit{1U << 22U};
-}  // namespace
-
-As5047uModel::As5047uModel() : SpiDevice{Mode::MODE_1}, answer{this->answer_with(0)} { }
-
-void As5047uModel::select() {
-    this->received_bytes = 0;
-}
-
-void As5047uModel::exchange(std::span<const uint8_t> transmitted, std::span<uint8_t> received) {
-    const std::size_t size = std::min(transmitted.size(), received.size());
-
-    for (std::size_t index = 0; index < size; index++) {
-        const uint32_t shift = 8U * static_cast<uint32_t>(frame_size - 1 - this->received_bytes);
-        received[index] = static_cast<uint8_t>(this->answer >> shift);
-        this->frame.at(this->received_bytes) = transmitted[index];
-        this->received_bytes++;
-
-        if (this->received_bytes == frame_size) {
-            this->received_bytes = 0;
-            this->process(this->frame);
-        }
-    }
-}
-
-void As5047uModel::deselect() {
-    if (this->received_bytes != 0) {
-        this->errfl |= framing_error;
-        this->pending_write.reset();
-    }
-
-    this->received_bytes = 0;
-}
-
-uint16_t As5047uModel::peek(uint16_t address) const {
-    switch (address) {
-        case errfl_address:
-            return this->errfl;
-
-        case disable_address:
-            return this->disable;
-
-        case zposm_address:
-            return this->zposm;
-
-        case zposl_address:
-            return this->zposl;
-
-        case settings1_address:
-            return this->settings1;
-
-        case settings2_address:
-            return this->settings2;
-
-        case settings3_address:
-            return this->settings3;
-
-        case ecc_address:
-            return this->ecc;
-
-        default:
-            return 0;
-    }
-}
-
-uint8_t As5047uModel::crc(uint8_t high, uint8_t low) {
-    uint8_t remainder = crc_initial_value;
-
-    for (const uint8_t byte : {high, low}) {
-        remainder ^= byte;
-
-        for (uint8_t bit = 0; bit < 8; bit++) {
-            remainder = (remainder & 0x80U) != 0 ? static_cast<uint8_t>((remainder << 1U) ^ crc_polynomial) :
-                                                   static_cast<uint8_t>(remainder << 1U);
-        }
-    }
-
-    return remainder ^ crc_final_xor;
-}
-
-void As5047uModel::process(const std::array<uint8_t, frame_size>& frame) {
-    const uint32_t raw = static_cast<uint32_t>(std::get<0>(frame)) << 16U |
-                         static_cast<uint32_t>(std::get<1>(frame)) << 8U | std::get<2>(frame);
-    const auto     field = static_cast<uint16_t>((raw >> field_shift) & field_mask);
-
-    if (crc(std::get<0>(frame), std::get<1>(frame)) != std::get<2>(frame)) {
-        this->errfl |= crc_error;
-        this->pending_write.reset();
-        this->answer = this->answer_with(0);
-        return;
-    }
-
-    if (this->pending_write.has_value()) {
-        const uint16_t address = this->pending_write.value();
-        this->pending_write.reset();
-
-        if (uint8_t* const target = this->writable(address); target != nullptr) {
-            *target = static_cast<uint8_t>(field);
-        }
-
-        this->answer = this->answer_with(this->peek(address));
-        return;
-    }
-
-    this->answer = this->answer_with(this->peek(field));
-
-    if ((raw & flag_bit) == 0) {
-        this->pending_write = field;
-    } else if (field == errfl_address) {
-        this->errfl = 0;
-    }
-}
-
-uint32_t As5047uModel::answer_with(uint16_t data) const {
-    const uint32_t upper = (this->errfl != 0 ? flag_bit : 0U) | static_cast<uint32_t>(data & field_mask) << field_shift;
-    return upper | crc(static_cast<uint8_t>(upper >> 16U), static_cast<uint8_t>(upper >> 8U));
-}
-
-uint8_t* As5047uModel::writable(uint16_t address) {
-    switch (address) {
-        case disable_address:
-            return &this->disable;
-
-        case zposm_address:
-            return &this->zposm;
-
-        case zposl_address:
-            return &this->zposl;
-
-        case settings1_address:
-            return &this->settings1;
-
-        case settings2_address:
-            return &this->settings2;
-
-        case settings3_address:
-            return &this->settings3;
-
-        case ecc_address:
-            return &this->ecc;
-
-        default:
-            return nullptr;
-    }
-}
-}  // namespace micras::models
diff --git a/hal_host/models/src/lsm6dsv_model.cpp b/hal_host/models/src/lsm6dsv_model.cpp
deleted file mode 100644
index cd5c289..0000000
--- a/hal_host/models/src/lsm6dsv_model.cpp
+++ /dev/null
@@ -1,275 +0,0 @@
-/**
- * @file
- */
-
-#include <algorithm>
-#include <array>
-#include <cmath>
-#include <cstdint>
-#include <numbers>
-#include <span>
-#include <utility>
-
-#include "micras/models/lsm6dsv_model.hpp"
-
-namespace micras::models {
-namespace {
-/**
- * @brief Top bit of the command byte: set to read, clear to write.
- */
-constexpr uint8_t read_flag{0x80};
-
-/**
- * @brief Bits of the command byte and of an address that name a register.
- */
-constexpr uint8_t address_mask{0x7F};
-
-/**
- * @brief Addresses of the registers the model gives a behavior to.
- */
-///@{
-constexpr uint8_t func_cfg_access{0x01};
-constexpr uint8_t pin_ctrl{0x02};
-constexpr uint8_t who_am_i{0x0F};
-constexpr uint8_t ctrl1{0x10};
-constexpr uint8_t ctrl2{0x11};
-constexpr uint8_t ctrl3{0x12};
-constexpr uint8_t ctrl6{0x15};
-constexpr uint8_t ctrl8{0x17};
-constexpr uint8_t status_reg{0x1E};
-constexpr uint8_t outx_l_g{0x22};
-constexpr uint8_t outx_l_a{0x28};
-constexpr uint8_t haodr_cfg{0x62};
-///@}
-
-/**
- * @brief Bits of FUNC_CFG_ACCESS: the software power-on reset, and the two that select another page.
- */
-///@{
-constexpr uint8_t sw_por{0x04};
-constexpr uint8_t other_pages{0xC0};
-///@}
-
-/**
- * @brief Bits of CTRL3: the software reset, the self-clearing reboot, and the address auto-increment.
- */
-///@{
-constexpr uint8_t sw_reset{0x01};
-constexpr uint8_t boot{0x80};
-constexpr uint8_t if_inc{0x04};
-///@}
-
-/**
- * @brief Data ready bits of STATUS_REG.
- */
-///@{
-constexpr uint8_t xlda{0x01};
-constexpr uint8_t gda{0x02};
-///@}
-
-/**
- * @brief Defaults of the registers that do not reset to zero.
- */
-constexpr std::array<std::pair<uint8_t, uint8_t>, 3> nonzero_defaults{{
-    {pin_ctrl, 0x23},
-    {who_am_i, Lsm6dsvModel::device_id},
-    {ctrl3, 0x44},
-}};
-
-/**
- * @brief First and last address of every range of registers the SPI interface can write.
- */
-constexpr std::array<std::pair<uint8_t, uint8_t>, 7> writable_ranges{{
-    {0x01, 0x03},
-    {0x06, 0x0E},
-    {0x10, 0x19},
-    {0x50, 0x51},
-    {0x54, 0x5F},
-    {0x62, 0x6B},
-    {0x6F, 0x75},
-}};
-
-/**
- * @brief Sensitivity of the gyroscope for each FS_G code, in mdps per count; zero for the reserved codes.
- */
-constexpr std::array<double, 16> gyroscope_mdps_per_count{
-    4.375, 8.75, 17.5, 35.0, 70.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 140.0, 0.0, 0.0, 0.0,
-};
-
-/**
- * @brief Sensitivity of the accelerometer for each FS_XL code, in mg per count.
- */
-constexpr std::array<double, 4> accelerometer_mg_per_count{0.061, 0.122, 0.244, 0.488};
-
-/**
- * @brief Conversions from the datasheet's units.
- */
-///@{
-constexpr double mdps_to_radps{std::numbers::pi / 180000.0};
-constexpr double mg_to_mps2{0.00980665};
-///@}
-
-/**
- * @brief Rate of ODR code 3 for each high accuracy set of HAODR_CFG, in hertz; each code above doubles it.
- */
-constexpr std::array<double, 4> base_rates{15.0, 15.625, 12.5, 15.0};
-
-/**
- * @brief Check whether the SPI interface can write a register.
- *
- * @param address Register address.
- * @return True for a read-write register.
- */
-bool writable(uint8_t address) {
-    return std::ranges::any_of(writable_ranges, [address](const auto& range) {
-        return address >= range.first and address <= range.second;
-    });
-}
-}  // namespace
-
-Lsm6dsvModel::Lsm6dsvModel() : SpiDevice{Mode::MODE_3} {
-    this->reset();
-}
-
-void Lsm6dsvModel::select() {
-    this->addressed = false;
-    this->ignoring = false;
-}
-
-void Lsm6dsvModel::exchange(std::span<const uint8_t> transmitted, std::span<uint8_t> received) {
-    const std::size_t size = std::min(transmitted.size(), received.size());
-
-    for (std::size_t index = 0; index < size; index++) {
-        received[index] = 0;
-
-        if (this->ignoring) {
-            continue;
-        }
-
-        if (not this->addressed) {
-            this->reading = (transmitted[index] & read_flag) != 0;
-            this->address = transmitted[index] & address_mask;
-            this->addressed = true;
-            continue;
-        }
-
-        if (this->reading) {
-            received[index] = this->read(this->address);
-        } else {
-            this->write(this->address, transmitted[index]);
-        }
-
-        if ((this->registers.at(ctrl3) & if_inc) != 0) {
-            this->address = (this->address + 1) & address_mask;
-        }
-    }
-}
-
-void Lsm6dsvModel::deselect() {
-    this->addressed = false;
-    this->ignoring = false;
-}
-
-void Lsm6dsvModel::push_sample(
-    const std::array<double, 3>& angular_velocity, const std::array<double, 3>& linear_acceleration
-) {
-    if ((this->registers.at(ctrl2) & 0x0F) != 0) {
-        this->encode(outx_l_g, angular_velocity, this->gyroscope_sensitivity());
-        this->registers.at(status_reg) |= gda;
-    }
-
-    if ((this->registers.at(ctrl1) & 0x0F) != 0) {
-        this->encode(outx_l_a, linear_acceleration, this->accelerometer_sensitivity());
-        this->registers.at(status_reg) |= xlda;
-    }
-}
-
-uint8_t Lsm6dsvModel::peek(uint8_t address) const {
-    return this->registers.at(address & address_mask);
-}
-
-double Lsm6dsvModel::gyroscope_data_rate() const {
-    return this->data_rate(this->registers.at(ctrl2) & 0x0F);
-}
-
-double Lsm6dsvModel::accelerometer_data_rate() const {
-    return this->data_rate(this->registers.at(ctrl1) & 0x0F);
-}
-
-double Lsm6dsvModel::gyroscope_sensitivity() const {
-    return gyroscope_mdps_per_count.at(this->registers.at(ctrl6) & 0x0F) * mdps_to_radps;
-}
-
-double Lsm6dsvModel::accelerometer_sensitivity() const {
-    return accelerometer_mg_per_count.at(this->registers.at(ctrl8) & 0x03) * mg_to_mps2;
-}
-
-void Lsm6dsvModel::reset() {
-    this->registers.fill(0);
-
-    for (const auto& [address, value] : nonzero_defaults) {
-        this->registers.at(address) = value;
-    }
-}
-
-uint8_t Lsm6dsvModel::read(uint8_t address) {
-    if (not this->main_page() and address != func_cfg_access) {
-        return 0;
-    }
-
-    const uint8_t value = this->registers.at(address);
-
-    if (address >= outx_l_g and address < outx_l_a and (address & 1) != 0) {
-        this->registers.at(status_reg) &= static_cast<uint8_t>(~gda);
-    } else if (address >= outx_l_a and address < outx_l_a + 6 and (address & 1) != 0) {
-        this->registers.at(status_reg) &= static_cast<uint8_t>(~xlda);
-    }
-
-    return value;
-}
-
-void Lsm6dsvModel::write(uint8_t address, uint8_t value) {
-    if ((not this->main_page() and address != func_cfg_access) or not writable(address)) {
-        return;
-    }
-
-    if ((address == func_cfg_access and (value & sw_por) != 0) or (address == ctrl3 and (value & sw_reset) != 0)) {
-        this->reset();
-        this->ignoring = true;
-        return;
-    }
-
-    this->registers.at(address) = address == ctrl3 ? static_cast<uint8_t>(value & ~boot) : value;
-}
-
-bool Lsm6dsvModel::main_page() const {
-    return (this->registers.at(func_cfg_access) & other_pages) == 0;
-}
-
-void Lsm6dsvModel::encode(uint8_t first, const std::array<double, 3>& values, double sensitivity) {
-    for (std::size_t axis = 0; axis < values.size(); axis++) {
-        const double      counts = sensitivity > 0.0 ? std::round(values.at(axis) / sensitivity) : 0.0;
-        const auto        word = static_cast<uint16_t>(static_cast<int16_t>(std::clamp(counts, -32768.0, 32767.0)));
-        const std::size_t low = first + (2 * axis);
-
-        this->registers.at(low) = static_cast<uint8_t>(word);
-        this->registers.at(low + 1) = static_cast<uint8_t>(word >> 8U);
-    }
-}
-
-double Lsm6dsvModel::data_rate(uint8_t odr) const {
-    if (odr == 0 or odr > 12) {
-        return 0.0;
-    }
-
-    if (odr == 1) {
-        return 1.875;
-    }
-
-    if (odr == 2) {
-        return 7.5;
-    }
-
-    return base_rates.at(this->registers.at(haodr_cfg) & 0x03) * static_cast<double>(1U << (odr - 3U));
-}
-}  // namespace micras::models
diff --git a/hal_host/models/tests/as5047u_model_test.cpp b/hal_host/models/tests/as5047u_model_test.cpp
deleted file mode 100644
index 01eeb05..0000000
--- a/hal_host/models/tests/as5047u_model_test.cpp
+++ /dev/null
@@ -1,219 +0,0 @@
-/**
- * @file
- */
-
-#include <array>
-#include <cstdint>
-
-#include <doctest/doctest.h>
-
-#include "micras/models/as5047u_model.hpp"
-
-namespace micras::models {
-namespace {
-using Frame = std::array<uint8_t, As5047uModel::frame_size>;
-
-constexpr uint32_t read_flag{1U << 22U};
-constexpr uint32_t error_flag{1U << 22U};
-
-Frame frame_of(uint32_t upper) {
-    const auto high = static_cast<uint8_t>(upper >> 16U);
-    const auto low = static_cast<uint8_t>(upper >> 8U);
-    return {high, low, As5047uModel::crc(high, low)};
-}
-
-Frame read_command(uint16_t address) {
-    return frame_of(read_flag | static_cast<uint32_t>(address) << 8U);
-}
-
-Frame write_command(uint16_t address) {
-    return frame_of(static_cast<uint32_t>(address) << 8U);
-}
-
-Frame data_frame(uint16_t data) {
-    return frame_of(static_cast<uint32_t>(data) << 8U);
-}
-
-uint32_t transfer(As5047uModel& chip, const Frame& frame) {
-    Frame received{};
-    chip.select();
-    chip.exchange(frame, received);
-    chip.deselect();
-    return static_cast<uint32_t>(std::get<0>(received)) << 16U | static_cast<uint32_t>(std::get<1>(received)) << 8U |
-           std::get<2>(received);
-}
-
-uint16_t data_of(uint32_t answer) {
-    return static_cast<uint16_t>((answer >> 8U) & 0x3FFFU);
-}
-
-bool valid(uint32_t answer) {
-    return As5047uModel::crc(static_cast<uint8_t>(answer >> 16U), static_cast<uint8_t>(answer >> 8U)) ==
-           static_cast<uint8_t>(answer);
-}
-
-uint16_t read_register(As5047uModel& chip, uint16_t address) {
-    transfer(chip, read_command(address));
-    return data_of(transfer(chip, read_command(As5047uModel::nop_address)));
-}
-
-void write_register(As5047uModel& chip, uint16_t address, uint16_t data) {
-    transfer(chip, write_command(address));
-    transfer(chip, data_frame(data));
-}
-
-TEST_CASE("As5047uModel.AnswersInSpiMode1") {
-    const As5047uModel chip;
-
-    CHECK_EQ(chip.mode(), hal::host::SpiDevice::Mode::MODE_1);
-}
-
-TEST_CASE("As5047uModel.ComputesTheFrameCrc") {
-    CHECK_EQ(As5047uModel::crc(0x00, 0x00), 0xF1);
-    CHECK_EQ(As5047uModel::crc(0x40, 0x01), 0x06);
-    CHECK_EQ(As5047uModel::crc(0x40, 0x1A), 0x04);
-    CHECK_EQ(As5047uModel::crc(0x00, 0x80), 0xD7);
-}
-
-TEST_CASE("As5047uModel.PowersOnWithZeroedRegistersAndAnEmptyAnswer") {
-    As5047uModel chip;
-
-    for (const uint16_t address :
-         {As5047uModel::errfl_address, As5047uModel::disable_address, As5047uModel::zposm_address,
-          As5047uModel::zposl_address, As5047uModel::settings1_address, As5047uModel::settings2_address,
-          As5047uModel::settings3_address, As5047uModel::ecc_address}) {
-        CHECK_MESSAGE(chip.peek(address) == 0, "register " << address);
-    }
-
-    CHECK_EQ(transfer(chip, read_command(As5047uModel::nop_address)), 0x0000F1U);
-}
-
-TEST_CASE("As5047uModel.AnswersEachFrameInTheNextOne") {
-    As5047uModel chip;
-    write_register(chip, As5047uModel::settings3_address, 0x80);
-    write_register(chip, As5047uModel::zposm_address, 0x12);
-
-    transfer(chip, read_command(As5047uModel::settings3_address));
-    const uint32_t settings3 = transfer(chip, read_command(As5047uModel::zposm_address));
-    const uint32_t zposm = transfer(chip, read_command(As5047uModel::nop_address));
-
-    CHECK_EQ(data_of(settings3), 0x80);
-    CHECK_EQ(data_of(zposm), 0x12);
-    CHECK(valid(settings3));
-    CHECK(valid(zposm));
-}
-
-TEST_CASE("As5047uModel.WritesWithACommandAndADataFrame") {
-    As5047uModel chip;
-    write_register(chip, As5047uModel::settings2_address, 0x04);
-
-    transfer(chip, write_command(As5047uModel::settings2_address));
-    const uint32_t old_content = transfer(chip, data_frame(0x21));
-    const uint32_t new_content = transfer(chip, read_command(As5047uModel::nop_address));
-
-    CHECK_EQ(data_of(old_content), 0x04);
-    CHECK_EQ(data_of(new_content), 0x21);
-    CHECK_EQ(chip.peek(As5047uModel::settings2_address), 0x21);
-}
-
-TEST_CASE("As5047uModel.HoldsEveryVolatileRegister") {
-    As5047uModel chip;
-    uint16_t     value = 0x11;
-
-    for (const uint16_t address :
-         {As5047uModel::disable_address, As5047uModel::zposm_address, As5047uModel::zposl_address,
-          As5047uModel::settings1_address, As5047uModel::settings2_address, As5047uModel::settings3_address,
-          As5047uModel::ecc_address}) {
-        write_register(chip, address, value);
-        CHECK_MESSAGE(read_register(chip, address) == value, "register " << address);
-        value += 0x11;
-    }
-}
-
-TEST_CASE("As5047uModel.IgnoresWritesToOtherAddresses") {
-    As5047uModel chip;
-
-    write_register(chip, As5047uModel::errfl_address, 0x7F);
-    write_register(chip, 0x3FFF, 0x7F);
-
-    CHECK_EQ(chip.peek(As5047uModel::errfl_address), 0);
-    CHECK_EQ(read_register(chip, 0x3FFF), 0);
-}
-
-TEST_CASE("As5047uModel.RejectsAFrameWithAWrongCrc") {
-    As5047uModel chip;
-    Frame        command = write_command(As5047uModel::settings3_address);
-    std::get<2>(command) ^= 0x01;
-
-    transfer(chip, command);
-    const uint32_t after_error = transfer(chip, data_frame(0x80));
-
-    CHECK_EQ(chip.peek(As5047uModel::settings3_address), 0);
-    CHECK_EQ(chip.peek(As5047uModel::errfl_address), As5047uModel::crc_error);
-    CHECK_NE(after_error & error_flag, 0U);
-    CHECK(valid(after_error));
-}
-
-TEST_CASE("As5047uModel.DropsAWriteWhoseDataFrameHasAWrongCrc") {
-    As5047uModel chip;
-    Frame        data = data_frame(0x80);
-    std::get<2>(data) ^= 0x80;
-
-    transfer(chip, write_command(As5047uModel::settings3_address));
-    transfer(chip, data);
-    transfer(chip, data_frame(0x80));
-
-    CHECK_EQ(chip.peek(As5047uModel::settings3_address), 0);
-    CHECK_EQ(chip.peek(As5047uModel::errfl_address), As5047uModel::crc_error);
-}
-
-TEST_CASE("As5047uModel.ClearsTheErrorFlagsWhenErrflIsRead") {
-    As5047uModel chip;
-    Frame        command = read_command(As5047uModel::settings3_address);
-    std::get<0>(command) ^= 0x01;
-    transfer(chip, command);
-
-    transfer(chip, read_command(As5047uModel::errfl_address));
-    const uint32_t errfl = transfer(chip, read_command(As5047uModel::nop_address));
-    const uint32_t after = transfer(chip, read_command(As5047uModel::nop_address));
-
-    CHECK_EQ(data_of(errfl), As5047uModel::crc_error);
-    CHECK_NE(errfl & error_flag, 0U);
-    CHECK_EQ(after & error_flag, 0U);
-    CHECK_EQ(chip.peek(As5047uModel::errfl_address), 0);
-}
-
-TEST_CASE("As5047uModel.FlagsAFrameCutShortByTheChipSelect") {
-    As5047uModel                 chip;
-    const Frame                  command = write_command(As5047uModel::settings3_address);
-    const std::array<uint8_t, 2> partial{std::get<0>(command), std::get<1>(command)};
-    std::array<uint8_t, 2>       received{};
-
-    chip.select();
-    chip.exchange(partial, received);
-    chip.deselect();
-    transfer(chip, data_frame(0x80));
-
-    CHECK_EQ(chip.peek(As5047uModel::settings3_address), 0);
-    CHECK_EQ(chip.peek(As5047uModel::errfl_address), As5047uModel::framing_error);
-}
-
-TEST_CASE("As5047uModel.TakesAFrameSplitAcrossExchanges") {
-    As5047uModel                 chip;
-    const Frame                  command = write_command(As5047uModel::zposl_address);
-    const std::array<uint8_t, 1> first{std::get<0>(command)};
-    const std::array<uint8_t, 2> rest{std::get<1>(command), std::get<2>(command)};
-    std::array<uint8_t, 1>       first_received{};
-    std::array<uint8_t, 2>       rest_received{};
-
-    chip.select();
-    chip.exchange(first, first_received);
-    chip.exchange(rest, rest_received);
-    chip.deselect();
-    transfer(chip, data_frame(0x3F));
-
-    CHECK_EQ(chip.peek(As5047uModel::zposl_address), 0x3F);
-    CHECK_EQ(chip.peek(As5047uModel::errfl_address), 0);
-}
-}  // namespace
-}  // namespace micras::models
diff --git a/hal_host/models/tests/lsm6dsv_model_test.cpp b/hal_host/models/tests/lsm6dsv_model_test.cpp
deleted file mode 100644
index 6e43938..0000000
--- a/hal_host/models/tests/lsm6dsv_model_test.cpp
+++ /dev/null
@@ -1,327 +0,0 @@
-/**
- * @file
- */
-
-#include <array>
-#include <cstdint>
-#include <numbers>
-#include <vector>
-
-#include <doctest/doctest.h>
-
-#include "lsm6dsv_reg.h"
-#include "micras/models/lsm6dsv_model.hpp"
-
-namespace micras::models {
-namespace {
-constexpr uint8_t read_flag{0x80};
-
-std::vector<uint8_t> transact(Lsm6dsvModel& chip, std::vector<uint8_t> transmitted) {
-    std::vector<uint8_t> received(transmitted.size());
-    chip.select();
-    chip.exchange(transmitted, received);
-    chip.deselect();
-    return received;
-}
-
-void write(Lsm6dsvModel& chip, uint8_t address, uint8_t value) {
-    transact(chip, {address, value});
-}
-
-uint8_t read(Lsm6dsvModel& chip, uint8_t address) {
-    return transact(chip, {static_cast<uint8_t>(address | read_flag), 0}).at(1);
-}
-
-int16_t word(const std::vector<uint8_t>& bytes, std::size_t low) {
-    return static_cast<int16_t>(bytes.at(low) | (bytes.at(low + 1) << 8U));
-}
-
-void configure(Lsm6dsvModel& chip, uint8_t gyroscope_scale, uint8_t accelerometer_scale) {
-    write(chip, LSM6DSV_HAODR_CFG, 0x01);
-    write(chip, LSM6DSV_CTRL1, 0x1C);
-    write(chip, LSM6DSV_CTRL2, 0x1C);
-    write(chip, LSM6DSV_CTRL6, gyroscope_scale);
-    write(chip, LSM6DSV_CTRL8, accelerometer_scale);
-}
-
-std::vector<uint8_t> read_burst(Lsm6dsvModel& chip) {
-    std::vector<uint8_t> command(17);
-    command.at(0) = LSM6DSV_STATUS_REG | read_flag;
-    return transact(chip, command);
-}
-
-TEST_CASE("Lsm6dsvModel.AnswersInSpiMode3") {
-    const Lsm6dsvModel chip;
-
-    CHECK_EQ(chip.mode(), hal::host::SpiDevice::Mode::MODE_3);
-}
-
-TEST_CASE("Lsm6dsvModel.PowersOnWithTheDatasheetDefaults") {
-    const Lsm6dsvModel chip;
-
-    for (uint8_t address = 0; address < Lsm6dsvModel::register_count; address++) {
-        uint8_t expected = 0x00;
-
-        if (address == LSM6DSV_WHO_AM_I) {
-            expected = LSM6DSV_ID;
-        } else if (address == LSM6DSV_PIN_CTRL) {
-            expected = 0x23;
-        } else if (address == LSM6DSV_CTRL3) {
-            expected = 0x44;
-        }
-
-        CHECK_MESSAGE(chip.peek(address) == expected, "register " << static_cast<int>(address));
-    }
-}
-
-TEST_CASE("Lsm6dsvModel.AnswersWhoAmIWithTheDeviceId") {
-    Lsm6dsvModel chip;
-
-    const std::vector<uint8_t> received = transact(chip, {LSM6DSV_WHO_AM_I | read_flag, 0xFF});
-
-    CHECK_EQ(received.at(0), 0x00);
-    CHECK_EQ(received.at(1), LSM6DSV_ID);
-}
-
-TEST_CASE("Lsm6dsvModel.AdvancesTheAddressAfterEveryByte") {
-    Lsm6dsvModel chip;
-
-    transact(chip, {LSM6DSV_CTRL1, 0x16, 0x1C});
-    const std::vector<uint8_t> received = transact(chip, {LSM6DSV_CTRL1 | read_flag, 0, 0});
-
-    CHECK_EQ(received.at(1), 0x16);
-    CHECK_EQ(received.at(2), 0x1C);
-}
-
-TEST_CASE("Lsm6dsvModel.KeepsOneTransactionAcrossSeveralExchanges") {
-    Lsm6dsvModel chip;
-    write(chip, LSM6DSV_CTRL2, 0x1C);
-
-    const std::array<uint8_t, 1> command{LSM6DSV_CTRL1 | read_flag};
-    std::array<uint8_t, 1>       ignored{};
-    const std::array<uint8_t, 2> dummy{};
-    std::array<uint8_t, 2>       received{};
-
-    chip.select();
-    chip.exchange(command, ignored);
-    chip.exchange(dummy, received);
-    chip.deselect();
-
-    CHECK_EQ(std::get<0>(received), 0x00);
-    CHECK_EQ(std::get<1>(received), 0x1C);
-}
-
-TEST_CASE("Lsm6dsvModel.StartsEveryTransactionWithACommand") {
-    Lsm6dsvModel chip;
-
-    transact(chip, {LSM6DSV_CTRL1, 0x16});
-    transact(chip, {LSM6DSV_CTRL2, 0x1C});
-
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL1), 0x16);
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL2), 0x1C);
-}
-
-TEST_CASE("Lsm6dsvModel.StaysOnOneRegisterWithoutAutoIncrement") {
-    Lsm6dsvModel chip;
-    write(chip, LSM6DSV_CTRL3, 0x40);
-
-    transact(chip, {LSM6DSV_CTRL1, 0x16, 0x1C});
-    const std::vector<uint8_t> received = transact(chip, {LSM6DSV_CTRL1 | read_flag, 0, 0});
-
-    CHECK_EQ(received.at(1), 0x1C);
-    CHECK_EQ(received.at(2), 0x1C);
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL2), 0x00);
-}
-
-TEST_CASE("Lsm6dsvModel.IgnoresWritesToReadOnlyAndReservedRegisters") {
-    Lsm6dsvModel chip;
-
-    write(chip, LSM6DSV_WHO_AM_I, 0x00);
-    write(chip, LSM6DSV_STATUS_REG, 0xFF);
-    write(chip, LSM6DSV_OUTX_L_G, 0x12);
-    write(chip, 0x04, 0x34);
-
-    CHECK_EQ(chip.peek(LSM6DSV_WHO_AM_I), LSM6DSV_ID);
-    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
-    CHECK_EQ(chip.peek(LSM6DSV_OUTX_L_G), 0x00);
-    CHECK_EQ(chip.peek(0x04), 0x00);
-}
-
-TEST_CASE("Lsm6dsvModel.RestoresTheDefaultsOnASoftwarePowerOnReset") {
-    Lsm6dsvModel chip;
-    configure(chip, LSM6DSV_4000dps, LSM6DSV_8g);
-    chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
-
-    transact(chip, {LSM6DSV_FUNC_CFG_ACCESS, 0x04, 0x55});
-
-    CHECK_EQ(chip.peek(LSM6DSV_FUNC_CFG_ACCESS), 0x00);
-    CHECK_EQ(chip.peek(LSM6DSV_PIN_CTRL), 0x23);
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL1), 0x00);
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL2), 0x00);
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL3), 0x44);
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL6), 0x00);
-    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
-    CHECK_EQ(chip.peek(LSM6DSV_OUTX_L_G), 0x00);
-    CHECK_EQ(chip.peek(LSM6DSV_HAODR_CFG), 0x00);
-    CHECK_EQ(read(chip, LSM6DSV_WHO_AM_I), LSM6DSV_ID);
-}
-
-TEST_CASE("Lsm6dsvModel.RestoresTheDefaultsOnASoftwareReset") {
-    Lsm6dsvModel chip;
-    configure(chip, LSM6DSV_4000dps, LSM6DSV_8g);
-
-    write(chip, LSM6DSV_CTRL3, 0x45);
-
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL3), 0x44);
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL2), 0x00);
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL6), 0x00);
-}
-
-TEST_CASE("Lsm6dsvModel.HidesTheMainPageWhileAnotherIsSelected") {
-    Lsm6dsvModel chip;
-
-    write(chip, LSM6DSV_FUNC_CFG_ACCESS, 0x80);
-    CHECK_EQ(read(chip, LSM6DSV_WHO_AM_I), 0x00);
-    write(chip, LSM6DSV_CTRL1, 0x1C);
-
-    write(chip, LSM6DSV_FUNC_CFG_ACCESS, 0x00);
-    CHECK_EQ(read(chip, LSM6DSV_WHO_AM_I), LSM6DSV_ID);
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL1), 0x00);
-}
-
-TEST_CASE("Lsm6dsvModel.IgnoresSamplesWhileTheSensorsAreOff") {
-    Lsm6dsvModel chip;
-
-    chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
-
-    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
-    CHECK_EQ(chip.peek(LSM6DSV_OUTX_L_G), 0x00);
-    CHECK_EQ(chip.peek(LSM6DSV_OUTX_L_A), 0x00);
-}
-
-TEST_CASE("Lsm6dsvModel.SetsTheDataReadyBitOfEachSensorThatIsOn") {
-    Lsm6dsvModel chip;
-    write(chip, LSM6DSV_CTRL2, 0x1C);
-
-    chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
-
-    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x02);
-    CHECK_EQ(chip.peek(LSM6DSV_OUTX_L_A), 0x00);
-
-    write(chip, LSM6DSV_CTRL1, 0x1C);
-    chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
-
-    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x03);
-}
-
-TEST_CASE("Lsm6dsvModel.ClearsTheDataReadyBitsWithTheBurstThatReadsTheSample") {
-    Lsm6dsvModel chip;
-    configure(chip, LSM6DSV_4000dps, LSM6DSV_8g);
-    chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
-
-    const std::vector<uint8_t> first = read_burst(chip);
-    const std::vector<uint8_t> second = read_burst(chip);
-
-    CHECK_EQ(first.at(1), 0x03);
-    CHECK_EQ(second.at(1), 0x00);
-    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
-    CHECK_EQ(word(second, 5), word(first, 5));
-}
-
-TEST_CASE("Lsm6dsvModel.ClearsEachDataReadyBitWithAHighByteOfItsSensor") {
-    Lsm6dsvModel chip;
-    configure(chip, LSM6DSV_4000dps, LSM6DSV_8g);
-    chip.push_sample({1.0, 2.0, 3.0}, {4.0, 5.0, 6.0});
-
-    read(chip, LSM6DSV_OUTX_L_G);
-    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x03);
-
-    read(chip, LSM6DSV_OUTY_H_G);
-    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x01);
-
-    read(chip, LSM6DSV_OUTZ_H_A);
-    CHECK_EQ(chip.peek(LSM6DSV_STATUS_REG), 0x00);
-}
-
-TEST_CASE("Lsm6dsvModel.EncodesTheSampleWithTheFullScaleInTheRegisters") {
-    Lsm6dsvModel chip;
-    configure(chip, LSM6DSV_4000dps, LSM6DSV_8g);
-    chip.push_sample({1.0, -1.0, 0.0}, {9.80665, -9.80665, 0.0});
-
-    const std::vector<uint8_t> wide = read_burst(chip);
-
-    CHECK_EQ(word(wide, 5), 409);
-    CHECK_EQ(word(wide, 7), -409);
-    CHECK_EQ(word(wide, 9), 0);
-    CHECK_EQ(word(wide, 11), 4098);
-    CHECK_EQ(word(wide, 13), -4098);
-    CHECK_EQ(word(wide, 15), 0);
-
-    write(chip, LSM6DSV_CTRL6, LSM6DSV_125dps);
-    write(chip, LSM6DSV_CTRL8, LSM6DSV_2g);
-    chip.push_sample({1.0, 100.0, -100.0}, {9.80665, 100.0, -100.0});
-
-    const std::vector<uint8_t> narrow = read_burst(chip);
-
-    CHECK_EQ(word(narrow, 5), 13096);
-    CHECK_EQ(word(narrow, 7), 32767);
-    CHECK_EQ(word(narrow, 9), -32768);
-    CHECK_EQ(word(narrow, 11), 16393);
-    CHECK_EQ(word(narrow, 13), 32767);
-    CHECK_EQ(word(narrow, 15), -32768);
-}
-
-TEST_CASE("Lsm6dsvModel.GivesTheSensitivityOfEveryFullScale") {
-    Lsm6dsvModel     chip;
-    constexpr double mdps{std::numbers::pi / 180000.0};
-    constexpr double mg{0.00980665};
-
-    const std::array<std::pair<uint8_t, double>, 6> gyroscope{{
-        {LSM6DSV_125dps, 4.375},
-        {LSM6DSV_250dps, 8.75},
-        {LSM6DSV_500dps, 17.5},
-        {LSM6DSV_1000dps, 35.0},
-        {LSM6DSV_2000dps, 70.0},
-        {LSM6DSV_4000dps, 140.0},
-    }};
-    const std::array<std::pair<uint8_t, double>, 4> accelerometer{{
-        {LSM6DSV_2g, 0.061},
-        {LSM6DSV_4g, 0.122},
-        {LSM6DSV_8g, 0.244},
-        {LSM6DSV_16g, 0.488},
-    }};
-
-    for (const auto& [code, sensitivity] : gyroscope) {
-        write(chip, LSM6DSV_CTRL6, code);
-        CHECK_EQ(chip.gyroscope_sensitivity(), doctest::Approx(sensitivity * mdps).epsilon(1e-12));
-    }
-
-    for (const auto& [code, sensitivity] : accelerometer) {
-        write(chip, LSM6DSV_CTRL8, code);
-        CHECK_EQ(chip.accelerometer_sensitivity(), doctest::Approx(sensitivity * mg).epsilon(1e-12));
-    }
-}
-
-TEST_CASE("Lsm6dsvModel.DecodesTheOutputDataRates") {
-    Lsm6dsvModel chip;
-
-    CHECK_EQ(chip.gyroscope_data_rate(), 0.0);
-    CHECK_EQ(chip.accelerometer_data_rate(), 0.0);
-
-    write(chip, LSM6DSV_CTRL2, 0x10 | (LSM6DSV_ODR_HA01_AT_8000Hz & 0x0F));
-    write(chip, LSM6DSV_CTRL1, 0x10 | (LSM6DSV_ODR_HA01_AT_125Hz & 0x0F));
-
-    CHECK_EQ(chip.gyroscope_data_rate(), 7680.0);
-
-    write(chip, LSM6DSV_HAODR_CFG, 0x01);
-    CHECK_EQ(chip.gyroscope_data_rate(), 8000.0);
-    CHECK_EQ(chip.accelerometer_data_rate(), 125.0);
-
-    write(chip, LSM6DSV_HAODR_CFG, 0x02);
-    CHECK_EQ(chip.gyroscope_data_rate(), 6400.0);
-
-    write(chip, LSM6DSV_CTRL1, LSM6DSV_ODR_AT_1Hz875);
-    CHECK_EQ(chip.accelerometer_data_rate(), 1.875);
-}
-}  // namespace
-}  // namespace micras::models
diff --git a/hal_host/src/adc_dma.cpp b/hal_host/src/adc_dma.cpp
deleted file mode 100644
index 3c3bca2..0000000
--- a/hal_host/src/adc_dma.cpp
+++ /dev/null
@@ -1,141 +0,0 @@
-/**
- * @file
- */
-
-#include <algorithm>
-#include <array>
-#include <cstdint>
-#include <span>
-
-#include "micras/hal/adc_dma.hpp"
-#include "micras/hal/host/board.hpp"
-
-namespace micras::hal {
-std::array<AdcDma*, AdcDma::max_instances> AdcDma::instances{};
-uint32_t                                   AdcDma::restarts{};
-
-AdcDma::AdcDma(const Config& config) :
-    max_reading{config.max_reading}, reference_voltage{config.reference_voltage}, handle{config.handle} {
-    if (this->handle->State == HAL_ADC_STATE_RESET) {
-        config.init_function();
-    }
-
-    auto* const slot = std::ranges::find(instances, nullptr);
-
-    if (slot == instances.end()) {
-        return;
-    }
-
-    *slot = this;
-    this->initialized = this->handle->State == HAL_ADC_STATE_READY;
-}
-
-AdcDma::~AdcDma() {
-    std::ranges::replace(instances, this, static_cast<AdcDma*>(nullptr));
-}
-
-bool AdcDma::start_dma(std::span<uint32_t> buffer) {
-    host::AdcPort& port = host::Board::adc(this->handle);
-    port.touched = true;
-    port.buffer32 = buffer;
-    port.buffer16 = {};
-    port.complete = [adc = this->handle] { on_sequence_complete(adc); };
-    return true;
-}
-
-bool AdcDma::start_dma(std::span<uint16_t> buffer) {
-    host::AdcPort& port = host::Board::adc(this->handle);
-    port.touched = true;
-    port.buffer16 = buffer;
-    port.buffer32 = {};
-    port.complete = [adc = this->handle] { on_sequence_complete(adc); };
-    return true;
-}
-
-bool AdcDma::start_dma(std::span<uint16_t> buffer, std::span<uint16_t> snapshot) {
-    if (snapshot.size() != buffer.size()) {
-        this->initialized = false;
-        return false;
-    }
-
-    this->buffer = buffer;
-    this->snapshot = snapshot;
-
-    return this->start_dma(buffer);
-}
-
-uint32_t AdcDma::read_snapshot(std::span<uint16_t> destination) const {
-    uint32_t before = this->sequence;
-
-    while (true) {
-        std::ranges::copy(this->snapshot, destination.begin());
-
-        const uint32_t after = this->sequence;
-
-        if (after == before) {
-            return after;
-        }
-
-        before = after;
-    }
-}
-
-void AdcDma::on_sequence_complete(const ADC_HandleTypeDef* handle) {
-    AdcDma* const instance = find(handle);
-
-    if (instance == nullptr or instance->stopped) {
-        return;
-    }
-
-    std::ranges::copy(instance->buffer, instance->snapshot.begin());
-    instance->sequence = instance->sequence + 1;
-}
-
-void AdcDma::on_error(const ADC_HandleTypeDef* handle) {
-    AdcDma* const instance = find(handle);
-
-    if (instance != nullptr) {
-        instance->stopped = true;
-    }
-}
-
-AdcDma* AdcDma::find(const ADC_HandleTypeDef* handle) {
-    const auto* const found = std::ranges::find_if(instances, [handle](const AdcDma* instance) {
-        return instance != nullptr and instance->handle == handle;
-    });
-
-    return found == instances.end() ? nullptr : *found;
-}
-
-void AdcDma::stop_dma() {
-    host::AdcPort& port = host::Board::adc(this->handle);
-    port.buffer16 = {};
-    port.buffer32 = {};
-    port.complete = nullptr;
-}
-
-void AdcDma::recover() {
-    if (not this->stopped) {
-        return;
-    }
-
-    this->stopped = false;
-    restarts++;
-}
-
-uint32_t AdcDma::get_restarts() {
-    return restarts;
-}
-
-uint16_t AdcDma::get_max_reading() const {
-    return this->max_reading;
-}
-
-float AdcDma::get_reference_voltage() const {
-    return this->reference_voltage;
-}
-
-bool AdcDma::was_initialized() const {
-    return this->initialized;
-}
-}  // namespace micras::hal
diff --git a/hal_host/src/board.cpp b/hal_host/src/board.cpp
deleted file mode 100644
index 6232c7d..0000000
--- a/hal_host/src/board.cpp
+++ /dev/null
@@ -1,189 +0,0 @@
-/**
- * @file
- */
-
-#include <algorithm>
-#include <bit>
-#include <format>
-#include <map>
-#include <tuple>
-#include <utility>
-
-#include "micras/hal/host/board.hpp"
-
-namespace micras::hal::host {
-namespace {
-/**
- * @brief Key of a port: the handle or GPIO port, and the channel or pin.
- */
-using Key = std::pair<const void*, uint32_t>;
-
-/**
- * @brief Key of an SPI port: the handle, and the GPIO port and pin of the chip select.
- */
-using SpiKey = std::tuple<const void*, const void*, uint16_t>;
-
-/**
- * @brief Every port and name, created on first use.
- */
-struct Registry {
-    std::map<Key, GpioPort>            gpios;
-    std::map<Key, PwmPort>             pwms;
-    std::map<Key, PwmDmaPort>          pwm_dmas;
-    std::map<const void*, AdcPort>     adcs;
-    std::map<const void*, UartPort>    uarts;
-    std::map<const void*, EncoderPort> encoders;
-    std::map<SpiKey, SpiPort>          spis;
-    std::map<Key, std::string>         gpio_names;
-    std::map<const void*, std::string> handle_names;
-    FlashPort                          flash{{.name = "flash"}, {}};
-    McuPort                            mcu{{.name = "mcu"}};
-};
-
-/**
- * @brief Get the registry.
- *
- * @return The process-wide registry.
- */
-Registry& registry() {
-    static Registry instance;
-    return instance;
-}
-
-/**
- * @brief Name a handle, falling back to its address.
- *
- * @param handle Peripheral handle.
- * @return Its name.
- */
-std::string handle_name(const void* handle) {
-    const auto found = registry().handle_names.find(handle);
-    return found != registry().handle_names.end() ? found->second :
-                                                    std::format("handle@{:#x}", std::bit_cast<uintptr_t>(handle));
-}
-
-/**
- * @brief Name a GPIO pin, falling back to its port and mask.
- *
- * @param key GPIO port and pin mask.
- * @return Its name.
- */
-std::string gpio_name(const Key& key) {
-    const auto found = registry().gpio_names.find(key);
-    return found != registry().gpio_names.end() ? found->second :
-                                                  std::format("{} pin {:#06x}", handle_name(key.first), key.second);
-}
-
-/**
- * @brief Find a port, creating it with a name on first use.
- *
- * @param ports Ports of one kind.
- * @param key Key of the port.
- * @param name Makes the name of a new port.
- * @return The port.
- */
-template <typename Map, typename Namer>
-typename Map::mapped_type& find_or_create(Map& ports, const typename Map::key_type& key, const Namer& name) {
-    auto found = ports.find(key);
-
-    if (found == ports.end()) {
-        found = ports.emplace(key, typename Map::mapped_type{}).first;
-        found->second.name = name();
-    }
-
-    return found->second;
-}
-}  // namespace
-
-GpioPort& Board::gpio(const void* port, uint16_t pin) {
-    const Key key{port, pin};
-
-    return find_or_create(registry().gpios, key, [&key] { return gpio_name(key); });
-}
-
-PwmPort& Board::pwm(const void* timer, uint32_t channel) {
-    return find_or_create(registry().pwms, Key{timer, channel}, [timer, channel] {
-        return std::format("{} channel {}", handle_name(timer), channel / 4 + 1);
-    });
-}
-
-PwmDmaPort& Board::pwm_dma(const void* timer, uint32_t channel) {
-    return find_or_create(registry().pwm_dmas, Key{timer, channel}, [timer, channel] {
-        return std::format("{} channel {} DMA", handle_name(timer), channel / 4 + 1);
-    });
-}
-
-AdcPort& Board::adc(const void* adc) {
-    return find_or_create(registry().adcs, adc, [adc] { return handle_name(adc); });
-}
-
-UartPort& Board::uart(const void* uart) {
-    return find_or_create(registry().uarts, uart, [uart] { return handle_name(uart); });
-}
-
-EncoderPort& Board::encoder(const void* timer) {
-    return find_or_create(registry().encoders, timer, [timer] { return handle_name(timer) + " encoder"; });
-}
-
-SpiPort& Board::spi(const void* spi, const void* cs_port, uint16_t cs_pin) {
-    return find_or_create(registry().spis, SpiKey{spi, cs_port, cs_pin}, [spi, cs_port, cs_pin] {
-        return std::format("{} {}", handle_name(spi), gpio_name(Key{cs_port, cs_pin}));
-    });
-}
-
-void Board::spi_device(const SPI_HandleTypeDef* spi, const GPIO_TypeDef* cs_port, uint16_t cs_pin, SpiDevice& device) {
-    SpiPort& port = Board::spi(spi, cs_port, cs_pin);
-    port.device = &device;
-    port.bound = true;
-    Board::gpio(cs_port, cs_pin).bound = true;
-}
-
-FlashPort& Board::flash() {
-    return registry().flash;
-}
-
-McuPort& Board::mcu() {
-    return registry().mcu;
-}
-
-void Board::name_gpio(const void* port, uint16_t pin, std::string_view name) {
-    const Key key{port, pin};
-    registry().gpio_names[key] = std::string{name};
-
-    const auto found = registry().gpios.find(key);
-
-    if (found != registry().gpios.end()) {
-        found->second.name = std::string{name};
-    }
-}
-
-void Board::name_handle(const void* handle, std::string_view name) {
-    registry().handle_names[handle] = std::string{name};
-}
-
-std::vector<std::string> Board::unbound() {
-    std::vector<std::string> names;
-
-    const auto collect = [&names](const auto& ports) {
-        for (const auto& [key, port] : ports) {
-            if (port.touched and not port.bound) {
-                names.push_back(port.name);
-            }
-        }
-    };
-
-    collect(registry().gpios);
-    collect(registry().pwms);
-    collect(registry().pwm_dmas);
-    collect(registry().adcs);
-    collect(registry().uarts);
-    collect(registry().encoders);
-    collect(registry().spis);
-
-    return names;
-}
-
-void Board::reset() {
-    registry() = Registry{};
-}
-}  // namespace micras::hal::host
diff --git a/hal_host/src/clock.cpp b/hal_host/src/clock.cpp
deleted file mode 100644
index 27206dc..0000000
--- a/hal_host/src/clock.cpp
+++ /dev/null
@@ -1,57 +0,0 @@
-/**
- * @file
- */
-
-#include <utility>
-
-#include "micras/hal/host/clock.hpp"
-
-namespace micras::hal::host {
-Clock& Clock::instance() {
-    static Clock clock;
-    return clock;
-}
-
-void Clock::configure(uint32_t cycles_per_microsecond) {
-    this->cycles_per_us = cycles_per_microsecond;
-    this->quantum = cycles_per_microsecond;
-}
-
-void Clock::set_handover(uint32_t step_us, Handover handover) {
-    this->step = static_cast<uint64_t>(step_us) * this->cycles_per_us;
-    this->next_boundary = (this->cycles / this->step + 1) * this->step;
-    this->handover = std::move(handover);
-}
-
-void Clock::clear_handover() {
-    this->step = 0;
-    this->handover = nullptr;
-}
-
-void Clock::charge() {
-    this->cycles += this->quantum;
-
-    while (this->step != 0 and this->cycles >= this->next_boundary) {
-        this->next_boundary += this->step;
-        this->handed_over++;
-
-        if (this->handover) {
-            this->handover();
-        }
-    }
-}
-
-uint32_t Clock::read_cycles() {
-    this->charge();
-    return static_cast<uint32_t>(this->cycles);
-}
-
-uint32_t Clock::read_ms() {
-    this->charge();
-    return static_cast<uint32_t>(this->cycles / (1000ULL * this->cycles_per_us));
-}
-
-void Clock::reset() {
-    *this = Clock{};
-}
-}  // namespace micras::hal::host
diff --git a/hal_host/src/crc.cpp b/hal_host/src/crc.cpp
deleted file mode 100644
index 4dc6923..0000000
--- a/hal_host/src/crc.cpp
+++ /dev/null
@@ -1,79 +0,0 @@
-/**
- * @file
- */
-
-#include <cstdint>
-#include <span>
-
-#include "micras/hal/crc.hpp"
-
-namespace micras::hal {
-namespace {
-/**
- * @brief Reverse the order of the lowest bits of a value.
- *
- * @param value Value to reflect.
- * @param width Number of bits to reflect.
- * @return The reflected bits.
- */
-uint32_t reflect(uint32_t value, uint32_t width) {
-    uint32_t reflected = 0;
-
-    for (uint32_t bit = 0; bit < width; bit++) {
-        reflected |= ((value >> bit) & 1U) << (width - 1 - bit);
-    }
-
-    return reflected;
-}
-
-/**
- * @brief Get the width of the CRC a configuration computes.
- *
- * @param length CRCLength field.
- * @return Width in bits.
- */
-uint32_t width_of(uint32_t length) {
-    if (length == CRC_POLYLENGTH_7B) {
-        return 7;
-    }
-
-    if (length == CRC_POLYLENGTH_8B) {
-        return 8;
-    }
-
-    if (length == CRC_POLYLENGTH_16B) {
-        return 16;
-    }
-
-    return 32;
-}
-}  // namespace
-
-Crc::Crc(const Config& config) : handle{config.handle} { }
-
-uint32_t Crc::calculate(std::span<const uint8_t> data) {
-    const CRC_InitTypeDef& init = this->handle->Init;
-    const uint32_t         width = width_of(init.CRCLength);
-    const uint32_t         mask = width == 32 ? 0xFFFFFFFFU : (1U << width) - 1;
-    const uint32_t         polynomial =
-        (init.DefaultPolynomialUse == DEFAULT_POLYNOMIAL_ENABLE ? DEFAULT_CRC32_POLY : init.GeneratingPolynomial) &
-        mask;
-    uint32_t crc =
-        (init.DefaultInitValueUse == DEFAULT_INIT_VALUE_ENABLE ? DEFAULT_CRC_INITVALUE : init.InitValue) & mask;
-
-    for (const uint8_t byte : data) {
-        const uint32_t input = init.InputDataInversionMode == CRC_INPUTDATA_INVERSION_NONE ? byte : reflect(byte, 8);
-
-        for (int bit = 7; bit >= 0; bit--) {
-            const uint32_t top = (crc >> (width - 1)) & 1U;
-            crc = (crc << 1U) & mask;
-
-            if ((top ^ ((input >> static_cast<uint32_t>(bit)) & 1U)) != 0) {
-                crc ^= polynomial;
-            }
-        }
-    }
-
-    return init.OutputDataInversionMode == CRC_OUTPUTDATA_INVERSION_ENABLE ? reflect(crc, width) : crc;
-}
-}  // namespace micras::hal
diff --git a/hal_host/src/encoder.cpp b/hal_host/src/encoder.cpp
deleted file mode 100644
index 562b1e4..0000000
--- a/hal_host/src/encoder.cpp
+++ /dev/null
@@ -1,29 +0,0 @@
-/**
- * @file
- */
-
-#include <cstdint>
-
-#include "micras/hal/encoder.hpp"
-#include "micras/hal/host/board.hpp"
-
-namespace micras::hal {
-Encoder::Encoder(const Config& config) : handle{config.handle}, start_count{0} {
-    if (this->handle->State == HAL_TIM_STATE_RESET) {
-        config.init_function();
-    }
-
-    host::EncoderPort& port = host::Board::encoder(this->handle);
-    port.touched = true;
-    this->start_count = static_cast<uint32_t>(port.count);
-    this->initialized = this->handle->State == HAL_TIM_STATE_READY;
-}
-
-int32_t Encoder::get_counter() const {
-    return static_cast<int32_t>(static_cast<uint32_t>(host::Board::encoder(this->handle).count) - this->start_count);
-}
-
-bool Encoder::was_initialized() const {
-    return this->initialized;
-}
-}  // namespace micras::hal
diff --git a/hal_host/src/flash.cpp b/hal_host/src/flash.cpp
deleted file mode 100644
index 302cf50..0000000
--- a/hal_host/src/flash.cpp
+++ /dev/null
@@ -1,131 +0,0 @@
-/**
- * @file
- */
-
-#include <algorithm>
-#include <bit>
-#include <cstddef>
-#include <cstdint>
-#include <span>
-
-#include "micras/hal/flash.hpp"
-#include "micras/hal/host/board.hpp"
-
-namespace micras::hal {
-namespace {
-/**
- * @brief Round a size up to whole flash words.
- *
- * @param size Size in bytes.
- * @return The rounded size.
- */
-constexpr uint32_t align_size(uint32_t size) {
-    return (size + FlashWord::size - 1) / FlashWord::size * FlashWord::size;
-}
-
-/**
- * @brief Get the flash contents, erased on first use.
- *
- * @return The port.
- */
-host::FlashPort& storage() {
-    host::FlashPort& port = host::Board::flash();
-
-    if (port.bytes.size() != Flash::total_size) {
-        port.bytes.assign(Flash::total_size, FlashWord::erased_value);
-    }
-
-    port.touched = true;
-    return port;
-}
-}  // namespace
-
-FlashWord::FlashWord(std::span<const uint8_t> data) {
-    const auto data_address = std::bit_cast<uintptr_t>(data.data());
-
-    if (data.size() >= size and data_address % alignof(uint32_t) == 0) {
-        this->source = std::bit_cast<const uint32_t*>(data.data());
-        return;
-    }
-
-    const std::span<uint8_t> bytes{std::bit_cast<uint8_t*>(this->buffer.data()), size};
-
-    std::ranges::fill(bytes, erased_value);
-    std::ranges::copy(data.first(std::min<std::size_t>(data.size(), size)), bytes.begin());
-
-    this->source = this->buffer.data();
-}
-
-const uint32_t* FlashWord::data() const {
-    return this->source;
-}
-
-bool FlashWord::is_padded() const {
-    return this->source == this->buffer.data();
-}
-
-std::span<const uint8_t> Flash::read(uint32_t address, uint32_t size) {
-    if (address > total_size or size > total_size - address) {
-        return {};
-    }
-
-    return std::span<const uint8_t>{storage().bytes}.subspan(address, size);
-}
-
-std::span<const uint8_t> Flash::read(uint16_t sector, uint32_t sector_address, uint32_t size) {
-    if (sector >= total_sectors or sector_address > sector_size) {
-        return {};
-    }
-
-    return read(sector * sector_size + sector_address, size);
-}
-
-Flash::Status Flash::write(uint32_t address, std::span<const uint8_t> data) {
-    if (address % FlashWord::size != 0) {
-        return Status::MISALIGNED;
-    }
-
-    if (address > total_size or align_size(data.size()) > total_size - address) {
-        return Status::OUT_OF_BOUNDS;
-    }
-
-    host::FlashPort&         port = storage();
-    const std::span<uint8_t> memory{port.bytes};
-
-    for (uint32_t offset = 0; offset < data.size(); offset += FlashWord::size) {
-        const FlashWord          word{data.subspan(offset)};
-        const std::span<uint8_t> target = memory.subspan(address + offset, FlashWord::size);
-
-        if (not std::ranges::all_of(target, [](uint8_t byte) { return byte == FlashWord::erased_value; })) {
-            return Status::ERROR;
-        }
-
-        const std::span<const uint8_t> bytes{std::bit_cast<const uint8_t*>(word.data()), FlashWord::size};
-        std::ranges::copy(bytes, target.begin());
-    }
-
-    return Status::OK;
-}
-
-Flash::Status Flash::write(uint16_t sector, uint32_t sector_address, std::span<const uint8_t> data) {
-    if (sector >= total_sectors or sector_address > sector_size) {
-        return Status::OUT_OF_BOUNDS;
-    }
-
-    return write(sector * sector_size + sector_address, data);
-}
-
-Flash::Status Flash::erase_sectors(uint16_t start_sector, uint16_t number_of_sectors) {
-    if (start_sector >= total_sectors or number_of_sectors > total_sectors - start_sector) {
-        return Status::OUT_OF_BOUNDS;
-    }
-
-    host::FlashPort& port = storage();
-    const auto       first = static_cast<std::ptrdiff_t>(start_sector) * sector_size;
-    const auto       count = static_cast<std::ptrdiff_t>(number_of_sectors) * sector_size;
-
-    std::fill(port.bytes.begin() + first, port.bytes.begin() + first + count, FlashWord::erased_value);
-
-    return Status::OK;
-}
-}  // namespace micras::hal
diff --git a/hal_host/src/gpio.cpp b/hal_host/src/gpio.cpp
deleted file mode 100644
index a340c94..0000000
--- a/hal_host/src/gpio.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * @file
- */
-
-#include "micras/hal/gpio.hpp"
-#include "micras/hal/host/board.hpp"
-
-namespace micras::hal {
-Gpio::Gpio(const Config& config) : port{config.port}, pin{config.pin} { }
-
-bool Gpio::read() const {
-    host::GpioPort& gpio = host::Board::gpio(this->port, this->pin);
-    gpio.touched = true;
-    return gpio.read();
-}
-
-void Gpio::write(bool state) {
-    host::GpioPort& gpio = host::Board::gpio(this->port, this->pin);
-    gpio.touched = true;
-    gpio.output = state;
-}
-
-void Gpio::toggle() {
-    this->write(not host::Board::gpio(this->port, this->pin).output);
-}
-}  // namespace micras::hal
diff --git a/hal_host/src/mcu.cpp b/hal_host/src/mcu.cpp
deleted file mode 100644
index 00d48dd..0000000
--- a/hal_host/src/mcu.cpp
+++ /dev/null
@@ -1,85 +0,0 @@
-/**
- * @file
- */
-
-#include <algorithm>
-#include <array>
-#include <cstddef>
-#include <cstdint>
-#include <format>
-#include <span>
-
-#include <unistd.h>
-
-#include "micras/hal/host/board.hpp"
-#include "micras/hal/host/clock.hpp"
-#include "micras/hal/mcu.hpp"
-#include "micras/hal/timer.hpp"
-
-namespace micras::hal {
-void Mcu::init(const Config& config) {
-    config.clock_init();
-
-    if (config.peripheral_clock_init != nullptr) {
-        config.peripheral_clock_init();
-    }
-
-    Timer::init();
-
-    for (const InitFunction init_function : config.peripheral_inits) {
-        init_function();
-    }
-
-    host::Board::mcu().touched = true;
-}
-
-void Mcu::emergency_stop(std::span<const Pwm::Config> pwm_outputs, std::span<const Gpio::Config> enable_gpios) {
-    for (const auto& pwm_output : pwm_outputs) {
-        host::Board::pwm(pwm_output.handle, pwm_output.timer_channel).duty_cycle = 0.0F;
-    }
-
-    for (const auto& enable_gpio : enable_gpios) {
-        host::Board::gpio(enable_gpio.port, enable_gpio.pin).output = false;
-    }
-
-    host::McuPort& mcu = host::Board::mcu();
-    mcu.emergency_stops++;
-
-    const host::Clock&   clock = host::Clock::instance();
-    std::array<char, 96> message{};
-    const auto           result = std::format_to_n(
-        message.data(), static_cast<std::ptrdiff_t>(message.size()), "firmware emergency stop at step {} ({:.6f} s)\n",
-        clock.steps(), static_cast<double>(clock.now()) / (1e6 * clock.cycles_per_microsecond())
-    );
-    const auto    length = std::min(static_cast<std::size_t>(result.size), message.size());
-    const ssize_t written = ::write(STDERR_FILENO, message.data(), length);
-    static_cast<void>(written);
-}
-
-void Mcu::set_watchdog_timeout(uint32_t timeout_ms) {
-    host::McuPort& mcu = host::Board::mcu();
-    mcu.touched = true;
-    mcu.watchdog_timeout_ms = timeout_ms;
-    mcu.last_refresh = host::Clock::instance().now();
-}
-
-void Mcu::refresh_watchdog() {
-    host::McuPort&     mcu = host::Board::mcu();
-    const host::Clock& clock = host::Clock::instance();
-    const uint64_t     timeout = static_cast<uint64_t>(mcu.watchdog_timeout_ms) * 1000 * clock.cycles_per_microsecond();
-
-    if (mcu.watchdog_timeout_ms != 0 and clock.now() - mcu.last_refresh > timeout) {
-        mcu.watchdog_expiries++;
-    }
-
-    mcu.last_refresh = clock.now();
-}
-
-bool Mcu::was_reset_by_watchdog() {
-    return false;
-}
-
-bool Mcu::is_cpu_frequency_supported() {
-    return true;
-}
-}  // namespace micras::hal
diff --git a/hal_host/src/ports.cpp b/hal_host/src/ports.cpp
deleted file mode 100644
index 3483ab3..0000000
--- a/hal_host/src/ports.cpp
+++ /dev/null
@@ -1,30 +0,0 @@
-/**
- * @file
- */
-
-#include "micras/hal/host/ports.hpp"
-
-namespace micras::hal::host {
-void AdcPort::write(std::size_t index, uint32_t counts) const {
-    if (index < this->buffer16.size()) {
-        this->buffer16[index] = static_cast<uint16_t>(counts);
-    } else if (index < this->buffer32.size()) {
-        this->buffer32[index] = counts;
-    }
-}
-
-void AdcPort::finish_sequence() const {
-    if (this->complete) {
-        this->complete();
-    }
-}
-
-void UartPort::receive(uint8_t byte) {
-    if (this->rx_buffer.empty()) {
-        return;
-    }
-
-    this->rx_buffer[this->rx_head] = byte;
-    this->rx_head = (this->rx_head + 1) % this->rx_buffer.size();
-}
-}  // namespace micras::hal::host
diff --git a/hal_host/src/pwm.cpp b/hal_host/src/pwm.cpp
deleted file mode 100644
index 8d21122..0000000
--- a/hal_host/src/pwm.cpp
+++ /dev/null
@@ -1,87 +0,0 @@
-/**
- * @file
- */
-
-#include <algorithm>
-#include <cstdint>
-
-#include "micras/hal/host/board.hpp"
-#include "micras/hal/pwm.hpp"
-
-namespace micras::hal {
-namespace {
-/**
- * @brief Mask of the channel offset, which the vendor HAL uses as a bit shift.
- */
-constexpr uint32_t channel_shift_mask{0x1F};
-
-/**
- * @brief Check whether a timer counts up and down.
- *
- * @param handle Timer handle.
- * @return True in a center-aligned mode.
- */
-bool is_center_aligned(const TIM_HandleTypeDef* handle) {
-    return (handle->Instance->CR1 & TIM_CR1_CMS) != 0;
-}
-}  // namespace
-
-Pwm::Pwm(const Config& config) : handle{config.handle}, channel{config.timer_channel}, inverted{config.inverted} {
-    if (this->handle->State == HAL_TIM_STATE_RESET) {
-        config.init_function();
-    }
-
-    if (this->inverted) {
-        this->handle->Instance->CCER |= TIM_CCER_CC1P << (this->channel & channel_shift_mask);
-    }
-
-    this->set_duty_cycle(0.0F);
-    this->initialized = this->handle->State == HAL_TIM_STATE_READY;
-
-    host::PwmPort& port = host::Board::pwm(this->handle, this->channel);
-    port.frequency = this->get_frequency();
-}
-
-void Pwm::set_duty_cycle(float duty_cycle) {
-    duty_cycle = std::clamp(duty_cycle, 0.0F, 100.0F);
-
-    if (this->inverted) {
-        duty_cycle = 100.0F - duty_cycle;
-    }
-
-    const uint32_t autoreload = this->handle->Instance->ARR;
-    const float    scaled = duty_cycle * static_cast<float>(autoreload + 1) * 0.01F;
-
-    // NOLINTNEXTLINE(bugprone-incorrect-roundings): the rounding the firmware's own driver does.
-    const auto  compare = static_cast<uint32_t>(scaled + 0.5F);
-    const float counts =
-        is_center_aligned(this->handle) ? static_cast<float>(autoreload) : static_cast<float>(autoreload + 1);
-    const float active = std::min(100.0F, 100.0F * static_cast<float>(compare) / counts);
-
-    host::PwmPort& port = host::Board::pwm(this->handle, this->channel);
-    port.touched = true;
-    port.duty_cycle = this->inverted ? 100.0F - active : active;
-}
-
-void Pwm::set_frequency(uint32_t frequency) {
-    const uint32_t prescaler = this->handle->Instance->PSC;
-
-    this->handle->Instance->ARR = this->handle->Instance->kernel_clock / ((prescaler + 1) * frequency) - 1;
-
-    host::PwmPort& port = host::Board::pwm(this->handle, this->channel);
-    port.touched = true;
-    port.frequency = this->get_frequency();
-}
-
-float Pwm::get_frequency() const {
-    const uint32_t autoreload = this->handle->Instance->ARR;
-    const uint32_t period = is_center_aligned(this->handle) ? 2 * autoreload : autoreload + 1;
-    const auto     ticks = static_cast<float>(this->handle->Instance->PSC + 1) * static_cast<float>(period);
-
-    return static_cast<float>(this->handle->Instance->kernel_clock) / ticks;
-}
-
-bool Pwm::was_initialized() const {
-    return this->initialized;
-}
-}  // namespace micras::hal
diff --git a/hal_host/src/pwm_dma.cpp b/hal_host/src/pwm_dma.cpp
deleted file mode 100644
index c96863a..0000000
--- a/hal_host/src/pwm_dma.cpp
+++ /dev/null
@@ -1,85 +0,0 @@
-/**
- * @file
- */
-
-#include <cstdint>
-#include <span>
-
-#include "micras/hal/host/board.hpp"
-#include "micras/hal/host/clock.hpp"
-#include "micras/hal/pwm_dma.hpp"
-
-namespace micras::hal {
-namespace {
-/**
- * @brief Start a transfer of compare values.
- *
- * @param handle Timer handle.
- * @param channel Timer channel.
- * @param compares Values the DMA feeds the compare register with.
- */
-template <typename T>
-void start(TIM_HandleTypeDef* handle, uint32_t channel, std::span<const T> compares) {
-    host::PwmDmaPort& port = host::Board::pwm_dma(handle, channel);
-    port.touched = true;
-    port.compares.assign(compares.begin(), compares.end());
-    port.period = handle->Instance->ARR + 1;
-    port.busy = true;
-
-    const uint64_t cycles_per_count = static_cast<uint64_t>(handle->Instance->PSC + 1) *
-                                      host::Clock::instance().cycles_per_microsecond() * 1000000ULL /
-                                      handle->Instance->kernel_clock;
-
-    port.transfer_end = host::Clock::instance().now() + compares.size() * port.period * cycles_per_count;
-}
-}  // namespace
-
-PwmDma::PwmDma(const Config& config) : handle{config.handle}, channel{config.timer_channel} {
-    if (this->handle->State == HAL_TIM_STATE_RESET) {
-        config.init_function();
-    }
-
-    this->initialized = this->handle->State == HAL_TIM_STATE_READY;
-}
-
-void PwmDma::start_dma(std::span<uint32_t> buffer) {
-    if (this->is_busy()) {
-        return;
-    }
-
-    start<uint32_t>(this->handle, this->channel, buffer);
-}
-
-void PwmDma::start_dma(std::span<uint16_t> buffer) {
-    if (this->is_busy()) {
-        return;
-    }
-
-    start<uint16_t>(this->handle, this->channel, buffer);
-}
-
-void PwmDma::stop_dma() {
-    host::Board::pwm_dma(this->handle, this->channel).busy = false;
-}
-
-uint32_t PwmDma::get_compare(float duty_cycle) const {
-    const float scaled = duty_cycle * static_cast<float>(this->handle->Instance->ARR + 1) * 0.01F;
-
-    // NOLINTNEXTLINE(bugprone-incorrect-roundings): the rounding the firmware's own driver does.
-    return static_cast<uint32_t>(scaled + 0.5F);
-}
-
-bool PwmDma::is_busy() {
-    host::PwmDmaPort& port = host::Board::pwm_dma(this->handle, this->channel);
-
-    if (port.busy and host::Clock::instance().now() >= port.transfer_end) {
-        port.busy = false;
-    }
-
-    return port.busy;
-}
-
-bool PwmDma::was_initialized() const {
-    return this->initialized;
-}
-}  // namespace micras::hal
diff --git a/hal_host/src/spi.cpp b/hal_host/src/spi.cpp
deleted file mode 100644
index 009b308..0000000
--- a/hal_host/src/spi.cpp
+++ /dev/null
@@ -1,255 +0,0 @@
-/**
- * @file
- */
-
-#include <algorithm>
-#include <array>
-#include <cstdint>
-#include <map>
-#include <span>
-#include <vector>
-
-#include "micras/hal/host/board.hpp"
-#include "micras/hal/host/clock.hpp"
-#include "micras/hal/host/spi_device.hpp"
-#include "micras/hal/spi.hpp"
-#include "micras/hal/timer.hpp"
-
-namespace micras::hal {
-namespace {
-/**
- * @brief What the host keeps for each Spi that the firmware's class has no member for.
- */
-struct HostState {
-    /**
-     * @brief Chip select of the device, which keys its port together with the handle.
-     */
-    Gpio::Config cs{};
-
-    /**
-     * @brief Host clock cycle the running transfer ends at.
-     */
-    uint64_t transfer_end{0};
-};
-
-/**
- * @brief Get the host state of every Spi alive.
- *
- * @return The states, keyed by the object.
- */
-std::map<const Spi*, HostState>& host_states() {
-    static std::map<const Spi*, HostState> states;
-    return states;
-}
-
-/**
- * @brief Get the port of the chip select an Spi drives.
- *
- * @param spi The Spi.
- * @param handle Its handle.
- * @return The port.
- */
-host::SpiPort& port_of(const Spi* spi, const SPI_HandleTypeDef* handle) {
-    const Gpio::Config& cs = host_states().at(spi).cs;
-    return host::Board::spi(handle, cs.port, cs.pin);
-}
-
-/**
- * @brief Get the SPI mode the bus runs in, from the polarity and phase its handle holds.
- *
- * @param handle Handle of the bus.
- * @return The mode.
- */
-host::SpiDevice::Mode mode_of(const SPI_HandleTypeDef& handle) {
-    const bool polarity = handle.Init.CLKPolarity == SPI_POLARITY_HIGH;
-    const bool phase = handle.Init.CLKPhase == SPI_PHASE_2EDGE;
-    return static_cast<host::SpiDevice::Mode>((polarity ? 2 : 0) + (phase ? 1 : 0));
-}
-
-/**
- * @brief Clock bytes through the device a port selects.
- *
- * @param handle Handle of the bus.
- * @param port Port of the chip select.
- * @param transmitted Bytes sent.
- * @param received Bytes answered, as many as were sent; all ones when no device drives the bus in its mode.
- */
-void exchange(
-    const SPI_HandleTypeDef& handle, host::SpiPort& port, std::span<const uint8_t> transmitted,
-    std::span<uint8_t> received
-) {
-    if (not port.selected or port.device == nullptr or port.device->mode() != mode_of(handle)) {
-        std::ranges::fill(received, 0xFF);
-        return;
-    }
-
-    port.device->exchange(transmitted, received);
-}
-
-/**
- * @brief Get how long a transfer takes on a bus.
- *
- * @param handle Handle of the bus.
- * @param bytes Bytes transferred.
- * @return Host clock cycles, zero when the bus has no clock to time it by.
- */
-uint64_t transfer_cycles(const SPI_HandleTypeDef& handle, std::size_t bytes) {
-    if (handle.Instance == nullptr or handle.Instance->kernel_clock == 0) {
-        return 0;
-    }
-
-    const uint64_t kernel_clock = handle.Instance->kernel_clock;
-    const uint64_t divider = 2ULL << (handle.Init.BaudRatePrescaler >> 28U);
-    const uint64_t cycles_per_second = host::Clock::instance().cycles_per_microsecond() * 1000000ULL;
-
-    return ((bytes * 8 * divider * cycles_per_second) + kernel_clock - 1) / kernel_clock;
-}
-}  // namespace
-
-std::array<Spi*, Spi::max_transfers> Spi::transferring{};
-
-Spi::Spi(const Config& config) :
-    handle{config.handle},
-    cs_gpio{config.cs_gpio},
-    timeout{config.timeout},
-    clock_polarity{config.clock_polarity},
-    clock_phase{config.clock_phase} {
-    host_states()[this] = HostState{.cs = config.cs_gpio};
-    this->unselect_device();
-
-    if (this->handle->State == HAL_SPI_STATE_RESET) {
-        config.init_function();
-    }
-
-    this->initialized = this->handle->State == HAL_SPI_STATE_READY;
-}
-
-Spi::~Spi() {
-    if (this->transfer == Transfer::RUNNING) {
-        this->unselect_device();
-    }
-
-    std::ranges::replace(transferring, this, static_cast<Spi*>(nullptr));
-    host_states().erase(this);
-}
-
-bool Spi::select_device() {
-    const auto bus_busy = [this] {
-        return std::ranges::any_of(transferring, [this](const Spi* device) {
-            return device != nullptr and device->handle == this->handle and device->get_transfer() == Transfer::RUNNING;
-        });
-    };
-
-    if (bus_busy()) {
-        const uint32_t start = Timer::get_counter();
-        const uint32_t limit = Timer::to_cycles(1000 * this->timeout);
-
-        while (bus_busy()) {
-            if (Timer::get_counter() - start > limit) {
-                return false;
-            }
-        }
-    }
-
-    this->handle->Init.CLKPolarity = this->clock_polarity;
-    this->handle->Init.CLKPhase = this->clock_phase;
-    this->cs_gpio.write(false);
-
-    host::SpiPort& port = port_of(this, this->handle);
-    port.touched = true;
-
-    if (not port.selected) {
-        port.selected = true;
-
-        if (port.device != nullptr) {
-            port.device->select();
-        }
-    }
-
-    return true;
-}
-
-void Spi::unselect_device() {
-    this->cs_gpio.write(true);
-
-    host::SpiPort& port = port_of(this, this->handle);
-
-    if (port.selected) {
-        port.selected = false;
-
-        if (port.device != nullptr) {
-            port.device->deselect();
-        }
-    }
-}
-
-bool Spi::transmit(std::span<const uint8_t> data) {
-    if (this->handle->State != HAL_SPI_STATE_READY) {
-        return false;
-    }
-
-    std::vector<uint8_t> ignored(data.size());
-    exchange(*this->handle, port_of(this, this->handle), data, ignored);
-    return true;
-}
-
-bool Spi::receive(std::span<uint8_t> data) {
-    if (this->handle->State != HAL_SPI_STATE_READY) {
-        return false;
-    }
-
-    const std::vector<uint8_t> zeros(data.size());
-    exchange(*this->handle, port_of(this, this->handle), zeros, data);
-    return true;
-}
-
-bool Spi::transmit_receive(std::span<const uint8_t> transmitted, std::span<uint8_t> received) {
-    if (received.size() < transmitted.size() or this->handle->State != HAL_SPI_STATE_READY) {
-        return false;
-    }
-
-    exchange(*this->handle, port_of(this, this->handle), transmitted, received.first(transmitted.size()));
-    return true;
-}
-
-bool Spi::start_transfer(std::span<const uint8_t> transmitted, std::span<uint8_t> received) {
-    auto* const slot = std::ranges::find(transferring, nullptr);
-
-    if (received.size() < transmitted.size() or slot == transferring.end() or
-        this->handle->State != HAL_SPI_STATE_READY or not this->select_device()) {
-        this->transfer = Transfer::FAILED;
-        return false;
-    }
-
-    *slot = this;
-    this->transfer = Transfer::RUNNING;
-    exchange(*this->handle, port_of(this, this->handle), transmitted, received.first(transmitted.size()));
-    host_states().at(this).transfer_end =
-        host::Clock::instance().now() + transfer_cycles(*this->handle, transmitted.size());
-
-    return true;
-}
-
-Spi::Transfer Spi::get_transfer() const {
-    if (this->transfer == Transfer::RUNNING and host::Clock::instance().now() >= host_states().at(this).transfer_end) {
-        on_transfer_end(this->handle, true);
-    }
-
-    return this->transfer;
-}
-
-void Spi::on_transfer_end(const SPI_HandleTypeDef* handle, bool succeeded) {
-    for (Spi*& device : transferring) {
-        if (device != nullptr and device->handle == handle) {
-            device->unselect_device();
-            device->transfer = succeeded ? Transfer::COMPLETE : Transfer::FAILED;
-            device = nullptr;
-            return;
-        }
-    }
-}
-
-bool Spi::was_initialized() const {
-    return this->initialized;
-}
-}  // namespace micras::hal
diff --git a/hal_host/src/timer.cpp b/hal_host/src/timer.cpp
deleted file mode 100644
index 27187a9..0000000
--- a/hal_host/src/timer.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/**
- * @file
- */
-
-#include <cstdint>
-
-#include <main.h>
-
-#include "micras/hal/host/clock.hpp"
-#include "micras/hal/timer.hpp"
-
-namespace micras::hal {
-uint32_t Timer::cycles_per_microsecond{1};
-
-void Timer::init() {
-    cycles_per_microsecond = SystemCoreClock / 1000000;
-}
-
-uint32_t Timer::get_counter() {
-    return host::Clock::instance().read_cycles();
-}
-
-uint32_t Timer::get_counter_ms() {
-    return host::Clock::instance().read_ms();
-}
-
-uint32_t Timer::to_microseconds(uint32_t cycles) {
-    return cycles / cycles_per_microsecond;
-}
-
-uint32_t Timer::to_cycles(uint32_t microseconds) {
-    return microseconds * cycles_per_microsecond;
-}
-}  // namespace micras::hal
diff --git a/hal_host/src/uart_dma.cpp b/hal_host/src/uart_dma.cpp
deleted file mode 100644
index 6e4f9b3..0000000
--- a/hal_host/src/uart_dma.cpp
+++ /dev/null
@@ -1,80 +0,0 @@
-/**
- * @file
- */
-
-#include <algorithm>
-#include <cstddef>
-#include <cstdint>
-#include <cstring>
-#include <span>
-
-#include "micras/hal/host/board.hpp"
-#include "micras/hal/uart_dma.hpp"
-
-namespace micras::hal {
-UartDma::UartDma(const Config& config) : handle{config.handle} {
-    if (this->handle->gState == HAL_UART_STATE_RESET) {
-        config.init_function();
-    }
-}
-
-bool UartDma::start_rx(std::span<uint8_t> buffer) {
-    host::UartPort& port = host::Board::uart(this->handle);
-    port.touched = true;
-    port.rx_buffer = buffer;
-    port.rx_head = 0;
-
-    this->rx_buffer = buffer;
-    this->rx_tail = 0;
-    this->handle->RxState = HAL_UART_STATE_BUSY_RX;
-    this->initialized = not buffer.empty();
-
-    return this->initialized;
-}
-
-std::size_t UartDma::rx_head() const {
-    return host::Board::uart(this->handle).rx_head;
-}
-
-std::size_t UartDma::read(std::span<uint8_t> into) {
-    if (this->rx_buffer.empty()) {
-        return 0;
-    }
-
-    const std::size_t size = this->rx_buffer.size();
-    const std::size_t available = (this->rx_head() + size - this->rx_tail) % size;
-    const std::size_t taken = std::min(available, into.size());
-    const std::size_t first = std::min(taken, size - this->rx_tail);
-
-    // NOLINTBEGIN(cppcoreguidelines-pro-bounds-avoid-unchecked-container-access): bounded just above.
-    std::memcpy(into.data(), &this->rx_buffer[this->rx_tail], first);
-
-    if (first < taken) {
-        std::memcpy(&into[first], this->rx_buffer.data(), taken - first);
-    }
-    // NOLINTEND(cppcoreguidelines-pro-bounds-avoid-unchecked-container-access)
-
-    this->rx_tail = (this->rx_tail + taken) % size;
-
-    return taken;
-}
-
-bool UartDma::start_tx(std::span<const uint8_t> from) {
-    if (from.empty() or this->is_transmitting()) {
-        return false;
-    }
-
-    host::UartPort& port = host::Board::uart(this->handle);
-    port.touched = true;
-    port.tx.insert(port.tx.end(), from.begin(), from.end());
-    return true;
-}
-
-bool UartDma::is_transmitting() const {
-    return host::Board::uart(this->handle).transmitting();
-}
-
-bool UartDma::was_initialized() const {
-    return this->initialized;
-}
-}  // namespace micras::hal
diff --git a/targets/micras/.clang-tidy b/targets/micras/.clang-tidy
deleted file mode 100644
index d79d7de..0000000
--- a/targets/micras/.clang-tidy
+++ /dev/null
@@ -1,5 +0,0 @@
----
-# The firmware's own headers are linted by the firmware, and the host HAL's by micras-lib.
-InheritParentConfig: true
-ExcludeHeaderFilterRegex: '(_deps|external|MicrasFirmware|hal_host)/'
-...
diff --git a/targets/micras/CMakeLists.txt b/targets/micras/CMakeLists.txt
deleted file mode 100644
index e2279d2..0000000
--- a/targets/micras/CMakeLists.txt
+++ /dev/null
@@ -1,287 +0,0 @@
-###############################################################################
-## Micras: the firmware as it is, over the host micras_hal
-###############################################################################
-
-# Uses the engine only through its CMake targets (micras::sim_engine, micras::sim_app)
-# and the host HAL sources the root exports.
-
-set(MICRAS_FIRMWARE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/MicrasFirmware")
-
-# The commit is read at build time, not here, so meta.json never names a firmware
-# the binary was not built from.
-set(MICRAS_FIRMWARE_SHA_HEADER "${CMAKE_CURRENT_BINARY_DIR}/generated/micras_firmware_sha.hpp")
-
-add_custom_target(micras_firmware_sha
-    COMMAND "${CMAKE_COMMAND}" -DFIRMWARE_DIR=${MICRAS_FIRMWARE_DIR} -DOUTPUT=${MICRAS_FIRMWARE_SHA_HEADER}
-            -P "${CMAKE_CURRENT_SOURCE_DIR}/cmake/firmware_sha.cmake"
-    BYPRODUCTS "${MICRAS_FIRMWARE_SHA_HEADER}"
-    COMMENT "Reading the firmware commit"
-    VERBATIM
-)
-
-###############################################################################
-## ST's register driver of the LSM6DSV and the chip models
-###############################################################################
-
-# The commit of v5.1.1, the tag the firmware fetches. The IMU proxy's configuration names the
-# driver's enums, and the proxy drives the chip through the driver's source.
-include(FetchContent)
-FetchContent_Declare(lsm6dsv
-    URL      "https://github.com/STMicroelectronics/lsm6dsv-pid/archive/6ede05a3fde7eae80bc1b47affc08257191c1aba.tar.gz"
-    URL_HASH "SHA256=bed616e902886809054b34ed25d5af0624542f00ef9bb2e171fe9c525844d064"
-    DOWNLOAD_EXTRACT_TIMESTAMP TRUE
-    SYSTEM
-)
-FetchContent_MakeAvailable(lsm6dsv)
-
-add_library(lsm6dsv_headers INTERFACE)
-target_include_directories(lsm6dsv_headers SYSTEM INTERFACE "${lsm6dsv_SOURCE_DIR}")
-
-# The SPI chips the bindings attach to the host HAL's buses: micras::hal_host_models.
-add_subdirectory("${PROJECT_SOURCE_DIR}/hal_host/models" "${CMAKE_CURRENT_BINARY_DIR}/hal_host_models")
-
-###############################################################################
-## The firmware, compiled for the host
-###############################################################################
-
-# Everything but micras_hal, which hal_host replaces, and FmacFilter, which is unused
-# and needs the FMAC. The proxies of the two SPI chips talk to the chip models over the
-# host SPI, through ST's register driver of the LSM6DSV, which is C. The firmware's own
-# main is compiled under another name, and the simulator runs it on the firmware thread.
-enable_language(C)
-
-file(GLOB MICRAS_FIRMWARE_SOURCES CONFIGURE_DEPENDS
-    "${MICRAS_FIRMWARE_DIR}/micras_core/src/*.cpp"
-    "${MICRAS_FIRMWARE_DIR}/micras_nav/src/*.cpp"
-    "${MICRAS_FIRMWARE_DIR}/micras_comm/src/*.cpp"
-    "${MICRAS_FIRMWARE_DIR}/micras_proxy/src/*.cpp"
-    "${MICRAS_FIRMWARE_DIR}/src/*.cpp"
-    "${MICRAS_FIRMWARE_DIR}/src/states/*.cpp"
-    "${MICRAS_FIRMWARE_DIR}/config/*.cpp"
-)
-list(REMOVE_ITEM MICRAS_FIRMWARE_SOURCES "${MICRAS_FIRMWARE_DIR}/micras_proxy/src/fmac_filter.cpp")
-set_source_files_properties("${MICRAS_FIRMWARE_DIR}/src/main.cpp"
-    PROPERTIES COMPILE_DEFINITIONS "main=micras_firmware_main"
-)
-
-# The firmware silences the vendor driver's warnings the same way.
-set(MICRAS_LSM6DSV_SOURCES "${lsm6dsv_SOURCE_DIR}/lsm6dsv_reg.c")
-set_source_files_properties(${MICRAS_LSM6DSV_SOURCES} PROPERTIES COMPILE_OPTIONS "-w")
-
-add_library(micras_firmware STATIC
-    ${MICRAS_FIRMWARE_SOURCES}
-    ${MICRAS_LSM6DSV_SOURCES}
-    ${MICRAS_SIM_HAL_HOST_SOURCES}
-    cube/handles.cpp
-)
-
-# The fake Cube layer comes first, so <main.h> and friends resolve to it. The firmware's headers are
-# a dependency's, which the firmware's own build compiles with its own warnings, so they are system
-# headers here; none of their names is also a name of the Cube layer or of the host HAL.
-target_include_directories(micras_firmware PUBLIC
-    "${CMAKE_CURRENT_SOURCE_DIR}/cube"
-    "${MICRAS_SIM_HAL_HOST_INCLUDE}"
-)
-target_include_directories(micras_firmware SYSTEM PUBLIC
-    "${MICRAS_FIRMWARE_DIR}/include"
-    "${MICRAS_FIRMWARE_DIR}/config"
-    "${MICRAS_FIRMWARE_DIR}/config/targets/v1"
-    "${MICRAS_FIRMWARE_DIR}/micras_core/include"
-    "${MICRAS_FIRMWARE_DIR}/micras_nav/include"
-    "${MICRAS_FIRMWARE_DIR}/micras_comm/include"
-    "${MICRAS_FIRMWARE_DIR}/micras_proxy/include"
-    "${MICRAS_FIRMWARE_DIR}/micras_hal/include"
-)
-target_link_libraries(micras_firmware PUBLIC lsm6dsv_headers)
-target_compile_features(micras_firmware PUBLIC cxx_std_23)
-set_target_properties(micras_firmware PROPERTIES C_STANDARD 17 C_EXTENSIONS ON)
-
-###############################################################################
-## The target
-###############################################################################
-
-add_library(micras_sim_micras STATIC
-    src/bindings.cpp
-    src/micras_target.cpp
-    src/pool_variables.cpp
-)
-target_include_directories(micras_sim_micras PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
-target_include_directories(micras_sim_micras PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/generated")
-target_link_libraries(micras_sim_micras PUBLIC micras_firmware micras::hal_host_models micras::sim_app)
-target_compile_definitions(micras_sim_micras PRIVATE MICRAS_TARGET_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
-add_dependencies(micras_sim_micras micras_firmware_sha)
-
-add_executable(micras_sim src/main.cpp)
-target_link_libraries(micras_sim PRIVATE micras_sim_micras)
-
-###############################################################################
-## Tests
-###############################################################################
-
-if(MICRAS_SIM_TESTS)
-    add_subdirectory(tests)
-endif()
-
-###############################################################################
-## Tools
-###############################################################################
-
-add_executable(micras_wall_calibration tools/wall_calibration.cpp)
-target_link_libraries(micras_wall_calibration PRIVATE micras_sim_micras)
-target_compile_definitions(micras_wall_calibration PRIVATE MICRAS_TARGET_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
-
-add_executable(micras_turn_designer tools/turn_designer.cpp)
-target_link_libraries(micras_turn_designer PRIVATE micras_firmware)
-
-add_executable(micras_robot_report tools/robot_report.cpp)
-target_link_libraries(micras_robot_report PRIVATE micras_sim_micras)
-target_compile_definitions(micras_robot_report PRIVATE MICRAS_TARGET_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
-
-micras_apply_warnings(micras_firmware micras_sim_micras micras_sim micras_wall_calibration micras_turn_designer
-    micras_robot_report WERROR ${MICRAS_SIM_WERROR}
-)
-
-###############################################################################
-## Recipes: the Micras runs, the contest, the baseline and the robot tools (top level only)
-###############################################################################
-
-# Each calls a script of scripts/ with every path as an argument; runs land in runs/ of this build
-# directory.
-if(PROJECT_IS_TOP_LEVEL)
-    set(MICRAS_SIM_BASELINE "v2" CACHE STRING "Baseline version sim_compare_baseline and sim_record_baseline use")
-    set(MICRAS_SIM_CONTEST_MAZES
-        "maze1;maze2;apec2016;apec2017;apec2018;apec2019;japan2013ef;japan2017ef;uk2016f;alljapan-033-2012-exp-fin"
-        CACHE STRING "The mazes sim_contest and sim_contest_all run in"
-    )
-
-    set(MICRAS_SIM_SCRIPTS "${CMAKE_CURRENT_SOURCE_DIR}/scripts")
-    set(MICRAS_SIM_SCENARIOS "${CMAKE_CURRENT_SOURCE_DIR}/scenarios")
-    set(MICRAS_SIM_RUNS "${CMAKE_CURRENT_BINARY_DIR}/runs")
-    set(MICRAS_SIM_PLUGIN "${CMAKE_CURRENT_SOURCE_DIR}/tools/analysis.py")
-    set(MICRAS_SIM_BASELINE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/baselines/${MICRAS_SIM_BASELINE}")
-    set(MICRAS_SIM_CHECKED_RUNS idle explore)
-    set(MICRAS_SIM_EXPLORE_SECONDS 30)
-
-    set(MICRAS_SIM_RUN_IDLE
-        "${MICRAS_SIM_SCRIPTS}/run_idle.sh" "$<TARGET_FILE:micras_sim>" "${MICRAS_SIM_SCENARIOS}" "${MICRAS_SIM_RUNS}"
-    )
-    set(MICRAS_SIM_RUN_EXPLORE
-        "${MICRAS_SIM_SCRIPTS}/run_explore.sh" "$<TARGET_FILE:micras_sim>" "${MICRAS_SIM_SCENARIOS}"
-        "${MICRAS_SIM_RUNS}" "${MICRAS_SIM_EXPLORE_SECONDS}"
-    )
-    set(MICRAS_SIM_COMPARE_BASELINE
-        "${MICRAS_SIM_SCRIPTS}/compare_baseline.sh" "${MICRAS_SIM_TOOLS_DIR}" "${MICRAS_SIM_PLUGIN}" "${MICRAS_SIM_RUNS}"
-        "${MICRAS_SIM_BASELINE_DIR}" "${MICRAS_SIM_EXACT}" ${MICRAS_SIM_CHECKED_RUNS}
-    )
-    set(MICRAS_SIM_CHECK_FLASH
-        "${MICRAS_SIM_SCRIPTS}/check_flash.sh" "$<TARGET_FILE:micras_sim>" "${MICRAS_SIM_SCENARIOS}" "${MICRAS_SIM_RUNS}"
-        "${MICRAS_SIM_TOOLS_DIR}"
-    )
-
-    add_custom_target(sim_run_idle
-        COMMAND ${MICRAS_SIM_RUN_IDLE}
-        COMMENT "The robot left alone for 4 s -> runs/idle"
-        VERBATIM USES_TERMINAL
-    )
-
-    add_custom_target(sim_run_explore
-        COMMAND ${MICRAS_SIM_RUN_EXPLORE}
-        COMMENT "The first ${MICRAS_SIM_EXPLORE_SECONDS} s of an exploration, with its flash -> runs/explore"
-        VERBATIM USES_TERMINAL
-    )
-
-    foreach(CONTEST explore_solve explore_solve_all)
-        if(CONTEST STREQUAL "explore_solve")
-            set(CONTEST_TARGET sim_contest)
-        else()
-            set(CONTEST_TARGET sim_contest_all)
-        endif()
-
-        add_custom_target(${CONTEST_TARGET}
-            COMMAND "${MICRAS_SIM_SCRIPTS}/contest.sh" "$<TARGET_FILE:micras_sim>" "${MICRAS_SIM_SCENARIOS}/${CONTEST}.toml"
-                    "${MICRAS_SIM_RUNS}/contest/${CONTEST}" "${MICRAS_SIM_TOOLS_DIR}" ${MICRAS_SIM_CONTEST_MAZES}
-            COMMENT "The contest (${CONTEST}) in ${MICRAS_SIM_CONTEST_MAZES}"
-            VERBATIM USES_TERMINAL
-        )
-    endforeach()
-
-    add_custom_target(sim_compare_baseline
-        COMMAND ${MICRAS_SIM_COMPARE_BASELINE}
-        COMMENT "Comparing runs/idle and runs/explore with baselines/${MICRAS_SIM_BASELINE}"
-        VERBATIM USES_TERMINAL
-    )
-
-    add_custom_target(sim_record_baseline
-        COMMAND "${CMAKE_CTEST_COMMAND}" --test-dir "${CMAKE_CURRENT_BINARY_DIR}" --output-on-failure
-        COMMAND ${MICRAS_SIM_RUN_IDLE}
-        COMMAND ${MICRAS_SIM_RUN_EXPLORE}
-        COMMAND "${MICRAS_SIM_SCRIPTS}/record_baseline.sh" "${MICRAS_SIM_TOOLS_DIR}" "${MICRAS_SIM_PLUGIN}"
-                "${MICRAS_SIM_RUNS}" "${MICRAS_SIM_BASELINE_DIR}" ${MICRAS_SIM_CHECKED_RUNS}
-        COMMENT "Recording baselines/${MICRAS_SIM_BASELINE}"
-        VERBATIM USES_TERMINAL
-    )
-
-    add_custom_target(sim_check_flash
-        COMMAND ${MICRAS_SIM_RUN_EXPLORE}
-        COMMAND ${MICRAS_SIM_CHECK_FLASH}
-        COMMENT "Checking that the flash outlives a run"
-        VERBATIM USES_TERMINAL
-    )
-
-    add_custom_target(sim_check
-        COMMAND "${CMAKE_CTEST_COMMAND}" --test-dir "${CMAKE_CURRENT_BINARY_DIR}" --output-on-failure --parallel
-        COMMAND ${MICRAS_SIM_RUN_EXPLORE}
-        COMMAND ${MICRAS_SIM_CHECK_FLASH}
-        COMMAND ${MICRAS_SIM_RUN_IDLE}
-        COMMAND ${MICRAS_SIM_COMPARE_BASELINE}
-        COMMAND "${MICRAS_SIM_SCRIPTS}/check_health.sh" "${MICRAS_SIM_TOOLS_DIR}" "${MICRAS_SIM_RUNS}"
-                ${MICRAS_SIM_CHECKED_RUNS}
-        COMMENT "The Micras gate: tests, flash, the checked runs, their baseline and their health"
-        VERBATIM USES_TERMINAL
-    )
-
-    add_custom_target(sim_turn_designs
-        COMMAND "${MICRAS_SIM_SCRIPTS}/turn_designs.sh" "$<TARGET_FILE:micras_turn_designer>"
-                "${MICRAS_FIRMWARE_DIR}/config/two_bend_turns.hpp"
-        COMMENT "Designing the turns of two bends into the firmware's config/two_bend_turns.hpp"
-        VERBATIM USES_TERMINAL
-    )
-
-    add_custom_target(sim_robot_report
-        COMMAND "$<TARGET_FILE:micras_robot_report>"
-        COMMENT "robot.toml against the firmware's robot.hpp"
-        VERBATIM USES_TERMINAL
-    )
-
-    add_custom_target(sim_wall_calibration
-        COMMAND "$<TARGET_FILE:micras_wall_calibration>"
-        COMMENT "Each wall sensor's gain for robot.toml"
-        VERBATIM USES_TERMINAL
-    )
-
-    add_custom_target(sim_serve
-        COMMAND "${MICRAS_SIM_SCRIPTS}/serve.sh" "$<TARGET_FILE:micras_sim>" "${MICRAS_SIM_SCENARIOS}" "${MICRAS_SIM_RUNS}"
-        COMMENT "An exploration open to micras-monitor on ws://localhost:8080"
-        VERBATIM USES_TERMINAL
-    )
-
-    add_custom_target(sim_watch
-        COMMAND "${MICRAS_SIM_SCRIPTS}/watch.sh" "$<TARGET_FILE:micras_sim>" "${MICRAS_SIM_SCENARIOS}" "${MICRAS_SIM_RUNS}"
-        COMMENT "An exploration in a window"
-        VERBATIM USES_TERMINAL
-    )
-
-    foreach(RECIPE sim_run_idle sim_run_explore sim_contest sim_contest_all sim_record_baseline sim_check_flash sim_check
-                   sim_serve sim_watch)
-        add_dependencies(${RECIPE} micras_sim)
-    endforeach()
-
-    if(MICRAS_SIM_TESTS)
-        add_dependencies(sim_check micras_target_tests micras_hal_host_models_tests)
-        add_dependencies(sim_record_baseline micras_target_tests micras_hal_host_models_tests)
-    endif()
-
-    add_dependencies(sim_turn_designs micras_turn_designer)
-    add_dependencies(sim_robot_report micras_robot_report)
-    add_dependencies(sim_wall_calibration micras_wall_calibration)
-endif()
diff --git a/targets/micras/MicrasFirmware b/targets/micras/MicrasFirmware
deleted file mode 160000
index 4dac6e2..0000000
--- a/targets/micras/MicrasFirmware
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 4dac6e2c7299ca664712ef5de177e5911152ad63
diff --git a/targets/micras/baselines/v1/explore/summary.json b/targets/micras/baselines/v1/explore/summary.json
deleted file mode 100644
index 47e38b3..0000000
--- a/targets/micras/baselines/v1/explore/summary.json
+++ /dev/null
@@ -1,58 +0,0 @@
-{
-  "target": "micras",
-  "scenario": "scenarios/explore.toml",
-  "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore --flash runs/explore/flash.bin",
-  "firmware_sha": "4deedba0ada16668ebe7ec8a328a8342a3783e4a",
-  "mujoco_version": "3.14.0",
-  "compiler": "GNU 13.4.0",
-  "data_sha256": "1f7024131268ff2671fb71ffdfc8d0df9b96a82e9c7486223bc4abd0116ad2dc",
-  "states": [
-    [
-      0.000125,
-      "INIT"
-    ],
-    [
-      0.00025,
-      "IDLE"
-    ],
-    [
-      0.760125,
-      "WAIT_FOR_RUN"
-    ],
-    [
-      3.76113,
-      "RUN"
-    ],
-    [
-      27.1761,
-      "SAVE"
-    ],
-    [
-      27.1763,
-      "WAIT_FOR_RUN"
-    ]
-  ],
-  "values": {
-    "ticks": 240000,
-    "warnings_total": 0,
-    "collisions": 0,
-    "goal_time": 26.880375,
-    "stopped_at": null,
-    "unbound_ports": 0,
-    "running_time": 23.414875000111802,
-    "max_pose_error": 0.012781383253857736,
-    "rms_across_error": 0.0008163624818829779
-  },
-  "tolerances": {
-    "state_time": 0.25,
-    "ticks": null,
-    "warnings_total": null,
-    "collisions": 2,
-    "goal_time": 1.0,
-    "stopped_at": 1.0,
-    "unbound_ports": null,
-    "running_time": 1.0,
-    "max_pose_error": 0.02,
-    "rms_across_error": 0.003
-  }
-}
diff --git a/targets/micras/baselines/v1/idle/summary.json b/targets/micras/baselines/v1/idle/summary.json
deleted file mode 100644
index 473dc6d..0000000
--- a/targets/micras/baselines/v1/idle/summary.json
+++ /dev/null
@@ -1,42 +0,0 @@
-{
-  "target": "micras",
-  "scenario": "scenarios/idle.toml",
-  "args": "--scenario scenarios/idle.toml --out runs/idle",
-  "firmware_sha": "4deedba0ada16668ebe7ec8a328a8342a3783e4a",
-  "mujoco_version": "3.14.0",
-  "compiler": "GNU 13.4.0",
-  "data_sha256": "97ad9a8359beeae1383ee5e8cfac0ad5683baefcedbfc037fcbdad50903c6901",
-  "states": [
-    [
-      0.000125,
-      "INIT"
-    ],
-    [
-      0.00025,
-      "IDLE"
-    ]
-  ],
-  "values": {
-    "ticks": 32000,
-    "warnings_total": 0,
-    "collisions": 0,
-    "goal_time": null,
-    "stopped_at": null,
-    "unbound_ports": 0,
-    "running_time": 0.0,
-    "max_pose_error": null,
-    "rms_across_error": null
-  },
-  "tolerances": {
-    "state_time": 0.25,
-    "ticks": null,
-    "warnings_total": null,
-    "collisions": 2,
-    "goal_time": 1.0,
-    "stopped_at": 1.0,
-    "unbound_ports": null,
-    "running_time": 1.0,
-    "max_pose_error": 0.02,
-    "rms_across_error": 0.003
-  }
-}
diff --git a/targets/micras/baselines/v2/explore/summary.json b/targets/micras/baselines/v2/explore/summary.json
deleted file mode 100644
index 89cc067..0000000
--- a/targets/micras/baselines/v2/explore/summary.json
+++ /dev/null
@@ -1,58 +0,0 @@
-{
-  "target": "micras",
-  "scenario": "scenarios/explore.toml",
-  "args": "--scenario scenarios/explore.toml --seconds 30 --out runs/explore --flash runs/explore/flash.bin",
-  "firmware_sha": "4dac6e2c7299ca664712ef5de177e5911152ad63",
-  "mujoco_version": "3.14.0",
-  "compiler": "GNU 15.2.0",
-  "data_sha256": "5f59dfd83c042fc8e677bbf8a3a113e2ede6105c006790b80bf85c2b3ce361bc",
-  "states": [
-    [
-      0.040125,
-      "INIT"
-    ],
-    [
-      0.04025,
-      "IDLE"
-    ],
-    [
-      0.760125,
-      "WAIT_FOR_RUN"
-    ],
-    [
-      3.76113,
-      "RUN"
-    ],
-    [
-      27.1865,
-      "SAVE"
-    ],
-    [
-      27.1866,
-      "WAIT_FOR_RUN"
-    ]
-  ],
-  "values": {
-    "ticks": 240000,
-    "warnings_total": 0,
-    "collisions": 0,
-    "goal_time": 26.890875,
-    "stopped_at": null,
-    "unbound_ports": 0,
-    "running_time": 23.425250000111852,
-    "max_pose_error": 0.012902985588711455,
-    "rms_across_error": 0.0008275610150476865
-  },
-  "tolerances": {
-    "state_time": 0.25,
-    "ticks": null,
-    "warnings_total": null,
-    "collisions": 2,
-    "goal_time": 1.0,
-    "stopped_at": 1.0,
-    "unbound_ports": null,
-    "running_time": 1.0,
-    "max_pose_error": 0.02,
-    "rms_across_error": 0.003
-  }
-}
diff --git a/targets/micras/baselines/v2/idle/summary.json b/targets/micras/baselines/v2/idle/summary.json
deleted file mode 100644
index eb6200e..0000000
--- a/targets/micras/baselines/v2/idle/summary.json
+++ /dev/null
@@ -1,42 +0,0 @@
-{
-  "target": "micras",
-  "scenario": "scenarios/idle.toml",
-  "args": "--scenario scenarios/idle.toml --out runs/idle",
-  "firmware_sha": "4dac6e2c7299ca664712ef5de177e5911152ad63",
-  "mujoco_version": "3.14.0",
-  "compiler": "GNU 15.2.0",
-  "data_sha256": "d834c2f5c0602eb239237e4301564bcf6ba4d48d39e2f6dbba00072e7be88d03",
-  "states": [
-    [
-      0.040125,
-      "INIT"
-    ],
-    [
-      0.04025,
-      "IDLE"
-    ]
-  ],
-  "values": {
-    "ticks": 32000,
-    "warnings_total": 0,
-    "collisions": 0,
-    "goal_time": null,
-    "stopped_at": null,
-    "unbound_ports": 0,
-    "running_time": 0.0,
-    "max_pose_error": null,
-    "rms_across_error": null
-  },
-  "tolerances": {
-    "state_time": 0.25,
-    "ticks": null,
-    "warnings_total": null,
-    "collisions": 2,
-    "goal_time": 1.0,
-    "stopped_at": 1.0,
-    "unbound_ports": null,
-    "running_time": 1.0,
-    "max_pose_error": 0.02,
-    "rms_across_error": 0.003
-  }
-}
diff --git a/targets/micras/cmake/firmware_sha.cmake b/targets/micras/cmake/firmware_sha.cmake
deleted file mode 100644
index f3af7f3..0000000
--- a/targets/micras/cmake/firmware_sha.cmake
+++ /dev/null
@@ -1,31 +0,0 @@
-###############################################################################
-## Writes the firmware commit into a header, at build time
-###############################################################################
-
-# Run as a script (cmake -P) by the micras_firmware_sha target on every build, so a
-# submodule bump is picked up without reconfiguring. file(CONFIGURE) rewrites the
-# header only when the text changes, so an unchanged commit rebuilds nothing.
-# Expects FIRMWARE_DIR and OUTPUT.
-
-execute_process(
-    COMMAND git -C "${FIRMWARE_DIR}" rev-parse HEAD
-    OUTPUT_VARIABLE FIRMWARE_SHA
-    OUTPUT_STRIP_TRAILING_WHITESPACE
-    ERROR_QUIET
-)
-
-if(NOT FIRMWARE_SHA)
-    set(FIRMWARE_SHA "unknown")
-else()
-    execute_process(
-        COMMAND git -C "${FIRMWARE_DIR}" diff --quiet HEAD
-        RESULT_VARIABLE FIRMWARE_DIRTY
-        ERROR_QUIET
-    )
-
-    if(NOT FIRMWARE_DIRTY EQUAL 0)
-        string(APPEND FIRMWARE_SHA "-dirty")
-    endif()
-endif()
-
-file(CONFIGURE OUTPUT "${OUTPUT}" CONTENT "#define MICRAS_FIRMWARE_SHA \"${FIRMWARE_SHA}\"\n")
diff --git a/targets/micras/cube/adc.h b/targets/micras/cube/adc.h
deleted file mode 100644
index 8f7a86b..0000000
--- a/targets/micras/cube/adc.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/**
- * @file
- *
- * @brief Fake STM32CubeMX adc.h of the Micras v1 board: its handles and init functions.
- */
-
-#ifndef MICRAS_SIM_CUBE_ADC_H
-#define MICRAS_SIM_CUBE_ADC_H
-
-#include "main.h"
-
-/**
- * @brief Handle hadc1, as cube/Src/adc.c defines it.
- */
-extern ADC_HandleTypeDef hadc1;
-
-/**
- * @brief Handle hadc2, as cube/Src/adc.c defines it.
- */
-extern ADC_HandleTypeDef hadc2;
-
-/**
- * @brief Handle hadc3, as cube/Src/adc.c defines it.
- */
-extern ADC_HandleTypeDef hadc3;
-
-/**
- * @brief Configure what MX_ADC1_Init configures in cube/Src/adc.c.
- */
-void MX_ADC1_Init();
-
-/**
- * @brief Configure what MX_ADC2_Init configures in cube/Src/adc.c.
- */
-void MX_ADC2_Init();
-
-/**
- * @brief Configure what MX_ADC3_Init configures in cube/Src/adc.c.
- */
-void MX_ADC3_Init();
-
-#endif  // MICRAS_SIM_CUBE_ADC_H
diff --git a/targets/micras/cube/crc.h b/targets/micras/cube/crc.h
deleted file mode 100644
index 8740446..0000000
--- a/targets/micras/cube/crc.h
+++ /dev/null
@@ -1,22 +0,0 @@
-/**
- * @file
- *
- * @brief Fake STM32CubeMX crc.h of the Micras v1 board: its handles and init functions.
- */
-
-#ifndef MICRAS_SIM_CUBE_CRC_H
-#define MICRAS_SIM_CUBE_CRC_H
-
-#include "main.h"
-
-/**
- * @brief Handle hcrc, as cube/Src/crc.c defines it.
- */
-extern CRC_HandleTypeDef hcrc;
-
-/**
- * @brief Configure what MX_CRC_Init configures in cube/Src/crc.c.
- */
-void MX_CRC_Init();
-
-#endif  // MICRAS_SIM_CUBE_CRC_H
diff --git a/targets/micras/cube/dma.h b/targets/micras/cube/dma.h
deleted file mode 100644
index 5d4292b..0000000
--- a/targets/micras/cube/dma.h
+++ /dev/null
@@ -1,17 +0,0 @@
-/**
- * @file
- *
- * @brief Fake STM32CubeMX dma.h of the Micras v1 board: its handles and init functions.
- */
-
-#ifndef MICRAS_SIM_CUBE_DMA_H
-#define MICRAS_SIM_CUBE_DMA_H
-
-#include "main.h"
-
-/**
- * @brief Configure what MX_DMA_Init configures in cube/Src/dma.c.
- */
-void MX_DMA_Init();
-
-#endif  // MICRAS_SIM_CUBE_DMA_H
diff --git a/targets/micras/cube/fmac.h b/targets/micras/cube/fmac.h
deleted file mode 100644
index 6c2443c..0000000
--- a/targets/micras/cube/fmac.h
+++ /dev/null
@@ -1,22 +0,0 @@
-/**
- * @file
- *
- * @brief Fake STM32CubeMX fmac.h of the Micras v1 board: its handles and init functions.
- */
-
-#ifndef MICRAS_SIM_CUBE_FMAC_H
-#define MICRAS_SIM_CUBE_FMAC_H
-
-#include "main.h"
-
-/**
- * @brief Handle hfmac, as cube/Src/fmac.c defines it.
- */
-extern FMAC_HandleTypeDef hfmac;
-
-/**
- * @brief Configure what MX_FMAC_Init configures in cube/Src/fmac.c.
- */
-void MX_FMAC_Init();
-
-#endif  // MICRAS_SIM_CUBE_FMAC_H
diff --git a/targets/micras/cube/gpio.h b/targets/micras/cube/gpio.h
deleted file mode 100644
index 997f921..0000000
--- a/targets/micras/cube/gpio.h
+++ /dev/null
@@ -1,17 +0,0 @@
-/**
- * @file
- *
- * @brief Fake STM32CubeMX gpio.h of the Micras v1 board: its handles and init functions.
- */
-
-#ifndef MICRAS_SIM_CUBE_GPIO_H
-#define MICRAS_SIM_CUBE_GPIO_H
-
-#include "main.h"
-
-/**
- * @brief Configure what MX_GPIO_Init configures in cube/Src/gpio.c.
- */
-void MX_GPIO_Init();
-
-#endif  // MICRAS_SIM_CUBE_GPIO_H
diff --git a/targets/micras/cube/handles.cpp b/targets/micras/cube/handles.cpp
deleted file mode 100644
index 4cf7930..0000000
--- a/targets/micras/cube/handles.cpp
+++ /dev/null
@@ -1,220 +0,0 @@
-/**
- * @file
- *
- * @brief The Micras v1 handles and init functions, with the values CubeMX generates.
- *
- * @note Each MX_*_Init below sets the values its namesake sets in
- *       MicrasFirmware/cube/Src: MX_TIMn_Init the prescaler, counter mode and
- *       period of tim.c, MX_ADCn_Init the NbrOfConversion of adc.c, MX_CRC_Init
- *       the whole Init block of crc.c, MX_SPI3_Init the SPI mode and baud rate
- *       prescaler of spi.c and MX_UART4_Init the baud rate of usart.c. Only what the host backend reads
- *       is set, plus the handle states the drivers check before initializing.
- */
-
-#include <cstdint>
-
-#include <adc.h>
-#include <crc.h>
-#include <dma.h>
-#include <fmac.h>
-#include <gpio.h>
-#include <main.h>
-#include <spi.h>
-#include <tim.h>
-#include <usart.h>
-
-#include "micras/hal/host/board.hpp"
-
-namespace {
-/**
- * @brief Frequency every timer counts at: APB1 and APB2 run at 137.5 MHz, and
- *        their timers at twice that (main.c, SystemClock_Config).
- */
-constexpr uint32_t timer_clock{275000000};
-
-/**
- * @brief Frequency SPI3's kernel clock runs at: PLL3 from the 64 MHz HSI, M 32,
- *        N 125 and P 2 (spi.c, HAL_SPI_MspInit).
- */
-constexpr uint32_t spi3_kernel_clock{125000000};
-
-/**
- * @brief The registers of the timers and of SPI3.
- */
-///@{
-// NOLINTBEGIN(cppcoreguidelines-avoid-non-const-global-variables): register blocks the firmware writes through handles.
-TIM_TypeDef tim1_registers{};
-TIM_TypeDef tim2_registers{};
-TIM_TypeDef tim3_registers{};
-TIM_TypeDef tim4_registers{};
-TIM_TypeDef tim5_registers{};
-TIM_TypeDef tim8_registers{};
-TIM_TypeDef tim12_registers{};
-TIM_TypeDef tim15_registers{};
-SPI_TypeDef spi3_registers{};
-
-// NOLINTEND(cppcoreguidelines-avoid-non-const-global-variables)
-
-///@}
-}  // namespace
-
-/**
- * @brief Configure a timer base, as HAL_TIM_Base_Init would.
- *
- * @param handle Timer handle.
- * @param registers Registers of the timer.
- * @param name Name of the handle, for messages.
- * @param prescaler Prescaler.
- * @param counter_mode Counter mode.
- * @param period Autoreload value.
- */
-static void init_timer(
-    TIM_HandleTypeDef& handle, TIM_TypeDef& registers, const char* name, uint32_t prescaler, uint32_t counter_mode,
-    uint32_t period
-) {
-    handle.Instance = &registers;
-    handle.Init = {.Prescaler = prescaler, .CounterMode = counter_mode, .Period = period};
-    registers.PSC = prescaler;
-    registers.ARR = period;
-    registers.CR1 = counter_mode;
-    registers.kernel_clock = timer_clock;
-    handle.State = HAL_TIM_STATE_READY;
-    micras::hal::host::Board::name_handle(&handle, name);
-}
-
-/**
- * @brief Configure an ADC, as HAL_ADC_Init would.
- *
- * @param handle ADC handle.
- * @param name Name of the handle, for messages.
- * @param conversions Number of conversions in a sequence.
- */
-static void init_adc(ADC_HandleTypeDef& handle, const char* name, uint32_t conversions) {
-    handle.Init.NbrOfConversion = conversions;
-    handle.State = HAL_ADC_STATE_READY;
-    micras::hal::host::Board::name_handle(&handle, name);
-}
-
-// NOLINTBEGIN(cppcoreguidelines-avoid-non-const-global-variables): the handles are globals in the generated code too.
-uint32_t SystemCoreClock{550000000};
-
-GPIO_TypeDef GPIOA_instance{'A'};
-GPIO_TypeDef GPIOB_instance{'B'};
-GPIO_TypeDef GPIOC_instance{'C'};
-GPIO_TypeDef GPIOD_instance{'D'};
-
-ADC_HandleTypeDef  hadc1{};
-ADC_HandleTypeDef  hadc2{};
-ADC_HandleTypeDef  hadc3{};
-CRC_HandleTypeDef  hcrc{};
-FMAC_HandleTypeDef hfmac{};
-SPI_HandleTypeDef  hspi3{};
-TIM_HandleTypeDef  htim1{};
-TIM_HandleTypeDef  htim2{};
-TIM_HandleTypeDef  htim3{};
-TIM_HandleTypeDef  htim4{};
-TIM_HandleTypeDef  htim5{};
-TIM_HandleTypeDef  htim8{};
-TIM_HandleTypeDef  htim12{};
-TIM_HandleTypeDef  htim15{};
-UART_HandleTypeDef huart4{};
-
-// NOLINTEND(cppcoreguidelines-avoid-non-const-global-variables)
-
-extern "C" {
-void SystemClock_Config() { }
-
-void PeriphCommonClock_Config() { }
-}
-
-void MX_GPIO_Init() {
-    using micras::hal::host::Board;
-    Board::name_gpio(Encoder_Right_CSn_GPIO_Port, Encoder_Right_CSn_Pin, "Encoder_Right_CSn");
-    Board::name_gpio(Encoder_Left_CSn_GPIO_Port, Encoder_Left_CSn_Pin, "Encoder_Left_CSn");
-    Board::name_gpio(Button_GPIO_Port, Button_Pin, "Button");
-    Board::name_gpio(Switch_0_GPIO_Port, Switch_0_Pin, "Switch_0");
-    Board::name_gpio(Switch_1_GPIO_Port, Switch_1_Pin, "Switch_1");
-    Board::name_gpio(Switch_2_GPIO_Port, Switch_2_Pin, "Switch_2");
-    Board::name_gpio(Switch_3_GPIO_Port, Switch_3_Pin, "Switch_3");
-    Board::name_gpio(LED_Red_GPIO_Port, LED_Red_Pin, "LED_Red");
-    Board::name_gpio(Fan_Enable_GPIO_Port, Fan_Enable_Pin, "Fan_Enable");
-    Board::name_gpio(Motors_Enable_GPIO_Port, Motors_Enable_Pin, "Motors_Enable");
-    Board::name_gpio(IMU_SPI_CSn_GPIO_Port, IMU_SPI_CSn_Pin, "IMU_SPI_CSn");
-}
-
-void MX_DMA_Init() { }
-
-void MX_CRC_Init() {
-    hcrc.Init.DefaultPolynomialUse = DEFAULT_POLYNOMIAL_DISABLE;
-    hcrc.Init.DefaultInitValueUse = DEFAULT_INIT_VALUE_DISABLE;
-    hcrc.Init.GeneratingPolynomial = 29;
-    hcrc.Init.CRCLength = CRC_POLYLENGTH_8B;
-    hcrc.Init.InitValue = 0xC4;
-    hcrc.Init.InputDataInversionMode = CRC_INPUTDATA_INVERSION_NONE;
-    hcrc.Init.OutputDataInversionMode = CRC_OUTPUTDATA_INVERSION_DISABLE;
-    hcrc.InputDataFormat = CRC_INPUTDATA_FORMAT_BYTES;
-    micras::hal::host::Board::name_handle(&hcrc, "hcrc");
-}
-
-void MX_ADC1_Init() {
-    init_adc(hadc1, "hadc1", 4);
-}
-
-void MX_ADC2_Init() {
-    init_adc(hadc2, "hadc2", 2);
-}
-
-void MX_ADC3_Init() {
-    init_adc(hadc3, "hadc3", 1);
-}
-
-void MX_SPI3_Init() {
-    spi3_registers.kernel_clock = spi3_kernel_clock;
-    hspi3.Instance = &spi3_registers;
-    hspi3.Init.CLKPolarity = SPI_POLARITY_HIGH;
-    hspi3.Init.CLKPhase = SPI_PHASE_2EDGE;
-    hspi3.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
-    hspi3.State = HAL_SPI_STATE_READY;
-    micras::hal::host::Board::name_handle(&hspi3, "hspi3");
-}
-
-void MX_TIM1_Init() {
-    init_timer(htim1, tim1_registers, "htim1", 0, TIM_COUNTERMODE_UP, 2749);
-}
-
-void MX_TIM2_Init() {
-    init_timer(htim2, tim2_registers, "htim2", 0, TIM_COUNTERMODE_UP, 4294967295);
-}
-
-void MX_TIM3_Init() {
-    init_timer(htim3, tim3_registers, "htim3", 0, TIM_COUNTERMODE_UP, 2749);
-}
-
-void MX_TIM4_Init() {
-    init_timer(htim4, tim4_registers, "htim4", 274, TIM_COUNTERMODE_CENTERALIGNED1, 250);
-}
-
-void MX_TIM5_Init() {
-    init_timer(htim5, tim5_registers, "htim5", 0, TIM_COUNTERMODE_UP, 4294967295);
-}
-
-void MX_TIM8_Init() {
-    init_timer(htim8, tim8_registers, "htim8", 4, TIM_COUNTERMODE_UP, 76);
-}
-
-void MX_TIM12_Init() {
-    init_timer(htim12, tim12_registers, "htim12", 0, TIM_COUNTERMODE_UP, 2749);
-}
-
-void MX_TIM15_Init() {
-    init_timer(htim15, tim15_registers, "htim15", 274, TIM_COUNTERMODE_UP, 65535);
-}
-
-void MX_UART4_Init() {
-    huart4.Init.BaudRate = 115200;
-    huart4.gState = HAL_UART_STATE_READY;
-    huart4.RxState = HAL_UART_STATE_READY;
-    micras::hal::host::Board::name_handle(&huart4, "huart4");
-}
-
-void MX_FMAC_Init() { }
diff --git a/targets/micras/cube/main.h b/targets/micras/cube/main.h
deleted file mode 100644
index 6232382..0000000
--- a/targets/micras/cube/main.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/**
- * @file
- *
- * @brief Fake STM32CubeMX main.h of the Micras v1 board, for the simulator.
- *
- * @note Hand written, because micras_v1.ioc does not hold every value the host
- *       backend needs. Every value names the
- *       generated line it mirrors, in MicrasFirmware/cube/Inc and cube/Src. A
- *       CubeMX change that renames a handle or a pin is a compile error here; a
- *       changed prescaler or period shows as a wrong frequency at initialization.
- */
-
-#ifndef MICRAS_SIM_CUBE_MAIN_H
-#define MICRAS_SIM_CUBE_MAIN_H
-
-#include <cstdint>
-
-#include "stm32_host.h"
-
-/*****************************************
- * Microcontroller
- *****************************************/
-
-/**
- * @brief Core clock after SystemClock_Config: HSI 64 MHz / PLLM 4 * (PLLN 34 + FRACN 3072 / 8192) / PLLP 1.
- */
-extern uint32_t SystemCoreClock;
-
-/**
- * @brief Flash geometry of the STM32H725xG: one bank of eight 128 KB sectors, 256-bit flash words.
- */
-///@{
-#define FLASH_NB_32BITWORD_IN_FLASHWORD 8U
-inline constexpr uint32_t FLASH_SECTOR_SIZE{0x00020000U};
-inline constexpr uint32_t FLASH_SECTOR_TOTAL{8U};
-///@}
-
-/*****************************************
- * GPIO ports and the pins target.hpp names (cube/Inc/main.h)
- *****************************************/
-
-///@{
-extern GPIO_TypeDef GPIOA_instance;
-extern GPIO_TypeDef GPIOB_instance;
-extern GPIO_TypeDef GPIOC_instance;
-extern GPIO_TypeDef GPIOD_instance;
-///@}
-
-///@{
-#define GPIOA (&GPIOA_instance)
-#define GPIOB (&GPIOB_instance)
-#define GPIOC (&GPIOC_instance)
-#define GPIOD (&GPIOD_instance)
-///@}
-
-///@{
-#define Encoder_Right_CSn_Pin GPIO_PIN_14
-#define Encoder_Right_CSn_GPIO_Port GPIOC
-#define Encoder_Left_CSn_Pin GPIO_PIN_3
-#define Encoder_Left_CSn_GPIO_Port GPIOA
-#define Button_Pin GPIO_PIN_7
-#define Button_GPIO_Port GPIOA
-#define Switch_0_Pin GPIO_PIN_5
-#define Switch_0_GPIO_Port GPIOC
-#define Switch_1_Pin GPIO_PIN_0
-#define Switch_1_GPIO_Port GPIOB
-#define Switch_2_Pin GPIO_PIN_2
-#define Switch_2_GPIO_Port GPIOB
-#define Switch_3_Pin GPIO_PIN_10
-#define Switch_3_GPIO_Port GPIOB
-#define LED_Red_Pin GPIO_PIN_12
-#define LED_Red_GPIO_Port GPIOB
-#define Fan_Enable_Pin GPIO_PIN_14
-#define Fan_Enable_GPIO_Port GPIOB
-#define Motors_Enable_Pin GPIO_PIN_10
-#define Motors_Enable_GPIO_Port GPIOA
-#define IMU_SPI_CSn_Pin GPIO_PIN_2
-#define IMU_SPI_CSn_GPIO_Port GPIOD
-///@}
-
-#endif  // MICRAS_SIM_CUBE_MAIN_H
diff --git a/targets/micras/cube/spi.h b/targets/micras/cube/spi.h
deleted file mode 100644
index 7bddf40..0000000
--- a/targets/micras/cube/spi.h
+++ /dev/null
@@ -1,22 +0,0 @@
-/**
- * @file
- *
- * @brief Fake STM32CubeMX spi.h of the Micras v1 board: its handles and init functions.
- */
-
-#ifndef MICRAS_SIM_CUBE_SPI_H
-#define MICRAS_SIM_CUBE_SPI_H
-
-#include "main.h"
-
-/**
- * @brief Handle hspi3, as cube/Src/spi.c defines it.
- */
-extern SPI_HandleTypeDef hspi3;
-
-/**
- * @brief Configure what MX_SPI3_Init configures in cube/Src/spi.c.
- */
-void MX_SPI3_Init();
-
-#endif  // MICRAS_SIM_CUBE_SPI_H
diff --git a/targets/micras/cube/tim.h b/targets/micras/cube/tim.h
deleted file mode 100644
index f0e74e9..0000000
--- a/targets/micras/cube/tim.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/**
- * @file
- *
- * @brief Fake STM32CubeMX tim.h of the Micras v1 board: its handles and init functions.
- */
-
-#ifndef MICRAS_SIM_CUBE_TIM_H
-#define MICRAS_SIM_CUBE_TIM_H
-
-#include "main.h"
-
-/**
- * @brief Handle htim1, as cube/Src/tim.c defines it.
- */
-extern TIM_HandleTypeDef htim1;
-
-/**
- * @brief Handle htim2, as cube/Src/tim.c defines it.
- */
-extern TIM_HandleTypeDef htim2;
-
-/**
- * @brief Handle htim3, as cube/Src/tim.c defines it.
- */
-extern TIM_HandleTypeDef htim3;
-
-/**
- * @brief Handle htim4, as cube/Src/tim.c defines it.
- */
-extern TIM_HandleTypeDef htim4;
-
-/**
- * @brief Handle htim5, as cube/Src/tim.c defines it.
- */
-extern TIM_HandleTypeDef htim5;
-
-/**
- * @brief Handle htim8, as cube/Src/tim.c defines it.
- */
-extern TIM_HandleTypeDef htim8;
-
-/**
- * @brief Handle htim12, as cube/Src/tim.c defines it.
- */
-extern TIM_HandleTypeDef htim12;
-
-/**
- * @brief Handle htim15, as cube/Src/tim.c defines it.
- */
-extern TIM_HandleTypeDef htim15;
-
-/**
- * @brief Configure what MX_TIM1_Init configures in cube/Src/tim.c.
- */
-void MX_TIM1_Init();
-
-/**
- * @brief Configure what MX_TIM2_Init configures in cube/Src/tim.c.
- */
-void MX_TIM2_Init();
-
-/**
- * @brief Configure what MX_TIM3_Init configures in cube/Src/tim.c.
- */
-void MX_TIM3_Init();
-
-/**
- * @brief Configure what MX_TIM4_Init configures in cube/Src/tim.c.
- */
-void MX_TIM4_Init();
-
-/**
- * @brief Configure what MX_TIM5_Init configures in cube/Src/tim.c.
- */
-void MX_TIM5_Init();
-
-/**
- * @brief Configure what MX_TIM8_Init configures in cube/Src/tim.c.
- */
-void MX_TIM8_Init();
-
-/**
- * @brief Configure what MX_TIM12_Init configures in cube/Src/tim.c.
- */
-void MX_TIM12_Init();
-
-/**
- * @brief Configure what MX_TIM15_Init configures in cube/Src/tim.c.
- */
-void MX_TIM15_Init();
-
-#endif  // MICRAS_SIM_CUBE_TIM_H
diff --git a/targets/micras/cube/usart.h b/targets/micras/cube/usart.h
deleted file mode 100644
index 206f700..0000000
--- a/targets/micras/cube/usart.h
+++ /dev/null
@@ -1,22 +0,0 @@
-/**
- * @file
- *
- * @brief Fake STM32CubeMX usart.h of the Micras v1 board: its handles and init functions.
- */
-
-#ifndef MICRAS_SIM_CUBE_USART_H
-#define MICRAS_SIM_CUBE_USART_H
-
-#include "main.h"
-
-/**
- * @brief Handle huart4, as cube/Src/usart.c defines it.
- */
-extern UART_HandleTypeDef huart4;
-
-/**
- * @brief Configure what MX_UART4_Init configures in cube/Src/usart.c.
- */
-void MX_UART4_Init();
-
-#endif  // MICRAS_SIM_CUBE_USART_H
diff --git a/targets/micras/include/micras/sim/micras/bindings.hpp b/targets/micras/include/micras/sim/micras/bindings.hpp
deleted file mode 100644
index c670bcd..0000000
--- a/targets/micras/include/micras/sim/micras/bindings.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-/**
- * @file
- *
- * @brief Which host port drives which simulated device, for the Micras v1 board.
- */
-
-#ifndef MICRAS_SIM_MICRAS_BINDINGS_HPP
-#define MICRAS_SIM_MICRAS_BINDINGS_HPP
-
-#include <array>
-
-#include "micras/sim/app/wiring.hpp"
-#include "micras/sim/core/run_context.hpp"
-#include "micras/sim/micras/micras_target.hpp"
-
-namespace micras::sim {
-/**
- * @brief Names of the DIP switches, in the order of their bits in Interface::Profile.
- *
- * @note The panel shows them as they are, the switch devices and their CSV columns are called
- *       "dip_" and the name, and so are the inputs a scenario sets.
- */
-constexpr std::array<const char*, 4> dip_names{"fan", "racing_line", "boost", "risky"};
-
-/**
- * @brief Build the board's devices and connect them to the firmware's ports.
- *
- * @note Every port is found through the firmware's own configuration in
- *       target.hpp, so a moved pin or channel moves the binding with it. The
- *       chips are attached to their bus by the handle and the chip select the
- *       firmware's configuration names, and the IMU device's samples go to the
- *       IMU chip, which encodes them with the full scale the firmware wrote.
- *
- * @param context Context whose devices are added to.
- * @param world The robot and the arena.
- * @param chips The SPI chips, which must outlive the run.
- * @return Views of the devices the panel and the scenarios drive.
- */
-MicrasBoard bind_devices(RunContext& context, const WorldInfo& world, MicrasChips& chips);
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_MICRAS_BINDINGS_HPP
diff --git a/targets/micras/include/micras/sim/micras/micras_target.hpp b/targets/micras/include/micras/sim/micras/micras_target.hpp
deleted file mode 100644
index 6acffbf..0000000
--- a/targets/micras/include/micras/sim/micras/micras_target.hpp
+++ /dev/null
@@ -1,191 +0,0 @@
-/**
- * @file
- *
- * @brief The Micras micromouse, as a robot target of the simulator.
- */
-
-#ifndef MICRAS_SIM_MICRAS_MICRAS_TARGET_HPP
-#define MICRAS_SIM_MICRAS_MICRAS_TARGET_HPP
-
-#include <array>
-#include <filesystem>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include "micras/models/as5047u_model.hpp"
-#include "micras/models/lsm6dsv_model.hpp"
-#include "micras/sim/app/target.hpp"
-#include "micras/sim/devices/dc_motor.hpp"
-#include "micras/sim/devices/digital_input.hpp"
-#include "micras/sim/devices/imu.hpp"
-#include "micras/sim/devices/power.hpp"
-#include "micras/sim/devices/quadrature_encoder.hpp"
-#include "micras/sim/devices/serial_link.hpp"
-#include "micras/sim/devices/wall_sensors.hpp"
-#include "micras/sim/micras/pool_variables.hpp"
-
-namespace micras::sim {
-/**
- * @brief The devices the bindings built, for the panel and the scenarios.
- *
- * @note The run's devices own them; these are views.
- */
-struct MicrasBoard {
-    DigitalInput*                button{nullptr};
-    std::array<DigitalInput*, 4> dip_switches{};
-    DcMotor*                     left_motor{nullptr};
-    DcMotor*                     right_motor{nullptr};
-    Battery*                     battery{nullptr};
-    Fan*                         fan{nullptr};
-    WallSensors*                 wall_sensors{nullptr};
-};
-
-/**
- * @brief The SPI chips of the board, which the firmware talks to over hspi3.
- */
-struct MicrasChips {
-    /**
-     * @brief The inertial measurement unit, fed with the samples of the IMU device.
-     */
-    models::Lsm6dsvModel imu;
-
-    /**
-     * @brief The magnetic encoders, whose position reaches the firmware through the timers.
-     */
-    ///@{
-    models::As5047uModel left_encoder;
-    models::As5047uModel right_encoder;
-    ///@}
-};
-
-/**
- * @brief Micras on the firmware's main branch, through the host micras_hal.
- *
- * @note The firmware runs as it does on the robot: its own main, its own proxies
- *       and its own configuration, over the host backend in hal_host/ and the
- *       fake Cube layer in cube/. Its SPI chips are the models of
- *       hal_host/models/. The host timer hands every step over to the world.
- */
-class MicrasTarget : public Target {
-public:
-    /**
-     * @brief Get the robot's name.
-     *
-     * @return "micras".
-     */
-    std::string name() const override;
-
-    /**
-     * @brief Get the commit of the firmware submodule this binary was built from.
-     *
-     * @return The commit, suffixed -dirty when the checkout had changes.
-     */
-    std::string firmware_sha() const override;
-
-    /**
-     * @brief Get the firmware's loop period.
-     *
-     * @return Period in microseconds, from the firmware's constants.
-     */
-    uint32_t loop_time_us() const override;
-
-    /**
-     * @brief Get the robot's own option: --flash, a file the flash is loaded from and saved to.
-     *
-     * @return The options.
-     */
-    std::vector<CliOption> options() override;
-
-    /**
-     * @brief Get the context the run advances.
-     *
-     * @return This target's context.
-     */
-    RunContext& context() override;
-
-    /**
-     * @brief Get the folder of this target.
-     *
-     * @return Path of targets/micras.
-     */
-    std::filesystem::path directory() const override;
-
-    /**
-     * @brief Get the robot's physical description.
-     *
-     * @return Path of targets/micras/robot.toml.
-     */
-    std::filesystem::path robot_file() const override;
-
-    /**
-     * @brief Get the ground truth columns of a Micras run.
-     *
-     * @return The recorder configuration.
-     */
-    GroundTruthConfig ground_truth() const override;
-
-    /**
-     * @brief Get the camera that follows the robot.
-     *
-     * @return "side tracking".
-     */
-    std::string video_camera() const override;
-
-    /**
-     * @brief Get the firmware's own main.
-     *
-     * @return The program.
-     */
-    FirmwareThread::Program program() override;
-
-    /**
-     * @brief Bind the devices to the host ports, hand time over, and build the panel.
-     *
-     * @param firmware Thread the host timer hands every step over through.
-     * @param world The robot and the arena.
-     * @return What Micras adds to the run.
-     */
-    Wiring wire(FirmwareThread& firmware, const WorldInfo& world) override;
-
-    /**
-     * @brief Stop handing time over, name the ports the firmware used that nothing is bound to, save
-     *        the flash when --flash asked for it, and forget every port.
-     *
-     * @note The firmware's objects live until the process exits, and the SPI of the IMU ends its
-     *       last transfer when it is destroyed. Forgetting the ports detaches the chips, so that
-     *       nothing reaches them once the target that owns them is gone.
-     */
-    void unwire() override;
-
-    /**
-     * @brief Get what the run's board reports: unbound ports, watchdog expiries, emergency stops.
-     *
-     * @return The counters.
-     */
-    std::vector<MetadataField> metadata() const override;
-
-private:
-    /**
-     * @brief Build the panel.
-     *
-     * @return What the panel shows.
-     */
-    PanelSpec make_panel() const;
-
-    /**
-     * @brief Build the scenario hooks: inputs, link commands, state names.
-     *
-     * @return The hooks.
-     */
-    ScenarioHooks make_hooks() const;
-
-    RunContext                     run_context;
-    std::filesystem::path          flash_file;
-    MicrasBoard                    board;
-    MicrasChips                    chips;
-    std::unique_ptr<PoolVariables> variables;
-};
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_MICRAS_MICRAS_TARGET_HPP
diff --git a/targets/micras/include/micras/sim/micras/pool_variables.hpp b/targets/micras/include/micras/sim/micras/pool_variables.hpp
deleted file mode 100644
index b306b08..0000000
--- a/targets/micras/include/micras/sim/micras/pool_variables.hpp
+++ /dev/null
@@ -1,68 +0,0 @@
-/**
- * @file
- *
- * @brief The firmware's registered variables, read straight from its pool.
- */
-
-#ifndef MICRAS_SIM_MICRAS_POOL_VARIABLES_HPP
-#define MICRAS_SIM_MICRAS_POOL_VARIABLES_HPP
-
-#include <string>
-#include <vector>
-
-#include "micras/core/variable_pool.hpp"
-#include "micras/sim/core/variable_source.hpp"
-#include "micras/sim/recording/column_source.hpp"
-
-namespace micras::sim {
-/**
- * @brief Records and looks up every variable the firmware registers, and its state.
- *
- * @note Read through Micras::get_variables() while the firmware is parked, so
- *       every value of a row belongs to the same instant. Blobs, such as the
- *       maze, are skipped. The state machine's state is
- *       added as "state", which the pool does not hold. Column names are the
- *       variables' full names with slashes as underscores: "pose/x" is pose_x.
- */
-class PoolVariables : public ColumnSource, public VariableSource {
-public:
-    /**
-     * @brief Check whether the firmware has constructed its robot, whose pool holds the variables.
-     *
-     * @return True once it has.
-     */
-    bool ready() const override;
-
-    /**
-     * @brief Get the column names.
-     *
-     * @note Throws when the firmware has not constructed its robot yet.
-     *
-     * @return "state" and one column per registered variable.
-     */
-    std::vector<std::string> names() override;
-
-    /**
-     * @brief Append every variable's current value.
-     *
-     * @param row Row being built.
-     */
-    void append(std::vector<CsvCell>& row) override;
-
-    /**
-     * @brief Get a variable's current value.
-     *
-     * @param name Full name, such as "pose/x", or "state".
-     * @return The value, or NaN before the robot exists or for unknown names.
-     */
-    double value_of(const std::string& name) const override;
-
-private:
-    /**
-     * @brief Ids of the recorded variables, in column order.
-     */
-    std::vector<core::VariableId> recorded;
-};
-}  // namespace micras::sim
-
-#endif  // MICRAS_SIM_MICRAS_POOL_VARIABLES_HPP
diff --git a/targets/micras/robot.toml b/targets/micras/robot.toml
deleted file mode 100644
index a9a64b4..0000000
--- a/targets/micras/robot.toml
+++ /dev/null
@@ -1,176 +0,0 @@
-# Micras, v2 main board, as built.
-#
-# The physical truth the simulator builds its model and devices from; the
-# firmware's config/targets/v1/robot.hpp is the robot's belief about itself, and
-# the `sim_robot_report` target shows where the two differ.
-#
-# Frames follow robot.hpp: x forward, y left, z up, origin on the floor under the
-# midpoint of the wheel axle. Lengths in meters, masses in kilograms, angles in
-# degrees where the key ends in _deg. From the CAD, in millimeters: the KiCad board
-# gives x = 113.5036 - y_KiCad, y = 148.5011 - x_KiCad, with the KiCad rotation as
-# the yaw; the SolidWorks assembly gives x = 1033.6 - Z_sw, y = -(X_sw + 4.9091),
-# z = Y_sw + 11.3503.
-#
-# Sources: "datasheet" (named), "CAD" (the KiCad board or the SolidWorks
-# assembly), "firmware" (target.hpp, the CubeMX project), "owner", "estimate".
-
-schema = 1
-name = "micras"
-
-[integration]
-# One firmware loop; halving it changed neither the contacts nor the trace.
-timestep = { value = 0.000125, source = "measured: tire contact, penetration and the explore trace unchanged at 62.5 and 31.25 us" }
-
-[chassis]
-mass = { value = 0.062, source = "estimate: 70 g for the whole robot (modeled parts, three 6 g cells, 5 g of components), less the two wheels; weigh it" }
-center_of_mass = { value = [-0.0008, 0.0, 0.017], source = "estimate: CAD volumes with assumed densities" }
-inertia = { value = [1.16e-5, 2.37e-5, 2.45e-5], source = "estimate: 2.9e-5 yaw for the whole robot from CAD volumes, less the wheels; roll and pitch scaled" }
-outline = { value = [[0.0535, 0.0150], [0.03456, 0.02447], [0.0323, 0.0250], [-0.0365, 0.0250], [-0.0365, -0.0250], [0.0323, -0.0250], [0.03456, -0.02447], [0.0535, -0.0150]], source = "CAD: KiCad board edge, nose chamfers at 26.6 deg, fillets as corners" }
-board_bottom = { value = 0.001, source = "CAD: BoardToFloorHeight" }
-board_top = { value = 0.002, source = "CAD: 1.04 mm FR-4" }
-friction = { value = 0.3, source = "estimate: FR-4 on a painted floor" }
-
-[[chassis.boxes]]
-name = "bearing_block_left"
-min = { value = [-0.0185, 0.00575, 0.002], source = "CAD" }
-max = { value = [0.0055, 0.02225, 0.025], source = "CAD" }
-
-[[chassis.boxes]]
-name = "bearing_block_right"
-min = { value = [-0.0185, -0.02225, 0.002], source = "CAD" }
-max = { value = [0.0055, -0.00575, 0.025], source = "CAD" }
-
-[[chassis.boxes]]
-name = "fan_holder"
-min = { value = [-0.0185, -0.0225, 0.025], source = "estimate: spans the bearing blocks and the impeller" }
-max = { value = [0.031, 0.0225, 0.027], source = "estimate" }
-
-[[chassis.boxes]]
-name = "battery_cells"
-min = { value = [-0.0198, -0.023, 0.022], source = "CAD: the three 46 x 12 x 7 mm cell bodies; where the third one sits is open" }
-max = { value = [0.0114, 0.023, 0.034], source = "CAD" }
-
-[[chassis.cylinders]]
-name = "fan_impeller"
-base = { value = [0.0175, 0.0, 0.0025], source = "CAD" }
-radius = { value = 0.0135, source = "CAD: 27 mm impeller" }
-height = { value = 0.007, source = "CAD" }
-
-[[chassis.cylinders]]
-name = "fan_motor"
-base = { value = [0.0175, 0.0, 0.0095], source = "CAD" }
-radius = { value = 0.005, source = "CAD: 10 mm coreless motor" }
-height = { value = 0.022, source = "CAD" }
-
-# The real robot has no third contact point: it rests on the rear edge of its board,
-# and on the front edge with the fan on or when it brakes. Two 1 mm skids stand in
-# for those edges. They are frictionless, since a sliding frictional contact would
-# lift the board off the floor in MuJoCo.
-[[chassis.skids]]
-name = "rear_skid"
-center = { value = [-0.034, 0.0, 0.001], source = "simulation: under the rear edge of the board, touching the floor when level" }
-radius = { value = 0.001, source = "simulation" }
-
-[[chassis.skids]]
-name = "front_skid"
-center = { value = [0.050, 0.0, 0.0013], source = "simulation: under the nose, 0.3 mm clear of the floor when level" }
-radius = { value = 0.001, source = "simulation" }
-
-[wheels]
-radius = { value = 0.011, source = "CAD: 1.0 mm tire band on a 20 mm hub seat" }
-width = { value = 0.00425, source = "CAD: WheelTireWidth" }
-track = { value = 0.04575, source = "CAD: tire center to tire center" }
-mass = { value = 0.004, source = "estimate: printed hub with its gear, and the tire" }
-spin_inertia = { value = 1.9e-7, source = "estimate: CAD volumes" }
-friction = { value = 1.0, source = "estimate: Kyosho MZW40-20 slick on a maze floor; measure by tilting" }
-torsional_friction = { value = 0.0005, source = "estimate: half the contact patch width" }
-contact_time_constant = { value = 0.008, source = "estimate: 1 mm silicone band, E ~ 0.5 MPa over a 4.25 x 3 mm patch, ~5000 N/m; 5 ms or more also keeps the tires on the floor when they slide" }
-contact_damping_ratio = { value = 1.0, source = "estimate" }
-
-[drive]
-winding_resistance = { value = 12.0, source = "datasheet: Maxon DCX 8 M, 4.2 V winding" }
-bridge_resistance = { value = 0.62, source = "datasheet: L6205D, one conducting path at 25 C" }
-torque_constant = { value = 0.00336, source = "datasheet: DCX 8 M 4.2 V" }
-speed_constant = { value = 0.003351, source = "datasheet: 2850 rpm/V" }
-no_load_current = { value = 0.00693, source = "datasheet: DCX 8 M 4.2 V" }
-rotor_inertia = { value = 3.79e-9, source = "datasheet: 0.0379 g cm^2" }
-gear_ratio = { value = 5.25, source = "CAD: 4 mm pinion to 21 mm wheel gear pitch circles" }
-gear_efficiency = { value = 0.9, source = "estimate: one printed spur stage" }
-supply_voltage = { value = 19.63, source = "CAD and datasheet: TPS611781 feedback divider" }
-
-[encoders]
-counts_per_revolution = { value = 16384, source = "firmware: AS5047U ABIRES 4096 pulses, four edges, magnet on the axle" }
-
-[imu]
-position = { value = [0.00066, 0.0, 0.0024], source = "CAD: IC2, 0.4 mm above the board top" }
-chip_x = { value = [0.0, -1.0, 0.0], source = "CAD and datasheet: pin 1 at the front left" }
-chip_y = { value = [1.0, 0.0, 0.0], source = "CAD and datasheet" }
-gyro_noise_density = { value = 4.887e-5, source = "datasheet: LSM6DSV 2.8 mdps/sqrt(Hz), in rad/s/sqrt(Hz)" }
-gyro_bias = { value = 0.005236, source = "estimate: one third of the +-1 dps zero-rate level, in rad/s" }
-gyro_scale_error = { value = 0.001, source = "estimate: one third of the +-0.3 % sensitivity tolerance" }
-gyro_resolution = { value = 0.0024435, source = "firmware: +-4000 dps full scale, 140 mdps per LSB, in rad/s" }
-accel_noise_density = { value = 5.884e-4, source = "datasheet: 60 ug/sqrt(Hz), in m/s^2/sqrt(Hz)" }
-accel_bias = { value = 0.0392, source = "estimate: one third of the +-12 mg zero-g offset, in m/s^2" }
-accel_resolution = { value = 0.0023929, source = "firmware: +-8 g full scale, 0.244 mg per LSB, in m/s^2" }
-bandwidth = { value = 281.0, source = "firmware and datasheet: LPF1 ultra light at 8 kHz" }
-output_rate = { value = 8000.0, source = "firmware: high accuracy ODR" }
-clock_error = { value = 0.005, source = "estimate: within the datasheet's +-1 % in high accuracy mode" }
-
-[fan]
-position = { value = [0.0175, 0.0, 0.0025], source = "CAD: impeller over the 15 mm hole" }
-max_downforce = { value = 3.0, source = "owner: about 3 N at full speed" }
-nominal_voltage = { value = 12.3, source = "the charged pack the simulation runs from, so full speed gives max_downforce" }
-time_constant = { value = 0.15, source = "estimate: coreless motor with a 27 mm impeller" }
-
-[battery]
-cells = { value = 3, source = "owner" }
-cell_voltage = { value = 4.1, source = "estimate: a charged cell under a light load" }
-
-[link]
-baud_rate = { value = 115200, source = "firmware: usart.c, UART4 to the HM-19" }
-
-[wall_sensors]
-emitter_half_angle_deg = { value = 3.0, source = "datasheet: SFH4550" }
-emitter_intensity = { value = 1.8, source = "datasheet and CAD: 1100 mW/sr at 100 mA, driven at about 164 mA" }
-receiver_half_angle_deg = { value = 10.0, source = "datasheet: TPS601A" }
-receiver_responsivity = { value = 4.0e-4, source = "datasheet: TPS601A rank B, mid range; the rank is unknown" }
-load_resistance = { value = 1000.0, source = "CAD" }
-saturation_voltage = { value = 2.9, source = "CAD" }
-adc_reference = { value = 3.3, source = "firmware" }
-adc_max_counts = { value = 65535.0, source = "firmware: 16-bit, 8x oversampled and shifted by 3" }
-adc_noise_counts = { value = 20.0, source = "estimate" }
-settle_fraction = { value = 0.976, source = "estimate: 75 us of settling against a 20 us receiver time constant" }
-ambient_irradiance = { value = 0.01, source = "estimate: indoor lighting in the receiver's band, in W/m^2" }
-rays = { value = 16, source = "simulation: rays per emitter cone" }
-
-[[wall_sensors.sensors]]
-name = "left_front"
-emitter = { value = [0.0434, 0.0215, 0.01175], source = "CAD: W1 lens tip" }
-receiver = { value = [0.0444, 0.0215, 0.00525], source = "CAD: W1 lens tip" }
-yaw_deg = { value = 0.0, source = "CAD" }
-group = { value = 0, source = "firmware: TIM4 channel 1, not inverted" }
-gain = { value = 1.8815, source = "calibrated: target.hpp reference_readings over the simulated reading at the calibration pose (tools/wall_calibration)" }
-
-[[wall_sensors.sensors]]
-name = "left"
-emitter = { value = [0.05229, 0.01491, 0.01175], source = "CAD: W2 lens tip" }
-receiver = { value = [0.053, 0.01562, 0.00525], source = "CAD: W2 lens tip" }
-yaw_deg = { value = 45.0, source = "CAD" }
-group = { value = 1, source = "firmware: TIM4 channel 2, inverted" }
-gain = { value = 3.7461, source = "calibrated: target.hpp reference_readings over the simulated reading at the calibration pose (tools/wall_calibration)" }
-
-[[wall_sensors.sensors]]
-name = "right"
-emitter = { value = [0.05229, -0.01491, 0.01175], source = "CAD: W3 lens tip" }
-receiver = { value = [0.053, -0.01562, 0.00525], source = "CAD: W3 lens tip" }
-yaw_deg = { value = -45.0, source = "CAD" }
-group = { value = 0, source = "firmware: TIM4 channel 3, not inverted" }
-gain = { value = 4.1181, source = "calibrated: target.hpp reference_readings over the simulated reading at the calibration pose (tools/wall_calibration)" }
-
-[[wall_sensors.sensors]]
-name = "right_front"
-emitter = { value = [0.0434, -0.0215, 0.01175], source = "CAD: W4 lens tip" }
-receiver = { value = [0.0444, -0.0215, 0.00525], source = "CAD: W4 lens tip" }
-yaw_deg = { value = 0.0, source = "CAD" }
-group = { value = 1, source = "firmware: TIM4 channel 4, inverted" }
-gain = { value = 1.0478, source = "calibrated: target.hpp reference_readings over the simulated reading at the calibration pose (tools/wall_calibration)" }
diff --git a/targets/micras/scenarios/explore.toml b/targets/micras/scenarios/explore.toml
deleted file mode 100644
index e9a1fca..0000000
--- a/targets/micras/scenarios/explore.toml
+++ /dev/null
@@ -1,24 +0,0 @@
-# A short press starts an exploration, as on the robot: the firmware waits 3 s
-# with its hand clear, explores, and comes back to the start. The run ends when it
-# is idle again, or has given up in ERROR.
-robot = "micras"
-arena = "maze1"
-seconds = 180
-seed = 1
-
-# Where the firmware expects to be placed (constants.hpp start_offset): its origin
-# about 40 mm in front of the face of the back wall, the board clear of it.
-[start]
-x = 0.09
-y = 0.0463
-yaw_deg = 90.0
-
-[[events]]
-at = 0.5
-press = "button"
-for = 0.25
-
-[stop]
-when = "state"
-equals = ["IDLE", "ERROR"]
-after = 5.0
diff --git a/targets/micras/scenarios/explore_link.toml b/targets/micras/scenarios/explore_link.toml
deleted file mode 100644
index 519e539..0000000
--- a/targets/micras/scenarios/explore_link.toml
+++ /dev/null
@@ -1,21 +0,0 @@
-# The same exploration, started by micras-monitor's EXPLORE command over the link.
-robot = "micras"
-arena = "maze1"
-seconds = 180
-seed = 1
-
-# Where the firmware expects to be placed (constants.hpp start_offset): its origin
-# about 40 mm in front of the face of the back wall, the board clear of it.
-[start]
-x = 0.09
-y = 0.0463
-yaw_deg = 90.0
-
-[[events]]
-at = 0.5
-send = "explore"
-
-[stop]
-when = "state"
-equals = ["IDLE", "ERROR"]
-after = 5.0
diff --git a/targets/micras/scenarios/explore_solve.toml b/targets/micras/scenarios/explore_solve.toml
deleted file mode 100644
index e905613..0000000
--- a/targets/micras/scenarios/explore_solve.toml
+++ /dev/null
@@ -1,41 +0,0 @@
-# The whole contest. A short press explores the maze, and the firmware comes back to
-# the start on its own and saves the map. Once it is idle again, a long press (more
-# than the firmware's 500 ms) plans and runs the fastest route it found to the goal.
-# The run ends when it is idle after the solve, or at once if it gives up in ERROR.
-robot = "micras"
-arena = "maze1"
-seconds = 600
-seed = 1
-
-# Where the firmware expects to be placed (constants.hpp start_offset): its origin
-# about 40 mm in front of the face of the back wall, the board clear of it.
-[start]
-x = 0.09
-y = 0.0463
-yaw_deg = 90.0
-
-# The fan switch, as for a contest run: the firmware only runs the fan for the solve,
-# whose route and speeds it plans with the fan's downforce.
-[[events]]
-at = 0.1
-set = "dip_fan"
-value = true
-
-[[events]]
-at = 0.5
-press = "button"
-for = 0.25
-
-[[events]]
-at = 5.0
-when = "state"
-equals = "IDLE"
-press = "button"
-for = 1.0
-
-[stop]
-when = "state"
-equals = "IDLE"
-after = 5.0
-count = 2
-abort = "ERROR"
diff --git a/targets/micras/scenarios/explore_solve_all.toml b/targets/micras/scenarios/explore_solve_all.toml
deleted file mode 100644
index 59cae14..0000000
--- a/targets/micras/scenarios/explore_solve_all.toml
+++ /dev/null
@@ -1,58 +0,0 @@
-# The whole contest in the fastest mode. A short press explores the maze, and the
-# firmware comes back to the start on its own and saves the map. Once it is idle again,
-# a long press (more than the firmware's 500 ms) plans and runs the fastest route it
-# found to the goal. The run ends when it is idle after the solve, or at once if it
-# gives up in ERROR.
-robot = "micras"
-arena = "maze1"
-seconds = 600
-seed = 1
-
-# Where the firmware expects to be placed (constants.hpp start_offset): its origin
-# about 40 mm in front of the face of the back wall, the board clear of it.
-[start]
-x = 0.09
-y = 0.0463
-yaw_deg = 90.0
-
-# Every switch of the fast run on: the fan, the racing line, boost and the risky turns. The
-# firmware only runs the fan for the solve, whose route and speeds it plans with the
-# fan's downforce; the search is the same whatever the switches say.
-[[events]]
-at = 0.1
-set = "dip_fan"
-value = true
-
-[[events]]
-at = 0.1
-set = "dip_racing_line"
-value = true
-
-[[events]]
-at = 0.1
-set = "dip_boost"
-value = true
-
-[[events]]
-at = 0.1
-set = "dip_risky"
-value = true
-
-[[events]]
-at = 0.5
-press = "button"
-for = 0.25
-
-[[events]]
-at = 5.0
-when = "state"
-equals = "IDLE"
-press = "button"
-for = 1.0
-
-[stop]
-when = "state"
-equals = "IDLE"
-after = 5.0
-count = 2
-abort = "ERROR"
diff --git a/targets/micras/scenarios/idle.toml b/targets/micras/scenarios/idle.toml
deleted file mode 100644
index 5a96f83..0000000
--- a/targets/micras/scenarios/idle.toml
+++ /dev/null
@@ -1,12 +0,0 @@
-# The robot switched on in the start cell and left alone.
-robot = "micras"
-arena = "maze1"
-seconds = 4
-seed = 1
-
-# Where the firmware expects to be placed (constants.hpp start_offset): its origin
-# about 40 mm in front of the face of the back wall, the board clear of it.
-[start]
-x = 0.09
-y = 0.0463
-yaw_deg = 90.0
diff --git a/targets/micras/scenarios/solve.toml b/targets/micras/scenarios/solve.toml
deleted file mode 100644
index 9fb98eb..0000000
--- a/targets/micras/scenarios/solve.toml
+++ /dev/null
@@ -1,31 +0,0 @@
-# The fastest run alone, from a map an earlier exploration saved: give the flash of
-# that run with --flash. With the fan switch on, a long press plans the route and runs
-# it; the run ends when the robot is idle at the goal, or at once if it gives up in
-# ERROR.
-robot = "micras"
-arena = "maze1"
-seconds = 120
-seed = 1
-
-# Where the firmware expects to be placed (constants.hpp start_offset): its origin
-# about 40 mm in front of the face of the back wall, the board clear of it.
-[start]
-x = 0.09
-y = 0.0463
-yaw_deg = 90.0
-
-[[events]]
-at = 0.1
-set = "dip_fan"
-value = true
-
-[[events]]
-at = 0.5
-press = "button"
-for = 1.0
-
-[stop]
-when = "state"
-equals = "IDLE"
-after = 2.0
-abort = "ERROR"
diff --git a/targets/micras/scenarios/solve_all.toml b/targets/micras/scenarios/solve_all.toml
deleted file mode 100644
index 029476e..0000000
--- a/targets/micras/scenarios/solve_all.toml
+++ /dev/null
@@ -1,46 +0,0 @@
-# The fastest run alone in the fastest mode, from a map an earlier exploration saved:
-# give the flash of that run with --flash. With every switch on (fan, racing line, boost,
-# risky turns), a long press plans the route and runs it; the run ends when the robot
-# is idle at the goal, or at once if it gives up in ERROR.
-robot = "micras"
-arena = "maze1"
-seconds = 120
-seed = 1
-
-# Where the firmware expects to be placed (constants.hpp start_offset): its origin
-# about 40 mm in front of the face of the back wall, the board clear of it.
-[start]
-x = 0.09
-y = 0.0463
-yaw_deg = 90.0
-
-[[events]]
-at = 0.1
-set = "dip_fan"
-value = true
-
-[[events]]
-at = 0.1
-set = "dip_racing_line"
-value = true
-
-[[events]]
-at = 0.1
-set = "dip_boost"
-value = true
-
-[[events]]
-at = 0.1
-set = "dip_risky"
-value = true
-
-[[events]]
-at = 0.5
-press = "button"
-for = 1.0
-
-[stop]
-when = "state"
-equals = "IDLE"
-after = 2.0
-abort = "ERROR"
diff --git a/targets/micras/scripts/check_flash.sh b/targets/micras/scripts/check_flash.sh
deleted file mode 100755
index 469bfde..0000000
--- a/targets/micras/scripts/check_flash.sh
+++ /dev/null
@@ -1,23 +0,0 @@
-#!/bin/bash
-# check_flash.sh <simulator> <scenarios dir> <runs dir> <tools dir>
-#
-# The checked exploration saves its map when it reaches the goal, which leaves a programmed image in its
-# flash file (run_explore.sh), and a new run boots from that image to IDLE.
-
-set -euo pipefail
-
-if [[ $# -ne 4 ]]; then
-    echo "usage: $0 <simulator> <scenarios dir> <runs dir> <tools dir>" >&2
-    exit 2
-fi
-
-simulator=$1
-scenarios=$2
-runs=$3
-tools=$4
-
-python3 -c 'import sys; image = open(sys.argv[1], "rb").read(); sys.exit(0 if any(byte != 0xFF for byte in image) else "the flash image is blank")' \
-    "${runs}/explore/flash.bin"
-cp "${runs}/explore/flash.bin" "${runs}/booted.bin"
-"${simulator}" --scenario "${scenarios}/idle.toml" --out "${runs}/booted" --flash "${runs}/booted.bin" > /dev/null
-python3 "${tools}/check_run.py" --expect-state IDLE "${runs}/booted"
diff --git a/targets/micras/scripts/check_health.sh b/targets/micras/scripts/check_health.sh
deleted file mode 100755
index 5332f1d..0000000
--- a/targets/micras/scripts/check_health.sh
+++ /dev/null
@@ -1,25 +0,0 @@
-#!/bin/bash
-# check_health.sh <tools dir> <runs dir> <run>...
-#
-# The checked runs' health: no warning, collision or non-finite sample, and no unbound port, watchdog
-# expiry, emergency stop or dropped byte.
-
-set -euo pipefail
-
-if [[ $# -lt 3 ]]; then
-    echo "usage: $0 <tools dir> <runs dir> <run>..." >&2
-    exit 2
-fi
-
-tools=$1
-runs=$2
-shift 2
-
-paths=()
-
-for run in "$@"; do
-    paths+=("${runs}/${run}")
-done
-
-python3 "${tools}/check_run.py" --expect unbound_ports=0 --expect watchdog_expiries=0 --expect emergency_stops=0 \
-    --expect serial_dropped_bytes=0 "${paths[@]}"
diff --git a/targets/micras/scripts/compare_baseline.sh b/targets/micras/scripts/compare_baseline.sh
deleted file mode 100755
index 696faf6..0000000
--- a/targets/micras/scripts/compare_baseline.sh
+++ /dev/null
@@ -1,29 +0,0 @@
-#!/bin/bash
-# compare_baseline.sh <tools dir> <plugin> <runs dir> <baseline dir> <exact> <run>...
-#
-# Compares each checked run with its summary in the baseline version; with <exact> ON a byte that moved
-# fails too, the check for a change that must not move one, such as a refactoring.
-
-set -euo pipefail
-
-if [[ $# -lt 6 ]]; then
-    echo "usage: $0 <tools dir> <plugin> <runs dir> <baseline dir> <exact> <run>..." >&2
-    exit 2
-fi
-
-tools=$1
-plugin=$2
-runs=$3
-baseline=$4
-exact=$5
-shift 5
-
-exact_flag=()
-
-if [[ "${exact}" == ON ]]; then
-    exact_flag=(--exact)
-fi
-
-for run in "$@"; do
-    python3 "${tools}/baseline.py" compare "${runs}/${run}" "${baseline}/${run}" --plugin "${plugin}" "${exact_flag[@]}"
-done
diff --git a/targets/micras/scripts/contest.sh b/targets/micras/scripts/contest.sh
deleted file mode 100755
index 44f4ef6..0000000
--- a/targets/micras/scripts/contest.sh
+++ /dev/null
@@ -1,32 +0,0 @@
-#!/bin/bash
-# contest.sh <simulator> <scenario> <out dir> <tools dir> <maze>...
-#
-# The whole contest in every maze at once, exploring and then the fastest run, and its health. A row
-# every 10 ms is plenty for the health, and the events are still found every tick.
-
-set -euo pipefail
-
-if [[ $# -lt 5 ]]; then
-    echo "usage: $0 <simulator> <scenario> <out dir> <tools dir> <maze>..." >&2
-    exit 2
-fi
-
-simulator=$1
-scenario=$2
-out=$3
-tools=$4
-shift 4
-
-runs=()
-
-for maze in "$@"; do
-    mkdir -p "${out}/${maze}"
-    "${simulator}" --scenario "${scenario}" --maze "${maze}" --out "${out}/${maze}" --record-every 80 \
-        > "${out}/${maze}/stdout.txt" &
-    runs+=("${out}/${maze}")
-done
-
-wait
-
-python3 "${tools}/check_run.py" --expect-state IDLE --expect unbound_ports=0 --expect watchdog_expiries=0 \
-    --expect emergency_stops=0 "${runs[@]}"
diff --git a/targets/micras/scripts/record_baseline.sh b/targets/micras/scripts/record_baseline.sh
deleted file mode 100755
index 65df735..0000000
--- a/targets/micras/scripts/record_baseline.sh
+++ /dev/null
@@ -1,22 +0,0 @@
-#!/bin/bash
-# record_baseline.sh <tools dir> <plugin> <runs dir> <baseline dir> <run>...
-#
-# Records a new baseline version from the checked runs. baseline.py refuses to overwrite a version, so
-# an older one is never lost: a change of behavior is a new version.
-
-set -euo pipefail
-
-if [[ $# -lt 5 ]]; then
-    echo "usage: $0 <tools dir> <plugin> <runs dir> <baseline dir> <run>..." >&2
-    exit 2
-fi
-
-tools=$1
-plugin=$2
-runs=$3
-baseline=$4
-shift 4
-
-for run in "$@"; do
-    python3 "${tools}/baseline.py" record "${runs}/${run}" "${baseline}/${run}" --plugin "${plugin}"
-done
diff --git a/targets/micras/scripts/run_explore.sh b/targets/micras/scripts/run_explore.sh
deleted file mode 100755
index e6d9d29..0000000
--- a/targets/micras/scripts/run_explore.sh
+++ /dev/null
@@ -1,20 +0,0 @@
-#!/bin/bash
-# run_explore.sh <simulator> <scenarios dir> <runs dir> <seconds>
-#
-# The first <seconds> of an exploration started by the button, keeping the flash it saves: the search
-# to the goal, where the firmware saves the map, and the start of the way back -> <runs dir>/explore.
-# The run starts from the runs directory with a copy of its scenario, so the paths meta.json and a
-# baseline summary record are the same on every machine.
-
-set -euo pipefail
-
-if [[ $# -ne 4 ]]; then
-    echo "usage: $0 <simulator> <scenarios dir> <runs dir> <seconds>" >&2
-    exit 2
-fi
-
-mkdir -p "$3/explore"
-rm -f "$3/explore/flash.bin"
-cp "$2/explore.toml" "$3/explore.toml"
-cd "$3"
-"$1" --scenario explore.toml --seconds "$4" --out explore --flash explore/flash.bin
diff --git a/targets/micras/scripts/run_idle.sh b/targets/micras/scripts/run_idle.sh
deleted file mode 100755
index 8a4be4e..0000000
--- a/targets/micras/scripts/run_idle.sh
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/bin/bash
-# run_idle.sh <simulator> <scenarios dir> <runs dir>
-#
-# The robot left alone for 4 s -> <runs dir>/idle. The run starts from the runs directory with a copy of
-# its scenario, so the paths meta.json and a baseline summary record are the same on every machine.
-
-set -euo pipefail
-
-if [[ $# -ne 3 ]]; then
-    echo "usage: $0 <simulator> <scenarios dir> <runs dir>" >&2
-    exit 2
-fi
-
-mkdir -p "$3"
-cp "$2/idle.toml" "$3/idle.toml"
-cd "$3"
-"$1" --scenario idle.toml --out idle
diff --git a/targets/micras/scripts/serve.sh b/targets/micras/scripts/serve.sh
deleted file mode 100755
index 1667d9b..0000000
--- a/targets/micras/scripts/serve.sh
+++ /dev/null
@@ -1,15 +0,0 @@
-#!/bin/bash
-# serve.sh <simulator> <scenarios dir> <runs dir>
-#
-# An exploration started over the link, with the bridge open so micras-monitor can connect on
-# ws://localhost:8080 -> <runs dir>/serve
-
-set -euo pipefail
-
-if [[ $# -ne 3 ]]; then
-    echo "usage: $0 <simulator> <scenarios dir> <runs dir>" >&2
-    exit 2
-fi
-
-mkdir -p "$3"
-"$1" --scenario "$2/explore_link.toml" --out "$3/serve" --monitor
diff --git a/targets/micras/scripts/turn_designs.sh b/targets/micras/scripts/turn_designs.sh
deleted file mode 100755
index 7bcacc8..0000000
--- a/targets/micras/scripts/turn_designs.sh
+++ /dev/null
@@ -1,15 +0,0 @@
-#!/bin/bash
-# turn_designs.sh <turn designer> <header>
-#
-# Designs the turns of two bends and rewrites the firmware's two_bend_turns.hpp, only once the designer
-# succeeded, so a failed search leaves the header as it was.
-
-set -euo pipefail
-
-if [[ $# -ne 2 ]]; then
-    echo "usage: $0 <turn designer> <header>" >&2
-    exit 2
-fi
-
-"$1" > "$2.new"
-mv "$2.new" "$2"
diff --git a/targets/micras/scripts/watch.sh b/targets/micras/scripts/watch.sh
deleted file mode 100755
index d9ffa39..0000000
--- a/targets/micras/scripts/watch.sh
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/bin/bash
-# watch.sh <simulator> <scenarios dir> <runs dir>
-#
-# An exploration in a window. Space pauses, right steps, tab cycles cameras, esc quits -> <runs dir>/watch
-
-set -euo pipefail
-
-if [[ $# -ne 3 ]]; then
-    echo "usage: $0 <simulator> <scenarios dir> <runs dir>" >&2
-    exit 2
-fi
-
-mkdir -p "$3"
-"$1" --scenario "$2/explore.toml" --out "$3/watch" --viewer
diff --git a/targets/micras/src/bindings.cpp b/targets/micras/src/bindings.cpp
deleted file mode 100644
index 1927958..0000000
--- a/targets/micras/src/bindings.cpp
+++ /dev/null
@@ -1,326 +0,0 @@
-/**
- * @file
- */
-
-#include <array>
-#include <cmath>
-#include <cstddef>
-#include <cstdint>
-#include <memory>
-#include <optional>
-#include <span>
-#include <string>
-#include <utility>
-
-#include "constants.hpp"
-#include "micras/hal/gpio.hpp"
-#include "micras/hal/host/board.hpp"
-#include "micras/hal/host/ports.hpp"
-#include "micras/hal/host/spi_device.hpp"
-#include "micras/hal/pwm.hpp"
-#include "micras/hal/spi.hpp"
-#include "micras/models/as5047u_model.hpp"
-#include "micras/proxy/button.hpp"
-#include "micras/proxy/motor.hpp"
-#include "micras/proxy/rotary_sensor.hpp"
-#include "micras/sim/app/wiring.hpp"
-#include "micras/sim/core/run_context.hpp"
-#include "micras/sim/core/span_at.hpp"
-#include "micras/sim/devices/dc_motor.hpp"
-#include "micras/sim/devices/digital_input.hpp"
-#include "micras/sim/devices/imu.hpp"
-#include "micras/sim/devices/power.hpp"
-#include "micras/sim/devices/quadrature_encoder.hpp"
-#include "micras/sim/devices/serial_link.hpp"
-#include "micras/sim/devices/wall_sensors.hpp"
-#include "micras/sim/micras/bindings.hpp"
-#include "micras/sim/micras/micras_target.hpp"
-#include "micras/sim/robot/robot_description.hpp"
-#include "micras/sim/robot/robot_model.hpp"
-#include "target.hpp"
-
-namespace micras::sim {
-namespace {
-using hal::host::Board;
-}  // namespace
-
-/**
- * @brief Add a device to the run and keep a view of it.
- *
- * @param context Context whose devices are added to.
- * @param device The device.
- * @return The view.
- */
-template <typename T>
-static T* add(RunContext& context, std::unique_ptr<T> device) {
-    T* view = device.get();
-    context.devices.push_back(std::move(device));
-    return view;
-}
-
-/**
- * @brief Get a PWM port, marked as bound.
- *
- * @param config The firmware's configuration of the channel.
- * @return The port.
- */
-static hal::host::PwmPort& pwm_port(const hal::Pwm::Config& config) {
-    hal::host::PwmPort& port = Board::pwm(config.handle, config.timer_channel);
-    port.bound = true;
-    return port;
-}
-
-/**
- * @brief Get a GPIO port, marked as bound.
- *
- * @param config The firmware's configuration of the pin.
- * @return The port.
- */
-static hal::host::GpioPort& gpio_port(const hal::Gpio::Config& config) {
-    hal::host::GpioPort& port = Board::gpio(config.port, config.pin);
-    port.bound = true;
-    return port;
-}
-
-/**
- * @brief Build one wheel's motor.
- *
- * @param context Context whose devices are added to.
- * @param world The robot.
- * @param motor The firmware's configuration of the motor.
- * @param side "left" or "right".
- * @return The motor.
- */
-static DcMotor* bind_motor(
-    RunContext& context, const WorldInfo& world, const proxy::Motor::Config& motor, const std::string& side
-) {
-    const RobotModelNames names = RobotModelNames::of(*world.robot);
-    hal::host::PwmPort&   forward = pwm_port(motor.forward_pwm);
-    hal::host::PwmPort&   backward = pwm_port(motor.backwards_pwm);
-    hal::host::GpioPort&  enable = gpio_port(locomotion_config.enable_gpio);
-
-    return add(
-        context, std::make_unique<DcMotor>(
-                     context.world, DcMotor::Config{
-                                        .name = "motor_" + side,
-                                        .actuator = side == "left" ? names.left_motor : names.right_motor,
-                                        .joint = side == "left" ? names.left_wheel : names.right_wheel,
-                                        .drive = world.robot->drive,
-                                        .forward_duty = [&forward] { return forward.duty_cycle; },
-                                        .backward_duty = [&backward] { return backward.duty_cycle; },
-                                        .enabled = [&enable] { return enable.output; },
-                                    }
-                 )
-    );
-}
-
-/**
- * @brief Attach a chip to the bus and chip select the firmware's configuration names.
- *
- * @param spi The firmware's configuration of the chip's SPI.
- * @param chip The chip.
- */
-static void attach(const hal::Spi::Config& spi, hal::host::SpiDevice& chip) {
-    Board::spi_device(spi.handle, spi.cs_gpio.port, spi.cs_gpio.pin, chip);
-}
-
-/**
- * @brief Build one wheel's encoder.
- *
- * @param context Context whose devices are added to.
- * @param world The robot.
- * @param sensor The firmware's configuration of the rotary sensor.
- * @param chip The rotary sensor's chip.
- * @param side "left" or "right".
- */
-static void bind_encoder(
-    RunContext& context, const WorldInfo& world, const proxy::RotarySensor::Config& sensor, models::As5047uModel& chip,
-    const std::string& side
-) {
-    const RobotModelNames   names = RobotModelNames::of(*world.robot);
-    hal::host::EncoderPort& port = Board::encoder(sensor.encoder.handle);
-    port.bound = true;
-    attach(sensor.spi, chip);
-
-    add(context, std::make_unique<QuadratureEncoder>(
-                     context.world, QuadratureEncoder::Config{
-                                        .name = "encoder_" + side,
-                                        .joint = side == "left" ? names.left_wheel : names.right_wheel,
-                                        .counts_per_revolution = world.robot->encoders.counts_per_revolution,
-                                        .write = [&port](int32_t count) { port.count = count; },
-                                    }
-                 ));
-}
-
-/**
- * @brief Build a two-position input driving a GPIO.
- *
- * @param context Context whose devices are added to.
- * @param name Name of the input.
- * @param gpio The firmware's configuration of the pin.
- * @param active_low Whether pressed, or on, reads low.
- * @return The input.
- */
-static DigitalInput*
-    bind_input(RunContext& context, const std::string& name, const hal::Gpio::Config& gpio, bool active_low) {
-    hal::host::GpioPort& port = gpio_port(gpio);
-
-    return add(
-        context, std::make_unique<DigitalInput>(DigitalInput::Config{
-                     .name = name,
-                     .active_low = active_low,
-                     .drive = [&port](bool level) { port.input = level; },
-                 })
-    );
-}
-
-MicrasBoard bind_devices(RunContext& context, const WorldInfo& world, MicrasChips& chips) {
-    const RobotModelNames names = RobotModelNames::of(*world.robot);
-    MicrasBoard           board;
-
-    board.left_motor = bind_motor(context, world, locomotion_config.left_motor, "left");
-    board.right_motor = bind_motor(context, world, locomotion_config.right_motor, "right");
-    bind_encoder(context, world, rotary_sensor_left_config, chips.left_encoder, "left");
-    bind_encoder(context, world, rotary_sensor_right_config, chips.right_encoder, "right");
-
-    attach(imu_config.spi, chips.imu);
-    const ImuDescription& imu = world.robot->imu;
-
-    add(context,
-        std::make_unique<Imu>(
-            context.world,
-            Imu::Config{
-                .name = "lsm6dsv",
-                .gyro = names.gyro,
-                .accelerometer = names.accelerometer,
-                .description = imu,
-                .write =
-                    [&chip = chips.imu, gyro = imu.gyro_resolution,
-                     accel = imu.accel_resolution](std::span<const float> sample) {
-                        chip.push_sample(
-                            {static_cast<double>(at(sample, 0)) * gyro, static_cast<double>(at(sample, 1)) * gyro,
-                             static_cast<double>(at(sample, 2)) * gyro},
-                            {static_cast<double>(at(sample, 3)) * accel, static_cast<double>(at(sample, 4)) * accel,
-                             static_cast<double>(at(sample, 5)) * accel}
-                        );
-                    },
-            },
-            context.noise
-        ));
-
-    hal::host::AdcPort& wall_adc = Board::adc(wall_sensors_config.adc.handle);
-    wall_adc.bound = true;
-    std::array<hal::host::PwmPort*, 4> emitters{};
-
-    for (std::size_t sensor = 0; sensor < emitters.size(); sensor++) {
-        emitters.at(sensor) = &pwm_port(wall_sensors_config.led_pwms.at(sensor));
-    }
-
-    const double scan_period = 1.0 / (2.0 * static_cast<double>(wall_sensors_frequency));
-
-    board.wall_sensors = add(
-        context,
-        std::make_unique<WallSensors>(
-            context.world,
-            WallSensors::Config{
-                .name = "wall",
-                .description = world.robot->wall_sensors,
-                .scan_ticks = static_cast<uint32_t>(std::lround(scan_period / (context.clock.us_per_tick() * 1e-6))),
-                .emitter_duty = [emitters](std::size_t sensor) { return emitters.at(sensor)->duty_cycle; },
-                .write = [&wall_adc](std::size_t index, uint32_t counts) { wall_adc.write(index, counts); },
-                .finish_sequence = [&wall_adc] { wall_adc.finish_sequence(); },
-                .reflectance = world.reflectance,
-            },
-            context.noise
-        )
-    );
-
-    hal::host::AdcPort& battery_adc = Board::adc(battery_config.adc.handle);
-    battery_adc.bound = true;
-    board.battery =
-        add(context, std::make_unique<Battery>(
-                         Battery::Config{
-                             .name = "pack",
-                             .description = world.robot->battery,
-                             .divider = static_cast<double>(battery_config.voltage_divider),
-                             .adc_reference = static_cast<double>(battery_config.adc.reference_voltage),
-                             .adc_max_counts = static_cast<double>(battery_config.adc.max_reading),
-                             .adc_noise_counts = 1.0,
-                             .write = [&battery_adc](uint32_t counts) { battery_adc.write(0, counts); },
-                         },
-                         context.noise
-                     ));
-
-    hal::host::PwmPort&  fan_pwm = pwm_port(fan_config.pwm);
-    hal::host::GpioPort& fan_enable = gpio_port(fan_config.enable_gpio);
-    const Battery*       battery = board.battery;
-    board.fan =
-        add(context, std::make_unique<Fan>(
-                         context.world, Fan::Config{
-                                            .name = "fan",
-                                            .actuator = names.fan,
-                                            .description = world.robot->fan,
-                                            .duty = [&fan_pwm] { return fan_pwm.duty_cycle; },
-                                            .enabled = [&fan_enable] { return fan_enable.output; },
-                                            .supply_voltage = [battery] { return battery->voltage(); },
-                                        }
-                     ));
-
-    hal::host::AdcPort& torque_adc = Board::adc(torque_sensors_config.adc.handle);
-    torque_adc.bound = true;
-    const DcMotor* left = board.left_motor;
-    const DcMotor* right = board.right_motor;
-    add(context,
-        std::make_unique<CurrentSense>(
-            CurrentSense::Config{
-                .currents = {[left] { return left->current(); }, [right] { return right->current(); }},
-                .zero_voltage = static_cast<double>(
-                    torque_sensors_config.zero_reading * torque_sensors_config.adc.reference_voltage
-                ),
-                .volts_per_amp = static_cast<double>(torque_sensors_config.shunt_resistor),
-                .adc_reference = static_cast<double>(torque_sensors_config.adc.reference_voltage),
-                .adc_max_counts = static_cast<double>(torque_sensors_config.adc.max_reading),
-                .adc_noise_counts = 4.0,
-                .write = [&torque_adc](std::size_t index, uint32_t counts) { torque_adc.write(index, counts); },
-            },
-            context.noise
-        ));
-
-    hal::host::UartPort& uart = Board::uart(bluetooth_config.handle);
-    uart.bound = true;
-    add(context, std::make_unique<SerialLink>(
-                     context.serial, SerialLink::Config{
-                                         .baud_rate = world.robot->link.baud_rate,
-                                         .take_sent = [&uart]() -> std::optional<uint8_t> {
-                                             if (uart.tx.empty()) {
-                                                 return std::nullopt;
-                                             }
-
-                                             const uint8_t byte = uart.tx.front();
-                                             uart.tx.pop_front();
-                                             return byte;
-                                         },
-                                         .receive = [&uart](uint8_t byte) { uart.receive(byte); },
-                                     }
-                 ));
-
-    board.button = bind_input(
-        context, "button", button_config.gpio, button_config.pull_resistor == proxy::Button::PullResistor::PULL_UP
-    );
-
-    for (std::size_t index = 0; index < board.dip_switches.size(); index++) {
-        board.dip_switches.at(index) = bind_input(
-            context, std::string{"dip_"} + dip_names.at(index), dip_switch_config.gpio_array.at(index),
-            dip_switch_config.active_low
-        );
-    }
-
-    gpio_port(led_config.gpio);
-    pwm_port(buzzer_config.pwm);
-    Board::pwm_dma(argb_config.pwm.handle, argb_config.pwm.timer_channel).bound = true;
-    Board::mcu().bound = true;
-    Board::flash().bound = true;
-
-    return board;
-}
-}  // namespace micras::sim
diff --git a/targets/micras/src/main.cpp b/targets/micras/src/main.cpp
deleted file mode 100644
index a1ec736..0000000
--- a/targets/micras/src/main.cpp
+++ /dev/null
@@ -1,16 +0,0 @@
-/**
- * @file
- *
- * @brief Runs the Micras firmware, its own main, in the simulator.
- */
-
-#include <cstddef>
-#include <span>
-
-#include "micras/sim/app/application.hpp"
-#include "micras/sim/micras/micras_target.hpp"
-
-int main(int argc, char** argv) {
-    micras::sim::MicrasTarget target;
-    return micras::sim::run(std::span(argv, static_cast<std::size_t>(argc)), target);
-}
diff --git a/targets/micras/src/micras_target.cpp b/targets/micras/src/micras_target.cpp
deleted file mode 100644
index adc8ec9..0000000
--- a/targets/micras/src/micras_target.cpp
+++ /dev/null
@@ -1,328 +0,0 @@
-/**
- * @file
- */
-
-#include <array>
-#include <bit>
-#include <cstddef>
-#include <cstdint>
-#include <filesystem>
-#include <format>
-#include <fstream>
-#include <iostream>
-#include <iterator>
-#include <memory>
-#include <string>
-#include <string_view>
-#include <utility>
-#include <vector>
-
-#include "constants.hpp"
-#include "micras/comm/frame.hpp"
-#include "micras/comm/protocol.hpp"
-#include "micras/hal/host/board.hpp"
-#include "micras/hal/host/clock.hpp"
-#include "micras/hal/host/ports.hpp"
-#include "micras/micras.hpp"
-#include "micras/sim/app/wiring.hpp"
-#include "micras/sim/core/firmware_thread.hpp"
-#include "micras/sim/core/run_context.hpp"
-#include "micras/sim/micras/bindings.hpp"
-#include "micras/sim/micras/micras_target.hpp"
-#include "micras/sim/micras/pool_variables.hpp"
-#include "micras/sim/recording/ground_truth.hpp"
-#include "micras/sim/recording/run_metadata.hpp"
-#include "micras/sim/scenario/scenario.hpp"
-#include "micras/sim/view/panel_spec.hpp"
-#include "micras/states/base.hpp"
-#include "micras_firmware_sha.hpp"
-#include "target.hpp"
-
-/**
- * @brief The firmware's own main, renamed at compile time.
- *
- * @return What main returns on the robot, never reached.
- */
-extern int micras_firmware_main();
-
-namespace micras::sim {
-namespace {
-/**
- * @brief Names of the states of the firmware's state machine, indexed as micras::State.
- *
- * @note The firmware has no names for its states, so they are written here, and the build checks
- *       that there is one for each.
- */
-constexpr auto state_name_table = std::to_array<std::string_view>({
-    "INIT",
-    "IDLE",
-    "WAIT_FOR_RUN",
-    "RUN",
-    "PLAN",
-    "SAVE",
-    "WAIT_FOR_CALIBRATE",
-    "CALIBRATE",
-    "WAIT_FOR_IDENTIFY",
-    "IDENTIFY",
-    "WAIT_FOR_GYROSCOPE",
-    "CALIBRATE_GYROSCOPE",
-    "ERROR",
-});
-
-static_assert(
-    state_name_table.size() == std::to_underlying(State::NUMBER_OF_STATES), "every firmware state needs a name"
-);
-
-/**
- * @brief Link commands a scenario sends by name, with their codes in Micras::Command.
- */
-constexpr std::array<std::pair<const char*, Micras::Command>, 5> commands{{
-    {"explore", Micras::Command::EXPLORE},
-    {"solve", Micras::Command::SOLVE},
-    {"calibrate", Micras::Command::CALIBRATE},
-    {"save", Micras::Command::SAVE},
-    {"reset", Micras::Command::RESET},
-}};
-}  // namespace
-
-static const std::vector<std::string>& state_names() {
-    static const std::vector<std::string> names{state_name_table.begin(), state_name_table.end()};
-    return names;
-}
-
-/**
- * @brief Encode a link command, as micras-monitor sends it.
- *
- * @param command The command.
- * @return The frame's bytes.
- */
-static std::vector<uint8_t> command_frame(Micras::Command command) {
-    std::array<uint8_t, 5> payload{};
-    comm::Writer           writer{payload};
-    writer.u8(std::to_underlying(command));
-    writer.u32(0);
-
-    std::array<uint8_t, comm::max_frame_size> frame{};
-    const std::size_t size = comm::encode_frame(comm::MessageType::COMMAND, writer.done(), frame);
-    return {frame.begin(), std::next(frame.begin(), static_cast<std::ptrdiff_t>(size))};
-}
-
-/**
- * @brief Decode the colors of addressable LEDs from the compare values of their last transfer.
- *
- * @param port The DMA-fed timer channel.
- * @param count Number of LEDs.
- * @return Their colors, green-red-blue on the wire, as the panel shows them.
- */
-static std::vector<Color> decode_argb(const hal::host::PwmDmaPort& port, std::size_t count) {
-    constexpr std::size_t bits_per_led{24};
-    std::vector<Color>    colors(count);
-
-    for (std::size_t led = 0; led < count; led++) {
-        uint32_t data = 0;
-
-        for (std::size_t bit = 0; bit < bits_per_led; bit++) {
-            const std::size_t index = led * bits_per_led + bit;
-            const bool        high = index < port.compares.size() and 2 * port.compares.at(index) > port.period;
-            data = (data << 1U) | static_cast<uint32_t>(high);
-        }
-
-        colors.at(led) = {
-            .red = static_cast<uint8_t>(data >> 8U),
-            .green = static_cast<uint8_t>(data >> 16U),
-            .blue = static_cast<uint8_t>(data)
-        };
-    }
-
-    return colors;
-}
-
-std::string MicrasTarget::name() const {
-    return "micras";
-}
-
-std::string MicrasTarget::firmware_sha() const {
-    return MICRAS_FIRMWARE_SHA;
-}
-
-uint32_t MicrasTarget::loop_time_us() const {
-    return micras::loop_time_us;
-}
-
-std::vector<CliOption> MicrasTarget::options() {
-    return {{
-        .name = "--flash",
-        .argument = "<file>",
-        .apply = [this](const std::string& value) { this->flash_file = value; },
-    }};
-}
-
-RunContext& MicrasTarget::context() {
-    return this->run_context;
-}
-
-std::filesystem::path MicrasTarget::directory() const {
-    return std::filesystem::path{MICRAS_TARGET_DIR};
-}
-
-std::filesystem::path MicrasTarget::robot_file() const {
-    return this->directory() / "robot.toml";
-}
-
-GroundTruthConfig MicrasTarget::ground_truth() const {
-    return {
-        .body = "micras",
-        .columns = {
-            {.name = "wheel_angle_left", .probe = Probe::JOINT_POSITION, .object = "left_wheel"},
-            {.name = "wheel_angle_right", .probe = Probe::JOINT_POSITION, .object = "right_wheel"},
-            {.name = "wheel_speed_left", .probe = Probe::JOINT_VELOCITY, .object = "left_wheel"},
-            {.name = "wheel_speed_right", .probe = Probe::JOINT_VELOCITY, .object = "right_wheel"},
-            {.name = "motor_torque_left", .probe = Probe::ACTUATOR_FORCE, .object = "motor_left"},
-            {.name = "motor_torque_right", .probe = Probe::ACTUATOR_FORCE, .object = "motor_right"},
-            {.name = "left_ncon", .probe = Probe::CONTACT_COUNT, .object = "left_wheel"},
-            {.name = "left_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "left_wheel"},
-            {.name = "left_slip", .probe = Probe::CONTACT_SLIP, .object = "left_wheel"},
-            {.name = "left_penetration", .probe = Probe::CONTACT_PENETRATION, .object = "left_wheel"},
-            {.name = "right_ncon", .probe = Probe::CONTACT_COUNT, .object = "right_wheel"},
-            {.name = "right_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "right_wheel"},
-            {.name = "right_slip", .probe = Probe::CONTACT_SLIP, .object = "right_wheel"},
-            {.name = "right_penetration", .probe = Probe::CONTACT_PENETRATION, .object = "right_wheel"},
-            {.name = "board_ncon", .probe = Probe::CONTACT_COUNT, .object = "board"},
-            {.name = "rear_skid_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "rear_skid"},
-            {.name = "front_skid_fn", .probe = Probe::CONTACT_NORMAL_FORCE, .object = "front_skid"},
-            {.name = "solver_niter", .probe = Probe::SOLVER_ITERATIONS, .object = ""},
-        },
-    };
-}
-
-std::string MicrasTarget::video_camera() const {
-    return "side tracking";
-}
-
-FirmwareThread::Program MicrasTarget::program() {
-    return [](FirmwareThread&) { micras_firmware_main(); };
-}
-
-Wiring MicrasTarget::wire(FirmwareThread& firmware, const WorldInfo& world) {
-    hal::host::Board::reset();
-
-    if (not this->flash_file.empty() and std::filesystem::exists(this->flash_file)) {
-        std::ifstream file(this->flash_file, std::ios::binary);
-        hal::host::Board::flash().bytes.assign(std::istreambuf_iterator<char>(file), std::istreambuf_iterator<char>());
-    }
-
-    hal::host::Clock& clock = hal::host::Clock::instance();
-    clock.reset();
-    clock.configure(SystemCoreClock / 1000000);
-    clock.set_handover(this->run_context.clock.us_per_tick(), [&firmware] { firmware.yield_tick(); });
-
-    this->board = bind_devices(this->run_context, world, this->chips);
-    this->variables = std::make_unique<PoolVariables>();
-
-    return {
-        .columns = {this->variables.get()},
-        .variables = this->variables.get(),
-        .panel = this->make_panel(),
-        .overlay =
-            {.state = StateLabel{.variable = "state", .names = state_names()},
-             .lines =
-                 {{.label = "v reference", .variable = "reference/linear_speed", .unit = "m/s"},
-                  {.label = "v estimate", .variable = "pose/linear_speed", .unit = "m/s"}}},
-        .hooks = this->make_hooks(),
-    };
-}
-
-void MicrasTarget::unwire() {
-    hal::host::Clock::instance().clear_handover();
-
-    for (const std::string& port : hal::host::Board::unbound()) {
-        std::cerr << "warning: the firmware used " << port << ", which nothing in the simulator is bound to\n";
-    }
-
-    if (not this->flash_file.empty()) {
-        const std::vector<uint8_t>& bytes = hal::host::Board::flash().bytes;
-        std::ofstream(this->flash_file, std::ios::binary)
-            .write(std::bit_cast<const char*>(bytes.data()), static_cast<std::streamsize>(bytes.size()));
-    }
-
-    hal::host::Board::reset();
-}
-
-std::vector<MetadataField> MicrasTarget::metadata() const {
-    const hal::host::McuPort& mcu = hal::host::Board::mcu();
-
-    return {
-        {.name = "unbound_ports", .value = static_cast<int64_t>(hal::host::Board::unbound().size())},
-        {.name = "watchdog_expiries", .value = mcu.watchdog_expiries},
-        {.name = "emergency_stops", .value = mcu.emergency_stops},
-    };
-}
-
-PanelSpec MicrasTarget::make_panel() const {
-    const MicrasBoard& devices = this->board;
-    PanelSpec          panel{
-        .state = StateLabel{.variable = "state", .names = state_names()},
-        .buttons = {{.name = "button", .press = [&devices](bool pressed) { devices.button->set(pressed); }}},
-        .switches = {},
-        .lamps = {},
-        .readouts = {},
-        .plots = {"reference/linear_speed", "pose/linear_speed", "reference/angular_speed", "pose/angular_speed"},
-        .take_over = {},
-    };
-
-    for (std::size_t index = 0; index < devices.dip_switches.size(); index++) {
-        DigitalInput* input = devices.dip_switches.at(index);
-        panel.switches.push_back(
-            {.name = dip_names.at(index),
-             .state = [input] { return input->is_active(); },
-             .set = [input](bool on) { input->set(on); }}
-        );
-    }
-
-    const hal::host::GpioPort& led = hal::host::Board::gpio(led_config.gpio.port, led_config.gpio.pin);
-    panel.lamps.push_back({.name = "led", .color = [&led] {
-                               return led.output ? Color{.red = 255, .green = 40, .blue = 40} :
-                                                   Color{.red = 40, .green = 40, .blue = 40};
-                           }});
-
-    const hal::host::PwmDmaPort& argb =
-        hal::host::Board::pwm_dma(argb_config.pwm.handle, argb_config.pwm.timer_channel);
-
-    for (std::size_t index = 0; index < 2; index++) {
-        panel.lamps.push_back({.name = std::format("argb {}", index), .color = [&argb, index] {
-                                   return decode_argb(argb, 2).at(index);
-                               }});
-    }
-
-    const hal::host::PwmPort& buzzer = hal::host::Board::pwm(buzzer_config.pwm.handle, buzzer_config.pwm.timer_channel);
-    panel.readouts.push_back({.name = "buzzer", .text = [&buzzer] {
-                                  return buzzer.duty_cycle > 0.0F ? std::format("{:.0f} Hz", buzzer.frequency) : "off";
-                              }});
-    panel.readouts.push_back(
-        {.name = "motors", .text = [&devices] {
-             return std::format("{:6.2f} {:6.2f} A", devices.left_motor->current(), devices.right_motor->current());
-         }}
-    );
-    panel.readouts.push_back({.name = "battery", .text = [&devices] {
-                                  return std::format("{:.2f} V", devices.battery->voltage());
-                              }});
-
-    return panel;
-}
-
-ScenarioHooks MicrasTarget::make_hooks() const {
-    ScenarioHooks hooks;
-    hooks.inputs.emplace("button", this->board.button);
-
-    for (std::size_t index = 0; index < this->board.dip_switches.size(); index++) {
-        hooks.inputs.emplace(std::string{"dip_"} + dip_names.at(index), this->board.dip_switches.at(index));
-    }
-
-    for (const auto& [name, command] : commands) {
-        hooks.messages.emplace(name, command_frame(command));
-    }
-
-    hooks.state_names.emplace("state", state_names());
-    return hooks;
-}
-}  // namespace micras::sim
diff --git a/targets/micras/src/pool_variables.cpp b/targets/micras/src/pool_variables.cpp
deleted file mode 100644
index 40bf5d7..0000000
--- a/targets/micras/src/pool_variables.cpp
+++ /dev/null
@@ -1,140 +0,0 @@
-/**
- * @file
- */
-
-#include <algorithm>
-#include <cstddef>
-#include <cstdint>
-#include <cstring>
-#include <limits>
-#include <optional>
-#include <span>
-#include <stdexcept>
-#include <string>
-#include <vector>
-
-#include "micras/core/variable_pool.hpp"
-#include "micras/micras.hpp"
-#include "micras/sim/core/span_at.hpp"
-#include "micras/sim/micras/pool_variables.hpp"
-#include "micras/sim/recording/csv_writer.hpp"
-
-namespace micras::sim {
-/**
- * @brief Read a registered variable as a number.
- *
- * @param variable The variable.
- * @return Its value.
- */
-static double read(const core::Variable& variable) {
-    const auto load = [&variable]<typename T>(T) {
-        T value{};
-        std::memcpy(&value, variable.address, sizeof(value));
-        return static_cast<double>(value);
-    };
-
-    switch (variable.type) {
-        case core::TypeCode::BOOL:
-            return load(bool{});
-        case core::TypeCode::U8:
-            return load(uint8_t{});
-        case core::TypeCode::I8:
-            return load(int8_t{});
-        case core::TypeCode::U16:
-            return load(uint16_t{});
-        case core::TypeCode::I16:
-            return load(int16_t{});
-        case core::TypeCode::U32:
-            return load(uint32_t{});
-        case core::TypeCode::I32:
-            return load(int32_t{});
-        case core::TypeCode::U64:
-            return load(uint64_t{});
-        case core::TypeCode::I64:
-            return load(int64_t{});
-        case core::TypeCode::F32:
-            return load(float{});
-        case core::TypeCode::F64:
-            return load(double{});
-        case core::TypeCode::BLOB:
-            break;
-    }
-
-    return std::numeric_limits<double>::quiet_NaN();
-}
-
-/**
- * @brief Get the full name of a variable.
- *
- * @param variable The variable.
- * @return Its prefix and name.
- */
-static std::string full_name(const core::Variable& variable) {
-    return std::string{variable.prefix} + std::string{variable.name};
-}
-
-/**
- * @brief Get the robot, or fail when the firmware has not built it.
- *
- * @return The robot.
- */
-static const Micras& robot() {
-    const Micras* micras = Micras::get_instance();
-
-    if (micras == nullptr) {
-        throw std::runtime_error("the firmware has not constructed its robot yet");
-    }
-
-    return *micras;
-}
-
-bool PoolVariables::ready() const {
-    return Micras::get_instance() != nullptr;
-}
-
-std::vector<std::string> PoolVariables::names() {
-    std::vector<std::string> columns{"state"};
-    this->recorded.clear();
-
-    const std::span<const core::Variable> variables = robot().get_variables().all();
-
-    for (std::size_t index = 0; index < variables.size(); index++) {
-        const core::Variable& variable = at(variables, index);
-
-        if (variable.type == core::TypeCode::BLOB) {
-            continue;
-        }
-
-        std::string column = full_name(variable);
-        std::ranges::replace(column, '/', '_');
-        columns.push_back(column);
-        this->recorded.push_back(static_cast<core::VariableId>(index));
-    }
-
-    return columns;
-}
-
-void PoolVariables::append(std::vector<CsvCell>& row) {
-    const Micras& micras = robot();
-    row.emplace_back(static_cast<int64_t>(micras.get_state()));
-
-    for (const core::VariableId id : this->recorded) {
-        row.emplace_back(read(micras.get_variables().at(id)));
-    }
-}
-
-double PoolVariables::value_of(const std::string& name) const {
-    const Micras* micras = Micras::get_instance();
-
-    if (micras == nullptr) {
-        return std::numeric_limits<double>::quiet_NaN();
-    }
-
-    if (name == "state") {
-        return micras->get_state();
-    }
-
-    const std::optional<core::VariableId> id = micras->get_variables().find(name);
-    return id.has_value() ? read(micras->get_variables().at(*id)) : std::numeric_limits<double>::quiet_NaN();
-}
-}  // namespace micras::sim
diff --git a/targets/micras/tests/CMakeLists.txt b/targets/micras/tests/CMakeLists.txt
deleted file mode 100644
index b5acaea..0000000
--- a/targets/micras/tests/CMakeLists.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-###############################################################################
-## Micras target unit tests: the host micras_hal, the fake Cube layer, the SPI device
-## slot and the firmware's SPI chip proxies over the chip models
-###############################################################################
-
-add_executable(micras_target_tests
-    unit/hal_host_test.cpp
-    unit/spi_chips_test.cpp
-    unit/spi_slot_test.cpp
-)
-
-target_link_libraries(micras_target_tests PRIVATE micras_sim_micras doctest::doctest_with_main)
-micras_apply_warnings(micras_target_tests WERROR ${MICRAS_SIM_WERROR})
-
-doctest_discover_tests(micras_target_tests)
diff --git a/targets/micras/tests/unit/hal_host_test.cpp b/targets/micras/tests/unit/hal_host_test.cpp
deleted file mode 100644
index e4b72e8..0000000
--- a/targets/micras/tests/unit/hal_host_test.cpp
+++ /dev/null
@@ -1,95 +0,0 @@
-/**
- * @file
- */
-
-#include <cmath>
-#include <cstdint>
-#include <string_view>
-#include <vector>
-
-#include <doctest/doctest.h>
-
-#include "constants.hpp"
-#include "micras/hal/crc.hpp"
-#include "micras/hal/gpio.hpp"
-#include "micras/hal/host/board.hpp"
-#include "micras/hal/host/clock.hpp"
-#include "micras/hal/host/ports.hpp"
-#include "micras/hal/pwm.hpp"
-#include "micras/hal/timer.hpp"
-#include "target.hpp"
-
-namespace micras::sim {
-namespace {
-class HostHal {
-protected:
-    HostHal() {
-        hal::host::Board::reset();
-        hal::host::Clock::instance().reset();
-        hal::host::Clock::instance().configure(SystemCoreClock / 1000000);
-        hal::Timer::init();
-    }
-};
-
-TEST_CASE_FIXTURE(HostHal, "HostHal.ComputesTheCrcTheUnitIsConfiguredFor") {
-    CRC_HandleTypeDef handle{};
-    handle.Init = {
-        .DefaultPolynomialUse = DEFAULT_POLYNOMIAL_DISABLE,
-        .DefaultInitValueUse = DEFAULT_INIT_VALUE_DISABLE,
-        .GeneratingPolynomial = 0x1D,
-        .CRCLength = CRC_POLYLENGTH_8B,
-        .InitValue = 0xFF,
-        .InputDataInversionMode = CRC_INPUTDATA_INVERSION_NONE,
-        .OutputDataInversionMode = CRC_OUTPUTDATA_INVERSION_DISABLE,
-    };
-    hal::Crc crc{{.handle = &handle}};
-
-    constexpr std::string_view check{"123456789"};
-    const std::vector<uint8_t> bytes(check.begin(), check.end());
-
-    CHECK_EQ(crc.calculate(bytes) ^ 0xFFU, 0x4BU);
-}
-
-TEST_CASE_FIXTURE(HostHal, "HostHal.ChargesAQuantumPerReadAndHandsOverAtEveryStep") {
-    int steps = 0;
-    hal::host::Clock::instance().set_handover(125, [&steps] { steps++; });
-
-    const uint32_t start = hal::Timer::get_counter();
-
-    while (hal::Timer::to_microseconds(hal::Timer::get_counter() - start) < 1000) { }
-
-    CHECK_EQ(steps, 8);
-    CHECK_EQ(hal::Timer::get_counter_ms(), 1U);
-}
-
-TEST_CASE_FIXTURE(HostHal, "HostHal.ReadsWhatTheOutsideDrivesAndOtherwiseWhatTheFirmwareWrote") {
-    hal::Gpio led{led_config.gpio};
-    led.write(true);
-
-    hal::host::GpioPort& port = hal::host::Board::gpio(led_config.gpio.port, led_config.gpio.pin);
-    CHECK(port.output);
-    CHECK(led.read());
-
-    port.input = false;
-    CHECK_FALSE(led.read());
-    CHECK(port.touched);
-}
-
-TEST_CASE_FIXTURE(HostHal, "HostHal.RunsTheWallEmittersAtTheirConfiguredFrequency") {
-    const hal::Pwm emitter{std::get<0>(wall_sensors_config.led_pwms)};
-
-    CHECK(emitter.was_initialized());
-    CHECK_LE(std::abs(emitter.get_frequency() - wall_sensors_frequency), 1.0F);
-}
-
-TEST_CASE_FIXTURE(HostHal, "HostHal.ReportsPortsTheFirmwareTouchedThatNothingIsBoundTo") {
-    hal::Gpio led{led_config.gpio};
-    led.write(true);
-
-    CHECK_EQ(hal::host::Board::unbound().size(), 1U);
-
-    hal::host::Board::gpio(led_config.gpio.port, led_config.gpio.pin).bound = true;
-    CHECK(hal::host::Board::unbound().empty());
-}
-}  // namespace
-}  // namespace micras::sim
diff --git a/targets/micras/tests/unit/spi_chips_test.cpp b/targets/micras/tests/unit/spi_chips_test.cpp
deleted file mode 100644
index 1504f2c..0000000
--- a/targets/micras/tests/unit/spi_chips_test.cpp
+++ /dev/null
@@ -1,221 +0,0 @@
-/**
- * @file
- */
-
-#include <array>
-#include <cmath>
-#include <cstdint>
-#include <vector>
-
-#include <doctest/doctest.h>
-
-#include "crc.h"
-#include "gpio.h"
-#include "micras/hal/crc.hpp"
-#include "micras/hal/host/board.hpp"
-#include "micras/hal/host/clock.hpp"
-#include "micras/hal/host/spi_device.hpp"
-#include "micras/hal/spi.hpp"
-#include "micras/hal/timer.hpp"
-#include "micras/models/as5047u_model.hpp"
-#include "micras/models/lsm6dsv_model.hpp"
-#include "micras/proxy/imu.hpp"
-#include "micras/proxy/rotary_sensor.hpp"
-#include "spi.h"
-#include "target.hpp"
-
-namespace micras::sim {
-namespace {
-using hal::host::Board;
-
-/**
- * @brief The firmware's IMU and rotary sensor proxies, compiled as they are, over the chip models.
- */
-class SpiChips {
-protected:
-    SpiChips() {
-        Board::reset();
-        hal::host::Clock::instance().reset();
-        hal::host::Clock::instance().configure(SystemCoreClock / 1000000);
-        hal::Timer::init();
-        MX_GPIO_Init();
-        MX_SPI3_Init();
-        MX_CRC_Init();
-    }
-
-    static void attach(const hal::Spi::Config& config, hal::host::SpiDevice& device) {
-        Board::spi_device(config.handle, config.cs_gpio.port, config.cs_gpio.pin, device);
-    }
-
-    static void wait_us(uint32_t microseconds) {
-        const uint32_t start = hal::Timer::get_counter();
-
-        while (hal::Timer::to_microseconds(hal::Timer::get_counter() - start) < microseconds) { }
-    }
-};
-
-TEST_CASE_FIXTURE(SpiChips, "SpiChips.SetsTheImuUpAsItsConfigurationSays") {
-    models::Lsm6dsvModel chip;
-    attach(imu_config.spi, chip);
-
-    const proxy::Imu imu{imu_config};
-
-    CHECK(imu.was_initialized());
-    CHECK_EQ(chip.gyroscope_data_rate(), 8000.0);
-    CHECK_EQ(chip.accelerometer_data_rate(), 8000.0);
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL6) & 0x0F, LSM6DSV_4000dps);
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL8) & 0x03, LSM6DSV_8g);
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL3) & 0x40, 0x40);
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL7) & 0x01, 0x01);
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL9) & 0x08, 0x08);
-}
-
-TEST_CASE_FIXTURE(SpiChips, "SpiChips.DelaysTheImuUntilItsChipHasStarted") {
-    models::Lsm6dsvModel chip;
-    attach(imu_config.spi, chip);
-    const uint64_t start = hal::host::Clock::instance().now();
-
-    const proxy::Imu imu{imu_config};
-    const uint64_t   elapsed_us = (hal::host::Clock::instance().now() - start) / (SystemCoreClock / 1000000);
-
-    CHECK(imu.was_initialized());
-    CHECK_GE(elapsed_us, 39900U);
-    CHECK_LT(elapsed_us, 41000U);
-}
-
-TEST_CASE_FIXTURE(SpiChips, "SpiChips.ReadsASampleOneUpdateAfterTheUpdateThatAskedForIt") {
-    models::Lsm6dsvModel chip;
-    attach(imu_config.spi, chip);
-    proxy::Imu imu{imu_config};
-
-    chip.push_sample({0.1, -0.2, 3.0}, {1.0, -2.0, 9.80665});
-    imu.update();
-
-    CHECK_FALSE(imu.is_new());
-
-    wait_us(125);
-    imu.update();
-
-    REQUIRE(imu.is_new());
-    CHECK_LE(
-        std::abs(static_cast<double>(imu.get_angular_velocity(proxy::Imu::Axis::X)) - 0.1), chip.gyroscope_sensitivity()
-    );
-    CHECK_LE(
-        std::abs(static_cast<double>(imu.get_angular_velocity(proxy::Imu::Axis::Y)) - (-0.2)),
-        chip.gyroscope_sensitivity()
-    );
-    CHECK_LE(
-        std::abs(static_cast<double>(imu.get_angular_velocity(proxy::Imu::Axis::Z)) - 3.0), chip.gyroscope_sensitivity()
-    );
-    CHECK_LE(
-        std::abs(static_cast<double>(imu.get_linear_acceleration(proxy::Imu::Axis::X)) - 1.0),
-        chip.accelerometer_sensitivity()
-    );
-    CHECK_LE(
-        std::abs(static_cast<double>(imu.get_linear_acceleration(proxy::Imu::Axis::Y)) - (-2.0)),
-        chip.accelerometer_sensitivity()
-    );
-    CHECK_LE(
-        std::abs(static_cast<double>(imu.get_linear_acceleration(proxy::Imu::Axis::Z)) - 9.80665),
-        chip.accelerometer_sensitivity()
-    );
-
-    wait_us(125);
-    imu.update();
-
-    CHECK_FALSE(imu.is_new());
-}
-
-TEST_CASE_FIXTURE(SpiChips, "SpiChips.ReadsTheSameMotionAtAnotherFullScale") {
-    proxy::Imu::Config config = imu_config;
-    config.gyroscope_scale = LSM6DSV_250dps;
-    config.accelerometer_scale = LSM6DSV_2g;
-    models::Lsm6dsvModel chip;
-    attach(config.spi, chip);
-    proxy::Imu imu{config};
-
-    chip.push_sample({0.5, 0.0, -1.5}, {0.0, 3.0, 9.80665});
-    imu.update();
-    wait_us(125);
-    imu.update();
-
-    REQUIRE(imu.is_new());
-    CHECK_EQ(chip.peek(LSM6DSV_CTRL6) & 0x0F, LSM6DSV_250dps);
-    CHECK_LE(
-        std::abs(static_cast<double>(imu.get_angular_velocity(proxy::Imu::Axis::X)) - 0.5), chip.gyroscope_sensitivity()
-    );
-    CHECK_LE(
-        std::abs(static_cast<double>(imu.get_angular_velocity(proxy::Imu::Axis::Z)) - (-1.5)),
-        chip.gyroscope_sensitivity()
-    );
-    CHECK_LE(
-        std::abs(static_cast<double>(imu.get_linear_acceleration(proxy::Imu::Axis::Y)) - 3.0),
-        chip.accelerometer_sensitivity()
-    );
-    CHECK_LE(
-        std::abs(static_cast<double>(imu.get_linear_acceleration(proxy::Imu::Axis::Z)) - 9.80665),
-        chip.accelerometer_sensitivity()
-    );
-}
-
-TEST_CASE_FIXTURE(SpiChips, "SpiChips.FailsTheImuWithoutItsChip") {
-    const proxy::Imu imu{imu_config};
-
-    CHECK_FALSE(imu.was_initialized());
-}
-
-TEST_CASE_FIXTURE(SpiChips, "SpiChips.FailsTheImuInTheWrongSpiMode") {
-    proxy::Imu::Config config = imu_config;
-    config.spi.clock_polarity = SPI_POLARITY_LOW;
-    models::Lsm6dsvModel chip;
-    attach(config.spi, chip);
-
-    const proxy::Imu imu{config};
-
-    CHECK_FALSE(imu.was_initialized());
-}
-
-TEST_CASE_FIXTURE(SpiChips, "SpiChips.SetsTheRotarySensorUpAndReadsItsResolutionBack") {
-    models::As5047uModel left_chip;
-    models::As5047uModel right_chip;
-    attach(rotary_sensor_left_config.spi, left_chip);
-    attach(rotary_sensor_right_config.spi, right_chip);
-
-    const proxy::RotarySensor left{rotary_sensor_left_config};
-    const proxy::RotarySensor right{rotary_sensor_right_config};
-
-    CHECK(left.was_initialized());
-    CHECK(right.was_initialized());
-    CHECK_EQ(left.get_resolution(), 16384U);
-    CHECK_EQ(left_chip.peek(models::As5047uModel::settings3_address), rotary_sensor_reg_config.settings3.raw);
-    CHECK_EQ(left_chip.peek(models::As5047uModel::disable_address), rotary_sensor_reg_config.disable.raw);
-    CHECK_EQ(right_chip.peek(models::As5047uModel::settings3_address), rotary_sensor_reg_config.settings3.raw);
-    CHECK_EQ(left_chip.peek(models::As5047uModel::errfl_address), 0);
-}
-
-TEST_CASE_FIXTURE(SpiChips, "SpiChips.FailsTheRotarySensorWhoseFramesTheChipRejects") {
-    CRC_HandleTypeDef wrong_crc = hcrc;
-    wrong_crc.Init.InitValue = 0x00;
-    proxy::RotarySensor::Config config = rotary_sensor_left_config;
-    config.crc.handle = &wrong_crc;
-    models::As5047uModel chip;
-    attach(config.spi, chip);
-
-    const proxy::RotarySensor sensor{config};
-
-    CHECK_FALSE(sensor.was_initialized());
-    CHECK_EQ(chip.peek(models::As5047uModel::settings3_address), 0);
-    CHECK_NE(chip.peek(models::As5047uModel::errfl_address) & models::As5047uModel::crc_error, 0);
-}
-
-TEST_CASE_FIXTURE(SpiChips, "SpiChips.ComputesTheFrameCrcAsTheCrcUnitDoes") {
-    hal::Crc crc{{.handle = &hcrc}};
-
-    for (const std::array<uint8_t, 2> bytes : std::vector<std::array<uint8_t, 2>>{
-             {0x00, 0x00}, {0x40, 0x01}, {0x40, 0x1A}, {0x00, 0x80}, {0x3F, 0xFF}, {0xC0, 0x15}
-         }) {
-        CHECK_EQ(models::As5047uModel::crc(std::get<0>(bytes), std::get<1>(bytes)), crc.calculate(bytes) ^ 0xFFU);
-    }
-}
-}  // namespace
-}  // namespace micras::sim
diff --git a/targets/micras/tests/unit/spi_slot_test.cpp b/targets/micras/tests/unit/spi_slot_test.cpp
deleted file mode 100644
index 14784ff..0000000
--- a/targets/micras/tests/unit/spi_slot_test.cpp
+++ /dev/null
@@ -1,230 +0,0 @@
-/**
- * @file
- */
-
-#include <array>
-#include <cstddef>
-#include <cstdint>
-#include <span>
-#include <string>
-#include <vector>
-
-#include <doctest/doctest.h>
-
-#include "gpio.h"
-#include "micras/hal/host/board.hpp"
-#include "micras/hal/host/clock.hpp"
-#include "micras/hal/host/ports.hpp"
-#include "micras/hal/host/spi_device.hpp"
-#include "micras/hal/spi.hpp"
-#include "micras/hal/timer.hpp"
-#include "micras/sim/core/span_at.hpp"
-#include "spi.h"
-#include "target.hpp"
-
-namespace micras::sim {
-namespace {
-using hal::host::Board;
-using hal::host::SpiDevice;
-
-/**
- * @brief A device that records what reaches it and answers each byte with the byte plus an offset.
- */
-class RecordingDevice : public SpiDevice {
-public:
-    RecordingDevice(Mode mode, uint8_t offset) : SpiDevice{mode}, offset{offset} { }
-
-    void select() override { this->events.emplace_back("select"); }
-
-    void exchange(std::span<const uint8_t> transmitted, std::span<uint8_t> received) override {
-        this->events.push_back("exchange " + std::to_string(transmitted.size()));
-
-        for (std::size_t index = 0; index < transmitted.size(); index++) {
-            this->bytes.push_back(at(transmitted, index));
-            at(received, index) = static_cast<uint8_t>(at(transmitted, index) + this->offset);
-        }
-    }
-
-    void deselect() override { this->events.emplace_back("deselect"); }
-
-    // NOLINTBEGIN(*-non-private-member-variables-in-classes): what the test reads back.
-    std::vector<std::string> events;
-    std::vector<uint8_t>     bytes;
-    // NOLINTEND(*-non-private-member-variables-in-classes)
-
-private:
-    uint8_t offset;
-};
-
-class SpiSlot {
-protected:
-    SpiSlot() {
-        Board::reset();
-        hal::host::Clock::instance().reset();
-        hal::host::Clock::instance().configure(SystemCoreClock / 1000000);
-        hal::Timer::init();
-        MX_GPIO_Init();
-        MX_SPI3_Init();
-    }
-
-    static void attach(const hal::Spi::Config& config, SpiDevice& device) {
-        Board::spi_device(config.handle, config.cs_gpio.port, config.cs_gpio.pin, device);
-    }
-
-    /**
-     * @brief Poll a transfer until it ends, reading the timer as a waiting firmware does.
-     *
-     * @param spi The Spi whose transfer runs.
-     * @return Microseconds the host clock advanced.
-     */
-    static uint32_t wait_for_transfer(const hal::Spi& spi) {
-        const uint64_t start = hal::host::Clock::instance().now();
-
-        while (spi.get_transfer() == hal::Spi::Transfer::RUNNING) {
-            hal::Timer::get_counter();
-        }
-
-        return static_cast<uint32_t>((hal::host::Clock::instance().now() - start) / (SystemCoreClock / 1000000));
-    }
-};
-
-TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.RoutesEachTransferToTheDeviceItsChipSelectSelects") {
-    RecordingDevice imu_chip{SpiDevice::Mode::MODE_3, 0x10};
-    RecordingDevice encoder_chip{SpiDevice::Mode::MODE_1, 0x20};
-    attach(imu_config.spi, imu_chip);
-    attach(rotary_sensor_left_config.spi, encoder_chip);
-    hal::Spi imu{imu_config.spi};
-    hal::Spi encoder{rotary_sensor_left_config.spi};
-
-    const std::array<uint8_t, 1> command{0x8F};
-    const std::array<uint8_t, 2> frame{0x40, 0x01};
-    std::array<uint8_t, 2>       answer{};
-
-    REQUIRE(imu.select_device());
-    CHECK(imu.transmit(command));
-    imu.unselect_device();
-    REQUIRE(encoder.select_device());
-    CHECK(encoder.transmit_receive(frame, answer));
-    encoder.unselect_device();
-
-    CHECK_EQ(imu_chip.bytes, std::vector<uint8_t>{0x8F});
-    CHECK_EQ(encoder_chip.bytes, (std::vector<uint8_t>{0x40, 0x01}));
-    CHECK_EQ(answer, (std::array<uint8_t, 2>{0x60, 0x21}));
-    CHECK(Board::unbound().empty());
-}
-
-TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.MakesOneTransactionOfTheCallsBetweenSelectAndUnselect") {
-    RecordingDevice chip{SpiDevice::Mode::MODE_3, 1};
-    attach(imu_config.spi, chip);
-    hal::Spi spi{imu_config.spi};
-
-    const std::array<uint8_t, 1> command{0x8F};
-    std::array<uint8_t, 2>       data{};
-
-    REQUIRE(spi.select_device());
-    CHECK(spi.transmit(command));
-    CHECK(spi.receive(data));
-    spi.unselect_device();
-
-    CHECK_EQ(chip.events, (std::vector<std::string>{"select", "exchange 1", "exchange 2", "deselect"}));
-    CHECK_EQ(data, (std::array<uint8_t, 2>{1, 1}));
-}
-
-TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.ReachesNoDeviceWhoseChipSelectIsHigh") {
-    RecordingDevice chip{SpiDevice::Mode::MODE_3, 1};
-    attach(imu_config.spi, chip);
-    hal::Spi spi{imu_config.spi};
-
-    std::array<uint8_t, 2> data{};
-    CHECK(spi.receive(data));
-
-    CHECK(chip.events.empty());
-    CHECK_EQ(data, (std::array<uint8_t, 2>{0xFF, 0xFF}));
-}
-
-TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.AnswersAllOnesWhereNoDeviceIsAttached") {
-    hal::Spi spi{imu_config.spi};
-
-    std::array<uint8_t, 2> data{};
-    REQUIRE(spi.select_device());
-    CHECK(spi.receive(data));
-    spi.unselect_device();
-
-    CHECK_EQ(data, (std::array<uint8_t, 2>{0xFF, 0xFF}));
-    CHECK_EQ(Board::unbound(), (std::vector<std::string>{"IMU_SPI_CSn", "hspi3 IMU_SPI_CSn"}));
-}
-
-TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.AnswersAllOnesInAModeTheDeviceDoesNotAnswerIn") {
-    RecordingDevice chip{SpiDevice::Mode::MODE_0, 1};
-    attach(imu_config.spi, chip);
-    hal::Spi spi{imu_config.spi};
-
-    const std::array<uint8_t, 2> transmitted{0x8F, 0x00};
-    std::array<uint8_t, 2>       received{};
-    REQUIRE(spi.select_device());
-    CHECK(spi.transmit_receive(transmitted, received));
-    spi.unselect_device();
-
-    CHECK_EQ(chip.events, (std::vector<std::string>{"select", "deselect"}));
-    CHECK_EQ(received, (std::array<uint8_t, 2>{0xFF, 0xFF}));
-}
-
-TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.KeepsTheDeviceSelectedWhileATransferRuns") {
-    RecordingDevice chip{SpiDevice::Mode::MODE_3, 1};
-    attach(imu_config.spi, chip);
-    hal::Spi spi{imu_config.spi};
-
-    std::array<uint8_t, 17>    transmitted{};
-    std::array<uint8_t, 17>    received{};
-    const hal::host::GpioPort& cs = Board::gpio(imu_config.spi.cs_gpio.port, imu_config.spi.cs_gpio.pin);
-
-    REQUIRE(spi.start_transfer(transmitted, received));
-
-    CHECK_EQ(spi.get_transfer(), hal::Spi::Transfer::RUNNING);
-    CHECK_FALSE(cs.output);
-    CHECK_EQ(chip.events, (std::vector<std::string>{"select", "exchange 17"}));
-}
-
-TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.CompletesATransferWhenItsLastBitIsOut") {
-    RecordingDevice chip{SpiDevice::Mode::MODE_3, 1};
-    attach(imu_config.spi, chip);
-    hal::Spi spi{imu_config.spi};
-
-    std::array<uint8_t, 17>    transmitted{};
-    std::array<uint8_t, 17>    received{};
-    const hal::host::GpioPort& cs = Board::gpio(imu_config.spi.cs_gpio.port, imu_config.spi.cs_gpio.pin);
-
-    REQUIRE(spi.start_transfer(transmitted, received));
-    const uint32_t elapsed = wait_for_transfer(spi);
-
-    CHECK_EQ(spi.get_transfer(), hal::Spi::Transfer::COMPLETE);
-    CHECK(cs.output);
-    CHECK_EQ(chip.events, (std::vector<std::string>{"select", "exchange 17", "deselect"}));
-    CHECK_EQ(received.back(), 1);
-    CHECK_GE(elapsed, 35U);
-    CHECK_LE(elapsed, 36U);
-}
-
-TEST_CASE_FIXTURE(SpiSlot, "SpiSlot.WaitsForTheBusBeforeSelectingAnotherDevice") {
-    RecordingDevice imu_chip{SpiDevice::Mode::MODE_3, 1};
-    RecordingDevice encoder_chip{SpiDevice::Mode::MODE_1, 1};
-    attach(imu_config.spi, imu_chip);
-    attach(rotary_sensor_right_config.spi, encoder_chip);
-    hal::Spi imu{imu_config.spi};
-    hal::Spi encoder{rotary_sensor_right_config.spi};
-
-    std::array<uint8_t, 17> transmitted{};
-    std::array<uint8_t, 17> received{};
-    const uint64_t          start = hal::host::Clock::instance().now();
-
-    REQUIRE(imu.start_transfer(transmitted, received));
-    REQUIRE(encoder.select_device());
-    const uint64_t waited = hal::host::Clock::instance().now() - start;
-    encoder.unselect_device();
-
-    CHECK_EQ(imu.get_transfer(), hal::Spi::Transfer::COMPLETE);
-    CHECK_EQ(imu_chip.events.back(), "deselect");
-    CHECK_GE(waited, 35U * (SystemCoreClock / 1000000));
-}
-}  // namespace
-}  // namespace micras::sim
diff --git a/targets/micras/tools/analysis.py b/targets/micras/tools/analysis.py
deleted file mode 100644
index 1edd758..0000000
--- a/targets/micras/tools/analysis.py
+++ /dev/null
@@ -1,245 +0,0 @@
-"""Micras plugin for ``tools/analyze.py``.
-
-Knows what the Micras columns mean: the firmware's own monitoring variables
-(``state``, ``pose_*``, ``reference_*``, ``control_*``, ``loop_*``) and the
-board's devices (``motor_*_voltage``, ``wall_left_front`` and the other wall
-sensors, ``pack_voltage``). ``analyze.py`` loads it when ``meta.json`` names the
-``micras`` target.
-
-State names come from the state events in ``meta.json``, never from ids written
-here.
-"""
-
-from __future__ import annotations
-
-from pathlib import Path
-
-import matplotlib.pyplot as plt
-import numpy as np
-
-#: Fraction of the supply beyond which a motor voltage counts as saturated.
-SATURATION = 0.98
-MAX_EVENTS = 50
-
-
-def events(run, kind: str) -> list[dict]:
-    """Events of one kind from ``meta.json``, in time order."""
-    return [event for event in run.meta.get("events", []) if event.get("kind") == kind]
-
-
-def run_start(run) -> float | None:
-    """The first time the firmware enters RUN."""
-    for event in events(run, "state"):
-        if event.get("detail") == "RUN":
-            return float(event["time"])
-
-    return None
-
-
-def running(run) -> np.ndarray:
-    """Ticks between each entry into RUN and the next state change."""
-    mask = np.zeros(run.time.shape, dtype=bool)
-    timeline = events(run, "state")
-
-    for index, event in enumerate(timeline):
-        if event.get("detail") != "RUN":
-            continue
-
-        end = float(timeline[index + 1]["time"]) if index + 1 < len(timeline) else np.inf
-        mask |= (run.time >= float(event["time"])) & (run.time < end)
-
-    return mask
-
-
-def statistics(values: np.ndarray, time: np.ndarray, mask: np.ndarray) -> dict:
-    """Largest absolute value, when it happened, and the rms, over a mask."""
-    valid = mask & np.isfinite(values)
-
-    if not valid.any():
-        return {"max": None, "max_time": None, "rms": None}
-
-    magnitude = np.where(valid, np.abs(values), -np.inf)
-    peak = int(np.argmax(magnitude))
-
-    return {
-        "max": float(magnitude[peak]),
-        "max_time": float(time[peak]),
-        "rms": float(np.sqrt(np.mean(values[valid] ** 2))),
-    }
-
-
-def pose_report(run, mask: np.ndarray) -> dict:
-    """The firmware's pose estimate against the ground truth."""
-    position = np.hypot(run.get("pose_x") - run.get("x"), run.get("pose_y") - run.get("y"))
-    heading = np.angle(np.exp(1j * (run.get("pose_orientation") - run.get("yaw"))))
-    valid = np.isfinite(position)
-
-    return {
-        "position_error": statistics(position, run.time, mask),
-        "heading_error_deg": {
-            key: (float(np.degrees(value)) if key != "max_time" and value is not None else value)
-            for key, value in statistics(heading, run.time, mask).items()
-        },
-        "final_position_error": float(position[valid][-1]) if valid.any() else None,
-    }
-
-
-def tracking_report(run, mask: np.ndarray) -> dict:
-    """How far the pose estimate strayed from the reference the controller followed."""
-    return {
-        "along": statistics(run.get("control_along_error"), run.time, mask),
-        "across": statistics(run.get("control_across_error"), run.time, mask),
-        "orientation": statistics(run.get("control_orientation_error"), run.time, mask),
-    }
-
-
-def saturation_report(run, mask: np.ndarray) -> dict:
-    """Fraction of running ticks each motor asked for the whole supply."""
-    supply = run.get("pack_voltage")
-    report = {}
-
-    for side in ("left", "right"):
-        voltage = run.get(f"motor_{side}_voltage")
-        valid = mask & np.isfinite(voltage) & np.isfinite(supply) & (supply > 0)
-        saturated = np.abs(voltage) >= SATURATION * supply
-        report[side] = float(np.mean(saturated[valid])) if valid.any() else None
-
-    return report
-
-
-def loop_report(run) -> dict:
-    """The firmware's own account of its control loop."""
-
-    def largest(name: str) -> float | None:
-        values = run.get(name)
-        return float(np.nanmax(values)) if np.isfinite(values).any() else None
-
-    return {
-        "worst_time_us": largest("loop_worst_time_us"),
-        "missed_ticks": largest("loop_missed_ticks"),
-        "saturated_iterations": largest("loop_saturated_iterations"),
-        "link_dropped_samples": largest("link_dropped_samples"),
-        "link_dropped_logs": largest("link_dropped_logs"),
-    }
-
-
-def report(run, generic: dict) -> dict:
-    """The firmware's states, how it ran, and what the board counted."""
-    mask = running(run)
-
-    return {
-        "states": [{"time": event["time"], "state": event["detail"]} for event in events(run, "state")][:MAX_EVENTS],
-        "unbound_ports": run.meta.get("unbound_ports"),
-        "running_time": float(mask.sum() * run.dt),
-        "pose": pose_report(run, mask),
-        "tracking": tracking_report(run, mask),
-        "voltage_saturation_fraction": saturation_report(run, mask),
-        "loop": loop_report(run),
-    }
-
-
-def speed_traces(run) -> list[tuple[str, np.ndarray, str]]:
-    """The reference and the estimate of both speeds."""
-    return [
-        ("reference_linear_speed", run.get("reference_linear_speed"), "linear"),
-        ("pose_linear_speed", run.get("pose_linear_speed"), "linear"),
-        ("reference_angular_speed", run.get("reference_angular_speed"), "angular"),
-        ("pose_angular_speed", run.get("pose_angular_speed"), "angular"),
-    ]
-
-
-def trajectory_overlays(run) -> list[tuple[str, np.ndarray, np.ndarray]]:
-    """The firmware's pose estimate and reference while it runs.
-
-    The origin is the corner post, where no pose can be: a pair at exactly (0, 0) is a
-    variable not yet written on the first tick of a run, and is left out.
-    """
-    overlays = []
-
-    for label, prefix in (("pose estimate", "pose"), ("reference", "reference")):
-        x = run.get(f"{prefix}_x")
-        y = run.get(f"{prefix}_y")
-        hide = np.where(running(run) & ((x != 0.0) | (y != 0.0)), 1.0, np.nan)
-        overlays.append((label, x * hide, y * hide))
-
-    return overlays
-
-
-def plots(run, generic: dict, directory: Path) -> None:
-    """The controller's terms and the wall sensors, in control.png."""
-    start = generic["run_start_time"]
-    figure, axes = plt.subplots(2, 1, sharex=True, figsize=(10, 6))
-
-    for name in (
-        "control_forward_feed_forward",
-        "control_forward_feedback",
-        "control_rotation_feed_forward",
-        "control_rotation_feedback",
-    ):
-        axes[0].plot(run.time, run.get(name), label=name, linewidth=0.8)
-
-    axes[0].set_ylabel("command [V]")
-    axes[0].legend(fontsize=7)
-
-    for name in run.prefixed("wall_"):
-        axes[1].plot(run.time, run.get(name), label=name, linewidth=0.8)
-
-    axes[1].set_ylabel("wall sensor [counts]")
-    axes[1].set_xlabel("time [s]")
-    axes[1].legend(fontsize=7)
-
-    for axis in axes:
-        if start is not None:
-            axis.axvline(start, color="k", linestyle="--", linewidth=0.8)
-
-    figure.tight_layout()
-    figure.savefig(directory / "control.png", dpi=120)
-    plt.close(figure)
-
-
-def fmt(value, digits: int = 3) -> str:
-    """Format a possibly missing number for the summary."""
-    return "n/a" if value is None else f"{value:.{digits}f}"
-
-
-def summarize(full: dict) -> None:
-    """The states, the pose and tracking errors, saturation and the loop, on stdout."""
-    print("states       " + "  ".join(f"{entry['time']:.3f}s {entry['state']}" for entry in full["states"]))
-
-    pose = full["pose"]
-    position = pose["position_error"]
-    heading = pose["heading_error_deg"]
-    print(
-        f"pose error   max {fmt(position['max'], 4)} m at {fmt(position['max_time'])} s  "
-        f"rms {fmt(position['rms'], 4)} m  final {fmt(pose['final_position_error'], 4)} m  "
-        f"heading max {fmt(heading['max'], 2)} deg"
-    )
-
-    tracking = full["tracking"]
-    print(
-        f"tracking     along rms {fmt(tracking['along']['rms'], 4)} m  "
-        f"across rms {fmt(tracking['across']['rms'], 4)} m  "
-        f"orientation rms {fmt(tracking['orientation']['rms'], 4)} rad"
-    )
-
-    saturation = full["voltage_saturation_fraction"]
-    print(f"saturation   left {fmt(saturation['left'])}  right {fmt(saturation['right'])}")
-
-    loop = full["loop"]
-    print(
-        f"loop         worst {fmt(loop['worst_time_us'], 0)} us  missed {fmt(loop['missed_ticks'], 0)}  "
-        f"saturated {fmt(loop['saturated_iterations'], 0)}"
-    )
-
-
-def baseline(full: dict) -> dict:
-    """What a Micras baseline records beyond the engine's values, with tolerances."""
-    pose = full["pose"]["position_error"]
-    across = full["tracking"]["across"]
-
-    return {
-        "unbound_ports": (full["unbound_ports"], None),
-        "running_time": (full["running_time"], 1.0),
-        "max_pose_error": (pose["max"], 0.02),
-        "rms_across_error": (across["rms"], 0.003),
-    }
diff --git a/targets/micras/tools/robot_report.cpp b/targets/micras/tools/robot_report.cpp
deleted file mode 100644
index ad47f8d..0000000
--- a/targets/micras/tools/robot_report.cpp
+++ /dev/null
@@ -1,139 +0,0 @@
-/**
- * @file
- *
- * @brief Compares robot.toml, the physical description, with robot.hpp, the firmware's belief.
- *
- * @note Prints every quantity both files hold, field by field, with the relative
- *       difference. It shows the differences without forcing them equal: robot.toml
- *       is what the simulator builds, robot.hpp is what the firmware plans with, and
- *       a firmware whose belief is wrong is one of the things a run should expose.
- *       Where robot.toml splits a quantity the firmware lumps, such as the mass of
- *       the chassis and the wheels, the report adds the parts up the way the
- *       firmware means them.
- */
-
-#include <algorithm>
-#include <cmath>
-#include <cstddef>
-#include <exception>
-#include <filesystem>
-#include <format>
-#include <iostream>
-#include <numbers>
-#include <string>
-
-#include "micras/nav/robot_model.hpp"
-#include "micras/sim/arenas/maze.hpp"
-#include "micras/sim/robot/robot_description.hpp"
-#include "robot.hpp"
-
-namespace {
-using micras::sim::RobotDescription;
-}  // namespace
-
-/**
- * @brief Print one row of the report.
- *
- * @param quantity What is compared.
- * @param described Value in robot.toml, or what it adds up to.
- * @param believed Value in robot.hpp.
- * @param unit Unit both values are printed in.
- * @param scale Factor from SI to that unit.
- */
-static void
-    row(const std::string& quantity, double described, float believed, const std::string& unit, double scale = 1.0) {
-    const auto   belief = static_cast<double>(believed);
-    const double difference = belief == 0.0 ? 0.0 : 100.0 * (described - belief) / std::abs(belief);
-    std::cout << std::format(
-        "{:34}  {:>12.5g}  {:>12.5g}  {:8}  {:>+8.1f} %\n", quantity, described * scale, belief * scale, unit,
-        difference
-    );
-}
-
-/**
- * @brief Yaw inertia of the whole robot about the axle midpoint, wheels included.
- *
- * @param robot The description.
- * @return Inertia in kg m^2.
- */
-static double yaw_inertia(const RobotDescription& robot) {
-    const auto&  wheels = robot.wheels;
-    const double offset = wheels.track / 2.0;
-    const double transverse = wheels.mass * (3 * wheels.radius * wheels.radius + wheels.width * wheels.width) / 12;
-    const double chassis_offset = std::hypot(robot.chassis.center_of_mass.at(0), robot.chassis.center_of_mass.at(1));
-
-    return robot.chassis.inertia.at(2) + robot.chassis.mass * chassis_offset * chassis_offset +
-           2.0 * (transverse + wheels.mass * offset * offset);
-}
-
-static int run() {
-    const RobotDescription robot = RobotDescription::load(std::filesystem::path{MICRAS_TARGET_DIR} / "robot.toml");
-    const micras::nav::RobotModel& model = micras::robot_model;
-    const micras::sim::MazeConfig  maze{};
-
-    double front = 0.0;
-    double rear = 0.0;
-    double half_width = robot.wheels.track / 2.0 + robot.wheels.width / 2.0;
-
-    for (const auto& corner : robot.chassis.outline) {
-        front = std::max(front, corner.at(0));
-        rear = std::max(rear, -corner.at(0));
-        half_width = std::max(half_width, std::abs(corner.at(1)));
-    }
-
-    std::cout << std::format(
-        "{:34}  {:>12}  {:>12}  {:8}  {:>10}\n", "quantity", "robot.toml", "robot.hpp", "unit", "difference"
-    );
-
-    row("maze cell size", maze.cell_size, model.maze.cell_size, "mm", 1e3);
-    row("maze wall thickness", maze.wall_thickness, model.maze.wall_thickness, "mm", 1e3);
-
-    row("mass, chassis and wheels", robot.chassis.mass + 2.0 * robot.wheels.mass, model.chassis.mass, "g", 1e3);
-    row("yaw inertia, chassis and wheels", yaw_inertia(robot), model.chassis.yaw_inertia, "g cm^2", 1e7);
-    row("wheel radius", robot.wheels.radius, model.chassis.wheel_radius, "mm", 1e3);
-    row("track width", robot.wheels.track, model.chassis.track_width, "mm", 1e3);
-    row("half width, board or tires", half_width, model.chassis.half_width, "mm", 1e3);
-    row("front length, board", front, model.chassis.front_length, "mm", 1e3);
-    row("rear length, board", rear, model.chassis.rear_length, "mm", 1e3);
-
-    row("tire friction coefficient", robot.wheels.friction, model.traction.friction_coefficient, "");
-    row("fan downforce", robot.fan.max_downforce, model.traction.fan_downforce, "N");
-    row("fan offset ahead of the axle", robot.fan.position.at(0), model.traction.fan_offset, "mm", 1e3);
-
-    const auto& drive = robot.drive;
-    row("torque constant", drive.torque_constant, model.drive.torque_constant, "mN m/A", 1e3);
-    row("resistance, winding and bridge", drive.resistance(), model.drive.resistance, "ohm");
-    row("gear ratio", drive.gear_ratio, model.drive.gear_ratio, "");
-    row("supply voltage", drive.supply_voltage, model.drive.supply_voltage, "V");
-    row("static friction voltage", drive.no_load_current * drive.resistance(), model.drive.static_friction_voltage,
-        "V");
-
-    for (std::size_t index = 0; index < robot.wall_sensors.sensors.size(); index++) {
-        const auto&       sensor = robot.wall_sensors.sensors.at(index);
-        const auto&       belief = model.wall_sensors.at(index);
-        const std::string name = sensor.name + " sensor";
-
-        row(name + " x, lens midpoint", (sensor.emitter.at(0) + sensor.receiver.at(0)) / 2.0, belief.position.x, "mm",
-            1e3);
-        row(name + " y, lens midpoint", (sensor.emitter.at(1) + sensor.receiver.at(1)) / 2.0, belief.position.y, "mm",
-            1e3);
-        row(name + " angle", sensor.yaw, belief.angle, "deg", 180.0 / std::numbers::pi);
-    }
-
-    row("emitter half angle", robot.wall_sensors.emitter_half_angle, model.wall_sensors.at(0).half_angle, "deg",
-        180.0 / std::numbers::pi);
-    row("gyroscope noise density", robot.imu.gyro_noise_density, model.noise.gyroscope, "mrad/s/rtHz", 1e3);
-    row("wheel angle resolution", 2.0 * std::numbers::pi / robot.encoders.counts_per_revolution,
-        model.noise.wheel_angle, "mrad", 1e3);
-
-    return 0;
-}
-
-int main() {
-    try {
-        return run();
-    } catch (const std::exception& error) {
-        std::cerr << error.what() << '\n';
-        return 1;
-    }
-}
diff --git a/targets/micras/tools/turn_designer.cpp b/targets/micras/tools/turn_designer.cpp
deleted file mode 100644
index 2cc5274..0000000
--- a/targets/micras/tools/turn_designer.cpp
+++ /dev/null
@@ -1,392 +0,0 @@
-/**
- * @file
- *
- * @brief Designs the turns of two bends and writes them as the firmware's two_bend_turns.hpp.
- *
- * @note A turn of two bends is two bends joined by a straight, and choosing them is a search over the
- *       angle of the first bend, the curvature of each and the straight before them, far too long for
- *       the compiler to run. So it runs here: every combination on a grid that ends on the exit node of
- *       the turn is timed at the speed its tighter bend allows, and the fastest one that the firmware's
- *       own check accepts, clear of every post and of every wall the turn does not cross, is the
- *       design. The firmware checks it again when it is compiled.
- *
- *       Usage: micras_turn_designer > MicrasFirmware/config/two_bend_turns.hpp
- *       The table of what was found, speeds and radii, goes to stderr.
- */
-
-#include <algorithm>
-#include <array>
-#include <cmath>
-#include <cstddef>
-#include <cstdint>
-#include <exception>
-#include <format>
-#include <future>
-#include <iostream>
-#include <numbers>
-#include <string>
-#include <vector>
-
-#include "micras/nav/lattice.hpp"
-#include "micras/nav/turn_table.hpp"
-#include "robot.hpp"
-#include "turn_margins.hpp"
-
-namespace {
-using micras::nav::TurnBend;
-using micras::nav::TurnId;
-using micras::nav::TurnTable;
-using micras::nav::TwoBendDesign;
-
-/**
- * @brief Names of the turns of two bends, in the order of TurnId.
- */
-constexpr std::array<const char*, micras::nav::number_of_two_bend_turns> names{
-    "SD45E", "SD45T", "SD135T", "DS45T", "DD0E", "DS45E", "DD90E", "DS135B",
-};
-
-/**
- * @brief Step of the grid of the angle of the first bend, and its largest magnitude, in degrees.
- */
-///@{
-constexpr double angle_step{2.5};
-constexpr double max_angle{220.0};
-///@}
-
-/**
- * @brief Smallest angle of a bend, in degrees, below which it is not worth a bend.
- */
-constexpr double min_angle{4.0};
-
-/**
- * @brief Number of radii of each bend, spaced evenly in logarithm between the smallest and largest.
- */
-///@{
-constexpr int    number_of_radii{30};
-constexpr double min_radius{0.03};
-constexpr double max_radius{0.6};
-///@}
-
-/**
- * @brief Step and number of lengths of the straight before the bends, in meters.
- */
-///@{
-constexpr double pre_step{0.005};
-constexpr int    number_of_pres{41};
-
-///@}
-
-/**
- * @brief Where a turn starts and ends, in its canonical frame.
- */
-struct Frame {
-    double entry;
-    double exit_x;
-    double exit_y;
-};
-
-/**
- * @brief A design with the time it takes, for sorting.
- */
-struct Candidate {
-    double        time;
-    TwoBendDesign design;
-};
-
-/**
- * @brief What was found for one turn and one margin.
- */
-struct Result {
-    TwoBendDesign design{};
-    double        speed{};
-    double        time{};
-    std::size_t   tried{};
-};
-}  // namespace
-
-/**
- * @brief Convert degrees to radians.
- *
- * @param degrees The angle in degrees.
- * @return The angle in radians.
- */
-static double to_radians(double degrees) {
-    return degrees * std::numbers::pi / 180.0;
-}
-
-/**
- * @brief Curvature of one radius of the grid.
- *
- * @param index The index of the radius.
- * @return The curvature in 1/m.
- */
-static double curvature_of(int index) {
-    return 1.0 / (min_radius * std::pow(max_radius / min_radius, index / (number_of_radii - 1.0)));
-}
-
-/**
- * @brief Speed a bend can be driven at, relative to the traction, which only scales it.
- *
- * @param bend The bend.
- * @return The speed with a lateral acceleration of 1 m/s^2 and the matching angular one.
- */
-static double relative_speed(const TurnBend& bend) {
-    const auto lateral = static_cast<double>(micras::robot_model.traction_acceleration(true));
-    const auto angular = static_cast<double>(micras::robot_model.traction_angular_acceleration(true));
-
-    return std::min(
-        std::sqrt(1.0 / static_cast<double>(bend.curvature)),
-        std::sqrt(angular / lateral / static_cast<double>(bend.sharpness))
-    );
-}
-
-/**
- * @brief Add every straight before two bends that closes the turn on its exit node.
- *
- * @param frame Where the turn starts and ends.
- * @param design The bends, whose straight before them is filled in.
- * @param candidates The list to add to.
- */
-static void add_closures(const Frame& frame, TwoBendDesign design, std::vector<Candidate>& candidates) {
-    const TurnBend first = TurnTable::make_bend(
-        micras::robot_model, static_cast<double>(design.first_angle), static_cast<double>(design.first_curvature)
-    );
-    const TurnBend second = TurnTable::make_bend(
-        micras::robot_model, static_cast<double>(design.second_angle), static_cast<double>(design.second_curvature)
-    );
-    const auto first_end = first.sample<double>(1.0e3);
-    const auto second_end = second.sample<double>(1.0e3);
-
-    const double middle = frame.entry + static_cast<double>(first.angle);
-    const double last = middle + static_cast<double>(second.angle);
-    const double determinant = std::sin(static_cast<double>(second.angle));
-    const double speed = std::min(relative_speed(first), relative_speed(second));
-    const auto   curve = static_cast<double>(first.length() + second.length());
-
-    const double bends_x = std::cos(frame.entry) * first_end.x - std::sin(frame.entry) * first_end.y +
-                           std::cos(middle) * second_end.x - std::sin(middle) * second_end.y;
-    const double bends_y = std::sin(frame.entry) * first_end.x + std::cos(frame.entry) * first_end.y +
-                           std::sin(middle) * second_end.x + std::cos(middle) * second_end.y;
-
-    for (int k = 0; k < number_of_pres; k++) {
-        const double pre = pre_step * k;
-        const double remaining_x = frame.exit_x - pre * std::cos(frame.entry) - bends_x;
-        const double remaining_y = frame.exit_y - pre * std::sin(frame.entry) - bends_y;
-
-        const double straight = (remaining_x * std::sin(last) - remaining_y * std::cos(last)) / determinant;
-        const double post = (std::cos(middle) * remaining_y - std::sin(middle) * remaining_x) / determinant;
-
-        if (straight >= 0.0 and post >= 0.0) {
-            design.pre = static_cast<float>(pre);
-            candidates.push_back({.time = (pre + curve + straight + post) / speed, .design = design});
-        }
-    }
-}
-
-/**
- * @brief List every design on the grid that ends on the exit node of a turn.
- *
- * @param turn The turn.
- * @return The designs, with the time each takes.
- */
-static std::vector<Candidate> list_candidates(TurnId turn) {
-    const micras::nav::TurnPrimitive& primitive = micras::nav::get_primitive(turn);
-    const auto                        half_cell = static_cast<double>(micras::robot_model.maze.cell_size) / 2.0;
-    const Frame                       frame{
-        .entry = primitive.diagonal_entry ? std::numbers::pi / 4.0 : 0.0,
-        .exit_x = primitive.exit.x * half_cell,
-        .exit_y = primitive.exit.y * half_cell,
-    };
-
-    std::vector<double> totals{primitive.rotation * 45.0};
-
-    if (primitive.rotation != 0) {
-        totals.push_back((primitive.rotation - 8) * 45.0);
-    }
-
-    const auto             steps = static_cast<int>(std::lround(2.0 * max_angle / angle_step));
-    std::vector<Candidate> candidates;
-
-    for (const double total : totals) {
-        for (int step = 0; step <= steps; step++) {
-            const double first_angle = -max_angle + angle_step * step;
-            const double second_angle = total - first_angle;
-
-            if (std::abs(first_angle) < min_angle or std::abs(second_angle) < min_angle or
-                std::abs(second_angle) > max_angle or std::abs(std::sin(to_radians(second_angle))) < 1.0e-6) {
-                continue;
-            }
-
-            for (int first = 0; first < number_of_radii; first++) {
-                for (int second = 0; second < number_of_radii; second++) {
-                    const TwoBendDesign bends{
-                        .first_angle = static_cast<float>(to_radians(first_angle)),
-                        .first_curvature = static_cast<float>(curvature_of(first)),
-                        .second_angle = static_cast<float>(to_radians(second_angle)),
-                        .second_curvature = static_cast<float>(curvature_of(second)),
-                        .pre = 0.0F,
-                    };
-
-                    add_closures(frame, bends, candidates);
-                }
-            }
-        }
-    }
-
-    std::ranges::sort(candidates, {}, &Candidate::time);
-
-    return candidates;
-}
-
-/**
- * @brief Find the fastest design of a turn that fits.
- *
- * @param turn The turn.
- * @param margin The clearance asked of the turn.
- * @return The design, with no curvature if nothing on the grid fits.
- */
-static Result design(TurnId turn, float margin) {
-    Result result{};
-
-    for (const Candidate& candidate : list_candidates(turn)) {
-        result.tried++;
-
-        const auto shape = TurnTable::check(micras::robot_model, margin, turn, candidate.design);
-
-        if (shape.valid) {
-            result.design = candidate.design;
-            result.speed = static_cast<double>(std::min(
-                std::sqrt(micras::robot_model.traction_acceleration(true) / shape.curvature),
-                std::sqrt(micras::robot_model.traction_angular_acceleration(true) / shape.sharpness)
-            ));
-            result.time = static_cast<double>(shape.total_length()) / result.speed;
-            break;
-        }
-    }
-
-    return result;
-}
-
-/**
- * @brief Write a number as a float literal.
- *
- * @param value The number.
- * @return The literal, with enough digits to read back the same float.
- */
-static std::string literal(float value) {
-    std::string text = std::format("{:.9g}", value);
-
-    if (text.find_first_of(".e") == std::string::npos) {
-        text += ".0";
-    }
-
-    return text + "F";
-}
-
-/**
- * @brief Write the designs of one margin as a C++ array.
- *
- * @param name The name of the array.
- * @param margin The margin, for the comment.
- * @param results What was found for each turn.
- * @return The declaration.
- */
-static std::string to_array(const char* name, float margin, const std::vector<Result>& results) {
-    std::string text = std::format(
-        "/**\n * @brief Designs of the turns of two bends, from nav::first_two_bend_turn on, with a margin of {:.0f} "
-        "mm.\n"
-        " */\nconstexpr std::array<nav::TwoBendDesign, nav::number_of_two_bend_turns> {}{{{{\n",
-        1000.0F * margin, name
-    );
-
-    for (std::size_t i = 0; i < results.size(); i++) {
-        const TwoBendDesign& found = results.at(i).design;
-
-        text += std::format(
-            "    {{.first_angle = {},\n     .first_curvature = {},\n     .second_angle = {},\n"
-            "     .second_curvature = {},\n     .pre = {}}},  // {}\n",
-            literal(found.first_angle), literal(found.first_curvature), literal(found.second_angle),
-            literal(found.second_curvature), literal(found.pre), names.at(i)
-        );
-    }
-
-    return text + "}};\n";
-}
-
-/**
- * @brief Print what was found for one margin.
- *
- * @param margin The margin.
- * @param results What was found for each turn.
- */
-static void report(float margin, const std::vector<Result>& results) {
-    std::cerr << std::format("margin {:.0f} mm, speed with the fan at full traction\n", 1000.0F * margin);
-
-    for (std::size_t i = 0; i < results.size(); i++) {
-        const Result&        result = results.at(i);
-        const TwoBendDesign& found = result.design;
-
-        if (found.first_curvature <= 0.0F) {
-            std::cerr << std::format("  {:7} no fit ({} tried)\n", names.at(i), result.tried);
-            continue;
-        }
-
-        std::cerr << std::format(
-            "  {:7} {:4.0f}/{:4.0f} deg  R {:3.0f}/{:3.0f} mm  pre {:3.0f} mm  {:.2f} m/s  {:.3f} s  ({} tried)\n",
-            names.at(i), static_cast<double>(found.first_angle) * 180.0 / std::numbers::pi,
-            static_cast<double>(found.second_angle) * 180.0 / std::numbers::pi,
-            1000.0 / static_cast<double>(found.first_curvature), 1000.0 / static_cast<double>(found.second_curvature),
-            1000.0 * static_cast<double>(found.pre), result.speed, result.time, result.tried
-        );
-    }
-}
-
-static int run() {
-    const std::array<float, 2> margins{micras::turn_margin, micras::risky_turn_margin};
-
-    std::vector<std::future<Result>> futures;
-
-    for (const float margin : margins) {
-        for (uint8_t i = 0; i < micras::nav::number_of_two_bend_turns; i++) {
-            const auto turn = static_cast<TurnId>(micras::nav::first_two_bend_turn + i);
-            futures.push_back(std::async(std::launch::async, design, turn, margin));
-        }
-    }
-
-    std::vector<std::vector<Result>> results(margins.size());
-
-    for (std::size_t i = 0; i < futures.size(); i++) {
-        results.at(i / micras::nav::number_of_two_bend_turns).push_back(futures.at(i).get());
-    }
-
-    for (std::size_t i = 0; i < margins.size(); i++) {
-        report(margins.at(i), results.at(i));
-    }
-
-    std::cout << "/**\n * @file\n *\n * @brief Designs of the turns of two bends, for each margin.\n *\n"
-                 " * @note Written by the turn designer of the simulator (`just micras turn-designs`), which searches\n"
-                 " * for the fastest two bends that clear the walls. Do not edit by hand: the build checks every "
-                 "design\n"
-                 " * against the robot and the maze, and a change to either that makes one no longer fit stops it, "
-                 "which\n"
-                 " * is when the designer has to run again. A turn nothing fits is written with no curvature, which "
-                 "also\n"
-                 " * stops the build.\n"
-                 " */\n\n"
-                 "#ifndef MICRAS_TWO_BEND_TURNS_HPP\n#define MICRAS_TWO_BEND_TURNS_HPP\n\n#include <array>\n\n"
-                 "#include \"micras/nav/lattice.hpp\"\n#include \"micras/nav/turn_table.hpp\"\n\nnamespace micras {\n"
-              << to_array("two_bend_designs", margins.at(0), results.at(0)) << "\n"
-              << to_array("risky_two_bend_designs", margins.at(1), results.at(1))
-              << "}  // namespace micras\n\n#endif  // MICRAS_TWO_BEND_TURNS_HPP\n";
-
-    return 0;
-}
-
-int main() {
-    try {
-        return run();
-    } catch (const std::exception& error) {
-        std::cerr << error.what() << '\n';
-        return 1;
-    }
-}
diff --git a/targets/micras/tools/wall_calibration.cpp b/targets/micras/tools/wall_calibration.cpp
deleted file mode 100644
index ed55e15..0000000
--- a/targets/micras/tools/wall_calibration.cpp
+++ /dev/null
@@ -1,303 +0,0 @@
-/**
- * @file
- *
- * @brief Derives each wall sensor's gain from the firmware's last calibration.
- *
- * @note Places the robot where the firmware's calibration is taken, centered in a
- *       cell: in a corridor for the sensors that look at the side walls, facing
- *       a wall for the ones that look forward, as the firmware's two calibration
- *       steps do. It fires every emitter and compares the simulated lit minus
- *       dark reading of each sensor with the reference reading target.hpp
- *       records from the robot. The simulation runs with the gains already in
- *       robot.toml, and each is corrected by the ratio of the two readings, so a
- *       calibrated file prints its own gains back.
- *
- * @note With --sweep it moves the robot instead: toward and away from the wall
- *       ahead for the front sensors, across the corridor for the side ones. At
- *       each place it prints the range along each sensor's axis and the
- *       distance the firmware makes of the simulated reading, with its model of
- *       the receiver's offset and half angle.
- */
-
-#include <array>
-#include <cmath>
-#include <cstddef>
-#include <cstdint>
-#include <exception>
-#include <filesystem>
-#include <format>
-#include <iostream>
-#include <numbers>
-#include <span>
-#include <string_view>
-#include <vector>
-
-#include <mujoco/mjtype.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-
-#include "micras/sim/arenas/maze.hpp"
-#include "micras/sim/core/clock.hpp"
-#include "micras/sim/core/mujoco_world.hpp"
-#include "micras/sim/core/span_at.hpp"
-#include "micras/sim/devices/wall_sensors.hpp"
-#include "micras/sim/robot/robot_description.hpp"
-#include "micras/sim/robot/robot_model.hpp"
-#include "target.hpp"
-
-namespace {
-using micras::sim::Clock;
-using micras::sim::Maze;
-using micras::sim::MazeConfig;
-using micras::sim::MujocoWorld;
-using micras::sim::robot_mjcf;
-using micras::sim::RobotDescription;
-using micras::sim::WallSensorDescription;
-using micras::sim::WallSensors;
-
-/**
- * @brief A corridor three cells long: the middle cell and the ones around it have walls on both sides.
- */
-constexpr std::string_view corridor_maze{"o---o---o---o\n"
-                                         "|   |   |   |\n"
-                                         "o   o   o   o\n"
-                                         "|   |   |   |\n"
-                                         "o   o   o   o\n"
-                                         "|   |   |   |\n"
-                                         "o---o---o---o\n"};
-
-/**
- * @brief A dead end: the middle cell has walls on both sides and in front.
- */
-constexpr std::string_view facing_maze{"o---o---o---o\n"
-                                       "|           |\n"
-                                       "o   o---o   o\n"
-                                       "|   |   |   |\n"
-                                       "o   o   o   o\n"
-                                       "|           |\n"
-                                       "o---o---o---o\n"};
-
-/**
- * @brief What every sensor reads from one place, and how far its axis runs to a wall.
- */
-struct Sample {
-    std::vector<double> readings;
-    std::vector<double> ranges;
-};
-}  // namespace
-
-/**
- * @brief Read every sensor with its own emitter lit, robot in the middle cell facing up.
- *
- * @param robot The robot.
- * @param drawing The maze.
- * @param across How far right of the cell center the robot is, in meters.
- * @param along How far ahead of the cell center the robot is, in meters.
- * @return Each sensor's lit minus dark reading, as the firmware normalizes it, and its axis range.
- */
-static Sample sample(const RobotDescription& robot, std::string_view drawing, double across = 0.0, double along = 0.0) {
-    const MazeConfig config{};
-    const Maze       maze = Maze::parse(drawing);
-
-    MujocoWorld world;
-    world.build(
-        robot_mjcf(robot), robot.name, maze.mjcf(config), Maze::body_name,
-        {.x = (1.5 * config.cell_size) + across, .y = (1.5 * config.cell_size) + along, .yaw = std::numbers::pi / 2}
-    );
-    world.reset();
-
-    std::vector<uint32_t> counts(2 * robot.wall_sensors.sensors.size());
-    WallSensors           sensors{
-        world,
-        {
-            .name = "wall",
-            .description = robot.wall_sensors,
-            .scan_ticks = 1,
-            .emitter_duty = [](std::size_t) { return 30.0F; },
-            .write = [&counts](std::size_t index, uint32_t value) { counts.at(index) = value; },
-            .finish_sequence = [] { },
-            .reflectance =
-                [&world, &config](int geom) {
-                    const char* name = mj_id2name(world.model(), mjOBJ_GEOM, geom);
-                    return Maze::reflectance(name == nullptr ? "" : name, config);
-                },
-        },
-        {.seed = 1, .ideal = true},
-    };
-
-    Clock clock = Clock::from_model(world.timestep(), 125);
-    clock.advance();
-    sensors.sample(world, clock);
-    clock.advance();
-    sensors.sample(world, clock);
-
-    const std::size_t             count = robot.wall_sensors.sensors.size();
-    const auto                    sites = static_cast<std::size_t>(world.model()->nsite);
-    const std::span<const mjtNum> site_positions(world.data()->site_xpos, 3 * sites);
-    const std::span<const mjtNum> site_frames(world.data()->site_xmat, 9 * sites);
-    Sample                        result;
-
-    for (std::size_t sensor = 0; sensor < count; sensor++) {
-        const WallSensorDescription& description = robot.wall_sensors.sensors.at(sensor);
-        const std::size_t            own = description.group == 0 ? 0 : 1;
-        const double                 lit = counts.at(own * count + sensor);
-        const double                 dark = counts.at((1 - own) * count + sensor);
-        result.readings.push_back((lit - dark) / robot.wall_sensors.adc_max_counts);
-
-        const auto site = static_cast<std::size_t>(world.require_id(mjOBJ_SITE, description.name + "_emitter"));
-        const std::span<const mjtNum> frame = site_frames.subspan(9 * site, 9);
-        const std::array<mjtNum, 3>   axis{
-            micras::sim::at(frame, 0), micras::sim::at(frame, 3), micras::sim::at(frame, 6)
-        };
-        std::array<mjtByte, mjNGROUP> groups{1, 1, 1, 1, 1, 1};
-        groups.at(MujocoWorld::unseen_group) = 0;
-        int geom = -1;
-        result.ranges.push_back(mj_ray(
-            world.model(), world.data(), site_positions.subspan(3 * site, 3).data(), axis.data(), groups.data(), true,
-            -1, &geom, nullptr
-        ));
-    }
-
-    return result;
-}
-
-/**
- * @brief How the firmware expects a reading to vary with the distance, up to its calibrated constant.
- *
- * @param distance Distance to the wall in meters.
- * @return The shape of the reading.
- */
-static double firmware_shape(double distance) {
-    const auto&  config = micras::wall_sensors_config;
-    const double angle = std::atan(static_cast<double>(config.receiver_offset) / distance) /
-                         static_cast<double>(config.receiver_half_angle);
-    return std::exp2(-angle * angle) / (distance * distance);
-}
-
-/**
- * @brief The distance the firmware makes of a reading.
- *
- * @note Solves the firmware's model of the reading by bisection over the distances past the peak
- *       of the reading, which is what the firmware's table covers.
- *
- * @param sensor Index of the sensor.
- * @param reading Normalized reading.
- * @return Distance in meters.
- */
-static double firmware_distance(std::size_t sensor, double reading) {
-    const auto&  config = micras::wall_sensors_config;
-    const auto   reference = static_cast<double>(config.reference_distances.at(sensor));
-    const double target =
-        reading / static_cast<double>(config.reference_readings.at(sensor)) * firmware_shape(reference);
-    double low = 0.001;
-
-    while (low < static_cast<double>(config.max_distance) and firmware_shape(low + 0.001) > firmware_shape(low)) {
-        low += 0.001;
-    }
-
-    auto high = static_cast<double>(config.max_distance);
-
-    if (firmware_shape(low) <= target) {
-        return low;
-    }
-
-    if (firmware_shape(high) >= target) {
-        return high;
-    }
-
-    for (int step = 0; step < 60; step++) {
-        const double middle = (low + high) / 2.0;
-        (firmware_shape(middle) > target ? low : high) = middle;
-    }
-
-    return (low + high) / 2.0;
-}
-
-/**
- * @brief Print how the firmware's distance follows the true range as the robot moves.
- *
- * @param robot The robot.
- */
-static void sweep(const RobotDescription& robot) {
-    std::cout << "front sensors, robot moved toward the wall ahead\n";
-    std::cout << "  along_mm  sensor        range_mm  firmware_mm  error_mm\n";
-
-    for (int along = -200; along <= 40; along += 10) {
-        const Sample result = sample(robot, facing_maze, 0.0, along * 1e-3);
-
-        for (std::size_t sensor = 0; sensor < robot.wall_sensors.sensors.size(); sensor++) {
-            const WallSensorDescription& description = robot.wall_sensors.sensors.at(sensor);
-
-            if (std::abs(std::sin(description.yaw)) > 0.1) {
-                continue;
-            }
-
-            const double range = result.ranges.at(sensor) * 1e3;
-            const double distance = firmware_distance(sensor, result.readings.at(sensor)) * 1e3;
-            std::cout << std::format(
-                "  {:8}  {:12}  {:8.1f}  {:11.1f}  {:8.1f}\n", along, description.name, range, distance,
-                distance - range
-            );
-        }
-    }
-
-    std::cout << "side sensors, robot moved across the corridor\n";
-    std::cout << "  right_mm  sensor        range_mm  firmware_mm  error_mm\n";
-
-    for (int across = -30; across <= 30; across += 10) {
-        const Sample result = sample(robot, corridor_maze, across * 1e-3, 0.0);
-
-        for (std::size_t sensor = 0; sensor < robot.wall_sensors.sensors.size(); sensor++) {
-            const WallSensorDescription& description = robot.wall_sensors.sensors.at(sensor);
-
-            if (std::abs(std::sin(description.yaw)) <= 0.1) {
-                continue;
-            }
-
-            const double range = result.ranges.at(sensor) * 1e3;
-            const double distance = firmware_distance(sensor, result.readings.at(sensor)) * 1e3;
-            std::cout << std::format(
-                "  {:8}  {:12}  {:8.1f}  {:11.1f}  {:8.1f}\n", across, description.name, range, distance,
-                distance - range
-            );
-        }
-    }
-}
-
-static int run(int argc, char** argv) {
-    const std::span<char*> arguments(argv, static_cast<std::size_t>(argc));
-    const RobotDescription robot = RobotDescription::load(std::filesystem::path{MICRAS_TARGET_DIR} / "robot.toml");
-
-    if (arguments.size() > 1 and std::string_view{micras::sim::at(arguments, 1)} == "--sweep") {
-        sweep(robot);
-        return 0;
-    }
-
-    const std::vector<double> corridor = sample(robot, corridor_maze).readings;
-    const std::vector<double> facing = sample(robot, facing_maze).readings;
-
-    std::cout << "sensor        placement  simulated  robot      gain\n";
-
-    for (std::size_t sensor = 0; sensor < robot.wall_sensors.sensors.size(); sensor++) {
-        const WallSensorDescription& description = robot.wall_sensors.sensors.at(sensor);
-        const bool                   side = std::abs(std::sin(description.yaw)) > 0.1;
-        const double                 simulated = side ? corridor.at(sensor) : facing.at(sensor);
-        const auto reference = static_cast<double>(micras::wall_sensors_config.reference_readings.at(sensor));
-
-        std::cout << std::format(
-            "{:12}  {:9}  {:9.4f}  {:9.4f}  {:.4f}\n", description.name, side ? "corridor" : "facing", simulated,
-            reference, description.gain * reference / simulated
-        );
-    }
-
-    return 0;
-}
-
-int main(int argc, char** argv) {
-    try {
-        return run(argc, argv);
-    } catch (const std::exception& error) {
-        std::cerr << error.what() << '\n';
-        return 1;
-    }
-}

From ac489d3ba43a91b2a478ef515970f6041cccc5d6 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 11:46:27 -0300
Subject: [PATCH 43/52] =?UTF-8?q?=F0=9F=93=9D=20Describe=20the=20simulator?=
 =?UTF-8?q?=20without=20the=20Micras=20target?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The Micras target, its scenarios, its recipes, its robot description and its findings are documented
in the firmware's sim/README.md, and the host HAL, the SPI device slot and the chip models in
micras-lib's README. The simulator's documents keep the engine, the tools, the toy target and the
contract a robot's project follows, with the toy as the example.
---
 CLAUDE.md | 292 ++++++++----------------------------------------------
 README.md | 164 ++++++++++++------------------
 2 files changed, 104 insertions(+), 352 deletions(-)

diff --git a/CLAUDE.md b/CLAUDE.md
index 3a6ec4c..397f14d 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -1,8 +1,8 @@
 # micras-simulation
 
 `README.md` is how to use this. This file is why it is built the way it is: the
-invariants that hold it together, the subtleties that look like bugs and are
-not, and the measurements behind the numbers in `targets/micras/robot.toml`.
+invariants that hold it together and the subtleties that look like bugs and are
+not. A robot's own measurements live with its target.
 
 Linux only, by decision. CMake is the entry point: presets configure, and every
 recipe is a CMake target over a bash script that takes its paths as arguments, so
@@ -31,26 +31,26 @@ what is compared. Two rules:
 
 - **A refactoring must not move a byte.** On one machine, a refactoring leaves
   the hash where it was. If it moves, the refactoring is wrong.
-- **Never re-record to make a difference go away.** `sim_record_baseline` (and
-  the toy's `micras_sim_toy_record_baseline`) refuses to
-  overwrite a version; a change of behavior is a new version, with the reason in
-  the commit.
+- **Never re-record to make a difference go away.** The toy's
+  `micras_sim_toy_record_baseline`, like a robot project's own recording target,
+  refuses to overwrite a version; a change of behavior is a new version, with the
+  reason in the commit.
 
 ## Layers
 
-Everything is in this repository, in three layers:
+Two layers here, and a third in the project of each robot:
 
 ```
 engine/, view/, bridge/, app/   the simulator: knows no robot and no HAL
-hal_host/                       micras_hal implemented on a PC, and chip models: knows no physics
 targets/toy/                    the reference target: no HAL, every feature of the engine
-targets/micras/                 the micromouse: firmware submodule, bindings, robot.toml
+a robot's project               its target, bindings and robot.toml, over micras-lib's host HAL
 ```
 
 `micras_sim_check_generic` greps everything outside `targets/` for names that
-belong to a robot and fails on any (`hal_host/`, the documentation and the files
-shared with micras-lib are not scanned). The root CMakeLists adds every folder of
-`targets/` that has a CMakeLists; nothing above `targets/` names one.
+belong to a robot and fails on any; only the files shared with micras-lib, which
+name the repositories that carry them, and the script itself are not scanned. The
+root CMakeLists adds every folder of `targets/` that has a CMakeLists; nothing
+above `targets/` names one.
 
 Four engine libraries. `micras_sim_app` sits on top; `micras_sim_view` links only
 the engine, so nothing about drawing can reach the recording layer:
@@ -116,8 +116,8 @@ the firmware thread parked on the handoff with nobody left to wake it.
 
 ### Time: the host timer hands over
 
-The firmware keeps its own notion of time through `micras_hal`'s timer, and
-`hal_host`'s `Clock` is the only place that time exists. **Every read of the
+The firmware keeps its own notion of time through `micras_hal`'s timer, and the
+host backend's `Clock` (micras-lib) is the only place that time exists. **Every read of the
 timer costs one microsecond of simulated time**, since a read on the robot takes
 time too and a loop that polls the timer must see it advance. When a read
 crosses the end of a 125 us step, the clock calls its handover, which is the
@@ -129,7 +129,7 @@ anything. There are no spin guards and no special cases.
 
 ### The two threads
 
-The firmware runs its own `main` (compiled as `micras_firmware_main`) in its own
+The firmware runs its own `main`, compiled under another name, in its own
 thread. This is not concurrency: it is a **strict handoff**, a mutex and a
 condition variable around a `Turn` flag, and the two threads are never runnable
 at the same time. The firmware thread runs until the host timer yields, then
@@ -165,92 +165,16 @@ GLFW context current first. Without that pair the run dies with
 
 ## The host HAL
 
-`hal_host/` implements every `micras_hal` class the firmware uses on a PC, and
-includes nothing but `micras_hal` headers and its own. `Board` is a registry of
-ports (`GpioPort`, `PwmPort`, `PwmDmaPort`, `AdcPort`, `UartPort`, `FlashPort`,
-`McuPort`, `EncoderPort`, `SpiPort`) **keyed by the address of the Cube handle
-or GPIO port** that names them, so the firmware's own `target.hpp` is the key:
-`.handle = &htim4` there and `Board::pwm(&htim4, ...)` in a binding reach the same
-port. Nothing in `hal_host` knows a physics engine; the target's bindings connect
-ports to devices.
-
+The host backend of `micras_hal` lives in
+[micras-lib](https://github.com/Team-Micras/micras-lib) (`micras_hal/host/`),
+with the SPI device slot and the models of the SPI chips (`micras_proxy/models/`);
+its README describes the port registry keyed by the Cube handles, the slot and
+the models. The simulator includes no HAL. A robot's target binds the backend's
+ports to the engine's devices, and nothing in the backend knows a physics engine.
 A port the firmware used that no binding claimed is counted, named on stderr at
-the end of the run and written to `meta.json` as `unbound_ports`; the gate
-expects zero. So do
-`watchdog_expiries` and `emergency_stops`, which `Mcu` counts instead of
-resetting a process.
-
-`hal_host/include/stm32_host.h` holds the handle types and HAL constants. The
-Cube layer the firmware includes (`main.h`, `tim.h`, `adc.h`, ...) is written by
-hand per robot in `targets/micras/cube/`, with the handles configured as
-CubeMX configures them on the board (timer clock 275 MHz, TIM4 center-aligned at
-PSC 274 / ARR 250, and so on), because the host `Pwm` and `Timer` compute
-frequencies and duties from those registers.
-
-Of the firmware, everything compiles unchanged except `micras_hal` (replaced by
-`hal_host`), and `FmacFilter` is left out because nothing uses it and it needs
-the FMAC. The proxies of the SPI chips, `Imu` and `RotarySensor`, are the
-firmware's own, and so is ST's register driver of the LSM6DSV, compiled as C.
-
-### The SPI device slot
-
-A chip on an SPI bus is a `SpiDevice`
-(`hal_host/include/micras/hal/host/spi_device.hpp`): `select()`,
-`exchange(tx, rx)`, `deselect()` and the SPI mode it answers in. A
-binding attaches it with `Board::spi_device(handle, cs_port, cs_pin, device)`,
-**keyed by the bus and the chip select**, because `hspi3` carries the IMU and both
-encoders. The host `Spi` selects the device in `select_device`, routes every
-`transmit`, `receive` and `transmit_receive` to it, and deselects it in
-`unselect_device`, so a register read that the driver makes of two HAL calls is
-one transaction for the chip, as on the bus.
-
-- **The mode is checked on every transfer.** A device whose mode differs from the
-  one `select_device` wrote into the handle is not reached and the firmware reads
-  all ones, as from a chip clocked on the wrong edge. So is a chip select with no
-  device, which is also reported as an unbound port.
-- **`start_transfer` completes on the host clock.** The bytes are exchanged at the
-  start, and the transfer ends when the host clock passes the time its bytes take
-  at the bus's bit rate: the kernel clock the fake Cube layer writes into the
-  handle's `Instance` (125 MHz for SPI3), divided by the baud rate prescaler (32),
-  so the IMU's 17-byte burst takes 34.8 us. `get_transfer` and a `select_device`
-  that finds the bus busy end it through `on_transfer_end`, which raises the chip
-  select and sets `COMPLETE`, as the DMA interrupt does. A `select_device` on a
-  busy bus waits for it on the timer, as the firmware's own does.
-- **Blocking transfers take no time.** Only the timer costs time on the host; the
-  driver's own waits (`sleep_ms`, the encoder's 1 us deselect time) cost what they
-  cost on the robot.
-- **The firmware's objects outlive the run.** `Micras` is a static of the
-  firmware's `main`, destroyed when the process exits, after the target and its
-  chips; the IMU's `Spi` ends its last transfer then. `MicrasTarget::unwire`
-  therefore forgets every port, which detaches the chips.
-
-### The chip models
-
-`hal_host/models/` builds `micras_hal_host_models` (`micras::hal_host_models`,
-namespace `micras::models`): SPI devices that know the slot and nothing else, with
-their own unit tests. The Micras target owns one of each per chip
-(`MicrasChips`) and attaches them to `hspi3` by the chip selects `target.hpp`
-names.
-
-- **`Lsm6dsvModel`**: the 128 registers of the main page with the datasheet
-  defaults (WHO_AM_I 0x70), `SW_POR` and `SW_RESET`, auto-increment under
-  `IF_INC`, SPI mode 3. The binding turns each sample of the engine's `Imu` device
-  back into rad/s and m/s^2 and calls `push_sample`, which encodes it with the
-  **full scale in CTRL6/CTRL8, the one the firmware wrote**, and sets `GDA`/`XLDA`;
-  reading a sensor's output high byte clears its bit, so the burst that reads a
-  sample clears it. A sensor whose ODR is off ignores samples.
-- **`As5047uModel`**: 24-bit frames with the CRC-8 (polynomial 0x1D, initial 0xC4,
-  final XOR 0xFF) checked on every frame, answers pipelined by one frame, the
-  volatile registers the firmware writes and reads back (DISABLE, ZPOSM, ZPOSL,
-  SETTINGS1 to 3, ECC), ERRFL with the CRC and framing error bits, SPI mode 1. The
-  position is not modeled: it reaches the firmware through the timer encoder, as
-  on the robot.
-
-Two timings follow from the real drivers. The `Imu` reads the burst it started
-one `update()` earlier, so a sample reaches the firmware one loop after the
-update that asked for it. Its constructor waits 10 ms, then 30 ms after the
-software power-on reset, so the robot exists, and INIT starts, 40 ms into the
-run.
+the end of the run and written to `meta.json` as `unbound_ports`; a gate expects
+zero, and so it does of `watchdog_expiries` and `emergency_stops`, which the
+backend's `Mcu` counts instead of resetting a process.
 
 ## The toy target
 
@@ -268,9 +192,8 @@ scenario, so a summary records no machine's paths.
 ## Presets, recipes and sanitizers
 
 `host` is Debug with the address and undefined behavior sanitizers, and is where
-the tests and `micras_sim_check` run; `host-release` (RelWithDebInfo) is for runs,
-the contest and the Micras baselines, whose recorded runs it reproduces byte for
-byte; `host-ci` is `host` with warnings as errors. A run's bytes do not
+the tests and `micras_sim_check` run; `host-release` (RelWithDebInfo) is for runs
+and baselines; `host-ci` is `host` with warnings as errors. A run's bytes do not
 depend on the build type (a Debug sanitized toy run equals the RelWithDebInfo
 baseline). The invariance check turns leak detection off for the window and the
 video runs only: the system's GL and font libraries keep their caches until exit.
@@ -282,61 +205,14 @@ arguments.
 
 ## The robot description
 
-`targets/micras/robot.toml` is the robot's physical truth, written by hand from
-the CAD, the board and the datasheets. Every value is either a number or
+A target's `robot.toml` is the robot's physical truth, written by hand from the
+CAD, the board and the datasheets. Every value is either a number or
 `{ value, source }` naming where it came from, and `RobotDescription` rejects a
 missing key, an unknown key, a wrong type and an unknown schema version. The
 engine generates the MJCF from it (`robot_mjcf`) and composes it with the arena
 (`Maze::mjcf`, attached under the prefix `maze_`); the composed model is saved to
-`<out>/model.xml` and hashed into `meta.json`.
-
-`robot.hpp` in the firmware is the firmware's *belief*, and the two are never
-forced equal. `sim_robot_report` prints them side by side. Today they
-differ in the emitter half angle (3 deg datasheet against 5.2 deg with mounting
-tolerance), the gyro noise (datasheet against a third more), the maze wall
-thickness (12 mm arena against 12.6 mm) and the front length (53.5 mm board
-against 54.9 mm with the sensor housings), all on purpose.
-
-Things in `robot.toml` that look arbitrary and are not:
-
-- **The tires have no rolling friction** (condim 4, not 6). MuJoCo's convex
-  contact separates two surfaces in proportion to how fast their friction is
-  slipping, and a rolling wheel keeps a rolling-friction constraint slipping all
-  the time. With it the tires lost the floor on 18 % of steps at 0.4 m/s and 55 %
-  at 1.5 m/s, at every timestep tried (125, 62.5 and 31.25 us), and so did a
-  bare sphere. The same separation happens where tires really slide, in a pivot;
-  a tire soft enough (`contact_time_constant` 5 ms or more) absorbs it inside its
-  own deflection. 8 ms is the estimate for the 1 mm silicone band. With the old
-  2 ms the hopping wheels hardly scrubbed, and a pivot at 0.6 V spun at 3.2 rad/s
-  instead of 1.1.
-- **The timestep is 125 us**, one firmware loop. Halving it changed neither
-  the contacts nor the trace.
-- **The chassis mass is 62 g**, not 70: the firmware's 70 g and 2.9e-5 kg m^2 are
-  the whole robot, and the wheels are modeled separately.
-- **Each wall sensor has a gain.** `tools/wall_calibration` places the robot
-  where the firmware calibrates (centered in a corridor for the side sensors,
-  facing a wall for the front ones) and sets each gain so that the simulated
-  reading equals the robot's `reference_readings` in `target.hpp`. Without the
-  gains the readings were about four times low and the localizer corrected
-  against them. `--sweep` shows how the firmware's distances then follow the
-  true ones.
-- **Two skids the CAD does not have.** The robot rests on the edges of its board:
-  the rear one at rest, since the center of mass is 0.8 mm behind the axle, and
-  the front one with the fan on, since the fan pulls 17.5 mm ahead of it. Two
-  1 mm spheres stand in for those edges. They are frictionless because a sliding
-  frictional contact separates in MuJoCo like the tires above; the board's own
-  friction would lift it off the floor.
-- **The fan pulls straight down**, not along the board's normal: its actuator's
-  reference is a site fixed in the world. With the fan on, the board tilts onto
-  its nose and a pull along its normal has a backward part, about 1 % of it. On
-  the robot the friction of the board edge holds that. On the frictionless skids
-  it rolled the robot 4 mm into the back wall while it waited 5 s for the fan.
-- **The fan's 3 N is the owner's figure**, at full speed on the charged pack
-  (`nominal_voltage` 12.3 V). The nose carries a third of it, so the tires get
-  2 N, and they sink 0.15 mm into the floor under it. Their rolling radius is
-  then 0.6 % short of 11 mm, and the firmware's odometry runs 0.6 % long with the
-  fan on. The same is expected of the real band, so calibrate the wheel radius
-  with the fan running.
+`<out>/model.xml` and hashed into `meta.json`. What each number of a real robot
+rests on is written next to its target.
 
 ## The CSV
 
@@ -346,9 +222,9 @@ truth columns, then the firmware's own monitoring variables, then each device's
 columns. Two sources naming the same column is an error at the first row.
 
 The first row is the first one due once every column source is ready
-(`ColumnSource::ready`). The firmware's variables exist only once its robot is
-constructed, and the constructor takes the IMU's 40 ms of start-up waits, so
-Micras's CSV starts at tick 320, not at tick 1.
+(`ColumnSource::ready`). A firmware's variables may exist only once its robot is
+constructed, so a firmware whose start-up waits on its chips starts its CSV
+that many ticks late.
 
 - A MuJoCo free joint splits its six velocity dofs across two frames, so the
   linear columns are `vx_world`, `vy_world`, `vz_world` and the angular one is
@@ -359,9 +235,9 @@ Micras's CSV starts at tick 320, not at tick 1.
 - The variable columns come from the firmware's `VariablePool`, read through a
   read-only accessor, and are named from its own variable names. State ids come
   from the firmware; it has no names for them, so the target lists the names and
-  the build checks that there is one for each state. The device columns are what the simulated hardware produced: the
-  `lsm6dsv_*` IMU samples, the `wall_*` ADC readings, the `motor_*_voltage` the
-  bridge applied, `pack_voltage`.
+  the build checks that there is one for each state. The device columns are
+  what the simulated hardware produced: the IMU samples, the `wall_*` readings,
+  the `motor_*_voltage` the bridge applied, `pack_voltage`.
 
 What the recording decimates, the event log does not: collisions and state
 changes are detected every tick and written to `meta.json`'s `events`. A
@@ -397,19 +273,10 @@ and is not reproducible, by definition.
 A scenario is a TOML file: the arena, the duration, the seed, the start pose,
 timed events (`press` an input for a time, `set` it, `send` a link command) and a
 stop condition on a firmware variable. CLI flags override what they name. Starts
-go through the robot's real paths: a short press of the button starts an
-exploration, exactly as on the robot. A scenario never touches the physics, so a
+go through the robot's real paths: a press of the button starts it, exactly as
+on the robot. A scenario never touches the physics, so a
 scripted run is one a human could have driven.
 
-## The firmware submodule
-
-`targets/micras/MicrasFirmware/` follows the firmware's `main` branch. **Edit it
-only with intent**, in the firmware's own style, and only with changes that make
-sense on the real robot too. The simulator needs three accessors the firmware
-keeps for it: `Micras::get_instance()`, `get_variables()` and `get_state()`, for
-the variable columns, the state events and the stop conditions. Nothing else in
-the simulator reaches into the firmware: every proxy is the firmware's own.
-
 ## Style
 
 The `.clang-format`, `.clang-tidy`, `tests/.clang-tidy`, `cmake/micras_warnings.cmake`
@@ -417,11 +284,8 @@ and `cmake/templates/run_clang_tidy.sh.in` of micras-lib, copied byte for byte
 (micras-lib holds the canonical copy and the firmware's CI compares the three
 repositories), with clang 22's tools found by their versioned names; configuring
 without them fails. The tidy header filter lints this repository's `include/`
-headers and never a dependency's; `targets/micras/.clang-tidy` also leaves out the
-firmware's headers and the host HAL's, which their own repositories lint, and
-`hal_host/` is formatted here but linted in micras-lib. Every target of the
-simulator, the firmware compiled for the host included, gets the shared warning
-list through `micras_apply_warnings`, and `MICRAS_SIM_WERROR` makes them errors
+headers and never a dependency's. Every target of the simulator gets the shared
+warning list through `micras_apply_warnings`, and `MICRAS_SIM_WERROR` makes them errors
 (the CI sets it); the dependencies are `SYSTEM`, so their headers raise nothing.
 Containers are indexed with `at()`, and a span, which has no `at()` before C++26,
 through `micras::sim::at` (`core/span_at.hpp`). `engine/src/.clang-tidy` tells
@@ -432,83 +296,11 @@ something needs explaining, it goes in an `@note` on the declaration, where a
 reader finds it before reading the code. Every `NOLINT` names its check and says
 why. `micras_sim_lint` is clean and stays clean.
 
-## State of the port
-
-The firmware runs on the host HAL end to end, its SPI chip drivers included.
-Every proxy that `Micras::check_initialization` checks comes up: the IMU's
-start-up waits take 40 ms, and INIT reaches IDLE on the tick after it starts. A
-button press starts an exploration through the firmware's own paths. The checked
-runs end with no unbound port, no watchdog expiry and no emergency stop.
-`--flash` carries a saved map into the next run.
-
-**The whole contest runs clean on ten mazes**, which `sim_contest` shows: a
-short press explores, the firmware comes back to the start on its own and saves the
-map, and a long press then plans and runs the fastest route with the fan.
-`sim_contest_all` does the same with every switch on (fan,
-racing line, boost, risky), and there too every maze is clean; japan2017ef and apec2016,
-whose boards grazed walls while the line through the risky turns kept only 8 mm, are clean
-on eight seeds of the fast run. The mazes are maze1, maze2, apec2016 to apec2019,
-japan2013ef, japan2017ef, uk2016f and alljapan-033-2012-exp-fin, in
-`engine/arenas/maze/mazes/`. Diagonals are always allowed; the second switch selects
-the racing line.
-
-The search takes 64 to 118 s before the fast run starts. The fast run takes, with the
-fan, 4.2 s on maze 1 and 3.9 to 9.2 s on the others; with every switch on, 3.7 s on
-maze 1 and 3.6 to 8.6 s on the others.
-
-What the firmware does that the fast modes depend on, each with its evidence in the
-firmware commit that made it:
-- **The edge tracker times a wall edge by the reading and only names it from the map.**
-  An edge is the only reference along a corridor.
-- **The odometry rolls on a radius the load flattens.** With the fan the tires carry
-  four times the load.
-- **Boost asks for 0.65 of the traction.** More slides the tires sideways in the turns.
-- **The wall observer keeps voting through the search turns**, so the search never
-  stops in a cell to look.
-- **A range is corrected for the angle it meets the wall at.** Along a diagonal the
-  diagonal sensors meet the walls square on.
-- **Turns of two bends inside one cell**, on a planner of labels that only drops one
-  when another is as fast for every route. The planner advances by edges, and
-  `sim_turn_designs` designs the turns, which the firmware's build checks.
-- **Turns are braked and accelerated through as their curvature allows.**
-- **The tires slide to the outside of a curve**, 4.8 mm/s per m/s^2 of lateral
-  acceleration. The localizer predicts it and the controller points into it.
-- **The racing line**, through the cells of the planned route, at 0.8 of the lateral
-  grip and 15 mm from the walls. With risky on, the line goes through the route planned
-  without the risky turns, since it keeps their margin, and replaces the risky route
-  only when it plans faster.
-
-Findings worth checking on the robot:
-
-1. **Front sensor parallax.** Each front emitter sits 6.5 mm above its receiver and
-   the receiver's lobe is 10 degrees, so the reading falls slower than 1/d^2. The
-   firmware models it (`receiver_offset`, `receiver_half_angle`). A bench sweep
-   toward a wall confirms both.
-2. **The rolling radius.** 56 um less per newton on a tire in the simulation. Driving a
-   known distance with the fan on and off measures the real one.
-3. **The fan tips the robot onto its nose.** It pulls 17.5 mm ahead of the axle,
-   and a thin-gap flow estimate puts its center of suction at 14 to 16 mm. So a
-   third of the 3 N rests on the front edge of the board, which also drags. Scales
-   under the wheels and under the nose, with the fan running, measure the share.
-4. **A wall start is seen early.** Toward the start of a wall a diagonal sensor also
-   lights the wall's end face, by the wall thickness times the slope of the beam.
-5. **Past 120 mm the readings come out long**, because part of the beam lands on the
-   floor. The localizer stops at 120 mm and the wall observer at 130 mm.
-6. **The mass, inertia and tire friction are estimates**, and so is the fan's
-   position. `robot-report` lists what differs from the firmware's belief.
-7. **The lateral compliance of the tires.** `robot.hpp` has the simulation's 4.8 mm/s per
-   m/s^2. A circle of known radius driven at a few speeds with the fan on measures the real
-   one, and the racing line depends on it.
-
 ## Known gaps
 
 - **No "new run" from the panel.** It would need `RunControl::RESTART`,
-  restartable listeners, and a fresh `FirmwareThread` and firmware, because the
-  FSM, the maze map and the flash all carry state.
-- **The firmware's hardware tests are not built.** The design supports
-  them, since each is a program with its own `main` over the same HAL, but
-  `test_imu` spins forever when the IMU is not initialized and two tests were
-  deleted upstream; they are out of scope for now.
+  restartable listeners, and a fresh `FirmwareThread` and firmware, because a
+  firmware's state machine, its map and its flash all carry state.
 - **No minimum wall clearance in the baselines.** The event log has collisions,
   but nothing measures the distance to the nearest wall yet.
 - **No pinned container.** Byte identity is only checked between runs on one
diff --git a/README.md b/README.md
index 48ddd78..64818de 100644
--- a/README.md
+++ b/README.md
@@ -1,9 +1,14 @@
 # micras-simulation
 
 A simulator for the robots built on `micras_hal`. It runs a robot's firmware as
-it is, its own `main`, its own proxies and its own configuration, over a host
-implementation of `micras_hal`, against a MuJoCo model of the robot and its
-arena. The micromouse, Micras, is the first robot target.
+it is, its own `main`, its own proxies and its own configuration, over the host
+backend of `micras_hal`, against a MuJoCo model of the robot and its arena. The
+host backend and the models of the SPI chips live in
+[micras-lib](https://github.com/Team-Micras/micras-lib), next to `micras_hal`
+itself; a robot's project adds both. The micromouse, Micras, is the first robot
+built on it: its firmware adds this repository as a submodule and holds its
+target, its scenarios and its baselines in its own `sim/` folder, whose README
+covers them.
 
 Two ways to use it, both from the same binary:
 
@@ -14,34 +19,31 @@ Two ways to use it, both from the same binary:
   board's buttons and switches, plots of the firmware's own variables, and a
   WebSocket bridge that micras-monitor connects to as if it were the radio.
 
-Linux only, x86-64. CMake downloads the pinned MuJoCo release (3.14.0) and checks
-its SHA-256; point `MUJOCO_DIR` (a CMake cache variable or an environment
-variable) at an installation to use that instead. Clone with the firmware:
-`git clone --recurse-submodules`, or `git submodule update --init` afterwards.
-The style targets want clang 22's `clang-format-22`, `clang-tidy-22`,
-`run-clang-tidy-22` and `clang-apply-replacements-22`.
+Linux only, x86-64. CMake downloads the pinned MuJoCo release (3.14.0) and
+checks its SHA-256; point `MUJOCO_DIR` (a CMake cache variable or an environment
+variable) at an installation to use that instead. The style targets want clang
+22's `clang-format-22`, `clang-tidy-22`, `run-clang-tidy-22` and
+`clang-apply-replacements-22`.
 
 ## Quick start
 
 ```bash
 cmake --preset host-release
 cmake --build --preset host-release
-cmake --build --preset host-release --target sim_run_explore   # 30 s of an exploration -> build/host-release/targets/micras/runs/explore
-python3 tools/analyze.py build/host-release/targets/micras/runs/explore   # report.json and the plots
-cmake --build --preset host-release --target sim_watch         # an exploration in a window
-cmake --build --preset host-release --target sim_serve         # an exploration open to micras-monitor
+./build/host-release/targets/toy/toy_sim --scenario targets/toy/scenarios/drive.toml --out runs/drive
+python3 tools/analyze.py runs/drive                               # report.json and the plots
+./build/host-release/targets/toy/toy_sim --scenario targets/toy/scenarios/drive.toml --out runs/window --viewer
 cmake --build --preset host --target micras_sim_check          # the simulator's gate
 ```
 
-Everything is CMake: the presets configure, and the recipes are targets over the
-bash scripts of `scripts/` (the simulator's) and `targets/<robot>/scripts/` (a
-robot's); `cmake --build --preset <preset> --target help` lists them. An arbitrary
-run calls the binary directly (see [Running](#running)).
+Everything is CMake: the presets configure, and the checks are targets over the
+bash scripts of `scripts/`; `cmake --build --preset <preset> --target help` lists
+them. A run calls the binary directly (see [Running](#running)).
 
 | Preset | Build | For |
 |---|---|---|
 | `host` | Debug, with the address and undefined behavior sanitizers | the unit tests and the checks |
-| `host-release` | RelWithDebInfo | runs, the contest and baselines |
+| `host-release` | RelWithDebInfo | runs and baselines |
 | `host-ci` | `host`, with `MICRAS_SIM_WERROR=ON` | the CI |
 
 Each builds in `build/<preset>/`, with GCC 15 (`gcc-15`/`g++-15`) and Ninja, since
@@ -50,7 +52,6 @@ another compiler may move the last bits of a run.
 ## Running
 
 ```bash
-./build/host-release/targets/micras/micras_sim --scenario targets/micras/scenarios/explore.toml --out runs/x
 ./build/host-release/targets/toy/toy_sim --scenario targets/toy/scenarios/drive.toml --out runs/toy
 ```
 
@@ -76,11 +77,8 @@ another compiler may move the last bits of a run.
 | `--video-size WxH` | frame size, default 1280x720 |
 | `--video-trail` | draw the path the robot has traveled behind it |
 
-Micras adds one option of its own:
-
-| Flag | Meaning |
-|---|---|
-| `--flash <file>` | load the flash from the file before the run and save it back after, so a map the firmware saved survives into the next run |
+A target adds options of its own (the toy's `--turn-angle`), which the usage
+message lists.
 
 A window, a recording and a bridge are all optional and all off by default, and
 none of them changes what the run produces. `micras_sim_check` proves it for
@@ -90,53 +88,40 @@ comparing the two runs byte for byte.
 ## Scenarios
 
 ```toml
-# targets/micras/scenarios/explore.toml
-robot = "micras"
+# targets/toy/scenarios/drive.toml
+robot = "toy"
 arena = "maze1"
-seconds = 180
+seconds = 10
 seed = 1
 
+[start]
+x = 0.09
+y = 0.05
+yaw_deg = 90.0
+
 [[events]]
-at = 0.5
+at = 0.2
 press = "button"
-for = 0.25
+for = 0.1
+
+[[events]]
+at = 3.2
+send = "stop"
 
 [stop]
 when = "state"
-equals = ["IDLE", "ERROR"]
-after = 5.0
+equals = ["STOP"]
+after = 0.5
 ```
 
 An event can `press` an input for a time, `set` it, or `send` a link command
-(`explore`, `solve`, `calibrate`, `save`, `reset`). An event
+(the target names the inputs and the commands it knows). An event
 with `when` and `equals` waits, from its `at` on, for the named firmware variable
 to take one of those values, and fires on the first tick it does. The run stops
 at `seconds`, or earlier when the stop condition's variable takes one of the
 named values after `after` seconds, for the `count`-th time (default 1), or at
 once when it takes one of the `abort` values.
 
-The Micras scenarios:
-
-| Scenario | What it plays |
-|---|---|
-| `idle` | the robot switched on and left alone |
-| `explore` | an exploration started by the button |
-| `explore_link` | an exploration started over the radio |
-| `explore_solve` | the whole contest: explore, come back, then a long press for the fastest run, with the fan switch on |
-| `explore_solve_all` | the same with every switch of the fast run on: fan, racing line, boost and risky turns |
-| `solve` | the fastest run alone, from a map a previous run saved: pass its `--flash` |
-| `solve_all` | the same with every switch on |
-
-```bash
-./build/host-release/targets/micras/micras_sim --scenario targets/micras/scenarios/explore_solve.toml \
-    --maze apec2017 --out runs/contest --flash runs/contest/flash.bin
-cmake --build --preset host-release --target sim_contest       # explore_solve in every maze at once, and their health
-cmake --build --preset host-release --target sim_contest_all   # the same with every switch on
-```
-
-`MICRAS_SIM_CONTEST_MAZES` (a cache variable, all ten by default) names the mazes
-the contest runs in.
-
 ## Output
 
 `<out>/data.csv` is one row per tick (125 us) or per `--record-every` ticks: the
@@ -162,13 +147,13 @@ merely open leaves it `false`, and the run is still reproducible from `args`.
 ## Analysis
 
 ```bash
-python3 tools/analyze.py build/host-release/targets/micras/runs/explore
+python3 tools/analyze.py runs/drive
 ```
 
 Writes `report.json` and plots into the run directory: speeds, contacts,
 attitude, actuators, wheels, a top-down trajectory over the maze with the goal
-cells shaded and the firmware's pose estimate dashed, and, from the Micras
-plugin, the controller's terms and the wall sensors. The
+cells shaded and the firmware's pose estimate dashed, and whatever the target's
+plugin adds. The
 report covers warnings, non-finite samples, airborne fraction, slip,
 penetration, chassis contact, the state timeline, collisions, whether and when
 the goal was reached, the pose estimate's error against the ground truth, the
@@ -184,7 +169,7 @@ build, ignoring the fields that name paths.
 ## Watching a run
 
 ```bash
-cmake --build --preset host-release --target sim_watch
+./build/host-release/targets/toy/toy_sim --scenario targets/toy/scenarios/drive.toml --out runs/window --viewer
 ```
 
 | Key | Action |
@@ -205,7 +190,7 @@ is marked `interactive`.
 ## micras-monitor
 
 ```bash
-cmake --build --preset host-release --target sim_serve
+./build/host-release/targets/toy/toy_sim --scenario targets/toy/scenarios/idle.toml --seconds 600 --out runs/link --monitor
 ```
 
 The bridge puts the firmware's radio on `ws://localhost:8080` and carries raw
@@ -213,19 +198,6 @@ bytes both ways, with no framing of its own: micras-monitor speaks the
 firmware's protocol to it exactly as it would over the air. The link is as fast
 as the radio's baud rate, not faster.
 
-## Robot tools
-
-```bash
-cmake --build --preset host-release --target sim_robot_report       # robot.toml against the firmware's robot.hpp, field by field
-cmake --build --preset host-release --target sim_wall_calibration   # each wall sensor's gain for robot.toml
-./build/host-release/targets/micras/micras_wall_calibration --sweep
-cmake --build --preset host-release --target sim_turn_designs       # the firmware's turns of two bends, into config/two_bend_turns.hpp
-```
-
-The firmware checks every turn of two bends when it is compiled, and stops the
-build if one no longer clears the walls; `sim_turn_designs` searches for them again,
-after a change to the robot's outline, the maze or the margins.
-
 ## The gate
 
 ```bash
@@ -239,25 +211,16 @@ keep it buildable (`micras_sim_check_options`), checks that nothing outside
 a run is reproducible and that a window, a video and a bridge nobody connects to
 change nothing, and compares the toy's runs with its baseline
 (`micras_sim_toy_check`). The window runs under `xvfb-run`, or on the display;
-`MICRAS_SKIP_VIEWER=1` skips it where there is neither.
-
-```bash
-cmake --build --preset host-release --target sim_check
-```
-
-The Micras gate: its unit tests, the flash surviving from one run into the next,
-the checked scenarios (idle, and the first 30 s of an exploration), their health
-(no warnings, no collision, no non-finite sample, no unbound port, no watchdog
-expiry, no emergency stop, no dropped byte) and the recorded baseline summaries.
+`MICRAS_SKIP_VIEWER=1` skips it, even where `xvfb-run` or a display exists.
 
 Baselines live in `targets/<robot>/baselines/`; `CLAUDE.md` explains what they
-hold and the rules around them. `sim_record_baseline` records the version
-`MICRAS_SIM_BASELINE` names and refuses to overwrite one: bump it instead, and
-nothing is ever lost. `sim_run_idle`, `sim_run_explore`, `sim_check_flash` and
-`sim_compare_baseline` are the gate's steps on their own. With
-`-DMICRAS_SIM_EXACT=ON` a baseline comparison also fails when a checked run's
-`data.csv` is not byte identical to the recorded one: the check for a change that
-must not move a byte, such as a refactoring.
+hold and the rules around them. `micras_sim_toy_record_baseline` records the toy's
+version `MICRAS_SIM_TOY_BASELINE` names and refuses to overwrite one: bump it
+instead, and nothing is ever lost. With `-DMICRAS_SIM_EXACT=ON` a baseline
+comparison also fails when a checked run's `data.csv` is not byte identical to the
+recorded one: the check for a change that must not move a byte, such as a
+refactoring. A project that adds the simulator reads the same option for its own
+baselines.
 
 `micras_sim_format`, `micras_sim_format_check`, `micras_sim_lint` and
 `micras_sim_lint_fix` are the style targets; they use the configuration shared
@@ -292,6 +255,14 @@ The public headers, which a target may include and which change only with notice
 | `micras/sim/scenario/scenario.hpp` | `ScenarioHooks`: the inputs, messages and state names a scenario uses |
 | `micras/sim/devices/*.hpp` | the devices a target builds |
 
+A target over `micras_hal` links micras-lib's host backend and defines the board
+target it asks for, the Cube layer its firmware includes, written by hand;
+micras-lib's README describes that contract. A project that adds this repository
+with `add_subdirectory` gets the libraries (`micras::sim_app` and the rest) and
+`MICRAS_SIM_TOOLS_DIR` and `MICRAS_SIM_MAZES_DIR`, and keeps its own style and
+check targets: the simulator defines its own only when it is the top-level
+project.
+
 The robot is micromouse-shaped and runs in a maze: its `robot.toml` has every
 section of the schema (chassis, wheels, drive, encoders, IMU, fan, battery, link,
 wall sensors), and the arena is one of the mazes.
@@ -327,23 +298,12 @@ engine/arenas/   the maze arena and its mazes
 view/            window, panel, overlay, video
 bridge/          WebSocket server and monitor bridge
 app/             CLI and application wiring, the Target interface
-hal_host/        micras_hal implemented on a PC
-  models/          SPI chip models: the LSM6DSV IMU and the AS5047U encoders
 tests/           the engine's unit tests, on a tiny robot of their own
 tools/           analysis, baselines, run health and byte comparison
 scripts/         the checks' scripts, which the CMake targets call
 cmake/           dependencies, warnings, style and check targets
 targets/toy/     the reference target: toy robot, scenarios, baseline
-targets/micras/  the micromouse:
-  MicrasFirmware/    submodule
-  cube/              the Cube layer the firmware includes, by hand
-  src/               target, bindings, variables
-  robot.toml         the physical description
-  scenarios/         idle, explore, explore_link, explore_solve(_all), solve(_all)
-  baselines/         recorded summaries
-  scripts/           the recipes' scripts
-  tools/             analysis plugin, wall calibration, robot report, turn designer
 ```
 
-`CLAUDE.md` has the architecture, the invariants that hold the determinism
-together, and the measurements behind the numbers in `robot.toml`.
+`CLAUDE.md` has the architecture and the invariants that hold the determinism
+together.

From 8b62287d3093c1a8ca69e93673e736818b36a0ac Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 11:47:08 -0300
Subject: [PATCH 44/52] =?UTF-8?q?=E2=9C=85=20Scan=20every=20file=20outside?=
 =?UTF-8?q?=20targets/=20for=20the=20names=20of=20a=20robot?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

With the Micras target and the host HAL gone, nothing outside targets/ has a reason to name a robot:
the documentation, the build files and the CI are scanned too. Only the files micras-lib shares with
every repository, which name the repositories that carry them, the Dockerfile's shared host stage and
the script itself are left out.
---
 scripts/check_generic.sh | 53 +++++++++++++++++++++++++++++-----------
 1 file changed, 39 insertions(+), 14 deletions(-)

diff --git a/scripts/check_generic.sh b/scripts/check_generic.sh
index b171d3e..35ca32e 100755
--- a/scripts/check_generic.sh
+++ b/scripts/check_generic.sh
@@ -1,10 +1,11 @@
 #!/bin/bash
 # check_generic.sh <source dir>
 #
-# Fails if anything outside targets/ names a specific robot. hal_host/ is the Micras HAL's host backend
-# (its canonical copy is micras-lib's), the documentation describes the Micras target, the files
-# micras-lib shares with every repository name the repositories, and this script lists the names, so
-# none of them is scanned.
+# Fails if anything outside targets/ names a specific robot: every file of the repository is scanned,
+# documentation and build files included, except the files micras-lib shares with every repository
+# (they name the repositories that carry them) and this script, which lists the names. Of the
+# Dockerfile, only the shared host stage is left out. In a git checkout the files are the tracked and
+# the untracked but not ignored ones; elsewhere, every file outside build/.
 
 set -euo pipefail
 
@@ -17,23 +18,47 @@ cd "$1"
 
 identifiers='micras::Micras|MicrasTarget|SimulationContext|ProxyState|proxy_state|robot_v2|"micras"|FSM State|Desired Linear|Desired Angular|Odometry Linear|Odometry Angular|Grid Pose|grid_pose|fsm_state|odometry_state|front wheel|MicrasFirmware|MicrasBoard|micras_firmware|targets/micras|wall_adc|dip_switch|button_config|loop_time_us\{1042|hadc[0-9]|htim[0-9]|hspi[0-9]|huart[0-9]|MX_[A-Z0-9]+_Init|lsm6dsv|as5047'
 
-skipped=(micras_warnings.cmake run_clang_tidy.sh.in "$(basename "$0")")
+shared=(
+    .clang-format
+    .clang-tidy
+    tests/.clang-tidy
+    cmake/micras_warnings.cmake
+    cmake/templates/run_clang_tidy.sh.in
+    .docker/Dockerfile
+    scripts/check_generic.sh
+)
+
+files=()
+
+if git rev-parse --is-inside-work-tree > /dev/null 2>&1; then
+    while IFS= read -r -d '' file; do
+        files+=("${file}")
+    done < <(git ls-files -z --cached --others --exclude-standard)
+else
+    while IFS= read -r -d '' file; do
+        files+=("${file#./}")
+    done < <(find . \( -path ./build -o -path ./.git -o -name __pycache__ \) -prune -o -type f -print0)
+fi
+
 scanned=()
-excluded=()
 
-for path in engine view bridge app tests tools cmake scripts CMakeLists.txt CMakePresets.json .github; do
-    if [[ -e "${path}" ]]; then
-        scanned+=("${path}")
+for file in "${files[@]}"; do
+    if [[ "${file}" == targets/* || ! -f "${file}" ]]; then
+        continue
     fi
-done
 
-for file in "${skipped[@]}"; do
-    excluded+=(--exclude="${file}")
+    for skipped in "${shared[@]}"; do
+        if [[ "${file}" == "${skipped}" ]]; then
+            continue 2
+        fi
+    done
+
+    scanned+=("${file}")
 done
 
 found=0
 
-if grep -rnE -I "${excluded[@]}" --exclude-dir=__pycache__ "${identifiers}" "${scanned[@]}"; then
+if [[ ${#scanned[@]} -gt 0 ]] && grep -nE -I "${identifiers}" "${scanned[@]}"; then
     found=1
 fi
 
@@ -47,4 +72,4 @@ if [[ ${found} -ne 0 ]]; then
     exit 1
 fi
 
-echo "ok   nothing outside targets/ names a robot"
+echo "ok   nothing outside targets/ names a robot (${#scanned[@]} files)"

From 573f62bde2d0968df3428eb959e21d153f40b10c Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 11:47:08 -0300
Subject: [PATCH 45/52] =?UTF-8?q?=E2=9C=85=20Let=20MICRAS=5FSKIP=5FVIEWER?=
 =?UTF-8?q?=20skip=20the=20viewer=20comparison=20wherever=20it=20runs?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The switch is the way to leave the window out of a check, so it wins over an installed xvfb-run and
over a display.
---
 scripts/check_invariance.sh | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/scripts/check_invariance.sh b/scripts/check_invariance.sh
index ba66607..1189006 100755
--- a/scripts/check_invariance.sh
+++ b/scripts/check_invariance.sh
@@ -3,7 +3,8 @@
 #
 # Proves that nothing but the physics decides a run: the same scenario run twice, then with a window,
 # with a video and with a bridge nobody connects to, each data.csv and meta.json the same as the plain
-# run's (tools/compare_run.py). The window needs xvfb-run or a display; MICRAS_SKIP_VIEWER=1 skips it.
+# run's (tools/compare_run.py). The window needs xvfb-run or a display; MICRAS_SKIP_VIEWER=1 skips it
+# even where one exists.
 # The video needs EGL, a GPU or Mesa's surfaceless platform.
 
 set -euo pipefail
@@ -39,15 +40,15 @@ plain_run plain
 plain_run again
 compare again
 
-if command -v xvfb-run > /dev/null; then
+if [[ "${MICRAS_SKIP_VIEWER:-0}" == 1 ]]; then
+    echo "MICRAS_SKIP_VIEWER=1: skipping the viewer comparison"
+elif command -v xvfb-run > /dev/null; then
     ASAN_OPTIONS="${graphics_options}" xvfb-run -a "${binary}" --scenario "${scenario}" --out "${out}/viewer" --viewer --viewer-size 640x480 \
         > "${out}/viewer.log"
     compare viewer
 elif [[ -n "${DISPLAY:-}" ]]; then
     ASAN_OPTIONS="${graphics_options}" "${binary}" --scenario "${scenario}" --out "${out}/viewer" --viewer --viewer-size 640x480 > "${out}/viewer.log"
     compare viewer
-elif [[ "${MICRAS_SKIP_VIEWER:-0}" == 1 ]]; then
-    echo "MICRAS_SKIP_VIEWER=1: skipping the viewer comparison"
 else
     echo "no display and no xvfb-run; install xvfb or set MICRAS_SKIP_VIEWER=1" >&2
     exit 1

From 492ca84f435b9b739d5b1e3a76ce536781543665 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 11:47:14 -0300
Subject: [PATCH 46/52] =?UTF-8?q?=F0=9F=91=B7=20Check=20out=20the=20simula?=
 =?UTF-8?q?tor=20without=20submodules?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

It has none: the robot targets that needed a firmware live in the robots' own repositories.
---
 .github/workflows/ci.yaml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index a0cef51..f16c8f8 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -20,8 +20,6 @@ jobs:
     steps:
       - name: 🔀 Checkout
         uses: actions/checkout@v7
-        with:
-          submodules: true
 
       - name: 🐋 Build the simulator image
         run: docker build --file .docker/Dockerfile --target simulator --tag micras-simulation:ci .docker

From 8846ab0ebf5002d5fb7858f2ae0876891f9d8207 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 14:24:03 -0300
Subject: [PATCH 47/52] =?UTF-8?q?=E2=9C=8F=EF=B8=8F=20Name=20the=20tire=20?=
 =?UTF-8?q?material=20of=20the=20composed=20model=20the=20American=20way?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The material only colors the wheels, so every run stays byte identical.
---
 engine/src/robot/robot_model.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/engine/src/robot/robot_model.cpp b/engine/src/robot/robot_model.cpp
index 53effd5..9fe0f96 100644
--- a/engine/src/robot/robot_model.cpp
+++ b/engine/src/robot/robot_model.cpp
@@ -99,7 +99,7 @@ static std::string wheel_body(const RobotDescription& robot, const std::string&
         "      <body name=\"{0}\" pos=\"0 {1:.9g} {2:.9g}\">\n"
         "        <inertial pos=\"0 0 0\" mass=\"{3:.9g}\" diaginertia=\"{4:.9g} {5:.9g} {4:.9g}\"/>\n"
         "        <joint name=\"{0}\" type=\"hinge\" axis=\"0 1 0\" armature=\"{6:.9g}\" frictionloss=\"{7:.9g}\"/>\n"
-        "        <geom name=\"{0}\" type=\"cylinder\" size=\"{2:.9g} {8:.9g}\" zaxis=\"0 1 0\" material=\"{9}_tyre\"\n"
+        "        <geom name=\"{0}\" type=\"cylinder\" size=\"{2:.9g} {8:.9g}\" zaxis=\"0 1 0\" material=\"{9}_tire\"\n"
         "              condim=\"4\" priority=\"1\" friction=\"{10:.9g} {11:.9g}\" solref=\"{12:.9g} {13:.9g}\"/>\n"
         "      </body>\n",
         name, side * wheels.track / 2, wheels.radius, wheels.mass, transverse, wheels.spin_inertia, armature,
@@ -211,7 +211,7 @@ std::string robot_mjcf(const RobotDescription& robot) {
         "    <mesh name=\"{0}_board\" vertex=\"{3}\"/>\n"
         "    <material name=\"{0}_board\" rgba=\"0.08 0.3 0.12 1\"/>\n"
         "    <material name=\"{0}_parts\" rgba=\"0.85 0.85 0.8 1\"/>\n"
-        "    <material name=\"{0}_tyre\" rgba=\"0.1 0.1 0.1 1\"/>\n"
+        "    <material name=\"{0}_tire\" rgba=\"0.1 0.1 0.1 1\"/>\n"
         "  </asset>\n"
         "  <worldbody>\n"
         "    <body name=\"{4}\" childclass=\"{0}\">\n"

From 6761ab11964a1699b12f93112b52dd8155dc14db Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 14:24:03 -0300
Subject: [PATCH 48/52] =?UTF-8?q?=F0=9F=91=B7=20Cache=20the=20fetch=20stam?=
 =?UTF-8?q?ps=20with=20the=20simulator's=20fetched=20dependencies?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

A restored _deps without its stamps is downloaded again. No target pins a dependency any more, so the
key reads only the files that do.
---
 .github/workflows/ci.yaml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index f16c8f8..c87a609 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -27,8 +27,10 @@ jobs:
       - name: 🗃️ Restore the fetched dependencies
         uses: actions/cache@v6
         with:
-          path: build/host-ci/_deps
-          key: deps-host-ci-${{ hashFiles('cmake/third_party.cmake', 'cmake/mujoco.cmake', 'targets/*/CMakeLists.txt') }}
+          path: |
+            build/host-ci/_deps
+            build/host-ci/CMakeFiles/fc-stamp
+          key: deps-host-ci-${{ hashFiles('cmake/third_party.cmake', 'cmake/mujoco.cmake') }}
 
       # One long lived container runs every step below, as the user that owns the checkout
       - name: 📦 Start the simulator container

From dec0c809b21d210bb0a1e546ca2400c0a5620de1 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Mon, 28 Sep 2026 15:41:40 -0300
Subject: [PATCH 49/52] =?UTF-8?q?=E2=9C=85=20Start=20the=20socket=20tests'?=
 =?UTF-8?q?=20servers=20on=20another=20port=20when=20theirs=20was=20taken?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

A port found free is released before the server binds it, so under a parallel ctest another process
can take it in between. The tests then try another port and connect to the one the server holds;
IXWebSocket cannot report the port the system picks for a server started on port 0.
---
 tests/unit/web_socket_server_test.cpp | 39 ++++++++++++++++++++-------
 1 file changed, 29 insertions(+), 10 deletions(-)

diff --git a/tests/unit/web_socket_server_test.cpp b/tests/unit/web_socket_server_test.cpp
index 5a99e44..ee9193f 100644
--- a/tests/unit/web_socket_server_test.cpp
+++ b/tests/unit/web_socket_server_test.cpp
@@ -7,7 +7,9 @@
 #include <chrono>
 #include <cstddef>
 #include <cstdint>
+#include <functional>
 #include <future>
+#include <memory>
 #include <string>
 #include <thread>
 #include <vector>
@@ -98,6 +100,20 @@ static uint16_t free_port() {
     return hold_free_port(socket);
 }
 
+static uint16_t start_on_a_free_port(const std::function<bool(uint16_t)>& start) {
+    constexpr int attempts{20};
+
+    for (int attempt = 0; attempt < attempts; attempt++) {
+        const uint16_t port = free_port();
+
+        if (start(port)) {
+            return port;
+        }
+    }
+
+    return 0;
+}
+
 /**
  * @brief Open a WebSocket connection, then never read from it again.
  *
@@ -191,11 +207,14 @@ TEST_CASE("MonitorBridge.CarriesRawBytesBothWays") {
     }};
     const Simulation simulation(context, firmware);
 
-    std::vector<uint8_t> inbound;
-    std::string          error;
-    const uint16_t       port = free_port();
-    MonitorBridge        bridge(context.serial, port, error);
-    REQUIRE_MESSAGE(bridge.is_open(), error);
+    std::vector<uint8_t>           inbound;
+    std::string                    error;
+    std::unique_ptr<MonitorBridge> bridge;
+    const uint16_t                 port = start_on_a_free_port([&](uint16_t candidate) {
+        bridge = std::make_unique<MonitorBridge>(context.serial, candidate, error);
+        return bridge->is_open();
+    });
+    REQUIRE_MESSAGE(port != 0, error);
 
     const Socket client;
     REQUIRE(connect_and_stall(client, port));
@@ -206,17 +225,17 @@ TEST_CASE("MonitorBridge.CarriesRawBytesBothWays") {
     const auto deadline = steady_clock::now() + seconds(10);
 
     while (inbound.empty() and steady_clock::now() < deadline) {
-        bridge.on_before_tick(simulation);
+        bridge->on_before_tick(simulation);
         inbound = context.serial.take_for_firmware(command.size());
         std::this_thread::sleep_for(milliseconds(1));
     }
 
     CHECK_EQ(inbound, command);
-    CHECK(bridge.was_interactive());
+    CHECK(bridge->was_interactive());
 
     const std::vector<uint8_t> telemetry{0x02, 0x00, 0xAA, 0x00};
     context.serial.send_from_firmware(telemetry);
-    bridge.on_after_tick(simulation);
+    bridge->on_after_tick(simulation);
 
     CHECK_EQ(receive_binary(client), telemetry);
 }
@@ -224,8 +243,8 @@ TEST_CASE("MonitorBridge.CarriesRawBytesBothWays") {
 TEST_CASE("WebSocketServer.AClientThatStopsReadingNeverStallsTheCaller") {
     WebSocketServer server;
     std::string     error;
-    const uint16_t  port = free_port();
-    REQUIRE_MESSAGE(server.start(port, error), error);
+    const uint16_t  port = start_on_a_free_port([&](uint16_t candidate) { return server.start(candidate, error); });
+    REQUIRE_MESSAGE(port != 0, error);
 
     const Socket client;
     REQUIRE(connect_and_stall(client, port));

From 92357744437681baf8de08cf6cdfb20bd30f20ff Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sun, 4 Oct 2026 04:47:03 -0300
Subject: [PATCH 50/52] =?UTF-8?q?=E2=99=BB=EF=B8=8F=20Keep=20one=20baselin?=
 =?UTF-8?q?e=20per=20robot=20and=20let=20git=20version=20it?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 CLAUDE.md                                            | 12 ++++++------
 README.md                                            |  7 +++----
 scripts/check_baseline.sh                            |  2 +-
 targets/toy/CMakeLists.txt                           |  7 +++----
 .../{baselines/v1 => baseline}/drive/summary.json    |  0
 .../toy/{baselines/v1 => baseline}/idle/summary.json |  0
 tools/baseline.py                                    | 11 +++--------
 7 files changed, 16 insertions(+), 23 deletions(-)
 rename targets/toy/{baselines/v1 => baseline}/drive/summary.json (100%)
 rename targets/toy/{baselines/v1 => baseline}/idle/summary.json (100%)

diff --git a/CLAUDE.md b/CLAUDE.md
index 397f14d..ddea796 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -21,8 +21,8 @@ scenario twice, headless and with a window, with a video, and with a bridge nobo
 connects to, and compares each run with the plain one as bytes
 (`scripts/check_invariance.sh`, `tools/compare_run.py`).
 
-Baselines are summaries, not recordings. Each version under
-`targets/<robot>/baselines/` holds one `summary.json` per checked run: the hash of
+Baselines are summaries, not recordings. A robot's single baseline,
+`targets/<robot>/baseline/`, holds one `summary.json` per checked run: the hash of
 `data.csv`, the state timeline, and a handful of numbers with their tolerances
 (`tools/baseline.py`).
 On the machine that recorded it the hash matches; on another it will not, because
@@ -31,10 +31,10 @@ what is compared. Two rules:
 
 - **A refactoring must not move a byte.** On one machine, a refactoring leaves
   the hash where it was. If it moves, the refactoring is wrong.
-- **Never re-record to make a difference go away.** The toy's
-  `micras_sim_toy_record_baseline`, like a robot project's own recording target,
-  refuses to overwrite a version; a change of behavior is a new version, with the
-  reason in the commit.
+- **Never re-record to make a difference go away.** A change of behavior is
+  recorded over the baseline (`micras_sim_toy_record_baseline`, or a robot
+  project's own recording target), with the reason in the commit; git keeps the
+  earlier ones.
 
 ## Layers
 
diff --git a/README.md b/README.md
index 64818de..a69d34e 100644
--- a/README.md
+++ b/README.md
@@ -213,10 +213,9 @@ change nothing, and compares the toy's runs with its baseline
 (`micras_sim_toy_check`). The window runs under `xvfb-run`, or on the display;
 `MICRAS_SKIP_VIEWER=1` skips it, even where `xvfb-run` or a display exists.
 
-Baselines live in `targets/<robot>/baselines/`; `CLAUDE.md` explains what they
-hold and the rules around them. `micras_sim_toy_record_baseline` records the toy's
-version `MICRAS_SIM_TOY_BASELINE` names and refuses to overwrite one: bump it
-instead, and nothing is ever lost. With `-DMICRAS_SIM_EXACT=ON` a baseline
+Each robot's baseline lives in `targets/<robot>/baseline/`; `CLAUDE.md` explains
+what it holds and the rules around it. `micras_sim_toy_record_baseline` records
+the toy's over the previous one, which git keeps. With `-DMICRAS_SIM_EXACT=ON` a baseline
 comparison also fails when a checked run's `data.csv` is not byte identical to the
 recorded one: the check for a change that must not move a byte, such as a
 refactoring. A project that adds the simulator reads the same option for its own
diff --git a/scripts/check_baseline.sh b/scripts/check_baseline.sh
index ec6c1a7..8207f28 100755
--- a/scripts/check_baseline.sh
+++ b/scripts/check_baseline.sh
@@ -3,7 +3,7 @@
 #
 # Runs each named scenario and compares its summary with <baseline dir>/<scenario> (tools/baseline.py),
 # byte for byte when <exact> is ON, then checks the health of every run (tools/check_run.py). record
-# writes the summaries instead, and refuses to overwrite a version.
+# writes the summaries instead.
 
 set -euo pipefail
 
diff --git a/targets/toy/CMakeLists.txt b/targets/toy/CMakeLists.txt
index fc634e7..141e868 100644
--- a/targets/toy/CMakeLists.txt
+++ b/targets/toy/CMakeLists.txt
@@ -17,7 +17,6 @@ micras_apply_warnings(micras_sim_toy toy_sim WERROR ${MICRAS_SIM_WERROR})
 ###############################################################################
 
 if(PROJECT_IS_TOP_LEVEL)
-    set(MICRAS_SIM_TOY_BASELINE "v1" CACHE STRING "The toy's baseline version, in targets/toy/baselines/")
     set(MICRAS_SIM_TOY_RUNS "${CMAKE_CURRENT_BINARY_DIR}/runs")
     set(MICRAS_SIM_TOY_CHECKED idle drive)
 
@@ -28,7 +27,7 @@ if(PROJECT_IS_TOP_LEVEL)
                 "${MICRAS_SIM_TOY_RUNS}/invariance"
         COMMAND "${PROJECT_SOURCE_DIR}/scripts/check_baseline.sh" compare
                 "$<TARGET_FILE:toy_sim>" "${CMAKE_CURRENT_SOURCE_DIR}/scenarios"
-                "${CMAKE_CURRENT_SOURCE_DIR}/baselines/${MICRAS_SIM_TOY_BASELINE}" "${MICRAS_SIM_TOOLS_DIR}"
+                "${CMAKE_CURRENT_SOURCE_DIR}/baseline" "${MICRAS_SIM_TOOLS_DIR}"
                 "${MICRAS_SIM_TOY_RUNS}" "${MICRAS_SIM_EXACT}" ${MICRAS_SIM_TOY_CHECKED}
         COMMENT "Checking the toy target: invariance and baseline"
         VERBATIM USES_TERMINAL
@@ -39,9 +38,9 @@ if(PROJECT_IS_TOP_LEVEL)
         COMMAND "${CMAKE_COMMAND}" -E make_directory "${MICRAS_SIM_TOY_RUNS}"
         COMMAND "${PROJECT_SOURCE_DIR}/scripts/check_baseline.sh" record
                 "$<TARGET_FILE:toy_sim>" "${CMAKE_CURRENT_SOURCE_DIR}/scenarios"
-                "${CMAKE_CURRENT_SOURCE_DIR}/baselines/${MICRAS_SIM_TOY_BASELINE}" "${MICRAS_SIM_TOOLS_DIR}"
+                "${CMAKE_CURRENT_SOURCE_DIR}/baseline" "${MICRAS_SIM_TOOLS_DIR}"
                 "${MICRAS_SIM_TOY_RUNS}" OFF ${MICRAS_SIM_TOY_CHECKED}
-        COMMENT "Recording the toy's baseline ${MICRAS_SIM_TOY_BASELINE}"
+        COMMENT "Recording the toy's baseline"
         VERBATIM USES_TERMINAL
     )
     add_dependencies(micras_sim_toy_record_baseline toy_sim)
diff --git a/targets/toy/baselines/v1/drive/summary.json b/targets/toy/baseline/drive/summary.json
similarity index 100%
rename from targets/toy/baselines/v1/drive/summary.json
rename to targets/toy/baseline/drive/summary.json
diff --git a/targets/toy/baselines/v1/idle/summary.json b/targets/toy/baseline/idle/summary.json
similarity index 100%
rename from targets/toy/baselines/v1/idle/summary.json
rename to targets/toy/baseline/idle/summary.json
diff --git a/tools/baseline.py b/tools/baseline.py
index c72daa8..0b3f1b8 100644
--- a/tools/baseline.py
+++ b/tools/baseline.py
@@ -16,9 +16,8 @@
   returning ``{name: (value, tolerance)}``.
 
 The tolerances are written into the summary when it is recorded, so a reviewer
-sees them next to the values. ``record`` refuses to overwrite a summary: a new
-behavior is a new baseline version, never a re-recording that makes a
-difference go away.
+sees them next to the values. ``record`` replaces the summary, and git keeps the
+ones it replaced.
 
 The robot's plugin is found as ``analyze.py`` finds it: ``--plugin``, then
 ``$MICRAS_SIM_PLUGIN``, then the target's folder that ``meta.json`` names.
@@ -159,7 +158,7 @@ def main() -> int:
     parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
     parser.add_argument("action", choices=("record", "compare"))
     parser.add_argument("run", type=Path)
-    parser.add_argument("baseline", type=Path, help="the scenario's folder in a baseline version")
+    parser.add_argument("baseline", type=Path, help="the scenario's folder in the baseline")
     parser.add_argument("--exact", action="store_true", help="also fail when the bytes differ")
     parser.add_argument(
         "--plugin", type=Path, default=None, help="analysis plugin to use instead of the target's (also $MICRAS_SIM_PLUGIN)"
@@ -170,10 +169,6 @@ def main() -> int:
     path = arguments.baseline / "summary.json"
 
     if arguments.action == "record":
-        if path.exists():
-            print(f"FAIL {path} already exists; record a new baseline version instead")
-            return 1
-
         path.parent.mkdir(parents=True, exist_ok=True)
         path.write_text(json.dumps(summary, indent=2) + "\n")
         print(f"ok   recorded {path}")

From 9dc04bb8df5721cc898341d69db2f5a3ff2f5130 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sun, 4 Oct 2026 04:58:55 -0300
Subject: [PATCH 51/52] =?UTF-8?q?=E2=9C=A8=20Apply=20the=20sliding=20frict?=
 =?UTF-8?q?ion=20of=20the=20skids=20as=20a=20force?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 app/src/application.cpp                       |   7 ++
 .../include/micras/sim/core/mujoco_world.hpp  |  47 ++++++++
 .../micras/sim/robot/robot_description.hpp    |  14 ++-
 engine/src/core/mujoco_world.cpp              | 111 ++++++++++++++++++
 engine/src/robot/robot_description.cpp        |   5 +-
 tests/CMakeLists.txt                          |   1 +
 tests/unit/mujoco_world_test.cpp              |  85 ++++++++++++++
 7 files changed, 263 insertions(+), 7 deletions(-)
 create mode 100644 tests/unit/mujoco_world_test.cpp

diff --git a/app/src/application.cpp b/app/src/application.cpp
index 1075143..fbd8d0a 100644
--- a/app/src/application.cpp
+++ b/app/src/application.cpp
@@ -177,6 +177,13 @@ static RunContext& prepare(
         robot_mjcf(robot), RobotModelNames::of(robot).body, maze.mjcf(config), Maze::body_name,
         scenario.start.value_or(start_of(maze, config, robot))
     );
+
+    for (const SkidPart& skid : robot.chassis.skids) {
+        if (skid.friction > 0.0) {
+            context.world.add_sliding_friction(skid.name, skid.friction);
+        }
+    }
+
     context.clock = Clock::from_model(context.world.timestep(), target.loop_time_us());
     context.world.reset();
     context.noise = {.seed = options.seed.value_or(scenario.seed.value_or(1)), .ideal = options.ideal};
diff --git a/engine/include/micras/sim/core/mujoco_world.hpp b/engine/include/micras/sim/core/mujoco_world.hpp
index 2b6f858..a184290 100644
--- a/engine/include/micras/sim/core/mujoco_world.hpp
+++ b/engine/include/micras/sim/core/mujoco_world.hpp
@@ -10,6 +10,7 @@
 #include <filesystem>
 #include <string>
 #include <string_view>
+#include <vector>
 
 #include <mujoco/mujoco.h>
 
@@ -94,10 +95,37 @@ class MujocoWorld {
     /**
      * @brief Advance the physics by a number of steps.
      *
+     * @note Before each step, every sliding friction added to the world pushes
+     *       on its geom's body through mjData::qfrc_applied, which the world
+     *       owns: nothing else may write it.
+     *
      * @param steps Number of mj_step calls.
      */
     void step(int steps);
 
+    /**
+     * @brief Give a frictionless geom a sliding friction, applied as a force
+     *        instead of through MuJoCo's contact.
+     *
+     * @note MuJoCo's convex contact separates two surfaces in proportion to how
+     *       fast their friction is slipping, so a geom that slides all the time,
+     *       as a skid does, would lift what it carries off the floor. This
+     *       friction pushes at each contact of the geom against the sliding
+     *       velocity there, with the coefficient times the contact's normal
+     *       force of the last step. Below sticking_speed it falls linearly to
+     *       zero, which keeps it stable and stands in for static friction.
+     *       Building or loading another model forgets every friction added.
+     *
+     * @param geom Name of the geom, which should have condim 1.
+     * @param coefficient Coefficient of sliding friction.
+     */
+    void add_sliding_friction(const std::string& geom, double coefficient);
+
+    /**
+     * @brief Sliding speed under which a sliding friction falls linearly to zero, in m/s.
+     */
+    static constexpr double sticking_speed{0.005};
+
     /**
      * @brief Resolve a named MuJoCo object, throwing if it does not exist.
      *
@@ -188,6 +216,20 @@ class MujocoWorld {
     ///@}
 
 private:
+    /**
+     * @brief A geom whose friction the world applies as a force.
+     */
+    struct SlidingFriction {
+        int    geom;
+        int    body;
+        double coefficient;
+    };
+
+    /**
+     * @brief Write the force of every sliding friction into mjData::qfrc_applied.
+     */
+    void apply_sliding_friction();
+
     /**
      * @brief Throw if no model is loaded.
      */
@@ -212,6 +254,11 @@ class MujocoWorld {
      * @brief MJCF of the last composed model.
      */
     std::string composed;
+
+    /**
+     * @brief Geoms whose friction the world applies.
+     */
+    std::vector<SlidingFriction> sliding_frictions;
 };
 }  // namespace micras::sim
 
diff --git a/engine/include/micras/sim/robot/robot_description.hpp b/engine/include/micras/sim/robot/robot_description.hpp
index 7fd2e50..0ac750c 100644
--- a/engine/include/micras/sim/robot/robot_description.hpp
+++ b/engine/include/micras/sim/robot/robot_description.hpp
@@ -39,18 +39,20 @@ struct CylinderPart {
 };
 
 /**
- * @brief A frictionless sphere under the chassis that carries it on the floor.
+ * @brief A sphere under the chassis that carries it on the floor.
  *
- * @note A contact point of the simulation, not a part of the robot: a real
- *       chassis that rests on the edge of its board slides on it, and a mesh
- *       edge on a plane is a poor contact in MuJoCo. A skid with no friction
- *       (condim 1) only ever pushes up, so it holds the board off the floor
- *       without braking the robot or lifting itself as a slipping contact does.
+ * @note It stands in for what the chassis rests on, a glide or the edge of its
+ *       board, since a mesh edge on a plane is a poor contact in MuJoCo. Its
+ *       contact has no friction (condim 1), so it only ever pushes up and
+ *       never lifts itself as a slipping contact does; its friction, the
+ *       coefficient of whatever slides on the floor there, is applied by the
+ *       world as a force (MujocoWorld::add_sliding_friction).
  */
 struct SkidPart {
     std::string name;
     Vector3     center{};
     double      radius{};
+    double      friction{};
 };
 
 /**
diff --git a/engine/src/core/mujoco_world.cpp b/engine/src/core/mujoco_world.cpp
index 0279fdd..fc61b4a 100644
--- a/engine/src/core/mujoco_world.cpp
+++ b/engine/src/core/mujoco_world.cpp
@@ -2,6 +2,7 @@
  * @file
  */
 
+#include <algorithm>
 #include <array>
 #include <cmath>
 #include <cstddef>
@@ -43,6 +44,50 @@ static std::size_t require_index(int index, std::size_t size, const char* what)
     return static_cast<std::size_t>(index);
 }
 
+static std::array<mjtNum, 3>
+    point_velocity(const mjModel* model, const mjData* data, int geom, const std::array<mjtNum, 3>& point) {
+    std::array<mjtNum, 6> velocity{};
+    mj_objectVelocity(model, data, mjOBJ_GEOM, geom, velocity.data(), 0);
+
+    const std::span<const mjtNum> centers(data->geom_xpos, 3 * static_cast<std::size_t>(model->ngeom));
+    const std::size_t             base = 3 * static_cast<std::size_t>(geom);
+    const std::array<mjtNum, 3>   arm{
+        point.at(0) - at(centers, base), point.at(1) - at(centers, base + 1), point.at(2) - at(centers, base + 2)
+    };
+
+    return {
+        velocity.at(3) + (velocity.at(1) * arm.at(2)) - (velocity.at(2) * arm.at(1)),
+        velocity.at(4) + (velocity.at(2) * arm.at(0)) - (velocity.at(0) * arm.at(2)),
+        velocity.at(5) + (velocity.at(0) * arm.at(1)) - (velocity.at(1) * arm.at(0)),
+    };
+}
+
+static std::array<mjtNum, 3> sliding_velocity(
+    const mjModel* model, const mjData* data, const mjContact& contact, int geom, int other,
+    std::array<mjtNum, 3>& point
+) {
+    const std::span<const mjtNum, 3> position(contact.pos);
+    const std::span<const mjtNum, 9> frame(contact.frame);
+    std::ranges::copy(position, point.begin());
+
+    const std::array<mjtNum, 3> own = point_velocity(model, data, geom, point);
+    const std::array<mjtNum, 3> theirs = point_velocity(model, data, other, point);
+
+    std::array<mjtNum, 3> sliding{};
+    mjtNum                along = 0.0;
+
+    for (std::size_t axis = 0; axis < 3; axis++) {
+        sliding.at(axis) = own.at(axis) - theirs.at(axis);
+        along += sliding.at(axis) * at(frame, axis);
+    }
+
+    for (std::size_t axis = 0; axis < 3; axis++) {
+        sliding.at(axis) -= along * at(frame, axis);
+    }
+
+    return sliding;
+}
+
 MujocoWorld::~MujocoWorld() {
     this->unload();
 }
@@ -155,10 +200,74 @@ void MujocoWorld::step(int steps) {
     this->require_loaded();
 
     for (int i = 0; i < steps; i++) {
+        this->apply_sliding_friction();
         mj_step(this->model_handle, this->data_handle);
     }
 }
 
+void MujocoWorld::add_sliding_friction(const std::string& geom, double coefficient) {
+    const int                  id = this->require_id(mjOBJ_GEOM, geom);
+    const std::span<const int> geom_body(
+        this->model_handle->geom_bodyid, static_cast<std::size_t>(this->model_handle->ngeom)
+    );
+
+    this->sliding_frictions.push_back(
+        {.geom = id, .body = at(geom_body, static_cast<std::size_t>(id)), .coefficient = coefficient}
+    );
+}
+
+void MujocoWorld::apply_sliding_friction() {
+    if (this->sliding_frictions.empty()) {
+        return;
+    }
+
+    const mjModel* model = this->model_handle;
+    mjData*        data = this->data_handle;
+
+    const std::span<mjtNum>          applied(data->qfrc_applied, static_cast<std::size_t>(model->nv));
+    const std::span<const mjContact> contacts(data->contact, static_cast<std::size_t>(data->ncon));
+    const std::span<const int>       geom_body(model->geom_bodyid, static_cast<std::size_t>(model->ngeom));
+
+    std::ranges::fill(applied, 0.0);
+
+    for (const SlidingFriction& friction : this->sliding_frictions) {
+        for (std::size_t i = 0; i < contacts.size(); i++) {
+            const mjContact& contact = at(contacts, i);
+
+            if (contact.geom1 != friction.geom and contact.geom2 != friction.geom) {
+                continue;
+            }
+
+            std::array<mjtNum, 6> force{};
+            mj_contactForce(model, data, static_cast<int>(i), force.data());
+
+            if (force.at(0) <= 0.0) {
+                continue;
+            }
+
+            const int                   other = contact.geom1 == friction.geom ? contact.geom2 : contact.geom1;
+            std::array<mjtNum, 3>       where{};
+            const std::array<mjtNum, 3> sliding = sliding_velocity(model, data, contact, friction.geom, other, where);
+            const mjtNum                speed = std::hypot(sliding.at(0), sliding.at(1), sliding.at(2));
+            const mjtNum                scale = -friction.coefficient * force.at(0) / std::max(speed, sticking_speed);
+            std::array<mjtNum, 3>       push{scale * sliding.at(0), scale * sliding.at(1), scale * sliding.at(2)};
+            std::array<mjtNum, 3>       torque{};
+
+            mj_applyFT(model, data, push.data(), torque.data(), where.data(), friction.body, applied.data());
+
+            const int other_body = at(geom_body, static_cast<std::size_t>(other));
+
+            if (other_body != 0) {
+                for (mjtNum& component : push) {
+                    component = -component;
+                }
+
+                mj_applyFT(model, data, push.data(), torque.data(), where.data(), other_body, applied.data());
+            }
+        }
+    }
+}
+
 int MujocoWorld::require_id(mjtObj type, const std::string& name) const {
     this->require_loaded();
     const int id = mj_name2id(this->model_handle, type, name.c_str());
@@ -245,6 +354,8 @@ void MujocoWorld::require_loaded() const {
 }
 
 void MujocoWorld::unload() {
+    this->sliding_frictions.clear();
+
     if (this->data_handle != nullptr) {
         mj_deleteData(this->data_handle);
         this->data_handle = nullptr;
diff --git a/engine/src/robot/robot_description.cpp b/engine/src/robot/robot_description.cpp
index 32cba14..9135bd9 100644
--- a/engine/src/robot/robot_description.cpp
+++ b/engine/src/robot/robot_description.cpp
@@ -321,7 +321,10 @@ static ChassisDescription read_chassis(Section section) {
 
     for (Section part : section.sections("skids")) {
         chassis.skids.push_back(
-            {.name = part.text("name"), .center = part.vector3("center"), .radius = part.number("radius")}
+            {.name = part.text("name"),
+             .center = part.vector3("center"),
+             .radius = part.number("radius"),
+             .friction = part.number("friction")}
         );
         part.finish();
     }
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index c2dd798..656f804 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -11,6 +11,7 @@ add_executable(micras_sim_tests
     unit/event_log_test.cpp
     unit/firmware_thread_test.cpp
     unit/maze_test.cpp
+    unit/mujoco_world_test.cpp
     unit/noise_test.cpp
     unit/robot_description_test.cpp
     unit/run_metadata_test.cpp
diff --git a/tests/unit/mujoco_world_test.cpp b/tests/unit/mujoco_world_test.cpp
new file mode 100644
index 0000000..166da77
--- /dev/null
+++ b/tests/unit/mujoco_world_test.cpp
@@ -0,0 +1,85 @@
+#include <cmath>
+#include <cstddef>
+#include <fstream>
+#include <span>
+
+#include <doctest/doctest.h>
+#include <mujoco/mjtype.h>
+
+#include "micras/sim/core/mujoco_world.hpp"
+#include "micras/sim/core/span_at.hpp"
+#include "temp_file.hpp"
+
+namespace micras::sim {
+namespace {
+constexpr double gravity{9.81};
+constexpr double coefficient{0.15};
+
+constexpr const char* sled_xml = R"(<mujoco model="sled">
+  <option timestep="0.000125" gravity="0 0 -9.81"/>
+  <worldbody>
+    <geom name="floor" type="plane" size="1 1 0.1"/>
+    <body name="sled" pos="0 0 0.01">
+      <joint name="along" type="slide" axis="1 0 0"/>
+      <joint name="up" type="slide" axis="0 0 1"/>
+      <geom name="skid" type="sphere" size="0.01" mass="0.1" condim="1" priority="1"/>
+    </body>
+  </worldbody>
+</mujoco>
+)";
+
+class Sled {
+protected:
+    Sled() {
+        std::ofstream(this->file.path()) << sled_xml;
+        this->world.load(this->file.path());
+        this->world.reset();
+        this->world.step(800);
+    }
+
+    double& forward_speed() {
+        const std::span<mjtNum> velocities(this->world.data()->qvel, static_cast<std::size_t>(this->world.model()->nv));
+        return at(velocities, 0);
+    }
+
+    // NOLINTBEGIN(*-non-private-member-variables-in-classes): the fixture is the test's own scope.
+    TempFile    file{"sled.xml"};
+    MujocoWorld world;
+    // NOLINTEND(*-non-private-member-variables-in-classes)
+};
+}  // namespace
+
+TEST_CASE_FIXTURE(Sled, "A frictionless skid keeps sliding") {
+    this->forward_speed() = 1.0;
+    this->world.step(1600);
+
+    CHECK(this->forward_speed() == doctest::Approx(1.0).epsilon(1.0e-6));
+}
+
+TEST_CASE_FIXTURE(Sled, "A skid with a sliding friction slows down at its coefficient times gravity") {
+    this->world.add_sliding_friction("skid", coefficient);
+    this->forward_speed() = 1.0;
+    this->world.step(1600);
+
+    CHECK(this->forward_speed() == doctest::Approx(1.0 - (coefficient * gravity * 0.2)).epsilon(0.01));
+}
+
+TEST_CASE_FIXTURE(Sled, "A skid with a sliding friction comes to rest and stays there") {
+    this->world.add_sliding_friction("skid", coefficient);
+    this->forward_speed() = 1.0;
+    this->world.step(8000);
+
+    CHECK(std::abs(this->forward_speed()) < 1.0e-4);
+}
+
+TEST_CASE_FIXTURE(Sled, "Loading another model forgets the sliding frictions") {
+    this->world.add_sliding_friction("skid", coefficient);
+    this->world.load(this->file.path());
+    this->world.reset();
+    this->world.step(800);
+    this->forward_speed() = 1.0;
+    this->world.step(1600);
+
+    CHECK(this->forward_speed() == doctest::Approx(1.0).epsilon(1.0e-6));
+}
+}  // namespace micras::sim

From dc70c420507750ecd1faf0d440d2c95e0fcbc682 Mon Sep 17 00:00:00 2001
From: GabrielCosme <cosmebarbosa.gabriel@gmail.com>
Date: Sun, 4 Oct 2026 05:14:39 -0300
Subject: [PATCH 52/52] =?UTF-8?q?=F0=9F=91=B7=20Check=20each=20commit=20on?=
 =?UTF-8?q?ce,=20by=20its=20push,=20and=20pull=20requests=20only=20from=20?=
 =?UTF-8?q?forks?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/ci.yaml |  3 +++
 README.md                 | 12 ++++++------
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index c87a609..c59f5e6 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -12,10 +12,13 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
   cancel-in-progress: true
 
+# A push to a branch of this repository is checked once by its push run, so a pull request only runs
+# here when it comes from a fork
 jobs:
   host:
     name: 🧪 Build, tests, format, lint and checks
     runs-on: ubuntu-latest
+    if: github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name != github.repository
     timeout-minutes: 60
     steps:
       - name: 🔀 Checkout
diff --git a/README.md b/README.md
index a69d34e..a29765d 100644
--- a/README.md
+++ b/README.md
@@ -282,12 +282,12 @@ panel has the button, a lamp per state and the pack voltage; its scenarios are
 
 ## CI
 
-`.github/workflows/ci.yaml` runs on every push and pull request, in the image of
-`.docker/Dockerfile` (Ubuntu 26.04 with GCC 15, clang 22, CMake and Python; its
-host stage is the one micras-lib and the firmware use too): the `host-ci` build,
-CTest, `micras_sim_format_check`, `micras_sim_lint` and `micras_sim_check`. The
-baselines are compared within their tolerances there: a hash belongs to the
-machine that recorded it.
+`.github/workflows/ci.yaml` runs on every push and on pull requests from forks,
+in the image of `.docker/Dockerfile` (Ubuntu 26.04 with GCC 15, clang 22, CMake
+and Python; its host stage is the one micras-lib and the firmware use too): the
+`host-ci` build, CTest, `micras_sim_format_check`, `micras_sim_lint` and
+`micras_sim_check`. The baselines are compared within their tolerances there: a
+hash belongs to the machine that recorded it.
 
 ## Layout