fix(ui): map sensing websocket port for docker (#572)

@xiaofuchen's code audit in #568 was correct: the firmware's
`pkt.n_persons` is `s_top_k_count / 2` (clamped) — a subcarrier-slot
partition, not a learned classifier. The README's old wording
('Multi-person estimation', 'Presence sensing') reads stronger than
`edge_processing.c:481-548` actually supports. Same-direction fix as
commit bd4f81749 (which retracted the 92.9% PCK@20 claim because
ADR-079's eval phases are still Pending) and ADR-099 §D8 (which
honestly amended the 10× latency target because it's unreachable on
1-D scalar features).

Three things this commit changes:

1. **Headline-table 'Presence sensing' -> 'Presence indicator (heuristic)'.**
   Adds an explicit caveat that strong RF interference can false-positive
   without re-calibration, with a link to the detailed Tier-2 section.
   The marketing word 'sensing' implied a classifier; the code is a
   variance threshold.

2. **Tier-2 bullet 'Multi-person estimation' -> 'Multi-person slot count'.**
   Now reads:

     'partitions the top-K subcarriers into top_k / 2 groups (clamped to
     [1, EDGE_MAX_PERSONS]), computes per-group filtered breathing/heart-
     rate estimates, and reports the slot count as pkt.n_persons. This
     is a slot-capacity heuristic, not a learned counter — the reported
     count tracks subcarrier diversity, not actual occupancy.'

   Links directly to `main/edge_processing.c:481-548` so the user can
   verify the claim against the code.

3. **New 'What this firmware does NOT do (Tier 2 caveats)' subsection.**
   Three explicit non-claims:

   - No trained neural model on the ESP32 — the person count is
     arithmetic, not inference.
   - No pose estimation on the ESP32; pose comes from the host's Rust
     server, and only runs learned inference when --model <rvf-file> is
     passed. Without a trained model, the host runs signal-based
     heuristics, not keypoint inference. Same point as #509 / #506.
   - Presence indicator false-positives under fans/microwaves/AP TX
     swings without re-running the 60 s ambient calibration. Notes the
     concrete remedy (power-cycle in an empty room).

Closes #568.

docs/user-guide.md

@@ -21,6 +21,7 @@ WiFi DensePose turns commodity WiFi signals into real-time human pose estimation
    - [Windows WiFi (RSSI Only)](#windows-wifi-rssi-only)
    - [ESP32-S3 (Full CSI)](#esp32-s3-full-csi)
    - [ESP32 Multistatic Mesh (Advanced)](#esp32-multistatic-mesh-advanced)
+   - [Connect Mesh Data to the Dashboard and Observatory](#connect-mesh-data-to-the-dashboard-and-observatory)
    - [Cognitum Seed Integration (ADR-069)](#cognitum-seed-integration-adr-069)
 5. [REST API Reference](#rest-api-reference)
 6. [WebSocket Streaming](#websocket-streaming)
@@ -331,6 +332,46 @@ The mesh uses a **Time-Division Multiplexing (TDM)** protocol so nodes take turn
 
 See [ADR-029](adr/ADR-029-ruvsense-multistatic-sensing-mode.md) and [ADR-032](adr/ADR-032-multistatic-mesh-security-hardening.md) for the full design.
 
+### Connect Mesh Data to the Dashboard and Observatory
+
+If a standalone `aggregator` command prints live packets, the ESP32 fleet is already reaching that host. To visualize the same data, stop the standalone aggregator and run `sensing-server` on that same host and UDP port. The sensing server is the aggregator used by the REST API, WebSocket stream, dashboard, and Observatory.
+
+```bash
+# From a source build
+cd v2
+cargo run -p wifi-densepose-sensing-server -- \
+  --source esp32 \
+  --udp-port 5005 \
+  --http-port 3000 \
+  --ws-port 3001 \
+  --ui-path ../../ui
+
+# Docker
+docker run --rm \
+  -e CSI_SOURCE=esp32 \
+  -p 3000:3000 \
+  -p 3001:3001 \
+  -p 5005:5005/udp \
+  ruvnet/wifi-densepose:latest
+```
+
+Open the UI from the sensing server, not from a local file:
+
+| View | URL |
+|------|-----|
+| Dashboard | `http://localhost:3000/ui/index.html` |
+| Observatory | `http://localhost:3000/ui/observatory.html` |
+
+Use these checks before debugging the browser:
+
+```bash
+curl http://localhost:3000/health
+curl http://localhost:3000/api/v1/nodes
+curl http://localhost:3000/api/v1/sensing/latest
+```
+
+If the ESP32 nodes are provisioned with `--target-ip <AGGREGATOR_HOST>`, that IP must be the machine running `sensing-server`. Only one process can receive UDP `:5005` at a time, so leave the standalone hardware `aggregator` off while the dashboard or Observatory is live.
+
 ### Cognitum Seed Integration (ADR-069)
 
 Connect an ESP32-S3 to a [Cognitum Seed](https://cognitum.one) (Pi Zero 2 W, ~$15) for persistent vector storage, kNN similarity search, cryptographic witness chain, and AI-accessible sensing via MCP proxy.
@@ -1744,6 +1785,8 @@ The server applies a 3-stage smoothing pipeline (ADR-048). If readings are still
 
 - Verify the sensing server is running: `curl http://localhost:3000/health`
 - Access Observatory via the server URL: `http://localhost:3000/ui/observatory.html` (not a file:// URL)
+- If a standalone `aggregator` command is already listening on UDP `:5005`, stop it and run `sensing-server --source esp32 --udp-port 5005` instead; the Observatory reads the server WebSocket, not the standalone aggregator output
+- Verify the ESP32 nodes are provisioned to the IP address of the machine running `sensing-server`
 - Hard refresh with Ctrl+Shift+R to clear cached settings
 - The auto-detect probes `/health` on the same origin — cross-origin won't work
 

examples/three.js/.gitignore

@@ -0,0 +1,10 @@
+# Mixamo FBX downloads — too large + license boundary. Get your own from
+# mixamo.com (FBX Binary + T-Pose / Without Skin), drop into assets/.
+*.fbx
+
+# Diagnostic / debug screenshots from a dev session. Official screenshots
+# live in screenshots/ and are committed; these underscore-prefixed ones
+# are scratch.
+_diag-*.png
+_demo-mode-shot*.png
+_PROOF-*.png

examples/three.js/README.md

@@ -0,0 +1,77 @@
+# three.js demos
+
+Five progressively richer browser demos of the ADR-097 sensing-helpers scene,
+ending with a live MediaPipe-Pose → Mixamo X Bot retargeting pipeline driven
+by a real ESP32 CSI feed.
+
+## Run them
+
+```bash
+python examples/three.js/server/serve-demo.py
+# then open one of the URLs the script prints
+```
+
+`server/serve-demo.py` is a tiny `ThreadingHTTPServer` with aggressive
+no-cache headers — the stdlib `http.server` is single-threaded and times out
+on the parallel script + FBX fetches the demos make.
+
+## Demos
+
+| # | File | What it shows |
+|---|------|---------------|
+| 01 | [`demos/01-helpers.html`](demos/01-helpers.html) | Plain ADR-097 helpers in the point-cloud viewer |
+| 02 | [`demos/02-cinematic.html`](demos/02-cinematic.html) | Cinematic camera + pseudo-CSI visualization on top of #01 |
+| 03 | [`demos/03-skinned.html`](demos/03-skinned.html) | GLTF skinned mesh + additive animation blending |
+| 04 | [`demos/04-skinned-fbx.html`](demos/04-skinned-fbx.html) | Mixamo X Bot loaded from FBX in the ADR-097 scene |
+| 05 | [`demos/05-skinned-realtime.html`](demos/05-skinned-realtime.html) | Webcam → MediaPipe Pose Heavy → Mixamo IK retarget, live ESP32 CSI overlay |
+
+| Screenshot | |
+|---|---|
+| ![01](screenshots/01-helpers.png) | ![02](screenshots/02-cinematic.png) |
+| ![03](screenshots/03-skinned.png) | ![04](screenshots/04-skinned-fbx.png) |
+| ![05](screenshots/05-skinned-realtime.png) | |
+
+## Layout
+
+```
+examples/three.js/
+├── README.md
+├── .gitignore
+├── demos/                       # 5 self-contained HTML demos
+│   ├── 01-helpers.html
+│   ├── 02-cinematic.html
+│   ├── 03-skinned.html
+│   ├── 04-skinned-fbx.html
+│   └── 05-skinned-realtime.html
+├── screenshots/                 # one PNG per demo
+│   └── 0N-*.png
+├── server/
+│   ├── serve-demo.py            # local HTTP server with no-cache headers
+│   └── ruvultra-csi-bridge.py   # ESP32 CSI WebSocket bridge (ruvultra:8766)
+└── assets/
+    └── X Bot.fbx                # gitignored — get your own from mixamo.com
+                                 #   (FBX Binary, T-Pose, Without Skin)
+                                 # used by demos 04 and 05
+```
+
+## Mixamo X Bot
+
+Demos 04 and 05 expect `assets/X Bot.fbx`. It's gitignored (size + license
+boundary). Download yours from [mixamo.com](https://mixamo.com): pick the
+"X Bot" character, export as **FBX Binary**, **T-Pose**, **Without Skin**,
+and drop it into `assets/`.
+
+## Live ESP32 CSI overlay (demo 05 only)
+
+`server/ruvultra-csi-bridge.py` is the systemd-deployable bridge that runs on
+the `ruvultra` host (over Tailscale). It listens for ESP32-S3 CSI on UDP and
+re-broadcasts it as WebSocket frames at `ws://ruvultra:8766/csi`. Demo 05
+auto-connects; if the socket is down, it falls back to the bundled idle clip
+plus a synthetic CSI driver.
+
+## Open issues
+
+- [#583](https://github.com/ruvnet/RuView/issues/583) — head/face tracking
+  fidelity in `05-skinned-realtime.html`. Recommended fix: swap MediaPipe
+  Pose Heavy for MediaPipe Holistic (same API, adds 468-point face mesh +
+  hand landmarks for proper PnP head pose and finger curl tracking).

examples/three.js/demos/01-helpers.html

@@ -0,0 +1,587 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>RuView · ADR-097 · three.js helpers in the point cloud viewer</title>
+    <link rel="icon" type="image/svg+xml" href="data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 32 32'><circle cx='16' cy='16' r='10' fill='%23e8a634'/></svg>">
+    <style>
+        :root {
+            --bg: #0a0a0a;
+            --bg-panel: rgba(0, 0, 0, 0.88);
+            --amber: #e8a634;
+            --amber-dim: #4a3a1a;
+            --amber-hot: #ffc04d;
+            --grid-major: #444444;
+            --grid-minor: #222222;
+            --green: #4f4;
+            --blue: #4cf;
+            --text-mute: #888;
+            --border: #2a2a2a;
+        }
+        * { box-sizing: border-box; }
+        body {
+            margin: 0;
+            background: var(--bg);
+            color: var(--amber);
+            font-family: 'SF Mono', Monaco, 'Cascadia Code', Consolas, monospace;
+            overflow: hidden;
+            -webkit-font-smoothing: antialiased;
+        }
+        canvas { display: block; }
+
+        /* Top-left HUD */
+        #info {
+            position: absolute;
+            top: 16px;
+            left: 16px;
+            padding: 14px 16px;
+            background: var(--bg-panel);
+            border: 1px solid var(--amber);
+            border-radius: 8px;
+            min-width: 280px;
+            max-width: 340px;
+            font-size: 12px;
+            line-height: 1.55;
+            z-index: 10;
+            backdrop-filter: blur(6px);
+            box-shadow: 0 4px 24px rgba(232, 166, 52, 0.08);
+        }
+        #info h1 { margin: 0 0 2px 0; font-size: 14px; letter-spacing: 0.5px; }
+        #info .sub { font-size: 11px; color: var(--text-mute); margin-bottom: 10px; }
+        #info .row { display: flex; justify-content: space-between; gap: 12px; margin: 2px 0; }
+        #info .row .k { color: var(--text-mute); }
+        #info .row .v { color: var(--amber); font-variant-numeric: tabular-nums; }
+        #info .row .v.live { color: var(--green); }
+
+        /* Bottom-left helper toggle panel */
+        #controls {
+            position: absolute;
+            bottom: 16px;
+            left: 16px;
+            padding: 12px 14px;
+            background: var(--bg-panel);
+            border: 1px solid var(--border);
+            border-radius: 8px;
+            font-size: 12px;
+            z-index: 10;
+            backdrop-filter: blur(6px);
+            min-width: 220px;
+        }
+        #controls h2 {
+            margin: 0 0 8px 0;
+            font-size: 11px;
+            text-transform: uppercase;
+            letter-spacing: 1.2px;
+            color: var(--text-mute);
+            font-weight: 600;
+        }
+        #controls label {
+            display: flex;
+            align-items: center;
+            gap: 8px;
+            padding: 4px 0;
+            cursor: pointer;
+            user-select: none;
+        }
+        #controls label:hover { color: var(--amber-hot); }
+        #controls input[type=checkbox] {
+            accent-color: var(--amber);
+            width: 14px;
+            height: 14px;
+            cursor: pointer;
+        }
+        #controls .helper-swatch {
+            display: inline-block;
+            width: 10px;
+            height: 10px;
+            border-radius: 2px;
+            margin-left: auto;
+        }
+
+        /* Bottom-right ADR badge */
+        #adr-badge {
+            position: absolute;
+            bottom: 16px;
+            right: 16px;
+            padding: 8px 12px;
+            background: var(--bg-panel);
+            border: 1px solid var(--border);
+            border-radius: 6px;
+            font-size: 11px;
+            color: var(--text-mute);
+            z-index: 10;
+            backdrop-filter: blur(6px);
+        }
+        #adr-badge a { color: var(--amber); text-decoration: none; }
+        #adr-badge a:hover { color: var(--amber-hot); }
+
+        /* Top-right legend */
+        #legend {
+            position: absolute;
+            top: 16px;
+            right: 16px;
+            padding: 12px 14px;
+            background: var(--bg-panel);
+            border: 1px solid var(--border);
+            border-radius: 8px;
+            font-size: 11px;
+            z-index: 10;
+            backdrop-filter: blur(6px);
+            min-width: 200px;
+        }
+        #legend h2 {
+            margin: 0 0 8px 0;
+            font-size: 11px;
+            text-transform: uppercase;
+            letter-spacing: 1.2px;
+            color: var(--text-mute);
+            font-weight: 600;
+        }
+        #legend .item {
+            display: flex;
+            align-items: center;
+            gap: 8px;
+            padding: 3px 0;
+        }
+        #legend .dot {
+            width: 10px;
+            height: 10px;
+            border-radius: 50%;
+            flex-shrink: 0;
+        }
+        #legend .label { font-size: 11px; line-height: 1.3; }
+    </style>
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/controls/OrbitControls.js"></script>
+</head>
+<body>
+    <div id="info">
+        <h1>RuView · Helpers Demo</h1>
+        <div class="sub">ADR-097 · three.js helpers for the point cloud viewer</div>
+        <div class="row"><span class="k">Scene</span><span class="v live">● SYNTHETIC</span></div>
+        <div class="row"><span class="k">Skeleton</span><span class="v">17 kpts · COCO</span></div>
+        <div class="row"><span class="k">Point cloud</span><span class="v" id="pc-count">— pts</span></div>
+        <div class="row"><span class="k">Sensor nodes</span><span class="v">4 · multistatic</span></div>
+        <div class="row"><span class="k">Frame rate</span><span class="v" id="fps">— fps</span></div>
+        <div class="row"><span class="k">Bbox volume</span><span class="v" id="bbox-vol">— m³</span></div>
+    </div>
+
+    <div id="controls">
+        <h2>Helpers</h2>
+        <label><input type="checkbox" id="t-grid" checked>GridHelper<span class="helper-swatch" style="background:#444"></span></label>
+        <label><input type="checkbox" id="t-polar" checked>PolarGridHelper<span class="helper-swatch" style="background:#4a3a1a"></span></label>
+        <label><input type="checkbox" id="t-bbox" checked>BoxHelper<span class="helper-swatch" style="background:#e8a634"></span></label>
+        <label><input type="checkbox" id="t-axes" checked>AxesHelper<span class="helper-swatch" style="background:linear-gradient(90deg,#f44,#4f4,#4cf)"></span></label>
+        <label><input type="checkbox" id="t-nodebox" checked>Per-node BoxHelpers<span class="helper-swatch" style="background:#4cf"></span></label>
+    </div>
+
+    <div id="legend">
+        <h2>Scene</h2>
+        <div class="item"><span class="dot" style="background:#ffff00"></span><span class="label">COCO-17 keypoints (yellow)</span></div>
+        <div class="item"><span class="dot" style="background:#ffffff"></span><span class="label">Bones (white lines)</span></div>
+        <div class="item"><span class="dot" style="background:#4cf"></span><span class="label">Face point cloud (cyan→white)</span></div>
+        <div class="item"><span class="dot" style="background:#e8a634"></span><span class="label">ESP32 sensor nodes</span></div>
+    </div>
+
+    <div id="adr-badge">
+        ADR-097 · <a href="https://threejs.org/examples/#webgl_helpers" target="_blank" rel="noopener">three.js helpers</a>
+    </div>
+
+    <script>
+        // =====================================================================
+        //  RuView · ADR-097 · three.js helpers demo
+        //  --------------------------------------------------------------------
+        //  Self-contained, no backend. Demonstrates how `GridHelper`,
+        //  `PolarGridHelper`, `BoxHelper`, and `AxesHelper` slot into the
+        //  RuView point cloud viewer (`v2/crates/wifi-densepose-pointcloud
+        //  /src/viewer.html`). Open this file in a browser — no build step.
+        //
+        //  The scene contains:
+        //    1. A synthetic walking, breathing 17-keypoint skeleton.
+        //    2. A face-shaped point cloud attached to the skeleton head.
+        //    3. Four multistatic sensor-node markers arranged around the room.
+        //    4. All four ADR-097 helpers, toggleable from the bottom-left panel.
+        //
+        //  Coordinate frame matches the production viewer:
+        //    +X = right, +Y = up, +Z = away from camera.
+        //    Floor at y = -1.5, person hip at y = 0, head reaches ~ y = 0.7.
+        // =====================================================================
+
+        const COCO_BONES = [
+            // head
+            [0, 1], [0, 2], [1, 3], [2, 4],
+            // torso
+            [5, 6], [5, 11], [6, 12], [11, 12],
+            // left arm
+            [5, 7], [7, 9],
+            // right arm
+            [6, 8], [8, 10],
+            // left leg
+            [11, 13], [13, 15],
+            // right leg
+            [12, 14], [14, 16],
+        ];
+
+        // Static "T-pose" skeleton in local frame, animated each frame.
+        // 17 keypoints in COCO order. Units: meters.
+        const SKELETON_BASE = {
+            0:  [ 0.00,  0.65,  0.00], // nose
+            1:  [-0.04,  0.68,  0.04], // L eye
+            2:  [ 0.04,  0.68,  0.04], // R eye
+            3:  [-0.08,  0.64,  0.00], // L ear
+            4:  [ 0.08,  0.64,  0.00], // R ear
+            5:  [-0.18,  0.45,  0.00], // L shoulder
+            6:  [ 0.18,  0.45,  0.00], // R shoulder
+            7:  [-0.22,  0.20,  0.00], // L elbow
+            8:  [ 0.22,  0.20,  0.00], // R elbow
+            9:  [-0.26, -0.05,  0.00], // L wrist
+            10: [ 0.26, -0.05,  0.00], // R wrist
+            11: [-0.10,  0.00,  0.00], // L hip
+            12: [ 0.10,  0.00,  0.00], // R hip
+            13: [-0.12, -0.40,  0.00], // L knee
+            14: [ 0.12, -0.40,  0.00], // R knee
+            15: [-0.12, -0.80,  0.00], // L ankle
+            16: [ 0.12, -0.80,  0.00], // R ankle
+        };
+
+        // ---------------------------------------------------------------------
+        //  Scene + camera + renderer
+        // ---------------------------------------------------------------------
+        const scene = new THREE.Scene();
+        scene.background = new THREE.Color(0x0a0a0a);
+        scene.fog = new THREE.Fog(0x0a0a0a, 6, 14);
+
+        const camera = new THREE.PerspectiveCamera(60, window.innerWidth / window.innerHeight, 0.05, 100);
+        camera.position.set(3.0, 1.4, 4.2);
+
+        const renderer = new THREE.WebGLRenderer({ antialias: true, powerPreference: 'high-performance' });
+        renderer.setPixelRatio(window.devicePixelRatio);
+        renderer.setSize(window.innerWidth, window.innerHeight);
+        document.body.appendChild(renderer.domElement);
+
+        const controls = new THREE.OrbitControls(camera, renderer.domElement);
+        controls.target.set(0, 0, 0);
+        controls.enableDamping = true;
+        controls.dampingFactor = 0.08;
+        controls.minDistance = 1.5;
+        controls.maxDistance = 12;
+        controls.maxPolarAngle = Math.PI * 0.92;
+
+        // ---------------------------------------------------------------------
+        //  ADR-097 helpers — wired to checkbox toggles
+        // ---------------------------------------------------------------------
+        //  GridHelper — Cartesian floor reference. Establishes "down" and
+        //  scale: 4 m × 4 m floor, 20 divisions = 0.2 m grid spacing.
+        const gridHelper = new THREE.GridHelper(4, 20, 0x444444, 0x222222);
+        gridHelper.position.y = -1.5;
+        scene.add(gridHelper);
+
+        //  PolarGridHelper — multistatic geometry reference. 16 radial
+        //  divisions (angular bins) × 4 concentric circles, centered on
+        //  the fusion target. Matches the bin count in
+        //  signal/src/ruvsense/multistatic.rs:attention_weight().
+        const polarHelper = new THREE.PolarGridHelper(2.2, 16, 4, 64, 0x4a3a1a, 0x2a1f10);
+        polarHelper.position.y = -1.499; // a hair above grid to avoid z-fight
+        scene.add(polarHelper);
+
+        //  AxesHelper — XYZ tripod at origin. Red = X, green = Y, blue = Z.
+        const axesHelper = new THREE.AxesHelper(0.5);
+        axesHelper.position.set(0, -1.49, 0);
+        scene.add(axesHelper);
+
+        //  BoxHelper — per-person bounding volume. Refreshed each frame
+        //  after the skeleton is updated. Color = RuView amber.
+        let bboxHelper = null;
+
+        // ---------------------------------------------------------------------
+        //  Skeleton — joint spheres + bone lines, animated
+        // ---------------------------------------------------------------------
+        const skeletonGroup = new THREE.Group();
+        scene.add(skeletonGroup);
+
+        const jointGeo = new THREE.SphereGeometry(0.025, 12, 12);
+        const jointMat = new THREE.MeshBasicMaterial({ color: 0xffff00 });
+        const joints = [];
+        for (let i = 0; i < 17; i++) {
+            const sphere = new THREE.Mesh(jointGeo, jointMat);
+            const p = SKELETON_BASE[i];
+            sphere.position.set(p[0], p[1], p[2]);
+            sphere.userData.baseY = p[1];
+            sphere.userData.baseX = p[0];
+            sphere.userData.idx = i;
+            skeletonGroup.add(sphere);
+            joints.push(sphere);
+        }
+
+        const boneMat = new THREE.LineBasicMaterial({ color: 0xffffff, transparent: true, opacity: 0.85 });
+        const bones = [];
+        for (const [a, b] of COCO_BONES) {
+            const geom = new THREE.BufferGeometry();
+            geom.setAttribute('position', new THREE.BufferAttribute(new Float32Array(6), 3));
+            const line = new THREE.Line(geom, boneMat);
+            line.userData = { a, b };
+            skeletonGroup.add(line);
+            bones.push(line);
+        }
+
+        // ---------------------------------------------------------------------
+        //  Face point cloud — synthetic ellipsoid attached to head keypoint
+        // ---------------------------------------------------------------------
+        const FACE_POINTS = 600;
+        const facePositions = new Float32Array(FACE_POINTS * 3);
+        const faceColors    = new Float32Array(FACE_POINTS * 3);
+        const faceOffsets   = new Float32Array(FACE_POINTS * 3); // canonical face shape, relative to nose
+
+        for (let i = 0; i < FACE_POINTS; i++) {
+            // Sample points roughly on a face-shaped ellipsoid (taller than wide).
+            const u = Math.random() * Math.PI * 2;
+            const v = (Math.random() - 0.5) * Math.PI;
+            const cu = Math.cos(u), su = Math.sin(u);
+            const cv = Math.cos(v), sv = Math.sin(v);
+            // ellipsoid radii (head-like proportions)
+            const rx = 0.085, ry = 0.105, rz = 0.075;
+            faceOffsets[i * 3 + 0] = rx * cv * cu;
+            faceOffsets[i * 3 + 1] = ry * sv;
+            faceOffsets[i * 3 + 2] = rz * cv * su;
+            // depth-encoded color: cyan at back, near-white at front (toward +Z = away from camera)
+            const depthT = (sv + 1) * 0.5;
+            faceColors[i * 3 + 0] = 0.30 + 0.70 * depthT; // R
+            faceColors[i * 3 + 1] = 0.80 + 0.20 * depthT; // G
+            faceColors[i * 3 + 2] = 1.00;                 // B
+        }
+        const faceGeom = new THREE.BufferGeometry();
+        faceGeom.setAttribute('position', new THREE.BufferAttribute(facePositions, 3));
+        faceGeom.setAttribute('color',    new THREE.BufferAttribute(faceColors, 3));
+        const faceMat = new THREE.PointsMaterial({
+            size: 0.012,
+            vertexColors: true,
+            sizeAttenuation: true,
+            transparent: true,
+            opacity: 0.9,
+        });
+        const facePoints = new THREE.Points(faceGeom, faceMat);
+        skeletonGroup.add(facePoints);
+        document.getElementById('pc-count').textContent = FACE_POINTS + ' pts';
+
+        // ---------------------------------------------------------------------
+        //  Multistatic sensor nodes — 4 ESP32 markers around the room
+        // ---------------------------------------------------------------------
+        const nodeGroup = new THREE.Group();
+        scene.add(nodeGroup);
+
+        const NODE_POSITIONS = [
+            [-1.9,  1.3,  1.9],   // back-left high
+            [ 1.9,  1.3,  1.9],   // back-right high
+            [-1.9,  1.3, -1.9],   // front-left high
+            [ 1.9,  1.3, -1.9],   // front-right high
+        ];
+        const nodeBboxHelpers = [];
+        const nodeGeo = new THREE.BoxGeometry(0.12, 0.06, 0.18);
+        const nodeMat = new THREE.MeshBasicMaterial({ color: 0xe8a634 });
+        const nodeAntennaGeo = new THREE.ConeGeometry(0.018, 0.08, 8);
+        const nodeAntennaMat = new THREE.MeshBasicMaterial({ color: 0xffc04d });
+
+        NODE_POSITIONS.forEach((pos, i) => {
+            const group = new THREE.Group();
+            group.position.set(pos[0], pos[1], pos[2]);
+
+            const body = new THREE.Mesh(nodeGeo, nodeMat);
+            group.add(body);
+
+            // little antenna sticking up
+            const antenna = new THREE.Mesh(nodeAntennaGeo, nodeAntennaMat);
+            antenna.position.y = 0.07;
+            group.add(antenna);
+
+            // pulsing emissive ring (visualizes RX activity)
+            const ringGeo = new THREE.RingGeometry(0.10, 0.13, 32);
+            const ringMat = new THREE.MeshBasicMaterial({ color: 0xe8a634, side: THREE.DoubleSide, transparent: true, opacity: 0.4 });
+            const ring = new THREE.Mesh(ringGeo, ringMat);
+            ring.rotation.x = -Math.PI / 2;
+            ring.position.y = -0.04;
+            ring.userData.phase = i * 0.5;
+            group.add(ring);
+            group.userData.ring = ring;
+
+            // sight-line from node to scene origin (visualizes multistatic geometry)
+            const sightGeo = new THREE.BufferGeometry().setFromPoints([
+                new THREE.Vector3(0, 0, 0),
+                new THREE.Vector3(-pos[0], -pos[1], -pos[2]),
+            ]);
+            const sightMat = new THREE.LineDashedMaterial({
+                color: 0xe8a634, transparent: true, opacity: 0.18,
+                dashSize: 0.1, gapSize: 0.06,
+            });
+            const sightLine = new THREE.Line(sightGeo, sightMat);
+            sightLine.computeLineDistances();
+            group.add(sightLine);
+
+            nodeGroup.add(group);
+
+            // ADR-097 §3.3 — per-node BoxHelper. Demonstrates that helpers
+            // compose naturally: one box per detected object.
+            const bbox = new THREE.BoxHelper(group, 0x4cf);
+            scene.add(bbox);
+            nodeBboxHelpers.push(bbox);
+        });
+
+        // ---------------------------------------------------------------------
+        //  Animation — synthetic motion model
+        // ---------------------------------------------------------------------
+        let frameStart = performance.now();
+        let frameCount = 0;
+        let fpsAvg = 0;
+
+        function applyPose(t) {
+            // Body sway (slow), breathing (chest expansion), arm/leg swing (walking).
+            const swayX = Math.sin(t * 0.35) * 0.05;
+            const swayZ = Math.cos(t * 0.27) * 0.04;
+            const breathe = Math.sin(t * 1.4) * 0.012;   // chest in/out
+            const walkPhase = t * 1.9;                    // walk cycle
+
+            skeletonGroup.position.set(swayX, 0, swayZ);
+            skeletonGroup.rotation.y = Math.sin(t * 0.22) * 0.18;
+
+            for (let i = 0; i < 17; i++) {
+                const base = SKELETON_BASE[i];
+                let dx = 0, dy = 0, dz = 0;
+
+                // breathing — shoulders + nose rise a little
+                if (i === 0 || i === 1 || i === 2) dy = breathe * 0.6;
+                if (i === 5 || i === 6) dy = breathe;
+
+                // arm swing (opposite of legs)
+                if (i === 7) { dz =  Math.sin(walkPhase) * 0.10; dy += Math.cos(walkPhase) * 0.04; }
+                if (i === 9) { dz =  Math.sin(walkPhase) * 0.18; dy += Math.cos(walkPhase) * 0.06; }
+                if (i === 8) { dz = -Math.sin(walkPhase) * 0.10; dy += Math.cos(walkPhase) * 0.04; }
+                if (i === 10){ dz = -Math.sin(walkPhase) * 0.18; dy += Math.cos(walkPhase) * 0.06; }
+
+                // leg swing
+                if (i === 13){ dz = -Math.sin(walkPhase) * 0.08; }
+                if (i === 15){ dz = -Math.sin(walkPhase) * 0.15; dy = Math.max(0, Math.cos(walkPhase)) * 0.04; }
+                if (i === 14){ dz =  Math.sin(walkPhase) * 0.08; }
+                if (i === 16){ dz =  Math.sin(walkPhase) * 0.15; dy = Math.max(0, -Math.cos(walkPhase)) * 0.04; }
+
+                joints[i].position.set(base[0] + dx, base[1] + dy, base[2] + dz);
+            }
+
+            // update bone line vertices from current joint positions
+            for (const line of bones) {
+                const { a, b } = line.userData;
+                const pa = joints[a].position;
+                const pb = joints[b].position;
+                const pos = line.geometry.attributes.position;
+                pos.array[0] = pa.x; pos.array[1] = pa.y; pos.array[2] = pa.z;
+                pos.array[3] = pb.x; pos.array[4] = pb.y; pos.array[5] = pb.z;
+                pos.needsUpdate = true;
+            }
+
+            // attach face point cloud to the nose keypoint (kpt 0)
+            const nose = joints[0].position;
+            const positions = faceGeom.attributes.position;
+            const headTurn = Math.sin(t * 0.6) * 0.35; // y-axis nod
+            const cosH = Math.cos(headTurn), sinH = Math.sin(headTurn);
+            for (let i = 0; i < FACE_POINTS; i++) {
+                const ox = faceOffsets[i * 3 + 0];
+                const oy = faceOffsets[i * 3 + 1];
+                const oz = faceOffsets[i * 3 + 2];
+                // rotate offset around Y axis by headTurn
+                const rx = cosH * ox + sinH * oz;
+                const rz = -sinH * ox + cosH * oz;
+                positions.array[i * 3 + 0] = nose.x + rx;
+                positions.array[i * 3 + 1] = nose.y + oy;
+                positions.array[i * 3 + 2] = nose.z + rz;
+            }
+            positions.needsUpdate = true;
+        }
+
+        function updateNodes(t) {
+            nodeGroup.children.forEach((node, i) => {
+                const ring = node.userData.ring;
+                const phase = (t * 1.8 + ring.userData.phase) % (Math.PI * 2);
+                ring.material.opacity = 0.18 + 0.42 * Math.max(0, Math.cos(phase));
+                ring.scale.setScalar(1 + 0.18 * Math.max(0, Math.cos(phase)));
+            });
+        }
+
+        function updateBboxHelper() {
+            const want = document.getElementById('t-bbox').checked;
+            if (!want) {
+                if (bboxHelper) { scene.remove(bboxHelper); bboxHelper = null; }
+                return;
+            }
+            skeletonGroup.updateMatrixWorld(true);
+            if (!bboxHelper) {
+                bboxHelper = new THREE.BoxHelper(skeletonGroup, 0xe8a634);
+                scene.add(bboxHelper);
+            } else {
+                bboxHelper.setFromObject(skeletonGroup);
+            }
+            // compute volume for the HUD
+            const box = new THREE.Box3().setFromObject(skeletonGroup);
+            const size = box.getSize(new THREE.Vector3());
+            document.getElementById('bbox-vol').textContent =
+                (size.x * size.y * size.z).toFixed(3) + ' m³';
+        }
+
+        function tick() {
+            const now = performance.now();
+            const t = now * 0.001;
+            const dt = now - frameStart;
+            frameStart = now;
+            frameCount++;
+            if (frameCount % 30 === 0) {
+                fpsAvg = 1000 / dt;
+                document.getElementById('fps').textContent = fpsAvg.toFixed(0) + ' fps';
+            }
+
+            applyPose(t);
+            updateNodes(t);
+            updateBboxHelper();
+
+            controls.update();
+            renderer.render(scene, camera);
+            requestAnimationFrame(tick);
+        }
+        requestAnimationFrame(tick);
+
+        // ---------------------------------------------------------------------
+        //  Controls wiring — checkbox toggles attach/detach helpers from scene
+        // ---------------------------------------------------------------------
+        function bindToggle(id, obj) {
+            const el = document.getElementById(id);
+            el.addEventListener('change', () => {
+                if (el.checked) {
+                    if (!scene.children.includes(obj)) scene.add(obj);
+                } else {
+                    scene.remove(obj);
+                }
+            });
+        }
+        bindToggle('t-grid',  gridHelper);
+        bindToggle('t-polar', polarHelper);
+        bindToggle('t-axes',  axesHelper);
+
+        // per-node bbox toggle (group of 4)
+        document.getElementById('t-nodebox').addEventListener('change', (e) => {
+            for (const bb of nodeBboxHelpers) {
+                if (e.target.checked) {
+                    if (!scene.children.includes(bb)) scene.add(bb);
+                } else {
+                    scene.remove(bb);
+                }
+            }
+        });
+
+        // ---------------------------------------------------------------------
+        //  Resize
+        // ---------------------------------------------------------------------
+        window.addEventListener('resize', () => {
+            camera.aspect = window.innerWidth / window.innerHeight;
+            camera.updateProjectionMatrix();
+            renderer.setSize(window.innerWidth, window.innerHeight);
+        });
+    </script>
+</body>
+</html>

examples/three.js/demos/03-skinned.html

@@ -0,0 +1,854 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>RuView · Skinned · ADR-097 + GLTF skinned mesh + additive animation blending</title>
+    <link rel="icon" type="image/svg+xml" href="data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 32 32'><circle cx='16' cy='16' r='10' fill='%23e8a634'/></svg>">
+    <style>
+        :root {
+            --bg: #050507;
+            --bg-panel: rgba(8, 10, 14, 0.78);
+            --amber: #ffb840;
+            --amber-hot: #ffe09f;
+            --cyan: #4cf;
+            --magenta: #ff4cc8;
+            --text: #d8c69a;
+            --text-mute: #6b6155;
+            --border: rgba(255, 184, 64, 0.18);
+        }
+        * { box-sizing: border-box; }
+        body {
+            margin: 0; background: var(--bg); color: var(--text); overflow: hidden;
+            font-family: 'SF Mono', 'Cascadia Code', Consolas, monospace;
+            -webkit-font-smoothing: antialiased; font-size: 12px;
+        }
+        canvas { display: block; }
+
+        .overlay-frame {
+            position: fixed; inset: 0; pointer-events: none; z-index: 5;
+            background:
+                radial-gradient(ellipse at center, transparent 55%, rgba(0,0,0,0.55) 100%),
+                linear-gradient(180deg, rgba(0,0,0,0.32) 0%, transparent 18%, transparent 82%, rgba(0,0,0,0.38) 100%);
+        }
+        .scanlines {
+            position: fixed; inset: 0; pointer-events: none; z-index: 6;
+            background: repeating-linear-gradient(0deg, rgba(0,0,0,0.04) 0px, rgba(0,0,0,0.04) 1px, transparent 1px, transparent 3px);
+            mix-blend-mode: overlay; opacity: 0.5;
+        }
+        .panel {
+            position: absolute; background: var(--bg-panel); border: 1px solid var(--border);
+            border-radius: 4px; padding: 12px 14px; backdrop-filter: blur(8px);
+            box-shadow: 0 1px 0 rgba(255, 184, 64, 0.04), 0 8px 32px rgba(0,0,0,0.55); z-index: 10;
+        }
+        .panel h2 {
+            margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
+            color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px;
+        }
+
+        #info { top: 20px; left: 20px; min-width: 280px; }
+        #info h1 { margin: 0 0 1px 0; font-size: 13px; letter-spacing: 1px; color: var(--amber-hot); font-weight: 600; }
+        #info .sub { font-size: 10px; color: var(--text-mute); letter-spacing: 0.5px; margin-bottom: 10px; padding-bottom: 8px; border-bottom: 1px solid var(--border); }
+        #info .row { display: flex; justify-content: space-between; gap: 12px; padding: 2px 0; }
+        #info .row .k { color: var(--text-mute); font-size: 11px; }
+        #info .row .v { color: var(--text); font-variant-numeric: tabular-nums; font-size: 11px; }
+        #info .row .v.amber { color: var(--amber); }
+        #info .row .v.cyan  { color: var(--cyan); }
+        #info .row .v.mag   { color: var(--magenta); }
+
+        #anim {
+            position: absolute; bottom: 20px; left: 20px; min-width: 280px;
+            background: var(--bg-panel); border: 1px solid var(--border); border-radius: 4px;
+            padding: 12px 14px; backdrop-filter: blur(8px); z-index: 10;
+        }
+        #anim h2 { margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
+            color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px; }
+        #anim .group { padding: 6px 0; border-bottom: 1px solid rgba(255,184,64,0.08); }
+        #anim .group:last-child { border-bottom: none; }
+        #anim .group-label { font-size: 10px; color: var(--text-mute); text-transform: uppercase; letter-spacing: 1px; margin-bottom: 4px; }
+        #anim button {
+            background: rgba(255,184,64,0.06); border: 1px solid rgba(255,184,64,0.18);
+            color: var(--text); font-family: inherit; font-size: 10px; padding: 4px 8px;
+            margin: 2px 4px 2px 0; cursor: pointer; border-radius: 3px; letter-spacing: 0.5px;
+        }
+        #anim button:hover { background: rgba(255,184,64,0.14); color: var(--amber-hot); }
+        #anim button.active { background: var(--amber); color: var(--bg); border-color: var(--amber); font-weight: 600; }
+        #anim .slider-row { display: flex; align-items: center; gap: 8px; padding: 3px 0; font-size: 10px; }
+        #anim .slider-row .label { width: 90px; color: var(--text-mute); }
+        #anim .slider-row input[type=range] { flex: 1; accent-color: var(--amber); }
+        #anim .slider-row .val { width: 38px; text-align: right; color: var(--amber); font-variant-numeric: tabular-nums; }
+
+        #csi { top: 20px; right: 20px; min-width: 260px; }
+        #csi .bar-row { display: flex; align-items: center; gap: 8px; padding: 3px 0; font-size: 10px; }
+        #csi .bar-row .label { width: 42px; color: var(--text-mute); }
+        #csi .bar-row .bar-track { flex: 1; height: 6px; background: rgba(255,184,64,0.08); border-radius: 2px; overflow: hidden; }
+        #csi .bar-row .bar-fill {
+            height: 100%; background: linear-gradient(90deg, var(--amber-hot), var(--amber));
+            box-shadow: 0 0 6px var(--amber); transition: width 0.08s linear;
+        }
+        #csi .bar-row .val { width: 36px; text-align: right; color: var(--amber); font-variant-numeric: tabular-nums; }
+
+        #helpers {
+            position: absolute; bottom: 20px; right: 20px; min-width: 220px;
+            background: var(--bg-panel); border: 1px solid var(--border); border-radius: 4px;
+            padding: 12px 14px; backdrop-filter: blur(8px); z-index: 10;
+        }
+        #helpers h2 { margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
+            color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px; }
+        #helpers label {
+            display: flex; align-items: center; gap: 10px; padding: 3px 0; cursor: pointer; user-select: none; font-size: 11px;
+        }
+        #helpers label:hover { color: var(--amber-hot); }
+        #helpers input[type=checkbox] { accent-color: var(--amber); width: 13px; height: 13px; cursor: pointer; }
+        #helpers .swatch { width: 8px; height: 8px; border-radius: 50%; margin-left: auto; box-shadow: 0 0 6px currentColor; }
+
+        #loading {
+            position: absolute; inset: 0; display: flex; align-items: center; justify-content: center;
+            background: rgba(5, 5, 7, 0.96); z-index: 20; font-size: 13px; color: var(--amber);
+            letter-spacing: 2px; text-transform: uppercase;
+        }
+        #loading.hidden { display: none; }
+        #loading .text {
+            text-shadow: 0 0 12px var(--amber);
+            animation: loadPulse 1.4s ease-in-out infinite;
+        }
+        @keyframes loadPulse { 0%,100% { opacity: 0.4; } 50% { opacity: 1.0; } }
+
+        @keyframes scanFlash {
+            0% { opacity: 0; } 10% { opacity: 0.12; } 100% { opacity: 0; }
+        }
+        .scan-flash {
+            position: fixed; inset: 0;
+            background: linear-gradient(90deg, transparent, var(--magenta), transparent);
+            mix-blend-mode: screen; pointer-events: none; opacity: 0; z-index: 4;
+        }
+
+        #titlecard {
+            position: absolute; bottom: 76px; left: 50%; transform: translateX(-50%);
+            text-align: center; color: var(--amber-hot); letter-spacing: 6px; font-size: 11px;
+            text-transform: uppercase; opacity: 0.35; z-index: 10;
+            text-shadow: 0 0 12px var(--amber); pointer-events: none;
+        }
+        #titlecard .sub { font-size: 9px; color: var(--text-mute); letter-spacing: 4px; margin-top: 4px; }
+
+        #adr-badge {
+            position: absolute; top: 50%; right: 20px; transform: translateY(-50%);
+            padding: 6px 10px; background: var(--bg-panel); border: 1px solid var(--border);
+            border-radius: 4px; font-size: 9px; color: var(--text-mute); z-index: 10;
+            backdrop-filter: blur(8px); letter-spacing: 0.5px; max-width: 70px; text-align: center; line-height: 1.5;
+        }
+        #adr-badge a { color: var(--amber); text-decoration: none; display: block; }
+        #adr-badge a:hover { color: var(--amber-hot); }
+    </style>
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/controls/OrbitControls.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/loaders/GLTFLoader.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/EffectComposer.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/RenderPass.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/ShaderPass.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/UnrealBloomPass.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/shaders/CopyShader.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/shaders/LuminosityHighPassShader.js"></script>
+</head>
+<body>
+    <div class="overlay-frame"></div>
+    <div class="scanlines"></div>
+    <div class="scan-flash" id="scan-flash"></div>
+
+    <div id="loading"><div class="text">▸ Loading skinned subject · Xbot.glb · 2.9 MB</div></div>
+
+    <div class="panel" id="info">
+        <h1>RuView · Skinned</h1>
+        <div class="sub">ADR-097 · GLTF skinned mesh · additive animation blending</div>
+        <div class="row"><span class="k">Subject</span><span class="v amber">● Tracked</span></div>
+        <div class="row"><span class="k">Model</span><span class="v">Xbot.glb · 14k tris</span></div>
+        <div class="row"><span class="k">Base anim</span><span class="v amber" id="base-name">walk</span></div>
+        <div class="row"><span class="k">Additive</span><span class="v mag" id="add-name">headShake · 0.40</span></div>
+        <div class="row"><span class="k">Mesh nodes</span><span class="v cyan">4 · multistatic</span></div>
+        <div class="row"><span class="k">Coherence</span><span class="v" id="coh-val">— %</span></div>
+        <div class="row"><span class="k">Heart rate</span><span class="v amber" id="hr-val">— bpm</span></div>
+        <div class="row"><span class="k">Bbox vol</span><span class="v" id="bbox-vol">— m³</span></div>
+        <div class="row"><span class="k">Render</span><span class="v" id="fps-val">— fps</span></div>
+    </div>
+
+    <div id="anim">
+        <h2>AnimationMixer</h2>
+        <div class="group">
+            <div class="group-label">Base · loops</div>
+            <button data-base="idle">idle</button>
+            <button data-base="walk" class="active">walk</button>
+            <button data-base="run">run</button>
+        </div>
+        <div class="group">
+            <div class="group-label">Additive · layered</div>
+            <button data-add="agree">agree</button>
+            <button data-add="headShake" class="active">headShake</button>
+            <button data-add="sad_pose">sad</button>
+            <button data-add="sneak_pose">sneak</button>
+        </div>
+        <div class="group">
+            <div class="slider-row">
+                <span class="label">add weight</span>
+                <input type="range" id="add-weight" min="0" max="1" step="0.01" value="0.40">
+                <span class="val" id="add-weight-val">0.40</span>
+            </div>
+            <div class="slider-row">
+                <span class="label">time scale</span>
+                <input type="range" id="time-scale" min="0.1" max="2" step="0.05" value="1.0">
+                <span class="val" id="time-scale-val">1.00</span>
+            </div>
+        </div>
+    </div>
+
+    <div class="panel" id="csi">
+        <h2>Per-node CSI</h2>
+        <div class="bar-row"><span class="label">N1·BL</span><div class="bar-track"><div class="bar-fill" id="bar-0" style="width:0"></div></div><span class="val" id="val-0">—</span></div>
+        <div class="bar-row"><span class="label">N2·BR</span><div class="bar-track"><div class="bar-fill" id="bar-1" style="width:0"></div></div><span class="val" id="val-1">—</span></div>
+        <div class="bar-row"><span class="label">N3·FL</span><div class="bar-track"><div class="bar-fill" id="bar-2" style="width:0"></div></div><span class="val" id="val-2">—</span></div>
+        <div class="bar-row"><span class="label">N4·FR</span><div class="bar-track"><div class="bar-fill" id="bar-3" style="width:0"></div></div><span class="val" id="val-3">—</span></div>
+    </div>
+
+    <div id="helpers">
+        <h2>ADR-097 helpers</h2>
+        <label><input type="checkbox" id="t-grid" checked>GridHelper<span class="swatch" style="color:#666"></span></label>
+        <label><input type="checkbox" id="t-polar" checked>PolarGridHelper<span class="swatch" style="color:#ffb840"></span></label>
+        <label><input type="checkbox" id="t-bbox" checked>BoxHelper on mesh<span class="swatch" style="color:#ffe09f"></span></label>
+        <label><input type="checkbox" id="t-skel">SkeletonHelper<span class="swatch" style="color:#4cf"></span></label>
+        <label><input type="checkbox" id="t-nodebox" checked>Per-node BoxHelpers<span class="swatch" style="color:#4cf"></span></label>
+        <label><input type="checkbox" id="t-pings" checked>Sonar pings<span class="swatch" style="color:#4cf"></span></label>
+        <label><input type="checkbox" id="t-tomo" checked>Tomography sweep<span class="swatch" style="color:#ff4cc8"></span></label>
+    </div>
+
+    <div id="titlecard">
+        RuView · Seldon Vault
+        <div class="sub">skinned · ADR-097 · CCDIKSolver next</div>
+    </div>
+
+    <div id="adr-badge">
+        <a href="https://threejs.org/examples/#webgl_animation_skinning_additive_blending" target="_blank" rel="noopener">additive blend</a>
+        <a href="https://threejs.org/examples/#webgl_animation_skinning_ik" target="_blank" rel="noopener" style="margin-top:4px;">skinning IK</a>
+    </div>
+
+    <script>
+        // =====================================================================
+        //  RuView · Skinned · ADR-097 + GLTF skinned mesh + additive animation
+        //  --------------------------------------------------------------------
+        //  Replaces the procedural sphere-skeleton of helpers-cinematic.html
+        //  with a real rigged + skinned humanoid loaded from Xbot.glb. Plays
+        //  a base loop (walk / run / idle) and layers an additive pose on
+        //  top (headShake / agree / sneak / sad) — mirrors the upstream
+        //  three.js webgl_animation_skinning_additive_blending example.
+        //
+        //  All ADR-097 helpers still wrap the loaded mesh — BoxHelper picks
+        //  up the live AABB of the SkinnedMesh, the polar grid sits under
+        //  the rig, and per-node BoxHelpers wrap the four ESP32 markers.
+        //
+        //  Production path (next): swap canned GLTF animations for live
+        //  COCO-17 keypoint output → CCDIKSolver targets on hands/feet/head.
+        //  Reference: three.js webgl_animation_skinning_ik example.
+        // =====================================================================
+
+        const MODEL_URL = 'https://threejs.org/examples/models/gltf/Xbot.glb';
+
+        const NODE_POSITIONS = [
+            [-1.9, 1.3,  1.9],[ 1.9, 1.3,  1.9],
+            [-1.9, 1.3, -1.9],[ 1.9, 1.3, -1.9],
+        ];
+
+        // ---------------------------------------------------------------------
+        //  Scene
+        // ---------------------------------------------------------------------
+        const scene = new THREE.Scene();
+        scene.background = new THREE.Color(0x050507);
+        scene.fog = new THREE.FogExp2(0x050507, 0.06);
+
+        const camera = new THREE.PerspectiveCamera(48, window.innerWidth/window.innerHeight, 0.05, 100);
+        camera.position.set(3.2, 1.55, 4.0);
+
+        const renderer = new THREE.WebGLRenderer({ antialias: true, powerPreference: 'high-performance' });
+        renderer.setPixelRatio(Math.min(2, window.devicePixelRatio));
+        renderer.setSize(window.innerWidth, window.innerHeight);
+        renderer.toneMapping = THREE.ACESFilmicToneMapping;
+        renderer.toneMappingExposure = 0.80;
+        renderer.outputEncoding = THREE.sRGBEncoding;
+        renderer.shadowMap.enabled = true;
+        renderer.shadowMap.type = THREE.PCFSoftShadowMap;
+        document.body.appendChild(renderer.domElement);
+
+        const controls = new THREE.OrbitControls(camera, renderer.domElement);
+        controls.target.set(0, 0.9, 0);
+        controls.enableDamping = true;
+        controls.dampingFactor = 0.06;
+        controls.minDistance = 2; controls.maxDistance = 12;
+        controls.maxPolarAngle = Math.PI * 0.92;
+        controls.autoRotate = new URLSearchParams(location.search).get('orbit') === '1';
+        controls.autoRotateSpeed = 0.25;
+
+        // ---------------------------------------------------------------------
+        //  Lights — the GLTF uses PBR materials so we actually need lighting
+        //  here (unlike the all-emissive cinematic.html). Tuned to keep the
+        //  amber/cyan mood: amber hemi + amber key + cyan rim lights from
+        //  each node direction (visualizes "the nodes illuminate the subject").
+        // ---------------------------------------------------------------------
+        const hemiLight = new THREE.HemisphereLight(0x553a18, 0x080606, 0.7);
+        hemiLight.position.set(0, 4, 0);
+        scene.add(hemiLight);
+
+        const keyLight = new THREE.DirectionalLight(0xffc070, 0.95);
+        keyLight.position.set(2.5, 3.8, 2.5);
+        keyLight.castShadow = true;
+        keyLight.shadow.camera.top = 2; keyLight.shadow.camera.bottom = -2;
+        keyLight.shadow.camera.left = -2; keyLight.shadow.camera.right = 2;
+        keyLight.shadow.camera.near = 0.1; keyLight.shadow.camera.far = 12;
+        keyLight.shadow.mapSize.set(1024, 1024);
+        keyLight.shadow.bias = -0.0008;
+        scene.add(keyLight);
+
+        // cyan rim lights, one per ESP32 node — keeps the "sensed by the mesh" mood
+        const rimLights = [];
+        NODE_POSITIONS.forEach(pos => {
+            const rim = new THREE.PointLight(0x4cf, 0.55, 8, 1.8);
+            rim.position.set(pos[0] * 1.1, pos[1] * 0.7, pos[2] * 1.1);
+            scene.add(rim);
+            rimLights.push(rim);
+        });
+
+        // ---------------------------------------------------------------------
+        //  Post-processing — same composer as cinematic.html
+        // ---------------------------------------------------------------------
+        const composer = new THREE.EffectComposer(renderer);
+        composer.addPass(new THREE.RenderPass(scene, camera));
+        const bloom = new THREE.UnrealBloomPass(
+            new THREE.Vector2(window.innerWidth, window.innerHeight),
+            0.45, 0.40, 0.78,
+        );
+        composer.addPass(bloom);
+
+        const filmShader = {
+            uniforms: {
+                tDiffuse: { value: null },
+                time: { value: 0 }, grain: { value: 0.04 },
+                vignette: { value: 0.32 }, aberration: { value: 0.0018 },
+            },
+            vertexShader: `varying vec2 vUv; void main() { vUv = uv; gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0); }`,
+            fragmentShader: `
+                uniform sampler2D tDiffuse; uniform float time, grain, vignette, aberration;
+                varying vec2 vUv;
+                float hash(vec2 p) { return fract(sin(dot(p, vec2(12.9898, 78.233))) * 43758.5453); }
+                void main() {
+                    vec2 off = (vUv - 0.5) * aberration;
+                    float r = texture2D(tDiffuse, vUv + off).r;
+                    float g = texture2D(tDiffuse, vUv).g;
+                    float b = texture2D(tDiffuse, vUv - off).b;
+                    vec3 col = vec3(r, g, b);
+                    col += (hash(vUv * 1024.0 + time) - 0.5) * grain;
+                    float v = smoothstep(0.85, 0.20, length(vUv - 0.5));
+                    col *= mix(1.0 - vignette, 1.0, v);
+                    gl_FragColor = vec4(col, 1.0);
+                }`,
+        };
+        const filmPass = new THREE.ShaderPass(filmShader);
+        composer.addPass(filmPass);
+
+        // ---------------------------------------------------------------------
+        //  Floor — same procedural cyber grid (toned down for skinned scene)
+        // ---------------------------------------------------------------------
+        const floorMat = new THREE.ShaderMaterial({
+            uniforms: { time: { value: 0 }, baseColor: { value: new THREE.Color(0xffb840) } },
+            vertexShader: `varying vec3 vPos; void main() { vPos = position; gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0); }`,
+            fragmentShader: `
+                uniform float time; uniform vec3 baseColor; varying vec3 vPos;
+                void main() {
+                    vec2 g = abs(fract(vPos.xz * 0.5) - 0.5);
+                    float line = smoothstep(0.48, 0.50, max(g.x, g.y));
+                    float majorLine = smoothstep(0.96, 1.00, max(g.x, g.y) * 2.0);
+                    float scan = 0.5 + 0.5 * sin((vPos.x + vPos.z) * 2.0 - time * 1.4);
+                    scan = pow(scan, 14.0);
+                    float falloff = smoothstep(5.0, 1.2, length(vPos.xz));
+                    vec3 col = baseColor * (0.01 + 0.05 * line + 0.16 * majorLine + 0.08 * scan);
+                    gl_FragColor = vec4(col * falloff, falloff * 0.55);
+                }`,
+            transparent: true, depthWrite: false,
+        });
+        const floor = new THREE.Mesh(new THREE.PlaneGeometry(20, 20), floorMat);
+        floor.rotation.x = -Math.PI / 2;
+        floor.position.y = 0;
+        scene.add(floor);
+
+        // shadow-receiving ground (invisible, just catches the shadow)
+        const shadowGround = new THREE.Mesh(
+            new THREE.PlaneGeometry(20, 20),
+            new THREE.ShadowMaterial({ opacity: 0.55 })
+        );
+        shadowGround.rotation.x = -Math.PI / 2;
+        shadowGround.position.y = 0.001;
+        shadowGround.receiveShadow = true;
+        scene.add(shadowGround);
+
+        // ---------------------------------------------------------------------
+        //  ADR-097 helpers
+        // ---------------------------------------------------------------------
+        const gridHelper = new THREE.GridHelper(4, 20, 0x554a32, 0x2a2418);
+        gridHelper.material.transparent = true; gridHelper.material.opacity = 0.45;
+        scene.add(gridHelper);
+
+        const polarHelper = new THREE.PolarGridHelper(2.2, 16, 4, 64, 0xffb840, 0x4a3a1a);
+        polarHelper.position.y = 0.002;
+        polarHelper.material.transparent = true; polarHelper.material.opacity = 0.55;
+        scene.add(polarHelper);
+
+        let bboxHelper = null;
+        let skeletonHelper = null;
+
+        // ---------------------------------------------------------------------
+        //  Multistatic sensor nodes — same as cinematic
+        // ---------------------------------------------------------------------
+        const nodeGroup = new THREE.Group();
+        scene.add(nodeGroup);
+        const nodeBboxHelpers = [];
+        const nodeRings = [];
+        const nodeAnchors = [];
+        const nodeBodyGeo = new THREE.BoxGeometry(0.14, 0.06, 0.20);
+        const nodeBodyMat = new THREE.MeshBasicMaterial({ color: 0xffb840 });
+        const antennaGeo = new THREE.ConeGeometry(0.018, 0.10, 8);
+        const antennaMat = new THREE.MeshBasicMaterial({ color: 0xffe09f });
+
+        NODE_POSITIONS.forEach((pos, i) => {
+            const group = new THREE.Group();
+            group.position.set(pos[0], pos[1], pos[2]);
+
+            const body = new THREE.Mesh(nodeBodyGeo, nodeBodyMat);
+            group.add(body);
+            const antenna = new THREE.Mesh(antennaGeo, antennaMat);
+            antenna.position.y = 0.08; group.add(antenna);
+
+            const ring = new THREE.Mesh(
+                new THREE.RingGeometry(0.11, 0.14, 32),
+                new THREE.MeshBasicMaterial({ color: 0xffb840, side: THREE.DoubleSide, transparent: true,
+                    opacity: 0.55, blending: THREE.AdditiveBlending, depthWrite: false })
+            );
+            ring.rotation.x = -Math.PI / 2; ring.position.y = -0.05;
+            ring.userData.phase = i * 0.7;
+            group.add(ring); nodeRings.push(ring);
+
+            const core = new THREE.Mesh(
+                new THREE.SphereGeometry(0.025, 12, 12),
+                new THREE.MeshBasicMaterial({ color: 0xffe09f })
+            );
+            core.position.y = 0.04; group.add(core);
+
+            nodeGroup.add(group); nodeAnchors.push(group);
+
+            const bbox = new THREE.BoxHelper(group, 0x4cf);
+            bbox.material.transparent = true; bbox.material.opacity = 0.45;
+            scene.add(bbox); nodeBboxHelpers.push(bbox);
+        });
+
+        // ---------------------------------------------------------------------
+        //  GLTF — load the rigged Xbot model
+        // ---------------------------------------------------------------------
+        let model = null;
+        let mixer = null;
+        let headBone = null;
+        const baseActions = {};      // idle / walk / run
+        const additiveActions = {};  // sneak_pose / sad_pose / agree / headShake
+        let currentBase = 'walk';
+        let currentAddName = 'headShake';
+        let addWeight = 0.40;
+
+        const loader = new THREE.GLTFLoader();
+        loader.load(MODEL_URL, (gltf) => {
+            model = gltf.scene;
+            model.position.y = 0;
+            model.traverse(obj => {
+                if (obj.isMesh) { obj.castShadow = true; obj.receiveShadow = true; }
+                if (obj.isBone && /head/i.test(obj.name) && !headBone) headBone = obj;
+            });
+            scene.add(model);
+
+            skeletonHelper = new THREE.SkeletonHelper(model);
+            skeletonHelper.visible = false;
+            scene.add(skeletonHelper);
+
+            mixer = new THREE.AnimationMixer(model);
+            const baseNames = new Set(['idle', 'walk', 'run']);
+            const additiveNames = new Set(['sneak_pose', 'sad_pose', 'agree', 'headShake']);
+
+            for (let i = 0; i < gltf.animations.length; i++) {
+                let clip = gltf.animations[i];
+                const name = clip.name;
+                if (baseNames.has(name)) {
+                    const action = mixer.clipAction(clip);
+                    action.enabled = true;
+                    action.setEffectiveTimeScale(1);
+                    action.setEffectiveWeight(name === currentBase ? 1 : 0);
+                    action.play();
+                    baseActions[name] = action;
+                } else if (additiveNames.has(name)) {
+                    THREE.AnimationUtils.makeClipAdditive(clip);
+                    if (name.endsWith('_pose')) {
+                        clip = THREE.AnimationUtils.subclip(clip, name, 2, 3, 30);
+                    }
+                    const action = mixer.clipAction(clip);
+                    action.enabled = true;
+                    action.setEffectiveTimeScale(1);
+                    action.setEffectiveWeight(name === currentAddName ? addWeight : 0);
+                    action.play();
+                    additiveActions[name] = action;
+                }
+            }
+
+            // build the face point cloud anchored to head bone
+            buildFacePointCloud();
+
+            document.getElementById('loading').classList.add('hidden');
+        }, (xhr) => {
+            const pct = xhr.loaded / (xhr.total || 2930032) * 100;
+            const txt = document.querySelector('#loading .text');
+            if (txt) txt.textContent = `▸ Loading skinned subject · Xbot.glb · ${pct.toFixed(0)} %`;
+        }, (err) => {
+            console.error('GLTF load failed', err);
+            document.querySelector('#loading .text').textContent = '⚠ Load failed — see console';
+        });
+
+        function setBase(name) {
+            if (!baseActions[name]) return;
+            for (const k in baseActions) {
+                const a = baseActions[k];
+                const target = (k === name) ? 1 : 0;
+                a.crossFadeTo ? null : null; // (no-op — using simple weight crossfade)
+                a.setEffectiveWeight(target);
+            }
+            currentBase = name;
+            document.getElementById('base-name').textContent = name;
+            for (const btn of document.querySelectorAll('#anim [data-base]')) {
+                btn.classList.toggle('active', btn.dataset.base === name);
+            }
+        }
+        function setAdditive(name) {
+            for (const k in additiveActions) {
+                additiveActions[k].setEffectiveWeight(k === name ? addWeight : 0);
+            }
+            currentAddName = name;
+            document.getElementById('add-name').textContent = name + ' · ' + addWeight.toFixed(2);
+            for (const btn of document.querySelectorAll('#anim [data-add]')) {
+                btn.classList.toggle('active', btn.dataset.add === name);
+            }
+        }
+
+        // ---------------------------------------------------------------------
+        //  Face point cloud — anchored to head bone via getWorldPosition each frame
+        // ---------------------------------------------------------------------
+        const FACE_POINTS = 480;
+        const facePositions = new Float32Array(FACE_POINTS * 3);
+        const faceOffsets   = new Float32Array(FACE_POINTS * 3);
+        const facePhases    = new Float32Array(FACE_POINTS);
+        let facePoints = null;
+        function buildFacePointCloud() {
+            for (let i = 0; i < FACE_POINTS; i++) {
+                const u = Math.random() * Math.PI * 2;
+                const v = (Math.random() - 0.5) * Math.PI * 0.95;
+                const cu = Math.cos(u), su = Math.sin(u);
+                const cv = Math.cos(v), sv = Math.sin(v);
+                faceOffsets[i*3+0] = 0.085 * cv * cu;
+                faceOffsets[i*3+1] = 0.108 * sv;
+                faceOffsets[i*3+2] = 0.072 * cv * su;
+                facePhases[i] = Math.random() * Math.PI * 2;
+            }
+            const geom = new THREE.BufferGeometry();
+            geom.setAttribute('position', new THREE.BufferAttribute(facePositions, 3));
+            geom.setAttribute('aPhase',   new THREE.BufferAttribute(facePhases, 1));
+            const mat = new THREE.ShaderMaterial({
+                uniforms: { time: { value: 0 } },
+                vertexShader: `
+                    attribute float aPhase; uniform float time;
+                    varying float vAlpha;
+                    void main() {
+                        vec4 mv = modelViewMatrix * vec4(position, 1.0);
+                        float shimmer = 0.5 + 0.5 * sin(time * 3.0 + aPhase);
+                        vAlpha = 0.18 + 0.30 * shimmer;
+                        gl_Position = projectionMatrix * mv;
+                        gl_PointSize = (1.6 + shimmer * 1.0) * (200.0 / -mv.z);
+                    }`,
+                fragmentShader: `
+                    varying float vAlpha;
+                    void main() {
+                        vec2 c = gl_PointCoord - 0.5;
+                        float d = length(c);
+                        if (d > 0.5) discard;
+                        float falloff = smoothstep(0.5, 0.0, d);
+                        vec3 col = mix(vec3(0.18, 0.52, 0.72), vec3(0.55, 0.62, 0.72), 0.5);
+                        gl_FragColor = vec4(col * (1.0 + falloff * 0.3), vAlpha * falloff);
+                    }`,
+                transparent: true, depthWrite: false,
+            });
+            facePoints = new THREE.Points(geom, mat);
+            scene.add(facePoints);
+        }
+
+        // ---------------------------------------------------------------------
+        //  Sonar pings + tomography sweep — same as cinematic.html
+        // ---------------------------------------------------------------------
+        const PING_POOL = 24;
+        const pings = [];
+        const pingGeo = new THREE.TorusGeometry(1, 0.012, 8, 48);
+        for (let i = 0; i < PING_POOL; i++) {
+            const mat = new THREE.MeshBasicMaterial({ color: 0x4cf, transparent: true, opacity: 0, depthWrite: false });
+            const mesh = new THREE.Mesh(pingGeo, mat);
+            mesh.visible = false; scene.add(mesh);
+            pings.push({ mesh, active: false, t0: 0, duration: 0,
+                origin: new THREE.Vector3(), target: new THREE.Vector3() });
+        }
+        let pingIndex = 0;
+        function emitPing(origin, target) {
+            const p = pings[pingIndex]; pingIndex = (pingIndex + 1) % PING_POOL;
+            p.active = true; p.t0 = performance.now() * 0.001;
+            p.duration = 0.55 + Math.random() * 0.20;
+            p.origin.copy(origin); p.target.copy(target);
+            p.mesh.position.copy(origin); p.mesh.visible = true;
+            p.mesh.material.opacity = 0;
+            const dir = new THREE.Vector3().subVectors(target, origin).normalize();
+            p.mesh.quaternion.setFromUnitVectors(new THREE.Vector3(0, 0, 1), dir);
+        }
+
+        const tomoMat = new THREE.ShaderMaterial({
+            uniforms: { time: { value: 0 }, intensity: { value: 0 } },
+            vertexShader: `varying vec2 vUv; void main() { vUv = uv; gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0); }`,
+            fragmentShader: `
+                uniform float time, intensity; varying vec2 vUv;
+                void main() {
+                    float band = exp(-pow((vUv.x - 0.5) * 14.0, 2.0));
+                    float lines = 0.5 + 0.5 * sin(vUv.y * 90.0 + time * 4.0);
+                    vec3 col = vec3(1.0, 0.3, 0.78) * band * (0.6 + 0.4 * lines);
+                    gl_FragColor = vec4(col, intensity * band * 0.75);
+                }`,
+            transparent: true, blending: THREE.AdditiveBlending, depthWrite: false, side: THREE.DoubleSide,
+        });
+        const tomoPlane = new THREE.Mesh(new THREE.PlaneGeometry(8, 6), tomoMat);
+        tomoPlane.rotation.y = Math.PI / 2;
+        tomoPlane.position.set(-2, 1.0, 0);
+        tomoPlane.visible = false;
+        scene.add(tomoPlane);
+        let tomoActive = false, tomoT0 = 0, tomoNextAt = 4 + Math.random() * 4;
+
+        // ---------------------------------------------------------------------
+        //  Pseudo-CSI driver — same as cinematic
+        // ---------------------------------------------------------------------
+        const csiAmp = [0, 0, 0, 0];
+        let csiCoherence = 0.5;
+        const csiNoise = [0, 0, 0, 0];
+
+        function tickCsi(t, targetWorld) {
+            for (let i = 0; i < 4; i++) csiNoise[i] = csiNoise[i] * 0.92 + (Math.random() - 0.5) * 0.08;
+            let mean = 0; const amps = [];
+            for (let i = 0; i < 4; i++) {
+                const np = NODE_POSITIONS[i];
+                const dx = np[0] - targetWorld.x, dy = np[1] - targetWorld.y, dz = np[2] - targetWorld.z;
+                const r2 = dx*dx + dy*dy + dz*dz;
+                const fall = 1.0 / (1.0 + r2 * 0.18);
+                const breath = Math.sin(t * 0.27 * Math.PI * 2) * 0.10;
+                const heart = Math.sin(t * 1.18 * Math.PI * 2) * 0.04;
+                const walk = Math.sin(t * 1.9 + i * 0.5) * 0.12;
+                const a = Math.max(0, Math.min(1, fall + breath + heart + walk + csiNoise[i] * 0.30));
+                amps.push(a);
+                csiAmp[i] = csiAmp[i] * 0.7 + a * 0.3;
+                mean += a;
+            }
+            mean /= 4;
+            let v = 0; for (let i = 0; i < 4; i++) v += (amps[i] - mean) ** 2;
+            v = Math.sqrt(v / 4);
+            csiCoherence = csiCoherence * 0.85 + Math.max(0, Math.min(1, 1.0 - v * 2.5)) * 0.15;
+        }
+
+        // ---------------------------------------------------------------------
+        //  Per-frame updates
+        // ---------------------------------------------------------------------
+        const tmpVec = new THREE.Vector3();
+        let lastPingT = [0, 0, 0, 0];
+
+        function updateNodes() {
+            for (let i = 0; i < 4; i++) {
+                const ring = nodeRings[i];
+                const amp = csiAmp[i];
+                ring.material.opacity = 0.32 + 0.55 * amp;
+                ring.scale.setScalar(1 + 0.30 * amp);
+                rimLights[i].intensity = 0.30 + 0.60 * amp * csiCoherence;
+            }
+        }
+        function maybeEmitPings(t, modelCenter) {
+            if (!document.getElementById('t-pings').checked || !model) return;
+            for (let i = 0; i < 4; i++) {
+                const interval = 1.2 / (0.25 + csiAmp[i]);
+                if (t - lastPingT[i] > interval) {
+                    lastPingT[i] = t;
+                    const target = modelCenter.clone();
+                    target.y += (Math.random() - 0.3) * 0.8;
+                    target.x += (Math.random() - 0.5) * 0.2;
+                    const origin = nodeAnchors[i].getWorldPosition(new THREE.Vector3());
+                    emitPing(origin, target);
+                }
+            }
+        }
+        function updatePings(t) {
+            for (const p of pings) {
+                if (!p.active) continue;
+                const u = (t - p.t0) / p.duration;
+                if (u >= 1) { p.active = false; p.mesh.visible = false; continue; }
+                p.mesh.position.lerpVectors(p.origin, p.target, u);
+                p.mesh.scale.setScalar(0.03 + u * 0.18);
+                p.mesh.material.opacity = (1.0 - u) * 0.40 * csiCoherence;
+            }
+        }
+        function updateTomography(t) {
+            if (!document.getElementById('t-tomo').checked) { tomoActive = false; tomoPlane.visible = false; return; }
+            if (!tomoActive && t > tomoNextAt) {
+                tomoActive = true; tomoT0 = t; tomoPlane.visible = true;
+                const sf = document.getElementById('scan-flash');
+                sf.style.animation = 'none';
+                requestAnimationFrame(() => { sf.style.animation = 'scanFlash 1.6s ease-out'; });
+            }
+            if (tomoActive) {
+                const dur = 2.4;
+                const e = (t - tomoT0) / dur;
+                if (e >= 1) {
+                    tomoActive = false; tomoPlane.visible = false;
+                    tomoNextAt = t + 4 + Math.random() * 5;
+                } else {
+                    tomoPlane.position.x = -3 + e * 6;
+                    tomoMat.uniforms.intensity.value = Math.sin(e * Math.PI);
+                    tomoMat.uniforms.time.value = t;
+                }
+            }
+        }
+        function updateBbox() {
+            const want = document.getElementById('t-bbox').checked && model;
+            if (!want) {
+                if (bboxHelper) { scene.remove(bboxHelper); bboxHelper = null; }
+                document.getElementById('bbox-vol').textContent = '—';
+                return;
+            }
+            if (!bboxHelper) {
+                bboxHelper = new THREE.BoxHelper(model, 0xffe09f);
+                bboxHelper.material.transparent = true; bboxHelper.material.opacity = 0.55;
+                scene.add(bboxHelper);
+            } else bboxHelper.setFromObject(model);
+            const box = new THREE.Box3().setFromObject(model);
+            const size = box.getSize(new THREE.Vector3());
+            document.getElementById('bbox-vol').textContent = (size.x * size.y * size.z).toFixed(3) + ' m³';
+        }
+        function updateFaceCloud(t) {
+            if (!facePoints || !headBone) return;
+            const headWorld = new THREE.Vector3();
+            headBone.getWorldPosition(headWorld);
+            const pos = facePoints.geometry.attributes.position;
+            for (let i = 0; i < FACE_POINTS; i++) {
+                pos.array[i*3+0] = headWorld.x + faceOffsets[i*3+0];
+                pos.array[i*3+1] = headWorld.y + faceOffsets[i*3+1] + 0.06;
+                pos.array[i*3+2] = headWorld.z + faceOffsets[i*3+2];
+            }
+            pos.needsUpdate = true;
+            facePoints.material.uniforms.time.value = t;
+        }
+        let hudT = 0;
+        function updateHud(t, fps) {
+            if (t - hudT < 0.1) return;
+            hudT = t;
+            for (let i = 0; i < 4; i++) {
+                const pct = Math.round(csiAmp[i] * 100);
+                document.getElementById('bar-' + i).style.width = pct + '%';
+                document.getElementById('val-' + i).textContent = pct + '%';
+            }
+            document.getElementById('coh-val').textContent = (csiCoherence * 100).toFixed(0) + ' %';
+            document.getElementById('hr-val').textContent = (68 + Math.sin(t * 0.3) * 4).toFixed(0) + ' bpm';
+            document.getElementById('fps-val').textContent = fps.toFixed(0) + ' fps';
+        }
+
+        // ---------------------------------------------------------------------
+        //  UI wiring
+        // ---------------------------------------------------------------------
+        for (const btn of document.querySelectorAll('#anim [data-base]')) {
+            btn.addEventListener('click', () => setBase(btn.dataset.base));
+        }
+        for (const btn of document.querySelectorAll('#anim [data-add]')) {
+            btn.addEventListener('click', () => setAdditive(btn.dataset.add));
+        }
+        document.getElementById('add-weight').addEventListener('input', (e) => {
+            addWeight = parseFloat(e.target.value);
+            document.getElementById('add-weight-val').textContent = addWeight.toFixed(2);
+            if (additiveActions[currentAddName]) additiveActions[currentAddName].setEffectiveWeight(addWeight);
+            document.getElementById('add-name').textContent = currentAddName + ' · ' + addWeight.toFixed(2);
+        });
+        document.getElementById('time-scale').addEventListener('input', (e) => {
+            const ts = parseFloat(e.target.value);
+            document.getElementById('time-scale-val').textContent = ts.toFixed(2);
+            if (mixer) mixer.timeScale = ts;
+        });
+        function bindToggle(id, obj) {
+            document.getElementById(id).addEventListener('change', e => {
+                if (e.target.checked && !scene.children.includes(obj)) scene.add(obj);
+                else if (!e.target.checked) scene.remove(obj);
+            });
+        }
+        bindToggle('t-grid',  gridHelper);
+        bindToggle('t-polar', polarHelper);
+        document.getElementById('t-skel').addEventListener('change', e => {
+            if (skeletonHelper) skeletonHelper.visible = e.target.checked;
+        });
+        document.getElementById('t-nodebox').addEventListener('change', e => {
+            for (const bb of nodeBboxHelpers) {
+                if (e.target.checked && !scene.children.includes(bb)) scene.add(bb);
+                else if (!e.target.checked) scene.remove(bb);
+            }
+        });
+
+        // ---------------------------------------------------------------------
+        //  Main loop
+        // ---------------------------------------------------------------------
+        const clock = new THREE.Clock();
+        let lastMs = performance.now();
+        let fpsEma = 60;
+        function tick() {
+            const nowMs = performance.now();
+            const dt = nowMs - lastMs;
+            lastMs = nowMs;
+            fpsEma = fpsEma * 0.92 + (1000 / Math.max(dt, 1)) * 0.08;
+            const t = nowMs * 0.001;
+            const delta = clock.getDelta();
+
+            if (mixer) mixer.update(delta);
+            floorMat.uniforms.time.value = t;
+            filmShader.uniforms.time.value = t;
+
+            // get model center for CSI / ping targeting
+            const center = new THREE.Vector3();
+            if (model) {
+                const box = new THREE.Box3().setFromObject(model);
+                box.getCenter(center);
+            } else center.set(0, 0.9, 0);
+
+            tickCsi(t, center);
+            updateNodes();
+            maybeEmitPings(t, center);
+            updatePings(t);
+            updateTomography(t);
+            updateBbox();
+            updateFaceCloud(t);
+
+            controls.update();
+            composer.render();
+
+            updateHud(t, fpsEma);
+            requestAnimationFrame(tick);
+        }
+        requestAnimationFrame(tick);
+
+        window.addEventListener('resize', () => {
+            camera.aspect = window.innerWidth / window.innerHeight;
+            camera.updateProjectionMatrix();
+            renderer.setSize(window.innerWidth, window.innerHeight);
+            composer.setSize(window.innerWidth, window.innerHeight);
+            bloom.setSize(window.innerWidth, window.innerHeight);
+        });
+    </script>
+</body>
+</html>

examples/three.js/demos/04-skinned-fbx.html

@@ -0,0 +1,961 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>RuView · Skinned (FBX) · Mixamo X Bot in the ADR-097 helpers scene</title>
+    <link rel="icon" type="image/svg+xml" href="data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 32 32'><circle cx='16' cy='16' r='10' fill='%23e8a634'/></svg>">
+    <style>
+        :root {
+            --bg: #050507; --bg-panel: rgba(8,10,14,0.78);
+            --amber: #ffb840; --amber-hot: #ffe09f;
+            --cyan: #4cf; --magenta: #ff4cc8;
+            --text: #d8c69a; --text-mute: #6b6155;
+            --border: rgba(255,184,64,0.18);
+        }
+        * { box-sizing: border-box; }
+        body {
+            margin: 0; background: var(--bg); color: var(--text); overflow: hidden;
+            font-family: 'SF Mono', 'Cascadia Code', Consolas, monospace;
+            -webkit-font-smoothing: antialiased; font-size: 12px;
+        }
+        canvas { display: block; }
+        .overlay-frame {
+            position: fixed; inset: 0; pointer-events: none; z-index: 5;
+            background:
+                radial-gradient(ellipse at center, transparent 55%, rgba(0,0,0,0.55) 100%),
+                linear-gradient(180deg, rgba(0,0,0,0.32) 0%, transparent 18%, transparent 82%, rgba(0,0,0,0.38) 100%);
+        }
+        .scanlines {
+            position: fixed; inset: 0; pointer-events: none; z-index: 6;
+            background: repeating-linear-gradient(0deg, rgba(0,0,0,0.04) 0px, rgba(0,0,0,0.04) 1px, transparent 1px, transparent 3px);
+            mix-blend-mode: overlay; opacity: 0.5;
+        }
+        .panel {
+            position: absolute; background: var(--bg-panel); border: 1px solid var(--border);
+            border-radius: 4px; padding: 12px 14px; backdrop-filter: blur(8px);
+            box-shadow: 0 1px 0 rgba(255,184,64,0.04), 0 8px 32px rgba(0,0,0,0.55); z-index: 10;
+        }
+        .panel h2 {
+            margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
+            color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px;
+        }
+        #info { top: 20px; left: 20px; min-width: 280px; }
+        #info h1 { margin: 0 0 1px 0; font-size: 13px; letter-spacing: 1px; color: var(--amber-hot); font-weight: 600; }
+        #info .sub { font-size: 10px; color: var(--text-mute); letter-spacing: 0.5px; margin-bottom: 10px; padding-bottom: 8px; border-bottom: 1px solid var(--border); }
+        #info .row { display: flex; justify-content: space-between; gap: 12px; padding: 2px 0; }
+        #info .row .k { color: var(--text-mute); font-size: 11px; }
+        #info .row .v { color: var(--text); font-variant-numeric: tabular-nums; font-size: 11px; }
+        #info .row .v.amber { color: var(--amber); }
+        #info .row .v.cyan  { color: var(--cyan); }
+        #info .row .v.mag   { color: var(--magenta); }
+
+        #anim {
+            position: absolute; bottom: 20px; left: 20px; min-width: 280px;
+            background: var(--bg-panel); border: 1px solid var(--border); border-radius: 4px;
+            padding: 12px 14px; backdrop-filter: blur(8px); z-index: 10;
+        }
+        #anim h2 { margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
+            color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px; }
+        #anim .row { padding: 6px 0; font-size: 10px; }
+        #anim .row .label { color: var(--text-mute); margin-right: 8px; }
+        #anim button {
+            background: rgba(255,184,64,0.06); border: 1px solid rgba(255,184,64,0.18);
+            color: var(--text); font-family: inherit; font-size: 10px; padding: 4px 8px;
+            margin: 2px 4px 2px 0; cursor: pointer; border-radius: 3px; letter-spacing: 0.5px;
+        }
+        #anim button:hover { background: rgba(255,184,64,0.14); color: var(--amber-hot); }
+        #anim button.active { background: var(--amber); color: var(--bg); border-color: var(--amber); font-weight: 600; }
+        #anim .slider-row { display: flex; align-items: center; gap: 8px; padding: 3px 0; font-size: 10px; margin-top: 6px; border-top: 1px solid rgba(255,184,64,0.08); padding-top: 8px; }
+        #anim .slider-row .label { width: 90px; }
+        #anim .slider-row input[type=range] { flex: 1; accent-color: var(--amber); }
+        #anim .slider-row .val { width: 38px; text-align: right; color: var(--amber); font-variant-numeric: tabular-nums; }
+        #anim .empty-hint {
+            font-size: 10px; color: var(--text-mute); line-height: 1.5; margin-top: 4px;
+            padding: 8px; background: rgba(255,184,64,0.04); border-radius: 3px;
+            border-left: 2px solid var(--amber);
+        }
+        #anim .empty-hint a { color: var(--amber); text-decoration: none; }
+        #anim .empty-hint a:hover { color: var(--amber-hot); text-decoration: underline; }
+
+        #helpers {
+            position: absolute; bottom: 20px; right: 20px; min-width: 220px;
+            background: var(--bg-panel); border: 1px solid var(--border); border-radius: 4px;
+            padding: 12px 14px; backdrop-filter: blur(8px); z-index: 10;
+        }
+        #helpers h2 { margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
+            color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px; }
+        #helpers label {
+            display: flex; align-items: center; gap: 10px; padding: 3px 0; cursor: pointer; user-select: none; font-size: 11px;
+        }
+        #helpers label:hover { color: var(--amber-hot); }
+        #helpers input[type=checkbox] { accent-color: var(--amber); width: 13px; height: 13px; cursor: pointer; }
+        #helpers .swatch { width: 8px; height: 8px; border-radius: 50%; margin-left: auto; box-shadow: 0 0 6px currentColor; }
+
+        #csi { top: 20px; right: 20px; min-width: 260px; }
+        #csi .bar-row { display: flex; align-items: center; gap: 8px; padding: 3px 0; font-size: 10px; }
+        #csi .bar-row .label { width: 42px; color: var(--text-mute); }
+        #csi .bar-row .bar-track { flex: 1; height: 6px; background: rgba(255,184,64,0.08); border-radius: 2px; overflow: hidden; }
+        #csi .bar-row .bar-fill {
+            height: 100%; background: linear-gradient(90deg, var(--amber-hot), var(--amber));
+            box-shadow: 0 0 6px var(--amber); transition: width 0.08s linear;
+        }
+        #csi .bar-row .val { width: 36px; text-align: right; color: var(--amber); font-variant-numeric: tabular-nums; }
+
+        #loading {
+            position: absolute; inset: 0; display: flex; align-items: center; justify-content: center;
+            background: rgba(5,5,7,0.96); z-index: 20; font-size: 13px; color: var(--amber);
+            letter-spacing: 2px; text-transform: uppercase;
+        }
+        #loading.hidden { display: none; }
+        #loading .text { text-shadow: 0 0 12px var(--amber); animation: loadPulse 1.4s ease-in-out infinite; }
+        @keyframes loadPulse { 0%,100% { opacity: 0.4; } 50% { opacity: 1.0; } }
+
+        @keyframes scanFlash { 0% { opacity: 0; } 10% { opacity: 0.12; } 100% { opacity: 0; } }
+        .scan-flash {
+            position: fixed; inset: 0;
+            background: linear-gradient(90deg, transparent, var(--magenta), transparent);
+            mix-blend-mode: screen; pointer-events: none; opacity: 0; z-index: 4;
+        }
+
+        #titlecard {
+            position: absolute; bottom: 76px; left: 50%; transform: translateX(-50%);
+            text-align: center; color: var(--amber-hot); letter-spacing: 6px; font-size: 11px;
+            text-transform: uppercase; opacity: 0.35; z-index: 10;
+            text-shadow: 0 0 12px var(--amber); pointer-events: none;
+        }
+        #titlecard .sub { font-size: 9px; color: var(--text-mute); letter-spacing: 4px; margin-top: 4px; }
+    </style>
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/controls/OrbitControls.js"></script>
+    <script src="https://unpkg.com/fflate@0.7.4/umd/index.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/curves/NURBSCurve.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/loaders/FBXLoader.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/EffectComposer.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/RenderPass.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/ShaderPass.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/UnrealBloomPass.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/shaders/CopyShader.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/shaders/LuminosityHighPassShader.js"></script>
+</head>
+<body>
+    <div class="overlay-frame"></div>
+    <div class="scanlines"></div>
+    <div class="scan-flash" id="scan-flash"></div>
+    <div id="loading"><div class="text">▸ Loading skinned subject · X Bot.fbx</div></div>
+
+    <div class="panel" id="info">
+        <h1>RuView · Skinned (FBX)</h1>
+        <div class="sub">ADR-097 · Mixamo X Bot · loaded via FBXLoader</div>
+        <div class="row"><span class="k">Subject</span><span class="v amber">● Tracked</span></div>
+        <div class="row"><span class="k">Source</span><span class="v" id="src-name">X Bot.fbx</span></div>
+        <div class="row"><span class="k">Format</span><span class="v">FBX 7700 · 1.75 MB</span></div>
+        <div class="row"><span class="k">Bones</span><span class="v" id="bone-count">—</span></div>
+        <div class="row"><span class="k">Animation</span><span class="v amber" id="anim-name">—</span></div>
+        <div class="row"><span class="k">Mesh nodes</span><span class="v cyan">4 · multistatic</span></div>
+        <div class="row"><span class="k">Coherence</span><span class="v" id="coh-val">— %</span></div>
+        <div class="row"><span class="k">Heart rate</span><span class="v amber" id="hr-val">— bpm</span></div>
+        <div class="row"><span class="k">Bbox vol</span><span class="v" id="bbox-vol">— m³</span></div>
+        <div class="row"><span class="k">Render</span><span class="v" id="fps-val">— fps</span></div>
+    </div>
+
+    <div id="anim">
+        <h2>AnimationMixer</h2>
+        <div class="row">
+            <span class="label">clips</span>
+            <span id="clip-buttons"></span>
+        </div>
+        <div class="slider-row">
+            <span class="label">time scale</span>
+            <input type="range" id="time-scale" min="0.1" max="2" step="0.05" value="1.0">
+            <span class="val" id="time-scale-val">1.00</span>
+        </div>
+        <div class="empty-hint" id="empty-hint" style="display:none;">
+            <strong>No animations in this FBX.</strong><br>
+            Mixamo's "T-Pose / Without Skin" export rigs the model but has no clips.
+            Re-download with <em>"Original Pose"</em> + an animation selected
+            (e.g. <a href="https://www.mixamo.com/#/?page=1&query=walking&type=Motion%2CMotionPack" target="_blank" rel="noopener">Walking</a>) to get a clip, or drop another FBX with anim and reload.
+        </div>
+    </div>
+
+    <div class="panel" id="csi">
+        <h2>Per-node CSI</h2>
+        <div class="bar-row"><span class="label">N1·BL</span><div class="bar-track"><div class="bar-fill" id="bar-0"></div></div><span class="val" id="val-0">—</span></div>
+        <div class="bar-row"><span class="label">N2·BR</span><div class="bar-track"><div class="bar-fill" id="bar-1"></div></div><span class="val" id="val-1">—</span></div>
+        <div class="bar-row"><span class="label">N3·FL</span><div class="bar-track"><div class="bar-fill" id="bar-2"></div></div><span class="val" id="val-2">—</span></div>
+        <div class="bar-row"><span class="label">N4·FR</span><div class="bar-track"><div class="bar-fill" id="bar-3"></div></div><span class="val" id="val-3">—</span></div>
+    </div>
+
+    <div id="helpers">
+        <h2>ADR-097 helpers</h2>
+        <label><input type="checkbox" id="t-grid" checked>GridHelper<span class="swatch" style="color:#666"></span></label>
+        <label><input type="checkbox" id="t-polar" checked>PolarGridHelper<span class="swatch" style="color:#ffb840"></span></label>
+        <label><input type="checkbox" id="t-bbox" checked>BoxHelper on mesh<span class="swatch" style="color:#ffe09f"></span></label>
+        <label><input type="checkbox" id="t-skel">SkeletonHelper<span class="swatch" style="color:#4cf"></span></label>
+        <label><input type="checkbox" id="t-nodebox" checked>Per-node BoxHelpers<span class="swatch" style="color:#4cf"></span></label>
+        <label><input type="checkbox" id="t-pings" checked>Sonar pings<span class="swatch" style="color:#4cf"></span></label>
+        <label><input type="checkbox" id="t-tomo" checked>Tomography sweep<span class="swatch" style="color:#ff4cc8"></span></label>
+        <label><input type="checkbox" id="t-rays" checked>RF illumination cones<span class="swatch" style="color:#ffb840"></span></label>
+    </div>
+
+    <div id="titlecard">
+        RuView · Seldon Vault
+        <div class="sub">FBXLoader · Mixamo · ADR-097</div>
+    </div>
+
+    <script>
+        // =====================================================================
+        //  RuView · Skinned (FBX) · Mixamo X Bot loaded via FBXLoader
+        //  --------------------------------------------------------------------
+        //  Sibling of helpers-skinned.html that loads a local .fbx file
+        //  rather than the canonical GLB. Same cinematic atmosphere
+        //  (UnrealBloomPass, sonar pings, tomography sweep, pseudo-CSI),
+        //  same ADR-097 helpers wrapping the rigged mesh.
+        //
+        //  Mixamo FBX caveats handled here:
+        //    1. Mixamo exports in cm (100 = 1 m). We auto-detect by the
+        //       loaded model's bbox height and rescale to ~1.7 m human size.
+        //    2. PhongMaterial → StandardMaterial swap for cleaner shading
+        //       under our amber key + cyan rim lights.
+        //    3. Bone name probing for the head (Mixamo: "mixamorigHead",
+        //       legacy: "Bip01_Head", or any bone with /head/i match).
+        //    4. Graceful no-animations case — many Mixamo exports are
+        //       rig-only.
+        // =====================================================================
+
+        const MODEL_URL = '../assets/X%20Bot.fbx';
+
+        const NODE_POSITIONS = [
+            [-1.9, 1.3,  1.9],[ 1.9, 1.3,  1.9],
+            [-1.9, 1.3, -1.9],[ 1.9, 1.3, -1.9],
+        ];
+
+        // ---------------------------------------------------------------------
+        //  Scene / camera / renderer
+        // ---------------------------------------------------------------------
+        const scene = new THREE.Scene();
+        scene.background = new THREE.Color(0x050507);
+        scene.fog = new THREE.FogExp2(0x050507, 0.06);
+
+        const camera = new THREE.PerspectiveCamera(48, window.innerWidth/window.innerHeight, 0.05, 100);
+        camera.position.set(3.2, 1.55, 4.0);
+
+        const renderer = new THREE.WebGLRenderer({ antialias: true, powerPreference: 'high-performance' });
+        renderer.setPixelRatio(Math.min(2, window.devicePixelRatio));
+        renderer.setSize(window.innerWidth, window.innerHeight);
+        renderer.toneMapping = THREE.ACESFilmicToneMapping;
+        renderer.toneMappingExposure = 0.80;
+        renderer.outputEncoding = THREE.sRGBEncoding;
+        renderer.shadowMap.enabled = true;
+        renderer.shadowMap.type = THREE.PCFSoftShadowMap;
+        document.body.appendChild(renderer.domElement);
+
+        const controls = new THREE.OrbitControls(camera, renderer.domElement);
+        controls.target.set(0, 0.9, 0);
+        controls.enableDamping = true; controls.dampingFactor = 0.06;
+        controls.minDistance = 2; controls.maxDistance = 12;
+        controls.maxPolarAngle = Math.PI * 0.92;
+        controls.autoRotate = new URLSearchParams(location.search).get('orbit') === '1';
+        controls.autoRotateSpeed = 0.25;
+
+        // ---------------------------------------------------------------------
+        //  Lights — amber key + cyan rim from each ESP32 direction
+        // ---------------------------------------------------------------------
+        scene.add(new THREE.HemisphereLight(0x553a18, 0x080606, 0.7));
+
+        const keyLight = new THREE.DirectionalLight(0xffc070, 1.05);
+        keyLight.position.set(2.5, 3.8, 2.5);
+        keyLight.castShadow = true;
+        keyLight.shadow.camera.top = 2; keyLight.shadow.camera.bottom = -2;
+        keyLight.shadow.camera.left = -2; keyLight.shadow.camera.right = 2;
+        keyLight.shadow.camera.near = 0.1; keyLight.shadow.camera.far = 12;
+        keyLight.shadow.mapSize.set(1024, 1024);
+        keyLight.shadow.bias = -0.0008;
+        scene.add(keyLight);
+
+        const rimLights = [];
+        NODE_POSITIONS.forEach(pos => {
+            const rim = new THREE.PointLight(0x4cf, 0.55, 8, 1.8);
+            rim.position.set(pos[0] * 1.1, pos[1] * 0.7, pos[2] * 1.1);
+            scene.add(rim); rimLights.push(rim);
+        });
+
+        // ---------------------------------------------------------------------
+        //  Post-processing
+        // ---------------------------------------------------------------------
+        const composer = new THREE.EffectComposer(renderer);
+        composer.addPass(new THREE.RenderPass(scene, camera));
+        const bloom = new THREE.UnrealBloomPass(
+            new THREE.Vector2(window.innerWidth, window.innerHeight),
+            0.45, 0.40, 0.78,
+        );
+        composer.addPass(bloom);
+        const filmShader = {
+            uniforms: { tDiffuse: { value: null }, time: { value: 0 }, grain: { value: 0.04 },
+                vignette: { value: 0.32 }, aberration: { value: 0.0018 } },
+            vertexShader: `varying vec2 vUv; void main() { vUv = uv; gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0); }`,
+            fragmentShader: `
+                uniform sampler2D tDiffuse; uniform float time, grain, vignette, aberration;
+                varying vec2 vUv;
+                float hash(vec2 p) { return fract(sin(dot(p, vec2(12.9898, 78.233))) * 43758.5453); }
+                void main() {
+                    vec2 off = (vUv - 0.5) * aberration;
+                    float r = texture2D(tDiffuse, vUv + off).r;
+                    float g = texture2D(tDiffuse, vUv).g;
+                    float b = texture2D(tDiffuse, vUv - off).b;
+                    vec3 col = vec3(r, g, b);
+                    col += (hash(vUv * 1024.0 + time) - 0.5) * grain;
+                    float v = smoothstep(0.85, 0.20, length(vUv - 0.5));
+                    col *= mix(1.0 - vignette, 1.0, v);
+                    gl_FragColor = vec4(col, 1.0);
+                }`,
+        };
+        const filmPass = new THREE.ShaderPass(filmShader);
+        composer.addPass(filmPass);
+
+        // ---------------------------------------------------------------------
+        //  Floor (same procedural shader as cinematic / skinned-glb)
+        // ---------------------------------------------------------------------
+        const floorMat = new THREE.ShaderMaterial({
+            uniforms: { time: { value: 0 }, baseColor: { value: new THREE.Color(0xffb840) } },
+            vertexShader: `varying vec3 vPos; void main() { vPos = position; gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0); }`,
+            fragmentShader: `
+                uniform float time; uniform vec3 baseColor; varying vec3 vPos;
+                void main() {
+                    vec2 g = abs(fract(vPos.xz * 0.5) - 0.5);
+                    float line = smoothstep(0.48, 0.50, max(g.x, g.y));
+                    float majorLine = smoothstep(0.96, 1.00, max(g.x, g.y) * 2.0);
+                    float scan = 0.5 + 0.5 * sin((vPos.x + vPos.z) * 2.0 - time * 1.4);
+                    scan = pow(scan, 14.0);
+                    float falloff = smoothstep(5.0, 1.2, length(vPos.xz));
+                    vec3 col = baseColor * (0.01 + 0.05 * line + 0.16 * majorLine + 0.08 * scan);
+                    gl_FragColor = vec4(col * falloff, falloff * 0.55);
+                }`,
+            transparent: true, depthWrite: false,
+        });
+        const floor = new THREE.Mesh(new THREE.PlaneGeometry(20, 20), floorMat);
+        floor.rotation.x = -Math.PI / 2;
+        scene.add(floor);
+
+        const shadowGround = new THREE.Mesh(
+            new THREE.PlaneGeometry(20, 20),
+            new THREE.ShadowMaterial({ opacity: 0.55 })
+        );
+        shadowGround.rotation.x = -Math.PI / 2;
+        shadowGround.position.y = 0.001;
+        shadowGround.receiveShadow = true;
+        scene.add(shadowGround);
+
+        // ---------------------------------------------------------------------
+        //  ADR-097 helpers + sensor nodes (same as helpers-skinned.html)
+        // ---------------------------------------------------------------------
+        const gridHelper = new THREE.GridHelper(4, 20, 0x554a32, 0x2a2418);
+        gridHelper.material.transparent = true; gridHelper.material.opacity = 0.45;
+        scene.add(gridHelper);
+
+        const polarHelper = new THREE.PolarGridHelper(2.2, 16, 4, 64, 0xffb840, 0x4a3a1a);
+        polarHelper.position.y = 0.002;
+        polarHelper.material.transparent = true; polarHelper.material.opacity = 0.55;
+        scene.add(polarHelper);
+
+        let bboxHelper = null;
+        let skeletonHelper = null;
+
+        const nodeBboxHelpers = [];
+        const nodeRings = [];
+        const nodeAnchors = [];
+        NODE_POSITIONS.forEach((pos, i) => {
+            const group = new THREE.Group();
+            group.position.set(pos[0], pos[1], pos[2]);
+
+            group.add(new THREE.Mesh(
+                new THREE.BoxGeometry(0.14, 0.06, 0.20),
+                new THREE.MeshBasicMaterial({ color: 0xffb840 })
+            ));
+            const antenna = new THREE.Mesh(
+                new THREE.ConeGeometry(0.018, 0.10, 8),
+                new THREE.MeshBasicMaterial({ color: 0xffe09f })
+            );
+            antenna.position.y = 0.08; group.add(antenna);
+
+            const ring = new THREE.Mesh(
+                new THREE.RingGeometry(0.11, 0.14, 32),
+                new THREE.MeshBasicMaterial({ color: 0xffb840, side: THREE.DoubleSide,
+                    transparent: true, opacity: 0.55, blending: THREE.AdditiveBlending, depthWrite: false })
+            );
+            ring.rotation.x = -Math.PI / 2; ring.position.y = -0.05;
+            group.add(ring); nodeRings.push(ring);
+
+            const core = new THREE.Mesh(
+                new THREE.SphereGeometry(0.025, 12, 12),
+                new THREE.MeshBasicMaterial({ color: 0xffe09f })
+            );
+            core.position.y = 0.04; group.add(core);
+
+            scene.add(group); nodeAnchors.push(group);
+
+            const bbox = new THREE.BoxHelper(group, 0x4cf);
+            bbox.material.transparent = true; bbox.material.opacity = 0.45;
+            scene.add(bbox); nodeBboxHelpers.push(bbox);
+        });
+
+        // ---------------------------------------------------------------------
+        //  God-ray cones — one per node, pointed at the subject. Visualizes
+        //  "the four ESP32s are jointly illuminating the body with RF". Each
+        //  cone has a volumetric-feeling gradient shader and is opacity-
+        //  modulated by that node's csiAmp × csiCoherence (so when a node's
+        //  signal degrades, its ray dims).
+        // ---------------------------------------------------------------------
+        const godRayMat = (color, idx) => new THREE.ShaderMaterial({
+            uniforms: {
+                time:      { value: 0 },
+                intensity: { value: 0.0 },
+                color:     { value: new THREE.Color(color) },
+                seed:      { value: idx * 17.3 },
+            },
+            vertexShader: `
+                varying vec2 vUv;
+                varying float vY;
+                void main() {
+                    vUv = uv;
+                    vY = position.y;
+                    gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0);
+                }`,
+            fragmentShader: `
+                uniform float time, intensity, seed;
+                uniform vec3 color;
+                varying vec2 vUv;
+                varying float vY;
+                float hash(vec2 p) { return fract(sin(dot(p, vec2(12.9898, 78.233))) * 43758.5453); }
+                void main() {
+                    // along the cone (uv.y goes 0=tip → 1=base), fade out at the base
+                    float edgeFade = smoothstep(0.0, 0.18, vUv.y) * smoothstep(1.0, 0.65, vUv.y);
+                    // soft radial falloff (cone-edge transparency)
+                    float radial = sin(vUv.y * 3.14159);
+                    radial = pow(radial, 2.0);
+                    // volumetric noise (slow scrolling)
+                    float n = hash(floor(vUv * vec2(40.0, 60.0)) + vec2(seed, time * 0.4));
+                    float scroll = 0.85 + 0.30 * sin(vUv.y * 32.0 - time * 1.4 + seed);
+                    float a = edgeFade * radial * scroll * (0.55 + 0.45 * n);
+                    gl_FragColor = vec4(color, a * intensity * 0.25);
+                }`,
+            transparent: true,
+            blending: THREE.AdditiveBlending,
+            depthWrite: false,
+            side: THREE.DoubleSide,
+        });
+        const godRays = [];
+        for (let i = 0; i < 4; i++) {
+            // cone with apex at node, expanding toward the subject
+            // height 4 m (more than enough to reach subject), radius 0.45 m at base
+            const geom = new THREE.ConeGeometry(0.45, 4.0, 28, 1, true);
+            // ConeGeometry tip is at +Y, base at -Y — rotate so tip is along -Y
+            // (we'll later orient each cone so its tip touches the node).
+            geom.translate(0, -2.0, 0); // shift so apex is at origin
+            const mat = godRayMat(0xffb840, i);
+            const cone = new THREE.Mesh(geom, mat);
+            scene.add(cone);
+            godRays.push({ mesh: cone, mat });
+        }
+        function updateGodRays(t) {
+            if (!model) return;
+            const want = document.getElementById('t-rays').checked;
+            const center = new THREE.Vector3();
+            const box = new THREE.Box3().setFromObject(model);
+            box.getCenter(center);
+            for (let i = 0; i < 4; i++) {
+                godRays[i].mesh.visible = want;
+                if (!want) continue;
+                const node = nodeAnchors[i];
+                const np = node.getWorldPosition(new THREE.Vector3());
+                const dir = new THREE.Vector3().subVectors(center, np);
+                const len = dir.length();
+                dir.normalize();
+                const ray = godRays[i];
+                ray.mesh.position.copy(np);
+                // align cone's -Y axis (apex direction after the geometry shift)
+                // to point along `dir`
+                ray.mesh.quaternion.setFromUnitVectors(new THREE.Vector3(0, -1, 0), dir);
+                // stretch cone length to actual distance, keep base width reasonable
+                ray.mesh.scale.set(1, len / 4.0, 1);
+                ray.mat.uniforms.time.value = t;
+                // intensity follows that node's CSI amplitude * global coherence
+                const target = csiAmp[i] * csiCoherence * 1.4;
+                ray.mat.uniforms.intensity.value =
+                    ray.mat.uniforms.intensity.value * 0.85 + target * 0.15;
+            }
+        }
+
+        // ---------------------------------------------------------------------
+        //  FBX load with Mixamo-aware fixups
+        // ---------------------------------------------------------------------
+        let model = null;
+        let mixer = null;
+        let headBone = null;
+        let boneCount = 0;
+        const clipActions = {};   // by clip name
+        let currentClip = null;
+
+        const loader = new THREE.FBXLoader();
+        loader.load(MODEL_URL, (object) => {
+            model = object;
+
+            // 1. Scale fix — Mixamo defaults to cm; detect by bbox height and
+            //    rescale so the rig reads as ~1.7 m human size.
+            const raw = new THREE.Box3().setFromObject(model);
+            const height = raw.max.y - raw.min.y;
+            if (height > 10) {
+                model.scale.setScalar(1 / 100);   // cm → m
+            } else if (height > 5) {
+                model.scale.setScalar(1 / 50);    // catch in-between rigs
+            }
+            // recenter on origin at floor
+            const b2 = new THREE.Box3().setFromObject(model);
+            model.position.y -= b2.min.y;
+
+            // 2. Material upgrade + shadow casting + head/bone scan
+            model.traverse((obj) => {
+                if (obj.isMesh) {
+                    obj.castShadow = true;
+                    obj.receiveShadow = true;
+                    // Phong → Standard for cleaner shading under our PBR lights.
+                    // Keep diffuse map + skinning intact.
+                    if (obj.material && obj.material.isMeshPhongMaterial) {
+                        const m = obj.material;
+                        const upgraded = new THREE.MeshStandardMaterial({
+                            map: m.map, normalMap: m.normalMap, color: m.color,
+                            skinning: !!obj.isSkinnedMesh,
+                            metalness: 0.0, roughness: 0.85,
+                        });
+                        obj.material = upgraded;
+                    }
+                }
+                if (obj.isBone) {
+                    boneCount++;
+                    if (!headBone && /head/i.test(obj.name)) headBone = obj;
+                }
+            });
+            document.getElementById('bone-count').textContent = boneCount;
+
+            scene.add(model);
+
+            skeletonHelper = new THREE.SkeletonHelper(model);
+            skeletonHelper.visible = false;
+            scene.add(skeletonHelper);
+
+            // 3. Animations — Mixamo exports one clip per FBX (sometimes none)
+            const clips = object.animations || [];
+            if (clips.length === 0) {
+                document.getElementById('anim-name').textContent = 'none (rig-only)';
+                document.getElementById('empty-hint').style.display = 'block';
+            } else {
+                mixer = new THREE.AnimationMixer(model);
+                const btnHost = document.getElementById('clip-buttons');
+                for (const clip of clips) {
+                    const action = mixer.clipAction(clip);
+                    clipActions[clip.name] = action;
+                    const btn = document.createElement('button');
+                    btn.textContent = clip.name || 'clip-' + Object.keys(clipActions).length;
+                    btn.addEventListener('click', () => playClip(clip.name));
+                    btnHost.appendChild(btn);
+                }
+                playClip(clips[0].name);
+            }
+
+            // 4. Face point cloud
+            if (headBone) buildFacePointCloud();
+
+            document.getElementById('loading').classList.add('hidden');
+        }, (xhr) => {
+            const total = xhr.total || 1750032;
+            const pct = (xhr.loaded / total * 100).toFixed(0);
+            const txt = document.querySelector('#loading .text');
+            if (txt) txt.textContent = `▸ Loading skinned subject · X Bot.fbx · ${pct} %`;
+        }, (err) => {
+            console.error('FBX load failed', err);
+            const txt = document.querySelector('#loading .text');
+            if (txt) txt.textContent = '⚠ Load failed — see console';
+        });
+
+        function playClip(name) {
+            for (const k in clipActions) {
+                const a = clipActions[k];
+                if (k === name) {
+                    a.reset(); a.play(); currentClip = name;
+                    document.getElementById('anim-name').textContent = name;
+                    for (const btn of document.querySelectorAll('#anim button[data-base], #anim button')) {
+                        if (btn.dataset.base !== undefined || !btn.textContent) continue;
+                        btn.classList.toggle('active', btn.textContent === name);
+                    }
+                } else a.stop();
+            }
+        }
+
+        // ---------------------------------------------------------------------
+        //  Face point cloud — anchored to head bone, same shimmer shader
+        // ---------------------------------------------------------------------
+        const FACE_POINTS = 220; // fewer points so each dot is visible as a tracked landmark
+        const facePositions = new Float32Array(FACE_POINTS * 3);
+        const faceOffsets   = new Float32Array(FACE_POINTS * 3);
+        const facePhases    = new Float32Array(FACE_POINTS);
+        let facePoints = null;
+        function buildFacePointCloud() {
+            // Front-hemisphere only — points scattered on the +Z half of an
+            // ellipsoid so the cloud reads as a FACE projection forward from
+            // the head bone, not a halo wrapping the skull. Local coords:
+            //   +Z = forward (face direction), +Y = up, +X = right.
+            for (let i = 0; i < FACE_POINTS; i++) {
+                // theta in [0, 2π) around the local Z axis, phi in [0, π/2]
+                // (front hemisphere only — no points behind the head)
+                const theta = Math.random() * Math.PI * 2;
+                const phi = Math.acos(1 - Math.random() * 0.95); // dense near face front
+                const sinPhi = Math.sin(phi), cosPhi = Math.cos(phi);
+                // ellipsoid radii (taller than wide, slightly squashed F-B)
+                const rx = 0.085, ry = 0.108, rz = 0.075;
+                // local coords with +Z = face forward
+                faceOffsets[i*3+0] = rx * sinPhi * Math.cos(theta);
+                faceOffsets[i*3+1] = ry * sinPhi * Math.sin(theta) * 1.05; // taller
+                faceOffsets[i*3+2] = rz * cosPhi;                          // forward
+                facePhases[i] = Math.random() * Math.PI * 2;
+            }
+            const geom = new THREE.BufferGeometry();
+            geom.setAttribute('position', new THREE.BufferAttribute(facePositions, 3));
+            geom.setAttribute('aPhase',   new THREE.BufferAttribute(facePhases, 1));
+            const mat = new THREE.ShaderMaterial({
+                uniforms: { time: { value: 0 } },
+                vertexShader: `
+                    attribute float aPhase; uniform float time;
+                    varying float vAlpha;
+                    void main() {
+                        vec4 mv = modelViewMatrix * vec4(position, 1.0);
+                        // Slow per-point shimmer + occasional "scan-lit" spike
+                        // so the cloud reads as discrete tracked landmarks
+                        // rather than a fluffy halo.
+                        float shimmer = 0.5 + 0.5 * sin(time * 3.0 + aPhase);
+                        float spark = step(0.95, fract(sin(aPhase * 17.0 + time * 0.5) * 43.0));
+                        vAlpha = 0.10 + 0.25 * shimmer + 0.55 * spark;
+                        gl_Position = projectionMatrix * mv;
+                        // 6× smaller — tracked dots, not a cloud
+                        gl_PointSize = (1.0 + shimmer * 0.6 + spark * 1.5) * (32.0 / -mv.z);
+                    }`,
+                fragmentShader: `
+                    varying float vAlpha;
+                    void main() {
+                        vec2 c = gl_PointCoord - 0.5;
+                        float d = length(c);
+                        if (d > 0.5) discard;
+                        float falloff = smoothstep(0.5, 0.0, d);
+                        vec3 col = vec3(0.40, 0.78, 1.00);
+                        gl_FragColor = vec4(col, vAlpha * falloff);
+                    }`,
+                transparent: true, depthWrite: false,
+            });
+            facePoints = new THREE.Points(geom, mat);
+            scene.add(facePoints);
+        }
+
+        // ---------------------------------------------------------------------
+        //  Pings + tomography + CSI driver — copied wholesale from skinned-glb
+        // ---------------------------------------------------------------------
+        const PING_POOL = 24;
+        const pings = [];
+        const pingGeo = new THREE.TorusGeometry(1, 0.012, 8, 48);
+        for (let i = 0; i < PING_POOL; i++) {
+            const mat = new THREE.MeshBasicMaterial({ color: 0x4cf, transparent: true, opacity: 0, depthWrite: false });
+            const mesh = new THREE.Mesh(pingGeo, mat); mesh.visible = false; scene.add(mesh);
+            pings.push({ mesh, active: false, t0: 0, duration: 0,
+                origin: new THREE.Vector3(), target: new THREE.Vector3() });
+        }
+        let pingIndex = 0;
+        function emitPing(origin, target) {
+            const p = pings[pingIndex]; pingIndex = (pingIndex + 1) % PING_POOL;
+            p.active = true; p.t0 = performance.now() * 0.001;
+            p.duration = 0.55 + Math.random() * 0.20;
+            p.origin.copy(origin); p.target.copy(target);
+            p.mesh.position.copy(origin); p.mesh.visible = true; p.mesh.material.opacity = 0;
+            const dir = new THREE.Vector3().subVectors(target, origin).normalize();
+            p.mesh.quaternion.setFromUnitVectors(new THREE.Vector3(0, 0, 1), dir);
+        }
+
+        const tomoMat = new THREE.ShaderMaterial({
+            uniforms: { time: { value: 0 }, intensity: { value: 0 } },
+            vertexShader: `varying vec2 vUv; void main() { vUv = uv; gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0); }`,
+            fragmentShader: `
+                uniform float time, intensity; varying vec2 vUv;
+                void main() {
+                    float band = exp(-pow((vUv.x - 0.5) * 14.0, 2.0));
+                    float lines = 0.5 + 0.5 * sin(vUv.y * 90.0 + time * 4.0);
+                    vec3 col = vec3(1.0, 0.3, 0.78) * band * (0.6 + 0.4 * lines);
+                    gl_FragColor = vec4(col, intensity * band * 0.75);
+                }`,
+            transparent: true, blending: THREE.AdditiveBlending, depthWrite: false, side: THREE.DoubleSide,
+        });
+        const tomoPlane = new THREE.Mesh(new THREE.PlaneGeometry(8, 6), tomoMat);
+        tomoPlane.rotation.y = Math.PI / 2;
+        tomoPlane.position.set(-2, 1.0, 0); tomoPlane.visible = false;
+        scene.add(tomoPlane);
+        let tomoActive = false, tomoT0 = 0, tomoNextAt = 4 + Math.random() * 4;
+
+        const csiAmp = [0, 0, 0, 0];
+        let csiCoherence = 0.5;
+        const csiNoise = [0, 0, 0, 0];
+        function tickCsi(t, targetWorld) {
+            for (let i = 0; i < 4; i++) csiNoise[i] = csiNoise[i] * 0.92 + (Math.random() - 0.5) * 0.08;
+            let mean = 0; const amps = [];
+            for (let i = 0; i < 4; i++) {
+                const np = NODE_POSITIONS[i];
+                const dx = np[0] - targetWorld.x, dy = np[1] - targetWorld.y, dz = np[2] - targetWorld.z;
+                const r2 = dx*dx + dy*dy + dz*dz;
+                const fall = 1.0 / (1.0 + r2 * 0.18);
+                const breath = Math.sin(t * 0.27 * Math.PI * 2) * 0.10;
+                const heart = Math.sin(t * 1.18 * Math.PI * 2) * 0.04;
+                const walk = Math.sin(t * 1.9 + i * 0.5) * 0.12;
+                const a = Math.max(0, Math.min(1, fall + breath + heart + walk + csiNoise[i] * 0.30));
+                amps.push(a);
+                csiAmp[i] = csiAmp[i] * 0.7 + a * 0.3;
+                mean += a;
+            }
+            mean /= 4;
+            let v = 0; for (let i = 0; i < 4; i++) v += (amps[i] - mean) ** 2;
+            v = Math.sqrt(v / 4);
+            csiCoherence = csiCoherence * 0.85 + Math.max(0, Math.min(1, 1.0 - v * 2.5)) * 0.15;
+        }
+
+        let lastPingT = [0, 0, 0, 0];
+        // Subject hit-flash: when a sonar ping lands, briefly raise the
+        // emissive on every mesh in the model. Decays each frame.
+        let subjectFlash = 0;
+        const modelMeshes = [];
+        function collectModelMeshes() {
+            if (!model || modelMeshes.length) return;
+            model.traverse(o => {
+                if (o.isMesh && o.material && o.material.isMeshStandardMaterial) {
+                    o.material.emissive = new THREE.Color(0xffb840);
+                    o.material.emissiveIntensity = 0;
+                    modelMeshes.push(o);
+                }
+            });
+        }
+        function updateSubjectFlash() {
+            collectModelMeshes();
+            subjectFlash *= 0.86;
+            for (const m of modelMeshes) {
+                m.material.emissiveIntensity = subjectFlash;
+            }
+        }
+
+        // Subtle root motion — even with a stationary Idle clip, give the
+        // figure a gentle drift + look-around so it doesn't feel pinned.
+        function updateRootMotion(t) {
+            if (!model) return;
+            model.position.x = Math.sin(t * 0.18) * 0.06;
+            model.position.z = Math.cos(t * 0.13) * 0.05;
+            model.rotation.y = Math.sin(t * 0.11) * 0.18;
+        }
+
+        function updateNodes() {
+            for (let i = 0; i < 4; i++) {
+                const ring = nodeRings[i];
+                const amp = csiAmp[i];
+                ring.material.opacity = 0.32 + 0.55 * amp;
+                ring.scale.setScalar(1 + 0.30 * amp);
+                rimLights[i].intensity = 0.30 + 0.60 * amp * csiCoherence;
+            }
+        }
+        function maybeEmitPings(t, modelCenter) {
+            if (!document.getElementById('t-pings').checked || !model) return;
+            for (let i = 0; i < 4; i++) {
+                const interval = 1.2 / (0.25 + csiAmp[i]);
+                if (t - lastPingT[i] > interval) {
+                    lastPingT[i] = t;
+                    const target = modelCenter.clone();
+                    target.y += (Math.random() - 0.3) * 0.8;
+                    target.x += (Math.random() - 0.5) * 0.2;
+                    const origin = nodeAnchors[i].getWorldPosition(new THREE.Vector3());
+                    emitPing(origin, target);
+                }
+            }
+        }
+        function updatePings(t) {
+            for (const p of pings) {
+                if (!p.active) continue;
+                const u = (t - p.t0) / p.duration;
+                if (u >= 1) {
+                    p.active = false; p.mesh.visible = false;
+                    // ping landed — flash the subject (drives emissiveIntensity)
+                    subjectFlash = Math.min(0.42, subjectFlash + 0.18);
+                    continue;
+                }
+                p.mesh.position.lerpVectors(p.origin, p.target, u);
+                p.mesh.scale.setScalar(0.03 + u * 0.18);
+                p.mesh.material.opacity = (1.0 - u) * 0.40 * csiCoherence;
+            }
+        }
+        function updateTomography(t) {
+            if (!document.getElementById('t-tomo').checked) { tomoActive = false; tomoPlane.visible = false; return; }
+            if (!tomoActive && t > tomoNextAt) {
+                tomoActive = true; tomoT0 = t; tomoPlane.visible = true;
+                const sf = document.getElementById('scan-flash');
+                sf.style.animation = 'none';
+                requestAnimationFrame(() => { sf.style.animation = 'scanFlash 1.6s ease-out'; });
+            }
+            if (tomoActive) {
+                const dur = 2.4;
+                const e = (t - tomoT0) / dur;
+                if (e >= 1) {
+                    tomoActive = false; tomoPlane.visible = false;
+                    tomoNextAt = t + 4 + Math.random() * 5;
+                } else {
+                    tomoPlane.position.x = -3 + e * 6;
+                    tomoMat.uniforms.intensity.value = Math.sin(e * Math.PI);
+                    tomoMat.uniforms.time.value = t;
+                }
+            }
+        }
+        function updateBbox() {
+            const want = document.getElementById('t-bbox').checked && model;
+            if (!want) {
+                if (bboxHelper) { scene.remove(bboxHelper); bboxHelper = null; }
+                document.getElementById('bbox-vol').textContent = '—';
+                return;
+            }
+            if (!bboxHelper) {
+                bboxHelper = new THREE.BoxHelper(model, 0xffe09f);
+                bboxHelper.material.transparent = true; bboxHelper.material.opacity = 0.55;
+                scene.add(bboxHelper);
+            } else bboxHelper.setFromObject(model);
+            const box = new THREE.Box3().setFromObject(model);
+            const size = box.getSize(new THREE.Vector3());
+            document.getElementById('bbox-vol').textContent = (size.x * size.y * size.z).toFixed(3) + ' m³';
+        }
+        const tmpHeadPos  = new THREE.Vector3();
+        const tmpHeadQuat = new THREE.Quaternion();
+        const tmpHeadScl  = new THREE.Vector3();
+        const tmpOffset   = new THREE.Vector3();
+        function updateFaceCloud(t) {
+            if (!facePoints || !headBone) return;
+            // Decompose the head bone's world matrix so we can apply its
+            // orientation (face direction) to each local offset. This way
+            // the cloud rotates with the head — turn left/right and the
+            // face points stay in front of the face.
+            headBone.updateMatrixWorld(true);
+            headBone.matrixWorld.decompose(tmpHeadPos, tmpHeadQuat, tmpHeadScl);
+            // Mixamo head bone forward is along +Y in some rigs (head looks up the
+            // bone chain) — project the cloud along the model's actual forward
+            // vector, which for Mixamo X Bot facing camera is world +Z.
+            // Use the model's root rotation as the source of "forward".
+            const forward = new THREE.Vector3(0, 0, 1);
+            if (model) forward.applyQuaternion(model.getWorldQuaternion(new THREE.Quaternion()));
+            const up    = new THREE.Vector3(0, 1, 0);
+            const right = new THREE.Vector3().crossVectors(up, forward).normalize();
+            const facingUp = up.clone();
+            // anchor the cloud just in front of the head
+            const anchor = tmpHeadPos.clone().addScaledVector(forward, 0.04);
+            anchor.y += 0.04; // nudge up so cloud sits over the face, not the chin
+            const pos = facePoints.geometry.attributes.position;
+            for (let i = 0; i < FACE_POINTS; i++) {
+                const ox = faceOffsets[i*3+0];
+                const oy = faceOffsets[i*3+1];
+                const oz = faceOffsets[i*3+2];
+                // map local (ox, oy, oz) into world via (right, up, forward)
+                tmpOffset.copy(right).multiplyScalar(ox)
+                         .addScaledVector(facingUp, oy)
+                         .addScaledVector(forward, oz);
+                pos.array[i*3+0] = anchor.x + tmpOffset.x;
+                pos.array[i*3+1] = anchor.y + tmpOffset.y;
+                pos.array[i*3+2] = anchor.z + tmpOffset.z;
+            }
+            pos.needsUpdate = true;
+            facePoints.material.uniforms.time.value = t;
+        }
+
+        let hudT = 0;
+        function updateHud(t, fps) {
+            if (t - hudT < 0.1) return;
+            hudT = t;
+            for (let i = 0; i < 4; i++) {
+                const pct = Math.round(csiAmp[i] * 100);
+                document.getElementById('bar-' + i).style.width = pct + '%';
+                document.getElementById('val-' + i).textContent = pct + '%';
+            }
+            document.getElementById('coh-val').textContent = (csiCoherence * 100).toFixed(0) + ' %';
+            document.getElementById('hr-val').textContent = (68 + Math.sin(t * 0.3) * 4).toFixed(0) + ' bpm';
+            document.getElementById('fps-val').textContent = fps.toFixed(0) + ' fps';
+        }
+
+        // UI wiring
+        document.getElementById('time-scale').addEventListener('input', (e) => {
+            const ts = parseFloat(e.target.value);
+            document.getElementById('time-scale-val').textContent = ts.toFixed(2);
+            if (mixer) mixer.timeScale = ts;
+        });
+        function bindToggle(id, obj) {
+            document.getElementById(id).addEventListener('change', e => {
+                if (e.target.checked && !scene.children.includes(obj)) scene.add(obj);
+                else if (!e.target.checked) scene.remove(obj);
+            });
+        }
+        bindToggle('t-grid',  gridHelper);
+        bindToggle('t-polar', polarHelper);
+        document.getElementById('t-skel').addEventListener('change', e => {
+            if (skeletonHelper) skeletonHelper.visible = e.target.checked;
+        });
+        document.getElementById('t-nodebox').addEventListener('change', e => {
+            for (const bb of nodeBboxHelpers) {
+                if (e.target.checked && !scene.children.includes(bb)) scene.add(bb);
+                else if (!e.target.checked) scene.remove(bb);
+            }
+        });
+
+        // ---------------------------------------------------------------------
+        //  Main loop
+        // ---------------------------------------------------------------------
+        const clock = new THREE.Clock();
+        let lastMs = performance.now();
+        let fpsEma = 60;
+        function tick() {
+            const nowMs = performance.now();
+            const dt = nowMs - lastMs;
+            lastMs = nowMs;
+            fpsEma = fpsEma * 0.92 + (1000 / Math.max(dt, 1)) * 0.08;
+            const t = nowMs * 0.001;
+            const delta = clock.getDelta();
+
+            if (mixer) mixer.update(delta);
+            floorMat.uniforms.time.value = t;
+            filmShader.uniforms.time.value = t;
+
+            const center = new THREE.Vector3();
+            if (model) {
+                const box = new THREE.Box3().setFromObject(model);
+                box.getCenter(center);
+            } else center.set(0, 0.9, 0);
+
+            tickCsi(t, center);
+            updateRootMotion(t);
+            updateNodes();
+            updateGodRays(t);
+            maybeEmitPings(t, center);
+            updatePings(t);
+            updateSubjectFlash();
+            updateTomography(t);
+            updateBbox();
+            updateFaceCloud(t);
+
+            controls.update();
+            composer.render();
+            updateHud(t, fpsEma);
+            requestAnimationFrame(tick);
+        }
+        requestAnimationFrame(tick);
+
+        window.addEventListener('resize', () => {
+            camera.aspect = window.innerWidth / window.innerHeight;
+            camera.updateProjectionMatrix();
+            renderer.setSize(window.innerWidth, window.innerHeight);
+            composer.setSize(window.innerWidth, window.innerHeight);
+            bloom.setSize(window.innerWidth, window.innerHeight);
+        });
+    </script>
+</body>
+</html>

examples/three.js/server/ruvultra-csi-bridge.py

@@ -0,0 +1,153 @@
+#!/usr/bin/env python3
+"""ruvultra → browser CSI bridge.
+
+Reads adaptive_ctrl tick lines from the ESP32-S3 RuView firmware on
+/dev/ttyACM0 and forwards normalized per-node metrics over a WebSocket
+that the helpers-skinned-realtime demo can subscribe to via Tailscale.
+
+Sample serial line (1 Hz cadence from firmware):
+    I (22890561) adaptive_ctrl: medium tick: state=6 yield=15pps motion=1.00 presence=5.35 rssi=-33
+
+Output JSON (per tick):
+    {
+      "ts": 1716830400.123,
+      "node": 0,                # always 0 (single node), client expands to 4
+      "motion": 1.00,           # raw firmware metric
+      "presence": 5.35,
+      "rssi": -33,
+      "yield_pps": 15,
+      "amp": 0.78               # synthesized CSI amplitude in [0..1] for the bar
+    }
+
+Run on ruvultra:
+    python3 -u ruvultra-csi-bridge.py
+"""
+import asyncio
+import builtins
+import json
+import re
+import sys
+import time
+from contextlib import suppress
+
+# Force every print to flush — we're often piped to a log file
+_orig_print = builtins.print
+def _print(*a, **kw):
+    kw.setdefault("flush", True)
+    return _orig_print(*a, **kw)
+builtins.print = _print
+
+import serial
+import websockets
+
+PORT = "/dev/ttyACM0"
+BAUD = 115200
+WS_HOST = "0.0.0.0"
+WS_PORT = 8766
+
+TICK_RE = re.compile(
+    r"adaptive_ctrl:\s*\w+\s+tick:\s*"
+    r"state=(?P<state>\d+)\s+"
+    r"yield=(?P<yield>\d+)pps\s+"
+    r"motion=(?P<motion>[\d.]+)\s+"
+    r"presence=(?P<presence>[\d.]+)\s+"
+    r"rssi=(?P<rssi>-?\d+)"
+)
+
+clients = set()
+last_payload = None
+
+
+def amp_from_metrics(motion, presence, rssi):
+    """Map firmware metrics to a [0..1] CSI-style amplitude."""
+    rssi_norm = max(0.0, min(1.0, (rssi + 80) / 50))      # -80..-30 → 0..1
+    presence_norm = max(0.0, min(1.0, presence / 8.0))    # cap at 8
+    motion_norm = max(0.0, min(1.0, motion))              # already 0..1ish
+    return 0.40 * rssi_norm + 0.35 * presence_norm + 0.25 * motion_norm
+
+
+async def serial_reader_loop():
+    global last_payload
+    print(f"[bridge] opening {PORT} @ {BAUD}…")
+    while True:
+        try:
+            ser = serial.Serial(PORT, BAUD, timeout=1)
+        except (serial.SerialException, OSError) as e:
+            print(f"[bridge] serial open failed ({e}); retry in 3s")
+            await asyncio.sleep(3)
+            continue
+
+        print(f"[bridge] connected to {PORT}")
+        loop = asyncio.get_event_loop()
+        try:
+            while True:
+                line = await loop.run_in_executor(None, ser.readline)
+                if not line:
+                    continue
+                try:
+                    text = line.decode(errors="replace").strip()
+                except Exception:
+                    continue
+                m = TICK_RE.search(text)
+                if not m:
+                    continue
+                motion = float(m["motion"])
+                presence = float(m["presence"])
+                rssi = int(m["rssi"])
+                payload = {
+                    "ts": time.time(),
+                    "node": 0,
+                    "state": int(m["state"]),
+                    "yield_pps": int(m["yield"]),
+                    "motion": motion,
+                    "presence": presence,
+                    "rssi": rssi,
+                    "amp": amp_from_metrics(motion, presence, rssi),
+                }
+                last_payload = payload
+                msg = json.dumps(payload)
+                if clients:
+                    dead = []
+                    for ws in list(clients):
+                        try:
+                            await ws.send(msg)
+                        except websockets.ConnectionClosed:
+                            dead.append(ws)
+                    for d in dead:
+                        clients.discard(d)
+                print(
+                    f"[tick] motion={motion:.2f} presence={presence:5.2f} "
+                    f"rssi={rssi:+d} yield={int(m['yield']):3d}pps "
+                    f"amp={payload['amp']:.2f} clients={len(clients)}"
+                )
+        except (serial.SerialException, OSError) as e:
+            print(f"[bridge] serial error ({e}); reopen in 1s")
+            with suppress(Exception):
+                ser.close()
+            await asyncio.sleep(1)
+
+
+async def ws_handler(ws):
+    addr = ws.remote_address
+    clients.add(ws)
+    print(f"[ws] client connected: {addr}  total={len(clients)}")
+    try:
+        if last_payload is not None:
+            await ws.send(json.dumps(last_payload))
+        await ws.wait_closed()
+    finally:
+        clients.discard(ws)
+        print(f"[ws] client gone: {addr}  total={len(clients)}")
+
+
+async def main():
+    print(f"[bridge] websocket on ws://{WS_HOST}:{WS_PORT}")
+    async with websockets.serve(ws_handler, WS_HOST, WS_PORT):
+        await serial_reader_loop()
+
+
+if __name__ == "__main__":
+    try:
+        asyncio.run(main())
+    except KeyboardInterrupt:
+        pass

examples/three.js/server/serve-demo.py

@@ -0,0 +1,46 @@
+"""Tiny threaded HTTP server for the three.js demos that fetch local files.
+
+Why a sibling helper script instead of `python -m http.server`?
+The stdlib SimpleHTTPServer is single-threaded; Chrome opens many parallel
+connections (HTML + 9 script tags + FBX), the first eats the worker, the
+rest time out with net::ERR_EMPTY_RESPONSE. ThreadingHTTPServer fixes it.
+
+Usage:
+    python examples/three.js/server/serve-demo.py
+    open http://localhost:8765/examples/three.js/demos/05-skinned-realtime.html
+"""
+from http.server import ThreadingHTTPServer, SimpleHTTPRequestHandler
+import os, sys
+
+PORT = int(os.environ.get("PORT", 8765))
+# Always serve from the repo root regardless of where the script is launched.
+# This file lives at examples/three.js/server/serve-demo.py — three levels deep.
+os.chdir(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..", "..")))
+
+class NoCacheHandler(SimpleHTTPRequestHandler):
+    def end_headers(self):
+        # Aggressive no-cache so browser ALWAYS fetches the latest .html
+        # after we edit it. Otherwise stale code sticks around even on hard
+        # refresh and you debug a phantom.
+        self.send_header("Cache-Control", "no-store, no-cache, must-revalidate, max-age=0")
+        self.send_header("Pragma", "no-cache")
+        self.send_header("Expires", "0")
+        super().end_headers()
+
+DEMOS = [
+    "01-helpers.html",
+    "02-cinematic.html",
+    "03-skinned.html",
+    "04-skinned-fbx.html",
+    "05-skinned-realtime.html",
+]
+
+with ThreadingHTTPServer(("127.0.0.1", PORT), NoCacheHandler) as srv:
+    print(f"serving {os.getcwd()} on http://127.0.0.1:{PORT}/")
+    print("demos:")
+    for d in DEMOS:
+        print(f"  http://127.0.0.1:{PORT}/examples/three.js/demos/{d}")
+    try:
+        srv.serve_forever()
+    except KeyboardInterrupt:
+        sys.exit(0)

firmware/esp32-csi-node/README.md

@@ -15,7 +15,7 @@ This firmware captures WiFi Channel State Information (CSI) from an ESP32-S3 and
 > | **CSI streaming** | Per-subcarrier I/Q capture over UDP | ~20 Hz, ADR-018 binary format |
 > | **Breathing detection** | Bandpass 0.1-0.5 Hz, zero-crossing BPM | 6-30 BPM |
 > | **Heart rate** | Bandpass 0.8-2.0 Hz, zero-crossing BPM | 40-120 BPM |
-> | **Presence sensing** | Phase variance + adaptive calibration | < 1 ms latency |
+> | **Presence indicator** (heuristic) | Phase variance + adaptive threshold (60 s ambient learning) | < 1 ms latency, false-positives under strong RF interference — see [Tier 2 caveats](#what-this-firmware-does-not-do-tier-2-caveats) |
 > | **Fall detection** | Phase acceleration threshold | Configurable sensitivity |
 > | **Programmable sensing** | WASM modules loaded over HTTP | Hot-swap, no reflash |
 
@@ -37,18 +37,22 @@ MSYS_NO_PATHCONV=1 docker run --rm \
 
 ### 2. Flash
 
+Offsets must match `partitions_display.csv` (8 MB) or `partitions_4mb.csv` (4 MB):
+`bootloader=0x0`, `partition-table=0x8000`, `otadata=0xf000`, `app (ota_0)=0x20000`.
+
 ```bash
 python -m esptool --chip esp32s3 --port COM7 --baud 460800 \
   write_flash --flash_mode dio --flash_size 8MB \
-  0x0 firmware/esp32-csi-node/build/bootloader/bootloader.bin \
-  0x8000 firmware/esp32-csi-node/build/partition_table/partition-table.bin \
-  0x10000 firmware/esp32-csi-node/build/esp32-csi-node.bin
+  0x0     firmware/esp32-csi-node/build/bootloader/bootloader.bin \
+  0x8000  firmware/esp32-csi-node/build/partition_table/partition-table.bin \
+  0xf000  firmware/esp32-csi-node/build/ota_data_initial.bin \
+  0x20000 firmware/esp32-csi-node/build/esp32-csi-node.bin
 ```
 
 ### 3. Provision WiFi credentials (no reflash needed)
 
 ```bash
-python scripts/provision.py --port COM7 \
+python firmware/esp32-csi-node/provision.py --port COM7 \
   --ssid "YourSSID" --password "YourPass" --target-ip 192.168.1.20
 ```
 
@@ -129,11 +133,32 @@ Adds real-time health and safety monitoring.
 
 - **Breathing rate** -- biquad IIR bandpass 0.1-0.5 Hz, zero-crossing BPM (6-30 BPM)
 - **Heart rate** -- biquad IIR bandpass 0.8-2.0 Hz, zero-crossing BPM (40-120 BPM)
-- **Presence detection** -- adaptive threshold calibration (60 s ambient learning)
+- **Presence indicator** -- phase variance vs an adaptively-calibrated threshold (60 s ambient learning at boot). Heuristic, not a learned classifier — strong RF interferers (fans, microwaves, transmit-power swings) can push variance above threshold without anyone in the room. See "What this firmware does NOT do" below.
 - **Fall detection** -- phase acceleration exceeds configurable threshold
-- **Multi-person estimation** -- subcarrier group clustering (up to 4 persons)
+- **Multi-person slot count** -- partitions the top-K subcarriers into `top_k / 2` groups (clamped to `[1, EDGE_MAX_PERSONS]`), computes per-group filtered breathing/heart-rate estimates, and reports the slot count as `pkt.n_persons`. This is a **slot-capacity heuristic**, not a learned counter — the reported count tracks subcarrier diversity, not actual occupancy. See [`edge_processing.c:481-548`](main/edge_processing.c#L481-L548).
 - **Vitals packet** -- 32-byte UDP packet at 1 Hz (magic `0xC5110002`)
 
+### What this firmware does NOT do (Tier 2 caveats)
+
+- It does **not** run a trained neural model. The "person count" is an
+  arithmetic slot-capacity heuristic over the top-K subcarrier groups
+  (`firmware/esp32-csi-node/main/edge_processing.c:481`). It tracks
+  subcarrier diversity, not actual occupancy.
+- It does **not** run pose estimation. Pose-related features in the host
+  UI come from the Rust `wifi-densepose-sensing-server` running a separate
+  pipeline. When no `.rvf` model file is loaded via `--model`, the server
+  drives the on-screen skeleton from signal-based heuristics (amplitude
+  variance, motion-band power), not from learned keypoint inference. The
+  repository does not ship pre-trained weights — see issues
+  [#509](../../issues/509) and [#506](../../issues/506) for context, and
+  [ADR-079](../../docs/adr/ADR-079-camera-supervised-pose-finetune.md) for
+  the planned training path (phases P7-P9 are `Pending`).
+- The presence indicator is a calibrated variance threshold and **will
+  false-positive** under strong RF interference from non-human sources
+  (fans near the antenna, microwave duty cycles, neighbouring AP power
+  swings) without re-running the 60-second ambient calibration. If you
+  see ghost detections, re-calibrate by power-cycling in an empty room.
+
 ### Tier 3 -- WASM Programmable Sensing (Alpha)
 
 Turns the ESP32 from a fixed-function sensor into a programmable sensing computer. Instead of reflashing firmware to change algorithms, you upload new sensing logic as small WASM modules -- compiled from Rust, packaged in signed RVF containers.
@@ -254,9 +279,10 @@ Find your serial port: `COM7` on Windows, `/dev/ttyUSB0` on Linux, `/dev/cu.SLAB
 ```bash
 python -m esptool --chip esp32s3 --port COM7 --baud 460800 \
   write_flash --flash_mode dio --flash_size 8MB \
-  0x0 firmware/esp32-csi-node/build/bootloader/bootloader.bin \
-  0x8000 firmware/esp32-csi-node/build/partition_table/partition-table.bin \
-  0x10000 firmware/esp32-csi-node/build/esp32-csi-node.bin
+  0x0     firmware/esp32-csi-node/build/bootloader/bootloader.bin \
+  0x8000  firmware/esp32-csi-node/build/partition_table/partition-table.bin \
+  0xf000  firmware/esp32-csi-node/build/ota_data_initial.bin \
+  0x20000 firmware/esp32-csi-node/build/esp32-csi-node.bin
 ```
 
 ### Serial Monitor
@@ -285,7 +311,7 @@ All settings can be changed at runtime via Non-Volatile Storage (NVS) without re
 The easiest way to write NVS settings:
 
 ```bash
-python scripts/provision.py --port COM7 \
+python firmware/esp32-csi-node/provision.py --port COM7 \
   --ssid "MyWiFi" \
   --password "MyPassword" \
   --target-ip 192.168.1.20

firmware/esp32-csi-node/provision.py

@@ -281,7 +281,7 @@ def main():
     if args.ssid:
         print(f"  WiFi SSID:     {args.ssid}")
     if args.password is not None:
-        print(f"  WiFi Password: {'*' * len(args.password)}")
+        print(f"  WiFi Password: {'(set)' if args.password else '(empty)'}")
     if args.target_ip:
         print(f"  Target IP:     {args.target_ip}")
     if args.target_port:

firmware/esp32-csi-node/test/stubs/esp_stubs.h

@@ -153,6 +153,13 @@ typedef struct {
     uint8_t primary;
 } wifi_ap_record_t;
 
+typedef enum {
+    WIFI_PS_NONE = 0,
+    WIFI_PS_MIN_MODEM = 1,
+    WIFI_PS_MAX_MODEM = 2,
+} wifi_ps_type_t;
+
+static inline esp_err_t esp_wifi_set_ps(wifi_ps_type_t type) { (void)type; return ESP_OK; }
 static inline esp_err_t esp_wifi_set_promiscuous(bool en) { (void)en; return ESP_OK; }
 static inline esp_err_t esp_wifi_set_promiscuous_rx_cb(void *cb) { (void)cb; return ESP_OK; }
 static inline esp_err_t esp_wifi_set_promiscuous_filter(wifi_promiscuous_filter_t *f) { (void)f; return ESP_OK; }

scripts/provision.py

@@ -213,7 +213,7 @@ def main():
     if args.ssid:
         print(f"  WiFi SSID:     {args.ssid}")
     if args.password is not None:
-        print(f"  WiFi Password: {'*' * len(args.password)}")
+        print(f"  WiFi Password: {'(set)' if args.password else '(empty)'}")
     if args.target_ip:
         print(f"  Target IP:     {args.target_ip}")
     if args.target_port:

scripts/qemu_swarm.py

@@ -259,11 +259,16 @@ def provision_node(
     if stale.exists():
         stale.unlink()
 
-    # Build provision.py arguments
+    # Build provision.py arguments.
+    # --force-partial: this is a per-node TDM/channel overlay; WiFi
+    # credentials live in the base flash image, not the per-node NVS slice.
+    # Without --force-partial, provision.py rejects calls missing the
+    # --ssid/--password/--target-ip trio (issue #391 guard).
     args = [
         sys.executable, str(PROVISION_SCRIPT),
         "--port", "/dev/null",
         "--dry-run",
+        "--force-partial",
         "--node-id", str(node.node_id),
         "--tdm-slot", str(node.tdm_slot),
         "--tdm-total", str(n_total),

ui/services/sensing.service.js

@@ -9,11 +9,25 @@
  * emit simulated frames so the UI can clearly distinguish live vs. fallback data.
  */
 
-// Derive WebSocket URL from the page origin so it works on any port.
-// The /ws/sensing endpoint is available on the same HTTP port (3000).
-const _wsProto = (typeof window !== 'undefined' && window.location.protocol === 'https:') ? 'wss:' : 'ws:';
-const _wsHost  = (typeof window !== 'undefined' && window.location.host) ? window.location.host : 'localhost:3000';
-const SENSING_WS_URL = `${_wsProto}//${_wsHost}/ws/sensing`;
+const SENSING_WS_PORT_BY_HTTP_PORT = {
+  // Docker image: HTTP UI/API on 3000, sensing stream on 3001.
+  '3000': '3001',
+  // Python sensing stack: UI on 8080, sensing stream on 8765.
+  '8080': '8765',
+};
+
+export function buildSensingWsUrl(locationLike = (typeof window !== 'undefined' ? window.location : null)) {
+  const protocol = locationLike && locationLike.protocol === 'https:' ? 'wss:' : 'ws:';
+  const host = locationLike && locationLike.host ? locationLike.host : 'localhost:3001';
+  const hostname = locationLike && locationLike.hostname ? locationLike.hostname : host.split(':')[0];
+  const port = locationLike && locationLike.port ? locationLike.port : '';
+  const wsPort = SENSING_WS_PORT_BY_HTTP_PORT[port];
+  const wsHost = wsPort ? `${hostname}:${wsPort}` : host;
+
+  return `${protocol}//${wsHost}/ws/sensing`;
+}
+
+const SENSING_WS_URL = buildSensingWsUrl();
 const RECONNECT_DELAYS = [1000, 2000, 4000, 8000, 16000];
 const MAX_RECONNECT_ATTEMPTS = 20;
 // Number of failed attempts that must occur before simulation starts.

ui/services/websocket.service.js

@@ -136,9 +136,22 @@ export class WebSocketService {
 
   // Set up WebSocket event handlers
   setupEventHandlers(url, ws, handlers) {
-    const connection = this.connections.get(url);
+    const getConnection = (eventName) => {
+      const connection = this.connections.get(url);
+      if (!connection) {
+        this.logger.warn(`Ignoring WebSocket ${eventName} for unregistered connection`, {
+          url,
+          readyState: ws.readyState
+        });
+        return null;
+      }
+      return connection;
+    };
 
     ws.onopen = (event) => {
+      const connection = getConnection('open');
+      if (!connection) return;
+
       const connectionTime = Date.now() - connection.connectionStartTime;
       this.logger.info(`WebSocket connected successfully`, { url, connectionTime });
       
@@ -158,6 +171,9 @@ export class WebSocketService {
     };
 
     ws.onmessage = (event) => {
+      const connection = getConnection('message');
+      if (!connection) return;
+
       connection.lastActivity = Date.now();
       connection.messageCount++;
       
@@ -188,6 +204,9 @@ export class WebSocketService {
     };
 
     ws.onerror = (event) => {
+      const connection = getConnection('error');
+      if (!connection) return;
+
       connection.errorCount++;
       this.logger.error(`WebSocket error occurred`, { 
         url, 
@@ -208,6 +227,9 @@ export class WebSocketService {
     };
 
     ws.onclose = (event) => {
+      const connection = getConnection('close');
+      if (!connection) return;
+
       const { code, reason, wasClean } = event;
       this.logger.info(`WebSocket closed`, { url, code, reason, wasClean });
       
@@ -607,4 +629,4 @@ export class WebSocketService {
 }
 
 // Create singleton instance
-export const wsService = new WebSocketService();
+export const wsService = new WebSocketService();

ui/tests/test-runner.js

@@ -3,6 +3,7 @@
 import { API_CONFIG, buildApiUrl, buildWsUrl } from '../config/api.config.js';
 import { apiService } from '../services/api.service.js';
 import { wsService } from '../services/websocket.service.js';
+import { buildSensingWsUrl } from '../services/sensing.service.js';
 import { poseService } from '../services/pose.service.js';
 import { healthService } from '../services/health.service.js';
 import { TabManager } from '../components/TabManager.js';
@@ -232,6 +233,17 @@ testRunner.test('buildWsUrl constructs WebSocket URLs', 'apiConfig', () => {
   testRunner.assert(url.includes('token=test-token'), 'URL should contain token parameter');
 });
 
+testRunner.test('buildSensingWsUrl maps Docker UI port to sensing WebSocket port', 'apiConfig', () => {
+  const url = buildSensingWsUrl({
+    protocol: 'http:',
+    host: '192.168.28.147:3000',
+    hostname: '192.168.28.147',
+    port: '3000',
+  });
+
+  testRunner.assertEqual(url, 'ws://192.168.28.147:3001/ws/sensing');
+});
+
 // API Service Tests
 testRunner.test('apiService has required methods', 'apiService', () => {
   testRunner.assert(typeof apiService.get === 'function', 'get method should exist');
@@ -473,4 +485,4 @@ document.addEventListener('DOMContentLoaded', () => {
   testRunner.updateSummary();
 });
 
-export { testRunner };
+export { testRunner };

v2/crates/wifi-densepose-sensing-server/src/host_validation.rs

@@ -0,0 +1,440 @@
+//! Host-header allowlist for the sensing-server HTTP + WS surface.
+//!
+//! Defense against DNS rebinding: when the server is bound to loopback
+//! (default `127.0.0.1`), a foreign page (e.g. `evil.com`) can lower its DNS
+//! TTL and re-resolve to `127.0.0.1` after the browser has already accepted
+//! the origin. From the browser's point of view the request is same-origin
+//! against `evil.com`, so it reads the response — even though the bytes come
+//! from the local sensing-server. Without `Host`-header validation the server
+//! happily serves the request because every other axum layer treats it as a
+//! normal connection.
+//!
+//! For RuView this means any website the user visits can stream live pose,
+//! breathing rate, and heart-rate data out of the sensing-server (`/ws/sensing`,
+//! `/api/v1/pose/current`, `/api/v1/vital-signs`, …), and trigger state-mutating
+//! POSTs (`/api/v1/recording/start`, `/api/v1/models/load`, …) when bearer-auth
+//! is not configured (the default LAN-only deployment posture from #443).
+//!
+//! The middleware here rejects any request whose `Host` header is not in the
+//! configured allowlist with `421 Misdirected Request`. Defaults cover the
+//! common local-only deployment (`localhost`, `127.0.0.1`, `[::1]` with or
+//! without `:PORT`). Operators who bind to a routable address (`--bind-addr
+//! 0.0.0.0` or a LAN IP) extend the allowlist with `--allowed-host` flags or
+//! the `SENSING_ALLOWED_HOSTS` env var.
+
+use std::collections::HashSet;
+use std::sync::Arc;
+
+use axum::{
+    extract::{Request, State},
+    http::{header::HOST, StatusCode},
+    middleware::Next,
+    response::{IntoResponse, Response},
+};
+
+/// Environment variable that supplies additional allowed hosts
+/// (comma-separated). Whitespace around each entry is trimmed; empty entries
+/// are ignored.
+pub const ALLOWED_HOSTS_ENV: &str = "SENSING_ALLOWED_HOSTS";
+
+/// Built-in allowlist entries. Each entry is also accepted with an optional
+/// trailing `:PORT` (any port).
+const DEFAULT_LOOPBACK_HOSTS: &[&str] = &["localhost", "127.0.0.1", "[::1]"];
+
+/// Cheap, cloneable handle to the configured Host allowlist.
+#[derive(Debug, Clone, Default)]
+pub struct HostAllowlist {
+    /// Lower-cased exact-match hostnames (with or without `:PORT` already
+    /// baked in). Empty set ⇒ middleware accepts everything and is a no-op,
+    /// matching the historical behaviour for callers that want to opt out.
+    entries: Arc<HashSet<String>>,
+}
+
+impl HostAllowlist {
+    /// Build an allowlist with only the default loopback names (bare and
+    /// with any `:PORT`). Use this when the server is bound to loopback and
+    /// no operator overrides have been supplied.
+    pub fn loopback_only() -> Self {
+        let mut entries: HashSet<String> = HashSet::new();
+        for h in DEFAULT_LOOPBACK_HOSTS {
+            entries.insert((*h).to_string());
+        }
+        HostAllowlist {
+            entries: Arc::new(entries),
+        }
+    }
+
+    /// Build an allowlist from an iterator of additional hostnames (each may
+    /// optionally include a `:PORT` suffix). The default loopback set is
+    /// always included so `--bind-addr 0.0.0.0` deployments do not lock out
+    /// local browsers on `http://localhost:8080/…`.
+    pub fn with_extra<I, S>(extras: I) -> Self
+    where
+        I: IntoIterator<Item = S>,
+        S: AsRef<str>,
+    {
+        let mut entries: HashSet<String> = HashSet::new();
+        for h in DEFAULT_LOOPBACK_HOSTS {
+            entries.insert((*h).to_string());
+        }
+        for h in extras {
+            let h = h.as_ref().trim();
+            if !h.is_empty() {
+                entries.insert(h.to_lowercase());
+            }
+        }
+        HostAllowlist {
+            entries: Arc::new(entries),
+        }
+    }
+
+    /// Build an allowlist by joining (a) the default loopback set, (b) any
+    /// CLI-supplied extras, and (c) the comma-separated `SENSING_ALLOWED_HOSTS`
+    /// env var. Order of precedence does not matter — the result is a set.
+    pub fn from_cli_and_env<I, S>(cli_extras: I) -> Self
+    where
+        I: IntoIterator<Item = S>,
+        S: AsRef<str>,
+    {
+        let env_extras: Vec<String> = std::env::var(ALLOWED_HOSTS_ENV)
+            .ok()
+            .map(|v| {
+                v.split(',')
+                    .map(|s| s.trim().to_string())
+                    .filter(|s| !s.is_empty())
+                    .collect()
+            })
+            .unwrap_or_default();
+        let cli_vec: Vec<String> = cli_extras
+            .into_iter()
+            .map(|s| s.as_ref().to_string())
+            .collect();
+        HostAllowlist::with_extra(cli_vec.into_iter().chain(env_extras.into_iter()))
+    }
+
+    /// Disable host-header validation entirely. Provided as an explicit escape
+    /// hatch for operators who deploy the server behind a reverse proxy that
+    /// already canonicalises `Host`, or for unit tests that need to bypass
+    /// the layer.
+    pub fn disabled() -> Self {
+        HostAllowlist::default()
+    }
+
+    /// True if the middleware will enforce host validation. `false` ⇒ no-op.
+    pub fn is_enabled(&self) -> bool {
+        !self.entries.is_empty()
+    }
+
+    /// Test-only accessor returning a sorted, lower-cased copy of the
+    /// configured allowlist. Exposed via the `pub(crate)` boundary so we can
+    /// unit-test the env-var parsing without reaching into the `Arc`.
+    pub fn entries_for_test(&self) -> Vec<String> {
+        let mut v: Vec<String> = self.entries.iter().cloned().collect();
+        v.sort();
+        v
+    }
+
+    /// Check whether `host` (the raw `Host` header value, e.g.
+    /// `127.0.0.1:8080` or `[::1]`) is permitted. Comparison is case-insensitive
+    /// on the host part; ports are matched verbatim if the allowlist entry
+    /// pins one, otherwise the port is ignored.
+    pub fn is_allowed(&self, host: &str) -> bool {
+        if self.entries.is_empty() {
+            return true;
+        }
+        let host = host.trim().to_lowercase();
+        if host.is_empty() {
+            return false;
+        }
+
+        // Exact match (e.g. allowlist contains `127.0.0.1:8080` and request
+        // sent `Host: 127.0.0.1:8080`).
+        if self.entries.contains(&host) {
+            return true;
+        }
+
+        // Match on host-only when the allowlist entry has no port and the
+        // request includes a port. Handles `Host: 127.0.0.1:8080` against
+        // `127.0.0.1` in the allowlist, and `Host: [::1]:8080` against
+        // `[::1]`.
+        let host_only = strip_port(&host);
+        if self.entries.contains(host_only) {
+            return true;
+        }
+
+        false
+    }
+}
+
+/// Strip a `:PORT` suffix from `host`, leaving the host portion. IPv6 literals
+/// are wrapped in brackets (`[::1]:PORT`) so the last `:` is the port
+/// separator; bracketed IPv6 without a port stays intact.
+fn strip_port(host: &str) -> &str {
+    if let Some(close) = host.strip_prefix('[').and_then(|_| host.find(']')) {
+        // Bracketed IPv6: `[::1]` or `[::1]:8080`.
+        if let Some(after) = host.get(close + 1..) {
+            if after.starts_with(':') {
+                return &host[..=close];
+            }
+        }
+        return host;
+    }
+    match host.rfind(':') {
+        Some(idx) => &host[..idx],
+        None => host,
+    }
+}
+
+/// Axum middleware: rejects any request whose `Host` header is not in the
+/// configured allowlist. Use with [`axum::middleware::from_fn_with_state`].
+///
+/// Behaviour:
+/// * No `Host` header → `400 Bad Request` (HTTP/1.1 requires one; HTTP/2
+///   synthesises it from `:authority`, so a missing value is a real protocol
+///   violation, not a rebinding signal).
+/// * `Host` header present but not in the allowlist → `421 Misdirected Request`.
+/// * Empty allowlist → no-op (the operator explicitly opted out).
+pub async fn require_allowed_host(
+    State(allowlist): State<HostAllowlist>,
+    request: Request,
+    next: Next,
+) -> Response {
+    if !allowlist.is_enabled() {
+        return next.run(request).await;
+    }
+    let host_header = request
+        .headers()
+        .get(HOST)
+        .and_then(|v| v.to_str().ok())
+        .map(|s| s.to_string());
+    let host_header = match host_header {
+        Some(h) => h,
+        None => {
+            return (
+                StatusCode::BAD_REQUEST,
+                "missing Host header\n",
+            )
+                .into_response();
+        }
+    };
+    if allowlist.is_allowed(&host_header) {
+        next.run(request).await
+    } else {
+        (
+            StatusCode::MISDIRECTED_REQUEST,
+            "Host header not in allowlist (DNS-rebinding defense). \
+             Set --allowed-host <name[:port]> or SENSING_ALLOWED_HOSTS=<comma-list> \
+             to permit this hostname.\n",
+        )
+            .into_response()
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use axum::{
+        body::Body,
+        http::{Request, StatusCode},
+        routing::get,
+        Router,
+    };
+    use tower::ServiceExt;
+
+    fn router(allowlist: HostAllowlist) -> Router {
+        Router::new()
+            .route("/health", get(|| async { "ok" }))
+            .route("/api/v1/pose/current", get(|| async { "ok" }))
+            .route("/ws/sensing", get(|| async { "ok" }))
+            .layer(axum::middleware::from_fn_with_state(
+                allowlist,
+                require_allowed_host,
+            ))
+    }
+
+    async fn status(router: Router, path: &str, host: Option<&str>) -> StatusCode {
+        let mut req = Request::builder().method("GET").uri(path);
+        if let Some(h) = host {
+            req = req.header(HOST, h);
+        }
+        let req = req.body(Body::empty()).unwrap();
+        router.oneshot(req).await.unwrap().status()
+    }
+
+    #[tokio::test]
+    async fn loopback_only_allows_default_hosts_with_any_port() {
+        let r = router(HostAllowlist::loopback_only());
+        for h in [
+            "localhost",
+            "localhost:8080",
+            "127.0.0.1",
+            "127.0.0.1:8080",
+            "127.0.0.1:65535",
+            "[::1]",
+            "[::1]:8080",
+        ] {
+            assert_eq!(
+                status(r.clone(), "/api/v1/pose/current", Some(h)).await,
+                StatusCode::OK,
+                "host {h} should be allowed under loopback_only()"
+            );
+        }
+    }
+
+    #[tokio::test]
+    async fn loopback_only_rejects_foreign_hosts() {
+        let r = router(HostAllowlist::loopback_only());
+        for h in [
+            "evil.com",
+            "evil.com:8080",
+            "127.0.0.1.evil.com",
+            "192.168.1.10",
+            "192.168.1.10:8080",
+            "sensing.local",
+        ] {
+            assert_eq!(
+                status(r.clone(), "/api/v1/pose/current", Some(h)).await,
+                StatusCode::MISDIRECTED_REQUEST,
+                "host {h} should be rejected under loopback_only()"
+            );
+        }
+    }
+
+    #[tokio::test]
+    async fn rejects_missing_host_header() {
+        let r = router(HostAllowlist::loopback_only());
+        assert_eq!(
+            status(r, "/api/v1/pose/current", None).await,
+            StatusCode::BAD_REQUEST,
+        );
+    }
+
+    #[tokio::test]
+    async fn rejects_empty_host_header() {
+        let r = router(HostAllowlist::loopback_only());
+        assert_eq!(
+            status(r, "/api/v1/pose/current", Some("")).await,
+            StatusCode::MISDIRECTED_REQUEST,
+        );
+    }
+
+    #[tokio::test]
+    async fn rejection_applies_to_health_and_ws_routes_too() {
+        // The whole router is fronted by the middleware — there is no
+        // bypass for `/health` or `/ws/*`, because rebinding doesn't care
+        // which route it targets, it cares about what bytes flow back.
+        let r = router(HostAllowlist::loopback_only());
+        assert_eq!(
+            status(r.clone(), "/health", Some("evil.com")).await,
+            StatusCode::MISDIRECTED_REQUEST,
+        );
+        assert_eq!(
+            status(r, "/ws/sensing", Some("evil.com")).await,
+            StatusCode::MISDIRECTED_REQUEST,
+        );
+    }
+
+    #[tokio::test]
+    async fn extras_extend_loopback_set() {
+        let r = router(HostAllowlist::with_extra(["sensing.local", "192.168.1.10"]));
+        assert_eq!(
+            status(r.clone(), "/api/v1/pose/current", Some("sensing.local")).await,
+            StatusCode::OK,
+        );
+        assert_eq!(
+            status(r.clone(), "/api/v1/pose/current", Some("sensing.local:8080")).await,
+            StatusCode::OK,
+        );
+        assert_eq!(
+            status(r.clone(), "/api/v1/pose/current", Some("192.168.1.10:8080")).await,
+            StatusCode::OK,
+        );
+        // Loopback defaults are still in:
+        assert_eq!(
+            status(r.clone(), "/api/v1/pose/current", Some("127.0.0.1")).await,
+            StatusCode::OK,
+        );
+        // Foreign hosts still rejected:
+        assert_eq!(
+            status(r, "/api/v1/pose/current", Some("evil.com")).await,
+            StatusCode::MISDIRECTED_REQUEST,
+        );
+    }
+
+    #[tokio::test]
+    async fn disabled_allowlist_is_no_op() {
+        let r = router(HostAllowlist::disabled());
+        assert_eq!(
+            status(r.clone(), "/api/v1/pose/current", Some("evil.com")).await,
+            StatusCode::OK,
+        );
+        assert_eq!(
+            status(r, "/api/v1/pose/current", None).await,
+            StatusCode::OK,
+        );
+    }
+
+    #[tokio::test]
+    async fn case_insensitive_host_match() {
+        let r = router(HostAllowlist::loopback_only());
+        for h in ["LOCALHOST", "LocalHost:8080", "127.0.0.1"] {
+            assert_eq!(
+                status(r.clone(), "/api/v1/pose/current", Some(h)).await,
+                StatusCode::OK,
+                "host {h} should be allowed (case-insensitive)"
+            );
+        }
+        let r2 = router(HostAllowlist::with_extra(["Sensing.Local"]));
+        assert_eq!(
+            status(r2, "/api/v1/pose/current", Some("sensing.local:8080")).await,
+            StatusCode::OK,
+        );
+    }
+
+    #[test]
+    fn strip_port_handles_ipv4_ipv6_and_bare_hostnames() {
+        assert_eq!(strip_port("localhost"), "localhost");
+        assert_eq!(strip_port("localhost:8080"), "localhost");
+        assert_eq!(strip_port("127.0.0.1"), "127.0.0.1");
+        assert_eq!(strip_port("127.0.0.1:8080"), "127.0.0.1");
+        assert_eq!(strip_port("[::1]"), "[::1]");
+        assert_eq!(strip_port("[::1]:8080"), "[::1]");
+        // No `:` at all
+        assert_eq!(strip_port("sensing.local"), "sensing.local");
+    }
+
+    #[test]
+    fn with_extra_trims_whitespace_and_skips_empty() {
+        let allowlist = HostAllowlist::with_extra(["  sensing.local  ", "", "192.168.1.10"]);
+        let entries = allowlist.entries_for_test();
+        assert!(entries.contains(&"sensing.local".to_string()));
+        assert!(entries.contains(&"192.168.1.10".to_string()));
+        assert!(!entries.iter().any(|s| s.is_empty()));
+    }
+
+    #[test]
+    fn loopback_only_includes_all_three_defaults() {
+        let entries = HostAllowlist::loopback_only().entries_for_test();
+        assert!(entries.contains(&"localhost".to_string()));
+        assert!(entries.contains(&"127.0.0.1".to_string()));
+        assert!(entries.contains(&"[::1]".to_string()));
+    }
+
+    #[test]
+    fn empty_input_to_with_extra_still_includes_loopback_defaults() {
+        // Calling `with_extra` with no extras (e.g. operator passed no
+        // `--allowed-host` flags) must keep the loopback defaults so a fresh
+        // 127.0.0.1 deployment isn't bricked.
+        let entries: Vec<String> = Vec::new();
+        let allowlist = HostAllowlist::with_extra(entries);
+        assert!(allowlist.is_allowed("127.0.0.1"));
+        assert!(allowlist.is_allowed("127.0.0.1:8080"));
+        assert!(allowlist.is_allowed("localhost"));
+        assert!(!allowlist.is_allowed("evil.com"));
+    }
+
+    #[test]
+    fn env_constants_are_stable() {
+        assert_eq!(ALLOWED_HOSTS_ENV, "SENSING_ALLOWED_HOSTS");
+    }
+}

v2/crates/wifi-densepose-sensing-server/src/lib.rs

@@ -4,9 +4,11 @@
 //! - Vital sign detection from WiFi CSI amplitude data
 //! - RVF (RuVector Format) binary container for model weights
 //! - Opt-in bearer-token auth for the `/api/v1/*` HTTP surface (`bearer_auth`)
+//! - Host-header allowlist / DNS-rebinding defense (`host_validation`)
 //! - Real-time CSI introspection / low-latency tap (`introspection`, ADR-099)
 
 pub mod bearer_auth;
+pub mod host_validation;
 pub mod introspection;
 pub mod vital_signs;
 pub mod rvf_container;

v2/crates/wifi-densepose-sensing-server/src/main.rs

@@ -95,6 +95,21 @@ struct Args {
     #[arg(long, default_value = "127.0.0.1", env = "SENSING_BIND_ADDR")]
     bind_addr: String,
 
+    /// Additional hostname (with or without `:PORT`) to permit in the `Host`
+    /// header — defends loopback-bound deployments against DNS rebinding.
+    /// Loopback names (`localhost`, `127.0.0.1`, `[::1]`) are always permitted
+    /// implicitly. Pass multiple times to add several entries. Comma-separated
+    /// values are also accepted via the `SENSING_ALLOWED_HOSTS` env var.
+    #[arg(long = "allowed-host", value_name = "HOST")]
+    allowed_hosts: Vec<String>,
+
+    /// Disable Host-header validation entirely. Use only when the server sits
+    /// behind a reverse proxy that already canonicalises `Host` (e.g. nginx
+    /// `proxy_set_header Host`) — bare deployments stay vulnerable to DNS
+    /// rebinding without it.
+    #[arg(long)]
+    disable_host_validation: bool,
+
     /// Data source: auto, wifi, esp32, simulate
     #[arg(long, default_value = "auto")]
     source: String,
@@ -4969,11 +4984,39 @@ async fn main() {
         );
     }
 
+    // DNS-rebinding defense: validate the `Host` header against an allowlist
+    // before any handler runs. Default is loopback-only (`localhost`,
+    // `127.0.0.1`, `[::1]`, each with or without a port). Operators extend
+    // the set via `--allowed-host` flags or the `SENSING_ALLOWED_HOSTS` env
+    // var; `--disable-host-validation` opts out entirely for reverse-proxy
+    // setups that already canonicalise `Host`.
+    let host_allowlist = if args.disable_host_validation {
+        warn!(
+            "Host-header validation DISABLED — server is reachable via any Host. \
+             Only use this behind a reverse proxy that pins Host."
+        );
+        wifi_densepose_sensing_server::host_validation::HostAllowlist::disabled()
+    } else {
+        let allowlist =
+            wifi_densepose_sensing_server::host_validation::HostAllowlist::from_cli_and_env(
+                args.allowed_hosts.iter().cloned(),
+            );
+        info!(
+            "Host-header validation ON ({} entries; loopback names always included)",
+            allowlist.entries_for_test().len()
+        );
+        allowlist
+    };
+
     // WebSocket server on dedicated port (8765)
     let ws_state = state.clone();
     let ws_app = Router::new()
         .route("/ws/sensing", get(ws_sensing_handler))
         .route("/health", get(health))
+        .layer(axum::middleware::from_fn_with_state(
+            host_allowlist.clone(),
+            wifi_densepose_sensing_server::host_validation::require_allowed_host,
+        ))
         .with_state(ws_state);
 
     let ws_addr = SocketAddr::from((bind_ip, args.ws_port));
@@ -5066,6 +5109,14 @@ async fn main() {
             bearer_auth_state.clone(),
             wifi_densepose_sensing_server::bearer_auth::require_bearer,
         ))
+        // DNS-rebinding defense: applied last so it runs first on the request
+        // path (axum layers run outermost-in). Rejects requests whose `Host`
+        // header is not in the allowlist before any handler — including
+        // `/health` and `/ws/*` — observes the body.
+        .layer(axum::middleware::from_fn_with_state(
+            host_allowlist.clone(),
+            wifi_densepose_sensing_server::host_validation::require_allowed_host,
+        ))
         .with_state(state.clone());
 
     let http_addr = SocketAddr::from((bind_ip, args.http_port));

v2/crates/wifi-densepose-sensing-server/src/vital_signs.rs

@@ -139,13 +139,15 @@ impl VitalSignDetector {
         // Cardiac-induced body surface displacement is < 0.5 mm, producing
         // tiny phase changes. Cross-subcarrier phase variance captures this
         // more sensitively than amplitude alone.
+        //
+        // Phases come from atan2() and are wrapped to (-pi, pi]. Linear mean
+        // and variance on wrapped values is wrong: two phases close across
+        // the +/-pi discontinuity (e.g. pi-eps and -pi+eps) are physically
+        // ~2*eps rad apart but produce arithmetic variance ~pi^2. Use the
+        // standard circular variance (1 - mean resultant length), which is
+        // stable across the wrap.
         let phase_var = if phase.len() > 1 {
-            let mean_phase: f64 = phase.iter().sum::<f64>() / phase.len() as f64;
-            phase
-                .iter()
-                .map(|p| (p - mean_phase).powi(2))
-                .sum::<f64>()
-                / phase.len() as f64
+            phase_circular_variance(phase)
         } else {
             // Fallback: use amplitude high-pass residual when phase is unavailable
             let half = amplitude.len() / 2;
@@ -367,6 +369,25 @@ impl VitalSignDetector {
 /// Constructs a bandpass by subtracting two lowpass filters (LPF_high - LPF_low)
 /// with a Hamming window. This is a zero-external-dependency implementation
 /// suitable for the buffer sizes we encounter (up to ~600 samples).
+/// Circular variance of wrapped phase samples in radians.
+///
+/// Returns `1 - R` where `R` is the mean resultant length of the unit-circle
+/// representation of the input. `0.0` means all samples point in the same
+/// direction; `1.0` means they are uniformly spread. Stable across the +/-pi
+/// discontinuity of `atan2`-derived phases. Returns `0.0` for inputs shorter
+/// than 2 samples.
+pub(crate) fn phase_circular_variance(phase: &[f64]) -> f64 {
+    if phase.len() < 2 {
+        return 0.0;
+    }
+    let (sin_sum, cos_sum) = phase
+        .iter()
+        .fold((0.0_f64, 0.0_f64), |(s, c), &p| (s + p.sin(), c + p.cos()));
+    let n = phase.len() as f64;
+    let r = (sin_sum * sin_sum + cos_sum * cos_sum).sqrt() / n;
+    (1.0 - r).clamp(0.0, 1.0)
+}
+
 pub fn bandpass_filter(data: &[f64], low_hz: f64, high_hz: f64, sample_rate: f64) -> Vec<f64> {
     if data.len() < 3 || sample_rate < f64::EPSILON {
         return data.to_vec();
@@ -605,6 +626,89 @@ pub fn run_benchmark(n_frames: usize) -> (std::time::Duration, std::time::Durati
 mod tests {
     use super::*;
 
+    /// Regression test for the linear-vs-circular phase variance bug.
+    ///
+    /// Two CSI subcarriers whose phases land just either side of the +/-pi
+    /// wrap are physically ~2*eps rad apart, but the previous code computed
+    /// arithmetic mean + arithmetic variance on the wrapped values, treating
+    /// them as ~2*pi apart and producing variance ~pi^2 ~= 9.87. The corrected
+    /// circular variance returns ~1e-6 for the same input.
+    #[test]
+    fn test_phase_variance_handles_wraparound() {
+        // Two phases ~0.002 rad apart, straddling the +/-pi discontinuity.
+        let phases = [PI - 0.001, -PI + 0.001];
+
+        let v = phase_circular_variance(&phases);
+        assert!(
+            v < 0.01,
+            "circular variance of nearly-identical wrapped phases must be tiny, got {v}"
+        );
+
+        // For reference, the *old* (buggy) linear formula on the same input
+        // produced ~9.87. Document that gap here so the assertion above
+        // explicitly fails on any regression to the linear computation.
+        let mean_linear: f64 = phases.iter().sum::<f64>() / phases.len() as f64;
+        let v_linear_buggy: f64 = phases
+            .iter()
+            .map(|p| (p - mean_linear).powi(2))
+            .sum::<f64>()
+            / phases.len() as f64;
+        assert!(
+            v_linear_buggy > 9.0,
+            "sanity: linear formula on wrapped input should be ~pi^2, got {v_linear_buggy}"
+        );
+    }
+
+    /// End-to-end: `process_frame` must not blow up `heartbeat_buffer` when
+    /// the input phases happen to straddle the +/-pi wrap. Anyone can run this
+    /// against `main` (with the inline linear-formula bug) and observe the
+    /// stored value of ~9.86; with the fix it is ~1e-6.
+    #[test]
+    fn test_process_frame_handles_wrapped_phases() {
+        let mut detector = VitalSignDetector::new(20.0);
+        let amp = vec![1.0_f64; 8];
+        // 8 subcarriers, all physically ~aligned at ~+/-pi, alternating sign.
+        let phase = vec![
+            PI - 0.001, -PI + 0.001, PI - 0.001, -PI + 0.001,
+            PI - 0.001, -PI + 0.001, PI - 0.001, -PI + 0.001,
+        ];
+
+        detector.process_frame(&amp, &phase);
+
+        let stored = *detector
+            .heartbeat_buffer
+            .back()
+            .expect("process_frame should push exactly one phase_var");
+
+        assert!(
+            stored < 0.1,
+            "phase_var pushed into heartbeat_buffer should be near 0 for \
+             physically-aligned wrapped phases, got {stored}. The linear \
+             (buggy) formula produces ~pi^2 = 9.87 here; the circular \
+             (fixed) formula produces ~1e-6."
+        );
+    }
+
+    /// Diametrically opposite phases must yield maximum circular variance.
+    #[test]
+    fn test_phase_variance_opposite_phases() {
+        let v = phase_circular_variance(&[0.0, PI]);
+        assert!(
+            v > 0.99,
+            "two opposite phases must give circular variance near 1.0, got {v}"
+        );
+    }
+
+    /// Identical phases must yield zero circular variance, even far from zero.
+    #[test]
+    fn test_phase_variance_identical_phases() {
+        let v = phase_circular_variance(&[2.5, 2.5, 2.5, 2.5]);
+        assert!(
+            v < 1e-9,
+            "identical phases must give circular variance ~0, got {v}"
+        );
+    }
+
     #[test]
     fn test_fft_magnitude_dc() {
         let signal = vec![1.0; 8];

vendor/midstream

@@ -1 +1 @@
-Subproject commit 30fe5eb7a1f1494aa1ad00d54160088a565ec766
+Subproject commit 8f70d2bb9d64a8ddee7745bc18bc4ff9e151845e

vendor/ruvector

@@ -1 +1 @@
-Subproject commit 050c3fe6f878981250cb62d4003f47b42d290973
+Subproject commit 53f0419782a472d0a8cc683673667e79f3c350bb

vendor/rvcsi

@@ -1 +1 @@
-Subproject commit acd5689d9f995dc9952bc924268d42e52aae547f
+Subproject commit 72891d740f92903c78a8208a9069f6c82a4d1cc2

verify

@@ -19,9 +19,9 @@
 set -euo pipefail
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-PROOF_DIR="${SCRIPT_DIR}/v1/data/proof"
+PROOF_DIR="${SCRIPT_DIR}/archive/v1/data/proof"
 VERIFY_PY="${PROOF_DIR}/verify.py"
-V1_SRC="${SCRIPT_DIR}/v1/src"
+V1_SRC="${SCRIPT_DIR}/archive/v1/src"
 
 # Colors (disabled if not a terminal)
 if [ -t 1 ]; then