From 73bee9ea6df58d99e829594f275a4e35dc7df6b7 Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Sun, 1 Feb 2026 16:52:43 +0000
Subject: [PATCH 01/20] upgrade Visualizer

---
 pylabrobot/visualizer/img/logo.png  |  Bin 0 -> 162290 bytes
 pylabrobot/visualizer/index.html    |  250 +++-
 pylabrobot/visualizer/lib.js        | 1699 ++++++++++++++++++++++++++-
 pylabrobot/visualizer/main.css      |  664 ++++++++++-
 pylabrobot/visualizer/vis.js        |   29 +-
 pylabrobot/visualizer/visualizer.py |  137 ++-
 6 files changed, 2717 insertions(+), 62 deletions(-)
 create mode 100644 pylabrobot/visualizer/img/logo.png

diff --git a/pylabrobot/visualizer/img/logo.png b/pylabrobot/visualizer/img/logo.png
new file mode 100644
index 0000000000000000000000000000000000000000..affe21787f7a6a573604e972c9fe52121875a721
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diff --git a/pylabrobot/visualizer/index.html b/pylabrobot/visualizer/index.html
index 8ba6ddea3ce..75fbdeffd74 100644
--- a/pylabrobot/visualizer/index.html
+++ b/pylabrobot/visualizer/index.html
@@ -5,6 +5,7 @@
     <meta http-equiv="X-UA-Compatible" content="IE=edge" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
     <title>PyLabRobot Visualizer</title>
+    <link rel="icon" type="image/png" href="/favicon.png" />
     <link
       rel="stylesheet"
       href="https://cdn.jsdelivr.net/npm/bootstrap-icons@1.8.3/font/bootstrap-icons.css"
@@ -15,17 +16,156 @@
       integrity="sha384-1BmE4kWBq78iYhFldvKuhfTAU6auU8tT94WrHftjDbrCEXSU1oBoqyl2QvZ6jIW3"
       crossorigin="anonymous"
     />
-    <link href="./main.css" rel="stylesheet" />
+    <link href="./main.css?v=2" rel="stylesheet" />
   </head>
 
   <body>
     <nav class="navbar bg-light">
       <div class="container-fluid">
-        <a class="navbar-brand" href="#">
-          PyLabRobot Visualizer <span class="fs-6 text-muted">(v0.1)</span></a
+        <button id="toolbar-left-toggle" class="toolbar-left-toggle" title="Tools Panel">
+          <svg width="27" height="27" viewBox="0 0 24 24" fill="#333" stroke="none">
+            <path d="M22.7 19l-9.1-9.1c.9-2.3.4-5-1.5-6.9-2-2-5-2.4-7.4-1.3L9 6 6 9 1.6 4.7C.4 7.1.9 10.1 2.9 12.1c1.9 1.9 4.6 2.4 6.9 1.5l9.1 9.1c.4.4 1 .4 1.4 0l2.3-2.3c.5-.4.5-1.1.1-1.4z"/>
+          </svg>
+        </button>
+        <div class="navbar-divider"></div>
+        <a class="navbar-brand" href="#" style="display: flex; align-items: center;">
+          <img src="/favicon.png" alt="Logo" style="height: 42px; margin-right: 8px;">
+          PyLabRobot Visualizer
+          <span id="source-filename" style="margin-left: 20px; font-size: 18px; font-weight: 700; color: #333;">{{ source_filename }}</span></a
         >
 
-        <div class="recording-stuff">
+
+        <div class="status-box">
+          <span onclick="openSocket();" id="status-indicator"></span>
+          <span id="status-label">Loading...</span>
+        </div>
+        <div class="navbar-divider"></div>
+        <button id="toolbar-right-toggle" class="toolbar-right-toggle" title="Inspector Panel">
+          <svg width="30" height="30" viewBox="0 0 40 40" fill="#333" stroke="none">
+            <!-- Hat crown -->
+            <path d="M12 14c0-5 3.5-9 8-9s8 4 8 9H12z"/>
+            <!-- Hat band -->
+            <rect x="12" y="13" width="16" height="1.5" fill="#dde1e5"/>
+            <!-- Hat brim -->
+            <ellipse cx="20" cy="15" rx="13" ry="3"/>
+            <!-- Hair sides -->
+            <path d="M11 16c0 0-1 2-1 4h2c0-2 0.5-3 0.5-3z"/>
+            <path d="M29 16c0 0 1 2 1 4h-2c0-2-0.5-3-0.5-3z"/>
+            <!-- Face (blank oval) -->
+            <ellipse cx="20" cy="22" rx="6" ry="7" fill="#dde1e5"/>
+            <!-- Neck -->
+            <rect x="18" y="28" width="4" height="3" fill="#dde1e5"/>
+            <!-- Coat body -->
+            <path d="M8 40V32c0-2 2-4 5-5l7 5 7-5c3 1 5 3 5 5v8z"/>
+            <!-- Lapel left -->
+            <path d="M13 27l7 5v8H8V32c0-2 2-3.5 5-5z" fill="#333"/>
+            <path d="M13.5 27.5l6 4.5v7" fill="none" stroke="#dde1e5" stroke-width="0.8"/>
+            <!-- Lapel right -->
+            <path d="M27 27l-7 5v8h12V32c0-2-2-3.5-5-5z" fill="#333"/>
+            <path d="M26.5 27.5l-6 4.5v7" fill="none" stroke="#dde1e5" stroke-width="0.8"/>
+            <!-- Tie -->
+            <polygon points="20,30 18.5,33 20,40 21.5,33" fill="#333"/>
+            <!-- Shirt triangle -->
+            <polygon points="18,30 20,32 22,30" fill="#dde1e5"/>
+          </svg>
+        </button>
+      </div>
+    </nav>
+
+    <div class="content">
+      <aside id="toolbar-left">
+        <div class="toolbar-section">
+          <button class="toolbar-btn active" id="toolbar-cursor-btn" title="Select">
+            <svg width="18" height="18" viewBox="0 0 20 20" fill="#333" stroke="none">
+              <path d="M4 1 L4 16 L8.5 12 L13 18 L15 17 L10.5 11 L16 10 Z"/>
+            </svg>
+          </button>
+        </div>
+        <div class="toolbar-section">
+          <button class="toolbar-btn" id="toolbar-coords-btn" title="Get Location">
+            <svg width="18" height="18" viewBox="3 3 14 14" fill="none" stroke="#333" stroke-width="1.8" stroke-linecap="round">
+              <circle cx="10" cy="10" r="4.2"/>
+              <circle cx="10" cy="10" r="1" fill="#333"/>
+              <line x1="10" y1="3" x2="10" y2="5"/>
+              <line x1="10" y1="15" x2="10" y2="17"/>
+              <line x1="3" y1="10" x2="5" y2="10"/>
+              <line x1="15" y1="10" x2="17" y2="10"/>
+            </svg>
+          </button>
+        </div>
+        <div class="toolbar-section">
+          <button class="toolbar-btn" id="toolbar-gif-btn" title="GIF Recording">
+            <span style="font-size: 17px; line-height: 1;">🎥</span>
+          </button>
+        </div>
+      </aside>
+      <main>
+        <div id="kanvas"></div>
+        <div id="coords-panel" class="tool-panel" style="display: none;">
+          <div class="tool-panel-title">Resource location...</div>
+          <div class="tool-panel-axes">
+            <div class="tool-panel-row">
+              <span class="tool-panel-label" style="color: #b02a37;">x</span>
+              <select class="tool-panel-select" id="coords-x-ref">
+                <option value="left" selected>left</option>
+                <option value="center">center</option>
+                <option value="right">right</option>
+              </select>
+            </div>
+            <div class="tool-panel-row">
+              <span class="tool-panel-label" style="color: #146c43;">y</span>
+              <select class="tool-panel-select" id="coords-y-ref">
+                <option value="front" selected>front</option>
+                <option value="center">center</option>
+                <option value="back">back</option>
+              </select>
+            </div>
+            <div class="tool-panel-row">
+              <span class="tool-panel-label" style="color: #1a4b8c;">z</span>
+              <select class="tool-panel-select" id="coords-z-ref">
+                <option value="bottom" selected>bottom</option>
+                <option value="center">center</option>
+                <option value="top">top</option>
+                <option value="cavity_bottom">cavity_bottom</option>
+              </select>
+            </div>
+          </div>
+          <div class="tool-panel-row tool-panel-row-full">
+            <span class="tool-panel-label" style="color: #555;" title="with regards to">wrt</span>
+            <select class="tool-panel-select" id="coords-wrt-ref" title="with regards to">
+              <option value="root" selected>(abs)</option>
+            </select>
+          </div>
+          <div class="tool-panel-axes">
+            <div class="tool-panel-row">
+              <span class="tool-panel-label" style="color: #b02a37;">x</span>
+              <select class="tool-panel-select" id="coords-wrt-x-ref">
+                <option value="left" selected>left</option>
+                <option value="center">center</option>
+                <option value="right">right</option>
+              </select>
+            </div>
+            <div class="tool-panel-row">
+              <span class="tool-panel-label" style="color: #146c43;">y</span>
+              <select class="tool-panel-select" id="coords-wrt-y-ref">
+                <option value="front" selected>front</option>
+                <option value="center">center</option>
+                <option value="back">back</option>
+              </select>
+            </div>
+            <div class="tool-panel-row">
+              <span class="tool-panel-label" style="color: #1a4b8c;">z</span>
+              <select class="tool-panel-select" id="coords-wrt-z-ref">
+                <option value="bottom" selected>bottom</option>
+                <option value="center">center</option>
+                <option value="top">top</option>
+                <option value="cavity_bottom">cavity_bottom</option>
+              </select>
+            </div>
+          </div>
+        </div>
+        <div id="gif-panel" class="tool-panel" style="display: none;">
+          <div class="tool-panel-title">GIF Recording</div>
           <div class="gif-box" id="gif-start">
             <div class="frame-rate">
               <p id="current-value">Frame Save Interval: 8</p>
@@ -42,22 +182,18 @@
                 <span class="fr-bound">96</span>
               </div>
             </div>
-
             <button id="start-recording-button" class="btn btn-primary">
               Start Recording
             </button>
           </div>
-
           <div class="gif-box" id="gif-recording">
             <button id="stop-recording-button" class="btn btn-danger">
               Stop Recording
             </button>
           </div>
-
           <div class="gif-box" id="gif-processing">
             <div id="progressBar" style="font-size: 18px"></div>
           </div>
-
           <div class="gif-box" id="gif-download">
             <input
               type="text"
@@ -70,18 +206,92 @@
             </button>
           </div>
         </div>
-
-        <div class="ml-auto">
-          <span onclick="openSocket();" id="status-indicator"></span>
-          <span id="status-label">Loading...</span>
+        <div id="home-button" title="Reset view">
+          <svg width="28" height="28" viewBox="0 0 20 20">
+            <path d="M10 1L1 9h3v8h5v-5h2v5h5V9h3L10 1z" fill="#888"/>
+          </svg>
+        </div>
+        <div id="axis-legend">
+          <svg width="60" height="60" viewBox="0 0 60 60">
+            <!-- X axis arrow (red, pointing right) -->
+            <line x1="10" y1="50" x2="52" y2="50" stroke="#dc3545" stroke-width="3"/>
+            <polygon points="55,50 47,45 47,55" fill="#dc3545"/>
+            <text x="54" y="42" fill="#dc3545" font-size="15" font-weight="700" text-anchor="middle">x</text>
+            <!-- Y axis arrow (green, pointing up) -->
+            <line x1="10" y1="50" x2="10" y2="8" stroke="#198754" stroke-width="3"/>
+            <polygon points="10,5 5,13 15,13" fill="#198754"/>
+            <text x="23" y="11" fill="#198754" font-size="15" font-weight="700" text-anchor="middle">y</text>
+          </svg>
+        </div>
+        <div id="scale-bar">
+          <div id="scale-bar-line"></div>
+          <span id="scale-bar-label"></span>
         </div>
-      </div>
-    </nav>
-
-    <div class="content">
-      <main>
-        <div id="kanvas"></div>
       </main>
+
+      <aside id="sidepanel">
+        <div class="sidepanel-resize-handle" id="sidepanel-resize-handle"></div>
+        <div class="sidepanel-header">
+          <span class="sidepanel-title">Workcell Tree</span>
+          <div class="sidepanel-header-actions">
+            <button class="tree-action-btn" id="expand-all-btn" title="Expand to depth">
+              <svg width="14" height="14" viewBox="0 0 14 14" fill="none" stroke="#555" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round">
+                <polyline points="3,5 7,9 11,5"/>
+                <line x1="3" y1="1" x2="11" y2="1"/>
+              </svg>
+            </button>
+            <button class="tree-action-btn" id="collapse-all-btn" title="Collapse to depth">
+              <svg width="14" height="14" viewBox="0 0 14 14" fill="none" stroke="#555" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round">
+                <polyline points="3,9 7,5 11,9"/>
+                <line x1="3" y1="13" x2="11" y2="13"/>
+              </svg>
+            </button>
+            <input type="number" id="tree-depth-input" class="tree-depth-input" value="1" min="0" max="20" title="Depth levels below root">
+          </div>
+        </div>
+        <div id="resource-tree"></div>
+        <div id="search-view" style="display: none;">
+          <div class="search-header">
+            <input type="text" id="search-input" class="search-input" placeholder="Search resource by name...">
+            <div class="search-filters">
+              <span class="search-filters-label">Include:</span>
+              <label class="search-filter-label">
+                <input type="checkbox" id="search-include-wells"> Wells
+              </label>
+              <label class="search-filter-label">
+                <input type="checkbox" id="search-include-tips"> Tips
+              </label>
+              <label class="search-filter-label">
+                <input type="checkbox" id="search-include-sites" checked> Sites
+              </label>
+            </div>
+          </div>
+          <div id="search-results"></div>
+        </div>
+      </aside>
+      <aside id="toolbar">
+        <div class="toolbar-section">
+          <button class="toolbar-btn active" id="toolbar-tree-btn" title="Workcell Tree">
+            <svg width="20" height="20" viewBox="0 0 20 20" fill="#333">
+              <rect x="1" y="2" width="6" height="3" rx="1"/>
+              <rect x="9" y="8" width="6" height="3" rx="1"/>
+              <rect x="9" y="14" width="6" height="3" rx="1"/>
+              <line x1="4" y1="5" x2="4" y2="9.5" stroke="#333" stroke-width="1.5" fill="none"/>
+              <line x1="4" y1="9.5" x2="9" y2="9.5" stroke="#333" stroke-width="1.5" fill="none"/>
+              <line x1="4" y1="9.5" x2="4" y2="15.5" stroke="#333" stroke-width="1.5" fill="none"/>
+              <line x1="4" y1="15.5" x2="9" y2="15.5" stroke="#333" stroke-width="1.5" fill="none"/>
+            </svg>
+          </button>
+        </div>
+        <div class="toolbar-section">
+          <button class="toolbar-btn" id="toolbar-search-btn" title="Search">
+            <svg width="18" height="18" viewBox="0 0 20 20" fill="none" stroke="#333" stroke-width="2.2" stroke-linecap="round" stroke-linejoin="round">
+              <circle cx="8.5" cy="8.5" r="5.5"/>
+              <line x1="13" y1="13" x2="18" y2="18"/>
+            </svg>
+          </button>
+        </div>
+      </aside>
     </div>
 
     <!-- Load JavaScript libraries -->
@@ -94,8 +304,8 @@
     <script src="https://cdnjs.cloudflare.com/ajax/libs/jszip/3.7.1/jszip.min.js"></script>
 
     <!-- Load custom scripts -->
-    <script src="./lib.js"></script>
-    <script src="./vis.js"></script>
+    <script src="./lib.js?v=2"></script>
+    <script src="./vis.js?v=2"></script>
 
     <input type="text" id="fs_port" value="{{ fs_port }}" hidden />
     <input type="text" id="ws_port" value="{{ ws_port }}" hidden />
diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index 8c463d8d5c2..061801d3a87 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -34,11 +34,150 @@ var stage;
 var selectedResource;
 
 var canvasWidth, canvasHeight;
+var activeTool = "cursor"; // "cursor" or "coords"
+
+function buildWrtDropdown() {
+  var wrtSelect = document.getElementById("coords-wrt-ref");
+  if (!wrtSelect) return;
+  var prevValue = wrtSelect.value;
+  wrtSelect.innerHTML = '';
+
+  // Collect all visible (not inside a collapsed container) resources from the sidebar tree.
+  var tree = document.getElementById("resource-tree");
+  if (!tree) return;
+
+  function collectVisible(container) {
+    var items = [];
+    var nodes = container.querySelectorAll(":scope > .tree-node");
+    for (var i = 0; i < nodes.length; i++) {
+      var node = nodes[i];
+      var name = node.dataset.resourceName;
+      if (name) items.push(name);
+      // Recurse into children if not collapsed
+      var childrenDiv = node.querySelector(":scope > .tree-node-children");
+      if (childrenDiv && !childrenDiv.classList.contains("collapsed")) {
+        items = items.concat(collectVisible(childrenDiv));
+      }
+    }
+    return items;
+  }
+
+  var visibleNames = collectVisible(tree);
+
+  for (var i = 0; i < visibleNames.length; i++) {
+    var opt = document.createElement("option");
+    opt.value = visibleNames[i];
+    opt.textContent = visibleNames[i];
+    wrtSelect.appendChild(opt);
+  }
+
+  // Restore previous selection if still valid
+  var allValues = Array.from(wrtSelect.options).map(function (o) { return o.value; });
+  if (allValues.indexOf(prevValue) >= 0) {
+    wrtSelect.value = prevValue;
+  } else if (visibleNames.length > 0) {
+    wrtSelect.value = visibleNames[0];
+  }
+}
+
+function updateCoordsPanel(resource) {
+  // No-op; dropdown is built once via buildWrtDropdown.
+}
+
+function getAncestorAtDepth(resource, depth) {
+  // Walk up from the resource to the sidebar root, skipping deck-like
+  // intermediaries (same flattening as the sidebar).
+  var rawChain = [];
+  var cur = resource;
+  while (cur) {
+    rawChain.unshift(cur);
+    if (sidebarRootResource && cur === sidebarRootResource) break;
+    cur = cur.parent;
+  }
+  var displayChain = [];
+  for (var i = 0; i < rawChain.length; i++) {
+    // Keep the root (index 0) and skip deck-like intermediaries
+    if (i > 0 && isDeckLike(rawChain[i])) continue;
+    // Also skip ResourceHolder intermediaries
+    if (i > 0 && isResourceHolder(rawChain[i])) continue;
+    displayChain.push(rawChain[i]);
+  }
+  if (depth < displayChain.length) return displayChain[depth];
+  return null;
+}
+
+function getWrtAnchorOffset(wrtResource) {
+  var xRef = document.getElementById("coords-wrt-x-ref");
+  var yRef = document.getElementById("coords-wrt-y-ref");
+  var zRef = document.getElementById("coords-wrt-z-ref");
+
+  var xOff = 0;
+  if (xRef && xRef.value === "center") xOff = wrtResource.size_x / 2;
+  else if (xRef && xRef.value === "right") xOff = wrtResource.size_x;
+
+  var yOff = 0;
+  if (yRef && yRef.value === "center") yOff = wrtResource.size_y / 2;
+  else if (yRef && yRef.value === "back") yOff = wrtResource.size_y;
+
+  var zOff = 0;
+  var zNA = false;
+  if (zRef) {
+    if (zRef.value === "center") zOff = wrtResource.size_z / 2;
+    else if (zRef.value === "top") zOff = wrtResource.size_z;
+    else if (zRef.value === "cavity_bottom") {
+      if (wrtResource instanceof Container && wrtResource.material_z_thickness != null) {
+        zOff = wrtResource.material_z_thickness;
+      }
+    }
+  }
+
+  return { x: xOff, y: yOff, z: zOff };
+}
+
+function getLocationWrt(resource, wrtName) {
+  // If wrt is the sidebar root, return absolute location.
+  if (sidebarRootResource && wrtName === sidebarRootResource.name) {
+    return resource.getAbsoluteLocation();
+  }
+  var wrtResource = resources[wrtName];
+  if (!wrtResource) return resource.getAbsoluteLocation();
+  var abs = resource.getAbsoluteLocation();
+  var wrtAbs = wrtResource.getAbsoluteLocation();
+  var wrtOff = getWrtAnchorOffset(wrtResource);
+  return {
+    x: abs.x - (wrtAbs.x + wrtOff.x),
+    y: abs.y - (wrtAbs.y + wrtOff.y),
+    z: (abs.z || 0) - ((wrtAbs.z || 0) + wrtOff.z),
+  };
+}
 
 var scaleX, scaleY;
 
 var resources = {}; // name -> Resource object
 
+var homeView = null; // saved initial view {x, y, scaleX, scaleY}
+var rootResource = null; // the root resource for fit-to-viewport
+
+function fitToViewport() {
+  if (!rootResource || !stage) return;
+  const padding = 40;
+  const stageW = stage.width();
+  const stageH = stage.height();
+  const viewW = stageW - padding * 2;
+  const viewH = stageH - padding * 2;
+  const fitScale = Math.min(viewW / rootResource.size_x, viewH / rootResource.size_y, 1);
+
+  stage.scaleX(fitScale);
+  stage.scaleY(-fitScale);
+
+  const centerX = (stageW - rootResource.size_x * fitScale) / 2;
+  const centerY = (stageH + rootResource.size_y * fitScale) / 2 - stageH * fitScale;
+  stage.x(centerX);
+  stage.y(centerY);
+
+  if (typeof updateScaleBar === "function") updateScaleBar();
+}
+
 let trash;
 
 let gif;
@@ -222,13 +361,15 @@ class Resource {
     this.size_z = size_z;
     this.location = location;
     this.parent = parent;
+    this.resourceType = resourceData.type || this.constructor.name;
+    this.category = resourceData.category || "";
 
     this.color = "#5B6D8F";
 
     this.children = [];
     for (let i = 0; i < children.length; i++) {
       const child = children[i];
-      const childClass = classForResourceType(child.type);
+      const childClass = classForResourceType(child.type, child.category);
       const childInstance = new childClass(child, this);
       this.assignChild(childInstance);
 
@@ -286,6 +427,39 @@ class Resource {
         if (tooltip !== undefined) {
           tooltip.destroy();
         }
+        var labelText;
+        if (activeTool === "coords") {
+          const xRef = document.getElementById("coords-x-ref");
+          const yRef = document.getElementById("coords-y-ref");
+          const zRef = document.getElementById("coords-z-ref");
+          const wrtRef = document.getElementById("coords-wrt-ref");
+          const wrtName = wrtRef ? wrtRef.value : "root";
+          const base = getLocationWrt(this, wrtName);
+          const xOff = !xRef || xRef.value === "left" ? 0 : xRef.value === "center" ? this.size_x / 2 : this.size_x;
+          const yOff = !yRef || yRef.value === "front" ? 0 : yRef.value === "center" ? this.size_y / 2 : this.size_y;
+          var zOff = 0;
+          var zNA = false;
+          if (zRef) {
+            if (zRef.value === "center") zOff = this.size_z / 2;
+            else if (zRef.value === "top") zOff = this.size_z;
+            else if (zRef.value === "cavity_bottom") {
+              if (this instanceof Container && this.material_z_thickness != null) {
+                zOff = this.material_z_thickness;
+              } else {
+                zNA = true;
+              }
+            }
+          }
+          const cx = base.x + xOff;
+          const cy = base.y + yOff;
+          const cz = (base.z || 0) + zOff;
+          const czStr = zNA ? "na" : cz.toFixed(1);
+          const isAbsolute = sidebarRootResource && wrtName === sidebarRootResource.name;
+          const wrtLabel = isAbsolute ? "abs" : "wrt " + wrtName;
+          labelText = `${this.name}\n${wrtLabel}: (${cx.toFixed(1)}, ${cy.toFixed(1)}, ${czStr}) mm`;
+        } else {
+          labelText = this.tooltipLabel();
+        }
         tooltip = new Konva.Label({
           x: x + this.size_x / 2,
           y: y + this.size_y / 2,
@@ -306,18 +480,30 @@ class Resource {
         );
         tooltip.add(
           new Konva.Text({
-            text: this.tooltipLabel(),
+            text: labelText,
             fontFamily: "Arial",
-            fontSize: 18,
+            fontSize: activeTool === "coords" ? 14 : 18,
             padding: 5,
             fill: "white",
           })
         );
         tooltip.scaleY(-1);
         layer.add(tooltip);
+        if (typeof highlightSidebarRow === "function") {
+          highlightSidebarRow(this.name);
+        }
+        if (activeTool === "coords") {
+          updateCoordsPanel(this);
+        }
       });
       this.mainShape.on("mouseout", () => {
         tooltip.destroy();
+        if (typeof clearSidebarHighlight === "function") {
+          clearSidebarHighlight();
+        }
+        if (activeTool === "coords") {
+          updateCoordsPanel(null);
+        }
       });
     }
   }
@@ -708,9 +894,10 @@ class Plate extends Resource {
 class Container extends Resource {
   constructor(resourceData, parent) {
     super(resourceData, parent);
-    const { max_volume } = resourceData;
+    const { max_volume, material_z_thickness } = resourceData;
     this.maxVolume = max_volume;
     this.volume = resourceData.volume || 0;
+    this.material_z_thickness = material_z_thickness;
   }
 
   static colorForVolume(volume, maxVolume) {
@@ -1019,7 +1206,7 @@ class LiquidHandler extends Resource {
 // Utility for mapping resource type strings to classes
 // ===========================================================================
 
-function classForResourceType(type) {
+function classForResourceType(type, category) {
   switch (type) {
     case "Deck":
       return Deck;
@@ -1065,13 +1252,53 @@ function classForResourceType(type) {
       return TubeRack;
     case "Tube":
       return Tube;
+    default:
+      break;
+  }
+
+  // Fall back to category for unrecognized type names (e.g. concrete carrier subclasses).
+  switch (category) {
+    case "tip_carrier":
+      return TipCarrier;
+    case "plate_carrier":
+      return PlateCarrier;
+    case "trough_carrier":
+      return TroughCarrier;
+    case "tube_carrier":
+      return TubeCarrier;
+    case "carrier":
+    case "mfx_carrier":
+      return Carrier;
+    case "deck":
+      return Deck;
+    case "liquid_handler":
+      return LiquidHandler;
+    case "tip_rack":
+      return TipRack;
+    case "plate":
+      return Plate;
+    case "well":
+      return Well;
+    case "tip_spot":
+      return TipSpot;
+    case "resource_holder":
+      return ResourceHolder;
+    case "plate_holder":
+      return PlateHolder;
+    case "tube_rack":
+      return TubeRack;
+    case "tube":
+      return Tube;
+    case "container":
+    case "trough":
+      return Container;
     default:
       return Resource;
   }
 }
 
 function loadResource(resourceData) {
-  const resourceClass = classForResourceType(resourceData.type);
+  const resourceClass = classForResourceType(resourceData.type, resourceData.category);
 
   const parentName = resourceData.parent_name;
   var parent = undefined;
@@ -1082,6 +1309,12 @@ function loadResource(resourceData) {
   const resource = new resourceClass(resourceData, parent);
   resources[resource.name] = resource;
 
+  // If the resource has a parent, ensure it's registered in the parent's children list.
+  // The constructor sets this.parent but doesn't add to parent.children.
+  if (parent && !parent.children.includes(resource)) {
+    parent.assignChild(resource);
+  }
+
   return resource;
 }
 
@@ -1103,29 +1336,12 @@ window.addEventListener("load", function () {
   stage.scaleY(-1);
   stage.offsetY(canvasHeight);
 
-  let minX = -(1 / 2) * canvasWidth;
-  let minY = -(1 / 2) * canvasHeight;
-  let maxX = (1 / 2) * canvasWidth;
-  let maxY = (1 / 2) * canvasHeight;
-
-  // limit draggable area to size of canvas
-  stage.dragBoundFunc(function (pos) {
-    // Set the bounds of the draggable area to 1/2 off the canvas.
-    let newX = Math.max(minX, Math.min(maxX, pos.x));
-    let newY = Math.max(minY, Math.min(maxY, pos.y));
-
-    return {
-      x: newX,
-      y: newY,
-    };
-  });
-
-  // add white background
+  // add white background (large enough to cover any pan position)
   var background = new Konva.Rect({
-    x: minX,
-    y: minY,
-    width: canvasWidth - minX + maxX,
-    height: canvasHeight - minY + maxY,
+    x: -5000,
+    y: -5000,
+    width: 10000,
+    height: 10000,
     fill: "white",
     listening: false,
   });
@@ -1136,6 +1352,81 @@ window.addEventListener("load", function () {
 
   layer.add(background);
 
+  // Scale bar update: picks a round mm value that fits ~80-120px on screen.
+  function updateScaleBar() {
+    const scale = stage.scaleX(); // CSS pixels per mm
+    // Choose a nice round distance whose bar width falls near 100px
+    const niceSteps = [1, 2, 5, 10, 20, 50, 100, 200, 500, 1000];
+    let bestMM = niceSteps[0];
+    for (let i = 0; i < niceSteps.length; i++) {
+      if (niceSteps[i] * scale >= 60) {
+        bestMM = niceSteps[i];
+        break;
+      }
+      bestMM = niceSteps[i];
+    }
+    const barPx = bestMM * scale;
+    const barLine = document.getElementById("scale-bar-line");
+    const barLabel = document.getElementById("scale-bar-label");
+    if (barLine) barLine.style.width = barPx + "px";
+    if (barLabel) barLabel.textContent = bestMM + " mm";
+  }
+
+  // Mouse wheel zoom
+  const scaleBy = 1.1;
+  stage.on("wheel", function (e) {
+    e.evt.preventDefault();
+    const oldScale = stage.scaleX();
+    const pointer = stage.getPointerPosition();
+
+    // scaleY is negative (flipped), so use absolute value for uniform zoom
+    const mousePointTo = {
+      x: (pointer.x - stage.x()) / oldScale,
+      y: (pointer.y - stage.y()) / stage.scaleY(),
+    };
+
+    const direction = e.evt.deltaY > 0 ? -1 : 1;
+    const newScale = direction > 0 ? oldScale * scaleBy : oldScale / scaleBy;
+
+    // Clamp zoom level
+    const clampedScale = Math.max(0.1, Math.min(10, newScale));
+
+    stage.scaleX(clampedScale);
+    stage.scaleY(-clampedScale); // keep Y flipped
+
+    const newPos = {
+      x: pointer.x - mousePointTo.x * clampedScale,
+      y: pointer.y - mousePointTo.y * (-clampedScale),
+    };
+    stage.position(newPos);
+    updateScaleBar();
+  });
+
+  updateScaleBar();
+
+  // Keep Konva stage sized to its container when the layout changes
+  // (e.g. sidebar expand/collapse/resize, window resize).
+  const resizeObserver = new ResizeObserver(function () {
+    const newWidth = canvas.offsetWidth;
+    const newHeight = canvas.offsetHeight;
+    if (newWidth > 0 && newHeight > 0) {
+      stage.width(newWidth);
+      stage.height(newHeight);
+      stage.offsetY(newHeight);
+    }
+  });
+  resizeObserver.observe(canvas);
+
+  // Home button: reset view to initial position and zoom
+  const homeBtn = document.getElementById("home-button");
+  if (homeBtn) {
+    homeBtn.addEventListener("click", function () {
+      fitToViewport();
+      homeBtn.classList.add("clicked");
+      setTimeout(function () { homeBtn.classList.remove("clicked"); }, 400);
+    });
+  }
+
   // Check if there is an after stage setup callback, and if so, call it.
   if (typeof afterStageSetup === "function") {
     afterStageSetup();
@@ -1302,3 +1593,1355 @@ window.addEventListener("load", function () {
   gifResetUI();
   gifShowStartUI();
 });
+
+// ===========================================================================
+// Sidepanel Resource Tree
+// ===========================================================================
+
+var sidepanelSelectedResource = null;
+var sidebarRootResource = null;
+var sidepanelHighlightRect = null;
+var sidepanelHoverRect = null;
+var sidepanelHoverGlow = null;
+
+function getResourceTypeName(resource) {
+  return resource.constructor.name;
+}
+
+function getResourceColor(resource) {
+  const typeName = getResourceTypeName(resource);
+  return RESOURCE_COLORS[typeName] || RESOURCE_COLORS["Resource"];
+}
+
+function isTipRackLike(resource) {
+  return resource.category === "tip_rack" ||
+    resource instanceof TipRack ||
+    (resource.children.length > 0 && resource.children[0] instanceof TipSpot);
+}
+
+function isPlateLike(resource) {
+  return resource.category === "plate" ||
+    resource instanceof Plate ||
+    (resource.children.length > 0 && resource.children[0] instanceof Well);
+}
+
+function isTubeRackLike(resource) {
+  return resource.category === "tube_rack" ||
+    resource instanceof TubeRack ||
+    (resource.children.length > 0 && resource.children[0] instanceof Tube);
+}
+
+function isCarrierLike(resource) {
+  return resource instanceof Carrier ||
+    ["carrier", "tip_carrier", "plate_carrier", "trough_carrier", "tube_carrier"]
+      .includes(resource.category);
+}
+
+function getResourceSummary(resource) {
+  if (isTipRackLike(resource)) {
+    const totalSpots = resource.children.length;
+    let tipsPresent = 0;
+    for (let i = 0; i < resource.children.length; i++) {
+      if (resource.children[i].has_tip) {
+        tipsPresent++;
+      }
+    }
+    return `${tipsPresent}/${totalSpots} tips`;
+  }
+
+  if (isPlateLike(resource)) {
+    const numChildren = resource.children.length;
+    return `${numChildren} wells`;
+  }
+
+  if (isTubeRackLike(resource)) {
+    const numChildren = resource.children.length;
+    return `${numChildren} tubes`;
+  }
+
+  if (resource instanceof Container) {
+    const vol = resource.getVolume();
+    if (vol > 0) {
+      return `${vol.toFixed(1)} \u00B5L`;
+    }
+    return "";
+  }
+
+  if (isCarrierLike(resource)) {
+    // Count meaningful children (skip empty resource holders)
+    let childCount = 0;
+    let childType = "";
+    for (let i = 0; i < resource.children.length; i++) {
+      const holder = resource.children[i];
+      if (holder.children && holder.children.length > 0) {
+        childCount++;
+        if (!childType && holder.children[0]) {
+          childType = (holder.children[0].resourceType || "item").toLowerCase() + "s";
+        }
+      }
+    }
+    if (childCount > 0) {
+      return `${childCount} ${childType}`;
+    }
+    return `${resource.children.length} sites`;
+  }
+
+  return "";
+}
+
+function isResourceHolder(resource) {
+  return resource instanceof ResourceHolder || resource instanceof PlateHolder ||
+    resource.category === "resource_holder" || resource.category === "plate_holder";
+}
+
+function isDeckLike(resource) {
+  return resource instanceof Deck || resource instanceof LiquidHandler ||
+    ["deck", "liquid_handler"].includes(resource.category);
+}
+
+// Get the "display children" of a resource, skipping invisible intermediaries
+// like ResourceHolders, and flattening Deck/LiquidHandler wrappers.
+function getDisplayChildren(resource) {
+  if (isDeckLike(resource)) {
+    // Flatten: collect all children, recursing through nested decks/LiquidHandlers
+    let result = [];
+    for (let i = 0; i < resource.children.length; i++) {
+      const child = resource.children[i];
+      if (isDeckLike(child)) {
+        result = result.concat(getDisplayChildren(child));
+      } else {
+        result.push(child);
+      }
+    }
+    return result;
+  }
+
+  if (isCarrierLike(resource)) {
+    // Return one entry per slot. Each entry is {index, resource} or {index, empty: true}.
+    let result = [];
+    for (let i = 0; i < resource.children.length; i++) {
+      const holder = resource.children[i];
+      if (isResourceHolder(holder) && holder.children.length > 0) {
+        for (let j = 0; j < holder.children.length; j++) {
+          result.push({ index: i, resource: holder.children[j] });
+        }
+      } else if (isResourceHolder(holder)) {
+        result.push({ index: i, empty: true, holderName: holder.name });
+      } else {
+        result.push({ index: i, resource: holder });
+      }
+    }
+    // Sort by high y to low y; when y is equal, sort by ascending x.
+    function getSlotLocation(entry) {
+      if (entry.empty) return resource.children[entry.index].location;
+      return entry.resource.parent ? entry.resource.parent.location : entry.resource.location;
+    }
+    result.sort((a, b) => {
+      const al = getSlotLocation(a);
+      const bl = getSlotLocation(b);
+      if (bl.y !== al.y) return bl.y - al.y;
+      return al.x - bl.x;
+    });
+    // Assign display indices: for vertical layouts (varying y), use n,...,1,0 top to bottom.
+    // For horizontal layouts (same y, varying x), use 0,...,n-1 left to right.
+    const allSameY = result.length > 1 && result.every(function (e) {
+      return getSlotLocation(e).y === getSlotLocation(result[0]).y;
+    });
+    for (let i = 0; i < result.length; i++) {
+      result[i].index = allSameY ? i : result.length - 1 - i;
+    }
+    return result;
+  }
+
+  // Leaf containers: don't show individual wells/tips/tubes
+  if (isTipRackLike(resource) || isPlateLike(resource) || isTubeRackLike(resource)) {
+    return [];
+  }
+
+  return resource.children || [];
+}
+
+function buildEmptySlotDOM(index, depth, holderName) {
+  const node = document.createElement("div");
+  node.className = "tree-node tree-node-empty";
+
+  const row = document.createElement("div");
+  row.className = "tree-node-row empty-slot";
+  row.style.paddingLeft = (8 + depth * 16) + "px";
+
+  const arrow = document.createElement("span");
+  arrow.className = "tree-node-arrow";
+
+  const indexSpan = document.createElement("span");
+  indexSpan.className = "tree-node-index";
+  indexSpan.textContent = index;
+
+  const nameSpan = document.createElement("span");
+  nameSpan.className = "tree-node-name empty";
+  nameSpan.textContent = "<empty>";
+
+  row.appendChild(arrow);
+  row.appendChild(indexSpan);
+  row.appendChild(nameSpan);
+  node.appendChild(row);
+
+  // Hover to highlight the resource holder on canvas
+  if (holderName) {
+    row.addEventListener("mouseenter", function () {
+      showHoverHighlight(holderName);
+    });
+    row.addEventListener("mouseleave", function () {
+      clearHoverHighlight();
+    });
+  }
+
+  return node;
+}
+
+function buildTreeNodeDOM(resource, depth, slotIndex) {
+  const node = document.createElement("div");
+  node.className = "tree-node";
+  node.dataset.resourceName = resource.name;
+
+  const row = document.createElement("div");
+  row.className = "tree-node-row";
+  row.style.paddingLeft = (8 + depth * 16) + "px";
+
+  const displayChildren = getDisplayChildren(resource);
+  // Carrier children are {index, resource} objects; others are plain resources
+  const isCarrier = isCarrierLike(resource);
+  const hasVisibleChildren = displayChildren.length > 0;
+
+  // Arrow
+  const arrow = document.createElement("span");
+  arrow.className = "tree-node-arrow";
+  if (hasVisibleChildren) {
+    arrow.classList.add("has-children");
+    arrow.textContent = "\u25BC";
+  }
+
+  // Slot index (shown for resources inside a carrier)
+  if (slotIndex !== undefined) {
+    const indexSpan = document.createElement("span");
+    indexSpan.className = "tree-node-index";
+    indexSpan.textContent = slotIndex;
+    row.appendChild(arrow);
+    row.appendChild(indexSpan);
+  } else {
+    // Color dot (only for top-level items without a slot index)
+    const dot = document.createElement("span");
+    dot.className = "tree-node-dot";
+    dot.style.backgroundColor = getResourceColor(resource);
+    row.appendChild(arrow);
+    row.appendChild(dot);
+  }
+
+  // Name
+  const nameSpan = document.createElement("span");
+  nameSpan.className = "tree-node-name";
+  nameSpan.textContent = resource.name;
+  nameSpan.title = `${resource.name} (${resource.resourceType})`;
+
+  // Type label
+  const typeSpan = document.createElement("span");
+  typeSpan.className = "tree-node-type";
+  typeSpan.textContent = resource.resourceType;
+
+  // Info summary
+  const info = document.createElement("span");
+  info.className = "tree-node-info";
+  info.textContent = getResourceSummary(resource);
+
+  row.appendChild(nameSpan);
+  row.appendChild(typeSpan);
+  row.appendChild(info);
+  node.appendChild(row);
+
+  // Hover row to show yellow highlight on canvas
+  row.addEventListener("mouseenter", function () {
+    showHoverHighlight(resource.name);
+  });
+  row.addEventListener("mouseleave", function () {
+    clearHoverHighlight();
+  });
+
+  // Click row to select + show UML panel on canvas (single click only)
+  var clickTimer = null;
+  row.addEventListener("click", function (e) {
+    e.stopPropagation();
+    if (clickTimer) { clearTimeout(clickTimer); clickTimer = null; return; }
+    clickTimer = setTimeout(function () {
+      clickTimer = null;
+      showUmlPanel(resource.name);
+    }, 250);
+  });
+
+  // Double-click row to focus/zoom on resource
+  row.addEventListener("dblclick", function (e) {
+    e.stopPropagation();
+    if (clickTimer) { clearTimeout(clickTimer); clickTimer = null; }
+    focusOnResource(resource.name);
+  });
+
+  // Click arrow to toggle children
+  if (hasVisibleChildren) {
+    arrow.addEventListener("click", function (e) {
+      e.stopPropagation();
+      const childrenContainer = node.querySelector(":scope > .tree-node-children");
+      if (childrenContainer) {
+        const isCollapsed = childrenContainer.classList.toggle("collapsed");
+        arrow.textContent = isCollapsed ? "\u25B6" : "\u25BC";
+        buildWrtDropdown();
+      }
+    });
+  }
+
+  // Build children
+  if (hasVisibleChildren) {
+    const childrenDiv = document.createElement("div");
+    childrenDiv.className = "tree-node-children";
+    for (let i = 0; i < displayChildren.length; i++) {
+      const entry = displayChildren[i];
+      if (isCarrier && entry.empty) {
+        childrenDiv.appendChild(buildEmptySlotDOM(entry.index, depth + 1, entry.holderName));
+      } else if (isCarrier && entry.resource) {
+        childrenDiv.appendChild(buildTreeNodeDOM(entry.resource, depth + 1, entry.index));
+      } else {
+        childrenDiv.appendChild(buildTreeNodeDOM(entry, depth + 1));
+      }
+    }
+    node.appendChild(childrenDiv);
+  }
+
+  return node;
+}
+
+function buildResourceTree(rootResource) {
+  const treeContainer = document.getElementById("resource-tree");
+  if (!treeContainer) return;
+  treeContainer.innerHTML = "";
+  if (!rootResource) return;
+  sidebarRootResource = rootResource;
+
+  // Build a root node for the master resource (e.g. LiquidHandler)
+  const rootNode = document.createElement("div");
+  rootNode.className = "tree-node";
+  rootNode.dataset.resourceName = rootResource.name;
+
+  const rootRow = document.createElement("div");
+  rootRow.className = "tree-node-row";
+  rootRow.style.paddingLeft = "8px";
+
+  const rootArrow = document.createElement("span");
+  rootArrow.className = "tree-node-arrow has-children";
+  rootArrow.textContent = "\u25BC";
+
+  const rootDot = document.createElement("span");
+  rootDot.className = "tree-node-dot";
+  rootDot.style.backgroundColor = getResourceColor(rootResource);
+
+  const rootName = document.createElement("span");
+  rootName.className = "tree-node-name";
+  rootName.textContent = rootResource.name;
+  rootName.title = `${rootResource.name} (${rootResource.resourceType})`;
+
+  const rootType = document.createElement("span");
+  rootType.className = "tree-node-type";
+  rootType.textContent = rootResource.resourceType;
+
+  rootRow.appendChild(rootArrow);
+  rootRow.appendChild(rootDot);
+  rootRow.appendChild(rootName);
+  rootRow.appendChild(rootType);
+  rootNode.appendChild(rootRow);
+
+  rootRow.addEventListener("mouseenter", function () {
+    showHoverHighlight(rootResource.name);
+  });
+  rootRow.addEventListener("mouseleave", function () {
+    clearHoverHighlight();
+  });
+  var rootClickTimer = null;
+  rootRow.addEventListener("click", function (e) {
+    e.stopPropagation();
+    if (rootClickTimer) { clearTimeout(rootClickTimer); rootClickTimer = null; return; }
+    rootClickTimer = setTimeout(function () {
+      rootClickTimer = null;
+      showUmlPanel(rootResource.name);
+    }, 250);
+  });
+  rootRow.addEventListener("dblclick", function (e) {
+    e.stopPropagation();
+    if (rootClickTimer) { clearTimeout(rootClickTimer); rootClickTimer = null; }
+    focusOnResource(rootResource.name);
+  });
+
+  // Build deck-level children inside the root node
+  const topChildren = getDisplayChildren(rootResource);
+  topChildren.sort((a, b) => {
+    const ax = a.location ? a.location.x : (a.getAbsoluteLocation ? a.getAbsoluteLocation().x : 0);
+    const bx = b.location ? b.location.x : (b.getAbsoluteLocation ? b.getAbsoluteLocation().x : 0);
+    return ax - bx;
+  });
+
+  const childrenDiv = document.createElement("div");
+  childrenDiv.className = "tree-node-children";
+  for (let i = 0; i < topChildren.length; i++) {
+    childrenDiv.appendChild(buildTreeNodeDOM(topChildren[i], 1));
+  }
+  rootNode.appendChild(childrenDiv);
+
+  rootArrow.addEventListener("click", function (e) {
+    e.stopPropagation();
+    const isCollapsed = childrenDiv.classList.toggle("collapsed");
+    rootArrow.textContent = isCollapsed ? "\u25B6" : "\u25BC";
+  });
+
+  treeContainer.appendChild(rootNode);
+  buildWrtDropdown();
+}
+
+function addResourceToTree(resource) {
+  if (!resource || !resource.parent) return;
+  const treeContainer = document.getElementById("resource-tree");
+  if (!treeContainer) return;
+
+  // Find the parent node in the tree
+  const parentNode = treeContainer.querySelector(
+    `.tree-node[data-resource-name="${CSS.escape(resource.parent.name)}"]`
+  );
+  if (!parentNode) {
+    // Parent not in tree; rebuild the whole tree
+    const rootName = Object.keys(resources).find(
+      (n) => resources[n] && !resources[n].parent
+    );
+    if (rootName) buildResourceTree(resources[rootName]);
+    return;
+  }
+
+  // Rebuild the parent node's subtree to reflect the new child
+  const parentResource = resources[resource.parent.name];
+  if (!parentResource) return;
+  const depth = getResourceDepth(parentResource);
+  const newParentNode = buildTreeNodeDOM(parentResource, depth);
+
+  parentNode.replaceWith(newParentNode);
+}
+
+function removeResourceFromTree(resourceName) {
+  const treeContainer = document.getElementById("resource-tree");
+  if (!treeContainer) return;
+
+  const node = treeContainer.querySelector(
+    `.tree-node[data-resource-name="${CSS.escape(resourceName)}"]`
+  );
+  if (node) {
+    // Find the parent tree-node and rebuild it
+    const parentTreeNode = node.parentElement && node.parentElement.closest(".tree-node");
+    if (parentTreeNode) {
+      const parentName = parentTreeNode.dataset.resourceName;
+      const parentResource = resources[parentName];
+      if (parentResource) {
+        const depth = getResourceDepth(parentResource);
+        const newNode = buildTreeNodeDOM(parentResource, depth);
+        parentTreeNode.replaceWith(newNode);
+        return;
+      }
+    }
+    node.remove();
+  }
+}
+
+function getResourceDepth(resource) {
+  let depth = 0;
+  let current = resource;
+  while (current.parent) {
+    depth++;
+    current = current.parent;
+  }
+  return depth;
+}
+
+function updateSidepanelState(resourceName) {
+  const treeContainer = document.getElementById("resource-tree");
+  if (!treeContainer) return;
+
+  const resource = resources[resourceName];
+  if (!resource) return;
+
+  // For tip spots and wells, update the parent summary instead
+  if (resource instanceof TipSpot || resource instanceof Well || resource instanceof Tube) {
+    if (resource.parent) {
+      updateSidepanelNodeInfo(resource.parent.name);
+    }
+    return;
+  }
+
+  updateSidepanelNodeInfo(resourceName);
+}
+
+function updateSidepanelNodeInfo(resourceName) {
+  const treeContainer = document.getElementById("resource-tree");
+  if (!treeContainer) return;
+
+  const resource = resources[resourceName];
+  if (!resource) return;
+
+  const node = treeContainer.querySelector(
+    `.tree-node[data-resource-name="${CSS.escape(resourceName)}"]`
+  );
+  if (!node) return;
+
+  const infoSpan = node.querySelector(":scope > .tree-node-row > .tree-node-info");
+  if (infoSpan) {
+    infoSpan.textContent = getResourceSummary(resource);
+  }
+}
+
+function showHoverHighlight(resourceName) {
+  clearHoverHighlight();
+  const resource = resources[resourceName];
+  if (!resource || !resource.group) return;
+  const absPos = resource.getAbsoluteLocation();
+  // Outer glow rect (turquoise shadow, no fill)
+  sidepanelHoverGlow = new Konva.Rect({
+    x: absPos.x,
+    y: absPos.y,
+    width: resource.size_x,
+    height: resource.size_y,
+    stroke: "rgba(0, 220, 220, 0.7)",
+    strokeWidth: 2,
+    shadowColor: "rgba(0, 220, 220, 0.8)",
+    shadowBlur: 12,
+    shadowOffsetX: 0,
+    shadowOffsetY: 0,
+    listening: false,
+  });
+  // Inner fill rect (yellow, no shadow)
+  sidepanelHoverRect = new Konva.Rect({
+    x: absPos.x,
+    y: absPos.y,
+    width: resource.size_x,
+    height: resource.size_y,
+    fill: "rgba(255, 230, 0, 0.25)",
+    listening: false,
+  });
+  resourceLayer.add(sidepanelHoverGlow);
+  resourceLayer.add(sidepanelHoverRect);
+  resourceLayer.draw();
+}
+
+function clearHoverHighlight() {
+  if (sidepanelHoverGlow) {
+    sidepanelHoverGlow.destroy();
+    sidepanelHoverGlow = null;
+  }
+  if (sidepanelHoverRect) {
+    sidepanelHoverRect.destroy();
+    sidepanelHoverRect = null;
+  }
+  resourceLayer.draw();
+}
+
+function highlightSidebarRow(resourceName) {
+  clearSidebarHighlight();
+  const tree = document.getElementById("resource-tree");
+  if (!tree) return;
+  const nodes = tree.querySelectorAll(".tree-node");
+  const nodeByName = {};
+  for (const node of nodes) {
+    if (node.dataset.resourceName) {
+      nodeByName[node.dataset.resourceName] = node;
+    }
+  }
+  // Walk up the parent chain until we find a resource with a sidebar entry.
+  let name = resourceName;
+  while (name) {
+    if (nodeByName[name]) {
+      const row = nodeByName[name].querySelector(":scope > .tree-node-row");
+      if (row) {
+        row.classList.add("canvas-hover");
+        row.scrollIntoView({ block: "nearest" });
+      }
+      return;
+    }
+    const res = resources[name];
+    if (res && res.parent) {
+      name = res.parent.name;
+    } else {
+      break;
+    }
+  }
+}
+
+function clearSidebarHighlight() {
+  const tree = document.getElementById("resource-tree");
+  if (!tree) return;
+  const highlighted = tree.querySelectorAll(".tree-node-row.canvas-hover");
+  for (const row of highlighted) {
+    row.classList.remove("canvas-hover");
+  }
+}
+
+function highlightResourceOnCanvas(resourceName) {
+  const resource = resources[resourceName];
+  if (!resource) return;
+
+  // Update selected state in tree
+  const treeContainer = document.getElementById("resource-tree");
+  if (treeContainer) {
+    const prev = treeContainer.querySelector(".tree-node-row.selected");
+    if (prev) prev.classList.remove("selected");
+
+    const node = treeContainer.querySelector(
+      `.tree-node[data-resource-name="${CSS.escape(resourceName)}"]`
+    );
+    if (node) {
+      const row = node.querySelector(":scope > .tree-node-row");
+      if (row) row.classList.add("selected");
+    }
+  }
+
+  // Remove previous highlight
+  if (sidepanelHighlightRect) {
+    sidepanelHighlightRect.destroy();
+    sidepanelHighlightRect = null;
+  }
+
+  if (!resource.group) return;
+
+  // Get absolute position on the canvas
+  const absPos = resource.getAbsoluteLocation();
+
+  // Draw a highlight rectangle on the resource layer
+  sidepanelHighlightRect = new Konva.Rect({
+    x: absPos.x - 2,
+    y: absPos.y - 2,
+    width: resource.size_x + 4,
+    height: resource.size_y + 4,
+    stroke: "#0d6efd",
+    strokeWidth: 2,
+    dash: [6, 3],
+    listening: false,
+  });
+  resourceLayer.add(sidepanelHighlightRect);
+  resourceLayer.draw();
+
+  // Auto-remove highlight after 2 seconds
+  setTimeout(function () {
+    if (sidepanelHighlightRect) {
+      sidepanelHighlightRect.destroy();
+      sidepanelHighlightRect = null;
+      resourceLayer.draw();
+    }
+  }, 2000);
+}
+
+function focusOnResource(resourceName) {
+  var resource = resources[resourceName];
+  if (!resource || !stage) return;
+
+  var absPos = resource.getAbsoluteLocation();
+  var padding = 60;
+  var stageW = stage.width();
+  var stageH = stage.height();
+  var viewW = stageW - padding * 2;
+  var viewH = stageH - padding * 2;
+  var fitScale = Math.min(viewW / resource.size_x, viewH / resource.size_y);
+
+  // Adaptive max zoom based on resource size (smaller resources get more zoom)
+  var resourceArea = resource.size_x * resource.size_y;
+  var maxScale;
+  if (resourceArea > 50000) maxScale = 2;       // large (e.g. deck, carrier)
+  else if (resourceArea > 5000) maxScale = 5;   // medium (e.g. plate, tiprack)
+  else if (resourceArea > 500) maxScale = 10;   // small (e.g. well, tipspot)
+  else maxScale = 15;                            // tiny
+  fitScale = Math.min(fitScale, maxScale);
+
+  stage.scaleX(fitScale);
+  stage.scaleY(-fitScale);
+
+  // Center the resource in the viewport
+  var centerX = (stageW - resource.size_x * fitScale) / 2 - absPos.x * fitScale;
+  var centerY = (stageH + resource.size_y * fitScale) / 2 + absPos.y * fitScale - stageH * fitScale;
+  stage.x(centerX);
+  stage.y(centerY);
+
+  if (typeof updateScaleBar === "function") updateScaleBar();
+  stage.batchDraw();
+
+  // Also highlight the resource
+  highlightResourceOnCanvas(resourceName);
+}
+
+// Expand/collapse tree nodes to a given depth
+function getTreeDepthLimit() {
+  var input = document.getElementById("tree-depth-input");
+  if (!input) return 1;
+  var val = parseInt(input.value, 10);
+  return isNaN(val) || val < 0 ? 1 : val;
+}
+
+function setTreeNodeExpansion(node, depth, maxDepth, expand) {
+  var children = node.querySelectorAll(":scope > .tree-node-children > .tree-node");
+  var childrenContainer = node.querySelector(":scope > .tree-node-children");
+  var arrow = node.querySelector(":scope > .tree-node-row > .tree-node-arrow.has-children");
+  if (!childrenContainer) return;
+
+  if (expand && depth < maxDepth) {
+    childrenContainer.classList.remove("collapsed");
+    if (arrow) arrow.textContent = "\u25BC";
+  } else if (!expand && depth >= maxDepth) {
+    childrenContainer.classList.add("collapsed");
+    if (arrow) arrow.textContent = "\u25B6";
+  }
+
+  children.forEach(function (child) {
+    setTreeNodeExpansion(child, depth + 1, maxDepth, expand);
+  });
+}
+
+function getMaxTreeDepth(container, depth) {
+  var maxD = depth;
+  var nodes = container.querySelectorAll(":scope > .tree-node");
+  for (var i = 0; i < nodes.length; i++) {
+    var childrenDiv = nodes[i].querySelector(":scope > .tree-node-children");
+    if (childrenDiv) {
+      var childMax = getMaxTreeDepth(childrenDiv, depth + 1);
+      if (childMax > maxD) maxD = childMax;
+    }
+  }
+  return maxD;
+}
+
+function expandAllTreeNodes() {
+  var tree = document.getElementById("resource-tree");
+  if (!tree) return;
+  tree.querySelectorAll(".tree-node-children.collapsed").forEach(function (el) {
+    el.classList.remove("collapsed");
+  });
+  tree.querySelectorAll(".tree-node-arrow.has-children").forEach(function (el) {
+    el.textContent = "\u25BC";
+  });
+  var depthInput = document.getElementById("tree-depth-input");
+  if (depthInput) {
+    depthInput.value = getMaxTreeDepth(tree, 0);
+  }
+  buildWrtDropdown();
+}
+
+function collapseAllTreeNodes() {
+  var tree = document.getElementById("resource-tree");
+  if (!tree) return;
+  var maxDepth = getTreeDepthLimit();
+  var roots = tree.querySelectorAll(":scope > .tree-node");
+  roots.forEach(function (root) {
+    setTreeNodeExpansion(root, 0, maxDepth, false);
+  });
+  buildWrtDropdown();
+}
+
+// Sidepanel collapse toggle, resize, expand/collapse all
+window.addEventListener("load", function () {
+  var expandBtn = document.getElementById("expand-all-btn");
+  var collapseBtn = document.getElementById("collapse-all-btn");
+  if (expandBtn) expandBtn.addEventListener("click", expandAllTreeNodes);
+  if (collapseBtn) collapseBtn.addEventListener("click", collapseAllTreeNodes);
+
+  var depthInput = document.getElementById("tree-depth-input");
+  if (depthInput) {
+    depthInput.addEventListener("input", function () {
+      collapseAllTreeNodes();
+    });
+  }
+
+  // Left toolbar tool switching
+  var cursorBtn = document.getElementById("toolbar-cursor-btn");
+  var coordsBtn = document.getElementById("toolbar-coords-btn");
+  var coordsPanel = document.getElementById("coords-panel");
+  var gifBtn = document.getElementById("toolbar-gif-btn");
+  var gifPanel = document.getElementById("gif-panel");
+  function setActiveTool(tool) {
+    activeTool = tool === "gif" ? "cursor" : tool;
+    if (cursorBtn) cursorBtn.classList.toggle("active", tool === "cursor");
+    if (coordsBtn) coordsBtn.classList.toggle("active", tool === "coords");
+    if (gifBtn) gifBtn.classList.toggle("active", tool === "gif");
+    if (coordsPanel) coordsPanel.style.display = tool === "coords" ? "" : "none";
+    if (gifPanel) gifPanel.style.display = tool === "gif" ? "" : "none";
+    if (tool !== "coords") updateCoordsPanel(null);
+  }
+  if (cursorBtn) cursorBtn.addEventListener("click", function () { setActiveTool("cursor"); });
+  if (coordsBtn) coordsBtn.addEventListener("click", function () { setActiveTool("coords"); });
+  if (gifBtn) gifBtn.addEventListener("click", function () { setActiveTool("gif"); });
+
+  // Left toolbar collapse toggle
+  var leftToggle = document.getElementById("toolbar-left-toggle");
+  var leftToolbar = document.getElementById("toolbar-left");
+  if (leftToggle && leftToolbar) {
+    leftToggle.addEventListener("click", function () {
+      leftToolbar.classList.toggle("collapsed");
+    });
+  }
+
+  const toggle = document.getElementById("toolbar-tree-btn");
+  const searchBtn = document.getElementById("toolbar-search-btn");
+  const panel = document.getElementById("sidepanel");
+  const treeHeader = document.querySelector(".sidepanel-header");
+  const treeView = document.getElementById("resource-tree");
+  const searchView = document.getElementById("search-view");
+  const searchInput = document.getElementById("search-input");
+
+  var sidepanelWidthBeforeCollapse = null;
+
+  function setSidepanelView(view) {
+    // Ensure sidepanel is visible
+    if (panel.classList.contains("collapsed")) {
+      panel.classList.remove("collapsed");
+      if (sidepanelWidthBeforeCollapse) {
+        panel.style.width = sidepanelWidthBeforeCollapse;
+      } else {
+        panel.style.width = "";
+      }
+    }
+
+    if (view === "tree") {
+      treeHeader.style.display = "";
+      treeView.style.display = "";
+      searchView.style.display = "none";
+      toggle.classList.add("active");
+      searchBtn.classList.remove("active");
+    } else if (view === "search") {
+      treeHeader.style.display = "none";
+      treeView.style.display = "none";
+      searchView.style.display = "";
+      toggle.classList.remove("active");
+      searchBtn.classList.add("active");
+      searchInput.focus();
+    }
+  }
+
+  if (toggle && panel) {
+    toggle.addEventListener("click", function () {
+      if (!panel.classList.contains("collapsed") && toggle.classList.contains("active")) {
+        // Already showing tree — collapse
+        sidepanelWidthBeforeCollapse = panel.style.width || panel.offsetWidth + "px";
+        panel.style.width = "";
+        panel.classList.add("collapsed");
+        toggle.classList.remove("active");
+      } else {
+        setSidepanelView("tree");
+      }
+    });
+  }
+
+  if (searchBtn && panel) {
+    searchBtn.addEventListener("click", function () {
+      if (!panel.classList.contains("collapsed") && searchBtn.classList.contains("active")) {
+        // Already showing search — collapse
+        sidepanelWidthBeforeCollapse = panel.style.width || panel.offsetWidth + "px";
+        panel.style.width = "";
+        panel.classList.add("collapsed");
+        searchBtn.classList.remove("active");
+      } else {
+        setSidepanelView("search");
+      }
+    });
+  }
+
+  // Fuzzy search on resources
+  function fuzzyMatch(query, text) {
+    query = query.toLowerCase();
+    text = text.toLowerCase();
+    var qi = 0;
+    for (var ti = 0; ti < text.length && qi < query.length; ti++) {
+      if (text[ti] === query[qi]) qi++;
+    }
+    return qi === query.length;
+  }
+
+  function fuzzyScore(query, text) {
+    query = query.toLowerCase();
+    text = text.toLowerCase();
+    // Prioritize: exact match > starts with > contains > fuzzy
+    if (text === query) return 4;
+    if (text.startsWith(query)) return 3;
+    if (text.indexOf(query) !== -1) return 2;
+    return 1;
+  }
+
+  // Collect all resources with a sort key matching the Workcell Tree display order.
+  // Each resource gets a hierarchical key [topX, depth, slotIndex, ...] for sorting.
+  function getResourcesInTreeOrder() {
+    if (!rootResource) return [];
+    var result = [];
+
+    function addResource(res, sortKey) {
+      result.push({ resource: res, sortKey: sortKey });
+    }
+
+    // Get top-level children (deck items) sorted by x
+    var topChildren = getDisplayChildren(rootResource);
+    topChildren.sort(function (a, b) {
+      var ax = a.location ? a.location.x : 0;
+      var bx = b.location ? b.location.x : 0;
+      return ax - bx;
+    });
+
+    addResource(rootResource, [-1]); // root first
+
+    for (var ti = 0; ti < topChildren.length; ti++) {
+      var topChild = topChildren[ti];
+      var topKey = [ti];
+      addResource(topChild, topKey);
+
+      // Carrier children — include sites (resource holders) for search
+      var carrierChildren = getDisplayChildren(topChild);
+      for (var ci = 0; ci < carrierChildren.length; ci++) {
+        var entry = carrierChildren[ci];
+        // Insert the site holder before its child at this slot
+        if (isCarrierLike(topChild) && entry.index !== undefined) {
+          var holder = topChild.children[entry.index];
+          if (holder && isResourceHolder(holder)) {
+            addResource(holder, topKey.concat([ci, 0]));
+          }
+        }
+        var child = entry.resource || entry;
+        if (!child || entry.empty) continue;
+        addResource(child, topKey.concat([ci, 1]));
+
+        // Leaf children (wells/tips) not shown in tree
+        if (isTipRackLike(child) || isPlateLike(child) || isTubeRackLike(child)) {
+          for (var li = 0; li < (child.children || []).length; li++) {
+            addResource(child.children[li], topKey.concat([ci, 1, li]));
+          }
+        }
+
+        // Deeper children
+        var subChildren = getDisplayChildren(child);
+        for (var si = 0; si < subChildren.length; si++) {
+          var subEntry = subChildren[si];
+          var subChild = subEntry.resource || subEntry;
+          if (!subChild || subEntry.empty) continue;
+          addResource(subChild, topKey.concat([ci, 1, si]));
+        }
+      }
+
+      // If top-level item is itself a leaf rack (not on a carrier)
+      if (isTipRackLike(topChild) || isPlateLike(topChild) || isTubeRackLike(topChild)) {
+        for (var li = 0; li < (topChild.children || []).length; li++) {
+          addResource(topChild.children[li], topKey.concat([li]));
+        }
+      }
+    }
+
+    // Sort by hierarchical key
+    result.sort(function (a, b) {
+      var ka = a.sortKey, kb = b.sortKey;
+      for (var i = 0; i < Math.min(ka.length, kb.length); i++) {
+        if (ka[i] !== kb[i]) return ka[i] - kb[i];
+      }
+      return ka.length - kb.length;
+    });
+
+    // Deduplicate (sites may appear for each child in the same slot)
+    var seen = {};
+    var deduped = [];
+    for (var i = 0; i < result.length; i++) {
+      var name = result[i].resource.name;
+      if (!seen[name]) {
+        seen[name] = true;
+        deduped.push(result[i].resource);
+      }
+    }
+    return deduped;
+  }
+
+  function performSearch(query) {
+    var resultsDiv = document.getElementById("search-results");
+    if (!resultsDiv) return;
+    resultsDiv.innerHTML = "";
+
+    if (!query || query.trim() === "") return;
+
+    var includeWells = document.getElementById("search-include-wells");
+    var showWells = includeWells && includeWells.checked;
+    var includeTips = document.getElementById("search-include-tips");
+    var showTips = includeTips && includeTips.checked;
+    var includeSites = document.getElementById("search-include-sites");
+    var showSites = includeSites && includeSites.checked;
+    var terms = query.trim().toLowerCase().split(/\s+/);
+    var allResources = getResourcesInTreeOrder();
+    var matches = [];
+
+    for (var ri = 0; ri < allResources.length; ri++) {
+      var resource = allResources[ri];
+      var name = resource.name;
+      if (!resource) continue;
+      if (!showWells && resource instanceof Container) continue;
+      if (!showTips && resource instanceof TipSpot) continue;
+      if (!showSites && isResourceHolder(resource)) continue;
+      var allMatch = true;
+      var totalScore = 0;
+      for (var i = 0; i < terms.length; i++) {
+        if (fuzzyMatch(terms[i], name)) {
+          totalScore += fuzzyScore(terms[i], name);
+        } else if (fuzzyMatch(terms[i], resource.resourceType || "")) {
+          totalScore += fuzzyScore(terms[i], resource.resourceType || "");
+        } else {
+          allMatch = false;
+          break;
+        }
+      }
+      if (allMatch) matches.push({ resource: resource, score: totalScore, order: ri });
+    }
+
+    matches.sort(function (a, b) {
+      if (b.score !== a.score) return b.score - a.score;
+      return a.order - b.order;
+    });
+
+    for (var i = 0; i < matches.length; i++) {
+      var res = matches[i].resource;
+      var row = document.createElement("div");
+      row.className = "tree-node-row";
+      row.style.paddingLeft = "12px";
+
+      var dot = document.createElement("span");
+      dot.className = "tree-node-dot";
+      dot.style.backgroundColor = getResourceColor(res);
+
+      var nameSpan = document.createElement("span");
+      nameSpan.className = "tree-node-name";
+      nameSpan.textContent = res.name;
+      nameSpan.title = res.name + " (" + (res.resourceType || "") + ")";
+
+      var typeSpan = document.createElement("span");
+      typeSpan.className = "tree-node-type";
+      typeSpan.textContent = res.resourceType || "";
+
+      row.appendChild(dot);
+      row.appendChild(nameSpan);
+      row.appendChild(typeSpan);
+
+      row.addEventListener("mouseenter", (function (rName) {
+        return function () { showHoverHighlight(rName); };
+      })(res.name));
+      row.addEventListener("mouseleave", function () {
+        clearHoverHighlight();
+      });
+      (function (rName) {
+        var searchClickTimer = null;
+        row.addEventListener("click", function () {
+          if (searchClickTimer) { clearTimeout(searchClickTimer); searchClickTimer = null; return; }
+          searchClickTimer = setTimeout(function () {
+            searchClickTimer = null;
+            showUmlPanel(rName);
+          }, 250);
+        });
+        row.addEventListener("dblclick", function () {
+          if (searchClickTimer) { clearTimeout(searchClickTimer); searchClickTimer = null; }
+          focusOnResource(rName);
+        });
+      })(res.name);
+
+      resultsDiv.appendChild(row);
+    }
+  }
+
+  if (searchInput) {
+    searchInput.addEventListener("input", function () {
+      performSearch(this.value);
+    });
+  }
+
+  var includeWellsCheckbox = document.getElementById("search-include-wells");
+  if (includeWellsCheckbox && searchInput) {
+    includeWellsCheckbox.addEventListener("change", function () {
+      performSearch(searchInput.value);
+    });
+  }
+
+  var includeTipsCheckbox = document.getElementById("search-include-tips");
+  if (includeTipsCheckbox && searchInput) {
+    includeTipsCheckbox.addEventListener("change", function () {
+      performSearch(searchInput.value);
+    });
+  }
+
+  var includeSitesCheckbox = document.getElementById("search-include-sites");
+  if (includeSitesCheckbox && searchInput) {
+    includeSitesCheckbox.addEventListener("change", function () {
+      performSearch(searchInput.value);
+    });
+  }
+
+  // Navbar right toggle (mirrors toolbar-tree-btn behavior)
+  var rightToggle = document.getElementById("toolbar-right-toggle");
+  var rightToolbar = document.getElementById("toolbar");
+  var sidebarWasCollapsedBeforeInspectorClose = false;
+
+  if (rightToggle && panel && rightToolbar) {
+    rightToggle.addEventListener("click", function () {
+      var toolbarHidden = rightToolbar.style.display === "none";
+
+      if (toolbarHidden) {
+        // Toolbar hidden — reopen toolbar, restore sidebar to previous state
+        rightToolbar.style.display = "";
+        if (!sidebarWasCollapsedBeforeInspectorClose) {
+          panel.classList.remove("collapsed");
+          if (sidepanelWidthBeforeCollapse) {
+            panel.style.width = sidepanelWidthBeforeCollapse;
+          } else {
+            panel.style.width = "";
+          }
+          toggle.classList.add("active");
+        }
+      } else {
+        // Toolbar visible — remember sidebar state, then collapse all
+        sidebarWasCollapsedBeforeInspectorClose = panel.classList.contains("collapsed");
+        if (!sidebarWasCollapsedBeforeInspectorClose) {
+          sidepanelWidthBeforeCollapse = panel.style.width || panel.offsetWidth + "px";
+          panel.style.width = "";
+          panel.classList.add("collapsed");
+        }
+        rightToolbar.style.display = "none";
+        toggle.classList.remove("active");
+        searchBtn.classList.remove("active");
+      }
+    });
+  }
+
+  // Drag-to-resize handle
+  const handle = document.getElementById("sidepanel-resize-handle");
+  if (handle && panel) {
+    let dragging = false;
+
+    handle.addEventListener("mousedown", function (e) {
+      e.preventDefault();
+      dragging = true;
+      handle.classList.add("dragging");
+      document.body.style.cursor = "col-resize";
+      document.body.style.userSelect = "none";
+    });
+
+    document.addEventListener("mousemove", function (e) {
+      if (!dragging) return;
+      const newWidth = window.innerWidth - e.clientX;
+      const clamped = Math.max(150, Math.min(newWidth, window.innerWidth * 0.6));
+      panel.style.width = clamped + "px";
+    });
+
+    document.addEventListener("mouseup", function () {
+      if (!dragging) return;
+      dragging = false;
+      handle.classList.remove("dragging");
+      document.body.style.cursor = "";
+      document.body.style.userSelect = "";
+    });
+  }
+});
+
+// ===========================================================================
+// UML-Style Resource Info Panel
+// ===========================================================================
+
+var umlPanelResourceName = null;
+
+function getUmlAttributes(resource) {
+  var attrs = [];
+  attrs.push({ key: "name", value: JSON.stringify(resource.name) });
+  attrs.push({ key: "type", value: resource.resourceType || resource.constructor.name });
+  attrs.push({ key: "size_x", value: resource.size_x });
+  attrs.push({ key: "size_y", value: resource.size_y });
+  attrs.push({ key: "size_z", value: resource.size_z });
+  if (resource.location) {
+    attrs.push({ key: "location", value: "(" + resource.location.x + ", " + resource.location.y + ", " + (resource.location.z || 0) + ")" });
+  }
+  var abs = resource.getAbsoluteLocation();
+  attrs.push({ key: "abs_location", value: "(" + abs.x.toFixed(1) + ", " + abs.y.toFixed(1) + ", " + (abs.z || 0).toFixed(1) + ")" });
+  attrs.push({ key: "parent", value: resource.parent ? JSON.stringify(resource.parent.name) : "none" });
+  attrs.push({ key: "children", value: resource.children ? resource.children.length : 0 });
+  if (resource.category) {
+    attrs.push({ key: "category", value: resource.category });
+  }
+
+  // Container (Well/Trough/Tube)
+  if (resource instanceof Container) {
+    attrs.push({ key: "max_volume", value: resource.maxVolume });
+    attrs.push({ key: "volume", value: resource.volume });
+    if (resource.material_z_thickness != null) {
+      attrs.push({ key: "material_z_thickness", value: resource.material_z_thickness });
+    }
+  }
+  // Well-specific
+  if (resource instanceof Well) {
+    if (resource.cross_section_type) {
+      attrs.push({ key: "cross_section_type", value: resource.cross_section_type });
+    }
+  }
+  // TipSpot
+  if (resource instanceof TipSpot) {
+    attrs.push({ key: "has_tip", value: resource.has_tip });
+    if (resource.tip) {
+      attrs.push({ key: "tip", value: JSON.stringify(resource.tip) });
+    }
+  }
+  // Plate/TipRack/TubeRack
+  if (resource instanceof Plate || resource instanceof TipRack || resource instanceof TubeRack) {
+    if (resource.num_items_x != null) attrs.push({ key: "num_items_x", value: resource.num_items_x });
+    if (resource.num_items_y != null) attrs.push({ key: "num_items_y", value: resource.num_items_y });
+  }
+  // ResourceHolder
+  if (resource instanceof ResourceHolder) {
+    if (resource.spot != null) attrs.push({ key: "spot", value: resource.spot });
+  }
+  // HamiltonSTARDeck
+  if (resource instanceof HamiltonSTARDeck) {
+    attrs.push({ key: "num_rails", value: resource.num_rails });
+  }
+
+  return attrs;
+}
+
+function getUmlMethods(resource) {
+  var methods = ["getAbsoluteLocation()", "serialize()", "draw()", "destroy()"];
+  if (resource instanceof Container) {
+    methods.push("getVolume()");
+    methods.push("setVolume()");
+    methods.push("setState()");
+  }
+  if (resource instanceof TipSpot) {
+    methods.push("setState()");
+  }
+  if (resource instanceof Plate || resource instanceof TipRack || resource instanceof TubeRack) {
+    methods.push("update()");
+  }
+  return methods;
+}
+
+function buildUmlPanelDOM(resource) {
+  var panel = document.createElement("div");
+  panel.className = "uml-panel";
+  panel.id = "uml-panel";
+
+  // Close button
+  var closeBtn = document.createElement("button");
+  closeBtn.className = "uml-close-btn";
+  closeBtn.textContent = "\u00D7";
+  closeBtn.addEventListener("click", function (e) {
+    e.stopPropagation();
+    hideUmlPanel();
+  });
+  panel.appendChild(closeBtn);
+
+  // Header
+  var header = document.createElement("div");
+  header.className = "uml-header";
+  var nameDiv = document.createElement("div");
+  nameDiv.className = "uml-header-name";
+  nameDiv.textContent = resource.name;
+  var typeDiv = document.createElement("div");
+  typeDiv.className = "uml-header-type";
+  typeDiv.textContent = "\u00AB" + (resource.resourceType || resource.constructor.name) + "\u00BB";
+  header.appendChild(nameDiv);
+  header.appendChild(typeDiv);
+  panel.appendChild(header);
+
+  // Separator
+  var sep1 = document.createElement("div");
+  sep1.className = "uml-separator";
+  panel.appendChild(sep1);
+
+  // Attributes section
+  var attrsSection = document.createElement("div");
+  attrsSection.className = "uml-section";
+  var attrsTitle = document.createElement("div");
+  attrsTitle.className = "uml-section-title";
+  attrsTitle.textContent = "Attributes";
+  attrsSection.appendChild(attrsTitle);
+
+  var attrs = getUmlAttributes(resource);
+  for (var i = 0; i < attrs.length; i++) {
+    var row = document.createElement("div");
+    row.className = "uml-row";
+    var keySpan = document.createElement("span");
+    keySpan.className = "uml-key";
+    keySpan.textContent = attrs[i].key + ":";
+    var valSpan = document.createElement("span");
+    valSpan.className = "uml-value";
+    valSpan.textContent = " " + attrs[i].value;
+    row.appendChild(keySpan);
+    row.appendChild(valSpan);
+    attrsSection.appendChild(row);
+  }
+  panel.appendChild(attrsSection);
+
+  // Separator
+  var sep2 = document.createElement("div");
+  sep2.className = "uml-separator";
+  panel.appendChild(sep2);
+
+  // Methods section
+  var methodsSection = document.createElement("div");
+  methodsSection.className = "uml-section";
+  var methodsTitle = document.createElement("div");
+  methodsTitle.className = "uml-section-title";
+  methodsTitle.textContent = "Methods";
+  methodsSection.appendChild(methodsTitle);
+
+  var methods = getUmlMethods(resource);
+  for (var i = 0; i < methods.length; i++) {
+    var methodDiv = document.createElement("div");
+    methodDiv.className = "uml-method";
+    methodDiv.textContent = methods[i];
+    methodsSection.appendChild(methodDiv);
+  }
+  panel.appendChild(methodsSection);
+
+  return panel;
+}
+
+function showUmlPanel(resourceName) {
+  var resource = resources[resourceName];
+  if (!resource) return;
+
+  // Toggle off if clicking the same resource
+  if (umlPanelResourceName === resourceName) {
+    hideUmlPanel();
+    return;
+  }
+
+  umlPanelResourceName = resourceName;
+
+  // Remove existing panel
+  var existing = document.getElementById("uml-panel");
+  if (existing) existing.remove();
+
+  // Build and insert the panel into <main>
+  var mainEl = document.querySelector("main");
+  if (!mainEl) return;
+  var panelDOM = buildUmlPanelDOM(resource);
+  mainEl.appendChild(panelDOM);
+
+  // Also highlight the resource on canvas
+  highlightResourceOnCanvas(resourceName);
+}
+
+function hideUmlPanel() {
+  umlPanelResourceName = null;
+  var existing = document.getElementById("uml-panel");
+  if (existing) existing.remove();
+}
+
+// Close UML panel when clicking on empty canvas area
+window.addEventListener("load", function () {
+  var kanvas = document.getElementById("kanvas");
+  if (kanvas) {
+    kanvas.addEventListener("click", function (e) {
+      // Only close if the click is directly on the kanvas container (not on a child)
+      if (e.target === kanvas || e.target.tagName === "CANVAS") {
+        hideUmlPanel();
+      }
+    });
+  }
+});
diff --git a/pylabrobot/visualizer/main.css b/pylabrobot/visualizer/main.css
index 3ec438f0b47..d904140d149 100644
--- a/pylabrobot/visualizer/main.css
+++ b/pylabrobot/visualizer/main.css
@@ -11,26 +11,581 @@ button {
 
 nav.navbar {
   height: 60px;
+  border-bottom: 3px solid #888;
+  padding: 0;
+}
+
+nav.navbar .container-fluid {
+  justify-content: flex-start;
+  align-items: center;
+  height: 100%;
+  padding: 0;
+  gap: 0;
+}
+
+.navbar-divider {
+  width: 1px;
+  height: 100%;
+  background: #ced4da;
+  flex-shrink: 0;
+}
+
+nav.navbar .navbar-brand {
+  margin-right: 0;
+  margin-left: 12px;
+}
+
+
+nav.navbar .status-box {
+  margin-left: auto;
+  margin-right: 16px;
 }
 
 .content {
   height: calc(100vh - 60px);
   margin: 0;
+  display: flex;
 }
 
 main {
   height: 100%;
+  flex: 1;
+  min-width: 0;
+  position: relative;
+}
+
+#home-button {
+  position: absolute;
+  top: 20px;
+  right: 75px;
+  cursor: pointer;
+  opacity: 0.55;
+  border-radius: 6px;
+  padding: 2px;
+  background: rgba(255, 255, 255, 0.75);
+  backdrop-filter: blur(12px);
+  -webkit-backdrop-filter: blur(12px);
+  transition: opacity 0.15s, transform 0.15s, background 0.15s, box-shadow 0.15s;
+  z-index: 5;
+  line-height: 0;
+}
+
+#home-button:hover {
+  opacity: 1;
+  transform: scale(1.12);
+  background: rgba(0, 255, 255, 0.4);
+  box-shadow: 0 0 10px rgba(0, 255, 255, 0.8);
+}
+
+#home-button.clicked {
+  background: rgba(255, 230, 0, 0.65);
+  box-shadow: 0 0 12px rgba(255, 230, 0, 0.9);
+  opacity: 1;
+}
+
+#axis-legend {
+  position: absolute;
+  top: 8px;
+  right: 8px;
+  pointer-events: none;
+  opacity: 0.85;
+  background: rgba(255, 255, 255, 0.75);
+  backdrop-filter: blur(12px);
+  -webkit-backdrop-filter: blur(12px);
+  border-radius: 6px;
+  padding: 2px;
+}
+
+#scale-bar {
+  position: absolute;
+  bottom: 12px;
+  right: 12px;
+  pointer-events: none;
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  background: rgba(255, 255, 255, 0.75);
+  backdrop-filter: blur(12px);
+  -webkit-backdrop-filter: blur(12px);
+  border-radius: 6px;
+  padding: 4px 8px;
+}
+
+#scale-bar-line {
+  height: 8px;
+  border-left: 3px solid #333;
+  border-right: 3px solid #333;
+  border-bottom: 3px solid #333;
+}
+
+#scale-bar-label {
+  font-size: 13px;
+  font-weight: 700;
+  color: #333;
+  margin-top: 2px;
+  white-space: nowrap;
+}
+
+/* Toolbar (permanent left sidebar) */
+#toolbar-left {
+  width: 48px;
+  min-width: 48px;
+  height: 100%;
+  background: #dde1e5;
+  border-right: 1px solid #ced4da;
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  flex-shrink: 0;
+  padding-top: 6px;
+  transition: width 0.15s, min-width 0.15s, padding 0.15s, border 0.15s;
+  overflow: hidden;
+}
+
+.toolbar-left-toggle {
+  width: 46px;
+  min-width: 46px;
+  height: 100%;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  border: none;
+  background: transparent;
+  cursor: pointer;
+  opacity: 0.7;
+  transition: opacity 0.15s, background 0.15s;
+}
+
+.toolbar-left-toggle:hover,
+.toolbar-right-toggle:hover {
+  opacity: 1;
+  background: #dee2e6;
+}
+
+.toolbar-right-toggle {
+  width: 47px;
+  min-width: 47px;
+  height: 100%;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  border: none;
+  background: transparent;
+  cursor: pointer;
+  opacity: 0.7;
+  transition: opacity 0.15s, background 0.15s;
+}
+
+#toolbar-left.collapsed {
+  width: 0;
+  min-width: 0;
+  padding-top: 0;
+  border-right: none;
+  overflow: hidden;
+}
+
+/* Toolbar (permanent right sidebar) */
+#toolbar {
+  width: 48px;
+  min-width: 48px;
+  height: 100%;
+  background: #dde1e5;
+  border-left: 1px solid #ced4da;
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  flex-shrink: 0;
+  padding-top: 6px;
+}
+
+.toolbar-section {
+  width: 100%;
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  padding: 4px 0;
+  border-bottom: 1px solid #dee2e6;
+}
+
+.toolbar-btn {
+  width: 36px;
+  height: 36px;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  border: 1.5px solid #999;
+  background: transparent;
+  border-radius: 6px;
+  cursor: pointer;
+  opacity: 0.55;
+  transition: opacity 0.15s, background 0.15s, border-color 0.15s;
+}
+
+.toolbar-btn:hover {
+  opacity: 1;
+  background: #ced4da;
+  border-color: #adb5bd;
+}
+
+.toolbar-btn.active {
+  opacity: 1;
+  background: #cfe2ff;
+  border-color: #999;
+}
+
+.tool-panel {
+  position: absolute;
+  top: 58px;
+  left: 8px;
+  background: rgba(255, 255, 255, 0.9);
+  backdrop-filter: blur(12px);
+  -webkit-backdrop-filter: blur(12px);
+  border: 1px solid #ced4da;
+  border-radius: 8px;
+  padding: 8px 12px;
+  font-size: 15px;
+  font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, monospace;
+  display: flex;
+  flex-direction: column;
+  gap: 0;
+  z-index: 5;
+}
+
+.tool-panel-row {
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  gap: 2px;
+}
+
+.tool-panel-title {
+  font-size: 15px;
+  font-weight: 700;
+  color: #555;
+  margin-bottom: 6px;
+  width: 100%;
+}
+
+.tool-panel-axes {
+  display: flex;
+  flex-direction: row;
+  gap: 12px;
+}
+
+.tool-panel-row-full {
+  flex-direction: row;
+  gap: 6px;
+  width: 105%;
+  margin-top: 8px;
+  padding-top: 8px;
+  border-top: 1px solid #ced4da;
+  align-self: center;
+  justify-content: center;
+}
+
+.tool-panel-row-full .tool-panel-select {
+  flex: 1;
+}
+
+.tool-panel-select {
+  font-size: 14px;
+  font-family: inherit;
+  border: 1px solid #ced4da;
+  border-radius: 3px;
+  background: #f8f9fa;
+  color: #333;
+  padding: 1px 2px;
+  cursor: pointer;
+  text-align: center;
+}
+
+.tool-panel-label {
+  font-weight: 700;
+  color: #555;
+  margin-right: 2px;
+}
+
+.tool-panel-value {
+  color: #333;
+  font-weight: 600;
+  font-variant-numeric: tabular-nums;
+}
+
+/* Sidepanel */
+#sidepanel {
+  position: relative;
+  width: 310px;
+  min-width: 150px;
+  max-width: 60vw;
+  height: 100%;
+  border-left: 1px solid #dee2e6;
+  background: #f8f9fa;
+  display: flex;
+  flex-direction: column;
+  overflow: hidden;
+}
+
+#sidepanel.collapsed {
+  width: 0 !important;
+  min-width: 0;
+  border-left: none;
+}
+
+#sidepanel.collapsed .sidepanel-header,
+#sidepanel.collapsed #resource-tree,
+#sidepanel.collapsed .sidepanel-resize-handle {
+  display: none;
+}
+
+.sidepanel-resize-handle {
+  position: absolute;
+  left: 0;
+  top: 0;
+  width: 5px;
+  height: 100%;
+  cursor: col-resize;
+  z-index: 10;
+}
+
+.sidepanel-resize-handle:hover,
+.sidepanel-resize-handle.dragging {
+  background: #0d6efd;
+  opacity: 0.4;
+}
+
+.sidepanel-header {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  padding: 8px 12px;
+  border-bottom: 1px solid #dee2e6;
+  background: #e9ecef;
+}
+
+.sidepanel-title {
+  font-weight: 700;
+  font-size: 18px;
+  color: #333;
+}
+
+.sidepanel-header-actions {
+  display: flex;
+  gap: 4px;
+}
+
+.tree-action-btn {
+  width: 26px;
+  height: 26px;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  border: 1px solid #ced4da;
+  background: #f8f9fa;
+  border-radius: 4px;
+  cursor: pointer;
+  opacity: 0.7;
+  transition: opacity 0.15s, background 0.15s;
+}
+
+.tree-action-btn:hover {
+  opacity: 1;
+  background: #dee2e6;
+}
+
+.tree-depth-input {
+  width: 36px;
+  height: 26px;
+  text-align: center;
+  font-size: 13px;
+  font-weight: 600;
+  border: 1px solid #ced4da;
+  border-radius: 4px;
+  background: #f8f9fa;
+  color: #333;
+  padding: 0 2px;
+  -moz-appearance: textfield;
+}
+
+.tree-depth-input::-webkit-outer-spin-button,
+.tree-depth-input::-webkit-inner-spin-button {
+  -webkit-appearance: none;
+  margin: 0;
+}
+
+#resource-tree {
+  flex: 1;
+  overflow-y: auto;
+  padding: 4px 0;
+  font-size: 17px;
+  font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, sans-serif;
+}
+
+/* Tree nodes */
+.tree-node {
+  user-select: none;
+}
+
+.tree-node-row {
+  display: flex;
+  align-items: center;
+  padding: 3px 8px;
+  cursor: pointer;
+  white-space: nowrap;
+}
+
+.tree-node-row:hover,
+.tree-node-row.canvas-hover {
+  background: #dee2e6;
+}
+
+.tree-node-row.selected {
+  background: #cfe2ff;
+}
+
+.tree-node-arrow {
+  width: 16px;
+  font-size: 10px;
+  color: #666;
+  text-align: center;
+  flex-shrink: 0;
+}
+
+.tree-node-arrow.has-children {
+  cursor: pointer;
+}
+
+.tree-node-dot {
+  width: 8px;
+  height: 8px;
+  border-radius: 50%;
+  margin-right: 6px;
+  flex-shrink: 0;
+}
+
+.tree-node-index {
+  min-width: 18px;
+  text-align: center;
+  font-size: 12px;
+  font-weight: 700;
+  color: #666;
+  margin-right: 5px;
+  flex-shrink: 0;
+}
+
+.tree-node-row.empty-slot .tree-node-name.empty {
+  color: #aaa;
+  font-style: italic;
+  font-weight: 400;
+}
+
+.tree-node-name {
+  flex: 1;
+  overflow: hidden;
+  text-overflow: ellipsis;
+  color: #333;
+  font-weight: 600;
+}
+
+.tree-node-type {
+  margin-left: 6px;
+  font-size: 12px;
+  color: #999;
+  flex-shrink: 0;
+  font-weight: 400;
+}
+
+.tree-node-info {
+  margin-left: 6px;
+  font-size: 14px;
+  color: #555;
+  flex-shrink: 0;
+  font-weight: 600;
+}
+
+.tree-node-children {
+  display: block;
+}
+
+.tree-node-children.collapsed {
+  display: none;
+}
+
+/* Search view */
+#search-view {
+  flex: 1;
+  display: flex;
+  flex-direction: column;
+  overflow: hidden;
+}
+
+.search-header {
+  padding: 8px 12px;
+  border-bottom: 1px solid #dee2e6;
+}
+
+.search-input {
+  width: 100%;
+  padding: 8px 10px;
+  font-size: 17px;
+  font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, sans-serif;
+  border: 1px solid #ced4da;
+  border-radius: 5px;
+  background: #fff;
+  color: #333;
+  outline: none;
+}
+
+.search-filters {
+  display: flex;
+  align-items: center;
+  gap: 10px;
+  margin-top: 8px;
+}
+
+.search-filters-label {
+  font-size: 15px;
+  font-weight: 600;
+  color: #555;
+}
+
+.search-filter-label {
+  display: flex;
+  align-items: center;
+  gap: 5px;
+  font-size: 15px;
+  color: #555;
+  cursor: pointer;
+  user-select: none;
+}
+
+.search-input:focus {
+  border-color: #86b7fe;
+  box-shadow: 0 0 0 2px rgba(13, 110, 253, 0.15);
+}
+
+#search-results {
+  flex: 1;
+  overflow-y: auto;
+  padding: 4px 0;
+  font-size: 17px;
+  font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, sans-serif;
 }
 
 #kanvas {
   width: 100%;
   height: 100%;
-  overflow: scroll;
+  overflow: hidden;
+}
+
+.status-box {
+  display: flex;
+  align-items: center;
+  gap: 8px;
 }
 
 #status-indicator {
-  height: 10px;
-  width: 10px;
+  height: 14px;
+  width: 14px;
   border-radius: 50%;
   display: inline-block;
   background-color: gray;
@@ -38,6 +593,8 @@ main {
 
 #status-label {
   color: gray;
+  font-size: 18px;
+  font-weight: 600;
 }
 
 #status-indicator.connected {
@@ -62,14 +619,111 @@ h3.form-row-header {
   margin-bottom: 8px;
 }
 
-/* gif recording */
+/* UML-style resource info panel */
+.uml-panel {
+  position: absolute;
+  top: 58px;
+  right: 8px;
+  width: 290px;
+  max-height: calc(100% - 70px);
+  overflow-y: auto;
+  background: rgba(255, 255, 255, 0.92);
+  backdrop-filter: blur(12px);
+  -webkit-backdrop-filter: blur(12px);
+  border: 1px solid #ced4da;
+  border-radius: 8px;
+  font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, monospace;
+  font-size: 13px;
+  z-index: 6;
+  box-shadow: 0 2px 12px rgba(0, 0, 0, 0.12);
+}
+
+.uml-header {
+  padding: 10px 12px 8px;
+}
+
+.uml-header-name {
+  font-weight: 700;
+  font-size: 15px;
+  color: #222;
+}
+
+.uml-header-type {
+  font-style: italic;
+  font-size: 12px;
+  color: #777;
+  margin-top: 1px;
+}
+
+.uml-separator {
+  height: 1px;
+  background: #ced4da;
+  margin: 0;
+}
+
+.uml-section {
+  padding: 6px 12px;
+}
+
+.uml-section-title {
+  font-size: 11px;
+  font-weight: 700;
+  color: #999;
+  text-transform: uppercase;
+  letter-spacing: 0.5px;
+  margin-bottom: 4px;
+}
+
+.uml-row {
+  display: flex;
+  align-items: baseline;
+  padding: 1px 0;
+  line-height: 1.4;
+}
+
+.uml-key {
+  color: #777;
+  margin-right: 4px;
+  flex-shrink: 0;
+}
+
+.uml-value {
+  color: #333;
+  font-weight: 600;
+  word-break: break-all;
+}
+
+.uml-method {
+  color: #555;
+  padding: 1px 0;
+  line-height: 1.4;
+}
 
-.recording-stuff {
+.uml-close-btn {
+  position: absolute;
+  top: 6px;
+  right: 8px;
+  width: 20px;
+  height: 20px;
   display: flex;
   align-items: center;
   justify-content: center;
+  border: none;
+  background: transparent;
+  cursor: pointer;
+  font-size: 16px;
+  color: #999;
+  border-radius: 3px;
+  line-height: 1;
 }
 
+.uml-close-btn:hover {
+  background: #dee2e6;
+  color: #333;
+}
+
+/* gif recording */
+
 .gif-box {
   display: flex;
   align-items: center;
diff --git a/pylabrobot/visualizer/vis.js b/pylabrobot/visualizer/vis.js
index 9c3c6a5a47b..fcaf0d97a8c 100644
--- a/pylabrobot/visualizer/vis.js
+++ b/pylabrobot/visualizer/vis.js
@@ -30,11 +30,12 @@ function setRootResource(data) {
   resource.location = { x: 0, y: 0, z: 0 };
   resource.draw(resourceLayer);
 
-  // center the root resource on the stage.
-  let centerXOffset = (stage.width() - resource.size_x) / 2;
-  let centerYOffset = (stage.height() - resource.size_y) / 2;
-  stage.x(centerXOffset);
-  stage.y(-centerYOffset);
+  // Store globally so fitToViewport() can use it.
+  rootResource = resource;
+
+  fitToViewport();
+
+  buildResourceTree(resource);
 }
 
 function removeResource(resourceName) {
@@ -46,7 +47,15 @@ function setState(allStates) {
   for (let resourceName in allStates) {
     let state = allStates[resourceName];
     let resource = resources[resourceName];
-    resource.setState(state);
+    if (!resource) {
+      console.warn(`[setState] resource not found: ${resourceName}`);
+      continue;
+    }
+    try {
+      resource.setState(state);
+    } catch (e) {
+      console.error(`[setState] error for ${resourceName}:`, e);
+    }
   }
 }
 
@@ -60,16 +69,22 @@ async function processCentralEvent(event, data) {
       resource = loadResource(data.resource);
       resource.draw(resourceLayer);
       setState(data.state);
+      addResourceToTree(resource);
       break;
 
     case "resource_unassigned":
+      removeResourceFromTree(data.resource_name);
       removeResource(data.resource_name);
       break;
 
     case "set_state":
       let allStates = data;
       setState(allStates);
-
+      // Rebuild the sidepanel tree so summaries reflect the updated state
+      const rootName = Object.keys(resources).find(
+        (n) => resources[n] && !resources[n].parent
+      );
+      if (rootName) buildResourceTree(resources[rootName]);
       break;
 
     default:
diff --git a/pylabrobot/visualizer/visualizer.py b/pylabrobot/visualizer/visualizer.py
index 5c70a9f8667..2694b682306 100644
--- a/pylabrobot/visualizer/visualizer.py
+++ b/pylabrobot/visualizer/visualizer.py
@@ -1,5 +1,6 @@
 import asyncio
 import http.server
+import inspect
 import json
 import logging
 import os
@@ -20,6 +21,8 @@
 
 from pylabrobot.__version__ import STANDARD_FORM_JSON_VERSION
 from pylabrobot.resources import Resource
+from pylabrobot.resources.tip_tracker import set_tip_tracking
+from pylabrobot.resources.volume_tracker import set_volume_tracking
 
 logger = logging.getLogger("pylabrobot")
 
@@ -45,6 +48,8 @@ def __init__(
     ws_port: int = 2121,
     fs_port: int = 1337,
     open_browser: bool = True,
+    name: Optional[str] = None,
+    favicon: Optional[str] = None,
   ):
     """Create a new Visualizer. Use :meth:`.setup` to start the visualization.
 
@@ -55,10 +60,28 @@ def __init__(
       fs_port: The port of the file server. If this port is in use, the port will be incremented
         until a free port is found.
       open_browser: If `True`, the visualizer will open a browser window when it is started.
+      name: A custom name to display in the browser header. If ``None``, the filename of the
+        calling script or notebook is detected automatically.
+      favicon: Path to a ``.png`` file to use as the browser tab icon. If ``None``, the
+        PyLabRobot logo is used.
     """
 
     self.setup_finished = False
 
+    if name is not None:
+      self._source_filename = name
+    else:
+      self._source_filename = self._detect_source_filename()
+
+    if favicon is not None:
+      if not favicon.endswith(".png"):
+        raise ValueError("favicon must be a .png file")
+      if not os.path.isfile(favicon):
+        raise FileNotFoundError(f"favicon file not found: {favicon}")
+      self._favicon_path = os.path.abspath(favicon)
+    else:
+      self._favicon_path = os.path.join(os.path.dirname(__file__), "img", "logo.png")
+
     # Hook into the resource (un)assigned callbacks so we can send the appropriate events to the
     # browser.
     self._root_resource = resource
@@ -182,7 +205,13 @@ def _assemble_command(
       "data": data,
       "event": event,
     }
-    return json.dumps(command_data), id_
+    # Python's json.dumps outputs bare Infinity/-Infinity for float('inf'), which is
+    # not valid JSON and causes JSON.parse() in the browser to throw SyntaxError.
+    # Replace bare tokens with quoted strings so the browser's JSON reviver can handle them.
+    serialized = json.dumps(command_data)
+    serialized = serialized.replace(": Infinity", ': "Infinity"')
+    serialized = serialized.replace(": -Infinity", ': "-Infinity"')
+    return serialized, id_
 
   def has_connection(self) -> bool:
     """Return `True` if a websocket connection has been established."""
@@ -255,6 +284,91 @@ def fst(self) -> threading.Thread:
       raise RuntimeError("The file server thread has not been started yet.")
     return self._fst
 
+  @staticmethod
+  def _detect_source_filename() -> str:
+    """Detect the filename of the calling script or notebook."""
+
+    # 1. VS Code sets __vsc_ipynb_file__ in the IPython user namespace.
+    try:
+      ipython = get_ipython()  # type: ignore[name-defined]  # noqa: F821
+      vsc_file = getattr(ipython, "user_ns", {}).get("__vsc_ipynb_file__")
+      if vsc_file:
+        return os.path.basename(vsc_file)
+    except NameError:
+      pass
+
+    # 2. Try ipynbname package (works for classic Jupyter Notebook and JupyterLab).
+    try:
+      import ipynbname  # type: ignore[import-untyped]
+
+      nb_path = ipynbname.path()
+      if nb_path:
+        return os.path.basename(str(nb_path))
+    except Exception:
+      pass
+
+    # 3. Query the Jupyter REST API using the kernel connection file.
+    try:
+      import ipykernel  # type: ignore[import-untyped]
+      import json as _json
+      import re
+      import urllib.request
+
+      # Get the kernel id from the connection file path.
+      connection_file = ipykernel.get_connection_file()
+      kernel_id = os.path.basename(connection_file).replace("kernel-", "").replace(".json", "")
+
+      # Try common Jupyter server ports and tokens.
+      # First, try to get server info from jupyter_core / notebook.
+      servers = []
+      try:
+        from jupyter_server.serverapp import list_running_servers  # type: ignore[import-untyped]
+
+        servers = list(list_running_servers())
+      except Exception:
+        pass
+      if not servers:
+        try:
+          from notebook.notebookapp import list_running_servers  # type: ignore[import-untyped]
+
+          servers = list(list_running_servers())
+        except Exception:
+          pass
+
+      for srv in servers:
+        base_url = srv.get("url", "").rstrip("/")
+        token = srv.get("token", "")
+        try:
+          api_url = f"{base_url}/api/sessions"
+          if token:
+            api_url += f"?token={token}"
+          req = urllib.request.Request(api_url)
+          with urllib.request.urlopen(req, timeout=2) as resp:
+            sessions = _json.loads(resp.read().decode())
+          for sess in sessions:
+            kid = sess.get("kernel", {}).get("id", "")
+            if kid == kernel_id:
+              nb_path = sess.get("notebook", {}).get("path", "") or sess.get("path", "")
+              if nb_path:
+                return os.path.basename(nb_path)
+        except Exception:
+          continue
+    except Exception:
+      pass
+
+    # 4. Fall back to stack inspection for .py scripts.
+    for frame_info in inspect.stack():
+      fname = frame_info.filename
+      if fname == __file__:
+        continue
+      basename = os.path.basename(fname)
+      if "ipykernel" in fname or fname.startswith("<"):
+        return ""
+      if basename.endswith(".py"):
+        return basename
+
+    return ""
+
   async def setup(self):
     """Start the visualizer.
 
@@ -264,6 +378,10 @@ async def setup(self):
     if self.setup_finished:
       raise RuntimeError("The visualizer has already been started.")
 
+    # Enable tip and volume tracking so the visualizer receives real-time state updates.
+    set_tip_tracking(True)
+    set_volume_tracking(True)
+
     await self._run_ws_server()
     self._run_file_server()
     self.setup_finished = True
@@ -318,7 +436,8 @@ def _run_file_server(self):
       )
 
     def start_server(lock):
-      ws_port, fs_port = self.ws_port, self.fs_port
+      ws_port, fs_port, source_filename = self.ws_port, self.fs_port, self._source_filename
+      favicon_path = self._favicon_path
 
       # try to start the server. If the port is in use, try with another port until it succeeds.
       class QuietSimpleHTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
@@ -330,6 +449,12 @@ def __init__(self, *args, **kwargs):
         def log_message(self, format, *args):
           pass
 
+        def end_headers(self):
+          self.send_header("Cache-Control", "no-cache, no-store, must-revalidate")
+          self.send_header("Pragma", "no-cache")
+          self.send_header("Expires", "0")
+          super().end_headers()
+
         def do_GET(self) -> None:
           # rewrite some info in the index.html file on the fly,
           # like a simple template engine
@@ -339,11 +464,19 @@ def do_GET(self) -> None:
 
             content = content.replace("{{ ws_port }}", str(ws_port))
             content = content.replace("{{ fs_port }}", str(fs_port))
+            content = content.replace("{{ source_filename }}", source_filename)
 
             self.send_response(200)
             self.send_header("Content-type", "text/html")
             self.end_headers()
             self.wfile.write(content.encode("utf-8"))
+          elif self.path == "/favicon.png":
+            with open(favicon_path, "rb") as f:
+              data = f.read()
+            self.send_response(200)
+            self.send_header("Content-type", "image/png")
+            self.end_headers()
+            self.wfile.write(data)
           else:
             return super().do_GET()
 

From 4b9e5078d2623d67b7346fba6191ccf16a7aaad6 Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Sun, 1 Feb 2026 17:04:24 +0000
Subject: [PATCH 02/20] testing with Rick

---
 pylabrobot/visualizer/lib.js | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index 061801d3a87..babebc4517d 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -454,8 +454,7 @@ class Resource {
           const cy = base.y + yOff;
           const cz = (base.z || 0) + zOff;
           const czStr = zNA ? "na" : cz.toFixed(1);
-          const isAbsolute = sidebarRootResource && wrtName === sidebarRootResource.name;
-          const wrtLabel = isAbsolute ? "abs" : "wrt " + wrtName;
+          const wrtLabel = "wrt " + wrtName;
           labelText = `${this.name}\n${wrtLabel}: (${cx.toFixed(1)}, ${cy.toFixed(1)}, ${czStr}) mm`;
         } else {
           labelText = this.tooltipLabel();

From 1a6b9367900d8c364d4214d4b0ffde181780048a Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Mon, 2 Feb 2026 00:25:39 +0000
Subject: [PATCH 03/20] create "Module Section" / liquid handler displaying
 pipette states

multi-channel wip, integrated arm wip
---
 pylabrobot/visualizer/img/integrated_arm.png  | Bin 0 -> 28655 bytes
 .../visualizer/img/multi_channel_pipette.png  | Bin 0 -> 28110 bytes
 .../visualizer/img/single_channel_pipette.png | Bin 0 -> 7490 bytes
 pylabrobot/visualizer/index.html              |   1 +
 pylabrobot/visualizer/lib.js                  | 320 ++++++++++++++++++
 pylabrobot/visualizer/main.css                |  79 +++++
 pylabrobot/visualizer/visualizer.py           |   7 +-
 7 files changed, 403 insertions(+), 4 deletions(-)
 create mode 100644 pylabrobot/visualizer/img/integrated_arm.png
 create mode 100644 pylabrobot/visualizer/img/multi_channel_pipette.png
 create mode 100644 pylabrobot/visualizer/img/single_channel_pipette.png

diff --git a/pylabrobot/visualizer/img/integrated_arm.png b/pylabrobot/visualizer/img/integrated_arm.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e518888d8322ee326045bab297fea570e3dcabd
GIT binary patch
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diff --git a/pylabrobot/visualizer/index.html b/pylabrobot/visualizer/index.html
index 75fbdeffd74..0668f32c67b 100644
--- a/pylabrobot/visualizer/index.html
+++ b/pylabrobot/visualizer/index.html
@@ -34,6 +34,7 @@
           <span id="source-filename" style="margin-left: 20px; font-size: 18px; font-weight: 700; color: #333;">{{ source_filename }}</span></a
         >
 
+        <div id="navbar-lh-modules"></div>
 
         <div class="status-box">
           <span onclick="openSocket();" id="status-indicator"></span>
diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index babebc4517d..320cae01c33 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -1195,10 +1195,86 @@ class TubeRack extends Resource {
 
 class PlateHolder extends ResourceHolder {}
 
+function fillHeadIcons(panel, headState) {
+  panel.innerHTML = "";
+  panel.style.display = "flex";
+  panel.style.flexWrap = "wrap";
+  panel.style.gap = "6px";
+  panel.style.alignItems = "flex-start";
+  var channels = Object.keys(headState).sort(function (a, b) { return +a - +b; });
+  for (var ci = 0; ci < channels.length; ci++) {
+    var ch = channels[ci];
+    var tipData = headState[ch] && headState[ch].tip;
+    var hasTip = tipData !== null && tipData !== undefined;
+    // Scale tip length: total_tip_length in mm, map to px (0.4 px/mm, min 10, max 40)
+    var tipLenPx = 0;
+    if (hasTip && tipData.total_tip_length) {
+      tipLenPx = Math.max(10, Math.min(40, tipData.total_tip_length * 0.4));
+    }
+    var col = document.createElement("div");
+    col.style.display = "flex";
+    col.style.flexDirection = "column";
+    col.style.alignItems = "center";
+    var label = document.createElement("span");
+    label.textContent = ch;
+    label.style.fontSize = "15px";
+    label.style.fontWeight = "700";
+    label.style.color = "#888";
+    label.style.marginBottom = "2px";
+    col.appendChild(label);
+    // Base pipette is 27px; tip adds a straight section + taper below
+    var svgH = hasTip ? 27 + tipLenPx : 27;
+    var icon = document.createElementNS("http://www.w3.org/2000/svg", "svg");
+    icon.setAttribute("width", "14");
+    icon.setAttribute("height", String(svgH));
+    icon.setAttribute("viewBox", "0 0 14 " + svgH);
+    // Black cylinder (top): 14px wide, 20px tall with rounded ends
+    var shapes =
+      '<rect x="0" y="1" width="14" height="18" rx="3" ry="3" fill="#333"/>' +
+      '<ellipse cx="7" cy="2" rx="7" ry="2" fill="#555"/>' +
+      '<ellipse cx="7" cy="19" rx="7" ry="2" fill="#222"/>' +
+      // Silver cylinder (bottom): 10px wide, 5px tall, centered
+      '<rect x="2" y="20" width="10" height="4" rx="2" ry="2" fill="#b0b0b0"/>' +
+      '<ellipse cx="7" cy="20" rx="5" ry="1.5" fill="#ccc"/>' +
+      '<ellipse cx="7" cy="24" rx="5" ry="1.5" fill="#999"/>';
+    if (hasTip) {
+      // Tip: straight section (40% of length) then taper to point (60%)
+      var straightH = Math.round(tipLenPx * 0.4);
+      var taperH = tipLenPx - straightH;
+      var straightEnd = 25 + straightH;
+      var tipEnd = straightEnd + taperH;
+      shapes +=
+        '<rect x="3" y="25" width="8" height="' + straightH + '" rx="1" ry="1" fill="#e8e8e8" stroke="#bbb" stroke-width="0.5"/>' +
+        '<polygon points="3,' + straightEnd + ' 11,' + straightEnd + ' 7,' + tipEnd + '" fill="#e8e8e8" stroke="#bbb" stroke-width="0.5"/>';
+    }
+    icon.innerHTML = shapes;
+    col.appendChild(icon);
+    panel.appendChild(col);
+  }
+}
+
 class LiquidHandler extends Resource {
+  constructor(resource) {
+    super(resource);
+    this.numHeads = 0;
+    this.headState = {};
+  }
+
   drawMainShape() {
     return undefined; // just draw the children (deck and so on)
   }
+
+  setState(state) {
+    if (state.head_state) {
+      this.headState = state.head_state;
+      this.numHeads = Object.keys(state.head_state).length;
+      // Update dropdown panel if it exists
+      var panel = document.getElementById("single-channel-dropdown-" + this.name);
+      if (panel) {
+        fillHeadIcons(panel, this.headState);
+      }
+    }
+  }
 }
 
 // ===========================================================================
@@ -1998,6 +2074,7 @@ function buildResourceTree(rootResource) {
 
   treeContainer.appendChild(rootNode);
   buildWrtDropdown();
+  buildNavbarLHModules();
 }
 
 function addResourceToTree(resource) {
@@ -2944,3 +3021,246 @@ window.addEventListener("load", function () {
     });
   }
 });
+
+// ===========================================================================
+// Navbar Liquid Handler Module Buttons
+// ===========================================================================
+
+function makeSVG(viewBox, innerHTML) {
+  var svg = document.createElementNS("http://www.w3.org/2000/svg", "svg");
+  svg.setAttribute("width", "40");
+  svg.setAttribute("height", "40");
+  svg.setAttribute("viewBox", viewBox);
+  svg.setAttribute("preserveAspectRatio", "xMidYMid meet");
+  svg.innerHTML = innerHTML;
+  return svg;
+}
+
+var multiChannelSVG = (function () {
+  var body =
+    '<g stroke-linejoin="round">' +
+    // === Main body — large isometric block ===
+    '<polygon points="20,0 38,7 20,14 2,7" fill="#e0e0e0" stroke="#888" stroke-width="0.7"/>' +
+    '<polygon points="2,7 20,14 20,26 2,19" fill="#c8c8c8" stroke="#888" stroke-width="0.7"/>' +
+    '<polygon points="38,7 20,14 20,26 38,19" fill="#b0b0b0" stroke="#888" stroke-width="0.7"/>' +
+    '<line x1="20" y1="14" x2="20" y2="26" stroke="#999" stroke-width="0.6"/>' +
+    // === Dark adapter plate ===
+    '<polygon points="20,24 38,17 38,19 20,26 2,19 2,17" fill="#333" stroke="#222" stroke-width="0.7"/>' +
+    '<polygon points="2,19 20,26 20,28 2,21" fill="#222" stroke="#111" stroke-width="0.5"/>' +
+    '<polygon points="38,19 20,26 20,28 38,21" fill="#2a2a2a" stroke="#111" stroke-width="0.5"/>';
+
+  // === Isometric tip grid ===
+  // The adapter plate bottom face is a diamond:
+  //   back=(20,21), left=(2,21), front=(20,28), right=(38,21)
+  // Isometric axes on this face:
+  //   "column" axis: left→right = from (2,21) toward (38,21) through back → direction (+2.25, -0.44)
+  //   "row" axis: back→front = from back toward (20,28) → direction (-2.25, +0.44) per step
+  // But we want to shift each row forward (toward viewer).
+  //
+  // Grid: 8 columns x 6 rows. Origin at center of adapter bottom face.
+  // Column direction (along right edge): dx_c=+2.25, dy_c=-0.44
+  // Row direction (toward front): dx_r=-2.25, dy_r=+0.44
+  // Center of bottom face: (20, 24.5)
+
+  var cx = 20, cy = 24.5;
+  var cols = 8, rows = 6;
+  var dx_c = 2.1, dy_c = -0.75;   // step per column (going right-back)
+  var dx_r = -2.1, dy_r = 0.75;   // step per row (going left-front)
+  var tipLen = 11;                  // tip length (straight down)
+
+  // Collect all tips with their positions, sorted back-to-front for correct overlap
+  var tips = [];
+  for (var r = 0; r < rows; r++) {
+    for (var c = 0; c < cols; c++) {
+      var cc = c - (cols - 1) / 2;  // center columns
+      var rr = r - (rows - 1) / 2;  // center rows
+      var x = cx + cc * dx_c + rr * dx_r;
+      var y = cy + cc * dy_c + rr * dy_r;
+      // depth: back rows (low r) are far, front rows (high r) are near
+      tips.push({ x: x, y: y, row: r });
+    }
+  }
+  // Sort back-to-front (low y first = back = draw first)
+  tips.sort(function (a, b) { return a.y - b.y; });
+
+  var tipsSvg = '';
+  for (var i = 0; i < tips.length; i++) {
+    var t = tips[i];
+    // Depth shading: back rows lighter, front rows darker
+    var frac = t.row / (rows - 1); // 0=back, 1=front
+    var gray = Math.round(180 - frac * 150); // 180 (light) → 30 (dark)
+    var sw = 0.5 + frac * 0.5;               // 0.5 → 1.0 stroke width
+    var color = 'rgb(' + gray + ',' + gray + ',' + gray + ')';
+    var x1 = t.x.toFixed(1);
+    var y1 = t.y.toFixed(1);
+    var y2 = (t.y + tipLen).toFixed(1);
+    tipsSvg += '<line x1="' + x1 + '" y1="' + y1 + '" x2="' + x1 + '" y2="' + y2 +
+               '" stroke="' + color + '" stroke-width="' + sw.toFixed(2) + '"/>';
+  }
+
+  return body + tipsSvg + '</g>';
+})();
+
+var singleChannelSVG =
+  '<g fill="#222" stroke="none">' +
+  '<rect x="4" y="0" width="12" height="3.5" rx="0.5"/>' +
+  '<rect x="8" y="3.5" width="3" height="4.5"/>' +
+  '<rect x="2" y="8" width="16" height="2.5" rx="0.5"/>' +
+  '<rect x="5" y="10.5" width="10" height="21.5" rx="1"/>' +
+  '<rect x="6.5" y="14.5" width="5" height="1.8" rx="0.3" fill="#fff"/>' +
+  '<rect x="6.5" y="18" width="5" height="1.8" rx="0.3" fill="#fff"/>' +
+  '<rect x="6.5" y="21.5" width="5" height="1.8" rx="0.3" fill="#fff"/>' +
+  '<rect x="6.5" y="25" width="5" height="1.8" rx="0.3" fill="#fff"/>' +
+  '<path d="M7 32 L13 32 L11 36 L9 36 Z"/>' +
+  '<rect x="9" y="36" width="2" height="10" rx="0.5"/>' +
+  '</g>';
+
+var integratedArmSVG =
+  '<g stroke-linejoin="round">' +
+  // --- Dark vertical column (isometric cylinder) ---
+  // Column left face
+  '<polygon points="11,2 15,0 15,14 11,16" fill="#2a2a2a" stroke="#111" stroke-width="0.6"/>' +
+  // Column right face
+  '<polygon points="15,0 21,3 21,17 15,14" fill="#444" stroke="#111" stroke-width="0.6"/>' +
+  // Column top ellipse
+  '<polygon points="11,2 15,0 21,3 17,5" fill="#555" stroke="#222" stroke-width="0.6"/>' +
+  // Highlight strip
+  '<polygon points="14,1 16,0 16,14 14,15" fill="#666" stroke="none" opacity="0.5"/>' +
+  // --- White carriage plate (isometric box) ---
+  // Plate top face
+  '<polygon points="4,16 16,11 28,16 16,21" fill="#ddd" stroke="#888" stroke-width="0.6"/>' +
+  // Plate front-left face
+  '<polygon points="4,16 16,21 16,24 4,19" fill="#c0c0c0" stroke="#888" stroke-width="0.6"/>' +
+  // Plate front-right face
+  '<polygon points="16,21 28,16 28,19 16,24" fill="#aaa" stroke="#888" stroke-width="0.6"/>' +
+  // --- Back arm (upper rail, extends front-right) ---
+  // Back arm top
+  '<polygon points="16,17 32,24 34,23 18,16" fill="#aaa" stroke="#777" stroke-width="0.5"/>' +
+  // Back arm front face
+  '<polygon points="16,17 32,24 32,26.5 16,19.5" fill="#909090" stroke="#777" stroke-width="0.5"/>' +
+  // Back arm right end
+  '<polygon points="32,24 34,23 34,25.5 32,26.5" fill="#808080" stroke="#666" stroke-width="0.5"/>' +
+  // --- Front arm (lower rail, extends front-right) ---
+  // Front arm top
+  '<polygon points="10,20 26,27 28,26 12,19" fill="#aaa" stroke="#777" stroke-width="0.5"/>' +
+  // Front arm front face
+  '<polygon points="10,20 26,27 26,29.5 10,22.5" fill="#909090" stroke="#777" stroke-width="0.5"/>' +
+  // Front arm right end
+  '<polygon points="26,27 28,26 28,28.5 26,29.5" fill="#808080" stroke="#666" stroke-width="0.5"/>' +
+  // --- Back gripper (at end of back arm) ---
+  // Back crossbar top
+  '<polygon points="32,24 34,23 38,25 36,26" fill="#2a2a2a" stroke="#111" stroke-width="0.5"/>' +
+  // Back crossbar front
+  '<polygon points="32,24 36,26 36,28 32,26" fill="#1a1a1a" stroke="#111" stroke-width="0.5"/>' +
+  // Back left finger
+  '<polygon points="32,26 33.5,25.3 33.5,33 32,33.7" fill="#222" stroke="#111" stroke-width="0.4"/>' +
+  // Back right finger
+  '<polygon points="35,27.3 36.5,26.5 36.5,34.5 35,35.3" fill="#222" stroke="#111" stroke-width="0.4"/>' +
+  // --- Front gripper (at end of front arm) ---
+  // Front crossbar top
+  '<polygon points="26,27 28,26 32,28 30,29" fill="#1a1a1a" stroke="#000" stroke-width="0.5"/>' +
+  // Front crossbar front
+  '<polygon points="26,27 30,29 30,31 26,29" fill="#111" stroke="#000" stroke-width="0.5"/>' +
+  // Front left finger
+  '<polygon points="26,29 27.5,28.3 27.5,37 26,37.7" fill="#1a1a1a" stroke="#000" stroke-width="0.4"/>' +
+  // Front right finger
+  '<polygon points="29,30.3 30.5,29.5 30.5,38.5 29,39.3" fill="#1a1a1a" stroke="#000" stroke-width="0.4"/>' +
+  '</g>';
+
+function buildNavbarLHModules() {
+  var container = document.getElementById("navbar-lh-modules");
+  if (!container) return;
+  container.innerHTML = "";
+
+  // Find all LiquidHandler resources
+  var lhNames = [];
+  for (var name in resources) {
+    if (resources[name] instanceof LiquidHandler) {
+      lhNames.push(name);
+    }
+  }
+
+  for (var i = 0; i < lhNames.length; i++) {
+    var lhName = lhNames[i];
+    var group = document.createElement("div");
+    group.className = "navbar-pipette-group";
+
+    // Label
+    var label = document.createElement("span");
+    label.className = "navbar-pipette-label";
+    label.textContent = lhName;
+    group.appendChild(label);
+
+    // Multi-channel button
+    var multiBtn = document.createElement("button");
+    multiBtn.className = "navbar-pipette-btn";
+    multiBtn.title = "Multi-Channel Pipettes";
+    var multiImg = document.createElement("img");
+    multiImg.src = "img/multi_channel_pipette.png";
+    multiImg.alt = "Multi-Channel Pipettes";
+    multiImg.style.width = "44px";
+    multiImg.style.height = "44px";
+    multiImg.style.objectFit = "contain";
+    multiBtn.appendChild(multiImg);
+    group.appendChild(multiBtn);
+
+    // Single-channel button
+    var singleBtn = document.createElement("button");
+    singleBtn.className = "navbar-pipette-btn";
+    singleBtn.title = "Single-Channel Pipettes";
+    var singleImg = document.createElement("img");
+    singleImg.src = "img/single_channel_pipette.png";
+    singleImg.alt = "Single-Channel Pipettes";
+    singleImg.style.width = "44px";
+    singleImg.style.height = "44px";
+    singleImg.style.objectFit = "contain";
+    singleBtn.appendChild(singleImg);
+    group.appendChild(singleBtn);
+
+    // Single-channel dropdown panel
+    (function (btn, handlerName) {
+      var panelId = "single-channel-dropdown-" + handlerName;
+      btn.addEventListener("click", function () {
+        var existing = document.getElementById(panelId);
+        if (existing) {
+          // Toggle
+          var isOpen = existing.classList.toggle("open");
+          btn.classList.toggle("active", isOpen);
+          return;
+        }
+        // Create the dropdown panel inside <main>
+        var mainEl = document.querySelector("main");
+        if (!mainEl) return;
+        var panel = document.createElement("div");
+        panel.className = "module-dropdown open";
+        panel.id = panelId;
+        // Position below the button
+        var btnRect = btn.getBoundingClientRect();
+        var mainRect = mainEl.getBoundingClientRect();
+        panel.style.top = (btnRect.bottom - mainRect.top + 20) + "px";
+        panel.style.left = (btnRect.left - mainRect.left + btnRect.width / 2) + "px";
+        // Show head icons from LiquidHandler state
+        var lhResource = resources[handlerName];
+        var headState = (lhResource && lhResource.headState) ? lhResource.headState : {};
+        fillHeadIcons(panel, headState);
+        mainEl.appendChild(panel);
+        btn.classList.add("active");
+      });
+    })(singleBtn, lhName);
+
+    // Integrated arm button
+    var armBtn = document.createElement("button");
+    armBtn.className = "navbar-pipette-btn";
+    armBtn.title = "Integrated Arm";
+    var armImg = document.createElement("img");
+    armImg.src = "img/integrated_arm.png";
+    armImg.alt = "Integrated Arm";
+    armImg.style.width = "44px";
+    armImg.style.height = "44px";
+    armImg.style.objectFit = "contain";
+    armBtn.appendChild(armImg);
+    group.appendChild(armBtn);
+
+    container.appendChild(group);
+  }
+}
diff --git a/pylabrobot/visualizer/main.css b/pylabrobot/visualizer/main.css
index d904140d149..e0b5428917e 100644
--- a/pylabrobot/visualizer/main.css
+++ b/pylabrobot/visualizer/main.css
@@ -41,6 +41,85 @@ nav.navbar .status-box {
   margin-right: 16px;
 }
 
+#navbar-lh-modules {
+  position: absolute;
+  left: 50%;
+  transform: translateX(-50%);
+  display: flex;
+  align-items: center;
+  gap: 8px;
+}
+
+.navbar-pipette-group {
+  display: flex;
+  align-items: center;
+  border: 1.5px solid #ced4da;
+  border-radius: 6px;
+  background: #f8f9fa;
+  overflow: hidden;
+}
+
+.navbar-pipette-label {
+  padding: 0 8px 0 10px;
+  font-size: 12px;
+  font-weight: 700;
+  color: #555;
+  white-space: nowrap;
+  border-right: 1px solid #ced4da;
+  height: 48px;
+  display: flex;
+  align-items: center;
+}
+
+.navbar-pipette-btn {
+  border: none;
+  background: transparent;
+  width: 48px;
+  height: 48px;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  cursor: pointer;
+  opacity: 0.8;
+  transition: opacity 0.15s, background 0.15s;
+  padding: 0;
+}
+
+.navbar-pipette-btn:hover {
+  opacity: 1;
+  background: #dee2e6;
+}
+
+.navbar-pipette-btn + .navbar-pipette-btn {
+  border-left: 1px solid #ced4da;
+}
+
+.navbar-pipette-btn.active {
+  background: #cfe2ff;
+  opacity: 1;
+}
+
+.module-dropdown {
+  position: absolute;
+  top: 0;
+  left: 50%;
+  transform: translateX(-50%);
+  background: rgba(255, 255, 255, 0.92);
+  backdrop-filter: blur(12px);
+  -webkit-backdrop-filter: blur(12px);
+  border: 2px solid #999;
+  border-radius: 8px;
+  padding: 16px 20px;
+  z-index: 5;
+  width: fit-content;
+  box-shadow: 0 2px 12px rgba(0, 0, 0, 0.12);
+  display: none;
+}
+
+.module-dropdown.open {
+  display: flex;
+}
+
 .content {
   height: calc(100vh - 60px);
   margin: 0;
diff --git a/pylabrobot/visualizer/visualizer.py b/pylabrobot/visualizer/visualizer.py
index 2694b682306..06aa72bdfbf 100644
--- a/pylabrobot/visualizer/visualizer.py
+++ b/pylabrobot/visualizer/visualizer.py
@@ -564,10 +564,9 @@ async def _send_resources_and_state(self):
 
     def save_resource_state(resource: Resource):
       """Recursively save the state of the resource and all child resources."""
-      if hasattr(resource, "tracker"):
-        resource_state = resource.tracker.serialize()
-        if resource_state is not None:
-          state[resource.name] = resource_state
+      resource_state = resource.serialize_state()
+      if resource_state:
+        state[resource.name] = resource_state
       for child in resource.children:
         save_resource_state(child)
 

From ac1402adbc19342dfa2c1a6cf257fae7743be0c7 Mon Sep 17 00:00:00 2001
From: Rick Wierenga <rick_wierenga@icloud.com>
Date: Mon, 2 Feb 2026 11:11:28 -0800
Subject: [PATCH 04/20] remove unused variables

---
 pylabrobot/visualizer/lib.js | 2 --
 1 file changed, 2 deletions(-)

diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index 320cae01c33..e7c69a76a33 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -120,7 +120,6 @@ function getWrtAnchorOffset(wrtResource) {
   else if (yRef && yRef.value === "back") yOff = wrtResource.size_y;
 
   var zOff = 0;
-  var zNA = false;
   if (zRef) {
     if (zRef.value === "center") zOff = wrtResource.size_z / 2;
     else if (zRef.value === "top") zOff = wrtResource.size_z;
@@ -155,7 +154,6 @@ var scaleX, scaleY;
 
 var resources = {}; // name -> Resource object
 
-var homeView = null; // saved initial view {x, y, scaleX, scaleY}
 var rootResource = null; // the root resource for fit-to-viewport
 
 function fitToViewport() {

From 98e37caf1fb7d3da4f25b7920c136c840a8ec384 Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Mon, 2 Feb 2026 20:49:13 +0000
Subject: [PATCH 05/20] updates to arm tracking

---
 .../liquid_handling/backends/chatterbox.py    |   1 +
 .../backends/hamilton/STAR_backend.py         |   1 +
 .../backends/hamilton/STAR_chatterbox.py      |  17 +-
 .../backends/hamilton/STAR_tests.py           |   5 +
 .../backends/hamilton/vantage_tests.py        |   1 +
 pylabrobot/liquid_handling/liquid_handler.py  |  66 ++-
 .../liquid_handling/liquid_handler_tests.py   |   1 +
 .../visualizer/img/multi_channel_pipette.png  | Bin 28110 -> 38330 bytes
 pylabrobot/visualizer/index.html              |   5 +-
 pylabrobot/visualizer/lib.js                  | 493 +++++++++++++++++-
 pylabrobot/visualizer/main.css                |  46 +-
 pylabrobot/visualizer/vis.js                  |  19 +
 12 files changed, 615 insertions(+), 40 deletions(-)

diff --git a/pylabrobot/liquid_handling/backends/chatterbox.py b/pylabrobot/liquid_handling/backends/chatterbox.py
index 183eebaab60..ce95096c078 100644
--- a/pylabrobot/liquid_handling/backends/chatterbox.py
+++ b/pylabrobot/liquid_handling/backends/chatterbox.py
@@ -43,6 +43,7 @@ def __init__(self, num_channels: int = 8):
     """Initialize a chatter box backend."""
     super().__init__()
     self._num_channels = num_channels
+    self.num_arms = 1
 
   async def setup(self):
     await super().setup()
diff --git a/pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py b/pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py
index ed16f51ff40..af819994660 100644
--- a/pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py
+++ b/pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py
@@ -1447,6 +1447,7 @@ async def setup(
     self.autoload_installed = autoload_configuration_byte == "1"
     self.core96_head_installed = left_x_drive_configuration_byte_1[2] == "1"
     self.iswap_installed = left_x_drive_configuration_byte_1[1] == "1"
+    self.num_arms = 1 if self.iswap_installed else 0
     self._head96_information: Optional[Head96Information] = None
 
     initialized = await self.request_instrument_initialization_status()
diff --git a/pylabrobot/liquid_handling/backends/hamilton/STAR_chatterbox.py b/pylabrobot/liquid_handling/backends/hamilton/STAR_chatterbox.py
index ade7567e232..54bf816d19f 100644
--- a/pylabrobot/liquid_handling/backends/hamilton/STAR_chatterbox.py
+++ b/pylabrobot/liquid_handling/backends/hamilton/STAR_chatterbox.py
@@ -10,17 +10,24 @@
 class STARChatterboxBackend(STARBackend):
   """Chatterbox backend for 'STAR'"""
 
-  def __init__(self, num_channels: int = 8, core96_head_installed: bool = True):
+  def __init__(
+    self,
+    num_channels: int = 8,
+    core96_head_installed: bool = True,
+    iswap_installed: bool = True,
+  ):
     """Initialize a chatter box backend.
 
     Args:
       num_channels: Number of pipetting channels (default: 8)
       core96_head_installed: Whether the CoRe 96 head is installed (default: True)
+      iswap_installed: Whether the iSWAP robotic arm is installed (default: True)
     """
     super().__init__()
     self._num_channels = num_channels
     self._iswap_parked = True
     self._core96_head_installed = core96_head_installed
+    self._iswap_installed = iswap_installed
 
   async def setup(
     self,
@@ -53,6 +60,7 @@ async def setup(
     # Use bitwise operations to check specific bits
     self.iswap_installed = bool(xl_value & 0b10)  # Check bit 1
     self.core96_head_installed = bool(xl_value & 0b100)  # Check bit 2
+    self.num_arms = 1 if self.iswap_installed else 0
 
     # Parse autoload from kb configuration byte
     configuration_data1 = bin(conf["kb"]).split("b")[-1].zfill(8)
@@ -132,12 +140,13 @@ async def request_extended_configuration(self):
     """
     # Calculate xl byte based on installed modules
     # Bit 0: (reserved)
-    # Bit 1: iSWAP (always True in this mock)
+    # Bit 1: iSWAP (based on __init__ parameter)
     # Bit 2: 96-head (based on __init__ parameter)
-    xl_value = 0b10  # iSWAP installed (bit 1)
+    xl_value = 0
+    if self._iswap_installed:
+      xl_value |= 0b10   # Add iSWAP (bit 1)
     if self._core96_head_installed:
       xl_value |= 0b100  # Add 96-head (bit 2)
-    # Result: xl = 6 (0b110) if 96-head installed, 2 (0b10) if not
 
     self._extended_conf = {
       "ka": 65537,
diff --git a/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py b/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py
index 89ade38b7f1..92be623f6bb 100644
--- a/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py
+++ b/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py
@@ -178,6 +178,7 @@ def __init__(self):
   async def setup(self) -> None:  # type: ignore
     self._num_channels = 8
     self.iswap_installed = True
+    self.num_arms = 1
     self.core96_head_installed = True
     self._core_parked = True
 
@@ -262,6 +263,7 @@ def __init__(self, name: str):
     self.STAR._num_channels = 8
     self.STAR.core96_head_installed = True
     self.STAR.iswap_installed = True
+    self.STAR.num_arms = 1
     self.STAR.setup = unittest.mock.AsyncMock()
     self.STAR._core_parked = True
     self.STAR._iswap_parked = True
@@ -1093,6 +1095,7 @@ async def asyncSetUp(self):
     self.STAR._num_channels = 8
     self.STAR.core96_head_installed = True
     self.STAR.iswap_installed = True
+    self.STAR.num_arms = 1
     self.STAR.setup = unittest.mock.AsyncMock()
     self.STAR._core_parked = True
     self.STAR._iswap_parked = True
@@ -1222,6 +1225,7 @@ async def asyncSetUp(self):
     self.star._num_channels = 8
     self.star.core96_head_installed = True
     self.star.iswap_installed = True
+    self.star.num_arms = 1
     self.star.setup = unittest.mock.AsyncMock()
     self.star._core_parked = True
     self.star._iswap_parked = True
@@ -1418,6 +1422,7 @@ async def asyncSetUp(self):
     self.backend._num_channels = 8
     self.backend.core96_head_installed = True
     self.backend.iswap_installed = True
+    self.backend.num_arms = 1
     self.backend.setup = unittest.mock.AsyncMock()
     self.backend._core_parked = True
     self.backend._iswap_parked = True
diff --git a/pylabrobot/liquid_handling/backends/hamilton/vantage_tests.py b/pylabrobot/liquid_handling/backends/hamilton/vantage_tests.py
index 2c612016dfa..3ecbd3957cd 100644
--- a/pylabrobot/liquid_handling/backends/hamilton/vantage_tests.py
+++ b/pylabrobot/liquid_handling/backends/hamilton/vantage_tests.py
@@ -217,6 +217,7 @@ async def setup(self) -> None:  # type: ignore
     self.setup_finished = True
     self._num_channels = 8
     self.iswap_installed = True
+    self.num_arms = 1
     self.core96_head_installed = True
 
   async def send_command(
diff --git a/pylabrobot/liquid_handling/liquid_handler.py b/pylabrobot/liquid_handling/liquid_handler.py
index 027ec486ab5..8cb0ca6a50a 100644
--- a/pylabrobot/liquid_handling/liquid_handler.py
+++ b/pylabrobot/liquid_handling/liquid_handler.py
@@ -145,7 +145,17 @@ def __init__(
     self.location = Coordinate.zero()
     super().assign_child_resource(deck, location=deck.location or Coordinate.zero())
 
-    self._resource_pickup: Optional[ResourcePickup] = None
+    num_arms = getattr(self.backend, "num_arms", 0)
+    self._resource_pickups: Dict[int, Optional[ResourcePickup]] = {a: None for a in range(num_arms)}
+
+  @property
+  def _resource_pickup(self) -> Optional[ResourcePickup]:
+    """Backward-compatible access to the first arm's pickup state."""
+    return self._resource_pickups.get(0)
+
+  @_resource_pickup.setter
+  def _resource_pickup(self, value: Optional[ResourcePickup]) -> None:
+    self._resource_pickups[0] = value
 
   async def setup(self, **backend_kwargs):
     """Prepare the robot for use."""
@@ -158,16 +168,51 @@ async def setup(self, **backend_kwargs):
     await super().setup(**backend_kwargs)
 
     self.head = {c: TipTracker(thing=f"Channel {c}") for c in range(self.backend.num_channels)}
-    self.head96 = {c: TipTracker(thing=f"Channel {c}") for c in range(96)}
 
-    self._resource_pickup = None
+    has_head96 = getattr(self.backend, "core96_head_installed", True)
+    self.head96 = {c: TipTracker(thing=f"Channel {c}") for c in range(96)} if has_head96 else {}
+
+    self.backend.set_heads(head=self.head, head96=self.head96 or None)
+
+    for tracker in self.head.values():
+      tracker.register_callback(self._state_updated)
+    for tracker in self.head96.values():
+      tracker.register_callback(self._state_updated)
+
+    num_arms = getattr(self.backend, "num_arms", 0)
+    self._resource_pickups = {a: None for a in range(num_arms)}
 
   def serialize_state(self) -> Dict[str, Any]:
     """Serialize the state of this liquid handler. Use :meth:`~Resource.serialize_all_states` to
     serialize the state of the liquid handler and all children (the deck)."""
 
     head_state = {channel: tracker.serialize() for channel, tracker in self.head.items()}
-    return {"head_state": head_state}
+    head96_state = {channel: tracker.serialize() for channel, tracker in self.head96.items()} \
+      if self.head96 else None
+    if self._resource_pickups:
+      arm_state: Optional[Dict[int, Any]] = {}
+      for arm_id, pickup in self._resource_pickups.items():
+        if pickup is not None:
+          res = pickup.resource
+          arm_entry: Dict[str, Any] = {
+            "resource_name": res.name,
+            "resource_type": type(res).__name__,
+            "direction": pickup.direction.name,
+            "pickup_distance_from_top": pickup.pickup_distance_from_top,
+            "size_x": res.get_size_x(),
+            "size_y": res.get_size_y(),
+            "size_z": res.get_size_z(),
+          }
+          if hasattr(res, "num_items_x"):
+            arm_entry["num_items_x"] = res.num_items_x
+          if hasattr(res, "num_items_y"):
+            arm_entry["num_items_y"] = res.num_items_y
+          arm_state[arm_id] = arm_entry
+        else:
+          arm_state[arm_id] = None
+    else:
+      arm_state = None
+    return {"head_state": head_state, "head96_state": head96_state, "arm_state": arm_state}
 
   def load_state(self, state: Dict[str, Any]):
     """Load the liquid handler state from a file. Use :meth:`~Resource.load_all_state` to load the
@@ -177,6 +222,13 @@ def load_state(self, state: Dict[str, Any]):
     for channel, tracker_state in head_state.items():
       self.head[channel].load_state(tracker_state)
 
+    head96_state = state.get("head96_state", {})
+    for channel, tracker_state in head96_state.items():
+      self.head96[channel].load_state(tracker_state)
+
+    # arm_state is informational only (read via serialize_state); no load needed since
+    # _resource_pickup is set/cleared by pick_up_resource/drop_resource at runtime.
+
   def update_head_state(self, state: Dict[int, Optional[Tip]]):
     """Update the state of the liquid handler head.
 
@@ -1964,6 +2016,9 @@ async def pick_up_resource(
       direction=direction,
     )
 
+    if not self._resource_pickups:
+      raise RuntimeError("No robotic arm is installed on this liquid handler.")
+
     if self._resource_pickup is not None:
       raise RuntimeError(f"Resource {self._resource_pickup.resource.name} already picked up")
 
@@ -1989,6 +2044,8 @@ async def pick_up_resource(
       self._resource_pickup = None
       raise e
 
+    self._state_updated()
+
   async def move_picked_up_resource(
     self,
     to: Coordinate,
@@ -2151,6 +2208,7 @@ async def drop_resource(
     result = await self.backend.drop_resource(drop=drop, **backend_kwargs)
 
     self._resource_pickup = None
+    self._state_updated()
 
     # we rotate the resource on top of its original rotation. So in order to set the new rotation,
     # we have to subtract its current rotation.
diff --git a/pylabrobot/liquid_handling/liquid_handler_tests.py b/pylabrobot/liquid_handling/liquid_handler_tests.py
index 41431412035..19bcc8f608c 100644
--- a/pylabrobot/liquid_handling/liquid_handler_tests.py
+++ b/pylabrobot/liquid_handling/liquid_handler_tests.py
@@ -66,6 +66,7 @@ def _create_mock_backend(num_channels: int = 8):
   """Create a mock LiquidHandlerBackend with the specified number of channels."""
   mock = unittest.mock.create_autospec(LiquidHandlerBackend, instance=True)
   type(mock).num_channels = PropertyMock(return_value=num_channels)
+  mock.num_arms = 1
   mock.can_pick_up_tip.return_value = True
   return mock
 
diff --git a/pylabrobot/visualizer/img/multi_channel_pipette.png b/pylabrobot/visualizer/img/multi_channel_pipette.png
index 80baac8ee1203a452d5e201badd10c27019669d0..c66c881c07b44cf55ed12f451368c7fa83256e86 100644
GIT binary patch
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diff --git a/pylabrobot/visualizer/index.html b/pylabrobot/visualizer/index.html
index 0668f32c67b..ec021b79832 100644
--- a/pylabrobot/visualizer/index.html
+++ b/pylabrobot/visualizer/index.html
@@ -30,10 +30,11 @@
         <div class="navbar-divider"></div>
         <a class="navbar-brand" href="#" style="display: flex; align-items: center;">
           <img src="/favicon.png" alt="Logo" style="height: 42px; margin-right: 8px;">
-          PyLabRobot Visualizer
-          <span id="source-filename" style="margin-left: 20px; font-size: 18px; font-weight: 700; color: #333;">{{ source_filename }}</span></a
+          PyLabRobot Visualizer</a
         >
 
+        <span id="source-filename" style="margin-left: 16px; font-size: 18px; font-weight: 700; color: #333;">{{ source_filename }}</span>
+        <div class="navbar-divider" style="margin: 0 14px; height: 95%;"></div>
         <div id="navbar-lh-modules"></div>
 
         <div class="status-box">
diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index e7c69a76a33..840af909e5a 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -153,6 +153,11 @@ function getLocationWrt(resource, wrtName) {
 var scaleX, scaleY;
 
 var resources = {}; // name -> Resource object
+// Serialized resource data saved before resources are destroyed (e.g. picked up by arm).
+// Used by the arm panel to re-instantiate the resource and draw it on a live Konva stage
+// using the exact same draw() code as the main canvas — guaranteeing visual consistency.
+// Each entry is a plain JS object from resource.serialize() (~1-5 KB for a 96-well plate).
+var resourceSnapshots = {}; // name -> serialized resource data
 
 var rootResource = null; // the root resource for fit-to-viewport
 
@@ -941,6 +946,13 @@ class Well extends Container {
     this.cross_section_type = cross_section_type;
   }
 
+  serialize() {
+    return {
+      ...super.serialize(),
+      cross_section_type: this.cross_section_type,
+    };
+  }
+
   drawMainShape() {
     const mainShape = new Konva.Group({});
     if (this.cross_section_type === "circle") {
@@ -1195,19 +1207,19 @@ class PlateHolder extends ResourceHolder {}
 
 function fillHeadIcons(panel, headState) {
   panel.innerHTML = "";
-  panel.style.display = "flex";
-  panel.style.flexWrap = "wrap";
-  panel.style.gap = "6px";
-  panel.style.alignItems = "flex-start";
+  // Fixed height: pipette (27) + max tip (80mm * 0.8 = 64px)
+  var maxTipPx = 64; // 80mm max tip
+  var fixedSvgH = 27 + maxTipPx;
   var channels = Object.keys(headState).sort(function (a, b) { return +a - +b; });
   for (var ci = 0; ci < channels.length; ci++) {
     var ch = channels[ci];
     var tipData = headState[ch] && headState[ch].tip;
     var hasTip = tipData !== null && tipData !== undefined;
-    // Scale tip length: total_tip_length in mm, map to px (0.4 px/mm, min 10, max 40)
+    // Scale tip length: total_tip_length in mm, map to px (0.8 px/mm, clamp 10mm–80mm)
     var tipLenPx = 0;
     if (hasTip && tipData.total_tip_length) {
-      tipLenPx = Math.max(10, Math.min(40, tipData.total_tip_length * 0.4));
+      var clampedMm = Math.max(10, Math.min(80, tipData.total_tip_length));
+      tipLenPx = clampedMm * 0.8;
     }
     var col = document.createElement("div");
     col.style.display = "flex";
@@ -1220,12 +1232,10 @@ function fillHeadIcons(panel, headState) {
     label.style.color = "#888";
     label.style.marginBottom = "2px";
     col.appendChild(label);
-    // Base pipette is 27px; tip adds a straight section + taper below
-    var svgH = hasTip ? 27 + tipLenPx : 27;
     var icon = document.createElementNS("http://www.w3.org/2000/svg", "svg");
     icon.setAttribute("width", "14");
-    icon.setAttribute("height", String(svgH));
-    icon.setAttribute("viewBox", "0 0 14 " + svgH);
+    icon.setAttribute("height", String(fixedSvgH));
+    icon.setAttribute("viewBox", "0 0 14 " + fixedSvgH);
     // Black cylinder (top): 14px wide, 20px tall with rounded ends
     var shapes =
       '<rect x="0" y="1" width="14" height="18" rx="3" ry="3" fill="#333"/>' +
@@ -1242,8 +1252,8 @@ function fillHeadIcons(panel, headState) {
       var straightEnd = 25 + straightH;
       var tipEnd = straightEnd + taperH;
       shapes +=
-        '<rect x="3" y="25" width="8" height="' + straightH + '" rx="1" ry="1" fill="#e8e8e8" stroke="#bbb" stroke-width="0.5"/>' +
-        '<polygon points="3,' + straightEnd + ' 11,' + straightEnd + ' 7,' + tipEnd + '" fill="#e8e8e8" stroke="#bbb" stroke-width="0.5"/>';
+        '<rect x="3" y="25" width="8" height="' + straightH + '" rx="1" ry="1" fill="#d0d0d0" stroke="#888" stroke-width="0.8"/>' +
+        '<polygon points="3,' + straightEnd + ' 11,' + straightEnd + ' 7,' + tipEnd + '" fill="#d0d0d0" stroke="#888" stroke-width="0.8"/>';
     }
     icon.innerHTML = shapes;
     col.appendChild(icon);
@@ -1251,11 +1261,306 @@ function fillHeadIcons(panel, headState) {
   }
 }
 
+function fillHead96Grid(panel, head96State) {
+  panel.innerHTML = "";
+  // Split channels into groups of 96 (one grid per multi-channel pipette)
+  var allChannels = Object.keys(head96State).sort(function (a, b) { return +a - +b; });
+  var numPipettes = Math.max(1, Math.ceil(allChannels.length / 96));
+  // Compute dot size to fit within panel height
+  var panelH = parseFloat(panel.style.height) || 0;
+  var availH = panelH > 0 ? panelH - 32 - 12 - 3 : 100;
+  // 8 rows with gaps: 8d + 7*0.25d = 9.75d = availH
+  var dotSize = Math.max(6, Math.min(14, Math.floor(availH / 9.75)));
+  var gapSize = Math.max(1, Math.round(dotSize * 0.25));
+  for (var p = 0; p < numPipettes; p++) {
+    var startCh = p * 96;
+    var box = document.createElement("div");
+    box.style.border = "1.5px solid #aaa";
+    box.style.borderRadius = "6px";
+    box.style.padding = "6px";
+    box.style.background = "rgba(245, 245, 245, 0.6)";
+    box.style.display = "inline-block";
+    var grid = document.createElement("div");
+    grid.style.display = "grid";
+    grid.style.gridTemplateColumns = "repeat(12, " + dotSize + "px)";
+    grid.style.gridTemplateRows = "repeat(8, " + dotSize + "px)";
+    grid.style.gap = gapSize + "px";
+    // 8 rows x 12 cols, column-major within each 96-group
+    for (var row = 0; row < 8; row++) {
+      for (var col = 0; col < 12; col++) {
+        var ch = startCh + col * 8 + row;
+        var chState = head96State[String(ch)] || head96State[ch];
+        var hasTip = chState && chState.tip !== null && chState.tip !== undefined;
+        var dot = document.createElement("div");
+        dot.style.width = dotSize + "px";
+        dot.style.height = dotSize + "px";
+        dot.style.borderRadius = "50%";
+        dot.style.border = "1.5px solid " + (hasTip ? "#555" : "#bbb");
+        dot.style.background = hasTip ? "#666" : "#e8e8e8";
+        dot.title = "Channel " + ch + (hasTip ? " (tip)" : "");
+        grid.appendChild(dot);
+      }
+    }
+    // Pipette index label (only when multiple 96-head pipettes)
+    if (numPipettes > 1) {
+      var wrapper = document.createElement("div");
+      wrapper.style.display = "flex";
+      wrapper.style.flexDirection = "column";
+      wrapper.style.alignItems = "center";
+      var idLabel = document.createElement("span");
+      idLabel.textContent = String(p);
+      idLabel.style.fontSize = "15px";
+      idLabel.style.fontWeight = "700";
+      idLabel.style.color = "#888";
+      idLabel.style.marginBottom = "2px";
+      wrapper.appendChild(idLabel);
+      box.appendChild(grid);
+      wrapper.appendChild(box);
+      panel.appendChild(wrapper);
+    } else {
+      box.appendChild(grid);
+      panel.appendChild(box);
+    }
+  }
+}
+
+function buildSingleArm(armData) {
+  // Build one gripper visualization column
+  var hasPlate = armData !== null && armData !== undefined;
+  var col = document.createElement("div");
+  col.style.display = "flex";
+  col.style.flexDirection = "column";
+  col.style.alignItems = "center";
+  col.style.justifyContent = "center";
+
+  // Compute scaled plate dimensions for gripper sizing.
+  // The serialized resource data (saved before destruction in resourceSnapshots) is used
+  // to re-instantiate the resource and draw it on a live Konva stage inside the arm panel,
+  // using the exact same draw() code as the main canvas.
+  var plateW = 52, plateH = 22;
+  var snapshot = null; // serialized resource data, or null
+  if (hasPlate) {
+    snapshot = resourceSnapshots[armData.resource_name] || null;
+    var sizeX = snapshot ? snapshot.size_x : (armData.size_x || 127);
+    var sizeY = snapshot ? snapshot.size_y : (armData.size_y || 86);
+    var scale = Math.min(80 / sizeX, 80 / sizeY);
+    plateW = Math.round(sizeX * scale);
+    plateH = Math.round(sizeY * scale);
+  }
+
+  // Carriage uses a fixed "closed" gap regardless of plate presence.
+  // Fingers spread outward to accommodate a held plate.
+  // SVG is always wide enough for a standard plate (127×86 mm) so the popup
+  // does not resize when a plate is picked up or dropped.
+  var stdPlateW = Math.round(127 * Math.min(80 / 127, 80 / 86)); // ≈80px
+  var minFingerGap = Math.round((stdPlateW + 16) * 1.1);          // ≈106px
+  var closedGap = Math.round((52 + 16) * 1.1); // default closed spacing
+  var fingerGap = hasPlate ? Math.round((plateW + 16) * 1.1) : closedGap;
+  var svgW = Math.max(closedGap, fingerGap, minFingerGap) + 28; // 14px margin each side (room for outer guide bars)
+  var svgH = 110;
+  var cx = svgW / 2; // centre x
+
+  // Finger (rail) positions spread based on plate size
+  var lRailX = cx - fingerGap / 2 - 7; // left rail, offset outward from center
+  var rRailX = cx + fingerGap / 2 - 1; // right rail, offset outward from center
+
+  var svg = document.createElementNS("http://www.w3.org/2000/svg", "svg");
+  svg.setAttribute("width", String(svgW));
+  svg.setAttribute("height", String(svgH));
+  svg.setAttribute("viewBox", "0 0 " + svgW + " " + svgH);
+  var shapes = "";
+
+  // Horizontal guide bars — drawn first (behind rails), extending inward from each finger
+  var barH = 5.1, barW = 12, barY = 10; // aligned with top of rails
+  shapes += '<rect x="' + (lRailX + 7) + '" y="' + barY + '" width="' + barW + '" height="' + barH + '" rx="1" ry="1" fill="#555" stroke="#444" stroke-width="0.6"/>';
+  shapes += '<rect x="' + (rRailX + 1 - barW) + '" y="' + barY + '" width="' + barW + '" height="' + barH + '" rx="1" ry="1" fill="#555" stroke="#444" stroke-width="0.6"/>';
+
+  // Draw rails after guide bars (painter's order)
+  // Left rail (7px wide, 90% of original 8px)
+  shapes += '<rect x="' + lRailX + '" y="10" width="7" height="75" fill="#333" stroke="#222" stroke-width="1"/>';
+  // Right rail
+  shapes += '<rect x="' + (rRailX + 1) + '" y="10" width="7" height="75" fill="#333" stroke="#222" stroke-width="1"/>';
+
+  // Top carriage block (grey, wide) — fixed size, drawn after rails so it covers them
+  var carriageW = closedGap + 8;
+  var carriageX = cx - carriageW / 2;
+  shapes += '<rect x="' + carriageX + '" y="0" width="' + carriageW + '" height="24" rx="2" ry="2" fill="#aaa" stroke="#666" stroke-width="1.2"/>';
+  // Darker top strip on carriage
+  shapes += '<rect x="' + carriageX + '" y="0" width="' + carriageW + '" height="7" rx="2" ry="2" fill="#888" stroke="#666" stroke-width="1.2"/>';
+  // Centre mounting post
+  shapes += '<rect x="' + (cx - 4) + '" y="3" width="8" height="18" fill="#666" stroke="#555" stroke-width="0.8"/>';
+
+  // Cushion geometry: pad y=74, height=22 → center at y=85
+  var cushY = 74, cushH = 22, pinH = 2.4;
+  var cushCenterY = cushY + cushH / 2;       // 85
+  var pinOffset = 5;                          // distance from center to pin center
+  var pinTopY = cushCenterY - pinOffset - pinH / 2;    // 78.8
+  var pinBotY = cushCenterY + pinOffset - pinH / 2;    // 88.8
+
+  // Left finger cushion — pins drawn first (behind), then vertical pad on top
+  var lCushX = lRailX + 7 + 2; // rail width + gap
+  shapes += '<rect x="' + (lCushX + 2) + '" y="' + pinTopY + '" width="5" height="' + pinH + '" rx="0.5" ry="0.5" fill="#555" stroke="#333" stroke-width="0.4"/>';
+  shapes += '<rect x="' + (lCushX + 2) + '" y="' + pinBotY + '" width="5" height="' + pinH + '" rx="0.5" ry="0.5" fill="#555" stroke="#333" stroke-width="0.4"/>';
+  shapes += '<rect x="' + lCushX + '" y="' + cushY + '" width="4" height="' + cushH + '" rx="1" ry="1" fill="#444" stroke="#333" stroke-width="0.6"/>';
+
+  // Right finger cushion — pins drawn first (behind), then vertical pad on top
+  var rCushX = rRailX + 1 - 2 - 4; // rail left edge - gap - cushion width
+  shapes += '<rect x="' + (rCushX - 3) + '" y="' + pinTopY + '" width="5" height="' + pinH + '" rx="0.5" ry="0.5" fill="#555" stroke="#333" stroke-width="0.4"/>';
+  shapes += '<rect x="' + (rCushX - 3) + '" y="' + pinBotY + '" width="5" height="' + pinH + '" rx="0.5" ry="0.5" fill="#555" stroke="#333" stroke-width="0.4"/>';
+  shapes += '<rect x="' + rCushX + '" y="' + cushY + '" width="4" height="' + cushH + '" rx="1" ry="1" fill="#444" stroke="#333" stroke-width="0.6"/>';
+
+  svg.innerHTML = shapes;
+  // Wrap the SVG and plate in a positioned container.
+  var svgContainer = document.createElement("div");
+  svgContainer.style.position = "relative";
+  svgContainer.style.width = svgW + "px";
+  svgContainer.style.height = svgH + "px";
+  svgContainer.appendChild(svg);
+
+  if (hasPlate && snapshot) {
+    // Render the plate using the exact same Konva draw() code as the main canvas.
+    // The serialized resource data (saved before destruction) is re-instantiated via
+    // loadResource() and drawn on a temporary DOM-attached Konva stage. The result is
+    // exported as a PNG data URL and displayed as an <img> overlay on the gripper SVG.
+    // Konva requires its container to be in the DOM to render, so we use a hidden div
+    // attached to document.body, then clean up after export.
+    // Cost: one temporary Konva stage + ~97 nodes for a 96-well plate, created and
+    // destroyed each time the arm panel updates.
+    var plateX = cx - plateW / 2;
+    var plateY = 85 - plateH / 2;
+    try {
+      var realW = Math.ceil(snapshot.size_x);
+      var realH = Math.ceil(snapshot.size_y);
+      // Create a hidden div in the DOM for Konva to render into
+      var tmpDiv = document.createElement("div");
+      tmpDiv.style.position = "fixed";
+      tmpDiv.style.left = "-9999px";
+      tmpDiv.style.top = "-9999px";
+      document.body.appendChild(tmpDiv);
+      var plateStage = new Konva.Stage({ container: tmpDiv, width: realW, height: realH });
+      var plateLayer = new Konva.Layer();
+      plateStage.add(plateLayer);
+      // Re-instantiate the resource from saved serialized data and draw it.
+      // Temporarily save/restore global resources to avoid conflicts.
+      var savedRes = {};
+      var snapshotData = JSON.parse(JSON.stringify(snapshot));
+      snapshotData.parent_name = undefined;
+      snapshotData.location = { x: 0, y: 0, z: 0, type: "Coordinate" };
+      function _saveKey(n) { if (n in resources) savedRes[n] = resources[n]; }
+      _saveKey(snapshotData.name);
+      for (var si = 0; si < (snapshotData.children || []).length; si++) {
+        _saveKey(snapshotData.children[si].name);
+      }
+      var plateCopy = loadResource(snapshotData);
+      plateCopy.draw(plateLayer);
+      plateLayer.draw();
+      // Export to data URL
+      var plateDataUrl = plateStage.toDataURL({ pixelRatio: 2 });
+      // Clean up: restore resources, destroy offscreen stage
+      delete resources[plateCopy.name];
+      for (var ci2 = 0; ci2 < plateCopy.children.length; ci2++) {
+        delete resources[plateCopy.children[ci2].name];
+      }
+      for (var rk in savedRes) { resources[rk] = savedRes[rk]; }
+      plateStage.destroy();
+      document.body.removeChild(tmpDiv);
+      // Display as an <img> overlay
+      var plateImg = document.createElement("img");
+      plateImg.src = plateDataUrl;
+      plateImg.style.position = "absolute";
+      plateImg.style.left = plateX + "px";
+      plateImg.style.top = plateY + "px";
+      plateImg.style.width = plateW + "px";
+      plateImg.style.height = plateH + "px";
+      plateImg.style.pointerEvents = "none";
+      svgContainer.appendChild(plateImg);
+    } catch (e) {
+      console.warn("[arm plate render] failed:", e);
+    }
+  } else if (hasPlate) {
+    // Fallback: simple colored rectangle when no serialized data is available
+    var plateX2 = cx - plateW / 2;
+    var plateY2 = 85 - plateH / 2;
+    var fallbackColor = RESOURCE_COLORS[armData.resource_type] || RESOURCE_COLORS["Resource"];
+    var fallbackSvg = document.createElementNS("http://www.w3.org/2000/svg", "svg");
+    fallbackSvg.setAttribute("width", String(svgW));
+    fallbackSvg.setAttribute("height", String(svgH));
+    fallbackSvg.setAttribute("viewBox", "0 0 " + svgW + " " + svgH);
+    fallbackSvg.style.position = "absolute";
+    fallbackSvg.style.left = "0";
+    fallbackSvg.style.top = "0";
+    fallbackSvg.style.pointerEvents = "none";
+    fallbackSvg.innerHTML = '<rect x="' + plateX2 + '" y="' + plateY2 + '" width="' + plateW +
+      '" height="' + plateH + '" fill="' + fallbackColor + '" stroke="#222" stroke-width="1.2"/>';
+    svgContainer.appendChild(fallbackSvg);
+  }
+
+  col.appendChild(svgContainer);
+  var label = document.createElement("div");
+  label.style.fontSize = "11px";
+  label.style.fontWeight = "600";
+  label.style.color = "#666";
+  label.style.marginTop = "4px";
+  label.style.textAlign = "center";
+  if (hasPlate) {
+    label.textContent = armData.resource_name + " (" + armData.resource_type + ")";
+  } else {
+    label.textContent = "No plate held";
+  }
+  col.appendChild(label);
+  return col;
+}
+
+function fillArmPanel(panel, armState) {
+  panel.innerHTML = "";
+  if (!armState || Object.keys(armState).length === 0) {
+    // Match the dimensions of a normal arm panel (closed gripper SVG + label)
+    var stdW = Math.round((Math.round(127 * Math.min(80 / 127, 80 / 86)) + 16) * 1.1) + 28;
+    var msg = document.createElement("div");
+    msg.style.display = "flex";
+    msg.style.alignItems = "center";
+    msg.style.justifyContent = "center";
+    msg.style.width = stdW + "px";
+    msg.style.height = "130px";
+    msg.style.padding = "16px";
+    msg.style.boxSizing = "border-box";
+    msg.style.color = "#888";
+    msg.style.fontSize = "13px";
+    msg.style.fontWeight = "500";
+    msg.style.textAlign = "center";
+    msg.textContent = "No robotic arm is installed on this liquid handler.";
+    panel.appendChild(msg);
+    return;
+  }
+  var arms = Object.keys(armState).sort(function (a, b) { return +a - +b; });
+  for (var i = 0; i < arms.length; i++) {
+    var armId = arms[i];
+    var wrapper = document.createElement("div");
+    wrapper.style.display = "flex";
+    wrapper.style.flexDirection = "column";
+    wrapper.style.alignItems = "center";
+    // Arm index label (only when multiple arms)
+    if (arms.length > 1) {
+      var idLabel = document.createElement("span");
+      idLabel.textContent = armId;
+      idLabel.style.fontSize = "15px";
+      idLabel.style.fontWeight = "700";
+      idLabel.style.color = "#888";
+      idLabel.style.marginBottom = "2px";
+      wrapper.appendChild(idLabel);
+    }
+    wrapper.appendChild(buildSingleArm(armState[armId]));
+    panel.appendChild(wrapper);
+  }
+}
+
 class LiquidHandler extends Resource {
   constructor(resource) {
     super(resource);
     this.numHeads = 0;
     this.headState = {};
+    this.head96State = {};
+    this.armState = {};
   }
 
   drawMainShape() {
@@ -1266,12 +1571,41 @@ class LiquidHandler extends Resource {
     if (state.head_state) {
       this.headState = state.head_state;
       this.numHeads = Object.keys(state.head_state).length;
-      // Update dropdown panel if it exists
       var panel = document.getElementById("single-channel-dropdown-" + this.name);
       if (panel) {
         fillHeadIcons(panel, this.headState);
       }
     }
+    if (state.head96_state) {
+      this.head96State = state.head96_state;
+      var panel96 = document.getElementById("multi-channel-dropdown-" + this.name);
+      if (panel96) {
+        fillHead96Grid(panel96, this.head96State);
+      }
+    }
+    if ("arm_state" in state) {
+      this.armState = state.arm_state;
+      // Snapshot each held resource NOW, while it is still in the resources dict.
+      // pick_up_resource() sends set_state BEFORE resource_unassigned fires, so
+      // the resource and all its children are still intact at this point.
+      for (var armKey in (this.armState || {})) {
+        var ad = this.armState[armKey];
+        if (ad && ad.resource_name && !resourceSnapshots[ad.resource_name]) {
+          var res = resources[ad.resource_name];
+          if (res) {
+            try {
+              resourceSnapshots[ad.resource_name] = res.serialize();
+            } catch (e) {
+              console.warn("[arm snapshot] failed for " + ad.resource_name, e);
+            }
+          }
+        }
+      }
+      var armPanel = document.getElementById("arm-dropdown-" + this.name);
+      if (armPanel) {
+        fillArmPanel(armPanel, this.armState);
+      }
+    }
   }
 }
 
@@ -3183,12 +3517,29 @@ function buildNavbarLHModules() {
     var group = document.createElement("div");
     group.className = "navbar-pipette-group";
 
-    // Label
-    var label = document.createElement("span");
+    // Label (styled as button without changing appearance)
+    var label = document.createElement("button");
     label.className = "navbar-pipette-label";
-    label.textContent = lhName;
+    label.innerHTML = lhName + "<br>Modules";
     group.appendChild(label);
 
+    // Collapsible container for module buttons
+    var moduleBtns = document.createElement("div");
+    moduleBtns.className = "navbar-module-btns";
+    group.appendChild(moduleBtns);
+
+    // Toggle module buttons on label click
+    label.addEventListener("click", function () {
+      var collapsed = moduleBtns.classList.toggle("collapsed");
+      label.classList.toggle("collapsed", collapsed);
+      // Close any open dropdowns when collapsing
+      if (collapsed) {
+        var dropdowns = document.querySelectorAll(".module-dropdown.open");
+        dropdowns.forEach(function (d) { d.classList.remove("open"); });
+        group.querySelectorAll(".navbar-pipette-btn.active").forEach(function (b) { b.classList.remove("active"); });
+      }
+    });
+
     // Multi-channel button
     var multiBtn = document.createElement("button");
     multiBtn.className = "navbar-pipette-btn";
@@ -3200,7 +3551,7 @@ function buildNavbarLHModules() {
     multiImg.style.height = "44px";
     multiImg.style.objectFit = "contain";
     multiBtn.appendChild(multiImg);
-    group.appendChild(multiBtn);
+    moduleBtns.appendChild(multiBtn);
 
     // Single-channel button
     var singleBtn = document.createElement("button");
@@ -3213,7 +3564,51 @@ function buildNavbarLHModules() {
     singleImg.style.height = "44px";
     singleImg.style.objectFit = "contain";
     singleBtn.appendChild(singleImg);
-    group.appendChild(singleBtn);
+    moduleBtns.appendChild(singleBtn);
+
+    // Helper: position both panels based on the single-channel button position
+    function positionPanels(handlerName, singleBtnRef) {
+      var mainEl = document.querySelector("main");
+      if (!mainEl) return;
+      var mainRect = mainEl.getBoundingClientRect();
+      var btnRect = singleBtnRef.getBoundingClientRect();
+      var topPx = (btnRect.bottom - mainRect.top + 20);
+      var singleCenterPx = (btnRect.left - mainRect.left + btnRect.width / 2);
+
+      var singlePanel = document.getElementById("single-channel-dropdown-" + handlerName);
+      if (singlePanel) {
+        singlePanel.style.top = topPx + "px";
+        singlePanel.style.left = singleCenterPx + "px";
+      }
+
+      // Measure single panel (temporarily show if hidden)
+      var singleW = 0, singleH = 0, singleLeft = singleCenterPx;
+      if (singlePanel) {
+        var wasHidden = !singlePanel.classList.contains("open");
+        if (wasHidden) { singlePanel.style.visibility = "hidden"; singlePanel.classList.add("open"); }
+        singleW = singlePanel.offsetWidth;
+        singleH = singlePanel.offsetHeight;
+        singleLeft = singleCenterPx - singleW / 2;
+        if (wasHidden) { singlePanel.classList.remove("open"); singlePanel.style.visibility = ""; }
+      }
+
+      var multiPanel = document.getElementById("multi-channel-dropdown-" + handlerName);
+      if (multiPanel && multiPanel.classList.contains("open")) {
+        multiPanel.style.transform = "none";
+        multiPanel.style.top = topPx + "px";
+        multiPanel.style.height = singleH > 0 ? singleH + "px" : "auto";
+        multiPanel.style.left = (singleLeft - multiPanel.offsetWidth - 8) + "px";
+      }
+
+      var armPanel = document.getElementById("arm-dropdown-" + handlerName);
+      if (armPanel && armPanel.classList.contains("open")) {
+        armPanel.style.transform = "none";
+        armPanel.style.top = topPx + "px";
+        armPanel.style.height = singleH > 0 ? singleH + "px" : "auto";
+        var singleRight = singleLeft + singleW;
+        armPanel.style.left = (singleRight + 8) + "px";
+      }
+    }
 
     // Single-channel dropdown panel
     (function (btn, handlerName) {
@@ -3221,31 +3616,50 @@ function buildNavbarLHModules() {
       btn.addEventListener("click", function () {
         var existing = document.getElementById(panelId);
         if (existing) {
-          // Toggle
           var isOpen = existing.classList.toggle("open");
           btn.classList.toggle("active", isOpen);
+          positionPanels(handlerName, btn);
           return;
         }
-        // Create the dropdown panel inside <main>
         var mainEl = document.querySelector("main");
         if (!mainEl) return;
         var panel = document.createElement("div");
         panel.className = "module-dropdown open";
         panel.id = panelId;
-        // Position below the button
-        var btnRect = btn.getBoundingClientRect();
-        var mainRect = mainEl.getBoundingClientRect();
-        panel.style.top = (btnRect.bottom - mainRect.top + 20) + "px";
-        panel.style.left = (btnRect.left - mainRect.left + btnRect.width / 2) + "px";
-        // Show head icons from LiquidHandler state
         var lhResource = resources[handlerName];
         var headState = (lhResource && lhResource.headState) ? lhResource.headState : {};
         fillHeadIcons(panel, headState);
         mainEl.appendChild(panel);
         btn.classList.add("active");
+        positionPanels(handlerName, btn);
       });
     })(singleBtn, lhName);
 
+    // Multi-channel dropdown panel
+    (function (btn, handlerName, singleBtnRef) {
+      var panelId = "multi-channel-dropdown-" + handlerName;
+      btn.addEventListener("click", function () {
+        var existing = document.getElementById(panelId);
+        if (existing) {
+          var isOpen = existing.classList.toggle("open");
+          btn.classList.toggle("active", isOpen);
+          if (isOpen) positionPanels(handlerName, singleBtnRef);
+          return;
+        }
+        var mainEl = document.querySelector("main");
+        if (!mainEl) return;
+        var panel = document.createElement("div");
+        panel.className = "module-dropdown multi-channel open";
+        panel.id = panelId;
+        var lhResource = resources[handlerName];
+        var head96State = (lhResource && lhResource.head96State) ? lhResource.head96State : {};
+        fillHead96Grid(panel, head96State);
+        mainEl.appendChild(panel);
+        positionPanels(handlerName, singleBtnRef);
+        btn.classList.add("active");
+      });
+    })(multiBtn, lhName, singleBtn);
+
     // Integrated arm button
     var armBtn = document.createElement("button");
     armBtn.className = "navbar-pipette-btn";
@@ -3257,7 +3671,32 @@ function buildNavbarLHModules() {
     armImg.style.height = "44px";
     armImg.style.objectFit = "contain";
     armBtn.appendChild(armImg);
-    group.appendChild(armBtn);
+    moduleBtns.appendChild(armBtn);
+
+    // Arm dropdown panel
+    (function (btn, handlerName, singleBtnRef) {
+      var panelId = "arm-dropdown-" + handlerName;
+      btn.addEventListener("click", function () {
+        var existing = document.getElementById(panelId);
+        if (existing) {
+          var isOpen = existing.classList.toggle("open");
+          btn.classList.toggle("active", isOpen);
+          if (isOpen) positionPanels(handlerName, singleBtnRef);
+          return;
+        }
+        var mainEl = document.querySelector("main");
+        if (!mainEl) return;
+        var panel = document.createElement("div");
+        panel.className = "module-dropdown arm open";
+        panel.id = panelId;
+        var lhResource = resources[handlerName];
+        var armState = (lhResource && lhResource.armState) ? lhResource.armState : {};
+        fillArmPanel(panel, armState);
+        mainEl.appendChild(panel);
+        positionPanels(handlerName, singleBtnRef);
+        btn.classList.add("active");
+      });
+    })(armBtn, lhName, singleBtn);
 
     container.appendChild(group);
   }
diff --git a/pylabrobot/visualizer/main.css b/pylabrobot/visualizer/main.css
index e0b5428917e..480ffa33761 100644
--- a/pylabrobot/visualizer/main.css
+++ b/pylabrobot/visualizer/main.css
@@ -42,9 +42,6 @@ nav.navbar .status-box {
 }
 
 #navbar-lh-modules {
-  position: absolute;
-  left: 50%;
-  transform: translateX(-50%);
   display: flex;
   align-items: center;
   gap: 8px;
@@ -66,9 +63,18 @@ nav.navbar .status-box {
   color: #555;
   white-space: nowrap;
   border-right: 1px solid #ced4da;
+  border-top: none;
+  border-bottom: none;
+  border-left: none;
   height: 48px;
   display: flex;
   align-items: center;
+  justify-content: center;
+  text-align: center;
+  line-height: 1.3;
+  background: transparent;
+  cursor: pointer;
+  font-family: inherit;
 }
 
 .navbar-pipette-btn {
@@ -94,6 +100,24 @@ nav.navbar .status-box {
   border-left: 1px solid #ced4da;
 }
 
+.navbar-module-btns {
+  display: flex;
+  align-items: center;
+  overflow: hidden;
+  transition: max-width 0.25s ease, opacity 0.2s ease;
+  max-width: 500px;
+  opacity: 1;
+}
+
+.navbar-module-btns.collapsed {
+  max-width: 0;
+  opacity: 0;
+}
+
+.navbar-pipette-label.collapsed {
+  border-right: none;
+}
+
 .navbar-pipette-btn.active {
   background: #cfe2ff;
   opacity: 1;
@@ -118,6 +142,22 @@ nav.navbar .status-box {
 
 .module-dropdown.open {
   display: flex;
+  flex-wrap: wrap;
+  gap: 6px;
+  align-items: flex-start;
+  overflow: hidden;
+  box-sizing: border-box;
+}
+
+.module-dropdown.multi-channel.open {
+  gap: 10px;
+  align-items: center;
+  justify-content: center;
+}
+
+.module-dropdown.arm.open {
+  align-items: center;
+  justify-content: center;
 }
 
 .content {
diff --git a/pylabrobot/visualizer/vis.js b/pylabrobot/visualizer/vis.js
index fcaf0d97a8c..e5b98a59d6a 100644
--- a/pylabrobot/visualizer/vis.js
+++ b/pylabrobot/visualizer/vis.js
@@ -38,6 +38,21 @@ function setRootResource(data) {
   buildResourceTree(resource);
 }
 
+// Save the full serialized resource data before it is destroyed.
+// Called from the resource_unassigned handler while the resource and all its
+// children are still intact. The serialized data is later used by buildSingleArm
+// to create a live Konva stage using the exact same draw() code as the main canvas.
+// Cost: one serialize() call per unassigned resource — negligible.
+function snapshotResource(resourceName) {
+  var res = resources[resourceName];
+  if (!res) return;
+  try {
+    resourceSnapshots[resourceName] = res.serialize();
+  } catch (e) {
+    console.warn("[snapshot] failed for " + resourceName, e);
+  }
+}
+
 function removeResource(resourceName) {
   let resource = resources[resourceName];
   resource.destroy();
@@ -73,6 +88,10 @@ async function processCentralEvent(event, data) {
       break;
 
     case "resource_unassigned":
+      // Snapshot the resource before destruction so the arm panel can show a
+      // pixel-perfect replica. Done here (not in destroy()) because the Konva
+      // group and all children are guaranteed intact at this point.
+      snapshotResource(data.resource_name);
       removeResourceFromTree(data.resource_name);
       removeResource(data.resource_name);
       break;

From 1d3bf89be4327aec19f77c36d573c93bfc636d69 Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Mon, 2 Feb 2026 20:49:31 +0000
Subject: [PATCH 06/20] `make format`

---
 .../liquid_handling/backends/hamilton/STAR_chatterbox.py   | 2 +-
 pylabrobot/liquid_handling/liquid_handler.py               | 7 +++++--
 pylabrobot/visualizer/visualizer.py                        | 3 ++-
 3 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/pylabrobot/liquid_handling/backends/hamilton/STAR_chatterbox.py b/pylabrobot/liquid_handling/backends/hamilton/STAR_chatterbox.py
index 54bf816d19f..b3f8443c213 100644
--- a/pylabrobot/liquid_handling/backends/hamilton/STAR_chatterbox.py
+++ b/pylabrobot/liquid_handling/backends/hamilton/STAR_chatterbox.py
@@ -144,7 +144,7 @@ async def request_extended_configuration(self):
     # Bit 2: 96-head (based on __init__ parameter)
     xl_value = 0
     if self._iswap_installed:
-      xl_value |= 0b10   # Add iSWAP (bit 1)
+      xl_value |= 0b10  # Add iSWAP (bit 1)
     if self._core96_head_installed:
       xl_value |= 0b100  # Add 96-head (bit 2)
 
diff --git a/pylabrobot/liquid_handling/liquid_handler.py b/pylabrobot/liquid_handling/liquid_handler.py
index 8cb0ca6a50a..6deef6be4b0 100644
--- a/pylabrobot/liquid_handling/liquid_handler.py
+++ b/pylabrobot/liquid_handling/liquid_handler.py
@@ -187,8 +187,11 @@ def serialize_state(self) -> Dict[str, Any]:
     serialize the state of the liquid handler and all children (the deck)."""
 
     head_state = {channel: tracker.serialize() for channel, tracker in self.head.items()}
-    head96_state = {channel: tracker.serialize() for channel, tracker in self.head96.items()} \
-      if self.head96 else None
+    head96_state = (
+      {channel: tracker.serialize() for channel, tracker in self.head96.items()}
+      if self.head96
+      else None
+    )
     if self._resource_pickups:
       arm_state: Optional[Dict[int, Any]] = {}
       for arm_id, pickup in self._resource_pickups.items():
diff --git a/pylabrobot/visualizer/visualizer.py b/pylabrobot/visualizer/visualizer.py
index 06aa72bdfbf..9a4e1952fb9 100644
--- a/pylabrobot/visualizer/visualizer.py
+++ b/pylabrobot/visualizer/visualizer.py
@@ -309,11 +309,12 @@ def _detect_source_filename() -> str:
 
     # 3. Query the Jupyter REST API using the kernel connection file.
     try:
-      import ipykernel  # type: ignore[import-untyped]
       import json as _json
       import re
       import urllib.request
 
+      import ipykernel  # type: ignore[import-untyped]
+
       # Get the kernel id from the connection file path.
       connection_file = ipykernel.get_connection_file()
       kernel_id = os.path.basename(connection_file).replace("kernel-", "").replace(".json", "")

From 4ee8d1536ed0a445202b3153dca0407d53104b1e Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Mon, 2 Feb 2026 21:14:30 +0000
Subject: [PATCH 07/20] selective appearance of lh modules in navbar

---
 pylabrobot/visualizer/lib.js              | 71 +++++++++++++++++++----
 pylabrobot/visualizer/vis.js              |  4 ++
 pylabrobot/visualizer/visualizer.py       |  7 +++
 pylabrobot/visualizer/visualizer_tests.py |  1 +
 4 files changed, 71 insertions(+), 12 deletions(-)

diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index 840af909e5a..f178462fea2 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -1263,6 +1263,22 @@ function fillHeadIcons(panel, headState) {
 
 function fillHead96Grid(panel, head96State) {
   panel.innerHTML = "";
+  if (!head96State || Object.keys(head96State).length === 0) {
+    // Set panel dimensions to match a normal 96-head grid, then center message
+    panel.style.minWidth = "180px";
+    panel.style.minHeight = "130px";
+    panel.style.alignItems = "center";
+    panel.style.justifyContent = "center";
+    var msg = document.createElement("span");
+    msg.style.color = "#888";
+    msg.style.fontSize = "13px";
+    msg.style.fontWeight = "500";
+    msg.style.textAlign = "center";
+    msg.style.padding = "16px";
+    msg.textContent = "No multi-channel pipette is installed on this liquid handler.";
+    panel.appendChild(msg);
+    return;
+  }
   // Split channels into groups of 96 (one grid per multi-channel pipette)
   var allChannels = Object.keys(head96State).sort(function (a, b) { return +a - +b; });
   var numPipettes = Math.max(1, Math.ceil(allChannels.length / 96));
@@ -1514,20 +1530,18 @@ function buildSingleArm(armData) {
 function fillArmPanel(panel, armState) {
   panel.innerHTML = "";
   if (!armState || Object.keys(armState).length === 0) {
-    // Match the dimensions of a normal arm panel (closed gripper SVG + label)
+    // Set panel dimensions to match a normal arm panel, then center message
     var stdW = Math.round((Math.round(127 * Math.min(80 / 127, 80 / 86)) + 16) * 1.1) + 28;
-    var msg = document.createElement("div");
-    msg.style.display = "flex";
-    msg.style.alignItems = "center";
-    msg.style.justifyContent = "center";
-    msg.style.width = stdW + "px";
-    msg.style.height = "130px";
-    msg.style.padding = "16px";
-    msg.style.boxSizing = "border-box";
+    panel.style.minWidth = stdW + "px";
+    panel.style.minHeight = "130px";
+    panel.style.alignItems = "center";
+    panel.style.justifyContent = "center";
+    var msg = document.createElement("span");
     msg.style.color = "#888";
     msg.style.fontSize = "13px";
     msg.style.fontWeight = "500";
     msg.style.textAlign = "center";
+    msg.style.padding = "16px";
     msg.textContent = "No robotic arm is installed on this liquid handler.";
     panel.appendChild(msg);
     return;
@@ -1576,8 +1590,11 @@ class LiquidHandler extends Resource {
         fillHeadIcons(panel, this.headState);
       }
     }
-    if (state.head96_state) {
+    if ("head96_state" in state) {
       this.head96State = state.head96_state;
+      // Show/hide multi-channel button based on whether the module exists
+      var multiBtn = document.getElementById("multi-channel-btn-" + this.name);
+      if (multiBtn) multiBtn.style.display = (this.head96State !== null && this.head96State !== undefined) ? "" : "none";
       var panel96 = document.getElementById("multi-channel-dropdown-" + this.name);
       if (panel96) {
         fillHead96Grid(panel96, this.head96State);
@@ -1585,6 +1602,9 @@ class LiquidHandler extends Resource {
     }
     if ("arm_state" in state) {
       this.armState = state.arm_state;
+      // Show/hide arm button based on whether the module exists
+      var armBtnEl = document.getElementById("arm-btn-" + this.name);
+      if (armBtnEl) armBtnEl.style.display = (this.armState !== null && this.armState !== undefined) ? "" : "none";
       // Snapshot each held resource NOW, while it is still in the resources dict.
       // pick_up_resource() sends set_state BEFORE resource_unassigned fires, so
       // the resource and all its children are still intact at this point.
@@ -3540,9 +3560,12 @@ function buildNavbarLHModules() {
       }
     });
 
-    // Multi-channel button
+    // Multi-channel button (hidden unless setState has already confirmed module exists)
+    var lhRes = resources[lhName];
     var multiBtn = document.createElement("button");
     multiBtn.className = "navbar-pipette-btn";
+    multiBtn.id = "multi-channel-btn-" + lhName;
+    multiBtn.style.display = (lhRes && lhRes.head96State !== null && lhRes.head96State !== undefined) ? "" : "none";
     multiBtn.title = "Multi-Channel Pipettes";
     var multiImg = document.createElement("img");
     multiImg.src = "img/multi_channel_pipette.png";
@@ -3556,6 +3579,7 @@ function buildNavbarLHModules() {
     // Single-channel button
     var singleBtn = document.createElement("button");
     singleBtn.className = "navbar-pipette-btn";
+    singleBtn.id = "single-channel-btn-" + lhName;
     singleBtn.title = "Single-Channel Pipettes";
     var singleImg = document.createElement("img");
     singleImg.src = "img/single_channel_pipette.png";
@@ -3660,9 +3684,11 @@ function buildNavbarLHModules() {
       });
     })(multiBtn, lhName, singleBtn);
 
-    // Integrated arm button
+    // Integrated arm button (hidden unless setState has already confirmed module exists)
     var armBtn = document.createElement("button");
     armBtn.className = "navbar-pipette-btn";
+    armBtn.id = "arm-btn-" + lhName;
+    armBtn.style.display = (lhRes && lhRes.armState !== null && lhRes.armState !== undefined) ? "" : "none";
     armBtn.title = "Integrated Arm";
     var armImg = document.createElement("img");
     armImg.src = "img/integrated_arm.png";
@@ -3701,3 +3727,24 @@ function buildNavbarLHModules() {
     container.appendChild(group);
   }
 }
+
+/**
+ * Programmatically open all visible module panels (single-channel, multi-channel, arm)
+ * for every LiquidHandler. Buttons that are hidden (module absent) are skipped.
+ */
+function openAllModulePanels() {
+  for (var name in resources) {
+    if (!(resources[name] instanceof LiquidHandler)) continue;
+    var btns = [
+      document.getElementById("single-channel-btn-" + name),
+      document.getElementById("multi-channel-btn-" + name),
+      document.getElementById("arm-btn-" + name),
+    ];
+    for (var i = 0; i < btns.length; i++) {
+      var btn = btns[i];
+      if (btn && btn.style.display !== "none") {
+        btn.click();
+      }
+    }
+  }
+}
diff --git a/pylabrobot/visualizer/vis.js b/pylabrobot/visualizer/vis.js
index e5b98a59d6a..5fbd72abea2 100644
--- a/pylabrobot/visualizer/vis.js
+++ b/pylabrobot/visualizer/vis.js
@@ -106,6 +106,10 @@ async function processCentralEvent(event, data) {
       if (rootName) buildResourceTree(resources[rootName]);
       break;
 
+    case "show_modules":
+      openAllModulePanels();
+      break;
+
     default:
       throw new Error(`Unknown event: ${event}`);
   }
diff --git a/pylabrobot/visualizer/visualizer.py b/pylabrobot/visualizer/visualizer.py
index 9a4e1952fb9..85c05ffe7ec 100644
--- a/pylabrobot/visualizer/visualizer.py
+++ b/pylabrobot/visualizer/visualizer.py
@@ -50,6 +50,7 @@ def __init__(
     open_browser: bool = True,
     name: Optional[str] = None,
     favicon: Optional[str] = None,
+    show_modules_at_start: bool = True,
   ):
     """Create a new Visualizer. Use :meth:`.setup` to start the visualization.
 
@@ -64,9 +65,12 @@ def __init__(
         calling script or notebook is detected automatically.
       favicon: Path to a ``.png`` file to use as the browser tab icon. If ``None``, the
         PyLabRobot logo is used.
+      show_modules_at_start: If ``True``, module popups (pipettes, arm) are opened automatically
+        when the visualizer starts.
     """
 
     self.setup_finished = False
+    self._show_modules_at_start = show_modules_at_start
 
     if name is not None:
       self._source_filename = name
@@ -574,6 +578,9 @@ def save_resource_state(resource: Resource):
     save_resource_state(self._root_resource)
     await self.send_command("set_state", state, wait_for_response=False)
 
+    if self._show_modules_at_start:
+      await self.send_command("show_modules", {}, wait_for_response=False)
+
   def _handle_resource_assigned_callback(self, resource: Resource) -> None:
     """Called when a resource is assigned to a resource already in the tree starting from the
     root resource. This method will send an event about the new resource"""
diff --git a/pylabrobot/visualizer/visualizer_tests.py b/pylabrobot/visualizer/visualizer_tests.py
index e97c88f1a7a..92b7d3b8aa1 100644
--- a/pylabrobot/visualizer/visualizer_tests.py
+++ b/pylabrobot/visualizer/visualizer_tests.py
@@ -86,6 +86,7 @@ async def test_event_sent(self):
     await self.client.send('{"event": "ready"}')
     _ = await self.client.recv()  # set_root_resource
     _ = await self.client.recv()  # set_state
+    _ = await self.client.recv()  # show_modules
 
     await self.vis.send_command("test", wait_for_response=False)
     recv = await self.client.recv()

From ef1c67feec07b04d4e60efc5a4d5b20c342bb8f8 Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Mon, 2 Feb 2026 21:26:37 +0000
Subject: [PATCH 08/20] remove flickering in navbar

---
 pylabrobot/visualizer/lib.js | 4 ++--
 pylabrobot/visualizer/vis.js | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index f178462fea2..09c6084cb1c 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -2343,7 +2343,7 @@ function buildTreeNodeDOM(resource, depth, slotIndex) {
   return node;
 }
 
-function buildResourceTree(rootResource) {
+function buildResourceTree(rootResource, { rebuildNavbar = true } = {}) {
   const treeContainer = document.getElementById("resource-tree");
   if (!treeContainer) return;
   treeContainer.innerHTML = "";
@@ -2426,7 +2426,7 @@ function buildResourceTree(rootResource) {
 
   treeContainer.appendChild(rootNode);
   buildWrtDropdown();
-  buildNavbarLHModules();
+  if (rebuildNavbar) buildNavbarLHModules();
 }
 
 function addResourceToTree(resource) {
diff --git a/pylabrobot/visualizer/vis.js b/pylabrobot/visualizer/vis.js
index 5fbd72abea2..82d28aeb10d 100644
--- a/pylabrobot/visualizer/vis.js
+++ b/pylabrobot/visualizer/vis.js
@@ -103,7 +103,7 @@ async function processCentralEvent(event, data) {
       const rootName = Object.keys(resources).find(
         (n) => resources[n] && !resources[n].parent
       );
-      if (rootName) buildResourceTree(resources[rootName]);
+      if (rootName) buildResourceTree(resources[rootName], { rebuildNavbar: false });
       break;
 
     case "show_modules":

From b18b80ad690c61f732f58c24b0e25f6975b460a0 Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Mon, 2 Feb 2026 21:57:01 +0000
Subject: [PATCH 09/20] update 96-head visual

---
 pylabrobot/visualizer/lib.js        | 57 ++++++++++++++++++++++++-----
 pylabrobot/visualizer/visualizer.py | 26 +++++++++----
 2 files changed, 67 insertions(+), 16 deletions(-)

diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index 09c6084cb1c..29fdd659913 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -1291,11 +1291,13 @@ function fillHead96Grid(panel, head96State) {
   for (var p = 0; p < numPipettes; p++) {
     var startCh = p * 96;
     var box = document.createElement("div");
-    box.style.border = "1.5px solid #aaa";
+    box.style.border = "1.5px solid #555";
     box.style.borderRadius = "6px";
     box.style.padding = "6px";
-    box.style.background = "rgba(245, 245, 245, 0.6)";
-    box.style.display = "inline-block";
+    box.style.background = "#444";
+    box.style.display = "inline-flex";
+    box.style.flexDirection = "column";
+    box.style.alignItems = "center";
     var grid = document.createElement("div");
     grid.style.display = "grid";
     grid.style.gridTemplateColumns = "repeat(12, " + dotSize + "px)";
@@ -1311,12 +1313,51 @@ function fillHead96Grid(panel, head96State) {
         dot.style.width = dotSize + "px";
         dot.style.height = dotSize + "px";
         dot.style.borderRadius = "50%";
-        dot.style.border = "1.5px solid " + (hasTip ? "#555" : "#bbb");
-        dot.style.background = hasTip ? "#666" : "#e8e8e8";
+        dot.style.border = "1.5px solid " + (hasTip ? "#40CDA1" : "#555");
+        dot.style.background = hasTip ? "#40CDA1" : "white";
         dot.title = "Channel " + ch + (hasTip ? " (tip)" : "");
         grid.appendChild(dot);
       }
     }
+    // Bars outside the grid box, 60% of the corresponding dimension, centered
+    var gridW = 12 * dotSize + 11 * gapSize;
+    var gridH = 8 * dotSize + 7 * gapSize;
+    var hBarW = Math.round(gridW * 0.6);
+    var vBarH = Math.round(gridH * 0.6);
+    function makeHBar() {
+      var bar = document.createElement("div");
+      bar.style.width = hBarW + "px";
+      bar.style.height = "4px";
+      bar.style.background = "#444";
+      return bar;
+    }
+    function makeVBar() {
+      var bar = document.createElement("div");
+      bar.style.width = "4px";
+      bar.style.height = vBarH + "px";
+      bar.style.background = "#444";
+      return bar;
+    }
+
+    // Row: left bar + box + right bar
+    box.appendChild(grid);
+    var midRow = document.createElement("div");
+    midRow.style.display = "flex";
+    midRow.style.flexDirection = "row";
+    midRow.style.alignItems = "center";
+    midRow.appendChild(makeVBar());
+    midRow.appendChild(box);
+    midRow.appendChild(makeVBar());
+
+    // Column: top bar + midRow + bottom bar
+    var boxWrap = document.createElement("div");
+    boxWrap.style.display = "flex";
+    boxWrap.style.flexDirection = "column";
+    boxWrap.style.alignItems = "center";
+    boxWrap.appendChild(makeHBar());
+    boxWrap.appendChild(midRow);
+    boxWrap.appendChild(makeHBar());
+
     // Pipette index label (only when multiple 96-head pipettes)
     if (numPipettes > 1) {
       var wrapper = document.createElement("div");
@@ -1330,12 +1371,10 @@ function fillHead96Grid(panel, head96State) {
       idLabel.style.color = "#888";
       idLabel.style.marginBottom = "2px";
       wrapper.appendChild(idLabel);
-      box.appendChild(grid);
-      wrapper.appendChild(box);
+      wrapper.appendChild(boxWrap);
       panel.appendChild(wrapper);
     } else {
-      box.appendChild(grid);
-      panel.appendChild(box);
+      panel.appendChild(boxWrap);
     }
   }
 }
diff --git a/pylabrobot/visualizer/visualizer.py b/pylabrobot/visualizer/visualizer.py
index 85c05ffe7ec..760cc27212f 100644
--- a/pylabrobot/visualizer/visualizer.py
+++ b/pylabrobot/visualizer/visualizer.py
@@ -120,6 +120,9 @@ def register_state_update(resource):
     self._t: Optional[threading.Thread] = None
     self._stop_: Optional[asyncio.Future] = None
 
+    self._pending_state_updates: Dict[str, dict] = {}
+    self._flush_scheduled = False
+
     self.received: List[dict] = []
 
   @property
@@ -615,10 +618,19 @@ def _handle_resource_unassigned_callback(self, resource: Resource) -> None:
     asyncio.run_coroutine_threadsafe(fut, self.loop)
 
   def _handle_state_update_callback(self, resource: Resource) -> None:
-    """Called when the state of a resource is updated. This method will send an event to the
-    browser about the updated state."""
-
-    # Send a `set_state` event to the browser.
-    data = {resource.name: resource.serialize_state()}
-    fut = self.send_command(event="set_state", data=data, wait_for_response=False)
-    asyncio.run_coroutine_threadsafe(fut, self.loop)
+    """Called when the state of a resource is updated. Updates are batched so that
+    rapid successive changes (e.g. 96-channel pickup) are sent as a single message."""
+
+    self._pending_state_updates[resource.name] = resource.serialize_state()
+    if not self._flush_scheduled:
+      self._flush_scheduled = True
+      self.loop.call_soon_threadsafe(self._flush_state_updates)
+
+  def _flush_state_updates(self) -> None:
+    """Send all pending state updates as a single ``set_state`` event."""
+    data = self._pending_state_updates
+    self._pending_state_updates = {}
+    self._flush_scheduled = False
+    if data:
+      fut = self.send_command(event="set_state", data=data, wait_for_response=False)
+      asyncio.ensure_future(fut)

From 58f33f44649535bdcb846029d06c12cdd8f309c9 Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Mon, 2 Feb 2026 22:28:29 +0000
Subject: [PATCH 10/20] update single-channel popup

---
 pylabrobot/visualizer/lib.js | 233 +++++++++++++++++++++++++++++++++--
 1 file changed, 224 insertions(+), 9 deletions(-)

diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index 29fdd659913..0479d4ba574 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -1205,6 +1205,161 @@ class TubeRack extends Resource {
 
 class PlateHolder extends ResourceHolder {}
 
+// Track the currently open pipette info panel so it can be refreshed on state updates.
+var _pipetteInfoState = null; // { ch, kind ("channel"|"tip"), anchorDropdown }
+
+function buildChannelAttrs(ch, headState) {
+  var chState = headState[ch] || {};
+  var tipData = chState.tip;
+  var hasTip = tipData !== null && tipData !== undefined;
+  var attrs = [{ key: "channel", value: ch }];
+  if (hasTip) {
+    attrs.push({ key: "has_tip", value: "true" });
+    attrs.push({ key: "tip_type", value: tipData.type || "Unknown" });
+    attrs.push({ key: "tip_size", value: (tipData.tip_size || "").replace(/_/g, " ") });
+    attrs.push({ key: "max_volume", value: (tipData.maximal_volume || "?") + " \u00B5L" });
+    attrs.push({ key: "has_filter", value: tipData.has_filter ? "Yes" : "No" });
+    attrs.push({ key: "tip_length", value: (tipData.total_tip_length || "?") + " mm" });
+  } else {
+    attrs.push({ key: "has_tip", value: "false" });
+  }
+  return attrs;
+}
+
+function buildTipAttrs(ch, headState) {
+  var chState = headState[ch] || {};
+  var tipData = chState.tip;
+  var tipStateData = chState.tip_state;
+  if (!tipData) return null;
+  var attrs = [
+    { key: "name", value: tipData.name || "Unknown" },
+    { key: "type", value: tipData.type || "Unknown" },
+    { key: "tip_size", value: (tipData.tip_size || "").replace(/_/g, " ") },
+    { key: "total_tip_length", value: (tipData.total_tip_length || "?") + " mm" },
+    { key: "has_filter", value: tipData.has_filter ? "Yes" : "No" },
+    { key: "maximal_volume", value: (tipData.maximal_volume || "?") + " \u00B5L" },
+    { key: "pickup_method", value: (tipData.pickup_method || "").replace(/_/g, " ") },
+  ];
+  if (tipStateData) {
+    attrs.push({ key: "volume", value: (tipStateData.volume || 0) + " / " + (tipStateData.max_volume || "?") + " \u00B5L" });
+    attrs.push({ key: "origin", value: tipStateData.thing || "?" });
+  }
+  return attrs;
+}
+
+// Refresh the pipette info panel if one is open (called after state updates).
+function refreshPipetteInfoPanel(headState) {
+  if (!_pipetteInfoState) return;
+  var existing = document.getElementById("pipette-info-panel");
+  if (!existing) { _pipetteInfoState = null; return; }
+  var s = _pipetteInfoState;
+  var title, type, attrs;
+  if (s.kind === "channel") {
+    title = "Channel " + s.ch;
+    type = "PipetteChannel";
+    attrs = buildChannelAttrs(s.ch, headState);
+  } else {
+    title = "Tip @ Channel " + s.ch;
+    type = "Tip";
+    attrs = buildTipAttrs(s.ch, headState);
+    if (!attrs) {
+      // Tip was removed — close the panel
+      existing.remove();
+      _pipetteInfoState = null;
+      return;
+    }
+  }
+  // No toggle — force show with updated data
+  existing.remove();
+  _showPipetteInfoPanelInner(title, type, attrs, s.anchorDropdown);
+}
+
+// Build a UML-style info panel for a pipette channel or tip, shown on click.
+// `title` is the header name, `type` is the guillemet type label,
+// `attrs` is an array of {key, value} pairs.
+function showPipetteInfoPanel(title, type, attrs, anchorDropdown, ch, kind) {
+  var existing = document.getElementById("pipette-info-panel");
+  if (existing) {
+    // Toggle off if clicking same thing
+    if (existing.dataset.key === title) {
+      existing.remove();
+      _pipetteInfoState = null;
+      return;
+    }
+    existing.remove();
+  }
+  _pipetteInfoState = { ch: ch, kind: kind, anchorDropdown: anchorDropdown };
+  _showPipetteInfoPanelInner(title, type, attrs, anchorDropdown);
+}
+
+function _showPipetteInfoPanelInner(title, type, attrs, anchorDropdown) {
+
+  var panel = document.createElement("div");
+  panel.className = "uml-panel";
+  panel.id = "pipette-info-panel";
+  panel.dataset.key = title;
+
+  var closeBtn = document.createElement("button");
+  closeBtn.className = "uml-close-btn";
+  closeBtn.textContent = "\u00D7";
+  closeBtn.addEventListener("click", function (e) {
+    e.stopPropagation();
+    panel.remove();
+  });
+  panel.appendChild(closeBtn);
+
+  var header = document.createElement("div");
+  header.className = "uml-header";
+  var nameDiv = document.createElement("div");
+  nameDiv.className = "uml-header-name";
+  nameDiv.textContent = title;
+  var typeDiv = document.createElement("div");
+  typeDiv.className = "uml-header-type";
+  typeDiv.textContent = "\u00AB" + type + "\u00BB";
+  header.appendChild(nameDiv);
+  header.appendChild(typeDiv);
+  panel.appendChild(header);
+
+  var sep = document.createElement("div");
+  sep.className = "uml-separator";
+  panel.appendChild(sep);
+
+  var section = document.createElement("div");
+  section.className = "uml-section";
+  var sTitle = document.createElement("div");
+  sTitle.className = "uml-section-title";
+  sTitle.textContent = "Attributes";
+  section.appendChild(sTitle);
+  for (var i = 0; i < attrs.length; i++) {
+    var row = document.createElement("div");
+    row.className = "uml-row";
+    var keySpan = document.createElement("span");
+    keySpan.className = "uml-key";
+    keySpan.textContent = attrs[i].key + ":";
+    var valSpan = document.createElement("span");
+    valSpan.className = "uml-value";
+    valSpan.textContent = " " + attrs[i].value;
+    row.appendChild(keySpan);
+    row.appendChild(valSpan);
+    section.appendChild(row);
+  }
+  panel.appendChild(section);
+
+  var mainEl = document.querySelector("main");
+  if (!mainEl) return;
+  mainEl.appendChild(panel);
+
+  // Position to the left of the single-channel dropdown
+  if (anchorDropdown) {
+    var mainRect = mainEl.getBoundingClientRect();
+    var ddRect = anchorDropdown.getBoundingClientRect();
+    var panelW = panel.offsetWidth;
+    panel.style.top = (ddRect.top - mainRect.top) + "px";
+    panel.style.right = "auto";
+    panel.style.left = (ddRect.right - mainRect.left + 8) + "px";
+  }
+}
+
 function fillHeadIcons(panel, headState) {
   panel.innerHTML = "";
   // Fixed height: pipette (27) + max tip (80mm * 0.8 = 64px)
@@ -1225,37 +1380,96 @@ function fillHeadIcons(panel, headState) {
     col.style.display = "flex";
     col.style.flexDirection = "column";
     col.style.alignItems = "center";
+    col.style.position = "relative";
+    // Label + channel cylinder: clickable with hover glow
     var label = document.createElement("span");
     label.textContent = ch;
     label.style.fontSize = "15px";
     label.style.fontWeight = "700";
     label.style.color = "#888";
     label.style.marginBottom = "2px";
+    label.style.cursor = "pointer";
+    (function (ch) {
+      label.addEventListener("click", function (e) {
+        e.stopPropagation();
+        showPipetteInfoPanel("Channel " + ch, "PipetteChannel", buildChannelAttrs(ch, headState), panel, ch, "channel");
+      });
+    })(ch);
     col.appendChild(label);
     var icon = document.createElementNS("http://www.w3.org/2000/svg", "svg");
     icon.setAttribute("width", "14");
     icon.setAttribute("height", String(fixedSvgH));
     icon.setAttribute("viewBox", "0 0 14 " + fixedSvgH);
-    // Black cylinder (top): 14px wide, 20px tall with rounded ends
-    var shapes =
+    icon.style.overflow = "visible";
+    icon.style.display = "block";
+    // Glow filters for hover
+    var defs = document.createElementNS("http://www.w3.org/2000/svg", "defs");
+    defs.innerHTML =
+      '<filter id="chGlow' + ci + '" x="-200%" y="-200%" width="500%" height="500%">' +
+        '<feFlood flood-color="#99DDFF" flood-opacity="1" result="color"/>' +
+        '<feComposite in="color" in2="SourceAlpha" operator="in" result="colored"/>' +
+        '<feGaussianBlur in="colored" stdDeviation="4" result="glow1"/>' +
+        '<feGaussianBlur in="colored" stdDeviation="8" result="glow2"/>' +
+        '<feGaussianBlur in="colored" stdDeviation="14" result="glow3"/>' +
+        '<feMerge><feMergeNode in="glow3"/><feMergeNode in="glow2"/><feMergeNode in="glow1"/><feMergeNode in="SourceGraphic"/></feMerge>' +
+      '</filter>' +
+      '<filter id="tipGlow' + ci + '" x="-200%" y="-200%" width="500%" height="500%">' +
+        '<feFlood flood-color="#EEDD88" flood-opacity="1" result="color"/>' +
+        '<feComposite in="color" in2="SourceAlpha" operator="in" result="colored"/>' +
+        '<feGaussianBlur in="colored" stdDeviation="4" result="glow1"/>' +
+        '<feGaussianBlur in="colored" stdDeviation="8" result="glow2"/>' +
+        '<feGaussianBlur in="colored" stdDeviation="14" result="glow3"/>' +
+        '<feMerge><feMergeNode in="glow3"/><feMergeNode in="glow2"/><feMergeNode in="glow1"/><feMergeNode in="SourceGraphic"/></feMerge>' +
+      '</filter>';
+    icon.appendChild(defs);
+    // Channel shapes (black cylinder + silver cylinder) — hover glow + click
+    var channelG = document.createElementNS("http://www.w3.org/2000/svg", "g");
+    channelG.style.cursor = "pointer";
+    (function (idx, ch) {
+      channelG.addEventListener("mouseenter", function () { this.setAttribute("filter", "url(#chGlow" + idx + ")"); });
+      channelG.addEventListener("mouseleave", function () { this.removeAttribute("filter"); });
+      channelG.addEventListener("click", function (e) {
+        e.stopPropagation();
+        showPipetteInfoPanel("Channel " + ch, "PipetteChannel", buildChannelAttrs(ch, headState), panel, ch, "channel");
+      });
+    })(ci, ch);
+    channelG.innerHTML =
       '<rect x="0" y="1" width="14" height="18" rx="3" ry="3" fill="#333"/>' +
       '<ellipse cx="7" cy="2" rx="7" ry="2" fill="#555"/>' +
       '<ellipse cx="7" cy="19" rx="7" ry="2" fill="#222"/>' +
-      // Silver cylinder (bottom): 10px wide, 5px tall, centered
       '<rect x="2" y="20" width="10" height="4" rx="2" ry="2" fill="#b0b0b0"/>' +
       '<ellipse cx="7" cy="20" rx="5" ry="1.5" fill="#ccc"/>' +
       '<ellipse cx="7" cy="24" rx="5" ry="1.5" fill="#999"/>';
+    icon.appendChild(channelG);
     if (hasTip) {
-      // Tip: straight section (40% of length) then taper to point (60%)
+      var collarH = 6.5;
+      var collarY = 19.5;
+      var bodyStart = collarY + collarH;
       var straightH = Math.round(tipLenPx * 0.4);
       var taperH = tipLenPx - straightH;
-      var straightEnd = 25 + straightH;
+      var straightEnd = bodyStart + straightH;
       var tipEnd = straightEnd + taperH;
-      shapes +=
-        '<rect x="3" y="25" width="8" height="' + straightH + '" rx="1" ry="1" fill="#d0d0d0" stroke="#888" stroke-width="0.8"/>' +
-        '<polygon points="3,' + straightEnd + ' 11,' + straightEnd + ' 7,' + tipEnd + '" fill="#d0d0d0" stroke="#888" stroke-width="0.8"/>';
+      var tipG = document.createElementNS("http://www.w3.org/2000/svg", "g");
+      tipG.style.cursor = "pointer";
+      (function (idx) {
+        tipG.addEventListener("mouseenter", function () { this.setAttribute("filter", "url(#tipGlow" + idx + ")"); });
+        tipG.addEventListener("mouseleave", function () { this.removeAttribute("filter"); });
+      })(ci);
+      var botW = (tipData.total_tip_length > 50) ? 2 : 1;
+      var botL = 7 - botW / 2;
+      var botR = 7 + botW / 2;
+      tipG.innerHTML =
+        '<rect x="1.5" y="' + collarY + '" width="11" height="' + collarH + '" rx="0.5" ry="0.5" fill="#c8c8c8" fill-opacity="0.5" stroke="#888" stroke-width="0.8"/>' +
+        '<rect x="3" y="' + bodyStart + '" width="8" height="' + straightH + '" rx="1" ry="1" fill="#d0d0d0" stroke="#888" stroke-width="0.8"/>' +
+        '<polygon points="3,' + straightEnd + ' 11,' + straightEnd + ' ' + botR + ',' + tipEnd + ' ' + botL + ',' + tipEnd + '" fill="#d0d0d0" stroke="#888" stroke-width="0.8"/>';
+      (function (ch) {
+        tipG.addEventListener("click", function (e) {
+          e.stopPropagation();
+          showPipetteInfoPanel("Tip @ Channel " + ch, "Tip", buildTipAttrs(ch, headState), panel, ch, "tip");
+        });
+      })(ch);
+      icon.appendChild(tipG);
     }
-    icon.innerHTML = shapes;
     col.appendChild(icon);
     panel.appendChild(col);
   }
@@ -1627,6 +1841,7 @@ class LiquidHandler extends Resource {
       var panel = document.getElementById("single-channel-dropdown-" + this.name);
       if (panel) {
         fillHeadIcons(panel, this.headState);
+        refreshPipetteInfoPanel(this.headState);
       }
     }
     if ("head96_state" in state) {

From 61f2ff35868ae61fb6e8fdb4aabf75055e530259 Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Mon, 2 Feb 2026 22:33:40 +0000
Subject: [PATCH 11/20] prioritize GIF maker

---
 pylabrobot/visualizer/main.css | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pylabrobot/visualizer/main.css b/pylabrobot/visualizer/main.css
index 480ffa33761..ecda5c50f0e 100644
--- a/pylabrobot/visualizer/main.css
+++ b/pylabrobot/visualizer/main.css
@@ -367,7 +367,7 @@ main {
   display: flex;
   flex-direction: column;
   gap: 0;
-  z-index: 5;
+  z-index: 20;
 }
 
 .tool-panel-row {

From ff2d850930382897e04e95734d6567dacb7c4c06 Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Tue, 3 Feb 2026 00:03:19 +0000
Subject: [PATCH 12/20] create measurement recording inside `Get Location` tool

---
 pylabrobot/visualizer/index.html |  42 ++++-
 pylabrobot/visualizer/lib.js     | 264 +++++++++++++++++++++++++++++++
 pylabrobot/visualizer/main.css   |   3 +-
 3 files changed, 306 insertions(+), 3 deletions(-)

diff --git a/pylabrobot/visualizer/index.html b/pylabrobot/visualizer/index.html
index ec021b79832..a7c9bdfc5a4 100644
--- a/pylabrobot/visualizer/index.html
+++ b/pylabrobot/visualizer/index.html
@@ -33,7 +33,7 @@
           PyLabRobot Visualizer</a
         >
 
-        <span id="source-filename" style="margin-left: 16px; font-size: 18px; font-weight: 700; color: #333;">{{ source_filename }}</span>
+        <span id="source-filename" style="margin-left: 16px; font-size: 18px; font-weight: 700; color: #333; min-width: 316px; display: inline-block;">{{ source_filename }}</span>
         <div class="navbar-divider" style="margin: 0 14px; height: 95%;"></div>
         <div id="navbar-lh-modules"></div>
 
@@ -104,7 +104,27 @@
       <main>
         <div id="kanvas"></div>
         <div id="coords-panel" class="tool-panel" style="display: none;">
-          <div class="tool-panel-title">Resource location...</div>
+          <div class="tool-panel-title" style="display: flex; align-items: center; justify-content: space-between;">
+            <span>Resource location...</span>
+            <svg width="22" height="22" viewBox="0 0 22 22" style="flex-shrink: 0;">
+              <defs>
+                <filter id="resLocGlow" x="-50%" y="-50%" width="200%" height="200%">
+                  <feGaussianBlur in="SourceGraphic" stdDeviation="1.5" result="blur"/>
+                  <feFlood flood-color="#BBCC33" flood-opacity="0.8" result="color"/>
+                  <feComposite in="color" in2="blur" operator="in" result="glow"/>
+                  <feMerge><feMergeNode in="glow"/><feMergeNode in="SourceGraphic"/></feMerge>
+                </filter>
+              </defs>
+              <g filter="url(#resLocGlow)">
+                <circle cx="11" cy="11" r="6" fill="none" stroke="#99DDFF" stroke-width="3.125"/>
+                <circle cx="11" cy="11" r="2.4375" fill="#99DDFF" opacity="0.95"/>
+                <line x1="0.5" y1="11" x2="5" y2="11" stroke="#99DDFF" stroke-width="2.5"/>
+                <line x1="17" y1="11" x2="21.5" y2="11" stroke="#99DDFF" stroke-width="2.5"/>
+                <line x1="11" y1="0.5" x2="11" y2="5" stroke="#99DDFF" stroke-width="2.5"/>
+                <line x1="11" y1="17" x2="11" y2="21.5" stroke="#99DDFF" stroke-width="2.5"/>
+              </g>
+            </svg>
+          </div>
           <div class="tool-panel-axes">
             <div class="tool-panel-row">
               <span class="tool-panel-label" style="color: #b02a37;">x</span>
@@ -137,6 +157,14 @@
             <select class="tool-panel-select" id="coords-wrt-ref" title="with regards to">
               <option value="root" selected>(abs)</option>
             </select>
+            <svg width="22" height="22" viewBox="0 0 22 22" style="flex-shrink: 0; margin-left: 2px;">
+              <circle cx="11" cy="11" r="6" fill="none" stroke="#FFAABB" stroke-width="3.125"/>
+              <circle cx="11" cy="11" r="2.4375" fill="#FFAABB" opacity="0.95"/>
+              <line x1="0.5" y1="11" x2="5" y2="11" stroke="#FFAABB" stroke-width="2.5"/>
+              <line x1="17" y1="11" x2="21.5" y2="11" stroke="#FFAABB" stroke-width="2.5"/>
+              <line x1="11" y1="0.5" x2="11" y2="5" stroke="#FFAABB" stroke-width="2.5"/>
+              <line x1="11" y1="17" x2="11" y2="21.5" stroke="#FFAABB" stroke-width="2.5"/>
+            </svg>
           </div>
           <div class="tool-panel-axes">
             <div class="tool-panel-row">
@@ -165,6 +193,16 @@
               </select>
             </div>
           </div>
+          <div style="width: 105%; align-self: center; height: 1px; background: #ced4da; margin-top: 8px;"></div>
+          <div class="tool-panel-title" style="margin-top: 8px; display: flex; justify-content: space-between; align-items: baseline;">Recorded Measurements <span style="font-weight: 600; font-size: 14px; font-family: monospace; color: #1a4b8c;">mm</span></div>
+          <div id="coords-measurements" style="max-height: 270px; overflow-y: auto; width: 100%;">
+            <div id="coords-measurements-hint" style="color: #aaa; font-size: 12px; line-height: 1.6; max-width: 0; min-width: 100%;">
+              1. Choose a "with regards to" (wrt) resource<br>
+              2. Set reference options above for both the wrt and the investigated resource<br>
+              3. Hover over a resource to preview<br>
+              4. Click to record the measurement
+            </div>
+          </div>
         </div>
         <div id="gif-panel" class="tool-panel" style="display: none;">
           <div class="tool-panel-title">GIF Recording</div>
diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index 0479d4ba574..45967fe8d26 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -35,6 +35,8 @@ var selectedResource;
 
 var canvasWidth, canvasHeight;
 var activeTool = "cursor"; // "cursor" or "coords"
+var wrtHighlightCircle;
+var resHighlightBullseye;
 
 function buildWrtDropdown() {
   var wrtSelect = document.getElementById("coords-wrt-ref");
@@ -84,6 +86,163 @@ function updateCoordsPanel(resource) {
   // No-op; dropdown is built once via buildWrtDropdown.
 }
 
+function updateWrtHighlight() {
+  if (wrtHighlightCircle) { wrtHighlightCircle.destroy(); wrtHighlightCircle = undefined; }
+  if (activeTool !== "coords") return;
+  var wrtRef = document.getElementById("coords-wrt-ref");
+  var wrtName = wrtRef ? wrtRef.value : null;
+  var wrtRes = wrtName ? resources[wrtName] : null;
+  if (!wrtRes) return;
+  var wrtAbs = wrtRes.getAbsoluteLocation();
+  var wrtOff = getWrtAnchorOffset(wrtRes);
+  var cx = wrtAbs.x + wrtOff.x;
+  var cy = wrtAbs.y + wrtOff.y;
+  var r = 9.2;
+  var barH = r * 1.0125;
+  var wrtHaloColor = "#DDDDDD";
+  var wrtHaloExtra = 4;
+  wrtHighlightCircle = new Konva.Group();
+  // Halo: blurred duplicate behind
+  var wrtHaloGroup = new Konva.Group({ opacity: 0.5 });
+  wrtHaloGroup.filters([Konva.Filters.Blur]);
+  wrtHaloGroup.blurRadius(6);
+  wrtHaloGroup.add(new Konva.Circle({
+    x: cx, y: cy, radius: r,
+    fill: "transparent", stroke: wrtHaloColor, strokeWidth: 4.32 + wrtHaloExtra * 2,
+  }));
+  wrtHaloGroup.add(new Konva.Circle({
+    x: cx, y: cy, radius: 2.4 + wrtHaloExtra / 2,
+    fill: wrtHaloColor,
+  }));
+  wrtHaloGroup.add(new Konva.Line({
+    points: [cx - r - barH, cy, cx - r, cy],
+    stroke: wrtHaloColor, strokeWidth: 3.6 + wrtHaloExtra * 2,
+  }));
+  wrtHaloGroup.add(new Konva.Line({
+    points: [cx + r, cy, cx + r + barH, cy],
+    stroke: wrtHaloColor, strokeWidth: 3.6 + wrtHaloExtra * 2,
+  }));
+  wrtHaloGroup.add(new Konva.Line({
+    points: [cx, cy - r - barH, cx, cy - r],
+    stroke: wrtHaloColor, strokeWidth: 3.6 + wrtHaloExtra * 2,
+  }));
+  wrtHaloGroup.add(new Konva.Line({
+    points: [cx, cy + r, cx, cy + r + barH],
+    stroke: wrtHaloColor, strokeWidth: 3.6 + wrtHaloExtra * 2,
+  }));
+  wrtHaloGroup.cache({ x: cx - r - barH - 20, y: cy - r - barH - 20, width: (r + barH) * 2 + 40, height: (r + barH) * 2 + 40 });
+  wrtHighlightCircle.add(wrtHaloGroup);
+  // Main bullseye on top
+  wrtHighlightCircle.add(new Konva.Circle({
+    x: cx, y: cy, radius: r,
+    fill: "transparent", stroke: "#FFAABB", strokeWidth: 4.32,
+  }));
+  wrtHighlightCircle.add(new Konva.Circle({
+    x: cx, y: cy, radius: 2.4,
+    fill: "#FFAABB", opacity: 0.85,
+  }));
+  wrtHighlightCircle.add(new Konva.Line({
+    points: [cx - r - barH, cy, cx - r, cy],
+    stroke: "#FFAABB", strokeWidth: 3.6,
+  }));
+  wrtHighlightCircle.add(new Konva.Line({
+    points: [cx + r, cy, cx + r + barH, cy],
+    stroke: "#FFAABB", strokeWidth: 3.6,
+  }));
+  wrtHighlightCircle.add(new Konva.Line({
+    points: [cx, cy - r - barH, cx, cy - r],
+    stroke: "#FFAABB", strokeWidth: 3.6,
+  }));
+  wrtHighlightCircle.add(new Konva.Line({
+    points: [cx, cy + r, cx, cy + r + barH],
+    stroke: "#FFAABB", strokeWidth: 3.6,
+  }));
+  resourceLayer.add(wrtHighlightCircle);
+  wrtHighlightCircle.moveToTop();
+  resourceLayer.draw();
+}
+
+function showResHighlightBullseye(resource) {
+  if (resHighlightBullseye) { resHighlightBullseye.destroy(); resHighlightBullseye = undefined; }
+  if (!resource) return;
+  var abs = resource.getAbsoluteLocation();
+  var xRef = document.getElementById("coords-x-ref");
+  var yRef = document.getElementById("coords-y-ref");
+  var xOff = !xRef || xRef.value === "left" ? 0 : xRef.value === "center" ? resource.size_x / 2 : resource.size_x;
+  var yOff = !yRef || yRef.value === "front" ? 0 : yRef.value === "center" ? resource.size_y / 2 : resource.size_y;
+  var cx = abs.x + xOff;
+  var cy = abs.y + yOff;
+  var r = 9.2;
+  var barH = r * 1.0125;
+  var color = "#99DDFF";
+  var haloColor = "#BBCC33";
+  resHighlightBullseye = new Konva.Group();
+  // Halo: blurred, thicker duplicate of every element behind the bullseye
+  var haloExtra = 4;
+  var haloOpacity = 0.5;
+  var haloGroup = new Konva.Group({
+    opacity: haloOpacity,
+  });
+  haloGroup.filters([Konva.Filters.Blur]);
+  haloGroup.blurRadius(6);
+  haloGroup.cache({ x: cx - r - barH - 20, y: cy - r - barH - 20, width: (r + barH) * 2 + 40, height: (r + barH) * 2 + 40 });
+  haloGroup.add(new Konva.Circle({
+    x: cx, y: cy, radius: r,
+    fill: "transparent", stroke: haloColor, strokeWidth: 4.32 + haloExtra * 2,
+  }));
+  haloGroup.add(new Konva.Circle({
+    x: cx, y: cy, radius: 2.4 + haloExtra / 2,
+    fill: haloColor,
+  }));
+  haloGroup.add(new Konva.Line({
+    points: [cx - r - barH, cy, cx - r, cy],
+    stroke: haloColor, strokeWidth: 3.6 + haloExtra * 2,
+  }));
+  haloGroup.add(new Konva.Line({
+    points: [cx + r, cy, cx + r + barH, cy],
+    stroke: haloColor, strokeWidth: 3.6 + haloExtra * 2,
+  }));
+  haloGroup.add(new Konva.Line({
+    points: [cx, cy - r - barH, cx, cy - r],
+    stroke: haloColor, strokeWidth: 3.6 + haloExtra * 2,
+  }));
+  haloGroup.add(new Konva.Line({
+    points: [cx, cy + r, cx, cy + r + barH],
+    stroke: haloColor, strokeWidth: 3.6 + haloExtra * 2,
+  }));
+  // Must cache after adding children for blur filter to work
+  haloGroup.cache({ x: cx - r - barH - 20, y: cy - r - barH - 20, width: (r + barH) * 2 + 40, height: (r + barH) * 2 + 40 });
+  resHighlightBullseye.add(haloGroup);
+  // Main bullseye on top
+  resHighlightBullseye.add(new Konva.Circle({
+    x: cx, y: cy, radius: r,
+    fill: "transparent", stroke: color, strokeWidth: 4.32,
+  }));
+  resHighlightBullseye.add(new Konva.Circle({
+    x: cx, y: cy, radius: 2.4,
+    fill: color, opacity: 0.85,
+  }));
+  resHighlightBullseye.add(new Konva.Line({
+    points: [cx - r - barH, cy, cx - r, cy],
+    stroke: color, strokeWidth: 3.6,
+  }));
+  resHighlightBullseye.add(new Konva.Line({
+    points: [cx + r, cy, cx + r + barH, cy],
+    stroke: color, strokeWidth: 3.6,
+  }));
+  resHighlightBullseye.add(new Konva.Line({
+    points: [cx, cy - r - barH, cx, cy - r],
+    stroke: color, strokeWidth: 3.6,
+  }));
+  resHighlightBullseye.add(new Konva.Line({
+    points: [cx, cy + r, cx, cy + r + barH],
+    stroke: color, strokeWidth: 3.6,
+  }));
+  resourceLayer.add(resHighlightBullseye);
+  resHighlightBullseye.moveToTop();
+  resourceLayer.draw();
+}
+
 function getAncestorAtDepth(resource, depth) {
   // Walk up from the resource to the sidebar root, skipping deck-like
   // intermediaries (same flattening as the sidebar).
@@ -496,10 +655,108 @@ class Resource {
         }
         if (activeTool === "coords") {
           updateCoordsPanel(this);
+          showResHighlightBullseye(this);
+        }
+      });
+      this.mainShape.on("click", () => {
+        if (activeTool === "coords") {
+          const xRef = document.getElementById("coords-x-ref");
+          const yRef = document.getElementById("coords-y-ref");
+          const zRef = document.getElementById("coords-z-ref");
+          const wrtRef = document.getElementById("coords-wrt-ref");
+          const wrtName = wrtRef ? wrtRef.value : "root";
+          const base = getLocationWrt(this, wrtName);
+          const xOff = !xRef || xRef.value === "left" ? 0 : xRef.value === "center" ? this.size_x / 2 : this.size_x;
+          const yOff = !yRef || yRef.value === "front" ? 0 : yRef.value === "center" ? this.size_y / 2 : this.size_y;
+          var zOff = 0;
+          var zNA = false;
+          if (zRef) {
+            if (zRef.value === "center") zOff = this.size_z / 2;
+            else if (zRef.value === "top") zOff = this.size_z;
+            else if (zRef.value === "cavity_bottom") {
+              if (this instanceof Container && this.material_z_thickness != null) {
+                zOff = this.material_z_thickness;
+              } else {
+                zNA = true;
+              }
+            }
+          }
+          const cx = base.x + xOff;
+          const cy = base.y + yOff;
+          const cz = (base.z || 0) + zOff;
+          const czStr = zNA ? "na" : cz.toFixed(1);
+          const container = document.getElementById("coords-measurements");
+          if (container) {
+            const xLabel = xRef ? xRef.value : "left";
+            const yLabel = yRef ? yRef.value : "front";
+            const zLabel = zRef ? zRef.value : "bottom";
+            const row = document.createElement("div");
+            row.style.padding = "5px 0";
+            row.style.borderBottom = "2px solid #ced4da";
+            row.style.fontSize = "14px";
+            row.style.lineHeight = "1.4";
+            row.style.display = "flex";
+            row.style.alignItems = "flex-start";
+
+            const content = document.createElement("div");
+            content.style.flex = "1";
+
+            const xl = xLabel[0];
+            const yl = yLabel[0];
+            const zl = zLabel[0];
+            const wrtXRef = document.getElementById("coords-wrt-x-ref");
+            const wrtYRef = document.getElementById("coords-wrt-y-ref");
+            const wrtZRef = document.getElementById("coords-wrt-z-ref");
+            const wxl = wrtXRef ? wrtXRef.value[0] : "l";
+            const wyl = wrtYRef ? wrtYRef.value[0] : "f";
+            const wzl = wrtZRef ? wrtZRef.value[0] : "b";
+
+            const nameLine = document.createElement("div");
+            nameLine.style.fontWeight = "600";
+            nameLine.style.color = "#333";
+            nameLine.textContent = `${this.name} (${xl}, ${yl}, ${zl})`;
+
+            const wrtLine = document.createElement("div");
+            wrtLine.style.color = "#888";
+            wrtLine.style.fontSize = "12px";
+            wrtLine.textContent = `wrt ${wrtName} (${wxl}, ${wyl}, ${wzl})`;
+
+            const coordLine = document.createElement("div");
+            coordLine.style.fontFamily = "monospace";
+            coordLine.style.color = "#1a4b8c";
+            coordLine.style.fontWeight = "600";
+            coordLine.textContent = `(${cx.toFixed(1)}, ${cy.toFixed(1)}, ${czStr})`;
+
+            content.appendChild(nameLine);
+            content.appendChild(wrtLine);
+            content.appendChild(coordLine);
+
+            const deleteBtn = document.createElement("button");
+            deleteBtn.textContent = "×";
+            deleteBtn.style.background = "none";
+            deleteBtn.style.border = "none";
+            deleteBtn.style.color = "#aaa";
+            deleteBtn.style.fontSize = "18px";
+            deleteBtn.style.cursor = "pointer";
+            deleteBtn.style.padding = "0 2px";
+            deleteBtn.style.lineHeight = "1";
+            deleteBtn.style.flexShrink = "0";
+            deleteBtn.onmouseover = () => { deleteBtn.style.color = "#d33"; };
+            deleteBtn.onmouseout = () => { deleteBtn.style.color = "#aaa"; };
+            deleteBtn.onclick = () => { row.remove(); };
+
+            row.appendChild(content);
+            row.appendChild(deleteBtn);
+            var hint = document.getElementById("coords-measurements-hint");
+            if (hint) hint.remove();
+            container.appendChild(row);
+            container.scrollTop = container.scrollHeight;
+          }
         }
       });
       this.mainShape.on("mouseout", () => {
         tooltip.destroy();
+        showResHighlightBullseye(null);
         if (typeof clearSidebarHighlight === "function") {
           clearSidebarHighlight();
         }
@@ -3051,11 +3308,18 @@ window.addEventListener("load", function () {
     if (coordsPanel) coordsPanel.style.display = tool === "coords" ? "" : "none";
     if (gifPanel) gifPanel.style.display = tool === "gif" ? "" : "none";
     if (tool !== "coords") updateCoordsPanel(null);
+    updateWrtHighlight();
   }
   if (cursorBtn) cursorBtn.addEventListener("click", function () { setActiveTool("cursor"); });
   if (coordsBtn) coordsBtn.addEventListener("click", function () { setActiveTool("coords"); });
   if (gifBtn) gifBtn.addEventListener("click", function () { setActiveTool("gif"); });
 
+  // Update wrt highlight when dropdowns change
+  ["coords-wrt-ref", "coords-wrt-x-ref", "coords-wrt-y-ref", "coords-wrt-z-ref"].forEach(function (id) {
+    var el = document.getElementById(id);
+    if (el) el.addEventListener("change", updateWrtHighlight);
+  });
+
   // Left toolbar collapse toggle
   var leftToggle = document.getElementById("toolbar-left-toggle");
   var leftToolbar = document.getElementById("toolbar-left");
diff --git a/pylabrobot/visualizer/main.css b/pylabrobot/visualizer/main.css
index ecda5c50f0e..d0f488d0bdf 100644
--- a/pylabrobot/visualizer/main.css
+++ b/pylabrobot/visualizer/main.css
@@ -403,7 +403,8 @@ main {
 }
 
 .tool-panel-row-full .tool-panel-select {
-  flex: 1;
+  flex: 0 1 auto;
+  min-width: 80px;
 }
 
 .tool-panel-select {

From 09d65981d26111bf95efbf13bd30dd581c39db36 Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Tue, 3 Feb 2026 08:03:04 +0000
Subject: [PATCH 13/20] make lh module popups responsive and informative

---
 pylabrobot/liquid_handling/liquid_handler.py |   1 +
 pylabrobot/visualizer/lib.js                 | 130 ++++++++++++++++---
 pylabrobot/visualizer/main.css               |   5 +
 3 files changed, 121 insertions(+), 15 deletions(-)

diff --git a/pylabrobot/liquid_handling/liquid_handler.py b/pylabrobot/liquid_handling/liquid_handler.py
index 6deef6be4b0..50bea352161 100644
--- a/pylabrobot/liquid_handling/liquid_handler.py
+++ b/pylabrobot/liquid_handling/liquid_handler.py
@@ -198,6 +198,7 @@ def serialize_state(self) -> Dict[str, Any]:
         if pickup is not None:
           res = pickup.resource
           arm_entry: Dict[str, Any] = {
+            "has_resource": True,
             "resource_name": res.name,
             "resource_type": type(res).__name__,
             "direction": pickup.direction.name,
diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index 45967fe8d26..0c5d3c41e7d 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -293,10 +293,6 @@ function getWrtAnchorOffset(wrtResource) {
 }
 
 function getLocationWrt(resource, wrtName) {
-  // If wrt is the sidebar root, return absolute location.
-  if (sidebarRootResource && wrtName === sidebarRootResource.name) {
-    return resource.getAbsoluteLocation();
-  }
   var wrtResource = resources[wrtName];
   if (!wrtResource) return resource.getAbsoluteLocation();
   var abs = resource.getAbsoluteLocation();
@@ -1727,11 +1723,44 @@ function fillHeadIcons(panel, headState) {
       })(ch);
       icon.appendChild(tipG);
     }
+    // Pending tip: pulsing blurred overlay
+    var chStateObj = headState[ch] || {};
+    var pendingTip = chStateObj.pending_tip;
+    var currentTip = chStateObj.tip;
+    var isPending = (pendingTip !== null && pendingTip !== undefined) !== (currentTip !== null && currentTip !== undefined);
+    if (isPending) {
+      var pendingFilter = document.createElementNS("http://www.w3.org/2000/svg", "filter");
+      pendingFilter.setAttribute("id", "pendingGlow" + ci);
+      pendingFilter.setAttribute("x", "-100%");
+      pendingFilter.setAttribute("y", "-100%");
+      pendingFilter.setAttribute("width", "300%");
+      pendingFilter.setAttribute("height", "300%");
+      pendingFilter.innerHTML = '<feGaussianBlur stdDeviation="3"/>';
+      defs.appendChild(pendingFilter);
+      var pendingRect = document.createElementNS("http://www.w3.org/2000/svg", "rect");
+      pendingRect.setAttribute("x", "0");
+      pendingRect.setAttribute("y", "1");
+      pendingRect.setAttribute("width", "14");
+      pendingRect.setAttribute("height", String(fixedSvgH - 1));
+      pendingRect.setAttribute("rx", "3");
+      pendingRect.setAttribute("fill", "#EE8866");
+      pendingRect.setAttribute("filter", "url(#pendingGlow" + ci + ")");
+      pendingRect.style.pointerEvents = "none";
+      pendingRect.style.animation = "pendingPulse 1.5s ease-in-out infinite";
+      icon.appendChild(pendingRect);
+    }
     col.appendChild(icon);
     panel.appendChild(col);
   }
 }
 
+function head96PosId(ch, startCh) {
+  var local = ch - startCh;
+  var row = local % 8;
+  var col = Math.floor(local / 8);
+  return String.fromCharCode(65 + row) + (col + 1);
+}
+
 function fillHead96Grid(panel, head96State) {
   panel.innerHTML = "";
   if (!head96State || Object.keys(head96State).length === 0) {
@@ -1766,6 +1795,23 @@ function fillHead96Grid(panel, head96State) {
     box.style.borderRadius = "6px";
     box.style.padding = "6px";
     box.style.background = "#444";
+    box.style.cursor = "pointer";
+    box.onmouseover = function () { box.style.boxShadow = "0 0 8px 3px rgba(68, 187, 153, 0.5), 0 0 20px 6px rgba(68, 187, 153, 0.25)"; };
+    box.onmouseout = function () { box.style.boxShadow = "none"; };
+    (function (startCh, head96State) {
+      box.addEventListener("click", function (e) {
+        var tipCount = 0;
+        for (var i = startCh; i < startCh + 96; i++) {
+          var s = head96State[String(i)] || head96State[i];
+          if (s && s.tip !== null && s.tip !== undefined) tipCount++;
+        }
+        var attrs = [
+          { key: "channels", value: "96" },
+          { key: "tips_loaded", value: tipCount + " / 96" },
+        ];
+        showPipetteInfoPanel("96-Head Pipette", "CoRe96Head", attrs, panel, String(startCh), "channel");
+      });
+    })(startCh, head96State);
     box.style.display = "inline-flex";
     box.style.flexDirection = "column";
     box.style.alignItems = "center";
@@ -1786,7 +1832,30 @@ function fillHead96Grid(panel, head96State) {
         dot.style.borderRadius = "50%";
         dot.style.border = "1.5px solid " + (hasTip ? "#40CDA1" : "#555");
         dot.style.background = hasTip ? "#40CDA1" : "white";
-        dot.title = "Channel " + ch + (hasTip ? " (tip)" : "");
+        var posId = head96PosId(ch, startCh);
+        dot.title = "Channel " + ch + " / " + posId + (hasTip ? " (tip)" : "");
+        if (hasTip) {
+          dot.style.cursor = "pointer";
+          dot.onmouseover = function () { this.style.boxShadow = "0 0 6px 2px rgba(238, 221, 136, 0.6), 0 0 14px 4px rgba(238, 221, 136, 0.3)"; };
+          dot.onmouseout = function () { this.style.boxShadow = "none"; };
+          (function (ch, posId) {
+            dot.addEventListener("click", function (e) {
+              e.stopPropagation();
+              var tipAttrs = buildTipAttrs(String(ch), head96State);
+              if (tipAttrs) {
+                showPipetteInfoPanel("Tip @ Channel " + ch + " / " + posId, "Tip", tipAttrs, panel, String(ch), "tip");
+              }
+            });
+          })(ch, posId);
+        } else {
+          (function (ch, posId) {
+            dot.style.cursor = "pointer";
+            dot.addEventListener("click", function (e) {
+              e.stopPropagation();
+              showPipetteInfoPanel("Channel " + ch + " / " + posId, "PipetteChannel", buildChannelAttrs(String(ch), head96State), panel, String(ch), "channel");
+            });
+          })(ch, posId);
+        }
         grid.appendChild(dot);
       }
     }
@@ -1850,9 +1919,9 @@ function fillHead96Grid(panel, head96State) {
   }
 }
 
-function buildSingleArm(armData) {
+function buildSingleArm(armData, anchorDropdown, armId) {
   // Build one gripper visualization column
-  var hasPlate = armData !== null && armData !== undefined;
+  var hasResource = armData !== null && armData !== undefined;
   var col = document.createElement("div");
   col.style.display = "flex";
   col.style.flexDirection = "column";
@@ -1865,7 +1934,7 @@ function buildSingleArm(armData) {
   // using the exact same draw() code as the main canvas.
   var plateW = 52, plateH = 22;
   var snapshot = null; // serialized resource data, or null
-  if (hasPlate) {
+  if (hasResource) {
     snapshot = resourceSnapshots[armData.resource_name] || null;
     var sizeX = snapshot ? snapshot.size_x : (armData.size_x || 127);
     var sizeY = snapshot ? snapshot.size_y : (armData.size_y || 86);
@@ -1881,7 +1950,7 @@ function buildSingleArm(armData) {
   var stdPlateW = Math.round(127 * Math.min(80 / 127, 80 / 86)); // ≈80px
   var minFingerGap = Math.round((stdPlateW + 16) * 1.1);          // ≈106px
   var closedGap = Math.round((52 + 16) * 1.1); // default closed spacing
-  var fingerGap = hasPlate ? Math.round((plateW + 16) * 1.1) : closedGap;
+  var fingerGap = hasResource ? Math.round((plateW + 16) * 1.1) : closedGap;
   var svgW = Math.max(closedGap, fingerGap, minFingerGap) + 28; // 14px margin each side (room for outer guide bars)
   var svgH = 110;
   var cx = svgW / 2; // centre x
@@ -1894,6 +1963,17 @@ function buildSingleArm(armData) {
   svg.setAttribute("width", String(svgW));
   svg.setAttribute("height", String(svgH));
   svg.setAttribute("viewBox", "0 0 " + svgW + " " + svgH);
+  svg.style.overflow = "visible";
+  var defs = document.createElementNS("http://www.w3.org/2000/svg", "defs");
+  defs.innerHTML =
+    '<filter id="armGlow" x="-50%" y="-50%" width="200%" height="200%">' +
+      '<feFlood flood-color="#44BB99" flood-opacity="0.5" result="color"/>' +
+      '<feComposite in="color" in2="SourceAlpha" operator="in" result="colored"/>' +
+      '<feGaussianBlur in="colored" stdDeviation="3" result="glow1"/>' +
+      '<feGaussianBlur in="colored" stdDeviation="6" result="glow2"/>' +
+      '<feMerge><feMergeNode in="glow2"/><feMergeNode in="glow1"/><feMergeNode in="SourceGraphic"/></feMerge>' +
+    '</filter>';
+  svg.appendChild(defs);
   var shapes = "";
 
   // Horizontal guide bars — drawn first (behind rails), extending inward from each finger
@@ -1935,7 +2015,26 @@ function buildSingleArm(armData) {
   shapes += '<rect x="' + (rCushX - 3) + '" y="' + pinBotY + '" width="5" height="' + pinH + '" rx="0.5" ry="0.5" fill="#555" stroke="#333" stroke-width="0.4"/>';
   shapes += '<rect x="' + rCushX + '" y="' + cushY + '" width="4" height="' + cushH + '" rx="1" ry="1" fill="#444" stroke="#333" stroke-width="0.6"/>';
 
-  svg.innerHTML = shapes;
+  var gripperG = document.createElementNS("http://www.w3.org/2000/svg", "g");
+  gripperG.innerHTML = shapes;
+  gripperG.style.cursor = "pointer";
+  gripperG.addEventListener("mouseenter", function () { gripperG.setAttribute("filter", "url(#armGlow)"); });
+  gripperG.addEventListener("mouseleave", function () { gripperG.removeAttribute("filter"); });
+  gripperG.addEventListener("click", function (e) {
+    e.stopPropagation();
+    var attrs = [{ key: "arm", value: armId }];
+    attrs.push({ key: "has_resource", value: hasResource ? "true" : "false" });
+    if (hasResource) {
+      attrs.push({ key: "resource_name", value: armData.resource_name });
+      attrs.push({ key: "resource_type", value: armData.resource_type || "Unknown" });
+      attrs.push({ key: "direction", value: armData.direction || "?" });
+      attrs.push({ key: "pickup_distance_from_top", value: (armData.pickup_distance_from_top || 0) + " mm" });
+      attrs.push({ key: "size", value: (armData.size_x || "?") + " × " + (armData.size_y || "?") + " × " + (armData.size_z || "?") + " mm" });
+      if (armData.num_items_x) attrs.push({ key: "wells", value: (armData.num_items_x * (armData.num_items_y || 1)) });
+    }
+    showPipetteInfoPanel("Arm " + armId, "IntegratedArm", attrs, anchorDropdown, armId, "channel");
+  });
+  svg.appendChild(gripperG);
   // Wrap the SVG and plate in a positioned container.
   var svgContainer = document.createElement("div");
   svgContainer.style.position = "relative";
@@ -1943,7 +2042,7 @@ function buildSingleArm(armData) {
   svgContainer.style.height = svgH + "px";
   svgContainer.appendChild(svg);
 
-  if (hasPlate && snapshot) {
+  if (hasResource && snapshot) {
     // Render the plate using the exact same Konva draw() code as the main canvas.
     // The serialized resource data (saved before destruction) is re-instantiated via
     // loadResource() and drawn on a temporary DOM-attached Konva stage. The result is
@@ -2003,7 +2102,7 @@ function buildSingleArm(armData) {
     } catch (e) {
       console.warn("[arm plate render] failed:", e);
     }
-  } else if (hasPlate) {
+  } else if (hasResource) {
     // Fallback: simple colored rectangle when no serialized data is available
     var plateX2 = cx - plateW / 2;
     var plateY2 = 85 - plateH / 2;
@@ -2021,6 +2120,7 @@ function buildSingleArm(armData) {
     svgContainer.appendChild(fallbackSvg);
   }
 
+  svgContainer.style.cursor = "pointer";
   col.appendChild(svgContainer);
   var label = document.createElement("div");
   label.style.fontSize = "11px";
@@ -2028,10 +2128,10 @@ function buildSingleArm(armData) {
   label.style.color = "#666";
   label.style.marginTop = "4px";
   label.style.textAlign = "center";
-  if (hasPlate) {
+  if (hasResource) {
     label.textContent = armData.resource_name + " (" + armData.resource_type + ")";
   } else {
-    label.textContent = "No plate held";
+    label.textContent = "No resource held";
   }
   col.appendChild(label);
   return col;
@@ -2073,7 +2173,7 @@ function fillArmPanel(panel, armState) {
       idLabel.style.marginBottom = "2px";
       wrapper.appendChild(idLabel);
     }
-    wrapper.appendChild(buildSingleArm(armState[armId]));
+    wrapper.appendChild(buildSingleArm(armState[armId], panel, armId));
     panel.appendChild(wrapper);
   }
 }
diff --git a/pylabrobot/visualizer/main.css b/pylabrobot/visualizer/main.css
index d0f488d0bdf..2f5615d78db 100644
--- a/pylabrobot/visualizer/main.css
+++ b/pylabrobot/visualizer/main.css
@@ -431,6 +431,11 @@ main {
   font-variant-numeric: tabular-nums;
 }
 
+@keyframes pendingPulse {
+  0%, 100% { opacity: 0.15; }
+  50% { opacity: 0.55; }
+}
+
 /* Sidepanel */
 #sidepanel {
   position: relative;

From 2be8ed3b54f46794365e5d5abdc50d21eacc7561 Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Tue, 3 Feb 2026 11:01:08 +0000
Subject: [PATCH 14/20] add info panels for resources on double-click in view
 window

---
 pylabrobot/visualizer/index.html |   3 +-
 pylabrobot/visualizer/lib.js     | 163 +++++++++++++++++++++----------
 2 files changed, 112 insertions(+), 54 deletions(-)

diff --git a/pylabrobot/visualizer/index.html b/pylabrobot/visualizer/index.html
index a7c9bdfc5a4..826adb7c66b 100644
--- a/pylabrobot/visualizer/index.html
+++ b/pylabrobot/visualizer/index.html
@@ -208,7 +208,7 @@
           <div class="tool-panel-title">GIF Recording</div>
           <div class="gif-box" id="gif-start">
             <div class="frame-rate">
-              <p id="current-value">Frame Save Interval: 8</p>
+              <p id="current-value">Frame Interval: 8</p>
               <div id="slider-container">
                 <span class="fr-bound">1</span>
                 <input
@@ -342,6 +342,7 @@
 
     <!-- Load JavaScript libraries -->
     <script src="https://cdnjs.cloudflare.com/ajax/libs/jszip/3.7.1/jszip.min.js"></script>
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/html2canvas/1.4.1/html2canvas.min.js"></script>
 
     <!-- Load custom scripts -->
     <script src="./lib.js?v=2"></script>
diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index 0c5d3c41e7d..2b7e5d2b32e 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -347,6 +347,7 @@ let isRecording = false;
 let recordingCounter = 0; // Counter to track the number of recorded frames
 var frameImages = [];
 let frameInterval = 8;
+var _recordingTimer = null;
 
 function getSnappingResourceAndLocationAndSnappingBox(resourceToSnap, x, y) {
   // Return the snapping resource that the given point is within, or undefined if there is no such resource.
@@ -760,6 +761,9 @@ class Resource {
           updateCoordsPanel(null);
         }
       });
+      this.mainShape.on("dblclick dbltap", () => {
+        showUmlPanel(this.name);
+      });
     }
   }
 
@@ -861,12 +865,7 @@ class Resource {
   update() {
     this.draw(resourceLayer);
 
-    if (isRecording) {
-      if (recordingCounter % frameInterval == 0) {
-        stageToBlob(stage, handleBlob);
-      }
-      recordingCounter += 1;
-    }
+    // GIF frame capture is now driven by _recordingTimer (setInterval)
   }
 
   setState() {}
@@ -2505,7 +2504,10 @@ async function startRecording() {
   var info = document.getElementById("progressBar");
   info.innerText = " GIF Rendering Progress: " + Math.round(0 * 100) + "%";
 
-  stageToBlob(stage, handleBlob);
+  // Start sequential capture loop: capture a frame, wait for the interval,
+  // then capture the next. This guarantees every tick produces a frame
+  // even when html2canvas is slower than the interval.
+  _captureLoop();
 
   gifResetUI();
   gifShowRecordingUI();
@@ -2517,24 +2519,24 @@ function stopRecording() {
 
   // Turn recording off
   isRecording = false;
+  if (_recordingTimer) { clearTimeout(_recordingTimer); _recordingTimer = null; }
 
-  // Render the final image
-  // Do it twice bc it looks better
-
-  stageToBlob(stage, handleBlob);
-  stageToBlob(stage, handleBlob);
-
-  gif = new GIF({
-    workers: 10,
-    workerScript: "gif.worker.js",
-    background: "#FFFFFF",
-    width: stage.width(),
-    height: stage.height(),
-  });
+  // Wait for any in-flight capture to finish before building GIF
+  setTimeout(function () {
+    // Use dimensions from the first captured frame (includes overflow)
+    var gifW = frameImages.length > 0 ? frameImages[0].width : stage.width();
+    var gifH = frameImages.length > 0 ? frameImages[0].height : stage.height();
+    gif = new GIF({
+      workers: 10,
+      workerScript: "gif.worker.js",
+      background: "#FFFFFF",
+      width: gifW,
+      height: gifH,
+    });
 
   // Add each frame to the GIF
   for (var i = 0; i < frameImages.length; i++) {
-    gif.addFrame(frameImages[i], { delay: 1 });
+    gif.addFrame(frameImages[i], { delay: Math.max(200, frameInterval * 50) });
   }
 
   // Add progress bar based on how much the gif is rendered
@@ -2551,32 +2553,59 @@ function stopRecording() {
     gifShowStartUI();
   });
 
-  gif.render();
+    gif.render();
+  }, 1500);
 }
 
-// convert stage to a blob and handle the blob
-function stageToBlob(stage, callback) {
-  stage.toBlob({
-    callback: callback,
-    mimeType: "image/jpg",
-    quality: 0.3,
+// Capture the entire <main> element (canvas + overlays) as a frame
+// Sequential capture loop: capture one frame, wait for the remaining interval
+// time, then schedule the next. Every tick produces exactly one frame.
+function _captureLoop() {
+  if (!isRecording) return;
+  var intervalMs = Math.max(200, frameInterval * 50);
+  var startTime = Date.now();
+  var mainEl = document.querySelector("main");
+  if (!mainEl) return;
+  // Compute capture size including any rightward/downward overflow
+  var captureW = mainEl.offsetWidth;
+  var captureH = mainEl.offsetHeight;
+  var mainRect = mainEl.getBoundingClientRect();
+  var overflows = mainEl.querySelectorAll(".module-dropdown.open, .tool-panel, .uml-panel");
+  overflows.forEach(function (el) {
+    var r = el.getBoundingClientRect();
+    var right = r.right - mainRect.left;
+    var bottom = r.bottom - mainRect.top;
+    if (right > captureW) captureW = Math.ceil(right);
+    if (bottom > captureH) captureH = Math.ceil(bottom);
+  });
+  html2canvas(mainEl, {
+    backgroundColor: "#FFFFFF",
+    scale: 1,
+    useCORS: true,
+    logging: false,
+    width: captureW,
+    height: captureH,
+  }).then(function (canvas) {
+    canvas.toBlob(function (blob) {
+      if (blob) {
+        var url = URL.createObjectURL(blob);
+        var myImg = new Image();
+        myImg.src = url;
+        myImg.width = canvas.width;
+        myImg.height = canvas.height;
+        frameImages.push(myImg);
+        myImg.onload = function () { URL.revokeObjectURL(url); };
+      }
+      // Wait for the remaining interval time before next capture
+      var elapsed = Date.now() - startTime;
+      var waitMs = Math.max(0, intervalMs - elapsed);
+      _recordingTimer = setTimeout(_captureLoop, waitMs);
+    }, "image/jpeg", 0.3);
+  }).catch(function () {
+    var elapsed = Date.now() - startTime;
+    var waitMs = Math.max(0, intervalMs - elapsed);
+    _recordingTimer = setTimeout(_captureLoop, waitMs);
   });
-}
-
-// handle the blob (e.g., create an Image element and add it to frameImages)
-function handleBlob(blob) {
-  const url = URL.createObjectURL(blob);
-  const myImg = new Image();
-
-  myImg.src = url;
-  myImg.width = stage.width();
-  myImg.height = stage.height();
-
-  frameImages.push(myImg);
-
-  myImg.onload = function () {
-    URL.revokeObjectURL(url); // Free up memory
-  };
 }
 
 // Set up event listeners for the buttons
@@ -2622,9 +2651,10 @@ document
 
     this.value = value; // Update the slider value
     document.getElementById("current-value").textContent =
-      "Frame Save Interval: " + value;
+      "Frame Interval: " + value;
 
     frameInterval = value;
+    // New interval takes effect on the next iteration of _captureLoop automatically
   });
 
 window.addEventListener("load", function () {
@@ -3792,6 +3822,7 @@ window.addEventListener("load", function () {
 // ===========================================================================
 
 var umlPanelResourceName = null;
+var _umlPanelOpenedAt = 0;
 
 function getUmlAttributes(resource) {
   var attrs = [];
@@ -3958,6 +3989,7 @@ function showUmlPanel(resourceName) {
   }
 
   umlPanelResourceName = resourceName;
+  _umlPanelOpenedAt = Date.now();
 
   // Remove existing panel
   var existing = document.getElementById("uml-panel");
@@ -3985,8 +4017,11 @@ window.addEventListener("load", function () {
   if (kanvas) {
     kanvas.addEventListener("click", function (e) {
       // Only close if the click is directly on the kanvas container (not on a child)
+      // Skip if a panel was just opened (e.g. via dblclick) to avoid race conditions
       if (e.target === kanvas || e.target.tagName === "CANVAS") {
-        hideUmlPanel();
+        if (Date.now() - _umlPanelOpenedAt > 400) {
+          hideUmlPanel();
+        }
       }
     });
   }
@@ -4218,14 +4253,13 @@ function buildNavbarLHModules() {
       var singleCenterPx = (btnRect.left - mainRect.left + btnRect.width / 2);
 
       var singlePanel = document.getElementById("single-channel-dropdown-" + handlerName);
-      if (singlePanel) {
-        singlePanel.style.top = topPx + "px";
-        singlePanel.style.left = singleCenterPx + "px";
-      }
 
       // Measure single panel (temporarily show if hidden)
       var singleW = 0, singleH = 0, singleLeft = singleCenterPx;
       if (singlePanel) {
+        // Temporarily set left + transform so we can measure offsetWidth accurately
+        singlePanel.style.top = topPx + "px";
+        singlePanel.style.left = singleCenterPx + "px";
         var wasHidden = !singlePanel.classList.contains("open");
         if (wasHidden) { singlePanel.style.visibility = "hidden"; singlePanel.classList.add("open"); }
         singleW = singlePanel.offsetWidth;
@@ -4234,17 +4268,40 @@ function buildNavbarLHModules() {
         if (wasHidden) { singlePanel.classList.remove("open"); singlePanel.style.visibility = ""; }
       }
 
+      // Determine multi-channel and arm panel widths for clamping
       var multiPanel = document.getElementById("multi-channel-dropdown-" + handlerName);
+      var armPanel = document.getElementById("arm-dropdown-" + handlerName);
+      var multiW = 0;
       if (multiPanel && multiPanel.classList.contains("open")) {
         multiPanel.style.transform = "none";
+        multiW = multiPanel.offsetWidth;
+      }
+      var armW = 0;
+      if (armPanel && armPanel.classList.contains("open")) {
+        armPanel.style.transform = "none";
+        armW = armPanel.offsetWidth;
+      }
+
+      // Clamp: ensure the leftmost panel doesn't go below 0
+      var totalLeftEdge = singleLeft - (multiW > 0 ? multiW + 8 : 0);
+      if (totalLeftEdge < 0) {
+        singleLeft = singleLeft + (-totalLeftEdge);
+      }
+
+      // Always position single panel with direct left (no CSS transform),
+      // because html2canvas misrenders translateX(-50%).
+      if (singlePanel) {
+        singlePanel.style.transform = "none";
+        singlePanel.style.left = Math.max(0, singleLeft) + "px";
+      }
+
+      if (multiPanel && multiPanel.classList.contains("open")) {
         multiPanel.style.top = topPx + "px";
         multiPanel.style.height = singleH > 0 ? singleH + "px" : "auto";
-        multiPanel.style.left = (singleLeft - multiPanel.offsetWidth - 8) + "px";
+        multiPanel.style.left = Math.max(0, singleLeft - multiW - 8) + "px";
       }
 
-      var armPanel = document.getElementById("arm-dropdown-" + handlerName);
       if (armPanel && armPanel.classList.contains("open")) {
-        armPanel.style.transform = "none";
         armPanel.style.top = topPx + "px";
         armPanel.style.height = singleH > 0 ? singleH + "px" : "auto";
         var singleRight = singleLeft + singleW;

From cb1a2fe7d7facd5d9a85ddbdbb6b3d747b36ed88 Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Tue, 3 Feb 2026 11:43:15 +0000
Subject: [PATCH 15/20] upgrade Workcell Tree Expand/Collapse behaviour

---
 pylabrobot/visualizer/index.html          |  25 ++---
 pylabrobot/visualizer/lib.js              | 110 ++++++++++++++++++----
 pylabrobot/visualizer/main.css            |  10 +-
 pylabrobot/visualizer/visualizer.py       |  33 ++++++-
 pylabrobot/visualizer/visualizer_tests.py |   5 +-
 5 files changed, 147 insertions(+), 36 deletions(-)

diff --git a/pylabrobot/visualizer/index.html b/pylabrobot/visualizer/index.html
index 826adb7c66b..03dd7585e33 100644
--- a/pylabrobot/visualizer/index.html
+++ b/pylabrobot/visualizer/index.html
@@ -274,19 +274,22 @@
         <div class="sidepanel-header">
           <span class="sidepanel-title">Workcell Tree</span>
           <div class="sidepanel-header-actions">
-            <button class="tree-action-btn" id="expand-all-btn" title="Expand to depth">
-              <svg width="14" height="14" viewBox="0 0 14 14" fill="none" stroke="#555" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round">
-                <polyline points="3,5 7,9 11,5"/>
-                <line x1="3" y1="1" x2="11" y2="1"/>
+            <button class="tree-action-btn" id="expand-all-btn" title="Collapse All">
+              <svg width="14" height="18" viewBox="0 0 14 18" fill="none" stroke="#555" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round">
+                <polyline points="3,3 7,7 11,3"/>
+                <polyline points="3,15 7,11 11,15"/>
               </svg>
             </button>
-            <button class="tree-action-btn" id="collapse-all-btn" title="Collapse to depth">
-              <svg width="14" height="14" viewBox="0 0 14 14" fill="none" stroke="#555" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round">
-                <polyline points="3,9 7,5 11,9"/>
-                <line x1="3" y1="13" x2="11" y2="13"/>
-              </svg>
-            </button>
-            <input type="number" id="tree-depth-input" class="tree-depth-input" value="1" min="0" max="20" title="Depth levels below root">
+            <div style="display:flex;">
+              <button class="tree-action-btn" id="collapse-all-btn" title="Show up to depth...">
+                <svg width="14" height="14" viewBox="0 0 14 14" fill="none" stroke="#555" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round">
+                  <line x1="1" y1="3" x2="10" y2="3"/>
+                  <line x1="4" y1="7" x2="13" y2="7"/>
+                  <line x1="7" y1="11" x2="13" y2="11"/>
+                </svg>
+              </button>
+              <input type="number" id="tree-depth-input" class="tree-depth-input" value="1" min="0" max="20" title="Depth levels below root">
+            </div>
           </div>
         </div>
         <div id="resource-tree"></div>
diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index 2b7e5d2b32e..9eedd6db82e 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -522,6 +522,7 @@ class Resource {
     this.parent = parent;
     this.resourceType = resourceData.type || this.constructor.name;
     this.category = resourceData.category || "";
+    this.methods = resourceData.methods || [];
 
     this.color = "#5B6D8F";
 
@@ -3399,6 +3400,18 @@ function expandAllTreeNodes() {
   buildWrtDropdown();
 }
 
+function showToDepth() {
+  var tree = document.getElementById("resource-tree");
+  if (!tree) return;
+  var maxDepth = getTreeDepthLimit();
+  var roots = tree.querySelectorAll(":scope > .tree-node");
+  roots.forEach(function (root) {
+    setTreeNodeExpansion(root, 0, maxDepth, true);
+    setTreeNodeExpansion(root, 0, maxDepth, false);
+  });
+  buildWrtDropdown();
+}
+
 function collapseAllTreeNodes() {
   var tree = document.getElementById("resource-tree");
   if (!tree) return;
@@ -3414,14 +3427,50 @@ function collapseAllTreeNodes() {
 window.addEventListener("load", function () {
   var expandBtn = document.getElementById("expand-all-btn");
   var collapseBtn = document.getElementById("collapse-all-btn");
-  if (expandBtn) expandBtn.addEventListener("click", expandAllTreeNodes);
-  if (collapseBtn) collapseBtn.addEventListener("click", collapseAllTreeNodes);
+  var treeExpanded = true;
+  if (expandBtn) expandBtn.addEventListener("click", function () {
+    if (treeExpanded) {
+      // Collapse all: force depth 0
+      var tree = document.getElementById("resource-tree");
+      if (tree) {
+        tree.querySelectorAll(".tree-node-children").forEach(function (el) {
+          el.classList.add("collapsed");
+        });
+        tree.querySelectorAll(".tree-node-arrow.has-children").forEach(function (el) {
+          el.textContent = "\u25B6";
+        });
+        buildWrtDropdown();
+      }
+      expandBtn.title = "Expand All";
+      expandBtn.innerHTML = '<svg width="14" height="18" viewBox="0 0 14 18" fill="none" stroke="#555" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round">' +
+        '<polyline points="3,7 7,3 11,7"/>' +
+        '<polyline points="3,11 7,15 11,11"/>' +
+        '</svg>';
+    } else {
+      // Expand all without updating depth input
+      var tree = document.getElementById("resource-tree");
+      if (tree) {
+        tree.querySelectorAll(".tree-node-children.collapsed").forEach(function (el) {
+          el.classList.remove("collapsed");
+        });
+        tree.querySelectorAll(".tree-node-arrow.has-children").forEach(function (el) {
+          el.textContent = "\u25BC";
+        });
+        buildWrtDropdown();
+      }
+      expandBtn.title = "Collapse All";
+      expandBtn.innerHTML = '<svg width="14" height="18" viewBox="0 0 14 18" fill="none" stroke="#555" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round">' +
+        '<polyline points="3,3 7,7 11,3"/>' +
+        '<polyline points="3,15 7,11 11,15"/>' +
+        '</svg>';
+    }
+    treeExpanded = !treeExpanded;
+  });
+  if (collapseBtn) collapseBtn.addEventListener("click", showToDepth);
 
   var depthInput = document.getElementById("tree-depth-input");
   if (depthInput) {
-    depthInput.addEventListener("input", function () {
-      collapseAllTreeNodes();
-    });
+    // depth input no longer auto-applies; user must click the button
   }
 
   // Left toolbar tool switching
@@ -3881,19 +3930,10 @@ function getUmlAttributes(resource) {
 }
 
 function getUmlMethods(resource) {
-  var methods = ["getAbsoluteLocation()", "serialize()", "draw()", "destroy()"];
-  if (resource instanceof Container) {
-    methods.push("getVolume()");
-    methods.push("setVolume()");
-    methods.push("setState()");
-  }
-  if (resource instanceof TipSpot) {
-    methods.push("setState()");
-  }
-  if (resource instanceof Plate || resource instanceof TipRack || resource instanceof TubeRack) {
-    methods.push("update()");
+  if (resource.methods && resource.methods.length > 0) {
+    return resource.methods;
   }
-  return methods;
+  return [];
 }
 
 function buildUmlPanelDOM(resource) {
@@ -3961,18 +4001,50 @@ function buildUmlPanelDOM(resource) {
   // Methods section
   var methodsSection = document.createElement("div");
   methodsSection.className = "uml-section";
+
+  var methodsHeader = document.createElement("div");
+  methodsHeader.style.display = "flex";
+  methodsHeader.style.alignItems = "center";
+  methodsHeader.style.justifyContent = "space-between";
+  methodsHeader.style.cursor = "pointer";
+
   var methodsTitle = document.createElement("div");
   methodsTitle.className = "uml-section-title";
   methodsTitle.textContent = "Methods";
-  methodsSection.appendChild(methodsTitle);
+  methodsTitle.style.marginBottom = "0";
+
+  var toggleBtn = document.createElement("button");
+  toggleBtn.style.background = "none";
+  toggleBtn.style.border = "none";
+  toggleBtn.style.cursor = "pointer";
+  toggleBtn.style.padding = "0 2px";
+  toggleBtn.style.fontSize = "12px";
+  toggleBtn.style.color = "#999";
+  toggleBtn.style.lineHeight = "1";
+  toggleBtn.innerHTML = "&#9660;";
+
+  methodsHeader.appendChild(methodsTitle);
+  methodsHeader.appendChild(toggleBtn);
+  methodsSection.appendChild(methodsHeader);
+
+  var methodsList = document.createElement("div");
+  methodsList.style.display = "none";
 
   var methods = getUmlMethods(resource);
   for (var i = 0; i < methods.length; i++) {
     var methodDiv = document.createElement("div");
     methodDiv.className = "uml-method";
     methodDiv.textContent = methods[i];
-    methodsSection.appendChild(methodDiv);
+    methodsList.appendChild(methodDiv);
   }
+  methodsSection.appendChild(methodsList);
+
+  methodsHeader.addEventListener("click", function () {
+    var collapsed = methodsList.style.display === "none";
+    methodsList.style.display = collapsed ? "block" : "none";
+    toggleBtn.innerHTML = collapsed ? "&#9650;" : "&#9660;";
+  });
+
   panel.appendChild(methodsSection);
 
   return panel;
diff --git a/pylabrobot/visualizer/main.css b/pylabrobot/visualizer/main.css
index 2f5615d78db..cf5691695c3 100644
--- a/pylabrobot/visualizer/main.css
+++ b/pylabrobot/visualizer/main.css
@@ -517,14 +517,20 @@ main {
   background: #dee2e6;
 }
 
+#collapse-all-btn {
+  width: 32px;
+  border-radius: 4px 0 0 4px;
+  border-right: none;
+}
+
 .tree-depth-input {
-  width: 36px;
+  width: 32px;
   height: 26px;
   text-align: center;
   font-size: 13px;
   font-weight: 600;
   border: 1px solid #ced4da;
-  border-radius: 4px;
+  border-radius: 0 4px 4px 0;
   background: #f8f9fa;
   color: #333;
   padding: 0 2px;
diff --git a/pylabrobot/visualizer/visualizer.py b/pylabrobot/visualizer/visualizer.py
index 760cc27212f..641c26e6e08 100644
--- a/pylabrobot/visualizer/visualizer.py
+++ b/pylabrobot/visualizer/visualizer.py
@@ -27,6 +27,35 @@
 logger = logging.getLogger("pylabrobot")
 
 
+def _get_public_methods(resource: Resource) -> list:
+  """Get public method signatures from a resource instance for the visualizer UI."""
+  methods = []
+  for name in dir(resource):
+    if name.startswith("_"):
+      continue
+    try:
+      attr = getattr(type(resource), name, None)
+    except Exception:
+      continue
+    if attr is None or not callable(attr) or isinstance(attr, property):
+      continue
+    try:
+      sig = inspect.signature(attr)
+      params = [p for p in sig.parameters if p != "self"]
+      methods.append(f"{name}({', '.join(params)})")
+    except (ValueError, TypeError):
+      methods.append(f"{name}()")
+  return sorted(methods)
+
+
+def _serialize_with_methods(resource: Resource) -> dict:
+  """Serialize a resource and enrich with Python method signatures for the visualizer."""
+  data = resource.serialize()
+  data["methods"] = _get_public_methods(resource)
+  data["children"] = [_serialize_with_methods(child) for child in resource.children]
+  return data
+
+
 class Visualizer:
   """A class for visualizing resources and their states in a web browser.
 
@@ -562,7 +591,7 @@ async def _send_resources_and_state(self):
     # send the serialized root resource (including all children) to the browser
     await self.send_command(
       "set_root_resource",
-      {"resource": self._root_resource.serialize()},
+      {"resource": _serialize_with_methods(self._root_resource)},
       wait_for_response=False,
     )
 
@@ -601,7 +630,7 @@ def register_state_update(resource: Resource):
 
     # Send a `resource_assigned` event to the browser.
     data = {
-      "resource": resource.serialize(),
+      "resource": _serialize_with_methods(resource),
       "state": resource.serialize_all_state(),
       "parent_name": (resource.parent.name if resource.parent else None),
     }
diff --git a/pylabrobot/visualizer/visualizer_tests.py b/pylabrobot/visualizer/visualizer_tests.py
index 92b7d3b8aa1..ae23285f390 100644
--- a/pylabrobot/visualizer/visualizer_tests.py
+++ b/pylabrobot/visualizer/visualizer_tests.py
@@ -14,6 +14,7 @@
   Resource,
 )
 from pylabrobot.visualizer import Visualizer
+from pylabrobot.visualizer.visualizer import _serialize_with_methods
 
 
 class VisualizerSetupStopTests(unittest.IsolatedAsyncioTestCase):
@@ -75,7 +76,7 @@ async def test_connect(self):
       {
         "event": "set_root_resource",
         "data": {
-          "resource": self.r.serialize(),
+          "resource": _serialize_with_methods(self.r),
         },
         "id": "0001",
         "version": STANDARD_FORM_JSON_VERSION,
@@ -116,7 +117,7 @@ async def test_assign_child_resource(self):
     self.vis.send_command.assert_called_once_with(  # type: ignore[attr-defined]
       event="resource_assigned",
       data={
-        "resource": child.serialize(),
+        "resource": _serialize_with_methods(child),
         "state": child.serialize_all_state(),
         "parent_name": "root",
       },

From 8ebee5bcef2863c6d4de43971db0f8caaf60ddf9 Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Tue, 3 Feb 2026 12:15:09 +0000
Subject: [PATCH 16/20] update hover behaviour for file name

---
 pylabrobot/visualizer/index.html | 2 +-
 pylabrobot/visualizer/lib.js     | 3 ++-
 pylabrobot/visualizer/main.css   | 7 ++++++-
 3 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/pylabrobot/visualizer/index.html b/pylabrobot/visualizer/index.html
index 03dd7585e33..bf6ae6b8b2d 100644
--- a/pylabrobot/visualizer/index.html
+++ b/pylabrobot/visualizer/index.html
@@ -33,7 +33,7 @@
           PyLabRobot Visualizer</a
         >
 
-        <span id="source-filename" style="margin-left: 16px; font-size: 18px; font-weight: 700; color: #333; min-width: 316px; display: inline-block;">{{ source_filename }}</span>
+        <span id="source-filename" style="margin-left: 16px; font-size: 18px; font-weight: 700; color: #333; min-width: 316px; display: inline-block;" title="Python source file being visualized">{{ source_filename }}</span>
         <div class="navbar-divider" style="margin: 0 14px; height: 95%;"></div>
         <div id="navbar-lh-modules"></div>
 
diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index 9eedd6db82e..5f66937272c 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -4265,7 +4265,8 @@ function buildNavbarLHModules() {
     // Label (styled as button without changing appearance)
     var label = document.createElement("button");
     label.className = "navbar-pipette-label";
-    label.innerHTML = lhName + "<br>Modules";
+    label.title = "Show/hide liquid handler actuators";
+    label.innerHTML = lhName + "<br>Actuators";
     group.appendChild(label);
 
     // Collapsible container for module buttons
diff --git a/pylabrobot/visualizer/main.css b/pylabrobot/visualizer/main.css
index cf5691695c3..bbea96e1de5 100644
--- a/pylabrobot/visualizer/main.css
+++ b/pylabrobot/visualizer/main.css
@@ -514,7 +514,7 @@ main {
 
 .tree-action-btn:hover {
   opacity: 1;
-  background: #dee2e6;
+  background: #99DDFF;
 }
 
 #collapse-all-btn {
@@ -535,6 +535,11 @@ main {
   color: #333;
   padding: 0 2px;
   -moz-appearance: textfield;
+  transition: background 0.15s ease;
+}
+
+.tree-depth-input:hover {
+  background: #99DDFF;
 }
 
 .tree-depth-input::-webkit-outer-spin-button,

From 3311cd8584cb505f46e2b092c7bcae78cd3e1f9a Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Tue, 3 Feb 2026 12:38:52 +0000
Subject: [PATCH 17/20] adjust nomenclature to lh "Acutators"

previously described as "modules" but there are so many meaning of modules and it has no self-explaining connotation
---
 pylabrobot/visualizer/index.html          |  2 +-
 pylabrobot/visualizer/lib.js              | 50 +++++++++++------------
 pylabrobot/visualizer/main.css            | 38 +++++++++++++----
 pylabrobot/visualizer/vis.js              |  4 +-
 pylabrobot/visualizer/visualizer.py       | 10 ++---
 pylabrobot/visualizer/visualizer_tests.py |  2 +-
 6 files changed, 65 insertions(+), 41 deletions(-)

diff --git a/pylabrobot/visualizer/index.html b/pylabrobot/visualizer/index.html
index bf6ae6b8b2d..27345487782 100644
--- a/pylabrobot/visualizer/index.html
+++ b/pylabrobot/visualizer/index.html
@@ -35,7 +35,7 @@
 
         <span id="source-filename" style="margin-left: 16px; font-size: 18px; font-weight: 700; color: #333; min-width: 316px; display: inline-block;" title="Python source file being visualized">{{ source_filename }}</span>
         <div class="navbar-divider" style="margin: 0 14px; height: 95%;"></div>
-        <div id="navbar-lh-modules"></div>
+        <div id="navbar-lh-actuators"></div>
 
         <div class="status-box">
           <span onclick="openSocket();" id="status-indicator"></span>
diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index 5f66937272c..252a388fa1b 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -2203,7 +2203,7 @@ class LiquidHandler extends Resource {
     }
     if ("head96_state" in state) {
       this.head96State = state.head96_state;
-      // Show/hide multi-channel button based on whether the module exists
+      // Show/hide multi-channel button based on whether the actuator exists
       var multiBtn = document.getElementById("multi-channel-btn-" + this.name);
       if (multiBtn) multiBtn.style.display = (this.head96State !== null && this.head96State !== undefined) ? "" : "none";
       var panel96 = document.getElementById("multi-channel-dropdown-" + this.name);
@@ -2213,7 +2213,7 @@ class LiquidHandler extends Resource {
     }
     if ("arm_state" in state) {
       this.armState = state.arm_state;
-      // Show/hide arm button based on whether the module exists
+      // Show/hide arm button based on whether the actuator exists
       var armBtnEl = document.getElementById("arm-btn-" + this.name);
       if (armBtnEl) armBtnEl.style.display = (this.armState !== null && this.armState !== undefined) ? "" : "none";
       // Snapshot each held resource NOW, while it is still in the resources dict.
@@ -2571,7 +2571,7 @@ function _captureLoop() {
   var captureW = mainEl.offsetWidth;
   var captureH = mainEl.offsetHeight;
   var mainRect = mainEl.getBoundingClientRect();
-  var overflows = mainEl.querySelectorAll(".module-dropdown.open, .tool-panel, .uml-panel");
+  var overflows = mainEl.querySelectorAll(".actuator-dropdown.open, .tool-panel, .uml-panel");
   overflows.forEach(function (el) {
     var r = el.getBoundingClientRect();
     var right = r.right - mainRect.left;
@@ -3068,7 +3068,7 @@ function buildResourceTree(rootResource, { rebuildNavbar = true } = {}) {
 
   treeContainer.appendChild(rootNode);
   buildWrtDropdown();
-  if (rebuildNavbar) buildNavbarLHModules();
+  if (rebuildNavbar) buildNavbarLHActuators();
 }
 
 function addResourceToTree(resource) {
@@ -4100,7 +4100,7 @@ window.addEventListener("load", function () {
 });
 
 // ===========================================================================
-// Navbar Liquid Handler Module Buttons
+// Navbar Liquid Handler Actuator Buttons
 // ===========================================================================
 
 function makeSVG(viewBox, innerHTML) {
@@ -4244,8 +4244,8 @@ var integratedArmSVG =
   '<polygon points="29,30.3 30.5,29.5 30.5,38.5 29,39.3" fill="#1a1a1a" stroke="#000" stroke-width="0.4"/>' +
   '</g>';
 
-function buildNavbarLHModules() {
-  var container = document.getElementById("navbar-lh-modules");
+function buildNavbarLHActuators() {
+  var container = document.getElementById("navbar-lh-actuators");
   if (!container) return;
   container.innerHTML = "";
 
@@ -4269,24 +4269,24 @@ function buildNavbarLHModules() {
     label.innerHTML = lhName + "<br>Actuators";
     group.appendChild(label);
 
-    // Collapsible container for module buttons
-    var moduleBtns = document.createElement("div");
-    moduleBtns.className = "navbar-module-btns";
-    group.appendChild(moduleBtns);
+    // Collapsible container for actuator buttons
+    var actuatorBtns = document.createElement("div");
+    actuatorBtns.className = "navbar-actuator-btns";
+    group.appendChild(actuatorBtns);
 
-    // Toggle module buttons on label click
+    // Toggle actuator buttons on label click
     label.addEventListener("click", function () {
-      var collapsed = moduleBtns.classList.toggle("collapsed");
+      var collapsed = actuatorBtns.classList.toggle("collapsed");
       label.classList.toggle("collapsed", collapsed);
       // Close any open dropdowns when collapsing
       if (collapsed) {
-        var dropdowns = document.querySelectorAll(".module-dropdown.open");
+        var dropdowns = document.querySelectorAll(".actuator-dropdown.open");
         dropdowns.forEach(function (d) { d.classList.remove("open"); });
         group.querySelectorAll(".navbar-pipette-btn.active").forEach(function (b) { b.classList.remove("active"); });
       }
     });
 
-    // Multi-channel button (hidden unless setState has already confirmed module exists)
+    // Multi-channel button (hidden unless setState has already confirmed actuator exists)
     var lhRes = resources[lhName];
     var multiBtn = document.createElement("button");
     multiBtn.className = "navbar-pipette-btn";
@@ -4300,7 +4300,7 @@ function buildNavbarLHModules() {
     multiImg.style.height = "44px";
     multiImg.style.objectFit = "contain";
     multiBtn.appendChild(multiImg);
-    moduleBtns.appendChild(multiBtn);
+    actuatorBtns.appendChild(multiBtn);
 
     // Single-channel button
     var singleBtn = document.createElement("button");
@@ -4314,7 +4314,7 @@ function buildNavbarLHModules() {
     singleImg.style.height = "44px";
     singleImg.style.objectFit = "contain";
     singleBtn.appendChild(singleImg);
-    moduleBtns.appendChild(singleBtn);
+    actuatorBtns.appendChild(singleBtn);
 
     // Helper: position both panels based on the single-channel button position
     function positionPanels(handlerName, singleBtnRef) {
@@ -4396,7 +4396,7 @@ function buildNavbarLHModules() {
         var mainEl = document.querySelector("main");
         if (!mainEl) return;
         var panel = document.createElement("div");
-        panel.className = "module-dropdown open";
+        panel.className = "actuator-dropdown open";
         panel.id = panelId;
         var lhResource = resources[handlerName];
         var headState = (lhResource && lhResource.headState) ? lhResource.headState : {};
@@ -4421,7 +4421,7 @@ function buildNavbarLHModules() {
         var mainEl = document.querySelector("main");
         if (!mainEl) return;
         var panel = document.createElement("div");
-        panel.className = "module-dropdown multi-channel open";
+        panel.className = "actuator-dropdown multi-channel open";
         panel.id = panelId;
         var lhResource = resources[handlerName];
         var head96State = (lhResource && lhResource.head96State) ? lhResource.head96State : {};
@@ -4432,7 +4432,7 @@ function buildNavbarLHModules() {
       });
     })(multiBtn, lhName, singleBtn);
 
-    // Integrated arm button (hidden unless setState has already confirmed module exists)
+    // Integrated arm button (hidden unless setState has already confirmed actuator exists)
     var armBtn = document.createElement("button");
     armBtn.className = "navbar-pipette-btn";
     armBtn.id = "arm-btn-" + lhName;
@@ -4445,7 +4445,7 @@ function buildNavbarLHModules() {
     armImg.style.height = "44px";
     armImg.style.objectFit = "contain";
     armBtn.appendChild(armImg);
-    moduleBtns.appendChild(armBtn);
+    actuatorBtns.appendChild(armBtn);
 
     // Arm dropdown panel
     (function (btn, handlerName, singleBtnRef) {
@@ -4461,7 +4461,7 @@ function buildNavbarLHModules() {
         var mainEl = document.querySelector("main");
         if (!mainEl) return;
         var panel = document.createElement("div");
-        panel.className = "module-dropdown arm open";
+        panel.className = "actuator-dropdown arm open";
         panel.id = panelId;
         var lhResource = resources[handlerName];
         var armState = (lhResource && lhResource.armState) ? lhResource.armState : {};
@@ -4477,10 +4477,10 @@ function buildNavbarLHModules() {
 }
 
 /**
- * Programmatically open all visible module panels (single-channel, multi-channel, arm)
- * for every LiquidHandler. Buttons that are hidden (module absent) are skipped.
+ * Programmatically open all visible actuator panels (single-channel, multi-channel, arm)
+ * for every LiquidHandler. Buttons that are hidden (actuator absent) are skipped.
  */
-function openAllModulePanels() {
+function openAllActuatorPanels() {
   for (var name in resources) {
     if (!(resources[name] instanceof LiquidHandler)) continue;
     var btns = [
diff --git a/pylabrobot/visualizer/main.css b/pylabrobot/visualizer/main.css
index bbea96e1de5..2fc229780db 100644
--- a/pylabrobot/visualizer/main.css
+++ b/pylabrobot/visualizer/main.css
@@ -41,7 +41,7 @@ nav.navbar .status-box {
   margin-right: 16px;
 }
 
-#navbar-lh-modules {
+#navbar-lh-actuators {
   display: flex;
   align-items: center;
   gap: 8px;
@@ -100,7 +100,7 @@ nav.navbar .status-box {
   border-left: 1px solid #ced4da;
 }
 
-.navbar-module-btns {
+.navbar-actuator-btns {
   display: flex;
   align-items: center;
   overflow: hidden;
@@ -109,7 +109,7 @@ nav.navbar .status-box {
   opacity: 1;
 }
 
-.navbar-module-btns.collapsed {
+.navbar-actuator-btns.collapsed {
   max-width: 0;
   opacity: 0;
 }
@@ -123,7 +123,7 @@ nav.navbar .status-box {
   opacity: 1;
 }
 
-.module-dropdown {
+.actuator-dropdown {
   position: absolute;
   top: 0;
   left: 50%;
@@ -140,7 +140,7 @@ nav.navbar .status-box {
   display: none;
 }
 
-.module-dropdown.open {
+.actuator-dropdown.open {
   display: flex;
   flex-wrap: wrap;
   gap: 6px;
@@ -149,13 +149,13 @@ nav.navbar .status-box {
   box-sizing: border-box;
 }
 
-.module-dropdown.multi-channel.open {
+.actuator-dropdown.multi-channel.open {
   gap: 10px;
   align-items: center;
   justify-content: center;
 }
 
-.module-dropdown.arm.open {
+.actuator-dropdown.arm.open {
   align-items: center;
   justify-content: center;
 }
@@ -735,18 +735,42 @@ main {
 
 #status-indicator.connected {
   background-color: green;
+  animation: dot-glow-connected 4s ease-in-out infinite;
 }
 
 #status-indicator.disconnected {
   background-color: red;
+  animation: dot-glow-disconnected 4s ease-in-out infinite;
 }
 
 #status-label.connected {
   color: green;
+  animation: glow-connected 4s ease-in-out infinite;
 }
 
 #status-label.disconnected {
   color: red;
+  animation: glow-disconnected 4s ease-in-out infinite;
+}
+
+@keyframes glow-connected {
+  0%, 100% { text-shadow: none; }
+  50% { text-shadow: 0 0 9px rgba(187, 204, 51, 0.7), 0 0 19px rgba(187, 204, 51, 0.4), 0 0 25px rgba(187, 204, 51, 0.15); }
+}
+
+@keyframes glow-disconnected {
+  0%, 100% { text-shadow: none; }
+  50% { text-shadow: 0 0 9px rgba(238, 136, 102, 0.7), 0 0 19px rgba(238, 136, 102, 0.4), 0 0 25px rgba(238, 136, 102, 0.15); }
+}
+
+@keyframes dot-glow-connected {
+  0%, 100% { box-shadow: none; }
+  50% { box-shadow: 0 0 9px rgba(187, 204, 51, 0.7), 0 0 19px rgba(187, 204, 51, 0.4), 0 0 25px rgba(187, 204, 51, 0.15); }
+}
+
+@keyframes dot-glow-disconnected {
+  0%, 100% { box-shadow: none; }
+  50% { box-shadow: 0 0 9px rgba(238, 136, 102, 0.7), 0 0 19px rgba(238, 136, 102, 0.4), 0 0 25px rgba(238, 136, 102, 0.15); }
 }
 
 h3.form-row-header {
diff --git a/pylabrobot/visualizer/vis.js b/pylabrobot/visualizer/vis.js
index 82d28aeb10d..67ac2592181 100644
--- a/pylabrobot/visualizer/vis.js
+++ b/pylabrobot/visualizer/vis.js
@@ -106,8 +106,8 @@ async function processCentralEvent(event, data) {
       if (rootName) buildResourceTree(resources[rootName], { rebuildNavbar: false });
       break;
 
-    case "show_modules":
-      openAllModulePanels();
+    case "show_actuators":
+      openAllActuatorPanels();
       break;
 
     default:
diff --git a/pylabrobot/visualizer/visualizer.py b/pylabrobot/visualizer/visualizer.py
index 641c26e6e08..b32e86ec770 100644
--- a/pylabrobot/visualizer/visualizer.py
+++ b/pylabrobot/visualizer/visualizer.py
@@ -79,7 +79,7 @@ def __init__(
     open_browser: bool = True,
     name: Optional[str] = None,
     favicon: Optional[str] = None,
-    show_modules_at_start: bool = True,
+    show_actuators_at_start: bool = True,
   ):
     """Create a new Visualizer. Use :meth:`.setup` to start the visualization.
 
@@ -94,12 +94,12 @@ def __init__(
         calling script or notebook is detected automatically.
       favicon: Path to a ``.png`` file to use as the browser tab icon. If ``None``, the
         PyLabRobot logo is used.
-      show_modules_at_start: If ``True``, module popups (pipettes, arm) are opened automatically
+      show_actuators_at_start: If ``True``, actuator popups (pipettes, arm) are opened automatically
         when the visualizer starts.
     """
 
     self.setup_finished = False
-    self._show_modules_at_start = show_modules_at_start
+    self._show_actuators_at_start = show_actuators_at_start
 
     if name is not None:
       self._source_filename = name
@@ -610,8 +610,8 @@ def save_resource_state(resource: Resource):
     save_resource_state(self._root_resource)
     await self.send_command("set_state", state, wait_for_response=False)
 
-    if self._show_modules_at_start:
-      await self.send_command("show_modules", {}, wait_for_response=False)
+    if self._show_actuators_at_start:
+      await self.send_command("show_actuators", {}, wait_for_response=False)
 
   def _handle_resource_assigned_callback(self, resource: Resource) -> None:
     """Called when a resource is assigned to a resource already in the tree starting from the
diff --git a/pylabrobot/visualizer/visualizer_tests.py b/pylabrobot/visualizer/visualizer_tests.py
index ae23285f390..0503833fa92 100644
--- a/pylabrobot/visualizer/visualizer_tests.py
+++ b/pylabrobot/visualizer/visualizer_tests.py
@@ -87,7 +87,7 @@ async def test_event_sent(self):
     await self.client.send('{"event": "ready"}')
     _ = await self.client.recv()  # set_root_resource
     _ = await self.client.recv()  # set_state
-    _ = await self.client.recv()  # show_modules
+    _ = await self.client.recv()  # show_actuators
 
     await self.vis.send_command("test", wait_for_response=False)
     recv = await self.client.recv()

From 8302e53dae6a45ffa617221f9c713000caad320c Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Tue, 3 Feb 2026 14:31:40 +0000
Subject: [PATCH 18/20] automated bullseye scaling

---
 pylabrobot/visualizer/index.html |   4 +
 pylabrobot/visualizer/lib.js     | 139 +++++++++++++++++++++++--------
 pylabrobot/visualizer/main.css   |  49 ++++++++++-
 3 files changed, 156 insertions(+), 36 deletions(-)

diff --git a/pylabrobot/visualizer/index.html b/pylabrobot/visualizer/index.html
index 27345487782..3dafc1c750b 100644
--- a/pylabrobot/visualizer/index.html
+++ b/pylabrobot/visualizer/index.html
@@ -103,6 +103,10 @@
       </aside>
       <main>
         <div id="kanvas"></div>
+        <div id="zoom-controls">
+          <button id="zoom-in-btn" title="Zoom in">+</button>
+          <button id="zoom-out-btn" title="Zoom out">&minus;</button>
+        </div>
         <div id="coords-panel" class="tool-panel" style="display: none;">
           <div class="tool-panel-title" style="display: flex; align-items: center; justify-content: space-between;">
             <span>Resource location...</span>
diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index 252a388fa1b..4fc3cb9f25d 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -86,6 +86,20 @@ function updateCoordsPanel(resource) {
   // No-op; dropdown is built once via buildWrtDropdown.
 }
 
+function updateWrtBullseyeScale() {
+  if (!wrtHighlightCircle) return;
+  var s = Math.pow(1 / Math.abs(stage.scaleX()), 0.95);
+  wrtHighlightCircle.scaleX(s);
+  wrtHighlightCircle.scaleY(s);
+  var haloGroup = wrtHighlightCircle.getChildren()[0];
+  if (haloGroup && haloGroup.clearCache) {
+    var r = 9.2, barH = r * 1.0125;
+    var pad = 20 / s;
+    haloGroup.cache({ x: -r - barH - pad, y: -r - barH - pad, width: (r + barH) * 2 + pad * 2, height: (r + barH) * 2 + pad * 2 });
+  }
+  resourceLayer.draw();
+}
+
 function updateWrtHighlight() {
   if (wrtHighlightCircle) { wrtHighlightCircle.destroy(); wrtHighlightCircle = undefined; }
   if (activeTool !== "coords") return;
@@ -101,64 +115,79 @@ function updateWrtHighlight() {
   var barH = r * 1.0125;
   var wrtHaloColor = "#DDDDDD";
   var wrtHaloExtra = 4;
-  wrtHighlightCircle = new Konva.Group();
+  wrtHighlightCircle = new Konva.Group({ x: cx, y: cy });
   // Halo: blurred duplicate behind
   var wrtHaloGroup = new Konva.Group({ opacity: 0.5 });
   wrtHaloGroup.filters([Konva.Filters.Blur]);
   wrtHaloGroup.blurRadius(6);
   wrtHaloGroup.add(new Konva.Circle({
-    x: cx, y: cy, radius: r,
+    x: 0, y: 0, radius: r,
     fill: "transparent", stroke: wrtHaloColor, strokeWidth: 4.32 + wrtHaloExtra * 2,
   }));
   wrtHaloGroup.add(new Konva.Circle({
-    x: cx, y: cy, radius: 2.4 + wrtHaloExtra / 2,
+    x: 0, y: 0, radius: 2.4 + wrtHaloExtra / 2,
     fill: wrtHaloColor,
   }));
   wrtHaloGroup.add(new Konva.Line({
-    points: [cx - r - barH, cy, cx - r, cy],
+    points: [-r - barH, 0, -r, 0],
     stroke: wrtHaloColor, strokeWidth: 3.6 + wrtHaloExtra * 2,
   }));
   wrtHaloGroup.add(new Konva.Line({
-    points: [cx + r, cy, cx + r + barH, cy],
+    points: [r, 0, r + barH, 0],
     stroke: wrtHaloColor, strokeWidth: 3.6 + wrtHaloExtra * 2,
   }));
   wrtHaloGroup.add(new Konva.Line({
-    points: [cx, cy - r - barH, cx, cy - r],
+    points: [0, -r - barH, 0, -r],
     stroke: wrtHaloColor, strokeWidth: 3.6 + wrtHaloExtra * 2,
   }));
   wrtHaloGroup.add(new Konva.Line({
-    points: [cx, cy + r, cx, cy + r + barH],
+    points: [0, r, 0, r + barH],
     stroke: wrtHaloColor, strokeWidth: 3.6 + wrtHaloExtra * 2,
   }));
-  wrtHaloGroup.cache({ x: cx - r - barH - 20, y: cy - r - barH - 20, width: (r + barH) * 2 + 40, height: (r + barH) * 2 + 40 });
+  wrtHaloGroup.cache({ x: -r - barH - 20, y: -r - barH - 20, width: (r + barH) * 2 + 40, height: (r + barH) * 2 + 40 });
   wrtHighlightCircle.add(wrtHaloGroup);
   // Main bullseye on top
   wrtHighlightCircle.add(new Konva.Circle({
-    x: cx, y: cy, radius: r,
+    x: 0, y: 0, radius: r,
     fill: "transparent", stroke: "#FFAABB", strokeWidth: 4.32,
   }));
   wrtHighlightCircle.add(new Konva.Circle({
-    x: cx, y: cy, radius: 2.4,
+    x: 0, y: 0, radius: 2.4,
     fill: "#FFAABB", opacity: 0.85,
   }));
   wrtHighlightCircle.add(new Konva.Line({
-    points: [cx - r - barH, cy, cx - r, cy],
+    points: [-r - barH, 0, -r, 0],
     stroke: "#FFAABB", strokeWidth: 3.6,
   }));
   wrtHighlightCircle.add(new Konva.Line({
-    points: [cx + r, cy, cx + r + barH, cy],
+    points: [r, 0, r + barH, 0],
     stroke: "#FFAABB", strokeWidth: 3.6,
   }));
   wrtHighlightCircle.add(new Konva.Line({
-    points: [cx, cy - r - barH, cx, cy - r],
+    points: [0, -r - barH, 0, -r],
     stroke: "#FFAABB", strokeWidth: 3.6,
   }));
   wrtHighlightCircle.add(new Konva.Line({
-    points: [cx, cy + r, cx, cy + r + barH],
+    points: [0, r, 0, r + barH],
     stroke: "#FFAABB", strokeWidth: 3.6,
   }));
   resourceLayer.add(wrtHighlightCircle);
   wrtHighlightCircle.moveToTop();
+  updateWrtBullseyeScale();
+}
+
+function updateBullseyeScale() {
+  if (!resHighlightBullseye) return;
+  var s = Math.pow(1 / Math.abs(stage.scaleX()), 0.95);
+  resHighlightBullseye.scaleX(s);
+  resHighlightBullseye.scaleY(s);
+  // Re-cache halo for blur filter at new scale
+  var haloGroup = resHighlightBullseye.getChildren()[0];
+  if (haloGroup && haloGroup.clearCache) {
+    var r = 9.2, barH = r * 1.0125;
+    var pad = 20 / s;
+    haloGroup.cache({ x: -r - barH - pad, y: -r - barH - pad, width: (r + barH) * 2 + pad * 2, height: (r + barH) * 2 + pad * 2 });
+  }
   resourceLayer.draw();
 }
 
@@ -176,7 +205,8 @@ function showResHighlightBullseye(resource) {
   var barH = r * 1.0125;
   var color = "#99DDFF";
   var haloColor = "#BBCC33";
-  resHighlightBullseye = new Konva.Group();
+  // Position group at bullseye center; draw elements relative to (0,0)
+  resHighlightBullseye = new Konva.Group({ x: cx, y: cy });
   // Halo: blurred, thicker duplicate of every element behind the bullseye
   var haloExtra = 4;
   var haloOpacity = 0.5;
@@ -185,62 +215,62 @@ function showResHighlightBullseye(resource) {
   });
   haloGroup.filters([Konva.Filters.Blur]);
   haloGroup.blurRadius(6);
-  haloGroup.cache({ x: cx - r - barH - 20, y: cy - r - barH - 20, width: (r + barH) * 2 + 40, height: (r + barH) * 2 + 40 });
   haloGroup.add(new Konva.Circle({
-    x: cx, y: cy, radius: r,
+    x: 0, y: 0, radius: r,
     fill: "transparent", stroke: haloColor, strokeWidth: 4.32 + haloExtra * 2,
   }));
   haloGroup.add(new Konva.Circle({
-    x: cx, y: cy, radius: 2.4 + haloExtra / 2,
+    x: 0, y: 0, radius: 2.4 + haloExtra / 2,
     fill: haloColor,
   }));
   haloGroup.add(new Konva.Line({
-    points: [cx - r - barH, cy, cx - r, cy],
+    points: [-r - barH, 0, -r, 0],
     stroke: haloColor, strokeWidth: 3.6 + haloExtra * 2,
   }));
   haloGroup.add(new Konva.Line({
-    points: [cx + r, cy, cx + r + barH, cy],
+    points: [r, 0, r + barH, 0],
     stroke: haloColor, strokeWidth: 3.6 + haloExtra * 2,
   }));
   haloGroup.add(new Konva.Line({
-    points: [cx, cy - r - barH, cx, cy - r],
+    points: [0, -r - barH, 0, -r],
     stroke: haloColor, strokeWidth: 3.6 + haloExtra * 2,
   }));
   haloGroup.add(new Konva.Line({
-    points: [cx, cy + r, cx, cy + r + barH],
+    points: [0, r, 0, r + barH],
     stroke: haloColor, strokeWidth: 3.6 + haloExtra * 2,
   }));
   // Must cache after adding children for blur filter to work
-  haloGroup.cache({ x: cx - r - barH - 20, y: cy - r - barH - 20, width: (r + barH) * 2 + 40, height: (r + barH) * 2 + 40 });
+  haloGroup.cache({ x: -r - barH - 20, y: -r - barH - 20, width: (r + barH) * 2 + 40, height: (r + barH) * 2 + 40 });
   resHighlightBullseye.add(haloGroup);
   // Main bullseye on top
   resHighlightBullseye.add(new Konva.Circle({
-    x: cx, y: cy, radius: r,
+    x: 0, y: 0, radius: r,
     fill: "transparent", stroke: color, strokeWidth: 4.32,
   }));
   resHighlightBullseye.add(new Konva.Circle({
-    x: cx, y: cy, radius: 2.4,
+    x: 0, y: 0, radius: 2.4,
     fill: color, opacity: 0.85,
   }));
   resHighlightBullseye.add(new Konva.Line({
-    points: [cx - r - barH, cy, cx - r, cy],
+    points: [-r - barH, 0, -r, 0],
     stroke: color, strokeWidth: 3.6,
   }));
   resHighlightBullseye.add(new Konva.Line({
-    points: [cx + r, cy, cx + r + barH, cy],
+    points: [r, 0, r + barH, 0],
     stroke: color, strokeWidth: 3.6,
   }));
   resHighlightBullseye.add(new Konva.Line({
-    points: [cx, cy - r - barH, cx, cy - r],
+    points: [0, -r - barH, 0, -r],
     stroke: color, strokeWidth: 3.6,
   }));
   resHighlightBullseye.add(new Konva.Line({
-    points: [cx, cy + r, cx, cy + r + barH],
+    points: [0, r, 0, r + barH],
     stroke: color, strokeWidth: 3.6,
   }));
   resourceLayer.add(resHighlightBullseye);
   resHighlightBullseye.moveToTop();
-  resourceLayer.draw();
+  // Apply inverse scale so bullseye appears constant size
+  updateBullseyeScale();
 }
 
 function getAncestorAtDepth(resource, depth) {
@@ -334,6 +364,8 @@ function fitToViewport() {
   stage.y(centerY);
 
   if (typeof updateScaleBar === "function") updateScaleBar();
+  updateBullseyeScale();
+  updateWrtBullseyeScale();
 }
 
 let trash;
@@ -1642,6 +1674,7 @@ function fillHeadIcons(panel, headState) {
     label.style.color = "#888";
     label.style.marginBottom = "2px";
     label.style.cursor = "pointer";
+    label.title = "Channel " + ch + " — click for details";
     (function (ch) {
       label.addEventListener("click", function (e) {
         e.stopPropagation();
@@ -1693,6 +1726,9 @@ function fillHeadIcons(panel, headState) {
       '<rect x="2" y="20" width="10" height="4" rx="2" ry="2" fill="#b0b0b0"/>' +
       '<ellipse cx="7" cy="20" rx="5" ry="1.5" fill="#ccc"/>' +
       '<ellipse cx="7" cy="24" rx="5" ry="1.5" fill="#999"/>';
+    var channelTitle = document.createElementNS("http://www.w3.org/2000/svg", "title");
+    channelTitle.textContent = "Channel " + ch + " — click for details";
+    channelG.appendChild(channelTitle);
     icon.appendChild(channelG);
     if (hasTip) {
       var collarH = 6.5;
@@ -1715,6 +1751,9 @@ function fillHeadIcons(panel, headState) {
         '<rect x="1.5" y="' + collarY + '" width="11" height="' + collarH + '" rx="0.5" ry="0.5" fill="#c8c8c8" fill-opacity="0.5" stroke="#888" stroke-width="0.8"/>' +
         '<rect x="3" y="' + bodyStart + '" width="8" height="' + straightH + '" rx="1" ry="1" fill="#d0d0d0" stroke="#888" stroke-width="0.8"/>' +
         '<polygon points="3,' + straightEnd + ' 11,' + straightEnd + ' ' + botR + ',' + tipEnd + ' ' + botL + ',' + tipEnd + '" fill="#d0d0d0" stroke="#888" stroke-width="0.8"/>';
+      var tipTitle = document.createElementNS("http://www.w3.org/2000/svg", "title");
+      tipTitle.textContent = "Tip on channel " + ch + " — click for details";
+      tipG.appendChild(tipTitle);
       (function (ch) {
         tipG.addEventListener("click", function (e) {
           e.stopPropagation();
@@ -1796,6 +1835,7 @@ function fillHead96Grid(panel, head96State) {
     box.style.padding = "6px";
     box.style.background = "#444";
     box.style.cursor = "pointer";
+    box.title = "96-head pipette — click for details";
     box.onmouseover = function () { box.style.boxShadow = "0 0 8px 3px rgba(68, 187, 153, 0.5), 0 0 20px 6px rgba(68, 187, 153, 0.25)"; };
     box.onmouseout = function () { box.style.boxShadow = "none"; };
     (function (startCh, head96State) {
@@ -2018,6 +2058,9 @@ function buildSingleArm(armData, anchorDropdown, armId) {
   var gripperG = document.createElementNS("http://www.w3.org/2000/svg", "g");
   gripperG.innerHTML = shapes;
   gripperG.style.cursor = "pointer";
+  var gripperTitle = document.createElementNS("http://www.w3.org/2000/svg", "title");
+  gripperTitle.textContent = "Arm " + armId + (hasResource ? " — holding " + armData.resource_name : " — empty") + " — click for details";
+  gripperG.appendChild(gripperTitle);
   gripperG.addEventListener("mouseenter", function () { gripperG.setAttribute("filter", "url(#armGlow)"); });
   gripperG.addEventListener("mouseleave", function () { gripperG.removeAttribute("filter"); });
   gripperG.addEventListener("click", function (e) {
@@ -2171,6 +2214,7 @@ function fillArmPanel(panel, armState) {
       idLabel.style.fontWeight = "700";
       idLabel.style.color = "#888";
       idLabel.style.marginBottom = "2px";
+      idLabel.title = "Arm " + armId + " — click gripper for details";
       wrapper.appendChild(idLabel);
     }
     wrapper.appendChild(buildSingleArm(armState[armId], panel, armId));
@@ -2427,7 +2471,7 @@ window.addEventListener("load", function () {
     const newScale = direction > 0 ? oldScale * scaleBy : oldScale / scaleBy;
 
     // Clamp zoom level
-    const clampedScale = Math.max(0.1, Math.min(10, newScale));
+    const clampedScale = Math.max(0.1, Math.min(15, newScale));
 
     stage.scaleX(clampedScale);
     stage.scaleY(-clampedScale); // keep Y flipped
@@ -2438,6 +2482,8 @@ window.addEventListener("load", function () {
     };
     stage.position(newPos);
     updateScaleBar();
+    updateBullseyeScale();
+    updateWrtBullseyeScale();
   });
 
   updateScaleBar();
@@ -2465,6 +2511,31 @@ window.addEventListener("load", function () {
     });
   }
 
+  // Zoom buttons
+  function zoomByFactor(factor) {
+    var oldScale = stage.scaleX();
+    var newScale = Math.max(0.1, Math.min(15, oldScale * factor));
+    var center = { x: stage.width() / 2, y: stage.height() / 2 };
+    var mousePointTo = {
+      x: (center.x - stage.x()) / oldScale,
+      y: (center.y - stage.y()) / stage.scaleY(),
+    };
+    stage.scaleX(newScale);
+    stage.scaleY(-newScale);
+    stage.position({
+      x: center.x - mousePointTo.x * newScale,
+      y: center.y - mousePointTo.y * (-newScale),
+    });
+    if (typeof updateScaleBar === "function") updateScaleBar();
+    updateBullseyeScale();
+    updateWrtBullseyeScale();
+  }
+
+  var zoomInBtn = document.getElementById("zoom-in-btn");
+  var zoomOutBtn = document.getElementById("zoom-out-btn");
+  if (zoomInBtn) zoomInBtn.addEventListener("click", function () { zoomByFactor(1.2); });
+  if (zoomOutBtn) zoomOutBtn.addEventListener("click", function () { zoomByFactor(1 / 1.2); });
+
   // Check if there is an after stage setup callback, and if so, call it.
   if (typeof afterStageSetup === "function") {
     afterStageSetup();
@@ -3338,6 +3409,8 @@ function focusOnResource(resourceName) {
   stage.y(centerY);
 
   if (typeof updateScaleBar === "function") updateScaleBar();
+  updateBullseyeScale();
+  updateWrtBullseyeScale();
   stage.batchDraw();
 
   // Also highlight the resource
@@ -4437,10 +4510,10 @@ function buildNavbarLHActuators() {
     armBtn.className = "navbar-pipette-btn";
     armBtn.id = "arm-btn-" + lhName;
     armBtn.style.display = (lhRes && lhRes.armState !== null && lhRes.armState !== undefined) ? "" : "none";
-    armBtn.title = "Integrated Arm";
+    armBtn.title = "Integrated Arms";
     var armImg = document.createElement("img");
     armImg.src = "img/integrated_arm.png";
-    armImg.alt = "Integrated Arm";
+    armImg.alt = "Integrated Arms";
     armImg.style.width = "44px";
     armImg.style.height = "44px";
     armImg.style.objectFit = "contain";
diff --git a/pylabrobot/visualizer/main.css b/pylabrobot/visualizer/main.css
index 2fc229780db..ee210112229 100644
--- a/pylabrobot/visualizer/main.css
+++ b/pylabrobot/visualizer/main.css
@@ -173,6 +173,49 @@ main {
   position: relative;
 }
 
+#zoom-controls {
+  position: absolute;
+  bottom: 58px;
+  right: 12px;
+  display: flex;
+  flex-direction: column;
+  z-index: 5;
+}
+
+#zoom-controls button {
+  width: 32px;
+  height: 32px;
+  border: 1px solid rgba(150, 150, 150, 0.4);
+  background: rgba(255, 255, 255, 0.85);
+  backdrop-filter: blur(8px);
+  -webkit-backdrop-filter: blur(8px);
+  color: #111;
+  font-size: 22px;
+  font-weight: 700;
+  cursor: pointer;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  opacity: 0.6;
+  transition: opacity 0.15s, background 0.15s;
+  line-height: 1;
+  padding: 0;
+}
+
+#zoom-in-btn {
+  border-radius: 6px 6px 0 0;
+  border-bottom: none;
+}
+
+#zoom-out-btn {
+  border-radius: 0 0 6px 6px;
+}
+
+#zoom-controls button:hover {
+  opacity: 1;
+  background: rgba(255, 255, 255, 0.6);
+}
+
 #home-button {
   position: absolute;
   top: 20px;
@@ -223,9 +266,9 @@ main {
   display: flex;
   flex-direction: column;
   align-items: center;
-  background: rgba(255, 255, 255, 0.75);
-  backdrop-filter: blur(12px);
-  -webkit-backdrop-filter: blur(12px);
+  background: rgba(255, 255, 255, 0.35);
+  backdrop-filter: blur(8px);
+  -webkit-backdrop-filter: blur(8px);
   border-radius: 6px;
   padding: 4px 8px;
 }

From a7b632a478ab5bd82466a26296dc41e747281127 Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Tue, 3 Feb 2026 18:08:20 +0000
Subject: [PATCH 19/20] functional volume-in-tip visualization

---
 pylabrobot/resources/tip_tracker.py |   4 +
 pylabrobot/visualizer/index.html    |   5 +
 pylabrobot/visualizer/lib.js        | 223 ++++++++++++++++++++++++++--
 3 files changed, 218 insertions(+), 14 deletions(-)

diff --git a/pylabrobot/resources/tip_tracker.py b/pylabrobot/resources/tip_tracker.py
index 95fbafd85a4..90da419da42 100644
--- a/pylabrobot/resources/tip_tracker.py
+++ b/pylabrobot/resources/tip_tracker.py
@@ -111,6 +111,10 @@ def remove_tip(self, commit: bool = False) -> None:
   def commit(self) -> None:
     """Commit the pending operations."""
     self._tip = self._pending_tip
+    # Propagate state-update callback to the tip's volume tracker so that
+    # aspirate/dispense volume changes trigger a visualizer refresh.
+    if self._tip is not None and self._callback is not None:
+      self._tip.tracker.register_callback(self._callback)
     if self._callback is not None:
       self._callback()
 
diff --git a/pylabrobot/visualizer/index.html b/pylabrobot/visualizer/index.html
index 3dafc1c750b..af3f2282592 100644
--- a/pylabrobot/visualizer/index.html
+++ b/pylabrobot/visualizer/index.html
@@ -198,6 +198,11 @@
             </div>
           </div>
           <div style="width: 105%; align-self: center; height: 1px; background: #ced4da; margin-top: 8px;"></div>
+          <div style="display: flex; align-items: center; gap: 6px; margin-top: 6px; margin-bottom: 2px;">
+            <input type="checkbox" id="delta-lines-toggle" style="cursor: pointer; width: 15px; height: 15px;">
+            <label for="delta-lines-toggle" style="font-size: 15px; color: #555; cursor: pointer; user-select: none;">Δ Delta lines</label>
+          </div>
+          <div style="width: 105%; align-self: center; height: 1px; background: #ced4da; margin-top: 6px;"></div>
           <div class="tool-panel-title" style="margin-top: 8px; display: flex; justify-content: space-between; align-items: baseline;">Recorded Measurements <span style="font-weight: 600; font-size: 14px; font-family: monospace; color: #1a4b8c;">mm</span></div>
           <div id="coords-measurements" style="max-height: 270px; overflow-y: auto; width: 100%;">
             <div id="coords-measurements-hint" style="color: #aaa; font-size: 12px; line-height: 1.6; max-width: 0; min-width: 100%;">
diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index 4fc3cb9f25d..a76fed451d0 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -37,6 +37,7 @@ var canvasWidth, canvasHeight;
 var activeTool = "cursor"; // "cursor" or "coords"
 var wrtHighlightCircle;
 var resHighlightBullseye;
+var deltaLinesGroup = null; // Konva.Group for Δ lines between resource and wrt bullseyes
 
 function buildWrtDropdown() {
   var wrtSelect = document.getElementById("coords-wrt-ref");
@@ -100,6 +101,154 @@ function updateWrtBullseyeScale() {
   resourceLayer.draw();
 }
 
+function updateTooltipScale() {
+  if (!tooltip) return;
+  var ts = Math.pow(1 / Math.abs(stage.scaleX()), 0.97);
+  tooltip.scaleX(ts);
+  tooltip.scaleY(-ts);
+}
+
+function clearDeltaLines() {
+  if (deltaLinesGroup) { deltaLinesGroup.destroy(); deltaLinesGroup = null; }
+  resourceLayer.draw();
+}
+
+function updateDeltaLinesScale() {
+  if (!deltaLinesGroup) return;
+  var s = Math.pow(1 / Math.abs(stage.scaleX()), 0.95);
+  deltaLinesGroup.getChildren().forEach(function (child) {
+    if (child.getClassName() === "Label") {
+      child.scaleY(-s);
+      child.scaleX(s);
+    } else if (child.getClassName() === "Line") {
+      child.strokeWidth(child._baseStrokeWidth * s);
+      child.dash([14 * s, 6 * s]);
+    }
+  });
+  resourceLayer.draw();
+}
+
+function drawDeltaLines(resource) {
+  if (deltaLinesGroup) { deltaLinesGroup.destroy(); deltaLinesGroup = null; }
+  if (!resource || activeTool !== "coords") return;
+  var toggle = document.getElementById("delta-lines-toggle");
+  if (toggle && !toggle.checked) return;
+
+  // Get WRT bullseye position
+  var wrtRef = document.getElementById("coords-wrt-ref");
+  var wrtName = wrtRef ? wrtRef.value : null;
+  var wrtRes = wrtName ? resources[wrtName] : null;
+  if (!wrtRes) return;
+  var wrtAbs = wrtRes.getAbsoluteLocation();
+  var wrtOff = getWrtAnchorOffset(wrtRes);
+  var wx = wrtAbs.x + wrtOff.x;
+  var wy = wrtAbs.y + wrtOff.y;
+
+  // Get resource bullseye position
+  var abs = resource.getAbsoluteLocation();
+  var xRef = document.getElementById("coords-x-ref");
+  var yRef = document.getElementById("coords-y-ref");
+  var xOff = !xRef || xRef.value === "left" ? 0 : xRef.value === "center" ? resource.size_x / 2 : resource.size_x;
+  var yOff = !yRef || yRef.value === "front" ? 0 : yRef.value === "center" ? resource.size_y / 2 : resource.size_y;
+  var rx = abs.x + xOff;
+  var ry = abs.y + yOff;
+
+  var dx = rx - wx;
+  var dy = ry - wy;
+  if (Math.abs(dx) < 0.01 && Math.abs(dy) < 0.01) return;
+
+  deltaLinesGroup = new Konva.Group({ listening: false });
+  var s = Math.pow(1 / Math.abs(stage.scaleX()), 0.95);
+  var xColor = "#dc3545"; // matches x-axis legend
+  var yColor = "#198754"; // matches y-axis legend
+  var xHalo = "#EE8866";
+  var yHalo = "#BBCC33";
+  var corner = { x: rx, y: wy }; // L-shape corner
+
+  // Halo lines (thicker, behind main lines)
+  var xHaloLine = new Konva.Line({
+    points: [wx, wy, corner.x, corner.y],
+    stroke: xHalo, strokeWidth: 8 * s, dash: [14 * s, 6 * s], opacity: 0.4,
+  });
+  xHaloLine._baseStrokeWidth = 8;
+  deltaLinesGroup.add(xHaloLine);
+
+  var yHaloLine = new Konva.Line({
+    points: [corner.x, corner.y, rx, ry],
+    stroke: yHalo, strokeWidth: 8 * s, dash: [14 * s, 6 * s], opacity: 0.4,
+  });
+  yHaloLine._baseStrokeWidth = 8;
+  deltaLinesGroup.add(yHaloLine);
+
+  // Main horizontal line (Δx): wrt → corner
+  var xLine = new Konva.Line({
+    points: [wx, wy, corner.x, corner.y],
+    stroke: xColor, strokeWidth: 3 * s, dash: [14 * s, 6 * s],
+  });
+  xLine._baseStrokeWidth = 3;
+  deltaLinesGroup.add(xLine);
+
+  // Main vertical line (Δy): corner → resource
+  var yLine = new Konva.Line({
+    points: [corner.x, corner.y, rx, ry],
+    stroke: yColor, strokeWidth: 3 * s, dash: [14 * s, 6 * s],
+  });
+  yLine._baseStrokeWidth = 3;
+  deltaLinesGroup.add(yLine);
+
+  // Δx label at midpoint of horizontal line
+  var dxLabel = new Konva.Label({
+    x: (wx + corner.x) / 2,
+    y: wy,
+  });
+  dxLabel.add(new Konva.Tag({
+    fill: "white",
+    opacity: 0.85,
+    cornerRadius: 3,
+  }));
+  dxLabel.add(new Konva.Text({
+    text: "\u0394x=" + dx.toFixed(1),
+    fontSize: 18,
+    fill: xColor,
+    fontStyle: "bold",
+    fontFamily: "Arial",
+    padding: 3,
+  }));
+  dxLabel.offsetX(dxLabel.width() / 2);
+  dxLabel.offsetY(-4);
+  dxLabel.scaleY(-s);
+  dxLabel.scaleX(s);
+  deltaLinesGroup.add(dxLabel);
+
+  // Δy label at midpoint of vertical line
+  var dyLabel = new Konva.Label({
+    x: rx,
+    y: (wy + ry) / 2,
+  });
+  dyLabel.add(new Konva.Tag({
+    fill: "white",
+    opacity: 0.85,
+    cornerRadius: 3,
+  }));
+  dyLabel.add(new Konva.Text({
+    text: "\u0394y=" + dy.toFixed(1),
+    fontSize: 18,
+    fill: yColor,
+    fontStyle: "bold",
+    fontFamily: "Arial",
+    padding: 3,
+  }));
+  dyLabel.offsetY(dyLabel.height() / 2);
+  dyLabel.offsetX(-6);
+  dyLabel.scaleY(-s);
+  dyLabel.scaleX(s);
+  deltaLinesGroup.add(dyLabel);
+
+  resourceLayer.add(deltaLinesGroup);
+  deltaLinesGroup.moveToTop();
+  resourceLayer.draw();
+}
+
 function updateWrtHighlight() {
   if (wrtHighlightCircle) { wrtHighlightCircle.destroy(); wrtHighlightCircle = undefined; }
   if (activeTool !== "coords") return;
@@ -115,7 +264,7 @@ function updateWrtHighlight() {
   var barH = r * 1.0125;
   var wrtHaloColor = "#DDDDDD";
   var wrtHaloExtra = 4;
-  wrtHighlightCircle = new Konva.Group({ x: cx, y: cy });
+  wrtHighlightCircle = new Konva.Group({ x: cx, y: cy, listening: false });
   // Halo: blurred duplicate behind
   var wrtHaloGroup = new Konva.Group({ opacity: 0.5 });
   wrtHaloGroup.filters([Konva.Filters.Blur]);
@@ -174,6 +323,8 @@ function updateWrtHighlight() {
   resourceLayer.add(wrtHighlightCircle);
   wrtHighlightCircle.moveToTop();
   updateWrtBullseyeScale();
+  updateTooltipScale();
+  updateDeltaLinesScale();
 }
 
 function updateBullseyeScale() {
@@ -206,7 +357,7 @@ function showResHighlightBullseye(resource) {
   var color = "#99DDFF";
   var haloColor = "#BBCC33";
   // Position group at bullseye center; draw elements relative to (0,0)
-  resHighlightBullseye = new Konva.Group({ x: cx, y: cy });
+  resHighlightBullseye = new Konva.Group({ x: cx, y: cy, listening: false });
   // Halo: blurred, thicker duplicate of every element behind the bullseye
   var haloExtra = 4;
   var haloOpacity = 0.5;
@@ -366,6 +517,8 @@ function fitToViewport() {
   if (typeof updateScaleBar === "function") updateScaleBar();
   updateBullseyeScale();
   updateWrtBullseyeScale();
+  updateTooltipScale();
+  updateDeltaLinesScale();
 }
 
 let trash;
@@ -653,7 +806,7 @@ class Resource {
         }
         tooltip = new Konva.Label({
           x: x + this.size_x / 2,
-          y: y + this.size_y / 2,
+          y: y + this.size_y / 2 + (activeTool === "coords" ? this.size_y * 0.25 : 0),
           opacity: 0.75,
         });
         tooltip.add(
@@ -673,12 +826,15 @@ class Resource {
           new Konva.Text({
             text: labelText,
             fontFamily: "Arial",
-            fontSize: activeTool === "coords" ? 14 : 18,
+            fontSize: activeTool === "coords" ? 17.5 : 21.4,
+            lineHeight: activeTool === "coords" ? 1.6 : 1.2,
             padding: 5,
             fill: "white",
           })
         );
-        tooltip.scaleY(-1);
+        var ts = Math.pow(1 / Math.abs(stage.scaleX()), 0.97);
+        tooltip.scaleX(ts);
+        tooltip.scaleY(-ts);
         layer.add(tooltip);
         if (typeof highlightSidebarRow === "function") {
           highlightSidebarRow(this.name);
@@ -686,6 +842,7 @@ class Resource {
         if (activeTool === "coords") {
           updateCoordsPanel(this);
           showResHighlightBullseye(this);
+          drawDeltaLines(this);
         }
       });
       this.mainShape.on("click", () => {
@@ -787,6 +944,7 @@ class Resource {
       this.mainShape.on("mouseout", () => {
         tooltip.destroy();
         showResHighlightBullseye(null);
+        clearDeltaLines();
         if (typeof clearSidebarHighlight === "function") {
           clearSidebarHighlight();
         }
@@ -958,14 +1116,15 @@ class HamiltonSTARDeck extends Deck {
 
       // Add a text label every 5 rails. Rails are 1-indexed.
       // Keep in mind that the stage is flipped vertically.
-      if ((i + 1) % 5 === 0) {
+      if ((i + 1) % 5 === 0 || i === 0) {
         const railLabel = new Konva.Text({
-          x: 100 + i * 22.5, // 22.5 mm per rail
+          x: 100 + i * 22.5 + 11.25, // center of rail (between lines)
           y: 50,
           text: i + 1,
-          fontSize: 12,
+          fontSize: 15,
           fill: "black",
         });
+        railLabel.offsetX(railLabel.width() / 2);
         railLabel.scaleY(-1); // Flip the text vertically
         mainShape.add(railLabel);
       }
@@ -1031,14 +1190,15 @@ class VantageDeck extends Deck {
       });
       mainShape.add(rail);
 
-      if ((i + 1) % 5 === 0) {
+      if ((i + 1) % 5 === 0 || i === 0) {
         const railLabel = new Konva.Text({
-          x: railX,
+          x: railX + 11.25, // center of rail (between lines)
           y: 50,
           text: i + 1,
-          fontSize: 12,
+          fontSize: 15,
           fill: "black",
         });
+        railLabel.offsetX(railLabel.width() / 2);
         railLabel.scaleY(-1);
         mainShape.add(railLabel);
       }
@@ -1747,10 +1907,36 @@ function fillHeadIcons(panel, headState) {
       var botW = (tipData.total_tip_length > 50) ? 2 : 1;
       var botL = 7 - botW / 2;
       var botR = 7 + botW / 2;
-      tipG.innerHTML =
+      var tipShapes =
         '<rect x="1.5" y="' + collarY + '" width="11" height="' + collarH + '" rx="0.5" ry="0.5" fill="#c8c8c8" fill-opacity="0.5" stroke="#888" stroke-width="0.8"/>' +
         '<rect x="3" y="' + bodyStart + '" width="8" height="' + straightH + '" rx="1" ry="1" fill="#d0d0d0" stroke="#888" stroke-width="0.8"/>' +
         '<polygon points="3,' + straightEnd + ' 11,' + straightEnd + ' ' + botR + ',' + tipEnd + ' ' + botL + ',' + tipEnd + '" fill="#d0d0d0" stroke="#888" stroke-width="0.8"/>';
+      // Volume fill overlay
+      var fillSvg = "";
+      var chTipState = (headState[ch] || {}).tip_state;
+      var fillRatio = 0;
+      if (chTipState && chTipState.max_volume > 0) {
+        fillRatio = Math.min(1, (chTipState.volume || 0) / chTipState.max_volume);
+      }
+      if (fillRatio > 0) {
+        var totalFillableH = straightH + taperH;
+        var fillH = fillRatio * totalFillableH;
+        var fillColor = "rgba(0,119,187,0.45)";
+        if (fillH <= taperH) {
+          var widthAtFill = botW + (8 - botW) * (fillH / taperH);
+          var leftX = 7 - widthAtFill / 2;
+          var rightX = 7 + widthAtFill / 2;
+          var fillTop = tipEnd - fillH;
+          fillSvg = '<polygon points="' + botL + ',' + tipEnd + ' ' + botR + ',' + tipEnd + ' ' + rightX + ',' + fillTop + ' ' + leftX + ',' + fillTop + '" fill="' + fillColor + '" stroke="none"/>';
+        } else {
+          var bodyFillH = fillH - taperH;
+          var bodyFillY = straightEnd - bodyFillH;
+          fillSvg =
+            '<polygon points="3,' + straightEnd + ' 11,' + straightEnd + ' ' + botR + ',' + tipEnd + ' ' + botL + ',' + tipEnd + '" fill="' + fillColor + '" stroke="none"/>' +
+            '<rect x="3" y="' + bodyFillY + '" width="8" height="' + bodyFillH + '" fill="' + fillColor + '" stroke="none"/>';
+        }
+      }
+      tipG.innerHTML = tipShapes + fillSvg;
       var tipTitle = document.createElementNS("http://www.w3.org/2000/svg", "title");
       tipTitle.textContent = "Tip on channel " + ch + " — click for details";
       tipG.appendChild(tipTitle);
@@ -2471,7 +2657,7 @@ window.addEventListener("load", function () {
     const newScale = direction > 0 ? oldScale * scaleBy : oldScale / scaleBy;
 
     // Clamp zoom level
-    const clampedScale = Math.max(0.1, Math.min(15, newScale));
+    const clampedScale = Math.max(0.1, Math.min(30, newScale));
 
     stage.scaleX(clampedScale);
     stage.scaleY(-clampedScale); // keep Y flipped
@@ -2484,6 +2670,8 @@ window.addEventListener("load", function () {
     updateScaleBar();
     updateBullseyeScale();
     updateWrtBullseyeScale();
+    updateTooltipScale();
+    updateDeltaLinesScale();
   });
 
   updateScaleBar();
@@ -2529,6 +2717,8 @@ window.addEventListener("load", function () {
     if (typeof updateScaleBar === "function") updateScaleBar();
     updateBullseyeScale();
     updateWrtBullseyeScale();
+    updateTooltipScale();
+    updateDeltaLinesScale();
   }
 
   var zoomInBtn = document.getElementById("zoom-in-btn");
@@ -3411,6 +3601,8 @@ function focusOnResource(resourceName) {
   if (typeof updateScaleBar === "function") updateScaleBar();
   updateBullseyeScale();
   updateWrtBullseyeScale();
+  updateTooltipScale();
+  updateDeltaLinesScale();
   stage.batchDraw();
 
   // Also highlight the resource
@@ -3559,7 +3751,10 @@ window.addEventListener("load", function () {
     if (gifBtn) gifBtn.classList.toggle("active", tool === "gif");
     if (coordsPanel) coordsPanel.style.display = tool === "coords" ? "" : "none";
     if (gifPanel) gifPanel.style.display = tool === "gif" ? "" : "none";
-    if (tool !== "coords") updateCoordsPanel(null);
+    if (tool !== "coords") {
+      updateCoordsPanel(null);
+    }
+    clearDeltaLines();
     updateWrtHighlight();
   }
   if (cursorBtn) cursorBtn.addEventListener("click", function () { setActiveTool("cursor"); });

From 93ba563836cb4b73dc8ee2ea015008c8909745cb Mon Sep 17 00:00:00 2001
From: Camillo Moschner <camillo.moschner@biocam.guide>
Date: Tue, 3 Feb 2026 22:45:17 +0000
Subject: [PATCH 20/20] remove tooltip interference

---
 pylabrobot/visualizer/lib.js | 1 +
 1 file changed, 1 insertion(+)

diff --git a/pylabrobot/visualizer/lib.js b/pylabrobot/visualizer/lib.js
index a76fed451d0..ec241c3bc43 100644
--- a/pylabrobot/visualizer/lib.js
+++ b/pylabrobot/visualizer/lib.js
@@ -808,6 +808,7 @@ class Resource {
           x: x + this.size_x / 2,
           y: y + this.size_y / 2 + (activeTool === "coords" ? this.size_y * 0.25 : 0),
           opacity: 0.75,
+          listening: false,
         });
         tooltip.add(
           new Konva.Tag({