diff --git a/.gitignore b/.gitignore
index 05ea5ab..a013aff 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,7 @@
 data
 envs/*.secrets.env
+__pycache__/
+*.pyc
+*.pyo
+*.pyd
+*$py.class
diff --git a/README.md b/README.md
index df11f78..05a72ca 100644
--- a/README.md
+++ b/README.md
@@ -157,12 +157,13 @@ It’s made up of several Docker images that work together.
 
 To install it, run:
 ```bash
-docker pull ghcr.io/haru-project/strawberry-ros-azure-kinect:latest
-docker pull ghcr.io/haru-project/strawberry-ros-skeletons:latest
-docker pull ghcr.io/haru-project/strawberry-ros-faces-module:latest
+docker pull ghcr.io/haru-project/strawberry-ros-azure-kinect:feature-topic-normalize
+docker pull ghcr.io/haru-project/strawberry-ros-skeletons:feature-topic-normalize
+docker pull ghcr.io/haru-project/strawberry-ros-faces-module:feature-topic-normalize
 docker pull ghcr.io/haru-project/strawberry-ros-hands:latest
+docker pull ghcr.io/haru-project/haru-belief:feature-topic-normalize
+docker pull ghcr.io/haru-project/haru-viz:feature-topic-normalize
 docker pull ghcr.io/haru-project/strawberry-ros-people:latest
-docker pull ghcr.io/haru-project/strawberry-ros-visualization:latest
 docker pull ghcr.io/haru-project/strawberry-resource-monitor:latest
 docker pull ghcr.io/haru-project/haru-speech:ros2
 docker pull ghcr.io/haru-project/haru-llm:feature-eval-test
@@ -187,6 +188,24 @@ To quickly validate all compose files, run:
 bash scripts/validate_compose.sh
 ```
 
+### Perception image matrix
+
+The default perception stack is intended to run as a tested image set rather than a mix of floating branch lines:
+
+```text
+azure-kinect      ghcr.io/haru-project/strawberry-ros-azure-kinect:feature-topic-normalize
+skeletons         ghcr.io/haru-project/strawberry-ros-skeletons:feature-topic-normalize
+faces             ghcr.io/haru-project/strawberry-ros-faces-module:feature-topic-normalize
+haru-belief       ghcr.io/haru-project/haru-belief:feature-topic-normalize
+haru-viz          ghcr.io/haru-project/haru-viz:feature-topic-normalize
+hands             ghcr.io/haru-project/strawberry-ros-hands:latest
+resource-monitor  ghcr.io/haru-project/strawberry-resource-monitor:latest
+```
+
+`hands` and `resource-monitor` still default to `latest` because those images are not currently published on the same branch line. Override any service image with `*_IMAGE=...` in `envs/perception.env` or the shell environment when you need a different tested tag or an immutable digest.
+
+`haru-belief` and `haru-viz` should publish image-level healthchecks through `ros2-ci` using `healthcheck-nodes`, `healthcheck-topics`, and `healthcheck-services`. The perception compose file relies on those image healthchecks rather than maintaining repo-local overrides.
+
 ### All-in-one compose (single file)
 
 If you want to launch all layers from a single compose file, use:
@@ -199,6 +218,74 @@ This uses `envs/all.env` for compose-time variables. Optional services still res
 bash scripts/compose.sh all --profile tts --profile webui up --force-recreate -d
 ```
 
+### Isolated perception ROS domain
+
+This branch runs perception on a separate ROS domain by default. Perception
+services use `HARU_PERCEPTION_ROS_DOMAIN_ID` (default `20`) and non-perception
+services keep using the existing `ROS_DOMAIN_ID`.
+
+Start the perception stack with:
+
+```bash
+bash scripts/compose.sh perception up --force-recreate -d
+```
+
+or the combined stack with:
+
+```bash
+bash scripts/compose.sh all up --force-recreate -d
+```
+
+The separate `perception-domain-bridge` container is the only ROS bridge between
+the perception and robot/application domains. Docker networking is unchanged in
+this phase.
+
+The bridge allowlist is tracked in `config/perception_domain_bridge.yaml`.
+It bridges only:
+
+- `/perception/fusion/persons`
+- `/strawberry/people`
+- `/tf`
+- `/tf_static`
+- `/haru_speech/speech_to_text/status_array` from the existing domain back to perception
+- `/haru_speech/speech_to_text/result` from the existing domain back to perception
+
+It does not bridge raw Kinect, image, depth, ffmpeg, zdepth, audio, faces,
+skeletons, hands, or debug image topics.
+
+Validation commands:
+
+```bash
+# Existing robot/application domain should not see raw perception topics.
+ROS_DOMAIN_ID=0 ros2 topic list | rg '/perception/sensor/kinect|/perception/proc/(faces|skeletons)|ffmpeg|zdepth|depth_to_rgb|camera_info'
+
+# Existing domain should see bridged semantic outputs.
+ROS_DOMAIN_ID=0 ros2 topic echo --once /perception/fusion/persons
+ROS_DOMAIN_ID=0 ros2 topic echo --once /strawberry/people
+ROS_DOMAIN_ID=0 ros2 topic echo --once /tf
+
+# Perception domain should see speech status/results bridged back in.
+ROS_DOMAIN_ID=${HARU_PERCEPTION_ROS_DOMAIN_ID:-20} ros2 topic echo --once /haru_speech/speech_to_text/status_array
+ROS_DOMAIN_ID=${HARU_PERCEPTION_ROS_DOMAIN_ID:-20} ros2 topic echo --once /haru_speech/speech_to_text/result
+```
+
+The first command should produce no matches.
+
+### Perception-domain recorder
+
+The recorder is isolated to the perception ROS domain in this branch. It records
+only topics visible on `HARU_PERCEPTION_ROS_DOMAIN_ID`, which includes raw/internal
+perception topics and any speech topics bridged back into perception.
+
+```bash
+HARU_RECORDER_SESSION_ID=trial-001 \
+  bash scripts/compose.sh recorder up --force-recreate -d
+```
+
+Recordings are written under
+`data/perception/haru_recorder/recordings/domains/perception/`. The recorder does
+not attach to the existing robot/application `ROS_DOMAIN_ID`.
+
 ### Haru Simulator (HS)
 
 The Haru Simulator uses a graphical interface, so you need to allow Docker to show windows on your screen. Run the following command in your terminal before starting the simulator:
@@ -317,13 +404,13 @@ We recommend starting them **one at a time** so you can confirm each one runs co
 
     **Start command**:
     ```bash
-    bash scripts/compose.sh perception up azure-kinect skeletons faces hands people visualization --force-recreate -d
+    bash scripts/compose.sh perception up azure-kinect skeletons faces hands haru-belief haru-viz resource-monitor --force-recreate -d
     ```
 
     **Expected output**:
-    - An RViz window appears showing:
-        - Live camera feed
-        - Detected skeletons and tracking markers
+    - Perception, fusion, and monitoring come up on their configured perception tags, while `haru-viz` runs from `ghcr.io/haru-project/haru-viz:develop`
+    - The `haru-viz` web UI is reachable at `http://127.0.0.1:5173`
+    - rosbridge stays co-located with `haru-viz` and continues using ports `9090`, `9091`, and `9092`
 
     **Related repositories for debug**: [strawberry-ros-people](https://github.com/haru-project/strawberry-ros-people/tree/ros2)
 
diff --git a/apps/docker-compose-all.yaml b/apps/docker-compose-all.yaml
index 7c25181..6204646 100644
--- a/apps/docker-compose-all.yaml
+++ b/apps/docker-compose-all.yaml
@@ -22,21 +22,29 @@ services:
       file: docker-compose-perception.yaml
       service: hands
 
-  people:
+  haru-belief:
     extends:
       file: docker-compose-perception.yaml
-      service: people
+      service: haru-belief
 
-  visualization:
+  haru-viz:
     extends:
       file: docker-compose-perception.yaml
-      service: visualization
+      service: haru-viz
 
   resource-monitor:
     extends:
       file: docker-compose-perception.yaml
       service: resource-monitor
 
+  perception-domain-bridge:
+    extends:
+      file: docker-compose-perception.yaml
+      service: perception-domain-bridge
+    depends_on:
+      haru-belief:
+        condition: service_started
+
   # Speech layer
   audio:
     extends:
diff --git a/apps/docker-compose-llm.yaml b/apps/docker-compose-llm.yaml
index e6565e5..0912d02 100644
--- a/apps/docker-compose-llm.yaml
+++ b/apps/docker-compose-llm.yaml
@@ -14,7 +14,8 @@ services:
     ]
     env_file:
       - ../envs/llm.env
-      - ../envs/llm.secrets.env
+      - path: ../envs/llm.secrets.env
+        required: false
     environment:
       - REDIS_HOST=127.0.0.1
       - REDIS_PORT=6379
@@ -36,7 +37,8 @@ services:
     command: ["/bin/bash", "-c", "$PACKAGE_VENV -c 'from haru_llm.dashboard.app import run; run()'"]
     env_file:
       - ../envs/llm.env
-      - ../envs/llm.secrets.env
+      - path: ../envs/llm.secrets.env
+        required: false
     ports:
       - 8501:8501
     depends_on:
@@ -67,7 +69,8 @@ services:
       - "--config=/app/config.yaml"
     env_file:
       - ../envs/llm.env
-      - ../envs/llm.secrets.env
+      - path: ../envs/llm.secrets.env
+        required: false
     ports:
       - 4050:4000
     extra_hosts:
@@ -89,7 +92,8 @@ services:
     image: ghcr.io/open-webui/open-webui:main
     env_file:
       - ../envs/llm.env
-      - ../envs/llm.secrets.env
+      - path: ../envs/llm.secrets.env
+        required: false
     ports:
       - 8080:8080
     volumes:
@@ -120,7 +124,8 @@ services:
       - "--gpu-memory-utilization=0.9"
     env_file:
       - ../envs/llm.env
-      - ../envs/llm.secrets.env
+      - path: ../envs/llm.secrets.env
+        required: false
     ports:
       - 8000:8000
     volumes:
diff --git a/apps/docker-compose-perception.yaml b/apps/docker-compose-perception.yaml
index eb59e6d..7e71d9d 100644
--- a/apps/docker-compose-perception.yaml
+++ b/apps/docker-compose-perception.yaml
@@ -16,8 +16,10 @@ x-gpu-reservations: &gpu-reservations
 x-common-x11: &common-x11 "/tmp/.X11-unix:/tmp/.X11-unix:rw"
 
 x-common-docker-xauth: &common-docker-xauth "/tmp/.docker.xauth:/tmp/.docker.xauth"
+x-common-root-xauth: &common-root-xauth "${XAUTHORITY:-${HOME}/.Xauthority}:/root/.Xauthority:ro"
 
 x-common-dev: &common-dev "/dev:/dev:rw"
+x-common-run: &common-run "/run:/run:rw"
 
 # Common ROS shutdown behavior
 x-common-ros: &common-ros
@@ -27,146 +29,171 @@ x-common-ros: &common-ros
 # Centralized network mode — can be overridden with COMPOSE_NETWORK_MODE env var (e.g. bridge)
 x-network-mode: &network-mode ${COMPOSE_NETWORK_MODE:-host}
 
+x-perception-domain-env: &perception-domain-env
+  ROS_DOMAIN_ID: ${HARU_PERCEPTION_ROS_DOMAIN_ID:-20}
+
 services:
-  # Azure Kinect sensor driver - supplies depth + color to downstream modules
+  # Azure Kinect sensor driver
+  # Replay-only usage: leave this service stopped and start the consumers with
+  # `PERCEPTION_USE_SIM_TIME=true`. Replay still requires recorded `/tf` and
+  # `/tf_static` so belief can reconstruct world/camera transforms.
   azure-kinect:
-    image: ghcr.io/haru-project/strawberry-ros-azure-kinect:feature-skeleton-integration
+    image: ${AZURE_KINECT_IMAGE:-ghcr.io/haru-project/strawberry-ros-azure-kinect:feature-topic-normalize}
     env_file:
       - ../envs/perception.env
     environment:
+      <<: *perception-domain-env
       DISPLAY: ${DISPLAY}
+      XAUTHORITY: /root/.Xauthority
+      HARU_TOPIC_PREFIX: ${HARU_TOPIC_PREFIX:-}
       HARU_PARAM_AUTO_PREFIXES: AZURE_KINECT
       AZURE_KINECT_DEV_AUTOSTART: "true"
+      AZURE_KINECT_NAMESPACE: ${HARU_TOPIC_PREFIX:-}/perception/sensor/kinect
+      AZURE_KINECT_TOPIC_PREFIX: ${HARU_TOPIC_PREFIX:-}/perception/sensor/kinect/cam_1
     network_mode: *network-mode
     ipc: host
     privileged: true
     restart: unless-stopped
     volumes:
+      - *common-x11
+      - *common-root-xauth
       - *common-dev
+      - *common-run
     <<: *common-ros
 
-  # Faces (InsightFace + fusion node)
-  faces:
-    image: ghcr.io/haru-project/strawberry-ros-faces-module:feature-skeleton-integration
+  # Skeleton pipeline
+  skeletons:
+    image: ${SKELETONS_IMAGE:-ghcr.io/haru-project/strawberry-ros-skeletons:feature-topic-normalize}
     env_file:
       - ../envs/perception.env
     environment:
-      HARU_PARAM_AUTO_PREFIXES: FACES
-      FACES_DEV_AUTOSTART: "true"
+      <<: *perception-domain-env
+      HARU_TOPIC_PREFIX: ${HARU_TOPIC_PREFIX:-}
+      HARU_PARAM_AUTO_PREFIXES: SKELETONS
+      SKELETONS_DEV_AUTOSTART: "true"
+      SKELETONS_USE_SIM_TIME: ${PERCEPTION_USE_SIM_TIME:-false}
+      SKELETONS_USE_FFMPEG_DECODE_BRIDGE: "false"
+      SKELETONS_NAMESPACE: ${HARU_TOPIC_PREFIX:-}/perception/proc
+      SKELETONS_RGB_TOPIC: ${HARU_TOPIC_PREFIX:-}/perception/sensor/kinect/cam_1/rgb
+      SKELETONS_DEPTH_TOPIC: ${HARU_TOPIC_PREFIX:-}/perception/sensor/kinect/cam_1/depth_to_rgb
+      SKELETONS_CAMERA_INFO_TOPIC: ${HARU_TOPIC_PREFIX:-}/perception/sensor/kinect/cam_1/camera_info
+      SKELETONS_OUTPUT_TOPIC_SKELETONS: ${HARU_TOPIC_PREFIX:-}/perception/proc/skeletons
     network_mode: *network-mode
     restart: unless-stopped
     volumes:
-      - type: bind
-        source: ../data/perception
-        target: /ros/strawberry_ros_faces_module
+      - *common-dev
     <<: *common-ros
     deploy: *gpu-reservations
-    depends_on:
-      azure-kinect:
-        condition: service_healthy
 
-  # Skeleton (OpenPose + fusion node)
-  skeletons:
-    image: ghcr.io/haru-project/strawberry-ros-skeletons:feature-skeleton-integration
+  # Faces (InsightFace + fusion node)
+  faces:
+    image: ${FACES_IMAGE:-ghcr.io/haru-project/strawberry-ros-faces-module:feature-topic-normalize}
     env_file:
       - ../envs/perception.env
     environment:
-      DISPLAY: ${DISPLAY} # Required by OpenPose even when no display is used
-      XAUTHORITY: /root/.Xauthority
-      HARU_PARAM_AUTO_PREFIXES: SKELETONS
-      SKELETONS_DEV_AUTOSTART: "true"
+      <<: *perception-domain-env
+      HARU_TOPIC_PREFIX: ${HARU_TOPIC_PREFIX:-}
+      HARU_PARAM_AUTO_PREFIXES: FACES
+      FACES_DEV_AUTOSTART: "true"
+      FACES_USE_SIM_TIME: ${PERCEPTION_USE_SIM_TIME:-false}
+      FACES_USE_FFMPEG_DECODE_BRIDGE: "false"
+      FACES_DATA_ROOT: /ros/strawberry_ros_faces_module
+      FACES_NAMESPACE: ${HARU_TOPIC_PREFIX:-}/perception/proc
+      FACES_RGB_TOPIC: ${HARU_TOPIC_PREFIX:-}/perception/sensor/kinect/cam_1/rgb
+      FACES_CAMERA_INFO_TOPIC: ${HARU_TOPIC_PREFIX:-}/perception/sensor/kinect/cam_1/camera_info
     network_mode: *network-mode
-    ipc: host
-    privileged: true
     restart: unless-stopped
     volumes:
-      - *common-x11
-      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority:ro
-      - *common-dev
+      - type: bind
+        source: ../data/perception
+        target: /ros/strawberry_ros_faces_module
     <<: *common-ros
     deploy: *gpu-reservations
-    depends_on:
-      azure-kinect:
-        condition: service_healthy
-
   # Hands module
   hands:
-    image: ghcr.io/haru-project/strawberry-ros-hands:latest
+    image: ${HANDS_IMAGE:-ghcr.io/haru-project/strawberry-ros-hands:latest}
     env_file:
       - ../envs/perception.env
     environment:
+      <<: *perception-domain-env
+      DISPLAY: ${DISPLAY}
+      XAUTHORITY: /root/.Xauthority
+      HARU_TOPIC_PREFIX: ${HARU_TOPIC_PREFIX:-}
       HARU_PARAM_AUTO_PREFIXES: HANDS
       HANDS_DEV_AUTOSTART: "true"
+      HANDS_NAMESPACE: ${HARU_TOPIC_PREFIX:-}/perception/proc
+      HANDS_CAMERA_NAME: ${HARU_TOPIC_PREFIX:-}/perception/sensor/kinect/cam_1/rgb
+      HANDS_IMAGE_TOPIC: ${HARU_TOPIC_PREFIX:-}/perception/sensor/kinect/cam_1/rgb/compressed
+      HANDS_CAMERA_INFO_TOPIC: ${HARU_TOPIC_PREFIX:-}/perception/sensor/kinect/cam_1/camera_info
     network_mode: *network-mode
     restart: unless-stopped
     volumes:
       - *common-x11
-      - *common-docker-xauth
+      - *common-root-xauth
       - *common-dev
     <<: *common-ros
     deploy: *gpu-reservations
-    depends_on:
-      azure-kinect:
-        condition: service_healthy
-
-  # People module
-  people:
-    image: ghcr.io/haru-project/strawberry-ros-people:feature-skeleton-integration
+  # Belief authority (default perception fusion output)
+  haru-belief:
+    image: ${HARU_BELIEF_IMAGE:-ghcr.io/haru-project/haru-belief:feature-topic-normalize}
     env_file:
       - ../envs/perception.env
     environment:
-      HARU_PARAM_AUTO_PREFIXES: PEOPLE
-      PEOPLE_DEV_AUTOSTART: "true"
+      <<: *perception-domain-env
+      HARU_TOPIC_PREFIX: ${HARU_TOPIC_PREFIX:-}
+      HARU_PARAM_AUTO_PREFIXES: HARU_BELIEF
+      HARU_BELIEF_DEV_AUTOSTART: "true"
+      HARU_BELIEF_USE_SIM_TIME: ${PERCEPTION_USE_SIM_TIME:-false}
+      HARU_BELIEF_NAMESPACE: ${HARU_TOPIC_PREFIX:-}/perception/fusion
+      ROS_HOME: /ros/haru_perception_data
     network_mode: *network-mode
     restart: unless-stopped
     volumes:
-      - *common-x11
-      - *common-docker-xauth
+      - type: bind
+        source: ../data/perception
+        target: /ros/haru_perception_data
       - *common-dev
     <<: *common-ros
-    deploy: *gpu-reservations
-    depends_on:
-      azure-kinect:
-        condition: service_healthy
-      skeletons:
-        condition: service_started
-
-  # Visualization nodes (RViz, GUI helpers)
-  visualization:
-    image: ghcr.io/haru-project/strawberry-ros-visualization:feature-skeleton-integration
+  # haru-viz browser UI + rosbridge runtime
+  haru-viz:
+    image: ${HARU_VIZ_IMAGE:-ghcr.io/haru-project/haru-viz:feature-topic-normalize}
     env_file:
       - ../envs/perception.env
     environment:
-      HARU_PARAM_AUTO_PREFIXES: VIZ
-      NVIDIA_VISIBLE_DEVICES: all
-      NVIDIA_DRIVER_CAPABILITIES: all
-      VIZ_DEV_AUTOSTART: "true"
+      <<: *perception-domain-env
+      HARU_VIZ_DEV_AUTOSTART: "true"
+      HARU_VIZ_REPO_ROOT: ${HARU_VIZ_REPO_ROOT:-/workspace/haru-viz}
+      HARU_VIZ_UI_HOST: ${HARU_VIZ_UI_HOST:-0.0.0.0}
+      HARU_VIZ_UI_PORT: ${HARU_VIZ_UI_PORT:-5173}
+      HARU_ROSBRIDGE_PORT: ${HARU_ROSBRIDGE_PORT:-9090}
+      HARU_ROSBRIDGE_RGB_PORT: ${HARU_ROSBRIDGE_RGB_PORT:-9091}
+      HARU_ROSBRIDGE_DEPTH_PORT: ${HARU_ROSBRIDGE_DEPTH_PORT:-9092}
+      HARU_ROSBRIDGE_MAX_MESSAGE_SIZE: ${HARU_ROSBRIDGE_MAX_MESSAGE_SIZE:-8388608}
+      VITE_ROSBRIDGE_URL: ws://127.0.0.1:${HARU_ROSBRIDGE_PORT:-9090}
+      VITE_ROSBRIDGE_FORCE_AUTO_CONNECT: "1"
+      VITE_ROS_DOMAIN_ID: ${HARU_PERCEPTION_ROS_DOMAIN_ID:-20}
     network_mode: *network-mode
     restart: unless-stopped
+    working_dir: /workspace/haru-viz
+    command: ros2 launch haru_viz haru_viz.launch.py
     volumes:
-      - *common-x11
-      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority:ro
       - type: bind
-        source: ../data/perception/haru_recorder
-        target: /root/.local/share/haru_recorder
+        source: ../../haru-viz
+        target: /workspace/haru-viz
       - *common-dev
     <<: *common-ros
-    deploy: *gpu-reservations
     depends_on:
-      azure-kinect:
-        condition: service_healthy
-      faces:
-        condition: service_healthy
-      skeletons:
-        condition: service_healthy
-      hands:
-        condition: service_healthy
-      people:
-        condition: service_healthy
+      haru-belief:
+        condition: service_started
 
   # Resource monitor (optional; no GPU usage required but kept here for convenience)
   resource-monitor:
-    image: ghcr.io/haru-project/strawberry-resource-monitor:latest
+    image: ${RESOURCE_MONITOR_IMAGE:-ghcr.io/haru-project/strawberry-resource-monitor:latest}
+    env_file:
+      - ../envs/perception.env
+    environment:
+      <<: *perception-domain-env
+      HARU_TOPIC_PREFIX: ${HARU_TOPIC_PREFIX:-}
     network_mode: *network-mode
     restart: unless-stopped
     volumes:
@@ -175,3 +202,41 @@ services:
       - *common-dev
     <<: *common-ros
     deploy: *gpu-reservations
+
+  perception-domain-bridge:
+    image: ${PERCEPTION_DOMAIN_BRIDGE_IMAGE:-haru-perception-domain-bridge:local}
+    build:
+      context: ..
+      dockerfile: docker/domain-bridge.Dockerfile
+      args:
+        BASE_IMAGE: ${PERCEPTION_DOMAIN_BRIDGE_BASE_IMAGE:-ghcr.io/haru-project/haru-belief:feature-topic-normalize}
+    env_file:
+      - ../envs/perception.env
+    environment:
+      ROS_DOMAIN_ID: ${ROS_DOMAIN_ID:-0}
+      HARU_PERCEPTION_ROS_DOMAIN_ID: ${HARU_PERCEPTION_ROS_DOMAIN_ID:-20}
+      RMW_IMPLEMENTATION: ${RMW_IMPLEMENTATION:-rmw_fastrtps_cpp}
+      FASTDDS_BUILTIN_TRANSPORTS: ${FASTDDS_BUILTIN_TRANSPORTS:-UDPv4}
+    command:
+      [
+        "ros2",
+        "run",
+        "domain_bridge",
+        "domain_bridge",
+        "--from",
+        "${HARU_PERCEPTION_ROS_DOMAIN_ID:-20}",
+        "--to",
+        "${ROS_DOMAIN_ID:-0}",
+        "/shared/config/perception_domain_bridge.yaml",
+      ]
+    network_mode: *network-mode
+    restart: unless-stopped
+    volumes:
+      - type: bind
+        source: ../config/perception_domain_bridge.yaml
+        target: /shared/config/perception_domain_bridge.yaml
+        read_only: true
+    depends_on:
+      haru-belief:
+        condition: service_started
+    <<: *common-ros
diff --git a/apps/docker-compose-reasoner.yaml b/apps/docker-compose-reasoner.yaml
index a16753a..92d002d 100644
--- a/apps/docker-compose-reasoner.yaml
+++ b/apps/docker-compose-reasoner.yaml
@@ -5,7 +5,7 @@ services:
     extends:
       file: compose.common.yaml
       service: common-ros
-    image: ghcr.io/haru-project/haru-agent-reasoner:feature-web-projector
+    image: ghcr.io/haru-project/haru-agent-reasoner:feature-topic-normalize
     command:
       [
         "ros2",
@@ -30,7 +30,7 @@ services:
     extends:
       file: compose.common.yaml
       service: common-ros
-    image: ghcr.io/haru-project/haru-agent-reasoner:feature-web-projector
+    image: ghcr.io/haru-project/haru-agent-reasoner:feature-topic-normalize
     command:
       [
         "ros2",
@@ -52,7 +52,7 @@ services:
     extends:
       file: compose.common.yaml
       service: common-ros
-    image: ghcr.io/haru-project/haru-agent-reasoner:feature-web-projector
+    image: ghcr.io/haru-project/haru-agent-reasoner:feature-topic-normalize
     command:
       [
         "ros2",
@@ -76,7 +76,7 @@ services:
     extends:
       file: compose.common.yaml
       service: common-ros
-    image: ghcr.io/haru-project/haru-agent-reasoner:feature-web-projector
+    image: ghcr.io/haru-project/haru-agent-reasoner:feature-topic-normalize
     command:
       [
         "ros2",
@@ -96,7 +96,7 @@ services:
     extends:
       file: compose.common.yaml
       service: common-ros
-    image: ghcr.io/haru-project/haru-agent-reasoner:feature-web-projector
+    image: ghcr.io/haru-project/haru-agent-reasoner:feature-topic-normalize
     command:
       [
         "ros2",
diff --git a/apps/docker-compose-recorder.yaml b/apps/docker-compose-recorder.yaml
index 18e36d1..c83614c 100644
--- a/apps/docker-compose-recorder.yaml
+++ b/apps/docker-compose-recorder.yaml
@@ -3,12 +3,30 @@ name: haru-recorder
 # Centralized network mode — can be overridden with COMPOSE_NETWORK_MODE env var (e.g. bridge)
 x-network-mode: &network-mode ${COMPOSE_NETWORK_MODE:-host}
 
+x-recorder-command: &recorder-command
+  - /bin/bash
+  - -lc
+  - |
+    set -euo pipefail
+    config="$${RECORDER_CONFIG_FILE}"
+    if [[ -n "$${HARU_RECORDER_SESSION_ID:-}" ]]; then
+      tmp_config="/tmp/haru_recorder_params.yaml"
+      cp "$${RECORDER_CONFIG_FILE}" "$${tmp_config}"
+      sed -i "s|session_id:.*|session_id: \"$${HARU_RECORDER_SESSION_ID}\"|" "$${tmp_config}"
+      config="$${tmp_config}"
+    fi
+    ros2 launch haru_recorder haru_recorder.launch.py config_file:="$${config}"
+
 services:
   haru-recorder:
     image: ${HARU_RECORDER_IMAGE:-ghcr.io/haru-project/haru-recorder:latest}
     network_mode: *network-mode
     env_file:
       - ../envs/recorder.env
+    environment:
+      ROS_DOMAIN_ID: ${HARU_PERCEPTION_ROS_DOMAIN_ID:-20}
+      RECORDER_CONFIG_FILE: /shared/configs/recorder-perception-domain.yaml
+    command: *recorder-command
     ports:
       - "${HARU_RECORDER_WEB_UI_PORT:-8088}:${HARU_RECORDER_WEB_UI_PORT:-8088}"
     volumes:
@@ -16,6 +34,7 @@ services:
         source: ../data/perception/haru_recorder/recordings
         target: /root/.local/share/haru_recorder
       - type: bind
-        source: ../data/perception/haru_recorder/config
-        target: /shared/configs
+        source: ../config/recorder-perception-domain.yaml
+        target: /shared/configs/recorder-perception-domain.yaml
+        read_only: true
     restart: unless-stopped
diff --git a/apps/docker-compose-simulator.yaml b/apps/docker-compose-simulator.yaml
index 554a38f..7355c9f 100644
--- a/apps/docker-compose-simulator.yaml
+++ b/apps/docker-compose-simulator.yaml
@@ -7,7 +7,18 @@ services:
       service: common-ros-gpu
     image: ghcr.io/haru-project/hve-simulator@sha256:fb89b358b9c69ea34fedda4781d42158ef392af2ca96debb12d4344a8b81031d
     working_dir: /ros2_ws
-    command: ["/bin/bash", "-c", "export ROS_IP=$(hostname -I | awk '{print $1}') && ros2 launch haru_unity unity_app_launcher_launch.py && tail -f /dev/null"]
+    command:
+      - /bin/bash
+      - -c
+      - |
+        export ROS_IP=$(hostname -I | awk '{print $1}')
+        ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=$$ROS_IP -p ROS_TCP_PORT:=10000 &
+        for i in {1..50}; do
+          ss -ltn | grep -q ':10000 ' && break
+          sleep 0.1
+        done
+        ros2 launch haru_unity unity_app_launcher_launch.py
+        tail -f /dev/null
     env_file: ../envs/simulator.env
     environment:
       - PULSE_SERVER=${PULSE_SERVER}
diff --git a/config/perception_domain_bridge.yaml b/config/perception_domain_bridge.yaml
new file mode 100644
index 0000000..ec77040
--- /dev/null
+++ b/config/perception_domain_bridge.yaml
@@ -0,0 +1,53 @@
+# Explicit allowlist for opt-in isolated perception deployments.
+# Domain IDs are supplied by the compose command:
+#   --from ${HARU_PERCEPTION_ROS_DOMAIN_ID} --to ${ROS_DOMAIN_ID}
+name: haru_perception_domain_bridge
+from_domain: 0
+to_domain: 0
+
+topics:
+  /perception/fusion/persons:
+    type: haru_belief_msgs/msg/PersonsState
+    qos:
+      reliability: reliable
+      history: keep_last
+      depth: 10
+
+  /strawberry/people:
+    type: strawberry_ros_msgs/msg/People
+    qos:
+      reliability: reliable
+      history: keep_last
+      depth: 10
+
+  /tf:
+    type: tf2_msgs/msg/TFMessage
+    qos:
+      reliability: reliable
+      durability: volatile
+      history: keep_last
+      depth: 100
+
+  /tf_static:
+    type: tf2_msgs/msg/TFMessage
+    qos:
+      reliability: reliable
+      durability: transient_local
+      history: keep_last
+      depth: 1
+
+  /haru_speech/speech_to_text/status_array:
+    type: haru_speech_msgs/msg/SpeechStatusArray
+    reversed: true
+    qos:
+      reliability: reliable
+      history: keep_last
+      depth: 10
+
+  /haru_speech/speech_to_text/result:
+    type: haru_speech_msgs/msg/SpeechToTextResult
+    reversed: true
+    qos:
+      reliability: reliable
+      history: keep_last
+      depth: 10
diff --git a/config/recorder-perception-domain.yaml b/config/recorder-perception-domain.yaml
new file mode 100644
index 0000000..3a61fe6
--- /dev/null
+++ b/config/recorder-perception-domain.yaml
@@ -0,0 +1,37 @@
+haru_recorder:
+  ros__parameters:
+    record_all_topics: true
+    topic_allowlist: []
+    topic_denylist: []
+    node_allowlist: []
+    node_denylist: []
+    topic_regex: ""
+    include_hidden_topics: false
+    output_dir: /root/.local/share/haru_recorder/domains/perception
+    session_id: ""
+    bag_storage_id: "mcap"
+    bag_compression_format: "zstd"
+    bag_compression_mode: "file"
+    max_bag_size_mb: 0
+    max_bag_duration_s: 0
+    prefer_compressed_images: true
+    compressed_suffixes: ["/compressed"]
+    image_record_mode: mp4
+    image_video_codec: h264
+    image_video_bitrate_mbps: 8.0
+    image_video_fps: 30.0
+    image_video_out_dir: "${output_dir}/${session_id}/video"
+    image_video_preset: p4
+    record_rosout: true
+    rosout_log_dir: "${output_dir}/${session_id}/logs"
+    rosout_format: "jsonl"
+    upload_enabled: true
+    s3_bucket: ""
+    s3_prefix: "haru-recorder/perception/${session_id}"
+    s3_region: ""
+    s3_endpoint_url: ""
+    cloudwatch_enabled: true
+    cloudwatch_log_group: "haru-recorder"
+    cloudwatch_stream_prefix: "perception/${session_id}"
+    delete_after_upload: false
+    retention_days: 0
diff --git a/docker/domain-bridge.Dockerfile b/docker/domain-bridge.Dockerfile
new file mode 100644
index 0000000..08c784f
--- /dev/null
+++ b/docker/domain-bridge.Dockerfile
@@ -0,0 +1,9 @@
+ARG BASE_IMAGE=ghcr.io/haru-project/haru-belief:feature-topic-normalize
+FROM ${BASE_IMAGE}
+
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+USER root
+
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends "ros-${ROS_DISTRO:-jazzy}-domain-bridge" && \
+    rm -rf /var/lib/apt/lists/*
diff --git a/envs/all.env b/envs/all.env
index 21c06e8..81409f7 100644
--- a/envs/all.env
+++ b/envs/all.env
@@ -7,9 +7,15 @@ NVIDIA_VISIBLE_DEVICES=all
 NVIDIA_DRIVER_CAPABILITIES=all
 
 # ROS (default domain for most stacks)
-ROS_DOMAIN_ID=22
+ROS_DOMAIN_ID=0
+HARU_PERCEPTION_ROS_DOMAIN_ID=20
 RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-FASTDDS_BUILTIN_TRANSPORTS=DEFAULT # set to UDPv4 if you encounter SHM issues
+FASTDDS_BUILTIN_TRANSPORTS=UDPv4
+
+# Perception image override
+FACES_IMAGE=ghcr.io/haru-project/strawberry-ros-faces-module:feature-topic-normalize
+PERCEPTION_DOMAIN_BRIDGE_IMAGE=haru-perception-domain-bridge:local
+PERCEPTION_DOMAIN_BRIDGE_BASE_IMAGE=ghcr.io/haru-project/haru-belief:feature-topic-normalize
 
 # PYTHON VENV
 PACKAGE_VENV=/opt/ros/jazzy/workspace/package_venv/bin/python3
diff --git a/envs/perception.env b/envs/perception.env
index 063f303..2edee80 100644
--- a/envs/perception.env
+++ b/envs/perception.env
@@ -5,25 +5,44 @@ NVIDIA_DRIVER_CAPABILITIES=all
 XAUTH=/tmp/.docker.xauth
 #LIBGL_ALWAYS_SOFTWARE=1
 
+# Tested image overrides for the perception stack.
+# Leave unset to use the compose defaults.
+# AZURE_KINECT_IMAGE=ghcr.io/haru-project/strawberry-ros-azure-kinect:feature-topic-normalize
+# SKELETONS_IMAGE=ghcr.io/haru-project/strawberry-ros-skeletons:feature-topic-normalize
+FACES_IMAGE=ghcr.io/haru-project/strawberry-ros-faces-module:feature-topic-normalize
+# HANDS_IMAGE=ghcr.io/haru-project/strawberry-ros-hands:latest
+# HARU_BELIEF_IMAGE=ghcr.io/haru-project/haru-belief:feature-topic-normalize
+# HARU_VIZ_IMAGE=ghcr.io/haru-project/haru-viz:feature-topic-normalize
+# RESOURCE_MONITOR_IMAGE=ghcr.io/haru-project/strawberry-resource-monitor:latest
+
 # ROS
 ROS_DOMAIN_ID=0
+HARU_PERCEPTION_ROS_DOMAIN_ID=20
 RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-FASTDDS_BUILTIN_TRANSPORTS=DEFAULT # set to UDPv4 if you encounter SHM issues
+FASTDDS_BUILTIN_TRANSPORTS=UDPv4
+HARU_TOPIC_PREFIX=
+
+# Isolated perception bridge image.
+# Used by the perception and all compose stacks.
+PERCEPTION_DOMAIN_BRIDGE_IMAGE=haru-perception-domain-bridge:local
+PERCEPTION_DOMAIN_BRIDGE_BASE_IMAGE=ghcr.io/haru-project/haru-belief:feature-topic-normalize
 
 # ************ #
 # AZURE KINECT CAMERA
 # ************ #
 
-# Depth mode: WFOV_2X2BINNED provides wide field of view (120°x120°)
-AZURE_KINECT_DEPTH_MODE=WFOV_2X2BINNED
+# Leave depth mode unset so the Azure Kinect driver keeps its sensor/profile default
+# from `strawberry_azure_kinect_params.yml` (`NFOV_2X2BINNED` today).
+# Uncomment only when you intentionally want to override that default.
+# AZURE_KINECT_DEPTH_MODE=WFOV_2X2BINNED
 
 # Camera position
-AZURE_KINECT_CAMERA_POS_X=-0.3
-AZURE_KINECT_CAMERA_POS_Y=0.0
-AZURE_KINECT_CAMERA_POS_Z=1.3
-AZURE_KINECT_CAMERA_ATT_ROLL=0.0
-AZURE_KINECT_CAMERA_ATT_PITCH=0.0
-AZURE_KINECT_CAMERA_ATT_YAW=0.0
+AZURE_KINECT_POS_X=-0.3
+AZURE_KINECT_POS_Y=0.0
+AZURE_KINECT_POS_Z=1.3
+AZURE_KINECT_ATT_ROLL=0.0
+AZURE_KINECT_ATT_PITCH=0.0
+AZURE_KINECT_ATT_YAW=0.0
 
 
 # **************** #
@@ -42,10 +61,13 @@ TF_CPP_MIN_LOG_LEVEL=2
 # =============================================================================
 # MODULE-WIDE SETTINGS
 # =============================================================================
-# Data root - must match the docker volume mount target
+# Data root - compose sets this to the persistent bind mount target so
+# face_gallery.npz survives container recreation.
 # FACES_DATA_ROOT=/ros/strawberry_ros_faces_module
-# Use raw image topic for same-host deployment (avoids compression overhead)
-# FACES_IMAGE_TOPIC=/azure_kinect/rgb/image_raw
+# Use the current `rgb_topic` parameter for same-host deployment.
+# FACES_NAMESPACE=/perception/proc
+# FACES_RGB_TOPIC=/perception/sensor/kinect/cam_1/rgb
+# FACES_CAMERA_INFO_TOPIC=/perception/sensor/kinect/cam_1/camera_info
 # FACES_RESPAWN=true
 # FACES_LOG_LEVEL=INFO
 
@@ -93,6 +115,7 @@ FACES_ENABLE_DEBUG_TRACKER=true
 # FACES_TRACKER_COMMIT_MIN_SAMPLES=80
 # FACES_TRACKER_RECOGNITION_ARTIFACTS_DIR=/ros/strawberry_ros_faces_module/faces_recognitor/insightface_artifacts
 # FACES_TRACKER_RECOGNITION_DEVICE=auto
+# Keep false: enabling this deletes persisted face IDs and forces re-enrollment.
 # FACES_WIPE_TRACKER_STORAGE_ON_START=false
 
 # =============================================================================
@@ -136,11 +159,6 @@ FACES_ENABLE_DEBUG_TRACKER=true
 # FACES MERGER
 # =============================================================================
 # FACES_SYNC_USING_STAMP=true
-# FACES_CROPS_TOPIC=/faces/crops/tracked
-# FACES_IDENTITIES_TOPIC=/faces/identities/recognitor/results
-# FACES_GENDERS_TOPIC=/faces/genders/results
-# FACES_EMOTIONS_TOPIC=/faces/emotions/results
-# FACES_RELATIONS_TOPIC=/faces/relations
 # FACES_CROPPS_CACHE_DURATION=4.0
 # FACES_CROPPS_CACHE_SIZE=20
 # FACES_IDENTITIES_CACHE_DURATION=4.0
@@ -162,14 +180,6 @@ FACES_ENABLE_DEBUG_TRACKER=true
 # FACES_ENABLE_FACES_API=true
 # FACES_ENABLE_FACES_API_DEBUG_IMAGE=true
 # FACES_ENABLE_FACES_API_ANNOTATED_IMAGE=true
-# FACES_FACES_API_DEBUG_TOPIC=/faces/api/debug/compressed
-# FACES_FACES_API_ANNOTATED_TOPIC=/faces/api/annotated/compressed
-# FACES_FACES_API_ANNOTATED_SHOW_ID=true
-# FACES_FACES_API_ANNOTATED_SHOW_NAME=true
-# FACES_FACES_API_ANNOTATED_SHOW_EMOTION=false
-# FACES_FACES_API_ANNOTATED_SHOW_GENDER=false
-# FACES_FACES_API_ANNOTATED_SHOW_CONFIDENCE=false
-# FACES_FACES_API_ANNOTATED_SHOW_SPEAKING=false
 
 
 # **************** #
@@ -189,7 +199,10 @@ HANDS_MIN_TRACKING_CONFIDENCE=0.6
 HANDS_LOOP_RATE=8
 HANDS_VIEW_IMAGES=false
 HANDS_RUN_CAMERA=false
-HANDS_CAMERA_NAME=/azure_kinect/rgb
+HANDS_CAMERA_NAME=/perception/sensor/kinect/cam_1/rgb
+HANDS_NAMESPACE=/perception/proc
+HANDS_IMAGE_TOPIC=/perception/sensor/kinect/cam_1/rgb/compressed
+HANDS_CAMERA_INFO_TOPIC=/perception/sensor/kinect/cam_1/camera_info
 HANDS_RESPAWN=true
 
 # Left hand gesture recognition parameters
@@ -214,55 +227,46 @@ HANDS_ENABLE_DEBUG_HANDS_IMAGE=true
 
 
 # ******************** #
-# VISUALIZATION MODULE
+# VISUALIZATION MODULE (deprecated in default perception runtime)
 # ******************** #
 
-# RViz2 visualization parameters
-VIZ_LAUNCH_RVIZ=true
-VIZ_RVIZ_CONFIG=/opt/ros/jazzy/workspace/install/share/strawberry_ros_visualization/rviz/people_pipeline_rviz2_view.rviz
+# Legacy RViz compatibility parameters only. Default visualization is the
+# compose-managed `haru-viz` service, which exposes the browser UI on the host
+# and runs rosbridge inside the same container. This path resolves from the
+# installed `haru_viz` ROS package share directory.
+VIZ_LAUNCH_RVIZ=false
+VIZ_RVIZ_CONFIG=/opt/ros/jazzy/workspace/install/share/haru_viz/docs/compatibility/rviz/people_pipeline_rviz2_view.rviz
 VIZ_RESPAWN=false
 
+# haru-viz service defaults
+HARU_VIZ_IMAGE=ghcr.io/haru-project/haru-viz:feature-topic-normalize
+HARU_VIZ_REPO_ROOT=/workspace/haru-viz
+HARU_VIZ_UI_HOST=0.0.0.0
+HARU_VIZ_UI_PORT=5173
+HARU_ROSBRIDGE_PORT=9090
+HARU_ROSBRIDGE_RGB_PORT=9091
+HARU_ROSBRIDGE_DEPTH_PORT=9092
+HARU_ROSBRIDGE_MAX_MESSAGE_SIZE=8388608
+
 
 # ************* #
-# PEOPLE MODULE
+# PEOPLE MODULE (deprecated in default perception runtime)
 # ************* #
 
 # People seed source: 'skeletons' creates people from skeletons directly,
 # 'yolo' requires YOLO detections first
-PEOPLE_SEED_SOURCE=skeletons
-PEOPLE_SKELETON_SPATIAL_MODE=3d
 
 # Workspace boundaries
-PEOPLE_WS_X_MAX=5.0
-PEOPLE_WS_X_MIN=-5.0
-PEOPLE_WS_Y_MAX=5.0
-PEOPLE_WS_Y_MIN=-5.0
-PEOPLE_WS_Z_MAX=5.0
-PEOPLE_WS_Z_MIN=-5.0
 
 # Skeletons cache and filtering parameters
-PEOPLE_SKELETONS_CACHE_DURATION=1.0
-PEOPLE_SKELETONS_CACHE_SIZE=100
-PEOPLE_SKELETONS_MIN_NUM_PER_ID=2
 
 # Association factors
-PEOPLE_HANDS_ASSOCIATION_FACTOR=1.0
-PEOPLE_FACES_ASSOCIATION_FACTOR=1.0
 
 # Synchronization parameters
-PEOPLE_SYNC_USING_STAMP=true
 
 # Topic configuration
-PEOPLE_SKELETONS_TOPIC=/strawberry/skeletons
-PEOPLE_FACES_TOPIC=/faces/results
-PEOPLE_HANDS_TOPIC=/strawberry/hands_with_gestures
-PEOPLE_SOUND_TOPIC=/idmind_tabletop/sound_localization
-PEOPLE_SPEECH_TOPIC=/haru_speech/speech_to_text/result
-PEOPLE_VAD_TOPIC=/haru_speech/speech_to_text/status
-PEOPLE_WUW_TOPIC=/idmind_tabletop/wake_up_word
 
 # VAD and speech processing parameters
-PEOPLE_VAD_HOLD_TIME=1.0
 
 # ======================
 # Monitor launcher args
@@ -275,7 +279,7 @@ PEOPLE_VAD_HOLD_TIME=1.0
 #MON_VENV_PATH=/home/haru/haru_ws/install/strawberry_resource_monitor/share/strawberry_resource_monitor/venv_monitor/bin/python3
 
 MON_RESPAWN=true
-MON_TOPIC_PREFIX=/strawberry/consumption
+MON_TOPIC_PREFIX=/perception/status/consumption
 MON_LOG_LEVEL=INFO
 
 # Feature toggles
diff --git a/envs/reasoner.env b/envs/reasoner.env
index 7e422e9..49caf51 100644
--- a/envs/reasoner.env
+++ b/envs/reasoner.env
@@ -4,7 +4,7 @@ DISPLAY=${DISPLAY:-=:0}
 # ROS
 ROS_DOMAIN_ID=0
 RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-FASTDDS_BUILTIN_TRANSPORTS=DEFAULT # set to UDPv4 if you encounter SHM issues
+FASTDDS_BUILTIN_TRANSPORTS=UDPv4
 
 # REASONER
 REACTIVE_RULES_FILE=/shared/configs/reactiveness/reactive_rules.json
diff --git a/envs/recorder.env b/envs/recorder.env
index 0dc57a4..9d93ae5 100644
--- a/envs/recorder.env
+++ b/envs/recorder.env
@@ -1,5 +1,6 @@
 # ROS
 ROS_DOMAIN_ID=0
+HARU_PERCEPTION_ROS_DOMAIN_ID=20
 RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 FASTDDS_BUILTIN_TRANSPORTS=DEFAULT
 
@@ -11,6 +12,7 @@ HARU_RECORDER_IMAGE=ghcr.io/haru-project/haru-recorder:feature-skeleton-integrat
 # ../data/perception/haru_recorder/config/default_params.yaml.
 RECORDER_CONFIG_FILE=/opt/ros/jazzy/workspace/install/share/haru_recorder/config/default_params.yaml
 HARU_RECORDER_WEB_UI_PORT=8088
+HARU_RECORDER_SESSION_ID=
 
 # Optional cloud upload settings
 AWS_ACCESS_KEY_ID=
diff --git a/envs/simulator.env b/envs/simulator.env
index 9462db4..2d14a77 100644
--- a/envs/simulator.env
+++ b/envs/simulator.env
@@ -13,4 +13,4 @@ NVIDIA_DRIVER_CAPABILITIES=all
 # ROS
 ROS_DOMAIN_ID=0
 RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-FASTDDS_BUILTIN_TRANSPORTS=DEFAULT # set to UDPv4 if you encounter SHM issues
+FASTDDS_BUILTIN_TRANSPORTS=UDPv4
diff --git a/scripts/compose.sh b/scripts/compose.sh
index 5bb1ada..d18b722 100755
--- a/scripts/compose.sh
+++ b/scripts/compose.sh
@@ -7,54 +7,56 @@ APPS_DIR="${ROOT_DIR}/apps"
 stack="${1:-}"
 if [[ -z "${stack}" ]]; then
     echo "Usage: $(basename "$0") <stack> <docker compose args...>" >&2
-    echo "Stacks: perception | speech | llm | reasoner | tts | simulator | ipad | projector | user | all" >&2
+    echo "Stacks: perception | speech | llm | reasoner | tts | simulator | ipad | projector | user | recorder | all" >&2
     exit 1
 fi
 shift
 
+stack_files=()
+
 case "${stack}" in
     perception)
-        stack_file="${APPS_DIR}/docker-compose-perception.yaml"
+        stack_files=("${APPS_DIR}/docker-compose-perception.yaml")
         env_file="${ROOT_DIR}/envs/perception.env"
     ;;
     speech)
-        stack_file="${APPS_DIR}/docker-compose-speech.yaml"
+        stack_files=("${APPS_DIR}/docker-compose-speech.yaml")
         env_file="${ROOT_DIR}/envs/speech.env"
     ;;
     llm)
-        stack_file="${APPS_DIR}/docker-compose-llm.yaml"
+        stack_files=("${APPS_DIR}/docker-compose-llm.yaml")
         env_file="${ROOT_DIR}/envs/llm.env"
     ;;
     reasoner)
-        stack_file="${APPS_DIR}/docker-compose-reasoner.yaml"
+        stack_files=("${APPS_DIR}/docker-compose-reasoner.yaml")
         env_file="${ROOT_DIR}/envs/reasoner.env"
     ;;
     tts)
-        stack_file="${APPS_DIR}/docker-compose-tts.yaml"
+        stack_files=("${APPS_DIR}/docker-compose-tts.yaml")
         env_file="${ROOT_DIR}/envs/tts.env"
     ;;
     simulator)
-        stack_file="${APPS_DIR}/docker-compose-simulator.yaml"
+        stack_files=("${APPS_DIR}/docker-compose-simulator.yaml")
         env_file="${ROOT_DIR}/envs/simulator.env"
     ;;
     ipad)
-        stack_file="${APPS_DIR}/docker-compose-ipad.yaml"
+        stack_files=("${APPS_DIR}/docker-compose-ipad.yaml")
         env_file="${ROOT_DIR}/envs/ipad.env"
     ;;
     projector)
-        stack_file="${APPS_DIR}/docker-compose-projector.yaml"
+        stack_files=("${APPS_DIR}/docker-compose-projector.yaml")
         env_file="${ROOT_DIR}/envs/projector.env"
     ;;
     user)
-        stack_file="${APPS_DIR}/docker-compose-user.yaml"
+        stack_files=("${APPS_DIR}/docker-compose-user.yaml")
         env_file="${ROOT_DIR}/envs/user.env"
     ;;
-    all)
-        stack_file="${APPS_DIR}/docker-compose-all.yaml"
-        env_file="${ROOT_DIR}/envs/all.env"
+    recorder)
+        stack_files=("${APPS_DIR}/docker-compose-recorder.yaml")
+        env_file="${ROOT_DIR}/envs/recorder.env"
     ;;
     all)
-        stack_file="${APPS_DIR}/docker-compose-all.yaml"
+        stack_files=("${APPS_DIR}/docker-compose-all.yaml")
         env_file="${ROOT_DIR}/envs/all.env"
     ;;
     *)
@@ -63,7 +65,10 @@ case "${stack}" in
     ;;
 esac
 
-exec docker compose \
--f "${stack_file}" \
---env-file "${env_file}" \
-"$@"
+cmd=(docker compose)
+for stack_file in "${stack_files[@]}"; do
+    cmd+=(-f "${stack_file}")
+done
+cmd+=(--env-file "${env_file}")
+
+exec "${cmd[@]}" "$@"
diff --git a/scripts/download_reasoner_data.sh b/scripts/download_reasoner_data.sh
index 7a98444..cf0c8ad 100755
--- a/scripts/download_reasoner_data.sh
+++ b/scripts/download_reasoner_data.sh
@@ -3,6 +3,7 @@ set -euo pipefail
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 DATA_FOLDER=$DIR/../data/reasoner
+REASONER_IMAGE="${REASONER_IMAGE:-ghcr.io/haru-project/haru-agent-reasoner:feature-topic-normalize}"
 
 source "${DIR}/download_helpers.sh"
 cleanup_data_dir "$DATA_FOLDER"
@@ -13,18 +14,23 @@ mkdir -p "$DATA_FOLDER/configs/params"
 mkdir -p "$DATA_FOLDER/projector"
 
 # Reasoner data
-copy_with_tar ghcr.io/haru-project/haru-agent-reasoner:feature-web-projector \
+copy_with_tar "$REASONER_IMAGE" \
 /opt/ros/jazzy/workspace/install/share/haru_agent_reasoner/examples/tasks \
 "$DATA_FOLDER/tasks"
-copy_with_tar ghcr.io/haru-project/haru-agent-reasoner:feature-web-projector \
+copy_with_tar "$REASONER_IMAGE" \
 /opt/ros/jazzy/workspace/install/share/haru_agent_reasoner/config \
 "$DATA_FOLDER/configs"
-copy_with_tar ghcr.io/haru-project/haru-agent-reasoner:feature-web-projector \
+copy_with_tar "$REASONER_IMAGE" \
 /opt/ros/jazzy/workspace/install/share/haru_agent_reasoner/params \
 "$DATA_FOLDER/configs/params"
-copy_with_tar ghcr.io/haru-project/haru-agent-reasoner:feature-web-projector \
-/opt/ros/jazzy/workspace/install/share/behavior_tree_unity_projector/examples/resources \
+copy_with_tar "$REASONER_IMAGE" \
+/opt/ros/jazzy/workspace/install/share/behavior_tree_web_projector/examples/resources \
 "$DATA_FOLDER/projector"
 
+SOURCE_POSTPROCESSORS_CONFIG="$DIR/../../agent_reasoner/haru_agent_reasoner/params/postprocessors_params.yaml"
+if [ -f "$SOURCE_POSTPROCESSORS_CONFIG" ]; then
+  cp "$SOURCE_POSTPROCESSORS_CONFIG" "$DATA_FOLDER/configs/params/postprocessors_params.yaml"
+fi
+
 # Give permissions
 chmod -R a+rwX "$DATA_FOLDER"
diff --git a/scripts/validate_compose.sh b/scripts/validate_compose.sh
index 2390f82..12e253e 100755
--- a/scripts/validate_compose.sh
+++ b/scripts/validate_compose.sh
@@ -6,25 +6,33 @@ APPS_DIR="${ROOT_DIR}/apps"
 COMMON_FILE="${APPS_DIR}/compose.common.yaml"
 
 stacks=(
-  "perception:envs/perception.env:docker-compose-perception.yaml"
-  "speech:envs/speech.env:docker-compose-speech.yaml"
-  "llm:envs/llm.env:docker-compose-llm.yaml"
-  "reasoner:envs/reasoner.env:docker-compose-reasoner.yaml"
-  "tts:envs/tts.env:docker-compose-tts.yaml"
-  "simulator:envs/simulator.env:docker-compose-simulator.yaml"
-  "projector:envs/projector.env:docker-compose-projector.yaml"
-  "user:envs/user.env:docker-compose-user.yaml"
-  "all:envs/all.env:docker-compose-all.yaml"
+  "perception:envs/perception.env:docker-compose-perception.yaml:"
+  "speech:envs/speech.env:docker-compose-speech.yaml:"
+  "llm:envs/llm.env:docker-compose-llm.yaml:"
+  "reasoner:envs/reasoner.env:docker-compose-reasoner.yaml:"
+  "tts:envs/tts.env:docker-compose-tts.yaml:"
+  "simulator:envs/simulator.env:docker-compose-simulator.yaml:"
+  "ipad:envs/ipad.env:docker-compose-ipad.yaml:"
+  "projector:envs/projector.env:docker-compose-projector.yaml:"
+  "user:envs/user.env:docker-compose-user.yaml:"
+  "recorder:envs/recorder.env:docker-compose-recorder.yaml:"
+  "all:envs/all.env:docker-compose-all.yaml:"
 )
 
 for entry in "${stacks[@]}"; do
-  IFS=":" read -r name env_path file_name <<< "${entry}"
+  IFS=":" read -r name env_path file_names profiles <<< "${entry}"
   echo "Validating ${name}..."
-  docker compose \
-    -f "${COMMON_FILE}" \
-    -f "${APPS_DIR}/${file_name}" \
-    --env-file "${ROOT_DIR}/${env_path}" \
-    config >/dev/null
+  cmd=(docker compose -f "${COMMON_FILE}")
+  IFS="," read -ra files <<< "${file_names}"
+  for file_name in "${files[@]}"; do
+    cmd+=(-f "${APPS_DIR}/${file_name}")
+  done
+  cmd+=(--env-file "${ROOT_DIR}/${env_path}" config)
+  if [[ -n "${profiles}" ]]; then
+    COMPOSE_PROFILES="${profiles}" "${cmd[@]}" >/dev/null
+  else
+    "${cmd[@]}" >/dev/null
+  fi
 done
 
 echo "All compose files validated."
diff --git a/start.sh b/start.sh
index c561370..eaf1ab0 100755
--- a/start.sh
+++ b/start.sh
@@ -66,7 +66,7 @@ bash scripts/compose.sh simulator up unity-app web-server --force-recreate -d
 bash scripts/compose.sh tts --profile tts up gpt-sovits cerevoice-api tts-client --force-recreate -d
 
 # Perception services
-bash scripts/compose.sh perception up azure-kinect faces hands people visualization --force-recreate -d
+bash scripts/compose.sh perception up azure-kinect faces hands people --force-recreate -d
 
 # Speech services
 bash scripts/compose.sh speech up audio configure recognition verification --force-recreate -d