diff --git a/docs/API_REFERENCE.md b/docs/API_REFERENCE.md
index 9e3780b..5dc344d 100644
--- a/docs/API_REFERENCE.md
+++ b/docs/API_REFERENCE.md
@@ -929,6 +929,8 @@ Registry management is gated by `equipment.manage`; reserving needs only members
 - `listEquipmentReservations(input)` — `equipment.manage`; reservations for one item (joined member) for the schedule view.
 - `getMyReservations()` — the signed-in member's own reservations (joined equipment). No params; RLS restricts to own rows (the `/me` view).
 
-### Door epic: `member-cards.ts` (migration 034) + `door.ts` (migration 035)
+### Door epic: `member-cards.ts` (migration 034) + `door.ts` (migrations 035-036)
 Card UID is a credential. `member-cards.ts`: `addMemberCard`/`updateMemberCard`/`deleteMemberCard`/`listMemberCards` are `door.manage` (full UID); `getMyCards()` is the member's own MASKED view (service client, returns only count + last4, never the raw UID — `member_cards` has no member RLS SELECT).
-`door.ts` (all `door.manage` except the read log): `createDoorConnection`/`updateDoorConnection`/`deleteDoorConnection`/`listDoorConnections`; `listSecretTitles()` (titles only, to pick a vault secret for the password). `testDoorConnection(input)` runs only the `status` verb through the hardened executor and writes one redacted audit row. `listDoorAccessLog()` is `door.manage` OR `door.operate`. Security model: the shared password is read from the AES-256-GCM secrets vault server-side and embedded in the request per the verified firmware (auth is a query param); `lib/door/executor.ts` is the single egress — it enforces `validateDoorTarget` (request host must equal the connection's pinned host; metadata/link-local always blocked; http(s) only), refuses redirects, caps time/body, and `redactDoorSecrets` scrubs the password before anything is logged. Native HeatSync verbs are encoded with the verified fixed-width zero-padding (slot 3 / perm 3 / tag 8 / `&e=` password); generic connections use admin `{slot}/{tag}/{pw}` templates. Live grant/revoke/open and the per-connection member self-entry are phase 3.
+`door.ts` (all `door.manage` except the read log): `createDoorConnection`/`updateDoorConnection`/`deleteDoorConnection`/`listDoorConnections`; `listSecretTitles()` (titles only, to pick a vault secret for the password). `testDoorConnection(input)` runs only the `status` verb through the hardened executor and writes one redacted audit row. `listDoorAccessLog()` is `door.manage` OR `door.operate`. Security model: the shared password is read from the AES-256-GCM secrets vault server-side and embedded in the request per the verified firmware (auth is a query param); `lib/door/executor.ts` is the single egress — it enforces `validateDoorTarget` (request host must equal the connection's pinned host; metadata/link-local always blocked; http(s) only), refuses redirects, caps time/body, and `redactDoorSecrets` scrubs the password before anything is logged. Native HeatSync verbs are encoded with the verified fixed-width zero-padding (slot 3 / perm 3 / tag 8 / `&e=` password); generic connections use admin `{slot}/{tag}/{pw}` templates.
+
+Phase 3 live actions (all `door.operate`, rate-limited, every attempt writes one redacted `door_access_log` row, service client after the permission check since operators have no RLS read on `door_connections`/`member_cards`): `grantCard({connectionId, cardId, permissionMask?})` allocates the card's per-connection integer slot via the pure lowest-free allocator (`door_card_slots`; idempotent re-grant, `slot_exhausted` when full), reserves it in the DB first, calls the controller, and rolls the reservation back if the call fails. `revokeCard({connectionId, cardId})` is idempotent (no slot assigned means already revoked) and frees the slot only on confirmed controller success so the app's map never diverges from the device. `doorControl({connectionId, verb})` with `verb` of `open`/`unlock`/`lock` (HeatSync `open` is a momentary `o1`; generic controllers need the matching verb template) touches no slot. The per-connection member self-entry action is the next, separately reviewed step.
diff --git a/lib/actions/door.ts b/lib/actions/door.ts
index ffe174d..146222b 100644
--- a/lib/actions/door.ts
+++ b/lib/actions/door.ts
@@ -14,14 +14,21 @@ import {
   createDoorConnectionSchema,
   updateDoorConnectionSchema,
   doorConnectionIdSchema,
+  doorGrantSchema,
+  doorRevokeSchema,
+  doorControlSchema,
 } from '@/lib/validations'
 import {
   encodeHeatSyncControl,
+  encodeHeatSyncGrant,
+  encodeHeatSyncRevoke,
   applyTemplate,
   redactDoorSecrets,
 } from '@/lib/door-logic'
+import { pickLowestFreeSlot, slotCapacity } from '@/lib/door-slots-logic'
 import { callDoor } from '@/lib/door/executor'
 import { decryptSecret } from '@/lib/secrets/crypto'
+import { checkRateLimit } from '@/lib/security'
 
 type Gate =
   | { ok: true; supabase: ServerSupabase; member: Member }
@@ -308,3 +315,334 @@ export async function listDoorAccessLog() {
   if (error) return { error: error.message }
   return { data: data ?? [] }
 }
+
+// ─── Live actions (door.operate) ─────────────────────────────────────────────
+// These reach the physical controller. door.operate holders deliberately do
+// NOT have RLS SELECT on door_connections / member_cards (the UID is a
+// credential), so every read here goes through the service client AFTER the
+// operator permission is verified, always scoped by space_id. Every attempt
+// writes one redacted door_access_log row; the executor is the single egress.
+
+async function requireDoorOperator(): Promise<Gate> {
+  const supabase = await createClient()
+  const auth = await requireMember(supabase)
+  if (!auth.ok) return { ok: false, error: auth.error }
+  const { member } = auth
+  const { data: allowed, error } = await supabase.rpc('user_has_permission', {
+    uid: member.user_id as string,
+    sid: member.space_id,
+    perm: 'door.operate',
+  })
+  if (error) return { ok: false, error: error.message }
+  if (!allowed) return { ok: false, error: 'You do not have permission to operate the door' }
+  return { ok: true, supabase, member }
+}
+
+type ConnRow = {
+  id: string
+  adapter: string
+  base_url: string
+  pinned_host: string
+  secret_ref: string | null
+  verbs: Record<string, string> | null
+  is_enabled: boolean
+}
+
+async function loadEnabledConnection(
+  admin: ReturnType<typeof createAdminClient>,
+  spaceId: string,
+  connectionId: string,
+): Promise<{ ok: true; conn: ConnRow } | { ok: false; error: string }> {
+  const { data } = await admin
+    .from('door_connections')
+    .select('id, adapter, base_url, pinned_host, secret_ref, verbs, is_enabled')
+    .eq('id', connectionId)
+    .eq('space_id', spaceId)
+    .maybeSingle()
+  if (!data) return { ok: false, error: 'Connection not found' }
+  if (!data.is_enabled) return { ok: false, error: 'This connection is disabled.' }
+  return { ok: true, conn: data as unknown as ConnRow }
+}
+
+async function auditDoor(
+  admin: ReturnType<typeof createAdminClient>,
+  row: {
+    spaceId: string
+    connectionId: string
+    actorMemberId: string
+    targetMemberId?: string | null
+    action: string
+    success: boolean
+    detail: string
+    password?: string | null
+  },
+) {
+  await admin.from('door_access_log').insert({
+    space_id: row.spaceId,
+    connection_id: row.connectionId,
+    actor_member_id: row.actorMemberId,
+    target_member_id: row.targetMemberId ?? null,
+    action: row.action,
+    success: row.success,
+    detail: redactDoorSecrets(row.detail.slice(0, 1000), row.password),
+  })
+}
+
+// Reserve (or reuse) the card's slot on this connection. The DB unique
+// constraints arbitrate concurrency: (connection_id, card_id) makes re-grant
+// idempotent; (connection_id, slot) makes a slot race fail loudly so we retry.
+async function reserveSlot(
+  admin: ReturnType<typeof createAdminClient>,
+  spaceId: string,
+  connectionId: string,
+  cardId: string,
+  createdBy: string,
+): Promise<
+  | { ok: true; slot: number; created: boolean }
+  | { ok: false; error: string }
+> {
+  for (let attempt = 0; attempt < 3; attempt++) {
+    const { data: existing } = await admin
+      .from('door_card_slots')
+      .select('slot')
+      .eq('connection_id', connectionId)
+      .eq('card_id', cardId)
+      .maybeSingle()
+    if (existing) return { ok: true, slot: existing.slot as number, created: false }
+
+    const { data: used } = await admin
+      .from('door_card_slots')
+      .select('slot')
+      .eq('connection_id', connectionId)
+    const pick = pickLowestFreeSlot((used ?? []).map(r => r.slot as number))
+    if (!pick.ok) {
+      const cap = slotCapacity()
+      return { ok: false, error: `This controller is full (${cap}/${cap} card slots used). Revoke an unused card before granting another.` }
+    }
+
+    const { error: insErr } = await admin.from('door_card_slots').insert({
+      space_id: spaceId,
+      connection_id: connectionId,
+      card_id: cardId,
+      slot: pick.slot,
+      created_by: createdBy,
+    })
+    if (!insErr) return { ok: true, slot: pick.slot, created: true }
+    // Unique violation = a concurrent grant took this slot or this card.
+    // Loop: re-read (the card row may now exist → reuse it; else re-pick).
+    if (!isUniqueViolation(insErr.message)) return { ok: false, error: insErr.message }
+  }
+  return { ok: false, error: 'Could not allocate a free slot (contention). Try again.' }
+}
+
+export async function grantCard(input: unknown) {
+  const gate = await requireDoorOperator()
+  if (!gate.ok) return { error: gate.error }
+  const { member } = gate
+
+  const v = parseInput(doorGrantSchema, input)
+  if (!v.ok) return { error: v.error }
+  const { connectionId, cardId, permissionMask } = v.data
+
+  const rl = checkRateLimit(`door-grant:${member.space_id}:${member.id}`, 30, 60_000)
+  if (!rl.allowed) return { error: 'Too many door changes. Slow down and try again shortly.' }
+
+  const admin = createAdminClient()
+  const cx = await loadEnabledConnection(admin, member.space_id, connectionId)
+  if (!cx.ok) return { error: cx.error }
+  const conn = cx.conn
+
+  const { data: card } = await admin
+    .from('member_cards')
+    .select('id, member_id, card_uid, is_active')
+    .eq('id', cardId)
+    .eq('space_id', member.space_id)
+    .maybeSingle()
+  if (!card) return { error: 'Card not found in this space' }
+  if (!card.is_active) return { error: 'That card is inactive. Reactivate it before granting access.' }
+  const targetMemberId = (card.member_id as string) ?? null
+
+  const password = await resolveSecret(admin, member.space_id, conn.secret_ref)
+
+  const reserved = await reserveSlot(admin, member.space_id, connectionId, cardId, member.id)
+  if (!reserved.ok) {
+    await auditDoor(admin, {
+      spaceId: member.space_id, connectionId, actorMemberId: member.id,
+      targetMemberId, action: 'grant', success: false,
+      detail: `failed: ${reserved.error}`, password,
+    })
+    return { error: reserved.error }
+  }
+
+  let query: string
+  if (conn.adapter === 'native_heatsync') {
+    const enc = encodeHeatSyncGrant({
+      slot: reserved.slot,
+      permissionMask,
+      tagHex: card.card_uid as string,
+      password: password ?? '',
+    })
+    if (!enc.ok) {
+      if (reserved.created) await admin.from('door_card_slots').delete().eq('connection_id', connectionId).eq('card_id', cardId)
+      return { error: enc.reason }
+    }
+    query = enc.query
+  } else {
+    const tmpl = conn.verbs?.grant
+    if (!tmpl) {
+      if (reserved.created) await admin.from('door_card_slots').delete().eq('connection_id', connectionId).eq('card_id', cardId)
+      return { error: 'This connection has no "grant" verb template configured.' }
+    }
+    query = applyTemplate(tmpl, {
+      slot: reserved.slot, tag: card.card_uid as string, perm: permissionMask, pw: password ?? '',
+    })
+  }
+
+  const result = await callDoor({ url: conn.base_url + query, pinnedHost: conn.pinned_host, password })
+
+  if (!result.ok) {
+    // Roll back the reservation so slots do not leak on a failed write.
+    if (reserved.created) {
+      await admin.from('door_card_slots').delete().eq('connection_id', connectionId).eq('card_id', cardId)
+    }
+    await auditDoor(admin, {
+      spaceId: member.space_id, connectionId, actorMemberId: member.id,
+      targetMemberId, action: 'grant', success: false,
+      detail: `failed: ${result.reason}`, password,
+    })
+    return { error: result.reason }
+  }
+
+  await auditDoor(admin, {
+    spaceId: member.space_id, connectionId, actorMemberId: member.id,
+    targetMemberId, action: 'grant', success: true,
+    detail: `slot ${reserved.slot} · status ${result.status}: ${result.snippet}`, password,
+  })
+  revalidatePath('/door/manage')
+  return { data: { ok: true, slot: reserved.slot } }
+}
+
+export async function revokeCard(input: unknown) {
+  const gate = await requireDoorOperator()
+  if (!gate.ok) return { error: gate.error }
+  const { member } = gate
+
+  const v = parseInput(doorRevokeSchema, input)
+  if (!v.ok) return { error: v.error }
+  const { connectionId, cardId } = v.data
+
+  const rl = checkRateLimit(`door-revoke:${member.space_id}:${member.id}`, 30, 60_000)
+  if (!rl.allowed) return { error: 'Too many door changes. Slow down and try again shortly.' }
+
+  const admin = createAdminClient()
+  const cx = await loadEnabledConnection(admin, member.space_id, connectionId)
+  if (!cx.ok) return { error: cx.error }
+  const conn = cx.conn
+
+  const { data: card } = await admin
+    .from('member_cards')
+    .select('id, member_id')
+    .eq('id', cardId)
+    .eq('space_id', member.space_id)
+    .maybeSingle()
+  const targetMemberId = (card?.member_id as string) ?? null
+
+  const { data: slotRow } = await admin
+    .from('door_card_slots')
+    .select('slot')
+    .eq('connection_id', connectionId)
+    .eq('card_id', cardId)
+    .maybeSingle()
+
+  const password = await resolveSecret(admin, member.space_id, conn.secret_ref)
+
+  // Idempotent: nothing assigned means it is already revoked.
+  if (!slotRow) {
+    await auditDoor(admin, {
+      spaceId: member.space_id, connectionId, actorMemberId: member.id,
+      targetMemberId, action: 'revoke', success: true,
+      detail: 'no slot assigned (already revoked)', password,
+    })
+    revalidatePath('/door/manage')
+    return { data: { ok: true, alreadyRevoked: true } }
+  }
+  const slot = slotRow.slot as number
+
+  let query: string
+  if (conn.adapter === 'native_heatsync') {
+    const enc = encodeHeatSyncRevoke(slot, password ?? '')
+    if (!enc.ok) return { error: enc.reason }
+    query = enc.query
+  } else {
+    const tmpl = conn.verbs?.revoke
+    if (!tmpl) return { error: 'This connection has no "revoke" verb template configured.' }
+    query = applyTemplate(tmpl, { slot, pw: password ?? '' })
+  }
+
+  const result = await callDoor({ url: conn.base_url + query, pinnedHost: conn.pinned_host, password })
+
+  if (!result.ok) {
+    // Keep the slot row so the app's map stays in sync with the device's
+    // belief; the operator can retry.
+    await auditDoor(admin, {
+      spaceId: member.space_id, connectionId, actorMemberId: member.id,
+      targetMemberId, action: 'revoke', success: false,
+      detail: `failed (slot ${slot} kept): ${result.reason}`, password,
+    })
+    return { error: result.reason }
+  }
+
+  await admin.from('door_card_slots').delete().eq('connection_id', connectionId).eq('card_id', cardId)
+  await auditDoor(admin, {
+    spaceId: member.space_id, connectionId, actorMemberId: member.id,
+    targetMemberId, action: 'revoke', success: true,
+    detail: `slot ${slot} freed · status ${result.status}: ${result.snippet}`, password,
+  })
+  revalidatePath('/door/manage')
+  return { data: { ok: true } }
+}
+
+// Open / unlock / lock. No slot involvement. HeatSync 'open' = momentary o1.
+// Generic controllers must have the matching verb template configured.
+export async function doorControl(input: unknown) {
+  const gate = await requireDoorOperator()
+  if (!gate.ok) return { error: gate.error }
+  const { member } = gate
+
+  const v = parseInput(doorControlSchema, input)
+  if (!v.ok) return { error: v.error }
+  const { connectionId, verb } = v.data
+
+  const rl = checkRateLimit(`door-control:${member.space_id}:${member.id}`, 20, 60_000)
+  if (!rl.allowed) return { error: 'Too many door commands. Slow down and try again shortly.' }
+
+  const admin = createAdminClient()
+  const cx = await loadEnabledConnection(admin, member.space_id, connectionId)
+  if (!cx.ok) return { error: cx.error }
+  const conn = cx.conn
+
+  const password = await resolveSecret(admin, member.space_id, conn.secret_ref)
+
+  let query: string
+  if (conn.adapter === 'native_heatsync') {
+    const enc = encodeHeatSyncControl(verb === 'open' ? 'open1' : verb, password ?? '')
+    if (!enc.ok) return { error: enc.reason }
+    query = enc.query
+  } else {
+    const tmpl = conn.verbs?.[verb]
+    if (!tmpl) return { error: `This connection has no "${verb}" verb template configured.` }
+    query = applyTemplate(tmpl, { pw: password ?? '' })
+  }
+
+  const result = await callDoor({ url: conn.base_url + query, pinnedHost: conn.pinned_host, password })
+
+  await auditDoor(admin, {
+    spaceId: member.space_id, connectionId, actorMemberId: member.id,
+    action: verb, success: result.ok,
+    detail: result.ok ? `status ${result.status}: ${result.snippet}` : `failed: ${result.reason}`,
+    password,
+  })
+
+  revalidatePath('/door/manage')
+  return result.ok ? { data: { ok: true, status: result.status } } : { error: result.reason }
+}
diff --git a/lib/validations.ts b/lib/validations.ts
index 1cef09a..615cf36 100644
--- a/lib/validations.ts
+++ b/lib/validations.ts
@@ -946,6 +946,25 @@ export const doorConnectionIdSchema = z.object({
   connectionId: z.string().uuid('Invalid connection ID'),
 })
 
+// ─── Door live actions (door.operate) ────────────────────────────────────────
+
+export const doorGrantSchema = z.object({
+  connectionId: z.string().uuid('Invalid connection ID'),
+  cardId: z.string().uuid('Invalid card ID'),
+  // HeatSync permission mask; defaults to 1 (basic access).
+  permissionMask: z.number().int().min(0).max(255).optional().default(1),
+})
+
+export const doorRevokeSchema = z.object({
+  connectionId: z.string().uuid('Invalid connection ID'),
+  cardId: z.string().uuid('Invalid card ID'),
+})
+
+export const doorControlSchema = z.object({
+  connectionId: z.string().uuid('Invalid connection ID'),
+  verb: z.enum(['open', 'unlock', 'lock']),
+})
+
 // ─── Generic ID schemas ──────────────────────────────────────────────────────
 
 export const uuidSchema = z.string().uuid('Invalid ID format')